Power transmission line iron tower six-foot climbing robot

Abstract

The invention provides a six-foot climbing robot for an electric transmission line iron tower. The six-foot climbing robot comprises a magnet adsorption foot assembly, a middle rack assembly, a mechanical arm magnet adsorption foot assembly, a mechanical arm assembly and a tool rack assembly. The multiple sets of magnet adsorption foot assemblies are assembled at the upper end and the lower end of the middle rack assembly respectively, and the magnet adsorption foot assemblies move independently. The magnet adsorption foot assemblies at the upper end are arranged in a 90-degree mode, the magnet adsorption foot assemblies at the lower end are arranged in a 90-degree mode, and the magnet adsorption foot assemblies on the same side move on the same moving pair assembly. According to the climbing robot, the multiple sets of magnet attraction foot assemblies are arranged and are arranged at 90 degrees, when the climbing robot is attracted to iron tower angle iron, the torque resisting capacity is higher, the mechanical arm can reach an operation area more accurately during operation, accurate operation can be conducted, higher working reliability and stability are achieved, and the climbing robot is suitable for being popularized and applied. And finally, the stability and the reliability of climbing operation are ensured.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to a six-legged climbing robot for a transmission line tower. Background Art

[0002] The stability and safety of electricity are the basic guarantee for promoting the development of all walks of life. In my country, there are many transmission angle steel towers, which are widely distributed and exposed to the harsh environment of dusty, strong wind and high humidity for a long time. In the traditional way, maintenance personnel need to carry maintenance equipment and climb the angle steel tower along the foot nail side, and gradually hang the safety rope to prevent falling, which leads to long inspection cycle, high climbing risk and low work efficiency. Therefore, climbing robots suitable for angle steel towers came into being, and gradually derived various climbing types with various morphological structures, such as snake robots, wheeled robots and inchworm robots. Regardless of the type of robot, it is necessary to face obstacles such as many connecting screws and connecting plates of different widths on the surface, and there is a certain angle deviation between the angle steels at the connecting plates. Especially after loading the tool, its overall mass is extremely large, which puts a severe test on the climbing reliability of the robot. Therefore, whether a new intelligent climbing robot that can autonomously cross obstacles and has a large foot clamping force can be developed, with higher working reliability and stability, is a technical problem that needs to be solved in this field in recent years. Summary of the invention

[0003] In view of the defects in the prior art, the purpose of this application is to provide a six-legged climbing robot for transmission line towers, which can autonomously overcome obstacles and has strong foot clamping force. The six-legged climbing robot for power angle steel towers has higher working reliability and stability, and ultimately ensures the stability and reliability of climbing operations.

[0004] In one aspect of the present application, there is provided a six-legged climbing robot for a transmission line tower, comprising: a magnet adsorption foot assembly, an intermediate frame assembly, a mechanical arm magnet adsorption foot assembly, a mechanical arm assembly, and a tool rack assembly;

[0005] The magnet adsorption foot assembly has multiple sets, which are respectively assembled at the upper end and the lower end of the intermediate frame assembly, and the movements of the magnet adsorption foot assemblies are independent of each other; the magnet adsorption foot assemblies at the upper end are arranged at 90 degrees, and the magnet adsorption foot assemblies at the lower end are arranged at 90 degrees, and the magnet adsorption foot assemblies located on the same side move on the same moving sub-assembly.

[0006] Further, the magnet adsorption foot assembly has 4 sets;

[0007] The magnet adsorption foot assembly includes: an intermediate frame assembly, an upper connecting plate, a lower connecting plate, a slide rail assembly, an electric push rod assembly, a first right-angle movable connecting plate, a magnet mounting block, an electromagnet, a displacement sensor, an electric push rod connector, a compression spring, a ball joint bearing, a second right-angle movable connecting plate, a reinforcing rib, a first worm gear mechanism connecting block, a second worm gear mechanism connecting block, a third worm gear mechanism connecting block, a worm gear mechanism power motor, a worm gear mechanism motor connecting plate, a worm gear mechanism coupling, a worm, a first worm bearing, a second worm bearing, a worm gear shaft, a first worm gear bearing, a worm wheel, a gear, and a second worm gear bearing.

[0008] Furthermore, the intermediate bone frame assembly comprises a first intermediate square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angle vertical plate;

[0009] The upper fixing sleeve is inlaid above the first middle square carbon fiber tube;

[0010] The lower fixing sleeve is embedded below the first middle square carbon fiber tube;

[0011] The right-angled vertical plate is located between the upper fixing sleeve and the lower fixing sleeve and outside the four corners of the first middle square carbon fiber tube, and is connected to the upper fixing sleeve and the lower fixing sleeve respectively by screws.

[0012] Further, the upper connecting plate is fixed to the upper fixing sleeve of the intermediate bone frame assembly by screws;

[0013] The lower connecting plate is fixed to the lower fixing sleeve of the intermediate bone frame assembly by screws;

[0014] The slide rail assembly has two groups, which are respectively installed on the two vertical surfaces of the first middle square carbon fiber tube of the middle bone frame assembly and are located in the middle position of the right-angle vertical plate. The slide rail assembly is provided with a slider, and the slider is connected to the first right-angle movable connecting plate.

[0015] Furthermore, the fixed end of the electric push rod assembly is connected to the upper connecting plate through a pin shaft, and the movable end of the electric push rod assembly is connected to the electric push rod connecting head through a pin shaft;

[0016] The two vertical surfaces of the first right-angle movable connecting plate are respectively connected to the sliders of the slide rail assembly which are perpendicular to each other, and move up and down on the slide rail assembly following the sliders;

[0017] The magnet mounting block is assembled at the lower end of the first right-angle movable connecting plate, and moves up and down together with the first right-angle movable connecting plate;

[0018] The electromagnets are connected together by screws on ball joint bearings and assembled on the magnet mounting block through the upper end of the ball joint bearings;

[0019] The displacement sensor assembly is assembled on the upper connecting plate by means of a screw fastening assembly, and the lower end of the moving rod is always in contact with the magnet mounting block under the action of a spring, and moves together with the magnet mounting block to achieve measurement of the moving distance;

[0020] One end of the electric push rod connector is assembled on the movable rod of the electric push rod assembly through a pin shaft, and the other end is fixed to the magnet mounting block through a screw, wherein the magnet mounting block has a groove feature for holding the ball joint bearing, and cooperates with the electric push rod connector to fix the ball joint bearing together;

[0021] The compression spring is located in the middle of the magnet mounting block and the electromagnet, wherein the magnet mounting block has a mounting groove for accommodating the compression spring, one end of the compression spring is mounted in the mounting groove on the magnet mounting block, and the other end is in contact with the upper surface of the electromagnet to provide positive pressure to the electromagnet so that the electromagnet will not tilt too much under the action of the ball joint bearing;

