Pole climbing robot rescue device, rescue pole climbing robot and pole climbing robot assembly

Abstract

The present invention relates to a pole climbing robot rescue device, a pole climbing robot rescue and a pole climbing robot assembly. The pole climbing robot rescue device includes a docking structure, which is used to be arranged on the pole climbing robot rescue. The docking structure includes a hook, a fixing part and a sliding part. The hook is used to hook the docking frame of the pole climbing robot to be rescued. The sliding part can be separated from the fixing part. The hook is arranged on the sliding part. A pull rope is arranged on the hook or the sliding part. The fixing part cooperates with the sliding part to stop the upper and lower parts, so that when the pole climbing robot rescue moves upward, the fixing part moves upward with the sliding part until the hook is hooked on the docking frame. The pole climbing robot rescue device of the present invention is used to drag the pole climbing robot to be rescued by a pull rope connected to the pole climbing robot to be rescued, which solves the problem that the existing pole climbing robot rescue cannot drag the pole climbing robot to be rescued due to insufficient power.

Description

Technical Field

[0001] The invention relates to a pole climbing robot rescue device, a pole climbing robot rescue device and a pole climbing robot assembly. Background Art

[0002] With the development of science and technology, many high-altitude operations that pose safety hazards to workers will use climbing robots to replace manual labor. However, the existing climbing robots may be stranded in the air and cannot be recovered due to malfunctions.

[0003] A Chinese invention patent application with application publication number CN111114665A discloses a rope climbing robot and a recovery method, the rope climbing robot comprising two walking units, the walking unit comprising an enclosure seat and a driving assembly arranged on the enclosure seat, the upper portion of the walking unit is provided with a hook, the hook comprising a spring piece and a return piece, the lower portion of the walking unit is provided with a docking structure, the docking structure comprising a docking frame, when the rescued pole climbing robot is stranded in the air, the rescue pole climbing robot moves upward along the climbed pole until the spring piece of the hook presses the docking frame, the spring piece rotates to make the hook hook and hook the docking frame, and then the rescue pole climbing robot is controlled to move downward so that the rescue pole climbing robot will pull the rescue pole climbing robot back.

[0004] When the above-mentioned rescue pole climbing robot drags the rescued pole climbing robot, due to the limited power of the rescue pole climbing robot, the rescue pole climbing robot may not be able to drag the rescued pole climbing robot. Summary of the invention

[0005] The purpose of the present invention is to provide a pole climbing robot for rescuing the pole climbing robot, so as to solve the problem that the existing pole climbing robot cannot drag the pole climbing robot being rescued due to insufficient power. The present invention also provides a pole climbing robot rescue device and a pole climbing robot assembly.

[0006] The technical solution of the pole climbing robot rescue device of the present invention is:

[0007] The pole climbing robot rescue device includes a docking structure for being set on the rescue pole climbing robot, the docking structure includes a hook, and the hook is used to hook the docking frame of the rescued pole climbing robot; the docking structure also includes a fixing part for fixing on the rescue pole climbing robot and a sliding part slidably matched with the fixing part, the sliding part can move upward relative to the fixing part until it is separated from the fixing part, so that after the hook hooks the docking frame of the rescued pole climbing robot, the rescue pole climbing robot moves back along the climbed pole to separate the sliding part from the fixing part; the hook is configured on the sliding part, and the hook or the sliding part is provided with a pull rope for pulling back the rescue pole climbing robot; the fixing part cooperates with the sliding part in upper and lower stops, so that when the rescue pole climbing robot moves upward, the fixing part moves upward with the sliding part until the hook hooks on the docking frame.

[0008] Beneficial effect: When the pole climbing robot rescue device of the present invention is in use, the rescue pole climbing robot moves upward along the pole being climbed so that the hook hooks onto the docking frame of the rescued pole climbing robot, and then controls the rescue pole climbing robot to move downward along the pole being climbed so that the sliding part is separated from the fixing part, and then the rescued pole climbing robot is pulled back by pulling the pull rope by manpower or a towing tool. When using the pole climbing robot rescue device of the present invention, the rescue pole climbing robot does not need to drag the rescued pole climbing robot, but drags the rescued pole climbing robot by the pull rope connected to the rescued pole climbing robot, which solves the problem of the existing rescue pole climbing robot being unable to drag the rescued pole climbing robot due to insufficient power.

