Automatic safety rope dismounting and mounting robot based on electromagnetic adsorption and working method of automatic safety rope dismounting and mounting robot

Abstract

The invention discloses an automatic safety rope dismounting and mounting robot based on electromagnetic adsorption and a working method thereof, relates to the technical field of power equipment for power transmission line operation and maintenance, and aims to solve the problems that a safety rope on a power transmission line iron tower is difficult to mount and dismount and low in efficiency. The robot comprises a robot body carrying electromagnetic adsorption type caterpillar band, a climbing driving assembly, a central control assembly, a power supply assembly and a disassembly and assembly fixing assembly. The electromagnetic adsorption type crawler belt is driven by the climbing driving assembly, and climbing of the robot on an iron tower is achieved. Electromagnetic adsorption type suckers are arranged on the outer side of the electromagnetic adsorption type crawler belt in a staggered mode, the suckers are independently powered on and powered off through trigger type plugs, and the adsorption flexibility is enhanced; after the robot climbs to the top end of the iron tower, the dismounting and fixing assembly is matched with a pneumatic spring through a one-way switch to achieve automatic fixing of the safety rope; the efficient and stable safety rope mounting and dismounting device is provided for power transmission line operation and maintenance personnel, the manual operation risk is reduced, the operation and maintenance efficiency is improved, and the safety of the operation personnel is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of electric power equipment for power transmission line operation and maintenance, and in particular to an automatic assembly and disassembly safety rope robot based on electromagnetic adsorption and a working method thereof. Background Art

[0002] As an indispensable and important part of the power system, the quality and efficiency of the operation and maintenance of transmission lines are directly related to the safety and stability of power supply. With the vigorous development of the domestic power industry, the demand for the operation and maintenance of transmission lines is increasing, and higher requirements are put forward for the safety and efficiency of operation and maintenance work. Among them, the transmission line tower is a key facility supporting the transmission line. Its manual inspection, troubleshooting, emergency repair and restoration and other operation and maintenance operations are indispensable, and these operations are often accompanied by the risk of falling from heights.

[0003] In order to ensure the safety of workers working at heights, the use of anti-fall devices is particularly important. At present, the anti-fall device commonly used by enterprises is the safety rope, which is usually used in combination with protective devices (such as fuses and carabiners). It is connected by a safety rope tied to the waist and abdomen to ensure that climbers can land safely in most cases. However, the cost of the safety rope is high, and most power transmission line towers do not have their own safety ropes. Workers working at heights still need to frequently disassemble and assemble hooks on tower materials and use double-hook safety ropes on tower materials to work. This method of operation not only increases the physical exertion of the workers, but also has greater safety hazards, reducing work efficiency and safety.

[0004] In the prior art, although there are some devices and methods for installing and removing temporary safety ropes for power transmission line towers, most of these methods have problems such as complex operation, low efficiency, and insufficient stability. For example, some devices require manual assistance for the installation and removal of safety ropes, which not only increases the labor intensity of operators, but may also cause safety hazards due to human operating errors. Other devices use mechanical structures to fix the safety ropes, but these mechanical structures are often complex in structure, high in maintenance cost, and poor in adaptability when facing the complex and changeable power transmission line tower structure.

[0005] In addition, most of the anti-fall devices in the prior art rely on factors such as weather and signals. Once encountering bad weather or unstable signals, the normal operation of the device may be affected, thereby reducing the safety and efficiency of the operation. Therefore, how to design a device that can automatically, efficiently and stably complete the installation and removal of temporary safety ropes on transmission line towers has become a major problem that needs to be solved in the current field of transmission line anti-fall.

[0006] In view of the above-mentioned problems existing in the prior art, the present invention proposes an automatic disassembly and assembly robot for safety ropes based on electromagnetic adsorption, which aims to achieve rapid and stable installation and disassembly of temporary safety ropes on transmission line towers through automated and intelligent technical means, thereby improving operating efficiency and safety and reducing the labor intensity and safety risks of operators. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide an automatic disassembly and assembly safety rope robot based on electromagnetic adsorption and a working method thereof, so as to solve the problems of high risk of manual tower climbing, inconvenient installation and disassembly of fall prevention devices, and high cost and low efficiency of using safety ropes in the operation and maintenance of existing power transmission lines.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic disassembly and assembly of a safety rope robot based on electromagnetic adsorption, including a robot body, the robot body including a group of side panels and an external support frame, the power supply component and the central control component are respectively fixed between the left and right side panels, the climbing drive component is embedded in the front and rear ends of the side panels, and further fixed by the external support frame, the electromagnetic adsorption type crawler is connected to the outer ring of the climbing drive component, and at the same time, the front end of the external support frame supports the disassembly and assembly fixing component, and while the electromagnetic adsorption type crawler is powered by the power supply component, the climbing drive component is operated to realize the climbing of the robot carrying a safety rope on the transmission line tower.

[0009] In a preferred solution, two electromagnetic adsorption type suction cups are arranged alternately on the outer side of the electromagnetic adsorption type crawler, and two positive electrode interfaces and two negative electrode interfaces running through the crawler are embedded on the inner side of the electromagnetic adsorption type crawler.

[0010] In a preferred solution, the climbing drive assembly includes a drive motor and a wheel disc. The drive motor adopts an external structure, that is, the drive motor is located on both sides of the outside of the electromagnetic adsorption track and is fixed by side plates and an external support frame.

[0011] In a preferred solution, the external support frame further includes a telescope arranged in front of the external support frame, and a U-shaped slot arranged at the rear of the external support frame, and the top end of the telescope is fixed to the disassembly and assembly fixing assembly.

[0012] In a preferred embodiment, the electromagnetic adsorption type suction cup includes an electromagnetic adsorption type suction cup body and an electromagnetic adsorption type suction cup trigger plug. The electromagnetic adsorption type suction cup body includes an electromagnet, a suction cup base connected to an electromagnetic adsorption type track, an upper suction cup bracket fixed at both ends below the electromagnet, a lower suction cup bracket fixed at both ends above the suction cup base, a stabilizer arranged between the upper suction cup bracket and the lower suction cup bracket, and a main elastic component between the electromagnet and the suction cup base.

