A climbing inspection robot for high-voltage transmission line power towers

Abstract

The present invention discloses a climbing inspection robot for a high-voltage transmission line power tower, which belongs to the technical field of power tower inspection. The robot comprises an inspection body, a steel belt assembly, a detection guide arm, a reversing unit, and a crawling positioning unit. Elastic retractable wheels are provided on the upper and lower parts of both sides of the inspection body. A magnetic suction chamber is provided on the front side of the inspection body, and a steel belt chamber is integrally formed on the rear side of the inspection body. The steel belt assembly includes two groups of steel belt reels fixed to the inside of the steel belt chamber. Steel belt rolls are installed on the steel belt reels. One end of the two groups of steel belt rolls can movably pass through the top of the inspection body, then pass through the inside of the inspection body, and be fixed by bolts. The climbing inspection robot for a high-voltage transmission line power tower of the present invention uses a steel belt roll as the neck of the climbing inspection robot, which can smoothly pass through obstacles such as bolt installation positions, anti-fall guide rails, and diagonal braces, and realize rapid and full inspection of the inside and outside of the tower.

Description

Technical Field

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

[0002] High-voltage transmission line power towers are exposed to complex environments for a long time, and regular inspections are required to check the tower structure, bolt tightening status, corrosion status, insulator and conductor connection points, etc. Traditional inspections are all done by manual climbing, which has low detection efficiency and high risk. Therefore, climbing robots are needed to assist in inspections. Existing climbing robots, such as Chinese patent announcement number: CN108471079B, disclose a climbing inspection robot for high-voltage transmission line power towers. This structure uses the upper and lower boxes to move up and down on the tower to replace manual climbing, and Detection components installed on the upper housing are used to inspect and monitor components on the tower, and detection data is fed back to a ground-based monitoring center, enabling construction workers to quickly remove obstacles and ensure the stable operation of high-voltage transmission lines. Another example is Chinese Patent Publication No. CN119590525A, which discloses a transmission tower climbing robot and its control system. The robot includes a safety device deployment robot, a device box, a crash plate fixedly connected to the bottom of the box, and a support base mounted on the top of the crash plate. By arranging the safety device deployment robot and the control system for coordinated use, using the STM32F407ZET6 as the main control chip, improving traditional PID control theory, and improving the YOLOv8 lightweight detection algorithm, integrating camera vision with wireless communication, and human-machine interaction to complete the foot spike climbing task. However, the above structure has insufficient obstacle-crossing capabilities and cannot quickly cross obstacles such as anti-fall guide rails and diagonal braces. Furthermore, the detection capabilities of the tower itself are insufficient. Summary of the Invention

[0003] To solve the above problems, the present invention proposes a climbing inspection robot for high-voltage transmission line power towers. A steel belt roll is used as the neck of the climbing inspection robot, which can smoothly pass through obstacles such as bolt installation positions, anti-fall guide rails and diagonal braces, and realize rapid and comprehensive inspection of the inside and outside of the tower.

[0004] The climbing inspection robot for a high-voltage transmission line power tower of the present invention comprises:

[0005] Inspection body, the upper and lower parts of both sides of the inspection body are provided with elastic retractable wheels; 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;

[0006] The steel belt assembly includes two sets of steel belt reels fixed to the inner side of 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 be movably passed through the top of the inspection body, and then passed into the interior of the inspection body and fixed by bolts; the protruding ends of the two sets of steel belt rolls are clamped with a pair of wheels, and the two sets of wheels are connected to the lifting drive; the lifting drive drives the steel belt rolls to pull out and retract, and the steel belt reel realizes automatic unwinding and winding of the steel belt;

[0007] 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 be rotated, 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;

[0008] The reversing unit includes an electromagnet suction cup and a flange seat fixed inside the magnetic suction chamber, and 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; the rear end of the electromagnet suction cup is fixed with a worm driver that cooperates with the worm gear through a support; when reversing is required, the inspection body needs to be leaned towards the crawling positioning, 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 driver drives the worm gear to rotate, driving the guide rod, convex column, flange seat and the entire inspection body to rotate, realizing rotational reversing; the inspection body rotates along the electromagnet suction cup.

