Climbing inspection robot for high-voltage transmission line power iron tower

Abstract

The invention discloses a climbing inspection robot for a high-voltage transmission line electric power iron tower, and belongs to the technical field of electric power iron tower inspection. The inspection device comprises an inspection machine body, a steel belt assembly, a detection guide arm, a reversing unit and a crawling positioning unit, and elastic telescopic wheels are arranged at the upper and lower parts of two sides of the inspection machine body; a magnetic suction chamber is formed in the front side of the inspection machine body, and a steel belt chamber is integrally formed in the rear side of the inspection machine body; the steel belt assembly comprises two sets of steel belt winders fixed to the inner side of the steel belt bin, steel belt coils are installed on the steel belt winders, and one ends of the two sets of steel belt coils movably penetrate out of the top of the inspection machine body, then penetrate into the inspection machine body and are fixed through bolts; according to the climbing inspection robot for the high-voltage transmission line electric power iron tower, the steel strip coil is adopted as the neck of the climbing inspection robot, the climbing inspection robot can smoothly pass through obstacles such as bolt mounting positions, anti-falling guide rails and inclined struts, and the inner side and the outer side of the iron tower can be rapidly and fully inspected.

Description

Technical Field

[0001] The present invention specifically relates to a climbing inspection robot for a high-voltage transmission line power tower, belonging to the technical field of power tower inspection. Background Art

[0002] High-voltage transmission line power towers are long-term exposed to complex environments and need to be regularly inspected for tower body structures, bolt fastening states, corrosion conditions, and the connection points of insulators and conductors, etc. During traditional inspections, manual climbing inspections are carried out, which have low detection efficiency and high risks. Therefore, climbing robots are needed to assist in inspections. Existing climbing robots, such as a climbing inspection robot for a high-voltage transmission line power tower disclosed in Chinese Patent Publication No.: CN108471079B, use the up-and-down movement of the upper box body and the lower box body on the power tower to replace manual climbing, and detect and monitor the components on the power tower through the detection components installed on the upper box body, and feed the detection data back to the monitoring center on the ground, facilitating construction personnel to quickly eliminate relevant obstacles and ensuring the stable operation of the high-voltage transmission line; another example is a climbing robot device for a transmission tower and its control system disclosed in Chinese Patent Publication No.: CN119590525A, including a safety device deployment robot, and the safety device deployment robot includes a device box, the bottom of the device box is fixedly connected with an anti-collision plate, and a support seat is installed on the top of the anti-collision plate. By setting the cooperation of the safety device deployment robot and the control system, using STM32F407ZET6 as the main control chip, improving the traditional PID control theory, improving the YOLOv8 lightweight detection algorithm, integrating camera vision and wireless communication, and jointly completing the task of climbing the footrest through human-computer interaction. However, the above structures have insufficient obstacle-crossing capabilities and cannot quickly cross obstacles such as anti-falling guide rails and diagonal braces; in addition, the detection ability for the power tower itself is insufficient. Summary of the Invention

[0003] To solve the above problems, the present invention proposes a climbing inspection robot for a high-voltage transmission line power tower, which uses a steel belt reel as the neck of the climbing inspection robot, can smoothly pass through obstacles such as bolt installation positions, anti-falling guide rails, and diagonal braces, and realizes rapid full inspection of the inner and outer sides of the power tower.

[0004] The climbing inspection robot for a high-voltage transmission line power tower of the present invention includes: An inspection body, elastic telescopic wheels are arranged on the upper and lower parts on both sides of the inspection body; a magnetic attraction bin is opened on the front side of the inspection body, and a steel belt bin is integrally formed on the rear side of the inspection body; The steel belt assembly comprises two sets of steel belt reels fixed inside the steel belt chamber, the steel belt reels are equipped with steel belt rolls, one end of the two sets of steel belt rolls movably passes through the top of the inspection body, and then passes through the inside of the inspection body and is fixed by bolts; the two sets of steel belt rolls are clamped at the protruding ends and provided with a pair of wheels, and the two sets of wheels are connected to the lifting drive; the lifting drive drives the steel belt roll to pull out and retract, and the steel belt reel realizes automatic unwinding and winding of the steel belt; A detection guide arm, the detection guide arm includes a hysteresis damper fixedly engaged with the top and bottom of the inspection body; the inner sides of the two hysteresis dampers move through the detection swing arm, the front end of the detection swing arm is provided with a detection head, the other end of the detection swing arm is fixed to the rotating sleeve of the electromagnetic clutch, a driving rod is fixed between the two electromagnetic clutches, and the driving rod is connected to the swing driver through a transmission assembly; when a certain detection swing arm needs to rotate, the rotation limit of the detection swing arm by the hysteresis damper is first released, and then the electromagnetic clutch corresponding to the detection swing arm is attracted, the swing driver rotates, driving the driving rod to rotate, thereby driving the detection swing arm to rotate, so as to realize the operation of the detection swing arm entering and leaving the interior of the iron tower; A reversing unit, the reversing unit comprises an electromagnet suction cup and a flange seat fixed inside a magnetic suction chamber, a convex sliding hole being opened at the center of the electromagnet suction cup; a worm gear is fixed to the front end of the flange seat; a guide rod is fixed to the front end of the worm gear, and a convex column is embedded in the front end of the guide rod; the convex column and the guide rod are fixed by bolts; the convex column is slidably embedded in the sliding hole of the electromagnet suction cup; a worm driver cooperating with the worm gear is fixed to the rear end of the electromagnet suction cup through a support; when reversing is required, the inspection body needs to be moved toward the crawling positioning, and the detection guide arm needs to be in an outward-turned state, and the magnetic attraction state of the long electromagnet is released. At this time, the worm driver drives the worm gear to rotate, driving the guide rod, the convex column, the flange seat and the entire inspection body to rotate, thereby realizing rotational reversing; the inspection body rotates along the electromagnet suction cup.

