Power grid pole-climbing operation robot

Abstract

The invention discloses a power grid pole-climbing operation robot, relates to the technical field of power grid pole-climbing operation, and provides a worm-shaped pole-climbing operation robot by optimizing and improving a pole-climbing operation robot in the prior art, and stable and smooth movement of the robot on an electric pole is achieved through cooperation of a winch, an air bag and other accessories. The technical effects that the power grid pole climbing operation robot is relatively simple in structure, low in cost, good in use and transportation convenience and high in applicability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of power grid pole climbing operations, and in particular to a power grid pole climbing operation robot. Background Art

[0002] As the scale of electricity expands, the requirements for grid line construction are also increasing; at the same time, with the emergence of robotics technology, some tasks in grid construction that are difficult to operate and require high precision have gradually been undertaken by robots.

[0003] In the power grid, the transmission lines and their related equipment are generally at a certain height from the ground, making it difficult for workers to inspect and maintain the lines and the electrical components on them; the existing auxiliary means is to use an insulated boom truck to lift people to high altitudes for work, but this method is costly, and the boom truck is large in size and has a limited range of movement, which affects the inspection and maintenance.

[0004] In response to the above problems, a Chinese invention patent with patent number CN114006305B discloses a distribution network operation robot and its working method, which can achieve lifting by holding the pole tightly and then moving, has a high degree of automation and can effectively assist operators in inspection and maintenance operations; However, the robot disclosed in the above scheme has a complex structure, poor portability in use and transportation, high cost, great difficulty in obstacle avoidance and poor applicability, which is not conducive to large-scale promotion and application.

[0005] Therefore, there is a need for a power grid climbing robot with a relatively simple structure, relatively low cost, convenient use and transportation, and strong applicability. Summary of the invention

[0006] The embodiment of the present application solves the technical problems in the prior art that the pole climbing working robots are complex in structure, poor in portability in use and transportation, high in cost and poor in applicability by providing a power grid pole climbing working robot. The embodiment of the present application achieves the technical effect that the power grid pole climbing working robot has a relatively simple structure, relatively low cost, good convenience in use and transportation and strong applicability.

[0007] The embodiment of the present application provides a power grid pole climbing robot, comprising three longitudinally arranged load-bearing ring bodies, a pulling assembly with a main body being a winch structure and used for adjusting the distance between the three load-bearing ring bodies by pulling, a pump air assembly connected to an expansion and contraction bag, and a connecting rod assembly; The bearing ring body is provided with a plurality of positioning holes, including a C-shaped bearing body with a plurality of pedals fixed on the outer ring and a closing body detachably fixed on the C-shaped bearing body; one bearing ring body is provided with four rod-attaching assemblies; The rod sticking assembly comprises a rod sticking wheel, a rod sticking wheel frame for carrying the rod sticking wheel, and two supporting telescopic rods; the supporting telescopic rods are inserted into and fixed on the placement positioning holes, have built-in compression springs, and have their ends fixed on the rod sticking wheel frame; Each rod-sticking wheel frame is provided with a fixing component, the main body of which is a capsule structure and is connected to the pump air component; The connecting rod assembly includes a first connecting rod and a second connecting rod, which are symmetrically arranged and have the same structure. The whole is W-shaped, and both are a combination of two hinged V-shaped rods, with both ends hinged on different bearing rings.

[0008] Further, the pulling assembly includes a reel and a pulling rope; The reel is positioned on the second ring body and is controlled by the control unit to rotate and then reel in and release the pull rope; the end of the pull rope located at the top of the second ring body away from the reel is fixed to the bottom of the first ring body and is always in a stretched state; the end of the pull rope located at the bottom of the second ring body away from the reel is fixed to the top of the third ring body and is always in a stretched state.

