Pole climbing robot

Abstract

The present invention discloses a pole climbing robot, and relates to the field of robot technology. The pole climbing robot includes a first clamping device, a second clamping device, and a third clamping device, all of which include a support frame, on which two first clamping arms are rotatably connected, the first clamping arm is rotatably connected with a clamping claw, and the first motor is connected to the first clamping arm through a transmission mechanism; it also includes a climbing device that fixes one end of the first clamping device, the second clamping device, and the third clamping device together, and the climbing device includes a guide rod and a lead screw, the two ends of the guide rod are respectively fixedly connected to the first connecting block and the second connecting block, the third connecting block is sleeved on the guide rod and the lead screw, and is connected to the lead screw through a thread, one end of the lead screw is fixedly connected to the output shaft of the second motor on the first connecting block, and the other end of the lead screw is rotatably mounted on the second connecting block. Such a setting solves the problem of poor obstacle crossing function of the pole climbing robot in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a pole climbing robot. Background Art

[0002] At present, most workers still wear professional pole climbing foot buckles to perform aerial work. However, in some cases where it is difficult for aerial workers to operate or their personal safety is greatly threatened, a pole climbing robot is needed to replace manual work. However, most of the poles on site have protruding obstacles such as diagonal braces in the middle, which prevent the pole climbing robot from climbing. Therefore, it is becoming increasingly important to develop a pole climbing robot with excellent obstacle-crossing function.

[0003] At present, most types of pole climbing robots are wheeled or tracked. Among them, the pole climbing robots with wheeled structure have a simple structure, fast and stable operation, but are not suitable for pole climbing conditions that require overcoming obstacles; the pole climbing robots with tracked structure run more smoothly, but their own structural characteristics make them larger in size, easily limited by the size of the target pole, and their obstacle overcoming function is not ideal.

[0004] Therefore, how to solve the problem of poor obstacle surmounting function of pole climbing robots in the prior art has become an important technical problem to be solved by those skilled in the art. Summary of the invention

[0005] The purpose of the present invention is to provide a pole climbing robot to solve the problem of poor obstacle climbing function of the pole climbing robot in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The present invention provides a pole climbing robot, comprising a first clamping device, a second clamping device and a third clamping device arranged between the first clamping device and the second clamping device, all of which comprise a support frame, two first clamping arms whose first ends are rotatably arranged on the support frame, a clamping claw rotatably connected to the second ends of the first clamping arms, and a first motor connected to the first clamping arms through a transmission mechanism, wherein the first motor can drive the two first clamping arms to rotate so that the second ends of the first clamping arms are moved closer to or farther from each other;

[0008] The climbing device comprises a guide rod and a lead screw which are arranged side by side and parallel to each other, a first connecting block fixedly connected to the head end of the guide rod, a second connecting block fixedly connected to the tail end of the guide rod, a third connecting block sleeved on the guide rod and the lead screw, and a second motor arranged on the first connecting block, the lead screw and the third connecting block are connected by threads and can slide relatively along the guide rod, the two ends of the lead screw are rotatably mounted on the first connecting block and the second connecting block respectively, and one end of the lead screw is drivingly connected to the second motor, the first connecting block is fixedly connected to the support frame on the first clamping device, the second connecting block is fixedly connected to the support frame on the second clamping device, and the third connecting block is fixedly connected to the support frame on the third clamping device.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, the transmission mechanism includes a reducer connected to the first motor and having output shafts on both sides, a rotating wheel arranged on the output shaft, a connecting rod whose first end is rotatably arranged at an eccentric position of the rotating wheel, a guide block arranged on the supporting frame through a slide rail, and a rocker whose first end is rotatably arranged on the guide block, the second end of the connecting rod is rotatably connected to the guide block, and the second end of the rocker is rotatably connected to the first clamping arm.

[0011] Furthermore, the third clamping device also includes two second clamping arms, one end of the second clamping arm is rotatably connected to the clamping claw, and the other end of the second clamping arm is fixedly connected to the first clamping arm.

