High-voltage transmission line pulsed eddy current detection robot

Abstract

The utility model discloses a high-voltage transmission line pulsed eddy current detection robot, which comprises a machine shell, a driving device and a suspension device, and is characterized in that the machine shell comprises a shell which is connected to a wire in a sliding manner; the driving device comprises a first power end, a transmission part and a driving wheel; the first power end is arranged in the shell, and is used for driving the driving wheel on the shell to operate through the transmission part and driving the shell to move on an electric wire; the suspension device comprises a fixed seat, a guide wheel end and a third power end; the fixing seat is installed on the shell, the guide wheel end is connected to the fixing seat in a telescopic mode, and the third power end is connected with the guide wheel end and used for driving the guide wheel end to wrap an electric wire. The utility model has the beneficial effects that the technical problems that the high-voltage power transmission line in the prior art is polled mainly by manpower, the labor intensity of workers is higher, the efficiency is lower, and larger potential safety hazards exist in a severe environment are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of high-voltage equipment, and particularly relates to a pulsed eddy current detection robot for high-voltage transmission lines. Background Art

[0002] As the main component for electric energy transmission, the integrity and safety of high-voltage transmission lines are related to the long-term normal and stable operation of the power grid system; because it is in the outdoor high-altitude environment for a long time, overhead high-voltage transmission lines may be damaged by natural disasters such as lightning strikes, chemical pollutant corrosion, ice shedding, conductor galloping caused by wind vibration, and damage by flying sand and gravel. In addition, due to the long-distance high-altitude erection, the stress load of the transmission line itself and the power load will bring huge working pressure to the transmission line; these factors will inevitably cause certain damage to the transmission line, and even cause defects such as strand cracks, broken strands, entanglement, and corrosion; if the faults cannot be identified and repaired in time, some serious accidents will occur, such as the fracture of the transmission line, which will seriously affect the power quality and transmission capacity, or cause large-scale power outages, and even fires, causing losses to the country and the people.

[0003] With the rapid development of the power industry, as an important medium for electric energy transmission, the safe and stable operation of high-voltage transmission lines is crucial for ensuring the reliability of the power grid and people's lives; the traditional detection of high-voltage transmission lines mainly relies on manual inspection, which has high labor intensity, low efficiency, and great potential safety hazards under harsh weather and complex terrain conditions. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome the above technical deficiencies, provide a pulsed eddy current detection robot for high-voltage transmission lines, and solve the technical problems in the prior art that the inspection of high-voltage transmission lines mainly relies on manual inspection, with high labor intensity of the staff, low efficiency, and great potential safety hazards in harsh environments.

[0005] To achieve the above technical purpose, the utility model adopts the following technical solutions:

[0006] In a first aspect, the utility model provides a pulsed eddy current detection robot for high-voltage transmission lines, including:

[0007] A machine shell, which includes a housing and is slidably connected to the wire;

[0008] A driving device, which includes a first power end, a transmission part, and a driving wheel; the first power end is installed in the housing and is used to drive the driving wheel on the housing to rotate through the transmission part, and drive the housing to move on the wire; and,

[0009] Suspension device, which includes a fixed seat, a guide wheel end and a third power end; the fixed seat is installed on the housing, and the guide wheel end is telescopically connected to the fixed seat, and the third power end is connected to the guide wheel end and is used to drive the guide wheel end to wrap the wire.

[0010] In some embodiments, a handle holder is further provided outside the housing, and a clamping device is further provided on the housing, which includes a frame seat, a second power end and two clamping jaws; the frame seat is installed on the housing, and the moving wheel end is arranged inside the frame seat, and the second power end is used to drive the two clamping jaws to move inside the frame seat.

[0011] In some embodiments, the first power end includes a stepper motor and a motor seat; the motor seat is arranged inside the housing, and the stepper motor is installed on the motor seat, and the output end of the stepper motor is connected to the transmission part.

[0012] In some embodiments, the transmission part includes two first synchronous belt pulleys, two supports, a first synchronous belt body and a first optical axis; the output end of the stepper motor is connected to one of the first synchronous belt pulleys, the two supports are arranged on the housing, and the first optical axis is rotatably connected between the two supports, the moving wheel is connected to the first optical axis, the other first synchronous belt pulley is connected to one end of the first optical axis, and the first synchronous belt body is arranged between the two first synchronous belt pulleys.

