A magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing

Abstract

The present application discloses a magnetically actuated soft inspection robot that can flexibly cross obstacles on high-voltage direct current transmission lines. In this solution, the Ampere force generated by the energized coils of the magnetic adsorption driver, the energized coils of the magnetic linear driver, and the energized coils of the magnetic torsion driver in the circular magnetic field around the high-voltage direct current transmission conductor is used to enable the robot to perform linear motion, torsional motion, and adsorption motion on the high-voltage direct current transmission conductor. When the magnetically actuated soft inspection robot travels on an obstacle-free line section, the adsorption driver stably wraps around the high-voltage direct current transmission conductor to ensure its safety, and the linear driver pulls it to move quickly. When encountering obstacles such as wire clamps and jumpers above the conductor, the magnetic torsion driver causes the robot to twist 180 degrees and wrap around the conductor to avoid the obstacle. Under the action of the magnetic adsorption driver and the magnetic linear driver, the robot passes flexibly under the wire clamps and jumpers.

Description

Technical Field

[0001] The present application relates to the technical field of industrial building steel structure engineering construction, and in particular to a magnetically actuated soft inspection robot capable of flexibly crossing obstacles in high-voltage direct current transmission lines. Background Art

[0002] Power system construction is a crucial component of national and regional economic development plans, and inspecting the safety of overhead high-voltage transmission lines is a crucial step in this process. Currently, manual inspections, primarily based on manual testing, suffer from low efficiency, low safety, and incomplete coverage, making them difficult to meet the demands of large-scale power grid maintenance. Furthermore, helicopter inspections are expensive, difficult to organize and implement, have blind spots, and are subject to weather and air traffic control constraints.

[0003] High-voltage DC transmission line inspection robots deployed domestically and internationally are primarily rigid-body inspection robots. Overhead high-voltage transmission line operation robots primarily utilize a multi-cantilever mechanical rigid structure with wheeled motion. During inspection, the robot's body and center of gravity are concentrated beneath the line. When encountering obstacles, the robot relies on its robotic arms to simulate human climbing and traversing. The challenges associated with wheel-arm rigid-structure robots include large size, a bulky body, limited degrees of freedom, inflexible obstacle traversal, low efficiency, and unreliable safety. These issues have been the fundamental reason for the slow progress of high-voltage inspection robot research and its subsequent failure to achieve practical application and commercialization.

[0004] The emergence of soft materials offers a new concept for inspection robots. Their application to high-voltage inspection robots can effectively address the shortcomings of rigid-body inspection robots. Soft robots, a new type of biomimetic continuum robot, are being applied to overhead high-voltage transmission line operations, better adapting to the changing and complex environments encountered during inspections. Soft robots use soft actuators as "motors" to achieve bending, extension, and twisting. These actuators are primarily categorized as pneumatic, SMA, EPA, and magnetic control. Pneumatic actuators offer advantages such as fast response and high driving force, along with relatively mature technology. They are the most commonly used actuation method for soft actuators. They achieve bending motion by passing pressurized gas through a network of cavities within the soft material, typically requiring a pumping system. SMA actuators (shape memory alloy actuators) primarily utilize temperature-controlled SMA materials. Their working principle is to deform the SMA element in its low-temperature martensitic state. As the temperature rises, the shape memory effect generates displacement and generates work. This, combined with soft materials, allows for bending motion. However, SMA actuators are not very efficient. EPA actuation refers to polymers that can undergo various deformations, such as bending and contraction, under the influence of an applied electric field. Its actuation mechanism can be categorized as either ionic or electric. The driving force is relatively small, and research on EPA actuation is still in its early stages. Magnetic actuation is achieved by applying a remotely applied magnetic field to exert force or torque on magnetic robots embedded in magnets or made of magnetizable materials.

