Power transmission tower climbing maintenance robot

Abstract

The invention provides a power transmission tower climbing maintenance robot. The power transmission tower climbing maintenance robot is provided with seven rotational degrees of freedom. The power transmission tower climbing maintenance robot comprises a tail end adapter I, a tail end connecting rod I, a first joint, a second joint, a third joint, a cylindrical connecting rod I, a fourth joint, an L-shaped adapter component, a cylindrical connecting rod II, a fifth joint, a sixth joint, a seventh joint, a tail end connecting rod II and a tail end adapter II which are connected in sequence. And the rotational degree of freedom of each joint is electrically controlled. According to the power transmission tower climbing maintenance robot, motion interference of the mechanical arm is reduced. The robot has good obstacle crossing performance and light weight, and all climbing tasks in the same plane can be completed.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a transmission tower climbing and maintenance robot. Background Art

[0002] With the rapid development of the national economy and the rapid construction of the national power grid, the application of extra-high voltage and large-capacity transmission lines is increasing. The workload of line maintenance is getting larger and the maintenance work is time-consuming and laborious. At present, some intelligent robots on the market can assist maintenance personnel in maintenance work to reduce the workload of maintenance personnel, such as carrying maintenance tools or helping maintenance workers place safety locks. However, a series of technical challenges are faced in the design and implementation of existing climbing robots:

[0003] 1. Existing robots lack flexibility and mobility, making it difficult to adapt to complex and changeable tower structures and unable to smoothly transition and cross climbing tasks on different planes;

[0004] 2. Existing robots use a large number of motors, increasing the overall weight of the robots, reducing the effective load capacity, and affecting accuracy and stability.

[0005] 3. Existing robots are often large in size, restricting their operating ability in narrow spaces. They are prone to collide with obstacles and cause damage.

[0006] Therefore, there is an urgent need to develop a transmission tower climbing and maintenance robot. Summary of the Invention

[0007] The object of the present invention is to provide a transmission tower climbing and maintenance robot to solve the problems existing in the prior art.

[0008] The technical solution adopted to achieve the object of the present invention is as follows: A transmission tower climbing and maintenance robot is provided with seven rotational degrees of freedom. The transmission tower climbing and maintenance robot includes a terminal adapter I, a terminal connecting rod I, a first joint, a second joint, a third joint, a cylindrical connecting rod I, a fourth joint, an L-shaped adapter, a cylindrical connecting rod II, a fifth joint, a sixth joint, a seventh joint, a terminal connecting rod II, and a terminal adapter II that are connected in sequence. The rotational degrees of freedom of each joint are electrically controlled. The rotational axes corresponding to the rotational degrees of freedom of the first joint and the second joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the second joint and the third joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the third joint and the fourth joint are parallel. The rotational axes corresponding to the rotational degrees of freedom of the fourth joint and the fifth joint are parallel. The rotational axes corresponding to the rotational degrees of freedom of the fifth joint and the sixth joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the sixth joint and the seventh joint are perpendicular.

[0009] The first joint includes a first integrated motor and a first joint connection port. The second joint includes a second integrated motor and a second joint connection port. The third joint includes a third integrated motor and a third joint connection port. The fourth joint includes a fourth integrated motor and a first joint connection port. The fifth joint includes a fifth integrated motor and a fifth joint connection port. The sixth joint includes a sixth integrated motor and a sixth joint connection port. The seventh joint includes a seventh integrated motor and a seventh joint connection port. Each joint's integrated motor includes a housing end and an output end that are rotatable relative to each other. Each joint connection port and L-shaped adapter member includes a first mounting plate and a second mounting plate that are perpendicularly connected to each other. The first integrated motor and the end connecting rod I are rotatably connected via the first mounting plate of the first joint connection port. The second integrated motor and the second mounting plate of the first joint connection port are rotatably connected via the first mounting plate of the second joint connection port. The third integrated motor and the second mounting plate of the second joint connection port are rotatably connected via the first mounting plate of the third joint connection port. The second mounting plate of the third joint connection port is fixedly connected to the first mounting plate of the first joint connection port via the cylindrical connecting rod I. The fourth integrated motor is rotatably connected to the first mounting plate of the L-shaped adapter member via the second mounting plate of the first joint connection port. The second mounting plate of the L-shaped adapter member is fixedly connected to the first mounting plate of the fifth joint connection port via a cylindrical connecting rod II. The fifth integrated motor is rotatably connected to the first mounting plate of the sixth joint connection port via the second mounting plate of the fifth joint connection port. The sixth integrated motor is rotatably connected to the first mounting plate of the seventh joint connection port via the second mounting plate of the sixth joint connection port. The seventh integrated motor is rotatably connected to the end connecting rod II via the second mounting plate of the seventh joint connection port.

