Lightning rod climbing operation robot and motion control method thereof

Abstract

The invention relates to a lightning rod climbing operation robot and a motion control method thereof. The robot comprises a frame shell, a rotating platform mechanism, an upper clamping jaw mechanism, a climbing mechanism and a lower claw mechanism. The rotating platform mechanism is of a telescopic arc-shaped structure, the upper clamping jaw mechanism and the lower claw mechanism are of clamping structures, and the climbing mechanism is of a transmission structure. The rotating platform mechanism, the upper clamping jaw mechanism and the lower claw mechanism are coaxially and linearly arranged; the robot can complete climbing of the variable-diameter lightning rod. Compared with the prior art, fixed connection and movable connection of the upper clamping jaw mechanism and the lower claw mechanism are combined, so that the problem that the variable-diameter lightning rod is thin and long and is difficult to climb and overhaul is solved; and the rotating platform mechanism capable of rotating in all directions is arranged, so that the pole climbing process and the rotating platform can be simultaneously cooperated without mutual interference, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The invention relates to the field of automated climbing machinery, and in particular to a lightning rod climbing robot and a motion control method thereof. Background Art

[0002] In the power system, lightning rods are important equipment to protect substations from direct lightning strikes. Especially for substations with voltage levels of 220kV and above, round steel lightning rods are a common protection measure. Round steel lightning rods are widely used because of their simple structure and low cost. However, since round steel lightning rods are higher from the ground, have a smaller diameter and are longer, this brings great difficulty to the inspection and maintenance of the staff.

[0003] The current auxiliary method is to use an insulated boom truck to lift workers to high altitudes for work, but this method is costly and limited by the spatial structure of the substation. It is difficult to implement in most cases and there are great operational safety risks. In addition, the feasibility and safety of manual detection methods are also limited in extreme weather conditions.

[0004] In order to solve these problems, researchers at home and abroad have begun to explore the use of robotics technology for the inspection and maintenance of lightning rods. Chinese patent CN115180038A discloses a method of using a robot to climb a lightning rod, including an upper drive module, a lower drive module and a connecting arm, the upper drive module is provided with a first climbing component and a steering component, the lower drive module is provided with a second climbing component, the first climbing component and the second climbing component both include a first clamp and a first clamping motor, the end of the first clamp is provided with a longitudinal wheel group, the steering component includes a second clamp and a second clamping motor, and the end of the second clamp is provided with a transverse wheel group. The robot provided by the invention can climb in the narrow space of the substation, meet the requirements of climbing the lightning rod without power outage or power failure, and perform maintenance operations on the lightning rod, but the robot is not suitable for variable diameter lightning rods, and there is no platform mechanism that can rotate in all directions, which cannot meet the requirements of complete detection of lightning rods.

[0005] In view of this, there is an urgent need to develop a lightning rod climbing robot that can adapt to variable diameter and circumference detection. Summary of the invention

[0006] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a lightning rod climbing robot and a motion control method thereof, so as to solve the problem that the variable-diameter lightning rod is thin and long and difficult to climb and repair.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] On the one hand, the present invention provides a lightning rod climbing operation robot, the robot comprising a frame shell, a rotating platform mechanism, an upper clamping claw mechanism, a climbing mechanism and a lower hook claw mechanism;

[0009] The rotating platform mechanism is a retractable arc structure, the upper clamping claw mechanism and the lower hook claw mechanism are clamping structures for realizing stable climbing and fixation of the robot on the lightning rod pole, and the climbing mechanism is a transmission structure for assisting the lower hook claw mechanism to flexibly move on the lightning rod pole;

[0010] The rotating platform mechanism, the upper clamping claw mechanism and the lower hook claw mechanism are arranged coaxially and linearly;

[0011] The upper clamping mechanism is fixedly installed on the top of the frame shell, the rotating platform mechanism is fixedly installed on the top of the upper clamping mechanism, the climbing mechanism is fixedly installed inside the frame shell, and the lower hook mechanism is arranged at the lower part of the rotating platform mechanism and is slidably connected to the frame shell.