[0009] Furthermore, the bearing ring body at the top is the first ring body, the middle one is the second ring body, and the bottom one is the third ring body; The connecting rod assembly comprises a rod body bearing frame positioned on the bearing ring body and bearing a load, a first connecting rod connecting the first ring body and the second ring body, and a second connecting rod connecting the second ring body and the third ring body; The rod body support frame is fixed on the side wall of the C-shaped support body away from the notch, and serves as a fixing point; The top of the first connecting rod is hinged to the rod body supporting frame on the first ring body, and the bottom is hinged to the top position of the rod body supporting frame of the second ring body, and is composed of a first rod body and a second rod body hinged together; the first rod body and the second rod body are both hard straight rods; all the hinge points on the first connecting rod are provided with torsion springs, and these torsion springs accumulate elastic potential energy when the first ring body and the second ring body approach each other; the axial directions of all the rotating axes of the first connecting rod are perpendicular to the axial direction of the supporting ring body.

[0010] Furthermore, the supporting telescopic rod comprises a base rod, a sliding rod, a built-in compression spring and a pulling rope; The base rod is a hollow hard straight rod with one end open, and a small hole for the pull rope to pass through is provided at the non-open end; The sliding rod is a hard straight rod, coaxial with the base rod and slidably positioned on the base rod; The built-in compression spring is a metal compression spring, which is located inside the base rod, and its two ends respectively abut against the end of the sliding rod and the inner bottom of the base rod; the pulling rope is a steel wire rope, one end of which is fixed to the end of the sliding rod close to the built-in compression spring, passes through the small hole at the bottom of the base rod and comes out from the placement positioning hole on the bearing ring body.

[0011] Furthermore, the fixing component includes a carrier plate and an expansion and contraction bag; the carrier plate is a longitudinally arranged hard plate body, and the top or top is fixed to the bottom or top of the pole wheel frame; the expansion and contraction bag is a block-shaped bag body, which is connected to the pump air component and is controlled by the control unit to expand and contract; when expanded, it contacts the electric pole and fixes the carrying ring body.

[0012] Preferably, the bearing ring body is also provided with a plurality of rod fixing pins, which are manual or electric pins, and are embedded in the supporting telescopic rod to lock the telescopic support when the supporting telescopic rod is in a retracted state, thereby restricting its telescopic movement, so that the bearing ring body can be flexibly mounted on the pole.

[0013] Preferably, the expansion and contraction sacs are filled with sponges and are in an expanded state under normal conditions.

[0014] Preferably, the first rod body and the second rod body are detachably hinged together, and the two are combined together by quick insertion.

[0015] Preferably, the first rod body and / or the second rod body is also formed by splicing and assembling a plurality of rod bodies by quick-insertion.

[0016] Preferably, it also includes auxiliary legs and a traction rope; The supporting telescopic rod is detachably fixed to the placement positioning hole, and the pulling handle is detachably fixed to the end of the pulling rope; an auxiliary leg is positioned on the C-shaped bearing body of at least one bearing ring body; The auxiliary supporting leg is a hard rod as a whole, one end of which is positioned on the C-shaped carrier and the other end of which is provided with a universal wheel; two auxiliary supporting legs are positioned on the C-shaped carrier.

[0017] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: By optimizing and improving the pole climbing robot in the prior art, a worm-shaped pole climbing robot is provided, which uses winches, air bags and other accessories to achieve smooth and stable movement of the robot on the pole; the technical problems of the pole climbing robot in the prior art, such as complex structure, poor portability in use and transportation, high cost and poor applicability, are effectively solved, thereby achieving the technical effect that the power grid pole climbing robot has a relatively simple structure, relatively low cost, good convenience in use and transportation and strong applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the power grid climbing robot; Figure 2 This is a schematic diagram of the bottom structure of the power grid climbing robot; Figure 3It is a schematic diagram of the structure when the closed body is in a rotating state; Figure 4 It is a structural schematic diagram of the rod sticking assembly; Figure 5 It is a schematic diagram of the connection relationship between the pump gas component and the expansion and contraction bag; Figure 6 A schematic diagram of the structure supporting the telescopic rod; Figure 7 This is a schematic diagram of the positional relationship between the power grid pole climbing robot and the pole; Figure 8 is a schematic diagram of the positional relationship between the first rod body and the second rod body; Fig. 9 It is a structural schematic diagram of a closed body; Fig.10 This is a schematic diagram of the structure of the power grid climbing robot when it is dragging on the ground.

