Obstacle crossing structure of tower climbing hot-line work robot

Abstract

The utility model provides a tower-climbing hot-line work robot obstacle crossing structure which comprises at least two moving assemblies used for walking on a single high-voltage line, the top of one moving assembly is fixedly provided with a connecting assembly, and the top of the connecting assembly is provided with a lifting assembly used for lifting the moving assembly. The moving assembly comprises a first connecting ring and a second connecting ring with openings opposite to each other, and a plurality of walking assemblies arranged on the inner walls of the first connecting ring and the second connecting ring, and the top of the first connecting ring and the top of the second connecting ring are rotatably connected to the lower portion of the connecting assembly; and the rotating axes of the first connecting ring and the second connecting ring are parallel to the high-voltage line. The utility model provides an obstacle crossing structure of a tower-climbing hot-line work robot, which can be applied to inspection of a single high-voltage line and can realize single-line crossing when encountering a shockproof hammer.

Description

Technical Field

[0001] The utility model relates to the technical field of high-voltage line operation robots, and more specifically, to an obstacle crossing structure of a tower-climbing live-line operation robot. Background Art

[0002] The poles of high-voltage overhead lines are high and the span is large. When the conductors are affected by wind, they will vibrate. When the conductors vibrate, the working conditions at the conductor suspension point are most unfavorable. At this time, we will hang a shock-proof hammer on the high-voltage wires. The shock-proof hammer is designed to reduce the vibration of the conductors caused by wind. Therefore, during the maintenance process, the robot will need to cross the shock-proof hammer, but if the robot is not protected by safety measures when crossing obstacles, it may roll over and fall, causing danger.

[0003] Existing live-line working robots include two-wheeled single-line traveling robots. Such robots have great restrictions on use and must move between two wires, but cannot perform single-line crossing travel, which leads to great limitations in the use of the device. Therefore, in order to solve the above problems, a tower-climbing live-line working robot obstacle crossing structure is proposed, which can achieve single-line crossing. Utility Model Content

[0004] The utility model provides an obstacle crossing structure for a tower-climbing live-line working robot in order to overcome the problem that the existing two-wheel single-line driving robot is difficult to achieve high-altitude single-line crossing.

[0005] In order to solve the above technical problems, the technical solution of the utility model is as follows:

[0006] An obstacle-crossing structure for a tower-climbing live-line working robot.

[0007] It comprises at least two moving components for walking on a single high-voltage line, a connecting component is fixedly arranged on the top of one of the moving components, and a lifting component for lifting the moving component is arranged on the top of the connecting component, wherein:

[0008] The moving component includes a first connecting ring and a second connecting ring with two openings arranged opposite to each other, and a plurality of walking components arranged on the inner walls of the first connecting ring and the second connecting ring. The tops of the first connecting ring and the second connecting ring can be rotatably connected to the bottom of the connecting component, and the rotation axes of the first connecting ring and the second connecting ring are parallel to the high-voltage line.

[0009] Preferably, two moving components are provided.

[0010] In the above embodiment, the device as a whole moves on the high-voltage line through two moving components. The outer shell of the moving component is roughly a hollow tubular structure, and a plurality of walking components are evenly installed on the inner wall of the hollow tubular structure. The hollow tubular structure is formed by a first connecting ring and a second connecting ring that are relatively arranged with two openings, and the tops of the first connecting ring and the second connecting ring can be rotatably installed to the connecting component. The two moving components are relatively independent. For example, when moving on the high-voltage line, if a shock-absorbing hammer is encountered, the first connecting ring and the second connecting ring can be opened first, and then the moving component on the side close to the shock-absorbing hammer can be lifted up by the lifting component to separate it from the high-voltage line, and the moving component at the rear continues to move. When the front moving component crosses the high-voltage line, the moving component is lowered and reset, and then the lifting component is used to lift the moving component at the rear end, and it continues to move through the moving component that has passed through the front end until the moving component at the rear end crosses the shock-absorbing hammer on the high-voltage line to achieve single-line crossing.

