Power transmission line patrol robot

Abstract

The utility model relates to the technical field of power transmission line patrol, in particular to a power transmission line patrol robot which comprises a shell, a mounting device used for being mounted on a power transmission line and a detachable hook are arranged on an upper panel of the shell, the power transmission line patrol robot further comprises a parachute and a blocking device, and a containing channel used for containing the parachute is arranged on the upper panel. The parachute is connected with the hanging device through a flexible wire, the hanging device comprises a hanging piece used for being matched with a power transmission line in a hanging mode and a connecting straight rod arranged on the lower portion of the hanging piece, the upper panel is provided with a lifting channel allowing the connecting straight rod to descend to the position below the upper panel, the connecting straight rod is elastically arranged in the lifting channel, and the upper panel is provided with a hook installation opening. A first blocking part is arranged at the lower end of the hook and extends below the upper panel, the blocking device is matched with the first blocking part in a blocking mode, and the connecting straight rod is provided with a second blocking part matched with the blocking device in a blocking mode. Through the device, the patrol robot can be mounted on and dismounted from the power transmission line without manual construction at a high place, so that personnel are prevented from climbing a tower for operation, and the possibility of personnel injury is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of transmission line inspection, and particularly relates to a transmission line patrol robot. Background Art

[0002] Most transmission lines are located at high altitudes. Under traditional conditions, a telescope is used to inspect the area above the line, but the inspection of the line is not detailed enough. When birds stay or foreign objects are hung on the line, personnel need to climb the tower for operation, which has a high risk coefficient. Therefore, some auxiliary robots or cleaning devices that can move along the transmission line have emerged, which can move along the transmission line and assist in inspection.

[0003] For example, the patent with the patent application number CN202111220187.2 discloses an intelligent retractable device for a somersault pulley based on a drone, which includes a drone. A pulley retractable device is installed on the drone. The pulley retractable device is connected to a pulley mechanism through a magnetic mechanism, and the pulley mechanism cooperates with the ground wire of the transmission line. The pulley retractable device and the magnetic mechanism are both connected to a PLC controller, and the PLC controller is wirelessly connected to a remote controller. The pulley of the above patent is installed in place at one time, avoiding repeated operations, thereby reducing the replacement frequency of tools, saving hanging time, and improving work efficiency. The above device retracts and releases the inspection pulley through a drone on the basis of a transmission line inspection machine device, and there is no need for operators to climb the tower to achieve precise placement of the pulley.

[0004] However, there are still some problems with the above patent. It uses a relatively large number of electromagnets, and the wireless module and other circuit modules on the pulley will inevitably be affected, which cannot guarantee the safe operation of the device. In particular, when the patrol device is recovered, the pulley needs to first move upward under the drive of the drone and then precisely pass through the opening of the pulley, and the operation is very difficult. Summary of the Invention

[0005] Aiming at the problems that when installing or removing a patrol robot on a transmission line, manual tower climbing is still required, or when installing through a drone, manual participation is still required during installation and disassembly, the utility model provides a transmission line patrol robot.

[0006] To solve the above problems, the technical solution adopted by the utility model is a power transmission line patrol robot, which includes a housing. On the upper panel of the housing, there is a mounting device for hanging on the power transmission line and a detachable hook. It also includes a parachute and a blocking device. On the upper panel, there is a placement channel for placing the parachute. The parachute is connected to the mounting device through a flexible wire. The mounting device includes a mounting part for mating with the power transmission line for mounting and a connecting straight rod provided at the lower part of the mounting part. On the upper panel, there is a lifting channel for the connecting straight rod to descend below the upper panel. The connecting straight rod is elastically arranged in the lifting channel. On the upper panel, there is a hook mounting opening. The lower end of the hook is provided with a blocking part one and extends below the upper panel. The blocking device is in blocking cooperation with the blocking part one. The connecting straight rod is provided with a blocking part two in blocking cooperation with the blocking device. By blocking the blocking part one and the blocking part two through the blocking device, the mounting device and the hook can be fixed on the housing. The patrol robot can be hung on the power transmission line by connecting the hook with a drone. By canceling the blocking of the blocking part one by the blocking device, the hook can be detached from the housing, thereby helping the drone to detach from the patrol robot, avoiding the use of electromagnets to realize the connection between devices, reducing the use of electromagnets, and thus improving the stability of the device. By canceling the blocking of the blocking part two by the blocking device, the mounting device is ejected from the housing. While the housing is falling, the mounting device pulls the parachute out of the housing, so that the housing is subject to the resistance of the parachute during the descent, thereby avoiding damage to the patrol robot and also avoiding the need to use the drone for operation again. The operation is simpler. The installation and disassembly of the patrol robot from the power transmission line do not require manual construction at high altitudes, avoiding personnel climbing the tower for operation, and thus reducing the possibility of personnel injury.

