Bolt fastening robot for power transmission tower

Abstract

The utility model discloses a power transmission tower bolt fastening robot which comprises two walking units which are both connected with a walking driving mechanism. The walking unit is provided with a clamping unit used for clamping angle steel of the power transmission tower. A bolt fastening unit is arranged on the portion, between the two walking units, of the walking driving mechanism, a movable driving mechanism is arranged on the bolt fastening unit, and the movable driving mechanism drives the bolt fastening unit to move between the two walking units. The robot for fastening the bolts on the power transmission tower can replace a manual fastening mode of the bolts on the power transmission tower during maintenance, and effectively solves the problems of high labor intensity of workers, low working efficiency and high danger coefficient.

Description

Technical Field

[0001] The utility model belongs to the technical field of bolt fastening robots, and particularly relates to a bolt fastening robot for transmission towers. Background Art

[0002] The stable transmission of electric power provides a solid foundation for the orderly development of modern society. In power engineering, as one of the most important components, transmission towers need to be regularly inspected and maintained to ensure the stable operation of high-voltage transmission lines. Among them, tightening the bolts on the transmission towers is a key step during maintenance.

[0003] Currently, for tightening the bolts on transmission towers during maintenance, it is mainly carried out manually. However, manual tightening not only has a large workload, a long cycle, low efficiency, and inconsistent tightening torques, but also when climbing the tower to tighten the bolts, electric power workers are easily threatened with life. In addition, many transmission towers are located in natural environments far from towns and with complex terrains, resulting in relatively harsh environments for electric power workers during manual tightening.

[0004] Based on this, this application proposes a bolt fastening robot for transmission towers to replace the manual tightening method of bolts on transmission towers during maintenance, thereby avoiding the disadvantages of manual tightening. Content of the Utility Model

[0005] The purpose of the utility model is to overcome the above-mentioned deficiencies of the prior art and provide a bolt fastening robot for transmission towers.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A bolt fastening robot for transmission towers includes two walking units, and both of the two walking units are connected to a walking driving mechanism;

[0008] A clamping unit for clamping the angle steel of the transmission tower is arranged on the walking unit;

[0009] A bolt fastening unit is arranged on the walking driving mechanism between the two walking units, and a moving driving mechanism is arranged on the bolt fastening unit, and the moving driving mechanism drives the bolt fastening unit to move between the two walking units.

[0010] Preferably, the walking driving mechanism includes a walking lead screw and two walking guide rails, and the central axes of the walking lead screw and the walking guide rails are parallel;

[0011] The two walking units are respectively a lower limb walking unit and an upper limb walking unit;

[0012] Both ends of the walking lead screw are rotationally engaged with the lower limb walking unit and the support plate respectively, and both ends of the walking guide rail are fixedly connected with the lower limb walking unit and the support plate respectively;

[0013] A walking motor is fixedly arranged on the lower limb walking unit, and the walking motor is adaptively connected with the walking lead screw;

[0014] The upper limb walking unit is in threaded engagement with the walking lead screw through a walking nut, and the upper limb walking unit is in sliding engagement with the walking guide rail.

[0015] Preferably, the clamping unit includes two symmetrically arranged clamping jaws and a clamping driving mechanism for driving the two clamping jaws to move towards each other to clamp the angle steel or move away from each other to release the angle steel. One end of the clamping jaw is hinged with the walking unit.

[0016] Preferably, the clamping driving mechanism includes a V-shaped block located between the two clamping jaws and adapted to the outer side wall of the angle steel. The bent outer end of the V-shaped block is fixedly connected with the driving shaft, a push plate is fixedly arranged at the end of the driving shaft, and a driving component for driving the push plate to move along the axial direction of the driving shaft is arranged on the walking unit;

[0017] Chute grooves are symmetrically arranged on the two clamping jaws;

[0018] A driving cross shaft is vertically and fixedly arranged on the driving shaft, and sliding blocks adapted to slide in the corresponding chute grooves along the axial direction of the driving shaft are arranged at both ends of the driving cross shaft;

[0019] When the V-shaped block moves away from the walking unit, the driving cross shaft drives the two clamping jaws to move towards each other; when the V-shaped block is stuck on the outer side wall of the angle steel, the two clamping jaws clamp the angle steel.