[0011] Preferably, the travel assembly comprises a mounting frame, a drive assembly and travel wheels, wherein:

[0012] One end of the mounting frame is fixedly connected to the inner wall of the first connecting ring or the second connecting ring, and the other end of the mounting frame is rotatably installed along the arrangement direction of the high-voltage line with a plurality of running wheels that fit the high-voltage line; the mounting frame is also provided with a driving component for driving the running wheels to move along the high-voltage line.

[0013] Preferably, the driving assembly is arranged on an outer side wall of the installation frame, and the driving assembly includes a motor support, a first motor, a driving wheel, a crawler, a first connecting shaft and a driven gear, wherein:

[0014] The two driving wheels are rotatably mounted on an outer side wall of the mounting frame via a rotating shaft, and tracks are sleeved on the two driving wheels. The tracks and the two driving wheels form a transmission pair, and a first motor is fixed to the top of the rotating shaft of one driving wheel. The first motor is fixed to the mounting frame via a motor support, and a rack structure is provided on the outer side wall of the track;

[0015] The walking wheel is rotatably mounted on the mounting frame via a first connecting shaft, and the end of the first connecting shaft forms a gear transmission pair with a rack structure on the outer side of the crawler belt via a driven gear.

[0016] Preferably, a circle of the traveling wheel is sleeved with a rubber ring.

[0017] Preferably, one of the moving components is provided with two groups of first connecting rings and second connecting rings along the arrangement direction of the high-voltage lines, and the tops of the two groups of the first connecting rings and the second connecting rings are fixedly connected as a whole by one of the connecting components.

[0018] Preferably, the connecting assembly includes a connecting cross plate, a connecting frame, a second connecting shaft and a second motor, wherein:

[0019] Two connecting frames are fixedly connected to the two ends of the bottom of the connecting cross plate. The connecting frames are "U"-shaped and open at the bottom. Two second connecting shafts are arranged side by side horizontally along the direction of the high-voltage line inside one of the connecting frames. The two second connecting shafts are fixedly connected to the tops of the first connecting ring and the second connecting ring respectively. A second motor that drives the second connecting shaft to rotate is fixed on the connecting frame.

[0020] Preferably, the lifting assembly comprises a connecting frame and at least two cylinders, wherein:

[0021] The output end of one of the cylinders is fixedly connected to the top of a connecting horizontal plate, and the tops of a plurality of the cylinders are fixed to the bottom of a connecting frame.

[0022] Preferably, the connecting transverse plate is also provided with a power supply and a processing module which are interconnected in telecommunication mode, and the processing module is a single chip microcomputer, and the processing module is used to drive the first motor, the cylinder and the second motor.

[0023] Preferably, it also includes a camera, which is located on the top of the connecting horizontal plate at the front end of the device's moving direction, and the camera is arranged to face the device's moving direction, and the camera is telecommunication-connected to the processing module.

[0024] Preferably, the processing module also includes a wireless receiving and transmitting module for receiving remote control signals and transmitting the camera transmission signals.

[0025] Compared with the prior art, the beneficial effects of the technical solution of the utility model are:

[0026] The utility model provides an obstacle crossing structure for a tower-climbing live-working robot, so that when the robot encounters obstacles such as shock-absorbing hammers during its movement, there is no need to lay wires to cross over, that is, there is no need to move back and forth on two high-voltage lines, and the obstacle crossing work can be achieved on a single line. Compared with the existing working robots that need to move back and forth on the high-voltage lines, the working robot in the present application does not need to cross back and forth on the high-voltage lines, which improves the inspection efficiency. At the same time, in scenarios where the lateral span of some high-voltage lines is large, the working robot in the present application can perform one-way crossing, and the application scenario of high-voltage line climbing is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model when in use;

[0028] Figure 2 It is a three-dimensional structural schematic diagram of the utility model;

[0029] Figure 3 This is a schematic diagram of the disassembly structure of the mobile component of the utility model;

[0030] Figure 4 This is a schematic diagram of the assembly structure of the installation frame of the utility model;

[0031] Figure 5 It is a schematic diagram of the structure of the travel wheel assembly of the utility model;

[0032] Figure 6 For this utility model Figure 5 Schematic diagram of the enlarged structure at point A in the middle.

