Universal high-voltage line walking robot

Abstract

The application provides a universal high-voltage line walking robot, and relates to the technical field of power system maintenance, comprising an inverted U-shaped shell frame, a walking assembly and a jacking wheel assembly, the walking assembly has a double-drive structure, the jacking wheel assembly comprises a lifting and rotating mechanism, the lifting and rotating mechanism can drive the jacking wheel to switch between an avoiding position and a jacking position, the jacking wheel exits the inverted U-shaped opening area at the avoiding position, and the cable can be vertically placed from below. The lifting and rotating mechanism comprises a limiting sleeve with a spiral section and a linear section guide groove and a sliding block, and realizes lifting and rotating compound motion. The jacking wheel is provided with a spring floating structure to realize flexible jacking. The walking wheel shaft is provided with an electromagnetic brake. The shell frame is provided with a mounting flange for connecting functional modules. The application realizes convenient cable feeding, has strong climbing ability, and is provided with an emergency release structure capable of gravity sliding when the electric control fails, and is safe.

Description

Technical Field

[0001] This application relates to the field of power system maintenance technology, and in particular to a general-purpose high-voltage line walking robot. Background Technology

[0002] High-voltage transmission lines are a crucial component of the power system, and their safe and stable operation is of paramount importance. Traditional line inspections, de-icing, and maintenance primarily rely on manual labor, which is characterized by high labor intensity, low efficiency, and high safety risks associated with working at heights. With technological advancements, robots capable of moving along high-voltage lines have emerged, partially replacing manual labor in these tasks.

[0003] Existing high-voltage line walking robots typically employ a lifting clamping wheel structure, with the clamping wheel always positioned directly below the corresponding walking wheel. When the robot needs to be attached to the cable, it must first be adjusted to allow the cable to enter laterally into the space between the walking wheel and the clamping wheel. Then, the robot's vertical position must be adjusted so that the cable is vertically close to the walking wheel and positioned within its V-shaped gap. This two-step method of "lateral entry followed by vertical approach" is time-consuming and inconvenient. Therefore, there is an urgent need for a high-voltage line walking robot with strong climbing ability, reliable parking, easy attachment, and good versatility. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the present invention provides a universal high-voltage line walking robot, which aims to solve the problems of the existing high-voltage line walking robots requiring lateral alignment and complex operation when going online.

[0005] To achieve the above objectives, this application adopts the following technical solution: A general-purpose high-voltage line walking robot includes a frame, a walking assembly, and a clamping wheel assembly. The top of the frame is equipped with a hanging plate. Both the walking assembly and the clamping wheel assembly are mounted on the frame. The walking assembly includes walking wheels and a walking drive component for driving the walking wheels to rotate. The clamping wheel assembly includes a clamping wheel, which cooperates with the walking wheels to clamp cables. The frame has an inverted U-shaped structure. The clamping wheel assembly includes a lifting and rotating mechanism, which drives the clamping wheel to switch between a clearance position and a clamping position. When the clamping wheel is in the clearance position, the clamping wheel exits the inverted U-shaped opening area of ​​the frame. When the clamping wheel is in the clamping position, the clamping wheel cooperates with the walking wheels to clamp cables.

[0006] In the above technical solution, by setting the housing frame to an inverted U-shape, the cable can be vertically inserted into the housing frame from below. A lifting and rotating mechanism drives the clamping wheel to switch between a clearance position and a clamping position. When the clamping wheel is in the clearance position, it exits the inverted U-shaped opening area, making way for the cable to enter. When the clamping wheel is in the clamping position, it cooperates with the traveling wheel to clamp the cable. Because of the inverted U-shaped housing frame combined with the lifting and rotating clamping wheel for clearance, the cable can be vertically inserted into the housing frame from below without the need for lateral alignment, achieving convenient cable insertion.

[0007] Preferably, the lifting and rotating mechanism includes a connecting frame, a clamping reduction motor, a limiting sleeve, a lead screw, and a slider. The connecting frame is fixedly connected to the housing frame. The clamping reduction motor and the limiting sleeve are mounted on the connecting frame. The lead screw is coaxially connected to the output shaft of the clamping reduction motor. The lead screw extends vertically and passes through the limiting sleeve. The slider is fitted onto the lead screw and threadedly engages with it. The limiting sleeve has a guide groove, which includes a helical section and a straight section above the helical section. The slider has a mating part that engages with the guide groove. The clamping wheel is mounted on the slider. When the clamping reduction motor drives the lead screw to rotate, the slider is lifted and rotated under the constraint of the guide groove, thereby driving the clamping wheel to switch between a clearance position and a clamping position.

[0008] Preferably, the clamping wheel is mounted above the slider via a bearing housing. A guide shaft and a spring are provided between the bearing housing and the slider. One end of the guide shaft is connected to the bearing housing, and the other end of the guide shaft passes through the slider. The spring is fitted onto the guide shaft and abuts against the slider and the bearing housing.

[0009] Preferably, the connecting frame includes a fixed frame and a mounting frame. The fixed frame is fixedly connected to the housing frame, and the mounting frame is slidably connected to the fixed frame. The mounting frame has a working position and a failure position below the working position relative to the fixed frame. The clamping reduction motor and the limiting sleeve are mounted on the fixed frame, and the lead screw is rotatably connected to the mounting frame. When the mounting frame is in the working position, the top of the lead screw is drivenly connected to the output shaft of the clamping reduction motor. When the mounting frame is in the failure position, the top of the lead screw is disengaged from the output shaft of the clamping reduction motor. The fixed frame is provided with a locking component, which is used to lock the mounting frame in the working position. When the locking component is unlocked, the mounting frame slides down to the failure position under the action of gravity, the lead screw disengages from the motor output shaft, and the mounting frame drives the clamping wheel to disengage from the cable.

[0010] Preferably, the locking assembly includes a sliding plate, an elastic element, a pull ring, and a cable. The sliding plate is slidably mounted on the fixed frame and can move laterally between a locked position and an unlocked position. When the sliding plate is in the locked position, the front end of the sliding plate extends into the underside of the mounting frame or into the locking groove on the mounting frame to prevent the mounting frame from sliding downward. When the sliding plate is in the unlocked position, the front end of the sliding plate exits from the underside of the mounting frame or the locking groove on the mounting frame. The elastic element is connected between the fixed frame and the sliding plate and is used to drive the sliding plate to move towards the locked position. The pull ring is connected to the sliding plate via a cable and is used to drive the sliding plate to move towards the unlocked position under external force. The pull ring is exposed on the outside of the housing.

