Light emitting diode (LED) light source

Abstract

The application relates to a lightning rod climbing 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 hook jaw mechanism. The rotating platform mechanism is a telescopic arc structure, the upper clamping jaw mechanism and the lower hook jaw mechanism are clamping structures, and the climbing mechanism is a transmission structure. The rotating platform mechanism, the upper clamping jaw mechanism and the lower hook jaw mechanism are coaxially arranged linearly. The robot can complete the climbing of a variable-diameter lightning rod. Compared with the prior art, the fixed connection and the movable connection of the upper clamping jaw mechanism and the lower hook jaw mechanism are combined, so that the problem that the variable-diameter lightning rod is thin and long and is difficult to climb for maintenance is solved. The rotating platform mechanism can rotate in all directions, so that the climbing process and the rotating platform can cooperate simultaneously without interfering with each other, and the working efficiency of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automated climbing machinery, in particular to a lightning rod climbing robot and a movement control method thereof. BACKGROUND

[0002] In the power system, the lightning rod is an important device for protecting the substation from direct lightning strikes, especially for the substation of 220kV and above voltage level. The round steel lightning rod is a common protective measure. The round steel lightning rod is widely used due to its simple structure and low cost. However, due to the high distance from the ground, small pipe diameter and long length of the round steel lightning rod, it brings great difficulty to the maintenance and repair of the staff.

[0003] The current auxiliary method is mainly to use an insulated boom truck to lift the staff to a high altitude for operation, but this method has high cost and is limited by the space structure of the substation. In most cases, it is difficult to implement and has a high operation safety risk. In addition, the feasibility and safety of the manual detection method under extreme weather conditions are also limited.

[0004] In order to solve these problems, researchers at home and abroad have begun to explore the use of robot technology for lightning rod detection and maintenance. Chinese patent CN115180038A discloses a way of climbing a lightning rod with a robot, including an upper driving module, a lower driving module and a connecting arm. The upper driving module is provided with a first climbing assembly and a steering assembly, and the lower driving module is provided with a second climbing assembly. The first climbing assembly and the second climbing assembly each include a first clamp and a first clamping motor, and the end of the first clamp is provided with a longitudinal wheel set. The steering assembly includes a second clamp and a second clamping motor, and the end of the second clamp is provided with a transverse wheel set. The robot provided by the invention can climb in a narrow space of a substation, meet the climbing of the lightning rod in a non-power-off or power-off state, and perform maintenance work on the lightning rod. However, the robot is not suitable for variable-diameter lightning rods, and does not provide a platform mechanism that can rotate in all directions, which cannot meet the requirement of complete detection of the lightning rod.

[0005] Therefore, it is urgent to develop a lightning rod climbing robot that can adapt to variable-diameter and circumferential detection. SUMMARY

[0006] The purpose of the present application is to overcome the defects of the prior art and provide a lightning rod climbing robot and a movement control method thereof to solve the problem of climbing and repairing thin and long variable-diameter lightning rods.

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

[0008] In one aspect, the present application provides a lightning rod climbing robot, which comprises a frame shell, a rotating platform mechanism, an upper clamping jaw mechanism, a climbing mechanism and a lower hook jaw mechanism;

[0009] The rotating platform mechanism is a telescopic arc structure, the upper clamping jaw mechanism and the lower hook jaw mechanism are clamping structures for realizing stable climbing and fixing of the robot on the lightning rod, and the climbing mechanism is a transmission structure for assisting flexible movement of the lower hook jaw mechanism on the lightning rod;

[0010] The rotating platform mechanism, the upper clamping jaw mechanism and the lower hook jaw mechanism are coaxially arranged in a linear manner;

[0011] The upper clamping jaw mechanism is fixedly installed at the top of the frame shell, the rotating platform mechanism is fixedly installed at the top of the upper clamping jaw mechanism, the climbing mechanism is fixedly installed inside the frame shell, and the lower hook jaw mechanism is arranged at the lower part of the rotating platform mechanism and is in sliding connection with the frame shell.

