Power transmission tower climbing robot, system and method

Abstract

The invention provides a power transmission tower climbing robot, system and method. The power transmission tower climbing robot comprises a frame body, wherein the two sides of the frame body are each symmetrically provided with a mechanical arm; the ends of the mechanical arms and the lower end of the frame body are each provided with a paw; the mechanical arm comprises at least two large and small arms which are rotatably connected; the large arm is rotatably connected with the frame body; the small arm is rotatably connected with the paw; the paw comprises two paw parts with adjustable angles; each paw part is provided with an electromagnet; by changing the power-on condition of the electromagnet, the magnetic attraction force of the paw is changed; and by controlling the magnetic attraction force of the paw and in cooperation with rotation between the mechanical arms and the frame body, rotation between the large arm and the small arm, rotation between the small arm and the paw and the change of the angle of the paw part, the pose and motion control of the climbing robot are achieved and the climbing robot reaches a designated target point.

Description

technical field [0001] The disclosure belongs to the technical field of transmission tower inspection robots, and in particular relates to a transmission tower climbing robot, system and method. Background technique [0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art. [0003] The application of electricity has brought great convenience to people's lives, and high-voltage transmission towers are spread all over the place. At present, the inspection of high-voltage lines and high-voltage transmission towers is manual, which is difficult and dangerous. Developing a climbing high-voltage The robot with the function of transmission tower is of great significance to the power inspection work. The design of the high-voltage transmission tower robot faces the following problems: First, the high-voltage transmission tower body has a narrow absorbable surface; second, the high-vol...

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Problems solved by technology

[0003] The application of electricity has brought great convenience to people's lives, and high-voltage transmission towers are spread all over the place. At present, the inspection of high-voltage lines and high-voltage transmission towers is manual, which is difficult and dangerous. Developing a climbing high-voltage The robot with the function of the transmission tower is of great significance to the power inspection work

The design of the high-voltage transmission tower robot faces the following problems: First, the high-voltage transmission tower body has a narrow absorbable surface; second, the high-voltage transmission tower body has beams and bolts protruding; It has a steering function. Fourth, the robot for climbing high-voltage transmission towers needs to have load capacity, and can carry detection tools or other robots to reach the target point. According to the inventor's understanding, the current climbing robot cannot meet the above requirements at the same time.

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