Climbing robot and climbing method thereof

Abstract

The embodiment of the invention provides a climbing robot and a climbing method thereof.The climbing robot comprises at least three clamping mechanisms, a connecting arm and a driving mechanism, each clamping mechanism is provided with a clamping part, and the connecting arm is rotationally connected with the adjacent clamping mechanism in the length direction of a lightning rod; the driving mechanism comprises a torsion assembly 1 for driving the connecting arm to twist in the circumferential direction and a climbing assembly for driving the connecting arm to rotate in the axial direction, the multiple clamping mechanisms and the torsional connecting arm structure are arranged, the driving mechanism is matched to achieve axial climbing and circumferential obstacle avoidance actions, and the problems that a traditional robot is unstable in clamping and poor in obstacle avoidance capacity are solved. The robot has the advantages that the clamping stability is improved, the circumferential obstacle avoidance function is achieved, and the coordination of climbing actions is improved.

Description

Technical Field

[0001] This application relates to the technical field of special-operation robots, and more particularly to a climbing robot and its climbing method. Background Technology

[0002] In the field of power system safety protection, substation lightning rods are key equipment for lightning protection, and their maintenance and repair are of paramount importance. With the expansion of power grid construction and the upgrading of voltage levels, the installation height of lightning rods is constantly increasing, posing significant challenges to daily maintenance. Traditional maintenance methods relying on aerial work platforms or manual climbing pose major safety hazards, and the use of climbing robots has become an important trend in the industry.

[0003] Currently, climbing robots mainly consist of an upper drive module, a lower drive module, and a connecting arm. Climbing is achieved through the coordinated work of a first climbing component, a second climbing component, and a steering component. The first and second grippers are equipped with longitudinal and lateral wheel sets, respectively, enabling the robot to complete climbing operations within the confined spaces of substations. However, when the diameter of the lightning rod changes, the contact pressure and friction between the wheel set and the lightning rod surface are difficult to maintain stability, severely affecting the robot's climbing reliability and operational safety. Furthermore, the lack of an effective obstacle-crossing mechanism when protruding obstacles exist on the lightning rod hinders the robot's continued climbing.

[0004] Therefore, there is an urgent need for a climbing robot that can climb the lightning rod axially and avoid obstacles during the climbing process, in order to solve the problems of unstable gripping, poor obstacle avoidance ability and insufficient motion coordination in the existing technology. Summary of the Invention

[0005] This application provides a climbing robot and its climbing method, which solves the problem that the prior art cannot adapt to variable diameter structures, realizes stable axial climbing of the robot on variable diameter lightning rods, and has dual obstacle avoidance capabilities of torsion and rotation, significantly improving the robot's adaptability and work efficiency in complex working conditions.

[0006] In a first aspect, embodiments of this application provide a climbing robot, comprising:

[0007] At least three clamping mechanisms, each of which is provided with a clamping part for clamping the lightning rod;

[0008] A connecting arm, which is rotatably mounted on the clamping mechanism along the length of the lightning rod and connected to the adjacent clamping mechanism;

[0009] At least one driving mechanism, the driving mechanism including a torsion component and a climbing component, the torsion component being disposed on the clamping mechanism, the torsion component being used to drive the connecting arm to twist circumferentially along the lightning rod, and the climbing component being used to drive the connecting arm to rotate along the length direction of the lightning rod.

[0010] In one possible implementation, the torsion assembly includes a track, a moving block, and a first drive member. The track is arranged circumferentially in the clamping mechanism along the lightning rod. The moving block is connected to the connecting arm and is slidably connected within the track to drive the connecting arm to twist. The first drive member is used to drive the moving block to slide.

[0011] In one possible implementation, the track is a rack arranged circumferentially along the lightning rod, and the inner ring of the moving block is rotatably fitted with a gear that meshes with the rack. The first driving member is used to drive the gear to rotate.

[0012] In one possible implementation, there are three clamping mechanisms: an upper clamping member, a middle clamping member, and a lower clamping member. The track is disposed on the middle clamping member. The connecting arm includes an upper connecting arm and a lower connecting arm. The upper connecting arm is disposed between the upper clamping member and the middle clamping member, and the lower connecting arm is disposed between the middle clamping member and the lower clamping member. The sliding block drives the upper connecting arm and the lower connecting arm to twist.

[0013] In one possible implementation, a rotating wheel is slidably connected to the rack, and the outer circle of the rotating wheel is rotatably connected to the upper connecting arm and the lower connecting arm respectively. The gear drives the rotating wheel to slide along the circumference of the rack.

[0014] In one possible implementation, the climbing assembly includes a lead screw, a connecting seat, and a second drive member. The connecting seat is rotatably mounted on a rotating wheel, and the connecting arm is rotatably mounted with a connecting block. One end of the lead screw is rotatably connected to the connecting seat, and the other end is threadedly connected to the connecting block. The second drive member is used to drive the lead screw to rotate.

