Power transmission tower climbing mechanism and method based on multi-section series rotation and electromagnetic adsorption

Abstract

The application provides a power transmission tower climbing mechanism and method based on multi-section series rotation and electromagnetic adsorption. The mechanism comprises at least four sections connected in series. Adjacent sections are connected through a rotating platform. Each section is provided with a screw rod moving mechanism and an independently on-off electromagnetic adsorption device. The mechanism has two operation modes: when the configuration is converted, the current bearing section keeps adsorbing, each rotating platform drives the remaining sections to rotate, the adsorption position is adjusted through the screw rod moving mechanism if necessary, the target section adsorbs and confirms stability, and then the original bearing section is released from adsorption; when moving along the main material of the continuous power transmission tower, the electromagnetic adsorption devices on the two groups of sections are alternately adsorbed, and longitudinal movement is realized by synchronous driving of the screw rods. The application can switch operation modes according to the direction and local structure change of the main material of the power transmission tower, improve the adaptability to complex structures, and realize adsorption and support position conversion and continuous movement along the main material of the power transmission tower.

Description

Technical Field

[0001] This invention relates to the field of power transmission tower climbing machinery technology, specifically to a power transmission tower climbing mechanism and method based on multi-section series rotation and electromagnetic adsorption. Background Technology

[0002] Transmission towers, as crucial infrastructure for power transmission, operate in open-air environments for extended periods. Their components and connections are subject to wind vibration, icing, and material aging, necessitating regular inspection and maintenance. Current methods still largely rely on manual tower climbing, which is not only physically demanding but also carries significant risks associated with working at heights, compromising both efficiency and safety. Therefore, developing automated mechanisms to replace or assist manual tower climbing has become a vital research direction in the power operation and maintenance field.

[0003] Existing power transmission tower climbing mechanisms, such as the multi-directional climbing robot for power transmission line towers disclosed in Chinese Patent Publication No. CN118850216B, mainly include a forearm, a rear arm, a steering system connecting the forearm and rear arm, and screw slides and grippers mounted on the forearm and rear arm. The grippers are fixed to the tower angle steel by electromagnetic adsorption and mechanical clamping. This device achieves longitudinal movement along the tower angle steel by alternately fixing and releasing the front and rear grippers, in conjunction with the movement of the screw slides. When a change in direction is needed, the steering system changes the relative position between the forearm and rear arm, realizing position conversion between different tower components. In addition, Chinese Patent Application Publication No. CN102887187A discloses an electromagnetic intelligent climbing robot, which uses four cavities connected in series by horizontal servo motors. The first and last cavities are equipped with electromagnetic chucks, achieving climbing by adsorbing at one end and rotating at the other end to find the next adsorption point.

[0004] The existing solutions mentioned above still have the following limitations: First, the CN118850216B solution mainly relies on the alternating cooperation between the forearm, rear arm, and gripper to complete support and position conversion. Its number of adsorption support points is limited, and when it is necessary to expand the reachable adsorption range or adapt to the main body of the transmission tower with different tilt directions, the structural form and movement mode are constrained. Second, the longitudinal movement and direction conversion of this solution rely on the screw slide and steering system respectively. Multiple moving parts need to cooperate in a predetermined sequence, and its movement mode is relatively simple, making it difficult to flexibly switch the movement mode according to local changes in the tower structure. Furthermore, although the CN102887187A solution adopts a multi-segment series structure, each segment is only rotated in series by motors. Each segment does not have independent linear drive capability. The electromagnetic chuck is directly installed at the end of the motor rotor and cannot move along the length of the segment to adjust the adsorption position, which is insufficient in terms of precise positioning of the target adsorption point.

[0005] Therefore, there is a need for a climbing mechanism that can achieve continuous longitudinal movement along the main material of the power transmission tower while meeting the requirements for configuration adjustment and support conversion under complex structural positions, so as to improve the working condition adaptability and movement efficiency of the climbing mechanism. Summary of the Invention

[0006] The technical problem to be solved by the present invention is how to provide a power transmission tower climbing mechanism with a compact structure, strong adaptability and switchable movement mode, so as to solve the technical problems of low efficiency caused by the need for frequent overall configuration transformation when the existing climbing mechanism moves along the main material of the continuous power transmission tower, and insufficient adaptability caused by the independent adsorption position adjustment ability and mechanism configuration transformation ability when facing complex tower structure.

[0007] To achieve the above objectives, this invention provides a power transmission tower climbing mechanism based on multi-section series rotation and electromagnetic adsorption, comprising at least four segments connected in series, with adjacent segments connected by a turntable. Each segment includes a segment frame extending along its length, a screw-moving mechanism mounted on the segment frame, and an electromagnetic adsorption component mounted on a moving platform of the screw-moving mechanism. The electromagnetic adsorption components on each segment can be independently energized and de-energized. The turntable is used to drive relative rotation between adjacent segments to change the relative configuration between the multiple segments. The electromagnetic adsorption components are used to adsorb the main material of the power transmission tower and can independently switch between adsorption and release states. When the electromagnetic adsorption component is in the released state, the screw moving mechanism is configured to drive the moving platform to move relative to the corresponding segment frame along the segment length direction to adjust the adsorption position of the electromagnetic adsorption component; when the electromagnetic adsorption component is in the adsorption state, the moving platform remains fixed relative to the main material of the transmission tower, and the screw moving mechanism is configured to drive the segment frame to move relative to the moving platform to drive the climbing mechanism to generate displacement along the direction of the main material of the transmission tower.