[0012] Further, the rotating platform mechanism includes a guide rail rack, a guide rail track, a guide rail gear, two guide rail rollers, a rotating platform rack, a rotating platform track, a rotating platform gear, two rotating platform rollers, a rotating platform, a guide rail gear motor, a rotating platform motor, and a guide rail rack carrier;

[0013] The guide rail track can slide and displace with the guide rail rack carrier, a guide rail gear motor is fixedly installed at the bottom of the guide rail rack carrier, the guide rail gear is connected to the output shaft of the guide rail gear motor, the guide rail gear is meshed with the guide rail rack, and the guide rail gear motor drives the guide rail track to perform telescopic movement along the guide rail rack carrier;

[0014] A rotating platform rack is fixedly installed on the inner side of the rotating platform track, a plate-shaped rotating platform is provided on the upper part of the rotating platform track, a rotating platform gear is fixedly installed on the bottom of the rotating platform, a rotating platform motor is installed on the upper part of the rotating platform, the rotating platform gear is connected to the output shaft of the rotating platform motor, and the rotating platform motor drives the rotating platform to perform circular motion along the rotating platform track;

[0015] The rotating platform is also provided with a camera and a rust remover nozzle, wherein the camera is used to identify rust and inspect and monitor the lightning rod, and the rust remover nozzle is used to remove rust and other dirt on the surface of the lightning rod;

[0016] The two guide rail rollers are respectively fixedly mounted on the two ends of the guide rail rack carrier, and the two rotating platform rollers are respectively fixedly mounted on the two adjacent corners of the bottom surface of the rotating platform, both of which play an auxiliary fixing role.

[0017] Furthermore, the upper clamping jaw mechanism includes an upper clamping jaw fixing block, an upper left gripper, an upper right gripper, a rubber pad disposed inside the two upper grippers, two upper screw rods and an upper clamping jaw motor;

[0018] The upper clamping jaw fixing block is fixedly connected to the top of the frame shell, an upper screw rod groove is penetrated between the two ends of the upper clamping jaw fixing block, the upper screw rod groove is matched and fixed with two upper screw rods, and the two upper screw rods are respectively connected to an upper left gripper and an upper right gripper, the upper clamping jaw motor is arranged at one end of the upper clamping jaw fixing block, and the output shaft of the upper clamping jaw motor is connected to one end of the upper screw rod;

[0019] The thread axes of the two upper screw rods are colinear and the thread rotation directions of the two screw rods are opposite, and the upper left gripper and the upper right gripper can be driven to reciprocate at the same time to adapt to the variable diameter structure of the lightning rod.

[0020] Furthermore, the climbing mechanism includes two synchronous wheels, two synchronous wheel fixing rods, a synchronous belt, a synchronous belt toothed plate, two synchronous belt guide rails, and a synchronous belt motor;

[0021] Two synchronous belt guide rails are arranged in parallel, and two ends of the synchronous belt guide rails are respectively fixed to the top and bottom of the frame shell;

[0022] The synchronous wheel fixing rod is perpendicular to the synchronous belt guide rail, and the two synchronous wheel fixing rods are fixed in parallel in the frame housing. The middle end of each synchronous wheel fixing rod is axially connected to a synchronous wheel, and the synchronous belt is slidably connected to the two synchronous wheels, and the synchronous belt toothed plate is fixedly installed on the inner side of the synchronous belt;

[0023] The output shaft of the synchronous belt motor is connected to one end of the upper synchronous wheel fixing rod.

[0024] Furthermore, the lower hook mechanism includes a synchronous belt clip slider, a lower left hook, a lower right hook, two lower screw rods, and a lower hook motor;

[0025] A lower screw rod groove is provided between the two ends of the synchronous belt clip slider, the lower screw rod groove is matched and fixed with two lower screw rods, the two lower screw rods are respectively connected to the lower left hook claw and the lower right hook claw, the lower hook claw motor is provided at one end of the synchronous belt clip slider, and the output shaft of the lower hook claw motor is connected to one end of the lower screw rod;

[0026] The thread axes of the two lower screw rods are colinear and the thread rotation directions of the two screw rods are opposite, which can simultaneously drive the lower left hook claw and the lower right hook claw to reciprocate to adapt to the variable diameter structure of the lightning rod;

[0027] The lower hook claw is composed of a lower gripper, a rubber pad arranged on the inner side of the lower gripper, a hook claw connector, a hook, and a hook rubber pad arranged on the inner side of the hook;

[0028] The hook and the lower gripper are fixedly connected via a hook-claw connecting piece, thereby increasing the contact area between the lower hook-claw mechanism and the lightning rod and improving the self-locking property.

[0029] Preferably, the angle between the hook and the lower gripper is 10° to 30°.

[0030] Preferably, the arc inner diameters of the lower left hook and the lower right hook are 315-325 mm, and the arc outer diameters of the lower left hook and the lower right hook are 355-365 mm.

[0031] Furthermore, a groove matching the size of the synchronous belt guide rail is provided on the synchronous belt clip slider, the synchronous belt clip slider is slidably connected to two synchronous belt guide rails, and the lower hook mechanism achieves climbing in cooperation with the climbing mechanism.