[0019] In the figure: Electric pole 001, supporting ring body 100, C-shaped supporting body 110, outer pedal 111, closing body 120, positioning hole 130, pole-attaching wheel 141, pole-attaching wheel frame 142, supporting telescopic rod 143, built-in compression spring 144, pulling rope 145, pulling handle 146, pole fixing pin 147, carrier plate 151, expansion and contraction bag 152, anti-wear plate 153, pulling assembly 200, pulling rope 210, pump air assembly 300, pump air hose 310, pole body supporting frame 410, first connecting rod 420, first pole body 421, second pole body 422, second connecting rod 430, auxiliary support leg 500, traction rope 600. DETAILED DESCRIPTION

[0020] To facilitate the understanding of the present invention, the present application will be described more comprehensively below with reference to the relevant drawings; the drawings show preferred embodiments of the present invention, but the present invention can be implemented in many different forms and is not limited to the embodiments described herein; on the contrary, the purpose of providing these embodiments is to enable a more thorough and comprehensive understanding of the disclosed content of the present invention.

[0021] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are only for illustrative purposes and do not represent the only implementation method.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which the present invention belongs; the terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more related listed items. Example

[0023] like Figures 1 to 6 As shown, the power grid pole climbing robot of the present application includes three bearing rings 100, a pulling assembly 200, a pumping assembly 300, a connecting rod assembly, a power assembly and a control unit.

[0024] The bearing ring 100 is sleeved on the pole 001 when in use, and is slid and fixed on the pole 001; The supporting ring body 100 includes a C-shaped supporting body 110 and a closing body 120; the C-shaped supporting body 110 is a horizontally arranged C-shaped hard curved rod (a circular ring with a notch); the closing body 120 is a hard arc-shaped curved rod, one end of which is hinged to one end of the C-shaped supporting body 110, and the other end is detachably fixed to the other end of the C-shaped supporting body 110 by a snap or the like, and the axial direction of the hinge axis is the same as the axial direction of the supporting ring body 100; the C-shaped supporting body 110 and the closing body 120 are spliced ​​together to form a circular ring.

[0025] The outer ring of the bearing ring body 100 is horizontally provided with a plurality of outer pedals 111 , which are hard plates for workers to step on and are provided with through holes or through grooves for hanging safety belts.

[0026] The bearing ring body 100 is provided with a plurality of transverse placement positioning holes 130, which are through holes for installing the positioning rod assembly; the placement positioning holes 130 are not only provided on the C-shaped bearing body 110, but also provided on the closing body 120; the axial direction of the placement positioning holes 130 is perpendicular to the axial direction of the bearing ring body 100, and every two placement positioning holes 130 correspond to a rod assembly.

[0027] The pole-attaching assembly is arranged close to the pole 001, and four pole-attaching assemblies are arranged on a bearing ring body 100, and the four pole-attaching assemblies are arranged symmetrically in pairs, and one of the four pole-attaching assemblies is arranged on the closing body 120; The pole-attaching assembly includes a pole-attaching wheel 141, a pole-attaching wheel frame 142, and two support telescopic rods 143; the pole-attaching wheel 141 is horizontally arranged, with a funnel-shaped wheel body, which closely adheres to the pole 001 during use, is made of plastic or rubber, and is rotatably connected to the pole-attaching wheel frame 142 around its own axis; the pole-attaching wheel frame 142 is a C-shaped frame body, which plays a role in carrying and supporting the pole-attaching wheel 141; both ends of the pole-attaching wheel 141 are arranged close to both ends of the pole-attaching wheel frame 142; the support telescopic rods 143 penetrate and are fixed in the placement positioning holes 130, and a compression spring is built into the support telescopic rods 143, and it is in an extended state under normal conditions; every two support telescopic rods 143 correspond to one pole-attaching wheel frame 142, and the end of the support telescopic rod 143 far from the bearing ring body 100 is fixed on the pole-attaching wheel frame 142; when the bearing ring body 100 slides on the pole 001, the pole-attaching wheel 141 closely adheres to the pole 001 under the elastic force of the compression spring in the support telescopic rod 143.

