Hexapod climbing robot for transmission line tower

Abstract

The present application provides a hexapod climbing robot for a transmission line tower, comprising: magnetic attachment foot assemblies, a middle frame assembly, robotic arm magnetic attachment foot assemblies, a robotic arm assembly, and a tool rack assembly. A plurality of magnetic attachment foot assemblies are provided and respectively mounted on upper and lower ends of the middle frame assembly, and the magnetic attachment foot assemblies move independently of each other; the magnetic attachment foot assemblies at the upper end are arranged at 90° relative to each other, and the magnetic attachment foot assemblies at the lower end are also arranged at 90° relative to each other; and the magnetic attachment foot assemblies located on the same side move on a same prismatic pair assembly. In the climbing robot of the present invention, a plurality of magnetic attachment foot assemblies are provided and respectively arranged at 90°, such that the climbing robot has a stronger ability to resist torque when attached onto the angle steel of a tower, enabling a robotic arm to reach an operation area more accurately during operation and perform precise operations; and the climbing robot achieves higher operational reliability and stability, ultimately ensuring the stability and reliability of climbing operations.

Description

A six-legged climbing robot for power transmission line towers Technical Field

[0001] This application relates to the field of intelligent robot technology, specifically to a six-legged climbing robot for power transmission line towers. Background Technology

[0002] The stability and safety of electricity are fundamental guarantees for the development of all industries. In my country, there are numerous and widely distributed transmission angle steel towers, which are often exposed to harsh environments, including dusty, windy, and humid conditions. Traditionally, maintenance personnel must carry the equipment and climb the towers along the foot spikes, attaching safety ropes to prevent falls. This results in long inspection cycles, high climbing risks, and low work efficiency. Therefore, climbing robots suitable for angle steel towers have emerged, gradually developing into various types with different shapes and structures, such as snake-like robots, wheeled robots, and inchworm-like robots. Regardless of the type, all robots face obstacles such as numerous connecting screws and connecting plates of varying widths, with angular deviations between the angle steel sections at these connecting plates. Especially after loading tools, the overall weight is significantly increased, posing a severe challenge to the robot's climbing reliability. Therefore, developing a new type of intelligent climbing robot capable of autonomous obstacle crossing with strong foot gripping force, possessing higher operational reliability and stability, has become a pressing technical challenge in this field in recent years. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this application is to provide a six-legged climbing robot for power transmission line towers. This six-legged climbing robot, capable of autonomously overcoming obstacles and possessing strong foot gripping force, is designed for use on power angle steel towers. It exhibits higher operational reliability and stability, ultimately ensuring the stability and reliability of climbing operations.

[0004] One aspect of this application provides a six-legged climbing robot for power transmission line towers, comprising: a magnetically attached foot assembly, an intermediate frame assembly, a robotic arm magnetically attached foot assembly, a robotic arm assembly, and a tool rack assembly;

[0005] Multiple sets of magnetic foot adsorption assemblies are respectively assembled at the upper and lower ends of the intermediate frame assembly. The magnetic foot adsorption assemblies move independently of each other. The magnetic foot adsorption assemblies at the upper end are arranged at 90 degrees to each other, and the magnetic foot adsorption assemblies at the lower end are arranged at 90 degrees to each other. The magnetic foot adsorption assemblies located on the same side move on the same moving sub-assembly.

[0006] Furthermore, the magnetic foot adsorption assembly has four sets;

[0007] The magnetic foot adsorption assembly comprises: a middle bone frame assembly, an upper connecting plate, a lower connecting plate, a slide rail assembly, an electric push rod assembly, a first right-angle moving connecting plate, a magnet mounting block, an electromagnet, a displacement sensor, an electric push rod connector, a compression spring, a ball joint bearing, a second right-angle moving connecting plate, a reinforcing rib, a first worm gear mechanism connecting block, a second worm gear mechanism connecting block, a third worm gear mechanism connecting block, a worm gear mechanism power motor, a worm gear mechanism motor connecting plate, a worm gear mechanism coupling, a worm, a first worm bearing, a second worm bearing, a worm gear shaft, a first worm gear bearing, a worm gear, a gear, and a second worm gear bearing.

[0008] Furthermore, the intermediate bone frame assembly comprises a first intermediate square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angled upright plate;

[0009] The upper fixing sleeve is embedded above the first middle square carbon fiber tube;

[0010] The lower fixing sleeve is embedded below the first middle square carbon fiber tube;

[0011] The right-angled plate is located in the middle of the upper fixing sleeve and the lower fixing sleeve, and is located outside the four corners of the first middle square carbon fiber tube. It is connected to the upper fixing sleeve and the lower fixing sleeve by screws respectively.

[0012] Furthermore, the upper connecting plate is fixed to the upper fixing sleeve of the intermediate bone frame assembly by screws;

[0013] The lower connecting plate is fixed to the lower fixing sleeve of the intermediate bone frame assembly by screws;

[0014] The slide rail assembly has two sets, which are respectively installed on the two vertical surfaces of the first central square carbon fiber tube of the intermediate bone frame assembly and located in the middle of the right-angled plate. The slide rail assembly is provided with a slider, which is connected to the first right-angled movable connecting plate.

[0015] Furthermore, the fixed end of the electric actuator assembly is connected to the upper connecting plate by a pin, and the movable end of the electric actuator assembly is connected to the electric actuator connector by a pin.

[0016] The vertical surfaces of the first right-angle movable connecting plate are respectively connected to the sliders of the mutually perpendicular slide rail assembly, and move up and down on the slide rail assembly following the sliders.

[0017] The magnet mounting block is assembled at the lower end of the first right-angle movable connecting plate and moves up and down together with the first right-angle movable connecting plate;

[0018] The electromagnets are connected together by a screw on a ball joint bearing and are assembled onto the magnet mounting block via the upper end of the ball joint bearing;

[0019] The displacement sensor assembly is assembled onto the upper connecting plate by screw fastening assembly. The lower end of the moving rod is always in contact with the magnet mounting block under the action of the spring, and moves together with the magnet mounting block to realize the measurement of the moving distance.

[0020] One end of the electric actuator connector is assembled to the movable rod of the electric actuator assembly via a pin, and the other end is fixed to the magnet mounting block via a screw. The magnet mounting block has a groove for holding the ball joint bearing, which cooperates with the electric actuator connector to fix the ball joint bearing together.

[0021] The compression spring is located between the magnet mounting block and the electromagnet. The magnet mounting block has a mounting groove for holding the compression spring. One end of the compression spring is installed in the mounting groove on the magnet mounting block, and the other end contacts the upper surface of the electromagnet to provide positive pressure to the electromagnet and prevent excessive tilting angle under the action of the ball joint bearing.

