Power transmission line power inspection robot and control method thereof

Abstract

The invention discloses a power transmission line power inspection robot and a control method thereof. The power transmission line power inspection robot comprises a left climbing arm and a right climbing arm. Angle opening and closing mechanisms are arranged in the middles of the left climbing arm and the right climbing arm; auxiliary arms are arranged on the left climbing arm and the right climbing arm; the bottom of the left climbing arm and the bottom of the right climbing arm are each provided with a composite clamping jaw body, and each composite clamping jaw body is provided with an electromagnetic clamping jaw and two mechanical clamping jaws. The method further comprises the control steps of S1 to S6 and the like. According to different position distances between the foot pin and the inspection robot, a specific control algorithm is combined, and two clamping modes of the mechanical-electromagnetic composite clamping jaw can be distinguished according to whether the foot pin can be grabbed or not, so that different climbing and grabbing modes are adopted to cope with different distances between the inspection robot and the foot pin; energy consumed by the inspection robot in the climbing inspection process is saved, and the endurance and efficiency of the inspection robot in the inspection work are improved.

Description

Technical Field

[0001] The present invention relates to the field of inspection robots, and in particular to a power inspection robot for transmission lines and a control method thereof. Background Art

[0002] my country has a vast territory and diverse terrain, and power generation sources are mainly concentrated in the central and western regions. Therefore, transmission lines pass through mountainous areas and other areas that are not suitable for human activities. When transmission lines encounter severe weather such as strong winds, heavy rains, heavy snow, and lightning, they will be damaged to a certain extent. In addition, the habitat activities of wild animals, such as bird nesting, will also pose certain safety hazards to the transmission system. Therefore, power inspection robots for transmission lines need to operate stably in a changing working environment, which requires them not only to have flexible mobility, but also to be able to adapt to various terrains and surfaces.

[0003] The grippers of existing power inspection robots that perform the gripping and grasping functions are mainly mechanical grippers or electromagnetic grippers. Mechanical grippers are low-cost and highly adaptable, but they have a complex structure, slow response speed, and are difficult to operate and control, which has a certain impact on the efficiency of climbing inspections. Electromagnetic grippers have a simple structure and are easy to operate, and can achieve rapid adsorption and release of the clamped object, but their working environment is only suitable for magnetic materials such as iron. Some surfaces of the iron tower are rusted and have undergone surface treatment, which has a certain impact on the adsorption of the electromagnetic grippers. With a single gripper method, the mobile inspection efficiency of the power inspection robot is low, and it cannot meet various complex inspection routes. In addition, it has poor fault tolerance and is difficult to prevent the risk of falling in the event of a sudden emergency. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a transmission line power inspection robot and a control method thereof.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is:

[0006] Provided is a power inspection robot for power transmission lines, comprising a left climbing arm and a right climbing arm, wherein the left climbing arm and the right climbing arm are hinged to form a V-shaped body; an angle opening and closing mechanism is arranged in the middle of the left climbing arm and the right climbing arm, and the angle opening and closing mechanism is used to adjust the opening and closing angles of the left climbing arm and the right climbing arm; an auxiliary arm is arranged on the left climbing arm and the right climbing arm, and the auxiliary arm is used to buckle and connect cables; a composite claw body is arranged at the bottom of the left climbing arm and the right climbing arm, and each composite claw body is arranged with an electromagnetic claw and two mechanical claws, the electromagnetic claw is used to adsorb angle steel, and the mechanical claw is used to clamp foot nails.

[0007] Furthermore, the angle opening and closing mechanism includes an opening and closing motor, an opening and closing screw and a screw movable block. The fixed end of the opening and closing motor is hinged to the left climbing arm, the output end of the opening and closing motor is fixedly connected to the opening and closing screw, the screw movable block is rotatably arranged on the right climbing arm, and a threaded hole cooperating with the opening and closing screw is arranged on the screw movable block.