[0028] Further, the support telescopic rod 143 includes a base rod, a sliding rod, an internal compression spring 144, and a pulling rope 145; the base rod is a hollow rigid straight rod with one end open, and a small hole for the pulling rope 145 to pass through is provided at the non-open end; the sliding rod is a rigid straight rod, which is coaxial with the base rod and is slidably positioned on the base rod; the internal compression spring 144 is a metal compression spring, which is located inside the base rod, and both ends respectively abut against the end of the sliding rod and the inner bottom of the base rod; the pulling rope 145 is a steel wire rope, one end of which is fixed to the end of the sliding rod close to the internal compression spring 144, passes through the small hole at the bottom of the base rod and passes out through the placement positioning hole 130 on the bearing ring body 100; during use, the telescopic movement of the support telescopic rod 143 can be controlled by pulling the pulling rope 145.

[0029] Further, in order to facilitate pulling the pulling rope 145, a pulling handle 146 is provided at the end of the pulling rope 145 far from the sliding rod.

[0030] Preferably, in order to further improve the convenience of the process of the bearing ring body 100 sleeving on the pole 001, a plurality of rod fixing pins 147 are further provided on the bearing ring body 100. The rod fixing pins 147 are manual or electric pins, which are inserted into the support telescopic rod 143 when the support telescopic rod 143 is in a contracted state to lock the telescopic movement of the support telescopic rod 143 and limit its telescopic movement, so that the bearing ring body 100 can be flexibly sleeved on the pole 001.

[0031] A fixing component is provided on each pole-attaching wheel frame 142. The main body of the fixing component is a bladder structure, which is communicated with the air pumping component 300, and realizes the fixation of the bearing ring body 100 through its own expansion and contraction.

[0032] Furthermore, the fixing component includes a carrier plate 151 and an expansion and contraction bag 152; the carrier plate 151 is a longitudinally arranged hard plate body, and the top or top is fixed to the bottom or top of the pole wheel frame 142; the expansion and contraction bag 152 is a block-shaped bag body, which is connected to the pump air component 300 and is controlled by the control unit to expand and contract; when expanded, it contacts the electric pole 001 and thereby fixes the supporting ring body 100.

[0033] Furthermore, when the expansion and contraction capsule 152 expands, it will contact the pole 001 and the pole-sticking wheel 141 at the same time, thereby limiting its rotation.

[0034] There are three supporting ring bodies 100 , which are arranged vertically. For the convenience of description, the top one is defined as the first ring body, the middle one is defined as the second ring body, and the bottom one is defined as the third ring body.

[0035] The pulling assembly 200 is used to adjust the distance between the three supporting ring bodies 100 by pulling. The main body is a winch structure, and there are two of them, which are respectively positioned at the top and bottom of the C-shaped supporting body 110 of the second ring body; the pulling assembly 200 includes a drum and a pulling rope 210; the drum is positioned on the second ring body, and is controlled by the control unit to rotate and then reel in and release the pulling rope 210; the pulling rope 210 located at the top of the second ring body is fixed to the bottom of the first ring body at one end away from the drum, and is always in a stretched state; the pulling rope 210 located at the bottom of the second ring body is fixed to the top of the third ring body at one end away from the drum, and is always in a stretched state.

[0036] The pump air assembly 300 is a combination of an air pump, an air valve and a pump air hose 310, which is positioned on the second ring body, communicated with the expansion and contraction bag 152, and operates under the control of the control unit.

[0037] Furthermore, the pump air hose 310 is a spring hose.