[0022] The upper end of the ball joint bearing is assembled in the groove feature on the magnet mounting block, and the ball joint bearing is fixed in cooperation with the electric push rod connector, and the lower end is connected to the electromagnet through a screw, and is located inside the compression spring, and acts with the compression spring to make the electromagnet have a certain degree of passive compliance;

[0023] The second right-angle movable connecting plate is assembled on the lower connecting plate by screws, connected to the reinforcing ribs, and fixed to the right-angle vertical plate of the intermediate bone frame assembly, specifically located on the other side of the intermediate bone frame assembly, on the opposite side of the electromagnet, and the second right-angle movable connecting plate and the first right-angle movable connecting plate have an included angle of 90 degrees;

[0024] One end of the reinforcing rib is assembled on the second right-angle movable connecting plate by screws, and the other end is fixed on the right-angle vertical plate of the intermediate frame assembly by screws, and the number of the reinforcing ribs is 2, which are respectively located on the two right-angle vertical plates on the opposite sides of the electromagnet;

[0025] The first worm gear mechanism connecting block is assembled on a right angle surface of the second right angle movable connecting plate by screws; the second worm gear mechanism connecting block is assembled on another right angle surface of the second right angle movable connecting plate by screws; one end of the third worm gear mechanism connecting block is assembled on the first worm gear mechanism connecting block by screws, and the other end is fixed on the second worm gear mechanism connecting block by screws, and is specifically located in the middle part between the first worm gear mechanism connecting block and the second worm gear mechanism connecting block;

[0026] The worm gear mechanism power motor is assembled to the worm gear mechanism motor connecting plate by screws, and the output shaft is connected to the coupling to provide rotational power to the worm; one end of the worm gear mechanism motor connecting plate is connected to the worm gear mechanism power motor, and the other end is assembled to the third worm gear mechanism connecting block by screws to fix the worm gear mechanism power motor; one end of the worm gear mechanism coupling is connected to the worm gear mechanism power motor, and the other end is connected to the worm shaft to transmit power;

[0027] The top of the upper shaft of the worm is fastened to the coupling, the lower part of the upper shaft is equipped with the first worm bearing, the lower shaft is equipped with the second worm bearing, and they are assembled in the mounting hole on the third worm gear mechanism connecting block, and the middle spiral surface is in contact with the corresponding gear surface of the worm gear;

[0028] The first worm bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm bearing, and fixes the position of the worm; the second worm bearing is assembled in the lower mounting hole of the third worm gear mechanism connecting block, is on the same axis as the first worm bearing, and fixes the position of the worm;

[0029] The worm gear shaft is assembled on the first worm gear bearing and the second worm gear bearing, and is fixed on the third worm gear mechanism connecting block, and has two keyway features, which cooperate with keys of corresponding lengths to connect the worm gear and the gear; the first worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm gear bearing, and fixes the position of the worm gear shaft; the worm wheel is connected to the worm gear shaft through a flat key, and its tooth surface contacts the spiral surface of the worm, so as to realize the transmission of motor force and drive the worm gear shaft to rotate together;

[0030] The gear is connected to the worm gear shaft through a flat key and rotates together with the worm gear shaft. Its tooth surface contacts the tooth surface of the rack on the intermediate frame assembly to achieve the translational movement of the entire magnet adsorption foot assembly; the second worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, on the same axis as the first worm gear bearing, and fixes the position of the worm gear shaft.

[0031] Further, the intermediate frame assembly is composed of a second intermediate square carbon fiber tube, a first slide rail, a first rack, a second slide rail, a third slide rail, a second rack, and a fourth slide rail;

[0032] The second middle square carbon fiber tube constitutes the basic skeleton of the middle frame assembly and carries the components of the whole device; the first slide rail is assembled on a surface of the second middle square carbon fiber tube, and the slider thereon is connected to a surface of the second right-angle movable connecting plate by screws, thereby driving the magnet adsorption foot assembly to move along the first slide rail;

[0033] The first rack is assembled on a surface of the second middle square carbon fiber tube, in the same plane as the first slide rail, and is specifically located at a right angle to the second middle square carbon fiber tube and in the middle of the first slide rail and the second slide rail;

[0034] The second slide rail is assembled on a surface of the second middle square carbon fiber tube, perpendicular to the plane where the first slide rail is located, and the slider thereon is connected to the other vertical surface of the second right-angle movable connecting plate by screws, arranged at 90 degrees to the first slide rail, thereby enhancing the rigidity of the overall mechanism;

[0035] The first slide rail, the first rack and the second slide rail constitute the first moving sub-assembly of the magnet adsorption foot assembly moving along the middle frame assembly;

[0036] The third slide rail is assembled on a surface of the second middle square carbon fiber tube, specifically located on the surface opposite to the first slide rail; the second rack is assembled on a surface of the second middle square carbon fiber tube, in the same plane as the third slide rail, and is specifically located at a right angle to the third middle square carbon fiber tube, and is located in the middle of the third slide rail and the fourth slide rail; the fourth slide rail is assembled on a surface of the second middle square carbon fiber tube, perpendicular to the plane where the third slide rail is located, and specifically located on the surface opposite to the second slide rail;

[0037] The third slide rail, the second rack and the fourth slide rail have the same parts as the first slide rail, the first rack and the second slide rail, and constitute the second moving sub-assembly of the magnet adsorption foot assembly that moves along the middle frame assembly, 180 degrees from the first moving sub-assembly.

[0038] Furthermore, the mechanical arm magnet adsorption foot assembly comprises: a first magnet adsorption foot assembly, a second magnet adsorption foot assembly, a connecting inclined plate, and a connecting horizontal plate;

[0039] The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are the same parts as the magnet adsorption foot assembly. The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are arranged at right angles and assembled on the slide rail of the intermediate frame assembly. The gears thereon mesh with the rack teeth on the intermediate frame assembly to achieve the transmission of moving power. The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are installed with the connecting inclined plate, the upper end surface of the connecting inclined plate is an inclined surface of 45 degrees, and the left connecting inclined plate, the connecting cross plate, and the right connecting inclined plate are fastened together by screws, so that the first magnet adsorption foot assembly and the second magnet adsorption foot assembly are connected together;

[0040] The bottom of the connecting inclined plate is a plane, assembled on the second right-angle movable connecting plate of the magnet adsorption foot assembly, and there are two of them, which are arranged on the first magnet adsorption foot assembly and the magnet adsorption foot assembly respectively, and the top is a 45-degree inclined surface, which is connected to the connecting horizontal plate by screws;

[0041] The connecting transverse plate is connected with the left connecting inclined plate and the right connecting inclined plate by screws to form a mounting base of the mechanical arm assembly.