[0020] Preferably, the driving component includes a parallel clamping lead screw and a clamping guide rail, and the clamping lead screw is arranged parallel to the driving shaft;

[0021] The clamping lead screw is rotationally engaged with the walking unit, a clamping motor adapted to the clamping lead screw is arranged on the walking unit, and the clamping guide rail is fixedly connected with the walking unit;

[0022] The push plate is in threaded engagement with the clamping lead screw and in sliding engagement with the clamping guide rail.

[0023] Preferably, the bolt fastening unit includes two symmetrically arranged fastening mechanisms,

[0024] The fastening mechanism includes a fastening bracket for sliding engagement with the corresponding walking track, a wrench seat is arranged on the fastening bracket, and a fastening bolt electric wrench is arranged on the wrench seat;

[0025] An adjusting assembly for adjusting the position of an electric wrench for fastening bolts is provided on the fastening bracket.

[0026] Preferably, the adjusting assembly includes a longitudinal movement adjusting assembly and a transverse movement adjusting assembly;

[0027] The transverse movement adjusting assembly includes parallel transverse movement lead screws and transverse movement guide rails, and the transverse movement lead screws are perpendicular to the walking guide rails;

[0028] Both ends of the transverse movement lead screws are rotationally matched with the fastening bracket and one end is adapted to a transverse movement motor, and both ends of the transverse movement guide rails are fixedly connected to the fastening bracket;

[0029] A transverse movement seat is in threaded fit with the transverse movement lead screws, and the transverse movement seat is in sliding fit with the transverse movement guide rails;

[0030] The longitudinal movement adjusting assembly includes parallel longitudinal movement lead screws and longitudinal movement guide rails. The central axis of the longitudinal movement lead screws extends in a direction perpendicular to the corresponding side wall of the angle steel, and the longitudinal movement lead screws are perpendicular to the transverse movement lead screws;

[0031] Both ends of the longitudinal movement lead screws are respectively rotationally matched with the upper mounting plate and the transverse movement seat and one end is adapted to a longitudinal movement motor, and both ends of the longitudinal movement guide rails are respectively fixedly connected to the upper mounting plate and the transverse movement seat;

[0032] The wrench seat is in threaded fit with the longitudinal movement lead screws, and the wrench seat is in sliding fit with the longitudinal movement guide rails.

[0033] Preferably, the moving drive mechanism includes a motor, a gear, and a rack. The motor is provided on the fastening bracket. The output end of the motor is coaxially fixedly connected to the gear, and the gear is meshed with the rack; both ends of the rack are respectively fixed on the lower limb walking unit and the support plate.

[0034] Preferably, a guide rail is slidably fitted on the fastening bracket, and the guide rail is parallel to the walking guide rail;

[0035] Both ends of the guide rail are respectively fixed on the lower limb walking unit and the support plate.

[0036] The beneficial effects of the present utility model are:

[0037] The bolt tightening robot for transmission towers of the present utility model can replace the manual bolt tightening method on transmission towers during maintenance, effectively solving the problems of high labor intensity, low work efficiency, and high risk coefficient of workers. The robot of this application realizes the clamping and loosening of the angle steel of the transmission tower through two clamping units, and realizes the climbing of the entire robot along the angle steel of the transmission tower through the cooperation of the upper limb walking unit, the lower limb walking unit and the two clamping units for clamping and loosening of the angle steel of the transmission tower. After the robot climbs to the position near the bolt to be tightened, the position of the electric wrench for the corresponding tightening bolt is adjusted through the mobile drive mechanism, the longitudinal movement adjustment component, and the transverse movement adjustment component to adapt to the tightening operation of the corresponding bolt. Brief Description of the Drawings

[0038] The specification drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0039] Figure 1 It is a schematic three-dimensional view of the structure of the bolt tightening robot for transmission towers of the present utility model;

[0040] Figure 2 It is a schematic front view of the structure of the bolt tightening robot for transmission towers of the present utility model;

[0041] Figure 3 It is a schematic three-dimensional view of the structure of the bolt tightening robot for transmission towers of the present utility model after removing the bolt tightening unit;

[0042] Figure 4 It is a schematic top view of the structure of the bolt tightening robot for transmission towers of the present utility model after removing the bolt tightening unit;

[0043] Figure 5 It is a schematic three-dimensional view of the structure after the bolt tightening unit in the present utility model;