[0038] The main body of the connecting rod assembly is a plurality of rods hinged together, which not only connects the plurality of bearing rings 100 together but also accumulates and releases elastic potential energy; The connecting rod assembly includes a rod body bearing frame 410 positioned on the bearing ring body 100 and playing a bearing role, a first connecting rod 420 connecting the first ring body and the second ring body, and a second connecting rod 430 connecting the second ring body and the third ring body; the rod body bearing frame 410 is fixed on the side wall away from the notch of the C-shaped bearing body 110 to provide a fixing point; the first connecting rod 420 and the second connecting rod 430 are symmetrically arranged and have the same structure, and the combination of the two is W-shaped; The top of the first connecting rod 420 is hinged to the rod body support frame 410 on the first ring body, and the bottom is hinged to the top position of the rod body support frame 410 of the second ring body, and is composed of a first rod body 421 and a second rod body 422 hingedly combined; the first rod body 421 and the second rod body 422 are both hard straight rods; all hinge points on the first connecting rod 420 are provided with torsion springs, and these torsion springs accumulate elastic potential energy when the first ring body and the second ring body are close to each other; the axial directions of all rotating axes of the first connecting rod 420 are perpendicular to the axial direction of the bearing ring body 100; The top of the second connecting rod 430 is hinged to the rod body supporting frame 410 on the second ring body near the bottom, and the bottom is hinged to the rod body supporting frame 410 of the third ring body, and is composed of a hinged combination of the first rod body 421 and the second rod body 422; all the hinge points on the second connecting rod 430 are provided with torsion springs, which accumulate elastic potential energy when the second ring body and the third ring body approach each other; the axial directions of all the rotating axes of the second connecting rod 430 are perpendicular to the axial direction of the supporting ring body 100.

[0039] The power assembly is used to provide power for the operation of the various components of the pole climbing robot of the present application, and the control unit plays a role in controlling the coordinated operation of the various components of the pole climbing robot. Both are prior arts and will not be elaborated here.

[0040] Preferably, the control unit is a combination of a programmable logic controller and control buttons.

[0041] When the power grid pole climbing robot of the embodiment of the present application is used; First, all the expansion and contraction bags 152 are controlled to be in a contracted state; then the closing body 120 of the supporting ring body 100 is opened, and the C-shaped supporting body 110 is put on the pole 001 that needs to be climbed, and then the supporting ring body 100 is closed; during the putting on and closing of the supporting ring body 100, the pulling rope 145 is pulled as needed to adjust the shape of the pole-attaching assembly; thereafter, the operator stands on the outer pedal 111 and fastens the safety belt; thereafter, by controlling the expansion and contraction of the expansion and contraction bags 152 and the retraction and release of the pulling rope 210, the entire robot is controlled to crawl on the pole 001 and move to the target position as needed.

[0042] Preferably, in order to improve the operating stability of the robot of the present application, the expansion and contraction capsules 152 are filled with sponges and are in an expanded state under normal conditions.

[0043] Preferably, the supporting ring bodies 100 are all hollow structures and are light in weight as a whole.

[0044] Preferably, in order to improve the convenience of carrying and transportation, the motor, battery and air pump of the robot of the present application are all detachable.

[0045] Preferably, for safety reasons, when the operator stands on the power grid climbing pole operation robot, multiple safety belts are hung on different outer pedals 111.

[0046] Preferably, in order to increase the service life of the robot, a wear-resistant plate 153 is detachably fixed on the surface of the expansion and contraction bag 152 close to the pole 001; the wear-resistant plate 153 is a soft rubber plate, and the wear-resistant plate 153 is in direct contact with the pole 001 when the expansion and contraction bag 152 is expanded.

[0047] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages: The invention solves the technical problems in the prior art of complex structure of pole climbing robots, poor portability in use and transportation, high cost and poor applicability, and achieves the technical effect that the power grid pole climbing robot has a relatively simple structure, relatively low cost, good convenience in use and transportation and strong applicability. Example

[0048] In order to realize the flexible movement and obstacle avoidance of the robot of the present application, improve its flexibility and practicality, and enable it to be applied to climbing the electric pole 001 with forks, protrusions or pits; the embodiment of the present application further optimizes and improves the structure of the connecting rod assembly on the basis of the above embodiment, specifically: like Figure 7 As shown, the first rod body 421 and the second rod body 422 are detachably hinged together, and the two are combined together by quick insertion.