[0015] In one possible implementation, the clamping part includes a bidirectional screw, a first clamping block, a second clamping block, and a third driving member. The clamping mechanism has a slide rail along a first direction. The bidirectional screw is rotatably disposed within the slide rail. The first clamping block and the second clamping block are respectively threaded to both ends of the bidirectional screw and slidably connected within the slide rail. The third driving member is used to drive the bidirectional screw to rotate.

[0016] Secondly, embodiments of this application also provide a climbing method for an obstacle-avoiding climbing robot, employing the climbing robot as described above, the method comprising:

[0017] The gripping part of the climbing robot's gripping mechanism is clamped onto the lightning rod;

[0018] The climbing components of the climbing robot drive the climbing robot to climb along the length of the lightning rod;

[0019] The torsion assembly of the climbing robot drives the obstacle-avoiding climbing robot to twist or rotate along the circumferential direction of the lightning rod.

[0020] In one possible implementation, the torsion assembly of the climbing robot drives the climbing robot to twist along the circumferential direction of the lightning rod, including:

[0021] The climbing robot's gripper firmly holds the lightning rod. The gears rotate, the rotating wheel is fixed, and the upper and lower grippers are rotated around the lightning rod to the predetermined position.

[0022] The upper and lower clamping parts clamp the lightning rod, while the middle clamping part is released;

[0023] The gear reverses direction, the rotating wheel is fixed, and the middle clamping component is twisted to the corresponding positions of the upper and lower clamping components;

[0024] Repeat the above steps to complete the climbing robot's twist.

[0025] In one possible implementation, the torsion assembly of the climbing robot drives the climbing robot to rotate circumferentially along the lightning rod, including:

[0026] Combine the upper clamping component, middle clamping component, and lower clamping component to the minimum distance;

[0027] The lower clamping component firmly clamps the lightning rod, the gear remains stationary, and the rotating wheel rotates, causing the middle clamping component and the lower clamping component to rotate to a predetermined angle;

[0028] The middle clamping part tightens, and the lower clamping part loosens, moves upward, and merges to the minimum distance; then, the lower clamping part tightens, and the upper and middle clamping parts loosen and move upward to the maximum distance; then, the middle clamping part tightens, the gear remains stationary, the rotating wheel reverses, and the upper and lower clamping parts reverse to the maximum angle.

[0029] The upper clamping component tightens, while the middle and lower clamping components loosen, move upwards, and merge to the minimum distance.

[0030] The middle clamping component tightens, while the upper clamping component loosens and moves upward to its maximum distance.

[0031] The upper clamping component is tightened, while the middle and lower clamping components are loosened and returned to an appropriate distance before being tightened again.

[0032] Repeat the above steps to complete the rotation of the climbing robot.

[0033] The present application provides a climbing robot and an obstacle-avoiding climbing robot climbing method. By setting up multiple gripping mechanisms and a torsionable connecting arm structure, and cooperating with the drive mechanism, it realizes axial climbing and circumferential obstacle avoidance. It solves the problems of unstable gripping and poor obstacle avoidance ability of traditional robots, and has the advantages of improving gripping stability, realizing circumferential obstacle avoidance function, and improving the coordination of climbing actions. Attached Figure Description

[0034] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0035] Figure 1 This is a structural diagram of the obstacle-avoiding climbing robot provided in this application;

[0036] Figure 2 This is a structural diagram of the torsion component of the climbing robot provided in this application;

[0037] Figure 3 This is a structural diagram of the gripping mechanism for the climbing robot provided in this application;

[0038] Figure 4 The structural diagram of the climbing robot's climbing mechanism provided in this application;

[0039] Figure 5 This is a diagram illustrating the rotational motion of the climbing robot provided in this application.

[0040] Reference numerals: 1. Torsion assembly; 2. First clamping block; 3. Lower connecting arm; 4. Rack; 5. Gear; 6. Moving block; 7. Rotating wheel; 8. Bearing plate; 9. Second clamping block; 10. Claw; 11. Bidirectional screw; 12. Upper connecting arm; 13. Upper clamping member; 14. Middle clamping member; 15. Lower clamping member; 16. Lead screw; 17. Connecting seat.

[0041] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0043] In existing technologies, the increased maintenance and repair height of lightning rods in substations poses safety hazards to traditional high-altitude operations. Existing climbing robots, relying on wheeled structures, struggle to adapt to changes in lightning rod diameter and lack effective obstacle-crossing mechanisms. When protruding obstacles are present on the surface of the lightning rod, unstable wheel contact pressure reduces climbing reliability and hinders effective obstacle avoidance.

[0044] Therefore, this application solves the defect of unstable contact pressure in wheel assembly structure by setting up multiple gripping mechanisms. By setting up multiple independent gripping units and a torsionable connecting arm, the robot has the ability to perform segmented gripping and alternating movement, thereby achieving obstacle avoidance function while maintaining stable attachment.

