A multi-directional climbing robot for a power transmission line tower

Abstract

The application discloses a multi-directional climbing robot for a power transmission line iron tower, which comprises a front arm and a rear arm, the front arm and the rear arm are connected through a steering system, and a pair of claws are arranged at the bottom of the front arm and the rear arm. The robot can climb the body of the power transmission line iron tower through remote control, and has the ability to not only climb along the main material angle steel of the power transmission line iron tower, but also to turn to the cross partition material angle steel to climb. Through remote control path planning, the robot can be ensured to climb to the conventional maintenance point of the power transmission line iron tower. The application is suitable for the power transmission line iron tower, can make ascending and descending climbing movements along the angle steel of the body of the iron tower, and in the state that any part of the rear arm or the front arm of the climbing robot is fixed to the angle steel of the iron tower, the steering system is controlled to rotate the other arm, so that the climbing robot can be controlled to switch and climb from the main material of the iron tower to the cross partition material.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of transmission line tower inspection robots, and particularly relates to a transmission line tower multi-directional climbing robot. BACKGROUND

[0002] At present, the transmission line tower has become the main equipment in the power transmission line, and with the rapid development of the power industry, the construction scale of the transmission line tower is large, the number and specifications are numerous, and the operation and maintenance workload is increasing; the operation and maintenance of the transmission line tower mainly includes tower body corrosion degree inspection, fastening bolt inspection, replacement, etc.; manual climbing is required in the operation and maintenance, high-altitude work is carried out, and the risk coefficient is high. Therefore, the design of the transmission line tower climbing robot is an urgent need for the development of the power industry.

[0003] The technical difficulties in the design of the transmission line tower climbing robot are as follows: first, the existing transmission line tower structure is complex, the robot climbing path and direction are variable; second, the angle steel size of the transmission line tower is different, and the climbing surface is narrow and variable; third, there are many connectors and bolts at the connection of the transmission line tower, the manual climbing scaffold is protruding, and there are many obstacles in the climbing path; fourth, the transmission line tower robot needs a certain load capacity, and can load equipment to reach the maintenance target point. SUMMARY

[0004] The purpose of the present application is to provide a transmission line tower multi-directional climbing robot which can climb the tower body of the transmission line tower by remote control, and the robot not only has the ability to climb along the angle steel of the main material of the transmission line tower, but also can turn to the angle steel of the cross member for climbing, and through the path planning of the remote controller, the robot can be ensured to climb to the target maintenance point of the transmission line tower.

[0005] The technical solution of the present application is:

[0006] The transmission line tower multi-directional climbing robot in the present application comprises a front arm and a rear arm, the front arm and the rear arm are connected by a turning system, and each of the front arm and the rear arm is provided with a pair of paws at the bottom.

[0007] The front arm and the rear arm are composed of lead screws, and the two paws are respectively installed on the lead screw slides at the bottom of the front arm and the rear arm; the paw comprises two jointed fingers with adjustable opening angles, and an electromagnet is arranged on each finger.

[0008] A first driving mechanism is arranged on each of the front arm and the rear arm to drive the paw to move forward and backward relative to the front arm and the rear arm.

[0009] The turning system is located between the front arm and the rear arm, and a second driving mechanism is arranged to drive the angle between the front arm and the rear arm to change relatively, so as to drive the robot to climb and turn.

[0010] The front arm and rear arm bottom screw slide is provided with a third driving mechanism to drive the hand claw to change the angle relative to the slide, to adapt to different angle steel positions.

[0011] The hand claw first finger joint is provided with a fourth driving mechanism to drive the hand claw to change the angle, to make the alternating action of fitting and releasing the angle steel.

[0012] The hand claw second finger joint is provided with a fifth driving mechanism to drive the second finger joint to change the angle relative to the first finger joint, to make the action of pressing and releasing the angle steel.

[0013] By changing the opening and closing actions of the fourth and fifth driving mechanisms and the on-off state of the electromagnet on the finger joint, the angle steel of the power transmission line tower can be clamped and released; the alternating action of the front and rear hand claws cooperates with the movement of the front arm and rear arm screw to realize the climbing robot to move up and down along the angle steel of the tower; in the state that any part of the rear arm or front arm is fixed to the angle steel of the tower, the other arm can be rotated by controlling the steering system, so that the climbing robot can be switched to climb from the main material to the cross material of the tower.