[0012] Further, the rotating platform mechanism comprises 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 is capable of sliding displacement with the guide rail rack carrier, the bottom of the guide rail rack carrier is fixedly installed with the guide rail gear motor, the guide rail gear is connected with the output shaft of the guide rail gear motor, the guide rail gear is engaged 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] The inner side of the rotating platform track is fixedly installed with the rotating platform rack, the upper part of the rotating platform track is provided with a plate-shaped rotating platform, the bottom of the rotating platform is fixedly installed with the rotating platform gear, the upper part of the rotating platform is installed with the rotating platform motor, the rotating platform gear is connected with the output shaft of the rotating platform motor, and the rotating platform motor drives the rotating platform to perform circumferential movement along the rotating platform track;

[0015] The rotating platform is further provided with a camera and a rust remover spray head, the camera is used for identifying rust and monitoring the lightning rod, and the rust remover spray head is used for removing rust and other dirt on the surface of the lightning rod;

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

[0017] Further, the upper clamping jaw mechanism comprises an upper clamping jaw fixing block, an upper left gripper, an upper right gripper, rubber pads arranged on the inner sides of the two upper grippers, two upper lead screws, and an upper clamping jaw motor;

[0018] The upper clamping jaw fixing block is fixedly connected to the top of the frame shell, upper lead screw grooves are arranged between the two ends of the upper clamping jaw fixing block, the upper lead screw grooves are fixedly matched with the two upper lead screws, the two upper lead screws 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 lead screw.

[0019] The threaded axes of the two upper lead screws are collinear, and the thread directions of the two upper lead screws are opposite, so that the upper left gripper and the upper right gripper can be simultaneously driven to reciprocate to adapt to the variable-diameter structure of the lightning rod.

[0020] Further, the climbing mechanism comprises two synchronous pulleys, two synchronous pulley fixing rods, a synchronous belt, a synchronous belt toothed plate, two synchronous belt guide rails, and a synchronous belt motor.

[0021] The two synchronous belt guide rails are arranged in parallel, and the two ends of the synchronous belt guide rails are fixedly connected to the top and the bottom of the frame shell.

[0022] The synchronous pulley fixing rods are perpendicular to the synchronous belt guide rails, and the two synchronous pulley fixing rods are fixedly arranged in parallel in the frame shell, the middle ends of the two synchronous pulley fixing rods are axially connected to the two synchronous pulleys, the synchronous belt is slidably connected to the two synchronous pulleys, and the synchronous belt toothed plate is fixedly arranged 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 pulley fixing rod.

[0024] Further, the lower hook mechanism comprises a synchronous belt clamp slider, a lower left hook, a lower right hook, two lower lead screws, and a lower hook motor.

[0025] The synchronous belt clamp slider is provided with lower lead screw grooves between the two ends, the lower lead screw grooves are fixedly matched with the two lower lead screws, the two lower lead screws are respectively connected to the lower left hook and the lower right hook, the lower hook motor is arranged at one end of the synchronous belt clamp slider, and the output shaft of the lower hook motor is connected to one end of the lower lead screw.

[0026] The threaded axes of the two lower lead screws are collinear, and the thread directions of the two lower lead screws are opposite, so that the lower left hook and the lower right hook can be simultaneously driven to reciprocate to adapt to the variable-diameter structure of the lightning rod.

[0027] The lower hook comprises a lower gripper, rubber pads arranged on the inner sides of the lower gripper, a hook connecting piece, a hook, and hook rubber pads arranged on the inner side of the hook.

[0028] The hook and the lower claw are fixedly connected through the hook claw connector, the contact area of the lower hook claw mechanism and the lightning rod is increased, and self-locking is increased.

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

[0030] Preferably, the arc-shaped inner diameter of the lower left hook claw and the lower right hook claw is 315-325 mm, and the arc-shaped outer diameter of the lower left hook claw and the lower right hook claw is 355-365 mm.

