Bionic obstacle-crossing inspection robot for overhead transmission line

Abstract

The utility model discloses an overhead transmission line bionic obstacle crossing inspection robot, including bearing mechanism, translation mechanism, gravity balance mechanism, telescopic mechanism, rotating mechanism, walking mechanism and tamping mechanism, can adapt to the operation environment of high -voltage transmission line and cross certain steepness's barrier. Bearing mechanism adopts aluminium rectangular plate design, and translation mechanism and telescopic mechanism cooperate and complete robot walking and obstacle crossing function, and gravity balance mechanism realizes stable operation through adjusting robot gravity. Rotating mechanism adopts worm and worm reducer formula motor drive, has stronger self -locking ability. Tamping mechanism passes through increasing the friction with transmission line, has improved the stability when robot operation. The robot has simple structure, strong flexibility, operation stability height advantage, is applicable to the efficient, accurate completion overhead transmission line's inspection task, can effectively promote the inspection efficiency and reduce artificial inspection risk.

Description

Technical Field

[0001] This utility model relates to the field of high-voltage line inspection technology, specifically to a biomimetic obstacle-crossing inspection robot for overhead power transmission lines. Background Technology

[0002] As the core carrier of long-distance power transmission in the country, overhead transmission lines often operate in extremely harsh environments. Because they are typically erected at high altitudes and in remote areas, they are susceptible to erosion from rain and snow in northern winters, and frequently subjected to strong winds in high-altitude regions. These external factors continuously threaten the safety of the lines. Problems such as corrosion of electrical fittings, loose bolts, and line damage directly affect the stability of the lines, further exacerbating operational risks. Once an overhead transmission line experiences a power outage, it can easily trigger a major power accident, causing enormous economic losses.

[0003] Traditional methods for inspecting power transmission lines mainly rely on manual inspection and drone inspection. Manual inspection is not only inefficient but also exposes workers to significant operational risks. Drone inspection, on the other hand, is constrained by weather conditions and has limitations in detection accuracy and endurance, making it difficult to handle long-duration, large-scale, and high-precision inspection tasks. Furthermore, successfully navigating obstacles on power transmission lines during the operation of inspection robots remains a critical issue that urgently needs to be addressed.

[0004] Therefore, designing an inspection robot that can adapt to the environment of overhead power transmission lines and biomimetically traverse obstacles of a certain steepness is of great significance for the inspection and maintenance of power transmission lines. Utility Model Content

[0005] The purpose of this invention is to provide a biomimetic obstacle-crossing inspection robot for overhead power lines, which can adapt to the working environment of overhead power lines and can biomimetically cross obstacles on power lines with a certain steepness to carry out inspection tasks.

[0006] The objective of this utility model can be achieved through the following technical solution: An overhead power line biomimetic obstacle-crossing inspection robot includes a load-bearing mechanism, a translation mechanism, a center-of-gravity balancing mechanism, a telescopic mechanism, a rotating mechanism, a walking mechanism, and a clamping mechanism. The load-bearing mechanism is responsible for supporting the robot's main body and center-of-gravity load, and transmitting force and torque. The translation mechanism, center-of-gravity balancing mechanism, telescopic mechanism, and rotating mechanism are responsible for bearing the main body load and adjusting the robot's posture and center of gravity. The telescopic mechanism and rotating mechanism cooperate to complete the obstacle-crossing function. The walking mechanism is responsible for enabling the robot's walking function. The clamping mechanism is responsible for increasing the friction between the robot and the overhead power line during obstacle crossing and walking, thereby improving operational stability.

[0007] The supporting structure of the biomimetic obstacle-crossing inspection robot for overhead power lines is an aluminum rectangular plate. A center-of-gravity balancing mechanism is symmetrically fixed to the lower surface of the aluminum rectangular plate along its long side axis of symmetry. A translation mechanism is fixedly connected to the upper surface of the aluminum rectangular plate, arranged symmetrically along its long side axis of symmetry. A set of DC electric actuator modules is fixedly connected to the translation mechanism. Two sets of DC electric actuator modules are fixedly connected to the areas near the front and rear sides of the upper surface of the aluminum rectangular plate, and one set of DC electric actuator modules is fixedly connected to the translation mechanism.

[0008] The telescopic mechanism of the biomimetic obstacle-crossing inspection robot for overhead power lines includes a front arm DC electric actuator module, a middle arm DC electric actuator module, and a rear arm DC electric actuator module arranged perpendicular to the support mechanism, and a middle arm DC electric actuator module arranged perpendicular to the translation mechanism. Two sets of DC electric actuator modules are fixedly connected to the upper surface of the aluminum rectangular plate near the front side of the plate, forming the front arm DC electric actuator module. Two sets of DC electric actuator modules are fixedly connected to the upper surface of the aluminum rectangular plate near the rear side of the plate, forming the rear arm DC electric actuator module. With the centroid of the aluminum rectangular plate as the origin, the front arm DC electric actuator module and the rear arm DC electric actuator module form a symmetrical relationship. The middle arm DC electric actuator module consists of a set of DC electric actuator modules fixedly connected to the translation mechanism.

[0009] Furthermore, the DC electric actuator modules of the forearm (near the inner side of the aluminum rectangular plate), the middle arm (near the outer side of the aluminum rectangular plate), and the rear arm (near the outer side of the aluminum rectangular plate) are all fixedly connected to a rotating mechanism of the same structure. The rotating mechanisms of the forearm and rear arm DC electric actuator modules are all fixedly connected to a traveling mechanism of the same structure. A separate traveling mechanism is fixedly connected to the rotating mechanism of the middle arm DC electric actuator module. The DC electric actuator modules of the forearm (near the outer side of the aluminum rectangular plate) and the rear arm (near the inner side of the aluminum rectangular plate) are all fixedly connected to a clamping mechanism of the same structure.

[0010] Furthermore, the rear arm DC electric push rod module, the middle arm DC electric push rod module, the rear arm external DC electric push rod and the rear arm internal DC electric push rod of the rear arm DC electric push rod module, the middle arm DC electric push rod, the forearm external DC electric push rod and the forearm internal DC electric push rod can be extended or shortened, thereby driving the corresponding rotating mechanism, walking mechanism or clamping mechanism on them to rise or fall.