[0042] Furthermore, the robot arm assembly includes: a robot arm base assembly, a robot arm body assembly, a robot arm end quick-change magnet assembly, a robot arm end visual camera, and a robot arm end tool assembly;

[0043] The mechanical arm base assembly is assembled on the connecting horizontal plate through the bottom mounting plate, and is connected to the mechanical arm magnet adsorption foot assembly, and can perform translational movement on the intermediate frame assembly;

[0044] The robot body is composed of a 5-degree-of-freedom revolute pair, and its arm is composed of a hollow carbon fiber round tube, which reduces the mass while meeting the rigidity requirement; the quick-change magnet assembly at the end of the robot arm is assembled on the mounting plate of the fifth degree of freedom at the end of the robot arm, and the presence or absence of magnetic force is realized by connecting and disconnecting the current, and the magnet block at the tool end is sucked to quickly grasp the corresponding tool and complete the corresponding task;

[0045] The end-of-arm visual camera is assembled on the mounting plate of the fourth degree of freedom of the robotic arm, specifically located on the side of the fifth degree of freedom motor, parallel to the end-of-arm quick-change magnet assembly, and facing the working direction of the tool assembly, so as to facilitate the visual camera to capture the field of view of the working area;

[0046] The tool assembly at the end of the robot arm is fixed on the tool rack assembly. When the robot arm receives the corresponding instruction of a task, the quick-change magnet assembly at the end of the robot arm absorbs the magnet block at the tool end to quickly grab the corresponding tool and complete the corresponding task.

[0047] Furthermore, the tool rack assembly includes: a carbon fiber tube connection end cap, a tool holding plate, a quick-change magnet assembly, a barb tool assembly, and a gripper tool assembly;

[0048] The carbon fiber tube connection end cover is fixed to the second middle square carbon fiber tube of the middle frame assembly by screws;

[0049] The tool holding plate is assembled on the carbon fiber tube connection end cover and is in a forked shape, with the tool assembly being held at the forked portion at the front end;

[0050] The quick-change magnet assembly is assembled on the fork of the tool holding plate and is used to attract the magnet block on the tool rack assembly to fix the tool assembly.

[0051] Furthermore, the barb tool assembly and the gripper tool assembly have the same quick-change structure. When there is no work task, the barb tool assembly is placed on the quick-change magnet assembly on the tool rack assembly. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robot arm can quickly grab the tool assembly to work. After the task is completed, the robot arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly according to a predetermined position, thereby realizing the rapid placement of the tool assembly.

[0052] When the gripper tool assembly has no work task, it is placed on the quick-change magnet assembly on the tool rack assembly. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grab the tool assembly to work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly at a predetermined position, thereby realizing rapid placement of the tool assembly.

[0053] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0054] 1. The present invention provides an adaptive six-legged climbing robot for electric angle steel towers that can autonomously overcome obstacles and has a strong foot clamping force. The robot has higher working reliability and stability, and ultimately ensures the stability and reliability of climbing operations.

[0055] 2. In the present application, the two front magnetic adsorption feet of the climbing robot are arranged at 90 degrees, and move independently of each other, and can respectively perform telescopic movement and up and down movement of the magnetic feet; the two rear magnetic adsorption feet are arranged at 90 degrees, and these four independently moving magnetic adsorption feet constitute the four feet of the climbing robot; the middle mechanical arm magnetic adsorption foot has two simultaneously moving magnetic adsorption feet, which together constitute the six feet of the climbing robot. When adsorbed on the iron tower angle iron, the ability to resist torque is stronger, so that the mechanical arm can reach the working area more accurately when operating, and can perform precise operations. In addition, a visual camera is installed at the end of the mechanical arm to collect obstacle information such as screws on the surface of the iron tower angle iron in real time. The central processing unit receives and processes the visual information, so that the climbing robot can autonomously judge the relationship between the obstacle and the robot's position, thereby realizing the climbing robot's autonomous obstacle crossing.

[0056] 3. The magnet adsorption foot of the present application adopts a worm gear combined with a gear rack motion mechanism, which has both a self-locking function when the movement stops and can quickly and accurately position.

[0057] 4. The magnet connection form of the magnet adsorption foot of the present application adopts a ball joint bearing form, so that the adsorption foot has a certain passive flexibility when it is attracted to the angle steel, and has a higher rigidity.

[0058] 5. The magnetic adsorption foot of the present application is equipped with a displacement sensor, which can sense the distance the magnetic adsorption foot extends when it is attracted to the angle steel, so as to provide feedback to determine whether the adsorption foot lands on a screw or other obstacle.

[0059] 6. The two front magnet adsorption feet, two rear magnet adsorption feet, and two mechanical arm adsorption feet of the climbing robot of the present application are arranged at 90 degrees respectively. When adsorbed on the angle iron of the iron tower, the ability to resist torque is stronger, so that the mechanical arm can reach the working area more accurately during operation and can perform precise operations.

[0060] 7. The end of the robotic arm of the present application is equipped with a visual camera that can collect obstacle information such as screws on the surface of the tower angle iron in real time. The central processing unit receives and processes the visual information, enabling the climbing robot to autonomously judge the relationship between the obstacle and the robot's position, thereby enabling the climbing robot to autonomously overcome obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0062] Figure 1 This is an overall diagram of a six-legged climbing robot for a transmission line tower in one embodiment of the present application.

[0063] Figure 2 This is a left view of the hexapod climbing robot in one embodiment of the present application.

[0064] Figure 3 This is a top view of a hexapod climbing robot in one embodiment of the present application.

[0065] Figure 4 This is an overall diagram of the hexapod climbing robot mechanical arm in one embodiment of the present application.

[0066] Figure 5 This is an overall diagram of the magnetic adsorption foot assembly of a six-legged climbing robot in one embodiment of the present application.

[0067] Figure 6 This is a front view of the magnetic adsorption foot assembly of a six-legged climbing robot in one embodiment of the present application.

[0068] Figure 7 This is a cross-sectional view of the magnet installation of the magnet adsorption foot assembly of the six-legged climbing robot in one embodiment of the present application.

[0069] Figure 8 This is a cross-sectional view of a worm assembly of a magnet adsorption foot assembly of a six-legged climbing robot in one embodiment of the present application.

[0070] Fig. 9 This is a cross-sectional view of a worm gear assembly of a magnet adsorption foot assembly of a six-legged climbing robot in one embodiment of the present application.