[0009] The crawling positioning unit includes a positioning body, and elastic retractable wheels are provided 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; the top of the closed loop formed by the two groups of steel strip coils is sleeved with a guide roller, 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 by the angle iron, so that when the inspection body is hoisted, it can provide a hoisting fulcrum. When the crawling positioning unit is lifted by the steel strip coil, the steel strip coil is limited to the top by the guide roller seat and the positioning body. When the inspection body is lifted, the guide roller serves as the hanging support position for the lifting.

[0010] During inspection, the robot aligns with the reference point of the power tower through the UVB tag, loads the CAD model of the corresponding tower type, and then climbs and inspects. When climbing and overcoming obstacles, the robot inspects the body and locates the obstacle avoidance system at the front end of the body (binocular depth camera combined with lidar), constructs the local three-dimensional structure of the tower, and identifies the obstacle size and spatial position in real time. Then, the robot enters the obstacle overcoming process. After the obstacle is overcoming, the robot resumes the climbing and inspection process. During the inspection, the detection head inspects the tower angle iron and its ancillary components, and the inspection results are fed back to the ground station in real time. Combined with the CAD model of the tower type, the robot can accurately determine the current inspection position and promptly mark abnormal inspection positions.

[0011] When overcoming obstacles, the steel belt assembly continuously drives the crawling positioning unit upward. When the elastic retractable wheel of the crawling positioning unit contacts the obstacle, the steel belt coil is bent to adapt. When the crawling positioning unit passes the obstacle, the steel belt coil automatically restores the vertical state and can control the long electromagnet to be in a low magnetic state, so that the crawling positioning unit is close to the angle iron without preventing the crawling positioning unit from continuing to rise. When the crawling positioning unit rises to the set height, the long electromagnet is fully powered and positioned, 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 coil to continuously reel in, and the steel belt coil exposed outside the inspection body is continuously shortened, the inspection body is continuously hoisted, and the steel belt coil is bent to adapt, so that the inspection body can smoothly pass through the obstacle; during the winding and unwinding process of the steel belt coil, it is continuously guided by the sliding sleeve of the inspection body;

[0012] During inspection, the inspection body is continuously hoisted and climbed, and the inspection is continuously carried out through the detection head on the detection guide arm. During inspection, the electromagnet suction cup can be controlled to be in a low magnetic suction state, so that the inspection body can move toward the angle iron and can be hoisted by the crawling positioning unit at the same time.

[0013] Furthermore, the elastic retractable 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 provided on the guide seat; one end of the central guide rod and the external guide rod are fixed to the wheel seat, and the other end of the central guide rod is screwed onto a limiting nut, and the other end of the external guide rod is hollow; a spring body is provided between the guide seat and the wheel seat; a walking guide wheel is screwed onto the wheel seat; the spring body pushes the wheel seat outward so that the walking guide wheel contacts 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 roll forms an arc-shaped curved structure to smoothly cross the obstacle.

[0014] Furthermore, the worm drive includes a reversing motor, a worm that cooperates with the worm wheel is fixed to the output end of the reversing motor, the other end of the worm is rotatably mounted on a guide bearing, and the guide bearing is fixed to the rear end of the electromagnet suction cup; the reversing motor drives the worm to rotate, and the worm drives the worm wheel to rotate synchronously, thereby driving the entire guide rod to rotate.

[0015] Furthermore, the guide rod and the thin-diameter section of the convex column form a guide section, and a sliding gap is provided between the sliding hole and the guide section; through the sliding gap, the electromagnet suction cup can fully contact the angle iron to avoid being limited by the guide rod.