[0008] This invention constructs a highly modular climbing mechanism with switchable motion modes by adopting an overall structural design of "at least four series-connected segments + a turntable + an electromagnetic adsorption component with a lead screw moving mechanism". Multiple segments are connected in series via a turntable, giving the mechanism the ability to flexibly change its configuration in three-dimensional space, adapting to changes in the orientation of the main tower material and local structural features. The lead screw moving mechanism integrated within each segment works in concert with the electromagnetic adsorption component, cleverly utilizing two states: "adsorption / release". The linear drive of the lead screw is decomposed into two functional modes: "adjusting the adsorption position" (release state) and "driving overall movement" (adsorption state). This two-stage motion system of "joint rotation (macroscopic configuration adjustment) plus intra-segment linear movement (microscopic position adjustment and stepping drive)" fundamentally solves the technical problem of independent adsorption adjustment and configuration transformation, and the single motion mode in existing technologies. The independent energization and de-energization control method of each segment's electromagnetic adsorption component provides a structural basis for flexible grouping and alternating load-bearing, enabling the mechanism to climb efficiently, stably, and continuously on complex tower structures.

[0009] In some embodiments, the number of segments is four, sequentially designated as a first segment, a second segment, a third segment, and a fourth segment along the length of the climbing mechanism. A first turntable is provided between the first and second segments, a second turntable between the second and third segments, and a third turntable between the third and fourth segments. This four-segment configuration achieves a good balance between structural complexity and control flexibility, enabling stable configuration transitions and alternating load-bearing with a minimal number of joints. Each of the four segments can respectively assume the roles of current load-bearing, intermediate transfer, and target load-bearing, making the climbing process smoother.

[0010] In some embodiments, the lead screw moving mechanism includes a lead screw, a drive motor, and the moving platform; the lead screw is arranged along the length of the segment, one end of which is connected to the output end of the drive motor, and the other end is supported on the segment frame by a lead screw support member; the moving platform is threadedly engaged with the lead screw and configured to reciprocate along the length of the segment as the lead screw rotates. This preferred embodiment provides a compact, efficient, and easily controllable linear drive implementation that can stably support electromagnetic adsorption components and perform precise linear positioning.

[0011] Furthermore, the segmental frame is provided with guide portions located on both sides of the lead screw and extending along the length of the segment, and the moving platform slides in cooperation with the guide portions. The guide portions effectively constrain the movement direction of the moving platform, preventing it from rotating circumferentially with the lead screw, thereby ensuring the straightness of the electromagnetic adsorption component's movement path and the accuracy of its adsorption posture, which helps to improve the reliability of adsorption.

[0012] In some embodiments, the turntable includes a turntable body and a turntable drive motor. The turntable body is disposed at the connection position of two adjacent segments, and the turntable drive motor is driven by the turntable body to drive the two adjacent segments to rotate relative to each other. This preferred embodiment provides a joint actuator with high integration, large driving torque, and precise angle control, which can meet the needs of precise angle adjustment of each segment under different loads.

[0013] In some embodiments, the electromagnetic adsorption component is mounted on the moving platform with its adsorption surface facing the main material of the transmission tower, and moves synchronously with the moving platform along the segment length. This allows the position of the electromagnetic adsorption component to be precisely adjusted with the moving platform, thereby enabling fine compensation of the adsorption point after the segment rotates.

[0014] This invention also provides a climbing method (configuration conversion mode) based on the above-mentioned climbing mechanism, comprising the following steps: attaching a first electromagnetic adsorption component to the main material of the transmission tower, with the first segment serving as the current load-bearing segment; while the first electromagnetic adsorption component remains attached, driving each turntable to rotate the second, third, and fourth segments sequentially in the climbing direction, wherein the second and third segments serve as intermediate rotating segments and do not participate in adsorption support; when the turntable rotation alone cannot align the fourth electromagnetic adsorption component with the target adsorption position, driving the screw moving mechanism of the fourth segment to adjust its adsorption position; after the fourth electromagnetic adsorption component reaches the target position, energizing it for adsorption and confirming stable adsorption; after confirming stability, releasing the adsorption of the first electromagnetic adsorption component, and while the fourth electromagnetic adsorption component remains attached, rotating each turntable in coordination to convert the positions of the first, second, and third segments towards the direction of the fourth segment; after the first segment reaches the new target position, reattaching it and releasing the adsorption of the fourth electromagnetic adsorption component, completing one configuration conversion and support position transfer.