[0005] The crawling positioning unit includes a positioning body, and elastic retractable wheels are arranged on the upper and lower parts of both sides of the positioning body; a plurality of long electromagnets are fixed on the inside of the positioning body; a guide roller is sleeved on the top of the closed loop formed by the two groups of steel belt rolls, and the guide roller is fixed to the bottom of the positioning body through a roller seat; the long electromagnet of the crawling positioning unit can be attracted with the angle iron, so that when the inspection body is hoisted, a hoisting fulcrum can be provided. When the crawling positioning unit is lifted by the steel belt roll, the steel belt roll is limited to the top through the guide roller seat and the positioning body. When the inspection body is lifted, the guide roller serves as the hanging support position for lifting.

[0006] During detection, the robot aligns with the reference point of the power transmission tower through the UVB tag, loads the CAD model corresponding to the tower type, and the climbing inspection robot conducts climbing detection. When climbing and overcoming obstacles, the obstacle avoidance system (binocular depth camera combined with lidar) at the front end of the inspection body and the positioning body constructs the local three-dimensional structure of the tower, and real-time identifies the size and spatial pose of the obstacles; then enters the obstacle crossing process; after completing the obstacle crossing, resumes the climbing and inspection process; during inspection, the inspection head is used to inspect the angle iron of the tower and its attached components, and the inspection results are fed back to the ground station in real time; combined with the CAD model of the tower type, it can accurately judge the current detection position and mark the abnormal inspection position in time. When overcoming obstacles, the steel belt assembly continuously drives the crawling positioning unit to move upward. When the elastic expansion and contraction wheel of the crawling positioning unit touches the obstacle, the steel belt reel bends to adapt. When the crawling positioning unit passes through the obstacle, the steel belt reel automatically returns to the vertical state, and the long strip electromagnet can be controlled to be in a low magnetic attraction state, so that the crawling positioning unit leans against the angle iron and does not prevent the crawling positioning unit from continuing to move upward. When the crawling positioning unit moves upward to the set height, the long strip electromagnet fully powers on and attracts for positioning, completing the obstacle crossing of the crawling positioning unit; then, the electromagnet suction cup is powered off, and the lifting drive drives the steel belt reel to continuously wind up. The steel belt reel exposed outside the inspection body continuously shortens, and the inspection body is continuously lifted up, and through the bending adaptation of the steel belt reel, the inspection body smoothly passes through the obstacle; during the winding and unwinding process of the steel belt reel, continuous guiding is carried out through the sliding sleeve of the inspection body. During inspection, the inspection body is continuously lifted and climbed, and inspection is continuously carried out through the inspection head on the inspection guiding arm. During inspection, the electromagnet suction cup can be controlled to be in a low magnetic attraction state, so that the inspection body walks against the angle iron, and at the same time, it can be in the hoisting state by the crawling positioning unit.

[0007] Further, the elastic expansion and contraction wheel includes a wheel bin fixed on the inspection body or the positioning body. A guide seat is fixed inside the wheel bin, and a central guide rod and multiple external guide rods are slidably arranged on the guide seat; one end of the central guide rod and the external guide rods is fixed to the wheel seat, the other end of the central guide rod is screwed with a limit nut, and the other end of the external guide rod is hollow; a spring body is arranged between the guide seat and the wheel seat; a walking guide wheel is screwed on the wheel seat; the spring body pushes the wheel seat outwards, so that the walking guide wheel touches the angle iron. When it is necessary to cross an obstacle, the walking guide wheel contacts the obstacle, compresses the spring body, and at the same time, the steel belt reel forms an arc-shaped bending structure and smoothly crosses the obstacle.