[0016] Furthermore, 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;

[0017] The visible light camera uses a 4K zoom camera (30x optical zoom). The image data collected by the visible light camera is used to run a lightweight YOLOv5 model through the edge computing unit to achieve real-time identification of loose bolts and rusted areas. The visible light camera captures the surface image of the angle steel (resolution 3840*2160), then grayscales, histograms are equalized, and edge detection is performed on the angle steel surface image. After the detection is completed, the AI model is compared with the corrosion feature library to output the rust area ratio and depth prediction value. If the rust area is greater than 5% or the predicted depth is greater than 0.3mm, the location is marked on the loaded CAD model and a maintenance work order is uploaded. When training the AI model, the training data set contains 100,000 labeled bolt, rust, and crack images. The AI model is optimized based on ResNet using transfer learning.

[0018] Piezoelectric ceramic ultrasonic probe (frequency 5MHz, detection 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, they are reflected, scattered, or attenuated. The defect location and size are determined by receiving the echo signal, and micro-cracks with a depth of ≥0.1mm can be detected with a positioning error of ≤1mm. The piezoelectric ceramic ultrasonic probe also simultaneously detects the depth of rust on the surface of the tower angle steel (resolution 0.05mm) and the remaining thickness of the steel-clad components (if rust causes the thickness to decrease from 10mm to 6mm, timely warning will be issued);

[0019] Non-contact electric field sensors do not require physical contact with charged objects. By measuring the spatial electric field intensity distribution, they can perceive the high-voltage electric field environment around the robot in real time. For example, when the robot approaches a transmission line or insulator, it can detect the surrounding electric field and capture corona discharge or partial discharge caused by insulator contamination or hardware damage; and evaluate the degradation of insulation performance caused by insulator aging, contamination accumulation or icing.

[0020] Furthermore, the inner surface of the steel strip roll is a toothed surface, and the pair of wheels includes a pressure wheel pressed on the outer surface of the steel strip roll and a synchronous pulley meshing with the toothed surface; the two synchronous pulleys are installed on the output end of the T-type reducer, and the input end of the T-type reducer is installed with a lifting motor; when it is necessary to pull the steel strip roll outward, the lifting motor drives the T-type reducer to rotate, and the T-type reducer drives the two sets of synchronous pulleys to rotate, and the synchronous pulleys and the pressure wheel cooperate to drive the steel strip roll to be pulled outward; the steel strip roll is continuously bent at the guide roller, thereby continuously pushing up the positioning body through the steel strip roll; when it is necessary to rewind the steel strip roll, the lifting motor drives the T-type reducer to rotate in the opposite direction, and the T-type reducer drives the two sets of synchronous pulleys to rotate in the opposite direction, and the synchronous pulleys and the pressure wheel cooperate to drive the steel strip roll to be rewound; the steel strip roll is continuously rewound, and when rewinding, the guide roller is continuously bent, and when the positioning body is magnetically limited, the inspection body is pulled up through the steel strip roll.

[0021] Furthermore, the driving rod is fixed to the outer shell of the electromagnetic clutch, and the transmission assembly includes a belt reel fixed to the middle part of the driving rod, a synchronous belt is sleeved on the belt reel, and the swing driver is a detection motor, and 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; when it is necessary to drive the detection swing arm to swing, the detection motor drives the synchronous wheel to rotate, and the synchronous wheel drives the belt reel to rotate through the synchronous belt, and the belt reel drives the driving rod to rotate, and the driving rod drives the detection swing arm to swing through the electromagnetic clutch.

[0022] Furthermore, the detection swing arm includes 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; the pillar can rotate inside the hysteresis damper, thereby driving the corner arm to swing synchronously. After swinging, the hysteresis damper is controlled to limit the rotation of the pillar to prevent the corner arm from swinging freely after the electromagnetic clutch is unlocked.

[0023] Furthermore, a right-angled 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 the two magnetic seats; the detection head is fixed on the detection plate; the detection plate can realize a comprehensive detection of the inner side of the angle iron of the tower. During the 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 attached to the upper corner arm; when the inspection body climbs, the lower corner arm When the inspection body climbs up and the lower corner arm is free from the obstacle, the lower corner arm is re-engaged with the detection plate; the inspection body continues to climb, and when 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 up and the upper corner arm is free from the obstacle, the upper corner arm is re-engaged with the detection plate; thereby, the detection plate can always fully detect the inner side of the angle iron of the tower.

