Automatic disassembly and assembly safety rope robot based on electromagnetic adsorption and its working method

Abstract

An automatic disassembly and assembly safety rope robot based on electromagnetic adsorption and its working method relate to the technical field of power equipment for transmission line operation and maintenance, aiming to solve the problems of difficult installation and disassembly and low efficiency of safety ropes on transmission line towers; the robot includes a robot body equipped with electromagnetic adsorption crawlers, a climbing drive component, a central control component, a power supply component, and a disassembly and assembly fixing component; the electromagnetic adsorption crawlers are driven by the climbing drive component to achieve the climbing of the robot on the tower; electromagnetic adsorption suction cups are arranged in a staggered manner on the outer side of the electromagnetic adsorption crawlers, and the suction cups are independently powered on and off through trigger plugs to enhance the adsorption flexibility; after the robot climbs to the top of the tower, the disassembly and assembly fixing component cooperates with a one-way switch and a pneumatic spring to achieve the automatic fixing of the safety rope; the present invention provides an efficient and stable safety rope installation and disassembly device for transmission line operation and maintenance personnel, reduces the risk of manual operation, improves the operation and maintenance efficiency, and ensures the safety of operators.

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 problems existing in the above-mentioned prior art, the present invention proposes an automatic disassembly and assembly safety rope robot based on electromagnetic adsorption, aiming to realize the rapid and stable installation and disassembly of temporary safety ropes on transmission line towers through automated and intelligent technical means, improve operation efficiency and safety, and reduce 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 its working method, so as to solve the problems of high risk in manual tower climbing operations, inconvenient installation and disassembly of fall prevention devices, and high cost and low efficiency in the use of safety ropes during the operation and maintenance of existing transmission lines.

[0008] To solve the above technical problems, the technical solution adopted by the present invention is: an automatic disassembly and assembly safety rope robot based on electromagnetic adsorption, including a robot body, the robot body includes a set of side plates and an external support frame, a power supply component and a central control component are respectively fixed between the left and right side plates, a climbing drive component is embedded at the front and rear ends of the side plates and is further fixed by the external support frame, an 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 a disassembly and assembly fixing component. While supplying power to the electromagnetic adsorption type crawler through the power supply component, the climbing drive component is operated to realize the climbing of the robot carrying the safety rope on the transmission line tower.

[0009] In a preferred solution, two electromagnetic adsorption type suction cups are arranged in a staggered manner on the outer side of the electromagnetic adsorption type crawler, and two positive electrodes penetrating the crawler and two negative electrodes penetrating the crawler are embedded on the inner side of the electromagnetic adsorption type crawler.

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

[0011] In a preferred solution, the external support frame further includes a telescopic device arranged in the front of the external support frame and a U-shaped card slot arranged at the tail of the external support frame. The top of the telescopic device is fixed to the disassembly and assembly fixing component.

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

[0013] In a preferred solution, the electromagnetic chuck trigger plug includes a suction cup protective shell with outer insulation, a secondary elastic component between the suction cup protective shell and the electromagnet, and a plug positive electrode and a plug negative electrode with one end connected to the inner side of the suction cup protective shell and the other end passing through the electromagnet. One ends of the plug positive electrode and the plug negative electrode are electrically connected to the positive electrode and the negative electrode of the electromagnet respectively, and a suction cup control component is also built in the plug negative electrode.

[0014] In a preferred solution, the electromagnetic chuck trigger plug further includes a suction cup positive contact and a suction cup negative contact that penetrate the suction cup base and are electrically connected to the positive interface and the negative interface in the electromagnetic adsorption crawler respectively; parts adapted to the thicknesses of the plug positive electrode and the plug negative electrode are respectively left vacant between the suction cup positive contact and the suction cup negative contact.

[0015] In a preferred solution, the disassembly and assembly fixing component includes a fixing bracket, a safety rope fixed behind the fixing bracket, and a one-way switch connected to the opening at the front end of the fixing bracket. The metal piece 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 safety rope robot based on electromagnetic adsorption is to use the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption described in any one of the above, and the method includes the following steps:

[0017] Step1: After the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption is installed and debugged qualified, first turn on the device to enter the standby state, ensure the connection between components, and ensure normal communication with the operator's control system, and then place the robot on the transmission line tower along the target climbing direction;

