A crawling robot for power angle steel tower maintenance

Abstract

This invention discloses a crawling robot for maintaining power angle steel towers, aiming to improve the safety and work efficiency of angle steel tower maintenance. The crawling robot for maintaining power angle steel towers includes a body, a working component, and multiple climbing components. The working component is disposed on the body. The climbing component includes a base, a fixed arm, a movable base, and a movable arm. The base is adjustablely connected to the body, the fixed arm is connected to the base, the fixed arm and the movable base are spaced apart along a first direction, the movable base is movably connected to the base along the first direction, and the movable arm is rotatably connected to the movable base. The movable arm includes multiple arm units connected in sequence, with a reset elastic element between adjacent arm units. The arm units are configured to include a first state and a second state. In the first state, adjacent arm units are rotatably connected; in the second state, adjacent arm units are locked. This device can significantly improve the safety of angle steel tower maintenance.

Description

Technical Field

[0001] This invention relates to the field of power maintenance equipment technology, specifically to a crawling robot for maintaining power angle steel towers. Background Technology

[0002] As the core support structure of high-voltage transmission lines, angle steel towers are exposed to complex outdoor environments for extended periods, requiring regular maintenance such as bolt tightening, component corrosion inspection, weld flaw detection, and component replacement. Traditional maintenance relies heavily on manual climbing, which presents problems such as high risk of falls from heights, high labor intensity, low work efficiency, and frequent safety accidents. Furthermore, angle steel towers are space truss structures, riddled with obstacles such as diagonal braces, bolts, connecting plates, and foot spikes, making climbing paths complex and prone to omissions and misjudgments during manual inspections, resulting in low maintenance efficiency.

[0003] Existing technologies have some climbing equipment that can be used for climbing operations; however, most of these devices are wheeled or tracked structures, which are difficult to adapt to the irregular environment of angle steel towers.

[0004] In summary, developing a robot that can climb angle steel towers to replace manual inspections and improve the safety and efficiency of angle steel tower maintenance is an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a climbing robot for the maintenance of power angle steel towers. This robot is capable of climbing angle steel towers and completing maintenance tasks.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A crawling robot for maintaining power angle steel towers includes a body, a working component, and multiple climbing components. The working component is disposed on the body. The climbing component includes a base, a fixed arm, a movable base, and a movable arm. The base is adjustablely connected to the body, the fixed arm is connected to the base, the fixed arm and the movable base are spaced apart along a first direction, the movable base is movably connected to the base along the first direction, and the movable arm is rotatably connected to the movable base. The movable arm includes multiple arm units connected in sequence, and a reset elastic element is disposed between adjacent two arm units. The arm units are configured to include a first state and a second state. In the first state, adjacent two arm units are rotatably connected, and in the second state, adjacent two arm units are locked. The arm unit furthest from the movable base is provided with a docking component for connecting to the fixed arm.

[0007] In some embodiments, the base is provided with a movable guide rail, and the movable seat is slidably connected to the movable guide rail.

[0008] In some embodiments, the base is rotatably provided with a first lead screw, and the movable seat is provided with a threaded hole, with the first lead screw and the threaded hole of the movable seat engaging in a threaded connection.

[0009] In some embodiments, between two adjacent arm units, one is provided with a rotating seat and the other with a rotating ring, the rotating ring being rotatably connected to the rotating seat, and further includes a hydraulic cylinder and a cone. The hydraulic cylinder is connected to the rotating seat and includes a telescopic end that moves along the axis of the rotating ring. The cone is connected to the telescopic end, with the minor diameter side of the cone facing the rotating ring.

[0010] In some embodiments, a floating seat and a mounting seat are further included. The floating seat is movably connected to the telescopic end along the moving direction of the telescopic end, and a buffer elastic element is provided between the floating seat and the telescopic end. The mounting seat is movably connected to the floating seat along the moving direction of the telescopic end, a truncated cone is connected to the mounting seat, the floating seat is rotatably provided with a second lead screw, the mounting seat is provided with a threaded hole, the second lead screw and the threaded hole of the mounting seat are threadedly engaged, the cylinder body of the hydraulic cylinder is provided with a limit part, the side wall surface of the limit part is a concave arc surface, the second lead screw is provided with a actuating part, the actuating part is provided on the concave side of the concave arc surface.

[0011] In some embodiments, the floating seat is provided with a plurality of guide rods, and the mounting seat is provided with guide holes through which the guide rods pass.