[0009] Furthermore, the sliding member and the fixing member are matched with each other in an upper and lower sleeve manner.

[0010] Beneficial effect: The sliding part and the fixing part adopt a plug-in matching mode, which is convenient for installation.

[0011] Furthermore, the fixing member is a fixing tube, and the sliding member comprises a sliding tube inserted into the fixing tube.

[0012] Beneficial effects: The fixed part and the sliding part adopt this structural form, which is simple in structure and easy to process and assemble.

[0013] Furthermore, the sliding member comprises a hook bracket, and at least two hooks on the hook bracket are arranged at intervals.

[0014] Beneficial effect: at least two hooks are provided, which makes it more reliable when pulling the rescued climbing robot.

[0015] Furthermore, the hook bracket is an arc-shaped bracket, and the hooks are arranged at intervals along the extension direction of the hook bracket.

[0016] Beneficial effects: The hook bracket is arranged in an arc shape, has a simple structure and is easy to process.

[0017] The technical solution of the rescue pole climbing robot of the present invention is:

[0018] The rescue pole climbing robot includes a walking unit and a rescue device, the walking unit includes walking wheels and a main drive motor that drives the walking wheels to rotate; the rescue device is arranged on the walking unit; the rescue device includes a docking structure for being arranged on the rescue pole climbing robot, the docking structure includes a hook, and the hook is used to hook the docking frame of the rescued pole climbing robot; the docking structure also includes a fixing part for fixing on the rescue pole climbing robot and a sliding part that slidably cooperates with the fixing part, the sliding part can move upward relative to the fixing part until it is separated from the fixing part, so that after the hook hooks the docking frame of the rescued pole climbing robot, the rescue pole climbing robot moves back along the climbed pole to separate the sliding part from the fixing part; the hook is arranged on the sliding part, and a pull rope for pulling back the rescue pole climbing robot is arranged on the hook or the sliding part; the fixing part cooperates with the sliding part in upper and lower stops, so that when the rescue pole climbing robot moves upward, the fixing part moves upward with the sliding part until the hook hooks the docking frame.

[0019] Beneficial effect: When the rescue pole climbing robot of the present invention is in use, the rescue pole climbing robot moves upward along the pole being climbed so that the hook hooks onto the docking frame of the rescued pole climbing robot, and then controls the rescue pole climbing robot to move downward along the pole being climbed so that the sliding part is separated from the fixing part, and then the rescue pole climbing robot is pulled back by pulling the pull rope by manpower or a towing tool. When the rescue pole climbing robot of the present invention is used, the rescue pole climbing robot does not need to drag the rescued pole climbing robot, but the rescued pole climbing robot is dragged by the pull rope connected to the rescued pole climbing robot, which solves the problem that the existing rescue pole climbing robot cannot drag the rescued pole climbing robot due to insufficient power.

[0020] Furthermore, the sliding member and the fixing member are matched with each other in an upper and lower sleeve manner.

[0021] Beneficial effect: The sliding part and the fixing part adopt a plug-in matching mode, which is convenient for installation.

[0022] Furthermore, the fixing member is a fixing tube, and the sliding member comprises a sliding tube inserted into the fixing tube.

[0023] Beneficial effects: The fixed part and the sliding part adopt this structural form, which is simple in structure and easy to process and assemble.

[0024] Furthermore, the sliding member comprises a hook bracket, and at least two hooks on the hook bracket are arranged at intervals.

[0025] Beneficial effect: at least two hooks are provided, which makes it more reliable when pulling the rescued climbing robot.

[0026] Furthermore, the hook bracket is an arc-shaped bracket, and the hooks are arranged at intervals along the extension direction of the hook bracket.

[0027] Beneficial effects: The hook bracket is arranged in an arc shape, has a simple structure and is easy to process.

[0028] Furthermore, there are more than two walking units, each walking unit can move relatively and enclose a climbed pole channel for the climbed pole to pass through, and each walking unit is provided with the docking structure.

[0029] Beneficial effect: A docking structure is provided on each walking unit to improve reliability when pulling the rescued climbing robot.

[0030] Furthermore, a docking frame is provided on the rescue pole climbing robot, the docking frame is arranged at the lower part of the rescue pole climbing robot, and the docking structure is arranged at the upper part of the rescue pole climbing robot.