[0018] Step2: When the bottom surface of the robot fits with the transmission line tower, when the suction cup protective shell on the electromagnetic adsorption suction cup is squeezed, the secondary elastic component shrinks, so that the other ends of the plug positive electrode and the plug negative electrode are respectively inserted into the suction cup positive contact and the suction cup negative contact and are 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 transmission line tower;

[0019] Step3: After the robot receives the upward climbing signal, the climbing drive component drives the crawler to rotate forward. The electromagnetic adsorption suction cup in front of the crawler contacts the surface of the transmission line tower, and the process of step2 is repeated. While driving, the adsorption function of the suction cup is realized. On the basis of the electromagnetic adsorption suction cup being electrically connected and working, if a convex obstacle is encountered during the climbing process, one end of the electromagnetic adsorption 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 suction cup adapts to the terrain adsorbed by the suction cup; the robot can then climb under the drive of the climbing drive component to complete the obstacle crossing task;

[0020] Step 4: When the robot is about to climb to the top of the transmission line tower, the robot 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 tower squeezes the one-way switch to open it inward, and after the pole enters a certain distance inside the fixed bracket, the one-way switch closes, thereby fixing the disassembly and assembly fixing component;

[0021] Step 5: When the robot receives the return signal, the pneumatic spring opens the one-way switch and the drive assembly operates at the same time, so that the top pole of the transmission line tower is separated from the fixed bracket; finally, the drive assembly acts in the reverse direction, and the climbing drive assembly (3) drives the crawler to rotate backward in the downward direction, and the electromagnetic adsorption suction cup (7) behind the crawler contacts the surface of the transmission line tower, and repeats the process of Step 2 and subsequent processes in Step 3, so that the robot returns to the starting position along the original path.

[0022] 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:

[0023] 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;

[0024] 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;

[0025] 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.

[0026] 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;

[0027] 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;

[0028] 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.

[0029] 7. The present invention has strong adaptability and is suitable for the long and narrow structure of transmission line towers. Through the design of an external drive motor and an external support frame, the distance between the two crawlers of the robot is reduced, making it more suitable for the long and narrow structure of transmission line towers. Secondly, through the adsorption and contraction functions of the elastic components in the electromagnetic suction cups, the obstacle-crossing process is efficiently completed, and the robot can adapt to transmission line towers with different shapes and sizes. In addition, the present invention adopts a double-crawler structure connected by an external support frame, and the traveling direction of the robot can be adjusted by controlling the relative speeds of the two crawlers, enabling the robot to adapt to the complex branch situations of transmission line towers.

[0030] 8. The independent power-on and power-off mechanism of the electromagnetic adsorption suction cup designed in the present invention ensures that only the electromagnetic adsorption suction cup attached to the wall surface of the transmission line tower is triggered to be powered on, effectively avoiding overheating and power waste caused by long-term operation.

[0031] 9. The present invention realizes the control of the adsorption strength of a single suction cup, making the manual operation of the robot more flexible, and enabling it to handle the metal wall surface of more rugged transmission line towers, which is more convenient for giving feedback to the overall robot during the operation process. In addition, when problems such as circuit breakage or weakened magnetism occur in a single suction cup due to accidents, this design is more convenient for disassembling and replacing a single electromagnetic adsorption suction cup.

[0032] 10. The present invention has strong scalability and can integrate an intelligent navigation system and an environmental perception module, which can autonomously plan climbing paths, avoid obstacles, and make autonomous decisions to stop or adjust the posture in case of emergencies to ensure operation safety. Its highly adaptable design enables it to work stably under various complex terrains and adverse weather conditions, significantly improving the efficiency and safety of transmission line maintenance.

[0033] 11. Through the automated and intelligent design, the present invention improves the safety and efficiency of transmission line operation and maintenance, reduces the risk of manual tower climbing, and improves work efficiency, which has a certain inspiring effect on future anti-falling methods for high-altitude operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The following further illustrates the present invention in conjunction with the drawings and embodiments:

[0035] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 is a bottom view of the overall structure of the present invention;

[0037] Figure 3 is a cross-sectional view of a single electromagnetic suction cup of the present invention cut along the direction parallel to the longest side;

[0038] Figure 4Schematic diagram of connecting positive and negative interfaces before power-on of a single electromagnetic chuck of the present invention;

[0039] Figure 5 Schematic diagram of connecting positive and negative interfaces after power-on of a single electromagnetic chuck of the present invention;