[0015] This invention also provides another climbing method based on the above-mentioned climbing mechanism (continuous longitudinal movement mode), comprising the following steps: dividing multiple segments into a first segment group and a second segment group, each comprising at least two segments; attaching each segment of the first segment group to the main body of the transmission tower, and synchronously driving the lead screw to move the climbing mechanism longitudinally along the main body of the transmission tower; after the first segment group has completed its movement, attaching the second segment group, and then releasing the first segment group from the attachment; while the second segment group is in the attached state, driving the lead screw of the first segment group to rotate in the opposite direction to reset; synchronously driving the lead screw of the second segment group to continue the longitudinal movement of the climbing mechanism; alternately executing the above process to achieve continuous longitudinal movement.

[0016] In addition, the climbing mechanism selects the operating mode according to the direction of the main material of the transmission tower and the local structural changes: when the main material of the transmission tower extends continuously and there is no need to change the relative configuration of each segment, the continuous longitudinal movement mode is adopted; when it is necessary to change the segment configuration or support position, the configuration conversion climbing mode is adopted; the two operating modes are switched by stopping the current mode and adjusting the electromagnetic adsorption state of each segment and the turntable angle.

[0017] Compared with the prior art, the present invention has the following beneficial effects: By employing a structure with at least four segments connected in series and a turntable, the climbing mechanism can flexibly adjust its overall configuration according to the direction of the main material of the transmission tower and changes in the local structure, significantly improving its adaptability to complex tower structures.

[0018] By integrating a screw-moving mechanism and an independently controllable electromagnetic adsorption component within each segment, and utilizing a dual working mode of "adjusting the adsorption position during release and driving the overall movement during adsorption," the system achieves an organic unity of two functions: switching the adsorption support position and continuous movement along the main material of the transmission tower. This reduces segmental swaying and energy consumption during the movement process.

[0019] By providing two climbing methods—configuration transformation and continuous longitudinal movement—the same mechanism can select the optimal movement strategy based on different tower sections (such as node areas or continuous main material sections), balancing the ability to traverse complex structures with the efficiency of movement on regular paths.

[0020] By configuring each segment of the electromagnetic adsorption component to be independently energized and de-energized, control strategies such as alternating load-bearing and grouped synchronous drive can be implemented. The inclusion of guide sections ensures the straightness and stability of the moving platform's movement, improves the alignment accuracy between the electromagnetic adsorption components and the main material of the transmission tower, and enhances the reliability of the adsorption process.

[0021] By incorporating the fine-tuning function of the lead screw moving mechanism and the timing step of "confirming adsorption stability" into the configuration conversion method, the rotation positioning error is effectively compensated, ensuring that the electromagnetic adsorption component can accurately reach the target adsorption point. Attached Figure Description

[0022] Figure 1 This is a partially enlarged schematic diagram of the overall structure of the climbing mechanism and the actuators of the first, second, third, and fourth segments in an embodiment of the present invention. Figure 2 This is a schematic diagram of the climbing mechanism of the present invention installed on the main material of a power transmission tower; Figure 3 This is a schematic diagram of the structure of a single segment and its lead screw moving mechanism of the present invention; Figure 4 This is a schematic diagram of the exploded structure of a single segment of the present invention; Figure 5 This is a schematic diagram of the structure of the turntable of the present invention; Figure 6 This is a schematic diagram showing the adsorption and release states of the electromagnetic adsorption component of the present invention, wherein... Figure 6 (a) is the state of adsorption under electric charge. Figure 6 (b) is in the power-off release state; Figure 7 This is a schematic diagram of the climbing mechanism's configuration transformation climbing process according to the present invention; wherein... Figure 7 (a) is the initial state of the first electromagnetic adsorption element adsorption, the second electromagnetic adsorption element, the third electromagnetic adsorption element and the fourth electromagnetic adsorption element release; Figure 7 (b) and Figure 7 (c) The intermediate state in which the first electromagnetic adsorption element maintains adsorption and each turntable sequentially drives the second, third and fourth segments to rotate. Figure 7 (d) represents the state where the fourth electromagnetic adsorption element is adsorbed and the first, second, and third electromagnetic adsorption elements are released.

[0023] Reference numerals: 110, First segment; 120, Second segment; 130, Third segment; 140, Fourth segment; 150, First turntable; 151, First turntable body; 152, First turntable drive motor; 160, Second turntable; 161, Second turntable body; 162, Second turntable drive motor; 170, Third turntable; 171, Third turntable body; 172, Third turntable drive motor; 210, Segment frame; 211, First segment frame; 212, Second segment frame; 213, Third segment frame; 214, Fourth segment frame; 220, Electromagnetic adsorption component; 221, First electromagnetic adsorption component; 222, Second electromagnetic adsorption component; 22 3. Third electromagnetic adsorption component; 224. Fourth electromagnetic adsorption component; 230. Lead screw; 231. First lead screw; 232. Second lead screw; 233. Third lead screw; 234. Fourth lead screw; 240. Drive motor; 241. First drive motor; 242. Second drive motor; 243. Third drive motor; 244. Fourth drive motor; 250. Moving platform; 251. First moving platform; 252. Second moving platform; 253. Third moving platform; 254. Fourth moving platform; 260. Guide section; 261. First guide section; 262. Second guide section; 263. Third guide section; 264. Fourth guide section; 300. Main material of transmission tower. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with embodiments. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] like Figure 1 and Figure 2 As shown, this embodiment provides a power transmission tower climbing mechanism based on multi-section series rotation and electromagnetic adsorption, including a first segment 110, a second segment 120, a third segment 130, and a fourth segment 140 connected sequentially along the length of the mechanism. The first segment 110 and the second segment 120 are connected by a first turntable 150, the second segment 120 and the third segment 130 are connected by a second turntable 160, and the third segment 130 and the fourth segment 140 are connected by a third turntable 170, forming a multi-section structure with the four segments connected sequentially. The first turntable 150, the second turntable 160, and the third turntable 170 can respectively drive the corresponding adjacent segments to rotate relative to each other, so that the relative angle between the four segments can be adjusted according to the climbing position.