[0013] In a preferred embodiment, the electromagnetic suction cup triggered plug includes an outer insulating suction cup protective shell, a secondary elastic component between the suction cup protective shell and the electromagnet, and a positive pole and a negative pole of a plug connected to the inner side of the suction cup protective shell at one end and passing through the electromagnet at the other end. The upper ends of the positive pole and the negative pole of the plug are electrically connected to the positive pole and the negative pole of the electromagnet respectively, and the negative pole of the plug also has a built-in suction cup control component.

[0014] In a preferred embodiment, the electromagnetic suction cup triggered plug also includes a suction cup positive contact and a suction cup negative contact which penetrate the suction cup base and are electrically connected to the positive interface and the negative interface in the electromagnetic adsorption track respectively; a portion corresponding to the thickness of the positive pole and the negative pole of the plug is left empty between the suction cup positive contact and the suction cup negative contact.

[0015] In a preferred solution, the disassembly and fixing assembly includes a fixing bracket, a safety rope fixed behind the fixing bracket, and a one-way switch connected to the front opening of the fixing bracket, and the metal sheet at the end of the one-way switch is connected to the fixing bracket through a pneumatic spring.

[0016] The working method of the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption is to use any one of the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption, and the method comprises the following steps: Step 1: After the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot is installed and debugged, turn on the device and enter the standby state to ensure that all components are connected and that the control system communication with the operator is normal. Then place the robot on the transmission line tower along the target climbing direction. Step 2: When the bottom surface of the robot fits against the power transmission line tower, the suction cup protective shell on the electromagnetic suction cup is squeezed, and the secondary elastic component contracts, so that the lower ends of the positive and negative poles of the plug are respectively inserted into the positive and negative poles of the suction cup and electrically connected, and finally the electromagnet electrically connected to the plug works; at the same time, the suction cup control component can adjust the adsorption strength of the electromagnet to ensure that the robot is adsorbed on the vertical power transmission line tower; Step 3: After the robot receives the upward climbing signal, the climbing drive component drives the crawler to rotate forward, and the electromagnetic adsorption type suction cup in front of the crawler contacts the surface of the transmission line tower, and repeats the step 2 process, realizing the adsorption function of the suction cup while driving. On the basis of the electromagnetic adsorption suction cup being electrically connected and working, if a raised obstacle is encountered during the climbing process, the upper end of the electromagnetic adsorption type suction cup is further squeezed. At this time, under the action of the stabilizer, the main elastic component is stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup adapts to the terrain adsorbed by the suction cup; the robot can then climb driven by the climbing drive component to complete the obstacle crossing task; Step 4: When the robot is about to climb to the top of the transmission line, it receives a signal to adjust the height of the disassembly and assembly fixing component, and the telescopic device can automatically adjust its height; finally, as the robot climbs upward, the pole at the top of the transmission line squeezes the one-way switch to open it inward, and after the pole enters a certain distance inside the fixing bracket, the one-way switch closes, thereby fixing the disassembly and assembly fixing component; Step 5: When the robot receives the return signal, the pneumatic spring opens the one-way switch and drives the assembly to separate the top pole of the transmission line from the fixed bracket. Finally, the drive assembly acts in the reverse direction and repeats step 4 in the downward direction, so that the robot returns to the starting position along the original path.

[0017] The electromagnetic adsorption-based automatic safety rope disassembly and assembly robot and the working method thereof provided by the present invention have the following beneficial effects: 1. The present invention solves the problems of high risk of manual tower climbing, inconvenient installation and removal of anti-fall devices, high cost and low efficiency of using safety ropes in the operation and maintenance process of existing power transmission lines; 2. The design of the electromagnetic adsorption crawler of the present invention enables the robot to climb stably on the transmission line tower through electromagnetic adsorption force, thereby improving the climbing efficiency and safety; 3. The present invention uses a crawler robot to climb the transmission line tower to transport the safety rope, and self-locks and fixes it at the top of the tower. It is not limited by factors such as weather and signals, and is more stable and efficient. 4. The self-locking fixing design of the disassembly and fixing assembly of the present invention realizes the stable fixing of the safety rope at the top of the iron tower through the design of the one-way switch and the pneumatic spring, thereby improving the safety and reliability of the anti-fall device; 5. Compared with the traditional manual tower climbing operation for power transmission line operation and maintenance, the present invention solves the safety problem of power transmission line operation and maintenance. The robot can automatically complete the installation and removal of the safety rope, reducing the risk of manual tower climbing operation; 6. The present invention solves the problem of frequent disassembly and assembly of safety ropes. Most high-altitude workers still use double-hook safety ropes for tower materials, which need to be frequently disassembled and assembled on the tower materials. The robot can automatically fix and release the safety ropes, thus improving work efficiency. 7. The present invention has strong adaptability and can adapt to the narrow and long structure of the power transmission line tower. Through the design of the external drive motor and the external support frame, the distance between the two tracks of the robot is reduced, making it more adaptable to the narrow and long structure of the power transmission line tower. Secondly, the adsorption and contraction function of the elastic component in the electromagnetic suction cup can efficiently complete the obstacle crossing process, and the robot can adapt to power transmission line towers of different shapes and sizes. In addition, the present invention adopts a double-track structure connected by an external support frame, and the travel direction of the robot can be adjusted by regulating the relative speed of the two tracks, so that the robot can adapt to the complex branching of the power transmission line tower. 8. The electromagnetic adsorption type suction cup designed by the present invention has an independent power-on and power-off mechanism. Only the electromagnetic adsorption type suction cup attached to the wall of the transmission line tower will be triggered to power on, which effectively avoids overheating and waste of electricity caused by long-term work; 9. The present invention realizes the control of the adsorption strength of a single suction cup, making manual control of the robot more flexible, and can also cope with the more rugged metal surface wall of the transmission line tower, making it easier to give feedback to the entire robot during the control process; in addition, when a single suction cup has problems such as line disconnection and weakened magnetism due to accidents, the design makes it easier to disassemble and replace a single electromagnetic adsorption suction cup; 10. The present invention has strong scalability, can integrate intelligent navigation system and environmental perception module, can autonomously plan climbing paths, avoid obstacles, and autonomously decide to stop or adjust posture in emergency situations to ensure operation safety. Its highly adaptable design allows it to work stably in various complex terrains and bad weather, significantly improving the efficiency and safety of power transmission line maintenance; 11. The present invention improves the safety and efficiency of transmission line operation and maintenance through automated and intelligent design, reduces the risk of manual tower climbing, improves work efficiency, and has a certain inspiration for future anti-fall methods for high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and implementation examples: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 A bottom view of the overall structure of the present invention; Figure 3 It is a cross-sectional view of a single electromagnetic chuck of the present invention cut along a direction parallel to the longest side; Figure 4 This is a schematic diagram of connecting the positive and negative interfaces of a single electromagnetic chuck before power is supplied; Figure 5 This is a schematic diagram of connecting the positive and negative interfaces of a single electromagnetic chuck after being powered on; In the figure: side panel 1, electromagnetic adsorption track 2, climbing drive component 3, power supply component 4, central control component 5, external support frame 6, electromagnetic adsorption suction cup 7, disassembly and assembly fixing component 8, positive electrode interface 21, negative electrode interface 22, drive motor 31, wheel disc 32, telescope 61, U-shaped card slot 62, electromagnetic adsorption suction cup main body 71, electromagnetic suction cup trigger plug 72, fixed bracket 81, safety rope 82, one-way switch 83, pneumatic spring 84, electromagnet 710, suction cup base 711, upper bracket 712, lower bracket 713, stabilizer 714, main elastic component 715, suction cup protective shell 721, secondary elastic component 722, plug positive pole 723, plug negative pole 724, suction cup control component 725, suction cup positive contact 727, suction cup negative contact 728. DETAILED DESCRIPTION

