Robot for climbing power transmission line tower

Abstract

The invention relates to the technical field of power grid equipment operation and inspection, in particular to a power transmission line tower climbing robot which comprises a tower climbing robot frame, the inner side of the tower climbing robot frame is rotationally connected with two transmission threaded rods through bearings, and the two transmission threaded rods are symmetrically distributed on the inner side of the tower climbing robot frame; the outer side of the transmission threaded rod is in transmission connection with a climbing arm assembly through threads, a driving assembly for driving the transmission threaded rod to rotate is arranged on the inner side of the tower climbing robot frame, and a connecting rod mechanical gripper capable of being opened and closed is arranged at the top end of the climbing arm assembly. And the top end of the climbing arm assembly controls the connecting rod mechanical gripper to realize opening and closing actions through the power assembly. The robot for climbing the power transmission line tower has the advantages that a steel pipe pole climbing robot replaces manual climbing, a hanging safety rope can be carried to a designated position, and it is ensured that after a follow-up maintainer hangs an anti-falling device on the safety rope, the safety rope always provides protection in the climbing process.

Description

Technical Field

[0001] This invention relates to the field of power grid equipment operation and maintenance technology, specifically to a robot for climbing transmission line towers. Background Technology

[0002] To ensure the safe operation of power transmission lines, regular maintenance is required. Climbing the steel pipe poles of power transmission lines is an essential part of the maintenance work. The existing steel pipe poles have small tack points, large spacing, and are almost vertical, making manual climbing extremely difficult. The large amount of physical exertion significantly increases the risk of personnel falling from heights.

[0003] Meanwhile, in the current work process, the first climber needs to carry a safety rope to the top and secure the lock before subsequent workers can use the safety rope to carry out the work. Because the first climber lacks the full protection of the safety rope, he needs to alternate between using the main and auxiliary safety ropes of the safety belt to climb, which not only makes the climbing speed slow but also faces higher safety risks.

[0004] Most existing climbing robots are track-based, which require the pre-installation of tracks for each tower, resulting in complex, time-consuming, and costly construction. Alternatively, using flight-controlled drones for rope-hanging operations poses a severe challenge to the operator's skill and personnel safety in harsh environments such as high-voltage power towers in the field, making it difficult to meet the safety and convenience requirements of actual operations. Therefore, this paper proposes a robot for climbing power transmission line towers to solve the above problems. Summary of the Invention

[0005] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a robot for climbing power transmission line towers. This robot replaces manual climbing of steel pipe poles and can carry and attach safety ropes to designated locations, ensuring that maintenance personnel are always protected by the safety ropes after attaching fall arresters. This solves the problems of track-based climbing robots requiring pre-installation of tracks for each tower, which is complex, time-consuming, and costly; and the use of drones for rope attachment, which poses severe challenges to the operator's skill and personnel safety in harsh environments such as high-voltage power towers, making it difficult to meet the safety and convenience requirements of actual operations.

[0006] (II) Technical Solution The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A robot for climbing transmission line towers includes a tower climbing robot frame. Two transmission threaded rods are rotatably connected to the inner side of the tower climbing robot frame via bearings. The two transmission threaded rods are symmetrically distributed on the inner side of the tower climbing robot frame. A climbing arm assembly is connected to the outer side of the transmission threaded rods via threaded transmission. A drive assembly for driving the transmission threaded rods to rotate is provided on the inner side of the tower climbing robot frame. A closable linkage mechanical gripper is provided at the top of the climbing arm assembly. The top of the climbing arm assembly controls the linkage mechanical gripper to achieve closing action through a power assembly. A positioning guide assembly is fixedly connected to the inner side of the tower climbing robot frame.

[0007] The beneficial effects of this invention are: 1) This robot for climbing power transmission line towers has the advantages of simple structure, low cost, and low requirements for equipment maintenance.

[0008] 2) This robot for climbing power transmission line towers has the advantages of being equipped with a vision camera, capable of image recognition of foot pin positions, and having the ability to climb autonomously and be remotely controlled.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, it also includes a power transmission pole assembly used in conjunction with the robot. The power transmission pole assembly includes a pole body and multiple foot spikes fixed at intervals on the outside of the pole body. The tower climbing robot frame is located on the outside of the pole body, and the linkage mechanical gripper can clamp or release one of the foot spikes through opening and closing actions.