[0008] Furthermore, the auxiliary arm includes an auxiliary arm body, a worm gear motor, a rotating bracket, a driven gear, a driving gear, a swinging servo, a swinging bracket, a first electromagnet, a suspension mechanical buckle and a rotating motor. One end of the auxiliary arm body is fixedly connected to the worm gear motor, the output end of the worm gear motor is fixedly connected to the rotating bracket, the rotating bracket is fixedly connected to the driven gear, the driven gear is meshed with the driving gear, and the driving gear is fixed on the output shaft of the rotating motor; the other end of the auxiliary arm body is fixedly connected to the swinging servo, the output end of the swinging servo is connected to the swinging bracket, the swinging bracket is connected to the first electromagnet, and the first electromagnet is fixedly connected to the suspension mechanical buckle.

[0009] Furthermore, an adjustable telescopic rod is provided at the bottom of the left climbing arm and the right climbing arm, and the adjustable telescopic rod is used to adjust the working angle of the composite claw. The fixed end of the adjustable telescopic rod is hinged to the left climbing arm, and the extended end of the adjustable telescopic rod is hinged to the composite claw body.

[0010] Furthermore, the electromagnetic clamp includes an electromagnetic clamp body, a V-shaped magnetic attraction portion is arranged at the bottom of the electromagnetic clamp body, and angle steel electromagnets are arranged on both sides of the V-shaped magnetic attraction portion; a correction plate that cooperates with the angle steel ribs is fixed at the bottom of the composite clamp body, and the correction plate is in a herringbone shape.

[0011] Furthermore, the mechanical claw includes a U-shaped claw mounting plate, and a left movable claw and a right movable claw that can move towards each other are arranged on both sides of the claw mounting plate. A fixed guide block for mounting the left movable claw and the right movable claw is fixed on the inner side of the claw mounting plate. Guide holes are arranged on the two fixed guide blocks, and guide rods are arranged in the guide holes. One guide rod is fixedly connected to the left movable claw, and the other guide rod is fixedly connected to the right movable claw.

[0012] Furthermore, a synchronous driving structure is also provided on the claw mounting plate to drive the left movable claw and the right movable claw to move synchronously toward each other. The synchronous driving structure includes a claw gear, two claw racks and a clamping motor. The claw gear is fixed at the output end of the clamping motor. The claw gear is meshed and connected with the two claw racks respectively. One claw rack is fixedly connected to the left movable claw, and one claw rack is fixedly connected to the right movable claw.

[0013] Furthermore, a locking claw mechanism is provided between the left movable claw and the claw mounting plate and between the right movable claw and the claw mounting plate. The two locking claw mechanisms are symmetrically arranged. The locking claw mechanism includes a connecting rod, an articulated swing shaft and an arc-shaped locking claw. One end of the connecting rod is rotatably connected to the claw mounting plate through a fixed rotating shaft, and the other end is rotatably connected to the arc-shaped locking claw through an articulated swing shaft. A swing arc hole cooperating with the articulated swing shaft is provided on the claw mounting plate.

[0014] Furthermore, at least one camera is arranged on the inner side of the left climbing arm and the right climbing arm, and the camera is electrically connected to the control module.

[0015] A control method for a power transmission line inspection robot comprises the following steps:

[0016] S1: According to the actual working conditions, an initial step length s0 is set during the inspection robot's tower climbing process;

[0017] S2: The camera samples an image on the ridgeline of the tower angle steel after each stride of the inspection robot, and identifies the feature points of the foot nails in the image;

[0018] S3: The control module calculates the distance s between the camera and the nearest foot nail on the angle steel edge line according to the number of foot nail feature points in the image sampling and the number of pixels occupied by a single feature point;

[0019] S4: The control module performs the composite gripper climbing control algorithm calculation based on visual processing:

[0020]