[0031] Beneficial effect: Providing a docking frame on the rescue pole climbing robot can effectively reduce the risk of the rescue pole climbing robot being stranded at a high position on the climbed pole.

[0032] The technical solution of the pole climbing robot assembly of the present invention is:

[0033] The pole climbing robot assembly includes a rescue pole climbing robot and a rescued pole climbing robot, both of which include a walking unit, and the walking unit includes a walking wheel and a main drive motor that drives the walking wheel to rotate; the rescue pole climbing robot also includes a rescue device, which is arranged on the walking unit of the rescue pole climbing robot; the rescue device includes a docking structure for being arranged on the rescue pole climbing robot, and the docking structure includes a hook, and the hook is used to hook the docking frame of the rescued pole climbing robot; the docking structure also includes a fixing part for fixing on the rescue pole climbing robot and a sliding part that slidably cooperates with the fixing part, and the sliding part can move upward relative to the fixing part to separate from the fixing part, so that after the hook hooks the docking frame of the rescued pole climbing robot, the rescue pole climbing robot moves back along the climbed pole to separate the sliding part from the fixing part; the hook is arranged on the sliding part, and a pull rope for pulling back the rescue pole climbing robot is arranged on the hook or the sliding part; the fixing part cooperates with the sliding part in upper and lower stops, so that when the rescue pole climbing robot moves upward, the fixing part moves upward with the sliding part until the hook hooks the docking frame.

[0034] Beneficial effect: When the pole climbing robot assembly of the present invention is in use, the rescue pole climbing robot moves upward along the pole being climbed so that the hook hooks onto the docking frame of the rescued pole climbing robot, and then controls the rescue pole climbing robot to move downward along the pole being climbed so that the sliding part is separated from the fixing part, and then the rescue pole climbing robot is pulled back by pulling the pull rope by manpower or a towing tool. When the pole climbing robot assembly of the present invention is used, the rescue pole climbing robot does not need to drag the rescued pole climbing robot, but the rescued pole climbing robot is dragged by the pull rope connected to the rescued pole climbing robot, which solves the problem that the existing rescue pole climbing robot cannot drag the rescued pole climbing robot due to insufficient power.

[0035] Furthermore, the sliding member and the fixing member are matched with each other in an upper and lower sleeve manner.

[0036] Beneficial effect: The sliding part and the fixing part adopt a plug-in matching mode, which is convenient for installation.

[0037] Furthermore, the fixing member is a fixing tube, and the sliding member comprises a sliding tube inserted into the fixing tube.

[0038] Beneficial effects: The fixed part and the sliding part adopt this structural form, which is simple in structure and easy to process and assemble.

[0039] Furthermore, the sliding member comprises a hook bracket, and at least two hooks on the hook bracket are arranged at intervals.

[0040] Beneficial effect: at least two hooks are provided, which makes it more reliable when pulling the rescued climbing robot.

[0041] Furthermore, the hook bracket is an arc-shaped bracket, and the hooks are arranged at intervals along the extension direction of the hook bracket.

[0042] Beneficial effects: The hook bracket is arranged in an arc shape, has a simple structure and is easy to process.

[0043] Furthermore, there are more than two walking units, each walking unit can move relatively and enclose a climbed pole channel for the climbed pole to pass through, and each walking unit is provided with the docking structure.

[0044] Beneficial effect: A docking structure is provided on each walking unit to improve reliability when pulling the rescued climbing robot.

[0045] Furthermore, a docking frame is provided on the rescue pole climbing robot, the docking frame is arranged at the lower part of the rescue pole climbing robot, and the docking structure is arranged at the upper part of the rescue pole climbing robot.

[0046] Beneficial effect: Providing a docking frame on the rescue pole climbing robot can effectively reduce the risk of the rescue pole climbing robot being stranded at a high position on the climbed pole.

[0047] Furthermore, there are more than two walking units, and each walking unit of the rescued pole climbing robot is provided with an arc-shaped docking frame. At least two hooks are arranged in sequence on the walking unit of the rescue pole climbing robot, and the distance between the two hooks at the head and tail ends of the same walking unit on the rescue pole climbing robot is greater than the distance between adjacent docking frames, so that the hooks on the same walking unit on the rescue pole climbing robot can hook two adjacent docking frames at the same time and can hook the same docking frame at the same time.