[0045] The climbing robot provided in this application includes at least three gripping mechanisms, a connecting arm, and a drive mechanism. Each gripping mechanism is equipped with a gripping part. The connecting arm rotates along the length of the lightning rod to connect adjacent gripping mechanisms. The drive mechanism includes a torsion component 1 that drives the connecting arm to rotate circumferentially and a climbing component that drives axial rotation. By setting up multiple gripping mechanisms and a torsionable connecting arm structure, and cooperating with the drive mechanism, axial climbing and circumferential obstacle avoidance actions are realized. This solves the problems of unstable gripping and poor obstacle avoidance ability of traditional robots. It has the advantages of improving gripping stability, realizing circumferential obstacle avoidance function, and improving the coordination of climbing actions.

[0046] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0047] Reference Figure 1 , Figure 2 , Figure 3 This application proposes a climbing robot, including at least three gripping mechanisms, a connecting arm, and a drive mechanism. Each gripping mechanism is provided with a gripping part. The connecting arm rotates along the length of the lightning rod to connect to the adjacent gripping mechanism. The drive mechanism includes a torsion component 1 that drives the connecting arm to rotate circumferentially and a climbing component that drives the axial rotation.

[0048] The system includes multiple gripping mechanisms to provide stable multi-point gripping force for the climbing robot. A connecting arm links adjacent gripping mechanisms, providing rotational freedom for the climbing robot's posture adjustment. Torsion assembly 1 generates circumferential torque on the climbing robot, enabling relative torsion of the gripping mechanisms. The climbing assembly propels the climbing robot to climb along the height of the lightning rod.

[0049] Specifically, this application achieves a composite motion of climbing and obstacle avoidance of the robot by alternately executing the clamping and releasing actions of multiple clamping mechanisms, coordinating the torsional adjustment of the torsion component 1, and the axial movement of the climbing component. It can adapt to the clamping requirements of lightning rods of different diameters, and ensures contact stability through segmented clamping. The composite motion mechanism of circumferential torsion and axial climbing enables the climbing robot to have autonomous obstacle avoidance capabilities. When encountering surface obstacles, it can overcome obstacles by adjusting its posture, which significantly improves the safety and reliability of climbing operations.

[0050] Reference Figure 2 , Figure 3 , Figure 4 This application further proposes that the torsion assembly 1 includes a track, a movable block 6 and a first driving member. The track is arranged in the clamping mechanism along the circumference of the lightning rod. The movable block 6 is connected to the connecting arm. The movable block 6 is slidably connected in the track to drive the connecting arm to twist. The first driving member is used to drive the movable block 6 to slide.

[0051] The track is a guide structure arranged around the circumference of the lightning rod. The moving block 6 drives the connecting arm to move along the track. The first driving component serves as a power output device to provide controllable power to the moving block 6.

[0052] Specifically, when it is necessary to adjust the circumferential angle of the connecting arm, the first driving component outputs power to move the moving block 6. The moving block 6 and the connecting arm transmit the motion through the hinge structure, causing the connecting arm to undergo torsional deformation along the circumference of the lightning rod.

[0053] This application achieves high-precision angle adjustment within a limited space, while avoiding the risk of hydraulic system leakage in traditional technologies. It can precisely control the circumferential torsion angle of the connecting arm, ensuring that the contact pressure between the clamping mechanism and the lightning rod remains stable during the clamping process. When encountering protrusions or sudden changes in diameter on the surface of the lightning rod, this structure can quickly adjust the circumferential position of the clamping mechanism, avoiding slippage or jamming caused by local stress concentration.

[0054] Reference Figure 1 , Figure 2 This application further proposes that the track is a rack 4 arranged along the circumference of the lightning rod, and the inner ring of the moving block 6 is rotatably fitted with a gear 5 that meshes with the rack 4, and the first driving member is used to drive the gear 5 to rotate.

[0055] Among them, the rack 4 is a semi-circular track with a toothed structure arranged circumferentially along the outer surface of the lightning rod, which is used to provide the gear 5 with a circumferential motion trajectory along the lightning rod.

[0056] Among them, gear 5 is a rotating component with tooth profile matching that of rack 4, which converts rotational motion into linear displacement along the track by meshing with rack 4.

[0057] The first driving component is a power output device, which can be implemented using a stepper motor or a servo motor. For example, the output shaft of the servo motor is coaxially connected to the shaft of gear 5 to control the forward and reverse rotation of gear 5.

[0058] Specifically, when the circumferential angle of the connecting arm needs to be adjusted, the first driving component drives the gear 5 to rotate. The gear 5 meshes with the rack 4 fixed on the clamping mechanism, causing the moving block 6 to displace along the circumference of the lightning rod. This displacement is transmitted to the connecting arm through a mechanical connection, causing it to twist around the axis of the lightning rod. The meshing transmission between the gear 5 and the rack 4 eliminates the elastic deformation error of traditional belt or chain drives. At the same time, the circumferential arrangement of the rack 4 allows the robot to adapt to changes in the diameter of the lightning rod without affecting the transmission accuracy.

[0059] Compared to existing technologies, traditional climbing robots use friction wheels or belt drives to achieve circumferential movement, which are prone to slippage or transmission failure when there is oil on the surface of the lightning rod or when the diameter changes. The gear-5 and rack-4 meshing structure ensures reliable power transmission through rigid contact, and the continuous circumferential arrangement of the rack 4 allows the robot to maintain a constant transmission ratio on lightning rods of any diameter, solving the problem of motion instability caused by contact pressure fluctuations.