[0005] In summary, the flexibility of the above-mentioned soft inspection robots is relatively poor when crossing obstacles. Summary of the Invention

[0006] In view of this, the present application provides a magnetically actuated soft inspection robot that can flexibly cross obstacles in high-voltage direct current transmission lines, which can solve the problem of flexibility of inspection robots in the prior art when crossing obstacles.

[0007] The present application provides a magnetically actuated soft inspection robot for compliant obstacle crossing of a high-voltage direct current transmission line, comprising a compliant soft body, a pair of magnetic adsorption drivers each fixedly connected to the two ends of the connector, a pair of magnetic linear drivers each fixedly connected to the two ends of the compliant soft body, and a pair of magnetic torsion drivers each fixedly connected to the two ends of the compliant soft body; the magnetic adsorption driver comprises an adsorption core weak magnetic material body, an adsorption core strong magnetic material body stacked along a first direction, and a magnetic adsorption driver power coil arranged perpendicularly to the first direction through the adsorption core weak magnetic material body and the adsorption core strong magnetic material body; the magnetic linear driver comprises a linear drive magnetic core weak magnetic material body, a linear drive magnetic core strong magnetic material body stacked along a second direction, and a magnetic linear driver power coil arranged perpendicularly to the first direction through the linear drive magnetic core weak magnetic material body and the linear drive magnetic core strong magnetic material body; the magnetic torsion driver comprises a torsion magnetic core strong magnetic material body and a magnetic torsion driver power coil arranged perpendicularly through the torsion magnetic core strong magnetic material body;

[0008] Specifically, when current is passed through the power coil of the magnetic adsorption driver, the magnetic adsorption driver can generate an adsorption force to adsorb on the high-voltage DC transmission wire in a first direction; when current is passed through the power coil of the magnetic linear driver, the magnetic linear driver can generate a driving force to drive on the high-voltage DC transmission wire in a second direction, and the first direction and the second direction are substantially perpendicular; when current is passed through the power coil of the magnetic torsion driver, the magnetic torsion driver can generate a torsional force relative to the high-voltage DC transmission wire.

[0009] Optionally, the weak magnetic material body of the adsorption magnetic core and the strong magnetic material body of the adsorption magnetic core are both semi-cylindrical.

[0010] Optionally, the magnetic attraction driver energized coil is a coil formed by shape deposition manufacturing (SDM).

[0011] Optionally, the magnetic adsorption driver has multiple energized coils arranged in a circular shape.

[0012] Optionally, the linear drive magnetic core weak magnetic material body and the linear drive magnetic core strong magnetic material body are both semi-cylindrical.

[0013] Optionally, the energized coil of the magnetic linear drive is a coil formed by shape deposition manufacturing (SDM).

[0014] Optionally, the linear drive core has multiple conducting wires, which are arranged in a circular shape.

[0015] Optionally, the flexible soft body is made of polyurethane soft material.

[0016] Optionally, the materials of the adsorption core ferromagnetic material body, the linear drive core ferromagnetic material body, and the torsion core ferromagnetic material body are all made of magnetic powder core polyurethane.

[0017] Optionally, the magnetic permeability of the magnetic powder core polyurethane is 500-6000 H / m.

[0018] The present application discloses a magnetically actuated soft inspection robot capable of flexibly crossing obstacles on high-voltage direct current (HVDC) transmission lines. In this solution, the Ampere force generated by the energized coils of a magnetic adsorption driver, a energized coil of a magnetic linear driver, and a energized coil of a magnetic torsion driver in the circular magnetic field surrounding the HVDC transmission conductor is utilized to enable the robot to perform linear motion, torsional motion, and adsorption motion on the HVDC transmission conductor. When the soft inspection robot is traveling on an obstacle-free line section, the adsorption driver stably wraps around the HVDC transmission conductor to ensure its safety, and the linear driver pulls the robot for rapid movement. When encountering obstacles such as wire clamps and jumpers above the conductor, the magnetic torsion driver causes the robot to twist 180 degrees and wrap around the conductor to avoid the obstacle. Under the action of the magnetic adsorption driver and the magnetic linear driver, the robot flexibly passes under the wire clamps and jumpers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following detailed description of the specific embodiments of the present application in conjunction with the accompanying drawings will make the technical solutions and other beneficial effects of the present application apparent.

