Unmanned aerial vehicle transmission line inspection detection device

Abstract

The present application relates to the technical field of power transmission line detection, in particular to a UAV power transmission line inspection detection device, comprising: a shock-absorbing holder, which is internally provided with three-way shock-absorbing damping elements; a bearing plate, which is connected below the shock-absorbing holder; a detector, which is fixedly connected to the lower end of the bearing plate; two clamping assemblies, which are slidingly arranged below the bearing plate and are spaced apart along the length direction of the bearing plate, each of the clamping assemblies comprises two clamping heads that can be relatively opened or closed, and an actuator that drives the two clamping heads to act. The axial compression displacement of the conductor is converted into controlled lateral buckling arching, and the surface profile of the arching section is scanned by the detector to capture the fatigue accumulation and material aging of the internal stranded layer of the conductor, and to overcome the limitation of traditional visual detection that can only identify surface defects, thereby improving the inspection depth and early warning capability.

Description

Technical Field

[0001] This invention relates to the field of power transmission line inspection technology, specifically to a drone-based power transmission line inspection and testing device. Background Technology

[0002] Transmission lines operate under complex outdoor conditions for extended periods. Due to factors such as wind vibration, icing, high-temperature exposure, and heavy current loads, the aluminum strands of the conductors continuously experience fatigue wear, material aging, and internal hidden strand breaks, resulting in deterioration of mechanical properties. Therefore, it is necessary to conduct regular inspections and assessments of the mechanical performance of transmission lines.

[0003] Currently, in the field of UAV power transmission line inspection, the main method is non-contact inspection using UAVs equipped with visible light cameras or infrared thermal imagers. Through image processing and intelligent recognition algorithms, visible defects such as broken strands, loose strands, corrosion, and wear on the surface of the conductors are identified and judged. This inspection uses the visual characteristics of the conductor surface as the core detection basis and can screen for damage to the already exposed conductors.

[0004] However, the above-mentioned detection method has certain shortcomings in its application and is difficult to adapt to the needs of refined detection of conductor mechanical properties. First, this detection method can only identify visible damage on the surface of the conductor and cannot capture the implicit mechanical property deterioration characteristics such as fatigue accumulation, bending stiffness reduction, and residual strength degradation of the stranded layer inside the conductor. Internal damage to the conductor often occurs before visible surface defects, and relying solely on surface image analysis can easily lead to missed detections. Second, the tension borne by the transmission line will dynamically fluctuate with the grid load, ambient temperature, and meteorological conditions. The same degree of deterioration will show significantly different bending responses under different axial tension conditions. This detection method cannot eliminate the interference caused by tension changes based solely on surface images, and it is difficult to determine whether the deformation difference is due to the deterioration of the conductor itself or the tension fluctuation, which can easily lead to missed or misjudgments and affect the accuracy of the inspection results. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a drone-based power transmission line inspection and testing device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: The unmanned aerial vehicle (UAV) power transmission line inspection and testing device includes: The shock-absorbing gimbal is equipped with a three-way shock-absorbing damping element inside. A support plate is connected to the underside of the shock-absorbing gimbal; The detector is fixedly connected to the lower end of the support plate; Two clamping assemblies are slidably disposed below the support plate and spaced apart along the length of the support plate. Each clamping assembly includes two clamping heads that can be opened or closed relative to each other, and an actuator that drives the two clamping heads to move. Two sets of tension compensation mechanisms are respectively installed on each of the clamping heads. The tension compensation mechanism includes a groove formed on the inner side wall of the clamping head, a top block slidably disposed in the groove, an elastic element connected between the groove and the top block, and a displacement sensor fixedly connected to the inner wall of the groove and used to detect the displacement of the top block. An axial drive mechanism, disposed on the bearing plate, is used to drive the two clamping assemblies to move closer or further apart from each other along the length direction of the bearing plate, so as to convert the axial displacement of the clamped wire into lateral buckling arching. A balancing mechanism is disposed between the bearing plate and the clamping assembly. The balancing mechanism is connected to the top blocks on the two clamping heads of the same clamping assembly for coordinating the displacement of the two top blocks to make the compression displacement of the two top blocks tend to be consistent. The reversing mechanism, mounted on the shock-absorbing platform, is used to drive the load-bearing plate and the detector to rotate.