[0024] Furthermore, a sliding bearing is fixed at the magnetic suction chamber, and the electromagnetic suction cup moves through the sliding bearing; the electromagnetic suction cup can slide inside the sliding bearing, thereby realizing the electromagnetic suction cup being attracted to the angle iron of the power tower; at the same time, when the inspection body rotates, the sliding bearing is guided along the rotation of the electromagnetic suction cup through the cooperation between the electromagnetic suction cup and the sliding bearing.

[0025] Compared with the prior art, the climbing inspection robot for high-voltage transmission line power towers of the present invention uses an inspection body as the lower support, a steel belt roll as the swinging neck, a crawling positioning unit as the pre-climbing part of the climbing inspection robot, and as a support body for hoisting the inspection body. It can smoothly pass through obstacles such as bolt installation positions, anti-fall guide rails and diagonal braces, and through the reversing unit, it can realize the reversal of the climbing inspection robot, and can inspect the anti-fall guide rails and diagonal braces, etc., to achieve rapid and full inspection of the inside and outside of the tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of the climbing inspection robot of the present invention.

[0027] Figure 2 It is a schematic structural diagram of the steel belt assembly of the present invention.

[0028] Figure 3 This is a structural diagram of the climbing inspection robot of the present invention in a state without a positioning body installed.

[0029] Figure 4 It is a schematic structural diagram of the detection guide arm of the present invention.

[0030] Figure 5 It is a schematic diagram of the elastic telescopic wheel structure of the present invention.

[0031] Figure 6 It is a structural schematic diagram of the reversing unit of the present invention.

[0032] Figure 7 It is a schematic diagram of the cross-sectional structure of the reversing unit of the present invention at the electromagnet chuck.

[0033] Figure 8 This is a schematic diagram of the installation structure of the lifting drive and steel strip coil of the present invention.

[0034] Figure 9 This is a structural diagram of another embodiment of the climbing inspection robot of the present invention.

[0035] Figure 1: Inspection body, 2: Elastic retractable wheel, 3: Steel belt reel, 4: Steel belt roll, 5: Pair of wheels, 6: Lifting drive, 7: Hysteresis damper, 8: Detection swing arm, 9: Detection head, 10: Electromagnetic clutch, 11: Driving rod, 12: Electromagnet suction cup, 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, center guide rod, 22, external guide rod, 23, wheel seat, 24, limit nut, 25, spring body, 26, walking guide wheel, 27, reversing motor, 28, worm, 29, T-type reducer, 30, lifting motor, 31, reel, 32, synchronous belt, 33, detection motor, 34, pillar, 35, corner arm, 36, magnetic seat, 37, detection plate, 38, sliding bearing. DETAILED DESCRIPTION

[0036] Example:

[0037] like Figures 1 to 8 The climbing inspection robot for high-voltage transmission line power tower shown includes:

[0038] Inspection body 1, the upper and lower parts of both sides of the inspection body 1 are provided with elastic retractable wheels 2; the front side of the inspection body 1 is provided with a magnetic suction chamber, and the rear side of the inspection body 1 is integrally made with a steel belt chamber;

[0039] The steel strip assembly includes two sets of steel strip reels 3 fixed to the inside of the steel strip chamber, and a steel strip reel 4 is installed on the steel strip reel 3. One end of the two sets of steel strip reels 4 can move through the top of the inspection body 1, and then pass through the interior of the inspection body 1 and be fixed by bolts; the protruding ends of the two sets of steel strip reels 4 are clamped with a pair of wheels 5, and the two sets of wheels 5 are connected to the lifting drive 6; the lifting drive 6 drives the steel strip reel 4 to pull out and retract, and the steel strip reel 3 realizes automatic unwinding and winding of the steel strip;

[0040] Detection guide arm, the detection guide arm includes a hysteresis damper 7 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, and 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 be rotated, 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;

[0041] The reversing unit includes an electromagnet suction cup 12 and a flange seat 13 fixed inside the magnetic suction chamber, and a convex sliding hole is opened 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 moved toward the crawling positioning, and the detection guide arm is in an outward-turning state, and the magnetic attraction state of the long electromagnet is released. At this time, the worm driver 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.