[0020] Figure 1 It is a structural diagram of the magnetically actuated soft inspection robot of this application.

[0021] Figure 2 It is a structural diagram of the magnetic torsion drive of the present application.

[0022] Figure 3 This is a functional diagram of the magnetic linear drive of this application.

[0023] Figure 4 It is a structural diagram of the magnetic adsorption driver of the present application.

[0024] Figure 5 This is a schematic diagram of the jumper wires used in this application.

[0025] Figure 6 This is the force analysis diagram of the jumper wire in this application.

[0026] Figure 7 is a schematic diagram of the spanning clamp.

[0027] Figure 8 This is the force analysis diagram of the spanning wire clamp.

[0028] The components in the figure are identified as follows:

[0029] 1-magnetic torsion driver; 101-torsion core ferromagnetic material body; 102-magnetic torsion driver energized coil;

[0030] 2-magnetic linear drive; 201-linear drive core strong magnetic material body; 202-linear drive core weak magnetic material body; 203-magnetic linear drive power coil;

[0031] 3-magnetic adsorption driver; 301-adsorption core weak magnetic material body; 302-adsorption core strong magnetic material body; 303-magnetic adsorption driver power coil;

[0032] 4-Soft and supple;

[0033] 501-Insulation string; 502-HVDC transmission line; 503-Strain tower; 504-Suspension clamp. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0035] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0036] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0037] The disclosure below provides many different embodiments or examples for realizing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0038] Before introducing the technical solution of this application, it is necessary to explain the background of the invention of this application.

[0039] It is common that in related technologies, inspection robots are mostly multi-cantilever rigid robots. These robots are bulky and oversized. Furthermore, because they utilize multiple arms to move forward in an interlaced manner to complete actions such as overcoming obstacles, they suffer from complex obstacle-crossing maneuvers, low efficiency, limited load, and unstable operation. Due to the redundant degrees of freedom and compliant deformation characteristics of soft robots, integrating soft robot technology into the field of high-voltage line inspection is a new trend. Currently, the development of pneumatic soft-driven robots is relatively mature, but they require complex auxiliary systems, and pneumatically driven soft inspection robots operating on overhead transmission lines are difficult to implement. Soft robots using SMA actuators (shape memory alloy actuators) suffer from long response times and low efficiency. In addition, there are also soft robots that achieve magnetic control by applying a remotely applied magnetic field to exert force or torque on magnetic robots embedded in magnets or made of magnetizable materials.

[0040] Based on the inventor's awareness of the inherent challenges of the motor-driven mechanical movement of the high-voltage line inspection robot, such as complex obstacle-crossing movements and bulky size, the inventor conducted an exploration based on the magnetic control soft drive currently used in China and abroad. There are two known methods of magnetic control soft drive: one is to embed multiple electromagnets in the soft tissue, pass current to generate a magnetic field, change the direction and magnitude of the current, and achieve changes in magnetic poles and magnetic field magnitude to drive the soft body to deform; the other is to embed permanent magnets or magnetizable units in the soft tissue, and achieve deformation of the soft body by applying a remote external magnetic field to the magnetic field force of the magnets in the soft tissue. Neither of these two magnetic actuation methods is suitable for the soft robot in this project. The high-voltage direct current transmission line has a strong magnetic field, which seriously interferes with the magnetic control drive unit, raising questions about its usability. In addition, the inspection robot works far away from the ground, making it difficult to achieve remote magnetic field drive.

