A carbon fiber based tower climbing robot mechanism

Abstract

The application discloses a kind of based on carbon fiber's tower cylinder wall-climbing robot mechanism, comprising: outer frame;Translation mechanism, symmetrically set to the inside of outer frame;Correcting mechanism, quantity is two groups, respectively set on translation mechanism, its translation mechanism is used to drive correcting mechanism left and right movement, to avoid the rust block on wind power tower cylinder;Support frame, quantity is two, respectively set between correcting mechanism;Inner frame, set to the inside of support frame;Drive unit, quantity is two, respectively set on support frame, its drive unit is used to drive inner frame and move back and forth on support frame;Self-adapting mechanism, quantity is at least three groups, respectively set to the bottom of outer frame, support frame and inner frame.The application, carbon fiber and metal alloy frame are alternately adsorbed and crawl, improve high-altitude stability and high-load operation, and avoid the rust position on wind power tower cylinder, which is beneficial to adsorb wind power tower cylinder and avoid falling.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robot technology, and in particular to a tower-climbing robot mechanism based on carbon fiber. Background Technology

[0002] Currently, the climbing robots commonly used for wind turbine towers are mainly bionic, wheeled, and tracked. Among them, the bionic type is mostly used for detecting surface defects on towers or wind turbine blades, while the wheeled and tracked types can usually carry cleaning, grinding, spraying and other work equipment for high-altitude operations.

[0003] Currently, existing wind turbine tower climbing robots still have the following shortcomings: the main frame is heavy and the load-to-weight ratio is low. Most existing wind turbine tower external surface climbing robots adopt metal frame structures, but they usually have problems such as heavy overall weight, low load-to-weight ratio, large drive load, and limited consumables that can be carried in a single operation. Therefore, in the process of high-altitude spraying, cleaning, polishing, and inspection, they can often only complete small-scale and short-term operations, which is difficult to meet the needs of continuous and multi-condition operation and maintenance of wind turbine tower external surfaces, as well as insufficient environmental adaptability, making it difficult to meet the needs of complex wind power operation and maintenance scenarios. Traditional metal frames are prone to thermal deformation in extreme temperature difference environments and are prone to corrosion in marine or high humidity and high salt environments, which affects the equipment's operating accuracy, structural stability and long-term reliability. Furthermore, surface corrosion of the wind turbine tower affects the adsorption of the suction cups. Summary of the Invention

[0004] The purpose of this invention is to address the aforementioned shortcomings by providing a tower climbing robot mechanism based on carbon fiber, which enables alternating adsorption and climbing of carbon fiber and metal alloy frame, improving high-altitude stability and high-load operation, and avoiding rusted areas on wind turbine towers, thus facilitating the adsorption of wind turbine towers and preventing them from falling.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a tower climbing robot mechanism based on carbon fiber, comprising: outer frame; The translation mechanism is symmetrically arranged on the inner side of the outer frame; The correction mechanism consists of two sets, each set on the translation mechanism. The translation mechanism is used to drive the correction mechanism to move left and right to avoid the rust blocks on the wind turbine tower. There are two support frames, one of which is set between the correction mechanisms; The inner frame is located inside the support frame; There are two drive units, each set on the support frame. The drive units are used to drive the inner frame to move back and forth on the support frame, so as to alternately lift the outer frame and the inner frame. The adaptive mechanism, in at least three sets, is respectively set at the bottom of the outer frame, the support frame and the inner frame. The adaptive mechanism is used to conform to the outer wall surface of the wind turbine tower with different curvatures. An adsorption mechanism is located at the bottom of the adaptive mechanism, and the adsorption mechanism is used to adsorb the outer surface of the wind turbine tower. The outer frame, support frame, and inner frame are all made of carbon fiber or alloy.