[0007] Preferably, the axial drive mechanism includes two grooves formed at the lower end of the bearing plate, two rectangular rods are fixedly connected through the inner walls of the two grooves, two sliding plates are slidably connected to the side walls of the two rectangular rods, and the lower ends of the two sliding plates are fixedly connected to the upper ends of two clamping assemblies respectively.

[0008] Preferably, a bidirectional lead screw is rotatably connected through the inner walls of the two grooves, the side walls of the bidirectional lead screw are threadedly connected to the side walls of the two slide plates respectively, a motor is fixedly connected to the side wall of the bearing plate, and the output end of the motor is fixedly connected to one end of the bidirectional lead screw.

[0009] Preferably, the balancing mechanism includes balancing grooves respectively opened on the upper ends of two slide plates, two L-shaped toothed plates symmetrically slidably connected to the inner wall of the balancing groove, and a gear rotatably connected to the bottom of the balancing groove through a rotating shaft, the side wall of the gear meshing with the side wall of the two L-shaped toothed plates respectively.

[0010] Preferably, a balance bar is slidably connected through the inner walls of both grooves, and the side wall of the balance bar is fixedly connected to the side wall of its corresponding top block. Two L-shaped plates are symmetrically slidably connected through the side walls of the balance grooves. The upper ends of the two balance bars away from the top block are fixedly connected to the lower ends of the two L-shaped plates, and the side walls of the two L-shaped plates that are close to each other are fixedly connected to the side walls of the two L-shaped toothed plates.

[0011] Preferably, the reversing mechanism includes two arc-shaped rings symmetrically fixedly connected to the lower end of the shock-absorbing gimbal by two brackets. Arc-shaped rotating rings are slidably embedded in the side walls of the two arc-shaped rings that are close to each other, and the inner side wall of the arc-shaped rotating rings is fixedly connected to the upper end of the bearing plate.

[0012] Preferably, both sides of the arc-shaped rotating ring are fixedly connected with arc-shaped limiting rods, and the side walls of the two arc-shaped limiting rods are slidably embedded in the side walls of the two arc-shaped rings respectively.

[0013] Preferably, an electric arc-shaped slip ring is fixedly connected to the lower end of one of the arc-shaped rings, and the electric arc-shaped slip ring is used to drive the arc-shaped ring to rotate.

[0014] Preferably, the inner wall of the clamping head is an arc-shaped curved surface, and the end face of the top block near the center of the clamping head is a concave arc-shaped surface, and the curvature of the concave arc-shaped surface is adapted to the outer diameter of the wire to be clamped.

[0015] Preferably, it also includes the drone body, and the shock-absorbing gimbal is installed and connected to the lower part of the drone body.

[0016] The present invention has the following beneficial effects: 1. The axial compression displacement of the conductor is converted into controlled lateral buckling arching, and the surface profile of the arched section is scanned by the detector to capture the latent mechanical property deterioration characteristics such as fatigue accumulation and material aging of the stranded layer inside the conductor. This overcomes the limitation of traditional visual inspection that can only identify surface defects, and improves the inspection depth and early warning capability. 2. By monitoring the displacement of the top block compression elastic element in real time through displacement sensors, the real-time axial running tension of the conductor when it is clamped can be obtained, which can effectively eliminate the influence of tension fluctuations caused by external factors such as power grid load and ambient temperature on the bending response and improve the reliability of the test results. 3. The uneven force on the two clamping heads in the same clamping assembly caused by uneven conductor surface or mechanical error is transformed into complementary adjustment, which forces the compression displacement of the two top blocks to be consistent. This ensures that the clamping force applied to the conductor by the clamping assembly is always symmetrical and balanced, avoids local stress concentration or asymmetrical buckling of the conductor caused by off-center loading, ensures the uniformity of force on the conductor during controlled deformation, and improves measurement accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the UAV power transmission line inspection and testing device proposed in this invention; Figure 2 This is a schematic diagram of the detection mechanism in the UAV power transmission line inspection and testing device proposed in this invention; Figure 3 for Figure 2 A schematic diagram of the vertical sectional structure; Figure 4 for Figure 2 Vertical sectional view of the tension compensation mechanism and the balancing mechanism; Figure 5 for Figure 4 Enlarged schematic diagram of section A of the structure; Figure 6 for Figure 2 Enlarged schematic diagram of section B of the structure; Figure 7 for Figure 2 A schematic diagram of the structure viewed from below; Figure 8 This is a rear view structural diagram of the UAV power transmission line inspection and testing device proposed in this invention.

