A walking module for cable inspection

Abstract

This invention relates to the technical field of power transmission line inspection devices, and discloses a walking module for cable inspection, comprising: a frame; a hoisting part movably mounted on the frame; and a moving execution unit, including a walking component, a limiting component, and a resetting component mounted on the frame. The walking component can drive the frame to move along the cable; the limiting component has a release state and a limiting state within its range of motion. In the release state, the limiting component allows the cable to enter or leave the walking component; in the limiting state, the limiting component can prevent the cable from leaving the walking component; the hoisting part is drively connected to the limiting component; when the hoisting part makes a preset displacement relative to the frame, the limiting component can switch between the two states. The walking module for cable inspection provided by this invention utilizes the displacement linkage of the hoisting part with the limiting component to achieve simultaneous cable mounting and anti-derailment limiting without additional power intervention, improving the safety and mounting efficiency of high-altitude inspection operations.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection devices, and in particular to a walking module for cable inspection. Background Technology

[0002] With the increasing automation of power grid operation and maintenance, the use of cable-walking modules (such as inspection robots) to replace manual labor for high-altitude operations has become a mainstream trend. Since the working environment is usually located on overhead cables, using drones to hoist and deploy the walking modules onto the target cables is an efficient deployment method.

[0003] In existing technical solutions, cable-walking modules typically include a frame and wheels mounted on the frame. To prevent the module from derailing and falling due to wind or vibration during movement, a dedicated fall arrestor structure is usually required. However, existing fall arrestors have the following drawbacks in practical lifting applications: After being deployed onto the cable by a drone, the existing module often requires additional secondary operation (driving the fall arrestor structure) to enter the fall arrestor state, resulting in low deployment efficiency. Furthermore, in high-altitude remote operation environments, the additional steps increase the risk of mounting failure or incomplete fall arrest. Secondly, to achieve fall arrestors, existing technologies often require the integration of additional sensors, controllers, and electronic actuators. Due to complex high-altitude weather conditions, the electronic actuator structure is prone to failure, and its reliability is difficult to guarantee. Once the electronic fall arrestor structure fails, the module will be in an indefinite position, facing the risk of falling from a height and causing damage and line accidents. Summary of the Invention

[0004] The purpose of this invention is to provide a walking module for cable inspection. This module utilizes the mechanical displacement generated by the lifting unit under force to create a linkage with a limiting component. During external lifting, the limiting component automatically switches to a released state to accommodate cable mounting. After the lifting force is removed, a reset component drives the limiting component to automatically reset to the limiting state. Thus, without the need for additional drive structures, the displacement of the lifting unit enables the switching of the limiting component's state, ensuring that the walking module can synchronously limit the cable's movement around the perimeter after mounting, guaranteeing its anti-derailment safety during operation.

[0005] To achieve the above objectives, the present invention provides a walking module for cable inspection, comprising: frame; A hoisting unit is mounted on the frame and is movable relative to the frame. The hoisting unit is used for hoisting by external hoisting equipment. A mobile execution unit, the mobile execution unit including a walking component, a limiting component and a reset component; The traveling component is mounted on the frame and can drive the frame to move along the extension direction of the cable. The limiting component is movably mounted on the frame. Within its range of motion, the limiting component has a release state and a limiting state. In the release state, the limiting component allows the cable to enter or leave the traveling component. In the limiting state, the limiting component can prevent the cable from leaving the traveling component. The hoisting part is connected to the limiting component in a transmission manner; When the hoisting part is lifted by the external hoisting equipment and generates a preset displacement relative to the frame, the limiting component switches from the limiting state to the releasing state; when the lifting of the hoisting part is removed, the limiting component automatically resets to the limiting state through the reset member.

[0006] Furthermore, the frame includes a mounting platform and a support frame disposed on the mounting platform. The hoisting part includes a slider and a hook disposed on the top of the slider. The slider is slidably disposed on the support frame in the vertical direction. When the hook is lifted by the external hoisting equipment, the slider slides upward in the vertical direction to generate the preset displacement.