[0026] like Figure 1 , Figure 3 and Figure 4 As shown, the general structure of each segment includes a segment frame 210, a lead screw 230, a drive motor 240, a moving platform 250, a guide part 260, and an electromagnetic adsorption component 220. Corresponding to the four-segment specific embodiment, the first segment 110 includes a first segment frame 211, a first lead screw 231, a first drive motor 241, a first moving platform 251, a first guide part 261, and a first electromagnetic adsorption component 221; the second segment 120 includes a second segment frame 212, a second lead screw 232, a second drive motor 242, a second moving platform 252, a second guide part 262, and a second electromagnetic adsorption component 222; the third segment 130 includes a third segment frame 213, a third lead screw 233, a third drive motor 243, a third moving platform 253, a third guide part 263, and a third electromagnetic adsorption component 223; and the fourth segment 140 includes a fourth segment frame 214, a fourth lead screw 234, a fourth drive motor 244, a fourth moving platform 254, a fourth guide part 264, and a fourth electromagnetic adsorption component 224.

[0027] The segmental frame 210 is a frame-type or plate-type structure, serving as the mounting base for all components of that segment. Each segment includes a segmental frame 210 extending along its length. Taking the first segment 110 as an example, it includes a first segmental frame 211. The segmental frame 210 supports all components of the lead screw moving mechanism (lead screw, drive motor, guide section) and the electromagnetic adsorption component 220, and transmits various loads (including self-weight, adsorption force, inertial force, etc.) during the climbing process. One end of the segmental frame 210 is connected to the turntable to receive motion or force from adjacent segments; the lead screw moving mechanism installed inside provides the electromagnetic adsorption component 220 with a linear motion trajectory along the length of the frame. In specific implementations, the segmental frame 210 can adopt an open U-shaped groove structure to facilitate the installation and maintenance of the internal lead screw and moving platform. To improve its torsional resistance, a closed rectangular section profile can also be used. The length of the segment frame 210 can be adjusted according to the cross-sectional dimensions of the main material 300 of the transmission tower and the required moving step length.

[0028] The lead screw moving mechanism includes a lead screw 230, a drive motor 240, a moving platform 250, and a guide section 260. The lead screw 230 is arranged along the length of the segment, with one end connected to the output end of the drive motor 240, and the other end supported on the segment frame 210 via a lead screw support (such as a bearing housing). The moving platform 250 is threadedly engaged with the lead screw 230. The guide section 260 consists of two parallel guide rails or grooves arranged on both sides of the lead screw 230, extending along the length of the segment. The drive motor 240 provides rotational power, and the lead screw 230 converts the rotational motion into linear motion of the moving platform 250. The guide section 260 constrains the direction of movement of the moving platform 250, preventing it from rotating with the lead screw 230 and ensuring the straightness of its linear movement. The moving platform 250 serves as an intermediate component connecting the lead screw 230 and the electromagnetic adsorption component 220, with the electromagnetic adsorption component 220 fixedly mounted on its upper part. When the lead screw 230 rotates, the moving platform 250, together with the electromagnetic adsorption component 220 on it, moves linearly along the guide section 260. By controlling the direction and speed of the drive motor 240, the moving direction and speed of the moving platform 250 can be precisely controlled. When the electromagnetic adsorption component 220 is released, the lead screw 230 rotates to drive the moving platform 250 to move, thereby adjusting the adsorption position; when the electromagnetic adsorption component 220 is adsorbed and fixed, the rotation of the lead screw 230 drives the segment frame 210 to move relative to the moving platform 250. The above scheme allows the same lead screw moving mechanism to achieve two completely different motion outputs under different adsorption states.

[0029] As an improved specific implementation, the drive motor 240 is preferably a servo motor or a stepper motor to achieve precise position and speed control. The lead screw 230 can be a trapezoidal threaded lead screw or a ball screw. The guide portion 260 can be a sliding guide pair or a rolling linear guide pair.

[0030] like Figure 6 As shown, the electromagnetic adsorption component 220 is fixedly installed on the moving platform 250, with its adsorption surface facing the main structure of the transmission tower 300. It contains an iron core and coil, and the generation and disappearance of magnetic force are controlled by energizing / disabling the power. The electromagnetic adsorption component 220 is used to establish or release the fixed constraint between itself and the main structure of the transmission tower 300. It is the sole point of leverage and support for the mechanism during climbing. The independent energizing and disabling control method allows for flexible combinations of adsorption points, enabling various adsorption strategies. The electromagnetic adsorption component 220 moves synchronously with the moving platform 250. When adsorbing, it fixes the moving platform 250 relative to the main structure of the transmission tower 300, thus providing a reaction force fulcrum for the screw-driven segment frame movement. When released, it adjusts its position with the moving platform.