[0040] In the figure: side plate 1, electromagnetic adsorption type crawler 2, climbing drive assembly 3, power supply assembly 4, central control assembly 5, external support frame 6, electromagnetic adsorption type suction cup 7, disassembly and installation fixing assembly 8, positive electrode interface 21, negative electrode interface 22, drive motor 31, wheel disc 32, telescopic device 61, U-shaped card slot 62, electromagnetic adsorption type suction cup body 71, electromagnetic chuck trigger type plug 72, fixing bracket 81, safety rope 82, one-way switch 83, pneumatic spring 84, electromagnet 710, suction cup base 711, upper support 712, lower support 713, stabilizer 714, main elastic component 715, suction cup protection shell 721, secondary elastic component 722, plug positive electrode 723, plug negative electrode 724, suction cup control component 725, suction cup positive electrode contact 727, suction cup negative electrode contact 728. Specific embodiments

[0041] The technical solutions in the present invention will be further described below with reference to the accompanying drawings and embodiments:

[0042] Embodiment 1

[0043] As Figures 1 - 5 shown, an automatic disassembly and installation safety rope robot based on electromagnetic adsorption includes a robot body. The robot body includes a group of side plates 1 and an external support frame 6. The power supply assembly 4 and the central control assembly 5 are respectively fixed between the left and right side plates 1. The climbing drive assembly 3 is embedded at the front and rear ends of the side plates 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 assembly 3. At the same time, the front end of the external support frame 6 supports the disassembly and installation fixing assembly 8. While the power supply assembly 4 supplies power to the electromagnetic adsorption type crawler 2, the climbing drive assembly 3 is operated to realize the climbing of the robot carrying the safety rope on the transmission line tower.

[0044] In this embodiment, two electromagnetic adsorption type suction cups 7 are arranged in a staggered manner on the outer side 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 inner side of the electromagnetic adsorption type crawler 2.

[0045] Furthermore, the climbing drive assembly 3 includes 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 the outer sides of the electromagnetic adsorption type crawler 2 and is fixed by the side plates 1 and the external support frame 6.

[0046] Further, the external support frame 6 further includes a telescopic device 61 disposed directly in front of the external support frame 6, and a U-shaped card slot 62 disposed at the tail of the external support frame 6. The top end of the telescopic device 61 is fixed to the disassembly and assembly fixing component 8.

[0047] Further, the electromagnetic adsorption type suction cup 7 includes an electromagnetic adsorption type suction cup main body 71 and an electromagnetic suction cup trigger type 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, suction cup upper brackets 712 fixed to both ends below the electromagnet 710, suction cup lower brackets 713 fixed to both ends above the suction cup base 711, a stabilizer 714 disposed between the suction cup upper brackets 712 and the lower brackets 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711.

[0048] Further, the electromagnetic suction cup trigger type plug 72 includes an outer layer insulated suction cup protection shell 721, a secondary elastic component 722 between the suction cup protection shell 721 and the electromagnet 710, and a plug positive electrode 723 and a plug negative electrode 724 with one end connected to the inner side of the suction cup protection shell 721 and the other end passing through the electromagnet 710. One ends of the plug positive electrode 723 and the plug negative electrode 724 are respectively electrically connected to the positive electrode and the negative electrode of the electromagnet 710, and the plug negative electrode 724 also has a built-in suction cup control component 725.

[0049] Further, the electromagnetic suction cup trigger type plug 72 further includes a suction cup positive electrode contact 727 and a suction cup negative electrode contact 728 that penetrate through the suction cup base 711 and are respectively electrically connected to the positive electrode interface 21 and the negative electrode interface 22 in the electromagnetic adsorption type crawler; portions corresponding to the thicknesses of the plug positive electrode 723 and the plug negative electrode 724 are respectively left vacant between the suction cup positive electrode contact 727 and the suction cup negative electrode contact 728.

[0050] Further, the disassembly and assembly 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 end opening of the fixing bracket 81. The metal piece at the end of the one-way switch 83 is connected to the fixing bracket 81 through a pneumatic spring 84.

[0051] Embodiment 2

[0052] In another preferred embodiment, for the working method of the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot, the electromagnetic adsorption-based automatic disassembly and assembly safety rope robot described in any one of the above Embodiment 1 is adopted. Please refer to Figures 1 - 5 , the method includes the following steps:

[0053] 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.