[0031] Further, the synchronous belt clamp slider is provided with a groove matched with the size of the synchronous belt guide rail, the synchronous belt clamp slider is slidably connected with the two synchronous belt guide rails, and the lower hook claw mechanism realizes climbing under the cooperation of the climbing mechanism.

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

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

[0034] Further, the arc-shaped diameter of the guide rail rack carrier is greater than the arc-shaped outer diameter of the upper left claw and the upper right claw and greater than the maximum diameter of the lightning rod, the arc-shaped outer diameter of the guide rail rack carrier is 365-375 mm, and the arc-shaped angle of the guide rail rack carrier is 180°-250°.

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

[0036] On the other hand, the application provides a motion control method of the lightning rod pole climbing robot, and the steps are as follows:

[0037] S1, in the initial position, the upper clamp jaw fixing block is fixed to the top of the frame shell, the synchronous belt clamp slider is arranged at the bottom of the frame shell, the lightning rod is arranged in the interior of the rotating platform mechanism, the upper clamp jaw mechanism and the lower hook claw mechanism, and the upper clamp jaw motor drives the upper lead screw to rotate, so that the upper left claw and the upper right claw 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 simultaneously transmit, the rotating platform reverses after reaching the boundary of the rotating platform track, so as 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 claw mechanism moves upward along the two synchronous belt guide rails;

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

[0041] S5, the synchronous belt motor drives the synchronous belt to reverse, so that the robot climbs upward, and then the upper claw motor drives the upper lead screw to rotate so that the upper left claw and the upper right claw clamp the lightning rod, and the lower claw motor drives the lower lead screw to reverse so that the lower left claw and the lower right claw are loosened;

[0042] The above steps are repeated to realize the climbing operation of the robot upward.

[0043] Further, the upper claw mechanism and the lower claw mechanism are each provided with a pressure sensor, the upper claw and the lower claw clamp the lightning rod, and when the pressure value detected by the pressure sensor reaches a preset value, the upper claw motor and the lower claw motor stop operation.

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

[0045] (1) The present application provides a lightning rod climbing robot and a movement control method thereof, which realizes the climbing of the robot on the lightning rod by combining the fixed connection and the movable connection of the upper claw mechanism and the lower claw mechanism. The lower claw mechanism is arranged at a certain inclination angle, which increases the contact area with the lightning rod and increases the self-locking property. The present application can climb on the variable-diameter lightning rod, thereby performing maintenance operation on the lightning rod, avoiding the use of large lifting equipment, improving the power supply reliability, and ensuring the reliability of the lightning rod in rainy weather.

[0046] (2) The rotating platform mechanism in the present application is a telescopic mechanism, and other working components such as a camera and a rust remover spray head can be installed above it. At the same time, the rotating platform mechanism, the upper claw mechanism and the lower claw mechanism are coaxially arranged linearly, which is convenient for work and control. The rotating platform mechanism can realize omnidirectional rotation, and the climbing process and the rotating platform can cooperate with each other without interfering with each other, thereby improving the operation efficiency of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 The structure diagram of the lightning rod on which the embodiment 1 of the present application is installed;

[0048] Figure 2 The upper structure diagram of the rotating platform mechanism of the embodiment 1 of the present application;

[0049] Figure 3Fig. 1 is a schematic view of the lower structure of the rotating platform mechanism of the embodiment 1 of the present application;

[0050] Figure 4 Fig. 2 is a schematic view of the structure of the upper clamping jaw mechanism of the embodiment 1 of the present application;

[0051] Figure 5 Fig. 3 is a schematic view of the structure of the climbing mechanism of the embodiment 1 of the present application;

[0052] Figure 6 Fig. 4 is a schematic view of the structure of the upper hook jaw mechanism of the embodiment 1 of the present application;

[0053] Figure 7 Fig. 5 is a diagram of the operation of the S1 robot along the lightning rod of the embodiment 1 of the present application;

[0054] Figure 8 Fig. 6 is a diagram of the operation of the S2 robot along the lightning rod of the embodiment 1 of the present application;

[0055] Figure 9 Fig. 7 is a diagram of the operation of the S3 robot along the lightning rod of the embodiment 1 of the present application;

[0056] Figure 10 Fig. 8 is a diagram of the operation of the S4 robot along the lightning rod of the embodiment 1 of the present application;

[0057] Figure 11 Fig. 9 is a diagram of the operation of the S5 robot along the lightning rod of the embodiment 1 of the present application.