[0012] In some embodiments, the docking component includes a docking arm, which includes a first portion and a second portion that are bent. The first portion is rotatably connected to the arm unit furthest from the movable seat, and the second portion is disposed on the side of the first portion furthest from the movable arm. The fixed arm is provided with an abutment portion that abuts against the movable arm. The abutment portion is provided with a limiting recess, and the second portion is inserted into the limiting recess. A limiting elastic element is provided between the docking arm and the arm unit.

[0013] In some embodiments, the docking component further includes an electromagnetic adsorption part disposed on the movable arm, which is used to adsorb the first part on the side close to the movable arm.

[0014] In some embodiments, two docking arms are symmetrically arranged.

[0015] In some embodiments, the working component includes a spatial mobile arm and a working unit. The spatial mobile arm is connected to the body and includes a mobile end. The working unit is connected to the mobile end.

[0016] The present invention has the following beneficial effects: 1. It replaces manual high-altitude climbing operations, completely avoids the safety hazards of falls from heights, and significantly reduces the incidence of safety accidents.

[0017] 2. Mechanical automation reduces the intensity of manual labor and effectively improves the overall efficiency of maintenance operations.

[0018] 3. The climbing component is compatible with angle steel towers and irregular truss structures, allowing for smooth passage through various structural obstacles without blind spots during inspection.

[0019] 4. During maintenance operations, the climbing component can be switched to the first state, and the machine body can be fixed to the angle steel tower, reducing the risk of collision between the machine body and the angle steel tower, or the machine body shaking, which makes maintenance operations difficult. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the crawling robot for maintaining power angle steel towers according to the present invention; Figure 2 This is a schematic diagram showing the interaction between the climbing component and the angle steel tower of the present invention; Figure 3 This is a schematic diagram of the cooperation between the climbing component and the angle steel tower (showing the docking parts) of the present invention; Figure 4 for Figure 3 Enlarged view of point A; Figure 5 This is a schematic diagram showing the connection between the cone and the hydraulic cylinder of the present invention; Figure 6 This is a schematic diagram showing the connection between the mounting base and the hydraulic cylinder of the present invention.

[0021] Explanation of markings in the diagram: 1-Main body, 11-Transverse guide rail, 12-Vertical guide rail, 13-Electric push rod, 2-Working component, 21-Spatial moving arm, 22-Working unit, 3-Climbing component, 31-Seat, 32-Moving guide rail, 33-First lead screw, 34-Moving seat, 35-Moving arm, 351-Arm unit, 36-Docking component, 361-Electromagnetic adsorption part, 362-First part, 363-First... Two parts, 364-Dating arm, 37-Fixed arm, 371-Abutting part, 372-Limiting recess, 38-Rotating seat, 39-Rotating ring, 310-Hydraulic cylinder, 311-Conical truncated cone, 312-Telescopic end, 313-Floating seat, 314-Mounting seat, 315-Guide rod, 316-Second lead screw, 317-Actuating part, 318-Limiting part, 3181-Concave arc surface, 4-Horizontal angle steel, 5-Vertical angle steel. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Unless otherwise specified, the technical means used in the embodiments are conventional means well known to those skilled in the art.

[0023] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0024] A crawling robot for maintaining power angle steel towers includes a body 1, a working component 2, and multiple climbing components 3. The working component 2 is disposed on the body 1. The climbing component 3 includes a base 31, a fixed arm 37, a movable base 34, and a movable arm 35. The base 31 is positionally adjustable and connected to the body 1. The fixed arm 37 is connected to the base 31. The fixed arm 37 and the movable base 34 are spaced apart along a first direction. The movable base 34 is movably connected to the base 31 along the first direction. The movable arm 35 is rotatably connected to the movable base 34. The movable arm 35 includes multiple arm units 351 connected in sequence. A reset elastic element is disposed between two adjacent arm units 351. The arm units 351 are configured to include a first state and a second state. In the first state, two adjacent arm units 351 are rotatably connected. In the second state, two adjacent arm units 351 are locked. The arm unit 351 furthest from the movable base 34 is provided with a docking component 36 for connecting the fixed arm 37.

[0025] The main body 1 is used to integrate and install various components. The main body 1 may also be equipped with a power supply to provide energy.