[0013] In some embodiments, the second power end includes a DC motor, two second synchronous belt pulleys, a second synchronous belt body, two second optical axes and a lead screw; the DC motor is installed outside the frame seat, one of the second synchronous belt pulleys is connected to the output end of the DC motor, the other second synchronous belt pulley is arranged in parallel with it, and the second synchronous belt body is arranged between the two second synchronous belt pulleys, the second optical axes are installed inside the frame seat, and the lead screw is further arranged near the second optical axes, the end of the lead screw extends outside the frame seat and is connected to the second synchronous belt pulley far from the DC motor; two clamping jaws are threadedly connected to the lead screw.

[0014] In some embodiments, crescent plates are arranged on both of the two clamping jaws.

[0015] In some embodiments, the guide wheel end includes two first guide wheels, a driving rod, a driven rod, a second guide wheel and a connecting member; on the opposite sides of the two first guide wheels, the driven rods are connected, the ends of the driven rods are hinged to the fixed seat, below the two first guide wheels, the second guide wheel is arranged, the second guide wheel is arranged on the connecting member, and on both sides of the connecting member, the driven rods are hinged, the ends of the driven rods are hinged to the driving rod, the lower end of the connecting member is hinged to a long connecting rod, the end of the long connecting rod is hinged to a short connecting rod, and the end of the short connecting rod is movably connected to the third power end.

[0016] In some embodiments, the third power end includes a driving motor, a worm, a worm gear, a cylindrical shaft, a large cylindrical gear and a small cylindrical gear; the driving motor is installed in the housing, and the output end of the driving motor is connected to the worm, the worm is meshed with the worm gear, the worm gear is connected to the large cylindrical gear through the cylindrical shaft, and the large cylindrical gear is meshed with the small cylindrical gear. The short connecting rod is movably connected to the small cylindrical gear.

[0017] In some embodiments, a sleeve mechanism is further arranged on the housing; the sleeve mechanism includes an upper sleeve end and a lower sleeve end; the lower sleeve end is connected to the housing, and the upper sleeve end is detachably connected to the lower sleeve end, the lower sleeve end and the upper sleeve end form a sleeve-shaped container, and a detection coil is wound inside the sleeve-shaped container.

[0018] In some embodiments, a plurality of mounting holes are formed in the housing.

[0019] Compared with the prior art, a high-voltage transmission line pulsed eddy current detection robot provided by the present utility model has a compact structure and simple transmission, saves space and weight, and the driving device has simple and reliable transmission, no noise pollution, stronger functionality, and the guide wheel end of the suspension device has a certain self-locking property, which can slow down the shaking, so that the robot has better stability. Description of the Drawings

[0020] Figure 1 is an overall schematic diagram of the high-voltage transmission line pulsed eddy current detection robot provided by the embodiment of the present utility model;

[0021] Figure 2 is a schematic diagram of the driving device of the high-voltage transmission line pulsed eddy current detection robot provided by the embodiment of the present utility model;

[0022] Figure 3 is a schematic diagram of the clamping device of the high-voltage transmission line pulsed eddy current detection robot provided by the embodiment of the present utility model;

[0023] Figure 4Schematic diagram of the guide wheel end and the third power end of the pulsed eddy current detection robot for high-voltage transmission lines provided by the embodiments of the present utility model;

[0024] Figure 5 Schematic diagram of the suspension device of the pulsed eddy current detection robot for high-voltage transmission lines provided by the embodiments of the present utility model;

[0025] Figure 6 Schematic diagram of the cooperation between the long connecting rod and the short connecting rod of the pulsed eddy current detection robot for high-voltage transmission lines provided by the embodiments of the present utility model;

[0026] Figure 7 Schematic diagram of the housing of the pulsed eddy current detection robot for high-voltage transmission lines provided by the embodiments of the present utility model;

[0027] Figure 8 Schematic diagram of the sleeve mechanism of the pulsed eddy current detection robot for high-voltage transmission lines provided by the embodiments of the present utility model.