[0011] Furthermore, the climbing arm assembly includes two parallel climbing plates, multiple climbing rods connected between the two climbing plates, and a climbing bracket fixed to the top of the upper climbing plate. The two climbing plates are rigidly connected by the multiple climbing rods. The outer side of the climbing rods slides against the inner wall of the tower climbing robot frame. The inner side of the lower climbing plate has an internal threaded hole, which is connected to the outer thread of the transmission threaded rod through the internal threaded hole.

[0012] Furthermore, the drive assembly includes a servo drive motor, two drive sprockets, and a drive chain. The transmission threaded rod extends to the bottom of the tower climbing robot frame and is fixedly connected to one of the drive sprockets on its outer side. The servo drive motor is fixedly connected to the bottom inner side of the tower climbing robot frame via a motor mount, and its output shaft is fixedly connected to the other drive sprocket via a coupling. The two drive sprockets form a synchronous transmission engagement through the drive chain.

[0013] Furthermore, the power assembly includes a servo motor, a power threaded rod, and a connecting threaded sleeve. The servo motor is fixedly connected to the top of the climbing arm assembly via a motor mount. One end of the power threaded rod is fixedly connected to the output shaft of the servo motor via a coupling, and the other end is rotatably connected to the outer wall of the climbing bracket via a bearing. The connecting threaded sleeve is located on the outside of the linkage mechanical gripper, and the inner side of the connecting threaded sleeve is threadedly connected to the outer side of the power threaded rod.

[0014] Furthermore, the positioning and guiding component includes a positioning frame, multiple positioning wheels, and multiple powerful magnets. The positioning frame is fixedly connected to the inner side of the tower climbing robot frame, and the inner side of the positioning frame forms a guide channel adapted to the rod body. The multiple positioning wheels are rotatably connected to the inner side of the positioning frame in a circular array, and the powerful magnets are fixedly connected to the inner side of the positioning frame.

[0015] Furthermore, it also includes two sets of passive pulley assemblies for assisting in the fit of the foot spikes. The passive pulley assembly includes a mounting shell, multiple belt rollers and a passive belt. The mounting shell is fixedly connected to the inside of the tower climbing robot frame. The multiple belt rollers are distributed vertically and rotatably connected to the inside of the mounting shell. The passive belt is sleeved on the outside of the multiple belt rollers and forms a transmission engagement.

[0016] Furthermore, the two sets of passive pulley assemblies are symmetrically distributed on the outside of the positioning guide assembly, and form a cooperative positioning structure with the guide channel of the positioning guide assembly. The outside of the positioning wheel is in contact with the outside of the rod, and the outside of the passive belt is in rolling contact with the foot nails on the outside of the rod, which is used to assist the robot in conforming to the distribution trajectory of the foot nails when moving along the axial direction of the rod.

[0017] Furthermore, a control box is detachably installed inside the tower climbing robot frame via bolts. The control box integrates a controller, a wireless communication module, and a power module for controlling the actions of the drive components and power components. A vision camera is fixedly connected to the top of the tower climbing robot frame. The vision camera is electrically connected to the controller inside the control box for collecting image information of the tower and its surrounding environment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a diagram showing the connection between the mounting housing and the belt roller of the present invention; Figure 3 This is a diagram showing the connection between the tower climbing robot frame and the transmission threaded rod of the present invention; Figure 4 This is a diagram showing the connection between the transmission threaded rod and the climbing board of the present invention; Figure 5 This is a connection diagram of the servo drive motor and drive sprocket of the present invention.