[0008] Further, the worm drive includes a commutation motor. The output end of the commutation motor is fixed with a worm that cooperates with a worm gear. The other end of the worm is rotatably installed with a guide bearing, and the guide bearing is fixed to the rear end of the electromagnet suction cup; the commutation motor drives the worm to rotate, and the worm drives the worm gear to rotate synchronously, thereby driving the entire guide rod to rotate.

[0009] Further, a guiding section is formed by the guide rod and the thin-diameter section of the convex column, and a sliding gap is provided between the sliding hole and the guiding section; through the sliding gap, the electromagnetic chuck can be in full contact with the angle iron, avoiding being limited by the guide rod.

[0010] Further, the detection head is a visible light camera and a piezoelectric ceramic ultrasonic probe; an obliquely arranged visible light camera and a non-contact electric field sensor are fixed on the upper part of the front end of the positioning body. The visible light camera is a 4K zoom camera (30x optical zoom); the image data collected by the visible light camera is processed by an edge computing unit to run a lightweight YOLOv5 model to achieve real-time identification of bolt loosening and rust areas; that is, the visible light camera takes a picture of the surface of the angle iron (resolution 3840*2160), and then the surface image of the angle iron is successively grayscaled, histogram equalized, and edge detected; after the detection is completed, the rust feature library is compared through the AI model, and the rust area ratio and depth prediction value are output; if the rust area > 5% or the predicted depth > 0.3 mm, the position is marked on the loaded CAD model and a maintenance work order is uploaded; when the AI model is trained, the model is trained through a training data set, the training data set contains 100,000 labeled bolt, rust, and crack images, and migration learning is used to optimize based on ResNet to obtain the AI model. The piezoelectric ceramic ultrasonic probe (frequency 5 MHz, detecting crack depth ≥ 0.1 mm); when the piezoelectric ceramic ultrasonic probe emits high-frequency ultrasonic waves, when the sound waves encounter defects such as cracks and pores, reflection, scattering, or attenuation occurs, and the defect position and size are judged by receiving the echo signal, detecting micro-cracks with a depth ≥ 0.1 mm, and the positioning error ≤ 1 mm; the piezoelectric ceramic ultrasonic probe synchronously detects the rust depth on the surface of the iron tower angle iron (resolution 0.05 mm), and detects the remaining thickness of the steel-clad component (such as when the thickness is reduced from 10 mm to 6 mm due to rust, an early warning is given in time). The non-contact electric field sensor does not need to physically contact the charged body, and can sense the high-voltage electric field environment around the robot in real time by measuring the spatial electric field intensity distribution. For example, when the robot approaches the transmission line or insulator, it can detect the surrounding electric field and capture the corona discharge or partial discharge phenomena caused by insulator pollution and fitting damage; evaluate the insulation performance degradation caused by insulator aging, pollution accumulation, or icing.

[0011] Furthermore, the inner surface of the steel strip coil is a toothed groove surface, and the countershaft pulley includes a pressing wheel pressed against the outer surface of the steel strip coil and a synchronous pulley meshing with the toothed groove surface; the two synchronous pulleys are installed at the output end of the T-shaped speed reducer, and a lifting motor is installed at the input end of the T-shaped speed reducer; when it is necessary to pull the steel strip coil outward, the lifting motor drives the T-shaped speed reducer to rotate, the T-shaped speed reducer drives the two groups of synchronous pulleys to rotate, and the synchronous pulley and the pressing wheel cooperate to drive the steel strip coil to be pulled outward; the steel strip coil is continuously bent at the guide roller, so as to continuously lift the positioning body through the steel strip coil; when it is necessary to wind the steel strip coil, the lifting motor drives the T-shaped speed reducer to rotate in the reverse direction, the T-shaped speed reducer drives the two groups of synchronous pulleys to rotate in the reverse direction, and the synchronous pulley and the pressing wheel cooperate to drive the steel strip coil to be wound; the steel strip coil is continuously wound, and during winding, it is continuously bent at the guide roller. When the positioning body is magnetically attracted and limited, the inspection body is pulled up through the steel strip coil.

[0012] Furthermore, the driving rod is fixed to the outer sleeve of the electromagnetic clutch. The transmission assembly includes a belt pulley fixed to the middle of the driving rod. A synchronous belt is sleeved on the belt pulley. The swing driver is a detection motor, and a synchronous pulley is fixed to the output end of the detection motor. The synchronous pulley and the synchronous belt are sleeved and installed; when it is necessary to drive the detection swing arm to swing, the detection motor drives the synchronous pulley to rotate, the synchronous pulley drives the belt pulley to rotate through the synchronous belt, the belt pulley drives the driving rod to rotate, and the driving rod drives the detection swing arm to swing through the electromagnetic clutch.