[0048] Beneficial effect: This setting eliminates the need to repeatedly rotate and adjust the rescue pole climbing robot, so that the hook of the rescue pole climbing robot can hook the docking frame of the rescued pole climbing robot at one time, thereby improving the rescue efficiency of the rescue pole climbing robot.

[0049] Furthermore, a walking unit is provided, the walking unit having a climbing rod channel for the climbing rod to pass through, the docking frame is a circular frame, including a first bracket and a second bracket, one end of the first bracket is hinged to one end of the second bracket, and the other end of the first bracket is detachably connected to the other end of the second docking frame.

[0050] Beneficial effect: The docking frame adopts a circular frame structure, so that the hook of the rescue climbing robot can hook the docking frame of the rescued climbing robot at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic diagram of the pole-climbing robot assembly in Embodiment 1 of the present invention before the rescue pole-climbing robot and the rescued pole-climbing robot are docked;

[0052] Figure 2 It is a schematic diagram of the situation in which the fixing part and the sliding part are in a separated state after the rescue pole climbing robot and the rescued pole climbing robot are docked in Embodiment 1 of the pole climbing robot assembly of the present invention;

[0053] Figure 3 A state diagram of the coupling between the hook and the docking frame in Embodiment 1 of the pole climbing robot assembly of the present invention;

[0054] Figure 4 This is a schematic diagram of a pole climbing robot assembly in Example 1 of the present invention when the hook is in an open state;

[0055] Figure 5 This is a schematic diagram of a pole climbing robot assembly in Example 1 of the present invention when the hook is in a closed state;

[0056] Figure 6 It is a schematic diagram of the structure of the hook in Example 9 of the pole climbing robot assembly of the present invention.

[0057] In the figure: 1. rescue pole-climbing robot; 2. rescued pole-climbing robot; 3. walking unit; 31. walking wheel; 32. walking frame; 4. docking structure; 5. hook; 51. hook arm; 52. torsion spring; 53. support rod; 54. spring cable body; 55. locking tongue; 56. locking tongue groove; 6. climbing pole; 7. docking frame; 8. fixing part; 81. fixing tube; 9. sliding part; 91. sliding tube; 92. hook bracket; 10. pull rope; 11. telescopic connecting member. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the embodiments described are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0059] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0060] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0061] The features and performance of the present invention are further described in detail below in conjunction with the embodiments.

[0062] Specific embodiment 1 of the pole climbing robot assembly of the present invention:

[0063] like Figure 1 , Figure 2 , Figure 3 As shown, the pole climbing robot assembly includes a rescue pole climbing robot 1 and a rescued pole climbing robot 2. When the rescued pole climbing robot 2 is unable to move on the climbed pole 6 due to a malfunction, the rescue pole climbing robot 1 will assist the staff to safely recover the rescue pole climbing robot 2.

[0064] The rescue pole climbing robot 1 and the rescued pole climbing robot 2 both include a walking unit 3 and a telescopic connecting member 11. The walking unit 3 includes a walking frame 32, a walking wheel 31 rotatably mounted on the walking frame 32, and a main drive motor driving the walking wheel 31 to rotate. In this embodiment, the rescue pole climbing robot 1 and the rescued pole climbing robot 2 are both provided with two walking units 3. In other embodiments, the rescue pole climbing robot and the rescued pole climbing robot can both be provided with three, four or more walking units. Taking the rescue pole climbing robot 1 as an example, the two walking units 3 of the rescue pole climbing robot 1 can move relative to each other and enclose a climbing pole passage for the climbing pole 6 to pass through. Specifically, the two walking units 3 of the rescue pole climbing robot 1 surround and embrace the pole 6 being climbed, and the contraction connection member 11 can be adjusted to make the walking wheel 31 close to the pole 6 being climbed, so that there is enough friction between the walking wheel 31 and the pole 6 being climbed, so as to ensure that the rescue pole climbing robot 1 will not slide off the pole 6 being climbed, and the rotation of the walking wheel 31 of the rescue pole climbing robot 1 realizes the movement of the rescue pole climbing robot 1 along the pole 6 being climbed. The rescue pole climbing robot 1 and the rescued pole climbing robot 2 in this embodiment are improved on the basis of the pole climbing robot in the prior art. The pole climbing robot in the prior art can refer to the pole climbing robot in the Chinese invention patent application document with publication number CN112429107A. The structure of the walking unit 3 in this embodiment is the same as the structure and working principle of the walking unit introduced in the document, and will not be described in detail. Of course, in other embodiments, the structure of the rescue pole climbing robot 1 and the rescued pole climbing robot 2 in this embodiment can also be improved on the basis of the rope climbing robot introduced in the Chinese invention patent application document with publication number CN111114665A in the background technology.

