Six-arm type inspection robot capable of achieving single-line and double-line switching inspection

Abstract

The utility model discloses a six-arm type inspection robot capable of realizing single-line and double-line switching inspection, which comprises a robot body, and three primary line changing wheel discs are sequentially arranged on the robot body from front to back at intervals; two front movement mechanisms capable of independently rotating are arranged on the first-stage wire changing wheel disc at the front end; two self-power-taking mechanisms capable of independently rotating are arranged on the middle first-stage wire changing wheel disc; two rear movement mechanisms capable of independently rotating are arranged on the first-stage wire changing wheel disc at the rear end; the front movement mechanism, the self-power-taking mechanism and the rear movement mechanism are all connected to the overhead line in a suspended mode, and the front movement mechanism, the self-power-taking mechanism and the rear movement mechanism which are horizontally arranged on the same side are connected to the same overhead line in a suspended mode and can rotate synchronously when the overhead line is switched. According to the utility model, on-line real-time switching can be carried out, line obstacle crossing inspection of a single line and a part of split conductors can be completed, and the requirement of an inspection robot on the number of specific lines can be reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of power transmission line inspection robots, and in particular relates to a six-arm inspection robot capable of realizing single-line and double-line switching inspections. Background Art

[0002] At present, the main method of long-distance power transmission and distribution in the world is to use high-voltage overhead power lines, which makes the power lines and tower accessories exposed in the wild for a long time, and are susceptible to continuous mechanical tension, electrical flashover, material aging, and damage such as broken strands, wear, and corrosion. If not repaired and replaced in time, the original minor damage and defects may expand, eventually leading to serious accidents and huge economic losses. Therefore, it is necessary to patrol the transmission lines to detect damage and defects in time, so as to repair and replace them in time.

[0003] Traditional transmission line inspection methods mainly use visual inspection and aerial survey methods. However, these two methods have low safety factors, low efficiency, high costs, and the inspection results are greatly affected under harsh environmental conditions. Therefore, the existing transmission line inspection method uses intelligent robot technology to replace traditional inspections to improve work efficiency and quality, bringing considerable economic and social benefits.

[0004] The existing inspection robots mainly have the following three structures: staggered arm type, parallel double-arm type and parallel three-arm type. The staggered arm type is usually a double pendulum, and the rotating joint needs to provide large torque during operation. It has poor stability and low efficiency when crossing obstacles. The parallel double-arm type is relatively stable and simple to control. It is more suitable for crossing typical obstacles such as shock-absorbing hammers, but its stability is still poor when crossing obstacles in more complex environments. The parallel three-arm structure has a larger interval between the mechanical arms and can cross some larger obstacles, but the mechanical structure and operation are complex, and it still needs to carry a counterweight box to maintain stability.

[0005] In addition, the existing three types of inspection robots are mainly based on single-line single-phase line types, and are designed around obstacle-crossing mechanical mechanisms, working power supplies, navigation and positioning technology, communication technology, and line flaw detection technology. The types of lines patrolled are relatively simple, and the environmental range of inspection and detection is small. The range of subsequent expansion functions such as clearing obstacles and deicing is also small, requiring single-line single-phase round trips to complete, and the efficiency needs to be improved. Utility Model Content

[0006] The technical problem to be solved by the utility model is to provide a six-arm inspection robot that can realize single-line and double-line switching inspection in response to the deficiencies in the above-mentioned prior art, and can perform real-time online switching to complete obstacle inspection of lines with single lines and partially split conductors, thereby reducing the inspection robot's requirements for the number of specific lines and improving the real-time energy replenishment efficiency and endurance.

[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0008] A six-arm inspection robot capable of implementing single-line and double-line switching inspections comprises a robot body, on which three primary line-changing wheels having the same structure and being capable of synchronously rotating under the control of a robot control unit are sequentially arranged from front to back;

[0009] Among them, the front-end first-level line-changing wheel disc is symmetrically provided with two front motion mechanisms that can rotate independently under the control of the robot control unit; the middle first-level line-changing wheel disc is symmetrically provided with two self-power-taking mechanisms that can rotate independently under the control of the robot control unit; the rear-end first-level line-changing wheel disc is symmetrically provided with two rear motion mechanisms that can rotate independently under the control of the robot control unit;

[0010] The front motion mechanism, self-power supply mechanism and rear motion mechanism are all suspended and connected on the overhead line, wherein the front motion mechanism, self-power supply mechanism and rear motion mechanism arranged horizontally on the same side are suspended and connected on the same overhead line, and can rotate synchronously when switching the overhead line.

