CN218633080U

CN218633080U - Self-adaptive obstacle-crossing power transmission line inspection robot

Info

Publication number: CN218633080U
Application number: CN202222658752.XU
Authority: CN
Inventors: 岳湘; 王洪光; 宋屹峰; 姜勇; 凌烈
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2022-10-10
Filing date: 2022-10-10
Publication date: 2023-03-14
Anticipated expiration: 2032-10-10

Abstract

The utility model belongs to the technical field of transmission line patrols and examines the operation, in particular to transmission line that self-adaptation was hindered more patrols and examines robot. The center of mass adjusting mechanism comprises a center of mass adjusting mechanism, a clamping device, a front double-arm mechanism, a rear double-arm mechanism and a control box, wherein the clamping device comprises a front clamping mechanism and a rear clamping mechanism which are arranged at the top of the control box; the front double-arm mechanism and the rear double-arm mechanism are respectively connected with the front clamping mechanism and the rear clamping mechanism through a mass center adjusting mechanism, the front clamping mechanism and the rear clamping mechanism are respectively used for driving the front double-arm mechanism and the rear double-arm mechanism to clamp or loosen the power transmission network cable, and the front double-arm mechanism and the rear double-arm mechanism are used for walking on the power transmission network cable; the mass center adjusting mechanism is used for adjusting the mass center of the robot. The utility model discloses a barycenter guiding mechanism changes the barycenter position of robot, reduces wire jumper variation range, improves and hinders efficiency more, reduces and hinders the degree of difficulty more.

Description

Self-adaptive obstacle-crossing power transmission line inspection robot

Technical Field

The utility model belongs to the technical field of the transmission line operation of patrolling and examining, in particular to transmission line that self-adaptation hinders more patrols and examines robot.

Background

As the high-voltage transmission lines in China are influenced by natural environment, human factors, operation conditions, equipment defects, aging and the like, the lines need to be regularly inspected and maintained to ensure safe operation. The inspection, maintenance, rack addition, line withdrawal and other operations of the overhead high-voltage power supply line under the condition of no power outage are increasingly emphasized. The high-voltage transmission line itself is different from a general transmission line, and has a certain electromagnetic field due to high voltage electricity, so that the high-voltage transmission line itself is more dangerous. Once a problem occurs in a high-voltage transmission line, the direct result is that the high-voltage transmission line is difficult to repair, which is a relatively core problem, mainly because the safety problem of personnel is easy to occur in the actual repair process. This also requires scientific techniques to solve the corresponding problems. Inspection robots have appeared at present, and can well replace manpower to complete inspection of high-voltage transmission lines so as to ensure better use of the high-voltage transmission lines. However, the inspection robots have the problems of inflexible adjustment of the position of the mass center, poor operation stability and poor obstacle crossing capability.

SUMMERY OF THE UTILITY MODEL

To the problem, an object of the utility model is to provide a transmission line inspection robot that self-adaptation hinders more to there is barycenter position adjustment dumb in solving current inspection robot, and operating stability is poor and hinder the poor problem of ability more.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a self-adaptive obstacle-crossing power transmission line inspection robot comprises a mass center adjusting mechanism, a clamping device, a front double-arm mechanism, a rear double-arm mechanism and a control box, wherein the clamping device comprises a front clamping mechanism and a rear clamping mechanism which are arranged at the top of the control box; the front double-arm mechanism and the rear double-arm mechanism are respectively connected with the front clamping mechanism and the rear clamping mechanism through the mass center adjusting mechanism, the front clamping mechanism and the rear clamping mechanism are respectively used for driving the front double-arm mechanism and the rear double-arm mechanism to clamp or release the power transmission network cable, and the front double-arm mechanism and the rear double-arm mechanism are used for walking on the power transmission network cable; the mass center adjusting mechanism is used for adjusting the mass center of the robot.

The front clamping mechanism and the rear clamping mechanism are identical in structure and respectively comprise a ball screw, a locking coupler, bearing seats, a sliding block, a belt wheel shaft, a driving motor and a belt, wherein two ends of the belt wheel shaft are respectively connected with the two ball screws with reverse threads through the locking couplers, two ends of each ball screw are respectively connected with the two bearing seats through angular contact ball bearings of the bearing seats, and the bearing seats are installed at the top of the control box; the two ball screws are respectively in threaded connection with the two sliding blocks, and the two sliding blocks are respectively connected with the two mass center adjusting mechanisms; the driving motor is arranged at the top of the control box and provided with a motor shaft, two belt wheels are respectively arranged on the motor shaft and the belt wheel shaft, and the two belt wheels are connected through a belt in a transmission manner.