[0007] Preferably, the blocking device includes a first rotating motor and a rotating plate. The rotating plate is provided with an opening slot for the blocking part one and the blocking part two to pass through. A single rotating plate can block both the blocking part one and the blocking part two at the same time. Through simple operation control, the fixation and disassembly of the hook and the mounting device can be achieved.

[0008] Preferably, the blocking device includes a second rotating motor and a rotating rod. Each of the blocking part one and the blocking part two is equipped with a blocking device, realizing the individual control of the hook and the mounting device.

[0009] Preferably, it further includes a lifting device, which comprises an electric telescopic rod and a support plate. The electric telescopic rod is provided with a support frame for fixing the first rotating motor on the support plate. The fixed end of the electric telescopic rod is fixedly arranged on the lower panel of the housing, and the telescopic end of the electric telescopic rod is arranged below the upper panel of the housing. The lifting of the hanging member is realized through the electric telescopic rod. When installing this device, the distance between the hanging member and the support of the upper panel of the housing is increased, which is convenient for the transmission line to be arranged under the hanging member. After the unmanned aerial vehicle detaches, the distance between the hanging member and the support of the upper panel is reduced, ensuring that the walking device can contact the transmission line and guaranteeing the walking stability of the device.

[0010] Preferably, one of the blocking parts is a first groove provided at the bottom of the hook.

[0011] Preferably, the other blocking part is a first protrusion provided on the connecting straight rod. There is a vertical limiting groove on the lifting channel for the first protrusion to extend out, and there is a pop-up groove on the upper panel for the first groove to pop out.

[0012] Preferably, a spring for elastically cooperating with the connecting straight rod is provided in the lifting channel, and the lower end of the spring is fixed on the elastic channel. Thus, it is ensured that after the second blocking part disengages from the block, it can be bounced up by the spring, the hanging device can pop out of the housing, the hanging member can be detached from the transmission line and fall from one side of the housing, so that the falling hanging device can pull out the parachute from the housing and deploy it.

[0013] Preferably, it further includes a camera, an ultrasonic bird repelling device, a foreign object clearing device and a walking device, ensuring that this walking robot can complete the inspection work, can conduct round-trip inspections on the line, timely detect line defects, and can promptly handle the birds staying above the line and the hanging foreign objects.

[0014] It can be seen from the above technical solutions that the advantages of the present utility model are as follows:

[0015] 1. By means of a blocking device to block the first blocking part and the second blocking part, the hanging device and the hook can be fixed on the housing. The patrol robot can be hung on the transmission line by connecting the hook with a drone. By canceling the blocking of the first blocking part by the blocking device, the hook can be detached from the housing, thus helping the drone to detach from the patrol robot, avoiding the use of electromagnets to achieve the connection between devices, reducing the use of electromagnets, thereby improving the stability of the device. Then, by canceling the blocking of the second blocking part by the blocking device, the hanging device is ejected from the housing. While the housing is falling, the hanging device pulls out the parachute from the housing, so that the housing is subject to the resistance of the parachute during the descent, thus avoiding damage to the patrol robot and also avoiding the need to use the drone for operation again. The operation is simpler. The installation and disassembly of the patrol robot on the transmission line do not require manual construction at high altitudes, avoiding personnel climbing the tower for operation, thereby reducing the possibility of personnel injury.

[0016] 2. A rotating plate can block both the first blocking part and the second blocking part at the same time. Through simple operation control, the fixing and disassembly of the hook and the hanging device can be achieved.

[0017] 3. The lifting of the hanging member is realized by an electric telescopic rod. When installing this device, the distance between the hanging member and the upper panel bracket of the housing is increased to facilitate the placement of the transmission line under the hanging member. After the drone detaches, the distance between the hanging member and the upper panel bracket is reduced to ensure that the walking device can contact the transmission line and ensure the walking stability of the device.