[0011] Preferably, a primary variable line wheel rotation drive structure is provided in the robot body, which includes a wheel variable line motor connected to the robot control unit, a turntable power synchronous pulley connected to the output end of the wheel variable line motor, and a first wheel driven synchronous pulley and a second wheel driven synchronous pulley that are meshed and driven by a transmission synchronous belt and the turntable power synchronous pulley;

[0012] The first-level line-changing wheel at the front end is connected to the turntable power synchronous belt pulley, the middle first-level line-changing wheel is connected to the first wheel driven synchronous belt pulley, and the first-level line-changing wheel at the rear end is connected to the second wheel driven synchronous belt pulley.

[0013] Preferably, the robot body is provided with two front motion mechanism rotation drive units, two self-power-collecting mechanism rotation drive units and two rear motion mechanism rotation drive units respectively;

[0014] Among them, each of the front motion mechanism rotation drive unit, the self-power mechanism rotation drive unit and the rear motion mechanism rotation drive unit includes a secondary wheel rotation motor connected to the robot control unit.

[0015] Preferably, the front motion mechanism and the rear motion mechanism have the same structure, both comprising a mechanical arm rotating wheel connected to the output end of the secondary wheel rotating motor, and a mechanical arm arranged on the mechanical arm rotating wheel;

[0016] The mechanical arm is provided with a gripper drive motor connected to the robot control unit, a gripper power gear connected to the output end of the gripper drive motor, a right gripper driven gear meshing with the gripper power gear, and a left gripper driven gear meshing with the right gripper driven gear;

[0017] The right gripper of the mechanical arm is connected to the right gripper driven gear, on which an upper driving wheel is connected; the left gripper is connected to the left gripper driven gear, on which a lower driving wheel is connected;

[0018] Preferably, the upper drive wheel and the lower drive wheel are both provided with grooves for clamping the overhead wire; when the upper drive wheel and the lower drive wheel are in a closed state, the upper drive wheel and the lower drive wheel overlap each other to clamp the overhead wire.

[0019] Preferably, a forward drive motor connected to the robot control unit is provided in the right jaw and the left jaw of the robotic arm, and the upper drive wheel on the right jaw and the lower drive wheel on the left jaw are respectively connected to the output end of the forward drive motor.

[0020] Preferably, the self-power supply mechanism includes a self-power supply rotating wheel connected to the output end of the secondary wheel rotating motor, a self-power supply support rod arranged on the self-power supply rotating wheel, and a self-power supply clamp arranged on the top of the self-power supply support rod that can open and close and is used to connect to the overhead line.

[0021] Preferably, the robot body is provided with an AC / DC rectifier module and a battery connected thereto; the self-collecting power clamp is electrically connected to the AC / DC rectifier module, converts the magnetic field of the overhead line into electrical energy through the AC / DC rectifier module, and stores the electrical energy in the battery;

[0022] The storage battery is electrically connected to the robot control unit, the wheel line changing motor, the secondary wheel rotation motor, the gripper drive motor and the forward drive motor respectively.

[0023] Preferably, the front end of the robot body is equipped with a USB front camera connected to the robot control unit.

[0024] Preferably, the robot control unit includes a microprocessor. Compared with the prior art, the utility model has the following advantages:

[0025] 1. The utility model provides a six-arm inspection robot capable of switching between single and double lines for inspection. A plurality of first-level line-changing wheels are arranged on the robot body, and a front motion mechanism, a self-power mechanism and a rear motion mechanism are arranged on the plurality of first-level line-changing wheels, thereby forming a six-arm inspection robot arranged in a rectangular shape. When performing inspection operations, upon receiving a line-changing request, the microprocessor can control the first-level line-changing wheel, and the coordination of the asynchronous rotation angles of the mechanical arm rotating wheel and the self-power rotating wheel, so as to switch the mechanical arms suspended on the double lines to the same overhead line at the same time, and continue to roll forward steadily after maintaining a balanced posture, thereby realizing the real-time switching of the line inspection robot from double lines to single lines, reducing the robot's requirements on the number of lines to be inspected, and improving adaptability.

[0026] 2. The utility model provides a six-arm inspection robot that can realize single-line and double-line switching inspections. The driving structure for rotating the first-level line-changing wheel adopts a gear tooth shape that meshes and couples with the convex teeth of the belt. The meshing belt drive structure is simple, low in cost, and has strong subsequent function-carrying capabilities. It is particularly suitable for customized occasions guided by special line inspection needs.