[0011] Furthermore, the translation mechanism is a ball screw linear module, with the translation screw motor, translation screw slide rail, and two translation screw bearing supports fixedly connected to the upper surface of the aluminum rectangular plate. The axes of the translation screw motor, translation screw motor coupling, and translation mechanism bearing supports are coaxial and parallel to the long side symmetry axis of the upper surface of the aluminum rectangular plate. The translation screw nut and translation screw form a helical pair, and the translation slide rail and translation screw nut form a sliding pair. The middle arm translation base is fixedly connected to the translation screw nut and the slider of the translation screw slide rail, and the middle arm DC electric push rod is fixedly connected to the middle arm translation base. The power element of the ball screw linear module of the translation mechanism is a translation screw motor. The rotation of the translation screw motor drives the translation screw to rotate through the translation screw motor coupling. The rotation of the translation screw drives the translation screw nut to move, which in turn drives the middle arm translation base and even the middle arm DC electric push rod and its upper rotating mechanism and walking mechanism to move, thereby realizing the function of adjusting the center of gravity in conjunction with other mechanisms when crossing obstacles and walking.

[0012] Furthermore, the center of gravity balancing mechanism is a linear ball screw module. The center of gravity balancing screw motor, two center of gravity balancing screw guide rails, and two center of gravity balancing screw bearing supports are fixedly connected to the lower surface of the aluminum rectangular plate. The axes of the center of gravity balancing screw motor, the center of gravity balancing screw motor coupling, and the center of gravity balancing mechanism bearing supports are coaxial and coincide with the plane formed by the lower surface of the aluminum rectangular plate and the axis of symmetry of its long side. The center of gravity balancing screw nut and the center of gravity balancing screw form a helical pair, and the center of gravity balancing guide rails and the center of gravity balancing screw nut form a sliding pair. The center of gravity balancing mechanism's lead screw nut and the center of gravity balancing lead screw slide rail slider are fixedly connected to the center of gravity balancing box base. The center of gravity balancing box is fixedly connected to the center of gravity balancing box base. The ball screw linear module of the center of gravity balancing mechanism is powered by a center of gravity balancing lead screw motor. The rotation of the center of gravity balancing lead screw motor drives the center of gravity balancing lead screw to rotate through the center of gravity balancing lead screw motor coupling. The rotation of the center of gravity balancing lead screw drives the center of gravity balancing lead screw nut to move, which in turn drives the center of gravity balancing box base and even the center of gravity balancing box to move, thereby realizing the function of adjusting the center of gravity in conjunction with other mechanisms when crossing obstacles and walking.

[0013] Furthermore, when moving along overhead power lines, the rotating mechanism acts as a load-bearing mechanism, with the DC worm gear motor as the primary load element. During obstacle crossing, the DC worm gear motor serves as the power element for the rotating mechanism. The DC worm gear motor is fixedly connected to the rotating mechanism base, and is connected to the rotating mechanism's main shaft via a DC worm gear motor coupling. This coupling is secured to the main shaft via a key and set screws, limiting the axial displacement of the main shaft. Rotating mechanism bearing seats 1 and 2, used to support the main shaft, are fixedly connected to the rotating mechanism base at a distance from each other. The main shaft is a stepped shaft with a keyway, connected to the rotating mechanism's main arm via a key. The stepped shaft design, combined with the rotating mechanism bearing seats 1 and 2, limits the axial displacement of the main arm. The rotation of the DC worm gear motor drives the main shaft of the rotating mechanism to rotate through the DC worm gear motor coupling. The main shaft of the rotating mechanism then drives the main arm of the rotating mechanism to rotate. The rotation of the main arm of the rotating mechanism drives the walking mechanism to avoid obstacles, thereby realizing the obstacle crossing function.

[0014] Furthermore, the walking mechanism, as the main driving mechanism for the robot to walk on overhead power lines, bears and transmits the load through the forearm and rear arm bases and the middle arm base of the walking mechanism, which are fixedly connected to the main arm of the rotating mechanism. It also works with the rotating mechanism to drive the entire walking mechanism to achieve obstacle crossing.

[0015] Furthermore, the traveling mechanism above the outer DC electric push rod of the forearm and above the inner DC electric push rod of the rear arm is equipped with three support plates, each with through holes coaxial with the axes of the DC motors of the forearm and rear arm of the traveling mechanism: the main support plate of the forearm and rear arm of the traveling mechanism, the intermediate support plate of the forearm and rear arm of the traveling mechanism, and the rear support plate of the forearm and rear arm of the traveling mechanism. The main support plate of the forearm and rear arm of the traveling mechanism is fixedly connected to the base of the forearm and rear arm of the traveling mechanism. The intermediate support plate of the forearm and rear arm of the traveling mechanism is fixedly connected to the main support plate of the forearm and rear arm of the traveling mechanism at a distance from it. The intermediate support plate of the forearm and rear arm of the traveling mechanism is fixedly connected to the main support plate of the forearm and rear arm of the traveling mechanism at a distance from it. The main support plate of the forearm and rear arm of the traveling mechanism is used to fix the DC motors of the forearm and rear arm of the traveling mechanism. The intermediate support plate of the forearm and rear arm of the traveling mechanism is used to fix the bearing seat of the forearm and rear arm of the traveling mechanism, and the intermediate support plate of the forearm and rear arm of the traveling mechanism is used to fix the needle roller bearing I of the traveling mechanism, thereby supporting the main shaft of the forearm and rear arm of the traveling mechanism. The DC motors of the forearm and rear arm of the traveling mechanism are connected to one end of the main shaft of the forearm and rear arm of the traveling mechanism via a coupling. The installation length of the coupling is no longer than the distance between the intermediate support plate and the main support plate of the forearm and rear arm of the traveling mechanism. The needle roller bearing I of the traveling mechanism is interference-fitted to the other end of the main shaft of the forearm and rear arm of the traveling mechanism. The drive wheel of the traveling mechanism is keyed to the main shaft of the forearm and rear arm of the traveling mechanism and installed between the front support plate and the intermediate support plate of the forearm and rear arm of the traveling mechanism. The bearing housing of the forearm and rear arm of the traveling mechanism is connected to the main shaft of the forearm and rear arm of the traveling mechanism via a set screw to the side of the intermediate support plate near the front support plate of the forearm and rear arm of the traveling mechanism, thereby limiting the axial displacement of the main shaft of the forearm and rear arm of the traveling mechanism. When the robot walks, the DC motors of the forearm and rear arm of the two walking mechanisms rotate together or independently, and the torque is transmitted to the main shaft of the forearm and rear arm of the walking mechanism through the coupling of the forearm and rear arm of the walking mechanism. The main shaft of the forearm and rear arm of the walking mechanism drives the drive wheels of the two walking mechanisms to rotate together or independently through the key to achieve the walking function.

