A power grid climbing robot

Abstract

The present application discloses a power grid pole climbing operation robot, which relates to the technical field of power grid pole climbing operation. By optimizing and improving the pole climbing operation robot in the prior art, a worm-shaped pole climbing operation robot is provided, which uses winches, air bags and other accessories to achieve the robot's smooth and stable movement on the pole; and achieves the technical effect that the power grid pole climbing operation robot has a relatively simple structure, relatively low cost, good convenience in use and transportation, and strong applicability.

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 power expands, the requirements for grid line construction also increase; 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 power grids, transmission lines and their associated 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 process.

[0004] To address the above issues, Chinese invention patent number CN114006305B discloses a power distribution network operation robot and its working method. The robot achieves lifting and lowering by gripping the pole and then moving. It has a high degree of automation and can effectively assist operators in inspection and maintenance work.

[0005] However, the robot disclosed in the above solution 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.

[0006] Therefore, there is a need for a power grid climbing robot with a relatively simple structure, low cost, good convenience in use and transportation, and strong applicability. Summary of the Invention

[0007] The embodiments of the present application provide a power grid pole climbing operation robot, which solves the technical problems in the prior art of complex structure, poor portability in use and transportation, high cost and poor applicability of the pole climbing operation robot. It achieves the technical effect that the power grid pole climbing operation robot has a relatively simple structure, relatively low cost, good convenience in use and transportation and strong applicability.

[0008] The present application provides a power grid pole climbing robot, comprising three longitudinally arranged load-bearing rings, a pulling assembly with a main body in the form of a winch structure for adjusting the distance between the three load-bearing rings by pulling, a pump assembly connected to an expansion and contraction bag, and a connecting rod assembly.

[0009] The carrying ring body is provided with a plurality of positioning holes, including a C-shaped carrying body with a plurality of pedals fixed on the outer ring and a closing body detachably fixed on the C-shaped carrying body; one carrying ring body is provided with four sticking rod assemblies;

[0010] The stick assembly includes a stick wheel, a stick wheel frame for carrying the stick 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 stick wheel frame;

[0011] 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;

[0012] 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.

[0013] Furthermore, the pulling assembly includes a reel and a pulling rope;

[0014] The reel is positioned on the second ring body and is controlled by the control unit to rotate and 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 straight 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 straight state.

[0015] Furthermore, the bearing ring at the top is the first ring, the middle one is the second ring, and the bottom one is the third ring;

[0016] The connecting rod assembly includes a rod body bearing frame positioned on the bearing ring body and performing a bearing function, 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;

[0017] The rod support frame is fixed to the side wall of the C-shaped support body away from the notch, serving as a fixing point;

[0018] The top of the first connecting rod is hinged to the rod supporting frame on the first ring body, and the bottom is hinged to the top position of the rod supporting frame of the second ring body, and is composed of a first rod body and a second rod body hingedly combined; 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, which 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.

[0019] Furthermore, the supporting telescopic rod includes a base rod, a sliding rod, a built-in compression spring and a pulling rope;

[0020] 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;

[0021] The sliding rod is a hard straight rod, coaxial with the base rod and slidably positioned on the base rod;

[0022] The built-in compression spring is a metal compression spring, which is located inside the base rod, with its two ends respectively contacting 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, passing through the small hole at the bottom of the base rod and out from the placement positioning hole on the bearing ring body.

[0023] 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.

[0024] Preferably, the bearing ring body is also provided with a plurality of rod fixing pins, which are manual or electric pins. When the supporting telescopic rod is in a retracted state, the rod fixing pins are embedded in the supporting telescopic rod to lock the telescopic rod and restrict its extension and retraction, so that the bearing ring body can be flexibly mounted on the pole.

[0025] Preferably, the expansion and contraction sacs are filled with sponges and are in an expanded state under normal conditions.

[0026] Preferably, the first rod body and the second rod body are detachably hinged together, and the two are combined together by quick plugging.

[0027] Preferably, the first rod body and / or the second rod body are also formed by splicing and assembling multiple rod bodies by quick plugging.

[0028] Preferably, it also includes auxiliary legs and a traction rope;

[0029] 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 supporting body of at least one supporting ring body;

[0030] The auxiliary support 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 support legs are positioned on the C-shaped carrier.