[0007] Furthermore, the walking module for cable inspection includes at least two of the aforementioned mobile execution units, and the mounting platform is provided with at least two of the aforementioned support frames at intervals along the first direction. The mobile execution units are arranged in a one-to-one correspondence with the support frames. The hoisting part includes a shared hook and at least two of the aforementioned sliders, and the top of all the sliders is connected to the shared hook. When the shared hook is lifted by the external hoisting equipment, all the sliders are simultaneously driven to slide upward.

[0008] Furthermore, the limiting component includes two swing arms and clamping members correspondingly disposed at the lower ends of the swing arms. The swing arms are hinged to the support frame, and the two swing arms are symmetrically arranged about the central axis of the support frame. When the limiting component is in the limiting state, the two clamping members move closer to each other to clamp the cable together. When the limiting component is in the releasing state, the two clamping members move further apart to release the clamping of the cable.

[0009] Furthermore, two transmission rods are connected between the slider and the swing arm, with each transmission rod corresponding to one of the two swing arms, and both ends of each transmission rod being hinged to the slider and the swing arm, respectively.

[0010] Furthermore, the reset component includes two reset springs, each of which is corresponding to one of the two swing arms. The two ends of each reset spring are connected to the mounting platform and the corresponding swing arm, respectively. When the limiting component is in the limiting state, the reset spring is in a stretched state, causing the clamping member to tend to clamp the cable inward.

[0011] Furthermore, the clamping member includes a clamping bracket and a clamping wheel rotatably mounted on the clamping bracket. The clamping bracket is located at the lower end of the swing arm, and the clamping wheel is capable of abutting against the cable when the limiting component is in the limiting state.

[0012] Furthermore, the walking assembly includes a drive motor, a transmission gear set, and a walking wheel. The walking wheel is rotatably mounted on the frame and pressed onto the cable. The drive motor is connected to the walking wheel via the transmission gear set and is used to drive the walking wheel to rotate so as to move the frame along the cable.

[0013] Furthermore, guide portions are fixedly provided on both sides of the bottom of the frame, and the two guide portions extend outward from top to bottom to form a guide channel. The lower end of the guide channel is located below the limiting component.

[0014] Compared with the prior art, the walking module for cable inspection provided by this invention has the following advantages: When an external hoisting device such as a drone lifts the hoisting part, the hoisting part is subjected to an upward pulling force and generates a preset displacement relative to the frame. This preset displacement is converted into the action of the limiting component, which overcomes the resistance of the reset component and switches from the limiting state to the released state. At this time, the limiting component allows the cable to enter the walking component. When the walking module is placed on the cable and the external hoisting device removes the lifting force, the hoisting part loses the driving force for upward displacement. At this time, under the restoring force provided by the reset component, the limiting component drives the hoisting part to move in the opposite direction. The limiting component automatically returns to the limiting state. The limiting component limits and constrains the cable placed on the walking component. The action of the hoisting part is used as the trigger signal for the limit state switching, so that the release of the load and the triggering of the limit, and the start of the load and the release of the limit are highly synchronized. There is no need to set up an additional electrical control structure to perform additional limit steps. Moreover, the entire state switching process is realized by mechanical transmission logic, avoiding the risk of damage to electronic components under high-altitude weather conditions, and ensuring the stability and reliability of the limit. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the walking module for cable inspection according to an embodiment of the present invention; In the picture, 1. Frame; 11. Mounting platform; 12. Support frame; 121. Through hole; 122. Crossbeam; 123. Support column; 124. Hinge shaft; 13. Guide section; 131. Guide channel; 132. Guide rod; 133. Capture rod; 134. Capture space; 2. Lifting unit; 21. Sliding block; 211. Limiting block; 22. Hanging component; 221. Connecting rod; 222. Hanging rod; 3. Mobile execution unit; 31. Walking assembly; 311. Drive motor; 312. Transmission gear set; 3121. First bevel gear; 3122. Second bevel gear; 313. Walking wheel; 3131. V-groove; 32. Limiting assembly; 321. Swing arm; 322. Clamping component; 3221. Clamping bracket; 3222. Clamping wheel; 323. Transmission rod; 33. Reset component; 331. Reset spring; X, the first direction. Detailed Implementation