[0042] The crawling positioning unit includes a positioning body 17, and elastic retractable wheels 2 are provided on the upper and lower parts of both sides of the positioning body 17; a plurality of long electromagnets 18 are fixed on the inside of the positioning body 17; the top of the closed loop formed by the two groups of steel strip rolls 4 is sleeved with a guide roller 19, 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 by the angle iron, so that when the inspection body 1 is hoisted, it can provide a hoisting fulcrum. 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 the hanging support position for hoisting.

[0043] During inspection, the robot aligns with the reference point of the power tower through the UVB tag, loads the CAD model of the corresponding tower type, and then the climbing inspection robot performs climbing inspection. When climbing and overcoming obstacles, the obstacle avoidance system (binocular depth camera combined with laser radar) at the front of the inspection body 1 and the positioning body 17 constructs the local three-dimensional structure of the tower and identifies the obstacle size and spatial posture in real time; then enters the obstacle overcoming process; after completing the obstacle overcoming, the climbing and inspection process is resumed; during inspection, the tower angle iron and its auxiliary components are inspected through the detection head 9, 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 determine the current inspection position and promptly mark the inspection abnormal position; during the climbing test of the climbing inspection robot, through testing on Q345B angle steel (specification L150*14), the average speed is 0.3m / s, the maximum obstacle height is 240mm, the bolt loosening recognition rate is 98.7%, and the rust area measurement error is less than 3%;

[0044] When overcoming obstacles, the steel belt assembly continuously drives the crawling positioning unit upward. When the elastic retractable wheel 2 of the crawling positioning unit contacts the obstacle, the steel belt roll 4 is bent and adapted. When the crawling positioning unit passes the obstacle, the steel belt roll 4 automatically restores the vertical state and can control the long electromagnet 18 to be in a low magnetic attraction state, so that the crawling positioning unit is close to the angle iron and will not prevent the crawling positioning unit from continuing to rise. When the crawling positioning unit rises to the set height, the long electromagnet 18 is fully powered and positioned, completing the obstacle crossing of the crawling positioning unit; then, the electromagnet suction cup 12 is powered off, and the lifting driver 6 drives the steel belt roll 4 to continuously reel in, and the steel belt roll 4 exposed outside the inspection body 1 is continuously shortened, and the inspection body 1 is continuously suspended and adapted by the bending of the steel belt roll 4, so that the inspection body 1 can smoothly pass through the obstacle; during the winding and unwinding process of the steel belt roll 4, it is continuously guided by the sliding sleeve of the inspection body 1;

[0045] During inspection, the inspection body 1 is continuously hoisted and climbed, and the inspection is continuously carried out through the detection head 9 on the detection guide arm. During inspection, the electromagnet suction cup 12 can be controlled to be in a low magnetic suction state, so that the inspection body 1 moves toward the angle iron and can be hoisted by the crawling positioning unit.

[0046] The elastic retractable wheel 2 includes a wheel bin fixed on the inspection body 1 or the positioning body 17, and a guide seat 20 is fixed inside the wheel bin. A central guide rod 21 and multiple external guide rods 22 are slidably provided on the guide seat 20; one end of the central guide rod 21 and the external guide rod 22 are fixed to the wheel seat 23, and the other end of the central guide rod 21 is screwed onto a limiting nut 24, and the other end of the external guide rod 22 is hollow; a spring body 25 is provided between the guide seat 20 and the wheel seat 23; a walking guide wheel 26 is screwed onto the wheel seat 23; the spring body 25 pushes the wheel seat 23 outward so that the walking guide wheel 26 contacts the angle iron. When it is necessary to cross an obstacle, the walking guide wheel 26 contacts the obstacle, compressing the spring body 25. At the same time, the steel belt roll 4 forms an arc-shaped curved structure to smoothly cross the obstacle.