[0021] Where a is the distance from the camera to the top rotation point of the robot, b is the distance from the screw rod to the top rotation point of the robot, l is the effective working length of the right climbing arm, that is, the distance from the contact point between the composite clamp and the angle steel edge to the top rotation point of the robot, d is the effective working length of the opening and closing screw rod, that is, the length of the screw rod inside the left climbing arm and the right climbing arm; s1 is the horizontal distance between the camera and the nearest foot nail, s max is the maximum opening and closing distance of a stride of the inspection robot, and u is the final output;

[0022] S5: If the final output u>0, it is judged that the distance between the foot nails exceeds the maximum stride s of the inspection robot. max Working range, the control module does not send out a control signal, the inspection robot continues to work at the set initial working step s0 distance, and the composite gripper only uses the electromagnetic gripper to fit and adsorb the angle steel in the next step, while the mechanical gripper participates in the grasping work;

[0023] If the final output u≤0, it is judged that the distance between the foot nails is within the maximum stride s of the inspection robot.max Working range, the control module sends a command signal, the inspection robot works according to the step length s′0, the step length s′0 is the horizontal distance between the foot nail and the camera, and the composite gripper uses the mechanical gripper to clamp onto the foot nail in the next step, and the electromagnetic gripper is energized to adsorb on the angle steel;

[0024] S6: Repeat steps S2-S5, and the current inspection robot continues to climb on the ridge of the tower angle steel until the inspection robot reaches the designated position of the tower, and then ends the climbing movement.

[0025] The beneficial effects of the present invention are:

[0026] The present invention adopts a mechanical-electromagnetic composite clamp, combining the advantages of the two types of clamps in actual working scenarios, and using their respective characteristics to complement each other's shortcomings, thereby improving the power inspection robot's ability to cope with complex routes, and at the same time greatly improving the inspection robot's adaptability and reliability in climbing sports environments, and improving the inspection efficiency of the power inspection robot; and a guide part with a correction plate is designed to further enhance the stability and reliability of the composite clamp's clamping and grasping.

[0027] The present invention has auxiliary arms installed on each of the main climbing mechanical arms, which greatly increases the reliability of the inspection robot when traveling on the transmission line and improves its anti-falling ability.

[0028] The angle opening and closing mechanism of the present invention selects a screw nut mechanism as the driving component of its core movement, which has high-precision control over the opening and closing angle and distance of the main climbing robot arm. At the same time, the self-locking property of the mechanism is used to ensure the stability and anti-interference of the opening and closing movement. The linear push rod mechanism designed at the connecting part of the robot arm and the composite clamp can also enhance its adaptability and flexibility by adjusting the angular direction of the clamp part.

[0029] In view of the different position distances between the foot spikes and the inspection robot, the present invention, combined with a unique control algorithm, can distinguish between two clamping modes of mechanical-electromagnetic composite clamps according to whether the foot spikes can be grasped, thereby adopting different climbing and grasping modes to cope with the different distances between the inspection robot and the foot spikes, saving the energy consumed by the inspection robot in the climbing and inspection process, and improving its endurance and efficiency in the inspection work. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is the overall structural view of the present invention;

[0031] Figure 2 is a schematic diagram of the structure of the auxiliary arm;

[0032] Figure 3 It is a schematic diagram of the structure of the left climbing arm and the right climbing arm;

[0033] Figure 4 The overall structure of the composite jaws Figure 1 ;

[0034] Figure 5 The overall structure of the composite jaws Figure 2 ;

[0035] Figure 6 A schematic diagram of the structure of the composite claw with the main body of the mechanical claw removed;

[0036] Figure 7 The structure of the mechanical claw Figure 1 ;

[0037] Figure 8 The structure of the mechanical claw Figure 2 ;

[0038] Fig. 9 It is a schematic diagram of the structural principle of the present invention;

[0039] The main components in the figure are described as follows:

[0040] 1. Left climbing arm; 2. Right climbing arm; 11. Upper hinge shaft; 12. Lower hinge shaft; 13. Opening and closing motor; 14. Opening and closing screw rod; 15. Screw rod movable block; 16. Adjustment telescopic rod;