[0019] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments: Example 1 like Figures 1 to 5 As shown, the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption includes a robot body, the robot body includes a group of side panels 1 and an external support frame 6, the power supply component 4 and the central control component 5 are respectively fixed between the left and right side panels 1, the climbing drive component 3 is embedded in the front and rear ends of the side panels 1, and is further fixed by the external support frame 6, the electromagnetic adsorption type crawler 2 is connected to the outer ring of the climbing drive component 3, and the front end of the external support frame 6 supports the disassembly and assembly fixing component 8, and while the electromagnetic adsorption type crawler 2 is powered by the power supply component 4, the climbing drive component 3 is operated to realize the climbing of the robot carrying the safety rope on the transmission line tower.

[0020] In this embodiment, two electromagnetic adsorption cups 7 are arranged alternately on the outer side of the electromagnetic adsorption crawler 2, and two positive electrode interfaces 21 and two negative electrode interfaces 22 penetrating the crawler are embedded on the inner side of the electromagnetic adsorption crawler 2.

[0021] Furthermore, the climbing drive assembly 3 includes a drive motor 31 and a wheel 32 . The drive motor 31 adopts an external structure, that is, the drive motor 31 is located on both sides of the outside of the electromagnetic adsorption track 2 and is fixed by the side plates 1 and the external support frame 6 .

[0022] Furthermore, the external support frame 6 also includes a telescoping device 61 arranged in front of the external support frame 6 and a U-shaped slot 62 arranged at the rear of the external support frame 6 , and the top end of the telescoping device 61 is fixed to the disassembly and assembly fixing component 8 .

[0023] Furthermore, the electromagnetic adsorption type suction cup 7 includes an electromagnetic adsorption type suction cup main body 71 and an electromagnetic adsorption type suction cup trigger plug 72. The electromagnetic adsorption type suction cup main body 71 includes an electromagnet 710, a suction cup base 711 connected to the electromagnetic adsorption type track 2, an upper suction cup bracket 712 fixed at both ends below the electromagnet 710, a lower suction cup bracket 713 fixed at both ends above the suction cup base 711, a stabilizer 714 arranged between the upper suction cup bracket 712 and the lower bracket 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711.

[0024] Furthermore, the electromagnetic suction cup triggered plug 72 includes an outer insulating suction cup protective shell 721, a secondary elastic component 722 between the suction cup protective shell 721 and the electromagnet 710, and a positive plug pole 723 and a negative plug pole 724, one end of which is connected to the inner side of the suction cup protective shell 721 and the other end passes through the electromagnet 710. The upper ends of the positive plug pole 723 and the negative plug pole 724 are electrically connected to the positive pole and the negative pole of the electromagnet 710 respectively, and the negative plug pole 724 also has a built-in suction cup control component 725.

[0025] Furthermore, the electromagnetic suction cup triggered plug 72 also includes a suction cup positive contact 727 and a suction cup negative contact 728 that penetrate the suction cup base 711 and are electrically connected to the positive interface 21 and the negative interface 22 in the electromagnetic adsorption track respectively; a portion corresponding to the thickness of the plug positive pole 723 and the plug negative pole 724 is left empty between the suction cup positive contact 727 and the suction cup negative contact 728.

[0026] Furthermore, the disassembly and fixing assembly 8 includes a fixing bracket 81, a safety rope 82 fixed behind the fixing bracket 81, and a one-way switch 83 connected to the front end opening of the fixing bracket 81. The metal sheet at the end of the one-way switch 83 is connected to the fixing bracket 81 through a pneumatic spring 84.

[0027] Example 2 In another preferred embodiment, the working method of the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption is to use the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption as described in any one of the above-mentioned embodiments 1, please refer to Figures 1 to 5 , the method comprises the following steps: Step 1: After the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot is installed and debugged, turn on the device and enter the standby state to ensure that all components are connected and that the control system communication with the operator is normal. Then place the robot on the transmission line tower along the target climbing direction. Step 2: When the bottom surface of the robot is in contact with the power transmission line tower, when the suction cup protective shell 721 on the electromagnetic adsorption suction cup 7 is squeezed, the secondary elastic component 722 contracts, so that the lower ends of the positive pole 723 of the plug and the negative pole 724 of the plug are respectively inserted into the positive pole contact 727 of the suction cup and the negative pole contact 728 of the suction cup and electrically connected, and finally the electromagnet 710 electrically connected to the plug works; at the same time, the suction cup control component 725 can adjust the adsorption strength of the electromagnet 710 to ensure that the robot is adsorbed on the vertical power transmission line tower; Step 3: After the robot receives the upward climbing signal, the climbing drive component 3 drives the crawler to rotate forward, and the electromagnetic adsorption type suction cup 7 in front of the crawler contacts the surface of the transmission line tower, and repeats the step 2 process, realizing the adsorption function of the suction cup while driving. On the basis that the electromagnetic adsorption type suction cup 7 is electrically connected and works, if a raised obstacle is encountered during the climbing process, the upper end of the electromagnetic adsorption type suction cup is further squeezed. At this time, under the action of the stabilizer 714, the main elastic component 715 is stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup 7 adapts to the terrain adsorbed by the suction cup; the robot can then climb driven by the climbing drive component 3 to complete the obstacle crossing task; Step 4: When the robot is about to climb to the top of the transmission line, the robot receives a signal to adjust the height of the disassembly and assembly fixing component 8, and the telescopic device can automatically adjust its height; finally, as the robot climbs upward, the pole at the top of the transmission line squeezes the one-way switch 83 to open it inward, and after the pole enters a certain distance inside the fixing bracket 81, the one-way switch 83 is closed, thereby achieving the fixation of the disassembly and assembly fixing component 8; Step 5: When the robot receives the return signal, the pneumatic spring 84 opens the one-way switch 83, and the drive component 3 operates at the same time, so that the top pole of the transmission line is separated from the fixed bracket 81; finally, the drive component 3 acts in the reverse direction and repeats the step 4 process in the downward direction, so that the robot returns to the starting position along the original path.