[0047] The worm drive includes a reversing motor 27, and a worm 28 that cooperates with the worm wheel 14 is fixed to the output end of the reversing motor 27. The other end of the worm 28 is rotatably mounted on a guide bearing, and the guide bearing is fixed to the rear end of the electromagnet suction cup 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.

[0048] The guide rod 15 and the thin diameter section of the convex column 16 form a guide section, and a sliding gap is provided between the sliding hole and the guide section; through the sliding gap, the electromagnet suction cup 12 can fully contact with the angle iron to avoid being limited by the guide rod 15.

[0049] The detection head 9 is a visible light camera and a piezoelectric ceramic ultrasonic probe; the upper front end of the positioning body 17 is fixed with an obliquely arranged visible light camera and a non-contact electric field sensor;

[0050] The visible light camera uses a 4K zoom camera (30x optical zoom). The image data collected by the visible light camera is used to run a lightweight YOLOv5 model through the edge computing unit to achieve real-time identification of loose bolts and rusted areas. The visible light camera captures the surface image of the angle steel (resolution 3840*2160), then grayscales, histograms are equalized, and edge detection is performed on the angle steel surface image. After the detection is completed, the AI model is compared with the corrosion feature library to output the rust area ratio and depth prediction value. If the rust area is greater than 5% or the predicted depth is greater than 0.3mm, the location is marked on the loaded CAD model and a maintenance work order is uploaded. When training the AI model, the training data set contains 100,000 labeled bolt, rust, and crack images. The AI model is optimized based on ResNet using transfer learning.

[0051] Piezoelectric ceramic ultrasonic probe (frequency 5MHz, detection 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, they are reflected, scattered, or attenuated. The defect location and size are determined by receiving the echo signal, and micro-cracks with a depth of ≥0.1mm can be detected with a positioning error of ≤1mm. The piezoelectric ceramic ultrasonic probe also simultaneously detects the depth of rust on the surface of the tower angle steel (resolution 0.05mm) and the remaining thickness of the steel-clad components (if rust causes the thickness to decrease from 10mm to 6mm, timely warning will be issued);

[0052] Non-contact electric field sensors do not require physical contact with charged objects. By measuring the spatial electric field intensity distribution, they can perceive the high-voltage electric field environment around the robot in real time. For example, when the robot approaches a transmission line or insulator, it can detect the surrounding electric field and capture corona discharge or partial discharge caused by insulator contamination or hardware damage; and evaluate the degradation of insulation performance caused by insulator aging, contamination accumulation or icing.

[0053] The inner surface of the steel belt roll 4 is a toothed surface, and the pair of wheels 5 includes a pressure wheel pressed on the outer surface of the steel belt roll 4 and a synchronous pulley meshing with the toothed surface; the two synchronous pulleys are installed to the output end of the T-type reducer, and the input end of the T-type reducer 29 is installed with a lifting motor 30; when it is necessary to pull the steel belt roll 4 outward, the lifting motor 30 drives the T-type reducer 29 to rotate, and the T-type reducer 29 drives the two sets of synchronous pulleys to rotate, and the synchronous pulleys and the pressure wheel cooperate to drive the steel belt roll 4 to pull outward; The roll 4 is continuously bent at the guide roller 19, so that the positioning body 17 is continuously pushed up by the steel belt roll 4; when the steel belt roll 4 needs to be reeled, the lifting motor 30 drives the T-type reducer 29 to rotate in the opposite direction, and the T-type reducer 29 drives the two sets of synchronous pulleys to rotate in the opposite direction, and the synchronous pulleys and the pressure wheels cooperate to drive the steel belt roll 4 to reel; the steel belt roll 4 is continuously reeled, and when reeling, the guide roller 19 is continuously bent, and when the positioning body 17 is magnetically limited, the inspection body 1 is pulled up by the steel belt roll 4.