[0006] Furthermore, the translation mechanism includes a fixed box disposed inside the outer frame and a bidirectional lead screw disposed inside the fixed box, the end of which is provided with a driving component fixedly installed with the outer frame; It also includes a screw block that is respectively disposed in a fixed box and threadedly connected to a bidirectional screw, and a support cylinder disposed on the screw block, wherein a first displacement sensor is provided on the support cylinder; It also includes a fixing rod that is fixedly installed inside the outer frame and slidably connected to the support cylinder.

[0007] Furthermore, the correction mechanism includes a fixed cylinder disposed on the support cylinder and a driving part disposed on the fixed cylinder; It also includes a first mounting plate disposed on the support frame, a curved rack disposed on the first mounting plate, and sliding plates symmetrically disposed on the first mounting plate; It also includes a drive gear located at the output shaft end of the drive unit, and slide grooves symmetrically arranged at the bottom of the fixed cylinder and slidably connected to the slide plate, wherein the drive gear meshes with the curved rack.

[0008] Furthermore, the slide plate is provided with symmetrical first balls, and the slide groove body is provided with guide grooves for the sliding of the first balls.

[0009] Furthermore, the support frame includes a rectangular frame disposed on the correction mechanism and guide rods symmetrically disposed at the bottom of the rectangular frame.

[0010] Furthermore, the inner frame includes a sliding cylinder disposed on the guide rod and a movable frame disposed on the sliding cylinder. The movable frame is fixedly installed with the telescopic end of the drive unit, and the number of drive units is two.

[0011] Furthermore, the number of drive units is two, and a synchronization corrector is provided between the drive units to ensure synchronous drive of the drive units.

[0012] Furthermore, the adaptive mechanism includes guide cylinders respectively disposed on the outer frame, support frame, and inner frame, and a movable rod disposed inside the guide cylinder. A hinge ball is fixedly provided at the bottom of the movable rod, and a mounting block is rotatably provided at the bottom of the hinge ball. It also includes a lifting rod that is hinged to the bottom of the outer frame, the support frame, and the inner frame, respectively, and a support frame that is hinged to the bottom of the lifting rod, wherein the support frame is fixedly installed with the mounting block.

[0013] Furthermore, the adsorption mechanism includes a vacuum adsorption disk mounted on a support frame and a miniature vacuum adsorption pump mounted on the support frame and communicating with the vacuum adsorption disk.

[0014] Furthermore, the support frame is equipped with an angle sensor, an infrared thermal imager for detecting rust, and a second displacement sensor.

[0015] The beneficial effects of this invention are reflected in: 1. This invention, by using carbon fiber and metal composite materials to construct the main load-bearing frame, can significantly reduce the weight of the whole machine and increase the load-to-weight ratio while ensuring structural strength and rigidity, thereby improving the carrying capacity of various operation modules and consumables such as spraying, cleaning, polishing, and testing.

[0016] 2. This invention achieves continuous crawling by alternating adsorption and relative movement of the inner frame, support frame, and outer frame, ensuring that at least one frame layer remains stably attached to the outer surface of the tower during the movement, thereby improving the safety and stability of high-altitude operations.

[0017] 3. In this invention, the lifting rod on the adaptive mechanism drives the support frame to rise and fall. The lifting rod is hinged to the outer frame, the support frame and the inner frame. The movable rod is freely adjustable to the support frame through the hinge ball and the fixed block. This improves the adaptive adhesion capability of the suction cup assembly to the outer surface of the tower with different curvature radii and enhances the adhesion reliability.

[0018] 4. This invention improves the accuracy and stability of the robot's movement along the tower's generatrix by using the drive unit on the correction mechanism to adjust the angle of the support frame on the outer frame. It also improves the equipment's service capability and service life in complex environments such as extreme cold, high temperature, and salt spray by utilizing the low thermal expansion and corrosion resistance of carbon fiber and metal alloy composite materials.