[0028] Example 3 In another preferred embodiment, based on the above embodiments 1 and 2, this embodiment provides an automatic assembly and disassembly safety rope robot based on electromagnetic adsorption and a working method thereof, the structure of which is as follows: Figures 1 to 5 As shown, the functions and working methods of each part are described as follows: The robot body includes a side panel 1 and an external support frame 6. The power supply component 4 and the central control component 5 are respectively fixedly installed between the left and right side panels 1 to provide power support and intelligent control for the robot. The climbing drive component 3 is embedded in the front and rear ends of the side panel 1 and is further reinforced by the external support frame 6 to ensure the stability of the robot during the climbing process. The electromagnetic adsorption track 2 is connected to the outer ring of the climbing drive component 3 as the main component for the robot to climb. At the same time, the front end of the external support frame 6 supports the disassembly and assembly fixing component 8, which is used to fix the safety rope after the robot reaches the designated position.

[0029] Two electromagnetic adsorption cups 7 are arranged alternately on the outside of a single electromagnetic adsorption track 2. Such a design can enhance the adsorption force and stability of the robot during climbing. The electromagnetic adsorption track 2 is embedded with two positive electrode interfaces 21 and two negative electrode interfaces 22 that penetrate the track, which are used to provide power to the electromagnetic adsorption cups 7.

[0030] The climbing drive assembly 3 includes a drive motor 31 and a wheel 32. In order to adapt to the narrow and long shape of the transmission line tower pole, the drive motor 31 adopts an external structure, that is, it is located on both sides of the outside of the electromagnetic adsorption track 2 and is fixed by the side panels 1 and the external support frame 6. This design not only reduces the width of the robot, but also improves its climbing efficiency.

[0031] The electromagnetic adsorption type suction cup 7 includes an electromagnetic adsorption type suction cup main body 71 and an electromagnetic adsorption type suction cup trigger plug 72. The electromagnetic adsorption type suction cup main body 71 includes an electromagnet 710, a suction cup base 711 connected to the electromagnetic adsorption type track 2, an upper suction cup bracket 712 fixed at both ends below the electromagnet 710, a lower suction cup bracket 713 fixed at both ends above the suction cup base 711, a stabilizer 714 arranged between the upper suction cup bracket 712 and the lower bracket 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711.

[0032] The electromagnetic suction cup trigger plug 72 includes an outer insulating suction cup protective shell 721, a secondary elastic component 722 between the suction cup protective shell 721 and the electromagnet 710, and a plug positive pole 723 and a plug negative pole 724, one end of which is connected to the inner side of the suction cup protective shell 721 and the other end of which passes through the electromagnet 710. The upper ends of the plug positive pole 723 and the plug negative pole 724 are respectively electrically connected to the positive pole and the negative pole of the electromagnet 710, and the plug negative pole 724 also has a built-in suction cup control component 725. In addition, the electromagnetic suction cup triggered plug 72 also includes a suction cup positive contact 727 and a suction cup negative contact 728 that penetrate the suction cup base 711, and a portion corresponding to the thickness of the plug positive pole 723 and the plug negative pole 724 is left in the middle. When the suction cup protective shell 721 is squeezed, the secondary elastic component 722 contracts, so that the lower ends of the plug positive pole 723 and the plug negative pole 724 are respectively inserted into the suction cup positive contact 727 and the suction cup negative contact 728 to achieve electrical connection.

[0033] When the robot climbs upward, when the electromagnetic adsorption type suction cup 7 at the front end of the electromagnetic adsorption type crawler 2 touches the wall of the transmission line tower, the suction cup protective shell 721 will be squeezed and the secondary elastic component 722 will be compressed, so that the positive pole 723 and the negative pole 724 of the plug will contact and energize the positive contact 727 and the negative contact 728 of the suction cup, and the electromagnet 710 will generate adsorption force; if encountering a raised obstacle, the upper end of the electromagnetic adsorption type suction cup 7 will be further squeezed. At this time, under the action of the stabilizer 714, the main elastic component 715 will be stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup 7 adapts to the adsorbed terrain, ensuring that the robot can continue to climb and complete the obstacle crossing task.

[0034] The external support frame 6 also includes a telescoping device 61 arranged at the front and a U-shaped slot 62 arranged at the rear. The top end of the telescoping device 61 is fixed to the disassembly and assembly fixing component 8 for adjusting the position of the disassembly and assembly fixing component 8.

[0035] The disassembly and fixing component 8 includes a fixing bracket 81, a safety rope 82 fixed behind the fixing bracket 81, and a one-way switch 83 connected to the front opening of the fixing bracket 81. The end metal sheet of the one-way switch 83 is connected to the fixing bracket 81 through a pneumatic spring 84. When the robot climbs to the top of the transmission line tower, the one-way switch 83 will touch the raised tower pole and rotate counterclockwise, so that the tower pole gradually enters the fixing bracket 81. Then, under the traction of the pneumatic spring 84, the one-way switch 83 is quickly reset to achieve a stable lock. This design ensures that the robot can be accurately and safely fixed on the top of the tower when performing high-altitude operations, thereby improving work efficiency and stability.