[0031] In practical implementation, the electromagnetic adsorption components 220 on each segment (such as the first electromagnetic adsorption component 221, the second electromagnetic adsorption component 222, etc.) can be independently connected or disconnected from the power supply, thereby achieving independent adsorption and release. Figure 6 As shown in (a), F indicates that the electromagnetic adsorption component 220 is in an energized adsorption state facing the main material 300 of the power transmission tower; as Figure 6 As shown in (b), F=0 indicates the power-off release state. The adsorption surface of the electromagnetic adsorption component 220 can be designed as a flat surface, a V-shaped surface, or an arc surface according to the shape of the main material 300 of the transmission tower, and its adsorption force can be controlled by adjusting the coil current.

[0032] like Figure 5 As shown, taking the first turntable 150 as an example, it includes a first turntable body 151 and a first turntable drive motor 152. The turntable body 151 is located at the connection position of two adjacent segments, and has two relatively rotatable parts, which are fixedly connected to the two segments respectively. The drive motor 152 is driven by the turntable body 151. The structures of the second turntable 160 and the third turntable 170 are the same as those of the first turntable 150, and respectively connect the second segment 120 and the third segment 130, and the third segment 130 and the fourth segment 140. Each turntable can be driven independently. The turntable is used to drive two adjacent segments to rotate relative to each other around the turntable axis, so as to change the overall configuration of the mechanism. The turntable is the hub connecting adjacent segments, transmitting motion and force, and also acting as an actuator for adjusting the relative angle between segments. In specific implementations, the turntable can be a worm gear type rotary mechanism, a gear type rotary mechanism, or a harmonic reduction rotary mechanism.

[0033] Reference Figure 7 (a) to Figure 7 (d) This embodiment provides a configuration conversion climbing method. When the climbing mechanism needs to change the relative configuration between segments to adapt to changes in the tilt direction of the main material 300 of the transmission tower or changes in the position of local structures, a configuration conversion method combining multi-segment series rotation and electromagnetic adsorption of the two end segments can be adopted.

[0034] like Figure 7 As shown in (a), in the initial state, the first electromagnetic adsorption component 221 is adsorbed onto the main material 300 of the transmission tower, making the first segment 110 the current load-bearing segment. The second electromagnetic adsorption component 222, the third electromagnetic adsorption component 223, and the fourth electromagnetic adsorption component 224 are all in the released state. The first segment 110 serves as a fixed support end, used to bear the weight of the climbing mechanism itself and the loads transmitted to the first segment 110 during the rotation of the second segment 120, the third segment 130, and the fourth segment 140.

[0035] Subsequently, as Figure 7 (b) and Figure 7 As shown in (c), with the first electromagnetic adsorption component 221 in an adsorbed state, the first turntable 150, the second turntable 160, and the third turntable 170 are driven sequentially, causing the second segment 120, the third segment 130, and the fourth segment 140 to rotate sequentially in the climbing direction. During this process, the second, third, and fourth electromagnetic adsorption components remain released. The second segment 120 and the third segment 130, as intermediate rotating segments, do not participate in the adsorption support of the main material 300 of the transmission tower; they are only used to connect adjacent turntables and transmit rotation.

[0036] As an improved implementation, during the rotation of the fourth segment 140, if the rotation of each turntable alone cannot precisely align the fourth electromagnetic adsorption component 224 with the target adsorption position (e.g., due to local surface morphology of the transmission tower main material 300 causing adsorption point deviation, or due to cumulative rotational errors causing positioning offset), the lead screw moving mechanism of the fourth segment 140 is activated. The fourth drive motor 244 drives the fourth lead screw 234 to rotate, causing the fourth moving platform 254 to slide along the fourth guide portion 264, thereby adjusting the position of the fourth electromagnetic adsorption component 224 relative to the fourth segment frame 214, so that it is precisely aligned with the target adsorption point. The above-mentioned two-stage position adjustment mechanism is an important difference between this application and the existing pure rotation addressing method, significantly improving the accuracy and adaptability of adsorption positioning.

[0037] like Figure 7 As shown in (d), when the fourth electromagnetic adsorption component 224 reaches the target adsorption position, it is energized to adsorb. This embodiment also includes a step to confirm the stability of the adsorption of the fourth electromagnetic adsorption component 224, for example, by detecting whether the adsorption force reaches a threshold using an adsorption force sensor, or by determining whether the electromagnet is fully engaged using current detection. After confirming stable adsorption, the adsorption of the first electromagnetic adsorption component 221 is released. This "confirm first, then release" timing control ensures the safety of the mechanism during the support point switching process and avoids the risk of instability caused by premature release of the original support point due to the target adsorption point not establishing stable adsorption.