[0011] Preferably, the locking assembly includes a sliding plate, an elastic element, and an electromagnetic drive element. The sliding plate is slidably mounted on the fixed frame and can move laterally between a locked position and an unlocked position. When the sliding plate is in the locked position, the front end of the sliding plate extends into the underside of the mounting frame or into the locking groove on the mounting frame to prevent the mounting frame from sliding downward. When the sliding plate is in the unlocked position, the front end of the sliding plate exits from the underside of the mounting frame or the locking groove on the mounting frame. The elastic element is connected between the fixed frame and the sliding plate and is used to drive the sliding plate to move towards the locked position. The electromagnetic drive element is mounted on the fixed frame and is used to drive the sliding plate to move towards the unlocked position when energized.

[0012] Preferably, the locking assembly includes a sliding plate, an elastic element, an electromagnetic drive element, a pull ring, and a pull cable. The sliding plate is slidably mounted on the fixed frame and can move laterally between a locked position and an unlocked position. When the sliding plate is in the locked position, the front end of the sliding plate extends into the underside of the mounting frame or into the locking groove on the mounting frame to prevent the mounting frame from sliding downward. When the sliding plate is in the unlocked position, the front end of the sliding plate exits from the underside of the mounting frame or the locking groove on the mounting frame. The elastic element is connected between the fixed frame and the sliding plate and is used to drive the sliding plate to move towards the locked position. The electromagnetic drive element is mounted on the fixed frame and is used to drive the sliding plate to move towards the unlocked position. The pull ring is connected to the sliding plate via a pull cable and is used to move the sliding plate towards the unlocked position under external force. The pull ring is exposed on the outside of the housing.

[0013] Preferably, the walking drive includes a walking geared motor, a drive sprocket, a chain, and a driven sprocket. There are two walking wheels, arranged one in front of the other. The drive sprocket is mounted on the output shaft of the walking geared motor. The drive sprocket drives the two driven sprockets to rotate simultaneously through the chain. The two driven sprockets drive the two walking wheels to rotate synchronously.

[0014] Preferably, the travel assembly also includes an electromagnetic brake, which is mounted on the axle of the travel wheel and is used to prevent the travel wheel from rotating when braking.

[0015] Preferably, the frame is provided with a mounting flange for connecting functional modules.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The inverted U-shaped shell frame adopted by the present invention, combined with the lifting and rotating avoidance of the top clamping wheel, allows the cable to be vertically placed into the shell frame from below without the need for lateral alignment operation, realizing convenient online loading and effectively improving the efficiency and convenience of the robot's online loading. (2) The present invention uses a dual-drive structure that simultaneously drives two walking wheels to rotate synchronously through a single motor and chain transmission, increasing the contact area with the cable and the total driving force, thereby improving the robot's climbing ability and walking stability on steep cables. (3) The present invention uses an electromagnetic brake on the axle of the walking wheel. When the robot stops on a steep cable or encounters a power outage, the electromagnetic brake automatically locks the walking wheel to prevent the robot from slipping along the cable, greatly improving the safety of online operation. (4) The present invention uses a structure in which the fixed frame and the mounting frame are set separately, the limiting sleeve is fixed to the fixed frame and the lead screw falls with the mounting frame, and the setting of the locking component to realize mechanical emergency escape when the electrical control fails, improving the recyclability and safety of the equipment in high-altitude operations. (5) By setting mounting flanges on the frame, the present invention can quickly replace the corresponding functional modules according to different work tasks, realize multiple uses of one machine, improve the utilization rate and versatility of the equipment, and reduce maintenance costs. Attached Figure Description

[0017] Figure 1 A cross-section of the general-purpose high-voltage line walking robot of this application. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of the general-purpose high-voltage line walking robot of this application; Figure 3 A cross-section of the general-purpose high-voltage line walking robot of this application. Figure 2 ; Figure 4 This is a structural schematic diagram of the clamping wheel assembly of this application (the clamping wheel is in the clamping position); Figure 5 This is a structural schematic diagram of the clamping wheel assembly of this application (the clamping wheel is in the avoidance position); Figure 6 This is a schematic diagram of the structure of the limiting sleeve in this application; Figure 7 This is a schematic diagram of the top clamping wheel assembly of this application. Figure 2 ; Figure 8 This is a schematic diagram of the top clamping wheel assembly of this application. Figure 3 ; Figure 9 This is a schematic diagram of the walking assembly of this application.

[0018] In the diagram: 1. Frame 11. Hanging plate 11. Mounting flange 13. Rear camera 14. Front camera 15. Walking assembly 2. Walking geared motor 22. Drive sprocket 23. Chain 24. Driven sprocket 25. Walking wheel 26. Electromagnetic brake 27. Top clamping wheel assembly 3. Connecting frame 31. Fixing frame 311. Mounting frame 312. Locking groove 313. Top clamping geared motor 32. Limit sleeve 33. Guide groove 331. Spiral section 3311. Straight section 3312. Lead screw 34. Slider 35. Mating part 351. Spring 36. Guide shaft 37. Bearing seat 38. Top clamping wheel 39. Locking assembly 4. Horizontal plate 41. Elastic element 42. Electromagnetic drive element 43. Pull ring 44. Pull cable 45. Battery 5. Control board 6. Charging port 7. Power switch 8. Detailed Implementation

[0019] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0020] It should be noted that in this application, the terms "upper," "lower," "left," "right," "front," "rear," "vertical," and "lateral," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] Example 1: like Figures 1 to 9 As shown, a general-purpose high-voltage line walking robot includes a frame 1, a walking assembly 2, and a clamping wheel assembly 3. The top of the frame 1 is provided with a hanging plate 11 for easy lifting by a drone. The walking assembly 2 and the clamping wheel assembly 3 are both mounted on the frame 1. The walking assembly 2 includes a walking wheel 26 and a walking drive component for driving the walking wheel 26 to rotate. The clamping wheel assembly 3 includes a clamping wheel 39, which cooperates with the walking wheel 26 to clamp the cable. The frame 1 has an inverted U-shaped structure. The clamping wheel assembly 3 includes a lifting and rotating mechanism, which is used to drive the clamping wheel 39 to switch between a clearance position and a clamping position. When the clamping wheel 39 is in the clearance position, the clamping wheel 39 exits the inverted U-shaped opening area of ​​the frame 1. When the clamping wheel 39 is in the clamping position, the clamping wheel 39 cooperates with the walking wheel 26 to clamp the cable.