[0031] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0032] By optimizing and improving the pole-climbing robot in the prior art, a worm-shaped pole-climbing robot is provided, which uses winches, airbags and other accessories to achieve smooth and stable movement of the robot on the pole; it effectively solves the technical problems of the prior art pole-climbing robot, such as complex structure, poor portability in use and transportation, high cost and poor applicability, and thus 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of the overall structure of the power grid climbing robot;

[0034] Figure 2 This is a schematic diagram of the bottom structure of the power grid climbing robot;

[0035] Figure 3 It is a structural diagram of the closed body in the rotating state;

[0036] Figure 4 Schematic diagram of the structure of the stick assembly;

[0037] Figure 5 Schematic diagram of the connection between the pump air assembly and the expansion and contraction bladder;

[0038] Figure 6 A schematic diagram of the structure supporting the telescopic rod;

[0039] Figure 7 This is a schematic diagram of the positional relationship between the power grid pole climbing robot and the pole;

[0040] Figure 8 is a schematic diagram of the positional relationship between the first rod and the second rod;

[0041] Figure 9 It is a structural diagram of a closed body;

[0042] Figure 10 This is a schematic diagram of the structure of the power grid climbing robot when it is dragging on the ground.

[0043] In the picture:

[0044] 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, pumping air assembly 300, pumping 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

[0045] To facilitate 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.

[0046] It should be noted that the terms “vertical”, “horizontal”, “up”, “down”, “left”, “right” and similar expressions used in this document are for illustrative purposes only and do not represent the only implementation method.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains; the terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention; the term "and / or" used herein includes any and all combinations of one or more of the associated listed items. Example

[0048] like Figures 1 to 6 As shown, the power grid pole climbing robot of the present application includes three carrying rings 100, a pulling assembly 200, a pumping assembly 300, a connecting rod assembly, a power assembly and a control unit.

[0049] The carrying ring 100 is put on the pole 001 when in use, and is slid and fixed on the pole 001;

[0050] The bearing ring body 100 includes a C-shaped carrier 110 and a closure body 120; the C-shaped carrier 110 is a horizontally arranged C-shaped rigid bent rod (a circular ring with a notch); the closure body 120 is a rigid arc-shaped bent rod, one end of which is hinged to one end of the C-shaped carrier 110, and the other end is detachably fixed to the other end of the C-shaped carrier 110 by a buckle or the like, and the axial direction of its hinge axis is the same as the axial direction of the bearing ring body 100; the C-shaped carrier 110 and the closure body 120 are jointly spliced and combined into a circular ring shape.

[0051] A plurality of outer pedals 111 are horizontally arranged on the outer circle of the bearing ring body 100. The outer pedals 111 are rigid plate bodies for operators to step on, and through holes or through slots for hanging safety belts are provided thereon.

[0052] A plurality of horizontally arranged placement positioning holes 130 are provided on the bearing ring body 100. The placement positioning holes 130 are through holes for installing and positioning the sticker rod assemblies; the placement positioning holes 130 are not only provided on the C-shaped carrier 110 but also on the closure 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 one sticker rod assembly.

[0053] The sticker rod assemblies are arranged closely against the electric pole 001. There are 4 sticker rod assemblies on one bearing ring body 100, and these 4 sticker rod assemblies are arranged symmetrically in pairs, and one of the 4 sticker rod assemblies is arranged on the closure body 120;

[0054] The sticker rod assembly includes a sticker rod wheel 141, a sticker rod wheel frame 142, and two support telescopic rods 143; the sticker rod wheel 141 is arranged horizontally and is a funnel-shaped wheel body. When in use, it is arranged closely against the electric pole 001, is made of plastic or rubber, and is rotatably connected to the sticker rod wheel frame 142 around its own axis; the sticker rod wheel frame 142 is a U-shaped frame body for carrying and supporting the sticker rod wheel 141; the two ends of the sticker rod wheel 141 are arranged close to the two ends of the sticker rod wheel frame 142; the support telescopic rods 143 are inserted into and fixed in the placement positioning holes 130. A compression spring is内置 in the support telescopic rods 143 and is in an extended state under normal conditions; every two support telescopic rods 143 correspond to one sticker rod wheel frame 142, and the end of the support telescopic rod 143 far from the bearing ring body 100 is fixed to the sticker rod wheel frame 142; when the bearing ring body 100 slides on the electric pole 001, the sticker rod wheel 141 is closely against the electric pole 001 under the elastic force of the compression spring in the support telescopic rod 143.