[0033] In the figure: 1. Moving component; 11. First connecting ring; 12. Second connecting ring; 13. Walking component; 131. Mounting frame; 132. Driving component; 1321. Motor support; 1322. First motor; 1323. Driving wheel; 1324. Track; 1325. First connecting shaft; 1326. Driven gear; 133. Walking wheel; 134. Rubber ring; 2. Lifting component; 21. Connecting frame; 22. Cylinder; 3. Connecting component; 31. Connecting cross plate; 32. Connecting frame; 33. Second connecting shaft; 34. Second motor; 4. Power supply; 5. Camera; 6. Processing module. DETAILED DESCRIPTION

[0034] The drawings are only used for illustrative purposes and should not be construed as limitations on this patent. In order to better illustrate this embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0035] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0037] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," and the like may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It should be understood that, in addition to the orientations shown in the figures, spatially relative terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0038] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0039] The technical solution of the utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0040] Example 1

[0041] See also Figure 1-6 A tower-climbing live-working robot obstacle crossing structure includes at least two moving components 1 for walking on a single high-voltage line, a connecting component 3 is fixedly arranged on the top of one moving component 1, and a lifting component 2 for lifting the moving component 1 is arranged on the top of the connecting component 3.

[0042] More specifically, the moving component 1 includes a first connecting ring 11 and a second connecting ring 12 with two openings arranged opposite to each other, and a plurality of walking components 13 arranged on the inner walls of the first connecting ring 11 and the second connecting ring 12. The tops of the first connecting ring 11 and the second connecting ring 12 can be rotatably connected to the bottom of the connecting component 3, and the rotation axes of the first connecting ring 11 and the second connecting ring 12 are parallel to the high-voltage line.

[0043] In this embodiment, if Figure 1As shown, there are two moving components 1, and the purpose of the moving components 1 is to enable the entire working robot to move on the high-voltage line. The two moving components 1 are relatively independent, and the top of each individual moving component 1 is connected to the lifting component 2 through the connecting component 3 to ensure that the lifting component 2 can lift the moving component 1 upward.

[0044] like Figure 2 As shown, the bottom of the first connecting ring 11 and the second connecting ring 12 can be opened to both sides, and the first connecting ring 11 and the second connecting ring 12 are separately connected to the bottom of the connecting component 3 for rotation. Therefore, when the device is moving on the high-voltage line and encounters a shock-proof hammer, the first connecting ring 11 and the second connecting ring 12 are driven by the driving mechanism to rotate and unfold. The overall opening below the first connecting ring 11 and the second connecting ring 12 is larger than the diameter of the high-voltage line. The mobile component 1 closest to the shock-proof hammer can be lifted by the lifting component 2, and the rear mobile component 1 continues to move until the front mobile component 1 crosses the shock-proof hammer and then resets. When the rear mobile component 1 encounters the shock-proof hammer, the front mobile component 1 continues to move to provide power, and the rear mobile component 1 opens and is lifted by the corresponding lifting component 2 to achieve the overall crossing of the robot.

[0045] Embodiment 2:

[0046] See also Figure 4-5 On the basis of the above embodiment, the walking assembly 13 includes a mounting frame 131, a driving assembly 132 and a walking wheel 133. One end of the mounting frame 131 is fixedly connected to the inner wall of the first connecting ring 11 or the second connecting ring 12, and the other end of the mounting frame 131 is rotatable along the high-voltage line arrangement direction and is provided with a plurality of walking wheels 133 that fit the high-voltage line. Figure 5 As shown, a plurality of running wheels 133 are linearly arranged at one end of the mounting frame 131 facing the high-voltage line; a driving assembly 132 for driving the running wheels 133 to move along the high-voltage line is also provided on the mounting frame 131 .