[0041] 3. Composite claw body; 31. Electromagnetic claw body; 311. V-shaped magnetic attraction part; 312. Angle steel electromagnet; 32. Mechanical claw; 321. Claw mounting plate; 322. Left movable claw; 323. Right movable claw; 324. Fixed guide block; 325. Guide rod; 326. Claw rack; 327. Claw gear; 328. Articulated part; 33. Locking claw mechanism; 331. Fixed rotating shaft; 332. Connecting rod; 333. Articulated swing shaft; 334. Arc-shaped locking claw; 335. Swinging arc hole; 34. Correction plate;

[0042] 4. Auxiliary arm; 41. Auxiliary arm body; 42. Worm gear motor; 43. Rotating bracket; 44. Driven gear; 45. Driving gear; 46. Swing servo; 47. Swing bracket; 48. First electromagnet; 49. Suspension mechanical buckle; 40. Mechanical buckle control box; 5. Control module. DETAILED DESCRIPTION

[0043] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0044] like Figure 1 As shown, the power transmission line power inspection robot includes a left climbing arm 1 and a right climbing arm 2 of the same structure. The left climbing arm 1 is hinged with the right climbing arm 2 through an upper hinge shaft 11 to form a V-shaped body. The left climbing arm 1 is connected and fixed by two branch arms. An angle opening and closing mechanism is provided in the middle of the left climbing arm 1 and the right climbing arm 2. The angle opening and closing mechanism is used to adjust the opening and closing angles of the left climbing arm 1 and the right climbing arm 2. Auxiliary arms 4 are provided on the left climbing arm 1 and the right climbing arm 2. The auxiliary arms 4 are provided on the back of the left climbing arm 1 and the right climbing arm 2. The auxiliary arms 4 are used to buckle and connect the cable line to ensure that the inspection robot will not fall from the cable. A composite claw body 3 is provided at the bottom of the left climbing arm 1 and the right climbing arm 2. Each composite claw body 3 is provided with an electromagnetic claw and two mechanical claws. The electromagnetic claw is used to absorb the angle steel, and the mechanical claw is used to clamp the foot nail. A deflection correction plate 34 cooperating with the angle steel ridge line is fixed at the bottom of the composite clamping claw body 3. The deflection correction plate 34 guides the composite clamping claw body 3 by fitting with the angle steel ridge line. The deflection correction plate 34 is in a herringbone shape and can effectively fit with both sides of the angle steel without affecting the grip of the clamping claw on the foot nail angle steel.

[0045] like Figure 2 As shown, the auxiliary arm 4 includes an auxiliary arm body 41, a worm gear motor 42, a rotating bracket 42, a driven gear 44, a driving gear 45, a swinging servo 46, a swinging bracket 47, a first electromagnet 48, a suspension mechanical buckle 49 and a rotating motor. One end of the auxiliary arm body 41 is fixedly connected to the worm gear motor 42, the output end of the worm gear motor 42 is fixedly connected to the rotating bracket 42, the rotating bracket 42 is fixedly connected to the driven gear 44, the driven gear 44 is meshed with the driving gear 45, and the driving gear 45 is fixed on the output shaft of the rotating motor; the other end of the auxiliary arm body 41 is fixedly connected to the swinging servo 46, the output end of the swinging servo 46 is connected to the swinging bracket 47, the swinging bracket 47 is connected to the first electromagnet 48, and the first electromagnet 48 is fixedly connected to the suspension mechanical buckle 49. Specifically, when the inspection robot is walking, climbing and overcoming obstacles, the auxiliary mechanical arm remains close to the climbing mechanical arm; when the inspection robot moves on the cable, if the robot body at the hanging point needs to be moved closer to or away from the cable, the worm gear motor 42 controls the lifting angle of the auxiliary arm 4. After the inspection robot body reaches the predetermined position, the motor is powered off. At this time, the self-locking effect of the worm gear motor 42 allows the robot body to maintain its current position unchanged; when the suspension mechanical buckle 49 of the auxiliary arm 4 needs to be suspended on the cable, the suspension mechanical buckle 49 is controlled to open so that the cable gradually enters the interior of the suspension mechanical buckle 49. After the cable completely enters the interior of the suspension mechanical buckle 49, the suspension mechanical buckle 49 is controlled to close to ensure that the inspection robot will not fall off the cable.