[0054] Step 2: When the bottom surface of the robot is in contact with the power transmission line tower, the suction cup protective shell 721 on the electromagnetic adsorption suction cup 7 is squeezed, and the secondary elastic component 722 contracts, so that the other 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;

[0055] 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 step 2 process is repeated to realize 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, one 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;

[0056] Step 4: When the robot is about to climb to the top of the transmission line tower, 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 tower 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 fixing of the disassembly and assembly fixing component 8;

[0057] 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 tower is separated from the fixed bracket 81; finally, the drive component 3 acts in the reverse direction, and in the downward direction, the climbing drive component (3) drives the crawler to rotate backward, and the electromagnetic adsorption suction cup (7) behind the crawler contacts the surface of the transmission line tower, and repeats the process of Step 2 and subsequent processes in Step 3, so that the robot returns to the starting position along the original path.

[0058] Example 3

[0059] In another preferred embodiment, based on the above-mentioned Embodiments 1 and 2, this embodiment provides an automatic disassembly and assembly safety rope robot based on electromagnetic adsorption and its working method. Its structure is as Figures 1 - 5 shown, and the functions and working methods of each part are described as follows:

[0060] The robot body includes side plates 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 plates 1 to provide power support and intelligent control for the robot. The climbing drive component 3 is embedded at the front and rear ends of the side plates 1 and is further strengthened by the external support frame 6 to ensure the stability of the robot during climbing. The electromagnetic adsorption type crawler 2 is connected to the outer ring of the climbing drive component 3 and serves as the main component for the robot to climb. At the same time, the front end of the external support frame 6 props up the disassembly and assembly fixing component 8 for fixing the safety rope after the robot reaches the designated position.

[0061] Two electromagnetic adsorption type suction cups 7 are staggered on the outer side of a single electromagnetic adsorption type crawler 2. Such a design can enhance the adsorption force and stability of the robot during climbing. Two positive electrodes 21 running through the crawler and two negative electrodes 22 running through the crawler are embedded in the electromagnetic adsorption type crawler 2 for supplying power to the electromagnetic adsorption type suction cups 7.

[0062] The climbing drive component 3 includes a drive motor 31 and a wheel disc 32. To adapt to the long and narrow shape of the transmission line tower pole, the drive motor 31 adopts an external structure, that is, it is located on the outer sides of the electromagnetic adsorption type crawler 2 and is fixed by the side plates 1 and the external support frame 6. This design not only reduces the width of the robot but also improves its climbing efficiency.

[0063] The electromagnetic adsorption type suction cup 7 includes an electromagnetic adsorption type suction cup main body 71 and an electromagnetic suction cup trigger type 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, suction cup upper brackets 712 fixed at both ends below the electromagnet 710, suction cup lower brackets 713 fixed at both ends above the suction cup base 711, a stabilizer 714 arranged between the suction cup upper brackets 712 and the lower brackets 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711.

[0064] The electromagnetic chuck trigger plug 72 includes a suction cup protective shell 721 with outer insulation, a secondary elastic component 722 between the suction cup protective shell 721 and the electromagnet 710, and a plug positive electrode 723 and a plug negative electrode 724. One end of the plug positive electrode 723 and the plug negative electrode 724 is connected to the inner side of the suction cup protective shell 721, and the other end penetrates through the electromagnet 710. One ends of the plug positive electrode 723 and the plug negative electrode 724 are electrically connected to the positive electrode and the negative electrode of the electromagnet 710 respectively. The plug negative electrode 724 also has a built-in suction cup control component 725. In addition, the electromagnetic chuck trigger plug 72 also includes a suction cup positive electrode contact 727 and a suction cup negative electrode contact 728 that penetrate through the suction cup base 711. Parts adapted to the thicknesses of the plug positive electrode 723 and the plug negative electrode 724 are respectively left empty in the middle. When the suction cup protective shell 721 is squeezed, the secondary elastic component 722 shrinks, causing the other ends of the plug positive electrode 723 and the plug negative electrode 724 to be inserted into the suction cup positive electrode contact 727 and the suction cup negative electrode contact 728 respectively and achieving electrical connection.

[0065] During the process of the robot climbing upward, when the electromagnetic adsorption type suction cup 7 at the front end of the electromagnetic adsorption type crawler 2 touches the wall surface 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 plug positive electrode 723 and the plug negative electrode 724 are in contact with the suction cup positive electrode contact 727 and the suction cup negative electrode contact 728 and are energized, and the electromagnet 710 generates an adsorption force; if it encounters a raised obstacle, one 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.