[0010] Furthermore, both the end transfer interface I and the end transfer interface II are connected to an end effector.

[0011] Furthermore, the end effector includes an angle steel fixed clamp, an electromagnet adapter plate and an electromagnet.

[0012] Furthermore, the material of the first joint connection port, the second joint connection port, the third joint connection port, the first joint connection port, the L-shaped adapter component, the fifth joint connection port, the sixth joint connection port, the seventh joint connection port, the end adapter port I, the end adapter port II, the end connecting rod I, the end connecting rod II, the cylindrical connecting rod I and the cylindrical connecting rod II are selected from 7075 aluminum alloy.

[0013] Furthermore, in a non-working state, the transmission tower climbing and maintenance robot is housed in a recovery cabin of the mother robot.

[0014] Further, the master robot captures images of the surrounding environment, makes decisions based on the images of the surrounding environment, and transmits motion instructions to the transmission tower climbing and maintenance robot.

[0015] Further, the trajectory of the transmission tower climbing and maintenance robot is planned according to the principle of minimum joint velocity.

[0016] The technical effects of the present invention are beyond doubt: it reduces the self-motion interference of the robotic arm; has good obstacle-crossing performance and a light weight, and can complete all climbing tasks in the same plane. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is the overall design drawing of the transmission tower climbing and maintenance robot;

[0018] Figure 2 is the structural schematic diagram of the transmission tower climbing and maintenance robot;

[0019] Figure 3 is the display drawing of the movable joints of the transmission tower climbing and maintenance robot;

[0020] Figure 4 is the schematic diagram of the climbing mode of the transmission tower climbing and maintenance robot;

[0021] Figure 5 is the coordinate system of the rods of the transmission tower climbing and maintenance robot.

[0022] In the figure: the first integrated motor 1, the second integrated motor 2, the third integrated motor 3, the fourth integrated motor 4, the fifth integrated motor 5, the sixth integrated motor 6, the seventh integrated motor 7, the first joint connection port 8, the second joint connection port 9, the third joint connection port 10, the first joint connection port 11, the L-shaped adapter member 12, the fifth joint connection port 13, the sixth joint connection port 14, the seventh joint connection port 15, the end adapter port I 16, the end adapter port II 17, the end connecting rod I 18, the end connecting rod II 19, the cylindrical connecting rod I 20, the cylindrical connecting rod II 21, the angle steel fixed jaw 22, the electromagnet adapter plate 23, the electromagnet 24. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be further described below in conjunction with embodiments, but it should not be understood that the above-mentioned subject scope of the present invention is limited to the following embodiments. Without departing from the above-mentioned technical ideas of the present invention, various substitutions and changes made according to ordinary technical knowledge and customary means in the art should all be included within the protection scope of the present invention.

[0024] Embodiment 1:

[0025] See Figures 1 to 4, this embodiment provides a transmission tower climbing and maintenance robot, which has seven rotational degrees of freedom. The transmission tower climbing and maintenance robot includes a terminal adapter I 16, a terminal connecting rod I 18, a first joint, a second joint, a third joint, a cylindrical connecting rod I 20, a fourth joint, an L-shaped adapter 12, a cylindrical connecting rod II 21, a fifth joint, a sixth joint, a seventh joint, a terminal connecting rod II 19, and a terminal adapter II 17, which are connected in sequence. The rotational degrees of freedom of each joint are electrically controlled. The rotational axes corresponding to the rotational degrees of freedom of the first joint and the second joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the second joint and the third joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the third joint and the fourth joint are parallel. The rotational axes corresponding to the rotational degrees of freedom of the fourth joint and the fifth joint are parallel. The rotational axes corresponding to the rotational degrees of freedom of the fifth joint and the sixth joint are perpendicular. The rotational axes corresponding to the rotational degrees of freedom of the sixth joint and the seventh joint are perpendicular.