[0012] Furthermore, there are two guide rods, the lead screw is arranged between the two guide rods, and the first connecting block, the second connecting block and the third connecting block are all provided with round holes for the two guide rods to pass through; wherein, the first connecting block is also provided with a through hole for the output shaft of the second motor to pass through, and the third connecting block is also provided with an internal threaded hole matching the lead screw.

[0013] Furthermore, the clamping claw includes a claw rotatably connected to the clamping arm, a rubber pad fixedly connected to the claw, and a sensor arranged between the claw and the rubber pad, and the sensor is used to communicate with an external device.

[0014] Furthermore, the rubber pad is provided with a circular groove for installing the sensor and a long groove for placing the sensor circuit on a surface close to the gripper.

[0015] Furthermore, the clamping claw is in a curved shape, and a protruding portion of the clamping claw is rotatably connected to the first clamping arm and the second clamping arm.

[0016] Furthermore, a first limit block and a second limit block are provided on both sides of the rotational connection between the first clamping arm, the second clamping arm and the claw. When the claw is rotated to the first position, the first limit block abuts against the clamping arm; when the claw is rotated to the second position, the second limit block abuts against the clamping arm.

[0017] Furthermore, the reducer is a worm gear reducer.

[0018] Furthermore, the guide rod and the lead screw are both made of bearing steel.

[0019] The technical solution provided by this application includes the following beneficial effects:

[0020] In the technical solution provided by the present invention, the pole climbing robot includes a first clamping device, a second clamping device and a third clamping device arranged between the first clamping device and the second clamping device, all of which include a supporting frame, on which two first clamping arms are rotatably connected, the first clamping arms are rotatably connected with clamping claws, and the first motor is transmission-connected to the first clamping arms through a transmission mechanism; it also includes a climbing device that fixes the first clamping device, the second clamping device and one end of the third clamping device together, the climbing device includes a guide rod and a lead screw, the two ends of the guide rod are fixedly connected to the first connecting block and the second connecting block respectively, the third connecting block is sleeved on the guide rod and the lead screw, and is connected to the lead screw through a thread, one end of the lead screw is fixedly connected to the output shaft of the second motor on the first connecting block, and the other end of the lead screw is rotatably mounted on the second connecting block. With such an arrangement, the rotation of the first motor drives the transmission mechanism to move, and the movement of the transmission mechanism drives the clamping claws on the two first clamping arms to move closer to or farther away from each other, thereby realizing the clamping and releasing function of the pole climbing robot; the rotation of the second motor drives the lead screw to move, and the movement of the lead screw drives the third connecting block to slide relative to the guide rod, thereby realizing the climbing function of the pole climbing robot; therefore, the pole climbing robot has both the function of moving up and down and the function of clamping and releasing the pole body, which solves the problem of poor obstacle crossing function of the pole climbing robot in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a first clamping device in an embodiment of the present invention;

[0024] Figure 3 is a partial enlarged structural schematic diagram of the first clamping device in an embodiment of the present invention;

[0025] Figure 4 is a schematic structural diagram of a third clamping device in an embodiment of the present invention;

[0026] Figure 5 is a schematic structural diagram of a climbing device in an embodiment of the present invention;

[0027] Figure 6 is a schematic diagram of the structure of a clamping claw in an embodiment of the present invention;

[0028] Figure 7 is a schematic diagram of the structure of a rubber pad in an embodiment of the present invention;

[0029] Figure 8 is a schematic diagram of a clamping state in an embodiment of the present invention;

[0030] Fig. 9 is a schematic diagram of an open state in an embodiment of the present invention;

[0031] Fig.10 Schematic diagram of the first stage obstacle crossing gait of the pole climbing robot in an embodiment of the present invention;

[0032] Fig.11 1 is a schematic diagram of the obstacle-crossing gait of the pole-climbing robot in the second stage according to an embodiment of the present invention;

[0033] Fig.12 1 is a schematic diagram of the obstacle-crossing gait of the pole-climbing robot in the third stage according to an embodiment of the present invention;

[0034] Fig.13 Schematic diagram of the fourth stage obstacle crossing gait of the pole climbing robot in an embodiment of the present invention.