[0026] The climbing assembly 3 enables the body 1 to climb the angle steel tower. For example, four climbing assemblies 3 can be provided, with two arranged side by side at the top and two side by side at the bottom of the body 1, so that the body 1 can be connected to the angle steel tower from any position on the tower using one of the climbing assemblies 3. Of course, the climbing assembly 3 can also be provided with six, eight, etc.

[0027] The adjustable position of the base 31 relative to the body 1 means that the position of the base 31 relative to the body 1 can be adjusted, allowing the climbing components 3 to lift the body 1. Specifically, when all climbing components 3 are connected to the angle steel tower, the climbing components 3 do not move relative to the tower; moving the body 1 relative to the climbing components 3 will cause the body 1 to move upwards. Once the body 1 reaches the set position, the positions of each climbing component 3 can be adjusted sequentially. For example, the top climbing components 3 can be moved upwards and connected to the angle steel tower first, followed by the bottom climbing components 3, and then the body 1 can be moved again, repeating this cycle to achieve the climbing function.

[0028] The moving structure of the seat 31 along the body 1 can refer to existing structures. For example, the body 1 can be provided with a transverse guide rail 11 and a longitudinal guide rail 12. The longitudinal guide rail 12 is slidably connected to the transverse guide rail 11, and the transverse guide rail 11 can be driven to move relative to the longitudinal guide rail 12 by an electric push rod 13. The seat 31 can be slidably connected to the longitudinal guide rail 12, and can also be driven to move by an electric push rod 13, thus enabling the seat 31 to move in space relative to the body 1.

[0029] The movable arm 35 is rotatably connected to the movable base 34, allowing the movable arm 35 and the fixed arm 37 to form a sleeve-like structure for fitting onto the angle steel tower. It should be noted that the fitting position is at the intersection of the horizontal angle steel 4 and the vertical angle steel 5. The movable arm 35 and the fixed arm 37 work together to keep the climbing assembly 3 connected to the angle steel tower, preventing the machine body 1 from falling.

[0030] The drive structure for rotating the movable arm 35 can be selected from existing structures, and will not be described in detail here.

[0031] The first direction can be the direction shown by the X-axis in the figure.

[0032] The second state can be that the climbing robot is in the climbing working state. At this time, each arm unit 351 of the movable arm 35 is locked, that is, two adjacent arm units 351 cannot rotate relative to each other. By driving the movable arm 35 to rotate, the movable arm 35 can move closer to or further away from the fixed arm 37, so that the body 1 can move along the angle steel tower.

[0033] The first state can be the working state of the climbing robot performing maintenance work. In the second state, for ease of movement, the sleeve-like structure formed by the movable arm 35 and the fixed arm 37 has a gap with the angle steel. However, during maintenance work, the reaction force when the working unit 22 contacts the angle steel tower makes the robot body 1 very prone to colliding with the angle steel tower. In the first state, the movable arm 35 and the fixed arm 37 are connected, and the driving movable seat 34 moves towards the fixed arm 37. At this time, the two adjacent arm units 351 rotate relative to each other, which increases the bending degree of the movable arm 35 and reduces the sleeve-like structure formed by the movable arm 35 and the fixed arm 37, so that the robot body 1 can be fixed. During maintenance work, the risk of the robot body 1 colliding with the angle steel tower or the robot body 1 shaking and making maintenance work difficult is reduced.

[0034] The reset elastic element can be a spring or a torsion spring. The reset elastic element is used to allow the two adjacent arm units 351 to reset after the movable seat 34 is reset.

[0035] In some embodiments, the body 1 may also be equipped with a camera component for determining the position of the angle steel tower node.

[0036] In some embodiments, the base 31 is provided with a movable guide rail 32, and the movable seat 34 is slidably connected to the movable guide rail 32.

[0037] The movable seat 34 is slidably connected to the movable guide rail 32, allowing the movable seat 34 to move along the movable guide rail 32, thereby increasing the bending degree of the movable arm 35.

[0038] In some embodiments, a flexible filler, such as an air bladder, may be provided on the side of the arm unit 351 facing the angle steel. When the angle between the two arm units 351 decreases, the two arm units 351 can squeeze the flexible filler against each other. At this time, the flexible filler protrudes towards the angle steel and fills the gap between the sleeve structure and the angle steel, further improving the fixation reliability of the body 1.