[0019] 5. This invention uses a moving mechanism to drive two sets of correction mechanisms to move closer or further apart, thereby enabling the support frame and inner frame to translate within the outer frame, thus avoiding rusted areas on the wind turbine tower and improving the safety of the wall-climbing robot. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural view of the present invention; Figure 2 This is a left view of the overall structure of the present invention; Figure 3 This is a three-dimensional structural view of the outer frame and adsorption mechanism of the present invention; Figure 4 This is a three-dimensional structural view of the translation mechanism and inner frame of the present invention; Figure 5 This is a three-dimensional structural view of the translation mechanism of the present invention; Figure 6 This is a three-dimensional structural view of the correction mechanism of the present invention; Figure 7 This is a three-dimensional structural view of the correction mechanism of the present invention from another perspective. Figure 8 This is a three-dimensional structural view of the support frame and inner frame of the present invention; Figure 9 This is a three-dimensional structural view of the adaptive mechanism and adsorption mechanism of the present invention.

[0021] In the picture: 1. Outer frame; 2. Translation mechanism; 21. Fixed box; 22. Two-way lead screw; 23. Driving component; 24. Lead block; 25. Support cylinder; 26. Fixed rod; 3. Correction mechanism; 31. Fixed cylinder; 32. Drive unit; 33. Drive gear; 34. First mounting plate; 35. Curved rack; 36. Slide body; 37. Slide plate; 4. Support frame; 41. Rectangular frame; 42. Guide rod; 5. Inner frame; 51. Moving frame; 52. Sliding cylinder; 6. Drive unit; 7. Adaptive mechanism; 71. Guide cylinder; 72. Movable rod; 73. Hinge ball; 74. Lifting rod; 75. Support frame; 8. Adsorption mechanism; 81. Miniature vacuum adsorption pump; 82. Vacuum adsorption disk. Detailed Implementation

[0022] 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 a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. 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.

[0023] Please see Figure 1-9 This invention discloses a tower climbing robot mechanism based on carbon fiber, comprising: Outer frame 1 is a hollow frame made of carbon fiber and metal alloy composite material, used to reduce its own weight; Translation mechanism 2 is symmetrically arranged on the inner side of outer frame 1, and translation mechanism 2 is fixed to outer frame 1 by welding or bolts; There are two sets of correction mechanisms 3, which are respectively set on the translation mechanism 2. The translation mechanism 2 is used to drive the correction mechanism 3 to move left and right to avoid the rust blocks on the wind turbine tower. There are four correction mechanisms 3. The correction mechanism 3 and the translation mechanism 2 are fixedly installed by welding or bolts. There are two support frames 4, which are respectively set between the correction mechanisms 3. The support frames 4 and the correction mechanisms 3 are fixedly installed by welding or bolts. The translation mechanism 2 is used to drive the two sets of correction mechanisms 3 to move closer or further apart from each other. The inner frame 5 is located inside the support frame 4, and the inner frame 5 is slidably connected to the support frame 4. There are two drive units 6, which are respectively set on the support frame 4. The drive unit 6 is used to drive the inner frame 5 to move back and forth on the support frame 4 to alternately lift the outer frame 1 and the inner frame 5. The drive unit 6 is an electric push rod. The drive unit 6 and the support frame 4 are fixedly installed by bolts. The other end of the drive unit 6 is fixedly installed to the inner frame 5 by bolts. The drive unit 6 is used to drive the two inner frames 5 and the two support frames 4 to crawl alternately. The adaptive mechanism 7, in at least three sets, is respectively set at the bottom of the outer frame 1, the support frame 4 and the inner frame 5. The adaptive mechanism 7 is used to conform to the outer wall surface of the wind turbine tower with different curvatures. The adsorption mechanism 8 is located at the bottom of the adaptive mechanism 7. The adsorption mechanism 8 is used to adsorb the outer surface of the wind turbine tower. The adaptive mechanism 7 is used to enable the adsorption mechanism 8 to adapt to adsorption on different curvatures of the wind turbine tower. The outer frame 1, support frame 4, and inner frame 5 are all made of carbon fiber and metal alloy composite materials to reduce the weight of the crawling robot. The main body of the frame and some load-bearing components are made of carbon fiber composite materials. To ensure structural strength, the joints are made of bonded carbon fiber connectors to connect the hollow square tubes of carbon fiber, ensuring that the strength is the same in all directions. The overall structure is lightweight and has excellent bending resistance, ensuring both lightweight and high strength. Thanks to the superior properties of carbon fiber, the overall weight is reduced by about 40%, the load capacity exceeds 200kg, and the load-to-weight ratio is significantly improved. It can carry sufficient operating consumables to complete continuous operations. The carbon fiber material has excellent weather resistance, with no significant deformation in a temperature range of -30℃ to 70℃, and is resistant to salt spray corrosion, making it suitable for tower operation environments such as offshore. It has strong expandability of operation modes and can carry various working devices such as cleaning, polishing, and spraying. It can adapt to wind turbine towers with different curvature radii and complete their external surface anti-corrosion operations. It can cross the weld seams and rust blocks on the tower surface. Combined with the correction function of the correction mechanism, the operation accuracy is higher. In the event of a sudden power outage, the vacuum suction cup can maintain the adsorption state for a short time to prevent falling, making it safer.