[0046] like Figure 3As shown, the angle opening and closing mechanism includes an opening and closing motor 13, an opening and closing screw 14 and a screw movable block 15. The fixed end of the opening and closing motor 13 is hinged to the left climbing arm 1, and the output end of the opening and closing motor 13 is fixedly connected to the opening and closing screw 14. The screw movable block 15 is rotatably set on the right climbing arm 2, and the screw movable block 15 is provided with a threaded hole that cooperates with the opening and closing screw 14. The existing research on power inspection robots basically relies on the direct drive movement of motor joints. Although the mechanism is light and simple, the movement accuracy and anti-interference ability are still insufficient. The present invention selects the opening and closing screw 14 and the screw movable block 15 to accurately control the opening and closing angle and distance of the inspection robot and has the ability of self-locking and anti-interference. Specifically, when the inspection robot needs to move forward or climb upward, the opening and closing motor 13 drives the opening and closing screw rod 14 to move the screw rod movable block 15, lifts the top of the robot upward, and ensures that the left climbing arm 1 and the right climbing arm 2 have a certain amount of movement space, and then the opening and closing motor 13 cooperates with the screw rod movable block 15 fixed on the right climbing arm 2 to control the angle between the left climbing arm 1 and the right climbing arm 2, thereby controlling the distance between the two composite claw bodies 3 at the bottom, and cooperating with the energization of the electromagnetic claw of the single-sided composite claw body 3 to realize the climbing movement of the inspection robot on the angle steel.

[0047] like Figure 3 As shown, an adjusting telescopic rod 16 is provided at the bottom of the left climbing arm 1 and the right climbing arm 2. The adjusting telescopic rod 16 is used to adjust the working angle of the composite claw 3. The fixed end of the adjusting telescopic rod 16 is hinged to the left climbing arm 1, and the extending end of the adjusting telescopic rod 16 is hinged to the composite claw body 3.

[0048] like Figure 4 , 5 As shown in FIG. 6 , the electromagnetic clamp includes an electromagnetic clamp body 31 , a V-shaped magnetic attraction portion 311 is disposed at the bottom of the electromagnetic clamp body 31 , and angle steel electromagnets 312 are disposed on both sides of the V-shaped magnetic attraction portion 311 .

[0049] like Figure 7 and 8 As shown, the mechanical claw 32 includes a U-shaped claw mounting plate 321, and a left movable claw 322 and a right movable claw 323 that can move toward each other are arranged on both sides of the claw mounting plate 321. A fixed guide block 324 for mounting the left movable claw 322 and the right movable claw 323 is fixed on the inner side of the claw mounting plate 321. Guide holes are arranged on the two fixed guide blocks 324, and guide rods 325 are arranged in the guide holes. One guide rod 325 is fixedly connected to the left movable claw 322, and the other guide rod 325 is fixedly connected to the right movable claw 323.

[0050] A synchronous driving structure for driving the left movable claw 322 and the right movable claw 323 to move synchronously toward each other is also provided on the claw mounting plate 321. The synchronous driving structure includes a claw gear 327, two claw racks 326 and a clamping motor. The claw gear 327 is fixed to the output end of the clamping motor. The claw gear 327 is respectively meshed and connected with the two claw racks 326. One claw rack 326 is fixedly connected to the left movable claw 322, and one claw rack 326 is fixedly connected to the right movable claw 323.