[0041] The inventors have creatively discovered a solution to this problem by leveraging the redundant degrees of freedom of a soft robot to flexibly traverse obstacles. To reduce weight and avoid the use of existing motor technology, the circular magnetic field generated by a high-voltage line is used to apply the Ampere force to the energized coils, acting as a driving mechanism for motion along the line. This patented technology was developed within this context. Specifically, the present application utilizes the Ampere force generated by the energized coils of a magnetic adsorption drive, a magnetic linear drive, and a magnetic torsion drive in the circular magnetic field surrounding a high-voltage direct current (HVDC) transmission line to enable the robot to perform linear, torsional, and adsorption motions along the HVDC line. When the soft inspection robot navigates an unobstructed section of a line, the compliant soft body is stably wrapped around the HVDC line by the adsorption drive, ensuring stability, while the linear drive pulls the robot for rapid movement. When encountering obstacles such as wire clamps and jumpers above the line, the magnetic torsion drive causes the robot to twist 180 degrees and wrap beneath the line to circumvent the obstacle. The magnetic adsorption drive and magnetic linear drive then allow the robot to flexibly pass under the wire clamps and jumpers. Thus, the present invention was created.

[0042] like Figure 1 As shown, the magnetically actuated soft inspection robot for flexible obstacle crossing of high-voltage direct current transmission lines of the present application includes a flexible soft body 4, a pair of magnetic adsorption drivers 3 each fixedly connected to the two ends of the flexible soft body 4, a pair of magnetic linear drivers 2 each fixedly connected to the two ends of the flexible soft body 4, and a pair of magnetic torsion drivers 1 each fixedly connected to the two ends of the flexible soft body 4.

[0043] It is easy to understand that the number of each of the pair of magnetic adsorption actuators 3 , the pair of magnetic linear actuators 2 , and the pair of magnetic torsion actuators 1 is two.

[0044] Please refer to Figure 2 、 Figure 3 , Figure 4 、 Figure 5 The magnetic adsorption driver 3 includes an adsorption core weak magnetic material body 301, an adsorption core strong magnetic material body 302 stacked along the first direction, and a magnetic adsorption driver power coil 303 that is inserted into the adsorption core weak magnetic material body 301 and the adsorption core strong magnetic material body 302 in a posture perpendicular to the first direction. The magnetic linear driver 2 includes a linear drive core weak magnetic material body 202, a linear drive core strong magnetic material body 201 stacked along the second direction, and a magnetic linear drive core power coil 203 that is inserted into the linear drive core weak magnetic material body 202 and the linear drive core strong magnetic material body 201 in a posture perpendicular to the first direction. The magnetic torsion driver 1 includes a torsion core strong magnetic material body 101 and a magnetic torsion driver power coil 102 that is inserted into the torsion core strong magnetic material body 101 in a posture perpendicular to the first direction.

[0045] Among them, when current is passed through the power coil 303 of the magnetic adsorption driver, the magnetic adsorption driver 3 can generate an adsorption force to adsorb on the high-voltage DC transmission wire 502 along a first direction; when current is passed through the power coil 203 of the magnetic linear driver, the magnetic linear driver 2 can generate a driving force to drive on the high-voltage DC transmission wire 502 along a second direction, and the first direction and the second direction are substantially perpendicular; when current is passed through the power coil 102 of the magnetic torsion driver, the magnetic torsion driver 1 can generate a torsional force relative to the high-voltage DC transmission wire.

[0046] In this way, the magnetically actuated soft inspection robot of the present application, in the barrier-free line section, the rear end linear driving force and the front end linear driving force generated by the magnetic linear drivers 2 located at both ends of the flexible soft body 4 make the flexible soft body 4 in a stretched state and generate forward movement, and the adsorption force generated by the magnetic adsorption drivers 3 at both ends, namely the front end adsorption force and the rear end adsorption force, make the flexible soft body 4 adhere to the high-voltage DC transmission line 502. Since the direction of the adsorption force is roughly perpendicular to the linear driving force, the flexible soft body 4 can stably move in a straight line along the high-voltage DC transmission line 502.