[0071] In the figure: 0 is a right-angle steel; 1, a magnet adsorption foot assembly; 2, an intermediate frame assembly; 3, a mechanical arm magnet adsorption foot assembly; 4, a mechanical arm assembly; 5, a tool rack assembly;

[0072] 101, middle frame assembly; 102, upper connecting plate; 103, lower connecting plate; 104, slide rail assembly; 105, electric push rod assembly; 106, first right-angle movable connecting plate; 107, magnet mounting block; 108, electromagnet; 109, displacement sensor; 110, electric push rod connector; 111, compression spring; 112, ball joint bearing; 113, fastening screw; 120, second right-angle movable connecting plate; 121, reinforcing rib; 122, first worm gear connection block; 123, second worm gear connection block; 124, third worm gear connection block; 125, worm gear power motor; 126, worm gear motor connection plate; 127, worm gear coupling; 128, worm; 129, first worm bearing; 130, second worm bearing; 131, worm shaft; 132, first worm bearing; 133, worm; 134, gear; 135, second worm bearing;

[0073] 201, second middle square carbon fiber tube; 202, first slide rail; 203, first rack; 204, second slide rail;

[0074] 301, first magnet adsorption foot assembly; 302, second magnet adsorption foot assembly; 303, connecting inclined plate; 304, connecting horizontal plate;

[0075] 401, robot arm base assembly; 402, robot arm body assembly; 403, robot arm end quick change magnet assembly; 404, robot arm end visual camera; 405, robot arm end tool assembly;

[0076] 501. Carbon fiber tube connection end cap; 502. Tool holding plate; 503. Quick-change magnet assembly; 504. Barb tool assembly; 505. Gripper tool assembly. DETAILED DESCRIPTION

[0077] The present application is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements can also be made without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0078] Reference Figure 1 As shown, a six-legged climbing robot for a transmission line tower according to an embodiment of the present application includes: a magnet adsorption foot assembly 1, an intermediate frame assembly 2, a mechanical arm magnet adsorption foot assembly 3, a mechanical arm assembly 4, and a tool rack assembly 5.

[0079] The magnet adsorption foot assembly 1 has multiple sets, which are respectively assembled at the upper end and the lower end of the middle frame assembly 2, and the movements of the magnet adsorption foot assemblies 1 are independent of each other; the magnet adsorption foot assemblies 1 at the upper end are arranged at 90 degrees, and the magnet adsorption foot assemblies 1 at the lower end are arranged at 90 degrees, and the magnet adsorption foot assemblies 1 on the same side move on the same moving sub-assembly.

[0080] Among them, the magnet adsorption foot assembly 1 has 4 sets.

[0081] The two front magnet adsorption feet, two rear magnet adsorption feet, and two mechanical arm adsorption feet of the climbing robot of the present invention are arranged at 90 degrees respectively. When adsorbed on the iron tower angle iron, the ability to resist torque is stronger, so that the mechanical arm can reach the working area more accurately when performing operations and can perform precise operations. A visual camera is installed at the end of the mechanical arm to collect obstacle information such as screws on the surface of the iron tower angle iron in real time. The central processing unit receives and processes the visual information, so that the climbing robot can autonomously judge the relationship between the obstacle and the robot position, thereby realizing the climbing robot's autonomous obstacle crossing.

[0082] Reference Figures 5 to 9As shown, the magnet adsorption foot assembly 1 includes: an intermediate bone frame assembly 101, an upper connecting plate 102, a lower connecting plate 103, a slide rail assembly 104, an electric push rod assembly 105, a first right-angle movable connecting plate 106, a magnet mounting block 107, an electromagnet 108, a displacement sensor 109, an electric push rod connector 110, a compression spring 111, a ball joint bearing 112, a second right-angle movable connecting plate 120, a reinforcing rib 121, a first worm gear mechanism connecting block 122, a second worm gear mechanism connecting block 123, a third worm gear mechanism connecting block 124, a worm gear mechanism power motor 125, a worm gear mechanism motor connecting plate 126, a worm gear mechanism coupling 127, a worm 128, a first worm bearing 129, a second worm bearing 130, a worm wheel shaft 131, a first worm wheel bearing 132, a worm wheel 133, a gear 134, and a second worm wheel bearing 135.

[0083] The middle frame assembly 101 includes a first middle square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angle vertical plate.

[0084] The upper fixing sleeve is inlaid on the first middle square carbon fiber tube.

[0085] The lower fixing sleeve is inlaid below the first middle square carbon fiber tube.

[0086] The right-angled vertical plate is located between the upper fixing sleeve and the lower fixing sleeve and outside the four corners of the first middle square carbon fiber tube, and is connected to the upper fixing sleeve and the lower fixing sleeve respectively through screws.

[0087] Reference Figure 5 As shown, in some specific embodiments, the upper connecting plate 102 is fixed to the upper fixing sleeve of the middle bone frame component 101 by screws.

[0088] The lower connecting plate 103 is fixed to the lower fixing sleeve of the middle bone frame assembly 101 by screws.

[0089] The slide rail assembly 104 has two groups, which are respectively installed on the two vertical surfaces of the first middle square carbon fiber tube of the middle bone frame assembly 101, specifically located in the middle position of the right-angle vertical plate. The slide rail assembly 104 is provided with a slider, which is connected to the first right-angle movable connecting plate 106.

[0090] In some specific embodiments, the fixed end of the electric push rod assembly 105 is connected to the upper connecting plate 102 through a pin shaft, and the movable end of the electric push rod assembly 105 is connected to the electric push rod connector 110 through a pin shaft.

[0091] The two vertical surfaces of the first right-angle movable connecting plate 106 are respectively connected to the sliders of the slide rail assembly 104 which are perpendicular to each other, and move up and down on the slide rail assembly 104 along with the sliders.

[0092] The magnet mounting block 107 is assembled at the lower end of the first right-angle movable connecting plate 106 , and moves up and down together with the first right-angle movable connecting plate 106 .

[0093] The electromagnets 108 are connected together by screws on the ball joint bearings 112 and assembled on the magnet mounting block 107 through the upper end of the ball joint bearings 112 .

[0094] The displacement sensor 109 assembly is assembled on the upper connecting plate 102 by means of screw fastening assemblies. The lower end of the moving rod is always in contact with the magnet mounting block 107 under the action of the spring, and moves together with the magnet mounting block 107 to achieve measurement of the moving distance.

[0095] Reference Figure 6 and Figure 7 As shown, one end of the electric push rod connector 110 is assembled on the movable rod of the electric push rod assembly 105 through a pin shaft, and the other end is fixed to the magnet mounting block 107 through a screw, wherein the magnet mounting block 107 has a groove feature for accommodating the ball joint bearing 112, which cooperates with the electric push rod connector 110 to fix the ball joint bearing 112 together.

[0096] The compression spring 111 is located in the middle of the magnet mounting block 107 and the electromagnet 108, wherein the magnet mounting block 107 has a mounting groove for accommodating the compression spring 111. One end of the compression spring 111 is installed in the mounting groove on the magnet mounting block 107, and the other end contacts the upper surface of the electromagnet 108, providing positive pressure to the electromagnet 108 so as to prevent the electromagnet 108 from tilting too much under the action of the ball joint bearing 112.

[0097] The upper end of the ball joint bearing 112 assembly is assembled in the mounting groove feature on the magnet mounting block 107, and the ball joint bearing 112 is fixed with the cooperation of the electric push rod connector 110. The lower end is connected to the electromagnet 108 through a screw, and is located inside the compression spring 111. At the same time, the electromagnet 108 acts with the compression spring 111 to give it a certain degree of passive compliance.