[0019] In the diagram: 1. Tower climbing robot frame; 2. Transmission threaded rod; 3. Climbing arm assembly; 31. Climbing plate; 32. Climbing pole; 33. Climbing support; 4. Drive assembly; 41. Servo drive motor; 42. Drive sprocket; 43. Drive chain; 5. Power assembly; 51. Servo power motor; 52. Power threaded rod; 53. Connecting threaded sleeve; 6. Linkage mechanical gripper; 7. Positioning guide assembly; 71. Positioning frame; 72. Positioning wheel; 73. Strong magnet; 8. Passive pulley assembly; 81. Mounting shell; 82. Belt roller; 83. Passive belt; 9. Power pole assembly; 91. Pole body; 92. Foot spikes; 10. Control box; 11. Vision camera. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example 1, by Figure 1-5 This invention discloses a robot for climbing power transmission line towers. The robot includes a frame 1 as the overall mounting base, with bearings on its inner side supporting the rotation of two threaded transmission rods 2. The two threaded transmission rods 2 are symmetrically arranged inside the frame 1 to ensure balanced force distribution. A climbing arm assembly 3 engages with the threaded transmission rods 2 via its inner threaded structure, allowing the climbing arm assembly 3 to move axially along the threaded transmission rods 2 when they rotate. A drive assembly 4 is installed inside the frame 1 and linked to the threaded transmission rods 2 for lifting... The power supply for the rotation of the transmission threaded rod 2 is provided. The linkage mechanical gripper 6 is set at the top of the climbing arm assembly 3 and has an opening and closing function. The power component 5 is fixed at the top of the climbing arm assembly 3 and connected to the linkage mechanical gripper 6. The action of the power component 5 controls the linkage mechanical gripper 6 to open or close. The positioning and guiding component 7 is fixed inside the tower climbing robot frame 1. During the robot's climbing process, it guides and positions the overall movement direction. At the same time, the safety rope is tied to the outside of the tower climbing robot frame 1 so that the safety rope can be moved synchronously to the top of the power transmission pole assembly 9 during the climbing process.

[0022] The power transmission pole assembly 9, serving as the carrier for the robot's climbing, consists of a pole body 91 and multiple foot spikes 92. The foot spikes 92 are fixed at intervals on the outside of the pole body 91. The tower-climbing robot frame 1 is fitted onto the outside of the pole body 91, so that the robot is distributed around the pole body 91. One of the linkage mechanical grippers 6, under the control of the power component 5, opens and aligns with a foot spike 92, and then closes to clamp and fix the foot spike 92. Subsequently, the climbing arm assembly 3 retracts. After retracting to the designated position, another linkage mechanical gripper 6, under the control of the power component 5, opens and aligns with a foot spike 92. Then, this linkage mechanical gripper 6 releases. By alternately extending and retracting to the position of the foot spike 92, and then cooperating with the linkage mechanical gripper 6 to grab the foot spike 92, the robot can mimic human climbing movements.

[0023] This application achieves stable movement of the climbing arm assembly 3 by cooperating with the symmetrically distributed transmission threaded rods 2 and the climbing arm assembly 3, combined with the power output of the drive assembly 4. The power assembly 5 controls the precise opening and closing of the linkage mechanical gripper 6 to achieve climbing and fixation. The positioning and guiding assembly 7 ensures accurate climbing direction. The overall structure works in concert to enable the robot to have stable and reliable climbing ability, meet the basic requirements for climbing power transmission line towers, and can stably transport the safety rope to the top of the tower.

[0024] In this embodiment, the climbing arm assembly 3 consists of two climbing plates 31, multiple climbing rods 32, and a climbing bracket 33. The two climbing plates 31 are kept parallel, and the multiple climbing rods 32 are connected between the two climbing plates 31, so that the two climbing plates 31 form a stable and rigid whole. The climbing rods 32 penetrate and extend to the top of the climbing robot frame 1, and realize sliding guidance when the climbing arm assembly 3 moves. The internal threaded hole on the inner side of the lower climbing plate 31 matches the outer thread of the transmission threaded rod 2. When the transmission threaded rod 2 rotates, it drives the lower climbing plate 31 through thread transmission, thereby driving the entire climbing arm assembly 3 to move axially along the transmission threaded rod 2. The climbing bracket 33 is fixed to the top of the upper climbing plate 31 and is used to install the power assembly 5 and the linkage mechanical gripper 6.