[0051] A locking claw mechanism 33 is provided between the left movable claw 322 and the claw mounting plate 321, and between the right movable claw 323 and the claw mounting plate 321. The two locking claw mechanisms 33 are symmetrically arranged. The locking claw mechanism 33 includes a connecting rod 332, a hinged swing shaft 333 and an arc-shaped locking claw 334. One end of the connecting rod 332 is rotatably connected to the claw mounting plate 321 through a fixed rotating shaft 331, and the other end is rotatably connected to the arc-shaped locking claw 334 through a hinged swing shaft 333. A swing arc hole 335 cooperating with the hinged swing shaft 333 is provided on the claw mounting plate 321. Specifically, when the inspection robot is walking, the clamping motor driving the mechanical clamp is turned off, and the control of the electromagnetic clamp is disconnected, saving the energy consumed by the inspection robot when working; when the inspection robot is climbing, the clamping motor of the mechanical clamp controls its opening and closing to complete the loosening and clamping movement of the grasping part, and the electromagnetic clamp controls the adsorption and clamping ability of the electromagnetic clamp by energizing and deenergizing the electromagnet; when the correction plate 34 at the bottom of the composite clamp body 3 is close to the edge of the angle steel, the mechanical clamp is opened, and the electromagnetic clamp is in a power-off state. The clamping jaws gradually come into contact with the edge of the angle steel, and the correction plate 34 begins to fit with the edge to ensure that the V-shaped body of the electromagnetic clamping jaw accurately fits the two sides of the angle steel. If there are foot nails at the clamping position, the clamping motor controls the left movable jaw 322 and the right movable jaw 323 to clamp onto the foot nails, and the electromagnetic clamping jaw is energized to adsorb on the angle steel. On the contrary, if there are no foot nails at the clamping position, only the electromagnetic clamping jaw is used to fit and adsorb on the angle steel, and the mechanical clamping jaw is not closed; when the composite clamping jaw leaves the angle steel surface, the mechanical clamping jaw is released from the foot nail, and at the same time the electromagnetic clamping jaw is powered off to end the adsorption of the angle steel.

[0052] At least one camera is disposed inside the left climbing arm 1 and the right climbing arm 2, and the camera is electrically connected to the control module.

[0053] A control method for a power transmission line power inspection robot comprises the following steps:

[0054] S1: According to the actual working conditions, an initial step length s0 is set during the inspection robot's tower climbing process;

[0055] S2: The camera samples an image on the ridgeline of the tower angle steel after each stride of the inspection robot, and identifies the feature points of the foot nails in the image;

[0056] S3: The control module calculates the distance s between the camera and the nearest foot nail on the angle steel edge line according to the number of foot nail feature points in the image sampling and the number of pixels occupied by a single feature point, such as Fig. 9 A simplified structural diagram;

[0057] S4: The control module performs the composite gripper climbing control algorithm calculation based on visual processing:

[0058]

[0059] Where a is the distance from the camera to the top rotation point of the robot, b is the distance from the screw rod to the top rotation point of the robot, l is the effective working length of the right climbing arm, that is, the distance from the contact point between the composite clamp and the angle steel edge to the top rotation point of the robot, d is the effective working length of the opening and closing screw rod, that is, the length of the screw rod inside the left climbing arm and the right climbing arm; s1 is the horizontal distance between the camera and the nearest foot nail, s max is the maximum opening and closing distance of a stride of the inspection robot, and u is the final output;

[0060] S5: If the final output u>0, it is judged that the distance between the foot nails exceeds the maximum stride s of the inspection robot. max Working range, the control module does not send a control signal, controls the next step length s′0 of the inspection robot, and the next step length s′0 is the horizontal distance between the foot nail and the camera, and the composite gripper only uses the electromagnetic gripper to fit and adsorb the angle steel in the next step, and the mechanical gripper participates in the grasping work;

[0061] If the final output u≤0, it is judged that the distance between the foot nails is within the maximum stride s of the inspection robot. max Working range, the control module sends a command signal, the inspection robot works according to the step length s′0, the step length s′0 is the horizontal distance between the foot nail and the camera, and the composite gripper uses the mechanical gripper to clamp onto the foot nail in the next step, and the electromagnetic gripper is energized to adsorb on the angle steel;

[0062] S6: Repeat steps S2-S5, and the current inspection robot continues to climb on the ridge of the tower angle steel until the inspection robot reaches the designated position of the tower, and then ends the climbing movement.