[0036] Example 4 In another preferred embodiment, based on the above-mentioned embodiments 1, 2, and 3, an automatic disassembly and assembly safety rope robot based on electromagnetic adsorption includes a robot body, an electromagnetic adsorption track 2, a climbing drive component 3, a central control component 5, a power supply component 4, and a disassembly and assembly fixing component 8; the robot body includes a side panel 1 and an external support frame 6; the power supply component 4 and the central control component 5 are respectively fixed between the left and right side panels 1; the climbing drive component 3 is embedded in the front and rear ends of the side panel 1, and is further fixed by the external support frame 6; the electromagnetic adsorption track 2 is connected to the outer ring of the climbing drive component 3; at the same time, the front end of the external support frame 6 supports the disassembly and assembly fixing component 8.

[0037] like Figure 1 As shown, Figure 1 As shown, the power supply component 4 supplies power to the central control component 5; the central control component 5 is electrically connected to the climbing drive component 3, the electromagnetic adsorption track 2, the disassembly and assembly fixing component 8, and the fixing device adsorber 62 and the telescope 61 on the external support frame 6, and can regulate their movements, providing a prerequisite for the stable operation of the robot.

[0038] Furthermore, the telescopic machine 61 adopts a small hydraulic machine to push the disassembly and assembly fixing component 8 to move through hydraulic pressure. Of course, a servo motor or other mechanical devices can also be used here to also complete the function of adjusting the position of the disassembly and assembly fixing component 8.

[0039] Further, such as Figure 2 As shown, the present invention adopts a double-track structure. By regulating the relative speed of the two tracks or the forward and reverse rotation, the robot can adjust its travel direction to make it more adaptable to the "Y-type" or "X-type" branching of the transmission line tower poles, and it is also convenient to make emergency adjustments when the robot deviates from the travel direction.

[0040] Further, such as Figure 1 , Figure 2 As shown, the present invention adopts a structure in which an external support frame 6 is fixed to the outer ring of the track, wherein the wheel on the inner side of the climbing drive assembly 3 is in the left and right side plates 1, and the drive motor 31 placed on the outside is fixed to the external support frame 6. This external structure effectively reduces the width of the climbing robot, making it more adaptable to the narrow and long structure of the transmission line tower pole, which is beneficial for the robot to efficiently complete climbing activities and operation and maintenance tasks. At the same time, the double fixation of the side plate 1 and the external support frame 6 ensures the stability and resistance of the climbing robot when working at high altitudes.

[0041] Further, such as Figure 1 As shown, the central control component has a built-in communication system that can receive and process signals transmitted from the outside world. Humans can control the robot to complete operation and maintenance tasks through real-time remote control; of course, they can also be programmed in advance to complete pre-set tasks.

[0042] Furthermore, the central control component 5 can also adjust the adsorption strength of the electromagnetic adsorption suction cup 7. The operator can adjust the amount of current given to the electromagnetic adsorption track 2 by the robot according to the actual adsorption force required for the robot to adsorb on the wall of the transmission line tower.

[0043] Further, such as Figure 2 , Figure 4 As shown, the central control component 5 is electrically connected to the magnetic adsorption type suction cup 7 through the positive electrode interface 21, the negative electrode interface 22 of the electromagnetic adsorption type track and the positive contact 727 and the negative contact 728 of the suction cup; the process is completed by means of a bottom brush to ensure that the power supply is still stable when the two move relative to each other. Of course, a simple contact or guide rail structure can also be used here for electrical connection, and both can complete the power supply to the electromagnetic adsorption type track 2.

[0044] Further, such as Figure 1 , Figure 4 As shown, a secondary elastic component 722 is connected between the suction cup trigger plug 72 and the electromagnet 710, and a main elastic component 715 is connected between the electromagnet 710 and the suction cup base 711, wherein the elastic coefficient of the spring of the secondary elastic component 722 is much smaller than the elastic coefficient of the main elastic component 715.

[0045] On this basis, when the robot climbs upward, the electromagnetic adsorption type suction cup 7 at the front end of the electromagnetic adsorption type crawler 2 touches the wall of the transmission line tower, the suction cup protective shell 721 will be squeezed downward, and the secondary elastic component 722 will be compressed first.

[0046] Further, such as Figure 3 , Figure 4 , Figure 5 As shown, when the suction cup protective shell 721 is squeezed, the secondary elastic component 722 contracts, so that the lower ends of the positive pole 723 and the negative pole 724 of the plug are respectively inserted into the positive pole contact 727 and the negative pole contact 728 of the suction cup and electrically connected; the upper ends of the positive pole 723 and the negative pole 724 of the plug are connected to the suction cup protective shell 721, and the positive and negative pole wires of the electromagnet 710 are respectively electrically connected to the positive pole 723 and the negative pole 724 of the plug, that is, when the suction cup triggered plug 72 is squeezed, the electrical connection of the electromagnetic adsorption suction cup 7 can be realized.

[0047] Further, such as Figure 3As shown, the negative pole 724 of the suction cup trigger plug contains a suction cup control component 725, which can communicate with the central control component 5 of the robot to enhance or weaken the adsorption strength of a single electromagnetic adsorption suction cup 7. For example, when the wall surface of the transmission line tower adsorbed by a single suction cup is irregular, the suction cup control component 725 can be used to strengthen the current passing through the electromagnetic suction cup to enhance its adsorption capacity.

[0048] Furthermore, after the suction cup trigger plug 72 completes the electrical connection of the electromagnetic adsorption type suction cup 7, if a raised obstacle is encountered during the climbing process, the upper end of the electromagnetic adsorption type suction cup 7 is further squeezed. At this time, under the reinforcement of the stabilizer 714, the main elastic component 715 is stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup 7 adapts to the terrain adsorbed by the suction cup; the robot can then climb under the drive of the climbing drive component 3 to complete the obstacle crossing task. In this process, the positive plug 723 and the negative plug 724 of the suction cup trigger plug 72 will continue to penetrate into the positive contact 727 and the negative contact 728 of the suction cup to ensure that the electromagnet 710 is always in a powered state during this process.

[0049] During this operation, only the suction cup trigger plug 72 of the electromagnetic suction cup 7 attached to the wall of the transmission line tower will be triggered. When the robot performs the climbing task, only part of the electromagnetic suction cup is always powered on and adsorbed on the wall. When the suction cup trigger plug 72 leaves the wall, the secondary elastic component 722 stretches to cut off the power of the electromagnetic suction cup 7. This design can effectively disconnect the suction cup that does not need to work, avoiding the situation where the electromagnetic suction cup and other components work for a long time and overheat and waste electricity.