[0055] Furthermore, the supporting telescopic rod 143 includes 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 an open end, and the non-open end is provided with a small hole for the pulling rope 145 to pass through; 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, located inside the base rod, and its two ends respectively abut 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 passes through the placement positioning hole 130 on the bearing ring body 100; when in use, the extension and retraction of the supporting telescopic rod 143 can be controlled by pulling the pulling rope 145.

[0056] Furthermore, in order to facilitate pulling the pulling rope 145 , a pulling handle 146 is provided at one end of the pulling rope 145 away from the sliding rod.

[0057] Preferably, in order to further improve the convenience of the process of putting the supporting ring body 100 on the electric pole 001, the supporting ring body 100 is also provided with a plurality of rod fixing pins 147. The rod fixing pins 147 are manual or electric pins. When the supporting telescopic rod 143 is in a retracted state, it is embedded in the supporting telescopic rod 143 to lock the telescopic support rod 143 and restrict its extension and retraction, so that the supporting ring body 100 can be flexibly put on the electric pole 001.

[0058] Each of the rod-adhering wheel frames 142 is provided with a fixing component. The fixing component body is a capsule structure, which is connected to the pump air component 300 and fixes the supporting ring body 100 through its own expansion and contraction.

[0059] 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 fixes the supporting ring body 100.

[0060] 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.

[0061] There are three supporting rings 100 , which are arranged vertically. For the convenience of description, the top one is defined as the first ring, the middle one is defined as the second ring, and the bottom one is defined as the third ring.

[0062] 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 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 straight 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 straight state.

[0063] The pumping assembly 300 is a combination of an air pump, an air valve and a pumping 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.

[0064] Furthermore, the pump air hose 310 is a spring hose.

[0065] The main body of the connecting rod assembly is a plurality of rods hinged together, which not only connects the multiple load-bearing rings 100 together but also accumulates and releases elastic potential energy.

[0066] The connecting rod assembly includes a rod body carrier 410 positioned on the supporting ring 100 and performing a load-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 carrier 410 is fixed to the side wall of the C-shaped supporting body 110 away from the notch to provide a fixing point. The first connecting rod 420 and the second connecting rod 430 are symmetrically arranged and have the same structure. The combination of the two forms a W shape.

[0067] The first connecting rod 420 is hinged at its top to the rod support frame 410 on the first ring, and at its bottom to the top of the rod support frame 410 on the second ring. It is composed of a first rod 421 and a second rod 422 hingedly connected together. The first rod 421 and the second rod 422 are both rigid straight rods. All hinge points on the first connecting rod 420 are equipped with torsion springs, which accumulate elastic potential energy when the first and second rings approach each other. The axes of all rotation axes of the first connecting rod 420 are perpendicular to the axis of the supporting ring 100.

[0068] The top of the second connecting rod 430 is hinged to the rod body support frame 410 on the second ring body near the bottom, and the bottom is hinged to the rod body support 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.

[0069] The power assembly is used to provide power for the operation of the various components of the pole climbing robot of this application, and the control unit plays a role in controlling the coordinated operation of the various components of the pole climbing robot. Both are existing technologies and will not be described in detail here.

[0070] Preferably, the control unit is a combination of a programmable logic controller and control buttons.

[0071] When the power grid pole climbing robot according to the embodiment of the present application is used;

[0072] First, control all the expansion and contraction bags 152 to be in a contracted state; then open the closing body 120 of the supporting ring body 100, put the C-shaped supporting body 110 on the pole 001 that needs to be climbed, and then close the supporting ring body 100; during the putting on and closing of the supporting ring body 100, pull the pulling rope 145 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; after that, by controlling the expansion and contraction of the expansion and contraction bags 152 and the reeling and releasing of the pulling rope 210, the entire robot is controlled to crawl on the pole 001 and move to the target position as needed.