[0014] The above technical solution is based on the metal surface and magnetic material characteristics of the angle steel of the main material and cross material of the power transmission line tower, uses the effective space of the right angle surface of the angle steel, and realizes the double clamping technology of magnetic adsorption and mechanical pressing; in the face of the problems of the beam, bolt protrusion obstacle and steering of the cross material on the climbing path, the posture change and obstacle avoidance of the climbing robot can be realized by the alternating clamping and releasing of the hand claw and the steering action of the front arm and rear arm.

[0015] Compared with the prior art, the climbing robot in the application has the front arm, rear arm, front arm hand claw, rear arm hand claw and reversing mechanism, has the reversing climbing ability, can realize the full-path climbing of the tower, the hand claw is designed to have the double clamping technology of electromagnetic adsorption and mechanical pressing, improves the climbing safety and angle steel adhesion ability of the robot, and greatly improves the load capacity of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an isometric view of the overall structure of the application;

[0017] Figure 2 It is a front view of the overall mechanism of the application;

[0018] Figure 3 It is an isometric view of the right-angle steering state of the application;

[0019] Figure 4Fig. 1 is a perspective view of the whole structure of the present application in a right-angle turning state;

[0020] Figure 5 Fig. 2 is an isometric view of the whole structure of the present application in a front hand claw open state;

[0021] Figure 6 Fig. 3 is a front view of the whole structure of the present application in a front hand claw open state;

[0022] Figure 7 Fig. 4 is an isometric view of the whole structure of the present application in a rear hand claw clamping state;

[0023] Figure 8 Fig. 5 is a front view of the whole structure of the present application in a rear hand claw clamping state.

[0024] The components represented by the reference signs in the drawings are as follows:

[0025] 1 - front arm, wherein 11 - front arm load platform, 12 - front arm lead screw, 13 - front arm lead screw motor, 14 - front arm sliding table.

[0026] 2 - rear arm, wherein 21 - rear arm load platform, 22 - rear arm lead screw, 23 - rear arm lead screw motor, 24 - rear arm sliding table.

[0027] 3 - reversing system, wherein 31 - front arm support, 32 - rear arm support, 33 - transmission gear, 34 - driving gear, 35 - reversing motor.

[0028] 4 - front hand claw, wherein 41 - front hand claw axial rotation mechanism, 411 - front hand claw sliding table fixed support, 412 - front hand claw axial rotation motor support, 43 - front hand claw fixed support, 44 - front hand claw first finger joint driving motor, 45 - front hand claw left first finger joint mechanism, 451 - front hand claw left first finger joint upper support, 452 - front hand claw left first finger joint lower support, 453 - front hand claw left second finger joint driving motor, 454 - front hand claw left first finger joint electromagnet, 46 - front hand claw right first finger joint mechanism, 461 - front hand claw right first finger joint upper support, 462 - front hand claw right first finger joint lower support, 463 - front hand claw right second finger joint driving motor, 464 - front hand claw right first finger joint electromagnet, 47 - front hand claw left second finger joint mechanism, 471 - front hand claw left second finger joint upper support, 472 - front hand claw left second finger joint lower support, 473 - front hand claw left second finger joint electromagnet, 48 - front hand claw right second finger joint mechanism, 481 - front hand claw right second finger joint upper support, 482 - front hand claw right second finger joint lower support, 483 - front hand claw right second finger joint electromagnet.

[0029] 5- rear hand claw, wherein 51- rear hand claw axial rotation mechanism, 511- rear hand claw sliding table fixed support, 412- rear hand claw axial rotation motor support, 52- rear hand claw axial rotation motor, 53- rear hand claw fixed support, 54- rear hand claw first finger joint drive motor, 55- rear hand claw left side first finger joint mechanism, 551- rear hand claw left side first finger joint upper support, 552- rear hand claw left side first finger joint lower support, 553- rear hand claw left side second finger joint drive motor, 554- rear hand claw left side first finger joint electromagnet, 56- rear hand claw right side first finger joint mechanism, 561- rear hand claw right side first finger joint upper support, 562- rear hand claw right side first finger joint lower support, 563- rear hand claw right side second finger joint drive motor, 564- rear hand claw right side first finger joint electromagnet, 57- rear hand claw left side second finger joint mechanism, 571- rear hand claw left side second finger joint upper support, 572- rear hand claw left side second finger joint lower support, 573- rear hand claw left side second finger joint electromagnet, 58- rear hand claw right side second finger joint mechanism, 581- rear hand claw right side second finger joint upper support, 582- rear hand claw right side second finger joint lower support, 583- rear hand claw right side second finger joint electromagnet. DETAILED DESCRIPTION

[0030] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. It should be understood that the specific implementation examples described herein are only used to explain the present application and not used to limit the present application.