[0018] 4. By setting an elastic member, after the second blocking part is detached from the block, it can be bounced up by a spring, the hanging device can be ejected from the housing, the hanging member can be detached from the transmission line and fall from one side of the housing, so that the falling hanging device can pull out and deploy the parachute from the housing. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions of the present invention, the drawings required for description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Structural schematic of the specific embodiment of the present invention Figure 1 。

[0021] Figure 2 Structural schematic of the specific embodiment of the present invention Figure 2 。

[0022] Figure 3 Structural schematic of the specific embodiment of the present invention Figure 3 。

[0023] Figure 4 Schematic diagram of the mounting structure in some embodiments of the present utility model Figure 1 。

[0024] Figure 5 Schematic diagram of the hook structure in some embodiments of the present utility model Figure 2 。

[0025] Figure 6 Schematic diagram of the position of the first rotating motor and the rotating plate in some embodiments of the present utility model.

[0026] Figure 7 Schematic diagram of the cooperation between the rotating plate and the blocking part in some embodiments of the present utility model

[0027] Figure 8 Schematic diagram of the structure of the first rotating motor and the rotating plate in some embodiments of the present utility model

[0028] Main reference numeral description

[0029] 1 - housing, 11 - camera, 12 - ultrasonic bird repellent device, 13 - foreign object cleaning device, 14 - runner groove, 15 - lifting channel, 16 - vertical limiting groove, 17 - placement channel, 18 - ejection slot, 2 - parachute, 3 - blocking device, 4 - mounting device, 41 - mounting part, 42 - connecting straight rod, 421 - second blocking part, 422 - first protrusion, 5 - traveling device, 51 - traveling wheel, 52 - traveling drive, 53 - rotating shaft, 6 - hook, 61 - first groove, 7 - second rotating motor, 71 - rotating rod, 8 - first rotating motor, 81 - rotating plate, 811 - opening slot, 9 - lifting device, 91 - electric telescopic rod, 92 - support plate. Detailed implementation manners

[0030] To make the objectives, features, and advantages of the present utility model more obvious and understandable, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the specific embodiments of the present utility model. Obviously, the embodiments described below are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in this patent, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this patent.