[0028] Description of reference numerals: 1, machine housing; 11, housing; 12, handle holder; 2, driving device; 21, first power end; 211, stepping motor; 212, motor base; 22, transmission part; 221, first synchronous pulley; 222, support; 223, first synchronous belt body; 224, first optical axis; 23, driving wheel; 3, clamping device; 31, frame base; 32, second power end; 321, DC motor; 322, second synchronous pulley; 323, second synchronous belt body; 324, second optical axis; 325, lead screw; 33, clamping jaw; 331, crescent plate; 4, suspension device; 41, fixed seat; 42, guide wheel end; 421, first guide wheel; 422, driving rod; 423, driven rod; 424, second guide wheel; 425, connecting piece; 426, long connecting rod; 427, short connecting rod; 43, third power end; 431, driving motor; 432, worm; 433, worm gear; 434, cylindrical shaft; 435, large cylindrical gear; 436, small cylindrical gear; 5, sleeve mechanism; 51, upper sleeve; 52, lower sleeve. Detailed implementation manners

[0029] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0030] In order to solve the technical problems in the prior art that for high-voltage transmission lines, inspection is mainly carried out manually, resulting in high labor intensity and low efficiency of the staff, and there are relatively large potential safety hazards in harsh environments, the present utility model provides a pulsed eddy current detection robot for high-voltage transmission lines, which can achieve the technical effects of improving the detection efficiency, avoiding manual detection, reducing the labor intensity of the staff, and being applicable to harsh environments for detection.

[0031] It should be noted that the pulsed eddy current detection robot for high-voltage transmission lines described in the present utility model is used for but not limited to power equipment, etc. For the convenience of description, in the present utility model, only the case where the pulsed eddy current detection robot for high-voltage transmission lines is applied to power equipment is taken as an example for description, and the principle of the pulsed eddy current detection robot for high-voltage transmission lines applied to other types of equipment is substantially the same as that applied to power equipment, and will not be elaborated here one by one.

[0032] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of the pulsed eddy current detection robot for high-voltage transmission lines in an embodiment of the present utility model. The pulsed eddy current detection robot for high-voltage transmission lines includes a machine shell 1, a driving device 2, a clamping device 3, and a suspension device 4; the machine shell 1 includes a housing 11, which is slidably connected to the wire; the driving device 2 includes a first power end 21, a transmission part 22, and a moving wheel 23; the first power end 21 is installed inside the housing 11 and is used to drive the moving wheel 23 on the housing 11 to rotate through the transmission part 22, and drive the housing 11 to move on the wire; the clamping device 3 includes a frame base 31, a second power end 32, and two clamping claws 33; the frame base 31 is installed on the housing 11, and the moving wheel 23 end is arranged inside the frame base 31, and the second power end 32 is used to drive the two clamping claws 33 to move inside the frame base 31; and the suspension device 4, which includes a fixed seat 41, a guide wheel end 42, and a third power end 43; the fixed seat 41 is installed on the housing 11, and the guide wheel end 42 is telescopically connected to the fixed seat 41, and the third power end 43 is connected to the guide wheel end 42 and is used to drive the guide wheel end 42 to wrap the wire.

[0033] In this embodiment, the structure of the present device is compact, the transmission is simple, saving space and weight, and the driving device 2 has a simple and reliable transmission, no noise pollution, and stronger functionality. The guide wheel end 42 of the suspension device 4 has a certain self-locking property, which can slow down the shaking, so that the robot has better stability.

[0034] In one of the embodiments, please refer to Figure 2, to improve the driving efficiency of the driving device 2, a handle frame 12 is further provided outside the housing 11. The first power end 21 includes a stepping motor 211 and a motor base 212. The motor base 212 is arranged inside the housing 11, and the stepping motor 211 is installed on the motor base 212. The output end of the stepping motor 211 is connected to the transmission part 22. The transmission part 22 includes two first synchronous belt pulleys 221, two supports 222, a first synchronous belt body 223 and a first optical axis 224. One of the first synchronous belt pulleys 221 is connected to the output end of the stepping motor 211. The two supports 222 are arranged on the housing 11, and a first optical axis 224 is rotatably connected between the two supports 222. A moving wheel 23 is connected to the first optical axis 224. The other first synchronous belt pulley 221 is connected to one end of the first optical axis 224. A first synchronous belt body 223 is arranged between the two first synchronous belt pulleys 221.