[0016] Furthermore, the travel mechanism's base above the DC electric actuator of the middle arm has two through holes coaxial with the travel mechanism's support wheel. The travel mechanism's support wheel is interference-fitted with the travel mechanism's needle roller bearing II, and the travel mechanism's needle roller bearing II is clearance-fitted with the bolts of the travel mechanism's bolt and nut pair. The travel mechanism's bolt and nut pair provides a rotation axis for the travel mechanism's support wheel and axially fixes the travel mechanism's support wheel under the travel mechanism's middle arm base. The travel mechanism's support wheel, needle roller bearing II, and bolt and nut pair constitute a passive support wheel assembly. When the travel mechanism's drive wheel rotates to achieve the travel function, the travel mechanism's support wheel assists the travel mechanism's drive wheel in sharing the load, thus passively rotating under the action of friction.

[0017] Furthermore, a clamping mechanism support plate I and a clamping mechanism support plate II are fixedly installed on the DC electric push rod plates on the inner DC electric push rod of the forearm and the outer DC electric push rod of the rear arm. The clamping mechanism support plates I and II are installed parallel to each other and have openings corresponding to the axes of the clamping mechanism clamping wheels I and II. The plane formed by the axes of the two through holes of the clamping mechanism support plate I coincides with the plane formed by the axes of the two through holes of the clamping mechanism support plate II. The clamping mechanism clamping wheels I and II are interference-fitted with the clamping mechanism needle roller bearings, and the clamping mechanism needle roller bearings are clearance-fitted with the bolts of the clamping mechanism bolt and nut sets I and II. The clamping mechanism bolt and nut sets I and II provide a rotation axis for the clamping mechanism clamping wheels and axially fix the clamping mechanism clamping wheels I and II between the clamping mechanism support plates I and II. The passive clamping wheel assembly consists of clamping mechanism clamping wheel I and clamping mechanism clamping wheel II, clamping mechanism needle roller bearing, clamping mechanism bolt and nut pair I and clamping mechanism bolt and nut pair II. The extension of the DC electric push rod on the front arm and the DC electric push rod on the rear arm drives clamping mechanism clamping wheel I and clamping mechanism clamping wheel II to clamp the overhead power line, thereby preventing the robot from swinging around the axis of the overhead power line. When the driving wheel of the walking mechanism rotates to achieve the walking function, clamping mechanism clamping wheel I and clamping mechanism clamping wheel II are passively rotated under the action of friction.

[0018] Furthermore, the tensioning mechanism support plate I and tensioning mechanism support plate II have the same structure, the tensioning mechanism bolt and nut assembly I and tensioning mechanism bolt and nut assembly II have the same structure, and the tensioning mechanism tensioning wheel I and tensioning mechanism tensioning wheel II have the same structure.

[0019] Furthermore, the aforementioned fixed connection is achieved using hexagon socket head cap screws.

[0020] Compared with the prior art, the beneficial effects of this utility model are:

[0021] 1. The biomimetic obstacle-crossing inspection robot for overhead power lines adopts a wrist-like rotating mechanism, which can overcome most hardware obstacles. The robot is highly flexible and has good balance when crossing obstacles.

[0022] 2. The rotating joint of the bionic obstacle-crossing inspection robot for overhead power lines is driven by a worm gear reducer motor. The robot's rotating joint has strong self-locking ability and large load-bearing capacity.

[0023] 3. The overhead power line bionic obstacle-crossing inspection robot adopts a dual electric push rod linkage clamping damping strategy. The clamping mechanism has a large clamping force and strong adjustability, resulting in high overall stability of the robot during operation.

[0024] 4. The overhead power line biomimetic obstacle-crossing inspection robot adopts a hingeless joint design except for the necessary rotating joints of the rotating mechanism. The robot has a simple overall structure and high rigidity. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 This is an isometric drawing of the load-bearing mechanism of this utility model.

[0027] Figure 3 This is an isometric drawing of the translation mechanism of this utility model.

[0028] Figure 4 This is an isometric drawing of the center-of-gravity balancing mechanism of this utility model.

[0029] Figure 5 This is an axonometric view of the telescopic mechanism of this utility model.

[0030] Figure 6 This is a schematic diagram of the forearm and rear arm walking mechanism and rotating mechanism of this utility model.

[0031] Figure 7 This is a side view of the forearm and rear arm traveling mechanism and rotating mechanism of this utility model.

[0032] Figure 8 This is a schematic diagram of the structure of the arm walking mechanism and the rotating mechanism of this utility model.

[0033] Figure 9 This is an isometric drawing of the forearm and rear arm clamping mechanism of this utility model.

[0034] Figure 10 This is an isometric drawing of the clamping wheel of the clamping mechanism of this utility model.