[0031] In combination Figures 1 to 8 , the present application provides a power transmission line tower multi-directional climbing robot, which comprises a front arm 1, a rear arm 2, a reversing mechanism 3, a front hand claw 4 and a rear hand claw 5. The tail end of a front arm load platform 11 of the front arm 1 is fixed to a front arm support 31 of the reversing mechanism 3, the tail end of a rear arm load platform 21 of the rear arm 2 is fixed to a rear arm support 32 of the reversing mechanism 3, the front hand claw 4 is fixed to a front arm sliding table 14 at the bottom of the front arm 1, and the rear hand claw 5 is fixed to a rear arm sliding table 24 at the bottom of the rear arm 5.

[0032] The main body of the front arm 1 is the front arm load platform 11. The upper end surface of the front arm load platform 11 can carry relevant detection equipment. The lower end surface of the front arm load platform 11 is provided with a front arm lead screw 12. A front arm lead screw motor 13 drives the front arm lead screw 12 to drive the front arm sliding table 14 to move forward and backward.

[0033] The main body of the rear arm 2 is the rear arm load platform 21. The upper end surface of the rear arm load platform 21 can carry relevant detection equipment. The lower end surface of the rear arm load platform 21 is provided with a rear arm lead screw 22. A rear arm lead screw motor 23 drives the rear arm lead screw 22 to drive the rear arm sliding table 24 to move forward and backward.

[0034] The front hand claw 4 body is connected with the front arm sliding table 14 through the upper end of the front hand claw sliding table fixing support 411, and the lower end of the front hand claw sliding table fixing support 411 is connected with the front hand claw axial rotation motor support 412. The front hand claw axial rotation motor stator is fixed on the front hand claw axial rotation motor support 412, the upper end of the front hand claw fixing support 43 is connected with the rotor of the front hand claw axial rotation motor, and the rotation of the front hand claw axial rotation motor can drive the body of the front hand claw 4 to rotate axially relative to the front arm 4, so as to drive the front hand claw 4 to adapt to the angle change of the power transmission line tower angle steel climbing surface and the action cooperation in the direction changing.

[0035] The front hand claw first knuckle driving motor 44 connected with the lower end of the front hand claw fixing support 43 is controlled to be reversed, the opening angle between the left first knuckle mechanism 45 of the front hand claw and the right first knuckle mechanism 46 of the front hand claw is driven by gear transmission, and the on-off of the left first knuckle electromagnet 454 of the front hand claw and the right first knuckle electromagnet 464 of the front hand claw is matched, so that the power transmission line tower angle steel right-angled upper end surface is adsorbed and released.

[0036] The rear hand claw first knuckle driving motor 54 connected with the rear hand claw fixing support 53 is controlled to be reversed, the opening angle between the left first knuckle mechanism 55 of the rear hand claw and the right first knuckle mechanism 56 of the rear hand claw is driven by gear transmission, and the on-off of the left first knuckle electromagnet 554 of the rear hand claw and the right first knuckle electromagnet 564 of the rear hand claw is matched, so that the power transmission line tower angle steel right-angled upper end surface is adsorbed and released.

[0037] The stators of the left second knuckle driving motor 453 of the front hand claw and the right second knuckle driving motor 463 of the front hand claw are respectively fixed on the ends of the left first knuckle upper support 451 of the front hand claw and the right first knuckle upper support 461 of the front hand claw, the rotors of the left second knuckle driving motor 453 of the front hand claw and the right second knuckle driving motor 463 of the front hand claw are respectively connected with the left second knuckle mechanism 47 of the front hand claw and the right second knuckle mechanism 48 of the front hand claw, and the ends of the left second knuckle lower support 472 of the front hand claw and the right second knuckle lower support 482 of the front hand claw are respectively fixed with the left second knuckle electromagnet 473 of the front hand claw and the right second knuckle electromagnet 483 of the front hand claw. By controlling the forward and reverse rotation of the second knuckle driving motor 453 and the right second knuckle driving motor 463 of the front hand claw, the on-off of the left second knuckle electromagnet 473 of the front hand claw and the right second knuckle electromagnet 483 of the front hand claw is matched, so that the power transmission line tower angle steel right-angled lower end surface is adsorbed and released.