[0047] When it is necessary to climb over an obstacle section, the linear driving force at the front end of the flexible soft body 4 disappears, and under the action of the linear driving force at the rear end, the flexible soft body 4 is caused to rise in preparation for climbing over. It is particularly important to note that when the width of the obstacle is large, the magnetic torsion driver 1 at the front end of the flexible soft body 4 generates a front-end torsion force, causing the front end of the flexible soft body 4 to deflect to the left or right side of the obstacle. When reaching the obstacle, the front-end adsorption force of the flexible soft body 4 disappears or changes direction (i.e., it is converted from magnetic attraction to magnetic repulsion. The direction can be changed by controlling the direction of the current flowing into the energized coil of the magnetic adsorption driver). Under the action of the linear driving force at the rear end of the flexible soft body 4, climbing over is achieved.

[0048] After the climb is complete, the magnetic attraction at the front end of the compliant body 4 remains neutralized, and under its own weight, it falls onto the HVDC conductor 502. Once it has completely landed on and made full contact with the HVDC conductor 502, the magnetic attraction at the front end is restored. At this point, the front end of the compliant body 4 has completely climbed over.

[0049] Similarly, the back end of the flexible software 4 also implements a similar crossing process.

[0050] refer to Figure 4The weak magnetic material body 302 and the weak magnetic material body 301 of the magnetic core are both semi-circular. The weak magnetic material bodies 302 and 301 of the magnetic core are stacked to form the magnetic core. The inner surface of the magnetic core of the magnetic attraction actuator 3 is a semi-cylindrical surface with a radius of 0.024m, and the outer surface has a semi-cylindrical surface with a radius of 0.040m. The two long sides of the magnetic attraction actuator's energized coil 303 are embedded in different materials on the upper and lower sides.

[0051] refer to Figure 3 The linear drive core weak magnetic material body 202 and the adsorption core weak magnetic material body 201 are both semicircular. The adsorption core weak magnetic material body 202 and the adsorption core weak magnetic material body 201 are stacked to form a magnetic core.

[0052] refer to Figure 2 The above-mentioned twisted magnetic core ferromagnetic material body is in the shape of a semicircular ring.

[0053] As used in this article, the words "strong" and "weak" in the above terms "adsorption magnetic core weak magnetic material body", "adsorption magnetic core strong magnetic material body", "linear drive magnetic core strong magnetic material body", and "linear drive magnetic core weak magnetic material body" do not represent absolute concepts, but rather the relative size relationship of the magnetic permeability in the "adsorption magnetic core weak magnetic material body", "adsorption magnetic core strong magnetic material body", and the "linear drive magnetic core strong magnetic material body" and "linear drive magnetic core weak magnetic material body" that form a contrasting relationship.

[0054] It is precisely because of the above-mentioned relationship in magnetic permeability that the circular magnetic field generated by the DC current in the high-voltage DC transmission conductor 502 is inherently very weak and insufficient to generate the required Ampere force for the coil in the magnetic core. Therefore, the magnetic field generated around the conductor is strengthened by the magnetic focusing effect of the adsorption core ferromagnetic material 102. The direction of the high-voltage line current is perpendicular to the paper and inward, generating a circular magnetic field B around it. The long side L1 of the energized coil 303 of the magnetic adsorption driver is embedded in the adsorption core ferromagnetic material 102, and the other long side L2 is embedded in the adsorption core weak magnetic material body 301. The two long sides of the coil generate Ampere forces F of opposite directions and different magnitudes. a and F b , the Ampere force F generated by the magnetic field on the long side after being strengthened by the strong magnetic material a Much larger than F b The Ampere force generated by the short side of the coil in the air is very small and in the opposite direction, so the adsorption force F on the entire coil is 吸 Approximately equal to F a .