[0060] Through the above technical solution, this application achieves precise control of the circumferential torsional motion of the climbing robot, ensuring that it can avoid obstacles by performing segmented torsional movements when there are obstacles on the surface of the lightning rod. The gear 5 and rack 4 meshing structure can maintain stable transmission performance under harsh working conditions such as moisture and oil, avoiding slippage caused by insufficient friction in traditional transmission methods. At the same time, the continuous circumferential rack 4 layout allows the robot to adapt to the climbing needs of lightning rods of different diameters without adjustment.

[0061] Reference Figure 2 , Figure 4 , Figure 5 This application further proposes three clamping mechanisms: an upper clamping member 13, a middle clamping member 14, and a lower clamping member 15. A track is disposed in the middle clamping member 14. The connecting arm includes an upper connecting arm 12 and a lower connecting arm 3. The upper connecting arm 12 is disposed between the upper clamping member 13 and the middle clamping member 14, and the lower connecting arm 3 is disposed between the middle clamping member 14 and the lower clamping member 15. The moving block 6 slides to drive the upper connecting arm 12 and the lower connecting arm 3 to twist.

[0062] The clamping mechanism is divided into three independent components, which decompose the clamping function into three independently controlled modules: upper, middle and lower. The segmented climbing is achieved by independently controlling the clamping and releasing actions of each clamping component. The middle clamping component 14 is equipped with a support plate 8, which is used to support the equipment. The equipment can be...

[0063] To further improve the clamping capacity of the clamping mechanism, hooks 10 are provided on the upper clamping member 13, the middle clamping member 14 and the lower clamping member 15. When the hook 10 has two clamping ends spaced apart along the first direction, when the corresponding clamping mechanism clamps the lightning rod, the two clamping ends also clamp the lightning rod, thus improving the clamping effect.

[0064] Specifically, when an obstacle is detected on the surface of the lightning rod, the middle clamping member 14 drives the upper connecting arm 12 and the lower connecting arm 3 to rotate synchronously via the moving block 6 within the track. While the upper clamping member 13 and the lower clamping member 15 remain clamped, the middle clamping member 14 moves circumferentially via gear 5 and rack 4, causing the double connecting arms to deflect at an angle, thus rotating the robot as a whole around the lightning rod's axis. During this process, the upper clamping member 13 and the lower clamping member 15 act as fixed fulcrums, while the middle clamping member 14 acts as the active motion unit, achieving a spiral upward motion through the alternating clamping and releasing of the three-segment clamping mechanism. When it is necessary to cross an obstacle, the upper clamping member 13 and the lower clamping member 15 alternately release and move along the twisting direction of the connecting arms, forming a continuous spatial obstacle avoidance path.

[0065] Compared to existing technologies, traditional climbing robots use a single gripping module with a linear motion mechanism, which cannot adjust their posture when encountering circumferential obstacles. This solution achieves decoupled control of the gripping unit in both axial climbing and circumferential torsion degrees of freedom through a split gripping mechanism and dual connecting arms. The design of the central gripping component 14 as the power hub effectively reduces the control complexity during multi-axis linkage, while the three-segment gripping layout ensures that the robot maintains stable contact at at least two gripping points at all times.

[0066] Through the above technical solution, this application enables the robot to actively avoid circumferential obstacles during climbing. The alternating movements of the three-segment gripping mechanism form a stable support structure, ensuring climbing continuity while avoiding the risk of falls due to single-point failure. The symmetrical torsional design of the dual connecting arms allows the robot to rotate around the lightning rod axis, adapting to irregular protrusions on the surface of lightning rods of different diameters, thus solving the problem of unstable contact pressure in traditional wheeled climbing mechanisms.

[0067] This application further proposes that a rotating wheel 7 is slidably connected to the rack 4, and the outer circle of the rotating wheel 7 is rotatably connected to the upper connecting arm 12 and the lower connecting arm 3 respectively. The gear 5 drives the rotating wheel 7 to slide along the circumference of the rack 4.

[0068] Among them, the rotating wheel 7 is a transmission component that slides circumferentially along the rack 4. Specifically, it can be implemented by using an annular wheel body with bearings, and its outer circle forms a rotational fit with the connecting arm through a hinge structure.

[0069] In this process, the gear 5 drives the rotating wheel 7 to slide through the moving block 6. This is achieved by converting the rotational motion into the circumferential displacement of the rotating wheel 7 through the meshing transmission between the gear 5 and the rack 4. Specifically, a servo motor can be used to drive the gear 5 to rotate, causing the rotating wheel 7 to move along the trajectory of the rack 4.

[0070] Specifically, the rotating wheel 7 is mounted on the rack 4 track and maintains sliding freedom. After the gear 5 meshes with the rack 4, when the gear 5 is driven to rotate, it causes the rotating wheel 7 to move circumferentially along the rack 4 via the moving block 6. The ends of the upper connecting arm 12 and the lower connecting arm 3 are connected to the outer circle of the rotating wheel 7 via a rotating shaft. When the rotating wheel 7 slides, it causes the upper connecting arm 12 and the lower connecting arm 3 to rotate synchronously. The circumferential deflection angle of the connecting arm can be precisely adjusted by controlling the rotation speed of the gear 5.