[0049] When it is necessary to overcome an obstacle, the two supporting ring bodies 100 can be disassembled from the connection point of the first rod body 421 and the second rod body 422; then the closing body 120 can be disassembled one by one and rotated to cancel the closing of the supporting ring body 100, and the expansion and contraction capsules 152 on the supporting ring body 100 can be controlled to shrink one by one; then the supporting ring bodies 100 can be taken one by one to complete the obstacle crossing; during the obstacle crossing, at least one supporting ring body 100 is guaranteed to be in a closed state and the expansion and contraction capsules 152 thereon are in an expanded state, so as to ensure the safety of the operators.

[0050] like Figure 8 As shown, preferably, the first rod body 421 and / or the second rod body 422 are also formed by splicing and assembling multiple rod bodies by quick plugging. Example

[0051] Considering that a large number of poles 001 are located in inconvenient locations for driving, in order to further improve the convenience of transportation and carrying of the robot of the present application, the embodiment of the present application adds auxiliary legs 500 and traction ropes 600 on the basis of the above embodiment; specifically: like Fig. 9 and Fig.10As shown, the supporting telescopic rod 143 is detachably fixed to the placement positioning hole 130, and the pulling handle 146 is detachably fixed to the end of the pulling rope 145; An auxiliary leg 500 is positioned on the C-shaped carrier 110 of at least one carrier ring 100; The auxiliary support leg 500 is a hard rod as a whole, one end of which is positioned on the C-shaped carrier 110, and the other end of which is positioned with a universal wheel; two auxiliary support legs 500 are positioned on the C-shaped carrier 110; The first ring body and / or the second ring body is provided with a fixing point for fixing the traction rope 600; When the robot of the present application needs to be transported, the rod-sticking assembly at the notch away from the C-shaped carrier 110 is removed, and then installed upside down into the positioning hole 130, so that the rod-sticking wheel 141 of the rod-sticking assembly is located on the outer ring of the carrier ring 100 (the two auxiliary legs 500 are respectively located on both sides of the rod-sticking assembly and arranged in an eight-shaped shape); then the carrier ring 100 is flipped over so that the rod-sticking wheel 141 and the auxiliary legs 500 located on the outer ring of the carrier ring 100 touch the ground; finally, the traction rope 600 is fixed to drag the entire robot forward.

[0052] Preferably, the auxiliary legs 500 are foldable and can be folded into the C-shaped carrier 110 when not in use.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A power grid climbing robot, characterized in that: It comprises three longitudinally arranged load-bearing ring bodies (100), a pulling assembly (200) for adjusting the distance between the three load-bearing ring bodies (100) by pulling and the main body of which is a hoisting structure, a pump air assembly (300) connected to the expansion and contraction bag (152), and a connecting rod assembly; The bearing ring body (100) is provided with a plurality of positioning holes (130), and comprises a C-shaped bearing body (110) with a plurality of pedals fixed on the outer ring, and a closing body (120) detachably fixed on the C-shaped bearing body (110); one bearing ring body (100) is provided with four rod-attaching assemblies; The rod sticking assembly comprises a rod sticking wheel (141), a rod sticking wheel frame (142) for carrying the rod sticking wheel (141), and two supporting telescopic rods (143); the supporting telescopic rods (143) are inserted into and fixed on the placement positioning hole (130), have a built-in compression spring, and the ends of the rod sticking wheel frame (142) are fixed on the rod sticking wheel frame (142); Each rod-attaching wheel frame (142) is provided with a fixing component, the main body of which is a capsule structure and is connected to the pump air component (300); The connecting rod assembly comprises a first connecting rod (420) and a second connecting rod (430), which are symmetrically arranged and have the same structure. The whole is W-shaped and is a combination of two hinged rods in a V-shape, with both ends hinged on different bearing rings (100).

2. The power grid climbing robot according to claim 1, characterized in that: The pulling assembly (200) comprises a reel and a pulling rope (210); The reel is positioned on the second ring body and is controlled by the control unit to rotate and then reel in and release the pulling rope (210); the end of the pulling rope (210) located at the top of the second ring body away from the reel is fixed to the bottom of the first ring body and is always in a stretched state; the end of the pulling rope (210) located at the bottom of the second ring body away from the reel is fixed to the top of the third ring body and is always in a stretched state.