[0065] In order to achieve the safe recovery of the rescued pole climbing robot 2, the rescue pole climbing robot 1 also includes a rescue device, which is arranged on the walking unit 3 of the rescue pole climbing robot 1. Correspondingly, each walking unit 3 of the rescued pole climbing robot 2 is provided with a docking frame 7, and the docking frame 7 is arranged at the lower part of each walking unit 3 of the rescued pole climbing robot 2.

[0066] The rescue device includes a docking structure 4, which is arranged on the upper part of the walking unit 3 of the rescue pole climbing robot 1. The docking structure 4 includes a hook 5, a fixing member 8 fixed on the walking unit 3, and a sliding member 9 slidably matched with the fixing member 8. The hook 5 is arranged on the sliding member 9 and the hook 5 is used to flexibly hook the docking frame 7 under the pressure of the two after pressing up and down with the docking frame 7. A pull rope 10 is arranged on the hook 5. The fixing member 8 and the sliding member 9 are matched with each other in the upper and lower stops, so that when the rescue pole climbing robot 1 moves upward, the fixing member 8 moves upward with the sliding member 9 until the hook 5 is hooked on the docking frame 7. In addition, the sliding member 9 can move upward relative to the fixing member 8 to separate from the fixing member 8, so that after the hook 5 is hooked on the docking frame 7, the rescue pole climbing robot 1 moves back along the climbing pole 6 to separate the sliding member 9 from the fixing member 8. The pull rope 10 is used to pull the hook 5 to pull the rescue pole climbing robot 2 back.

[0067] In this embodiment, the fixing member 8 is a fixing tube 81, and the sliding member 9 includes a sliding tube 91 inserted into the fixing tube 81 to cooperate with the upper and lower sleeves of the fixing tube 81. The sliding member 9 also includes a hook bracket 92, and the hook 5 is arranged on the hook bracket 92. In this embodiment, the hook bracket 92 is an arc-shaped bracket, and two hooks 5 are arranged at intervals along the extension direction of the hook bracket 92, and the two hooks 5 are respectively located at the head and tail ends of the hook bracket 92. Correspondingly, the two docking frames 7 on the rescued pole climbing robot 2 are arc-shaped docking frames 7, especially, as shown in FIG. Figure 2 , Figure 3 As shown, the distance between the two hooks 5 on the same hook bracket 92 of the rescue pole climbing robot 1 is greater than the distance between the adjacent docking frame 7 brackets, so that the hook 5 on the same walking unit 3 of the rescue pole climbing robot 1 can hook the two adjacent docking frames 7 at the same time (such as Figure 3 ) and can simultaneously hook the same docking frame 7 (such as Figure 2 ), with this arrangement, there is no need to repeatedly rotate and adjust the rescue pole climbing robot 1, so that the hook 5 of the rescue pole climbing robot 1 can hook the docking frame 7 of the rescued pole climbing robot 2 at one time, thereby improving the rescue efficiency of the rescue pole climbing robot 1.

[0068] More specifically, the fixing member 8 is detachably connected to the traveling unit 3. In this embodiment, the fixing member 8 is fixed to the traveling unit 3 by a clamp. In other embodiments, the fixing member can be fixed to the traveling unit by clamping a slot, or fixed to the traveling unit by bolts. Of course, in other embodiments, the fixing member and the traveling unit can also be fixed by welding.

[0069] In addition, in order to prevent the rescue pole climbing robot 1 from being stranded at a high position of the climbed pole 6 due to a malfunction of the rescue pole climbing robot 1 , a docking frame 7 is also provided at the lower part of each walking unit 3 of the rescue pole climbing robot 1 .

[0070] In this embodiment, if Figure 4 , Figure 5 As shown, when the hook 5 is in the open state, the two hook arms 51 of the hook 5 clamp the main support rod 53. When the hook 5 presses the docking frame 7, the support rod 53 will fall out, and the two hook arms 51 of the hook 5 will rotate under the action of the torsion spring 52 to make the hook 5 change from the open state to the closed state. At this time, the hook 5 will hook the docking frame 7.