[0071] Compared to existing technologies, traditional climbing robots employ a structure where each connecting arm is driven independently, requiring multiple power sources and struggling to ensure synchronization. This solution uses a single gear 5 to drive a rotating wheel 7, enabling the upper connecting arm 12 and the lower connecting arm 3 to rotate in a linked manner. This simplifies the transmission structure and ensures consistent movement. The problem of clamping force fluctuations during connecting arm rotation, common in existing technologies, is eliminated in this solution through the rigid meshing of the rotating wheel 7 and the rack 4, ensuring stable contact of the clamping mechanism throughout the climbing process.

[0072] Through the above technical solution, this application achieves controllability and synchronization of the connecting arm's twisting process, ensuring that the clamping mechanism can twist in coordination without causing clamping force imbalance when the lightning rod diameter changes or obstacles are present. The meshing transmission structure of the rotating wheel 7 and the rack 4 effectively reduces frictional loss between moving parts, enabling the robot to maintain a stable climbing posture and obstacle-crossing ability under complex working conditions.

[0073] This application further proposes that the climbing assembly includes a lead screw 16, a connecting seat 17, and a second driving member. The connecting seat 17 is rotatably mounted on the rotating wheel 7, and the connecting arm is rotatably mounted with a connecting block. One end of the lead screw 16 is rotatably connected to the connecting seat 17, and the other end is threadedly connected to the connecting block. The second driving member is used to drive the lead screw 16 to rotate.

[0074] The lead screw 16 converts rotational motion into linear displacement. The connecting seat 17 is a support structure that supports the rotation of the end of the lead screw 16. Specifically, it can be implemented using a ring-shaped seat with ball bearings to ensure stable rotation of the lead screw 16 on the rotating wheel 7. The connecting block is a moving part that is threaded to the lead screw 16. Specifically, it can be implemented using a metal slider with internal threads, and axial displacement is generated by the rotation of the lead screw 16. The second driving component is a power output device, which can be implemented using a servo motor or a stepper motor, and is connected to the end of the lead screw 16 through a coupling.

[0075] Specifically, when the second driving component is activated, it drives the lead screw 16 to rotate around its own axis. The connecting block, due to the side effects of the thread, moves axially along the lead screw 16. Since the connecting block is hinged to the connecting arm, its displacement is converted into the swing angle of the connecting arm around the center of the rotating wheel 7. The rotational freedom of the connecting seat 17 on the rotating wheel 7 allows the lead screw 16 to change angle with the twisting of the connecting arm, avoiding motion interference. This structure controls the swing amplitude of the connecting arm through the precise rotation of the lead screw 16, achieving a step-by-step displacement of the clamping mechanism along the lightning rod axis.

[0076] In other embodiments, the climbing component can also be implemented using a split mechanical frame in conjunction with hydraulic grippers.

[0077] Compared to existing technologies, traditional climbing mechanisms often employ gear 5 and rack 4 or hydraulic cylinder drives, which suffer from large transmission backlash and low positioning accuracy. This solution uses a lead screw 16 transmission structure; the self-locking characteristic of the threaded pair effectively eliminates backlash, ensuring precise control of displacement during climbing. The rotational fit design between the lead screw 16 and the connecting seat 17 allows the drive mechanism to adapt to the circumferential torsional deformation of the connecting arm, preventing movement jamming. Compared to hydraulic drive systems, this mechanical transmission structure simplifies piping layout and reduces maintenance costs.

[0078] Through the above technical solution, this application achieves high-precision displacement control of the climbing mechanism along the lightning rod axis, effectively solving the problem of clamping force fluctuation caused by changes in the lightning rod diameter. The rigidity of the lead screw 16 transmission can withstand large axial loads, ensuring the positional stability of the clamping mechanism during climbing. This structure also provides controllable step displacement for obstacle-crossing actions, enabling the robot to cross obstacles on the lightning rod surface by precisely adjusting the clamping distance.

[0079] Reference Figure 1 , Figure 3 This application further proposes that the clamping part includes a bidirectional screw 11, a first clamping block 2, a second clamping block 9 and a third driving member. The clamping mechanism has a slide rail along a first direction. The bidirectional screw 11 is rotatably disposed in the slide rail. The first clamping block 2 and the second clamping block 9 are respectively threaded to the two ends of the bidirectional screw 11 and slidably connected in the slide rail. The third driving member is used to drive the bidirectional screw 11 to rotate.

[0080] The first direction is the length direction of the clamping block.

[0081] Among them, the bidirectional screw 11 is a transmission component with two reverse threads, which can be implemented by a trapezoidal screw with positive and negative threads, and drives the clamping blocks at both ends to produce symmetrical displacement through rotational motion.

[0082] Among them, the first clamping block 2 and the second clamping block 9 are actuators that are threadedly engaged with the bidirectional screw 11. Specifically, they can be implemented using a slider structure with internal threads, and linear motion is achieved through slide rail constraints.