[0013] Furthermore, the detection swing arm includes a support pillar rotatably installed with a hysteresis damper. The top of the support pillar is fixed with a corner arm for installing a detection head; the support pillar can rotate inside the hysteresis damper, so as to drive the corner arm to swing synchronously. After swinging, the hysteresis damper is controlled to limit the rotation of the support pillar to prevent the corner arm from swinging freely after the electromagnetic clutch is unlocked.

[0014] Furthermore, a magnetic suction seat with a right-angle structure is fixed on the corner arm, and multiple positioning electromagnets are fixed on the magnetic suction seat; a detection plate is attracted and joined between the two magnetic suction seats; the detection head is fixed on the detection plate; through the detection plate, a comprehensive detection of the inner side of the angle iron of the iron tower can be realized. During detection, when the lower corner arm is blocked by an obstacle, the positioning electromagnet of the lower corner arm loses power. At this time, the lower corner arm swings away from the detection plate, and the detection plate is magnetically attracted and hung by the upper corner arm; when the inspection body climbs, the lower corner arm gets out of the obstacle block. When the inspection body climbs and the lower corner arm gets out of the obstacle, the lower corner arm is re-attracted to the detection plate; when the inspection body continues to climb and the upper corner arm approaches the obstacle, the positioning electromagnet of the upper corner arm loses power. At this time, the upper corner arm swings away from the detection plate, and the detection plate is magnetically attracted and hung by the lower corner arm; when the inspection body climbs and the upper corner arm gets out of the obstacle, the upper corner arm is re-attracted to the detection plate; thus, the detection plate always comprehensively detects the inner side of the angle iron of the iron tower.

[0015] Furthermore, a sliding bearing is fixed at the magnetic suction chamber, and the electromagnet suction cup passes through the sliding bearing movably; the electromagnet suction cup can slide inside the sliding bearing, so as to realize the attraction of the electromagnet suction cup to the angle iron of the power iron tower; at the same time, when the inspection body rotates, through the cooperation of the electromagnet suction cup and the sliding bearing, the sliding bearing rotates and guides along the electromagnet suction cup.

[0016] Compared with the prior art, when the climbing inspection robot for the high-voltage transmission line power iron tower climbs, the inspection body is used as the lower support, the steel belt reel is used as the swinging neck, the crawling positioning unit is used as the pre-climbing part of the climbing inspection robot and as the support for hoisting the inspection body, and it can smoothly pass through obstacles such as bolt installation positions, anti-falling guide rails and diagonal braces. And through the commutation unit, the commutation of the climbing inspection robot can be realized, and inspections of anti-falling guide rails and diagonal braces can be carried out, so as to quickly and fully inspect the inner and outer sides of the iron tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the climbing inspection robot of the present invention.

[0018] Figure 2 It is a schematic diagram of the structure of the steel belt assembly of the present invention.

[0019] Figure 3 It is a schematic diagram of the structure of the climbing inspection robot of the present invention in the state without installing the positioning body.

[0020] Figure 4 It is a schematic diagram of the structure of the detection guiding arm of the present invention.

[0021] Figure 5 It is a schematic diagram of the structure of the elastic telescopic wheel of the present invention.

[0022] Figure 6 This is a schematic structural diagram of the commutation unit of the present invention.

[0023] Figure 7 This is a schematic cross-sectional structural diagram of the commutation unit of the present invention at the electromagnet chuck.

[0024] Figure 8 This is a schematic structural diagram of the installation structure of the lifting drive and the steel strip coil of the present invention.

[0025] Figure 9 This is a schematic structural diagram of another embodiment of the climbing inspection robot of the present invention.

[0026] Reference numerals: 1, inspection body; 2, elastic telescopic wheel; 3, steel strip winder; 4, steel strip coil; 5, counter wheel; 6, lifting drive; 7, hysteresis damper; 8, detection swing arm; 9, detection head; 10, electromagnetic clutch; 11, drive rod; 12, electromagnet chuck; 13, flange seat; 14, worm gear; 15, guide rod; 16, convex column; 17, positioning body; 18, long electromagnet; 19, guide roller; 20, guide seat; 21, central guide rod; 22, external guide rod; 23, wheel seat; 24, limit nut; 25, spring body; 26, traveling guide wheel; 27, commutation motor; 28, worm; 29, T-type reducer; 30, lifting motor; 31, belt pulley; 32, synchronous belt; 33, detection motor; 34, support column; 35, corner arm; 36, magnetic attraction seat; 37, detection plate; 38, sliding bearing. Detailed implementation manners