[0022] The upper end of the ball joint bearing is assembled in the groove feature on the magnet mounting block and fixed with the cooperation of the electric push rod connector. The lower end is connected to the electromagnet through a screw and is located inside the compression spring. At the same time, it acts with the compression spring to make the electromagnet have a certain degree of passive compliance.

[0023] The second right-angle movable connecting plate is assembled onto the lower connecting plate by screws and connected to the reinforcing rib. It is fixed to the right-angle upright plate of the intermediate bone frame assembly, specifically located on the other side of the intermediate bone frame assembly, opposite to the electromagnet, and the orientation angle between the second right-angle movable connecting plate and the first right-angle movable connecting plate is 90 degrees.

[0024] One end of the reinforcing rib is assembled to the second right-angle movable connecting plate by screws, and the other end is fixed to the right-angle upright plate of the intermediate bone frame assembly by screws. There are two of them, located on the two right-angle upright plates opposite to the electromagnet.

[0025] The first worm gear mechanism connecting block is assembled to one right-angled surface of the second right-angle movable connecting plate by screws; the second worm gear mechanism connecting block is assembled to another right-angled surface of the second right-angle movable connecting plate by screws; one end of the third worm gear mechanism connecting block is assembled to the first worm gear mechanism connecting block by screws, and the other end is fixed to the second worm gear mechanism connecting block by screws, specifically located in the middle part between the first worm gear mechanism connecting block and the second worm gear mechanism connecting block;

[0026] The worm gear mechanism motor is assembled to the worm gear mechanism motor connecting plate by screws, and its output shaft is connected to the coupling to provide rotational power to the worm. One end of the worm gear mechanism motor connecting plate is connected to the worm gear mechanism motor, and the other end is assembled to the third worm gear mechanism connecting block by screws to fix the worm gear mechanism motor. One end of the worm gear mechanism coupling is connected to the worm gear mechanism motor, and the other end is connected to the worm shaft to transmit power.

[0027] The top of the upper shaft of the worm is fastened to the coupling. The first worm bearing is installed at the lower part of the upper shaft, and the second worm bearing is installed at the lower shaft. They are assembled in the mounting hole on the third worm gear mechanism connecting block, and the middle helical surface is in contact with the corresponding gear surface of the worm gear.

[0028] The first worm bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, and is on the same axis as the second worm bearing, thus fixing the position of the worm; the second worm bearing is assembled in the lower mounting hole of the third worm gear mechanism connecting block, and is on the same axis as the first worm bearing, thus fixing the position of the worm.

[0029] The worm gear shaft is assembled on the first worm gear bearing and the second worm gear bearing, and fixed on the third worm gear mechanism connecting block. It has two keyways and connects the worm gear and the gear with a key of corresponding length. The first worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm gear bearing, and fixes the position of the worm gear shaft. The worm gear is connected to the worm gear shaft by a flat key, and its tooth surface contacts the helical surface of the worm, realizing the transmission of motor force and driving the worm gear shaft to rotate together.

[0030] The gear is connected to the worm gear shaft via a flat key and rotates together with the worm gear shaft. Its tooth surface contacts the tooth surface of the rack on the intermediate frame assembly, realizing the translational movement of the entire magnet adsorption foot assembly. The second worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the first worm gear bearing, and fixes the position of the worm gear shaft.

[0031] Furthermore, the intermediate frame assembly consists of a second intermediate square carbon fiber tube, a first slide rail, a first rack, a second slide rail, a third slide rail, a second rack, and a fourth slide rail;

[0032] The second intermediate square carbon fiber tube forms the basic skeleton of the intermediate frame assembly, supporting the components of the overall device; the first slide rail is assembled on one surface of the second intermediate square carbon fiber tube, and the slider on it is connected to one surface of the second right-angle moving connecting plate by screws, thereby driving the magnetic adsorption foot assembly to move along the first slide rail;

[0033] The first rack is assembled on one surface of the second middle square carbon fiber tube, on the same plane as the first slide rail, and is specifically located at the right angle of the second middle square carbon fiber tube, and at the middle part between the first slide rail and the second slide rail;

[0034] The second slide rail is assembled on one surface of the second middle square carbon fiber tube, perpendicular to the plane of the first slide rail. The slider on it is connected to another vertical surface of the second right-angle moving connecting plate by screws, and is arranged at 90 degrees with the first slide rail, which enhances the rigidity of the overall mechanism.

[0035] The first slide rail, the first rack, and the second slide rail constitute the first moving sub-assembly of the magnet adsorption foot assembly that moves along the intermediate frame assembly;

[0036] The third slide rail is assembled on one surface of the second intermediate square carbon fiber tube, specifically on the surface directly opposite to the first slide rail; the second rack is assembled on one surface of the second intermediate square carbon fiber tube, on the same plane as the third slide rail, and specifically located at the right angle of the third intermediate square carbon fiber tube, and at the middle part between the third slide rail and the fourth slide rail; the fourth slide rail is assembled on one surface of the second intermediate square carbon fiber tube, perpendicular to the plane of the third slide rail, and specifically on the surface directly opposite to the second slide rail;

[0037] The third slide rail, the second rack, and the fourth slide rail have the same components as the first slide rail, the first rack, and the second slide rail, forming a second moving sub-assembly of the magnet adsorption foot assembly that moves along the intermediate frame assembly, and is 180 degrees to the first moving sub-assembly.

[0038] Furthermore, the robotic arm magnetic foot adsorption assembly comprises: a first magnetic foot adsorption assembly, a second magnetic foot adsorption assembly, a connecting inclined plate, and a connecting horizontal plate;

[0039] The first and second magnetic foot assemblies are identical components. They are arranged at right angles and assembled on the slide rail of the intermediate frame assembly. The gears on them mesh with the rack on the intermediate frame assembly to transmit the moving power. The connecting inclined plate is installed on the first and second magnetic foot assemblies. The upper surface of the connecting inclined plate is at a 45-degree angle. The left connecting inclined plate, the connecting horizontal plate, and the right connecting inclined plate are fastened together by screws, so that the first and second magnetic foot assemblies are connected together.

[0040] The bottom of the connecting inclined plate is flat and is assembled on the second right-angle movable connecting plate of the magnetic foot assembly. There are two of them, which are respectively arranged on the first magnetic foot assembly and the magnetic foot assembly. The top is a 45-degree inclined surface and is connected to the connecting horizontal plate by screws.

[0041] The connecting horizontal plate is connected to the left connecting inclined plate and the right connecting inclined plate by screws, forming the mounting base of the robotic arm assembly.

[0042] Furthermore, the robotic arm assembly comprises: a robotic arm base assembly, a robotic arm body assembly, a robotic arm end-effector quick-change magnet assembly, a robotic arm end-effector vision camera, and a robotic arm end-effector tool assembly;

[0043] The robotic arm base assembly is assembled onto the connecting horizontal plate via a bottom mounting plate and is connected to the robotic arm magnetic foot assembly, allowing it to perform translational movements on the intermediate frame assembly.

