A software crawling device, robot and method for line inspection

Abstract

The application discloses a soft crawling device for line inspection, a robot and a method, and relates to the field of robots.The soft crawling device for line inspection comprises a soft actuating mechanism and at least two grabbing mechanisms connected to the soft actuating mechanism; the soft actuating mechanism comprises a hollow soft air bag which can be inflated and deflated, and the soft air bag is configured to stretch and contract when inflated and deflated; and each grabbing mechanism comprises at least one suction cup for adsorbing a power transmission line.The soft crawling device for line inspection, the robot and the method provided by the application can fix the extra-high voltage power transmission line through the suction cups, can realize stable grabbing of the extra-high voltage power transmission line through a simple mechanism, and can improve the walking speed and stability.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a soft crawling device, robot, and method for line inspection. Background Technology

[0002] Ultra-high voltage transmission lines refer to high-voltage transmission lines of 10kV and above. With the continuous increase in the construction of ultra-high voltage transmission lines, the diversity of the construction environment has increased the difficulty of inspecting ultra-high voltage transmission lines. At present, inspection devices based on soft robots are often used to inspect ultra-high voltage transmission lines because they have advantages such as flexible crawling and simple structure.

[0003] Currently, there is a contradiction between the structural complexity and grasping stability of the soft robot used for line inspection and the grasping mechanism that contacts the line. That is, a complex structure can achieve good grasping stability, while a complex structure has poor grasping stability. Summary of the Invention

[0004] The purpose of this application is to provide a soft crawling device, robot, and method for line inspection, which uses a suction cup to grasp and fix ultra-high voltage transmission lines. Through a simple mechanism, it achieves stable grasping of ultra-high voltage transmission lines, thereby improving walking speed and stability.

[0005] This application is implemented as follows:

[0006] This application provides a soft crawling device for line inspection, which includes a soft actuation mechanism and at least two gripping mechanisms connected to the soft actuation mechanism; the soft actuation mechanism includes an inflatable hollow soft airbag configured to extend and retract when inflated and deflated; each gripping mechanism includes at least one suction cup for adsorbing power transmission lines.

[0007] In some alternative implementations, the soft airbag is connected to a connecting beam that is retractable along its length, the connecting beam dividing the interior of the soft airbag into at least two circumferentially spaced cavities, each of which has an air inlet and an air outlet communicating with both ends of the respective cavity.

[0008] In some alternative implementations, the gripping mechanism includes a U-shaped mounting frame connected to the connecting beam and at least one pair of symmetrically arranged suction cups connected to the mounting frame, each pair of suction cups being used to grip both sides of the power transmission line.

[0009] In some alternative embodiments, the suction cup has at least one tentacle inside, the tentacle having an arcuate surface for conforming to the outer wall of the power transmission line, and the surface of the tentacle having an adhesive coating for adhering to the outer wall of the power transmission line.

[0010] In some alternative embodiments, the outer wall of the tentacle is provided with a plurality of vent holes arranged at intervals along its circumference, and the tentacle is provided with a vent chamber communicating with each vent hole.

[0011] In some alternative implementations, the outer and inner walls of the soft airbag are respectively raised to form multiple annular external and internal protrusions, which are arranged alternately along the length of the soft airbag.

[0012] In some alternative implementations, the outer wall of the soft airbag is connected to at least one annular sensor for detecting its expansion and contraction.

[0013] In some alternative implementations, the software actuation mechanism is connected to at least one camera.

[0014] This application also provides a robot that includes the aforementioned soft crawling device for line inspection.

[0015] This application also provides a crawling method for the aforementioned software crawling device for line inspection, including the following steps:

[0016] Control the suction cups of at least one gripping mechanism to adsorb the power transmission line;

[0017] Inflate the soft airbag of the soft actuator to extend the soft airbag;

[0018] Control the suction cups of at least another gripping mechanism to adsorb the power transmission line;

[0019] Control at least one gripping mechanism's suction cup to stop adhering to the power transmission line;

[0020] Deflating the soft airbag of the soft actuator causes the soft airbag to contract, controlling the suction cup of at least another gripping mechanism to stop adhering to the power transmission line.