[0032] Furthermore, a backpack is provided on the back of the frame shell, which can be used to carry other flaw detection and rust removal mechanisms and power supplies, and increase the stability of the robot.

[0033] Furthermore, the guide rail gear motor and the rotating platform motor are small DC motors, the upper clamping claw motor and the lower hook claw motor are servo motors, and the synchronous belt motor is a stepping motor.

[0034] Furthermore, the arc diameter of the guide rail rack carrier is larger than the arc outer diameter of the upper left grip and the upper right grip and larger than the maximum diameter of the lightning rod, the arc outer diameter of the guide rail rack carrier is 365-375 mm, and the arc angle of the guide rail rack carrier is 180°-250°;

[0035] The arc inner diameter of the upper left grip and the upper right grip is larger than the maximum diameter of the lightning rod, the arc inner diameter of the upper left grip and the upper right grip is 255-265mm, the arc outer diameter of the upper left grip and the upper right grip is 295-305mm, and the diameter of the lightning rod is 30-250mm.

[0036] On the other hand, the present invention provides a motion control method for the lightning rod climbing robot as described above, the steps are as follows:

[0037] S1. In the initial position, the upper clamp fixing block is fixed to the top of the frame housing, and the synchronous belt clamp slider is arranged at the bottom of the frame housing, so that the lightning rod is located inside the rotating platform mechanism, the upper clamp mechanism and the lower hook mechanism, and the upper clamp motor drives the upper screw to rotate so that the upper left gripper and the upper right gripper clamp the lightning rod;

[0038] S2, the guide rail gear motor and the rotating platform motor drive the guide rail gear and the rotating platform gear to transmit simultaneously, and the rotating platform reverses after reaching the boundary of the rotating platform track to ensure that the rotating platform has the ability to rotate 360°;

[0039] S3, the synchronous belt motor drives the synchronous belt to rotate, so that the lower hook mechanism moves upward along the two synchronous belt guide rails;

[0040] S4, the lower hook motor drives the lower screw to rotate so that the lower left hook and the lower right hook clamp the lightning rod, and then the upper clamp motor drives the upper screw to reverse so that the upper left gripper and the upper right gripper are released;

[0041] S5, the synchronous belt motor drives the synchronous belt to reverse, so that the robot climbs up, and then the upper gripper motor drives the upper screw to rotate so that the upper left gripper and the upper right gripper clamp the lightning rod, and the lower hook motor drives the lower screw to reverse so that the lower left hook and the lower right hook are relaxed;

[0042] Repeat the above steps to enable the robot to climb upwards.

[0043] Furthermore, the upper clamping jaw mechanism and the lower hook claw mechanism are both provided with pressure sensors, and the upper clamping jaw and the lower hook claw clamp the lightning rod. When the pressure value detected by the pressure sensor reaches a preset value, the upper clamping jaw motor and the lower hook claw motor stop working.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] (1) The present invention provides a lightning rod climbing robot and a motion control method thereof. By combining the fixed connection and movable connection of the upper clamping claw mechanism and the lower hook claw mechanism, the robot can climb on the lightning rod. The lower hook claw mechanism is arranged at a certain tilt angle, which increases the contact area with the lightning rod and improves the self-locking property. The present invention can climb on a variable-diameter lightning rod, thereby performing maintenance operations on the lightning rod, avoiding the use of large lifting equipment, improving power supply reliability, and ensuring the reliability of the lightning rod in thunderstorms.

[0046] (2) The rotating platform mechanism in the present invention is a retractable mechanism, on top of which other working components, such as a camera and a rust remover nozzle, can be installed; at the same time, the rotating platform mechanism, the upper clamping claw mechanism and the lower hook claw mechanism are arranged coaxially and linearly, which is convenient for work and control. The rotating platform mechanism can realize all-round rotation, and the pole climbing process and the rotating platform can cooperate simultaneously without interfering with each other, thereby improving the working efficiency of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention installed on a lightning rod;

[0048] Figure 2 This is a schematic diagram of the upper structure of the rotating platform mechanism of Example 1 of the present invention;

[0049] Figure 3This is a schematic diagram of the lower structure of the rotating platform mechanism of Example 1 of the present invention;

[0050] Figure 4 This is a schematic structural diagram of the upper clamping mechanism of Example 1 of the present invention;

[0051] Figure 5 This is a schematic structural diagram of a climbing mechanism according to Embodiment 1 of the present invention;

[0052] Figure 6 This is a schematic structural diagram of the upper hook mechanism of Example 1 of the present invention;

[0053] Figure 7 This is a diagram of the S1 robot climbing along the lightning rod in Example 1 of the present invention;

[0054] Figure 8 This is a diagram of the S2 robot climbing along the lightning rod in Example 1 of the present invention;

[0055] Fig. 9 This is a diagram of the S3 robot climbing along the lightning rod in Example 1 of the present invention;

[0056] Fig.10 This is a diagram of the S4 robot climbing along the lightning rod in Example 1 of the present invention;

[0057] Fig.11 This is a diagram of the S5 robot climbing along the lightning rod in Example 1 of the present invention.