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

[0059] The application will be described in detail below with reference to the drawings and specific embodiments. The following embodiments are implemented on the basis of the technical solutions of the application described above, and detailed implementation modes and specific operation processes are given, but the protection scope of the application is not limited to the following embodiments.

[0060] In the description of the application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, front, back, left, right and the like, is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0061] In the description of the application, unless otherwise explicitly limited, the words such as arrangement, installation, connection and the like should be understood broadly, and those skilled in the art can reasonably determine the specific meaning of the above words in the application in combination with the specific content of the technical solutions.

[0062] Among them, the drawings are only used for illustrative explanation, and the representation is only a schematic diagram, not a physical diagram, and cannot be understood as a limitation on the patent: in order to better illustrate the embodiments of the application, some components in the drawings will 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 known structures and their descriptions in the drawings can be omitted.

[0063] In the following embodiments or examples, the structure / module name, control mode, algorithm, process or composition ratio and other features not specifically described are regarded as common technical features disclosed in the prior art.

[0064] Embodiment 1

[0065] Referring to Figure 1 , the embodiment provides a lightning rod climbing robot, which comprises a frame shell 29, a rotating platform mechanism 1, an upper clamping jaw mechanism 2, a climbing mechanism 3 and a lower hook jaw mechanism 4.

[0066] The rotating platform mechanism 1 is a telescopic arc structure, the upper clamping jaw mechanism 2 and the lower hook jaw mechanism 4 are clamping structures for realizing stable climbing and fixing of the robot on the lightning rod, and the climbing mechanism 3 is a transmission structure for assisting the flexible movement of the lower hook jaw mechanism 4 on the lightning rod.

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

[0068] The upper clamping jaw 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 jaw mechanism 2, the climbing mechanism 3 is fixedly installed inside the frame shell 29, and the lower hook jaw mechanism 4 is arranged at the lower part of the rotating platform mechanism 1 and is in sliding connection with the frame shell 29.

[0069] Referring to Figures 2-3 , 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;

[0070] The guide rail track 6 is in sliding connection with the guide rail rack carrier 16, the guide rail rack carrier 16 is fixedly installed on the bottom of the guide rail track 6, the guide rail gear 7 is connected with the output shaft of the guide rail gear motor 14, the guide rail gear 7 is in mesh with the guide rail rack 5, and the guide rail gear motor 14 drives the guide rail track 6 to do the extension and retraction movement along the guide rail rack carrier 16;

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

[0072] The rotating platform 13 is further provided with a camera and a rust remover spray head, the camera is used for identifying rust and monitoring lightning rods, and the rust remover spray head is used for removing rust and other dirt on the surface of the lightning rod;

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

[0074] Referring to Figure 4 , the upper clamping jaw mechanism 2 comprises an upper clamping jaw fixed block 21, an upper left gripper 17, an upper right gripper 18, an upper gripper rubber pad 19 arranged on the inner side of the two upper grippers, two upper lead screws 20, and an upper clamping jaw motor 22;

[0075] The upper clamping jaw fixed block 21 is fixedly connected with the top of the frame shell 29, an upper lead screw groove is arranged between the two ends of the upper clamping jaw fixed block 21, the upper lead screw groove is fixedly matched with two upper lead screws 20, the two upper lead screws 20 are respectively connected with an upper left gripper 17 and an upper right gripper 18, and an upper clamping jaw motor 22 is arranged at one end of the upper clamping jaw fixed block 21.

[0076] The threaded axes of the two upper lead screws 20 are collinear, and the thread rotation directions of the two upper lead screws 20 are opposite, so that the upper left gripper 17 and the upper right gripper 18 can be simultaneously driven to reciprocate to adapt to the variable-diameter structure of the lightning rod.