[0016] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0017] In the description of this invention, the terms "upper," "lower," "left," "right," "front," "rear," "inner," "outer," "lateral," and "longitudinal," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention and simplifying the description. They are not intended to limit the indicated devices, elements, or components to having a specific orientation, or to be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0018] In the description of this invention, the terms "provided with," "set up," "connected," and "placed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0019] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0020] The technical solution of the present invention will be further described below with reference to the embodiments and accompanying drawings.

[0021] like Figure 1 As shown, a walking module for cable inspection according to an embodiment of the present invention includes: Rack 1; Lifting section 2 is mounted on frame 1 and can move relative to frame 1. Lifting section 2 is used for lifting by external lifting equipment. The mobile execution unit 3 includes a walking component 31, a limiting component 32, and a reset component 33. The traveling component 31 is mounted on the frame 1 and can drive the frame 1 to move along the extension direction of the cable. The limiting component 32 is movably mounted on the rack 1. Within its range of motion, the limiting component 32 has a release state and a limiting state. In the release state, the limiting component 32 allows the cable to enter or leave the traveling component 31; in the limiting state, the limiting component 32 can prevent the cable from leaving the traveling component 31. The hoisting part 2 is connected to the limiting assembly 32 via a transmission connection; When the hoisting part 2 is lifted by external hoisting equipment and generates a preset displacement relative to the frame 1, the limiting component 32 switches from the limiting state to the releasing state; when the lifting of the hoisting part 2 is removed, the limiting component 32 automatically resets to the limiting state through the reset component 33.

[0022] Based on the above technical solution, when external lifting equipment such as a drone lifts the lifting part 2, the lifting part 2 is subjected to an upward pulling force and generates a preset displacement relative to the frame 1. This preset displacement is converted into the action of the limiting component 32, which overcomes the resistance of the reset component 33 and switches from the limiting state to the released state. At this time, the limiting component 32 allows the cable to enter the traveling component 31. When the traveling module is placed on the cable and the external lifting equipment removes the lifting force, the lifting part 2 loses the driving force for upward displacement. At this time, the limiting component 32, under the action of the restoring force provided by the reset component 33, The lifting unit 2 moves in the opposite direction, and the limit component 32 automatically returns to the limit state. The limit component 32 limits and constrains the cable placed on the traveling component 31. The movement of the lifting unit 2 is used as the trigger signal for the limit state switching, so that the release of the load and the triggering of the limit, and the start of the load and the release of the limit are highly synchronized. There is no need to set up an additional electrical control structure to perform additional limit steps. Moreover, the entire state switching process is realized by mechanical transmission logic, which avoids the risk of damage to electronic components under high-altitude weather conditions and ensures the stability and reliability of the limit.

[0023] Preferably, the frame 1 includes a mounting platform 11 and a support frame 12 disposed on the mounting platform 11, and the hoisting part 2 includes a slider 21 and a hook 22 disposed on the top of the slider 21. The slider 21 is slidably disposed on the support frame 12 in the vertical direction. When the hook 22 is lifted by an external hoisting device, the slider 21 slides upward in the vertical direction to generate a preset displacement.

[0024] In one specific embodiment, the upper end face of the support frame 12 is provided with a through hole 121 extending in the vertical direction, the slider 21 is slidably disposed in the through hole 121, and the bottom of the slider 21 is provided with a limiting block 211, the outer diameter of the limiting block 211 being larger than the inner diameter of the through hole 121.