[0027] Embodiment: As Figures 1 to 8 shown, the climbing inspection robot for a high-voltage transmission line power tower includes: An inspection body 1, with elastic telescopic wheels 2 arranged on the upper and lower parts on both sides of the inspection body 1; a magnetic attraction chamber is opened on the front side of the inspection body 1, and a steel strip chamber is integrally formed on the rear side of the inspection body 1; A steel strip assembly, the steel strip assembly includes two groups of steel strip winders 3 fixed inside the steel strip chamber, a steel strip coil 4 is installed on the steel strip winder 3, one ends of the two groups of steel strip coils 4 pass through the top of the inspection body 1 and then enter the inside of the inspection body 1 and are fixed by bolts; the extending ends of the two groups of steel strip coils 4 are clamped with a counter wheel 5, and the two groups of counter wheels 5 are connected to a lifting drive 6; the lifting drive 6 drives the steel strip coil 4 to pull out and retract, and the steel strip winder 3 realizes the automatic unwinding and winding of the steel strip; A detection guide arm, the detection guide arm includes a hysteresis damper 7 which is fixedly engaged with the top and bottom of the inspection body 1; the inner sides of the two hysteresis dampers 7 move through the detection swing arm 8, the front end of the detection swing arm 8 is provided with a detection head 9, the other end of the detection swing arm 8 is fixed to the rotating sleeve of the electromagnetic clutch 10, a driving rod 11 is fixed between the two electromagnetic clutches 10, and the driving rod 11 is connected to the swing driver through a transmission assembly; when a certain detection swing arm 8 needs to rotate, the rotation limit of the hysteresis damper 7 on the detection swing arm 8 is first released, and then the electromagnetic clutch 10 corresponding to the detection swing arm 8 is attracted, the swing driver rotates, and drives the driving rod 11 to rotate, thereby driving the detection swing arm 8 to rotate, so as to realize the operation of the detection swing arm 8 entering and leaving the interior of the iron tower; The reversing unit comprises an electromagnet suction cup 12 and a flange seat 13 fixed inside the magnetic suction chamber, wherein a convex sliding hole is provided at the center of the electromagnet suction cup 12; a worm gear 14 is fixed to the front end of the flange seat 13; a guide rod 15 is fixed to the front end of the worm gear 14, and a convex column 16 is embedded in the front end of the guide rod 15; the convex column 16 and the guide rod 15 are fixed by bolts; the convex column 16 is slidably embedded in the sliding hole of the electromagnet suction cup 12; a worm drive cooperating with the worm gear 14 is fixed to the rear end of the electromagnet suction cup 12 through a support; when reversing is required, the inspection body 1 needs to be positioned toward the crawling position, and the detection guide arm is in an outward-turned state, and the magnetic attraction state of the long electromagnet is released, at this time, the worm drive drives the worm gear 14 to rotate, driving the guide rod 15, the convex column, the flange seat 13 and the entire inspection body 1 to rotate, realizing rotational reversing; the inspection body 1 rotates along the electromagnet suction cup 12.

[0028] The crawling positioning unit includes a positioning body 17, and elastic retractable wheels 2 are arranged on the upper and lower parts of both sides of the positioning body 17; a plurality of long electromagnets 18 are fixed on the inner side of the positioning body 17; a guide roller 19 is sleeved on the top of the closed loop formed by the two groups of steel strip rolls 4, and the guide roller 19 is fixed to the bottom of the positioning body 17 through a roller seat; the long electromagnet 18 of the crawling positioning unit can be attracted with the angle iron, so that when the inspection body 1 is hoisted, a hoisting fulcrum can be provided. When the crawling positioning unit is pushed up by the steel strip roll 4, the steel strip roll 4 is limited to the top by the guide roller 19 seat and the positioning body 17. When the inspection body 1 is hoisted, the guide roller 19 serves as a hanging support position for hoisting.

[0029] During detection, the robot aligns with the reference point of the power transmission tower through the UVB tag, loads the CAD model corresponding to the tower type, and the climbing inspection robot conducts climbing detection. When climbing and overcoming obstacles, the obstacle avoidance system (binocular depth camera combined with lidar) at the front ends of the inspection body 1 and the positioning body 17 constructs the local three-dimensional structure of the tower, and real-time identifies the size and spatial pose of the obstacles; then enters the obstacle overcoming process; after overcoming the obstacles, resumes the climbing and inspection processes; during inspection, the inspection head 9 inspects the angle iron of the tower and its attached components, and feeds back the inspection results to the ground station in real time; combined with the CAD model of the tower type, it can accurately judge the current detection position and timely mark the abnormal inspection positions; when the climbing inspection robot conducts climbing tests, by testing on Q345B angle steel (specification L150*14), the average speed is 0.3m / s, the maximum obstacle overcoming height is 240mm, the recognition rate of bolt loosening is 98.7%, and the measurement error of the rust area is <3%; When overcoming obstacles, the steel belt assembly continuously drives the crawling positioning unit to move upward. When the elastic expansion and contraction wheel 2 of the crawling positioning unit touches an obstacle, it causes the steel belt reel 4 to bend and adapt. When the crawling positioning unit passes through the obstacle, the steel belt reel 4 automatically returns to the vertical state, and the long strip electromagnet 18 can be controlled to be in a low magnetic attraction state, making the crawling positioning unit lean towards the angle iron and not preventing the crawling positioning unit from continuously moving upward. When the crawling positioning unit moves upward to the set height, the long strip electromagnet 18 fully powers on and attracts for positioning, completing the obstacle overcoming of the crawling positioning unit; then, the electromagnet suction cup 12 is powered off, and the lifting driver 6 drives the steel belt reel 4 to continuously wind up. The steel belt reel 4 exposed outside the inspection body 1 continuously shortens, and the inspection body 1 is continuously lifted up, and through the bending adaptation of the steel belt reel 4, the inspection body 1 smoothly passes through the obstacle; during the winding and unwinding process of the steel belt reel 4, continuous guiding is carried out through the sliding sleeve of the inspection body 1; During inspection, the inspection body 1 is continuously lifted and climbed, and the inspection head 9 on the inspection guiding arm continuously conducts inspections. During inspection, the electromagnet suction cup 12 can be controlled to be in a low magnetic attraction state, making the inspection body 1 walk towards the angle iron, and at the same time, it can be in the hoisting state by the crawling positioning unit.