[0077] Referring to Figure 5 , the climbing mechanism 3 comprises two synchronous wheels 23, two synchronous wheel fixed 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] The two synchronous belt guide rails 27 are arranged in parallel, and the two ends of the synchronous belt guide rail 27 are fixed to the top and the bottom of the frame shell 29 respectively.

[0079] The synchronous wheel fixed rod 24 is perpendicular to the synchronous belt guide rail 27, and the two synchronous wheel fixed rods 24 are fixed in parallel in the frame shell 29, and the middle end of each synchronous wheel fixed rod 24 is axially connected with a synchronous wheel 23, the synchronous belt 25 is slidably connected with the two synchronous wheels 23, and 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 with one end of the upper synchronous wheel fixed rod 24.

[0081] Referring to Figure 6 , the lower hook mechanism 4 comprises a synchronous belt clip sliding block 38, a lower left hook 35, a lower right hook 36, two lower lead screws 37 and a lower hook motor 39.

[0082] The lower lead screw groove is arranged between the two ends of the synchronous belt clip sliding block 38, the lower lead screw groove is fixedly matched with two lower lead screws 37, the two lower lead screws 37 are respectively connected with the lower left hook 35 and the lower right hook 36, and the lower hook motor 39 is arranged at one end of the synchronous belt clip sliding block 38.

[0083] The threaded axes of the two lower lead screws 37 are collinear, and the thread rotation directions of the two lower lead screws 37 are opposite, so that the lower left hook 35 and the lower right hook 36 can be simultaneously driven to reciprocate to adapt to the variable-diameter structure of the lightning rod.

[0084] The lower hook claw is composed of a lower claw 30, a lower claw rubber pad 31 arranged on the inner side of the lower claw 30, a hook claw connecting piece 32, a hook 33, and a hook rubber pad 34 arranged on the inner side of the hook 33.

[0085] The hook 33 and the lower claw 30 are fixedly connected through the hook claw connecting piece 32, and the angle between the hook 33 and the lower claw 30 is 15°.

[0086] In the embodiment, the arc-shaped inner diameter of the lower left hook claw 35 and the lower right hook claw 36 is 320 mm, and the arc-shaped outer diameter of the lower left hook claw 35 and the lower right hook claw 36 is 360 mm.

[0087] Referring to Figure 5 and Figure 6 , the synchronous belt clamp slider 38 is provided with a groove matched in size with the synchronous belt guide rail 27, and the synchronous belt clamp slider 38 is in sliding connection with the two synchronous belt guide rails 27.

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

[0089] In the embodiment, the arc-shaped diameter of the guide rail rack carrier 16 is greater than the arc-shaped outer diameter of the upper left claw 17 and the upper right claw 18 and greater than the maximum diameter of the lightning rod, the arc-shaped diameter of the guide rail rack carrier 16 is 370 mm, and the arc-shaped angle of the guide rail rack carrier 16 is 210°.

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

[0091] Referring to Figures 7-11 , the motion control method of the lightning rod pole climbing operation robot in the embodiment is as follows:

[0092] S1, in the initial position, the upper clamp claw fixed block 21 is fixed to the top of the frame shell 29, the synchronous belt clamp slider 38 is arranged at the bottom of the frame shell 29, the lightning rod is arranged in the interior of the rotating platform mechanism 1, the upper clamp claw mechanism 2, and the lower hook claw mechanism 4, and the upper clamp claw motor 22 drives the upper lead screw 20 to rotate to clamp the lightning rod by the upper left claw 17 and the upper right claw 18.

[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 simultaneously, and the rotating platform 13 is reversed after reaching the boundary of the rotating platform track 10 to ensure 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 lead screw 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 lead screw 20 to reverse so that the upper left gripper 17 and the upper right gripper 18 are loosened;

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

[0097] Repeat the above steps to achieve the robot climbing operation.