[0066] The external support frame 6 also includes a telescopic device 61 arranged at the front and a U-shaped card slot 62 arranged at the tail. The top of the telescopic device 61 is fixed to the disassembly and installation fixing component 8 for adjusting the position of the disassembly and installation fixing component 8.

[0067] The disassembly and installation 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 opening at the front end 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. Subsequently, under the traction of the pneumatic spring 84, the one-way switch 83 quickly resets to achieve stable locking. This design ensures that when the robot is performing high-altitude operations, it can be accurately and safely fixed at the top of the tower, improving the operation efficiency and stability.

[0068] Embodiment 4

[0069] 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, electromagnetic adsorption tracks 2, a climbing drive assembly 3, a central control assembly 5, a power supply assembly 4, and a disassembly and assembly fixing assembly 8; the robot body includes side plates 1 and an external support frame 6; the power supply assembly 4 and the central control assembly 5 are respectively fixed between the left and right side plates 1; the climbing drive assembly 3 is embedded at the front and rear ends of the side plates 1 and is further fixed by the external support frame 6; the electromagnetic adsorption tracks 2 are connected to the outer ring of the climbing drive assembly 3; at the same time, the front end of the external support frame 6 supports the disassembly and assembly fixing assembly 8.

[0070] As Figure 1 shown, as Figure 1 shown, the power supply assembly 4 supplies power to the central control assembly 5; the central control assembly 5 is respectively electrically connected to the climbing drive assembly 3, the electromagnetic adsorption tracks 2, the disassembly and assembly fixing assembly 8, and the fixing device adsorber 62 and the expander 61 on the external support frame 6 and can control their movements, providing a prerequisite for the stable operation of the robot.

[0071] Furthermore, the expander 61 adopts a small hydraulic press to move the disassembly and assembly fixing assembly 8 by hydraulic pressure. Of course, a servo motor or other mechanical devices can also be used here, which can also complete the function of adjusting the position of the disassembly and assembly fixing assembly 8.

[0072] Furthermore, as Figure 2 shown, the present invention adopts a double-track structure. By adjusting the relative speed of rotation or the forward and reverse rotation of the two tracks, the robot can adjust its traveling direction, making it more adaptable to the "Y-shaped" or "X-shaped" branch situations of the transmission line tower poles, and at the same time facilitating emergency adjustment when the robot deviates from its traveling direction.

[0073] Furthermore, as Figure 1 , Figure 2 shown, the present invention adopts a structure in which the external support frame 6 is fixed on the outer ring of the tracks. Among them, the inner wheel disc of the climbing drive assembly 3 is located between the left and right side plates 1, and the outer drive motor 31 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 poles, facilitating the robot to efficiently complete climbing activities and operation and maintenance tasks. At the same time, the double fixation of the side plates 1 and the external support frame 6 ensures the stability and resistance of the climbing robot during high-altitude operations.

[0074] Furthermore, as Figure 1 shown, the central control assembly is built with a communication system that can receive and process signals transmitted from the outside. Workers can remotely control the robot in real time to complete operation and maintenance tasks; of course, it can also be programmed in advance to complete preset tasks.

[0075] Furthermore, the central control component 5 can also regulate the adsorption strength of the electromagnetic adsorption type suction cup 7 at the same time. The operator can regulate the current flowing through the electromagnetic adsorption type crawler 2 according to the actual required adsorption force when the robot adsorbs on the wall surface of the transmission line tower.

[0076] Furthermore, as Figure 2 , Figure 4 shown, the central control component 5 is electrically connected to the magnetic adsorption type suction cup 7 through the positive electrode interface 21 of the electromagnetic adsorption type crawler, the negative electrode interface 22, the suction cup positive electrode contact 727, and the suction cup negative electrode contact 728 in sequence; this process is completed by means of the bottom brush to ensure stable power supply during the relative movement of the two. Of course, a simple contact or rail structure can also be used for electrical connection here, and both can complete the power supply to the electromagnetic adsorption type crawler 2.

[0077] Furthermore, as Figure 1 , Figure 4 shown, a secondary elastic component 722 is connected between the suction cup trigger type plug 72 and the electromagnet 710, and a main elastic component 715 is connected between the electromagnet 710 and the suction cup base 711. Among them, the elastic coefficient of the spring of the secondary elastic component 722 is much smaller than that of the main elastic component 715.