[0047] More specifically, the driving assembly 132 is arranged on an outer wall of the installation frame 131, and the driving assembly 132 includes a motor support 1321, a first motor 1322, a driving wheel 1323, a track 1324, a first connecting shaft 1325 and a driven gear 1326. The two driving wheels 1323 are rotatably installed on an outer wall of the installation frame 131 through a rotating shaft, and the track 1324 is sleeved on the two driving wheels 1323. The track 1324 and the two driving wheels 1323 constitute a transmission pair. The first motor 1322 is fixed to the top of the rotating shaft of one driving wheel 1323, and the first motor 1322 is fixed to the installation frame 131 through the motor support 1321. The outer wall of the track 1324 is provided with a rack structure; the walking wheel 133 is rotatably installed on the installation frame 131 through the first connecting shaft 1325, and the end of the first connecting shaft 1325 forms a gear transmission pair with the rack structure on the outer side of the track through the driven gear 1326.

[0048] The difference from the above embodiment is that, in this embodiment, a specific walking component 13 configuration is provided, wherein the mounting frame 131 is used to connect the walking wheel 133 and the inner wall of the first connecting ring 11 (the second connecting ring 12), and the metal mounting frame 131 can be fixed by welding, and the walking component 13 is evenly welded on the entire inner wall of the moving component 1 (the first connecting ring 11 and the second connecting ring 12), so that the walking component 13 at each location fits with the high-voltage line, ensuring that the walking wheel 133 can fit the high-voltage line and move.

[0049] On the basis of the above, the driving component 132 is used to drive the walking wheel 133 to walk, specifically, the first motor 1322 drives the driving wheel 1323 and the crawler track 1324 to rotate. A pulley connection method or a sprocket connection method can be used here. The purpose is to rotate with the crawler track 1324. When rotating, the rack on its outer wall can engage with the driven gear 1326 on the walking wheel 133, thereby driving all the walking wheels 133 to rotate in one direction. The control unit can be used to adjust the rotation direction of the first motor 1322 to change the moving component 1 to move forward or backward.

[0050] See also Figure 5 On the basis of the above embodiment, a circle of the running wheel 133 is sleeved with a rubber ring 134. The setting of the rubber ring 134 can increase the friction force and ensure that the running wheel 133 can run smoothly on the high-voltage line.

[0051] It should be noted that the present application provides a tower-climbing live-line working robot obstacle-crossing structure, not the entire high-voltage line inspection robot. When it is necessary to add a robot (for example, adding a robotic arm), the overall weight problem needs to be considered, for example Figure 1If the robot is only used for inspection and does not need to perform obstacle clearing operations, it is not necessary to add counterweights to ensure the robot's stable driving; but if it is necessary to add an obstacle clearing robotic arm, it is necessary to add counterweights to the obstacle crossing structure to ensure the stability of the entire device during movement and prevent it from tipping over.

[0052] Embodiment 3:

[0053] See also Figure 1-3 Based on Example 1 and Example 2, a moving component 1 is provided with two groups of first connecting rings 11 and second connecting rings 12 along the high-voltage line arrangement direction, and the tops of the two groups of first connecting rings 11 and second connecting rings 12 are fixedly connected by a connecting component 3.

[0054] More specifically, the connecting assembly 3 includes a connecting cross plate 31, a connecting frame 32, a second connecting shaft 33 and a second motor 34, wherein:

[0055] Two connecting frames 32 are fixedly connected to the two ends of the bottom of the connecting cross plate 31. The connecting frame 32 is "U"-shaped and has an open bottom. Two second connecting shafts 33 are arranged side by side horizontally along the direction of the high-voltage line inside one connecting frame 32. The two second connecting shafts 33 are respectively fixedly connected to the top of the first connecting ring 11 and the second connecting ring 12. A second motor 34 that drives the second connecting shaft 33 to rotate is fixed on the connecting frame 32.