[0038] Subsequently, while the fourth electromagnetic adsorption component 224 remains in the adsorption state, the three turntables rotate in coordination, causing the first segment 110, the second segment 120, and the third segment 130 to shift their positions towards the fourth segment 140. After the first segment 110 reaches the new target position, the first electromagnetic adsorption component 221 re-adsorbs, and the adsorption of the fourth electromagnetic adsorption component 224 is released, completing one configuration conversion. By repeating the above steps (if necessary, using the first segment as the target segment and the fourth segment as the load-bearing segment, and employing the same screw fine-tuning method), the mechanism can continuously climb along the main material 300 of the transmission tower.

[0039] In the continuous transmission tower main member 300 area where the relative configuration of each segment does not need to be changed, a longitudinal movement method combining electromagnetic adsorption and a screw-driven moving mechanism can be adopted. Unlike the aforementioned configuration conversion method, in the continuous longitudinal movement method, the first segment 110, the second segment 120, the third segment 130, and the fourth segment 140 are arranged along the extension direction of the transmission tower main member 300, and the electromagnetic adsorption components on each segment are all in working positions corresponding to the transmission tower main member 300. Therefore, in this operating mode, the second electromagnetic adsorption component 222 and the third electromagnetic adsorption component 223 can participate in alternating adsorption support.

[0040] The four segments are divided into two groups: a first group of segments (e.g., first segment 110 and third segment 130) and a second group of segments (e.g., second segment 120 and fourth segment 140). Each group of segments includes at least two segments to ensure that each group can provide sufficient adsorption force to support the entire mechanism during alternating adsorption. In this operating mode, the first turntable 150, the second turntable 160, and the third turntable 170 maintain their current angles.

[0041] First, the first electromagnetic adsorption component 221 and the third electromagnetic adsorption component 223 are adsorbed onto the main body 300 of the transmission tower. The first lead screw 231 and the third lead screw 233 are then synchronously driven to rotate (e.g., by using a synchronous control signal to start two drive motors simultaneously and maintain the same speed). Since the moving platform is adsorbed and fixed, the segmental frame will move relative to the moving platform, thereby driving the entire climbing mechanism to move longitudinally along the main body 300 of the transmission tower.

[0042] After the first segment group completes one stroke, the second electromagnetic adsorption component 222 and the fourth electromagnetic adsorption component 224 are adsorbed onto the main material 300 of the transmission tower. After confirming that the adsorption is stable, the adsorption of the first electromagnetic adsorption component 221 and the third electromagnetic adsorption component 223 is released. With the second segment group in the adsorbed state, the first lead screw 231 and the third lead screw 233 are driven to rotate in opposite directions, so that the moving platform of the first segment group is reset.

[0043] Subsequently, the second lead screw 232 and the fourth lead screw 234 are synchronously driven to rotate, causing the climbing mechanism to continue moving longitudinally along the main material 300 of the transmission tower. Afterwards, the first segment group is re-adsorbed, and the second segment group is released and reset. The two segment groups alternately perform the above steps to achieve continuous longitudinal movement. Throughout the process, each turntable maintains its current angle, avoiding unnecessary turntable rotations in each movement cycle, thus reducing energy consumption and mechanical wear.

[0044] The climbing mechanism selects its operating mode based on the orientation and local structural changes of the main transmission tower member 300. During actual climbing, the control system continuously monitors the orientation and forward path characteristics of the main transmission tower member 300. When it detects that the main transmission tower member 300 extends continuously, there are no nodes or obstacles to cross ahead, and there is no need to change the direction of travel (e.g., the main transmission tower member 300 is a continuous straight segment with a length greater than one segment's travel), it selects the continuous longitudinal movement mode. When it detects that a change in the direction of travel is needed, a tower node needs to be crossed, or the orientation of the main transmission tower member 300 changes significantly (e.g., a transverse partition appears ahead, or the turning angle of the main transmission tower member 300 exceeds a preset threshold), the continuous longitudinal movement mode is stopped, and the configuration conversion mode is switched by adjusting the electromagnetic adsorption state of each segment and the turntable angle. The two operating modes are switched by stopping the current mode and adjusting the electromagnetic adsorption state and turntable angle of each segment.

[0045] As an optional implementation, although this embodiment uses four segments as an example, in other embodiments, the number of segments can be adjusted to five, six, or more, depending on the transmission tower structure and climbing requirements. When the number of segments is greater than four, the remaining segments located between the current bearing segment and the target segment constitute an intermediate rotating segment chain. Each intermediate segment achieves configuration deployment and motion transmission through the cooperation between adjacent turntables. During the configuration conversion process, the electromagnetic adsorption components of intermediate segments that cannot form an effective adsorption contact position with the main material 300 of the transmission tower remain released.

[0046] As another alternative implementation, in the continuous longitudinal movement mode, the segment grouping is not limited to an alternating pattern (1 and 3 in one group, 2 and 4 in another group). In other implementations, adjacent segments (such as 1 and 2 in one group, 3 and 4 in another group) can also be grouped together, as long as each group has at least two segments.