[0025] By sliding the slider 21 vertically onto the support frame 12, the lifting force direction of the external hoisting equipment coincides with the mechanical displacement direction generated by the slider 21, reducing the component force loss during force transmission and ensuring the response sensitivity of the transmission.

[0026] More preferably, the walking module for cable inspection includes at least two mobile execution units 3, and the mounting platform 11 is provided with at least two support frames 12 at intervals along the first direction X. The mobile execution units 3 are provided in a one-to-one correspondence with the support frames 12. The hoisting part 2 includes a common hook 22 and at least two sliders 21. The top of all the sliders 21 is connected to the common hook 22. When the common hook 22 is lifted by external hoisting equipment, all the sliders 21 are simultaneously driven to slide upward.

[0027] In one specific embodiment, the hanger 22 includes at least two connecting rods 221 and a hanging rod 222. The lower end of the connecting rod 221 is connected to the slider 21, and the upper end of all the connecting rods 221 is connected to the hanging rod 222.

[0028] More preferably, the limiting component 32 includes two swing arms 321 and clamping members 322 correspondingly disposed at the lower end of the swing arms 321. The swing arms 321 are hinged to the support frame 12. The two swing arms 321 are symmetrically arranged about the central axis of the support frame 12. When the limiting component 32 is in the limiting state, the two clamping members 322 approach each other to clamp the cable together. When the limiting component 32 is in the releasing state, the two clamping members 322 move away from each other to release the clamping of the cable.

[0029] In one specific embodiment, the support frame 12 is a portal structure, including a crossbeam 122 and two support columns 123 spaced apart along the first direction X. The two ends of the crossbeam 122 are connected to the upper ends of the two support columns 123. A through hole 121 is opened on the crossbeam 122. A hinge shaft 124 is provided between the two support columns 123. The hinge shaft 124 extends along the first direction X. The upper ends of the two swing arms 321 are both hinged to the hinge shaft 124. The lower ends of the two swing arms 321 extend to the bottom of the overlapping platform.

[0030] More preferably, two transmission rods 323 are connected between the slider 21 and the swing arm 321. The two transmission rods 323 are arranged in a one-to-one correspondence with the two swing arms 321, and the two ends of each transmission rod 323 are hinged to the slider 21 and the swing arm 321 respectively.

[0031] In one specific embodiment, the upper end of the transmission rod 323 is hinged to the slider 21, and the hinge position between the transmission rod 323 and the slider 21 is above the crossbeam 122.

[0032] More preferably, the reset member 33 includes two reset springs 331, which are arranged one-to-one with two swing arms 321. The two ends of each reset spring 331 are respectively connected to the mounting platform 11 and the corresponding swing arm 321. When the limiting component 32 is in the limiting state, the return spring 331 is in the stretched state, which makes the clamping member 322 tend to clamp the cable inward.

[0033] When an external hoisting device (such as a drone) hooks onto the mounting bracket 22 and pulls it upward, the slider 21 slides vertically upward along the through hole 121 on the crossbeam 122 of the frame 1. Since the upper end of the transmission rod 323 is hinged to the slider 21 above the crossbeam 122, the upward movement of the slider 21 will synchronously drive the transmission rod 323 to move upward. The transmission rod 323 pulls the swing arm 321 outward around the hinge axis 124 at its top through the hinge point. The clamping parts 322 at the lower end of the swing arm 321 move away from each other, causing the limiting component 32 to switch to the released state, allowing the walking module to land smoothly on the cable from above. After the walking component 31 is stably pressed onto the cable, the drone removes the lifting force, and the slider 21 loses its upward movement. Driven by the force, the two tensioned return springs 331 release their elastic potential energy, and the tension generated by their contraction acts on the swing arm 321, driving the swing arm 321 to return and flip inward around the hinge shaft 124. The swing arm 321 drives the slider 21 to move down through the transmission rod 323, and the two clamping parts 322 approach each other and clamp the cable together, so that the limiting component 32 switches to the limiting state. During the movement, if the clamping part 322 touches an obstacle on the cable (such as a shock absorber), the obstacle will force the swing arm 321 to overcome the elastic force of the return spring 331 and temporarily open outward. After passing the obstacle, the swing arm 321 returns and flips under the action of the return spring 331, and re-clamps the cable, realizing passive obstacle crossing without stopping.