[0026] The first joint includes a first integrated motor 1 and a first joint connection port 8. The second joint includes a second integrated motor 2 and a second joint connection port 9. The third joint includes a third integrated motor 3 and a third joint connection port 10. The fourth joint includes a fourth integrated motor 4 and a first joint connection port 11. The fifth joint includes a fifth integrated motor 5 and a fifth joint connection port 13. The sixth joint includes a sixth integrated motor 6 and a sixth joint connection port 14. The seventh joint includes a seventh integrated motor 7 and a seventh joint connection port 15. Each joint integrated motor includes a rotatable housing end and an output end. Each joint connection port and the L-shaped adapter member 12 include a first mounting plate and a second mounting plate that are perpendicularly connected to each other. Among them, the first integrated motor 1 and the end connecting rod I 18 are rotatably connected through the first mounting plate of the first joint connection port 8. The second integrated motor 2 and the second mounting plate of the first joint connection port 8 are rotatably connected through the first mounting plate of the second joint connection port 9. The third integrated motor 3 and the second mounting plate of the second joint connection port 9 are rotatably connected through the first mounting plate of the third joint connection port 10. The second mounting plate of the third joint connection port 10 and the first mounting plate of the first joint connection port 11 are fixedly connected through the cylindrical connecting rod I 20. The fourth integrated motor 4 and the first mounting plate of the L-shaped adapter member 12 are rotatably connected through the second mounting plate of the first joint connection port 11. The second mounting plate of the L-shaped adapter member 12 and the first mounting plate of the fifth joint connection port 13 are fixedly connected through the cylindrical connecting rod II 21. The fifth integrated motor 5 and the first mounting plate of the sixth joint connection port 14 are rotatably connected through the second mounting plate of the fifth joint connection port 13. The sixth integrated motor 6 and the first mounting plate of the seventh joint connection port 15 are rotatably connected through the second mounting plate of the sixth joint connection port 14. The seventh integrated motor 7 and the end connecting rod II 19 are rotatably connected through the second mounting plate of the seventh joint connection port 15.

[0027] Embodiment 2:

[0028] The main content of this embodiment is the same as that of Embodiment 1. Among them, the end adapter I 16 and the end adapter II 17 are both connected with an end effector. The end effector includes an angle steel fixing jaw 22, an electromagnet adapter plate 23, and an electromagnet 24.

[0029] Embodiment 3:

[0030] The main content of this embodiment is the same as that of Embodiment 1 or 2. Among them, the materials of the first joint connection port 8, the second joint connection port 9, the third joint connection port 10, the first joint connection port 11, the L-shaped adapter member 12, the fifth joint connection port 13, the sixth joint connection port 14, the seventh joint connection port 15, the end adapter I 16, the end adapter II 17, the end connecting rod I 18, the end connecting rod II 19, the cylindrical connecting rod I 20, and the cylindrical connecting rod II 21 are selected as 7075 aluminum alloy.

[0031] Embodiment 4:

[0032] The main content of this embodiment is the same as any one of Embodiments 1 to 3. Among them, the diameters of the cylindrical connecting rod I 20 and the cylindrical connecting rod II 21 are 44 mm to 60 mm.

[0033] Embodiment 5:

[0034] The main content of this embodiment is the same as any one of Embodiments 1 to 4. Among them, in the non-working state, the transmission tower climbing and maintenance robot is accommodated in the recovery cabin of the mother robot. In the working state, the mother robot captures images of the surrounding environment, makes decisions based on the surrounding environment images, and transmits motion commands to the transmission tower climbing and maintenance robot.

[0035] Embodiment 6:

[0036] This embodiment provides a trajectory planning method for the transmission tower climbing and maintenance robot according to any one of Embodiments 1 to 5. This embodiment plans the target robot based on the principle of minimum joint speed: when the robot is operating, due to its mechanical structure, there is a speed difference between each joint when they work together, and in some pose states, the speed differences of each joint will be quite different. This difference will affect the posture of the entire robotic arm. In order to reduce the impact caused by this movement, the joint speeds can be controlled within a certain range.

[0037] Robot kinematics focuses on the motion laws of objects. Kinematics is related to the position, velocity, acceleration of the moving object and the higher-order functions of the positions of other objects (mainly for the time variable), especially the relationship between the end pose of the robot and the joint variables. See Figure 5 , the definition of the coordinate system refers to the following rules: The D-H parameters of the robot are shown in Table 1.