[0039] In some embodiments, the base 31 is rotatably provided with a first lead screw 33, and the movable seat 34 is provided with a threaded hole, wherein the first lead screw 33 and the threaded hole of the movable seat 34 are threadedly engaged.

[0040] When the first lead screw 33 rotates, the movable seat 34 can be driven to move. The first lead screw 33 can be driven to rotate by a motor. In this embodiment, the first lead screw 33 can be driven to rotate by a motor, and the motor can be powered by the power supply of the machine body 1.

[0041] In some embodiments, between two adjacent arm units 351, one is provided with a rotating seat 38 and the other with a rotating ring 39, the rotating ring 39 being rotatably connected to the rotating seat 38, and further includes a hydraulic cylinder 310 and a cone 311. The hydraulic cylinder 310 is connected to the rotating seat 38 and includes a telescopic end 312 that moves along the axis of the rotating ring 39. The cone 311 is connected to the telescopic end 312, with the minor diameter side of the cone 311 facing the rotating ring 39.

[0042] The specific structure of the rotating ring 39 rotatably connected to the rotating seat 38 can refer to the existing structure, and will not be described in detail here.

[0043] The machine body 1 may be equipped with a miniature hydraulic station for controlling the hydraulic oil supplied to the hydraulic cylinder 310. Miniature hydraulic stations are technically mature products in the prior art; those skilled in the art can select the appropriate type.

[0044] By controlling the hydraulic oil in the input hydraulic cylinder 310, the telescopic end 312 can extend or retract from the hydraulic cylinder 310.

[0045] When the telescopic end 312 extends, the cone 311 can be inserted into the rotating ring 39. At the same time, the conical peripheral wall of the cone 311 abuts against the inner circumference of the rotating ring 39, thus locking the rotating ring 39. This is the first state of the movable arm 35. Conversely, when the cone 311 is removed, the rotating ring 39 can rotate relative to the rotating seat 38, which is the second state of the movable arm 35.

[0046] In some embodiments, the system further includes a floating seat 313 and a mounting seat 314. The floating seat 313 is movably connected to the telescopic end 312 along the moving direction of the telescopic end 312, and a buffer elastic element is provided between the floating seat 313 and the telescopic end 312. The mounting seat 314 is movably connected to the floating seat 313 along the moving direction of the telescopic end 312, and a cone 311 is connected to the mounting seat 314. The floating seat 313 is rotatably provided with a second lead screw 316. The mounting seat 314 is provided with a threaded hole, and the second lead screw 316 and the threaded hole of the mounting seat 314 are threadedly engaged. The cylinder body of the hydraulic cylinder 310 is provided with a limiting part 318, the side wall surface of the limiting part 318 is a concave arc surface 3181, and the second lead screw 316 is provided with a actuating part 317, which is located on the concave side of the concave arc surface 3181.

[0047] When the truncated cone 311 abuts against the rotating ring 39, the floating seat 313 can be compressed, and the buffer elastic element between the floating seat 313 and the telescopic end 312 is compressed. That is, the buffer elastic element can reduce the accuracy requirements for the movement control of the truncated cone 311 and avoid the risk of the truncated cone 311 applying too much external force to the rotating ring 39 and causing it to be damaged.

[0048] The cushioning elastic element can be a spring.

[0049] Since the cone 311 and the rotating ring 39 are limited by friction, the wear of the cone 311 and the rotating ring 39 will be more obvious, especially when the cone 311 needs to be inserted into the rotating ring 39 multiple times during maintenance.

[0050] If the travel of the telescopic end 312 is not adjusted after wear occurs, the locking effect of the cone 311 will be reduced.

[0051] In this embodiment, before the cone 311 wears out, the mounting base 314 will not contact the concave arc surface 3181 of the actuating part 317 when it moves. When the stroke of the telescopic end 312 is increased, the mounting base 314 will contact the actuating part 317 during its movement, thereby causing the second lead screw 316 to rotate. At this time, under the action of the thread, the mounting base 314 can move relative to the floating seat 313, increasing the distance between the mounting base 314 and the floating seat 313. The advantages of this arrangement are: First, during adjustment, the cone 311 moves a greater distance for each unit distance the telescopic end 312 moves, thus ensuring close contact between the cone 311 and the rotating ring 39 even if the cone 311 wears out. Second, because the movable arm 35 itself has a small structure, the size of the hydraulic cylinder 310 used is also small, limiting the stroke that can drive the telescopic end 312 to move. Therefore, under the action of the actuating part 317, the driving stroke requirement of the hydraulic cylinder 310 is reduced, which allows the hydraulic cylinder 310 to be selected as a smaller type, thus reducing the weight of the climbing component 3.