[0035] In this embodiment, the moving wheel 23 is penetrated by the optical axis and fixed at the middle position between the two supports 222 through a stop ring. The stepping motor 211 is directly fixed on the motor base 212. The support 222 and the motor base 212 are directly fixed on the machine housing 1. The first synchronous belt pulleys 221 are respectively fixed on the first optical axis 224 and the output end of the stepping motor 211 and are connected by the first synchronous belt body 223. The first synchronous belt pulley 221 is 11 mm wide and has an inner hole of 8 mm. It is an XL24-tooth round-hole synchronous pulley. When the high-voltage transmission line detection robot needs to move forward or backward, the stepping motor 211 operates, drives the first optical axis 224 to rotate through the two first synchronous belt pulleys 221 and the first synchronous belt body 223, so that the moving wheel 23 rotates and provides a forward driving force. The driving device 2 has a simple and reliable transmission, no noise pollution, and strong functionality.

[0036] In one of the embodiments, please refer to Figure 3 , to improve the working efficiency of the clamping device 3, the second power end 32 includes a DC motor 321, two second synchronous belt pulleys 322, a second synchronous belt body 323, two second optical axes 324 and a lead screw 325. The DC motor 321 is installed outside the frame base 31. One of the second synchronous belt pulleys 322 is connected to the output end of the DC motor 321. The other second synchronous belt pulley 322 is arranged in parallel with it. A second synchronous belt body 323 is arranged between the two second synchronous belt pulleys 322. The second optical axis 324 is installed inside the frame base 31, and a lead screw 325 is further arranged near the second optical axis 324. The end of the lead screw 325 extends outside the frame base 31 and is connected to the second synchronous belt pulley 322 far from the DC motor 321. Two clamping jaws 33 are threadedly connected to the lead screw 325, and crescent plates 331 are arranged on both clamping jaws 33.

[0037] In this embodiment, the jaw 33 is limited by two second optical axes 324 and a lead screw 325. The second optical axes 324 are fixed to the frame base 31 through the fixed seat 41, and the lead screw 325 is fixed to the frame base 31 through the stop ring. Two second synchronous belt pulleys 322 are respectively fixed to one end of the lead screw 325 and the output end of the DC motor 321, and are connected by the second synchronous belt body 323. The second synchronous belt pulley 322 is 11 mm wide and has an inner hole of 8 mm. It is an XL24-tooth round-hole synchronous pulley. When the high-voltage transmission line detection robot needs to perform clamping installation or loosening and unloading actions, the lead screw 325 is driven to rotate through the second synchronous belt pulley 322 and the second synchronous belt body 323, so as to realize the clamping or loosening action of the jaw 33. The clamping device 3 has a compact structure, simple transmission, and easy operation. In one of the embodiments, please refer to Figures 4 - 6 , to improve the working efficiency of the guide wheel end 42, the guide wheel end 42 includes two first guide wheels 421, a driving rod 422, a driven rod 423, a second guide wheel 424 and a connecting member 425; on the opposite sides of the two first guide wheels 421, a driven rod 423 is connected. The end of the driven rod 423 is hinged to the fixed seat 41. A second guide wheel 424 is arranged below the two first guide wheels 421. The second guide wheel 424 is arranged on the connecting member 425, and the two sides of the connecting member 425 are hinged with the driven rod 423. The end of the driven rod 423 is hinged to the driving rod 422. The lower end of the connecting member 425 is hinged with a long connecting rod 426, the end of the long connecting rod 426 is hinged with a short connecting rod 427, and the end of the short connecting rod 427 is movably connected to the third power end 43. The third power end 43 includes a driving motor 431, a worm 432, a worm gear 433, a cylindrical shaft 434, a large cylindrical gear 435 and a small cylindrical gear 436; the driving motor 431 is installed in the housing 11, and the output end of the driving motor 431 is connected with a worm 432. A worm gear 433 is engaged with the worm 432. The worm gear 433 is connected with a large cylindrical gear 435 through a cylindrical shaft 434. A small cylindrical gear 436 is engaged with the large cylindrical gear 435, and a short connecting rod 427 is movably connected to the small cylindrical gear 436.