[0058] The names corresponding to the reference numerals in the accompanying drawings are: 1-rotating platform mechanism; 2-upper clamping mechanism; 3-climbing mechanism; 4-lower hook mechanism; 5-guide rack; 6-guide track; 7-guide gear; 8-guide roller; 9-rotating platform rack; 10-rotating platform track; 11-rotating platform gear; 12-rotating platform roller; 13-rotating platform; 14-guide gear motor; 15-rotating platform motor; 16-guide rack carrier; 17-upper left gripper; 18-upper right gripper; 19-upper gripper Hand rubber pad; 20-upper screw; 21-upper clamp fixing block; 22-upper clamp motor; 23-synchronous wheel; 24-synchronous wheel fixing rod; 25-synchronous belt; 26-synchronous belt tooth plate; 27-synchronous belt guide rail; 28-synchronous belt motor; 29-frame shell; 30-lower gripper; 31-lower gripper rubber pad; 32-hook claw connecting piece; 33-hook; 34-hook rubber pad; 35-lower left hook claw; 36-lower right hook claw; 37-lower screw rod; 38-synchronous belt clamp slider; 39-lower hook claw motor. DETAILED DESCRIPTION

[0059] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The following embodiments are implemented based on the above technical solution of the present invention, and provide detailed implementation methods and specific operation processes, but the protection scope of the present invention is not limited to the following embodiments.

[0060] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0061] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0062] Among them, the drawings are only used for illustrative purposes and represent only schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent: in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0063] In the following implementation modes or examples, unless otherwise specified, features such as structure / module name, control mode, algorithm, process or composition ratio are deemed to be common technical features disclosed in the prior art.

[0064] Example 1

[0065] See also Figure 1 , this embodiment provides a lightning rod climbing operation robot, the robot includes a frame shell 29, a rotating platform mechanism 1, an upper clamping claw mechanism 2, a climbing mechanism 3 and a lower hook mechanism 4;

[0066] The rotating platform mechanism 1 is a retractable arc structure, the upper clamping claw mechanism 2 and the lower hook mechanism 4 are clamping structures for realizing stable climbing and fixation of the robot on the lightning rod pole, and the climbing mechanism 3 is a transmission structure for assisting the lower hook mechanism 4 to move flexibly on the lightning rod pole;

[0067] The rotating platform mechanism 1, the upper clamping claw mechanism 2 and the lower hook claw mechanism 4 are arranged coaxially and linearly;

[0068] The upper clamping mechanism 2 is fixedly installed on the top of the frame shell 29, the rotating platform mechanism 1 is fixedly installed on the top of the upper clamping mechanism 2, the climbing mechanism 3 is fixedly installed inside the frame shell 29, and the lower hook mechanism 4 is arranged at the lower part of the rotating platform mechanism 1 and is slidably connected to the frame shell 29.

[0069] See also Figure 2-3 The rotating platform mechanism 1 includes a guide rail rack 5, a guide rail track 6, a guide rail gear 7, two guide rail rollers 8, a rotating platform rack 9, a rotating platform track 10, a rotating platform gear 11, two rotating platform rollers 12, a rotating platform 13, a guide rail gear motor 14, a rotating platform motor 15, and a guide rail rack carrier 16;

[0070] The guide rail track 6 can be slidably connected with the guide rail rack carrier 16, and a guide rail gear motor 14 is fixedly installed at the bottom of the guide rail rack carrier 16. The guide rail gear 7 is connected to the output shaft of the guide rail gear motor 14, and the guide rail gear 7 is meshed with the guide rail rack 5. The guide rail gear motor 14 drives the guide rail track 6 to perform telescopic movement along the guide rail rack carrier 16;