[0044] Figure 6 It is a schematic diagram of the structure of the tightening mechanism in the present utility model;

[0045] Wherein:

[0046] 1 - Walking unit, 11 - Lower limb walking unit, 12 - Upper limb walking unit;

[0047] 2 - Walking drive mechanism, 21 - Walking lead screw, 22 - Walking guide rail, 23 - Walking motor, 24 - Walking nut, 25 - Support plate;

[0048] 3 - Clamping unit, 31 - Claw, 311 - Chute, 32 - V-shaped clamping block, 33 - Drive shaft, 34 - Push plate, 35 - Drive cross shaft, 351 - Slide block, 36 - Clamping lead screw, 37 - Clamping guide rail, 38 - Clamping motor;

[0049] 4 - Bolt fastening unit, 41 - Fastening mechanism, 411 - Fastening bracket, 412 - Wrench seat, 413 - Electric wrench for fastening bolts, 414 - Longitudinal movement lead screw, 4141 - Upper mounting plate, 415 - Longitudinal movement guide rail, 416 - Longitudinal movement motor, 417 - Transverse movement lead screw, 4171 - Transverse movement seat, 418 - Transverse movement guide rail, 419 - Transverse movement motor;

[0050] 5 - Mobile drive mechanism, 51 - Motor, 52 - Gear, 53 - Rack, 54 - Guide rail. Detailed implementation mode

[0051] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0052] It should be noted that the terms used herein are only for describing the specific implementation mode and are not intended to limit the exemplary implementation mode according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0053] In the present utility model, terms such as "upper", "lower", "bottom", "top", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relationship terms determined for the convenience of describing the structural relationship of each component or element of the present utility model and do not specifically refer to any component or element in the present utility model and should not be construed as a limitation of the present utility model.

[0054] In the present utility model, terms such as "connected" and "joined" should be understood in a broad sense, indicating that it can be a fixed connection, an integral connection or a detachable connection; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meaning of the above terms in the present utility model can be determined according to specific circumstances and should not be construed as a limitation of the present utility model.

[0055] The present utility model will be further described below with reference to the drawings and embodiments.

[0056] As Figure 1 - Figure 2 shown, a bolt - fastening robot for a transmission tower includes two walking units 1, and both of the two walking units 1 are connected to a walking drive mechanism 2;

[0057] A clamping unit 3 for clamping the angle steel of the transmission tower is arranged on the walking unit 1;

[0058] A bolt fastening unit 4 is provided on the walking drive mechanism 2 between the two walking units 1, a moving drive mechanism 5 is provided on the bolt fastening unit 4, and the moving drive mechanism 5 drives the bolt fastening unit 4 to move between the two walking units 1.

[0059] Preferably, as Figure 3 shown, the walking drive mechanism 2 includes a walking lead screw 21 and two walking guide rails 22, and the central axes of the walking lead screw 21 and the walking guide rails 22 are parallel;

[0060] The two walking units 1 are respectively a lower limb walking unit 11 and an upper limb walking unit 12;

[0061] Both ends of the walking lead screw 21 are respectively in rotational fit with the lower limb walking unit 11 and the support plate 25, and both ends of the walking guide rails 22 are respectively fixedly connected with the lower limb walking unit 11 and the support plate 25;

[0062] A walking motor 23 is fixedly provided on the lower limb walking unit 11, and the walking motor 23 is adaptively connected with the walking lead screw 21;

[0063] The upper limb walking unit 12 is in threaded fit with the walking lead screw 21 through a walking nut 24, and the upper limb walking unit 12 is in sliding fit with the walking guide rails 22.

[0064] On the basis that the clamping units 3 of the upper limb walking unit 12 and the clamping units 3 of the lower limb walking unit 11 clamp the angle steel at the same time, the clamping unit 3 of the upper limb walking unit 12 loosens the angle steel. At this time, the walking motor 23 installed on the lower limb walking unit 11 starts, so that the walking nut 24 connected to the upper limb walking unit 12 drives the upper limb walking unit 12 to move along the walking guide rails 22; then the walking motor 23 stops running, the clamping unit 3 of the upper limb walking unit 12 clamps the angle steel, the clamping unit 3 of the lower limb walking unit 11 loosens the angle steel, and the walking motor 23 starts, and the lower limb walking unit 11 will drive all the other components except the upper limb walking unit 13 and its clamping unit thereon to move upward together.