[0018] In the image: 1. UAV body; 2. Shock-absorbing gimbal; 3. Support plate; 4. Detector; 5. Clamping assembly; 6. Clamping head; 7. Tension compensation mechanism; 701. Slide groove; 702. Top block; 703. Elastic element; 704. Displacement sensor; 8. Axial drive mechanism; 801. Groove; 802. Rectangular rod; 803. Slide plate; 804. Two-way lead screw; 805. Motor; 9. Balancing mechanism; 901. Balancing groove; 902. L-shaped toothed plate; 903. Gear; 904. Balancing bar; 905. L-shaped plate; 10. Reversing mechanism; 1001. Arc-shaped ring; 1002. Arc-shaped rotating ring; 1003. Arc-shaped limit rod; 1004. Electric arc-shaped slip ring. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Reference Figures 1-8 A drone-based power transmission line inspection and testing device, used for contact-type testing of the mechanical properties of overhead power transmission conductors, including: The drone body 1 serves as an aerial mounting and hovering platform, and has a built-in visual positioning system; Testing institutions are used to conduct mechanical performance tests on the aging and fatigue damage of transmission lines. These testing institutions specifically include: The vibration damping gimbal 2 is rigidly connected to the lower end of the UAV body 1 through a fixed column. The vibration damping gimbal 2 is equipped with a three-way vibration damping element to isolate the flight attitude change and high-frequency vibration of the motor of the UAV body 1 during hovering and fine adjustment, so as to prevent it from affecting the accuracy of subsequent deformation measurement. The upper end of the bearing plate 3 is connected to the lower end of the shock-absorbing gimbal 2 via the reversing mechanism 10. The reversing mechanism 10 is used to drive the bearing plate 3 to rotate. Detector 4 is fixedly installed on the lower end face of the support plate 3 (e.g., Figure 3 As shown in the figure, a single-line laser profilometer is selected, which can emit a single-line laser and acquire the point cloud of the surface profile of the conductor. Two clamping components 5 are slidably disposed below the support plate 3 and spaced apart along the length of the support plate 3. Each clamping component 5 includes two clamping heads 6 arranged opposite each other and an actuator for driving the clamping heads 6 to open and close. The actuator can be a micro stepping screw jaw, which is a mature existing technology. An arc groove and a flexible pad can be added to the inner side of the clamping head 6 to adapt to wires of different diameters and avoid damaging their surface.

[0021] Two sets of tension compensation mechanisms 7 are used to acquire the actual operating tension of the transmission conductor in real time, providing a basis for tension compensation for subsequent deformation analysis; the two sets of tension compensation mechanisms 7 are respectively installed on two clamping heads 6, and each set of tension compensation mechanism 7 includes: Two slide grooves 701 are respectively formed on the side wall of the two clamping heads 6 of the same clamping assembly 5 that are close to each other, and the extension direction of the slide grooves 701 is perpendicular to the clamping surface. Two top blocks 702 have their sidewalls slidably engaged with the inner walls of two sliding grooves 701, and the front ends of the top blocks 702 can contact the surface of the wire; the inner wall of each sliding groove 701 is elastically connected to the sidewall of the corresponding top block 702 through multiple elastic elements 703 (preferably springs) arranged in a rectangular array, so that the top blocks 702 can float according to the change of the wire reaction force; Two displacement sensors 704 are fixed to the inner sidewalls of two slides 701 respectively, with their measuring ends abutting or non-contacting against the back of the top block 702; the displacement sensors 704 are linear variable differential transformers or miniature laser displacement sensors with a resolution better than 0.01mm, and both are electrically connected to an external controller.