[0047] Regarding adaptability to different operating conditions, when the surface of the main material 300 of the transmission tower is corroded or covered with ice, the electromagnetic adsorption component 220 can increase the adsorption force by increasing the excitation current, ensuring adsorption stability. When the orientation of the main material 300 of the transmission tower changes drastically, a "staircase climbing" flipping and stepping action can be achieved through the coordinated movement of multiple turntables. The mechanism is designed with fall protection logic to ensure that at least one or a group of electromagnetic adsorption components are in a stable adsorption state at all times. The release and reset actions of another segment group are only allowed when one segment group is adsorbed.

[0048] In summary, this invention constructs a novel climbing mechanism with dual motion modes through a structural configuration of "multi-section series rotation" and "segment-by-segment lead screw movement mechanism + electromagnetic adsorption component of the moving platform," as well as a functional division where "adsorption / release state determines the relative motion of the platform or frame." The turntable between segments provides macroscopic configuration adjustment capabilities, while the lead screw movement mechanism within each segment provides microscopic position adjustment and efficient linear driving force—the same lead screw movement mechanism achieves two different motion outputs under different adsorption states. The switching between the two motion modes (configuration transformation and continuous longitudinal movement), along with the two-level positioning strategy of "turntable coarse adjustment + lead screw fine adjustment" and the "confirm first, then release" timing control in the configuration transformation method, enables this mechanism to flexibly handle complex tower structures while maintaining efficient operation on regular paths.

[0049] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any equivalent substitutions or improvements made based on the technical concept of the present invention should be considered as falling within the scope of protection of the present invention.

Claims

1. A power transmission tower climbing mechanism based on multi-section series rotation and electromagnetic adsorption, characterized in that, It includes at least four segments connected in series, with adjacent segments connected by a turntable; Each segment includes a segment frame (210) extending along the length direction, a screw moving mechanism disposed on the segment frame (210), and an electromagnetic adsorption component (220) mounted on the moving platform (250) of the screw moving mechanism; the electromagnetic adsorption component (220) on each segment can be independently energized and de-energized. The turntable is used to drive relative rotation between adjacent segments to change the relative configuration between the multiple segments; The electromagnetic adsorption component (220) is used to adsorb the main material (300) of the power transmission tower and can independently switch between the adsorption state and the release state. When the electromagnetic adsorption component (220) is in the released state, the screw moving mechanism is configured to drive the moving platform (250) to move relative to the corresponding segment frame (210) along the segment length direction to adjust the adsorption position of the electromagnetic adsorption component (220). When the electromagnetic adsorption component (220) is in the adsorption state, the mobile platform (250) remains fixed relative to the main material (300) of the power transmission tower, and the screw moving mechanism is configured to drive the segment frame (210) to move relative to the mobile platform (250) so as to drive the climbing mechanism to generate displacement along the direction of the main material (300) of the power transmission tower.

2. The power transmission tower climbing mechanism according to claim 1, characterized in that: The number of segments is four, which are sequentially the first segment (110), the second segment (120), the third segment (130) and the fourth segment (140) along the length of the climbing mechanism; A first turntable (150) is provided between the first segment (110) and the second segment (120), a second turntable (160) is provided between the second segment (120) and the third segment (130), and a third turntable (170) is provided between the third segment (130) and the fourth segment (140).

3. The power transmission tower climbing mechanism according to claim 1, characterized in that: The lead screw moving mechanism includes a lead screw (230), a drive motor (240), and the moving platform (250); The lead screw (230) is arranged along the length of the segment, one end of which is connected to the output end of the drive motor (240), and the other end of which is supported on the segment frame (210) by the lead screw support member; The mobile platform (250) is threadedly engaged with the lead screw (230) and configured to reciprocate along the length of the segment as the lead screw (230) rotates.

4. The power transmission tower climbing mechanism according to claim 3, characterized in that: The segment frame (210) is provided with guide portions (260) located on both sides of the lead screw (230) and extending along the length of the segment, and the moving platform (250) is slidably engaged with the guide portions (260).

5. The power transmission tower climbing mechanism according to claim 1, characterized in that: The turntable includes a turntable body and a turntable drive motor. The turntable body is located at the connection position of two adjacent segments. The turntable drive motor is connected to the turntable body for driving the two adjacent segments to rotate relative to each other.

6. The power transmission tower climbing mechanism according to claim 1, characterized in that: The electromagnetic adsorption component (220) is installed on the mobile platform (250), with the adsorption surface facing the main material (300) of the power transmission tower, and moves synchronously with the mobile platform (250) along the segment length direction.