[0038] Table 1

[0039] i <![CDATA[α i-1 > <![CDATA[a i-1 > <![CDATA[d i > <![CDATA[θ i > 1 0 0 <![CDATA[d1]]> <![CDATA[θ1]]> 2 -90° 0 <![CDATA[d2]]> <![CDATA[θ2]]> 3 90° 0 <![CDATA[d3]]> <![CDATA[θ3]]> 4 0° <![CDATA[a3]]> 0 <![CDATA[θ4]]> 5 0° <![CDATA[a4]]> <![CDATA[d5]]> <![CDATA[θ5]]> 6 90° 0 <![CDATA[d7]]> <![CDATA[θ6]]> 7 90° 0 0 <![CDATA[θ7]]> 8 0° 0 <![CDATA[d8]]> 0

[0040] After obtaining the D-H parameter table of the robot, through Table 1, we can obtain the ratio change relationship between two adjacent coordinate systems (linkages): First, the coordinate system {i - 1} rotates around the X i-1 axis by αi-1 , move along the X i-1 axis by a i-1 , then rotate by θ i about the Z i axis, and finally move along the Z i axis by d i , thus obtaining the coordinate system {i}.

[0041] Its transformation matrix can be written as

[0042]

[0043] By successive matrix multiplications, the general expression of is obtained:

[0044]

[0045] where c and s represent the cos and sin functions respectively, and i = 1, 2,..., 8.

[0046] Substituting the parameters in Table 1, the following eight homogeneous transformation matrices can be obtained:

[0047]

[0048]

[0049] Multiplying these eight homogeneous transformation matrices successively gives Equation 11.

[0050]

[0051] Equation 11 is the forward kinematic equation of the robot. The meanings of each term are as follows:

[0052] t 11 = c1(s2s6s7 + c2c 345 c6s7 - c2s 345 c7) - s1(s 345 c6s7 + c 345 c7) (12)

[0053] t 12 = c1(s2s6c7 + c2c 345 c6c7 + c2s 345 s7) - s1(-c 345 s7 + s 345 c6c7) (13)

[0054] t 13 = c1(c2c 345 s6 - s2c6) - s1s 345 s6 (14)

[0055] t 21 = s1(s2s6s7 + c2c 345 c6s7 - c2s 345 c7) + c1(s 345 c6s7 + c 345 c7) (15)

[0056] t 22 = s1(s2s6c7 + c2c 345 c6c7 + c2s 345 s7) + c1(-c 345 s7 + s 345 c6c7) (16)

[0057] t 23 = s1(c2c 345 s6 - s2c6) + c1s 345 s6 (17)

[0058] t 31 = s2s 345 c7 - s2c 345 c6s7 + c2s6s7 (18)

[0059] t 32 = -s2c 345 c6c7 - s2s 345 s7 + c2s6c7 (19)

[0060] t 33 = -s2c 345 s6 - c2c6 (20)

[0061] t x = c1(d7c2s 345 + d3s2 - d8(-c2c 345 s6 + s2c6) + a3c2c3 + a4c2c 34

[0062] + d5s2) - s1(d2 - d7c 345 + d8s 345 s6 + a3s3 + a4s 34 )(21)

[0063] t y = s1(d7c2s 345 + d3s2 - d8(-c2c 345 s6 + s2c6) + a3c2c3 + a4c2c 34

[0064] + d5s2) + c1(d2 - d7c345 +d8s 345 s6 + a3s3 + a4s 34 )(22)

[0065] t z = d3c2 - d7s2s 345 -d8(s2c 345 s6 + c2c6) - a3s2c3

[0066] -a4s2c 34 +d5c2 + d1(23) The above equations simplify the sine and cosine calculation symbols in mathematics. For example:

[0067] s i = sinθ i , c i = cosθ i , c345 = cos(θ3 + θ4 + θ5) (24)

[0068] The Jacobian matrix is a very important concept in robotics. It can not only relate the velocity in the robot joint space to the Cartesian space at the end of the robot, forming a one-to-one mapping relationship, but also relate the forces and torques in the joint space and the Cartesian space, forming a one-to-one correspondence relationship. It can be said that the Jacobian matrix is the bridge connecting the states of the joint space and the end Cartesian space. In the concept of velocity, we can obtain the following formula using the Jacobian matrix

[0069]

[0070] where ν is the velocity in the end Cartesian space, and w represent the linear velocity and angular velocity at the end respectively, represents the velocity in the joint space. The relationship between the two can be obtained through the Jacobian matrix.