[0021] Repeat the steps above.

[0022] The beneficial effects of this application are as follows: The soft crawling device for line inspection provided by this application includes a soft actuation mechanism and at least two gripping mechanisms connected to the soft actuation mechanism; the soft actuation mechanism includes an inflatable, hollow soft airbag configured to expand and contract during inflation and deflation; each gripping mechanism includes at least one suction cup for adsorbing power transmission lines. The soft crawling device, robot, and method for line inspection provided by this application grip and fix ultra-high voltage power transmission lines using suction cups, achieving stable gripping of ultra-high voltage power transmission lines through a simple mechanism, thereby improving walking speed and stability. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the soft crawling device for line inspection provided in Embodiment 1 of this application;

[0025] Figure 2 This is a cross-sectional structural schematic diagram of the software crawling device for line inspection provided in Embodiment 1 of this application;

[0026] Figure 3 This is a schematic diagram of the suction cup structure in the soft crawling device for line inspection provided in Embodiment 1 of this application;

[0027] Figure 4 This is a schematic diagram of the structure of the soft crawling device for line inspection provided in Embodiment 1 of this application, which moves along the power transmission line.

[0028] Figure 5 This is a schematic diagram of the soft crawling device for line inspection provided in Embodiment 2 of this application;

[0029] Figure 6 This is a schematic diagram of the structure of a soft crawling device for line inspection according to an embodiment of this application.

[0030] In the diagram: 100, soft actuation mechanism; 110, soft airbag; 120, connecting beam; 130, cavity; 140, air inlet; 150, air outlet; 160, outward protrusion; 170, inward protrusion; 180, ring sensor; 190, camera; 200, gripping mechanism; 210, suction cup; 220, mounting bracket; 230, tentacle; 240, curved surface; 250, air extraction hole; 260, air extraction chamber; 300, power transmission line. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] The following is a detailed description of the software crawling device, robot, and method for line inspection of this application, with reference to the embodiments.

[0039] Example 1

[0040] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application provides a soft crawling device for line inspection, which includes a soft actuation mechanism 100 and two gripping mechanisms 200 respectively connected to both ends of the soft actuation mechanism 100. The soft actuation mechanism 100 includes an inflatable hollow soft airbag 110, which is configured to expand and contract during inflation and deflation. A connecting beam 120 extending along the length of the soft airbag 110 is connected inside the soft airbag 110. The connecting beam 120 is made of an elastic material and can extend along the length of the soft airbag 110. The soft airbag 110 is telescopic in the degree direction. The connecting beam 120 divides the interior of the soft airbag 110 into two circumferentially spaced cavities 130. The soft airbag 110 is provided with an air inlet 140 and an air outlet 150 that are connected to both ends of each cavity 130. Each gripping mechanism 200 includes a U-shaped fixing frame 220 connected to the end of the connecting beam 120 and a pair of symmetrically arranged suction cups 210 connected to the fixing frame 220. The pair of suction cups 210 connected to the fixing frame 220 are used to adsorb the two sides of the power transmission line 300.

[0041] The soft crawling device for line inspection provided in this application embodiment uses an inflatable and deflated hollow soft airbag 110 as a soft actuation mechanism 100. By introducing or extracting air into the soft airbag 110, the soft airbag 110 is driven to extend and retract, thereby moving the soft crawling device. In conjunction with the gripping mechanisms 200 connected to both ends of the soft actuation mechanism 100, the soft crawling device can alternately grip and adsorb the power transmission line 300, thereby enabling the soft crawling device to move stably along the power transmission line 300 to perform inspection operations.