[0038] The stators of the rear hand claw left side second finger joint driving motor 553 and the rear hand claw right side second finger joint driving motor 563 are fixed to the ends of the rear hand claw left side first finger joint upper support 551 and the rear hand claw right side first finger joint upper support 561 respectively, and the rotors of the rear hand claw left side second finger joint driving motor 553 and the rear hand claw right side second finger joint driving motor 563 are connected with the rear hand claw left side second finger joint mechanism 57 and the rear hand claw right side second finger joint mechanism 58 respectively; the ends of the rear hand claw left side second finger joint lower support 572 and the rear hand claw right side second finger joint lower support 582 are fixed with the rear hand claw left side second finger joint electromagnet 573 and the rear hand claw right side second finger joint electromagnet 583 respectively, and the suction and release of the straight angle end surface of the transmission line tower angle steel are realized by controlling the forward and reverse rotation of the rear hand claw left side second finger joint driving motor 553 and the rear hand claw right side second finger joint driving motor 563 and the on-off of the rear hand claw left side second finger joint electromagnet 573 and the rear hand claw right side second finger joint electromagnet 583.

[0039] The front hand claw left side first finger joint mechanism 45 and the front hand claw right side first finger joint mechanism 46 and the front hand claw left side second finger joint mechanism 47 and the front hand claw right side second finger joint mechanism 48 are realized by the cooperative control of the front hand claw first finger joint driving motor 44, the front hand claw left side second finger joint driving motor 453 and the front hand claw right side second finger joint driving motor 463, and the magnetic adsorption and mechanical pressing double clamping and release of the front and rear arms of the tower angle steel are realized.

[0040] The rear hand claw left side first finger joint mechanism 55 and the rear hand claw right side first finger joint mechanism 56 and the rear hand claw left side second finger joint mechanism 57 and the rear hand claw right side second finger joint mechanism 58 are realized by the cooperative control of the rear hand claw first finger joint driving motor 54, the rear hand claw left side second finger joint driving motor 553 and the rear hand claw right side second finger joint driving motor 563, and the magnetic adsorption and mechanical pressing double clamping and release of the front and rear arms of the tower angle steel are realized.

[0041] When the robot climbs the transmission line tower, the front and rear arms are used to move the robot body along the transmission line tower angle steel longitudinally upwards and downwards while the two claws are used to clamp and release the angle steel alternately. For example, when climbing longitudinally upwards, the front claw releases the angle steel, the rear claw still clamps the angle steel, the front arm screw drives the front claw to move longitudinally upwards along the transmission line tower to the upper limit of the front arm, the front claw clamps the angle steel, the rear claw releases the angle steel, the front arm screw drives the front arm to move longitudinally upwards along the transmission line tower to the lower limit of the front arm, and at the same time, the rear arm screw drives the rear claw to move longitudinally upwards along the transmission line tower to the upper limit of the rear arm, the rear claw clamps the angle steel, and the longitudinal stroke of each climbing step of the robot is the length of the arm, which is a stepping unit, and through reciprocation, the robot realizes longitudinal climbing of the main material of the transmission line tower. For example, the reverse movement is descending climbing.

[0042] When the robot needs to climb from the main material of the power transmission line tower to the cross material, the climbing robot first climbs to the center position of the front arm and the rear arm to align the connection between the main material of the power transmission line tower and the cross material. In the first step, both the front and rear claws keep clamping the angle steel of the power transmission line tower main material, and the front and rear arm shafts are driven by the front and rear hand claw axial rotation motors to rotate to the cross material surface. In the second step, the rear hand claw keeps clamping the angle steel of the power transmission line tower main material as support, and the front hand claw is released, and the front arm is driven to rotate relative to the rear arm by the steering mechanism to be horizontal with the cross material. In the third step, the front hand claw is adjusted to be perpendicular to the right angle end surface of the cross material angle steel by the front hand claw axial rotation motor. In the fourth step, the front hand claw clamps the cross material angle steel. In the fifth step, the rear hand claw is released, and the rear arm is adjusted to be parallel to the front arm by the steering mechanism. In the sixth step, the front arm leads along the cross material, drives the rear arm and the rear hand claw to the right angle end surface of the cross material, and controls the rear hand claw to keep clamping. Thus, the robot body completes the whole process of moving from the main material of the power transmission line tower to the cross material, and the robot can move horizontally along the cross material of the power transmission line tower.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit it. Those skilled in the art should understand that the specific embodiments of the present application can be modified or replaced by those skilled in the art, but these modifications or changes are within the scope of protection of the claims.