Claims

1. A power transmission line inspection robot, characterized in that: It comprises a left climbing arm (1) and a right climbing arm (2), wherein the left climbing arm (1) and the right climbing arm (2) are hinged to form a V-shaped body; An angle opening and closing mechanism is provided in the middle of the left climbing arm (1) and the right climbing arm (2), and the angle opening and closing mechanism is used to adjust the opening and closing angles of the left climbing arm (1) and the right climbing arm (2); The left climbing arm (1) and the right climbing arm (2) are both provided with auxiliary arms (4), and the auxiliary arms (4) are used for buckling and connecting cables; A composite clamping claw body (3) is provided at the bottom of the left climbing arm (1) and the right climbing arm (2), and an electromagnetic clamping claw and two mechanical clamping claws are provided on each of the composite clamping claw bodies (3). The electromagnetic clamping claw is used to absorb the angle steel, and the mechanical clamping claw is used to clamp the foot nail.

2. The power transmission line inspection robot according to claim 1, characterized in that: The angle opening and closing mechanism comprises an opening and closing motor (13), an opening and closing screw rod (14) and a screw rod movable block (15); the fixed end of the opening and closing motor (13) is hinged to the left climbing arm (1); the output end of the opening and closing motor (13) is fixedly connected to the opening and closing screw rod (14); the screw rod movable block (15) is rotatably arranged on the right climbing arm (2); and the screw rod movable block (15) is provided with a threaded hole that cooperates with the opening and closing screw rod (14).

3. The power transmission line inspection robot according to claim 1, characterized in that: The auxiliary arm (4) comprises an auxiliary arm body (41), a worm gear motor (42), a rotating bracket (42), a driven gear (44), a driving gear (45), a swing steering gear (46), a swing bracket (47), a first electromagnet (48), a suspension mechanical buckle (49) and a rotating motor. One end of the auxiliary arm body (41) is fixedly connected to the worm gear motor (42), the output end of the worm gear motor (42) is fixedly connected to the rotating bracket (42), the rotating bracket (42) is fixedly connected to the driven gear (44), the driven gear (44) is meshed with the driving gear (45), and the driving gear (45) is fixed on the output shaft of the rotating motor; the other end of the auxiliary arm body (41) is fixedly connected to the swing steering gear (46), the output end of the swing steering gear (46) is connected to the swing bracket (47), the swing bracket (47) is connected to the first electromagnet (48), and the first electromagnet (48) is fixedly connected to the suspension mechanical buckle (49).

4. The power transmission line inspection robot according to claim 1, characterized in that: The bottom of the left climbing arm (1) and the right climbing arm (2) are both provided with an adjusting telescopic rod (16), the adjusting telescopic rod (16) being used to adjust the working angle of the composite clamping claw (3), the fixed end of the adjusting telescopic rod (16) being hinged to the left climbing arm (1), and the extending end of the adjusting telescopic rod (16) being hinged to the composite clamping claw body (3).

5. The power transmission line inspection robot according to claim 1, characterized in that: The electromagnetic clamping jaw comprises an electromagnetic clamping jaw body (31), the bottom of the electromagnetic clamping jaw body (31) is provided with a V-shaped magnetic attraction portion (311), and angle steel electromagnets (312) are provided on both sides of the V-shaped magnetic attraction portion (311); a deflection correction plate (34) matched with the angle steel rib wire is fixed at the bottom of the composite clamping jaw body (3), and the deflection correction plate (34) is in a herringbone shape.