[0044] The robotic arm body consists of a 5-DOF rotary joint, and its arm is made of a hollow carbon fiber tube, which reduces the weight while meeting the rigidity requirements. The quick-change magnet assembly at the end of the robotic arm is assembled on the mounting plate of the fifth degree of freedom at the end of the robotic arm. The presence or absence of magnetic force is achieved by switching the current on and off. By absorbing the magnetic block at the tool end, the corresponding tool can be quickly grasped to complete the corresponding task.

[0045] The end-effector vision camera is mounted on the mounting plate of the fourth degree of freedom of the robotic arm. Specifically, it is located on the side of the fifth degree of freedom motor and parallel to the quick-change magnet assembly at the end of the robotic arm, facing the working direction of the tool assembly, so that the vision camera can capture the field of view of the working area.

[0046] The end effector tool assembly of the robotic arm is fixed to the tool holder assembly. When the robotic arm receives a corresponding instruction for a task, the quick-change magnet assembly at the end effector of the robotic arm can quickly grasp the corresponding tool by absorbing the magnet block at the tool end and complete the corresponding task.

[0047] Furthermore, the tool rack assembly comprises: a carbon fiber tube connecting end cap, a tool holding plate, a quick-change magnet assembly, a barbed tool assembly, and a gripper tool assembly;

[0048] The carbon fiber tube connection end cap is fixed to the second intermediate square carbon fiber tube of the intermediate frame assembly by screws;

[0049] The tool holding plate is assembled on the carbon fiber tube connecting end cap, and its shape is forked, with the tool assembly held in the forked front part.

[0050] The quick-change magnet assembly is assembled on the fork shape of the tool holder plate and is used to attract the magnet block on the tool holder assembly to fix the tool assembly.

[0051] Furthermore, the barbed tool assembly and the gripper tool assembly have the same quick-change structure. When there is no work task, the quick-change magnet assembly placed on the tool rack assembly is used. When there is a work task, the magnet is energized and the magnetic force is eliminated, and the robotic arm can quickly grasp the tool assembly to perform the work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly in a predetermined position to achieve quick placement of the tool assembly.

[0052] When the gripper tool assembly is not in use, it is placed on the quick-change magnet assembly on the tool rack assembly. When there is a task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grip the tool assembly to perform the task. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly on the tool rack assembly in a predetermined position, thereby realizing the rapid placement of the tool assembly.

[0053] Compared with the prior art, this application has at least one of the following beneficial effects:

[0054] 1. This invention provides an adaptive six-legged climbing robot for power angle steel towers that can autonomously overcome obstacles and has strong foot gripping force. It has higher operational reliability and stability, ultimately ensuring the stability and reliability of climbing operations.

[0055] 2. In this application, the climbing robot has two front magnetic attachment feet arranged at 90 degrees, moving independently of each other, capable of extending and retracting as well as moving up and down. Two rear magnetic attachment feet are also arranged at 90 degrees. These four independently moving magnetic attachment feet constitute the four legs of the climbing robot. The middle robotic arm has two simultaneously moving magnetic attachment feet, together forming the six legs of the climbing robot. When attached to the angle iron of the tower, it has stronger resistance to torque, allowing the robotic arm to more accurately reach the work area and perform precise operations. Furthermore, a vision camera at the end of the robotic arm can collect real-time obstacle information such as screws on the surface of the tower angle iron. The central processor receives and processes the visual information, enabling the climbing robot to autonomously determine the relationship between the obstacle and the robot's position, thus achieving autonomous obstacle crossing.

[0056] 3. The magnetic adsorption foot of this application adopts a worm gear and rack and pinion motion mechanism, which has both a self-locking function when the movement stops and can quickly and accurately position itself.

[0057] 4. The magnetic adsorption foot of this application adopts a ball joint bearing form for the magnetic connection, which makes the adsorption foot have a certain degree of passive flexibility when it is attracted to the angle steel, while also having high rigidity.

[0058] 5. The magnetic adsorption foot of this application is equipped with a displacement sensor, which can sense the distance the magnetic adsorption foot extends when it is attracted to the angle steel, thereby providing feedback to determine whether the adsorption foot has landed on a screw or other obstacle.

[0059] 6. The climbing robot of this application has two front magnetic feet, two rear magnetic feet, and two robotic arm feet arranged at 90 degrees. When it is attached to the angle iron of the tower, it has a stronger ability to resist torque, which enables the robotic arm to reach the work area more accurately and perform precise operations.

[0060] 7. The robotic arm of this application is equipped with a vision camera at its end, which can collect obstacle information such as screws on the surface of the iron tower angle iron in real time. The central processing unit receives and processes the vision information, enabling the climbing robot to autonomously judge the relationship between the obstacle and the robot's position, thereby enabling the climbing robot to autonomously overcome obstacles. Attached Figure Description

[0061] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0062] Figure 1 is an overall view of a six-legged climbing robot for power transmission line towers according to an embodiment of this application.

[0063] Figure 2 is a left view of a hexapod climbing robot in one embodiment of this application.

[0064] Figure 3 is a top view of a hexapod climbing robot in one embodiment of this application.

[0065] Figure 4 is an overall view of the six-legged climbing robot robotic arm in one embodiment of this application.

[0066] Figure 5 is an overall view of the magnetic adsorption foot assembly of a six-legged climbing robot in one embodiment of this application.

[0067] Figure 6 is a front view of the magnetic foot attachment assembly of a six-legged climbing robot in one embodiment of this application.

[0068] Figure 7 is a cross-sectional view of the magnet installation of the magnet adsorption foot assembly of a six-legged climbing robot in one embodiment of this application.

[0069] Figure 8 is a cross-sectional view of the worm gear assembly of the magnetic adsorption foot component of a six-legged climbing robot in one embodiment of this application.

[0070] Figure 9 is a cross-sectional view of the magnetic adsorption foot assembly and worm gear assembly of a six-legged climbing robot in one embodiment of this application.

[0071] In the diagram: 0 represents a right-angled steel member; 1 represents a magnetic foot assembly; 2 represents a middle frame assembly; 3 represents a robotic arm magnetic foot assembly; 4 represents a robotic arm assembly; and 5 represents a tool rack assembly.