[0030] The elastic expansion and contraction wheel 2 includes a wheel bin fixed to the inspection body 1 or the positioning body 17. A guide seat 20 is fixed inside the wheel bin, and a central guide rod 21 and multiple external guide rods 22 are slidably arranged on the guide seat 20; one ends of the central guide rod 21 and the external guide rods 22 are fixed to the wheel seat 23, the other end of the central guide rod 21 is screwed with a limit nut 24, and the other ends of the external guide rods 22 are hollow; a spring body 25 is arranged between the guide seat 20 and the wheel seat 23; a walking guide wheel 26 is screwed on the wheel seat 23; the spring body 25 pushes the wheel seat 23 outwards, making the walking guide wheel 26 contact the angle iron. When it is necessary to cross an obstacle, the walking guide wheel 26 contacts the obstacle, compresses the spring body 25, and at the same time, the steel belt reel 4 forms an arc-shaped bending structure and smoothly crosses the obstacle.

[0031] The worm drive includes a reversing motor 27. A worm 28 that mates with a worm wheel 14 is fixed to the output end of the reversing motor 27. The other end of the worm 28 is rotatably installed with a guide bearing, and the guide bearing is fixed to the rear end of an electromagnet chuck 12. The reversing motor 27 drives the worm 28 to rotate, and the worm 28 drives the worm wheel 14 to rotate synchronously, thereby driving the entire guide rod 15 to rotate.

[0032] The thin-diameter sections of the guide rod 15 and the convex column 16 form a guiding section, and a sliding gap is provided between the sliding hole and the guiding section. Through the sliding gap, the electromagnet chuck 12 can be in full contact with the angle iron, avoiding being limited by the guide rod 15.

[0033] The detection head 9 is a visible light camera and a piezoelectric ceramic ultrasonic probe. An obliquely arranged visible light camera and a non-contact electric field sensor are fixed to the upper part of the front end of the positioning body 17. The visible light camera is a 4K zoom camera (30x optical zoom). The image data collected by the visible light camera, through the edge computing unit, runs the lightweight YOLOv5 model to realize the real-time identification of bolt loosening and rust areas. That is, the visible light camera takes an image of the angle steel surface (resolution 3840*2160), and then sequentially performs grayscale conversion, histogram equalization, and edge detection on the angle steel surface image. After the detection is completed, the rust feature library is compared through the AI model, and the rust area ratio and depth prediction value are output. If the rust area > 5% or the predicted depth > 0.3mm, the position is marked on the loaded CAD model and a maintenance work order is uploaded. When the AI model is trained, the model is trained through the training data set. The training data set contains 100,000 labeled bolt, rust, and crack images, and is optimized based on ResNet using transfer learning to obtain the AI model. The piezoelectric ceramic ultrasonic probe (frequency 5MHz, detecting crack depth ≥ 0.1mm). When the piezoelectric ceramic ultrasonic probe emits high-frequency ultrasonic waves, when the sound waves encounter defects such as cracks and pores, reflection, scattering, or attenuation occurs, and the defect position and size are judged by receiving the echo signal, detecting micro-cracks with a depth ≥ 0.1mm, and the positioning error ≤ 1mm. The piezoelectric ceramic ultrasonic probe synchronously detects the rust depth on the surface of the iron tower angle steel (resolution 0.05mm), and detects the remaining thickness of the steel-clad member (such as when the thickness is reduced from 10mm to 6mm due to rust, a warning is given in time). The non-contact electric field sensor does not need to physically contact the charged body. By measuring the spatial electric field intensity distribution, it can real-time sense the high-voltage electric field environment around the robot. For example, when the robot approaches the transmission line or insulator, it can detect the surrounding electric field and capture the corona discharge or partial discharge phenomena caused by insulator pollution and fitting damage. It evaluates the insulation performance degradation caused by insulator aging, pollution accumulation, or icing.