3. The power grid climbing robot according to claim 1, characterized in that: The supporting ring body (100) at the top is the first ring body, the middle one is the second ring body, and the bottom one is the third ring body; The connecting rod assembly comprises a rod body bearing frame (410) positioned on the bearing ring body (100) and having a bearing function, a first connecting rod (420) connecting the first ring body and the second ring body, and a second connecting rod (430) connecting the second ring body and the third ring body; The rod body support frame (410) is fixed on the side wall of the C-shaped support body (110) away from the notch, and serves as a fixing point. The top of the first connecting rod (420) is hinged to the rod body support frame (410) on the first ring body, and the bottom is hinged to the top position of the rod body support frame (410) of the second ring body, and is composed of a first rod body (421) and a second rod body (422) that are hingedly combined; the first rod body (421) and the second rod body (422) are both hard straight rods; all hinge points on the first connecting rod (420) are provided with torsion springs, and these torsion springs accumulate elastic potential energy when the first ring body and the second ring body are close to each other; the axial directions of all rotating axes of the first connecting rod (420) are perpendicular to the axial direction of the supporting ring body (100).

4. The power grid climbing pole operation robot according to claim 1, characterized in that: The supporting telescopic rod (143) comprises a base rod, a sliding rod, a built-in compression spring (144) and a pulling rope (145); The base rod is a hollow hard straight rod with one end open, and a small hole for the pulling rope (145) to pass through is provided at the non-open end; The sliding rod is a hard straight rod, coaxial with the base rod and slidably positioned on the base rod; The built-in compression spring (144) is a metal compression spring, which is located inside the base rod, and its two ends respectively abut against the end of the sliding rod and the inner bottom of the base rod; the pulling rope (145) is a steel wire rope, one end of which is fixed to the end of the sliding rod close to the built-in compression spring (144), passes through the small hole at the bottom of the base rod and comes out from the placement positioning hole (130) on the bearing ring body (100).

5. The power grid climbing pole operation robot according to claim 1, characterized in that: The fixing assembly comprises a carrier plate (151) and an expansion and contraction bag (152); the carrier plate (151) is a hard plate body arranged longitudinally, and the top or the top is fixed to the bottom or the top of the pole wheel frame (142); the expansion and contraction bag (152) is a block-shaped bag body, which is connected to the pump air assembly (300) and is controlled by the control unit to expand and contract; when expanded, it contacts the pole (001) and fixes the bearing ring body (100).

6. The power grid climbing pole operation robot according to claim 1, characterized in that: The bearing ring body (100) is also provided with a plurality of rod fixing pins (147), which are manual or electric pins and are embedded in the supporting telescopic rod (143) when the supporting telescopic rod (143) is in a retracted state to lock the telescopic support rod (143) and restrict its telescopic movement, so that the bearing ring body (100) can be flexibly mounted on the electric pole (001).

7. The power grid climbing pole operation robot according to claim 1, characterized in that: The expansion and contraction capsules (152) are filled with sponges and are in an expanded state under normal conditions.

8. The power grid pole climbing robot according to claim 3, characterized in that: The first rod body (421) and the second rod body (422) are detachably hinged together, and the two are combined together by quick plugging.

9. The power grid pole climbing robot according to claim 8, characterized in that: The first rod body (421) and / or the second rod body (422) are also formed by splicing and assembling a plurality of rod bodies by means of quick insertion.

10. The power grid pole climbing robot according to any one of claims 1 to 9, characterized in that: It also includes auxiliary legs (500) and a traction rope (600); The supporting telescopic rod (143) is detachably fixed to the placement positioning hole (130), and the pulling handle (146) is detachably fixed to the end of the pulling rope (145); an auxiliary leg (500) is positioned on the C-shaped bearing body (110) of at least one bearing ring body (100); The auxiliary support leg (500) is a hard rod as a whole, one end of which is positioned on the C-shaped carrier (110) and the other end of which is positioned with a universal wheel; two auxiliary support legs (500) are positioned on the C-shaped carrier (110).

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