[0050] Further, such as Figure 3 , Figure 4 , Figure 5 As shown, each electromagnetic adsorption type suction cup 7 is independently energized when the suction cup trigger plug 72 is triggered, and there is no direct relationship between them; at the same time, the connection design of the electromagnetic adsorption type suction cup 7 on the electromagnetic adsorption type crawler 2 is a detachable structure. This design is conducive to the replacement of individual suction cups after manual detection of faults, which is more convenient and environmentally friendly.

[0051] Further, such as Figure 1 As shown, the one-way switch 83 is composed of a rotatable axle fixed to the upper end of the fixed bracket 81, and two metal plates fixed perpendicularly to each other on the axle. When the robot is about to climb to the top of the transmission line tower, the front end of the one-way switch 81 will touch the protruding tower pole; as the robot continues to move upward, the two iron plates fixed perpendicularly to each other of the one-way switch 83 rotate counterclockwise, so that the tower pole gradually enters the fixed bracket.

[0052] Further, such as Figure 1As shown, in order to ensure that the disassembly and assembly fixing component 8 is stably fixed on the pole of the transmission line tower during the above-mentioned movement, the telescope 81 at the front end of the external support frame 8 can be extended and retracted under the control of the central control component 5, thereby adjusting the relative position of the disassembly and assembly fixing component 8 and the raised pole at the top of the transmission line; this is conducive to the front end metal sheet of the one-way switch 83 being pushed by the raised pole at the top of the transmission line and rotating counterclockwise. Of course, a sensor or monitoring equipment can also be installed at the front end of the fixing bracket to facilitate the disassembly and assembly fixing component 8 to locate the target fixed position more smoothly.

[0053] Further, such as Figure 1 As shown, one end of the one-way switch 83 is connected to the fixed bracket 81 through the pneumatic spring 84. When the one-way switch rotates counterclockwise, the pneumatic spring 84 automatically stretches; when the pole of the transmission line tower is completely inserted into the fixed bracket 81, the one-way switch 83 is pulled clockwise by the spring 84 to return to the fixed bracket 81. Figure 1 In the initial state, the metal sheet at one end of the one-way switch 83 is attached to the fixing bracket 81, so it can only be rotated counterclockwise and cannot be opened clockwise; therefore, the fixing assembly 8 is disassembled and locked on the pole at the top of the transmission line tower.

[0054] Further, such as Figure 1 As shown, when the robot is climbing the transmission line tower, it carries a safety rope 82 behind the fixed bracket 81, which is long enough to extend from the top of the transmission line tower to the initial ground. The safety rope 82 can be fixed to the hook on the aerial worker. If the aerial worker accidentally slips while climbing the tower, the safety rope 82 can hold him in place and prevent him from falling further, thereby achieving the function of preventing him from falling.

[0055] Further, such as Figure 1 As shown, when the manual high-altitude operation is completed, the pneumatic spring 84 can be extended under the control of the central control component 5, so that the one-way switch 83 is turned on. At this time, the climbing drive system 3 moves in the opposite direction, so that the disassembly and assembly fixing components leave the pole at the top of the transmission line tower, and the removal of the safety rope 82 is completed; finally, the robot returns to the ground in the reverse direction along the route it climbed up the tower.

[0056] Further, such as Figure 1 As shown, a U-shaped slot 62 is provided at the rear of the external support frame 6, and the height of the bottom of the slot is slightly higher than the vertical distance between the electromagnetic adsorption suction cup 7 at the top of the robot and the external support frame 6. The U-shaped slot 62 is not connected and fixed to the safety rope 82, but only supports the safety rope 82 to prevent the safety rope 82 from being drawn into the electromagnetic adsorption track 2 during the climbing process of the robot.

[0057] In the preferred scheme, two electromagnetic adsorption type suction cups 7 are arranged alternately on the outer side of the electromagnetic adsorption type track 2, and two positive electrode interfaces 21 and two negative electrode interfaces 22 running through the track are embedded on the inner side of the electromagnetic adsorption type track 2; the above arrangement can flexibly adjust the electromagnetic adsorption force to enhance the adhesion and stability of the track on complex terrain; at the same time, the ingenious design of the positive electrode interface 21 and the negative electrode interface 22 facilitates the quick connection of the power supply, realizes the instant switching of the electromagnetic adsorption, and improves the working efficiency and energy utilization.

[0058] In the preferred scheme, the climbing drive assembly 3 includes a drive motor 31 and a wheel 32. The drive motor 31 adopts an external structure, that is, the drive motor 31 is located on both sides of the outside of the electromagnetic adsorption track 2 and is fixed by the side panels 1 and the external support frame 6. The above arrangement effectively avoids the heat generated by the drive motor 31 during the operation of the electromagnetic adsorption track 2 from interfering with the internal circuit. At the same time, the external design facilitates maintenance and replacement, thereby improving the reliability and maintainability of the overall equipment.

[0059] In the preferred scheme, the external support frame 6 also includes a telescope 61 arranged in front of the external support frame 6, and a U-shaped slot 62 arranged at the rear of the external support frame 6, and the top of the telescope 61 is fixed to the disassembly and assembly fixing component 8; the above arrangement enables the external support frame 6 to adjust the length and angle according to different needs, thereby enhancing the flexibility and adaptability of the equipment; the U-shaped slot 62 facilitates quick connection with other equipment or structures, thereby improving the convenience and stability of the overall installation.

[0060] In the preferred scheme, the electromagnetic adsorption type suction cup 7 includes an electromagnetic adsorption type suction cup main body 71 and an electromagnetic adsorption type suction cup trigger plug 72, the electromagnetic adsorption type suction cup main body 71 includes an electromagnet 710, a suction cup base 711 connected to the electromagnetic adsorption type crawler 2, an upper suction cup bracket 712 fixed at both ends below the electromagnet 710, a lower suction cup bracket 713 fixed at both ends above the suction cup base 711, a stabilizer 714 arranged between the upper suction cup bracket 712 and the lower bracket 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711; the above arrangement can ensure a stable connection and efficient power transmission between the electromagnetic adsorption type suction cup 7 and the electromagnetic adsorption type crawler 2; at the same time, the design of the main elastic component 715 improves the stability and adaptability during the adsorption process, and enhances the operating ability under different terrains.