[0072] 101. Intermediate bone frame assembly; 102. Upper connecting plate; 103. Lower connecting plate; 104. Slide rail assembly; 105. Electric actuator assembly; 106. First right-angle moving connecting plate; 107. Magnet mounting block; 108. Electromagnet; 109. Displacement sensor; 110. Electric actuator connector; 111. Compression spring; 112. Ball joint bearing; 113. Fastening screw; 120. Second right-angle moving connecting plate; 121. Reinforcing rib; 122. First worm gear mechanism connecting block; 123. Second worm gear mechanism connecting block; 124. Third worm gear mechanism connecting block; 125. Worm gear mechanism power motor; 126. Worm gear mechanism motor connecting plate; 127. Worm gear mechanism coupling; 128. Worm; 129. First worm bearing; 130. Second worm bearing; 131. Worm gear shaft; 132. First worm gear bearing; 133. Worm gear; 134. Gear; 135. Second worm gear bearing;

[0073] 201. Second intermediate square carbon fiber tube; 202. First slide rail; 203. First rack; 204. Second slide rail;

[0074] 301. First magnet foot adsorption assembly; 302. Second magnet foot adsorption assembly; 303. Connecting inclined plate; 304. Connecting horizontal plate;

[0075] 401. Robotic arm base assembly; 402. Robotic arm body assembly; 403. Robotic arm end effector quick-change magnet assembly; 404. Robotic arm end effector vision camera; 405. Robotic arm end effector tool assembly;

[0076] 501. Carbon fiber tube connecting end cap; 502. Tool holder plate; 503. Quick-change magnet assembly; 504. Barbed tool assembly; 505. Gripper tool assembly. Detailed Implementation

[0077] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0078] Referring to FIG1, an embodiment of this application shows a six-legged climbing robot for power transmission line towers, comprising: a magnetic foot attachment assembly 1, an intermediate frame assembly 2, a robotic arm magnetic foot attachment assembly 3, a robotic arm assembly 4, and a tool rack assembly 5.

[0079] Multiple sets of magnetic foot adsorption components 1 are assembled at the upper and lower ends of the intermediate frame component 2, respectively. The magnetic foot adsorption components 1 move independently of each other. The upper magnetic foot adsorption components 1 are arranged at 90 degrees to each other, and the lower magnetic foot adsorption components 1 are arranged at 90 degrees to each other. The magnetic foot adsorption components 1 located on the same side move on the same moving sub-component.

[0080] Among them, there are 4 sets of magnetic foot adsorption components 1.

[0081] The climbing robot of this invention features two front magnetic feet, two rear magnetic feet, and two robotic arm feet arranged at 90-degree angles. When attached to the angle iron of a steel tower, it exhibits stronger resistance to torque, allowing the robotic arm to more accurately reach the work area and perform precise tasks. Furthermore, a vision camera at the end of the robotic arm can collect real-time obstacle information, such as screws, from the surface of the steel tower angle iron. The central processing unit receives and processes this visual information, enabling the climbing robot to autonomously determine the relationship between the obstacle and its position, thus achieving autonomous obstacle crossing.

[0082] Referring to Figures 5 to 9, the magnet adsorption foot assembly 1 comprises: a middle bone frame assembly 101, an upper connecting plate 102, a lower connecting plate 103, a slide rail assembly 104, an electric push rod assembly 105, a first right-angle moving connecting plate 106, a magnet mounting block 107, an electromagnet 108, a displacement sensor 109, an electric push rod connector 110, a compression spring 111, a ball joint bearing 112, a second right-angle moving connecting plate 120, a reinforcing rib 121, a first worm gear mechanism connecting block 122, a second worm gear mechanism connecting block 123, a third worm gear mechanism connecting block 124, a worm gear mechanism power motor 125, a worm gear mechanism motor connecting plate 126, a worm gear mechanism coupling 127, a worm 128, a first worm bearing 129, a second worm bearing 130, a worm gear shaft 131, a first worm gear bearing 132, a worm gear 133, a gear 134, and a second worm gear bearing 135.

[0083] The intermediate bone frame assembly 101 comprises a first intermediate square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angled upright plate.

[0084] The upper fixing sleeve is embedded above the first middle square carbon fiber tube.

[0085] The lower fixing sleeve is embedded below the first central square carbon fiber tube.

[0086] The right-angled plate is located in the middle of the upper and lower fixing sleeves, and is on the outside of the four corners of the first middle square carbon fiber tube. It is connected to the upper and lower fixing sleeves by screws respectively.

[0087] Referring to FIG5, in some specific embodiments, the upper connecting plate 102 is fixed to the upper fixing sleeve of the intermediate bone frame assembly 101 by screws.

[0088] The lower connecting plate 103 is fixed to the lower fixing sleeve of the intermediate bone frame assembly 101 by screws.

[0089] The slide rail assembly 104 has two sets, which are respectively installed on the two vertical surfaces of the first central square carbon fiber tube of the intermediate bone frame assembly 101, specifically located in the middle of the right-angled plate. The slide rail assembly 104 is provided with a slider, which is connected to the first right-angled moving connecting plate 106.

[0090] In some specific embodiments, the fixed end of the electric actuator assembly 105 is connected to the upper connecting plate 102 by a pin, and the movable end of the electric actuator assembly 105 is connected to the electric actuator connector 110 by a pin.

[0091] The vertical sides of the first right-angle moving connecting plate 106 are respectively connected to the sliders of the mutually perpendicular slide rail assembly 104, and move up and down on the slide rail assembly 104 along with the sliders.

[0092] The magnet mounting block 107 is assembled at the lower end of the first right-angle movable connecting plate 106 and moves up and down together with the first right-angle movable connecting plate 106.

[0093] Electromagnets 108 are connected together by screws on ball bearings 112 and are assembled onto magnet mounting blocks 107 via the upper end of ball bearings 112.

[0094] The displacement sensor 109 assembly is assembled onto the upper connecting plate 102 by screw fastening assembly. The lower end of the moving rod is always in contact with the magnet mounting block 107 under the action of the spring, and moves together with the magnet mounting block 107 to realize the measurement of the moving distance.

[0095] Referring to Figures 6 and 7, one end of the electric actuator connector 110 is assembled to the movable rod of the electric actuator assembly 105 via a pin, and the other end is fixed to the magnet mounting block 107 via screws. The magnet mounting block 107 has a groove for holding the ball joint bearing 112, which cooperates with the electric actuator connector 110 to fix the ball joint bearing 112 together.

[0096] The compression spring 111 is located between the magnet mounting block 107 and the electromagnet 108. The magnet mounting block 107 has a mounting groove for holding the compression spring 111. One end of the compression spring 111 is installed in the mounting groove on the magnet mounting block 107, and the other end is in contact with the upper surface of the electromagnet 108, providing positive pressure to the electromagnet 108 so that the tilt angle is not too large under the action of the ball joint bearing 112.

[0097] The upper end of the ball joint bearing 112 assembly is assembled in the mounting groove feature on the magnet mounting block 107 and fixed with the cooperation of the electric push rod connector 110. The lower end is connected to the electromagnet 108 through a screw and is located inside the compression spring 111. At the same time, it acts with the compression spring 111 to make the electromagnet 108 have a certain degree of passive compliance.

