Overhead line whole-course inspection robot and method

According to the whole-course inspection robot and system for the overhead line, when the robot needs to pass through an anti-vibration hammer, a tangent tower and a strain tower, the driving arm can be controlled to automatically balance the dead weight and adapt to a variable-curvature track through cooperation of the guide component and the motor direct-drive rotary component, the obstacle crossing safety and reliability are guaranteed, and meanwhile the robot can be used for conducting whole-course inspection on the overhead line. When an overhead line has a gradient, the robot is ensured not to slip due to insufficient friction force when the line is inclined or climbs by utilizing the control of the pressing force of the walking wheels; and barrier-free, safe and intelligent inspection in the whole process is really realized. 本发明提供了一种架空线路全程巡检机器人及系统，在机器人需要经过防振锤、直线塔及耐张塔时，能够通过导向部件、电机直驱回转部件的配合，控制驱动臂自主平衡自重、自适应变曲率轨道，保证越障安全性和可靠性，同时，在架空线路出现坡度时，利用行走轮压紧力的控制，保证机器人在线路倾斜或爬坡时，不会出现由于摩擦力不足等造成的打滑问题；真正实现全程无障碍、安全、智能巡检。