Claims

1. A multi-directional climbing robot for a power transmission tower, characterized in that The utility model relates to a kind of transmission line tower climbing robot, including: Forearm (1), rear arm (2), reversing mechanism (3), front hand claw (4), rear hand claw (5), wherein the tail end of the forearm load platform (11) of forearm (1) is fixed on the forearm support (31) of reversing mechanism (3), the tail end of rear arm load platform (21) of rear arm (2) is fixed on the rear arm support (32) of reversing mechanism (3), front hand claw (4) is fixed on the forearm sliding table (14) of the bottom of forearm (1), rear hand claw (5) is fixed on the rear arm sliding table (24) of the bottom of rear arm (2);The main body of forearm (1) is forearm load platform (11), the upper end surface of forearm load platform (11) is used to carry relevant detection equipment, the lower end surface of forearm load platform (11) is equipped with forearm lead screw (12), forearm lead screw motor (13) drives forearm lead screw (12) to drive forearm sliding table (14) to move forward and backward;The main body of rear arm (2) is rear arm load platform (21), the upper end surface of rear arm load platform (21) is used to carry relevant detection equipment, the lower end surface of rear arm load platform (21) is equipped with rear arm lead screw (22), rear arm lead screw motor (23) drives rear arm lead screw (22) to drive rear arm sliding table (24) to move forward and backward;The main body of front hand claw (4) is connected with forearm sliding table (14) by the upper end of front hand claw sliding table fixed support (411), and the lower end of front hand claw sliding table fixed support (411) is connected with front hand claw axial rotation motor support (412);Front hand claw axial rotation motor stator is fixed on front hand claw axial rotation motor support (412), the rotor of front hand claw axial rotation motor is connected with the upper end of front hand claw fixed support (43), and the rotation of front hand claw axial rotation motor drives the main body of front hand claw (4) to rotate axially relative to forearm (1), to drive front hand claw (4) to adapt to the angle change of transmission line tower angle steel climbing surface and the action cooperation when reversing.

2. The multi-directional climbing robot for power transmission line towers according to claim 1, characterized in that: By controlling the forward and reverse rotation of front hand claw first knuckle driving motor (44) connected with the lower end of front hand claw fixed support (43), the opening angle between front hand claw left side first knuckle mechanism (45) and front hand claw right side first knuckle mechanism (46) is driven by gear transmission, and the on-off of front hand claw left side first knuckle electromagnet (454) and front hand claw right side first knuckle electromagnet (464) is matched, to realize the suction and release of the right angle upper end surface of transmission line tower angle steel; By controlling the forward and reverse rotation of rear hand claw first knuckle driving motor (54) connected with rear hand claw fixed support (53), the opening angle between rear hand claw left side first knuckle mechanism (55) and rear hand claw right side first knuckle mechanism (56) is driven by gear transmission, and the on-off of rear hand claw left side first knuckle electromagnet (554) and rear hand claw right side first knuckle electromagnet (564) is matched, to realize the suction and release of the right angle upper end surface of transmission line tower angle steel.

3. The multi-directional climbing robot for power transmission line towers according to claim 2, characterized in that: The stators of the front gripper left second knuckle driving motor (453) and the front gripper right second knuckle driving motor (463) are fixed to the ends of the front gripper right first knuckle upper support (451) and the front gripper right first knuckle upper support (461), and the rotors of the front gripper left second knuckle driving motor (453) and the front gripper right second knuckle driving motor (463) are connected with the front gripper left second knuckle mechanism (47) and the front gripper right second knuckle mechanism (48) respectively; the ends of the front gripper left second knuckle lower support (472) and the front gripper right second knuckle lower support (482) are fixed with the front gripper left second knuckle electromagnet (473) and the front gripper right second knuckle electromagnet (483) respectively, and by controlling the front gripper left second knuckle driving motor (453) and the front gripper right second knuckle driving motor (463) to reverse rotation, and cooperating with the on-off of the front gripper left second knuckle electromagnet (473) and the front gripper right second knuckle electromagnet (483), the magnetic attraction and release of the right-angled lower end surface of the power transmission line tower angle steel are realized; The stators of the rear gripper left second knuckle driving motor (553) and the rear gripper right second knuckle driving motor (563) are fixed to the ends of the rear gripper right first knuckle upper support (551) and the rear gripper right first knuckle upper support (561), and the rotors of the rear gripper left second knuckle driving motor (553) and the rear gripper right second knuckle driving motor (563) are connected with the rear gripper left second knuckle mechanism (57) and the rear gripper right second knuckle mechanism (58) respectively; the ends of the rear gripper left second knuckle lower support (572) and the rear gripper right second knuckle lower support (582) are fixed with the rear gripper left second knuckle electromagnet (573) and the rear gripper right second knuckle electromagnet (583) respectively, and by controlling the rear gripper left second knuckle driving motor (553) and the rear gripper right second knuckle driving motor (563) to reverse rotation, and cooperating with the on-off of the rear gripper left second knuckle electromagnet (573) and the rear gripper right second knuckle electromagnet (583), the magnetic attraction and release of the right-angled lower end surface of the power transmission line tower angle steel are realized.