[0024] In a specific embodiment, the translation mechanism 2 includes a fixed box 21 disposed inside the outer frame 1 and a bidirectional lead screw 22 disposed inside the fixed box 21. The end of the bidirectional lead screw 22 is provided with a driving component 23 fixedly installed with the outer frame 1. The outer frame 1 and the fixed box 21 are fixedly installed by welding or bolts. The end of the bidirectional lead screw 22 is provided with an angle sensor. The driving component 23 is a forward and reverse motor. The output shaft of the driving component 23 is fixedly installed with the bidirectional lead screw 22 by bolts and flanges. The driving component 23 is fixedly installed with the outer frame 1 by bolts. It also includes a wire block 24 that is respectively set in the fixed box 21 and threadedly connected to the bidirectional lead screw 22, and a support cylinder 25 set on the wire block 24. The support cylinder 25 is provided with a first displacement sensor. A synchronous corrector is provided between the two driving components 23 to correct the two driving components 23 so as to ensure that the two driving components 23 drive the wire block 24 to move by the same amount. The synchronous corrector includes an encoder and a synchronous control module to correct the telescopic displacement in real time and ensure that the driving unit operates synchronously. It also includes a fixing rod 26 fixedly installed inside the outer frame 1 and slidably connected to the support cylinder 25. The outer frame 1 and the fixing rod 26 are fixedly installed by welding or bolts and flanges, and the support cylinder 25 is slidably connected to the fixing rod 26.

[0025] In one embodiment, the correction mechanism 3 includes a fixed cylinder 31 disposed on the support cylinder 25 and a drive unit 32 disposed on the fixed cylinder 31. The drive unit 32 is a servo motor. The fixed cylinder 31 and the support cylinder 25 are fixedly installed by welding or bolts, and the fixed cylinder 31 and the drive unit 32 are fixedly installed by bolts. It also includes a first mounting plate 34 set on the support frame 4, a curved rack 35 set on the first mounting plate 34, and a sliding plate 37 symmetrically set on the first mounting plate 34. The first mounting plate 34 is fixedly installed to the support frame 4 by bolts, and the first mounting plate 34 is fixedly installed to the sliding plate 37 by bolts. The sliding plate 37 is an arc-shaped plate. It also includes an active gear 33 disposed at the output shaft end of the drive unit 32, and a slide body 36 symmetrically disposed at the bottom of the fixed cylinder 31 and slidably connected to the slide plate 37. The active gear 33 meshes with the curved rack 35, and the slide body 36 has an arc that matches the slide plate 37. When the robot's travel direction is detected to deviate from the direction of the tower generatrix, the drive unit 32 drives the active gear 33 to mesh with the curved rack 35, thereby causing relative rotation between the outer frame 1 and the support frame 4 to achieve directional correction.