[0022] More specifically, the displacement sensor 704 detects the displacement change of the top block 702 within the slide groove 701 in real time and outputs the position signal to an external controller. Based on the pre-calibrated stiffness coefficient of the elastic element 703, the controller can calculate in real time the clamping force on the conductor and the axial force component reflecting the conductor's operating tension. This data provides a tension compensation basis for deformation analysis, allowing subsequent conductor deflection and stiffness analyses to eliminate interference from fluctuations in initial and operating tension, thereby achieving a uniform assessment of the conductor's deformation degradation under different tension conditions.

[0023] Furthermore, during operation, the external control and data processing mechanism located at the ground station is wirelessly connected to the detector 4, displacement sensor 704, axial drive mechanism 8, and reversing mechanism 10, respectively. The processing flow of this mechanism is as follows: 1. Data acquisition: Receive the clamping force signal output by displacement sensor 704 and the initial contour point cloud of the wire output by detector 4; 2. Operating tension identification: Based on the pre-calibrated stiffness coefficient of the elastic element 703, the clamping force signal is converted into real-time clamping force. At the same time, based on the calibration database with the input as clamping force and wire diameter and the output as the axial operating tension of the conductor, the current operating tension of the conductor is solved, so as to achieve unified calibration under different tension conditions. 3. Deformation control and scanning: After acquiring the current operating tension, the axial drive mechanism 8 is controlled to move, causing the two clamping components 5 to move towards each other, applying axial compression to the conductor, causing it to produce controlled lateral buckling and arching, and simultaneously controlling the detector 4 to continuously scan the arched section to acquire the conductor surface contour point cloud sequence during the deformation process. 4. Mechanical property calculation: The deflection curve of the conductor arching is extracted from the point cloud sequence using a three-dimensional point cloud processing algorithm. Combined with the current operating tension, the equivalent bending stiffness of the conductor is calculated by least squares fitting using the Euler-Bernoulli beam theory model. 5. Aging Damage Evaluation: The calculated equivalent bending stiffness is compared with the pre-stored reference bending stiffness of the same type of new conductor in the system to obtain the stiffness degradation index. When the degradation index exceeds the set threshold, it is determined that the conductor has aging, fatigue damage and strength degradation, and the evaluation results are output.

[0024] It should be noted that the data processing methods used in the above process, such as the establishment and query of the calibration database, the 3D point cloud processing algorithm, the application of the Euler-Bernoulli beam theory model, and the least squares fitting, are all common technical means used by those skilled in the art when solving quantitative detection problems.

[0025] The reversing mechanism 10 includes two arc-shaped rings 1001 symmetrically fixed to the lower end of the shock-absorbing gimbal 2 via two brackets. Arc-shaped rotating rings 1002 are slidably fitted onto the sidewalls of the two arc-shaped rings 1001 that are close to each other. Arc-shaped limiting rods 1003 are fixedly connected to both sidewalls of the arc-shaped rotating rings 1002. The sidewalls of the two arc-shaped limiting rods 1003 are slidably fitted into the sidewalls of the two arc-shaped rings 1001, allowing the arc-shaped rotating rings 1002 to rotate smoothly within the arc-shaped rings 1001. The inner sidewall of the arc-shaped rotating rings 1002 is fixedly connected to the upper edge of the bearing plate 3 by screws, thereby suspending the bearing plate 3 below the shock-absorbing gimbal 2 and enabling it to rotate circumferentially.

[0026] One of the arc-shaped rings 1001 has an electric arc-shaped slip ring 1004 fixedly connected to its lower end. The electric arc-shaped slip ring 1004 is used to drive the arc-shaped rotating ring 1002 to rotate, which can drive the bearing plate 3 to rotate half a turn. Since the conductor bears its own weight, wind-induced vibration and icing load during the operation of the transmission line, the main direction of the resultant force is basically located in the vertical plane. Therefore, the vertical direction is the direction in which the conductor suffers the most severe bending fatigue and fretting wear. Detection in both the upper and lower directions can cover the mechanical performance degradation of the conductor.

[0027] Furthermore, the electric arc-shaped slip ring 1004 includes a stator and a rotor. The stator is fixed on the arc-shaped ring 1001, and the rotor is connected to the arc-shaped rotating ring 1002 through gears or friction wheels. It is driven by a built-in servo motor to achieve controllable rotation of the arc-shaped rotating ring 1002.