[0022] In the above technical solution, the housing 1 has an inverted U-shaped structure, with an opening area inside that allows cables to enter vertically from below. A hanging plate 11 is located on the top of the housing 1 and is used to connect with the hook of the drone to hoist the robot onto the high-voltage power line. The walking assembly 2 is installed inside the upper side of the housing 1 and is used to drive the robot along the cable. The clamping wheel assembly 3 is installed on the housing 1, and its clamping wheel 39 is used to clamp the cable in conjunction with the walking wheel 26. A lifting and rotating mechanism can switch the clamping wheel 39 between a clearance position and a clamping position. When the clamping wheel 39 is in the clearance position, it exits the inverted U-shaped opening area, allowing the cable to enter vertically from below. After the cable enters, the lifting and rotating mechanism switches the clamping wheel 39 to the clamping position, where it clamps the cable in conjunction with the walking wheel 26. Because of the inverted U-shaped housing and the clamping wheel's lifting and rotating clearance mechanism, the cable can be vertically inserted into the housing from below without lateral alignment, achieving convenient cable loading.

[0023] The beneficial effects of this solution include: the inverted U-shaped frame, combined with the lifting and rotating top wheel, enables a convenient way for cables to enter the frame vertically from below; the lifting and rotating mechanism switches between the avoidance position and the top-tightening position, ensuring reliable switching between the two states of cable loading and movement.

[0024] It should be noted that the "avoidance position" refers to the position where the clamping wheel is out of the inverted U-shaped opening area, allowing the internal space of the shell to be unobstructed, and the cable can be inserted from below the U-shaped opening area until it aligns with and contacts the traveling wheel 26; the "clamping position" refers to the position where the clamping wheel and the traveling wheel cooperate to clamp the cable. The hanging plate 11 can be a lifting ring structure, used to connect with the hook of the UAV.

[0025] Preferably, the housing 1 is provided with a mounting flange 13, which is used to connect the functional module.

[0026] In the above technical solution, the mounting flange 13 is located on the side and / or bottom of the shell frame 1, and the mounting flange 13 is provided with bolt holes. Functional modules include, but are not limited to, a robotic arm, a de-icing device, an inspection camera, and a live-line working actuator. Each functional module has a mating flange corresponding to the mounting flange 13, and bolts are passed through the bolt holes to fix the functional module to the mounting flange 13.

[0027] Because of the mounting flanges on the frame, the corresponding functional modules can be quickly replaced according to different tasks, realizing multiple uses of one machine, improving the utilization rate and versatility of the equipment, and reducing maintenance costs.

[0028] It should be noted that the specific location and size of the mounting flange 13 can be determined according to the type and specifications of the functional modules to be connected, and the bolt holes on the mounting flange 13 can be through holes or threaded holes.

[0029] Preferably, the inverted U-shaped opening of the frame 1 is provided with a V-shaped guide surface. The V-shaped guide surface is used to guide the cable into the inverted U-shaped opening. When the robot is hoisted by the drone above the cable and placed downwards, the cable first contacts the V-shaped guide surface, automatically centers under the guidance of the V-shaped guide surface, and slides into the inverted U-shaped opening, finally reaching the clamping position between the traveling wheel 26 and the clamping wheel 39. The V-shaped guide surface can be a chamfered structure at the edge of the opening of the frame 1 or a separately provided guide plate.

[0030] Preferably, the system also includes a front camera 15, a rear camera 14, and a wireless module. The front camera 15 and rear camera 14 are respectively mounted at the front and rear ends of the housing 1 for acquiring images of the circuit. The wireless module is mounted on the housing 1 for communication with the ground control station. The wireless module is connected to an antenna, which is exposed on the outside of the housing 1 to enhance signal transmission and reception capabilities. The images acquired by the front camera 15 and rear camera 14 are transmitted back to the ground control station in real time via the wireless module, allowing operators to remotely monitor the robot's operating status and circuit conditions through the ground control station.

[0031] Preferably, the system also includes a battery 5, a control board 6, a charging port 7, and a power switch 8. The battery 5 and control board 6 are installed inside the housing 1. The battery 5 provides power to all components, and the control board 6 implements the robot's logic control. The charging port 7 and power switch 8 are exposed outside the housing 1 for easy charging and power-on / off operations by the user. The control board 6 is electrically connected to components such as the walking geared motor 22, the clamping geared motor 32, the electromagnetic drive component 43, the electromagnetic brake 27, the front camera 15, the rear camera 14, and the wireless module, and is used to control the operation of these components.

[0032] Example 2: Based on Example 1, such as Figures 3 to 6 As shown, the lifting and rotating mechanism includes a connecting frame 31, a clamping reduction motor 32, a limiting sleeve 33, a lead screw 34, and a slider 35. The connecting frame 31 is fixedly connected to the housing 1. The clamping reduction motor 32 and the limiting sleeve 33 are mounted on the connecting frame 31. The lead screw 34 is coaxially connected to the output shaft of the clamping reduction motor 32. The lead screw 34 extends vertically and passes through the limiting sleeve 33. The slider 35 is fitted onto the lead screw 34 and threadedly engages with the lead screw 34. The limiting sleeve 33 is provided with a guide groove 331, which includes a helical section 3311 and a straight section 3312 located above the helical section 3311. The slider 35 is provided with a mating part 351 that engages with the guide groove 331. The clamping wheel 39 is mounted on the slider 35. When the clamping reduction motor 32 drives the lead screw 34 to rotate, the slider 35 is lifted and rotated under the constraint of the guide groove 331, thereby driving the clamping wheel 39 to switch between the avoidance position and the clamping position.