[0031] As Figures 1-8 shown, a transmission line patrol robot includes a housing 1, a parachute 2, a blocking device 3, and a control system for controlling the movement of the blocking device 3, as Figure 1As shown in the figure, the housing 1 is a rectangular box with a cavity. On the upper panel of the housing 1, there is a hanging device 4 for hanging on the transmission line and a detachable hook 6. At the front end of the housing 1, there is a camera 11. In the middle of the front end of the housing 1, there is an ultrasonic bird repellent device 12. At the rear end of the housing 1, there is a foreign object cleaning device 13. The camera 11, the ultrasonic bird repellent device 12 and the foreign object cleaning device are all connected to the control system and are common equipment technologies for patrol robots, so no detailed description will be given. The traveling device 5 includes traveling wheels 51 and a traveling drive 52. As Figure 2 shown, the traveling wheels 51 are rotatably arranged in the middle of the housing 1 through a rotating shaft 53. The traveling drive 52 includes a traveling motor, which is arranged below the rotating shaft 53 and is rotationally matched with the rotating shaft 53 through a transmission belt. And the upper end of the traveling wheel 51 extends out of the upper panel. There is a rotating wheel groove 14 on the upper panel for the traveling wheel 51 to extend out. After the transmission line abuts against the traveling wheel 51, the patrol robot realizes walking on the transmission line through the rotation of the traveling wheel 51. The patrol robot is brought to the transmission line by an unmanned aerial vehicle. Specifically, hooks 6 are installed at both ends of the upper panel of the housing 1. There is a rectangular hook 6 installation opening on the upper panel. As Figure 5 shown, the hook 6 includes a base and a hook part. The base is a rectangular body with the same shape and size as the hook 6 installation opening. The hook part is arranged above the base. The hook 6 part is connected to the lower part of the unmanned aerial vehicle through a rope. A blocking part 1 is arranged on the base of the hook 6, and the blocking part 1 is in blocking cooperation with the blocking device 3, so that the hook 6 is fixed in the up and down direction. Therefore, at this time, the hook 6 cannot be detached from the housing 1. When the unmanned aerial vehicle pulls up the entire housing 1 and lifts it to near the transmission line, there are hanging devices 4 on both sides of the traveling wheel 51 between the two hooks 6. After the hanging device 4 is hung on the transmission line, the blocking device 3 will disengage from the blocking part 1. At this time, the unmanned aerial vehicle flies away and takes the hook 6 away when flying away, which will not affect the flight of the unmanned aerial vehicle. The hanging device 4 includes a hanging part 41 for hanging and cooperating with the transmission line and a connecting straight rod 42 arranged at the lower part of the hanging part 41. As Figure 4As shown in the figure, the mounting member 41 includes an arc-shaped plate and a clamping wheel arranged on the arc-shaped plate. The clamping wheel can be slidably matched with the transmission line. The connecting straight rod 42 is arranged to move up and down at a position near the long side of the upper panel. The arc opening of the arc-shaped plate faces the other long side of the upper panel away from the connecting straight rod 42. There is a lifting channel 15 on the upper panel for the connecting straight rod 42 to descend below the upper panel. A placement channel 17 for placing the parachute 2 is arranged below the arc-shaped plate on the higher side of the lifting channel 15. The parachute 2 is placed in the placement channel 17 in the order of the parachute surface, the parachute ropes, and then the lower part. A flexible wire is arranged on the mounting device 4 to connect the lower end of the parachute ropes. The connecting straight rod 42 is elastically arranged in the lifting channel 15. When there is no need for disassembly, the connecting straight rod 42 is blocked by the blocking device 3. There is a second blocking part on the connecting straight rod 42 that cooperates with the blocking device 3. When it is necessary to disassemble and separate this device from the transmission line, the blocking device 3 will disengage from the second blocking part, and the connecting straight rod 42 can pop out from the lifting channel 15. The mounting member 41 disengages from the transmission line, and the parachute 2 is pulled out through the flexible wire. The parachute 2 opens, thereby reducing the descending speed of this device, avoiding injury caused by falling objects, and reducing the impact on this device. By the blocking device 3 blocking the first blocking part and the second blocking part, the mounting device 4 and the hook 6 can be fixed on the housing 1. The patrol robot can be mounted on the transmission line by means of a drone connecting the hook 6. By canceling the blocking of the first blocking part by the blocking device 3, the hook 6 can disengage from the housing 1, thereby helping the drone to disengage from the patrol robot, avoiding the use of electromagnets to realize the connection between devices, reducing the use of electromagnets, and thus improving the stability of the device. By canceling the blocking of the second blocking part by the blocking device 3, the mounting device 4 can be ejected from the housing 1. While the housing 1 is falling, the mounting device 4 pulls the parachute 2 out of the housing 1, so that the housing 1 is subject to the resistance of the parachute 2 during the descent, thereby avoiding damage to the patrol robot and also avoiding the need to use a drone for operation again. The operation is simpler. The installation and disassembly of the patrol robot from the transmission line do not require manual construction at a high place, avoiding personnel climbing the tower for operation, and thus reducing the possibility of personnel injury.

[0032] There are various ways for the blocking device 3 to cooperate with the first blocking part and the second blocking part. The main purpose of the blocking device 3 is to block the up-and-down movement of the hook 6 and the mounting device 4, that is, the blocking device 3 needs to be arranged on the up-and-down movement paths of the hook 6 and the mounting device 4. Both the first blocking part and the second blocking part can be arranged as grooves or protrusions in the horizontal direction, such as Figure 2 and Figure 3As shown, in this embodiment, the first blocking part is a first groove 61 provided at the bottom of the hook 6, and the second blocking part is a first protrusion 421 provided on the connecting straight rod 42. A vertical limiting groove 16 for the first protrusion 421 to extend out is provided on the lifting channel 15, and a pop-up groove 18 for the first protrusion 421 to pop out is provided on the upper panel. As long as the blocking device 3 extends into the first groove 61 or is located above the first protrusion 421, the movement of the hook 6 and the hanging device 4 can be blocked. In this embodiment, the blocking device 3 includes a second rotating motor 7 and a rotating rod 71. A motor fixing bracket for fixing the second rotating motor 7 is provided on the housing 1. One end of the rotating rod 71 is connected to the second rotating motor 7. By rotating the end of the rotating rod 71 into the first groove 61, the fixing of the hook 6 can be achieved. When the hook 6 needs to be disassembled, the rotating rod 71 can be rotated to an angle away from the first groove 61. When the hanging member 41 needs to be popped out, only the rotating rod 71 located above the first protrusion 421 needs to be rotated to one side of the first protrusion 421. A corresponding blocking device 3 is provided on one side of each hook 6 and the connecting straight rod 42, and each second rotating motor 7 is individually controlled through the control system.