[0055] The robot's entire body is constructed from soft polyurethane. The highly magnetically permeable material in each of the aforementioned actuators is made from polyurethane powder cores. The powder cores enhance the high-voltage DC magnetic field, thereby increasing the actuator's magnetic actuation force (the magnetic permeability of the powder cores can reach 500-6000 H / m). The polyurethane material has a density of 1.005g / cm³. Based on the robot's dimensions, the magnetically actuated soft robot in this project weighs less than 2kg.

[0056] Please refer to Figure 6 、 Figure 8 In the figure, the linear driving forces F1 and F2 generated by the magnetic linear actuator are the Ampere forces generated by the energized coil 203 of the magnetic linear actuator in the annular magnetic field around the high-voltage DC transmission wire 502. The high-voltage current I0 = 1000A, the current I1 in the energized coil 203 of the magnetic linear actuator = 10A, and the magnetic permeability u of the magnetic core is r =1000u0, u0=4π×10 -7 , R2 = 0.024m, R1 = 0.046m, the number of coil turns is 30, and the effective long side of the energized coil of the magnetic linear drive is distributed radially. Therefore, the traction force on the energized coil 203 of the magnetic linear drive is:

[0057]

[0058] The adsorption forces F3' and F5' generated by the magnetic adsorption driver are the Ampere forces generated by the magnetic adsorption driver energized coil 303 in the awakening magnetic field around the high-voltage DC transmission line 502. Assume that the high-voltage current I0 = 1000A and the current I in the magnetic adsorption driver energized coil 303 = 10A, u r =500u0, r=0.05m, L=0.2m, the effective long side of the magnetic adsorption driver energized coil 303 is distributed radially, so the adsorption force on the magnetic adsorption driver energized coil 303 is:

[0059]

[0060] When the magnetically actuated soft inspection robot is operating normally, the magnetic torsion driver 1 generates a torsional force to rotate the robot 180°. The magnetic torsion driver's energized coil 102 is defined as 25 turns, so the number of effective sides is 50. The coil length of the magnetic torsion driver's energized coil 102 is L = 50 mm. The torsional force generated by the magnetic adsorption driver's energized coil 102 is:

[0061]

[0062] The above-mentioned magnetic adsorption driver power coil 303, magnetic linear driver power coil 203, and magnetic torsion driver power coil 102 are coils formed by shape deposition manufacturing SDM, thereby improving the flexibility of the magnetic adsorption driver 3, magnetic linear driver 2, and magnetic torsion driver when the flexible soft body 4 is deformed.

[0063] The following describes the working method of the magnetically actuated soft inspection robot:

[0064] The obstacles are jumper wires and hanging wire clamps 504 as an example for explanation.

[0065] like Figures 5 to 8 As shown, Figure 5 and Figure 7 The state of the soft inspection robot crossing the jumper and the hanging wire clamp 504 is shown. Figure 6 and Figure 8 This is a motion analysis diagram of the soft inspection robot crossing over jumpers and wire clamps.

[0066] As an exemplary implementation, the jumper includes an insulating string 501 and a high-voltage direct current transmission conductor 502 connected to each other.

[0067] As another exemplary implementation, the jumper includes a tension tower 503 , an insulating string 501 , and a high-voltage direct current transmission line 502 .

[0068] As an exemplary implementation, the clamp includes a high-voltage direct current transmission conductor 502 and a suspension clamp 504 .

[0069] First, the driving force generated by the magnetic linear actuator 2 and the adsorption force generated by the magnetic adsorption actuator 1 enable the robot to work stably on the high-voltage line; secondly, the torsional force generated by the torsion actuator is used to rotate the robot 180°. At the same time, the current of the magnetic adsorption actuator 3 is increased to generate F3' and F5', allowing the robot to be stably adsorbed on the high-voltage line; finally, the driving forces F1 and F2 generated by the magnetic linear actuator are used to smoothly cross the obstacle.