[0035] Reference numerals:

[0036] 1-first clamping device, 2-second clamping device, 3-third clamping device, 4-support frame, 5-first clamping arm, 6-clamping claw, 7-first motor, 8-climbing device, 9-guide rod, 10-screw, 11-first connecting block, 12-second connecting block, 13-third connecting block, 14-second motor, 15-reducer, 16-wheel, 17-connecting rod, 18-slide rail, 19-guide block, 20-rocker, 21-second clamping arm, 22-claw, 23-rubber pad, 24-sensor, 25-circular groove, 26-long groove, 27-first limit block, 28-second limit block. DETAILED DESCRIPTION

[0037] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0038] The purpose of this specific embodiment is to provide a pole-climbing robot, in which the rotation of the first motor of the pole-climbing robot drives the movement of the transmission mechanism, and the movement of the transmission mechanism drives the clamping claws on the two first clamping arms to move closer to or away from each other, thereby realizing the clamping and releasing function of the pole-climbing robot; the rotation of the second motor of the pole-climbing robot drives the movement of the lead screw, and the movement of the lead screw drives the third connecting block to slide relatively along the guide rod, thereby realizing the climbing function of the pole-climbing robot; thereby solving the problem of poor obstacle crossing function of the pole-climbing robot in the prior art.

[0039] The following is an explanation of the embodiments with reference to the accompanying drawings. In addition, the embodiments shown below do not limit the invention described in the claims. In addition, the entire contents of the configurations shown in the following embodiments are not limited to the solutions required as the invention described in the claims.

[0040] See also Figure 1-Figure 9The present embodiment provides a pole climbing robot, comprising a first clamping device 1, a second clamping device 2 and a third clamping device 3 arranged between the first clamping device 1 and the second clamping device 2, all of which include a supporting frame 4 in the shape of a rectangular parallelepiped, on which two arc-shaped first clamping arms 5 are hinged, and the protruding sides of the two first clamping arms 5 are away from each other, and one end of the first clamping arm 5 away from the supporting frame 4 is rotatably connected to a clamping claw 6 by a pin connection, and a first motor 7 is transmission-connected to the first clamping arm 5 through a transmission mechanism, and in order to ensure that the first clamping arm 5 can generate a sufficiently large clamping force on the rod body, the first motor 7 is preferably a high-torque motor; it also includes a climbing device 8, and the climbing device 8 includes a guide rod 9 and a lead screw 10 arranged side by side and parallel to each other, one end of the guide rod 9 is fixedly connected to the first connecting block 11 by welding, and the other end of the guide rod 9 is fixedly connected to the first connecting block 11 by welding. One end is also fixedly connected to the second connecting block 12 by welding, and the second motor 14 is fixed to the first connecting block 11 by a motor fixing seat. The second motor 14 can be set according to the specific usage. For example, the second motor 14 and the first motor 7 can be motors of the same type or motors of different types. One end of the lead screw 10 is fixedly connected to the output shaft of the second motor 14 through a coupling, and the other end of the lead screw 10 is rotatably mounted on the second connecting block 12. The third connecting block 13 is threadedly connected to the lead screw 10 and can slide relative to each other along the guide rod 9. One side of the first connecting block 11 is fixed to the support frame 4 on the first clamping device 1 by welding, one side of the second connecting block 12 is fixed to the support frame 4 on the second clamping device 2 by welding, and one side of the third connecting block 13 is fixed to the support frame 4 on the third clamping device 3 by welding.