[0027] 3. The utility model provides a six-arm inspection robot that can realize single-line and double-line switching inspection. By setting a self-power supply mechanism, the self-power supply clamp is connected to the overhead line, so that the self-power supply clamp forms a closed coil to convert the magnetic field of the high-voltage line into electrical energy, and wireless power supply and energy storage are performed, and the mechanical arms of the front motion mechanism and the rear motion mechanism can be assisted to overcome obstacles and balance; by setting the front motion mechanism, the middle self-power supply mechanism and the rear motion mechanism, the six arms of the inspection robot can be multifunctional, which can greatly reduce the counterweight of the inspection robot and keep the inspection robot in a better balanced posture.

[0028] 4. The utility model provides a six-arm inspection robot that can realize single-line and double-line switching inspections. By arranging lower and upper drive wheels on the left and right clamps of the robot arm and arranging grooves on the drive wheels, the lower and upper drive wheels can clamp the overhead lines, thereby greatly improving the climbing ability of the inspection robot and maintaining a relatively stable forward speed.

[0029] The technical solution of the utility model is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0031] Figure 2 The figure is a schematic diagram of the coupled synchronous transmission of the primary line-changing wheel of the utility model.

[0032] Figure 3 It is a structural schematic diagram of the opening and closing transmission of the mechanical arm of the utility model;

[0033] Figure 4 It is a structural schematic diagram of the utility model when switching to a single-line mode.

[0034] Description of reference numerals:

[0035] 1—Robot body; 2—First-level line-changing wheel; 3—Turntable power synchronous pulley; 4—First wheel driven synchronous pulley; 5—Transmission synchronous belt; 6—Second wheel driven synchronous pulley;

[0036] 7—Rotary wheel of mechanical arm; 8—Mechanical arm; 9—Gripper power gear;

[0037] 10—right clamp driven gear; 11—lower drive wheel; 12—upper drive wheel;

[0038] 13—left clamp driven gear; 14—self-powered rotating wheel; 15—self-powered support rod;

[0039] 16—Self-removal electric clamp. DETAILED DESCRIPTION

[0040] like Figure 1-Figure 2 As shown, the utility model is a six-arm inspection robot capable of realizing single-line and double-line switching inspection, comprising a robot body 1, in which a first-level line-changing wheel disc rotation drive structure is provided, and the first-level line-changing wheel disc rotation drive structure comprises a wheel disc line-changing motor connected to the robot control unit, a turntable power synchronous pulley 3 connected to the output end of the wheel disc line-changing motor, and a first wheel disc driven synchronous pulley 4 and a second wheel disc driven synchronous pulley 6 which are meshed and driven with the turntable power synchronous pulley 3 through a transmission synchronous belt 5; it should be noted that the robot control unit of the present application adopts a microprocessor.

[0041] Three first-level line-changing wheels 2 with the same structure and capable of synchronous rotation under the control of a microprocessor are arranged in sequence from front to back on the robot body 1. The first-level line-changing wheel 2 at the front end is meshed with the turntable power synchronous belt wheel 3 for transmission, the first-level line-changing wheel 2 at the middle is meshed with the first wheel driven synchronous belt wheel 4 for transmission, and the first-level line-changing wheel 2 at the rear end is meshed with the second wheel driven synchronous belt wheel 6 for transmission.

[0042] like Figure 2 The figure shows a schematic diagram of the coupled synchronous transmission of the first-level line-changing wheel 2 of the present application. The turntable power synchronous pulley 3 is controlled by the wheel line-changing motor, and the tooth shape is engaged with the convex teeth of the belt 5 to transmit power to the first wheel driven synchronous pulley 4 and the second wheel driven synchronous pulley 6. Therefore, when executing the line-changing instruction, the three first-level line-changing wheels 2 can be rotated synchronously to the specified angle to maintain the balance of the carrier, so that the rotation of the starting mechanical arm rotating wheel 7 and the self-powered rotating wheel 14 is feasible.

[0043] In addition, two front motion mechanism rotation drive units, two self-power mechanism rotation drive units and two rear motion mechanism rotation drive units are respectively provided in the robot body 1; wherein each of the front motion mechanism rotation drive unit, the self-power mechanism rotation drive unit and the rear motion mechanism rotation drive unit includes a secondary wheel rotation motor connected to a microprocessor.