[0034] By integrating the displacement of the hoisting unit 2 with the opening and closing action of the limiting component 32 through a mechanical linkage structure, not only is the change in hoisting force used to achieve synchronization of the loading process and state switching, improving the efficiency of high-altitude hoisting and the reliability of the limiting, but also the elasticity of the return spring 331 ensures the normally closed anti-fall limit during the inspection process, and gives the limiting component 32 the ability to passively avoid obstacles. Without the need for additional power source and control command intervention, it ensures the high reliability and continuity of cable operation in high-altitude weather conditions.

[0035] More preferably, the clamping member 322 includes a clamping bracket 3221 and a clamping wheel 3222 rotatably disposed on the clamping bracket 3221. The clamping bracket 3221 is disposed at the lower end of the swing arm 321, and the clamping wheel 3222 can abut against the cable when the limiting component 32 is in the limiting state.

[0036] In one specific embodiment, when the limiting component 32 is in the limiting state, the clamping wheel 3222 rolls against the surface of the cable so that when the walking module moves on the cable, the clamping wheel 3222 and the cable roll into contact.

[0037] The clamping wheel 3222 changes the friction between the limiting component 32 and the cable from sliding friction to rolling friction, so that the relative speed at the contact point of the clamping wheel 3222 approaches zero when the clamping wheel 3222 is moving to clamp the cable. This eliminates the wear and scratches on the cable surface caused by the slider 21 in the prior art and extends the service life of the cable.

[0038] Preferably, the walking assembly 31 includes a drive motor 311, a transmission gear set 312, and a walking wheel 313. The walking wheel 313 is rotatably mounted on the frame 1 and pressed onto the cable. The drive motor 311 is connected to the walking wheel 313 through the transmission gear set 312. The drive motor 311 is used to drive the walking wheel 313 to rotate so as to move the frame 1 along the cable.

[0039] In one specific embodiment, the transmission gear set 312 includes a first bevel gear 3121 and a second bevel gear 3122 that mesh with each other. The first bevel gear 3121 is connected to the power output end of the drive motor 311, and the second bevel gear 3122 is fixedly connected to the traveling wheel 313, which is a V-shaped wheel.

[0040] By utilizing the geometric constraints of the symmetrical inclined plane of the V-groove 3131 of the V-shaped wheel, automatic centering and dynamic alignment during movement are achieved. The lateral constraint formed by the V-groove 3131 on the cable enhances the module's anti-rollover capability under lateral wind load conditions.

[0041] Preferably, guide portions 13 are fixedly provided on both sides of the bottom of the frame 1. The two guide portions 13 extend outward from top to bottom to form a guide channel 131. The lower end of the guide channel 131 is located below the limiting component 32.

[0042] Specifically, the guide section 13 includes two guide rods 132 that extend outward from top to bottom and capture rods 133 that are respectively connected to the lower ends of the two guide sections. There is a capture space 134 between the guide rods 132, the capture rods 133 and the frame 1 for the clamping bracket 3221 and the clamping wheel 3222 to pass through.

[0043] In one specific embodiment, when the limiting component 32 is in the released state, when viewed along the first direction X, both clamping brackets 3221 and both clamping wheels 3222 are located outside the guide channel 131.