[0098] The second right-angle movable connecting plate 120 is assembled onto the lower connecting plate 103 by screws and connected to the reinforcing rib 121. It is fixed to the right-angle upright plate of the intermediate bone frame assembly 101, specifically located on the other side of the intermediate bone frame assembly 101, opposite to the electromagnet 108, and the orientation angle between the second right-angle movable connecting plate 120 and the first right-angle movable connecting plate 106 is 90 degrees.

[0099] One end of the reinforcing rib 121 is assembled to the second right-angle movable connecting plate 120 by screws, and the other end is fixed to the right-angle upright plate of the intermediate bone frame assembly 101 by screws. There are two of them, located on the two right-angle upright plates opposite to the electromagnet 108.

[0100] Referring to Figure 6, the first worm gear mechanism connecting block 122 is assembled to a right-angled surface on the second right-angle moving connecting plate 120 by screws.

[0101] The second worm gear mechanism connecting block 123 is assembled to another right-angled surface on the second right-angle moving connecting plate 120 by screws; one end of the third worm gear mechanism connecting block 124 is assembled to the first worm gear mechanism connecting block 122 by screws, and the other end is fixed to the second worm gear mechanism connecting block 123 by screws, specifically located in the middle part between the first worm gear mechanism connecting block 122 and the second worm gear mechanism connecting block 123.

[0102] Referring to Figure 8, the worm gear mechanism power motor 125 is assembled to the worm gear mechanism motor connecting plate 126 by screws, and the output shaft is connected to the coupling to provide rotational power to the worm 128.

[0103] One end of the worm gear mechanism motor connecting plate 126 is connected to the worm gear mechanism power motor 125, and the other end is assembled to the third worm gear mechanism connecting block 124 by screws, which serves to fix the worm gear mechanism power motor 125.

[0104] One end of the worm gear mechanism coupling 127 is connected to the worm gear mechanism power motor 125, and the other end is connected to the worm shaft 131, which serves to transmit power.

[0105] The top of the upper shaft of the worm 128 is fastened to the coupling. The lower part of the upper shaft is equipped with a first worm bearing 129, and the lower shaft is equipped with a second worm bearing 130. They are assembled in the mounting hole on the third worm gear mechanism connecting block 124, and the middle helical surface is in contact with the corresponding gear surface of the worm gear 133.

[0106] The first worm bearing 129 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124, and is on the same axis as the second worm bearing 130, and fixes the position of the worm 128.

[0107] The second worm bearing 130 is assembled in the lower mounting hole of the third worm gear mechanism connecting block 124, and is on the same axis as the first worm bearing 129, and fixes the position of the worm 128.

[0108] Referring to Figure 9, the worm gear shaft 131 is assembled on the first worm gear bearing 132 and the second worm gear bearing 135, and fixed on the third worm gear mechanism connecting block 124. It has two keyways and connects the worm gear 133 and the gear 134 with a key of corresponding length.

[0109] The first worm gear bearing 132 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124, and is on the same axis as the second worm gear bearing 135, and fixes the position of the worm gear shaft 131.

[0110] The worm gear 133 is connected to the worm gear shaft 131 via a flat key, and its tooth surface contacts the helical surface of the worm 128 to realize the transmission of motor force and drive the worm gear shaft 131 to rotate together.

[0111] Gear 134 is connected to worm gear shaft 131 via a flat key and rotates together with worm gear shaft 131. Its tooth surface contacts the tooth surface of rack on intermediate frame assembly 2, realizing the translational movement of the overall magnet adsorption foot assembly 1.

[0112] The second worm gear bearing 135 is assembled in the upper mounting hole of the third worm gear mechanism connecting block 124, and is on the same axis as the first worm gear bearing 132, and fixes the position of the worm gear shaft 131.

[0113] Referring to FIG2, in some specific embodiments, the intermediate frame assembly 2 is composed of a second intermediate square carbon fiber tube 201, a first slide rail 202, a first rack 203, a second slide rail 204, a third slide rail, a second rack, and a fourth slide rail.

[0114] The second intermediate square carbon fiber tube 201 forms the basic skeleton of the intermediate frame assembly 2, which carries the components of the overall device; the first slide rail 202 is assembled on one surface of the second intermediate square carbon fiber tube 201, and the slider on it is connected to one surface of the second right-angle moving connecting plate 120 by screws, thereby driving the magnetic adsorption foot assembly 1 to move along the first slide rail 202.

[0115] The first rack 203 is assembled on one surface of the second intermediate square carbon fiber tube 201, on the same plane as the first slide rail 202, and is specifically located at the right angle of the second intermediate square carbon fiber tube 201, and at the middle part between the first slide rail 202 and the second slide rail 204.

[0116] The second slide rail 204 is assembled on one surface of the second intermediate square carbon fiber tube 201, perpendicular to the plane where the first slide rail 202 is located. The slider on it is connected to another vertical surface of the second right-angle moving connecting plate 120 by screws, and is arranged at 90 degrees with the first slide rail 202, which enhances the rigidity of the overall mechanism.

[0117] The first slide rail 202, the first rack 203, and the second slide rail 204 constitute the first moving sub-assembly of the magnet adsorption foot assembly 1, which moves along the intermediate frame assembly 2.

[0118] The third slide rail is assembled on one surface of the second intermediate square carbon fiber tube 201, specifically on the surface directly opposite the first slide rail 202.

[0119] The second rack is assembled on one surface of the second intermediate square carbon fiber tube 201, on the same plane as the third slide rail, and is specifically located at the right angle of the second intermediate square carbon fiber tube 201, and at the middle part of the third slide rail and the fourth slide rail.

[0120] The fourth slide rail is assembled on one surface of the second middle square carbon fiber tube 201, perpendicular to the plane where the third slide rail is located, specifically on the surface directly opposite the second slide rail 204.

[0121] The third slide rail, the second rack, and the fourth slide rail have the same components as the first slide rail 202, the first rack 203, and the second slide rail 204, forming the second moving sub-assembly of the magnet adsorption foot assembly 1 that moves along the intermediate frame assembly 2, and are 180 degrees apart from the first moving sub-assembly.

[0122] Referring to FIG3, in some specific embodiments, the robotic arm magnetic foot adsorption assembly 3 includes: a first magnetic foot adsorption assembly 301, a second magnetic foot adsorption assembly 302, a connecting inclined plate 303, and a connecting horizontal plate 304.