[0042] The soft airbag 110 is connected to a retractable and elastic connecting beam 120, which divides the interior of the soft airbag 110 into two circumferentially spaced cavities 130. The soft airbag 110 is provided with an air inlet 140 and an air outlet 150 that are connected to both ends of each cavity 130. During the actual inspection process of the soft crawling device along the power transmission line 300, it was found that the ultra-high voltage power transmission line 300 has a certain degree of curvature. In order to meet the need for stable movement along the curved power transmission line 300, a connecting beam 120 is set in the soft airbag 110 to form two circumferentially spaced cavities 130. An air inlet 140 and an air outlet 150 are respectively set in each cavity 130. Gas can be introduced into each cavity 130 through each air inlet 140 and extracted from each cavity 130 through each air outlet 150. This allows the soft airbag 110 corresponding to each cavity 130 to expand and contract to different degrees. This allows the soft airbag 110 to twist in different directions when expanding and contracting, which meets the requirements of bending freedom. This ensures that when the soft crawling device moves along the curved power transmission line 300, the two gripping mechanisms 200 are in close contact with the surface of the ultra-high voltage power transmission line 300, so that the suction cups 210 of the gripping mechanisms 200 can stably adhere to the surface of the power transmission line 300.

[0043] It should be noted that when gas enters the cavity 130 through the inlet 140, the gas inside the cavity 130 will not flow out through the outlet 150 due to the reverse pressure of the suction device. Similarly, when the gas inside the cavity 130 is extracted through the outlet 150 by the suction device, no new gas enters the cavity 130 through the inlet 140 because the inflation device is not working. Furthermore, valves can be installed on the air pipes connected to the inlet 140 and outlet 150. During inflation, the valve on the air pipe connected to the outlet 150 is closed to prevent gas from flowing out, and during inhalation, the valve on the air pipe connected to the inlet 140 is closed to prevent further gas replenishment.

[0044] In other alternative embodiments, the connecting beam 120 may be omitted, and instead a diaphragm may be used to divide the interior of the soft airbag 110 into two or more cavities 130.

[0045] In other alternative embodiments, when the soft crawling device is used to inspect the power transmission line 300 which is arranged in a straight line, and it is not necessary to twist the soft airbag 110 in different directions to satisfy the bending degree of freedom, the soft airbag 110 can also have only one cavity 130 inside. In this case, the cavity 130 is located on the upper or lower side of the connecting beam 120. Gas is introduced into the discharge cavity 130 through the air inlet 140 and the air outlet 150 to realize the extension and retraction of the soft airbag 110 along the power transmission line 300.

[0046] In this embodiment, a U-shaped fixing frame 220 is connected to each end of the connecting beam 120. Each gripping mechanism 200 includes a pair of symmetrically arranged suction cups 210 connected to the fixing frame 220, thereby ensuring that the two suction cups 210 of each gripping mechanism 200 can stably adsorb both sides of the power transmission line 300, and ensuring that the soft crawling device moves stably along the power transmission line 300.

[0047] In other alternative embodiments, the soft actuation mechanism 100 may also be connected to three or more gripping mechanisms 200, which may be arranged at intervals along the length of the soft actuation mechanism 100, and each gripping mechanism 200 may include one or more suction cups 210.

[0048] In this embodiment, a tentacle 230 is provided in the center of the suction cup 210. The tentacle 230 has an arc surface 240 for adhering to the outer wall of the power transmission line 300, and an adhesive coating is provided on the surface of the tentacle 230 for adhering to the outer wall of the power transmission line 300. The suction cup 210 and the tentacle 230 are made of flexible materials, such as silicone, hydrogel, or other soft materials. The arc surface 240 of the tentacle 230 for adhering to the outer wall of the power transmission line 300 ensures a stable match between the curvature of the tentacle 230 and the outer wall of the power transmission line 300, improves the adhesion strength between the tentacle 230 and the outer wall of the power transmission line 300, and ensures the adhesion stability of the tentacle 230 adsorbed on the outer wall of the power transmission line 300. Optionally, the adhesive coating is one or more of silicone, polymer, and nanoparticles. In other optional embodiments, the adhesive coating can also be one or more of magnetic materials, electrostatic adsorption materials, polyurethane materials, microfiber structures, or surface texture structures.