[0071] The required Jacobian matrix is also relative to the end coordinate system. And it can be known that the transformation of the Jacobian reference coordinate system can be completed by the following formula:

[0072]

[0073] The Jacobian matrix consists of 6 rows and N columns. Among them, N is the number of joints. The first three rows of the Jacobian matrix are related to the linear velocity at the end, and the last three rows are related to the angular velocity at the end. Therefore, the Jacobian matrix can be written as

[0074]

[0075] So there is

[0076]

[0077] In this embodiment, it can be written as

[0078]

[0079] Therefore, the solution of the Jacobian matrix 7 J(θ) can be divided into two parts: 7 J v and 7 J w .

[0080] J v The matrix consists of three rows, which are respectively related to the linear velocity components of the robot end-effector in the X, Y, and Z axes, that is

[0081]

[0082] The position of the robot end-effector p x , p y , p z can be obtained from forward kinematics, and the relationship with each joint angle. Therefore, it can be obtained that:

[0083]

[0084] Finally, it can be deduced that

[0085]

[0086] According to the transmission of velocities between links, when the two vectors w are both relative to the same coordinate system, then these angular velocities can be added. Therefore, the angular velocity of link i + 1 is equal to the angular velocity of link i plus a component caused by the angular velocity of joint i. Referring to the coordinate system {i}, the above relationship can be written as:

[0087]

[0088] Note:

[0089]

[0090] Multiply both sides of the above equation by on the left at the same time, and the expression of the angular velocity of link i + 1 relative to the coordinate system {i + 1} can be obtained:

[0091]

[0092] Jacobian derivation:

[0093]

[0094] Therefore, it can be deduced that:

[0095]

[0096] Therefore 7 J w can be obtained as follows:

[0097]

[0098] The trajectory optimization of the seven-degree-of-freedom robot is realized by the weighted minimum norm method and the pseudoinverse method. The weighted minimum norm method is derived from the weighted norm of the joint angular velocity of the manipulator, which can avoid joint limits and improve the tracking accuracy of the manipulator end to a certain extent.

[0099] According to the definition of the Jacobian matrix, the relationship between the end velocity V of the studied seven-degree-of-freedom robot and the joint angular velocity is

[0100]

[0101] Define the end velocity V as

[0102]

[0103] where vx, v y , vz represent the linear velocities of the end in the x, y, and z directions, ω(α), ω(β), ω(γ) represent the angular velocities, the end pose of the two manipulators is represented by the fixed X-Y-Z angle coordinate system, and the joint angle Θ = [θ1, θ2, θ3, θ4, θ5, θ6] T , and the end pose of the manipulator is defined as:

[0104]

[0105] From Eqs. 38, 39, and 40, we get

[0106]

[0107] Define the weighted norm of the joint angular velocity as follows

[0108]

[0109] where is a positive definite and symmetric weighting matrix. Then, define the weighted Jacobian matrix and the weighted joint angular velocity as follows

[0110]

[0111] Furthermore, define W as a diagonal matrix and rewrite Eq. 41 as:

[0112]

[0113] At this time, J w , and J are both 6×7 matrices, and the calculation method of the pseudo-inverse is adopted

[0114] Let Then we can get:

[0115]

[0116] Through this function, the trajectory of the system can be optimized using the Jacobian matrix of the system.