[0061] In a preferred embodiment, the electromagnetic suction cup trigger plug 72 includes an outer insulating suction cup protective shell 721, a secondary elastic component 722 between the suction cup protective shell 721 and the electromagnet 710, and a plug positive pole 723 and a plug negative pole 724, one end of which is connected to the inner side of the suction cup protective shell 721 and the other end of which passes through the electromagnet 710. The upper ends of the plug positive pole 723 and the plug negative pole 724 are respectively electrically connected to the positive pole and the negative pole of the electromagnet 710, and the plug negative pole 724 also has a built-in suction cup control component 725. The above arrangement enables the electromagnetic suction cup trigger plug 72 to drive the plug positive pole 723 and the plug negative pole 724 to closely contact the electromagnet 710 through the deformation of the secondary elastic component 722 when it is powered on. At the same time, the suction cup control component 725 monitors and adjusts the contact force to ensure stable and safe current transmission and improve the working efficiency and safety of the overall equipment.

[0062] In the preferred embodiment, the electromagnetic suction cup trigger plug 72 also includes a suction cup positive contact 727 and a suction cup negative contact 728 that penetrate the suction cup base 711 and are electrically connected to the positive interface 21 and the negative interface 22 in the electromagnetic adsorption track respectively; a portion corresponding to the thickness of the plug positive pole 723 and the plug negative pole 724 is left between the suction cup positive contact 727 and the suction cup negative contact 728; the suction cup protective shell 721 is squeezed, the secondary elastic component 722 shrinks, and the lower ends of the plug positive pole 723 and the plug negative pole 724 are respectively inserted into the suction cup positive contact 727 and the suction cup negative contact 728 and electrically connected; the above arrangement enables the electromagnetic suction cup to quickly and stably establish an electrical connection when subjected to external force, thereby improving the safety and response speed of the equipment; at the same time, the design also ensures the precise docking of the contacts, avoiding power transmission problems caused by poor contact.

[0063] In the preferred solution, after the suction cup trigger plug 72 completes the electrical connection of the electromagnetic adsorption type suction cup 7, if a raised obstacle is encountered during the climbing process, the upper end of the electromagnetic adsorption type suction cup is further squeezed. At this time, under the action of the stabilizer 714, the main elastic component 715 is stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup 7 adapts to the terrain adsorbed by the suction cup; the robot can then climb under the drive of the climbing drive component 3 to complete the obstacle crossing task; the above settings not only ensure the stable climbing of the robot in complex terrain, but also improve its obstacle crossing ability and flexibility, so that the robot can operate efficiently under various environmental conditions, further expanding its application scenarios and scope of application.

[0064] In the preferred solution, the disassembly and fixing assembly 8 includes a fixing bracket 81, a safety rope 82 fixed to the rear of the fixing bracket 81, and a one-way switch 83 connected to the front end opening of the fixing bracket 81, and the metal sheet at the end of the one-way switch 83 is connected to the fixing bracket 81 through a pneumatic spring 84; the above arrangement can ensure that during the disassembly and assembly process, the fixing bracket 81 is stable and immovable, the safety rope 82 provides additional safety protection, and the one-way switch 83 cooperates with the design of the pneumatic spring 84 to achieve fast and safe opening and closing operations, thereby improving the convenience and safety of the overall operation.

[0065] In summary, the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot and its working method provided by the present invention solve the problems of high risk of manual tower climbing, inconvenient installation and disassembly of anti-fall devices, and high cost and low efficiency of using safety ropes in the operation and maintenance process of existing power transmission lines; the unique electromagnetic adsorption crawler design of the present invention, the robot adopts electromagnetic adsorption crawler as the main climbing component, this design is relatively rare in the climbing robots of transmission line towers, the electromagnetic adsorption suction cups staggered on the outside of the crawler can achieve firm adsorption to the wall of the tower, and at the same time have a certain obstacle crossing ability; intelligent electromagnetic adsorption control, each electromagnetic adsorption suction cup is equipped with an independent trigger plug, when the suction cup is in contact with the wall of the tower When touched, electrical connection and electrified adsorption are achieved through the trigger mechanism. In addition, the central control component can adjust the adsorption strength of each suction cup, making the robot more flexible and stable during the climbing process; the adaptive disassembly and assembly fixing component, the disassembly and assembly fixing component equipped on the top of the robot can automatically fix to the tower pole when the robot climbs to the top of the tower, and achieve stable fixation through structures such as one-way switches and pneumatic springs. This design not only improves the installation efficiency, but also ensures the stability of the safety rope; in terms of structure, the external support frame and the external structure of the drive motor, by designing the external support frame and the drive motor outside the crawler, effectively reduces the width of the robot, making it more adaptable to the narrow and long structure of the transmission line tower pole; at the same time, this The design also improves the robot's stability and resistance during the climbing process; the combination of electromagnetic adsorption and crawler climbing technology in the present invention creatively combines electromagnetic adsorption technology with crawler climbing technology to achieve automatic climbing and safety rope installation on the transmission line tower. This combination not only improves the robot's climbing ability, but also makes the installation of the safety rope more convenient and efficient; the intelligent electromagnetic adsorption control strategy, through the central control component, intelligently controls the adsorption strength of the electromagnetic adsorption suction cup. The robot can adjust the adsorption force according to actual needs, thereby adapting to the wall of the transmission line tower of different materials and shapes. This intelligent control strategy improves the adaptability and flexibility of the robot; adaptive disassembly and assembly fixing component design The design of the disassembly and assembly fixing components not only realizes the automatic fixing of the robot and the iron tower pole, but also improves the stability and reliability of the fixing through structures such as one-way switches and pneumatic springs. This adaptive design enables the robot to maintain stable performance in different environments and conditions; the present invention optimizes the design of components such as the external support frame and the drive motor, and the structure of the robot is more compact and reasonable. This optimization not only improves the climbing efficiency and stability of the robot, but also reduces the manufacturing cost and maintenance difficulty; the transmission line iron tower maintenance robot of the present invention, with its outstanding technological innovation and design advantages, will significantly improve the safety and efficiency of power maintenance operations, and inject new vitality into the intelligent and automated development of the power industry.

Claims

1. Automatic disassembly and assembly of safety rope robot based on electromagnetic adsorption, characterized in that: The robot body comprises a group of side panels (1) and an external support frame (6); a power supply component (4) and a central control component (5) are respectively fixed between the left and right side panels (1); a climbing drive component (3) is embedded in the front and rear ends of the side panels (1) and is further fixed by the external support frame (6); an electromagnetic adsorption crawler (2) is connected to the outer ring of the climbing drive component (3); and the front end of the external support frame (6) supports a disassembly and assembly fixing component (8). While the electromagnetic adsorption crawler (2) is powered by the power supply component (4), the climbing drive component (3) is operated to realize the climbing of the robot carrying a safety rope on the transmission line tower.