[0071] A rotating platform rack 9 is fixedly installed on the inner side of the rotating platform track 10, a plate-shaped rotating platform 13 is provided on the upper part of the rotating platform track 10, a rotating platform gear 11 is fixedly installed on the bottom of the rotating platform 13, a rotating platform motor 15 is installed on the upper part of the rotating platform 13, the rotating platform gear 11 is connected to the output shaft of the rotating platform motor 15, and the rotating platform motor 15 drives the rotating platform 13 to make a circular motion along the rotating platform track 10;

[0072] The rotating platform 13 is also provided with a camera and a rust remover nozzle, wherein the camera is used to identify rust and inspect and monitor the lightning rod, and the rust remover nozzle is used to remove rust and other dirt on the surface of the lightning rod;

[0073] The two guide rail rollers 8 are respectively fixedly mounted on the two ends of the guide rail rack carrier 16, and the two rotating platform rollers 12 are respectively fixedly mounted on the two adjacent corners of the bottom surface of the rotating platform 13, both of which play an auxiliary fixing role.

[0074] See also Figure 4 The upper clamp mechanism 2 includes an upper clamp fixing block 21, an upper left gripper 17, an upper right gripper 18, an upper gripper rubber pad 19 provided on the inner side of the two upper grippers, two upper screw rods 20 and an upper clamp motor 22;

[0075] The upper clamping jaw fixing block 21 is fixedly connected to the top of the frame housing 29, and an upper screw rod groove is provided between the two ends of the upper clamping jaw fixing block 21, and the upper screw rod groove is matched and fixed with two upper screw rods 20, and the two upper screw rods 20 are respectively connected to an upper left gripper 17 and an upper right gripper 18, and the upper clamping jaw motor 22 is provided at one end of the upper clamping jaw fixing block 21, and the output shaft of the upper clamping jaw motor 22 is connected to one end of the upper screw rod 20;

[0076] The thread axes of the two upper screw rods 20 are colinear and the thread rotation directions of the two screw rods are opposite, which can simultaneously drive the upper left gripper 17 and the upper right gripper 18 to reciprocate to adapt to the variable diameter structure of the lightning rod.

[0077] See also Figure 5 The climbing mechanism 3 includes two synchronous wheels 23, two synchronous wheel fixing rods 24, a synchronous belt 25, a synchronous belt toothed plate 26, two synchronous belt guide rails 27, and a synchronous belt motor 28;

[0078] Two synchronous belt guide rails 27 are arranged in parallel, and the two ends of the synchronous belt guide rails 27 are respectively fixed to the top and bottom of the frame housing 29;

[0079] The synchronous wheel fixing rod 24 is perpendicular to the synchronous belt guide rail 27, and the two synchronous wheel fixing rods 24 are fixed in parallel in the frame housing 29. The middle end of each synchronous wheel fixing rod 24 is axially connected to a synchronous wheel 23, and the synchronous belt 25 is slidably connected to the two synchronous wheels 23. The synchronous belt toothed plate 26 is fixedly installed on the inner side of the synchronous belt 25;

[0080] The output shaft of the synchronous belt motor 28 is connected to one end of the upper synchronous wheel fixing rod 24 .

[0081] See also Figure 6 The lower hook mechanism 4 includes a synchronous belt clip slider 38, a lower left hook 35, a lower right hook 36, two lower screw rods 37, and a lower hook motor 39;

[0082] A lower screw groove is provided between the two ends of the synchronous belt clip slider 38, and the lower screw groove is matched and fixed with two lower screws 37, and the two lower screws 37 are respectively connected to the lower left hook 35 and the lower right hook 36, and the lower hook motor 39 is provided at one end of the synchronous belt clip slider 38, and the output shaft of the lower hook motor 39 is connected to one end of the lower screw 37;

[0083] The thread axes of the two lower screw rods 37 are colinear and the thread rotation directions of the two screw rods are opposite, which can simultaneously drive the lower left hook 35 and the lower right hook 36 to reciprocate to adapt to the variable diameter structure of the lightning rod;

[0084] The lower hook is composed of a lower gripper 30, a lower gripper rubber pad 31 disposed inside the lower gripper 30, a hook connector 32, a hook 33, and a hook rubber pad 34 disposed inside the hook 33;

[0085] The hook 33 and the lower gripper 30 are fixedly connected via a hook-claw connector 32 , and the angle between the hook 33 and the lower gripper 30 is 15°.

[0086] In this embodiment, the arc inner diameters of the lower left hook 35 and the lower right hook 36 are 320 mm, and the arc outer diameters of the lower left hook 35 and the lower right hook 36 are 360 ​​mm.