[0044] join Figure 1 As shown, the first-level line-changing wheel 2 located at the front end of the robot body 1 is symmetrically provided with two front motion mechanisms that can rotate independently under the control of the secondary wheel rotating motor; the first-level line-changing wheel 2 located in the middle of the robot body 1 is symmetrically provided with two self-power-taking mechanisms that can rotate independently under the control of the secondary wheel rotating motor; the first-level line-changing wheel 2 located at the rear end of the robot body 1 is symmetrically provided with two rear motion mechanisms that can rotate independently under the control of the secondary wheel rotating motor.

[0045] When the inspection robot of the present application performs overhead line inspection operations, the front motion mechanism, self-power supply mechanism and rear motion mechanism are all suspended and connected on the overhead line, wherein the front motion mechanism, self-power supply mechanism and rear motion mechanism horizontally arranged on the same side are suspended and connected on the same overhead line. If the line needs to be changed for inspection operations, the front motion mechanism, self-power supply mechanism and rear motion mechanism horizontally arranged on the same side can rotate synchronously under the control of a microprocessor.

[0046] It should be noted that see Figure 1 As shown, the structures of the front motion mechanism and the rear motion mechanism of the present application are exactly the same, both of which include a robotic arm rotating wheel 7 connected to the output end of the secondary wheel rotating motor, and a robotic arm 8 arranged on the robotic arm rotating wheel 7.

[0047] For details, see Figure 3As shown, it is a schematic diagram of the transmission structure of the present application driving the left and right jaws of the mechanical arm 8 to open and close. The present application is provided with a jaw drive motor connected to a microprocessor in the mechanical arm 8, the jaw power gear 9 is connected to the output end of the jaw drive motor, and the right jaw driven gear 10 is meshed and connected with the jaw power gear 9, and the left jaw driven gear 13 is meshed and connected with the right jaw driven gear 10. The right jaw of the mechanical arm 8 is meshed and connected with the right jaw driven gear 10, and the left jaw is meshed and connected with the left jaw driven gear 13. During operation, the jaw power gear 9 transmits power to the upper right jaw driven gear 10 through the meshing relationship of the gears, and the right jaw driven gear 10 transmits power synchronously to the left jaw driven gear 13, so that the left and right jaws of the mechanical arm 8 can be opened and closed. It should be noted that in order to ensure the synchronization of the opening and closing movements of the left and right jaws of the robotic arm 8, the specifications of the right jaw driven gear 10 and the left jaw driven gear 13 must be exactly the same. When selecting gears, the number of teeth of the right jaw driven gear 10 and the left jaw driven gear 13 can be greater than the number of teeth of the jaw power gear 9, thereby reducing the opening and closing speed of the driven wheel and maintaining appropriate torque.

[0048] Furthermore, an upper drive wheel 12 is connected to the right clamp of the mechanical arm 8, and a lower drive wheel 11 is connected to the left clamp. In addition, the present application provides a forward drive motor connected to a microprocessor in both the right and left clamps of the mechanical arm 8, and the upper drive wheel 12 on the right clamp and the lower drive wheel 11 on the left clamp are respectively connected to the output end of the forward drive motor.

[0049] Specifically, in order to maintain a large friction force so that the line inspection robot can be suspended on the overhead line and roll forward, grooves for clamping the overhead line are provided on the upper drive wheel 12 and the lower drive wheel 11; when the left and right clamps of the mechanical arm 8 are in a closed state, the upper drive wheel 12 and the lower drive wheel 11 are in a closed state. At this time, the upper drive wheel 12 and the lower drive wheel 11 are overlapped up and down, and the left and right drive wheels are centrally symmetrical with respect to the overhead line being patrolled as a reference. The grooves on the upper drive wheel 12 and the lower drive wheel 11 clamp the overhead line, thereby greatly improving the climbing ability of the inspection robot and maintaining a relatively stable speed of advancement.

[0050] See also Figure 1 As shown, the self-power supply mechanism of the present application includes a self-power supply rotating wheel 14 connected to the output end of the secondary wheel rotating motor, a self-power supply support rod 15 arranged on the self-power supply rotating wheel 14, and a self-power supply clamp 16 arranged on the top of the self-power supply support rod 15 and capable of opening and closing and used to connect to the overhead line.

[0051] It should be noted that the structure of the self-powered rotating wheel 14 and the mechanical arm rotating wheel 7 in the present application are exactly the same. Both are secondary line-changing wheels. Each secondary line-changing wheel can rotate independently. When performing inspection and line-changing actions, the three secondary line-changing wheels arranged horizontally on the same side can also rotate synchronously under the control of the microprocessor.