7. A configuration conversion climbing method based on the climbing mechanism according to any one of claims 1 to 6, the climbing mechanism comprising a first segment (110), a second segment (120), a third segment (130), and a fourth segment (140) connected in sequence, wherein a first turntable (150) is provided between the first segment (110) and the second segment (120), a second turntable (160) is provided between the second segment (120) and the third segment (130), and a third turntable (170) is provided between the third segment (130) and the fourth segment (140), wherein a first electromagnetic adsorption element (221), a second electromagnetic adsorption element (222), a third electromagnetic adsorption element (223), and a fourth electromagnetic adsorption element (224) are provided in sequence on the first segment (110), the second segment (120), the third segment (130), and the fourth segment (140), characterized in that, Includes the following steps: S1. The first electromagnetic adsorption component (221) is adsorbed onto the main material (300) of the power transmission tower, and the first segment (110) serves as the current bearing segment to maintain the fixation between the climbing mechanism and the main material (300) of the power transmission tower; during this process, the second electromagnetic adsorption component (222), the third electromagnetic adsorption component (223), and the fourth electromagnetic adsorption component (224) are all kept in a released state; S2. While the first electromagnetic adsorption component (221) is in an adsorption state, the first turntable (150), the second turntable (160), and the third turntable (170) are driven to rotate the second segment (120), the third segment (130), and the fourth segment (140) in sequence in the climbing direction; wherein the second segment (120) and the third segment (130) are intermediate rotating segments and do not participate in the adsorption support of the main material (300) of the power transmission tower. S3. When the rotation of each turntable alone cannot make the fourth electromagnetic adsorption component (224) on the fourth segment (140) correspond to the target adsorption position, drive the screw moving mechanism of the fourth segment (140) to move the fourth electromagnetic adsorption component (224) along the length direction of the fourth segment (140) to adjust its adsorption position. S4. After the fourth electromagnetic adsorption element (224) reaches the target adsorption position, the fourth electromagnetic adsorption element (224) is energized to adsorb, and the adsorption of the fourth electromagnetic adsorption element (224) is confirmed to be stable. S5. After confirming that the adsorption of the fourth electromagnetic adsorption component (224) is stable, release the adsorption between the first electromagnetic adsorption component (221) and the main material (300) of the power transmission tower. While the fourth electromagnetic adsorption component (224) is still adsorbed, the first turntable (150), the second turntable (160) and the third turntable (170) rotate in coordination to make the first segment (110), the second segment (120) and the third segment (130) change position in the direction of the fourth segment (140). S6. After the first segment (110) reaches the new target adsorption position, the first electromagnetic adsorption component (221) is re-adsorbed onto the main material (300) of the power transmission tower, and the adsorption of the fourth electromagnetic adsorption component (224) is released, thus completing a configuration conversion and support position transfer. The first segment (110) and the fourth segment (140) alternate as the current bearing segment and the target segment, and steps S1 to S6 are repeated to realize the climbing mechanism moving along the main material (300) of the power transmission tower.

8. The climbing method according to claim 7, characterized in that: When the first segment (110) is the current bearing segment, the fourth segment (140) is the target segment; when the fourth segment (140) is the current bearing segment, the first segment (110) is the target segment.

9. A method for continuous longitudinal movement based on a climbing mechanism according to any one of claims 1 to 6, wherein the climbing mechanism comprises at least four segments, each segment being provided with a lead screw moving mechanism and an electromagnetic adsorption component (220), characterized in that, Includes the following steps: T1. Divide the plurality of segments into a first segment group and a second segment group, wherein each of the first segment group and the second segment group includes at least two segments; T2. The electromagnetic adsorption components (220) of each segment in the first segment group are adsorbed onto the main material of the power transmission tower (300), and the corresponding moving platform (250) is kept fixed relative to the main material of the power transmission tower (300). The lead screw (230) of each segment in the first segment group is driven to rotate synchronously, so that the segment frame (210) of each segment in the first segment group moves relative to the corresponding moving platform (250) along the segment length direction, and drives the climbing mechanism to move longitudinally along the main material of the power transmission tower (300). T3. After the first segment group completes one longitudinal movement, the electromagnetic adsorption components (220) of each segment in the second segment group are adsorbed onto the main material (300) of the transmission tower, and then the adsorption between the electromagnetic adsorption components (220) in the first segment group and the main material (300) of the transmission tower is released. T4. While each electromagnetic adsorption component (220) in the second segment group is in an adsorption state, drive the lead screw (230) of each segment in the first segment group to rotate in the opposite direction, so that the moving platform (250) of each segment in the first segment group returns to the initial position. T5. Synchronously drive the screws (230) of each segment in the second segment group to rotate, so that the segment frame (210) of each segment in the second segment group moves relative to the corresponding moving platform (250), thereby driving the climbing mechanism to continue to move longitudinally along the main material (300) of the power transmission tower. T6. After the movement is completed, the electromagnetic adsorption components (220) of each segment in the first segment group are re-adsorbed, the adsorption between the electromagnetic adsorption components (220) of each segment in the second segment group and the main material (300) of the power transmission tower is released, and the moving platform (250) of the second segment group is restored to the initial position. T7. The first segment group and the second segment group alternately perform electromagnetic adsorption, longitudinal movement, adsorption release and reset processes to realize the continuous longitudinal movement of the climbing mechanism along the main material (300) of the power transmission tower.

10. The climbing method according to claim 7 or 9, characterized in that: The climbing mechanism selects its operating mode based on the orientation and local structural changes of the main material (300) of the power transmission tower: When the main material (300) of the transmission tower extends continuously and there is no need to change the relative configuration of each segment, the continuous longitudinal movement method described in claim 9 shall be adopted; When it is necessary to change the segment configuration or support position, the configuration conversion climbing method described in claim 7 shall be adopted; The two operating modes can be switched by stopping the current mode and adjusting the electromagnetic adsorption status of each segment and the turntable angle.

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