[0033] In the above technical solution, the connecting frame 31 is fixedly installed on the housing 1, serving as the mounting base for the lifting and rotating mechanism. The clamping reduction motor 32 and the limiting sleeve 33 are both fixedly installed on the connecting frame 31. The lead screw 34 is coaxially connected to the output shaft of the clamping reduction motor 32, extending vertically and passing through the limiting sleeve 33. The slider 35 has an internal threaded hole, is fitted onto the lead screw 34, and is threadedly engaged with it. The limiting sleeve 33 has a guide groove 331, which consists of a lower helical section 3311 and an upper straight section 3312, which are connected. The slider 35 has a mating part 351, which is embedded in the guide groove 331 and can slide along it. The clamping wheel 39 is installed above the slider 35.

[0034] When the tightening reduction motor 32 rotates in the forward direction, the lead screw 34 drives the slider 35 to rise. The mating part 351 of the slider 35 first slides along the spiral section 3311 of the guide groove 331, causing the slider 35 to rotate 90° while rising. Then, it rises vertically along the straight section 3312, driving the tightening wheel 39 to switch from the avoidance position to the tightening position, so that the tightening wheel 39 faces the bottom of the cable and tightens the cable upward. When the tightening reduction motor 32 rotates in the reverse direction, the slider 35 first descends vertically along the straight section 3312, and then rotates 90° in the reverse direction along the spiral section 3311, driving the tightening wheel 39 to switch from the tightening position to the avoidance position, so that the tightening wheel 39 exits the inverted U-shaped opening area.

[0035] Because of the structure in which the spiral section and the straight section guide groove on the limiting sleeve cooperate with the slider, the slider can achieve a compound motion of first rotating and then vertically lifting under the drive of the lead screw. The tightening wheel can reliably switch between the avoidance position and the tightening position with a simple mechanical structure.

[0036] It should be noted that the mating part 351 can be a protrusion or a groove structure, as long as it can be embedded in the guide groove 331 and slide along the guide groove 331.

[0037] Preferred, such as Figures 3 to 5 As shown, the top clamping wheel 39 is mounted above the slider 35 via the bearing seat 38. A guide shaft 37 and a spring 36 are provided between the bearing seat 38 and the slider 35. One end of the guide shaft 37 is connected to the bearing seat 38, and the other end of the guide shaft 37 passes through the slider 35. The spring 36 is fitted on the guide shaft 37 and abuts against the slider 35 and the bearing seat 38.

[0038] In the above technical solution, the bearing housing 38 is located above the slider 35, and the clamping wheel 39 is rotatably mounted on the bearing housing 38. The guide shaft 37 is vertically arranged, with its upper end fixedly connected to the bearing housing 38 (e.g., by thread or welding), and its lower end passing through a guide hole opened in the slider 35. A retaining spring is provided at one end of the guide shaft 37 that protrudes from the slider 35 to prevent the guide shaft 37 from coming out of the slider 35. A spring 36 is fitted onto the guide shaft 37, located between the slider 35 and the bearing housing 38. The spring 36 is in a pre-compressed state, with its upper end abutting against the lower end face of the bearing housing 38 and its lower end abutting against the upper end face of the slider 35.

[0039] When the clamping wheel 39 contacts the cable, the cable exerts a downward reaction force on the clamping wheel 39. This reaction force is transmitted to the spring 36 through the bearing housing 38, causing the spring 36 to compress further. The bearing housing 38 moves downward relative to the slider 35, and the guide shaft 37 slides downward in the guide hole of the slider 35. When the cable fluctuates or its diameter changes, the compression of the spring 36 adaptively adjusts, ensuring that the clamping wheel 39 always maintains contact with the cable and provides appropriate clamping force. When the clamping wheel 39 disengages from the cable, the preload of the spring 36 pushes the bearing housing 38 back to its original position.

[0040] Because of the floating structure in which the guide shaft passes through the slider and the spring is fitted on the guide shaft and abuts against the slider and the bearing seat, the clamping wheel has a certain elastic floating margin when it contacts the cable, which realizes flexible clamping and avoids rigid contact that could damage the cable or the robot; at the same time, it can adapt to the slight undulations of the cable and different wire diameters, ensuring walking stability.

[0041] It should be noted that the number of guide shafts 37 can be one or more (such as two symmetrically arranged) to ensure the stability of the bearing housing 38 during lifting and lowering. The spring 36 can be a compression spring, and its preload is set according to the clamping force requirements of the cable.

[0042] Example 3: Based on Example 2, such as Figure 7 and Figure 8As shown, the connecting frame 31 includes a fixed frame 311 and a mounting frame 312. The fixed frame 311 is fixedly connected to the housing 1. The mounting frame 312 is slidably connected to the fixed frame 311. The mounting frame 312 has a working position and a failure position below the working position relative to the fixed frame 311. The clamping reduction motor 32 and the limiting sleeve 33 are installed on the fixed frame 311. The lead screw 34 is rotatably connected to the mounting frame 312. When the mounting frame 312 is in the working position, the top of the lead screw 34 is connected to the output shaft of the clamping reduction motor 32. When the mounting frame 312 is in the failure position, the top of the lead screw 34 is disengaged from the output shaft of the clamping reduction motor 32. The fixed frame 311 is provided with a locking component 4, which is used to lock the mounting frame 312 in the working position. When the locking component 4 is unlocked, the mounting frame 312 slides down to the failure position under the action of gravity, the lead screw 34 is disengaged from the output shaft of the clamping reduction motor 32, and the mounting frame 312 drives the clamping wheel 39 to disengage from the cable.

[0043] In the above technical solution, the connecting frame 31 adopts a split structure, consisting of a fixed frame 311 and a mounting frame 312. The fixed frame 311 is fixedly installed on the housing 1 and does not move with the mounting frame 312. The mounting frame 312 is installed on the fixed frame 311 through a sliding fit structure (such as the fit between a slide rail and a slider, or the fit between a guide groove and a guide protrusion), and can slide up and down relative to the fixed frame 311. The clamping reduction motor 32 and the limiting sleeve 33 are both fixedly installed on the fixed frame 311 and do not move with the mounting frame 312. The lead screw 34 is rotatably connected to the mounting frame 312 through a bearing, that is, the lead screw 34 can rotate relative to the mounting frame 312 but cannot move axially relative to the mounting frame 312.