[0026] In a specific embodiment, the slide plate 37 is provided with symmetrical first balls, and the slide groove 36 is provided with a guide groove for the sliding of the first balls. The first balls and the guide groove are used to guide the movement of the slide plate 37 and the slide groove 36.

[0027] In one embodiment, the support frame 4 includes a rectangular frame 41 disposed on the correction mechanism 3 and guide rods 42 symmetrically disposed at the bottom of the rectangular frame 41. The support frame 4 and the guide rods 42 are fixedly installed by welding or bolts. A first tilt detector is provided on the outer frame 1 and a second tilt detector is provided on the rectangular frame 41. The first tilt detector and the second tilt detector are used to detect whether the rectangular frame 41 and the outer frame 1 are offset.

[0028] In a specific embodiment, the inner frame 5 includes a sliding cylinder 52 disposed on the guide rod 42 and a movable frame 51 disposed on the sliding cylinder 52. The movable frame 51 is fixedly installed with the telescopic end of the drive unit 6. There are two drive units 6. The guide rod 42 is used to guide the sliding cylinder 52. The sliding cylinder 52 and the movable frame 51 are fixedly installed by bolts and flanges. The sliding cylinder 52, the guide rod 42 and the movable frame 51 are all made of carbon fiber metal alloy composite material to reduce their weight.

[0029] In one embodiment, there are two drive units 6, and a synchronization corrector is provided between the drive units 6 to ensure synchronous drive of the drive units 6. The drive unit 6 is an electric push rod, which is used to drive the moving frame 51 and the outer frame 1 to alternately crawl and rise and fall.

[0030] In a specific embodiment, the adaptive mechanism 7 includes a guide cylinder 71 respectively disposed on the outer frame 1, the support frame 4, and the inner frame 5, and a movable rod 72 disposed inside the guide cylinder 71. A hinge ball 73 is fixedly disposed at the bottom of the movable rod 72, and a mounting block is rotatably disposed at the bottom of the hinge ball 73. The guide cylinder 71 is fixedly installed to the outer frame 1, the support frame 4, and the inner frame 5 respectively by bolts. The movable rod 72 is movably connected to the guide cylinder 71, and the movable rod 72 is fixedly installed to the hinge ball 73 by welding or bolts. It also includes a lifting rod 74 that is hinged to the bottom of the outer frame 1, the support frame 4, and the inner frame 5 respectively, and a support frame 75 that is hinged to the bottom of the lifting rod 74. The support frame 75 is fixedly installed with the mounting block. The lifting rod 74 is movably connected to the outer frame 1, the support frame 4, and the inner frame 5 respectively by a pin. The lifting rod 74 is an electric push rod. The lifting rod 74 and the support frame 75 are movably connected by a pin.

[0031] In one embodiment, the adsorption mechanism 8 includes a vacuum adsorption disk 82 mounted on a support frame 75 and a miniature vacuum adsorption pump 81 mounted on the support frame 75 and communicating with the vacuum adsorption disk 82. The vacuum adsorption disk 82 is fixedly installed to the support frame 75 by bolts, and the vacuum adsorption disk 82 is fixedly installed to the miniature vacuum adsorption pump 81 by bolts and flanges. The miniature vacuum adsorption pump 81 is always in working condition. By controlling the opening and closing of the two-position three-way solenoid valve, the vacuum adsorption disk 82 is connected to the miniature vacuum adsorption pump 81 or the atmosphere. That is, when the two-position three-way solenoid valve is in the "0" state and the vacuum adsorption disk 82 is in contact with the wall surface, the vacuum adsorption disk 82 can adsorb onto the surface of the cylinder wall. When the two-position three-way solenoid valve is in the "1" state, the vacuum adsorption disk 82 is connected to the atmosphere, and even if the adsorption disk is in contact with the wall surface, it will not adsorb.