[0123] The first magnetic foot adsorption assembly 301 and the second magnetic foot adsorption assembly 302 are the same components as the magnetic foot adsorption assembly 1. The first magnetic foot adsorption assembly 301 and the second magnetic foot adsorption assembly 302 are arranged at right angles and assembled on the slide rail of the intermediate frame assembly 2. The gears on them mesh with the rack teeth on the intermediate frame assembly 2 to realize the transmission of moving power. The first magnetic foot adsorption assembly 301 and the second magnetic foot adsorption assembly 302 are equipped with connecting inclined plates 303. The upper end surface of the connecting inclined plate 303 is inclined at 45 degrees. The left connecting inclined plate, the connecting horizontal plate 304, and the right connecting inclined plate are fastened together by screws, so that the first magnetic foot adsorption assembly 301 and the second magnetic foot adsorption assembly 302 are connected together.

[0124] The bottom of the connecting inclined plate 303 is flat and is assembled on the second right-angle moving connecting plate 120 of the magnetic adsorption foot assembly 1. There are two of them, which are respectively arranged on the first magnetic adsorption foot assembly 301 and the magnetic adsorption foot assembly 1. The top is a 45-degree inclined surface and is connected to the connecting horizontal plate 304 by screws.

[0125] The connecting horizontal plate 304 is connected to the left connecting inclined plate and the right connecting inclined plate by screws to form the mounting base of the robotic arm assembly.

[0126] Referring to Figures 3 and 4, in some specific embodiments, the robotic arm assembly 4 includes: a robotic arm base assembly 401, a robotic arm body assembly 402, a robotic arm end-effector quick-change magnet assembly 403, a robotic arm end-effector vision camera 404, and a robotic arm end-effector tool assembly 405.

[0127] The robotic arm base assembly 401 is assembled onto the connecting horizontal plate 304 via a bottom mounting plate and is connected to the robotic arm magnetic foot assembly 3, allowing it to perform translational movements on the intermediate frame assembly 2.

[0128] The robotic arm body 402 consists of a 5-DOF rotary joint, and its arm is made of hollow carbon fiber tubes, which reduces the mass while meeting the rigidity requirements.

[0129] The quick-change magnet assembly 403 at the end of the robotic arm is mounted on the mounting plate of the fifth degree of freedom at the end of the robotic arm. The presence or absence of magnetic force is achieved by switching the current on and off. By absorbing the magnetic block at the end of the tool, the corresponding tool can be quickly grasped to complete the corresponding task.

[0130] The end-effector vision camera 404 is mounted on the mounting plate of the fourth degree of freedom of the robotic arm. Specifically, it is located on the side of the fifth degree of freedom motor and parallel to the quick-change magnet assembly 403 at the end of the robotic arm, facing the working direction of the tool assembly, so that the vision camera can capture the field of view of the working area.

[0131] The end effector tool assembly 405 of the robotic arm is fixed on the tool holder assembly 5. When the robotic arm receives a corresponding instruction for a task, the quick-change magnet assembly 403 at the end effector of the robotic arm quickly grasps the corresponding tool by absorbing the magnetic block at the tool end, and completes the corresponding task.

[0132] Referring to FIG2, in some specific embodiments, the tool rack assembly 5 includes: a carbon fiber tube connecting end cap 501, a tool holding plate 502, a quick-change magnet assembly 503, a barbed tool assembly 504, and a gripper tool assembly 505.

[0133] The carbon fiber tube connection end cap 501 is fixed to the second intermediate square carbon fiber tube 201 of the intermediate frame assembly 2 by screws.

[0134] The tool holder plate 502 is assembled on the carbon fiber tube connecting end cap 501. It is forked in shape, with the forked front part holding the tool components.

[0135] The quick-change magnet assembly 503 is assembled on the fork shape of the tool holder plate 502 and is used to attract the magnetic block on the tool holder assembly 5 to fix the tool assembly.

[0136] Specifically, the barbed tool assembly 504 and the gripper tool assembly 505 have the same quick-change structure. When there is no work task, the tool assembly is placed on the quick-change magnet assembly 503 on the tool rack assembly 5. When there is a work task, the magnet is energized and the magnetic force is eliminated, and the robotic arm can quickly grab the tool assembly to work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly 503 on the tool rack assembly 5 in a predetermined position, realizing the quick placement of the tool assembly.

[0137] When the gripper tool assembly 505 has no work task, it is placed on the quick-change magnet assembly 503 on the tool rack assembly 5. When there is a work task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grasp the tool assembly to perform the work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly 503 on the tool rack assembly 5 in a predetermined position, realizing the rapid placement of the tool assembly.

[0138] This application also discloses the gait sequence of an autonomous climbing robot, including:

[0139] First, the climbing robot has two front magnetic feet, the left and right front magnetic feet, arranged at a 90-degree angle, which move independently of each other and can perform extension and retraction movements as well as up and down movements. Similarly, it has two rear magnetic feet, the left and right rear magnetic feet, arranged at a 90-degree angle, which also move independently of each other and can perform extension and retraction movements as well as up and down movements. These four independently moving magnetic feet constitute the four legs of the climbing robot. The central robotic arm has two magnetic feet that move simultaneously, together forming the six legs of the climbing robot.

[0140] When the left front magnet is in motion, the magnet needs to detach from the iron tower angle iron, be raised to a height higher than the obstacle on the angle iron, and then move upward a certain distance before lowering its height to adhere to the angle iron. At this time, the other magnet feet will also adhere to the iron tower angle iron.

[0141] The right front magnet attracts the foot in the same sequence of movements as the left front magnet attracts the foot, completing an upward movement a certain distance. At this time, the other magnet feet attract the magnets to the angle iron of the tower.

[0142] Then, the two magnetic feet of the middle robotic arm are simultaneously raised to a certain height and moved upwards a certain distance. The robotic arm then moves upwards together, and the magnetic feet are lowered to attach to the angle iron. At this time, the other four magnetic feet are attached to the angle iron of the tower.

[0143] The left rear magnet needs to detach from the angle iron of the tower and be raised to a height higher than the obstacle on the angle iron. Then, it should move upward a certain distance and lower itself to attach to the angle iron. At this time, the other magnets will also attach to the angle iron.

[0144] The right rear magnet attracting foot performs the same action sequence as the left rear magnet attracting foot, completing an upward movement a certain distance. At this time, the other magnet feet attract magnets to the iron tower angle iron.

[0145] The above actions are repeated in sequence, and the climbing robot will continuously climb the iron tower.

[0146] By using a vision camera installed at the end of the robotic arm to capture information about obstacles such as screws on the angle iron of the tower in real time, the robot can autonomously calculate the distance between the obstacle and the robot, autonomously control the movement distance of the robot's magnetic feet, and promptly confirm and provide feedback on whether there are obstacles and whether the magnetic feet are firmly attached to the position, thereby achieving the effect of autonomous obstacle crossing.