[0025] The two climbing plates 31 are rigidly connected by the climbing rod 32, which can ensure the structural strength of the climbing arm assembly 3 and stably support the weight of the power assembly 5 and the linkage mechanical gripper 6. The sliding fit between the climbing rod 32 and the climbing robot frame 1 improves the smoothness and stability of the movement of the climbing arm assembly 3. The internal threaded hole of the lower climbing plate 31 is threaded with the transmission threaded rod 2 to realize the effective transmission of power and ensure that the movement of the climbing arm assembly 3 is precise and controllable.

[0026] In this embodiment, the drive assembly 4 consists of a servo drive motor 41, two drive sprockets 42, and a drive chain 43. The lower ends of the transmission threaded rods 2 extend to the bottom of the tower climbing robot frame 1. A drive sprocket 42 is fixedly installed on the outer side of the lower end of the transmission threaded rods 2. The servo drive motor 41 is fixed to the bottom position inside the tower climbing robot frame 1 through a motor mount. The output shaft of the servo drive motor 41 is fixedly connected to another drive sprocket 42 through a coupling. The drive chain 43 is sleeved on the outer side of the two drive sprockets 42, so that after the servo drive motor 41 is started, its output shaft drives the corresponding drive sprocket 42 to rotate. Through the transmission action of the drive chain 43, the other drive sprocket 42 is driven to rotate synchronously, thereby driving the transmission threaded rod 2 to rotate.

[0027] The power assembly 5 consists of a servo motor 51, a power threaded rod 52, and a connecting threaded sleeve 53. The servo motor 51 is fixed to the top of the climbing arm assembly 3 via a motor mount. One end of the power threaded rod 52 is fixed to the output shaft of the servo motor 51 via a coupling, and the other end is mounted on the outer wall of the climbing bracket 33 via a bearing, enabling rotational support for the power threaded rod 52. The connecting threaded sleeve 53 is fixed to the outer side of the linkage mechanical gripper 6, and its inner thread is compatible with the outer thread of the power threaded rod 52. After the motor 51 starts, it drives the power threaded rod 52 to rotate. Through the threaded transmission, it drives the connecting threaded sleeve 53 to move along the axial direction of the power threaded rod 52, thereby driving the linkage mechanical gripper 6 to complete the opening or closing action. The threaded engagement between the power threaded rod 52 and the connecting threaded sleeve 53 realizes the conversion of the motion direction, converting the rotational motion into linear motion to control the opening and closing of the linkage mechanical gripper 6. This structure has high transmission accuracy and stable clamping force, which can ensure the reliable clamping and release of the foot spikes 92 by the linkage mechanical gripper 6, and adapt to the force requirements during the climbing process.

[0028] In Example 2, the positioning and guiding component 7 consists of a positioning frame 71, multiple positioning wheels 72, and multiple powerful magnets 73. The positioning frame 71 is fixed to the inner side of the climbing robot frame 1, and its inner side is machined to form a guide channel that matches the shape of the rod 91, allowing the rod 91 to pass through the guide channel. The multiple positioning wheels 72 are rotatably connected to the inner side of the positioning frame 71 in a circular array via a rotating shaft. The outer sides of the positioning wheels 72 are in contact with the outer sides of the rod 91. The multiple powerful magnets 73 are fixed to the inner side of the positioning frame 71 and magnetically attract the rod 91. During the robot's climbing process, the positioning wheels 72 roll along the rod 91 as the robot moves, while the powerful magnets 73 maintain the attraction force on the rod 91, enhancing the fit between the robot and the rod 91, preventing swaying or deviation during climbing, and improving positioning accuracy and climbing stability.

[0029] A passive pulley assembly 8 is also provided. There are two sets of passive pulley assemblies 8, which are used to assist the robot in adhering to the foot spikes 92 on the rod 91. Each set of passive pulley assemblies 8 includes a mounting shell 81, multiple belt rollers 82 and a passive belt 83. The mounting shell 81 is fixed to the inside of the tower climbing robot frame 1. The multiple belt rollers 82 are rotatably connected to the inside of the mounting shell 81 by a rotating shaft in an up-down distribution. The passive belt 83 is sleeved on the outside of the multiple belt rollers 82, so that the belt rollers 82 can drive the passive belt 83 to drive synchronously when they rotate. When the robot moves along the rod 91, the outside of the passive belt 83 contacts the foot spikes 92 and rolls along the distribution trajectory of the foot spikes 92.

