CN108860354A - A kind of electric power tower climbing robot and its obstacle-detouring method - Google Patents
A kind of electric power tower climbing robot and its obstacle-detouring method Download PDFInfo
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- CN108860354A CN108860354A CN201810293993.4A CN201810293993A CN108860354A CN 108860354 A CN108860354 A CN 108860354A CN 201810293993 A CN201810293993 A CN 201810293993A CN 108860354 A CN108860354 A CN 108860354A
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- mechanical arm
- drive rod
- arc drive
- gripper
- electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention discloses a kind of electric power tower climbing robot and its obstacle-detouring method, mechanical arm includes first mechanical arm, second mechanical arm and safety door hook mechanical arm；First mechanical arm one end is flexibly connected with second mechanical arm one end by connector, and the other end is connected with gripper；Motor includes first motor and the second motor, and is respectively arranged at one end that the first and second mechanical arms are connected with gripper, and is connect with two grippers；Second mechanical arm surface is fixedly connected with one end of safety door hook mechanical arm, and the other end of safety door hook mechanical arm is flexibly connected with safety door hook.Electric power tower climbing robot provided by the invention is climbed obstacle to electric power tower by camera and machine vision and is identified, climbing robot is set to select different climbing modes in face of different climbing obstacles, to adapt to complicated electric power tower structure, safety rope system is hung over into target position in time, has ensured the operation safety of follow-up work personnel.
Description
Technical field
The invention belongs to climbing robot technical fields, and in particular to a kind of electric power tower robot and its obstacle-detouring method.
Background technique
Ultra-high-tension power transmission line is the artery of electric system, safety work be directly related to power supply stability and can
By property.It needs that periodically electric power line pole tower and its attachment are overhauled and safeguarded, to ensure the safe and reliable operation of route.
The maintenance, maintenance of electric power tower route substantially by the way of manually climbing steel tower, are taken by service personnel at present
Every maintenance task of electric power tower is completed with relevant device, this not only largely consumes the physical strength of service personnel, influences work
Efficiency, while service personnel's inherently safe also has great hidden danger.With the Fast Construction of high pressure and extra-high voltage, electric power tower is repaired
That builds is higher and higher, and scientific and technical personnel devise the inspection that electric power tower is carried out specifically for the robot of electric power tower maintenance climbing
It repairs, safeguard, to mitigate the labor intensity of staff, reduce electric shock and the danger of falling from high altitude, and can not influence to power
In the case where carry out livewire work, improve the efficiency and quality of maintenance, maintenance.With the continuous expansion of urban distribution network, increasingly
More climbing robots is used in the electric operating of high-altitude, and to require that it has certain for complicated electric power tower climbing situation
Obstacle climbing ability.
Summary of the invention
For above-mentioned deficiency in the prior art, electric power tower climbing robot provided by the invention and its obstacle-detouring method solution
Existing electric power tower of having determined climbs the problem of obstacle climbing ability difference during the climbing of base robot.
In order to achieve the above object of the invention, the technical solution adopted by the present invention is：A kind of electric power tower climbing robot, packet
Include mechanical arm, gripper, motor, connector and safety door hook；
The mechanical arm includes first mechanical arm, second mechanical arm and safety door hook mechanical arm；
Described first mechanical arm one end is flexibly connected with second mechanical arm one end by connector, and the other end is flexibly connected
There is gripper；
The motor includes first motor and the second motor, and is respectively arranged at first mechanical arm and connects with second mechanical arm
There is one end of gripper, and is connect with described two grippers；
The second mechanical arm surface is fixedly connected with one end of safety door hook mechanical arm, the other end of the safety door hook mechanical arm
It is flexibly connected with safety door hook.