[0035] In the diagram: 1. Bearing mechanism, 2. Translation mechanism, 3. Center of gravity balancing mechanism, 4. Telescopic mechanism, 5. Rotation mechanism, 6. Traveling mechanism, 7. Tightening mechanism, 101. Front side of aluminum rectangular plate, 102. Rear side of aluminum rectangular plate, 103. Outer side of aluminum rectangular plate, 104. Inner side of aluminum rectangular plate, 105. Upper surface of aluminum rectangular plate, 106. Lower surface of aluminum rectangular plate, 201. Translation screw motor, 202. Translation screw motor coupling, 203. Rear screw bearing support of translation screw, 204. Translation screw, 205. Translation screw nut, 206. Front screw bearing support of translation screw, 207. Translation screw slide rail slider, 208. Middle arm translation base, 209. Translation screw slide rail, 210. Translation screw motor Machine base; 301. Center of gravity balance screw motor; 302. Center of gravity balance screw motor coupling; 303. Center of gravity balance screw front screw bearing support; 304. Center of gravity balance screw; 305. Center of gravity balance screw nut; 306. Center of gravity balance screw rear screw bearing support; 307. Center of gravity balance screw slide rail slider; 308. Center of gravity balance box base; 309. Center of gravity balance screw slide rail; 310. Center of gravity balance box; 311. Center of gravity balance screw motor base; 401. Forearm DC electric actuator module; 402. Middle arm DC electric actuator module; 403. Rear arm DC electric actuator module; 404. Rear arm outer DC electric actuator; 405. Rear arm inner DC electric actuator; 406. Middle arm DC electric actuator; 407. Forearm 408. External DC electric actuator; 409. Forearm internal DC electric actuator; 410. Rear arm external DC electric actuator push plate; 411. Rear arm internal DC electric actuator push plate; 412. Middle arm DC electric actuator push plate; 413. Forearm external DC electric actuator push plate; 501. DC worm gear motor; 502. DC worm gear motor coupling; 503. Rotating mechanism main shaft; 504. Rotating mechanism bearing seat 1; 505. Rotating mechanism main arm; 506. Rotating mechanism base; 507. Rotating mechanism bearing seat 2; 601. Traveling mechanism forearm and rear arm base; 602. Traveling mechanism forearm and rear arm intermediate support plate; 603. Traveling mechanism forearm and rear arm front support plate; 604. Traveling mechanism forearm. 605. Rear arm main support plate; 606. DC motor for forearm and rear arm of traveling mechanism; 607. Coupling for forearm and rear arm of traveling mechanism; 608. Main shaft for forearm and rear arm of traveling mechanism; 609. Bearing housing for forearm and rear arm of traveling mechanism; 610. Drive wheel of traveling mechanism; 611. Base of middle arm of traveling mechanism; 612. Bolt and nut pair of middle arm of traveling mechanism; 613. Needle roller bearing I of traveling mechanism; 614. Support wheel of traveling mechanism; 705. Needle roller bearing II of traveling mechanism; 706. Support plate I of clamping mechanism; 707. Bolt and nut pair I of clamping mechanism; 708. Bolt and nut pair II of clamping mechanism; 709. Needle roller bearing of clamping mechanism. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] See Figure 1 , Figure 2 and Figure 4 The overhead power line bionic obstacle-crossing inspection robot includes a carrying mechanism 1, a translation mechanism 2, a center of gravity balancing mechanism 3, a telescopic mechanism 4, a rotating mechanism 5, a walking mechanism 6, and a clamping mechanism 7.

[0038] The supporting mechanism 1 includes an aluminum rectangular plate, which can be considered as a cuboid. The six surfaces of the aluminum rectangular plate are defined as the front surface 101, rear surface 102, outer surface 103, inner surface 104, upper surface 105, and lower surface 106. Threaded holes are formed in the right-angled areas of the upper surface 105 of the aluminum rectangular plate near the rear surface 102 and outer surface 103, and in the right-angled areas of the upper surface 105 near the front surface 101 and inner surface 104. Threaded holes are symmetrically formed in a rectangular area near the long axis of symmetry of the aluminum rectangular plate at a distance from the long axis of symmetry. Multiple rectangular through holes are formed in the aluminum rectangular plate for weight reduction. The robot's movement direction is from the rear surface 102 to the front surface 101 of the aluminum rectangular plate. Translation mechanism 2 and telescopic mechanism 4 are located on the upper surface 105 of the aluminum rectangular plate, center of gravity balancing mechanism 3 is located on the lower surface 106 of the aluminum rectangular plate, and rotation mechanism 5, walking mechanism 6 and clamping mechanism 7 are located on the telescopic mechanism 4, that is, above the upper surface 105 of the aluminum rectangular plate.

[0039] See Figure 3 The translation mechanism 2 of the biomimetic obstacle-crossing inspection robot for overhead power lines includes a translation screw motor 201, a translation screw motor coupling 202, a rear screw bearing support 203, a translation screw 204, a translation screw nut 205, a front screw bearing support 206, a translation screw slide rail slider 207, a middle arm translation base 208, a translation screw slide rail 209, and a translation screw motor base 210.

[0040] The power element of the translation mechanism 2 is a translation screw motor 201, which is coaxially and fixedly connected to the translation screw 204 via a translation screw motor coupling 202. The translation screw motor 201 is fixed to the translation screw motor base 210 by hexagon socket head cap screws. The translation screw motor base 210 and the rear screw bearing support 203 are fixed to the upper surface 105 of the aluminum rectangular plate near the rear side 102 of the aluminum rectangular plate by hexagon socket head cap screws. The front screw bearing support 206 is fixed to the upper surface 105 of the aluminum rectangular plate near the front side 101 of the aluminum rectangular plate by hexagon socket head cap screws. The axes of the front screw bearing support 206, the rear screw bearing support 203, and the translation screw 204 are arranged coaxially. The translation screw nut 205 is fitted onto the translation screw 204 to form a screw pair. The translation screw slide rail 209 is fixed to the upper surface 105 of the aluminum rectangular plate by hexagonal socket bolts. The translation screw slide rail slider 207 is fitted into the translation screw slide rail 209 to form a sliding pair. The translation screw nut 205 and the translation screw slide rail slider 207 are connected to the middle arm translation base 208 by hexagonal socket bolts. The rotation of the translation screw motor 201 drives the translation screw 204 to rotate through the translation screw motor coupling 202. The rotation of the translation screw 204 drives the translation screw nut 205 to move, which in turn drives the middle arm translation base 208 and even the middle arm DC electric push rod 406 and its upper rotating mechanism 5 and walking mechanism 6 to move, thereby realizing the function of adjusting the center of gravity in conjunction with other mechanisms when crossing obstacles and walking.

[0041] See Figure 4 The center of gravity balancing mechanism 3 of the bionic obstacle-crossing inspection robot for overhead power lines includes a center of gravity balancing screw motor 301, a center of gravity balancing screw motor coupling 302, a center of gravity balancing screw rear screw bearing support 306, a center of gravity balancing screw 304, a center of gravity balancing screw nut 305, a center of gravity balancing screw front screw bearing support 303, a center of gravity balancing screw slide rail slider 307, a center of gravity balancing box base 308, a center of gravity balancing screw slide rail 309, and a center of gravity balancing box 310.