[0033] In order to reduce the total weight of the inspection robot, the fewer motor devices, the better. Therefore, in some embodiments, the blocking device 3 includes a first rotating motor 8 and a rotating plate 81, and an opening groove 811 for the first blocking part and the second blocking part to pass through is provided on the rotating plate 81. As Figure 6 、 Figure 7 and Figure 8 shown, a hook 6 and a hanging device 4 are provided on each side of the walking wheel 51. The blocking device 3 is provided between the hook 6 and the hanging device 4. The rotating plate 81 is a circular plate, and the diameter of the circular plate is the straight-line distance between the first blocking part and the second blocking part. One rotating plate 81 can block the first blocking part and the second blocking part at the same time, and the fixing and disassembly of the hook 6 and the hanging device 4 can be achieved through simple operation control.

[0034] As an optimization, as Figure 2 shown, a lifting device 9 is further included. The lifting device 9 includes an electric telescopic rod 91 and a support plate 92. The electric telescopic rod 91 is provided with a support frame for fixing the first rotating motor 8 on the support plate 92. The fixed end of the electric telescopic rod 91 is fixedly provided on the lower panel of the housing 1, and the telescopic end of the electric telescopic rod 91 is provided below the upper panel of the housing 1. The lifting of the hanging member 41 is realized through the electric telescopic rod 91. When installing this device, the distance between the hanging member 41 and the upper panel support of the housing 1 is increased to facilitate the placement of the power transmission line under the hanging member 41. After the unmanned aerial vehicle detaches, the distance between the hanging member 41 and the upper panel support is reduced to ensure that the walking device 5 can contact the power transmission line and ensure the walking stability of the device.

[0035] Inside the lifting channel 15, there is a spring for elastically cooperating with the connecting straight rod 42, and the lower end of the spring is fixed on the elastic channel. Thus, it is ensured that after the second blocking part disengages from the blocking, it can be bounced up by the spring, the mounting device 4 can pop out of the housing 1, the mounting part 41 can disengage from the power transmission line and fall from one side of the housing 1, so that the falling mounting device 4 can pull out the parachute 2 from the housing 1 and deploy it.

[0036] The working process of the present utility model is as follows: When it is necessary to transport this device to the power transmission line, first fix the upper end of the hoisting rope under the unmanned aerial vehicle, fix the lower end of the rope to the hook 6, and then control the unmanned aerial vehicle to raise the housing 1 near the power transmission line. Observe through the camera 11 inside the housing 1 to make the power transmission line located below the arc-shaped plate. Then, the lifting device 9 lowers the blocking device 3 and the connecting straight rod 42 until the traveling wheels 51 are close to the power transmission line. Then, the blocking device 3 drives the rotating plate to rotate, and the first blocking part below the hook 6 disengages from the opening slot 811 on the rotating plate. Therefore, the hook 6 disengages from the housing 1, and the housing 1 can move freely on the power transmission line. The ultrasonic bird repelling device 12 and the foreign object cleaning device 13 located on the housing 1 can work under the controller. When this device needs to disengage from the power transmission line after completing its work, the blocking device 3 drives the rotating plate to rotate, so that the opening slot 811 rotates to the position of the second blocking part. The connecting straight rod 42 is ejected from the housing 1 under the driving force of the spring below. During the ejection process of the connecting straight rod 42, the parachute 2 is pulled out, so the parachute 2 disengages from the housing 1 and opens, playing a buffering role and reducing the impact when this device lands.