[0044] Mounting bracket 312 has two positions relative to fixed bracket 311: a working position and a failed position. The working position is located above the working position, and the failed position is located below the working position. When mounting bracket 312 is in the working position, the top of lead screw 34 is connected to the output shaft of clamping reduction motor 32 (e.g., via spline connection or non-circular hole shaft structure), and the power of clamping reduction motor 32 can be transmitted to slider 35 through lead screw 34, driving clamping wheel 39 to rise and fall. When mounting bracket 312 is in the failed position, the top of lead screw 34 disengages from the output shaft of clamping reduction motor 32, and power transmission is interrupted.

[0045] Locking component 4 is mounted on the fixed frame 311 to lock the mounting frame 312 in the working position. In case of emergency release, the operator unlocks locking component 4, and the mounting frame 312, freed from its locking constraint, slides downwards to its failure position under its own weight (along with the screw 34, slider 35, bearing seat 38, and tightening wheel 39 mounted on it). During this process, the top of the screw 34 disengages from the output shaft of the tightening reduction motor 32, and simultaneously, the mounting frame 312, through the screw 34 and slider 35, causes the tightening wheel 39 to disengage from the cable. Since the limiting sleeve 33 is fixed to the fixed frame 311 and does not fall with the mounting frame 312, the slider 35, under the influence of gravity, remains constrained by the guide groove 331 of the limiting sleeve 33, descending along the spiral section 3311 and the straight section 3312 of the guide groove 331 and rotating 90°, causing the tightening wheel 39 to enter the avoidance position.

[0046] It should be noted that in the lifting and rotating mechanism of this embodiment, the threaded engagement between the lead screw 34 and the slider 35 has a self-locking characteristic. When the clamping reduction motor 32 stops rotating, the lead screw 34 and the slider 35 can maintain their current positions under the action of thread friction, so that the clamping wheel 39 can be stably kept in the clamping position, thereby ensuring a constant and reliable clamping force on the cable during movement. However, it is precisely because of this self-locking characteristic that when abnormal situations such as motor failure, power outage, or control system failure occur, the lead screw 34 cannot be driven to rotate, the slider 35 cannot descend, and the clamping wheel 39 is locked in the clamping position and cannot avoid the obstacle, causing the robot to be unable to remove the cable. Therefore, this embodiment sets up a separate structure of fixed frame 311 and mounting frame 312 and a locking component 4. When the locking component 4 is unlocked, the mounting frame 312 slides down under the action of gravity, the lead screw 34 disengages from the output shaft of the top tightening reduction motor 32, and at the same time drives the top tightening wheel 39 to disengage from the cable, thereby breaking through the limitation of the self-locking characteristics of lead screw 34 and slider 35, and realizing mechanical emergency escape when the electronic control fails.

[0047] Because of the separate design of the fixed frame and the mounting frame, with the limiting sleeve fixed to the fixed frame and the lead screw falling with the mounting frame, when the locking component is unlocked, the mounting frame automatically slides down under gravity, and the lead screw is passively disengaged from the motor output shaft. At the same time, since the slider is still constrained by the guide groove of the limiting sleeve, the slider descends and rotates along the spiral and straight sections of the guide groove under gravity, causing the top clamping wheel to enter the avoidance position, thus realizing mechanical escape in the event of electrical control failure.

[0048] It should be noted that the sliding connection between the mounting bracket 312 and the fixed bracket 311 can be as follows: the fixed bracket 311 is provided with a vertical slide rail, and the mounting bracket 312 is provided with a slider that cooperates with the vertical slide rail; or the fixed bracket 311 is provided with a vertical guide groove, and the mounting bracket 312 is provided with a guide protrusion that cooperates with the vertical guide groove. A limiting structure (such as a limiting block or a safety rope) can be provided on the mounting bracket 312 to hold it in place when it slides down to the failure position, preventing the mounting bracket 312 from completely detaching from the fixed bracket 311.

[0049] Because of the separate design of the fixed frame and the mounting frame, with the limiting sleeve fixed to the fixed frame and the lead screw falling with the mounting frame, when the locking component is unlocked, the mounting frame automatically slides down under gravity, and the lead screw is passively disengaged from the motor output shaft. At the same time, since the slider is still constrained by the guide groove of the limiting sleeve, the slider descends and rotates along the spiral and straight sections of the guide groove under gravity, causing the top clamping wheel to enter the avoidance position, thus realizing mechanical escape in the event of electrical control failure.

[0050] It should be noted that the sliding connection between the mounting bracket 312 and the fixed bracket 311 can be as follows: the fixed bracket 311 is provided with a vertical slide rail, and the mounting bracket 312 is provided with a slider that cooperates with the vertical slide rail; or the fixed bracket 311 is provided with a vertical guide groove, and the mounting bracket 312 is provided with a guide protrusion that cooperates with the vertical guide groove. A limiting structure (such as a limiting block) can be provided on the mounting bracket 312 to hold it in place when it slides down to the failure position, preventing the mounting bracket 312 from completely detaching from the fixed bracket 311.

[0051] Example 4: Based on Example 3, such as Figure 7 As shown, the locking assembly 4 includes a transverse plate 41, an elastic element 42, a pull ring 44, and a pull cable 45. The transverse plate 41 is slidably mounted on the fixed frame 311 and can move laterally between the locked position and the unlocked position. When the transverse plate 41 is in the locked position, the front end of the transverse plate 41 extends into the underside of the mounting frame 312 or into the locking groove 313 on the mounting frame 312 to prevent the mounting frame 312 from sliding downward. When the transverse plate 41 is in the unlocked position, the front end of the transverse plate 41 exits from the underside of the mounting frame 312 or the locking groove 313 on the mounting frame 312. The elastic element 42 is connected between the fixed frame 311 and the transverse plate 41 and is used to drive the transverse plate 41 to move towards the locked position. The pull ring 44 is connected to the transverse plate 41 through the pull cable 45 and is used to drive the transverse plate 41 to move towards the unlocked position under external force. The pull ring 44 is exposed on the outside of the housing 1.

[0052] In the above technical solution, the transverse sliding plate 41 is slidably mounted on the fixed frame 311 and can move laterally between the locked position and the unlocked position. One end of the elastic element 42 (such as a compression spring or a tension spring) is connected to the fixed frame 311, and the other end is connected to the transverse sliding plate 41. The elastic element 42 always applies a force to the transverse sliding plate 41 in the locking direction, so that the transverse sliding plate 41 remains in the locked position when no external force is applied.

