Design of Climbing Robot for Power Transmission Tower Maintenance

摘要

Abstract Periodic maintenance of transmission lines is a necessary guarantee for stable power transmission and avoiding serious power accidents. In order to reduce the safety risk of the first person climbing the transmission tower and the last person going down the tower when climbing the transmission tower manually, this paper develops an auxiliary climbing robot for the maintenance of transmission tower based on the bionic climbing principle. It includes the modular mechanical structure of the main body lifting, obstacle crossing telescopic, terminal clamping, and body jacking, as well as airborne motion control system and hierarchical control system of upper computer monitoring terminal. The comprehensive test results of indoor and outdoor simulated transmission tower environment show that the robot system can effectively complete the high-altitude climbing of power tower, and ensure the follow-up tasks of hanging, dismantling, and maintenance of safety anti-falling device.