[0071] The use process of the pole climbing robot assembly of the present invention is as follows: when the rescued pole climbing robot 2 is stranded at a high place on the climbed pole 6 due to a malfunction, the rescue pole climbing robot 1 is controlled to move upward along the climbed pole 6 until the hook 5 hooks the docking frame 7 of the rescued pole climbing robot 2. At this time, the rescue pole climbing robot 1 is controlled to move downward along the climbed pole 6, and the sliding part 9 of the rescue pole climbing robot 1 is separated from the fixing part 8 until the rescue pole climbing robot 1 is recovered, and then the pull rope 10 is pulled to pull the rescue pole climbing robot 2 back to complete the recovery of the rescued pole climbing robot 2.

[0072] Specific embodiment 2 of the pole climbing robot assembly of the present invention is different from embodiment 1 introduced above in that the fixing part is a C-shaped slide groove, the notch of the C-shaped slide groove faces the walking unit, and the sliding part includes a sliding block for inserting into the C-shaped slide groove to slide with the C-shaped slide groove.

[0073] Specific embodiment 3 of the pole climbing robot assembly of the present invention is different from the embodiment 1 introduced above in that the sliding member only includes a sliding tube, and the hook is fixed on the sliding tube.

[0074] The specific embodiment 4 of the pole climbing robot assembly of the present invention is different from the embodiment 1 described above in that the hook bracket is a straight bracket. Alternatively, in other embodiments, the hook bracket can be a bracket with multiple bends.

[0075] Specific embodiment 5 of the pole climbing robot assembly of the present invention is different from embodiment 1 described above in that three hooks are provided, and the three hooks are spaced along the extension direction of the hook bracket, and the distance between the two hooks at the head and tail ends of the hook bracket is greater than the distance between adjacent docking frames. In other embodiments, four, five or more hooks may be provided, each hook is spaced along the extension direction of the hook bracket, and the distance between the two hooks at the head and tail ends of the hook bracket is greater than the distance between adjacent docking frames.

[0076] Specific embodiment 6 of the pole climbing robot assembly of the present invention is different from the embodiment 1 introduced above in that a docking structure is provided on any one of the two walking units.

[0077] Specific embodiment 7 of the pole climbing robot assembly of the present invention is different from the embodiment 1 described above in that the fixing member is a fixing block provided with a dovetail groove, and the sliding member includes a slide rail that slides with the dovetail groove. In other embodiments, the fixing member can be formed by the walking frame of the walking unit, and the dovetail groove is directly provided on the walking frame of the walking unit.

[0078] Specific embodiment 8 of the pole climbing robot assembly of the present invention is different from the embodiment 1 introduced above in that the pull rope is set on the sliding tube, or in other embodiments, the pull rope can also be set on the hook bracket.

[0079] The pole climbing robot assembly specific embodiment 9 of the present invention is different from the embodiment 1 described above in that Figure 6 As shown, the hook 5 includes a spring cable body 54 and a locking tongue 55. When the hook 5 presses the docking frame 7, the locking tongue 55 will be compressed into the spring cable body 54. After the docking frame 7 enters the locking tongue groove 56 of the spring cable body 54, the locking tongue 55 will reset to allow the hook 5 to hook the docking frame 7. In other embodiments, the structure of the hook can also be the hook described in the Chinese invention patent application document with publication number CN111114665A in the background technology.

[0080] The specific embodiment 10 of the pole climbing robot assembly of the present invention is different from the embodiment 1 described above in that a walking unit is set on the pole climbing robot to be rescued, for example, it can be in the form of publication number CN103194967A, and the docking frame includes two semicircular frames, the two semicircular frames are respectively a first bracket and a second bracket, one end of the first bracket is hinged to one end of the second bracket, and the other end of the first bracket is detachably connected to the other end of the second bracket by bolts, and the first bracket and the second bracket form a circular docking frame. This arrangement can also enable the hook on the rescue pole climbing robot to hook the docking frame of the pole climbing robot to be rescued at one time.

[0081] The specific embodiment of the pole climbing robot rescue device of the present invention, the specific structure of the pole climbing robot rescue device is the same as the specific structure of the rescue device introduced in each embodiment of the pole climbing robot assembly above, and will not be repeated here.

[0082] The specific embodiment of the rescue pole climbing robot of the present invention, the specific structure of the rescue pole climbing robot is the same as the specific structure of the rescue pole climbing robot introduced in the various embodiments of the pole climbing robot assembly above, and will not be repeated here.