[0098] The second right-angle movable connecting plate 120 is assembled on the lower connecting plate 103 by screws and connected to the reinforcing rib 121, and is fixed on the right-angle vertical plate of the intermediate bone frame assembly 101. It is specifically located on the other side of the intermediate bone frame assembly 101, on the opposite side of the electromagnet 108, and the orientation angle between the second right-angle movable connecting plate 120 and the first right-angle movable connecting plate 106 is 90 degrees.

[0099] One end of the reinforcing rib 121 is assembled on the second right-angle movable connecting plate 120 by screws, and the other end is fixed to the right-angle vertical plate of the middle bone frame assembly 101 by screws. There are two reinforcing ribs 121, which are respectively located on the two right-angle vertical plates on the opposite sides of the electromagnet 108.

[0100] Reference Figure 6 As shown, the first worm gear mechanism connecting block 122 is assembled on a right-angle surface on the second right-angle movable connecting plate 120 by screws.

[0101] The second worm gear mechanism connecting block 123 is assembled on the other right-angle surface on the second right-angle movable connecting plate 120 by screws; one end of the third worm gear mechanism connecting block 124 is assembled on the first worm gear mechanism connecting block 122 by screws, and the other end is fixed to the second worm gear mechanism connecting block 123 by screws, specifically located in the middle part between the first worm gear mechanism connecting block 122 and the second worm gear mechanism connecting block 123.

[0102] Reference Figure 8 As shown, the worm gear mechanism power motor 125 is assembled to the worm gear mechanism motor connecting plate 126 by screws, and the output shaft is connected to the coupling to provide rotational power to the worm 128.

[0103] One end of the worm gear mechanism motor connecting plate 126 is connected to the worm gear mechanism power motor 125 , and the other end is assembled on the third worm gear mechanism connecting block 124 by screws, so as to fix the worm gear mechanism power motor 125 .

[0104] One end of the worm gear mechanism coupling 127 is connected to the worm gear mechanism power motor 125, and the other end is connected to the worm shaft 131, so as to transmit power.

[0105] The top of the upper shaft of the worm 128 is fastened together with the coupling, the first worm bearing 129 is installed at the lower part of the upper shaft, and the second worm bearing 130 is installed at the lower shaft, and assembled in the mounting hole on the third worm gear mechanism connecting block 124, and the middle spiral surface contacts the corresponding gear surface of the worm wheel 133.

[0106] The first worm bearing 129 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124 , is on the same axis as the second worm bearing 130 , and fixes the position of the worm 128 .

[0107] The second worm bearing 130 is assembled in the lower mounting hole of the third worm gear mechanism connecting block 124 , is coaxial with the first worm bearing 129 , and fixes the position of the worm 128 .

[0108] Reference Fig. 9 As shown, the worm gear shaft 131 is assembled on the first worm gear bearing 132 and the second worm gear bearing 135 , and fixed on the third worm gear mechanism connecting block 124 , and has two keyway features, which cooperate with keys of corresponding lengths to connect the worm gear 133 and the gear 134 .

[0109] The first worm gear bearing 132 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124 , is coaxial with the second worm gear bearing 135 , and fixes the position of the worm gear shaft 131 .

[0110] The worm wheel 133 is connected to the worm shaft 131 through a flat key, and its tooth surface contacts the spiral surface of the worm 128 to achieve the transmission of the motor force and drive the worm shaft 131 to rotate together.

[0111] The gear 134 is connected to the worm shaft 131 through a flat key and rotates together with the worm shaft 131. The tooth surface of the gear 134 contacts the tooth surface of the rack on the middle frame assembly 2, thereby realizing the translation movement of the entire magnet adsorption foot assembly 1.

[0112] The second worm gear bearing 135 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124 , is coaxial with the first worm gear bearing 132 , and fixes the position of the worm gear shaft 131 .

[0113] Reference Figure 2 As shown, in some specific embodiments, the middle frame assembly 2 is composed of a second middle square carbon fiber tube 201, a first slide rail 202, a first rack 203, a second slide rail 204, a third slide rail, a second rack, and a fourth slide rail.

[0114] The second middle square carbon fiber tube 201 constitutes the basic skeleton of the middle frame assembly 2, carrying the components of the overall device; the first slide rail 202 is assembled on a surface of the second middle square carbon fiber tube 201, and the slider thereon is connected to a surface of the second right-angle movable connecting plate 120 by screws, thereby driving the magnet adsorption foot assembly 1 to move along the first slide rail 202.

[0115] The first rack 203 is assembled on a surface of the second middle square carbon fiber tube 201 and is in the same plane as the first slide rail 202 . The specific position is at a right angle to the second middle square carbon fiber tube 201 and is located between the first slide rail 202 and the second slide rail 204 .

[0116] The second slide rail 204 is assembled on a surface of the second middle square carbon fiber tube 201, perpendicular to the plane where the first slide rail 202 is located, and the slider thereon is connected to another vertical surface of the second right-angle movable connecting plate 120 by screws, and is arranged at 90 degrees to the first slide rail 202, thereby enhancing the rigidity of the overall mechanism.

[0117] The first slide rail 202 , the first rack 203 and the second slide rail 204 constitute a first moving sub-assembly of the magnet adsorption foot assembly 1 that moves along the middle frame assembly 2 .

[0118] The third slide rail is assembled on a surface of the second middle square carbon fiber tube 201 , specifically located on the surface directly opposite to the first slide rail 202 .

[0119] The second rack is assembled on a surface of the second middle square carbon fiber tube 201, in the same plane as the third slide rail, and is specifically located at a right angle to the second middle square carbon fiber tube 201, and is located in the middle of the third slide rail and the fourth slide rail.

[0120] The fourth slide rail is assembled on a surface of the second middle square carbon fiber tube 201 , perpendicular to the plane where the third slide rail is located, and specifically located on the surface opposite to the second slide rail 204 .

[0121] The third slide rail, the second rack and the fourth slide rail have the same parts as the first slide rail 202, the first rack 203 and the second slide rail 204, and constitute the second moving sub-assembly of the magnet adsorption foot assembly 1 moving along the middle frame assembly 2, which is 180 degrees with the first moving sub-assembly.

[0122] Reference Figure 3 As shown, in some specific embodiments, the mechanical arm magnet adsorption foot assembly 3 includes: a first magnet adsorption foot assembly 301, a second magnet adsorption foot assembly 302, a connecting inclined plate 303, and a connecting horizontal plate 304.