4. The multi-directional climbing robot for power transmission line towers according to claim 3, characterized in that: By cooperatively controlling the front gripper first knuckle driving motor (44), the front gripper left second knuckle driving motor (453) and the front gripper right second knuckle driving motor (463), the magnetic attraction and release of the right-angled positive and negative surfaces of the tower angle steel by the front gripper left first knuckle mechanism (45), the front gripper right first knuckle mechanism (46), the front gripper left second knuckle mechanism (47) and the front gripper right second knuckle mechanism (48) are realized. The first finger joint driving motor (54) of the rear hand, the left second finger joint driving motor (553) of the rear hand, and the right second finger joint driving motor (563) of the rear hand are cooperatively controlled to realize the magnetic adsorption and mechanical pressing double clamping and releasing of the left first finger joint mechanism (55) of the rear hand, the right first finger joint mechanism (56) of the rear hand, and the left second finger joint mechanism (57) of the rear hand and the right second finger joint mechanism (58) of the rear hand on the straight angle opposite faces of the tower angle steel.

5. The multi-directional climbing robot for power transmission line towers of claim 1, wherein: When the robot climbs the power transmission line tower, the front and rear arms are used to move the robot body along the power transmission line tower angle steel longitudinally upwards and downwards while the two hands alternately clamp and release the angle steel; when climbing longitudinally upwards, the front hand releases the angle steel while the rear hand still clamps the angle steel, the front arm screw drives the front hand to move longitudinally upwards along the power transmission line tower to the upper limit of the front arm, the front hand clamps the angle steel, the rear hand releases the angle steel, the front arm screw drives the front arm to move longitudinally upwards along the power transmission line tower to the lower limit of the front arm, and at the same time, the rear arm screw drives the rear hand to move longitudinally upwards along the power transmission line tower to the upper limit of the rear arm, the rear hand clamps the angle steel, and the longitudinal stroke of each step of the robot climbing is the length of the arm, which is a step unit; through reciprocation, the robot realizes longitudinal upward climbing of the main material of the power transmission line tower; the reverse movement is downward climbing.

6. The multi-directional climbing robot for power transmission line towers of claim 1, wherein: When the robot needs to climb from the main material of the power transmission line tower to the cross member, the climbing robot first climbs to the center position of the front arm and the rear arm to align the connection between the main material of the power transmission line tower and the cross member, the first step is to keep the front and rear hands clamping the angle steel of the main material of the power transmission line tower, the front and rear arm axial rotation motors drive the front and rear arms to rotate axially to the cross member surface, the second step is to keep the rear hand clamping the angle steel of the main material of the power transmission line tower as a support, release the front hand, and drive the front arm to rotate relative to the rear arm to the horizontal position of the front arm and the cross member by the steering mechanism, the third step is to adjust the front hand axial rotation motor to drive the front hand to be perpendicular to the right angle end surface of the cross member angle steel, the fourth step is to control the front hand to clamp the cross member angle steel, the fifth step is to release the rear hand and adjust the rear arm to rotate to the parallel position of the front arm by the steering mechanism, the sixth step is to drive the rear arm and the rear hand to the right angle end surface of the cross member by the front arm screw to move along the cross member, and control the rear hand to keep clamping; thus, the robot body completes the whole process of moving from the main material of the power transmission line tower to the cross member, and the robot can move horizontally along the cross member of the power transmission line tower.

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