[0030] Furthermore, the two sets of passive pulley assemblies 8 are arranged symmetrically on the outside of the positioning guide assembly 7, forming a cooperative positioning structure together with the guide channel on the inside of the positioning guide assembly 7. The outer side of the positioning wheel 72 in the positioning guide assembly 7 directly contacts the outer surface of the rod 91, realizing direct positioning and guidance of the rod 91. The outer side of the passive belt 83 in the passive pulley assembly 8 rolls in contact with the foot nails 92 on the outside of the rod 91. When the robot moves along the axis of the rod 91, the passive belt 83 rolls adaptively with the distribution trajectory of the foot nails 92, cooperating with the guiding action of the positioning wheel 72.

[0031] Among them, multiple belt rollers 82 support the passive belt 83 to keep it in a taut state, ensuring a stable fit with the foot spikes 92. The auxiliary positioning guide component 7 further improves the fit between the robot and the pole 91, avoiding jamming during movement. At the same time, it can prevent the device from rotating during climbing, thus improving the overall stability.

[0032] In embodiment three, based on the above two embodiments, a control box 10 and a vision camera 11 are added. The control box 10 is detachably installed on the inside of the tower climbing robot frame 1 by bolts, which facilitates the inspection, maintenance or replacement of the electrical components inside the control box 10 in the future. The vision camera 11 is fixedly connected to the top of the tower climbing robot frame 1, and its shooting direction is towards the front of the robot climbing and the surrounding environment. During the robot climbing process, the vision camera 11 collects image information of the pole 91, foot spikes 92 and the surrounding environment in real time, and transmits the information to the control box 10 for processing.

[0033] The visual camera 11 collects environmental image information in real time, providing decision-making basis for the control box 10, helping the robot to accurately identify the position of the foot spikes 92, avoid obstacles, and improve the intelligence and safety of the climbing process.

[0034] Working principle: First, the safety rope is fixed to the outside of the tower climbing robot frame 1. Then, the vision camera 11 installed at the top of the tower climbing robot frame 1 collects real-time image information of the pole body 91 and the outer foot spikes 92 of the power transmission pole assembly 9, and transmits the information to the control box 10 inside the tower climbing robot frame 1. The control box 10 analyzes the position of the foot spikes 92 and issues control commands. After the command is triggered, one of the linkage mechanical grippers 6 opens under the control of the power assembly 5 and aligns with a foot spike 92. Then, through a closing action, it clamps and fixes the foot spike 92. Subsequently, the lower part of it... The climbing arm assembly 3 retracts to the designated position. Then, under the control of the power assembly 5, another linkage mechanical gripper 6 opens and aligns with a foot spike 92. Subsequently, this linkage mechanical gripper 6 releases, and the climbing arm assembly 3 below the other linkage mechanical gripper 6 retracts. By alternately extending and retracting to the position of the foot spike 92, and then cooperating with the linkage mechanical gripper 6 to grab the foot spike 92, the climbing arm assembly 3 can mimic human climbing movements. When the climber reaches the designated position at the top of the tower, both linkage mechanical grippers 6 simultaneously grab the foot spike 92, and then the entire device remains stationary, thereby securing the safety rope to the top of the tower.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for climbing power transmission line towers, characterized in that: The system includes a tower climbing robot frame (1), on which two transmission threaded rods (2) are rotatably connected via bearings on the inner side. The two transmission threaded rods (2) are symmetrically distributed on the inner side of the tower climbing robot frame (1). A climbing arm assembly (3) is connected to the outer side of the transmission threaded rods (2) via threaded transmission. A drive assembly (4) for driving the transmission threaded rods (2) to rotate is provided on the inner side of the tower climbing robot frame (1). A link mechanical gripper (6) that can be opened and closed is provided at the top of the climbing arm assembly (3). The link mechanical gripper (6) is controlled by a power assembly (5) to open and close. A positioning guide assembly (7) is fixedly connected to the inner side of the tower climbing robot frame (1).