[0078] On this basis, during the upward climbing process of the robot, when the electromagnetic adsorption type suction cup 7 at the front end of the electromagnetic adsorption type crawler 2 touches the wall surface 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.

[0079] Furthermore, as Figure 3 , Figure 4 , Figure 5 shown, when the suction cup protective shell 721 is squeezed, the secondary elastic component 722 contracts, so that the other ends of the plug positive electrode 723 and the plug negative electrode 724 are respectively inserted into the suction cup positive electrode contact 727 and the suction cup negative electrode contact 728 and are electrically connected; one end of the plug positive electrode 723 and the plug negative electrode 724 is connected to the suction cup protective shell 721, and the positive and negative electrode wires of the electromagnet 710 are respectively electrically connected to the plug positive electrode 723 and the plug negative electrode 724, that is, the electrical connection of the electromagnetic adsorption type suction cup 7 can be realized when the suction cup trigger type plug 72 is squeezed.

[0080] Furthermore, as Figure 3As shown, the negative electrode 724 of the sucker-triggered plug contains a sucker control component 725, which can communicate with the central control component 5 of the robot, thereby enhancing or weakening the adsorption strength of a single electromagnetic adsorption sucker 7. For example, when the wall surface of the transmission line tower adsorbed by a single sucker is irregular, the sucker control component 725 can increase the current passing through this electromagnetic sucker to enhance its adsorption capacity.

[0081] Furthermore, after the electromagnetic adsorption sucker 7 is electrically connected by the sucker-triggered plug 72, if a protruding obstacle is encountered during the climbing process, one end of the electromagnetic adsorption sucker 7 is further squeezed. At this time, under the reinforcement of the stabilizer 714, the main elastic component 715 is stably compressed, enabling the longitudinal distance of the electromagnetic adsorption sucker 7 to adapt to the terrain adsorbed by the sucker; the robot can then continue to climb driven by the climbing drive component 3 to complete the obstacle-crossing task. During this process, the plug positive electrode 723 and the plug negative electrode 724 of the sucker-triggered plug 72 will continue to penetrate into the sucker positive electrode contact 727 and the sucker negative electrode contact 728 to ensure that the electromagnet 710 is always in an energized state during this process.

[0082] During this operation process, only the sucker-triggered plug 72 of the electromagnetic adsorption sucker 7 attached to the wall surface of the transmission line tower will be triggered. When the robot performs the climbing task, only some of the electromagnetic suckers are always energized and adsorbed on the wall surface. When the sucker-triggered plug 72 leaves the wall surface, the secondary elastic component 722 elongates to cut off the power supply of this electromagnetic adsorption sucker 7. This design can effectively disconnect the non-essential working suckers and avoid the situation of overheating and power waste of devices such as electromagnetic adsorption suckers due to long-term operation.

[0083] Furthermore, as Figure 3 、 Figure 4 、 Figure 5 shown, each electromagnetic adsorption sucker 7 is independently energized by triggering the sucker-triggered plug 72 and has no direct relationship with each other; at the same time, the connection design of the electromagnetic adsorption sucker 7 on the electromagnetic adsorption track 2 is a detachable structure. This design is beneficial for replacing individual suckers after manual detection of faults, which is more convenient and environmentally friendly.

[0084] Furthermore, as Figure 1 shown, the one-way switch 83 is composed of a rotatable axle fixed at one end of the fixed bracket 81 and two metal plates perpendicularly fixed 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 perpendicularly fixed iron plates of the one-way switch 83 rotate counterclockwise, so that the tower pole gradually enters the fixed bracket.

[0085] Furthermore, 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 regulation 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 tower; 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 tower 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] In a preferred embodiment, two electromagnetic adsorption suction cups 7 are arranged in a staggered manner on the outer side of the electromagnetic adsorption crawler 2, and two positive electrode interfaces 21 penetrating the crawler and two negative electrode interfaces 22 penetrating the crawler are embedded on the inner side of the electromagnetic adsorption crawler 2; with the above settings, the electromagnetic adsorption force can be flexibly adjusted, and the adhesion and stability of the crawler on complex terrains can be enhanced; 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 on-off of electromagnetic adsorption, and improves the operation efficiency and energy utilization rate.

[0091] In a preferred embodiment, the climbing drive assembly 3 includes 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 the outer sides of the electromagnetic adsorption crawler 2 and is fixed by the side plate 1 and the external support frame 6; with the above settings, it effectively avoids the interference of the heat generated by the drive motor 31 during the operation of the electromagnetic adsorption crawler 2 to the internal circuit. At the same time, the external design is convenient for maintenance and replacement, improving the reliability and maintainability of the overall equipment.