[0053] When the transverse plate 41 is in the locked position, its front end extends under the mounting bracket 312 or into the locking groove 313 on the mounting bracket 312, thereby supporting or locking the mounting bracket 312 from below and preventing it from sliding downward. When the transverse plate 41 is in the unlocked position, its front end retracts from under the mounting bracket 312 or from the locking groove 313, allowing the mounting bracket 312 to slide downward freely.

[0054] The pull ring 44 is exposed on the outside of the housing 1 (for example, the housing 1 has a clearance hole for the pull ring 44 to extend), making it easy for the drone to hook onto it. One end of the pull cable 45 is connected to the pull ring 44, and the other end is connected to the transverse plate 41. When an emergency release is required and the electronic control fails, the drone can hook onto the pull ring 44 and apply a pulling force. The pull ring 44, through the pull cable 45, drives the transverse plate 41 to move towards the unlocked position against the elastic force of the elastic element 42. The front end of the transverse plate 41 exits below the mounting bracket 312 or the locking groove 313, and the mounting bracket 312 slides down under the action of gravity.

[0055] Because the elastic element drives the transverse plate to be in the locked position under normal conditions, it remains locked even when the power is off to prevent accidental release; because it has a pull ring exposed on the outside of the frame and connected to the transverse plate by a cable, it can be mechanically unlocked without relying on any electricity, and in the event of complete failure of the electronic control, it can still be used by a drone to hook the pull ring to complete an emergency escape.

[0056] It should be noted that the locking groove 313 is located on the mounting bracket 312, and its shape is adapted to the front end of the transverse plate 41. When the front end of the transverse plate 41 extends into the locking groove 313, the mounting bracket 312 is locked and cannot slide down. The elastic element 42 can be a compression spring or a tension spring, as long as it can apply a force to the transverse plate 41 in the locking direction. The cable 45 can be a steel wire rope or a high-strength fiber rope.

[0057] Preferably, the pull ring 44 can be set on the hanging plate 11, occupying part of the position of the hanging plate 11. When an emergency release is required, the drone only needs to hook the position where the pull ring 44 is set on the hanging plate 11 to trigger the displacement of the cable 45 relative to the hanging plate 11, thereby driving the transverse plate 41 to slide to the unlock position.

[0058] Example 5: Based on Example 3, such as Figure 8As shown, the locking assembly 4 includes a transverse plate 41, an elastic element 42, and an electromagnetic drive element 43. The transverse plate 41 is slidably mounted on the fixed frame 311 and can move laterally between the locked position and the unlocked position. When the transverse plate 41 is in the locked position, the front end of the transverse plate 41 extends into the underside of the mounting frame 312 or into the locking groove 313 on the mounting frame 312 to prevent the mounting frame 312 from sliding downward. When the transverse plate 41 is in the unlocked position, the front end of the transverse plate 41 exits from the underside of the mounting frame 312 or the locking groove 313 on the mounting frame 312. The elastic element 42 is connected between the fixed frame 311 and the transverse plate 41 and is used to drive the transverse plate 41 to move towards the locked position. The electromagnetic drive element 43 is mounted on the fixed frame 311 or the transverse plate 41 and is used to drive the transverse plate 41 to move towards the unlocked position when energized.

[0059] In the above technical solution, the transverse sliding plate 41 is slidably mounted on the fixed frame 311, and the elastic element 42 drives the transverse sliding plate 41 to be normally in the locked position. The electromagnetic drive element 43 is mounted on the fixed frame 311 or on the transverse sliding plate 41. When the electromagnetic drive element 43 is mounted on the fixed frame 311, its telescopic part is connected to the transverse sliding plate 41. When energized, the telescopic part retracts or extends, driving the transverse sliding plate 41 to move towards the unlocked position. When the electromagnetic drive element 43 is mounted on the transverse sliding plate 41, its telescopic part cooperates with the fixed frame 311. When energized, the telescopic part extends or retracts, driving the transverse sliding plate 41 to move towards the unlocked position through the reaction force.

[0060] Under normal operating conditions, the operator can send an unlock command via remote control. After the electromagnetic drive unit 43 is energized, it drives the transverse plate 41 to move towards the unlock position against the elastic force of the elastic element 42, thus achieving remote unlocking. When unlocking is not required, the electromagnetic drive unit 43 is de-energized, and the transverse plate 41 remains in the locked position under the action of the elastic element 42.

[0061] Because the elastic element drives the transverse plate to be in the locked position under normal conditions, it remains locked when the power is off to prevent accidental release; because it is equipped with an electromagnetic drive, it can be remotely unlocked by a remote control under normal operating conditions without manual intervention, making it easy to operate.

[0062] It should be noted that the electromagnetic drive component 43 can be a conventional electromagnetic actuator such as an electromagnet, a solenoid valve, or a linear motor. Its specific structure and working principle are common knowledge in the field and will not be described in detail here.

[0063] Example 6: Based on Example 3, such as Figure 7 and Figure 8As shown, the locking assembly 4 includes a transverse plate 41, an elastic element 42, an electromagnetic drive element 43, a pull ring 44, and a pull cable 45. The transverse plate 41 is slidably mounted on the fixed frame 311 and can move laterally between a locked position and an unlocked position. When the transverse plate 41 is in the locked position, its front end extends into the underside of the mounting frame 312 or into the locking groove 313 on the mounting frame 312 to prevent the mounting frame 312 from sliding downward. When the transverse plate 41 is in the unlocked position, the front end of the transverse plate 41... The front end exits the locking groove 313 below or on the mounting bracket 312; the elastic element 42 is connected between the fixed bracket 311 and the transverse plate 41, and is used to drive the transverse plate 41 to move to the locked position; the electromagnetic drive element 43 is installed on the fixed bracket 311, and is used to drive the transverse plate 41 to move to the unlocked position; the pull ring 44 is connected to the transverse plate 41 through the pull cable 45, and is used to drive the transverse plate 41 to move to the unlocked position under the pull of external force, and the pull ring 44 is exposed on the outside of the housing 1.