[0083] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. The patent protection scope of the present invention shall be based on the claims. All equivalent structural changes made using the contents of the description and drawings of the present invention should also be included in the protection scope of the present invention.

Claims

1. A pole climbing robot rescue device, comprising a docking structure for being arranged on a pole climbing robot, the docking structure comprising a hook, the hook being used to hook a docking frame of the pole climbing robot to be rescued; wherein: The docking structure also includes a fixing part for fixing on the rescue pole climbing robot and a sliding part slidably matched with the fixing part, the sliding part can move upward relative to the fixing part until it is separated from the fixing part, so that after the hook is hooked on the docking frame of the rescued pole climbing robot, the rescue pole climbing robot moves back along the climbed pole to separate the sliding part from the fixing part; the hook is arranged on the sliding part, and the hook or the sliding part is provided with a pull rope for pulling back the rescue pole climbing robot; the fixing part and the sliding part are matched with upper and lower stops, so that when the rescue pole climbing robot moves upward, the fixing part moves upward with the sliding part until the hook is hooked on the docking frame, and the sliding part and the fixing part are matched with upper and lower sleeves; the sliding part includes a hook bracket, when the outer contour of the projection of the docking frame on the plane perpendicular to the climbing pole is a continuous figure, at least one hook is provided, when the outer contour of the projection of the docking frame on the plane perpendicular to the climbing pole is a discontinuous figure, at least two hooks on the hook bracket are arranged at intervals, and the spacing between the two hooks at the head and tail ends of the hook bracket is greater than the spacing between adjacent docking frames.

2. The pole climbing robot rescue device according to claim 1, characterized in that: The fixing member is a fixing tube, and the sliding member comprises a sliding tube inserted into the fixing tube.

3. The pole climbing robot rescue device according to claim 1 or 2, characterized in that: The hook bracket is an arc-shaped bracket, and the hooks are arranged at intervals along the extending direction of the hook bracket.

4. A pole-climbing rescue robot, comprising a walking unit and a rescue device, wherein the walking unit comprises a walking wheel and a main drive motor for driving the walking wheel to rotate; the rescue device is arranged on the walking unit; and the robot is characterized in that: The rescue device is a pole climbing robot rescue device as described in any one of claims 1-3.

5. The pole-climbing rescue robot according to claim 4, characterized in that: There are more than two walking units, each of which can move relatively and enclose a climbed pole channel for the climbed pole to pass through, and each walking unit is provided with the docking structure.

6. The pole-climbing rescue robot according to claim 4, characterized in that: A docking frame is arranged on the rescue pole climbing robot, the docking frame is arranged at the lower part of the rescue pole climbing robot, and the docking structure is arranged at the upper part of the rescue pole climbing robot.

7. A pole climbing robot assembly, comprising a rescue pole climbing robot and a rescued pole climbing robot, wherein the rescue pole climbing robot and the rescued pole climbing robot both comprise a walking unit, wherein the walking unit comprises a walking wheel and a main drive motor for driving the walking wheel to rotate; the rescue pole climbing robot further comprises a rescue device, wherein the rescue device is arranged on the walking unit of the rescue pole climbing robot; wherein the rescue pole climbing robot comprises a rescue device, wherein the rescue device is arranged on the walking unit of the rescue pole climbing robot; wherein the rescue device ... The rescue device is a pole climbing robot rescue device as described in any one of claims 1-3.

8. The pole climbing robot assembly according to claim 7, characterized in that: There are more than two walking units, and each walking unit of the rescued pole climbing robot is provided with an arc-shaped docking frame. At least two hooks are arranged in sequence on the walking unit of the rescue pole climbing robot, and the distance between the two hooks at the head and tail ends of the same walking unit on the rescue pole climbing robot is greater than the distance between adjacent docking frames, so that the hooks on the same walking unit on the rescue pole climbing robot can hook the two adjacent docking frames at the same time and can hook the same docking frame at the same time.

9. The pole climbing robot assembly according to claim 7, characterized in that: A walking unit is provided, which has a climbing rod channel for the climbing rod to pass through. The docking frame is a circular frame, including a first bracket and a second bracket. One end of the first bracket is hinged to one end of the second bracket, and the other end of the first bracket is detachably connected to the other end of the second docking frame.

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