[0028] The axial drive mechanism 8 includes two symmetrically formed grooves 801 at the lower end of the support plate 3, with the length direction of the grooves 801 parallel to the axial direction of the conductor. Two parallel rectangular rods 802 are connected through and fixedly connected between the inner walls of the two grooves 801, serving as guide shafts. Two sliding plates 803 are slidably connected to the side walls of the two rectangular rods 802. The lower ends of the two sliding plates 803 are respectively fixedly connected to the upper ends of the two clamping assemblies 5 by bolts, allowing the clamping assemblies 5 to reciprocate along the axial direction of the conductor.

[0029] The inner walls of the two grooves 801 are also rotatably connected by a double-acting lead screw 804 through bearings. The two ends of the double-acting lead screw 804 have opposite threads, which respectively mate with the threaded holes in the middle of the side walls of the two slide plates 803. A motor 805, preferably a stepper motor with an encoder, is fixedly installed on the side wall of the support plate 3. Its output shaft is fixedly connected to one end of the double-acting lead screw 804 through a coupling.

[0030] When the motor 805 drives the bidirectional lead screw 804 to rotate, the two sliding plates 803 move synchronously towards each other along the rectangular rod 802, causing the two clamping components 5 to move closer to each other. The axial displacement of the clamped conductor is converted into controlled lateral buckling arching. The arching height and deflection curve are directly related to the conductor's bending stiffness, residual strength, and other mechanical parameters. The detector 4 (a laser profilometer) located above scans this controlled deformation process in real time, acquiring the conductor surface profile data. Based on this, the system analyzes the conductor's deflection changes, thereby achieving non-contact quantitative measurement of the conductor's mechanical properties and determining whether the transmission line has experienced aging, fatigue damage, or strength degradation.

[0031] It should be noted that transmission lines are typically multi-strand stranded structures, which may be accompanied by torsion or lateral displacement during compression and bending. The detector 4 of this invention uses a linear laser profilometer, whose projected laser line can cover a section of the conductor surface (e.g., a section 50-100mm in length). The system extracts the highest point of the conductor cross-section from the acquired profilometer data or obtains the conductor's center trajectory through arc fitting. Even if the conductor has a certain degree of lateral displacement or torsion, its deflection change curve can still be accurately extracted.

[0032] Each slide plate 803 is equipped with a balancing mechanism 9 at its upper end to eliminate uneven load caused by the uneven clamping force of the two clamping heads 6 within the same clamping assembly 5. The balancing mechanism 9 includes: A balancing groove 901, rectangular in shape, is formed on the upper surface of the slide plate 803. Two L-shaped toothed plates 902 (e.g., ...) are symmetrically slidably connected within the balancing groove 901. Figure 5 As shown, the racks of the two L-shaped toothed plates 902 are arranged opposite each other; the inner bottom of the balance groove 901 is rotatably connected to a gear 903 through a vertical rotating shaft. The gear 903 meshes with the two L-shaped toothed plates 902 at the same time, forming a synchronous reverse cooperative mechanism.

[0033] The inner walls of both slide grooves 701 are slidably connected with balance bars 904. The side walls of the balance bars 904 are fixedly connected to the side walls of the corresponding top blocks 702. Therefore, when the top blocks 702 move, they will drive the balance bars 904 to move synchronously. The side walls of the balance grooves 901 are symmetrically slidably connected with two L-shaped plates 905. The upper ends of the two balance bars 904 away from the top blocks 702 are fixedly connected to the lower ends of the two L-shaped plates 905, respectively. The side walls of the two L-shaped plates 905 that are close to each other are fixedly connected to the side walls of the two L-shaped toothed plates 902, respectively.