[0147] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A six-legged climbing robot for power transmission line towers, characterized in that, include: Magnetic foot attachment assembly, intermediate frame assembly, robotic arm magnetic foot attachment assembly, robotic arm assembly, tool rack assembly; Multiple sets of magnetic foot adsorption assemblies are respectively assembled at the upper and lower ends of the intermediate frame assembly. The magnetic foot adsorption assemblies move independently of each other. The magnetic foot adsorption assemblies at the upper end are arranged at 90 degrees to each other, and the magnetic foot adsorption assemblies at the lower end are arranged at 90 degrees to each other. The magnetic foot adsorption assemblies located on the same side move on the same moving sub-assembly.

2. The six-legged climbing robot for power transmission line towers according to claim 1, characterized in that, The magnetic foot adsorption assembly has 4 sets; The magnetic foot adsorption assembly comprises: a middle bone frame assembly, an upper connecting plate, a lower connecting plate, a slide rail assembly, an electric push rod assembly, a first right-angle moving connecting plate, a magnet mounting block, an electromagnet, a displacement sensor, an electric push rod connector, a compression spring, a ball joint bearing, a second right-angle moving connecting plate, a reinforcing rib, a first worm gear mechanism connecting block, a second worm gear mechanism connecting block, a third worm gear mechanism connecting block, a worm gear mechanism power motor, a worm gear mechanism motor connecting plate, a worm gear mechanism coupling, a worm, a first worm bearing, a second worm bearing, a worm gear shaft, a first worm gear bearing, a worm gear, a gear, and a second worm gear bearing.

3. The six-legged climbing robot for power transmission line towers according to claim 2, characterized in that, The intermediate bone frame assembly comprises a first intermediate square carbon fiber tube, an upper fixing sleeve, a lower fixing sleeve, and a right-angle upright plate; The upper fixing sleeve is embedded above the first middle square carbon fiber tube; The lower fixing sleeve is embedded below the first middle square carbon fiber tube; The right-angled plate is located in the middle of the upper fixing sleeve and the lower fixing sleeve, and is located outside the four corners of the first middle square carbon fiber tube. It is connected to the upper fixing sleeve and the lower fixing sleeve by screws respectively.

4. A six-legged climbing robot for power transmission line towers according to claim 3, characterized in that, The upper connecting plate is fixed to the upper fixing sleeve of the intermediate frame assembly by screws; The lower connecting plate is fixed to the lower fixing sleeve of the intermediate frame assembly by screws; The slide rail assembly has two sets, which are respectively installed on the two vertical surfaces of the first central square carbon fiber tube of the intermediate frame assembly and located in the middle of the right-angled plate. The slide rail assembly is provided with a slider, which is connected to the first right-angled movable connecting plate.

5. A six-legged climbing robot for power transmission line towers according to claim 2, characterized in that, The fixed end of the electric push rod assembly is connected to the upper connecting plate by a pin, and the movable end of the electric push rod assembly is connected to the electric push rod connector by a pin. The vertical surfaces of the first right-angle movable connecting plate are respectively connected to the sliders of the mutually perpendicular slide rail assembly, and move up and down on the slide rail assembly following the sliders. The magnet mounting block is assembled at the lower end of the first right-angle movable connecting plate and moves up and down together with the first right-angle movable connecting plate; The electromagnets are connected together by a screw on a ball joint bearing and are assembled onto the magnet mounting block via the upper end of the ball joint bearing; The displacement sensor assembly is assembled onto the upper connecting plate by screw fastening assembly. The lower end of the moving rod is always in contact with the magnet mounting block under the action of the spring, and moves together with the magnet mounting block to realize the measurement of the moving distance. One end of the electric actuator connector is assembled to the movable rod of the electric actuator assembly via a pin, and the other end is fixed to the magnet mounting block via a screw. The magnet mounting block has a groove for holding the ball joint bearing, which cooperates with the electric actuator connector to fix the ball joint bearing together. The compression spring is located between the magnet mounting block and the electromagnet. The magnet mounting block has a mounting groove for holding the compression spring. One end of the compression spring is installed in the mounting groove on the magnet mounting block, and the other end contacts the upper surface of the electromagnet to provide positive pressure to the electromagnet and prevent excessive tilting angle under the action of the ball joint bearing. The upper end of the ball joint bearing is assembled in the groove feature on the magnet mounting block and fixed with the cooperation of the electric push rod connector. The lower end is connected to the electromagnet through a screw and is located inside the compression spring. At the same time, it acts with the compression spring to make the electromagnet have a certain degree of passive compliance. The second right-angle movable connecting plate is assembled onto the lower connecting plate by screws and connected to the reinforcing rib. It is fixed to the right-angle upright plate of the intermediate bone frame assembly, specifically located on the other side of the intermediate bone frame assembly, opposite to the electromagnet, and the orientation angle between the second right-angle movable connecting plate and the first right-angle movable connecting plate is 90 degrees. One end of the reinforcing rib is assembled to the second right-angle movable connecting plate by screws, and the other end is fixed to the right-angle upright plate of the intermediate bone frame assembly by screws. There are two of them, located on the two right-angle upright plates opposite to the electromagnet. The first worm gear mechanism connecting block is assembled to one right-angled surface of the second right-angle movable connecting plate by screws; the second worm gear mechanism connecting block is assembled to another right-angled surface of the second right-angle movable connecting plate by screws; one end of the third worm gear mechanism connecting block is assembled to the first worm gear mechanism connecting block by screws, and the other end is fixed to the second worm gear mechanism connecting block by screws, specifically located in the middle part between the first worm gear mechanism connecting block and the second worm gear mechanism connecting block; The worm gear mechanism motor is assembled to the worm gear mechanism motor connecting plate by screws, and its output shaft is connected to the coupling to provide rotational power to the worm. One end of the worm gear mechanism motor connecting plate is connected to the worm gear mechanism motor, and the other end is assembled to the third worm gear mechanism connecting block by screws to fix the worm gear mechanism motor. One end of the worm gear mechanism coupling is connected to the worm gear mechanism motor, and the other end is connected to the worm shaft to transmit power. The top of the upper shaft of the worm is fastened to the coupling. The first worm bearing is installed at the lower part of the upper shaft, and the second worm bearing is installed at the lower shaft. They are assembled in the mounting hole on the third worm gear mechanism connecting block, and the middle helical surface is in contact with the corresponding gear surface of the worm gear. The first worm bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, and is on the same axis as the second worm bearing, thus fixing the position of the worm; the second worm bearing is assembled in the lower mounting hole of the third worm gear mechanism connecting block, and is on the same axis as the first worm bearing, thus fixing the position of the worm. The worm gear shaft is assembled on the first worm gear bearing and the second worm gear bearing, and fixed on the third worm gear mechanism connecting block. It has two keyways and connects the worm gear and the gear with a key of corresponding length. The first worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the second worm gear bearing, and fixes the position of the worm gear shaft. The worm gear is connected to the worm gear shaft by a flat key, and its tooth surface contacts the helical surface of the worm, realizing the transmission of motor force and driving the worm gear shaft to rotate together. The gear is connected to the worm gear shaft via a flat key and rotates together with the worm gear shaft. Its tooth surface contacts the tooth surface of the rack on the intermediate frame assembly, realizing the translational movement of the entire magnet adsorption foot assembly. The second worm gear bearing is assembled in the upper mounting hole of the third worm gear mechanism connecting block, is on the same axis as the first worm gear bearing, and fixes the position of the worm gear shaft.