[0054] The driving rod 11 is fixed to the outer shell of the electromagnetic clutch 10, and the transmission assembly includes a belt reel 31 fixed to the middle of the driving rod 11, and a synchronous belt 32 is sleeved on the belt reel 31. The swing driver is a detection motor 33, and a synchronous wheel is fixed to the output end of the detection motor 33. The synchronous wheel 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 wheel to rotate, and the synchronous wheel drives the belt reel 31 to rotate through the synchronous belt 32. The belt reel 31 drives the driving rod 11 to rotate, and the driving rod 11 drives the detection swing arm 8 to swing through the electromagnetic clutch 10.

[0055] The detection swing arm 8 includes a pillar 34 rotatably mounted with the hysteresis damper 7, and a corner arm 35 for mounting the detection head 9 is fixed to the top of the pillar 34; the pillar 34 can rotate inside the hysteresis damper 7, thereby driving the corner arm 35 to swing synchronously. After swinging, the hysteresis damper 7 is controlled to limit the rotation of the pillar 34 to prevent the corner arm 35 from swinging freely after the electromagnetic clutch 10 is unlocked.

[0056] A sliding bearing 38 is fixed at the magnetic suction chamber, and the electromagnetic suction cup 12 moves through the sliding bearing 38; the electromagnetic suction cup 12 can slide inside the sliding bearing 38, so that the electromagnetic suction cup 12 is attracted to the angle iron of the power tower; at the same time, when the inspection body 1 rotates, the sliding bearing 38 is guided by the rotation of the electromagnetic suction cup 12 through the cooperation between the electromagnetic suction cup 12 and the sliding bearing 38.

[0057] like Figure 9 As shown, a right-angled magnetic seat 36 is fixed on the corner arm 35, and a plurality of positioning electromagnets are fixed on the magnetic seat 36; a detection plate 37 is attracted between the two magnetic seats 36; the detection head 9 is fixed on the detection plate 37; the detection plate 37 can be used to fully detect the inner side of the angle iron of the tower. The detection plate only completes the comprehensive detection of the angle iron of the tower body and cannot monitor the accessories; during the 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 attached to the upper corner arm 35; the inspection body When the inspection body 1 climbs, the lower corner arm 35 is free from the obstacle. When the inspection body 1 climbs and the lower corner arm 35 is free from the obstacle, the lower corner arm 35 is re-engaged with the detection plate 37; the inspection body 1 continues to climb, and when 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 free from the obstacle, the upper corner arm 35 is re-engaged with the detection plate 37; thereby, the detection plate 37 can always fully detect the inner side of the angle iron of the tower.

[0058] The above embodiments are only preferred implementations of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the scope of application of the present invention are included in the scope of application of the present invention.

Claims

1. A climbing inspection robot for high-voltage transmission line power towers, characterized by: include: An inspection body, wherein elastic retractable wheels are provided on 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 be movably passed through the top of the inspection body, and then passed into the interior of the inspection body and fixed by bolts; the protruding ends of the two sets of steel belt rolls are clamped with a pair of wheels, and the two sets of wheels are connected to the lifting drive; 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, and a drive rod is fixed between the two electromagnetic clutches, and the drive rod is connected to the swing driver through a transmission assembly; The reversing unit includes an electromagnet suction cup and a flange seat fixed inside the 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 that cooperates with the worm gear is fixed to the rear end of the electromagnet suction cup through a support; The crawling positioning unit includes a positioning body, and elastic retractable wheels are provided 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; the top of the closed loop formed by the two groups of steel strip rolls is sleeved with a guide roller, 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, 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 to 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 to the wheel seat.

3. The climbing inspection robot for high-voltage transmission line power tower according to claim 1, characterized in that: The worm drive includes a reversing motor, a worm matched with a worm wheel is fixed to the output end of the reversing motor, the other end of the worm is rotatably mounted on 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, characterized in that: The guide rod and the thin-diameter section of the convex column form a guide section, and a sliding gap is provided between the sliding hole and the guide section.

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