[0042] The power element of the center-of-gravity balancing mechanism 3 is a center-of-gravity balancing screw motor 301, which is coaxially and fixedly connected to the center-of-gravity balancing screw 304 via a center-of-gravity balancing screw motor coupling 302. The center-of-gravity balancing screw motor 301 is fixed to the center-of-gravity balancing screw motor base 311 by hexagon socket head cap screws. The center-of-gravity balancing screw motor base 311 and the front screw bearing support 303 are fixed to the lower surface 106 of the aluminum rectangular plate near the front side 101 of the aluminum rectangular plate by hexagon socket head cap screws. The rear screw bearing support 306 is fixed to the lower surface 106 of the aluminum rectangular plate near the rear side 102 of the aluminum rectangular plate by hexagon socket head cap screws. The front screw bearing support 303, the rear screw bearing support 306, and the center-of-gravity balancing screw 304 are arranged coaxially. The center-of-gravity balancing screw nut 305 is fitted onto the center-of-gravity balancing screw 304 to form a screw pair. Two center-of-gravity balance screw slide rails 309 are fixed to the lower surface 106 of the aluminum rectangular plate by hexagonal socket head cap screws. Two center-of-gravity balance screw slide rail sliders 307 are fitted into the center-of-gravity balance screw slide rails 309 to form a sliding pair. The center-of-gravity balance screw nut 305 and the two center-of-gravity balance screw slide rail sliders 307 are connected to the center-of-gravity balance base 308 of the middle arm by hexagonal socket head cap screws. The rotation of the center-of-gravity balance screw motor 301 drives the rotation of the center-of-gravity balance screw 304 through the center-of-gravity balance screw motor coupling 302. The rotation of the center-of-gravity balance screw 304 drives the movement of the center-of-gravity balance screw nut 305, which in turn drives the center-of-gravity balance box base 308 and even the center-of-gravity balance box 310 to move, thereby realizing the function of adjusting the center of gravity in conjunction with other mechanisms when crossing obstacles and walking.

[0043] See Figure 5 The telescopic mechanism 4 of the overhead power line bionic obstacle-crossing inspection robot includes a forearm DC electric push rod module 401, a middle arm DC electric push rod module 402, a rear arm DC electric push rod module 403, a rear arm outer DC electric push rod 404, a rear arm inner DC electric push rod 405, a middle arm DC electric push rod 406, a forearm outer DC electric push rod 407, a forearm inner DC electric push rod 408, a rear arm outer DC electric push rod push plate 409, a rear arm inner DC electric push rod push plate 410, a middle arm DC electric push rod push plate 411, a forearm outer DC electric push rod push plate 412, and a forearm inner DC electric push rod push plate 413.

[0044] The forearm DC electric actuator module 401 comprises two sets of DC electric actuator modules, including an outer forearm DC electric actuator 407 and an outer forearm DC electric actuator plate 412, and an inner forearm DC electric actuator 408 and an inner forearm DC electric actuator plate 413. The middle arm DC electric actuator module 402 comprises a middle arm DC electric actuator 406 and a middle arm DC electric actuator plate 411. The rear arm DC electric actuator module 403 comprises two sets of DC electric actuator modules, including an outer rear arm DC electric actuator 404 and an outer rear arm DC electric actuator plate 409, and an inner rear arm DC electric actuator 405 and an inner rear arm DC electric actuator plate 410.

[0045] The forearm inner DC electric actuator 408 and the rear arm outer DC electric actuator 404 are respectively fixed to the upper surface 105 of the aluminum rectangular plate near the front side 101 and the inner side 104 of the aluminum rectangular plate, and near the rear side 102 and the outer side 103 of the aluminum rectangular plate, using hexagonal socket head cap screws. The forearm outer DC electric actuator 407 and the rear arm inner DC electric actuator 405 are respectively fixed to the upper surface 105 of the aluminum rectangular plate near the front side 101 and the upper surface 105 of the aluminum rectangular plate near the rear side 102 of the aluminum rectangular plate, using hexagonal socket head cap screws. The middle arm DC electric actuator 406 is fixed to the middle arm translation base 208 of the translation mechanism 2 using hexagonal socket head cap screws.

[0046] The tops of the rear arm external DC electric actuator 404, rear arm internal DC electric actuator 405, middle arm DC electric actuator 406, forearm external DC electric actuator 407, and forearm internal DC electric actuator 408 are sequentially fixedly connected to the rear arm external DC electric actuator push plate 409, rear arm internal DC electric actuator push plate 410, middle arm DC electric actuator push plate 411, forearm external DC electric actuator push plate 412, and forearm internal DC electric actuator push plate 413 by hexagon socket head cap screws.

[0047] The rear arm external DC electric actuator 404, rear arm internal DC electric actuator 405, middle arm DC electric actuator 406, forearm external DC electric actuator 407, and forearm internal DC electric actuator 408 can be extended or shortened, thereby pushing the rear arm external DC electric actuator plate 409, rear arm internal DC electric actuator plate 410, middle arm DC electric actuator plate 411, forearm external DC electric actuator plate 412, and forearm internal DC electric actuator plate 413 to rise or fall.

[0048] See Figure 5 , Figure 6 , Figure 7 and Figure 8The rotating mechanism 5 of the overhead power line bionic obstacle-crossing inspection robot includes a DC worm gear motor 501, a DC worm gear motor coupling 502, a rotating mechanism main shaft 503, a rotating mechanism bearing seat 1504, a rotating mechanism main arm 505, a rotating mechanism base 506, and a rotating mechanism bearing seat 2507.

[0049] A rotating mechanism base 506 is fixed to the rear arm outer DC electric push rod plate 409, the middle arm DC electric push rod plate 411, and the forearm inner DC electric push rod plate 413 via hexagon socket head cap screws. The bottom surface of the rotating mechanism base 506 has through holes, through which rotating mechanism bearing seats 1504 and 2507 are fixed, spaced apart. The power element of the rotating mechanism 5 is a DC worm gear motor 501, which is fixed to the rotating mechanism base 506 via hexagon socket head cap screws. The DC worm gear motor 501 is coaxially fixed to the rotating mechanism main shaft 503 via a DC worm gear motor coupling 502. The DC worm gear motor coupling 502 and the rotating mechanism main shaft 503 are connected by a key and fixed with a set screw, restricting the axial displacement of the rotating mechanism main shaft. The main shaft 503 and the main arm 505 of the rotating mechanism are fixedly connected between the bearing housings 1504 and 2507 of the rotating mechanism via an interference fit and a key. The main shaft 503 is a stepped shaft, and the design of the stepped shaft, combined with the bearing housings 1504 and 2507, restricts the axial displacement of the main arm. The main shaft 503 and the bearing housings 1504 and 2507 are positioned and fixedly connected only via an interference fit.

[0050] See Figure 5 , Figure 6 , Figure 7 and Figure 8 The walking mechanism 6 of the biomimetic obstacle-crossing inspection robot for overhead power lines includes a forearm and rear arm base 601, a forearm and rear arm intermediate support plate 602, a forearm and rear arm front support plate 603, a forearm and rear arm main support plate 604, a forearm and rear arm DC motor 605, a forearm and rear arm coupling 606, a forearm and rear arm main shaft 607, a forearm and rear arm bearing seat 608, a drive wheel 609, a middle arm base 610, a middle arm bolt and nut assembly 611, a needle roller bearing 612, a support wheel 613, and a needle roller bearing II 614.