6. A six-legged climbing robot for power transmission line towers according to claim 2, characterized in that, The intermediate frame assembly consists of a second intermediate square carbon fiber tube, a first slide rail, a first rack, a second slide rail, a third slide rail, a second rack, and a fourth slide rail; The second intermediate square carbon fiber tube forms the basic skeleton of the intermediate frame assembly, supporting the components of the overall device; the first slide rail is assembled on one surface of the second intermediate square carbon fiber tube, and the slider on it is connected to one surface of the second right-angle moving connecting plate by screws, thereby driving the magnetic adsorption foot assembly to move along the first slide rail; The first rack is assembled on one surface of the second middle square carbon fiber tube, on the same plane as the first slide rail, and is specifically located at the right angle of the second middle square carbon fiber tube, and at the middle part between the first slide rail and the second slide rail; The second slide rail is assembled on one surface of the second middle square carbon fiber tube, perpendicular to the plane of the first slide rail. The slider on it is connected to another vertical surface of the second right-angle moving connecting plate by screws, and is arranged at 90 degrees with the first slide rail, which enhances the rigidity of the overall mechanism. The first slide rail, the first rack, and the second slide rail constitute the first moving sub-assembly of the magnet adsorption foot assembly that moves along the intermediate frame assembly; The third slide rail is assembled on one surface of the second intermediate square carbon fiber tube, specifically on the surface directly opposite to the first slide rail; the second rack is assembled on one surface of the second intermediate square carbon fiber tube, on the same plane as the third slide rail, and specifically located at the right angle of the third intermediate square carbon fiber tube, and at the middle part between the third slide rail and the fourth slide rail; the fourth slide rail is assembled on one surface of the second intermediate square carbon fiber tube, perpendicular to the plane of the third slide rail, and specifically on the surface directly opposite to the second slide rail; The third slide rail, the second rack, and the fourth slide rail have the same components as the first slide rail, the first rack, and the second slide rail, forming a second moving sub-assembly of the magnet adsorption foot assembly that moves along the intermediate frame assembly, and is 180 degrees to the first moving sub-assembly.

7. A six-legged climbing robot for power transmission line towers according to claim 2, characterized in that, The robotic arm magnetic foot assembly comprises: a first magnetic foot assembly, a second magnetic foot assembly, a connecting inclined plate, and a connecting horizontal plate; The first and second magnetic foot assemblies are identical components. They are arranged at right angles and assembled on the slide rail of the intermediate frame assembly. The gears on them mesh with the rack on the intermediate frame assembly to transmit the moving power. The connecting inclined plate is installed on the first and second magnetic foot assemblies. The upper surface of the connecting inclined plate is at a 45-degree angle. The left connecting inclined plate, the connecting horizontal plate, and the right connecting inclined plate are fastened together by screws, so that the first and second magnetic foot assemblies are connected together. The bottom of the connecting inclined plate is flat and is assembled on the second right-angle movable connecting plate of the magnetic foot assembly. There are two of them, which are respectively arranged on the first magnetic foot assembly and the magnetic foot assembly. The top is a 45-degree inclined surface and is connected to the connecting horizontal plate by screws. The connecting horizontal plate is connected to the left connecting inclined plate and the right connecting inclined plate by screws, forming the mounting base of the robotic arm assembly.

8. A six-legged climbing robot for power transmission line towers according to claim 7, characterized in that, The robotic arm assembly comprises: a robotic arm base assembly, a robotic arm body assembly, a robotic arm end-effector quick-change magnet assembly, a robotic arm end-effector vision camera, and a robotic arm end-effector tool assembly; The robotic arm base assembly is assembled onto the connecting horizontal plate via a bottom mounting plate and is connected to the robotic arm magnetic foot assembly, allowing it to perform translational movements on the intermediate frame assembly. The robotic arm body consists of a 5-DOF rotary joint, and its arm is made of a hollow carbon fiber tube, which reduces the weight while meeting the rigidity requirements. The quick-change magnet assembly at the end of the robotic arm is assembled on the mounting plate of the fifth degree of freedom at the end of the robotic arm. The presence or absence of magnetic force is achieved by switching the current on and off. By absorbing the magnetic block at the tool end, the corresponding tool can be quickly grasped to complete the corresponding task. The end-effector vision camera is mounted on the mounting plate of the fourth degree of freedom of the robotic arm. Specifically, it is located on the side of the fifth degree of freedom motor and parallel to the quick-change magnet assembly at the end of the robotic arm, facing the working direction of the tool assembly, so that the vision camera can capture the field of view of the working area. The end effector tool assembly of the robotic arm is fixed to the tool holder assembly. When the robotic arm receives a corresponding instruction for a task, the quick-change magnet assembly at the end effector of the robotic arm can quickly grasp the corresponding tool by absorbing the magnet block at the tool end and complete the corresponding task.

9. A six-legged climbing robot for power transmission line towers according to claim 6, characterized in that, The tool rack assembly comprises: a carbon fiber tube connecting end cap, a tool holding plate, a quick-change magnet assembly, a barbed tool assembly, and a gripper tool assembly; The carbon fiber tube connection end cap is fixed to the second intermediate square carbon fiber tube of the intermediate frame assembly by screws; The tool holding plate is assembled on the carbon fiber tube connecting end cap, and its shape is forked, with the tool assembly held in the forked front part. The quick-change magnet assembly is assembled on the fork shape of the tool holder plate and is used to attract the magnet block on the tool holder assembly to fix the tool assembly.

10. A six-legged climbing robot for power transmission line towers according to claim 9, characterized in that, The barbed tool assembly and the gripper tool assembly have the same quick-change structure. When there is no work task, the tool assembly is placed on the quick-change magnet assembly on the tool rack assembly. When there is a work task, the magnet is energized and the magnetic force is eliminated, and the robotic arm can quickly grasp the tool assembly to perform the work. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly of the tool rack assembly in a predetermined position to achieve quick placement of the tool assembly. When the gripper tool assembly is not in use, it is placed on the quick-change magnet assembly on the tool rack assembly. When there is a task, the magnet is energized, and after the magnetic force is eliminated, the robotic arm can quickly grip the tool assembly to perform the task. After the task is completed, the robotic arm places the tool assembly on the quick-change magnet assembly on the tool rack assembly in a predetermined position, thereby realizing the rapid placement of the tool assembly.

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