[0083] The third driving component is a power output device, which can be implemented by a stepper motor or a servo motor, and is connected to the bidirectional screw 11 through a coupling.

[0084] The slide rail is a guide structure that constrains the movement direction of the clamping block. Specifically, it can be implemented using a dovetail groove or a linear guide rail to ensure that the clamping block moves along a predetermined trajectory.

[0085] Specifically, when the third driving member drives the bidirectional screw 11 to rotate, the first clamping block 2 and the second clamping block 9 move towards or away from each other along the slide rail under the action of the reverse thread. For example, when clamping a lightning rod, the third driving member rotates forward to bring the two clamping blocks closer together until they contact the surface of the lightning rod and apply clamping force; when releasing the lightning rod, the third driving member rotates in the reverse direction to move the two clamping blocks away together. The linear guiding function of the slide rail can eliminate the offset of the clamping blocks during the movement, ensuring that the direction of the clamping force is always perpendicular to the axis of the lightning rod.

[0086] Compared with existing technologies, traditional clamping mechanisms use a single-sided driven or independently adjustable gripper structure. When the diameter of the lightning rod changes, the clamping blocks on both sides need to be adjusted separately, which can easily lead to uneven distribution of clamping force. In contrast, this solution achieves synchronous and symmetrical movement of the clamping blocks on both sides through the cooperation of the bidirectional screw 11 and the symmetrical thread. This simplifies the drive structure and ensures uniform contact between the clamping surface and the lightning rod.

[0087] Through the above technical solution, this application solves the problem of unstable contact pressure of the clamping mechanism when the diameter of the lightning rod changes. The symmetrical clamping action driven by the bidirectional screw 11 ensures that the clamping block always clamps the surface of the lightning rod at the same speed and pressure, avoiding robot tilting or slipping caused by unilateral pressure, and significantly improving the operation safety of the climbing robot on lightning rods of different diameters.

[0088] Reference Figure 2 , Figure 5 This application also provides a climbing method for an obstacle avoidance climbing robot, including the following steps:

[0089] The gripping part of the climbing robot's gripping mechanism is clamped onto the lightning rod;

[0090] The climbing components of the climbing robot drive the climbing robot to climb along the length of the lightning rod;

[0091] The torsion component 1 of the climbing robot drives the obstacle-avoiding climbing robot to twist or rotate along the circumferential direction of the lightning rod.

[0092] The clamping part is held in place by the lightning rod to provide stable support for the climbing robot. The climbing component drives the climbing robot to climb along its length, generating displacement along the height of the lightning rod. The torsion component 1 causes the connecting arm to torsion in the circumferential direction by twisting or rotating to bypass obstacles.

[0093] Compared with existing technologies, traditional climbing robots rely solely on wheel friction for axial movement and cannot cope with sudden changes in lightning rod diameter or surface obstacles. However, this method, through the coordinated control of the clamping mechanism and the torsion component 1, enables the robot to achieve both axial climbing and circumferential obstacle avoidance, thus solving the problem of unstable contact pressure in wheeled mechanisms.

[0094] Through the above technical solution, this application can adjust the clamping force in real time during the climbing process to adapt to the change in the diameter of the lightning rod. By combining segmented clamping and twisting motion, it can effectively cross surface protrusion obstacles, avoiding the slippage or jamming problem of the wheel mechanism. The ability to climb in the height direction and avoid obstacles in the circumferential direction of the lightning rod is significantly improved, which enhances the robot's ability to pass through complex lightning rod structures. At the same time, it reduces the number of drive units and reduces the complexity of the control system.

[0095] Reference Figure 2 , Figure 5 This application further proposes a climbing method for an obstacle-avoiding climbing robot, comprising the following steps:

[0096] The gripper of the climbing robot firmly holds the lightning rod, the gear 5 rotates, the rotating wheel 7 is fixed, and the upper gripper 13 and the lower gripper 15 are rotated to the predetermined position along the circumference of the lightning rod.

[0097] The upper clamping member 13 and the lower clamping member 15 clamp the lightning rod, while the middle clamping member 14 is released;

[0098] Gear 5 reverses, rotating wheel 7 is fixed, and middle clamping member 14 is twisted to the corresponding positions of upper clamping member 13 and lower clamping member 15;

[0099] Repeat the above steps to complete the climbing robot's twist.

[0100] The rotation of gear 5 is achieved by meshing gear 5 with rack 4 to generate rotational motion, and the release of clamping member 14 is to release the clamping mechanism from the constraint force on the lightning rod, providing displacement space for subsequent torsional actions.

[0101] Specifically, when encountering obstacles on the surface of the lightning rod, a stable support point is first formed by the coordinated clamping of the upper clamping member 13 and the lower clamping member 15. At this time, the middle clamping member 14 is released from the clamping state. The gear 5 rotates along the rack 4 under the action of the drive device. Since the rotating wheel 7 is in a fixed state, the rotational motion of the gear 5 is converted into the circumferential torsion of the upper connecting arm 12 and the lower connecting arm 3, which drives the upper clamping member 13 and the lower clamping member 15 to rotate synchronously around the lightning rod axis by a predetermined angle. After the obstacle avoidance position adjustment is completed, the upper and lower clamping members 15 re-clamp the lightning rod, the middle clamping member 14 is released from the clamping state and rotates back to its original position with the gear 5 in the opposite direction, finally forming a new three-point clamping layout. By alternating the position distribution of the clamping points, the robot's overall progressive circumferential displacement is achieved.