[0098] In the embodiment, the upper clamp mechanism 2 and the lower hook mechanism 4 are each provided with a pressure sensor, and the upper clamp and the lower hook clamp the lightning rod, and when the pressure value detected by the pressure sensor reaches a preset value, the upper clamp motor 22 and the lower hook motor 39 stop working.

[0099] The above description of the embodiments is for the convenience of those skilled in the art to understand and use the present application. Those skilled in the art can easily make various modifications to these embodiments, and apply the general principles described herein to other embodiments without having to go through creative labor. Therefore, the present application is not limited to the above embodiments, and those skilled in the art can make improvements and modifications to the present application without departing from the scope of the present application.

Claims

1. A lightning rod climbing robot, characterized in that, The robot includes a frame shell (29), a rotating platform mechanism (1), an upper gripper mechanism (2), a climbing mechanism (3), and a lower hook mechanism (4); The rotating platform mechanism (1) is a retractable arc structure. The upper gripper mechanism (2) and the lower hook mechanism (4) are clamping structures used to enable the robot to climb and fix stably on the lightning rod. The climbing mechanism (3) is a transmission structure used to assist the lower hook mechanism (4) in moving flexibly on the lightning rod. The rotating platform mechanism (1), the upper gripper mechanism (2), and the lower hook mechanism (4) are arranged in a coaxial linear configuration. The upper gripper 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 gripper mechanism (2), the climbing mechanism (3) is fixedly installed inside the frame shell (29), and the lower hook mechanism (4) is located at the lower part of the rotating platform mechanism (1) and is slidably connected to the frame shell (29). The lower hook mechanism (4) includes a timing belt clip slider (38), a lower left hook (35), a lower right hook (36), two lower lead screws (37), and a lower hook motor (39); The timing belt clip slider (38) has a lower lead screw groove through its two ends. The lower lead screw groove is matched and fixed with two lower lead screws (37). The two lower lead screws (37) are respectively connected to the lower left hook (35) and the lower right hook (36). The lower hook motor (39) is located at one end of the timing belt clip slider (38). The output shaft of the lower hook motor (39) is connected to one end of the lower lead screw (37). The two lower screws (37) have collinear thread axes and opposite thread directions, which can simultaneously drive the lower left hook (35) and lower right hook (36) to reciprocate to adapt to the variable diameter structure of the lightning rod. The lower left hook (35) and lower right hook (36) are both composed of a lower gripper (30), a lower gripper rubber pad (31) located inside the lower gripper (30), a hook connector (32), a hook (33), and a hook rubber pad (34) located inside the hook (33); The hook (33) and the lower gripper (30) are fixedly connected by a hook-and-pawl connector (32).

2. The lightning rod climbing robot according to claim 1, characterized in that, 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); The guide rail (6) can slide and move 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) meshes with the guide rail rack (5). The guide rail gear motor (14) drives the guide rail (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). The rotating platform motor (15) drives the rotating platform (13) to make circular motion along the rotating platform track (10). The rotating platform (13) is also equipped with a camera and a rust remover nozzle. The camera is used to identify rust and monitor the lightning rod during maintenance. The rust remover nozzle is used to remove rust and other dirt from the surface of the lightning rod. Two guide rail rollers (8) are fixedly installed at both ends of the guide rail rack carrier (16), and two rotating platform rollers (12) are fixedly installed at two adjacent corners of the bottom surface of the rotating platform (13), both serving as auxiliary fixing functions.

3. The lightning rod climbing robot according to claim 2, characterized in that, The upper gripper mechanism (2) includes an upper gripper fixing block (21), an upper left gripper (17), an upper right gripper (18), upper gripper rubber pads (19) located on the inner sides of the two upper grippers, two upper lead screws (20) and an upper gripper motor (22); The upper gripper fixing block (21) is fixedly connected to the top of the frame shell (29). An upper screw groove is provided through the two ends of the upper gripper fixing block (21). The upper screw groove is matched and fixed with two upper screws (20). The two upper screws (20) are respectively connected to an upper left gripper (17) and an upper right gripper (18). The upper gripper motor (22) is located at one end of the upper gripper fixing block (21). The output shaft of the upper gripper motor (22) is connected to one end of the upper screw (20). The two upper screws (20) have collinear thread axes and opposite thread directions, which can simultaneously drive the upper left gripper (17) and upper right gripper (18) to reciprocate to adapt to the variable diameter structure of the lightning rod.