[0123] The first magnet adsorption foot assembly 301 and the second magnet adsorption foot assembly 302 are the same parts as the magnet adsorption foot assembly 1. The first magnet adsorption foot assembly 301 and the second magnet adsorption foot assembly 302 are arranged at right angles and assembled on the slide rail of the intermediate frame assembly 2. The gears thereon are engaged with the rack teeth on the intermediate frame assembly 2 to realize the transmission of moving power. The first magnet adsorption foot assembly 301 and the second magnet adsorption foot assembly 302 are installed with a connecting inclined plate 303. The upper end surface of the connecting inclined plate 303 is a 45-degree inclined surface. The left connecting inclined plate, the connecting cross plate 304, and the right connecting inclined plate are fastened together by screws, so that the first magnet adsorption foot assembly 301 and the second magnet adsorption foot assembly 302 are connected together.

[0124] The bottom of the connecting inclined plate 303 is a plane, which is assembled on the second right-angle movable connecting plate 120 of the magnet adsorption foot assembly 1. There are two pieces, which are arranged on the first magnet adsorption foot assembly 301 and the magnet adsorption foot assembly 1 respectively. The top is a 45-degree inclined surface, which is connected to the connecting cross plate 304 by screws.

[0125] The connecting transverse plate 304 is connected with the left connecting inclined plate and the right connecting inclined plate by screws to form a mounting base of the mechanical arm assembly.

[0126] Reference Figure 3 to Figure 4 As shown, in some specific embodiments, the robot arm assembly 4 includes: a robot arm base assembly 401, a robot arm body assembly 402, a robot arm end quick-change magnet assembly 403, a robot arm end visual camera 404, and a robot arm end tool assembly 405.

[0127] The robot arm base assembly 401 is assembled on the connecting cross plate 304 through the bottom mounting plate, and is connected to the robot arm magnet adsorption foot assembly 3, and can perform translational movement on the middle frame assembly 2.

[0128] The robot body 402 is composed of a 5-DOF revolute pair, and its arm is composed of a hollow carbon fiber round tube, which reduces the mass while meeting the rigidity requirement.

[0129] The quick-change magnet assembly 403 at the end of the robot arm is assembled on the mounting plate of the fifth degree of freedom at the end of the robot arm. The presence or absence of magnetic force is realized by connecting and disconnecting the current. By sucking the magnet block at the tool end, the corresponding tool can be quickly grasped to complete the corresponding task.

[0130] The visual camera 404 at the end of the robot arm is assembled on the mounting plate of the fourth degree of freedom of the robot arm. The specific location is on the side of the fifth degree of freedom motor and parallel to the quick-change magnet assembly 403 at the end of the robot arm, facing the working direction of the tool assembly, so as to facilitate the visual camera to capture the field of view of the working area.

[0131] The tool assembly 405 at the end of the robot arm is fixed on the tool rack assembly 5. When the robot arm receives the corresponding instruction of a task, the quick-change magnet assembly 403 at the end of the robot arm absorbs the magnet block at the tool end to quickly grab the corresponding tool and complete the corresponding task.

[0132] Reference Figure 2 As shown, in some specific embodiments, the tool rack assembly 5 includes: a carbon fiber tube connecting end cover 501, a tool holding plate 502, a quick-change magnet assembly 503, a barb tool assembly 504, and a gripper tool assembly 505.

[0133] The carbon fiber tube connecting end cover 501 is fixed to the second middle square carbon fiber tube 201 of the middle frame assembly 2 by screws.

[0134] The tool holding plate 502 is assembled on the carbon fiber tube connection end cover 501 and is in a forked shape, with the tool assembly being held at the forked portion at the front end.

[0135] The quick-change magnet assembly 503 is assembled on the fork of the tool holding plate 502 and is used to attract the magnet block on the tool rack assembly 5 to fix the tool assembly.

[0136] Specifically, the barb tool assembly 504 and the gripper tool assembly 505 have the same quick-change structure. When there is no work task, they are placed on the quick-change magnet assembly 503 on the tool rack assembly 5. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grab the tool assembly to work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly 503 of the tool rack assembly 5 according to the predetermined position, thereby realizing the rapid placement of the tool assembly.

[0137] When the gripper tool assembly 505 has no work task, it is placed on the quick-change magnet assembly 503 on the tool rack assembly 5. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grab the tool assembly to work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly 503 of the tool rack assembly 5 according to the predetermined position, thereby realizing the rapid placement of the tool assembly.

[0138] The present application also discloses an autonomous climbing gait sequence of a six-legged climbing robot, including:

[0139] First, the two front magnetic adsorption feet of the climbing robot, the left front magnetic adsorption foot and the right front magnetic adsorption foot are arranged at 90 degrees, and they can move independently of each other, and can perform telescopic movement and up and down movement respectively; similarly, the two rear magnetic adsorption feet, the left rear magnetic adsorption foot and the right rear magnetic adsorption foot are arranged at 90 degrees, and they can move independently of each other, and can perform telescopic movement and up and down movement respectively. These four independently moving magnetic adsorption feet constitute the four legs of the climbing robot; the middle robotic arm magnetic adsorption foot has two simultaneously moving magnetic adsorption feet, which together constitute the six legs of the climbing robot.

[0140] Among them, when the left front magnet adsorption foot is moving, the adsorption magnet needs to separate from the angle iron of the iron tower, increase the height, and should be higher than the obstacle height on the angle iron, and then move upward for a certain distance, and then lower the height of the adsorption magnet to be adsorbed on the angle iron. At this time, the adsorption magnets of other magnet feet are adsorbed on the angle iron of the iron tower.

[0141] The right front magnet adsorption foot performs the same action sequence as the left front magnet adsorption foot and completes the movement upward for a certain distance. At this time, the adsorption magnets of other magnet feet are adsorbed on the angle iron of the iron tower.

[0142] Then, the middle robotic arm magnet adsorption feet and the two magnet feet are raised in height at the same time, and then move upward for a certain distance. The robotic arms move upward together at this time, and the adsorption magnets lower their height and adsorb on the angle iron. At this time, the other four magnet feet adsorption magnets are adsorbed on the angle iron of the iron tower.

[0143] The left rear magnet adsorption foot adsorption magnet needs to be separated from the iron tower angle iron, and the height should be higher than the obstacle height on the angle iron. Then it moves upward for a certain distance, and the adsorption magnet lowers its height and adsorbs on the angle iron. At this time, the other magnet feet adsorption magnets are adsorbed on the iron tower angle iron.

[0144] The right rear magnet adsorption foot performs the same action sequence as the left rear magnet adsorption foot to complete the upward movement of a certain distance. At this time, the other magnet feet adsorption magnets are adsorbed on the iron tower angle iron.

[0145] The above actions are repeated in sequence, and the climbing robot will continue to climb the tower upwards.

[0146] The visual camera installed at the end of the robotic arm can capture obstacle information such as screws on the angle iron of the tower in real time, autonomously calculate the distance between the obstacle and the robot, autonomously control the moving distance of the robot's magnetic adsorption foot, and promptly confirm and feedback whether there is an obstacle at the position where the adsorption foot is adsorbed and whether it is firm, thereby achieving the effect of autonomous obstacle crossing.