[0092] In a preferred embodiment, the external support frame 6 further includes a telescopic device 61 arranged in the front of the external support frame 6 and a U-shaped card slot 62 arranged at the tail of the external support frame 6. The top of the telescopic device 61 is fixed to the disassembly and assembly fixing component 8; with the above settings, the external support frame 6 can adjust the length and angle according to different requirements, enhancing the flexibility and adaptability of the equipment; the U-shaped card slot 62 is convenient for quick connection with other equipment or structures, improving the convenience and stability of the overall installation.

[0093] In a preferred embodiment, the electromagnetic adsorption suction cup 7 includes an electromagnetic adsorption suction cup main body 71 and an electromagnetic suction cup trigger plug 72. The electromagnetic adsorption suction cup main body 71 includes an electromagnet 710, a suction cup base 711 connected to the electromagnetic adsorption crawler 2, suction cup upper brackets 712 fixed at both ends below the electromagnet 710, suction cup lower brackets 713 fixed at both ends above the suction cup base 711, a stabilizer 714 arranged between the suction cup upper brackets 712 and the lower brackets 713, and a main elastic component 715 between the electromagnet 710 and the suction cup base 711; with the above settings, it can ensure the stable connection and efficient power transmission between the electromagnetic adsorption suction cup 7 and the electromagnetic adsorption crawler 2; at the same time, the design of the main elastic component 715 improves the stability and adaptability during the adsorption process, enhancing the operation ability in different terrains.

[0094] In a preferred embodiment, the electromagnetic chuck trigger plug 72 includes an outer layer insulated chuck protection shell 721, a secondary elastic component 722 between the chuck protection shell 721 and the electromagnet 710, and a plug positive electrode 723 and a plug negative electrode 724 with one end connected to the inner side of the chuck protection shell 721 and the other end passing through the electromagnet 710. One end of the plug positive electrode 723 and the plug negative electrode 724 are electrically connected to the positive electrode and the negative electrode of the electromagnet 710 respectively. The plug negative electrode 724 also has a built-in chuck control component 725. With the above settings, when the electromagnetic chuck trigger plug 72 is powered on, the deformation of the secondary elastic component 722 drives the plug positive electrode 723 and the plug negative electrode 724 to closely contact the electromagnet 710. At the same time, the chuck control component 725 monitors and adjusts the contact force to ensure stable and safe current transmission, improving the working efficiency and safety of the overall device.

[0095] In a preferred embodiment, the electromagnetic chuck trigger plug 72 further includes a chuck positive contact 727 and a chuck negative contact 728 that pass through the chuck base 711 and are electrically connected to the positive interface 21 and the negative interface 22 in the electromagnetic adsorption track respectively. The middle parts of the chuck positive contact 727 and the chuck negative contact 728 are respectively vacant with parts adapted to the thickness of the plug positive electrode 723 and the plug negative electrode 724. When the chuck protection shell 721 is squeezed, the secondary elastic component 722 contracts, and the other ends of the plug positive electrode 723 and the plug negative electrode 724 are respectively inserted into the chuck positive contact 727 and the chuck negative contact 728 and are electrically connected. With the above settings, when the electromagnetic chuck is subjected to an external force, it can quickly and stably establish an electrical connection, improving the safety and response speed of the device. At the same time, this design also ensures the precise docking of the contacts, avoiding power transmission problems caused by poor contact.

[0096] In a preferred embodiment, after the electromagnetic adsorption chuck 7 is electrically connected by the chuck trigger plug 72, if a raised obstacle is encountered during the climbing process, one end of the electromagnetic adsorption chuck 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 chuck 7 adapts to the terrain adsorbed by the chuck. The robot can then climb under the drive of the climbing drive component 3 to complete the obstacle crossing task. With the above settings, it not only ensures the stable climbing of the robot in complex terrains, but also improves its obstacle crossing ability and flexibility, enabling the robot to operate efficiently under various environmental conditions, and further expanding its application scenarios and scope of application.

[0097] In a preferred solution, the disassembly and assembly 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-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. With the above settings, it can be ensured that during the disassembly and assembly process, the fixing bracket 81 remains stable, the safety rope 82 provides additional safety protection, and the design of the one-way switch 83 in cooperation with the pneumatic spring 84 realizes fast and safe opening and closing operations, improving the convenience and safety of the overall operation.