The front double-arm mechanism and the rear double-arm mechanism are identical in structure and respectively comprise two sets of travelling wheel mechanisms, the two sets of travelling wheel mechanisms are respectively connected with the two mass center adjusting mechanisms, and the clamping or releasing of the power transmission network cable is realized through the two sets of travelling wheel mechanisms.

The walking wheel mechanism comprises a walking wheel frame, walking wheel shafts, walking wheels, a walking motor and a synchronous belt transmission mechanism, wherein the lower end of the walking wheel frame is connected with the mass center adjusting mechanism, the top of the walking wheel frame is provided with three walking wheel shafts through walking shaft angular contact ball bearings, the three walking wheel shafts are distributed at equal intervals along the circumferential direction, and the three walking wheel shafts are respectively connected with the three walking wheel keys;

the walking motor is arranged at the central position of the walking wheel carrier, and a walking motor shaft of the walking motor is in transmission connection with the three walking wheel shafts through a synchronous belt transmission mechanism.

The synchronous belt transmission mechanism comprises a driving wheel, clamping wheels, a traveling shaft belt wheel and a synchronous belt, wherein the driving wheel is arranged on a traveling motor shaft, the three traveling shaft wheels are respectively in key connection with the three traveling shaft belt wheel keys, the driving wheel is in transmission connection with the three traveling shaft belt wheels through the synchronous belt, and the synchronous belt is tensioned through the two clamping wheels arranged on the traveling wheel carrier.

The walking motor is a brushless motor and is fixed at the rotation center of the walking wheel frame through the upper cover of the walking wheel frame.

The outer side of the walking wheel is provided with a walking rubber wheel, and the outer circumference of the walking rubber wheel is provided with a V-shaped groove.

The walking wheel carrier comprises an upright post and a wheel carrier arranged at the top of the upright post, wherein the wheel carrier comprises a motor bottom plate and three supporting plates arranged at the edge of the motor base at equal intervals along the circumferential direction, and three walking wheel shafts are arranged at the tail ends of the three supporting plates.

The center of mass adjusting mechanism comprises a connecting sleeve, a connecting sleeve and a connecting sleeve angular contact ball bearing, wherein the connecting sleeve is connected with the lower end of the walking wheel carrier through the connecting sleeve angular contact ball bearing, the bottom of the connecting sleeve is fixedly connected with the clamping device, and the connecting sleeve is sleeved at the lower end of the walking wheel carrier and used for axially limiting the connecting sleeve angular contact ball bearing.

The connecting sleeve is of a split structure and comprises two half connecting sleeve bodies, the two half connecting sleeve bodies are buckled outside the lower end of the walking wheel carrier, and the two half connecting sleeve bodies are connected through inner hexagon bolts.

The utility model has the advantages and beneficial effects that: the utility model provides a pair of transmission line inspection robot that self-adaptation hinders more has combined wheel motion and step two kinds of motion modes of crawling, through the barycenter position of barycenter adjustment mechanism adjustment robot to cross the barrier, guaranteed certain velocity of motion, the robot global stiffness is showing, and gesture stability is good, hinders more can the reinforce.

Drawings

Fig. 1 is a schematic structural view of the self-adaptive obstacle-crossing power transmission line inspection robot of the utility model;

fig. 2 is a front view of the self-adaptive obstacle-crossing inspection robot for the power transmission line of the utility model;

fig. 3 is a top view of the self-adaptive obstacle-crossing power transmission line inspection robot of the utility model;

FIG. 4 is a schematic structural view of the front and rear clamping mechanisms of the present invention;

FIG. 5 is a partial cross-sectional view of the front and rear clamping mechanisms of the present invention;

FIG. 6 is a schematic structural view of a traveling mechanism according to the present invention;

fig. 7 is a sectional view of the traveling mechanism of the present invention;