[0052] Of course, the floating seat 313 can be provided with a check structure so that the second lead screw 316 will not be reset in the reverse direction. For example, the floating seat 313 can be provided with a ratchet structure so that the second lead screw 316 can only rotate in one direction.

[0053] The second lead screw 316 can also be driven to rotate by a motor, and the motor can be powered by the power supply of the machine body 1.

[0054] In some embodiments, the floating seat 313 is provided with a plurality of guide rods 315, and the mounting seat 314 is provided with guide holes, through which the guide rods 315 pass.

[0055] The guide rod 315 passes through the guide hole, allowing the mounting base 314 to move relative to the floating base 313. At the same time, when the second lead screw 316 rotates, the guide rod 315 acts as a limit, preventing the mounting base 314 from rotating relative to the floating base 313.

[0056] In some embodiments, the docking component 36 includes a docking arm 364, which includes a first portion 362 and a second portion 363 that are bent. The first portion 362 is rotatably connected to the arm unit 351 that is furthest from the movable seat 34. The second portion 363 is disposed on the side of the first portion 362 that is furthest from the movable arm 35. The fixed arm 37 is provided with an abutment portion 371 that abuts against the movable arm 35. The abutment portion 371 is provided with a limiting recess 372. The second portion 363 is inserted into the limiting recess 372. A limiting elastic element is provided between the docking arm 364 and the arm unit 351.

[0057] The limiting elastic element can be a spring, which provides an elastic element that allows the side of the docking arm 364 away from the movable arm 35 to move toward the movable arm 35.

[0058] When connecting the movable arm 35 and the fixed arm 37, the docking arm 364 is first rotated so that its end can rotate away from the movable arm 35. Then, the movable arm 35 abuts against the abutment part 371. Afterward, the docking arm 364 is reset under the action of the limiting elastic member, and the second part 363 of the docking arm 364 is engaged with the limiting recess 372. At this time, the movable arm 35 and the fixed arm 37 can be connected.

[0059] It should be noted that the abutting surfaces of the docking arm 364 and the limiting recess 372 need to be set as planes.

[0060] In this embodiment, when the movable arm 35 switches to the second state, it also increases the connection strength between the movable arm 35 and the fixed arm 37. That is, when the movable seat 34 moves toward the fixed arm 37, the arm unit 351 generates a pulling force on the docking arm 364, so that the second part 363 of the docking arm 364 can closely abut against the inner wall of the limiting recess 372, reducing the risk of the docking arm 364 disengaging from the limiting recess 372.

[0061] In some embodiments, the docking component 36 further includes an electromagnetic adsorption part 361, which is disposed on the movable arm 35 and is used to adsorb the first part 362 on the side near the movable arm 35.

[0062] The electromagnetic adsorption unit 361 can be an electromagnet. Similarly, the electromagnet can be powered by the power supply of the main body 1.

[0063] The first part 362 is provided with a metal part for the electromagnetic adsorption part 361 to adsorb. When the electromagnetic adsorption part 361 is energized, the first part 362 is adsorbed, and the second part 363 can move away from the arm unit 351. Then the abutment part 371 can abut against the arm unit 351 furthest away from the movable seat 34. However, when the electromagnet is de-energized, the second part 363 returns to its original position and inserts into the limiting recess 372.

[0064] In some embodiments, two docking arms 364 are symmetrically arranged.

[0065] By setting two docking arms 364, the reliability of the docking component 36 connecting to the fixed arm 37 is increased.

[0066] In some embodiments, the working component 2 includes a spatial mobile arm 21 and a working unit 22. The spatial mobile arm 21 is connected to the body 1 and includes a mobile end. The working unit 22 is connected to the mobile end.

[0067] The spatial mobile arm 21 is used to move the work unit 22 within a space. The spatial mobile arm 21 can be a technologically mature product selected from existing technologies.

[0068] The work unit 22 can be detachably connected to the mobile end, allowing it to be replaced depending on the type of work. For example, when tightening bolts on an angle steel tower, the work unit 22 may include a sleeve rotatably connected to the mobile end and capable of rotation by a motor. As another example, during welding operations, the work unit 22 may include a welding device.

