【摘要】 铁塔是输电线路中的主要部件，分布广泛数量众多。受野外恶劣气候影响极易损坏，需要定期进行安全检修。目前检修方式是人工爬到高空进行检修作业，作业强度大，安全风险高。文中介绍了一种分段步进式铁塔攀爬机器人的设计与研究工作。该机器人可以沿铁塔主材攀爬至作业横担，并安装或拆卸临时防坠装置。机器人利用磁吸式原理吸附在铁塔表面，通过步进式结构沿铁塔主材攀爬。现场实验表明：该机器人具备良好的攀爬能力和越障能力。更多还原

【Abstract】 Iron towers are the main components in power transmission lines, and they are widely distributed and numerous. Affected by the harsh weather in the wild, it is very easy to be damaged and requires regular safety maintenance. At present, the maintenance method is to manually climb to a high altitude for maintenance work, which is of high intensity and safety risk. This paper introduces the design and research work of a step-by-step tower-climbing robot. The robot can climb along the main material of the iron tower to the working crossarm and install or remove the temporary anti-fall device. The robot uses the principle of magnetic attraction to attach to the surface of the iron tower, and climbs along the main material of the iron tower through the step-by-step structure. The field experiment shows that the robot has good climbing ability and obstacle-surmounting ability.更多还原