[0032] In a specific embodiment, the support frame 4 is equipped with an angle sensor and an infrared thermal imager for detecting rust. The infrared thermal imager is used to identify the temperature difference of the rusted area on the surface of the tower and sends the position signal to the controller. The controller controls the translation mechanism 2 to drive the correction mechanism 3 to move laterally to avoid the rust. The support frame 4 is equipped with a second displacement sensor and a control box. The control box is electrically connected to the angle sensor, the infrared thermal imager, the first displacement sensor, and the second displacement sensor.

[0033] In use, the main frame, support frame 4, outer frame 1, inner frame 5, and some load-bearing components are all made of carbon fiber composite material to ensure lightweight and high strength. Infrared thermal imaging is used to detect rust blocks on the wind turbine tower. The drive unit 23 drives the bidirectional lead screw 22 to rotate within the fixed box 21. The bidirectional lead screw 22 drives the lead block 24 to slide within the fixed box 21, and the support cylinder 25 slides on the fixed rod 26. The two sets of lead blocks 24 drive the two sets of correction mechanisms 3 to move closer or further apart. A synchronous corrector ensures the accuracy of the lead block 24. The movement of the wire block 24 is detected by the first displacement sensor, and then the tilt detectors detect whether the outer frame 1 and the support frame 4 are tilted. Then, the drive unit 32 installed on the top of the fixed cylinder 31 on the correction mechanism 3 drives the drive gear 33 to mesh with the curved rack 35 and the first mounting plate 34, the support frame 4 to deflect, and the slide plate 37 slides in the slide groove 36 to adjust whether the support frame 4 and the outer frame 1 are offset and whether they are rising along the direction of the wind turbine tower busbar. The robot descends and then hinges to the support frame 75 via the hinge ball 73 and lifting rod 74 on the adaptive mechanism 7. This allows the outer frame 1, support frame 4, and inner frame 5 to rise and fall on wind turbine towers with different curvatures. The outer frame 1, support frame 4, and inner frame 5 are then controlled to adhere to the wind turbine tower by the micro vacuum adsorption pump 81 and vacuum adsorption plate 82, respectively. The drive unit 6 drives the inner frame 5 to alternately crawl with the support frame 4 and outer frame 1, thereby increasing the load-to-weight ratio and enhancing the carrying capacity of various operation modules and consumables such as spraying, cleaning, polishing, and inspection. This ensures that the equipment maintains at least one frame stably attached to the outer surface of the tower during movement, thus improving the safety and stability of high-altitude operations. It also improves the adaptive adhesion capability of the suction cup assembly to the outer surface of towers with different curvature radii, enhances the adhesion reliability, and improves the service capability and service life of the equipment in complex environments such as high altitude, high temperature, and salt spray. Furthermore, it enables the support frame 4 and inner frame 5 to move inside the outer frame 1 to avoid rusted areas on the wind turbine tower, improving the safety of the climbing robot's operation.

[0034] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0035] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0036] Additionally, "multiple" refers to two or more.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A tower climbing robot mechanism based on carbon fiber, characterized in that, include: Outer frame (1); Translation mechanism (2) is symmetrically arranged on the inner side of outer frame (1); The correction mechanism (3) consists of two sets, which are respectively set on the translation mechanism (2). The translation mechanism (2) is used to drive the correction mechanism (3) to move left and right to avoid the rust blocks on the wind turbine tower. There are two support frames (4), which are respectively set between the correction mechanism (3); The inner frame (5) is located inside the support frame (4); Two drive units (6) are respectively set on the support frame (4). The drive units (6) are used to drive the inner frame (5) to move back and forth on the support frame (4) to alternately lift the outer frame (1) and the inner frame (5). The adaptive mechanism (7) has at least three sets, which are respectively set at the bottom of the outer frame (1), the support frame (4) and the inner frame (5). The adaptive mechanism (7) is used to fit the outer wall surface of the wind turbine tower with different curvatures. An adsorption mechanism (8) is disposed at the bottom of the adaptive mechanism (7), and the adsorption mechanism (8) is used to adsorb the outer surface of the wind turbine tower. The outer frame (1), support frame (4) and inner frame (5) are all carbon fiber and metal alloy composite material frames.