[0064] In the above technical solution, the locking component 4 has both electronic and mechanical unlocking functions. The electromagnetic drive component 43 is mounted on the fixed frame 311 and is used to drive the transverse plate 41 to the unlocking position when energized, achieving remote unlocking. The pull ring 44 is exposed on the outside of the housing 1 and connected to the transverse plate 41 via a pull cable 45, used to move the transverse plate 41 to the unlocking position under external force, achieving mechanical unlocking. The two unlocking methods are independent and redundant.

[0065] Under normal operating conditions, the operator can send an unlock command via remote control. After the electromagnetic drive unit 43 is energized, it drives the transverse plate 41 to move to the unlock position, achieving rapid remote unlocking. When the electronic control system fails (such as power failure, motor failure, or control board damage), the UAV can hook the pull ring 44 and apply a pulling force, which drives the transverse plate 41 to move to the unlock position via the pull cable 45, achieving mechanical unlocking.

[0066] Because it is equipped with both an electromagnetic drive and a pull ring and cable, it can be remotely unlocked by a remote control under normal working conditions. In case of electrical failure, it can be mechanically unlocked by hooking the pull ring with a drone. This forms a dual-redundant safety release mechanism of electrical control and mechanical control, which greatly improves the recyclability and safety of the equipment in high-altitude operations.

[0067] Example 7: Based on Example 1, such as Figure 1 and Figure 9 As shown, the walking drive includes a walking reduction motor 22, a drive sprocket 23, a chain 24, and a driven sprocket 25. There are two walking wheels 26, which are arranged one in front of the other. The drive sprocket 23 is mounted on the output shaft of the walking reduction motor 22. The drive sprocket 23 drives the two driven sprockets 25 to rotate simultaneously through the chain 24. The two driven sprockets 25 drive the two walking wheels 26 to rotate synchronously.

[0068] In the above technical solution, the travel reduction motor 22 is fixedly mounted on the housing 1. The drive sprocket 23 is mounted on the output shaft of the travel reduction motor 22. Two driven sprockets 25 are respectively mounted on the axles of the two travel wheels 26. The chain 24 is wound around both the drive sprocket 23 and the two driven sprockets 25. The two travel wheels 26 are arranged one in front of the other and are rotatably mounted at the front and rear ends of the housing 1, respectively.

[0069] When the walking reduction motor 22 starts, its output shaft drives the drive sprocket 23 to rotate. The drive sprocket 23 simultaneously drives two driven sprockets 25 to rotate synchronously via the chain 24. The two driven sprockets 25 respectively drive two walking wheels 26 to rotate synchronously. The two walking wheels 26 always maintain the same speed and direction, jointly driving the robot to walk along the cable.

[0070] Because it adopts a structure in which a single walking geared motor drives two driven sprockets simultaneously through an active sprocket and a chain, thereby driving the two walking wheels to rotate synchronously, the two walking wheels always maintain synchronous rotation, increasing the contact area with the cable and the total driving force, thus improving the robot's climbing ability and walking stability on steep cables. Compared with a dual-motor drive scheme, this structure only requires one motor to achieve dual drive, reducing cost and control complexity.

[0071] It should be noted that chain 24 can be a single chain driving two driven sprockets simultaneously, or it can be two chains driving two driven sprockets respectively (that is, the driving sprocket is connected to the two driven sprockets through two chains respectively).

[0072] Preferred, such as Figure 1 and Figure 9 As shown, the walking assembly 2 also includes an electromagnetic brake 27, which is mounted on the axle of the walking wheel 26 and is used to prevent the walking wheel 26 from rotating in the braking state.

[0073] In the above technical solution, the electromagnetic brake 27 is installed on the axle of the traveling wheel 26. The electromagnetic brake 27 is a power-off braking type electromagnetic brake, that is, the brake is released when energized and automatically enters the braking state when the power is off. The electromagnetic brake 27 is connected to the axle of the traveling wheel 26 through a transmission connection. When the electromagnetic brake 27 is in the braking state, its braking torque is transmitted to the traveling wheel 26 through the axle, preventing the traveling wheel 26 from rotating.

[0074] When the robot is walking normally, the electromagnetic brake 27 is energized, the brake is released, and the walking wheels 26 can rotate freely. When the robot needs to stop on a steep cable or encounters a power outage, the electromagnetic brake 27 is de-energized, automatically enters the braking state, and locks the walking wheels 26.

[0075] Because electromagnetic brakes are installed on the axles of the walking wheels, when the robot stops on a steep cable or encounters a power outage, the electromagnetic brakes automatically lock the walking wheels to prevent the robot from slipping off the cable, greatly improving the safety of online operations.

[0076] It should be noted that the electromagnetic brake 27 is an existing mature component, and its specific internal structure (such as armature, friction plate, spring, etc.) is common knowledge in the field and will not be described in detail here.

[0077] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A general-purpose high-voltage line walking robot, comprising a frame (1), a walking assembly (2), and a clamping wheel assembly (3), wherein the top of the frame (1) is provided with a hanging plate (11) for easy lifting by a drone, the walking assembly (2) and the clamping wheel assembly (3) are both mounted on the frame (1), the walking assembly (2) includes a walking wheel (26) and a walking drive component for driving the walking wheel (26) to rotate, and the clamping wheel assembly (3) includes a clamping wheel (39), the clamping wheel (39) and the walking wheel (26) cooperate to clamp the cable, characterized in that, The frame (1) has an inverted U-shaped structure. The top clamping wheel assembly (3) includes a lifting and rotating mechanism. The lifting and rotating mechanism is used to drive the top clamping wheel (39) to switch between the avoidance position and the clamping position. When the top clamping wheel (39) is in the avoidance position, the top clamping wheel (39) exits the inverted U-shaped opening area of ​​the frame (1). When the top clamping wheel (39) is in the clamping position, the top clamping wheel (39) and the traveling wheel (26) cooperate to clamp the cable.

2. The universal high-voltage line walking robot according to claim 1, characterized in that, The lifting and rotating mechanism includes a connecting frame (31), a top-tightening reduction motor (32), a limiting sleeve (33), a lead screw (34), and a slider (35). The connecting frame (31) is fixedly connected to the shell frame (1). The top-tightening reduction motor (32) and the limiting sleeve (33) are installed on the connecting frame (31). The lead screw (34) is coaxially connected to the output shaft of the top-tightening reduction motor (32). The lead screw (34) extends vertically and passes through the limiting sleeve (33). The slider (35) is fitted onto the lead screw (34) and threadedly engages with the lead screw (34). The sleeve (33) is provided with a guide groove (331), which includes a spiral section (3311) and a straight section (3312) located above the spiral section (3311). The slider (35) is provided with a mating part (351) that cooperates with the guide groove (331). The top wheel (39) is installed on the slider (35). When the top wheel reduction motor (32) drives the lead screw (34) to rotate, the slider (35) rises and falls and rotates under the constraint of the guide groove (331) to drive the top wheel (39) to switch between the avoidance position and the top position.