[0049] In this embodiment, the outer wall of the contact 230 is provided with air extraction holes 250 arranged at intervals along its circumference, and the contact 230 is provided with an air extraction chamber 260 communicating with each air extraction hole 250. When the suction cup 210 is adsorbed onto the outer wall of the power transmission line 300, an external air extraction and inflation device can be used to extract or introduce gas into the air extraction chamber 260, thereby reducing or increasing the air pressure in the air extraction chamber 260 by air extraction or inflation, so that the contact 230 can evenly adhere to or detach from the surface of the power transmission line 300, thereby improving the control precision of the suction cup 210, so that the circumferential edge of the suction cup 210 can simultaneously adhere to and release the ultra-high voltage power transmission line 300;

[0050] In this embodiment, the outer wall and inner wall of the soft airbag 110 respectively protrude to form annular protrusions 160 and 170 arranged at intervals. The protrusions 160 and 170 are arranged alternately along the length of the soft airbag 110. The protrusions 160 and 170 are arranged alternately along the length of the soft airbag 110, so that the soft airbag 110 can stably extend and contract during inflation and deflation, and realize the stable movement of the soft airbag 110 along the power transmission line 300.

[0051] The outer wall of the soft airbag 110 is connected to annular sensors 180 arranged at intervals. Each outward protrusion 160 is fitted with an annular sensor 180. The annular sensor 180 is used to detect the relationship between the internal air pressure and the elongation of the soft airbag 110 or the relationship between the internal air pressure and the bending angle of the soft airbag 110, thereby determining the degree of expansion and contraction of the soft airbag 110. In this embodiment, the annular sensor 180 is an inductive annular sensor. Each protruding portion 160 of the soft airbag 110 is fitted with a ring sensor 180 to detect the degree of expansion and contraction of the soft airbag 110. This allows for precise control of the expansion and contraction speed of the soft airbag 110, preventing over-inflation and excessive expansion, thus improving its service life. When the soft airbag 110 needs to move quickly along the power line 300, the amount of air introduced and expelled from the cavity 130 each time is increased, increasing the expansion and contraction of the soft airbag 110 to achieve rapid movement. Similarly, when the soft airbag 110 needs to move slowly along the power line 300, the amount of air introduced and expelled from the cavity 130 each time is reduced, decreasing the expansion and contraction of the soft airbag 110 to achieve slow movement. This controls the movement speed of the soft airbag 110 along the power line 300 and avoids over-inflation.

[0052] After prolonged operation, the soft crawling device may experience air leakage at the connection points between the air pipe and the air inlet 140, the air pipe and the air outlet 150, or between the outer protrusion 160 and the inner protrusion 170. For example, after prolonged extension and retraction, the material between the outer protrusion 160 and the inner protrusion 170 may experience fatigue damage, resulting in air leakage. Although these minor damages and leaks will not affect the continued operation of the soft crawling device, they will affect the crawling accuracy of the soft crawling device, causing control deviations in the crawling speed and position. At the same time, minor air leakage is not easily detected by the staff, which will not only affect the crawling speed control of the soft crawling device, but also cause inspection deviations in key inspection locations.

[0053] To detect air leaks in the soft crawling device, especially minor leaks, this embodiment acquires the detection values ​​of the annular sensors 180 on each protrusion 160 at preset intervals. The difference between the detection values ​​of the annular sensors 180 corresponding to any two adjacent protrusions 160 is obtained. If the difference is greater than a first preset value, it is determined that the soft crawling device may have an air leak. The detection value of the annular sensor 180 with a potential leak is compared with the historical detection data of the corresponding annular sensor 180 on the protrusion 160. If the difference between the detection value of the annular sensor 180 with a potential leak and the historical detection data is greater than a second preset value, it is determined that an air leak has occurred. The historical detection data consists of detection values ​​under the same size air inlet 140 inflation rate and air outlet 150 exhaust rate. The first and second preset values ​​can be obtained experimentally or from historical data. This leak detection method not only detects minor leaks but also accurately determines the approximate location of the leak, providing a reliable basis for subsequent maintenance.