[0087] See also Figure 5 and Figure 6 The synchronous belt clip slider 38 is provided with a groove matching the size of the synchronous belt guide rail 27 , and the synchronous belt clip slider 38 is slidably connected to the two synchronous belt guide rails 27 .

[0088] In this embodiment, the guide rail gear motor 14 and the rotating platform motor 15 are small DC motors, the upper clamping jaw motor 22 and the lower hook jaw motor 39 are servo motors, and the synchronous belt motor 28 is a stepping motor.

[0089] In this embodiment, the arc diameter of the guide rail rack carrier 16 is larger than the arc outer diameters of the upper left grip 17 and the upper right grip 18 and larger than the maximum diameter of the lightning rod, the arc outer diameter of the guide rail rack carrier 16 is 370 mm, and the arc angle of the guide rail rack carrier 16 is 210°;

[0090] The arc inner diameter of the upper left grip 17 and the upper right grip 18 is larger than the maximum diameter of the lightning rod, the arc inner diameter of the upper left grip 17 and the upper right grip 18 is 260mm, the arc outer diameter of the upper left grip 17 and the upper right grip 18 is 300mm, and the diameter of the lightning rod is 100mm and 150mm.

[0091] See also Figure 7-11 The motion control method of the lightning rod climbing robot in this embodiment comprises the following steps:

[0092] S1. In the initial position, the upper clamp fixing block 21 is fixed to the top of the frame housing 29, and the synchronous belt clamp slider 38 is arranged at the bottom of the frame housing 29, so that the lightning rod is located inside the rotating platform mechanism 1, the upper clamp mechanism 2 and the lower hook mechanism 4, and the upper clamp motor 22 drives the upper screw rod 20 to rotate so that the upper left gripper 17 and the upper right gripper 18 clamp the lightning rod;

[0093] S2, the guide rail gear motor 14 and the rotating platform motor 15 drive the guide rail gear 7 and the rotating platform gear 11 to transmit simultaneously, and the rotating platform 13 reverses after reaching the boundary of the rotating platform track 10 to ensure that the rotating platform 13 has the ability to rotate 360°;

[0094] S3, the synchronous belt motor 28 drives the synchronous belt 25 to rotate, so that the lower hook mechanism 4 moves upward along the two synchronous belt guide rails 27;

[0095] S4, the lower hook motor 39 drives the lower screw rod 37 to rotate so that the lower left hook 35 and the lower right hook 36 clamp the lightning rod, and then the upper clamp motor 22 drives the upper screw rod 20 to reverse so that the upper left gripper 17 and the upper right gripper 18 are released;

[0096] S5, the synchronous belt motor 28 drives the synchronous belt 25 to reverse, so that the robot climbs up, and then the upper clamping claw motor 22 drives the upper screw rod 20 to rotate so that the upper left gripper 17 and the upper right gripper 18 clamp the lightning rod, and the lower hook claw motor 39 drives the lower screw rod 37 to reverse so that the lower left hook claw 35 and the lower right hook claw 36 are relaxed;

[0097] Repeat the above steps to enable the robot to climb upwards.

[0098] In this embodiment, pressure sensors are provided on the upper clamping jaw mechanism 2 and the lower hook claw mechanism 4. The upper clamping jaw and the lower hook claw clamp the lightning rod. When the pressure value detected by the pressure sensor reaches a preset value, the upper clamping jaw motor 22 and the lower hook claw motor 39 stop working.

[0099] The above description of the embodiments is to facilitate the understanding and use of the present invention by those skilled in the art. It is obvious that those skilled in the art can easily make various modifications to these embodiments and apply the general principles described herein to other embodiments without creative work. Therefore, the present invention is not limited to the above embodiments, and improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the present invention should be within the protection scope of the present invention.

Claims

1. A lightning rod climbing robot, characterized in that: The robot comprises a frame shell (29), a rotating platform mechanism (1), an upper clamping claw mechanism (2), a climbing mechanism (3) and a lower hook claw mechanism (4); The rotating platform mechanism (1) is a retractable arc-shaped structure, the upper clamping claw mechanism (2) and the lower hook claw mechanism (4) are clamping structures for realizing stable climbing and fixation of the robot on the lightning rod pole, and the climbing mechanism (3) is a transmission structure for assisting the lower hook claw mechanism (4) to flexibly move on the lightning rod pole; The rotating platform mechanism (1), the upper clamping claw mechanism (2) and the lower hook claw mechanism (4) are arranged coaxially and linearly; The upper clamping jaw mechanism (2) is fixedly mounted on the top of the frame shell (29), the rotating platform mechanism (1) is fixedly mounted on the top of the upper clamping jaw mechanism (2), the climbing mechanism (3) is fixedly mounted inside the frame shell (29), and the lower hook mechanism (4) is arranged at the lower part of the rotating platform mechanism (1) and is slidably connected to the frame shell (29).