[0102] Compared with existing technologies, traditional climbing robots usually need to rotate as a whole when encountering circumferential obstacles, which can easily lead to a shift in the center of gravity and slippage. This method uses the alternating action of three gripping mechanisms to complete local torsion while keeping at least two gripping points in contact with the lightning rod. This ensures climbing stability and achieves precise obstacle avoidance displacement. Compared with steering methods that rely on wheel friction, the use of a 5-gear and 4-rack transmission can avoid slippage caused by changes in the diameter of the lightning rod.

[0103] Through the above technical solution, this application effectively solves the stability problem of climbing robots when avoiding obstacles in the circumferential direction. By using a step-by-step alternating torsion mechanism, it ensures that at least two gripping points always provide reliable support, avoiding the risk of overturning that may be caused by traditional overall rotation. The control method of using a gear 5 and rack 4 transmission linked with the gripping mechanism can accurately control the torsion angle and displacement, adapting to the obstacle avoidance needs of obstacles of different sizes. The coordinated action of the three gripping mechanisms maintains the continuity of climbing and achieves dynamic balance during obstacle avoidance.

[0104] Reference Figure 2 , Figure 5 This application also provides a climbing method for an obstacle avoidance climbing robot, including the following steps:

[0105] Combine the upper clamping member 13, the middle clamping member 14, and the lower clamping member 15 to the minimum distance;

[0106] The lower clamping member 15 firmly clamps the lightning rod, the gear 5 remains stationary, the rotating wheel 7 rotates, driving the middle clamping member 14 and the lower clamping member 15 to rotate to a predetermined angle; the middle clamping member 14 tightens, and the lower clamping member 15 loosens and moves upward to merge to the minimum distance;

[0107] Next, the lower clamping member 15 tightens, and the upper clamping member 13 and the middle clamping member 14 loosen and move upward to the maximum distance; then, the middle clamping member 14 tightens, the gear 5 remains stationary, the rotating wheel 7 reverses, and the upper clamping member 13 and the lower clamping member 15 reverse to the maximum angle.

[0108] The upper clamping member 13 is tightened, while the middle clamping member 14 and the lower clamping member 15 are loosened, moved upwards, and merged to the minimum distance; the middle clamping member 14 is tightened, while the upper clamping member 13 is loosened and moved upwards to the maximum distance;

[0109] The upper clamping member 13 is tightened, while the middle clamping member 14 and the lower clamping member 15 are released and returned to an appropriate distance before being tightened again; the above steps are repeated to complete the rotation of the climbing robot.

[0110] Among them, merging to the minimum distance means adjusting the axial spacing between the three gripping mechanisms to the minimum state. Specifically, this can be achieved by using a lead screw 16 transmission mechanism or a hydraulic retraction device. This operation can reduce the overall size of the robot to avoid obstacles.

[0111] Gear 5 remains stationary to keep the motor driving gear 5 locked, which ensures a stable meshing relationship between the rotating wheel 7 and the rack 4.

[0112] The rotation of the rotating wheel 7 generates circumferential displacement for the rotating component mounted on the rack 4, which in turn drives the clamping mechanism to rotate around the lightning rod axis.

[0113] Specifically, when an obstacle is detected on the surface of the lightning rod, the clamping mechanism first forms a compact structure by reducing the spacing of the clamping mechanism. After being fixed and supported by the lower clamping member 15, the middle and lower structures are rotated synchronously by the rotating wheel 7. After the local angle adjustment is completed, the clamping and releasing states of the clamping member are alternately switched, and the segmented rotation is achieved in conjunction with the axial movement.

[0114] For example, when the middle clamping member 14 is fixed, the lower clamping member 15 is released to reset the position. Then, the rotation angle is accumulated step by step by switching the clamping state of the upper clamping member 13. During this process, the forward and reverse rotation of the rotating wheel 7 and the clamping state switching form a linkage control, and finally the robot can rotate around the lightning rod axis at a large angle to avoid obstacles.

[0115] Compared with existing technologies, traditional climbing robots can only move axially and cannot rotate circumferentially. When they encounter circular obstacles, they cannot continue climbing. However, this method, through dynamic adjustment of the clamping state and coordinated control of the rotation mechanism, can complete local rotation while keeping at least two clamping points fixed. This ensures operational safety and enables effective crossing of circular obstacles.

[0116] Through the above technical solution, this application solves the technical problem that traditional climbing robots cannot effectively avoid obstacles when encountering annular protrusions. It achieves three-dimensional crossing of obstacles on the surface of lightning rods through a segmented rotation mechanism, while maintaining posture stability during the climbing process. This method enables the robot to adapt to the complex working conditions of lightning rod surfaces of different diameters, significantly improving the safety and reliability of high-altitude operations.