2. The robot for climbing power transmission line towers according to claim 1, characterized in that: It also includes a power transmission pole assembly (9) used in conjunction with the robot. The power transmission pole assembly (9) includes a pole body (91) and multiple foot spikes (92) fixed at intervals on the outside of the pole body (91). The tower climbing robot frame (1) is located on the outside of the pole body (91), and the linkage mechanical gripper (6) can clamp or release one of the foot spikes (92) through opening and closing actions.

3. The robot for climbing power transmission line towers according to claim 1, characterized in that: The climbing arm assembly (3) includes two parallel climbing plates (31), multiple climbing rods (32) connected between the two climbing plates (31), and a climbing bracket (33) fixed to the top of the upper climbing plate (31). The two climbing plates (31) are rigidly connected by multiple climbing rods (32). The outer side of the climbing rod (32) is slidably engaged with the inner wall of the tower climbing robot frame (1). The inner side of the lower climbing plate (31) is provided with an internal threaded hole, and is connected to the outer thread of the transmission threaded rod (2) through the internal threaded hole.

4. The robot for climbing power transmission line towers according to claim 1, characterized in that: The drive assembly (4) includes a servo drive motor (41), two drive sprockets (42) and a drive chain (43). The transmission threaded rod (2) extends to the bottom of the tower climbing robot frame (1) and its outer side is fixedly connected to one of the drive sprockets (42). The servo drive motor (41) is fixedly connected to the bottom of the inner side of the tower climbing robot frame (1) through a motor mount, and its output shaft is fixedly connected to the other drive sprocket (42) through a coupling. The two drive sprockets (42) form a synchronous transmission cooperation through the drive chain (43).

5. The robot for climbing power transmission line towers according to claim 1, characterized in that: The power assembly (5) includes a servo motor (51), a power threaded rod (52), and a connecting threaded sleeve (53). The servo motor (51) is fixedly connected to the top of the climbing arm assembly (3) via a motor mount. One end of the power threaded rod (52) is fixedly connected to the output shaft of the servo motor (51) via a coupling, and the other end is rotatably connected to the outer wall of the climbing bracket (33) via a bearing. The connecting threaded sleeve (53) is located on the outside of the connecting rod mechanical gripper (6), and the inner side of the connecting threaded sleeve (53) is threadedly connected to the outer side of the power threaded rod (52).

6. The robot for climbing power transmission line towers according to claim 2, characterized in that: The positioning and guiding component (7) includes a positioning frame (71), multiple positioning wheels (72) and multiple strong magnets (73). The positioning frame (71) is fixedly connected to the inside of the tower climbing robot frame (1), and the inside of the positioning frame (71) forms a guide channel that is adapted to the rod (91). The multiple positioning wheels (72) are rotatably connected to the inside of the positioning frame (71) in a ring array, and the strong magnets (73) are fixedly connected to the inside of the positioning frame (71).

7. The robot for climbing power transmission line towers according to claim 6, characterized in that: It also includes two sets of passive pulley assemblies (8) for assisting in fitting the foot spikes (92). The passive pulley assembly (8) includes a mounting shell (81), multiple belt rollers (82) and a passive belt (83). The mounting shell (81) is fixedly connected to the inside of the tower climbing robot frame (1). The multiple belt rollers (82) are distributed vertically and rotatably connected to the inside of the mounting shell (81). The passive belt (83) is sleeved on the outside of the multiple belt rollers (82) and forms a transmission engagement.

8. The robot for climbing power transmission line towers according to claim 7, characterized in that: The two sets of passive pulley assemblies (8) are symmetrically distributed on the outside of the positioning guide assembly (7) and form a cooperative positioning structure with the guide channel of the positioning guide assembly (7). The outside of the positioning wheel (72) is in contact with the outside of the rod (91), and the outside of the passive belt (83) is in rolling contact with the foot nail (92) on the outside of the rod (91) to assist the robot in conforming to the distribution trajectory of the foot nail when moving along the axial direction of the rod (91).

9. A robot for climbing power transmission line towers according to any one of claims 1-8, characterized in that: The control box (10) is detachably installed on the inner side of the tower climbing robot frame (1) by bolts, and a vision camera (11) is fixedly connected to the top of the tower climbing robot frame (1).

Images