[0052] It should also be noted that the self-service electricity clamp 16 of the present application is also divided into a right structure and a left structure. When the right structure and the left structure are closed, a frame-shaped structure is formed; and a self-service electricity clamp drive motor connected to the microprocessor, a self-service electricity clamp power gear, a right structure driven gear and a left structure driven gear are also provided in the self-service electricity support rod 15. The specific connection method is to connect the jaw power gear 9 to the output end of the jaw drive motor, and mesh the right jaw driven gear 10 with the jaw power gear 9, and mesh the left jaw driven gear 13 with the right jaw driven gear 10. The right structure of the self-service electricity clamp 16 is meshed and connected with the right structure driven gear, and the left structure is connected with the left structure driven gear. The way of controlling the opening and closing of the right and left structures of the self-service electricity clamp 16 is the same as the way the mechanical arm 8 controls the opening and closing of the left and right jaws, so it will not be repeated here.

[0053] The present application also provides an AC / DC rectifier module and a battery connected thereto in the robot body 1; the self-collecting power clamp 16 is electrically connected to the AC / DC rectifier module, converts the magnetic field of the overhead line into electrical energy through the AC / DC rectifier module, and stores the electrical energy in the battery. The electrical energy converted by the magnetic field of the overhead line is stored in the battery, and the battery is electrically connected to the microprocessor wheel line changing motor, the secondary wheel rotation motor, the clamp drive motor and the forward drive motor, respectively, to provide electrical energy for the normal operation of the inspection robot.

[0054] Preferably, the present application adopts a self-collecting power clamp 16 to connect with the overhead line, so that the self-collecting power clamp 16 forms a closed coil to convert the magnetic field of the high-voltage line into electrical energy, and performs wireless power collection and energy storage. It can not only provide power for the inspection robot, but also assist the mechanical arms of the front motion mechanism and the rear motion mechanism to overcome obstacles and balance.

[0055] Furthermore, a USB front camera connected to a microprocessor is also installed at the front end of the robot body 1, and the status of the inspected overhead line can be collected through the USB front camera.

[0056] The working process of the utility model is as follows: when the microprocessor receives an instruction to switch from double-line to single-line, the microprocessor controls the front mechanical arm 8, the self-collecting electric clamp 16 and the rear mechanical arm 8 arranged horizontally on the same side to clamp the target overhead line in the double overhead lines, and controls the front mechanical arm 8, the self-collecting electric clamp 16 and the rear mechanical arm 8 arranged horizontally on the other side to be in an open state, so that the front mechanical arm 8, the self-collecting electric clamp 16 and the rear mechanical arm 8 are separated from the overhead line; then, the microprocessor controls the three primary line-changing wheels 2 to use the front mechanical arm 8, the self-collecting electric clamp 16 and the rear mechanical arm 8 that clamp the target overhead line as the axis, and drives the primary wheel to rotate 90 degrees clockwise. At this time, the front mechanical arm 8, the self-collecting electric clamp 16 and the rear mechanical arm 8 that clamp the target overhead line The clamping plane is perpendicular to the clamping planes of the front robot arm 8, the self-service clamp 16 and the rear robot arm 8 in the open state. Then the microprocessor controls the front robot arm 8, the self-service clamp 16 and the rear robot arm 8 in the open state to rotate 90 degrees counterclockwise independently. At this time, all the front robot arms 8, the self-service clamp 16 and the rear robot arm 8 are arranged vertically and horizontally and the clamping jaws are in the same direction. At this time, the microprocessor controls the three primary line-changing wheels 2 to rotate 90 degrees clockwise or counterclockwise at the same time to keep the center of gravity of the robot body 1 in the center and keep it balanced. Then the front robot arm 8, the self-service clamp 16 and the rear robot arm 8 in the open state are controlled to close, and they are embedded and clamped with the target overhead line to complete the switching from the double-line detection state to the single-line detection state. See Figure 4 As shown, this is a structural diagram of the application switching to single-line inspection; after the switching is completed, the inspection robot maintains a balanced posture and continues to roll forward smoothly, realizing the real-time switching of the line inspection robot from double lines to single lines, reducing the robot's requirements for the number of lines to be inspected and improving adaptability.