[0065] Preferably, as Figure 4 shown, the clamping unit 3 includes two symmetrically arranged jaws 31 and a clamping drive mechanism for driving the two jaws 31 to move towards each other to clamp the angle steel or move away from each other to loosen the angle steel, and one end of the jaw 31 is hinged to the walking unit 1.

[0066] Preferably, the clamping drive mechanism includes a V-shaped clamping block 32 located between the two jaws 31 and adapted to the outer side wall of the angle steel. The bent outer end of the V-shaped clamping block 32 is fixedly connected to a drive shaft 33. A push plate 34 is fixedly provided at the end of the drive shaft 33. A drive assembly for driving the push plate 34 to move in the axial direction of the drive shaft 33 is provided on the walking unit 1;

[0067] Chute grooves 311 are symmetrically arranged on the two jaws 31;

[0068] A drive cross shaft 35 is vertically and fixedly arranged on the drive shaft 33. Sliders 351 adapted to slide in the axial direction of the drive shaft 33 are arranged at both ends of the drive cross shaft 35 and are in sliding fit with the corresponding chute grooves 311;

[0069] When the V-shaped clamping block 32 moves away from the walking unit 1, the drive cross shaft 35 drives the two jaws 31 to move towards each other; when the V-shaped clamping block 32 is stuck on the outer side wall of the angle steel, the two jaws 32 clamp the angle steel.

[0070] Preferably, the drive assembly includes a clamping lead screw 36 and a clamping guide rail 37 arranged in parallel. The clamping lead screw 36 is arranged parallel to the drive shaft 33;

[0071] The clamping lead screw 36 is in rotational fit with the walking unit 1. A clamping motor 38 adapted to the clamping lead screw 36 is provided on the walking unit 1. The clamping guide rail 37 is fixedly connected to the walking unit 1;

[0072] The push plate 34 is in threaded fit with the clamping lead screw 36 and in sliding fit with the clamping guide rail 37.

[0073] Preferably, as Figure 5 - Figure 6 shown, the bolt fastening unit 4 includes two symmetrically arranged fastening mechanisms 41,

[0074] The fastening mechanism 41 includes a fastening bracket 411 for sliding fit with the corresponding walking track 22. A wrench seat 412 is arranged on the fastening bracket 411. A fastening bolt electric wrench 413 is arranged on the wrench seat 412;

[0075] An adjusting assembly for adjusting the position of the fastening bolt electric wrench 413 is arranged on the fastening bracket 411.

[0076] Preferably, the adjusting assembly includes a longitudinal movement adjusting assembly and a transverse movement adjusting assembly;

[0077] The transverse movement adjusting assembly includes a transverse movement lead screw 417 and a transverse movement guide rail 418 arranged in parallel. The transverse movement lead screw 417 is perpendicular to the walking guide rail 22;

[0078] Both ends of the transverse translation lead screw 417 are rotationally mated with the fastening bracket 411, and one end is adapted to the transverse translation motor 419. Both ends of the transverse translation guide rail 418 are fixedly connected to the fastening bracket 411.

[0079] A transverse translation seat 4171 is in threaded fit with the transverse translation lead screw 417, and the transverse translation seat 4171 is in sliding fit with the transverse translation guide rail 418.

[0080] The longitudinal translation adjustment assembly includes parallel longitudinal translation lead screw 414 and longitudinal translation guide rail 415. The central axis of the longitudinal translation lead screw 414 extends along a direction perpendicular to the corresponding side wall of the angle steel, and the longitudinal translation lead screw 414 is perpendicular to the transverse translation lead screw 417.

[0081] Both ends of the longitudinal translation lead screw 414 are respectively rotationally mated with the upper mounting plate 4141 and the transverse translation seat 4171, and one end is adapted to the longitudinal translation motor 416. Both ends of the longitudinal translation guide rail 415 are respectively fixedly connected to the upper mounting plate 4141 and the transverse translation seat 4171.

[0082] The wrench seat 412 is in threaded fit with the longitudinal translation lead screw 414, and the wrench seat 412 is in sliding fit with the longitudinal translation guide rail 415.

[0083] Through holes for the electric wrench 413 of the fastening bolt to pass through are provided on both the upper mounting plate 4141 and the transverse translation seat 4171.