Further, the electric power tower climbing robot further includes camera and data processing and control module；
The first mechanical arm and second mechanical arm include mechanical arm shell, mechanical arm support and attitude transducer, institute
It states mechanical arm support and attitude transducer is all set in mechanical arm interior of shell, the attitude transducer and data processing and control mould
Block communication connection；
The camera is set to one end end that second mechanical arm is connected with gripper, the data processing module setting
It is communicated to connect in mechanical arm interior of shell in second mechanical arm, and with camera；
The first mechanical arm further includes lead screw and arm motor, and the lead screw and arm motor are all set in the first machinery
The mechanical arm interior of shell of arm, the arm motor are connect with lead screw.
Further, the connector includes bolt and arc drive rod；
One end end that the first mechanical arm and second mechanical arm are not connected with gripper is flexibly connected by bolt, described
Arc drive rod one end is fixedly connected with the support shaft on the mechanical arm support in second mechanical arm, the other end and the first machinery
Lead screw on arm is flexibly connected.
Further, two grippers are V-structure, and it is internally provided with electromagnet.
A kind of obstacle-detouring method of electric power tower climbing robot, includes the following steps：
S1, electric power tower realtime graphic is acquired by camera；
S2, the realtime graphic according to acquisition judge whether there is climbing obstacle by machine vision technique；If it is not, then carrying out
The climbing of normal electricity steel tower and return step S1；It is that determining climbing the barrer types simultaneously enter step S3；
S3, according to climbing the barrer types, select correct obstacle-detouring method；
Safety rope is hung by S4, climbing to target position, automatic system.
Further, in the step S2, the climbing of normal electricity steel tower is climbed using the motion mode of creeping motion type.
Further, the barrer types are climbed in the step S2 includes the long securing plate with rivet, the short reinforcing with rivet
Plate and main material horizontal material linkage section.
Further,
When climbing fault type is the long securing plate with rivet in the step S3, the obstacle-detouring method of the climbing robot
Specially：
A1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the long securing plate with rivet and being fixed in this position, first mechanical arm is moved to close to the with lower
The proximal most position of two mechanical arms；
The gripper of A2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, makes second mechanical arm across the extremely long securing plate other end with rivet；
The gripper of A3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod is moved to first mechanical arm close to one end of the long securing plate with rivet；
The gripper of A4, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, and second mechanical arm is made to move forward certain distance along main material；
The gripper of A5, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, and first mechanical arm is made to be moved to long add across the long securing plate with rivet
The other end of solid plate completes obstacle detouring；
When climbing fault type is the short securing plate with rivet in the step S3, the obstacle-detouring method of the climbing robot
Specially：
B1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the short securing plate with rivet and being fixed in this position, first mechanical arm is moved to close to the with lower
The proximal most position of two mechanical arms；
The gripper of B2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, makes second mechanical arm across the short securing plate with rivet, and apart from reinforcing
One end certain distance of plate；
The gripper of B3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, makes first mechanical arm across the short securing plate with rivet, completes obstacle detouring；
When climbing fault type is main material horizontal material linkage section in the step S3, the obstacle-detouring method tool of the climbing robot
Body is：
C1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
Under, the coordinated movement of various economic factors is carried out to the side of main material and horizontal material linkage section and is fixed in this position, first mechanical arm is moved to close
The proximal most position of second mechanical arm；
The gripper of C2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm be moved to main material and horizontal material linkage section across one end of main material
Between；
The gripper of C3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod makes first mechanical arm be moved to the side of main material Yu horizontal material linkage section；
The gripper of C4, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm be moved to the other side of main material Yu horizontal material linkage section；
The gripper of C5, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod is moved to first mechanical arm between main material and horizontal material linkage section；
The gripper of C6, fixed first mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm move forward certain distance along main material；
The gripper of C7, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, first mechanical arm is made to be moved to the other side of main material Yu horizontal material linkage section,
Complete obstacle detouring.
Further, the step S4 is specially：
When climbing robot is climbed to target position, safety door hook mechanical arm hooks safety to target position, safety door hook with
It is connected between safety door hook mechanical arm by safety rope, and then safety rope system is hung to target position.