[0034] When the reaction forces from the wires acting on the two clamping heads 6 of a clamping assembly 5 are different, the compression displacements of the two top blocks 702 will differ. The top block 702 with a larger compression displacement pushes the corresponding L-shaped toothed plate 902 to move through the balance bar 904 and L-shaped plate 905. Through the meshing action of the gear 903, the L-shaped toothed plate 902 on the other side is forced to move in the opposite direction. This, in turn, further presses the top block 702 with a smaller compression displacement into the slide groove 701 through the L-shaped plate 905 and balance bar 904, while slightly releasing the top block 702 with the larger displacement. Ultimately, the compression displacements of the two top blocks 702 tend to be consistent. This balancing process ensures that the clamping forces of the two clamping heads 6 on the wire are symmetrical, avoiding local stress concentration or measurement deviations in the wire due to uneven loading, and ensuring that the wire is subjected to uniform force during buckling deformation. At the same time, this balancing effect also keeps the detection data of the two displacement sensors 704 consistent, improving measurement accuracy.

[0035] The working process of the present invention will be described in detail below with reference to the accompanying drawings: 1. Control the drone body 1 to fly to the vicinity of the power transmission line to be inspected and fine-tune the position of the drone body 1 so that the wire is aligned and enters between the two clamping heads 6.

[0036] 2. Next, the actuators of the two clamping components 5 drive the corresponding two clamping heads 6 to close, applying clamping force to the wire. During the clamping process, the wire pushes the top block 702 to compress the elastic element 703 and slides within the slide groove 701. The displacement sensor 704 outputs the position change signal of the top block 702 to the external controller in real time. Based on this, the controller calculates the clamping force on the wire and the axial force reflecting the operating tension in real time, providing tension compensation data for subsequent deformation analysis, thereby eliminating the influence of the initial tension and operating tension fluctuations of the wire and achieving uniformity of the wire deterioration degree under different tension conditions.

[0037] If the two clamping heads 6 of a clamping component 5 experience uneven force due to uneven wire surface or mechanism error, the balancing mechanism 9 intervenes immediately: the difference in compression displacement is forced to be consistent by the cooperation of the balance bar 904, L-shaped plate 905, L-shaped toothed plate 902 and gear 903, ensuring symmetrical clamping force, eliminating off-center load, so that the wire is subjected to uniform force during subsequent buckling deformation, and the data of the two displacement sensors 704 are consistent, ensuring measurement accuracy.

[0038] 3. After clamping and stabilizing, start motor 805, which drives bidirectional lead screw 804 to rotate. The two slide plates 803 carry clamping assembly 5 and move towards each other, applying axial compression to the conductor, causing the conductor to produce controlled lateral buckling and arching. Detector 4 (one-line laser profilometer) continuously scans the profile of the arched section of the conductor, extracts the deflection curve, and analyzes the conductor's bending stiffness and residual strength, thereby achieving non-contact quantitative judgment of conductor aging and fatigue damage.

[0039] When testing is required in both vertical directions, first control the clamping head 6 to release the wire, allowing the wire to detach from the clamp. Then adjust the electric arc slip ring 1004 to drive the arc rotating ring 1002 to rotate, causing the bearing plate 3, clamping assembly 5, and detector 4 to rotate half a turn relative to the wire. Then repeat the aforementioned clamping, compression, and scanning steps to complete the mechanical performance testing of the wire in both vertical directions, covering any mechanical performance degradation of the wire.

[0040] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A drone-based power transmission line inspection and testing device, characterized in that, include: The shock-absorbing gimbal (2) is equipped with a three-way shock-absorbing damping element inside; The bearing plate (3) is connected to the bottom of the shock-absorbing gimbal (2); The detector (4) is fixedly connected to the lower end of the support plate (3); Two clamping assemblies (5) are slidably disposed below the support plate (3) and spaced apart along the length of the support plate (3). Each clamping assembly (5) includes two clamping heads (6) that can be opened or closed relative to each other, and an actuator that drives the two clamping heads (6) to move. Two sets of tension compensation mechanisms (7) are respectively installed on each of the clamping heads (6). The tension compensation mechanism (7) includes a slide groove (701) opened on the inner side wall of the clamping head (6), a top block (702) slidably installed in the slide groove (701), an elastic element (703) connected between the slide groove (701) and the top block (702), and a displacement sensor (704) fixedly connected to the inner wall of the slide groove (701) and used to detect the displacement of the top block (702). An axial drive mechanism (8) is provided on the bearing plate (3) to drive the two clamping assemblies (5) to move closer or further away from each other along the length direction of the bearing plate (3) so as to convert the axial displacement of the clamped wire into a lateral buckling arch. A balancing mechanism (9) is disposed between the bearing plate (3) and the clamping assembly (5). The balancing mechanism (9) is connected to the top blocks (702) on the two clamping heads (6) of the same clamping assembly (5) for transmission, and is used to coordinate the displacement of the two top blocks (702) so that the compression displacement of the two top blocks (702) tends to be consistent. The reversing mechanism (10) is set on the shock-absorbing gimbal (2) and is used to drive the bearing plate (3) and the detector (4) to rotate.