[0084] Preferably, the moving drive mechanism 5 includes a motor 51, a gear 52, and a rack 53. The motor 51 is arranged on the fastening bracket 411. The output end of the motor 51 is coaxially and fixedly connected to the gear 52, and the gear 52 is meshed with the rack 53. Both ends of the rack 53 are respectively fixed on the lower limb walking unit 11 and the support plate 25.

[0085] Preferably, a guide rail 54 is slidably mated with the fastening bracket 411, and the guide rail 54 is parallel to the walking guide rail 22.

[0086] Both ends of the guide rail 54 are respectively fixed on the lower limb walking unit 11 and the support plate 25.

[0087] A bolt fastening robot for a transmission tower has the following specific implementation manners:

[0088] When climbing upwards, while the clamping units 3 of the upper limb walking unit 12 and the clamping units 3 of the lower limb walking unit 11 clamp the angle steel simultaneously, the clamping unit 3 of the upper limb walking unit 12 releases the angle steel. At this time, the walking motor 23 installed on the upper part of the lower limb walking unit 11 starts, causing the walking nut 24 connected to the upper limb walking unit 12 to drive the upper limb walking unit 12 to move along the walking guide rail 22; then the walking motor 23 stops running, the clamping unit 3 of the upper limb walking unit 12 clamps the angle steel, the clamping unit 3 of the lower limb walking unit 11 releases the angle steel, and the walking motor 23 starts, and the lower limb walking unit 11 will drive all the components except the upper limb walking unit 13 and its clamping unit above it to move upwards together. By repeating the above steps, the robot can climb upwards along the angle steel.

[0089] When climbing to a position near the bolt to be tightened, the two clamping units 3 clamp the angle steel, and the motor 51 starts. Under the meshing cooperation of the gear 52 and the rack 53, the bolt tightening unit 4 moves along the guide rail 54 towards the direction close to the bolt to be tightened; then according to the orientation of the bolt to be tightened, the corresponding side's bolt tightening electric wrench 413 is driven in place by the longitudinal movement adjustment component and the transverse movement adjustment component to perform the bolt tightening operation, and then the bolt tightening electric wrench 413 resets. The robot continues the climbing operation and the bolt tightening operation.

[0090] The robot of the present application realizes the clamping and releasing of the angle steel of the transmission tower through two clamping units 3, and realizes the climbing of the whole robot along the angle steel of the transmission tower through the cooperation of the upper limb walking unit 12, the lower limb walking unit 11 and the two clamping units 3 for clamping and releasing the angle steel of the transmission tower; when the robot climbs to a position near the bolt to be tightened, the position of the corresponding bolt tightening electric wrench 413 is adjusted through the moving drive mechanism 5, the longitudinal movement adjustment component and the transverse movement adjustment component to adapt to the bolt tightening operation for the corresponding bolt.

[0091] The bolt tightening robot for the transmission tower of the present utility model can replace the manual tightening method of bolts on the transmission tower during maintenance, and effectively solves the problems of high labor intensity, low work efficiency and high danger coefficient of workers.

[0092] Although the specific implementation manners of the present utility model are described above in conjunction with the drawings, it is not a limitation to the present utility model. Those skilled in the art should understand that, based on the technical solutions of the present utility model, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present utility model.

Claims

1. A transmission tower bolt tightening robot, characterized in that, It includes two walking units, and both of the two walking units are connected to a walking drive mechanism; A clamping unit for clamping the angle steel of a transmission tower is arranged on the walking unit; A bolt fastening unit is arranged on the walking drive mechanism between the two walking units, a moving drive mechanism is arranged on the bolt fastening unit, and the moving drive mechanism drives the bolt fastening unit to move between the two walking units.

2. The bolt tightening robot for transmission towers according to claim 1, characterized in that, The walking drive mechanism includes a walking lead screw and two walking guide rails, and the central axes of the walking lead screw and the walking guide rails are parallel; The two walking units are respectively a lower limb walking unit and an upper limb walking unit; The two ends of the walking lead screw are respectively in rotational cooperation with the lower limb walking unit and the support plate, and the two ends of the walking guide rails are respectively fixedly connected to the lower limb walking unit and the support plate; A walking motor is fixedly arranged on the lower limb walking unit, and the walking motor is adaptively connected to the walking lead screw; The upper limb walking unit is in threaded cooperation with the walking lead screw through a walking nut, and the upper limb walking unit is in sliding cooperation with the walking guide rail.