[0069] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Any modifications, alterations, alterations, or substitutions made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A crawling robot for maintaining power angle steel towers, characterized in that: include: Body (1); The working component (2) is installed on the body (1); Multiple climbing components (3) include a base (31), a fixed arm (37), a movable seat (34), and a movable arm (35). The base (31) is positionally adjustable and connected to the body (1). The fixed arm (37) is connected to the base (31). The fixed arm (37) and the movable seat (34) are spaced apart along a first direction. The movable seat (34) is movably connected to the base (31) along the first direction. The movable arm (35) is rotatably connected to the movable seat (34). The device includes multiple arm units (351) connected in sequence. A reset elastic element is provided between two adjacent arm units (351). The arm unit (351) is configured to include a first state and a second state. In the first state, two adjacent arm units (351) are rotatably connected. In the second state, two adjacent arm units (351) are locked. The arm unit (351) furthest from the movable seat (34) is provided with a docking component (36). The docking component (36) is used to connect the fixed arm (37).

2. The crawling robot for maintaining power angle steel towers according to claim 1, characterized in that: The seat (31) is provided with a movable guide rail (32), and the movable seat (34) is slidably connected to the movable guide rail (32).

3. The crawling robot for maintaining power angle steel towers according to claim 1, characterized in that: The base (31) is rotatably provided with a first lead screw (33), and the movable seat (34) is provided with a threaded hole, and the first lead screw (33) and the threaded hole of the movable seat (34) are threadedly engaged.

4. The crawling robot for maintaining power angle steel towers according to claim 1, characterized in that, Between two adjacent arm units (351), one is provided with a rotating seat (38) and the other is provided with a rotating ring (39), the rotating ring (39) being rotatably connected to the rotating seat (38), and further includes: A hydraulic cylinder (310) is connected to the rotating seat (38). The hydraulic cylinder (310) includes a telescopic end (312) that moves along the axis of the rotating ring (39). A truncated cone (311) is connected to the telescopic end (312), with the smaller diameter side of the truncated cone (311) facing the rotating ring (39).

5. The crawling robot for maintaining power angle steel towers according to claim 4, characterized in that, Also includes: A floating seat (313) is movably connected to the telescopic end (312) along the moving direction of the telescopic end (312), and a buffer elastic element is provided between the floating seat (313) and the telescopic end (312); Mounting base (314) is movably connected to floating base (313) along the moving direction of telescopic end (312). The cone (311) is connected to mounting base (314). Floating base (313) is rotatably provided with second lead screw (316). Mounting base (314) is provided with threaded hole. The second lead screw (316) and the threaded hole of mounting base (314) are threadedly engaged. The cylinder body of hydraulic cylinder (310) is provided with limiting part (318). The side wall surface of the limiting part (318) is a concave arc surface (3181). The second lead screw (316) is provided with a moving part (317). The moving part (317) is located on the concave side of the concave arc surface (3181).

6. The crawling robot for maintaining power angle steel towers according to claim 5, characterized in that, The floating seat (313) is provided with a plurality of guide rods (315), and the mounting seat (314) is provided with guide holes, through which the guide rods (315) pass.

7. The crawling robot for maintaining power angle steel towers according to claim 1, characterized in that, The docking component (36) includes a docking arm (364), which includes a first part (362) and a second part (363) that are bent. The first part (362) is rotatably connected to the arm unit (351) that is furthest from the movable seat (34). The second part (363) is located on the side of the first part (362) that is furthest from the movable arm (35). The fixed arm (37) is provided with a stop part (371) that abuts against the movable arm (35). The stop part (371) is provided with a limiting recess (372). The second part (363) is inserted into the limiting recess (372). A limiting elastic element is provided between the docking arm (364) and the arm unit (351).

8. The crawling robot for maintaining power angle steel towers according to claim 7, characterized in that, The docking component (36) further includes an electromagnetic adsorption part (361), which is disposed on the movable arm (35) and is used to adsorb the first part (362) on the side near the movable arm (35).

9. The crawling robot for maintaining power angle steel towers according to claim 7, characterized in that, Two docking arms (364) are symmetrically arranged.

10. The crawling robot for maintaining power angle steel towers according to claim 1, characterized in that, The operation component (2) includes: A spatial mobile arm (21) is connected to the body (1), and the spatial mobile arm (21) includes a mobile end; The work unit (22) is connected to the mobile terminal.

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