[0056] More specifically, the lifting assembly 2 includes a connecting frame 21 and at least two cylinders 22, wherein:

[0057] The output end of one cylinder 22 is fixedly connected to the top of a connecting horizontal plate 31 , and the tops of multiple cylinders 22 are fixed to the bottom of a connecting frame 21 .

[0058] The difference from the above-mentioned embodiments 1 and 2 is that, in this embodiment, the moving component 1 is lifted and lowered by the cylinder 22; at the same time, the first connecting ring 11 and the second connecting ring 12 drive the second connecting shaft 33 to rotate in the opposite direction through two independent second motors 34, so that the first connecting ring 11 and the second connecting ring 12 can facilitate the cylinder 22 to lift the connecting cross plate 31 and drive the first connecting ring 11 and the second connecting ring 12 below to leave the high-voltage line.

[0059] Based on the above embodiment, the connecting cross plate 31 is further provided with a power supply 4 and a processing module 6 which are interconnected. The processing module 6 is a single chip microcomputer and is used to drive the first motor 1322 , the cylinder 22 and the second motor 34 .

[0060] Based on the above embodiment, a camera 5 is further included. The camera 5 is located on the top of the connecting horizontal plate 31 at the front end of the device's moving direction, and the camera 5 is arranged to face the device's moving direction. The camera 5 is electrically connected to the processing module 6.

[0061] Based on the above embodiment, the processing module 6 further includes a wireless receiving and transmitting module for receiving remote control signals and transmitting camera 5 transmission signals.

[0062] The specific working principle of the present application is as follows: the device is installed and placed on a high-voltage line, and a control signal is transmitted to the wireless receiving end through a remote control unit, and the processing module 6 drives the first motor 1322 to drive the driving wheel 1323 and the crawler 1324 to rotate, and the rack on the outer wall of the crawler 1324 is meshed with the driven gear 1326 to drive the walking wheel 133 to move on the high-voltage line. During the travel, the front-end picture is remotely viewed through the camera 5. When encountering obstacles such as anti-vibration hammers, the processing module 6 drives the two second motors 34 inside the front-end mobile component 1 to rotate, so that the first connecting ring 11 and the second connecting ring 12 are opened, and then the driving The cylinder 22 on this side is driven to lift the connecting cross plate 31, so that the moving component 1 at this position rises, and at the same time, the first motor 1322 at the rear end is driven to continue working, so that the moving component 1 at the rear end continues to move forward until the moving component 1 at the front end crosses the obstacle, and then the moving component 1 at the front end below is reset so that it can be installed on the high-voltage line again, and the second motor 34 at the rear end is continued to be controlled according to the above steps to open the first connecting ring 11 and the second connecting ring 12, and the connecting cross plate 31 at the rear end is lifted by the cylinder 22 to lift it. At this time, the moving component 1 at the front end continues to move forward until the entire device crosses the obstacle, and the obstacle crossing process is completed.

[0063] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not intended to limit the implementation methods of the utility model. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the claims of the utility model.

Claims

1. A tower-climbing live-working robot obstacle-crossing structure, characterized in that: The invention comprises at least two moving assemblies (1) for traveling on a single high-voltage line, a connecting assembly (3) being fixedly arranged on the top of one of the moving assemblies (1), a lifting assembly (2) for lifting the moving assembly (1) being arranged on the top of the connecting assembly (3), wherein: The moving assembly (1) comprises a first connecting ring (11) and a second connecting ring (12) with two openings arranged opposite to each other, and a plurality of walking assemblies (13) arranged on the inner walls of the first connecting ring (11) and the second connecting ring (12); the tops of the first connecting ring (11) and the second connecting ring (12) can be rotatably connected to the bottom of the connecting assembly (3), and the rotation axes of the first connecting ring (11) and the second connecting ring (12) are parallel to the high-voltage line.

2. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 1, characterized in that: The walking assembly (13) comprises a mounting frame (131), a driving assembly (132) and walking wheels (133), wherein: One end of the installation frame (131) is fixedly connected to the inner wall of the first connecting ring (11) or the second connecting ring (12), and the other end of the installation frame (131) is rotatably mounted along the arrangement direction of the high-voltage wires with a plurality of running wheels (133) that fit the high-voltage wires; the installation frame (131) is also provided with a driving assembly (132) for driving the running wheels (133) to move along the high-voltage wires.

3. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 2, characterized in that: The driving assembly (132) is arranged on an outer side wall of the installation frame (131), and the driving assembly (132) comprises a motor support (1321), a first motor (1322), a driving wheel (1323), a crawler belt (1324), a first connecting shaft (1325) and a driven gear (1326), wherein: The two driving wheels (1323) are rotatably mounted on an outer side wall of the installation frame (131) via a rotating shaft, a crawler belt (1324) is sleeved on the two driving wheels (1323), the crawler belt (1324) and the two driving wheels (1323) form a transmission pair, a first motor (1322) is fixed to the top of the rotating shaft of one driving wheel (1323), the first motor (1322) is fixed to the installation frame (131) via a motor support (1321), and a rack structure is provided on the outer side wall of the crawler belt (1324); The walking wheel (133) is rotatably mounted on the mounting frame (131) via a first connecting shaft (1325), and the end of the first connecting shaft (1325) forms a gear transmission pair with a rack structure on the outer side of the crawler through a driven gear (1326).

4. The obstacle-crossing structure of a tower-climbing live-line working robot according to any one of claims 2-3, characterized in that: A circle of the traveling wheel (133) is sleeved with a rubber ring (134).

5. The obstacle-crossing structure of a tower-climbing live-line working robot according to any one of claims 1 to 3, characterized in that: One of the moving components (1) is provided with two groups of first connecting rings (11) and second connecting rings (12) along the high-voltage line arrangement direction, and the tops of the two groups of the first connecting rings (11) and the second connecting rings (12) are fixedly connected via one of the connecting components (3).

6. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 5, characterized in that: The connecting assembly (3) comprises a connecting transverse plate (31), a connecting frame (32), a second connecting shaft (33) and a second motor (34), wherein: Two connecting frames (32) are fixedly connected to the two ends of the bottom of the connecting cross plate (31); the connecting frames (32) are U-shaped and open at the bottom; two second connecting shafts (33) are arranged in parallel in the horizontal direction of the high-voltage line inside one of the connecting frames (32); the two second connecting shafts (33) are respectively fixedly connected to the top of the first connecting ring (11) and the top of the second connecting ring (12); and a second motor (34) for driving the second connecting shaft (33) to rotate is fixed on the connecting frame (32).

7. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 6, characterized in that: The lifting assembly (2) comprises a connecting frame (21) and at least two cylinders (22), wherein: The output end of one of the cylinders (22) is fixedly connected to the top of a connecting horizontal plate (31), and the tops of a plurality of the cylinders (22) are fixed to the bottom of a connecting frame (21).

8. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 7, characterized in that: The connecting cross plate (31) is also provided with a power supply (4) and a processing module (6) which are interconnected in a telecommunication manner. The processing module (6) is a single chip microcomputer, and the processing module (6) is used to drive the first motor (1322), the cylinder (22) and the second motor (34).

9. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 8, characterized in that: It also includes a camera (5), which is located on the top of the connecting horizontal plate (31) at the front end of the device in the direction of travel, and the camera (5) is arranged facing the direction of travel of the device, and the camera (5) is connected to the processing module (6) by telecommunication.

10. The obstacle-crossing structure of a tower-climbing live-line working robot according to claim 9, characterized in that: The processing module (6) also includes a wireless receiving and transmitting module, which is used to receive remote control signals and transmit transmission signals of the camera (5).

Images