[0051] Above the rear arm external DC electric actuator push plate 409 and the forearm internal DC electric actuator push plate 413, on the main arm 505 of the rotating mechanism, each is fixed with an identical forearm and rear arm base 601 of the traveling mechanism by hexagonal socket head cap screws. The forearm and rear arm main support plate 604 of the traveling mechanism is fixed inside the forearm and rear arm base 601 by hexagonal socket head cap screws. The forearm and rear arm main support plate 604 is fixedly connected to the forearm and rear arm intermediate support plate 602 and the forearm and rear arm front support plate 603 of the traveling mechanism by hexagonal socket head cap screws. The forearm and rear arm main support plate 604, the forearm and rear arm intermediate support plate 602, and the forearm and rear arm front support plate 603 of the traveling mechanism have through holes through which the forearm and rear arm main shaft 607 of the traveling mechanism can pass. The traveling mechanism needle roller bearing I 612 is fixedly connected to the forearm and rear arm front support plate 603 of the traveling mechanism by an interference fit between the hole and the shaft. The intermediate support plate 602 of the forearm and rear arm of the traveling mechanism has a through hole at a certain distance from the edge of the through hole through the main shaft 607 of the forearm and rear arm of the traveling mechanism. The bearing seat 608 of the forearm and rear arm of the traveling mechanism is fixedly connected to the through hole of the intermediate support plate 602 of the forearm and rear arm of the traveling mechanism by hexagon socket bolts. The DC motor 605 of the forearm and rear arm of the traveling mechanism is fixed to the base 601 of the forearm and rear arm of the traveling mechanism by bolts. The DC motor 605 of the forearm and rear arm of the traveling mechanism is fixedly connected to the main shaft 607 of the forearm and rear arm of the traveling mechanism through the coupling 606 of the forearm and rear arm of the traveling mechanism. The main shaft 607 of the forearm and rear arm of the traveling mechanism is positioned and fixedly connected to the drive wheel 609 of the traveling mechanism by a hole-shaft interference fit and a key connection. The main shaft 607 of the forearm and rear arm of the traveling mechanism, the bearing seat 608 of the forearm and rear arm of the traveling mechanism, and the needle roller bearing I612 of the traveling mechanism are only connected by a hole-shaft interference fit. When the robot walks, the DC motors 605 of the forearm and rear arm of the two walking mechanisms rotate together or independently, and transmit torque to the main shaft 607 of the forearm and rear arm of the walking mechanism through the coupling 606 of the forearm and rear arm of the walking mechanism. The main shaft 607 of the forearm and rear arm of the walking mechanism drives the drive wheels 609 of the two walking mechanisms to rotate together or independently through the key to achieve the walking function.

[0052] A separate traveling mechanism arm base 610 is fixed to the main arm 505 of the rotating mechanism above the DC electric push rod push plate 411 of the middle arm via hexagonal socket head cap screws. The traveling mechanism arm base 610 has through holes on both sides. A traveling mechanism needle roller bearing II 614 is interference-fitted onto the traveling mechanism support wheel 613. The traveling mechanism arm bolt and nut pair 611, providing axial fixation and rotation shaft, is clearance-fitted with the traveling mechanism needle roller bearing II 614 to mount the traveling mechanism support wheel 613 onto the traveling mechanism arm base 610. When the traveling mechanism drive wheel 609 rotates to achieve the traveling function, the traveling mechanism support wheel 613 assists the traveling mechanism drive wheel in sharing the load, thus passively rotating under the action of friction.

[0053] See Figure 5 , Figure 9 and Figure 10The clamping mechanism 7 of the translation mechanism 2 of the overhead power transmission line bionic obstacle-crossing inspection robot includes clamping mechanism support plate I 701, clamping mechanism support plate II 702, clamping mechanism bolt and nut pair I 703, clamping mechanism bolt and nut pair II 704, clamping mechanism clamping wheel I 705, clamping mechanism clamping wheel II 706, and clamping mechanism needle roller bearing 707.

[0054] The forearm outer DC electric push rod push plate 412 and the rear arm inner DC electric push rod push plate 410 are connected to the clamping mechanism support plate I 701 and clamping mechanism support plate II 702 by internal hex bolts. The top of clamping mechanism support plate I 701 and clamping mechanism support plate II 702 each have two through holes. The plane formed by the axes of the two through holes of clamping mechanism support plate I 701 coincides with the plane formed by the axes of the two through holes of clamping mechanism support plate II 702. The clamping mechanism needle roller bearing 707 is interference-fitted onto the clamping mechanism clamping wheel I 705 and clamping mechanism clamping wheel II 706, respectively. The clamping mechanism bolt and nut pair I 703 and clamping mechanism bolt and nut pair II 704, which provide axial fixation and rotation shaft, are clearance-fitted onto the clamping mechanism needle roller bearing 707. The clamping mechanism clamping wheels I 705 and II 706 are then installed between the clamping mechanism support plate I 701 and clamping mechanism support plate II 702, respectively. When the walking mechanism drive wheel 609 rotates to achieve walking or obstacle crossing, the outer DC electric push rod 407 of the forearm and the inner DC electric push rod 405 of the rear arm extend, thereby driving the clamping mechanism clamping wheels I 705 and II 706 to fully clamp the overhead power line. The clamping mechanism clamping wheels I 705 and II 706 are passively rotated under the action of friction.

[0055] Working principle:

[0056] When in use, the robot has three working modes: standby mode, walking mode, and obstacle crossing mode.

[0057] When the inspection robot is suspended in front of the overhead power line, the working mode of the overhead power line bionic obstacle-crossing inspection robot is standby mode. According to the catenary curvature of the overhead power line, the travel of the telescopic mechanism 4 is adjusted by the following parameters: the rear arm outer DC electric push rod 404, the rear arm inner DC electric push rod 405, the middle arm DC electric push rod 406, the forearm outer DC electric push rod 407, and the forearm inner DC electric push rod 408. The horizontal position of the middle arm DC electric push rod 406 is adjusted by rotating the translation screw motor 201 of the driving translation mechanism 2 to move the middle arm translation base 208. The horizontal position of the center of gravity balance box 310 is adjusted by rotating the center of gravity balance screw motor 301 of the driving center of gravity balance mechanism 3 to move the center of gravity balance box base 308.