[0057] The above description is only a preferred embodiment of the present invention and does not constitute any limitation to the present invention. Any simple modification, change and equivalent structural change made to the above embodiment according to the technical essence of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A six-arm inspection robot capable of switching between single and double line inspections, characterized in that: The robot body (1) comprises three first-level line-changing wheels (2) having the same structure and capable of synchronously rotating under the control of a robot control unit. The front first-stage line-changing wheel disc (2) is symmetrically provided with two front motion mechanisms that can rotate independently under the control of the robot control unit; the middle first-stage line-changing wheel disc (2) is symmetrically provided with two self-power-taking mechanisms that can rotate independently under the control of the robot control unit; the rear first-stage line-changing wheel disc (2) is symmetrically provided with two rear motion mechanisms that can rotate independently under the control of the robot control unit; The front motion mechanism, self-power supply mechanism and rear motion mechanism are all suspended and connected on the overhead line, wherein the front motion mechanism, self-power supply mechanism and rear motion mechanism arranged horizontally on the same side are suspended and connected on the same overhead line, and can rotate synchronously when switching the overhead line.

2. A six-arm inspection robot capable of implementing single-line and double-line switching inspection according to claim 1, characterized in that: The robot body (1) is provided with a primary variable line wheel rotation drive structure, which comprises a wheel variable line motor connected to the robot control unit, a turntable power synchronous belt pulley (3) connected to the output end of the wheel variable line motor, and a first wheel driven synchronous belt pulley (4) and a second wheel driven synchronous belt pulley (6) which are meshed and driven with the turntable power synchronous belt pulley (3) through a transmission synchronous belt (5); The first-level line-changing wheel disc (2) at the front end is connected to the turntable power synchronous belt pulley (3), the first-level line-changing wheel disc (2) in the middle is connected to the first wheel driven synchronous belt pulley (4), and the first-level line-changing wheel disc (2) at the rear end is connected to the second wheel driven synchronous belt pulley (6).

3. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 1, characterized in that: The robot body (1) is provided with two front motion mechanism rotation drive units, two self-power-collecting mechanism rotation drive units and two rear motion mechanism rotation drive units respectively; Among them, each of the front motion mechanism rotation drive unit, the self-power mechanism rotation drive unit and the rear motion mechanism rotation drive unit includes a secondary wheel rotation motor connected to the robot control unit.

4. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 3, characterized in that: The front motion mechanism and the rear motion mechanism have the same structure, and both include a mechanical arm rotating wheel disc (7) connected to the output end of the secondary wheel disc rotating motor, and a mechanical arm (8) arranged on the mechanical arm rotating wheel disc (7); The mechanical arm (8) is provided with a gripper driving motor connected to the robot control unit, a gripper power gear (9) connected to the output end of the gripper driving motor, a right gripper driven gear (10) meshing with the gripper power gear (9) for transmission, and a left gripper driven gear (13) meshing with the right gripper driven gear (10) for transmission; The right clamping jaw of the mechanical arm (8) is connected to a right clamping jaw driven gear (10), on which an upper driving wheel (12) is connected; the left clamping jaw is connected to a left clamping jaw driven gear (13), on which a lower driving wheel (11) is connected.

5. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 4, characterized in that: The upper drive wheel (12) and the lower drive wheel (11) are both provided with grooves for clamping the overhead wire; when the upper drive wheel (12) and the lower drive wheel (11) are in a closed state, the upper drive wheel (12) and the lower drive wheel (11) overlap each other to clamp the overhead wire.

6. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 4, characterized in that: A forward drive motor connected to a robot control unit is provided in the right and left clamping jaws of the mechanical arm (8), and an upper drive wheel (12) on the right clamping jaw and a lower drive wheel (11) on the left clamping jaw are respectively connected to output ends of the forward drive motor.

7. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 6, characterized in that: The self-power supply mechanism comprises a self-power supply rotating wheel (14) connected to the output end of the secondary wheel rotating motor, a self-power supply support rod (15) arranged on the self-power supply rotating wheel (14), and a self-power supply clamp (16) arranged on the top of the self-power supply support rod (15) and capable of opening and closing and used for connecting with the overhead line.

8. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 7, characterized in that: The robot body (1) is provided with an AC / DC rectifier module and a storage battery connected thereto; the self-collecting power clamp (16) is electrically connected to the AC / DC rectifier module, converts the magnetic field of the overhead line into electrical energy through the AC / DC rectifier module, and stores the electrical energy in the storage battery; The storage battery is electrically connected to the robot control unit, the wheel line changing motor, the secondary wheel rotation motor, the gripper drive motor and the forward drive motor respectively.

9. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 1, characterized in that: The front end of the robot body (1) is equipped with a USB front camera connected to the robot control unit.

10. A six-arm inspection robot capable of implementing single-line and double-line switching inspections according to claim 9, characterized in that: The robot control unit comprises a microprocessor.

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