2. According to claim 1, the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption is characterized in that: Two electromagnetic adsorption type suction cups (7) are arranged alternately on the outside of the electromagnetic adsorption type crawler (2), and two positive electrode interfaces (21) penetrating the crawler and two negative electrode interfaces (22) penetrating the crawler are embedded on the inside of the electromagnetic adsorption type crawler (2).

3. The automatic disassembly and assembly safety rope robot based on electromagnetic adsorption according to claim 2 is characterized in that: The climbing drive assembly (3) comprises a drive motor (31) and a wheel disc (32). The drive motor (31) adopts an external structure, that is, the drive motor (31) is located on both sides of the outside of the electromagnetic adsorption crawler (2) and is fixed by the side plates (1) and the external support frame (6).

4. The automatic disassembly and assembly safety rope robot based on electromagnetic adsorption according to claim 3 is characterized in that: The external support frame (6) further comprises a telescopic device (61) arranged in front of the external support frame (6), and a U-shaped card slot (62) arranged at the rear of the external support frame (6), and the top end of the telescopic device (61) is fixed to the disassembly and assembly fixing component (8).

5. The automatic assembly and disassembly safety rope robot based on electromagnetic adsorption according to claim 4 is characterized in that: The electromagnetic adsorption type suction cup (7) comprises an electromagnetic adsorption type suction cup body (71) and an electromagnetic adsorption type suction cup trigger plug (72); the electromagnetic adsorption type suction cup body (71) comprises an electromagnet (710), a suction cup base (711) connected to the electromagnetic adsorption type crawler (2), an upper suction cup bracket (712) fixed at two ends below the electromagnet (710), a lower suction cup bracket (713) fixed at two ends above the suction cup base (711), a stabilizer (714) arranged between the upper suction cup bracket (712) and the lower bracket (713), and a main elastic component (715) between the electromagnet (710) and the suction cup base (711).

6. The automatic assembly and disassembly safety rope robot based on electromagnetic adsorption according to claim 5 is characterized in that: The electromagnetic suction cup trigger plug (72) comprises an outer insulating suction cup protective shell (721), a secondary elastic component (722) between the suction cup protective shell (721) and the electromagnet (710), and a positive plug pole (723) and a negative plug pole (724) with one end connected to the inner side of the suction cup protective shell (721) and the other end penetrating the electromagnet (710). The upper ends of the positive plug pole (723) and the negative plug pole (724) are respectively electrically connected to the positive pole and the negative pole of the electromagnet (710), and the negative plug pole (724) also has a suction cup control component (725) built in.

7. The automatic disassembly and assembly safety rope robot based on electromagnetic adsorption according to claim 6 is characterized in that: The electromagnetic suction cup trigger plug (72) further comprises a suction cup positive contact (727) and a suction cup negative contact (728) which penetrate the suction cup base (711) and are respectively electrically connected to the positive electrode interface (21) and the negative electrode interface (22) of the electromagnetic adsorption track; a portion corresponding to the thickness of the plug positive electrode (723) and the plug negative electrode (724) is respectively left empty between the suction cup positive contact (727) and the suction cup negative contact (728).

8. The automatic disassembly and assembly safety rope robot based on electromagnetic adsorption according to claim 7 is characterized in that: The disassembly and fixing assembly (8) comprises a fixing bracket (81), a safety rope (82) fixed to the rear of the fixing bracket (81), and a one-way switch (83) connected to the front opening of the fixing bracket (81), wherein a metal sheet at the end of the one-way switch (83) is connected to the fixing bracket (81) via a pneumatic spring (84).

9. The working method of the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption is characterized in that: The method is to use the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption as described in any one of claims 1 to 8, and the method comprises the following steps: Step 1: After the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot is installed and debugged, turn on the device and enter the standby state to ensure that all components are connected and that the control system communication with the operator is normal. Then place the robot on the transmission line tower along the target climbing direction. Step 2: When the bottom surface of the robot is in contact with the power transmission line tower, the suction cup protection shell (721) on the electromagnetic suction cup (7) is squeezed, and the secondary elastic component (722) contracts, so that the lower ends of the positive pole (723) and the negative pole (724) of the plug are respectively inserted into the positive pole contact (727) and the negative pole contact (728) of the suction cup and electrically connected, and finally the electromagnet (710) electrically connected to the plug is operated; at the same time, the suction cup control component (725) can adjust the adsorption strength of the electromagnet (710) to ensure that the robot is adsorbed on the vertical power transmission line tower; Step 3: After the robot receives the upward climbing signal, the climbing drive component (3) drives the crawler to rotate forward, and the electromagnetic adsorption type suction cup (7) in front of the crawler contacts the surface of the transmission line tower, and the process of Step 2 is repeated, and the adsorption function of the suction cup is realized while driving. On the basis that the electromagnetic adsorption suction cup (7) is electrically connected and works, if a raised obstacle is encountered during the climbing process, the upper end of the electromagnetic adsorption type suction cup is further squeezed. At this time, under the action of the stabilizer (714), the main elastic component (715) is stably compressed, so that the longitudinal distance of the electromagnetic adsorption type suction cup (7) adapts to the terrain adsorbed by the suction cup; the robot can then climb under the drive of the climbing drive component (3) to complete the obstacle crossing task; Step 4: When the robot is about to climb to the top of the transmission line, the robot receives a signal for adjusting the height of the disassembly and assembly fixing component (8), and the telescopic device can automatically adjust its height; Finally, as the robot climbs upward, the pole at the top of the power transmission line squeezes the one-way switch (83) to open inward, and after the pole enters a certain distance inside the fixing bracket (81), the one-way switch (83) closes, thereby achieving the fixation of the disassembly and assembly fixing component (8); Step 5: When the robot receives the return signal, the pneumatic spring (84) opens the one-way switch (83), and the drive component (3) operates at the same time, so that the top pole of the transmission line is separated from the fixed bracket (81); finally, the drive component (3) acts in the reverse direction and repeats the Step 4 process in the downward direction, so that the robot returns to the starting position along the original path.

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