[0058] When the robot is suspended on the power transmission line and no obstacle is detected, the working mode of the overhead power transmission line bionic obstacle-crossing inspection robot is divided into walking mode. Driven by the external DC electric push rod 407 of the forearm and the internal DC electric push rod 405 of the rear arm, the clamping mechanism clamping wheel I 705 and clamping mechanism clamping wheel II 706 of the clamping mechanism 7 clamp the overhead power transmission line. The robot drives the DC motor 605 of the forearm and rear arm of the walking mechanism 6 to drive the main shaft 607 of the forearm and rear arm of the walking mechanism and the walking mechanism drive wheel 609 on it to rotate synchronously and actively, thereby driving the robot to move forward or backward. The tensioning wheel II of the tensioning mechanism and the support wheel 613 of the traveling mechanism on the middle arm base 610 of the traveling mechanism are passively rotated under the action of friction. During the travel, the stroke of the rear arm outer DC electric push rod 404, the rear arm inner DC electric push rod 405, the middle arm DC electric push rod 406, the forearm outer DC electric push rod 407, the forearm inner DC electric push rod 408, the horizontal position of the middle arm DC electric push rod 402, and the horizontal position of the center of gravity balance box 310 can be adjusted according to the change of the catenary arc of the overhead power line, thereby stabilizing the center of gravity.

[0059] When the robot is suspended on the power transmission line and detects an obstacle, the working mode of the overhead power transmission line bionic obstacle-crossing inspection robot is divided into obstacle-crossing mode. According to the type and size of the obstacle, the robot selectively adjusts the stroke of the rear arm external DC electric push rod 404, rear arm internal DC electric push rod 405, middle arm DC electric push rod 406, forearm external DC electric push rod 407, and forearm internal DC electric push rod 408 of the telescopic mechanism 4, and drives the main arm 505 of the rotating mechanism 5 to rotate by the DC worm gear motor 501 of the driving rotating mechanism 5 to avoid the obstacle. The robot stabilizes its center of gravity by adjusting the stroke of the rear arm external DC electric push rod 404, rear arm internal DC electric push rod 405, middle arm DC electric push rod 406, forearm external DC electric push rod 407, and forearm internal DC electric push rod 408, the horizontal position of the middle arm DC electric push rod 402, and the horizontal position of the center of gravity balance box 310.

Claims

1. A biomimetic obstacle-crossing inspection robot for overhead power transmission lines, characterized in that, It includes a load-bearing mechanism (1), a translation mechanism (2), a center of gravity balancing mechanism (3), a telescopic mechanism (4), a rotation mechanism (5), a walking mechanism (6), and a clamping mechanism (7); The bearing mechanism (1) is used to support the robot body and center of gravity load, and to transmit force and torque; The translation mechanism (2), the center of gravity balancing mechanism (3), the telescopic mechanism (4) and the rotation mechanism (5) are used to bear the load of the main body and adjust the posture and center of gravity of the robot. The telescopic mechanism (4) and the rotation mechanism (5) cooperate with each other to complete the obstacle crossing function. The walking mechanism (6) is used to realize the walking function of the robot; The clamping mechanism (7) is used to increase the friction between the robot and the overhead power line during obstacle crossing and walking, thereby improving operational stability.

2. The overhead power transmission line bionic obstacle-crossing inspection robot according to claim 1, characterized in that, The supporting mechanism (1) is an aluminum rectangular plate; The lower surface (106) of the aluminum rectangular plate is symmetrically and fixedly connected to the center of gravity balance mechanism (3) along the direction of the long side symmetry axis; The upper surface (105) of the aluminum rectangular plate is fixedly connected to the translation mechanism (2), and is symmetrically arranged along the long side symmetry axis of the upper surface (105) of the aluminum rectangular plate; The telescopic mechanism (4) includes a middle arm DC electric push rod module (402) fixedly connected to the translation mechanism (2) and a front arm DC electric push rod module (401) and a rear arm DC electric push rod module (403) fixedly connected to the upper surface (105) of the aluminum rectangular plate near the front side (101) and the rear side (102) of the aluminum rectangular plate.

3. The overhead power transmission line bionic obstacle-crossing inspection robot according to claim 2, characterized in that, The forearm DC electric actuator module (401) includes an external forearm DC electric actuator (407), an external forearm DC electric actuator plate (412), an internal forearm DC electric actuator (408), and an internal forearm DC electric actuator plate (413). The rear arm DC electric push rod module (403) includes an external rear arm DC electric push rod (404), an external rear arm DC electric push rod push plate (409), an internal rear arm DC electric push rod (405), and an internal rear arm DC electric push rod push plate (410). With the centroid of the upper surface (105) of the aluminum rectangular plate as the origin, the forearm DC electric actuator module (401) and the rear arm DC electric actuator module (403) form an origin-symmetric relationship. The mid-arm DC electric actuator module (402) includes a mid-arm DC electric actuator (406) and a mid-arm DC electric actuator push plate (411).

4. The overhead power transmission line biomimetic obstacle-crossing inspection robot according to claim 3, characterized in that, The upper part of the forearm inner DC electric push rod push plate (413), the middle arm DC electric push rod push plate (411) and the rear arm outer DC electric push rod push plate (409) are all fixedly connected with a rotating mechanism (5) of the same structure. The same walking mechanism (6) is fixedly connected to the rotating mechanism (5) above the inner DC electric push rod push plate (413) of the forearm and the outer DC electric push rod push plate (409) of the rear arm. A separate walking mechanism (6) is fixedly connected above the rotating mechanism (5) above the middle arm DC electric push rod push plate (411); The forearm external DC electric push rod (407) and its forearm external DC electric push rod push plate (412), and the rear arm internal DC electric push rod (405) and its rear arm internal DC electric push rod push plate (410) are all fixedly connected with a clamping mechanism (7) of the same structure.