FIG. 8 is a cross-sectional view of the assembly of parts on the walking shaft of the present invention;

fig. 9 is a schematic structural view of the center of mass adjusting mechanism of the present invention;

fig. 10 is a sectional view of the center of mass adjusting mechanism of the present invention;

fig. 11 is a schematic diagram of the movement of the traveling mechanism crossing the jumper obstacle according to the present invention;

in the figure: the device comprises a control box cover 1, a ball screw 2, a locking coupler 3, a bearing seat angular contact ball bearing 4, a bearing seat 5, a ball screw shaft end retainer ring 6, a sliding block 7, a pulley shaft sleeve 8, a pulley wheel 9, a pulley shaft 10, a common A-type flat key 11, a driving motor 12, a motor shell 13, a motor shaft 14, a control box 15, a belt 16, a driving wheel 17, a traveling wheel carrier 18, a traveling wheel carrier upper cover 19, a clamping wheel 20, a traveling shaft retainer ring I, a traveling wheel shaft 22, a traveling wheel 23, a traveling rubber wheel 24, a traveling shaft long flat key 25, a traveling shaft short flat key 26, a traveling shaft sleeve 27, a traveling shaft pulley 28, a synchronous belt 29, a connecting sleeve 30, a connecting sleeve 31, a hexagon socket screw 32, a cable 33, a traveling motor shaft 34, an angular contact motor 35, a pulley retainer ring 36, a clamping wheel angular contact ball bearing 37, a traveling shaft angular contact ball bearing 39 and a traveling retainer ring ball bearing 40.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-3, the utility model provides a self-adaptive obstacle-crossing power transmission line inspection robot, which comprises a mass center adjusting mechanism, a clamping device, a front double-arm mechanism, a rear double-arm mechanism and a control box, wherein the control box comprises a control box body 15 and a control box cover 1 arranged at the top of the control box body 15; the clamping device comprises a front clamping mechanism and a rear clamping mechanism which are both arranged on the control box cover 1; the front double-arm mechanism and the rear double-arm mechanism are respectively connected with the front clamping mechanism and the rear clamping mechanism through a mass center adjusting mechanism, the front clamping mechanism is used for driving the front double-arm mechanism to clamp or release the power transmission network cable, the rear clamping mechanism is used for driving the rear double-arm mechanism to clamp or release the power transmission network cable, and the front double-arm mechanism and the rear double-arm mechanism are used for clamping the power transmission network cable and then walking on the power transmission network cable; the mass center adjusting mechanism is used for adjusting the mass center of the robot.

As shown in fig. 4-5, in the embodiment of the present invention, the front clamping mechanism and the rear clamping mechanism are the same in structure and are symmetrically arranged, and both the front clamping mechanism and the rear clamping mechanism include a ball screw 2, a locking coupler 3, bearing seats 5, a slider 7, a belt pulley 9, a pulley shaft 10, a driving motor 12 and a belt 16, wherein both ends of the pulley shaft 10 are respectively connected with two ball screws 2 having reverse threads through the locking coupler 3, the pulley shaft 10 is coaxially installed with the ball screws 2 on both sides, both ends of each ball screw 2 are respectively connected with two bearing seats 5 through a bearing seat angular contact ball bearing 4, the end of the ball screw 2 is axially limited through a ball screw shaft end retainer ring 6, and the bearing seats 5 are installed on the control box cover 1; the two ball screws 2 are respectively in threaded connection with the two sliding blocks 7, and the two sliding blocks 7 are respectively connected with the two mass center adjusting mechanisms; the driving motor 12 is disposed on the top of the console box, the driving motor 12 has a motor shaft 14 disposed inside and a motor housing 13 disposed outside the driving motor 12, and the motor housing 13 and the console box cover 1 are connected together by bolts. The motor shaft 14 and the pulley shaft 10 are respectively provided with two pulleys 9, the two pulleys 9 are in transmission connection through a belt 16, the pulleys 9 on the pulley shaft 10 are axially limited through a pulley shaft sleeve 8, and the two pulleys 9 are connected through the belt 16 to realize power transmission. When the driving motor 12 supplies power, the belt wheel 9 on the motor shaft 14 transmits power to the belt wheel 9 on the belt wheel shaft 10 through the belt 16, so that the belt wheel shaft 10 and the ball screws 2 on the two sides rotate simultaneously, the opposite movement of the sliding blocks 7 on the two sides is realized, and the front double-arm mechanism or the rear double-arm mechanism is driven to clamp and release the power transmission network cable. The clamping device adopts a rotary lead screw transmission mechanism, can transmit larger axial force and can self-lock a transmission screw.