2. A lightning rod climbing robot according to claim 1, characterized in that: The rotating platform mechanism (1) comprises a guide rail rack (5), a guide rail track (6), a guide rail gear (7), two guide rail rollers (8), a rotating platform rack (9), a rotating platform track (10), a rotating platform gear (11), two rotating platform rollers (12), a rotating platform (13), a guide rail gear motor (14), a rotating platform motor (15), and a guide rail rack carrier (16); The guide rail track (6) can slide and displace with the guide rail rack carrier (16); a guide rail gear motor (14) is fixedly installed at the bottom of the guide rail rack carrier (16); the guide rail gear (7) is connected to the output shaft of the guide rail gear motor (14); the guide rail gear (7) is meshed with the guide rail rack (5); and the guide rail gear motor (14) drives the guide rail track (6) to perform telescopic movement along the guide rail rack carrier (16); A rotating platform rack (9) is fixedly installed on the inner side of the rotating platform track (10); a plate-shaped rotating platform (13) is provided on the upper part of the rotating platform track (10); a rotating platform gear (11) is fixedly installed on the bottom of the rotating platform (13); a rotating platform motor (15) is installed on the upper part of the rotating platform (13); the rotating platform gear (11) is connected to the output shaft of the rotating platform motor (15); and the rotating platform motor (15) drives the rotating platform (13) to perform circular motion along the rotating platform track (10); The rotating platform (13) is also provided with a camera and a rust remover nozzle, wherein the camera is used to identify rust and inspect and monitor the lightning rod, and the rust remover nozzle is used to remove rust and other dirt on the surface of the lightning rod; The two guide rail rollers (8) are respectively fixedly mounted on the two ends of the guide rail rack carrier (16), and the two rotating platform rollers (12) are respectively fixedly mounted on two adjacent corners of the bottom surface of the rotating platform (13), both of which play an auxiliary fixing role.

3. A lightning rod climbing robot according to claim 2, characterized in that: The upper clamping jaw mechanism (2) comprises an upper clamping jaw fixing block (21), an upper left gripper (17), an upper right gripper (18), an upper gripper rubber pad (19) arranged on the inner sides of the two upper grippers, two upper screw rods (20) and an upper clamping jaw motor (22); The upper clamping jaw fixing block (21) is fixedly connected to the top of the frame shell (29), an upper screw rod groove is provided between the two ends of the upper clamping jaw fixing block (21), the upper screw rod groove is matched and fixed with two upper screw rods (20), and the two upper screw rods (20) are respectively connected to an upper left gripper (17) and an upper right gripper (18), the upper clamping jaw motor (22) is provided at one end of the upper clamping jaw fixing block (21), and the output shaft of the upper clamping jaw motor (22) is connected to one end of the upper screw rod (20); The thread axes of the two upper screw rods (20) are colinear and the thread rotation directions of the two screw rods are opposite, and the upper left gripper (17) and the upper right gripper (18) can be driven to reciprocate at the same time to adapt to the variable diameter structure of the lightning rod.

4. A lightning rod climbing robot according to claim 2, characterized in that: The climbing mechanism (3) comprises two synchronous wheels (23), two synchronous wheel fixing rods (24), a synchronous belt (25), a synchronous belt toothed plate (26), two synchronous belt guide rails (27), and a synchronous belt motor (28); Two synchronous belt guide rails (27) are arranged in parallel, and two ends of the synchronous belt guide rails (27) are respectively fixed to the top and bottom of the frame shell (29); The synchronous wheel fixing rod (24) is perpendicular to the synchronous belt guide rail (27), the two synchronous wheel fixing rods (24) are fixed in parallel in the frame housing (29), the middle end of each synchronous wheel fixing rod (24) is axially connected to a synchronous wheel (23), the synchronous belt (25) is slidably connected to the two synchronous wheels (23), and the synchronous belt toothed plate (26) is fixedly installed on the inner side of the synchronous belt (25); The output shaft of the synchronous belt motor (28) is connected to one end of the upper synchronous wheel fixing rod (24).