4. The lightning rod climbing robot according to claim 3, characterized in that, The climbing mechanism (3) includes two synchronous pulleys (23), two synchronous pulley 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 the two ends of the synchronous belt guide rails (27) are respectively fixed to the top and bottom of the frame shell (29); The synchronous pulley fixing rod (24) is perpendicular to the synchronous belt guide rail (27). The two synchronous pulley fixing rods (24) are fixed in parallel inside the frame shell (29). The middle end of each synchronous pulley fixing rod (24) is axially connected to a synchronous pulley (23). The synchronous belt (25) is slidably connected to the two synchronous pulleys (23). The synchronous belt tooth 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 pulley fixing rod (24).

5. A lightning rod climbing robot according to claim 4, characterized in that, The timing belt clip slider (38) is provided with a groove that matches the size of the timing belt guide rail (27). The timing belt clip slider (38) is slidably connected to the two timing belt guide rails (27). The lower hook claw mechanism (4) achieves climbing with the cooperation of the climbing mechanism (3).

6. A lightning rod pole-climbing robot according to any one of claims 5, characterized in that, The guide rail gear motor (14) and the rotary platform motor (15) are small DC motors, the upper gripper motor (22) and the lower hook gripper motor (39) are servo motors, and the synchronous belt motor (28) is a stepper motor.

7. A lightning rod pole-climbing robot according to claim 5, characterized in that, The arc diameter of the guide rail rack carrier (16) is greater than the arc outer diameter of the upper left gripper (17) and the upper right gripper (18) and is greater than the maximum diameter of the lightning rod. The arc outer diameter of the guide rail rack carrier (16) is 365~375mm, and the arc angle of the guide rail rack carrier (16) is 180°~250°. The inner arc diameter of the upper left gripper (17) and the upper right gripper (18) is larger than the maximum diameter of the lightning rod. The inner arc diameter of the upper left gripper (17) and the upper right gripper (18) is 255~265mm. The outer arc diameter of the upper left gripper (17) and the upper right gripper (18) is 295~305mm. The diameter of the lightning rod is 30~250mm.

8. A motion control method for a lightning rod pole-climbing robot as described in claim 5, characterized in that, The steps are as follows: S1. In the initial position, the upper gripper fixing block (21) is fixed to the top of the frame shell (29), and the synchronous belt clamp slider (38) is located at the bottom of the frame shell (29), so that the lightning rod is inside the rotating platform mechanism (1), the upper gripper mechanism (2) and the lower hook claw mechanism (4). The upper gripper motor (22) drives the upper lead screw (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 power simultaneously. The rotating platform (13) reaches the boundary of the rotating platform track (10) and then reverses 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 claw motor (39) drives the lower lead screw (37) to rotate so that the lower left hook claw (35) and the lower right hook claw (36) clamp the lightning rod. Then the upper claw motor (22) drives the upper lead screw (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, causing the robot to climb upward. Then, the upper gripper motor (22) drives the upper screw (20) to rotate, causing the upper left gripper (17) and upper right gripper (18) to clamp the lightning rod. The lower hook gripper motor (39) drives the lower screw (37) to reverse, causing the lower left hook gripper (35) and lower right hook gripper (36) to relax. Repeat the above steps to enable the robot to climb upwards.

9. The motion control method for a lightning rod climbing robot according to claim 8, characterized in that, Pressure sensors are provided on both the upper gripper mechanism (2) and the lower hook mechanism (4). The upper gripper and the lower hook clamp the lightning rod. When the pressure value detected by the pressure sensor reaches the preset value, the upper gripper motor (22) and the lower hook motor (39) stop operating.

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