[0041] With such arrangement, the rotation of the first motor 7 drives the transmission mechanism to move, and the movement of the transmission mechanism drives the clamping claws 6 on the two first clamping arms 5 to move closer to or away from each other, thereby realizing the clamping and loosening function of the pole body by the pole climbing robot. The positive or reverse rotation of the output shaft of the second motor 14 drives the lead screw 10 to move, and the movement of the lead screw 10 drives the third connecting block 13 to slide relatively along the guide rod 9. The movement of the third connecting block 13 drives the third clamping device 3 to move, thereby realizing the climbing function of the pole climbing robot. The guide rod 9 in the climbing device 8 not only guides the third connecting block 13, but also fixes the third connecting block 13, thereby ensuring that when the second motor 14 drives the lead screw 10 to rotate, the third connecting block 13 will not rotate with the rotation of the lead screw 10. First, the first clamping device 1 and the second clamping device 1 of the pole climbing robot 2. The third clamping device 3 clamps the rod body. When the pole climbing robot climbs up on the rod body, the actions of the first clamping device 1 and the second clamping device 2 are always consistent. When the pole climbing robot encounters an obstacle while climbing up, the third clamping device 3 remains clamped, and the first clamping arms 5 on the first clamping device 1 and the second clamping device 2 open to avoid the obstruction of the obstacle. At this time, the second motor 14 rotates, and the output shaft of the second motor 14 drives the screw rod 10 to rotate. The screw rod 10 cooperates with the internal threaded hole on the third connecting block 13 to make the first clamping device 1 and the second clamping device 2 climb upward relative to the rod body, thereby achieving the goal of crossing the obstacle. When the first clamping device 1 and the second clamping device 2 move to the limit position, the second motor 14 stops rotating. At this time, the first motor 7 uses the transmission mechanism to make the first clamping arms 5 on the first clamping device 1 and the second clamping device 2 clamp the rod body. Therefore, the pole climbing robot combines the upward climbing function with the function of clamping and relaxing the rod body, solving the problem of poor obstacle crossing function of the pole climbing robot in the prior art.

[0042] As an optional embodiment, the transmission mechanism includes a reducer 15 connected to the output shaft of the first motor 7 through a coupling. The reducer 15 is preferably a worm gear reducer, because the worm gear reducer not only has the advantages of a large transmission speed ratio, a large torque, and a high overload bearing capacity, but also the most important feature of the worm gear is that it has a reverse self-locking function, that is, the worm can drive the worm wheel to move, but the worm wheel cannot drive the worm to move. The use of a worm gear reducer can effectively avoid the phenomenon that the clamping arm becomes loose or cannot be clamped tightly when the clamping rod body is clamped; a slide rail 18 is provided on the support frame 4, and output shafts are provided on both sides of the reducer 15, and a rotating wheel 16 is provided on the output shaft. One end of the connecting rod 17 is rotatably arranged at an eccentric position of the rotating wheel 16, and the other end of the connecting rod 17 is rotatably connected to a guide block 19 arranged on the slide rail 18 through a pin shaft, and two rocking arms 20 are hinged on the guide block 19, and the two rocking arms 20 are respectively rotatably connected to the two first clamping arms 5 through pin shafts. With such arrangement, the first motor 7 rotates to drive the wheels 16 on the output shafts on both sides of the reducer 15 to rotate, and then drives the connecting rod 17 on the wheel 16 to make a rotational motion, and the connecting rod 17 drives the guide block 19 to make a reciprocating motion on the slide rail 18, and the guide block 19 drives the two first clamping arms 5 to clamp or open each other through the rocker 20.

[0043] As an optional embodiment, the third clamping device 3 further includes two second clamping arms 21, one end of the second clamping arm 21 is rotatably connected to the clamping claw 6 through a pin, and the other end of the second clamping arm 21 is fixedly connected to the first clamping arm 5 through welding. In this arrangement, by adding two more second clamping arms 21, the friction force and clamping force between the third clamping device 3 and the rod body are effectively increased, thereby ensuring the stability of the third clamping device 3.

[0044] In a more specific embodiment, there are two guide rods 9, and the lead screw 10 is arranged between the two guide rods 9. The first connecting block 11, the second connecting block 12 and the third connecting block 13 are penetrated by two circular light holes along the thickness direction. In addition, the first connecting block 11 is also provided with a through hole for the output shaft of the second motor 14 to pass through, and the third connecting block 13 is provided with an internal threaded hole matching the lead screw 10. The two guide rods 9 respectively penetrate the circular light holes of the first connecting block 11, the third connecting block 13 and the second connecting block 12 in turn, and the two ends of the two guide rods 9 are fixed to the first connecting block 11 and the second connecting block 12 by welding, one end of the lead screw 10 is fixedly connected to the output shaft of the second motor 14 through a coupling, and the other end of the lead screw 10 is rotatably mounted on the second connecting block 12 through the internal threaded hole on the third connecting block 13. In this configuration, guide rods 9 are respectively provided on both sides of the lead screw 10. When the second motor 14 drives the third connecting block 13 on the lead screw 10 to slide up and down, the movement posture of the third connecting block 13 becomes smoother and more stable.