[0044] The guide channel 131, which is wider at the bottom and narrower at the top, is set at the bottom of the frame 1. By increasing the effective capture area during the lowering process, the difficulty of operation is reduced. The inclined surface of the guide part 13 is used to guide the module to achieve self-centering alignment during the lowering process, ensuring that the cable can accurately enter the constraint range of the limit component 32. When the limit component 32 is in the released state, the clamping bracket 3221 and the clamping wheel 3222 are outside the range of the guide channel 131. During the guiding process, the clamping bracket 3221 and the clamping wheel 3222 will not affect the entire guiding process.

[0045] It should be noted that the walking module for cable inspection in this application is not used independently in actual applications; it is also equipped with a counterweight component below it.

[0046] In one specific embodiment, the counterweight assembly further includes a counterweight connecting frame and a counterweight component disposed at the lower end of the counterweight connecting frame. The upper end of the counterweight connecting frame is connected to the mounting platform 11. The counterweight connecting frame is a C-shaped rod, and the counterweight component is specifically a mounting box for inspection operations. The rod of the counterweight connecting frame bends outward from top to bottom and then bends inward to extend directly below the frame 1. Utilizing the outwardly convex arc structure in the middle of the C-shaped rod, it avoids the area where the guide rod 132 and the capturing rod 133, which extend outward from top to bottom, are located. While achieving downward suspension and force transmission, the counterweight connecting frame does not encroach on the guide channel 131 and the capturing space 134 below the limiting component 32, ensuring that external cables can pass unimpeded when entering the guide channel 131 and the traveling component 31, thus avoiding structural interference.

[0047] The counterweight is suspended from the lower end of the C-shaped rod, and its overall center of gravity is located directly below the walking assembly 31. In some specific inspection applications, the device housing integrates a battery pack, control motherboard, and inspection camera, ensuring that the center of gravity of the entire walking module, including the frame 1, the mobile execution unit 3, and the counterweight, is below the horizontal plane where the cable is located. Based on this center of gravity layout, the entire walking module forms a pendulum structure on the cable. When encountering crosswinds, even if the frame 1 is subjected to wind loads and tends to tilt and derail, the lower-positioned device housing will provide a restoring torque based on its own weight, resisting the wind tilting torque and ensuring that the V-groove 3131 of the walking wheel 313 is always tightly fastened to the cable, effectively preventing the walking module from overturning in strong winds.

[0048] In summary, this embodiment of the invention provides a walking module for cable inspection. When an external lifting device such as a drone lifts the lifting part 2, the lifting part 2 is subjected to an upward pulling force and generates a preset displacement relative to the frame 1. This preset displacement is converted into the action of the limiting component 32, causing it to overcome the resistance of the reset component 33 and switch from a limiting state to a released state. At this time, the limiting component 32 allows the cable to enter the walking component 31. When the walking module is placed on the cable and the external lifting device removes the lifting force, the lifting part 2 loses the driving force for upward displacement. At this time, the limiting component 32 is at the reset component 33. Under the action of the restoring force, the hoisting part 2 moves in the opposite direction, and the limit component 32 automatically returns to the limit state. The limit component 32 limits and constrains the cable placed on the traveling component 31. The action of the hoisting part 2 is used as the trigger signal for the limit state switching, so that the release of the load and the triggering of the limit, and the start of the load and the release of the limit are highly synchronized. There is no need to set up an additional electrical control structure to perform additional limit steps. Moreover, the entire state switching process is realized by mechanical transmission logic, which avoids the risk of damage to electronic components under high-altitude weather conditions and ensures the stability and reliability of the limit.