[0038] The driving motor 431 is directly fixed on the housing, the cylindrical shaft 434 is fixed on the housing through a fixed aluminum part, the worm 432 is connected to the output end of the driving motor 431 through a coupling, the worm wheel 433 and the large cylindrical gear 435 are fixed on the cylindrical shaft 434, and the worm wheel 433 cooperates with the worm 432; one end of the short connecting rod 427 is fixed on the small cylindrical gear 436, and the small cylindrical gear 436 cooperates with the large cylindrical gear 435, one end of the long connecting rod 426 is connected to the short connecting rod 427, and the other end is connected to the connecting piece 425; one end of the active rod 422 is connected to the connecting piece 425, and the other end is connected to the driven rod 423; one end of the driven rod 423 is connected to the fixed seat 41 through a thrust ball bearing, and the second guide wheel 424 is fixed on the connecting piece 425 The first guide wheel 421 is fixed on one end of the driven rod 423. When the high-voltage transmission line inspection robot needs to be fixedly suspended, the driving motor 431 is activated. Through the transmission of the worm wheel 433 and the worm 432, the large cylindrical gear 435 and the small cylindrical gear 436, the long connecting rod 426 and the short connecting rod 427, the connecting piece 425 starts to move downward. At the same time, the active rod 422 drives the driven rod 423, so that the first guide wheel 421 on the driven rod 423 moves downward and is tightly fastened with the second guide wheel 424 to form a triangular symmetrical structure, which wraps the high-voltage transmission line and can slow down the shaking. The self-locking property of the worm wheel 433 and the worm 432 can also make the suspension safe and stable, so that the high-voltage transmission line inspection robot has better working stability during movement.

[0039] To improve the working efficiency of the sleeve mechanism 5, please refer to Figure 8 A sleeve mechanism 5 is also provided on the shell 11; the sleeve mechanism 5 includes a sleeve upper end 51 and a sleeve lower end 52; the sleeve lower end 52 is connected to the shell 11, and the sleeve upper end 51 is detachably connected to the sleeve lower end 52, the sleeve lower end 52 and the sleeve upper end 51 constitute a sleeve-shaped container, a detection coil is wound inside the sleeve-shaped container, and a plurality of mounting holes are opened on the shell 11.

[0040] The handle frame 12 is directly fixed under the shell 11. The handle frame 12 provides a handle for the device to hold, which is convenient for carrying and loading during manual installation. The sleeve mechanism 5 is sleeve-shaped, which is convenient for winding coils such as eddy current detection. It can complete the detection of high-voltage transmission lines in conjunction with the corresponding circuit. The detection device has a simple and universal structure, is conducive to the winding of the detection coil, and has good adaptability and convenience.

[0041] In order to better understand the present invention, the following Figures 1 to 8The technical solution of the present utility model will be described in detail: Start the stepping motor 211 to act, drive the first optical axis 224 to rotate through two first synchronous belt wheels 221 and the first synchronous belt body 223, so that the moving wheel 23 rotates, providing a driving force for the housing to move forward on the wire. And when the high-voltage transmission line detection robot needs to perform clamping installation or loosening and unloading actions, drive the second synchronous belt wheel 322 and the second synchronous belt body 323 to cooperate through the DC motor 321, and drive the lead screw 325 to rotate to realize the clamping or loosening action of the clamping jaw 33. When the robot needs to hang during the detection process, select the drive motor 431 to start running, drive the worm 432 to rotate through the drive motor 431, and through the transmission of the worm 432 and the worm gear 433, the large cylindrical gear 435 and the small cylindrical gear 436, the long connecting rod 426 and the short connecting rod 427, the connecting member 425 starts to move downward. At the same time, the driving rod 422 drives the driven rod 423, so that the first guide wheel 421 on the driven rod 423 moves downward and tightly clamps with the second guide wheel 424, forming a triangular symmetric structure to wrap the high-voltage transmission line, which can slow down the shaking. And the self-locking property of the worm gear 433 and the worm 432 can also make the hanging safe and stable, so that the high-voltage transmission line detection robot has good working stability during movement. The overall structure of the device is simple, and it can replace manual movement detection on the wire, with good adaptability and convenience.

[0042] The specific embodiments of the present utility model described above do not constitute a limitation on the protection scope of the present utility model. Any other corresponding changes and deformations made according to the technical concept of the present utility model shall be included in the protection scope of the claims of the present utility model.