5. The lightning rod climbing robot according to claim 2, characterized in that: The lower hook mechanism (4) comprises a synchronous belt clip slider (38), a lower left hook (35), a lower right hook (36), two lower screw rods (37), and a lower hook motor (39); A lower screw rod groove is provided between the two ends of the synchronous belt clip slider (38), and the lower screw rod groove is matched and fixed with two lower screw rods (37). The two lower screw rods (37) are respectively connected to the lower left hook claw (35) and the lower right hook claw (36). The lower hook claw motor (39) is provided at one end of the synchronous belt clip slider (38), and the output shaft of the lower hook claw motor (39) is connected to one end of the lower screw rod (37); The thread axes of the two lower screw rods (37) are colinear and the thread rotation directions of the two screw rods are opposite, so that the lower left hook claw (35) and the lower right hook claw (36) can be driven to reciprocate at the same time to adapt to the variable diameter structure of the lightning rod; The lower hook claw is composed of a lower gripper (30), a lower gripper rubber pad (31) arranged inside the lower gripper (30), a hook claw connecting piece (32), a hook (33), and a hook rubber pad (34) arranged inside the hook (33); The hook (33) and the lower gripper (30) are fixedly connected via a hook-claw connector (32).

6. A lightning rod climbing robot according to claim 4 or 5, characterized in that: The synchronous belt clamp slider (38) is provided with a groove matching the size of the synchronous belt guide rail (27), the synchronous belt clamp slider (38) is slidably connected to the two synchronous belt guide rails (27), and the lower hook mechanism (4) achieves climbing in coordination with the climbing mechanism (3).

7. A lightning rod climbing robot according to any one of claim 5, characterized in that: The guide rail gear motor (14) and the rotating platform motor (15) are small DC motors, the upper clamping claw motor (22) and the lower hook claw motor (39) are servo motors, and the synchronous belt motor (28) is a stepping motor.

8. The lightning rod climbing robot according to claim 3, characterized in that: The arc diameter of the guide rail rack carrier (16) is greater than the arc outer diameters of the upper left grip (17) and the upper right grip (18) and greater than the maximum diameter of the lightning rod, the arc outer diameter of the guide rail rack carrier (16) is 365-375 mm, and the arc angle of the guide rail rack carrier (16) is 180°-250°; The arc inner diameter of the upper left grip (17) and the upper right grip (18) is greater than the maximum diameter of the lightning rod, the arc inner diameter of the upper left grip (17) and the upper right grip (18) is 255-265 mm, the arc outer diameter of the upper left grip (17) and the upper right grip (18) is 295-305 mm, and the diameter of the lightning rod is 30-250 mm.

9. A motion control method for a lightning rod climbing robot as claimed in any one of claims 1 to 8, characterized in that: Here are the steps: S1, in the initial position, the upper clamp fixing block (21) is fixed to the top of the frame housing (29), and the synchronous belt clamp slider (38) is arranged at the bottom of the frame housing (29), so that the lightning rod is located inside the rotating platform mechanism (1), the upper clamp mechanism (2) and the lower hook mechanism (4), and the upper clamp motor (22) drives the upper screw rod (20) to rotate so that the upper left gripper (17) and the upper right gripper (18) clamp the lightning rod; S2, the guide rail gear motor (14) and the rotating platform motor (15) drive the guide rail gear (7) and the rotating platform gear (11) to transmit simultaneously, and the rotating platform (13) reverses after reaching the boundary of the rotating platform track (10) to ensure that the rotating platform (13) has the ability to rotate 360°; S3, the synchronous belt motor (28) drives the synchronous belt (25) to rotate, so that the lower hook mechanism (4) moves upward along the two synchronous belt guide rails (27); S4, the lower hook motor (39) drives the lower screw rod (37) to rotate so that the lower left hook (35) and the lower right hook (36) clamp the lightning rod, and then the upper clamp motor (22) drives the upper screw rod (20) to reverse so that the upper left gripper (17) and the upper right gripper (18) are released; S5, the synchronous belt motor (28) drives the synchronous belt (25) to reverse, so that the robot climbs upward, and then the upper clamping claw motor (22) drives the upper screw rod (20) to rotate so that the upper left gripper (17) and the upper right gripper (18) clamp the lightning rod, and the lower hook claw motor (39) drives the lower screw rod (37) to reverse so that the lower left hook claw (35) and the lower right hook claw (36) are released; Repeat the above steps to enable the robot to climb upwards.

10. The motion control method of a lightning rod climbing robot according to claim 9, characterized in that: The upper clamping jaw mechanism (2) and the lower hooking jaw mechanism (4) are both provided with pressure sensors. The upper clamping jaw and the lower hooking jaw clamp the lightning rod. When the pressure value detected by the pressure sensor reaches a preset value, the upper clamping jaw motor (22) and the lower hooking jaw motor (39) stop operating.

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