[0034] The inner surface of the steel strip coil 4 is a toothed groove surface. The countershaft pulley 5 includes a pressing wheel pressed on the outer surface of the steel strip coil 4 and a synchronous pulley meshing with the toothed groove surface. The two synchronous pulleys are installed at the output end of the T-shaped speed reducer 29, and a lifting motor 30 is installed at the input end of the T-shaped speed reducer 29. When it is necessary to pull the steel strip coil 4 outward, the lifting motor 30 drives the T-shaped speed reducer 29 to rotate. The T-shaped speed reducer 29 drives the two groups of synchronous pulleys to rotate. The synchronous pulley and the pressing wheel cooperate to drive the steel strip coil 4 to be pulled outward. The steel strip coil 4 is continuously bent at the guide roller 19, so as to continuously jack up the positioning body 17 through the steel strip coil 4. When it is necessary to wind up the steel strip coil 4, the lifting motor 30 drives the T-shaped speed reducer 29 to rotate in the reverse direction. The T-shaped speed reducer 29 drives the two groups of synchronous pulleys to rotate in the reverse direction. The synchronous pulley and the pressing wheel cooperate to drive the steel strip coil 4 to be wound up. The steel strip coil 4 is continuously wound up. During winding, it is continuously bent at the guide roller 19. When the positioning body 17 is magnetically attracted and limited, the inspection body 1 is pulled up through the steel strip coil 4.

[0035] The driving rod 11 is fixed to the outer casing of the electromagnetic clutch 10. The transmission assembly includes a belt pulley 31 fixed to the middle of the driving rod 11. A synchronous belt 32 is sleeved on the belt pulley 31. The swing driver is a detection motor 33. A synchronous pulley is fixed to the output end of the detection motor 33. The synchronous pulley and the synchronous belt 32 are sleeved and installed. When it is necessary to drive the detection swing arm 8 to swing, the detection motor 33 drives the synchronous pulley to rotate. The synchronous pulley drives the belt pulley 31 to rotate through the synchronous belt 32. The belt pulley 31 drives the driving rod 11 to rotate. The driving rod 11 drives the detection swing arm 8 to swing through the electromagnetic clutch 10.

[0036] The detection swing arm 8 includes a support column 34 rotatably installed with the hysteresis damper 7. The top of the support column 34 is fixed with a corner arm 35 for installing the detection head 9. The support column 34 can rotate inside the hysteresis damper 7, so as to drive the corner arm 35 to swing synchronously. After swinging, the hysteresis damper 7 is controlled to limit the rotation of the support column 34 to prevent the corner arm 35 from swinging freely after the electromagnetic clutch 10 is unlocked.

[0037] A sliding bearing 38 is fixed at the magnetic attraction chamber. The electromagnetic chuck 12 movably passes through the sliding bearing 38. The electromagnetic chuck 12 can slide inside the sliding bearing 38, so as to realize that the electromagnetic chuck 12 is attracted to the angle iron of the power transmission tower. At the same time, when the inspection body 1 rotates, through the cooperation of the electromagnetic chuck 12 and the sliding bearing 38, the sliding bearing 38 rotates and guides along the electromagnetic chuck 12.

[0038] As Figure 9As shown, a magnetic suction seat 36 with a right-angle structure is fixed on the corner arm 35, and a plurality of positioning electromagnets are fixed on the magnetic suction seat 36; a detection plate 37 is attracted and joined between the two magnetic suction seats 36; the detection head 9 is fixed on the detection plate 37; through the detection plate 37, a comprehensive detection of the inner side of the angle iron of the iron tower can be realized. The detection plate only completes the comprehensive detection of the tower body angle iron and cannot monitor the accessories. During detection, when the lower corner arm 35 is blocked by an obstacle, the positioning electromagnet of the lower corner arm 35 loses power. At this time, the lower corner arm 35 swings away from the detection plate 37, and the detection plate 37 is magnetically attracted and hung by the upper corner arm 35. When the inspection body 1 climbs, the lower corner arm 35 is released from the obstacle block. When the inspection body 1 climbs and the lower corner arm 35 is released from the obstacle, the lower corner arm 35 is re-attracted to the detection plate 37. When the inspection body 1 continues to climb and the upper corner arm 35 approaches the obstacle, the positioning electromagnet of the upper corner arm 35 loses power. At this time, the upper corner arm 35 swings away from the detection plate 37, and the detection plate 37 is magnetically attracted and hung by the lower corner arm 35. When the inspection body 1 climbs and the upper corner arm 35 is released from the obstacle, the upper corner arm 35 is re-attracted to the detection plate 37; thus, the detection plate 37 always comprehensively detects the inner side of the angle iron of the iron tower.