2. The UAV power transmission line inspection and testing device according to claim 1, characterized in that, The axial drive mechanism (8) includes two grooves (801) formed at the lower end of the bearing plate (3). Two rectangular rods (802) are fixedly connected through the inner walls of the two grooves (801). Two sliding plates (803) are slidably connected to the side walls of the two rectangular rods (802). The lower ends of the two sliding plates (803) are fixedly connected to the upper ends of the two clamping assemblies (5) respectively.

3. The UAV power transmission line inspection and testing device according to claim 2, characterized in that, The inner walls of the two grooves (801) are rotatably connected to a two-way lead screw (804). The side walls of the two-way lead screw (804) are threadedly connected to the side walls of the two slide plates (803) respectively. The side wall of the bearing plate (3) is fixedly connected to a motor (805). The output end of the motor (805) is fixedly connected to one end of the two-way lead screw (804).

4. The UAV power transmission line inspection and testing device according to claim 1, characterized in that, The balancing mechanism (9) includes balancing grooves (901) respectively opened on the upper ends of two slide plates (803). Two L-shaped toothed plates (902) are symmetrically slidably connected to the inner wall of the balancing groove (901). A gear (903) is rotatably connected to the bottom of the balancing groove (901) through a rotating shaft. The side wall of the gear (903) meshes with the side wall of the two L-shaped toothed plates (902) respectively.

5. The UAV power transmission line inspection and testing device according to claim 4, characterized in that, The inner walls of both grooves (701) are slidably connected with balance bars (904). The side walls of the balance bars (904) are fixedly connected to the side walls of their corresponding top blocks (702). The side walls of the balance grooves (901) are symmetrically slidably connected with two L-shaped plates (905). The upper ends of the two balance bars (904) away from the top blocks (702) are fixedly connected to the lower ends of the two L-shaped plates (905). The side walls of the two L-shaped plates (905) that are close to each other are fixedly connected to the side walls of the two L-shaped toothed plates (902).

6. The UAV power transmission line inspection and testing device according to claim 1, characterized in that, The reversing mechanism (10) includes two arc-shaped rings (1001) symmetrically fixedly connected to the lower end of the shock-absorbing gimbal (2) by two brackets. Arc-shaped rotating rings (1002) are slidably embedded in the side walls of the two arc-shaped rings (1001) that are close to each other. The inner side wall of the arc-shaped rotating rings (1002) is fixedly connected to the upper end of the bearing plate (3).

7. The UAV power transmission line inspection and testing device according to claim 6, characterized in that, Both sides of the arc-shaped rotating ring (1002) are fixedly connected with arc-shaped limiting rods (1003), and the side walls of the two arc-shaped limiting rods (1003) are respectively slidably embedded in the side walls of the two arc-shaped rings (1001).

8. The UAV power transmission line inspection and testing device according to claim 6, characterized in that, One of the arc-shaped rings (1001) has an electric arc-shaped slip ring (1004) fixedly connected to its lower end. The electric arc-shaped slip ring (1004) is used to drive the arc-shaped rotating ring (1002) to rotate.

9. The UAV power transmission line inspection and testing device according to claim 1, characterized in that, The inner wall of the clamping head (6) is an arc-shaped curved surface, and the end face of the top block (702) near the center of the clamping head (6) is a concave arc-shaped surface, and the curvature of the concave arc-shaped surface is adapted to the outer diameter of the wire to be clamped.

10. The UAV power transmission line inspection and testing device according to claim 1, characterized in that, It also includes the drone body (1), and the shock-absorbing gimbal (2) is installed and connected to the bottom of the drone body (1).

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