[0098] In summary, the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption and its working method provided by the present invention solve the problems of high risk in manual tower climbing operation, inconvenient installation and disassembly of fall prevention devices, high cost and low efficiency in the use of safety ropes during the operation and maintenance of existing transmission lines; the unique electromagnetic adsorption type track design of the present invention, the robot uses an electromagnetic adsorption type track as the main component for climbing, this design is relatively rare in climbing robots for transmission line iron towers, the electromagnetic adsorption type suction cups arranged in a staggered manner on the outer side of the track can achieve firm adsorption on the tower wall surface, and at the same time have a certain obstacle-crossing ability; intelligent electromagnetic adsorption control, each electromagnetic adsorption type suction cup is equipped with an independent trigger plug, when the suction cup contacts the tower wall surface, electrical connection and energized 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 climbing; adaptive disassembly and assembly fixing component, the disassembly and assembly fixing component equipped on the top of the robot can automatically fix with 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 track, effectively reduce the width of the robot, making it more adaptable to the long and narrow structure of the transmission line iron tower pole; at the same time, this design also improves the stability and resistance of the robot during climbing; the combination of electromagnetic adsorption and track climbing technology of the present invention creatively combines electromagnetic adsorption technology with track climbing technology, realizing automatic climbing on the transmission line iron tower and the installation of the safety rope, this combination not only improves the climbing ability of the robot, but also makes the installation of the safety rope more convenient and efficient; intelligent electromagnetic adsorption control strategy, through the central control component to intelligently adjust the adsorption strength of the electromagnetic adsorption type suction cups, the robot can adjust the adsorption force according to actual needs, so as to adapt to the transmission line iron tower wall surfaces 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 component not only realizes the automatic fixation of the robot with the tower pole, but also improves the stability and reliability of the fixation 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; through the optimized design of components such as the external support frame and the drive motor, the robot is more compact and reasonable in structure, 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, relying on its excellent 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 set 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 a disassembly and assembly fixing component (8) is supported at the front end of the external support frame (6); and while the electromagnetic adsorption crawler (2) is powered by the power supply component (4), the climbing drive component (3) is operated. , enabling a robot carrying a safety rope to climb on a power transmission line tower; two electromagnetic adsorption type suction cups (7) are arranged alternately on the outer side of the electromagnetic adsorption type crawler (2); 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), and a lower suction cup bracket fixed at two ends above the suction cup base (711). (713), a stabilizer (714) arranged between the upper bracket (712) and the lower bracket (713) of the suction cup, and a main elastic component (715) between the electromagnet (710) and the suction cup base (711); 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). ), one end of the positive electrode (723) of the plug and the negative electrode (724) of the plug are respectively electrically connected to the positive electrode and the negative electrode of the electromagnet (710); the electromagnetic suction cup trigger plug (72) further comprises a suction cup positive electrode contact (727) and a suction cup negative electrode 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 crawler; between the suction cup positive electrode contact (727) and the suction cup negative electrode contact (728), there are respectively empty portions corresponding to the thickness of the other ends of the positive electrode (723) of the plug and the negative electrode (724) of the plug.

2. The automatic disassembly and assembly safety rope robot based on electromagnetic adsorption according to claim 1 is characterized in that: Two positive electrode interfaces (21) penetrating the crawler belt and two negative electrode interfaces (22) penetrating the crawler belt are embedded inside the electromagnetic adsorption crawler belt (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 plug negative pole (724) also has a suction cup control component (725) built into it.

6. The automatic assembly and disassembly safety rope robot based on electromagnetic adsorption according to claim 5 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).

7. The working method of the automatic disassembly and assembly of the safety rope robot based on electromagnetic adsorption is characterized in that: The method adopts the automatic disassembly and assembly safety rope robot based on electromagnetic adsorption as claimed in claim 6, 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 other 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 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 type suction cup (7) is electrically connected and works, if a raised obstacle is encountered during the climbing process, one 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 tower, 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 tower 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) 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 tower is separated from the fixed bracket (81); finally, the drive component (3) acts in the reverse direction, and in the downward direction, the climbing drive component (3) drives the crawler to rotate backward, and the electromagnetic adsorption type suction cup (7) behind the crawler contacts the surface of the transmission line tower, and repeats the process of Step 2 and subsequent processes in Step 3, so that the robot returns to the starting position along the original path.

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