Further, two grippers that the first mechanical arm is connected with second mechanical arm are movably apart from model
It encloses for 350mm~1250mm.
Beneficial effects of the present invention are：Electric power tower climbing robot provided by the invention acquires figure in real time by camera
Obstacle is climbed to electric power tower as use of information machine vision to identify, climbing robot is enable to hinder in face of different climbings
Hinder and select different climbing modes, to adapt to complicated electric power tower structure, safety rope system is hung over into target position in time, with symbol
It closes safety rope height and hangs low using priciple, ensured the operation safety of follow-up work personnel.
Detailed description of the invention
Fig. 1 is electric power tower climbing robot structural schematic diagram in embodiment provided by the invention.
Fig. 2 is the obstacle-detouring method flow chart of electric power tower climbing robot in embodiment provided by the invention.
Fig. 3 is that electric power tower climbing robot normal electricity steel tower climbs gait signal in embodiment provided by the invention
Figure.
Fig. 4 is the obstacle detouring that electric power tower climbing robot crosses over the long securing plate with rivet in embodiment provided by the invention
Gait schematic diagram.
Fig. 5 is the obstacle detouring that electric power tower climbing robot crosses over the short securing plate with rivet in embodiment provided by the invention
Gait schematic diagram.
Fig. 6 is the obstacle detouring that electric power tower climbing robot crosses over main material and horizontal material linkage section in embodiment provided by the invention
Gait schematic diagram.
Wherein：1, mechanical arm shell；2, gripper；3, safety door hook；4, safety door hook mechanical arm；5, mechanical arm support；6, silk
Thick stick；7, arm motor；8, first motor；9, electromagnet；10, arc drive rod；11, bolt.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
In one embodiment of the invention, as shown in Figure 1, mechanical arm, gripper 2, motor, connector and safety door hook 3；
Mechanical arm includes first mechanical arm, second mechanical arm and safety door hook mechanical arm 4；First mechanical arm one end and second mechanical arm one end
It is flexibly connected by connector, the other end is connected with gripper 2；Motor includes first motor 8 and the second motor, and is divided
It is not set to first mechanical arm and second mechanical arm is connected with one end of gripper 2, and is connect with two grippers 2；Two
Gripper 2 is V-structure, and it is internally provided with electromagnet 9, convenient for quickly climbing robot being made to be fixed on electric power tower
On.Second mechanical arm surface is fixedly connected with one end of safety door hook mechanical arm 4, and the other end and safety door hook 3 of safety door hook mechanical arm 4 are living
Dynamic connection, is connected between safety door hook 3 and safety door hook mechanical arm 4 by longer safety rope, can be incited somebody to action by safety door hook mechanical arm 4
Safety door hook 4 hooks the target position on electric power tower, and then is extension safety rope, is hung convenient for staff by climbing robot system
Safety rope climbing electric power tower carry out service work, it is ensured that the safety of staff.
Above-mentioned electric power tower climbing robot further includes camera and data processing and control module；First mechanical arm and second
Mechanical arm includes that mechanical arm shell 1, mechanical arm support 5 and attitude transducer, mechanical arm support 5 and attitude transducer are respectively provided with
Inside mechanical arm shell 1, attitude transducer and data processing and control module are communicated to connect；Camera is set to second mechanical arm
Be connected with one end end of gripper 2, data processing module is set in second mechanical arm inside mechanical arm shell 1, and with take the photograph
As head communicates to connect；First mechanical arm further includes lead screw 6 and arm motor 7, and lead screw 6 and arm motor 7 are all set in the first machine
Inside the mechanical arm shell 1 of tool arm, arm motor 7 is connect with lead screw 6.
Wherein, connector includes bolt 11 and arc drive rod 10, and first mechanical arm and second mechanical arm are not connected mechanical
One end end of pawl 2 is flexibly connected by bolt 11, on the mechanical arm support 5 on 10 one end of arc drive rod and second mechanical arm
Support shaft be fixedly connected, the other end is flexibly connected with the lead screw 6 in first mechanical arm.