As shown in fig. 1 and fig. 3, the embodiment of the utility model provides an in, preceding both arms mechanism is the same with back both arms mechanism structure, all includes two sets of travelling wheel mechanisms, and two sets of travelling wheel mechanisms are connected with two barycenter adjustment mechanism respectively, realize pressing from both sides tight or loosen the transmission network line through two sets of travelling wheel mechanisms.

As shown in fig. 6-8, in the embodiment of the present invention, the walking wheel mechanism includes a walking wheel frame 18, a walking wheel shaft 22, walking wheels 23, a walking motor 35 and a synchronous belt transmission mechanism, wherein the lower end of the walking wheel frame 18 is connected with a center of mass adjusting mechanism, the top of the walking wheel frame 18 is provided with three walking wheel shafts 22 through walking shaft angular contact ball bearings 38, the three walking wheel shafts 22 are circumferentially arranged at equal intervals, and the three walking wheel shafts 22 are respectively connected with the three walking wheels 23 through walking shaft length flat keys 25; two ends of the walking wheel shaft 22 are axially limited through a walking shaft retainer ring I21 and a walking shaft retainer ring II 39 respectively. The walking motor 35 is disposed at the center of the walking wheel frame 18, and a walking motor shaft 34 of the walking motor 35 is in transmission connection with the three walking wheel shafts 22 through a synchronous belt transmission mechanism.

The embodiment of the utility model provides an in, synchronous belt drive mechanism includes drive wheel 17, pinch roller 20, walking shaft band pulley 28 and hold-in range 29, and wherein drive wheel 17 sets up on walking motor shaft 34, and three walking shaft 22 is connected with three walking shaft band pulley 28 respectively through walking shaft short flat key 26, and walking shaft band pulley 28 is located walking shaft sleeve 27 on the walking shaft 22 axial spacing through the cover. The driving wheel 17 is connected with three walking shaft belt wheels 28 through a synchronous belt 29 in a transmission way, and the synchronous belt 29 is tensioned through two clamping wheels 20 arranged on a walking wheel frame 18. Specifically, the traveling wheel frame 18 is provided with two supporting columns, and the clamping wheels 20 are mounted on the supporting columns through the clamping wheel angular contact ball bearings 37.

The embodiment of the utility model provides an in, pinch roller 20 is located the intermediate position of two walking shaft band pulleys 28 below, and walking wheel 23 all is located vertical walking plane with pinch roller 20. The traveling motor 35 is a brushless dc motor and is fixed at the rotation center of the traveling wheel frame 18 through the traveling wheel frame upper cover 19. The traveling wheel frame 18 includes a vertical column and a wheel frame disposed on the top of the vertical column, wherein the wheel frame includes a motor base plate and three support plates disposed at the edge of the motor base at equal intervals along the circumferential direction, and three traveling wheel shafts 22 are disposed at the ends of the three support plates. Preferably, the brushless dc motor control system is a discrete closed loop control system.

Furthermore, the walking rubber wheels 24 are arranged on the outer sides of the walking wheels 23, the adaptability to different types of power transmission network cables is considered, a V-shaped groove is formed in the outer circumference of each walking rubber wheel 24, the walking rubber wheels 24 increase the static friction force between the walking wheels 23 and the overhead lines, and the robot is driven to advance by taking the friction force between the walking rubber wheels 24 and the wires as the driving force.

The embodiment of the utility model provides an in, the running wheel mechanism is driven by the brushless motor of settling on walking wheel carrier 18, when the brushless motor circular telegram, drives the drive wheel 17 that links to each other with the motor and is rotary motion to drive three walking shaft band pulley 28 and be same direction of rotation's rotary motion, walking wheel 23 passes through walking shaft 22 and links to each other with walking shaft band pulley 28, also is same rotary motion, thereby drives the robot and advances or retreat along the transmission network line. The traveling wheel 23, the pinch roller 20 and the traveling shaft pulley 28 of the traveling wheel mechanism share one motor, and power is transmitted to the traveling wheel 23 through the engagement between the synchronous belt 29 and the traveling shaft pulley 28. The synchronous belt 29 and the walking shaft belt wheel 28 are in meshing transmission, so that the mechanism has accurate transmission ratio, no slip, constant speed ratio, stable transmission, vibration absorption, low noise and wide transmission ratio range.