[0045] In a more specific implementation manner, the clamping claw 6 includes a claw 22 and a rubber pad 23. The claw 22 is curved, which increases the fit between the claw 22 and the rod body and increases the contact area between the two. The raised part of the claw 22 is rotatably connected to the first clamping arm 5 and the second clamping arm 21 through a pin shaft. The concave side of the claw 22 is fixed with the rubber pad 23 through AB glue, which increases the friction between the claw 22 and the rod body and prevents the claw 22 and the rod body from slipping sideways. A sensor 24 is installed between the claw 22 and the rubber pad 23. When the clamping The pressure signal generated when the gripper 6 contacts the rod body is fed back to the external controller through the sensor 24. When the clamping pressure reaches the set value, the external controller controls the first motor 7 to stop or rotate. The rubber pad 23 is provided with a circular groove 25 and a long groove 26 on the side close to the gripper 22. The sensor 24 is installed inside the circular groove 25. The signal line connecting the sensor 24 to the external device for communication is placed inside the long groove 26. With this arrangement, the sensor 24 can be firmly installed inside the clamping gripper 6, while also ensuring the flatness of the rubber pad 23.

[0046] In a further embodiment, the first limit block 27 and the second limit block 28 are welded on both sides of the rotation connection between the first clamping arm 5, the second clamping arm 21 and the hand claw 22. When the hand claw 22 rotates coaxially with the clamping arm through the pin shaft, the first limit block 27 and the second limit block 28 first abut against the clamping arm. In this way, the first limit block 27 and the second limit block 28 are used to limit the rotation angle of the hand claw 22, thereby ensuring that the clamping arm can smoothly clamp the clamping hand claw 6 during the clamping process.

[0047] As an optional embodiment, the guide rod 9 and the lead screw 10 are made of bearing steel. Since the guide rod 9 and the lead screw 10 need to rub continuously during the working process, the bearing steel has the characteristics of high precision, strong fatigue resistance, and the ability to withstand great pressure and friction. This arrangement ensures the smoothness and durability of the guide rod 9 and the lead screw 10 during the movement.

[0048] See also Figure 10-13 This embodiment provides a schematic diagram of the obstacle-crossing gait of the pole-climbing robot. When the pole-climbing robot detects an obstacle, the pole-climbing robot switches to the obstacle-crossing mode. Fig.10 As shown in (a), the pole climbing robot detects an obstacle, and the first clamping device 1, the second clamping device 2, and the third clamping device 3 all clamp the pole body; Fig.10 As shown in (b), the third clamping device 3 remains in a clamped state, and the first clamping device 1 and the second clamping device 2 are opened; Fig.10 As shown in (c), the second motor 14 rotates forward, and the first clamping device 1 and the second clamping device 2 climb relative to the rod body; Fig.10As shown in (d), the second motor 14 stops rotating, and the first clamping device 1 and the second clamping device 2 clamp the rod body; Fig.11 As shown in (a), the first clamping device 1 and the second clamping device 2 remain in a clamped state, and the third clamping device 3 is opened; Fig.11 As shown in (b), the second motor 14 reverses, and the third clamping device 3 climbs relative to the rod body; Fig.11 As shown in (c), the second motor 14 stops rotating, and the third clamping device 3 clamps the rod body; Fig.11 As shown in (d), the third clamping device 3 remains in a clamped state, and the first clamping device 1 and the second clamping device 2 are opened; Fig.12 As shown in (a), the second motor 14 rotates forward, and the first clamping device 1 and the second clamping device 2 climb relative to the rod body; Fig.12 As shown in (b), the second motor 14 stops rotating, and the first clamping device 1 and the second clamping device 2 clamp the rod body; Fig.12 As shown in (c), the first clamping device 1 and the second clamping device 2 remain in a clamped state, and the third clamping device 3 is opened; Fig.12 As shown in (d), the second motor 14 reverses, and the third clamping device 3 climbs relative to the rod body; Fig.13 As shown, the second motor 14 stops rotating, and the third clamping device 3 clamps the pole body. With such an obstacle-crossing gait, the pole-climbing robot can cross a variety of obstacles.