[0054] In this embodiment, a camera 190 is connected to each end of the soft airbag 110. By using the cameras 190 at both ends of the soft airbag 110, the condition of the power transmission line 300 can be viewed in real time as the soft crawling device moves along the power transmission line 300.

[0055] In this embodiment, the movement of the soft crawling device is achieved by introducing or expelling air into or out of the soft airbag 110 to drive the soft airbag 110 to extend and retract. This is done by using an inflation and de-inflation device, such as an air pump and an air pipe, to introduce gas into the cavity 130 through the air inlet 140, or by using an air pump and an air pipe to extract gas from the cavity 130 through the corresponding air outlet 150. At the same time, the inflation and de-inflation device is used to introduce or extract gas into or extract gas from the de-inflation chamber 260 provided in the tentacle 230. This is prior art and is not a technical solution protected by this application, so it will not be described in detail.

[0056] In this embodiment, the controller receives data on the expansion and contraction of the soft airbag 110 detected by each ring sensor 180, and controls the air pump and the air tube with the control valve to control the gas flow rate into and out of the cavity 130 to control the expansion and contraction of the soft airbag 110.

[0057] In other alternative embodiments, such as Figure 5As shown, a soft crawling device for line inspection is provided. Its specific structure is largely the same as that of Embodiment 1 described above, except that the connecting beam 120 is located at the bottom of the soft airbag 110 and connected to it. In this case, when gas is introduced into the cavity 130 inside the soft airbag 110 through the air inlet 140 and discharged from the cavity 130 through the air outlet 150, the soft airbag 110 extends and retracts, moving along the power transmission line 300. In other optional embodiments, the connecting beam 120 may not be provided.

[0058] In other alternative embodiments, such as Figure 6 As shown, a soft crawling device for line inspection is provided. Its specific structure is roughly the same as that of Embodiment 1 above. The difference is that the connecting beam 120 divides the interior of the soft airbag 110 into three circumferentially spaced cavities 130. Gas can be introduced into the three cavities 130 through each air inlet 140 and discharged from each cavity 130 through each air outlet 150. This allows the soft airbag 110 parts corresponding to the three cavities 130 to expand and contract to different degrees, so that the soft airbag 110 can twist in three different directions when it expands and contracts, satisfying the requirements of bending freedom.

[0059] This application also provides a robot that includes the aforementioned soft crawling device for line inspection.

[0060] Example 2

[0061] This application also provides a crawling method for the software crawling device for line inspection described in Embodiment 1, including the following steps:

[0062] The soft crawling device used for line inspection is suspended on the ultra-high voltage transmission line 300 to be inspected. The two suction cups 210 in the gripping mechanism 200 connected to one end of the soft actuation mechanism 100 are respectively adsorbed on both sides of the transmission line 300. Specifically, the gas is extracted through the air pipe and the air extraction chamber 260 by the air pumping device, so that the air pressure in the air extraction chamber 260 is reduced and the arc surface 240 of the tentacles 230 and the suction cups 210 are adsorbed on the surface of the transmission line 300, and the adhesive coating on the surface of the arc surface 240 is adhered to the surface of the transmission line 300.

[0063] Inflate the soft airbag 110 of the soft actuation mechanism 100 to extend the soft airbag 110; specifically, use an air pumping and inflation device to introduce gas through an air pipe and an air inlet 140 into each cavity 130, so that the soft airbag 110 of the soft actuation mechanism 100 is inflated and extended, pushing the two suction cups 210 in the gripping mechanism 200 connected to the other end of the soft airbag 110 to move along the power transmission line 300.

[0064] The two suction cups 210 in the gripping mechanism 200 connected to the other end of the control soft airbag 110 adsorb onto both sides of the power transmission line 300; specifically, a vacuuming and inflation device is used to extract gas through an air tube into the vacuum chamber 260, reducing the air pressure inside the vacuum chamber 260 so that the arc surface 240 of the tentacle 230 and the suction cups 210 adhere to the surface of the power transmission line 300, and the adhesive coating on the surface of the arc surface 240 adheres to the surface of the power transmission line 300.