Above-mentioned camera is adopted for the realtime graphic during acquiring climbing robot climbing in real time by data processing
Collection module handles acquisition image, and then controls the climbing behavior of climbing robot；Master control in data processing and control module
The model OMAPL138 of chip；Above-mentioned arc drive rod 10 and attitude transducer adjust machinery during climbing robot climbing
The movement of arm and measure its moving distance.
In one embodiment of the invention, as shown in Fig. 2, additionally providing the obstacle detouring side of electric power tower climbing robot
Method includes the following steps：
S1, electric power tower realtime graphic is acquired by camera；
S2, the realtime graphic according to acquisition judge whether there is climbing obstacle by machine vision technique；If it is not, then carrying out
The climbing of normal electricity steel tower and return step S1；It is that determining climbing the barrer types simultaneously enter step S3.
As shown in figure 3, above-mentioned normal electricity steel tower climbing is climbed using the motion mode of creeping motion type.
Electric power tower climbing robot provided by the invention, is mainly used in the climbing of 110kv electric power tower, due to
The construction specification of 110kv electric power tower is relatively more fixed, and climbing the barrer types include the long securing plate with rivet, with the short of rivet
Securing plate and main material horizontal material linkage section.
S3, according to climbing the barrer types, select correct obstacle-detouring method；
8. the obstacle-detouring method of electric power tower climbing robot according to claim 7, which is characterized in that
As shown in figure 4, the obstacle-detouring method of climbing robot is specific when climbing fault type is the long securing plate with rivet
For：
A1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the long securing plate with rivet and being fixed in this position, first mechanical arm is moved to close to the with lower
The proximal most position of two mechanical arms；
The gripper of A2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, makes second mechanical arm across the extremely long securing plate other end with rivet；
The gripper of A3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod is moved to first mechanical arm close to one end of the long securing plate with rivet；
The gripper of A4, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, and second mechanical arm is made to move forward certain distance along main material；
The gripper of A5, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, and first mechanical arm is made to be moved to long add across the long securing plate with rivet
The other end of solid plate completes obstacle detouring.
As shown in figure 5, the obstacle-detouring method of climbing robot is specific when climbing fault type is the short securing plate with rivet
For：
B1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the short securing plate with rivet and being fixed in this position, first mechanical arm is moved to close to the with lower
The proximal most position of two mechanical arms；
The gripper of B2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod extends to maximum, makes second mechanical arm across the short securing plate with rivet, and apart from reinforcing
One end certain distance of plate；
The gripper of B3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, makes first mechanical arm across the short securing plate with rivet, completes obstacle detouring.
As shown in fig. 6, the obstacle-detouring method of climbing robot is specific when climbing fault type is main material horizontal material linkage section
For：
C1, pass through normal electricity steel tower climbing method, make second mechanical arm in the work of attitude transducer and arc drive rod
Under, the coordinated movement of various economic factors is carried out to the side of main material and horizontal material linkage section and is fixed in this position, first mechanical arm is moved to close
The proximal most position of second mechanical arm；
The gripper of C2, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm be moved to main material and horizontal material linkage section across one end of main material
Between；
The gripper of C3, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod makes first mechanical arm be moved to the side of main material Yu horizontal material linkage section；
The gripper of C4, fixed first mechanical arm, second mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm be moved to the other side of main material Yu horizontal material linkage section；
The gripper of C5, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the tightening of arc drive rod is moved to first mechanical arm between main material and horizontal material linkage section；
The gripper of C6, fixed first mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, the extension of arc drive rod makes second mechanical arm move forward certain distance along main material；
The gripper of C7, fixed second mechanical arm, first mechanical arm is under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out, arc drive rod is tightened to minimum, first mechanical arm is made to be moved to the other side of main material Yu horizontal material linkage section,
Complete obstacle detouring.