[0049] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A pole climbing robot, characterized in that: include: A first clamping device (1), a second clamping device (2), and a third clamping device (3) arranged between the first clamping device (1) and the second clamping device (2), each comprising a support frame (4), two first clamping arms (5) whose first ends are rotatably arranged on the support frame (4), a clamping claw (6) rotatably connected to the second ends of the first clamping arms (5), and a first motor (7) connected to the first clamping arms (5) via a transmission mechanism, wherein the first motor (7) can drive the two first clamping arms (5) to rotate so that the second ends of the first clamping arms (5) are moved closer to or farther from each other, and the movements of the first clamping device (1) and the second clamping device (2) are always consistent; A climbing device (8), the climbing device (8) comprising a guide rod (9) and a lead screw (10) arranged side by side and parallel to each other, a first connecting block (11) fixedly connected to the head end of the guide rod (9), a second connecting block (12) fixedly connected to the tail end of the guide rod (9), a third connecting block (13) sleeved on the guide rod (9) and the lead screw (10), and a second motor (14) arranged on the first connecting block (11), the lead screw (10) and the third connecting block (13) being connected by threads and being able to move along the guide rod (9). 9) relative sliding, the two ends of the lead screw (10) are rotatably mounted on the first connecting block (11) and the second connecting block (12), and one end of the lead screw (10) is drivingly connected to the second motor (14), the first connecting block (11) is fixedly connected to the support frame (4) on the first clamping device (1), the second connecting block (12) is fixedly connected to the support frame (4) on the second clamping device (2), and the third connecting block (13) is fixedly connected to the support frame (4) on the third clamping device (3); There are two guide rods (9), the lead screw (10) is arranged between the two guide rods (9), and the first connecting block (11), the second connecting block (12) and the third connecting block (13) are all provided with round holes for the two guide rods (9) to pass through; wherein the first connecting block (11) is also provided with a through hole for the output shaft of the second motor (14) to pass through, and the third connecting block (13) is also provided with an internal threaded hole matching the lead screw (10); The transmission mechanism comprises a reducer (15) connected to the first motor (7) and having output shafts on both sides, a rotating wheel (16) arranged on the output shaft, a connecting rod (17) whose first end is rotatably arranged at an eccentric position of the rotating wheel (16), a guide block (19) arranged on the support frame (4) through a slide rail (18), and a rocker (20) whose first end is rotatably arranged on the guide block (19), the second end of the connecting rod (17) is rotatably connected to the guide block (19), and the second end of the rocker (20) is rotatably connected to the first clamping arm (5); The third clamping device (3) further comprises two second clamping arms (21), one end of the second clamping arm (21) being rotatably connected to the clamping claw (6), and the other end of the second clamping arm (21) being fixedly connected to the first clamping arm (5); The clamping claw (6) comprises a claw (22) rotatably connected to the clamping arm, a rubber pad (23) fixedly connected to the claw (22), and a sensor (24) arranged between the claw (22) and the rubber pad (23), wherein the sensor (24) is used for communication connection with an external device; A first limit block (27) and a second limit block (28) are provided on both sides of the rotational connection between the first clamping arm (5), the second clamping arm (21) and the hand claw (22); when the hand claw (22) rotates to the first position, the first limit block (27) abuts against the clamping arm; when the hand claw (22) rotates to the second position, the second limit block (28) abuts against the clamping arm.

2. The pole climbing robot according to claim 1, characterized in that: The rubber pad (23) is provided with a circular groove (25) for installing the sensor (24) and a long groove (26) for placing the circuit of the sensor (24) on a surface close to the gripper (22).

3. The pole climbing robot according to claim 1, characterized in that: The clamping claw (6) is in the shape of a curved surface, and a protruding portion of the clamping claw (6) is rotatably connected to the first clamping arm (5) and the second clamping arm (21).

4. The pole climbing robot according to claim 1, characterized in that: The reducer (15) is a worm gear reducer.

5. The pole climbing robot according to claim 1, characterized in that: The guide rod (9) and the lead screw (10) are both made of bearing steel.

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