As shown in fig. 9-10, in the embodiment of the present invention, the center-of-mass adjusting mechanism includes a connecting sleeve 30, a connecting sleeve 31 and a connecting sleeve angular contact ball bearing 40, wherein the connecting sleeve 30 is connected with the lower end of the walking wheel frame 18 through the connecting sleeve angular contact ball bearing 40, the bottom of the connecting sleeve 30 is fixedly connected with the clamping device, and the connecting sleeve 31 is sleeved on the lower end of the walking wheel frame 18 for axially limiting the connecting sleeve angular contact ball bearing 40.

Specifically, the connecting sleeve 30 is a split structure, and includes two half connecting sleeve bodies, the two half connecting sleeve bodies are fastened outside the lower end of the traveling wheel carrier 18, and the two half connecting sleeve bodies are connected by the hexagon socket head cap screw 32, and the split structure is convenient for installation and disassembly, and is not easy to slip an angle.

The embodiment of the utility model provides an in, barycenter adjustment mechanism is the essential element of adjustment robot self barycenter position, and this barycenter adjustment mechanism links together through adapter sleeve angular contact ball bearing 40 and clamping device's slider 7, makes it rotatory around the centre of rotation of walking wheel carrier 18, adjusts the barycenter position of robot, makes its robot remain the level all the time, reduces wire jumper variation range, improves and hinders efficiency more, reduces and hinders the degree of difficulty more.

The utility model provides a pair of transmission line inspection robot that self-adaptation was hindered more, its theory of operation is:

as shown in fig. 1 and fig. 11, the utility model discloses before work, open running gear to make things convenient for the robot to install on the electric wire, conveniently make the robot install on the transmission network line. The driving motor 12 is controlled to transmit power to the ball screws 2 on both sides of the pulley shaft 10 through the transmission of the belt 16, so that the ball screws 2 on both sides drive the two sliders 7 and the two sets of traveling mechanisms connected to the two sliders to approach each other, the traveling wheels 23 of the two sets of traveling mechanisms move in opposite directions and clamp the power transmission network cable, and the traveling wheels 23 are driven by the brushless motors in the traveling mechanisms to provide rotating power. When the robot works, the front arm and the rear arm of the robot are hung on a power transmission grid line, and the body of the robot can be kept horizontal with the help of the mass center adjusting mechanism, so that the stability of the navigation barrier is improved. When meeting a jumper wire obstacle, the robot stops in front of the obstacle, and a travelling wheel 23 positioned in front of the front double-arm mechanism is firmly clamped on the power transmission grid wire to ensure safety; then the control box slides forwards, so that the walking wheel carrier 18 of the front double-arm mechanism rotates around the rotation center, the other two walking wheels 23 in the front double-arm mechanism span the jumper wire obstacle, and the walking wheels 23 close to the power transmission network wire clamp the jumper wire and then move forwards continuously, and the rear double-arm mechanism spans the jumper wire obstacle in the same way.

The utility model provides a transmission line inspection robot that self-adaptation is hindered more, combined wheel motion and step two kinds of motion modes of crawling, when transmission line inspection robot's walking wheel rolled along the wire jumper, through the barycenter guiding mechanism adjustment robot's barycenter position to improve the deformation of wire jumper, increase the stability and the reliability of passing through the barrier; when the robot rolls along the jumper, the posture of the jumper can be obviously changed, so that the difficulty of passing through the obstacle is increased, and the obstacle crossing efficiency is reduced. The utility model discloses a barycenter guiding mechanism changes the barycenter position of robot, reduces the wire jumper range of change, improves and hinders efficiency more, reduces and hinders the degree of difficulty more. In the obstacle crossing process of the jumper, the mass center position of the robot can be adjusted through the mass center adjusting mechanism, the deformation of the jumper is reduced, the difficulty in crossing obstacles is reduced, and the crossing efficiency is improved.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A self-adaptive obstacle-crossing power transmission line inspection robot is characterized by comprising a mass center adjusting mechanism, a clamping device, a front double-arm mechanism, a rear double-arm mechanism and a control box, wherein the clamping device comprises the front clamping mechanism and the rear clamping mechanism which are arranged at the top of the control box; the front double-arm mechanism and the rear double-arm mechanism are respectively connected with the front clamping mechanism and the rear clamping mechanism through the mass center adjusting mechanism, the front clamping mechanism and the rear clamping mechanism are respectively used for driving the front double-arm mechanism and the rear double-arm mechanism to clamp or release the power transmission network cable, and the front double-arm mechanism and the rear double-arm mechanism are used for walking on the power transmission network cable; the mass center adjusting mechanism is used for adjusting the mass center of the robot.

2. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 1, wherein the front clamping mechanism and the rear clamping mechanism are identical in structure and respectively comprise a ball screw (2), a locking coupler (3), bearing seats (5), a sliding block (7), a belt wheel (9), a pulley shaft (10), a driving motor (12) and a belt (16), wherein two ends of the pulley shaft (10) are respectively connected with the two ball screws (2) with reverse threads through the locking couplers (3), two ends of each ball screw (2) are respectively connected with the two bearing seats (5) through bearing seat angular contact ball bearings (4), and the bearing seats (5) are installed at the top of the control box; the two ball screws (2) are respectively in threaded connection with the two sliding blocks (7), and the two sliding blocks (7) are respectively connected with the two mass center adjusting mechanisms; the driving motor (12) is arranged at the top of the control box, the driving motor (12) is provided with a motor shaft (14), the motor shaft (14) and the pulley shaft (10) are respectively provided with two pulleys (9), and the two pulleys (9) are in transmission connection through a belt (16).

3. The transmission line inspection robot according to claim 1 or 2, wherein the front double-arm mechanism and the rear double-arm mechanism are identical in structure and respectively comprise two sets of travelling wheel mechanisms, the two sets of travelling wheel mechanisms are respectively connected with the two mass center adjusting mechanisms, and clamping or loosening of the transmission network line is achieved through the two sets of travelling wheel mechanisms.

4. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 3, wherein the walking wheel mechanism comprises a walking wheel frame (18), walking wheel shafts (22), walking wheels (23), a walking motor (35) and a synchronous belt transmission mechanism, wherein the lower end of the walking wheel frame (18) is connected with the mass center adjusting mechanism, the top of the walking wheel frame (18) is provided with three walking wheel shafts (22) through walking shaft angle contact ball bearings (38), the three walking wheel shafts (22) are arranged at equal intervals along the circumferential direction, and the three walking wheel shafts (22) are respectively connected with the three walking wheels (23) in a key mode;

the walking motor (35) is arranged at the center of the walking wheel frame (18), and a walking motor shaft (34) of the walking motor (35) is in transmission connection with the three walking wheel shafts (22) through a synchronous belt transmission mechanism.

5. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 4, wherein the synchronous belt transmission mechanism comprises a driving wheel (17), clamping wheels (20), a traveling shaft belt wheel (28) and a synchronous belt (29), wherein the driving wheel (17) is arranged on a traveling motor shaft (34), the three traveling shaft wheels (22) are respectively in key connection with the three traveling shaft belt wheels (28), the driving wheel (17) is in transmission connection with the three traveling shaft belt wheels (28) through the synchronous belt (29), and the synchronous belt (29) is tensioned through the two clamping wheels (20) arranged on the traveling wheel carrier (18).

6. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 4, wherein the walking motor (35) is a brushless motor and is fixed at a rotation center of the walking wheel frame (18) through a walking wheel frame upper cover (19).

7. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 4, characterized in that a walking rubber wheel (24) is arranged on the outer side of the walking wheel (23), and a V-shaped groove is formed in the outer circumference of the walking rubber wheel (24).

8. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 4, wherein the walking wheel carrier (18) comprises a stand column and a wheel carrier arranged at the top of the stand column, wherein the wheel carrier comprises a motor bottom plate and three support plates arranged at the edge of a motor base at equal intervals along the circumferential direction, and three walking wheel shafts (22) are arranged at the tail ends of the three support plates.

9. The adaptive obstacle crossing power transmission line inspection robot according to claim 4, wherein the mass center adjusting mechanism comprises a connecting sleeve (30), a connecting sleeve (31) and a connecting sleeve angular contact ball bearing (40), wherein the connecting sleeve (30) is connected with the lower end of the traveling wheel carrier (18) through the connecting sleeve angular contact ball bearing (40), the bottom of the connecting sleeve (30) is fixedly connected with the clamping device, and the connecting sleeve (31) is sleeved on the lower end of the traveling wheel carrier (18) and used for axially limiting the connecting sleeve angular contact ball bearing (40).

10. The power transmission line inspection robot capable of self-adapting obstacle crossing according to claim 9, wherein the connecting sleeve (30) is of a split structure and comprises two half connecting sleeve bodies, the two half connecting sleeve bodies are buckled outside the lower end of the walking wheel carrier (18), and the two half connecting sleeve bodies are connected through an inner hexagon bolt (32).