3. A universal high-voltage line walking robot according to claim 2, characterized in that, The top clamping wheel (39) is mounted above the slider (35) via a bearing seat (38). A guide shaft (37) and a spring (36) are provided between the bearing seat (38) and the slider (35). One end of the guide shaft (37) is connected to the bearing seat (38), and the other end of the guide shaft (37) passes through the slider (35). The spring (36) is fitted on the guide shaft (37) and abuts against the slider (35) and the bearing seat (38).

4. A universal high-voltage line walking robot according to claim 2, characterized in that, The connecting frame (31) includes a fixed frame (311) and a mounting frame (312). The fixed frame (311) is fixedly connected to the shell frame (1). The mounting frame (312) is slidably connected to the fixed frame (311). The mounting frame (312) has a working position and a failure position below the working position relative to the fixed frame (311). The tightening reduction motor (32) and the limiting sleeve (33) are installed on the fixed frame (311). The lead screw (34) is rotatably connected to the mounting frame (312). When the mounting frame (312) is in the working position, the top of the lead screw (34) The mounting bracket (312) is connected to the output shaft of the top-tightening reduction motor (32). When the mounting bracket (312) is in the failure position, the top of the lead screw (34) is disengaged from the output shaft of the top-tightening reduction motor (32). The fixing bracket (311) is provided with a locking component (4). The locking component (4) is used to lock the mounting bracket (312) in the working position. When the locking component (4) is unlocked, the mounting bracket (312) slides down to the failure position under the action of gravity. The lead screw (34) is disengaged from the output shaft of the top-tightening reduction motor (32). The mounting bracket (312) drives the top-tightening wheel (39) to disengage from the cable.

5. A universal high-voltage line walking robot according to claim 4, characterized in that, The locking assembly (4) includes a transverse plate (41), an elastic element (42), a pull ring (44), and a pull cable (45). The transverse plate (41) is slidably mounted on the fixed frame (311) and can move laterally between the locked position and the unlocked position. When the transverse plate (41) is in the locked position, the front end of the transverse plate (41) extends into the underside of the mounting frame (312) or into the locking groove (313) on the mounting frame (312) to prevent the mounting frame (312) from sliding downward. When the transverse plate (41) is in the unlocked position, the front end of the transverse plate (41) extends into the locking groove (313) on the mounting frame (312) to prevent the mounting frame (312) from sliding downward. The front end of the sliding plate (41) exits below the mounting bracket (312) or the locking groove (313) on the mounting bracket (312); the elastic element (42) is connected between the fixed bracket (311) and the sliding plate (41) to drive the sliding plate (41) to move to the locked position; the pull ring (44) is connected to the sliding plate (41) through the pull cable (45) to drive the sliding plate (41) to move to the unlocked position under the pull of external force, and the pull ring (44) is exposed outside the shell (1).

6. A universal high-voltage line walking robot according to claim 4, characterized in that, The locking assembly (4) includes a transverse plate (41), an elastic element (42), and an electromagnetic drive element (43). The transverse plate (41) is slidably mounted on the fixed frame (311) and can move laterally between the locked position and the unlocked position. When the transverse plate (41) is in the locked position, the front end of the transverse plate (41) extends into the underside of the mounting frame (312) or into the locking groove (313) on the mounting frame (312) to prevent the mounting frame (312) from sliding downward. When in the unlocked position, the front end of the transverse plate (41) exits below the mounting bracket (312) or the locking groove (313) on the mounting bracket (312); the elastic element (42) is connected between the fixed bracket (311) and the transverse plate (41) to drive the transverse plate (41) to move to the locked position; the electromagnetic drive element (43) is installed on the fixed bracket (311) or the transverse plate (41) to drive the transverse plate (41) to move to the unlocked position.

7. A universal high-voltage line walking robot according to claim 4, characterized in that, The locking assembly (4) includes a transverse plate (41), an elastic element (42), an electromagnetic drive element (43), a pull ring (44), and a pull cable (45). The transverse plate (41) is slidably mounted on the fixed frame (311) and can move laterally between the locked position and the unlocked position. When the transverse plate (41) is in the locked position, the front end of the transverse plate (41) extends into the underside of the mounting frame (312) or into the locking groove (313) on the mounting frame (312) to prevent the mounting frame (312) from sliding downward. When the transverse plate (41) is in the unlocked position, the front end of the transverse plate (41) exits from the mounting frame (312). The locking groove (313) is located below or on the mounting bracket (312); the elastic element (42) is connected between the fixed bracket (311) and the transverse plate (41) to drive the transverse plate (41) to move to the locked position; the electromagnetic drive element (43) is installed on the fixed bracket (311) to drive the transverse plate (41) to move to the unlocked position; the pull ring (44) is connected to the transverse plate (41) through the pull cable (45) to drive the transverse plate (41) to move to the unlocked position under external force, and the pull ring (44) is exposed outside the shell (1).

8. A universal high-voltage line walking robot according to claim 1, characterized in that, The walking drive component includes a walking reduction motor (22), a drive sprocket (23), a chain (24), and a driven sprocket (25). There are two walking wheels (26), which are arranged one in front of the other. The drive sprocket (23) is mounted on the output shaft of the walking reduction motor (22). The drive sprocket (23) drives the two driven sprockets (25) to rotate simultaneously through the chain (24). The two driven sprockets (25) drive the two walking wheels (26) to rotate synchronously.

9. A universal high-voltage line walking robot according to claim 8, characterized in that, The walking assembly (2) also includes an electromagnetic brake (27), which is mounted on the axle of the walking wheel (26) and is used to prevent the walking wheel (26) from rotating in the braking state.

10. A universal high-voltage line walking robot according to claim 1, characterized in that, The frame (1) is provided with a mounting flange (13), which is used to connect the functional module.

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