[0147] The above describes the specific embodiments of the present application. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the substantive content of the present application. The above preferred features can be used in any combination without conflicting with each other.

Claims

1. A six-legged climbing robot for a transmission line tower, characterized in that: include: Magnet adsorption foot assembly, middle frame assembly, mechanical arm magnet adsorption foot assembly, mechanical arm assembly, tool rack assembly; The magnet adsorption foot assembly has multiple sets, which are respectively assembled at the upper end and the lower end of the intermediate frame assembly, and the movements of the magnet adsorption foot assemblies are independent of each other; the magnet adsorption foot assemblies at the upper end are arranged at 90 degrees, and the magnet adsorption foot assemblies at the lower end are arranged at 90 degrees, and the magnet adsorption foot assemblies located on the same side move on the same moving sub-assembly.

2. A transmission line tower hexapod climbing robot according to claim 1, characterized in that: The magnet adsorption foot assembly has 4 sets; The magnet adsorption foot assembly includes: an intermediate frame assembly, an upper connecting plate, a lower connecting plate, a slide rail assembly, an electric push rod assembly, a first right-angle movable connecting plate, a magnet mounting block, an electromagnet, a displacement sensor, an electric push rod connector, a compression spring, a ball joint bearing, a second right-angle movable connecting plate, a reinforcing rib, a first worm gear mechanism connecting block, a second worm gear mechanism connecting block, a third worm gear mechanism connecting block, a worm gear mechanism power motor, a worm gear mechanism motor connecting plate, a worm gear mechanism coupling, a worm, a first worm bearing, a second worm bearing, a worm gear shaft, a first worm gear bearing, a worm wheel, a gear, and a second worm gear bearing.

3. A transmission line tower hexapod climbing robot according to claim 2, characterized in that: The intermediate skeleton frame assembly comprises a first intermediate square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angle vertical plate; The upper fixing sleeve is inlaid above the first middle square carbon fiber tube; The lower fixing sleeve is embedded below the first middle square carbon fiber tube; The right-angled vertical plate is located between the upper fixing sleeve and the lower fixing sleeve and outside the four corners of the first middle square carbon fiber tube, and is connected to the upper fixing sleeve and the lower fixing sleeve respectively by screws.

4. A transmission line tower hexapod climbing robot according to claim 3, characterized in that: The upper connecting plate is fixed to the upper fixing sleeve of the intermediate frame assembly by screws; The lower connecting plate is fixed to the lower fixing sleeve of the intermediate frame assembly by screws; The slide rail assembly has two groups, which are respectively installed on the two vertical surfaces of the first middle square carbon fiber tube of the middle skeleton assembly and are located in the middle position of the right-angle vertical plate. The slide rail assembly is provided with a slider, and the slider is connected to the first right-angle movable connecting plate.

5. A transmission line tower hexapod climbing robot according to claim 2, characterized in that: The fixed end of the electric push rod assembly is connected to the upper connecting plate through a pin shaft, and the movable end of the electric push rod assembly is connected to the electric push rod connecting head through a pin shaft; The two vertical surfaces of the first right-angle movable connecting plate are respectively connected to the sliders of the slide rail assembly which are perpendicular to each other, and move up and down on the slide rail assembly following the sliders; The magnet mounting block is assembled at the lower end of the first right-angle movable connecting plate, and moves up and down together with the first right-angle movable connecting plate; The electromagnets are connected together by screws on ball joint bearings and assembled on the magnet mounting block through the upper end of the ball joint bearings; The displacement sensor assembly is assembled on the upper connecting plate by means of a screw fastening assembly, and the lower end of the moving rod is always in contact with the magnet mounting block under the action of a spring, and moves together with the magnet mounting block to achieve measurement of the moving distance; One end of the electric push rod connector is assembled on the movable rod of the electric push rod assembly through a pin shaft, and the other end is fixed to the magnet mounting block through a screw, wherein the magnet mounting block has a groove feature for holding the ball joint bearing, and cooperates with the electric push rod connector to fix the ball joint bearing together; The compression spring is located in the middle of the magnet mounting block and the electromagnet, wherein the magnet mounting block has a mounting groove for accommodating the compression spring, one end of the compression spring is mounted in the mounting groove on the magnet mounting block, and the other end is in contact with the upper surface of the electromagnet to provide positive pressure to the electromagnet so that the electromagnet will not tilt too much under the action of the ball joint bearing; The upper end of the ball joint bearing is assembled in the groove feature on the magnet mounting block, and the ball joint bearing is fixed in cooperation with the electric push rod connector, and the lower end is connected to the electromagnet through a screw, and is located inside the compression spring, and acts with the compression spring to make the electromagnet have a certain degree of passive compliance; The second right-angle movable connecting plate is assembled on the lower connecting plate by screws, connected to the reinforcing ribs, and fixed to the right-angle vertical plate of the intermediate bone frame assembly, specifically located on the other side of the intermediate bone frame assembly, on the opposite side of the electromagnet, and the second right-angle movable connecting plate and the first right-angle movable connecting plate have an included angle of 90 degrees; One end of the reinforcing rib is assembled on the second right-angle movable connecting plate by screws, and the other end is fixed on the right-angle vertical plate of the intermediate frame assembly by screws, and the number of the reinforcing ribs is 2, which are respectively located on the two right-angle vertical plates on the opposite sides of the electromagnet; The first worm gear mechanism connecting block is assembled on a right angle surface of the second right angle movable connecting plate by screws; the second worm gear mechanism connecting block is assembled on another right angle surface of the second right angle movable connecting plate by screws; one end of the third worm gear mechanism connecting block is assembled on the first worm gear mechanism connecting block by screws, and the other end is fixed on the second worm gear mechanism connecting block by screws, and is specifically located in the middle part between the first worm gear mechanism connecting block and the second worm gear mechanism connecting block; The worm gear mechanism power motor is assembled to the worm gear mechanism motor connecting plate by screws, and the output shaft is connected to the coupling to provide rotational power to the worm; one end of the worm gear mechanism motor connecting plate is connected to the worm gear mechanism power motor, and the other end is assembled to the third worm gear mechanism connecting block by screws to fix the worm gear mechanism power motor; one end of the worm gear mechanism coupling is connected to the worm gear mechanism power motor, and the other end is connected to the worm shaft to transmit power; The top of the upper shaft of the worm is fastened to the coupling, the lower part of the upper shaft is equipped with the first worm bearing, the lower shaft is equipped with the second worm bearing, and they are assembled in the mounting hole on the third worm gear mechanism connecting block, and the middle spiral surface is in contact with the corresponding gear surface of the worm gear; The first worm bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm bearing, and fixes the position of the worm; the second worm bearing is assembled in the lower mounting hole of the third worm gear mechanism connecting block, is on the same axis as the first worm bearing, and fixes the position of the worm; The worm gear shaft is assembled on the first worm gear bearing and the second worm gear bearing, and is fixed on the third worm gear mechanism connecting block, and has two keyway features, which cooperate with keys of corresponding lengths to connect the worm gear and the gear; the first worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm gear bearing, and fixes the position of the worm gear shaft; the worm wheel is connected to the worm gear shaft through a flat key, and its tooth surface contacts the spiral surface of the worm, so as to realize the transmission of motor force and drive the worm gear shaft to rotate together; The gear is connected to the worm gear shaft through a flat key and rotates together with the worm gear shaft. Its tooth surface contacts the tooth surface of the rack on the intermediate frame assembly to achieve the translational movement of the entire magnet adsorption foot assembly; the second worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, on the same axis as the first worm gear bearing, and fixes the position of the worm gear shaft.