[0039] The above embodiments are only the preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made according to the structures, features, and principles described in the scope of the present invention application are included in the scope of the present invention application.

Claims

1. A climbing inspection robot for high-voltage transmission line power towers, characterized in that: include: An inspection body, wherein elastic retractable wheels are arranged at the upper and lower parts of both sides of the inspection body; The front side of the inspection body is provided with a magnetic suction chamber, and the rear side of the inspection body is integrally formed with a steel belt chamber; The steel belt assembly includes two sets of steel belt reels fixed inside the steel belt chamber, and the steel belt reels are installed with steel belt rolls. One end of the two sets of steel belt rolls can move through the top of the inspection body, and then pass through the inside of the inspection body and are fixed by bolts; the two sets of steel belt rolls are clamped at the protruding ends and provided with a pair of wheels, and the two sets of the pair of wheels are connected to the lifting drive; A detection guide arm, the detection guide arm includes a hysteresis damper that is fixedly engaged with the top and bottom of the inspection body; the inner sides of the two hysteresis dampers move through the detection swing arm, the front end of the detection swing arm is provided with a detection head, the other end of the detection swing arm is fixed to the rotating sleeve of the electromagnetic clutch, a driving rod is fixed between the two electromagnetic clutches, and the driving rod is connected to the swing driver through a transmission assembly; A reversing unit, the reversing unit comprises an electromagnet suction cup and a flange seat fixed inside a magnetic suction chamber, a convex sliding hole is opened at the center of the electromagnet suction cup; a worm gear is fixed to the front end of the flange seat; a guide rod is fixed to the front end of the worm gear, and a convex column is embedded in the front end of the guide rod; the convex column and the guide rod are fixed by bolts; the convex column is slidably embedded in the sliding hole of the electromagnet suction cup; a worm drive matching the worm gear is fixed to the rear end of the electromagnet suction cup through a support; The crawling positioning unit comprises a positioning body, and elastic retractable wheels are arranged on the upper and lower parts of both sides of the positioning body; a plurality of long electromagnets are fixed on the inside of the positioning body; a guide roller is sleeved on the top of the closed loop formed by the two groups of steel strip rolls, and the guide roller is fixed to the bottom of the positioning body through a roller seat.

2. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The elastic retractable wheel includes a wheel bin fixed on an inspection body or a positioning body, a guide seat is fixed inside the wheel bin, a central guide rod and multiple external guide rods are slidably arranged on the guide seat; one end of the central guide rod and the external guide rod are fixed to the wheel seat, the other end of the central guide rod is screwed on a limiting nut, and the other end of the external guide rod is hollow; a spring body is arranged between the guide seat and the wheel seat; a walking guide wheel is screwed on the wheel seat.

3. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The worm drive comprises a reversing motor, a worm matched with a worm wheel is fixed at the output end of the reversing motor, the other end of the worm is rotatably mounted with a guide bearing, and the guide bearing is fixed to the rear end of the electromagnet suction cup.

4. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The guide rod and the thin-diameter section of the convex column form a guide section, and a sliding gap is arranged between the sliding hole and the guide section.

5. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The detection head is a visible light camera and a piezoelectric ceramic ultrasonic probe; the upper front end of the positioning body is fixed with an obliquely arranged visible light camera and a non-contact electric field sensor.

6. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The inner surface of the steel belt roll is a toothed surface, and the pair of wheels includes a pressure wheel pressed onto the outer surface of the steel belt roll and a synchronous belt wheel meshing with the toothed surface; the two synchronous belt wheels are installed at the output end of the T-type reducer, and a lifting motor is installed at the input end of the T-type reducer.

7. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The driving rod is fixed to the outer shell of the electromagnetic clutch, the transmission assembly includes a belt disk fixed to the middle of the driving rod, a synchronous belt is sleeved on the belt disk, the swing driver is a detection motor, a synchronous wheel is fixed to the output end of the detection motor, and the synchronous wheel and the synchronous belt are sleeved and installed.

8. The climbing inspection robot for high-voltage transmission line power tower according to claim 1 is characterized in that: The detection swing arm comprises a pillar rotatably mounted with a hysteresis damper, and a corner arm for mounting a detection head is fixed on the top of the pillar.

9. The climbing inspection robot for high-voltage transmission line power tower according to claim 8 is characterized in that: A right-angle magnetic seat is fixed on the corner arm, and a plurality of positioning electromagnets are fixed on the magnetic seat; a detection plate is attracted between two magnetic seats; and the detection head is fixed on the detection plate.

10. The climbing inspection robot for high-voltage transmission line power tower according to claim 1, characterized in that: A sliding bearing is fixed at the magnetic suction chamber, and the electromagnet suction cup moves through the sliding bearing.

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