[0049] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. A walking module for cable inspection, characterized in that, include: Rack (1); The hoisting part (2) is disposed on the frame (1) and can move relative to the frame (1). The hoisting part (2) is used for hoisting by external hoisting equipment. The mobile execution unit (3) includes a walking component (31), a limiting component (32), and a reset component (33). The walking component (31) is disposed on the frame (1), and the walking component (31) can drive the frame (1) to move along the extension direction of the cable; The limiting component (32) is movably disposed on the frame (1). The limiting component (32) has a release state and a limiting state within its range of motion. In the release state, the limiting component (32) allows the cable to enter or leave the traveling component (31). In the limiting state, the limiting component (32) can restrict the cable from leaving the traveling component (31). The hoisting part (2) is connected to the limiting component (32) in a transmission connection; When the hoisting part (2) is lifted by the external hoisting equipment and generates a preset displacement relative to the frame (1), the limiting component (32) switches from the limiting state to the releasing state; when the lifting of the hoisting part (2) is removed, the limiting component (32) automatically resets to the limiting state through the reset component (33).

2. The walking module for cable inspection according to claim 1, characterized in that, The frame (1) includes a mounting platform (11) and a support frame (12) mounted on the mounting platform (11). The hoisting part (2) includes a slider (21) and a hook (22) mounted on the top of the slider (21). The slider (21) is slidably mounted on the support frame (12) in the vertical direction. When the hook (22) is lifted by the external hoisting equipment, the slider (21) slides upward in the vertical direction to generate the preset displacement.

3. The walking module for cable inspection according to claim 2, characterized in that, The system includes at least two mobile execution units (3), and the mounting platform (11) is provided with at least two support frames (12) at intervals along the first direction (X). The mobile execution units (3) are provided in a one-to-one correspondence with the support frames (12). The hoisting part (2) includes a common hook (22) and at least two sliders (21). The top of all the sliders (21) is connected to the common hook (22). When the common hook (22) is lifted by the external hoisting equipment, all the sliders (21) are simultaneously driven to slide upward.

4. The walking module for cable inspection according to claim 2, characterized in that, The limiting component (32) includes two swing arms (321) and clamping members (322) corresponding to each other at the lower end of the swing arms (321). The swing arms (321) are hinged to the support frame (12). The two swing arms (321) are symmetrically arranged with the central axis of the support frame (12) as the axis of symmetry. When the limiting component (32) is in the limiting state, the two clamping members (322) move closer to each other to clamp the cable together. When the limiting component (32) is in the releasing state, the two clamping members (322) move further apart to release the clamping of the cable.

5. The walking module for cable inspection according to claim 4, characterized in that, Two transmission rods (323) are connected between the slider (21) and the swing arm (321). The two transmission rods (323) are arranged in a one-to-one correspondence with the two swing arms (321). The two ends of each transmission rod (323) are respectively hinged to the slider (21) and the swing arm (321).

6. The walking module for cable inspection according to claim 4, characterized in that, The reset component (33) includes two reset springs (331), and the two reset springs (331) are arranged in a one-to-one correspondence with the two swing arms (321). The two ends of each reset spring (331) are respectively connected to the mounting platform (11) and the corresponding swing arm (321). When the limiting component (32) is in the limiting state, the reset spring (331) is in a stretched state, causing the clamping member (322) to tend to clamp the cable inward.

7. The walking module for cable inspection according to claim 4, characterized in that, The clamping member (322) includes a clamping bracket (3221) and a clamping wheel (3222) rotatably mounted on the clamping bracket (3221). The clamping bracket (3221) is located at the lower end of the swing arm (321). The clamping wheel (3222) can abut against the cable when the limiting component (32) is in the limiting state.

8. The walking module for cable inspection according to claim 1, characterized in that, The walking assembly (31) includes a drive motor (311), a transmission gear set (312), and a walking wheel (313). The walking wheel (313) is rotatably mounted on the frame (1) and pressed onto the cable. The drive motor (311) is connected to the walking wheel (313) through the transmission gear set (312). The drive motor (311) is used to drive the walking wheel (313) to rotate so as to move the frame (1) along the cable.

9. The walking module for cable inspection according to claim 1, characterized in that, The bottom sides of the frame (1) are fixedly provided with guide parts (13), and the two guide parts (13) extend outward from top to bottom to form a guide channel (131). The lower end of the guide channel (131) is located below the limiting component (32).

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