Figure 4, it is seen that although electric power tower horizontal material and main material have connection, for the climbing path of climbing robot
Certain obstacle is caused, but the climbing robot provided by the invention that do not have an impact continues up climbing.
Safety rope is hung by S4, climbing to target position, automatic system.
When climbing robot is climbed to target position, safety door hook mechanical arm hooks safety to target position, safety door hook with
It is connected between safety door hook mechanical arm by safety rope, and then safety rope system is hung to target position.
In one embodiment of the invention, two grippers that first mechanical arm is connected with second mechanical arm are moveable
Distance range is 350mm~1250mm.
Beneficial effects of the present invention are：Electric power tower climbing robot provided by the invention acquires figure in real time by camera
Obstacle is climbed to electric power tower as use of information machine vision to identify, climbing robot is enable to hinder in face of different climbings
Hinder and select different climbing modes, to adapt to complicated electric power tower structure, safety rope system is hung over into target position in time, with symbol
It closes safety rope height and hangs low using priciple, ensured the operation safety of follow-up work personnel.
Claims (10)
1. a kind of electric power tower climbing robot, which is characterized in that including mechanical arm, gripper (2), motor, connector and peace
Full hook (3)；
The mechanical arm includes first mechanical arm, second mechanical arm and safety door hook mechanical arm (4)；
Described first mechanical arm one end is flexibly connected with second mechanical arm one end by connector, and the other end is flexibly connected organic
Machinery claw (2)；
The motor includes first motor (8) and the second motor, and is respectively arranged at first mechanical arm and connects with second mechanical arm
There is one end of gripper (2), and is connect with described two grippers (2)；
The second mechanical arm surface is fixedly connected with one end of safety door hook mechanical arm (4), the safety door hook mechanical arm (4) it is another
End is flexibly connected with safety door hook (3).
2. electric power tower climbing robot according to claim 1, which is characterized in that the electric power tower climbing robot
It further include camera and data processing and control module；
The first mechanical arm and second mechanical arm include mechanical arm shell (1), mechanical arm support (5) and attitude transducer,
The machinery arm support (5) and attitude transducer are all set in inside mechanical arm shell (1), at the attitude transducer and data
Manage control module communication connection；
The camera is set to one end end that second mechanical arm is connected with gripper (2), the data processing module setting
It is internal in mechanical arm shell (1) in second mechanical arm, and communicated to connect with camera；
The first mechanical arm further includes lead screw (6) and arm motor (7), and the lead screw (6) and arm motor (7) are all set in
The mechanical arm shell (1) of first mechanical arm is internal, and the arm motor (7) connect with lead screw (6).
3. electric power tower climbing robot according to claim 2, which is characterized in that the connector includes bolt (11)
With arc drive rod (10)；
One end end that the first mechanical arm and second mechanical arm are not connected with gripper (2) is flexibly connected by bolt (11),
Described arc drive rod (10) one end is fixedly connected with the support shaft on the mechanical arm support (5) in second mechanical arm, another
End is flexibly connected with the lead screw (6) in first mechanical arm.
4. electric power tower climbing robot according to claim 1, which is characterized in that two grippers (2) are V
Type structure, and it is internally provided with electromagnet (9).
5. a kind of obstacle-detouring method of electric power tower climbing robot, which is characterized in that include the following steps,
S1, electric power tower realtime graphic is acquired by camera；
S2, the realtime graphic according to acquisition judge whether there is climbing obstacle by machine vision technique；If it is not, then carrying out normal
Electric power tower climbing and return step S1；It is that determining climbing the barrer types simultaneously enter step S3；
S3, according to climbing the barrer types, select correct obstacle-detouring method；
Safety rope is hung by S4, climbing to target position, automatic system.