[0065] The two suction cups 210 in the gripping mechanism 200 connected to one end of the control soft airbag 110 stop adhering to both sides of the power transmission line 300. Specifically, the air pumping and inflation device is used to introduce gas into the air pumping chamber 260 of the corresponding suction cup 210 through the air pipe, so that the air pressure in the air pumping chamber 260 increases and the suction cup 210 expands, so that the arc surface 240 of the tentacle 230 and the suction cup 210 stop adhering to the surface of the power transmission line 300.

[0066] The soft airbag 110 of the soft actuation mechanism 100 is deflated, causing the soft airbag 110 to contract. Specifically, the air is extracted from each cavity 130 through the air tube and the air outlet 150 using an air pumping and inflation device, causing the soft airbag 110 of the soft actuation mechanism 100 to deflate and contract. This causes the two suction cups 210 in the gripping mechanism 200 connected to one end of the soft airbag 110 to move along the power transmission line 300, and further causes the arc surface 240 to move, causing the adhesive coating on the surface of the arc surface 240 to separate from the power transmission line 300.

[0067] Repeat the above steps to move the soft crawling device used for line inspection along the ultra-high voltage transmission line 300, while using cameras 190 connected to both ends of the soft airbag 110 to view the condition of the transmission line 300 in real time.

[0068] The embodiments described above are some, but not all, of the embodiments of this application. The detailed description of the embodiments of this application is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

Claims

1. A soft crawling device for line inspection, characterized in that, It includes a soft actuation mechanism and at least two gripping mechanisms connected to the soft actuation mechanism; the soft actuation mechanism includes an inflatable, hollow soft airbag configured to expand and contract during inflation and deflation; each gripping mechanism includes at least one suction cup for adsorbing power transmission lines, the soft airbag is connected to a connecting beam that is expandable and contractable along its length, the connecting beam dividing the interior of the soft airbag into at least two circumferentially spaced cavities, the soft airbag being provided with air inlets communicating with both ends of each cavity and... The air outlet and the gripping mechanism include a U-shaped fixing frame connected to the connecting beam and at least one pair of suction cups symmetrically arranged and connected to the fixing frame. Each pair of suction cups is used to adsorb both sides of the power transmission line. The suction cup is provided with at least one tentacles. The tentacles are provided with arc surfaces for conforming to the outer wall of the power transmission line. The surface of the tentacles is provided with an adhesive coating for adhering to the outer wall of the power transmission line. The outer wall of the tentacles is provided with a plurality of air extraction holes arranged at intervals along its circumference. The tentacles are provided with air extraction chambers communicating with each of the air extraction holes.

2. The soft crawling device for line inspection according to claim 1, characterized in that, The outer and inner walls of the soft airbag are respectively raised to form multiple annular external and internal protrusions, and the external and internal protrusions are arranged alternately along the length of the soft airbag.

3. The soft crawling device for line inspection according to claim 1, characterized in that, The outer wall of the soft airbag is connected to at least one annular sensor for detecting its expansion and contraction.

4. The soft crawling device for line inspection according to claim 1, characterized in that, The software actuation mechanism is connected to at least one camera.

5. A robot, characterized in that, It includes a soft crawling device for line inspection as described in any one of claims 1 to 4.

6. The crawling method of the soft crawling device for line inspection according to any one of claims 1 to 4, characterized in that, Includes the following steps: Control at least one of the gripping mechanisms to adsorb the power transmission line using its suction cup; Inflate the soft airbag of the soft actuator to extend the soft airbag; Control the suction cup of at least one of the other gripping mechanisms to adsorb the power transmission line; Control at least one of the gripping mechanisms to stop the suction cups from adsorbing the power transmission line; The soft airbag of the soft actuation mechanism is deflated to cause the soft airbag to contract, thereby controlling the suction cup of at least another grasping mechanism to stop adsorbing the power transmission line. Repeat the steps above.

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