3. The bolt tightening robot for transmission towers according to claim 1, characterized in that, The clamping unit includes two symmetrically arranged jaws and a clamping drive mechanism for driving the two jaws to move towards each other to clamp the angle steel or move away from each other to loosen the angle steel, and one end of the jaw is hinged to the walking unit.

4. The bolt tightening robot for transmission towers according to claim 3, wherein, The clamping drive mechanism includes a V-shaped block located between the two jaws and adapted to the outer side wall of the angle steel, the bent outer end of the V-shaped block is fixedly connected to a drive shaft, a push plate is fixedly arranged at the end of the drive shaft, and a drive assembly for driving the push plate to move along the axial direction of the drive shaft is arranged on the walking unit; Chute grooves are symmetrically arranged on the two jaws; A drive cross shaft is vertically and fixedly arranged on the drive shaft, and sliders adapted to slide in the corresponding chute grooves along the axial direction of the drive shaft are arranged at both ends of the drive cross shaft; When the V-shaped block moves away from the walking unit, the drive cross shaft drives the two jaws to move towards each other; when the V-shaped block is stuck on the outer side wall of the angle steel, the two jaws clamp the angle steel.

5. The bolt tightening robot for transmission towers according to claim 4, wherein, The drive assembly includes a parallel clamping lead screw and a clamping guide rail, and the clamping lead screw is arranged parallel to the drive shaft; The clamping lead screw is in rotational cooperation with the walking unit, a clamping motor adapted to the clamping lead screw is arranged on the walking unit, and the clamping guide rail is fixedly connected to the walking unit; The push plate is in threaded cooperation with the clamping lead screw, and the push plate is in sliding cooperation with the clamping guide rail.

6. The bolt tightening robot for transmission towers according to claim 2, wherein, The bolt fastening unit includes two symmetrically arranged fastening mechanisms, The fastening mechanism includes a fastening bracket for sliding cooperation with the corresponding walking track, a wrench seat is arranged on the fastening bracket, and a bolt tightening electric wrench is arranged on the wrench seat; An adjusting assembly for adjusting the position of the bolt tightening electric wrench is arranged on the fastening bracket.

7. The bolt tightening robot for transmission towers according to claim 6, wherein, The adjusting assembly includes a longitudinal movement adjusting assembly and a transverse movement adjusting assembly; The transverse movement adjusting assembly includes a parallel transverse movement lead screw and a transverse movement guide rail, and the transverse movement lead screw is perpendicular to the walking guide rail; The two ends of the transverse movement lead screw are in rotational cooperation with the fastening bracket and one end is adapted to a transverse movement motor, and the two ends of the transverse movement guide rail are fixedly connected to the fastening bracket; A transverse translation lead screw is in threaded engagement with a transverse translation seat, and the transverse translation seat is in sliding engagement with a transverse translation guide rail; The longitudinal translation adjustment assembly includes a longitudinal translation lead screw and a longitudinal translation guide rail that are parallel to each other. The central axis of the longitudinal translation lead screw extends in a direction perpendicular to the corresponding side wall of the angle steel, and the longitudinal translation lead screw is perpendicular to the transverse translation lead screw; Both ends of the longitudinal translation lead screw are respectively in rotational engagement with the upper mounting plate and the transverse translation seat, and one end is adapted to a longitudinal translation motor. Both ends of the longitudinal translation guide rail are respectively fixedly connected to the upper mounting plate and the transverse translation seat; The wrench seat is in threaded engagement with the longitudinal translation lead screw and in sliding engagement with the longitudinal translation guide rail.

8. The bolt tightening robot for transmission towers according to claim 6, wherein, The moving drive mechanism includes a motor, a gear, and a rack. The motor is arranged on the fastening bracket. The output end of the motor is coaxially fixedly connected to the gear, and the gear is in meshing connection with the rack; both ends of the rack are respectively fixed on the lower limb walking unit and the support plate.

9. The bolt tightening robot for transmission towers according to claim 6, wherein, A guide rail is in sliding engagement with the fastening bracket, and the guide rail is parallel to the walking guide rail; Both ends of the guide rail are respectively fixed on the lower limb walking unit and the support plate.

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