[0117] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A climbing robot, characterized in that: include: At least three clamping mechanisms, each of which is provided with a clamping part for clamping the lightning rod; A connecting arm, which is rotatably mounted on the clamping mechanism along the length of the lightning rod and connected to the adjacent clamping mechanism; At least one driving mechanism, the driving mechanism including a torsion component and a climbing component, the torsion component being disposed on the clamping mechanism, the torsion component being used to drive the connecting arm to twist circumferentially along the lightning rod, and the climbing component being used to drive the connecting arm to rotate along the length direction of the lightning rod.

2. A climbing robot according to claim 1, characterized in that: The torsion assembly includes a track, a moving block, and a first driving member. The track is arranged circumferentially on the clamping mechanism along the lightning rod. The moving block is connected to the connecting arm. The moving block is slidably connected within the track to drive the connecting arm to twist. The first driving member is used to drive the moving block to slide.

3. A climbing robot according to claim 2, characterized in that: The track is a rack arranged circumferentially along the lightning rod, and the inner ring of the moving block is rotatably fitted with a gear that meshes with the rack. The first driving member is used to drive the gear to rotate.

4. A climbing robot according to any one of claims 3, characterized in that: The clamping mechanism comprises three parts: an upper clamping member, a middle clamping member, and a lower clamping member. The track is disposed on the middle clamping member. The connecting arm includes an upper connecting arm and a lower connecting arm. The upper connecting arm is disposed between the upper clamping member and the middle clamping member, and the lower connecting arm is disposed between the middle clamping member and the lower clamping member. The sliding block drives the upper connecting arm and the lower connecting arm to twist.

5. A climbing robot according to claim 4, characterized in that: A rotating wheel is slidably connected to the rack, and the outer circle of the rotating wheel is rotatably connected to the upper connecting arm and the lower connecting arm respectively. The gear drives the rotating wheel to slide along the circumference of the rack.

6. A climbing robot according to claim 4 or 5, characterized in that: The climbing assembly includes a lead screw, a connecting seat, and a second driving member. The connecting seat is rotatably mounted on a rotating wheel, and the connecting arm is rotatably mounted with a connecting block. One end of the lead screw is rotatably connected to the connecting seat, and the other end is threadedly connected to the connecting block. The second driving member is used to drive the lead screw to rotate.

7. A climbing robot according to claim 4, characterized in that: The clamping part includes a bidirectional screw, a first clamping block, a second clamping block, and a third driving member. The clamping mechanism has a slide rail along a first direction. The bidirectional screw is rotatably disposed in the slide rail. The first clamping block and the second clamping block are respectively threaded to both ends of the bidirectional screw and slidably connected in the slide rail. The third driving member is used to drive the bidirectional screw to rotate.

8. A climbing method for an obstacle-avoiding climbing robot, employing the climbing robot as described in any one of claims 1-7, characterized in that: The method includes: The gripping part of the climbing robot's gripping mechanism is clamped onto the lightning rod; The climbing components of the climbing robot drive the climbing robot to climb along the length of the lightning rod; The torsion assembly of the climbing robot drives the obstacle-avoiding climbing robot to twist or rotate along the circumferential direction of the lightning rod.

9. The climbing method of an obstacle avoidance climbing robot according to claim 8, characterized in that: The torsion assembly of the climbing robot drives the climbing robot to twist along the circumferential direction of the lightning rod, including: The climbing robot's gripper firmly holds the lightning rod. The gears rotate, the rotating wheel is fixed, and the upper and lower grippers are rotated around the lightning rod to the predetermined position. The upper and lower clamping parts clamp the lightning rod, while the middle clamping part is released; The gear reverses direction, the rotating wheel is fixed, and the middle clamping component is twisted to the corresponding positions of the upper and lower clamping components; Repeat the above steps to complete the climbing robot's twist.

10. The climbing method of an obstacle avoidance climbing robot according to claim 8, characterized in that: The torsion assembly of the climbing robot drives the climbing robot to rotate circumferentially along the lightning rod, including: Combine the upper clamping component, middle clamping component, and lower clamping component to the minimum distance; The lower clamping component firmly clamps the lightning rod, the gear remains stationary, and the rotating wheel rotates, causing the middle clamping component and the lower clamping component to rotate to a predetermined angle; The middle clamping part tightens, and the lower clamping part loosens, moves upward, and merges to the minimum distance; then, the lower clamping part tightens, and the upper and middle clamping parts loosen and move upward to the maximum distance; then, the middle clamping part tightens, the gear remains stationary, the rotating wheel reverses, and the upper and lower clamping parts reverse to the maximum angle. The upper clamping component tightens, while the middle and lower clamping components loosen, move upwards, and merge to the minimum distance. The middle clamping component tightens, while the upper clamping component loosens and moves upward to its maximum distance. The upper clamping component is tightened, while the middle and lower clamping components are loosened and returned to an appropriate distance before being tightened again. Repeat the above steps to complete the rotation of the climbing robot.

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