[0070] The magnetically actuated soft inspection robot of the present application has good scalability. By cascading the above-mentioned magnetic drive devices, the driving force of the robot can be doubled.

[0071] Therefore, the magnetically actuated soft inspection robot of the present application has the following advantages:

[0072] 1. The circular magnetic field generated around the high-voltage DC transmission line drives the coil to perform deformation movement, so that the robot can cross the jumper and wire clamp in a flexible manner.

[0073] 2. By utilizing the flexibility and redundant degrees of freedom of soft materials, the time it takes for the robot to cross obstacles is shortened.

[0074] 3. Use the coupling between current-carrying coils and soft materials to reduce the size of the robot and improve the efficiency of the robot crossing obstacles.

[0075] 4. Take advantage of the low density of soft materials to reduce the mass of the robot and reduce the load on the high-voltage wires.

[0076] The above is only a preferred specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in this application should be covered by the scope of protection of the present application.

Claims

1. A magnetically actuated soft inspection robot for HVDC transmission lines capable of compliantly crossing obstacles, characterized by: A compliant soft body, a pair of magnetic adsorption drivers each fixedly connected to the two ends of the compliant soft body, a pair of magnetic linear drivers each fixedly connected to the two ends of the compliant soft body, and a pair of magnetic torsion drivers each fixedly connected to the two ends of the compliant soft body; the magnetic adsorption driver includes an adsorption core weak magnetic material body, an adsorption core strong magnetic material body stacked along a first direction, and a magnetic adsorption driver power coil inserted in the adsorption core weak magnetic material body and the adsorption core strong magnetic material body in a posture perpendicular to the first direction; the magnetic linear driver includes a linear drive magnetic core weak magnetic material body, a linear drive magnetic core strong magnetic material body stacked along a second direction, and a magnetic linear driver power coil inserted in the linear drive magnetic core weak magnetic material body and the linear drive magnetic core strong magnetic material body in a posture perpendicular to the second direction; the magnetic torsion driver includes a torsion magnetic core strong magnetic material body and a magnetic torsion driver power coil inserted in the torsion magnetic core strong magnetic material body in a posture perpendicular to the second direction; Specifically, when current is passed through the power coil of the magnetic adsorption driver, the magnetic adsorption driver can generate an adsorption force to adsorb on the high-voltage DC transmission wire in a first direction; when current is passed through the power coil of the magnetic linear driver, the magnetic linear driver can generate a driving force to drive on the high-voltage DC transmission wire in a second direction, and the first direction and the second direction are substantially perpendicular; when current is passed through the power coil of the magnetic torsion driver, the magnetic torsion driver can generate a torsional force relative to the high-voltage DC transmission wire.

2. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1 is characterized in that: The weak magnetic material body of the adsorption magnetic core and the strong magnetic material body of the adsorption magnetic core are both semi-cylindrical.

3. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1 is characterized in that: The magnetic attraction driver energized coil is a coil formed by shape deposition manufacturing (SDM).

4. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 2 is characterized in that: The magnetic adsorption driver has multiple energized coils arranged in a circular shape.

5. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1 is characterized in that: The linear drive core weak magnetic material body and the linear drive core strong magnetic material body are both semi-cylindrical.

6. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1, characterized in that: The energized coil of the magnetic linear drive is a coil formed by shape deposition manufacturing (SDM).

7. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 5, characterized in that: The magnetic linear drive has multiple energized coils arranged in a circular shape.

8. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1, characterized in that: The soft and flexible body is made of polyurethane.

9. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 1, characterized in that: The materials of the adsorption core ferromagnetic material body, the linear drive core ferromagnetic material body, and the torsion core ferromagnetic material body are all made of magnetic powder core polyurethane.

10. The magnetically actuated soft inspection robot for HVDC transmission lines with flexible obstacle crossing according to claim 9, characterized in that: The magnetic permeability of the magnetic powder core polyurethane is 500-6000 H / m.

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