[0037] It can be seen from the above embodiments that the beneficial effects of the present utility model are as follows: By blocking the first blocking part and the second blocking part with the blocking device 3, the mounting device 4 and the hook 6 can be fixed on the housing 1. The hook 6 can be connected to the unmanned aerial vehicle to mount this patrol robot on the power transmission line. By canceling the blocking of the first blocking part by the blocking device 3, the hook 6 can disengage from the housing 1, thus helping the unmanned aerial vehicle to disengage from the patrol robot, avoiding using electromagnets to realize the connection between devices, reducing the use of electromagnets, and thus improving the stability of the device. By canceling the blocking of the second blocking part by the blocking device 3, the mounting device 4 is ejected from the housing 1. While the housing 1 is falling, the mounting device 4 pulls out the parachute 2 from the housing 1, so that the housing 1 is subject to the resistance of the parachute 2 during the descent, thus avoiding damage to the patrol robot and also avoiding using the unmanned aerial vehicle for operation again. The operation is simpler. The installation and disassembly of the patrol robot from the power transmission line do not require manual construction at high altitudes, avoiding personnel climbing the tower for operation, and thus reducing the possibility of personnel injury.

[0038] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A transmission line patrol robot, comprising a housing (1), wherein an upper panel of the housing (1) is provided with a mounting device (4) for mounting on a transmission line and a detachable hook (6), wherein: The invention also comprises a parachute (2) and a blocking device (3), wherein the upper panel is provided with a placement channel (17) for placing the parachute (2), the parachute (2) is connected to the mounting device (4) via a soft wire, the mounting device (4) comprises a mounting part (41) for mounting with a power transmission line and a connecting straight rod (42) arranged at the lower part of the mounting part (41), the upper panel is provided with a lifting channel (15) for the connecting straight rod (42) to descend to the lower part of the upper panel, the connecting straight rod (42) is elastically arranged in the lifting channel (15), the upper panel is provided with a mounting opening for a hook (6), the lower end of the hook (6) is provided with a blocking part and extends into the lower part of the upper panel, the blocking device (3) is in blocking cooperation with the blocking part, and the connecting straight rod (42) is provided with a blocking second part which is in blocking cooperation with the blocking device (3).

2. The transmission line patrol robot according to claim 1, characterized in that: The blocking device (3) comprises a first rotating motor (8) and a rotating plate (81), and the rotating plate (81) is provided with an opening slot (811) for the first blocking part and the second blocking part to pass through.

3. A transmission line patrol robot according to claim 1, characterized in that: The blocking device (3) comprises a second rotating motor (7) and a rotating rod (71).

4. The transmission line patrol robot according to claim 2, characterized in that: The invention also comprises a lifting device (9), wherein the lifting device (9) comprises an electric telescopic rod (91) and a support plate (92), wherein the electric telescopic rod (91) is arranged on the support plate (92), and a support frame for fixing a first rotating motor (8) is arranged on the support plate (92), wherein a fixed end of the electric telescopic rod (91) is fixedly arranged on a lower panel of the housing (1), and a telescopic end of the electric telescopic rod (91) is arranged below an upper panel of the housing (1).

5. The transmission line patrol robot according to claim 4, characterized in that: The blocking portion is a first groove (61) provided at the bottom of the hook (6).

6. The transmission line patrol robot according to claim 2 or 3, characterized in that: The second blocking part is a first protrusion (421) provided on the connecting straight rod (42), the lifting channel (15) is provided with a vertical limiting groove (16) for the first protrusion (421) to extend out, and the upper panel is provided with an ejection groove (18) for the first groove (61) to eject out.

7. The transmission line patrol robot according to claim 1, characterized in that: A spring for elastically cooperating with the connecting straight rod (42) is provided in the lifting channel (15), and the lower end of the spring is fixed on the lifting channel (15).

8. The transmission line patrol robot according to claim 1, characterized in that: It also includes a camera (11), an ultrasonic bird-repelling device (12), a foreign matter cleaning device (13), and a walking device (5).

9. The transmission line patrol robot according to claim 8, characterized in that: The walking device (5) comprises a walking wheel (51) and a walking drive (52), the walking drive (52) being drivingly connected to the walking wheel (51), the walking wheel (51) being rotatably arranged in the middle of the housing (1), and the upper end of the walking wheel (51) extending out of the upper panel and abutting against the power transmission line, and the mounting device (4) being arranged at two ends, respectively arranged at two sides of the walking wheel (51).

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