6. A transmission line tower hexapod climbing robot according to claim 2, characterized in that: The intermediate frame assembly is composed of a second intermediate square carbon fiber tube, a first slide rail, a first rack, a second slide rail, a third slide rail, a second rack, and a fourth slide rail; The second middle square carbon fiber tube constitutes the basic skeleton of the middle frame assembly and carries the components of the whole device; the first slide rail is assembled on a surface of the second middle square carbon fiber tube, and the slider thereon is connected to a surface of the second right-angle movable connecting plate by screws, thereby driving the magnet adsorption foot assembly to move along the first slide rail; The first rack is assembled on a surface of the second middle square carbon fiber tube, in the same plane as the first slide rail, and is specifically located at a right angle to the second middle square carbon fiber tube and in the middle of the first slide rail and the second slide rail; The second slide rail is assembled on a surface of the second middle square carbon fiber tube, perpendicular to the plane where the first slide rail is located, and the slider thereon is connected to the other vertical surface of the second right-angle movable connecting plate by screws, arranged at 90 degrees to the first slide rail, thereby enhancing the rigidity of the overall mechanism; The first slide rail, the first rack and the second slide rail constitute the first moving sub-assembly of the magnet adsorption foot assembly moving along the middle frame assembly; The third slide rail is assembled on a surface of the second middle square carbon fiber tube, specifically located on the surface opposite to the first slide rail; the second rack is assembled on a surface of the second middle square carbon fiber tube, in the same plane as the third slide rail, and is specifically located at a right angle to the third middle square carbon fiber tube, and is located in the middle of the third slide rail and the fourth slide rail; the fourth slide rail is assembled on a surface of the second middle square carbon fiber tube, perpendicular to the plane where the third slide rail is located, and specifically located on the surface opposite to the second slide rail; The third slide rail, the second rack and the fourth slide rail have the same parts as the first slide rail, the first rack and the second slide rail, and constitute the second moving sub-assembly of the magnet adsorption foot assembly that moves along the middle frame assembly, 180 degrees from the first moving sub-assembly.

7. A transmission line tower hexapod climbing robot according to claim 2, characterized in that: The mechanical arm magnet adsorption foot assembly comprises: a first magnet adsorption foot assembly, a second magnet adsorption foot assembly, a connecting inclined plate, and a connecting horizontal plate; The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are the same parts as the magnet adsorption foot assembly. The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are arranged at right angles and assembled on the slide rail of the intermediate frame assembly. The gears thereon mesh with the rack teeth on the intermediate frame assembly to achieve the transmission of moving power. The first magnet adsorption foot assembly and the second magnet adsorption foot assembly are installed with the connecting inclined plate, the upper end surface of the connecting inclined plate is an inclined surface of 45 degrees, and the left connecting inclined plate, the connecting cross plate, and the right connecting inclined plate are fastened together by screws, so that the first magnet adsorption foot assembly and the second magnet adsorption foot assembly are connected together; The bottom of the connecting inclined plate is a plane, assembled on the second right-angle movable connecting plate of the magnet adsorption foot assembly, and there are two of them, which are arranged on the first magnet adsorption foot assembly and the magnet adsorption foot assembly respectively, and the top is a 45-degree inclined surface, which is connected to the connecting horizontal plate by screws; The connecting transverse plate is connected with the left connecting inclined plate and the right connecting inclined plate by screws to form a mounting base of the mechanical arm assembly.

8. The transmission line tower hexapod climbing robot according to claim 7, characterized in that: The robotic arm assembly comprises: a robotic arm base assembly, a robotic arm body assembly, a robotic arm end quick-change magnet assembly, a robotic arm end visual camera, and a robotic arm end tool assembly; The mechanical arm base assembly is assembled on the connecting horizontal plate through the bottom mounting plate, and is connected to the mechanical arm magnet adsorption foot assembly, and can perform translational movement on the intermediate frame assembly; The robot body is composed of a 5-degree-of-freedom revolute pair, and its arm is composed of a hollow carbon fiber round tube, which reduces the mass while meeting the rigidity requirement; the quick-change magnet assembly at the end of the robot arm is assembled on the mounting plate of the fifth degree of freedom at the end of the robot arm, and the presence or absence of magnetic force is realized by connecting and disconnecting the current, and the magnet block at the tool end is sucked to quickly grasp the corresponding tool and complete the corresponding task; The end-of-arm visual camera is assembled on the mounting plate of the fourth degree of freedom of the robotic arm, specifically located on the side of the fifth degree of freedom motor, parallel to the end-of-arm quick-change magnet assembly, and facing the working direction of the tool assembly, so as to facilitate the visual camera to capture the field of view of the working area; The tool assembly at the end of the robot arm is fixed on the tool rack assembly. When the robot arm receives the corresponding instruction of a task, the quick-change magnet assembly at the end of the robot arm absorbs the magnet block at the tool end to quickly grab the corresponding tool and complete the corresponding task.

9. The transmission line tower hexapod climbing robot according to claim 6, characterized in that: The tool rack assembly includes: a carbon fiber tube connection end cap, a tool holding plate, a quick-change magnet assembly, a barb tool assembly, and a gripper tool assembly; The carbon fiber tube connection end cover is fixed to the second middle square carbon fiber tube of the middle frame assembly by screws; The tool holding plate is assembled on the carbon fiber tube connection end cover and is in a forked shape, with the tool assembly being held at the forked portion at the front end; The quick-change magnet assembly is assembled on the fork of the tool holding plate and is used to attract the magnet block on the tool rack assembly to fix the tool assembly.

10. The transmission line tower hexapod climbing robot according to claim 9, characterized in that: The barb tool assembly has the same quick-change structure as the gripper tool assembly. When there is no work task, it is placed on the quick-change magnet assembly on the tool rack assembly. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robot arm can quickly grab the tool assembly to work. After the task is completed, the robot arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly according to a predetermined position, thereby realizing the rapid placement of the tool assembly. When the gripper tool assembly has no work task, it is placed on the quick-change magnet assembly on the tool rack assembly. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grab the tool assembly to work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly at a predetermined position, thereby realizing rapid placement of the tool assembly.

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