Claims

1. A high voltage transmission line pulse eddy current detection robot, characterized in that: include: A machine housing, which includes a shell, slidably connected to the wire; A driving device, comprising a first power end, a transmission part and a driving wheel; The first power end is installed in the housing and is used to drive the moving wheel on the housing to operate through the transmission part, and drive the housing to move on the wire; as well as, The suspension device comprises a fixed seat, a guide wheel end and a third power end; the fixed seat is mounted on the shell, and the guide wheel end is telescopically connected to the fixed seat, and the third power end is connected to the guide wheel end and is used to drive the guide wheel end to wrap the wire.

2. A high-voltage transmission line pulse eddy current detection robot according to claim 1, characterized in that: A handle frame is also provided on the outside of the shell, and a clamping device is also provided on the shell, which includes a frame seat, a second power end and two clamping claws; the frame seat is installed on the shell, and the driving wheel end is arranged in the frame seat, and the second power end is used to drive the two clamping claws to move in the frame seat.

3. A high voltage transmission line pulse eddy current detection robot according to claim 1, characterized in that: The first power end includes a stepper motor and a motor seat; the motor seat is arranged in the housing, and the stepper motor is installed on the motor seat, and the output end of the stepper motor is connected to the transmission part.

4. A high-voltage transmission line pulse eddy current detection robot according to claim 3, characterized in that: The transmission part includes two first synchronous pulleys, two supports, a first synchronous belt body and a first optical axis; the output end of the stepper motor is connected to one of the first synchronous pulleys, the two supports are arranged on the shell, and the first optical axis is rotatably connected between the two supports, the moving wheel is connected to the first optical axis, one end of the first optical axis is connected to another first synchronous pulley, and the first synchronous belt body is arranged between the two first synchronous pulleys.

5. A high-voltage transmission line pulse eddy current detection robot according to claim 2, characterized in that: The second power end includes a DC motor, two second synchronous pulleys, a second synchronous belt body, two second optical axes and a screw; the DC motor is installed on the outside of the frame seat, one of the second synchronous pulleys is connected to the output end of the DC motor, the other second synchronous pulley is arranged parallel to it, and the second synchronous belt body is arranged between the two second synchronous pulleys, the second optical axis is installed in the frame seat, and the screw is also arranged near the second optical axis, the end of the screw extends to the outside of the frame seat and is connected to the second synchronous pulley away from the DC motor; two of the clamps are threadedly connected to the screw.

6. A high-voltage transmission line pulse eddy current detection robot according to claim 5, characterized in that: The two clamping jaws are both provided with crescent plates.

7. A high voltage transmission line pulse eddy current detection robot according to claim 1, characterized in that: The guide wheel end includes two first guide wheels, an active rod, a driven rod, a second guide wheel and a connecting piece; the opposite sides of the two first guide wheels are connected to the driven rod, and the end of the driven rod is hinged on the fixed seat, and the second guide wheel is arranged below the two first guide wheels, and the second guide wheel is arranged on the connecting piece, and the driven rod is hinged on both sides of the connecting piece, and the end of the driven rod is hinged on the active rod, and the lower end of the connecting piece is hinged with a long connecting rod, and the end of the long connecting rod is hinged with a short connecting rod, and the end of the short connecting rod is movably connected to the third power end.

8. A high voltage transmission line pulse eddy current detection robot according to claim 7, characterized in that: The third power end includes a driving motor, a worm, a worm wheel, a cylindrical shaft, a large cylindrical gear and a small cylindrical gear; the driving motor is installed in the housing, and the output end of the driving motor is connected to the worm, the worm is meshed with the worm wheel, the worm wheel is connected to the large cylindrical gear through the cylindrical shaft, the large cylindrical gear is meshed with the small cylindrical gear, and the small cylindrical gear is movably connected to the short connecting rod.

9. A high voltage transmission line pulse eddy current detection robot according to claim 1, characterized in that: A sleeve mechanism is also provided on the shell; the sleeve mechanism includes a sleeve upper end and a sleeve lower end; the sleeve lower end is connected to the shell, and the sleeve upper end is detachably connected to the sleeve lower end, the sleeve lower end and the sleeve upper end constitute a sleeve-shaped container, and a detection coil is wound inside the sleeve-shaped container.

10. A high voltage transmission line pulse eddy current detection robot according to claim 1, characterized in that: The shell is provided with a plurality of mounting holes.

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