6. the obstacle-detouring method of electric power tower climbing robot according to claim 5, which is characterized in that the step S2
In, the climbing of normal electricity steel tower is climbed using the motion mode of creeping motion type.
7. the obstacle-detouring method of electric power tower climbing robot according to claim 5, which is characterized in that in the step S2
Climbing the barrer types includes the long securing plate with rivet, the short securing plate with rivet and main material horizontal material linkage section.
8. the obstacle-detouring method of electric power tower climbing robot according to claim 7, which is characterized in that
When climbing fault type is the long securing plate with rivet in the step S3, the obstacle-detouring method of the climbing robot is specific
For：
A1, pass through normal electricity steel tower climbing method, make second mechanical arm under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the long securing plate with rivet and is fixed in this position, first mechanical arm is moved to close to the second machine
The proximal most position of tool arm；
The gripper of A2, fixed first mechanical arm, second mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extend to maximum, make second mechanical arm across the extremely long securing plate other end with rivet；
The gripper of A3, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod tightening, is moved to first mechanical arm close to one end of the long securing plate with rivet；
The gripper of A4, fixed first mechanical arm, second mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extend to maximum, and second mechanical arm is made to move forward certain distance along main material；
The gripper of A5, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod are tightened to minimum, and first mechanical arm is made to be moved to long securing plate across the long securing plate with rivet
The other end, complete obstacle detouring；
When climbing fault type is the short securing plate with rivet in the step S3, the obstacle-detouring method of the climbing robot is specific
For：
B1, pass through normal electricity steel tower climbing method, make second mechanical arm under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors is carried out to one end of the short securing plate with rivet and is fixed in this position, first mechanical arm is moved to close to the second machine
The proximal most position of tool arm；
The gripper of B2, fixed first mechanical arm, second mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extend to maximum, make second mechanical arm across the short securing plate with rivet, and apart from securing plate
One end certain distance；
The gripper of B3, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod are tightened to minimum, and first mechanical arm is made to be moved to short securing plate across the short securing plate with rivet
The other end, complete obstacle detouring；
When climbing fault type is main material horizontal material linkage section in the step S3, the obstacle-detouring method of the climbing robot is specific
For：
C1, pass through normal electricity steel tower climbing method, make second mechanical arm under the action of attitude transducer and arc drive rod,
The coordinated movement of various economic factors is carried out to the side of main material and horizontal material linkage section and is fixed in this position, first mechanical arm is moved to close second machine
The proximal most position of tool arm；
The gripper of C2, fixed first mechanical arm, second mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extension, makes second mechanical arm across one end of main material, be moved to main material and horizontal material linkage section it
Between；
The gripper of C3, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod tightening, makes first mechanical arm be moved to the side of main material Yu horizontal material linkage section；
The gripper of C4, fixed first mechanical arm, second mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extension, makes second mechanical arm be moved to the other side of main material Yu horizontal material linkage section；
The gripper of C5, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod tightening, is moved to first mechanical arm between main material and horizontal material linkage section；
The gripper of C6, fixed first mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod extension, makes second mechanical arm move forward certain distance along main material；
The gripper of C7, fixed second mechanical arm, first mechanical arm carry out under the action of attitude transducer and arc drive rod
The coordinated movement of various economic factors, arc drive rod are tightened to minimum, and first mechanical arm is made to be moved to the other side of main material Yu horizontal material linkage section, complete
Obstacle detouring.
9. a kind of obstacle-detouring method of electric power tower climbing robot according to claim 5, which is characterized in that the step
S4 is specially：
When climbing robot is climbed to target position, safety door hook mechanical arm hooks safety to target position, safety door hook and safety
It is connected between hook mechanical arm by safety rope, and then safety rope system is hung to target position.
10. according to the obstacle-detouring method of electric power tower climbing robot described in claim 5~9 any one, which is characterized in that
Two moveable distance ranges of gripper that the first mechanical arm is connected with second mechanical arm be 350mm~
1250mm。
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