5. The overhead power transmission line biomimetic obstacle-crossing inspection robot according to claim 4, characterized in that, The rotating mechanism (5) includes a rotating mechanism base (506), a DC worm gear motor (501), a rotating mechanism main shaft (503), rotating mechanism bearing seats (504, 507), and a DC worm gear motor coupling (502). The DC worm gear motor (501) is fixedly connected to the base (506) of the rotating mechanism. The DC worm gear motor (501) is connected to the main shaft (503) of the rotating mechanism through a DC worm gear motor coupling (502). The DC worm gear motor coupling (502) is connected to the main shaft (503) of the rotating mechanism through a key and fixed with a set screw to limit the axial displacement of the main shaft (503). The DC worm gear motor (501) rotates through the DC worm gear motor coupling (502) to drive the main shaft (503) of the rotating mechanism to rotate, which in turn drives the main arm (505) of the rotating mechanism to rotate, so as to drive the walking mechanism (6) to avoid obstacles and achieve obstacle crossing.

6. The overhead power transmission line biomimetic obstacle-crossing inspection robot according to claim 4, characterized in that, The traveling mechanism (6) above the rotating mechanism (5) above the inner DC electric push rod push plate (413) of the forearm and the outer DC electric push rod push plate (409) of the rear arm includes a forearm and rear arm base (601), multiple support plates, a DC motor (605) of the forearm and rear arm of the traveling mechanism, a main shaft (607) of the forearm and rear arm of the traveling mechanism, a drive wheel (609) of the traveling mechanism, a coupling (606) of the forearm and rear arm of the traveling mechanism, and a needle roller bearing I (612) of the traveling mechanism. The plurality of support plates include a main support plate (604) for the forearm and rear arm of the walking mechanism, a middle support plate (602) for the forearm and rear arm of the walking mechanism, and a front support plate (603) for the forearm and rear arm of the walking mechanism, all of which have through holes coaxial with the axis of the DC motor (605) for the forearm and rear arm of the walking mechanism. The main support plate (604) of the forearm and rear arm of the walking mechanism is fixedly connected to the base (601) of the forearm and rear arm of the walking mechanism. The intermediate support plate (602) of the forearm and rear arm of the walking mechanism is spaced apart from and fixedly connected to the main support plate (604) of the forearm and rear arm of the walking mechanism. The front support plate (603) of the forearm and rear arm of the walking mechanism is spaced apart from the intermediate support plate (602) of the forearm and rear arm of the walking mechanism and fixedly connected to the main support plate (604) of the forearm and rear arm of the walking mechanism. The main support plate (604) of the forearm and rear arm of the walking mechanism is used to fix the DC motor (605) of the forearm and rear arm of the walking mechanism. The intermediate support plate (602) of the forearm and rear arm of the walking mechanism is used to fix the bearing seat (608) of the forearm and rear arm of the walking mechanism, so as to fix the needle roller bearing I (612) of the walking mechanism and thus support the main shaft (607) of the forearm and rear arm of the walking mechanism. The DC motor (605) of the forearm and rear arm of the walking mechanism is connected to one end of the main shaft (607) of the forearm and rear arm of the walking mechanism through the forearm and rear arm coupling (606). The installation length of the forearm and rear arm coupling (606) of the walking mechanism is not longer than the distance between the intermediate support plate (602) of the forearm and rear arm of the walking mechanism and the main support plate (604) of the forearm and rear arm of the walking mechanism. The needle roller bearing I (612) of the walking mechanism is interference-fitted to the other end of the main shaft (607) of the forearm and rear arm of the walking mechanism; The drive wheel (609) of the walking mechanism and the main shaft (607) of the forearm and rear arm of the walking mechanism are connected by a key and installed between the front support plate (603) of the forearm and rear arm of the walking mechanism and the middle support plate (602) of the forearm and rear arm of the walking mechanism. The forearm and rear arm bearing seat (608) of the walking mechanism and the forearm and rear arm main shaft (607) of the walking mechanism are connected to the middle support plate (602) of the forearm and rear arm of the walking mechanism near the front support plate (603) of the forearm and rear arm of the walking mechanism by a set screw, which is used to limit the axial displacement of the forearm and rear arm main shaft (607) of the walking mechanism.

7. The overhead power transmission line biomimetic obstacle-crossing inspection robot according to claim 4, characterized in that, The traveling mechanism (6) above the rotating mechanism (5) above the DC electric push rod push plate (411) of the middle arm includes the middle arm base (610), the traveling mechanism support wheel (613), the traveling mechanism needle roller bearing II (614), and the traveling mechanism bolt and nut pair (611). The arm base (610) of the walking mechanism has two through holes coaxial with the support wheel (613) of the walking mechanism; The walking mechanism support wheel (613) is installed with an interference fit to the walking mechanism needle roller bearing II (614), and the walking mechanism needle roller bearing II (614) is installed with a clearance fit to the bolts of the walking mechanism bolt and nut pair (611). The bolt and nut pair (611) of the walking mechanism provides a rotation axis for the walking mechanism support wheel (613) and fixes the walking mechanism support wheel (613) axially under the middle arm base (610) of the walking mechanism, thus forming a passive support wheel assembly.

8. The overhead power transmission line biomimetic obstacle-crossing inspection robot according to claim 4, characterized in that, The clamping mechanism (7) includes clamping mechanism support plate I (701), clamping mechanism support plate II (702), clamping mechanism clamping wheel I (705), clamping mechanism clamping wheel II (706), clamping mechanism needle roller bearing (707), clamping mechanism bolt and nut assembly I (703) and clamping mechanism bolt and nut assembly II (704); The clamping mechanism support plate I (701) and clamping mechanism support plate II (702) are installed in parallel, and corresponding to the axis openings of clamping mechanism clamping wheel I (705) and clamping mechanism clamping wheel II (706), the plane formed by the axis of the two through holes of the clamping mechanism support plate I (701) coincides with the plane formed by the axis of the two through holes of the clamping mechanism support plate II (702); The clamping mechanism clamping wheel I (705) and clamping mechanism clamping wheel II (706) are installed with an interference fit to the clamping mechanism needle roller bearing (707), and the clamping mechanism needle roller bearing (707) is installed with a clearance fit to the bolts of the clamping mechanism bolt and nut pair I (703) and clamping mechanism bolt and nut pair II (704). The bolt and nut assembly I (703) and bolt and nut assembly II (704) of the tightening mechanism provide a rotating shaft for the tightening wheel of the tightening mechanism and fix the tightening wheel I (705) and tightening wheel II (706) of the tightening mechanism axially between the support plate I (701) and the support plate II (702) of the tightening mechanism, thus forming a passive tightening wheel assembly; The forearm external DC electric push rod (407) and the rear arm internal DC electric push rod (405) extend to drive the clamping mechanism clamping wheel I (705) and clamping mechanism clamping wheel II (706) to clamp the overhead power line.

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