2. The tower climbing robot mechanism based on carbon fiber according to claim 1, characterized in that: The translation mechanism (2) includes a fixed box (21) disposed inside the outer frame (1) and a bidirectional lead screw (22) disposed inside the fixed box (21). The end of the bidirectional lead screw (22) is provided with a driving component (23) fixedly installed with the outer frame (1). It also includes a screw block (24) respectively disposed in the fixed box (21) and threadedly connected to the bidirectional screw (22), and a support cylinder (25) disposed on the screw block (24), wherein the support cylinder (25) is provided with a first displacement sensor; It also includes a fixing rod (26) that is fixedly installed inside the outer frame (1) and slidably connected to the support cylinder (25).

3. The tower climbing robot mechanism based on carbon fiber according to claim 2, characterized in that: The correction mechanism (3) includes a fixed cylinder (31) disposed on the support cylinder (25) and a drive unit (32) disposed on the fixed cylinder (31). It also includes a first mounting plate (34) disposed on the support frame (4), a curved rack (35) disposed on the first mounting plate (34), and a sliding plate (37) symmetrically disposed on the first mounting plate (34); It also includes a drive gear (33) disposed at the output shaft end of the drive unit (32) and a slide groove (36) symmetrically disposed at the bottom of the fixed cylinder (31) and slidably connected to the slide plate (37), wherein the drive gear (33) meshes with the curved rack (35).

4. The tower climbing robot mechanism based on carbon fiber according to claim 3, characterized in that: The slide plate (37) is provided with symmetrical first balls, and the slide body (36) is provided with a guide groove for the sliding of the first balls.

5. The tower climbing robot mechanism based on carbon fiber according to claim 1, characterized in that: The support frame (4) includes a rectangular frame (41) disposed on the correction mechanism (3) and guide rods (42) symmetrically disposed at the bottom of the rectangular frame (41).

6. The tower climbing robot mechanism based on carbon fiber according to claim 5, characterized in that: The inner frame (5) includes a sliding cylinder (52) disposed on the guide rod (42) and a movable frame (51) disposed on the sliding cylinder (52). The movable frame (51) is fixedly installed with the telescopic end of the drive unit (6). The number of drive units (6) is two.

7. The tower climbing robot mechanism based on carbon fiber according to claim 1, characterized in that: The number of drive units (6) is two, and a synchronization corrector is provided between the drive units (6) to ensure the synchronous drive of the drive units (6).

8. The tower climbing robot mechanism based on carbon fiber according to claim 1, characterized in that: The adaptive mechanism (7) includes a guide tube (71) respectively disposed on the outer frame (1), the support frame (4), and the inner frame (5), and a movable rod (72) disposed in the guide tube (71). The bottom of the movable rod (72) is fixedly provided with a hinge ball (73), and the bottom of the hinge ball (73) is rotatably provided with a mounting block. It also includes a lifting rod (74) that is hinged to the bottom of the outer frame (1), the support frame (4), and the inner frame (5), and a support frame (75) that is hinged to the bottom of the lifting rod (74), wherein the support frame (75) is fixedly installed with the mounting block.

9. The tower climbing robot mechanism based on carbon fiber according to claim 8, characterized in that: The adsorption mechanism (8) includes a vacuum adsorption disk (82) disposed on a support frame (75) and a miniature vacuum adsorption pump (81) disposed on the support frame (75) and communicating with the vacuum adsorption disk (82).

10. The tower climbing robot mechanism based on carbon fiber according to claim 1, characterized in that: An angle sensor is provided on the support frame (4), an infrared thermal imager for detecting rust is provided on the support frame (4), and a second displacement sensor is provided on the support frame (4).

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