6. The power transmission line inspection robot according to claim 1, characterized in that: The mechanical claw (32) comprises a U-shaped claw mounting plate (321), and a left movable claw (322) and a right movable claw (323) that can move toward each other are arranged on both sides of the claw mounting plate (321). A fixed guide block (324) for mounting the left movable claw (322) and the right movable claw (323) is fixed on the inner side of the claw mounting plate (321), and guide holes are arranged on the two fixed guide blocks (324), and guide rods (325) are arranged in the guide holes, and one of the guide rods (325) is fixedly connected to the left movable claw (322), and the other of the guide rods (325) is fixedly connected to the right movable claw (323).

7. The power transmission line inspection robot according to claim 5, characterized in that: The clamping claw mounting plate (321) is also provided with a synchronous driving structure for driving the left movable claw (322) and the right movable claw (323) to move synchronously toward each other. The synchronous driving structure includes a clamping claw gear (327), two clamping claw racks (326) and a clamping motor. The clamping claw gear (327) is fixed to the output end of the clamping motor. The clamping claw gear (327) is respectively meshed with the two clamping claw racks (326). One of the clamping claw racks (326) is fixedly connected to the left movable claw (322), and one of the clamping claw racks (326) is fixedly connected to the right movable claw (323).

8. The power transmission line inspection robot according to claim 5, characterized in that: A locking claw mechanism (33) is provided between the left movable claw (322) and the claw mounting plate (321), and between the right movable claw (323) and the claw mounting plate (321). The two locking claw mechanisms (33) are symmetrically arranged. The locking claw mechanism (33) comprises a connecting rod (332), an articulated swing shaft (333) and an arc-shaped locking claw (334). One end of the connecting rod (332) is rotatably connected to the claw mounting plate (321) via a fixed rotating shaft (331), and the other end is rotatably connected to the arc-shaped locking claw (334) via a articulated swing shaft (333). The claw mounting plate (321) is provided with a swing arc hole (335) that cooperates with the articulated swing shaft (333).

9. The power transmission line inspection robot according to claim 1, characterized in that: At least one camera is arranged on the inner side of the left climbing arm (1) and the right climbing arm (2), and the camera is electrically connected to a control module.

10. A control method for the power transmission line inspection robot according to any one of claims 1 to 9, characterized in that: The steps include: S1: According to the actual working conditions, an initial step length s0 is set during the inspection robot's tower climbing process; S2: The camera samples an image on the ridgeline of the tower angle steel after each stride of the inspection robot, and identifies the feature points of the foot nails in the image; S3: The control module calculates the distance s between the camera and the nearest foot nail on the angle steel edge line according to the number of foot nail feature points in the image sampling and the number of pixels occupied by a single feature point; S4: The control module performs the composite gripper climbing control algorithm calculation based on visual processing: Where a is the distance from the camera to the top rotation point of the robot, b is the distance from the screw rod to the top rotation point of the robot, l is the effective working length of the right climbing arm, d is the effective working length of the opening and closing screw rod; s1 is the horizontal distance between the camera and the nearest foot nail, s max is the maximum opening and closing distance of a stride of the inspection robot, and u is the final output; S5: If the final output u>0, it is judged that the distance between the foot nails exceeds the maximum stride s of the inspection robot. max Working range, the control module does not send out a control signal, the inspection robot continues to work at the set initial working step s0 distance, and the composite gripper only uses the electromagnetic gripper to fit and adsorb the angle steel in the next step, while the mechanical gripper participates in the grasping work; If the final output u≤0, it is judged that the distance between the foot nails is within the maximum stride s of the inspection robot. max Working range, the control module sends a command signal, the inspection robot works according to the step length s′0, the step length s′0 is the horizontal distance between the foot nail and the camera, and the composite gripper uses the mechanical gripper to clamp onto the foot nail in the next step, and the electromagnetic gripper is energized to adsorb on the angle steel; S6: Repeat steps S2-S5, and the current inspection robot continues to climb on the ridge of the tower angle steel until the inspection robot reaches the designated position of the tower, and then ends the climbing movement.

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