Claims

1. A transmission tower climbing and maintenance robot, characterized in that: The transmission tower climbing and maintenance robot is provided with seven rotational degrees of freedom; the transmission tower climbing and maintenance robot includes a terminal adapter I (16), a terminal connecting rod I (18), a first joint, a second joint, a third joint, a cylindrical connecting rod I (20), a fourth joint, an L-shaped adapter member (12), a cylindrical connecting rod II (21), a fifth joint, a sixth joint, a seventh joint, a terminal connecting rod II (19) and a terminal adapter II (17) which are connected in sequence; the rotational degrees of freedom of each joint are electrically controlled; the rotational axes corresponding to the rotational degrees of freedom of the first joint and the second joint are perpendicular; the rotational axes corresponding to the rotational degrees of freedom of the second joint and the third joint are perpendicular; the rotational axes corresponding to the rotational degrees of freedom of the third joint and the fourth joint are parallel; the rotational axes corresponding to the rotational degrees of freedom of the fourth joint and the fifth joint are parallel; the rotational axes corresponding to the rotational degrees of freedom of the fifth joint and the sixth joint are perpendicular; the rotational axes corresponding to the rotational degrees of freedom of the sixth joint and the seventh joint are perpendicular; The first joint includes a first integrated motor (1) and a first joint connection port (8); the second joint includes a second integrated motor (2) and a second joint connection port (9); the third joint includes a third integrated motor (3) and a third joint connection port (10); the fourth joint includes a fourth integrated motor (4) and a first joint connection port (11); the fifth joint includes a fifth integrated motor (5) and a fifth joint connection port (13); the sixth joint includes a sixth integrated motor (6) and a sixth joint connection port (14); the seventh joint includes a seventh integrated motor (7) and a seventh joint connection port (15); each joint integrated motor includes a rotatable housing end and an output end; each joint connection port and the L-shaped adapter member (12) include a first mounting plate and a second mounting plate that are perpendicularly connected to each other; wherein, the first integrated motor (1) and the end connecting rod I (18) are rotatably connected through the first mounting plate of the first joint connection port (8); the second integrated motor (2) and the second mounting plate of the first joint connection port (8) are rotatably connected through the first mounting plate of the second joint connection port (9); the third integrated motor (3) and the second mounting plate of the second joint connection port (9) are rotatably connected through the first mounting plate of the third joint connection port (10); the second mounting plate of the third joint connection port (10) and the first mounting plate of the first joint connection port (11) are fixedly connected through the cylindrical connecting rod I (20); the fourth integrated motor (4) and the first mounting plate of the L-shaped adapter member (12) are rotatably connected through the second mounting plate of the first joint connection port (11); the second mounting plate of the L-shaped adapter member (12) and the first mounting plate of the fifth joint connection port (13) are fixedly connected through the cylindrical connecting rod II (21); the fifth integrated motor (5) and the first mounting plate of the sixth joint connection port (14) are rotatably connected through the second mounting plate of the fifth joint connection port (13); the sixth integrated motor (6) and the first mounting plate of the seventh joint connection port (15) are rotatably connected through the second mounting plate of the sixth joint connection port (14); the seventh integrated motor (7) and the end connecting rod II (19) are rotatably connected through the second mounting plate of the seventh joint connection port (15).

2. The climbing and maintenance robot for a transmission tower according to claim 1, wherein: Both the end adapter I (16) and the end adapter II (17) are connected with an end effector.

3. The climbing and maintenance robot for transmission towers according to claim 2, characterized in that: The end effector includes an angle steel fixed jaw (22), an electromagnet adapter plate (23), and an electromagnet (24).

4. The climbing and maintenance robot for transmission towers according to claim 1, wherein: The materials of the first joint connection port (8), the second joint connection port (9), the third joint connection port (10), the first joint connection port (11), the L-shaped adapter member (12), the fifth joint connection port (13), the sixth joint connection port (14), the seventh joint connection port (15), the end adapter I (16), the end adapter II (17), the end connecting rod I (18), the end connecting rod II (19), the cylindrical connecting rod I (20) and the cylindrical connecting rod II (21) are selected as 7075 aluminum alloy.

5. The climbing and maintenance robot for transmission towers according to claim 1, characterized in that: The diameters of the cylindrical connecting rod I (20) and the cylindrical connecting rod II (21) are 44 mm to 60 mm.

6. The climbing and maintenance robot for transmission towers according to claim 1, wherein: In the non-working state, the power transmission tower climbing and maintenance robot is accommodated in the recovery cabin of the mother robot.

7. The climbing and maintenance robot for a transmission tower according to claim 6, wherein: The mother robot captures the images of the surrounding environment, makes decisions based on the images of the surrounding environment and transmits the motion instructions to the power transmission tower climbing and maintenance robot.

8. The climbing and maintenance robot for transmission towers according to claim 1, wherein: The trajectory of the power transmission tower climbing and maintenance robot is planned according to the principle of minimum joint speed.

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