[0073] Preferably, in order to improve the operational 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.

[0074] Preferably, the supporting ring bodies 100 are all hollow structures and are light in weight as a whole.

[0075] 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.

[0076] Preferably, for safety reasons, when the operator stands on the power grid pole climbing robot, he uses multiple safety belts to hang on different outer pedals 111.

[0077] 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 bladder 152 close to the pole 001; the wear-resistant plate 153 is a soft rubber plate, and when the expansion and contraction bladder 152 is inflated, the wear-resistant plate 153 is in direct contact with the pole 001.

[0078] The technical solutions in the above embodiments of the present application have at least the following technical effects or advantages:

[0079] 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

[0080] In order to achieve flexible movement and obstacle avoidance of the robot of the present application, improve its flexibility and practicality, and enable it to be used in climbing electric poles 001 with forks, protrusions or pits; the embodiment of the present application further optimizes and improves the structure of the connecting rod assembly based on the above embodiment, specifically:

[0081] 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 plugging.

[0082] 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 out 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 capsule 152 thereon is in an expanded state, so as to ensure the safety of the operators.

[0083] 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

[0084] Considering that a large number of electric poles 001 are located in inconvenient locations for driving, in order to further improve the convenience of transporting and carrying the robot of the present application, the embodiment of the present application adds auxiliary legs 500 and a traction rope 600 on the basis of the above embodiment; specifically:

[0085] like Figure 9 and Figure 10 As 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 ;

[0086] An auxiliary leg 500 is positioned on the C-shaped carrier 110 of at least one carrier ring 100;

[0087] The auxiliary support leg 500 is a hard rod, 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;

[0088] The first ring body and / or the second ring body are provided with fixing points for fixing the traction rope 600;

[0089] When the robot of the present application needs to be transported, the rod-sticking assembly at the gap 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 are 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.

[0090] Preferably, the auxiliary legs 500 are foldable and can be folded into the C-shaped carrier 110 when not in use.

[0091] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Various modifications and variations are readily apparent to those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A power grid pole climbing robot, characterized by: It comprises three longitudinally arranged carrying ring bodies (100), a pulling assembly (200) whose main body is a hoisting structure and is used for adjusting the distance between the three carrying ring bodies (100) by pulling, a pump assembly (300) connected to the expansion and contraction bag (152), and a connecting rod assembly; The bearing ring (100) is provided with a plurality of positioning holes (130), comprising 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 (100) is provided with four rod-attaching assemblies; The stick-stick assembly comprises a stick-stick wheel (141), a stick-stick wheel frame (142) for carrying the stick-stick wheel (141), and two supporting telescopic rods (143); the supporting telescopic rods (143) are inserted into and fixed on the placement positioning holes (130), have built-in compression springs, and have their ends fixed on the stick-stick wheel frame (142); Each rod-attaching wheel frame (142) is provided with a fixing assembly, the main body of which is a capsule structure and is communicated with the pump assembly (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 V-shaped rods, with both ends hinged on different bearing rings (100).

2. The power grid pole climbing robot according to claim 1, characterized in that: The pulling assembly (200) includes 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 thereby reel in and release the pull rope (210); the end of the pull 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 straight state; the end of the pull 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 straight state.

3. The power grid pole climbing robot according to claim 1, characterized in that: The supporting ring (100) at the top is the first ring, the middle one is the second ring, and the bottom one is the third ring; 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 supporting frame (410) is fixed on the side wall of the C-shaped supporting 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) 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, which accumulate elastic potential energy when the first ring body and the second ring body approach 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 pole climbing 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 contact 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 pole climbing robot according to claim 1, characterized in that: The fixing assembly includes a carrier plate (151) and an expansion and contraction bag (152); the carrier plate (151) is a longitudinally arranged hard plate body, the top or top of which is fixed to the bottom or top of the pole-attaching 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 electric pole (001) and thereby fixes the bearing ring body (100).

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

7. The power grid pole climbing 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 plugging.

10. The power grid pole climbing robot according to any one of claims 1 to 9, characterized in that: Also included are 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 support leg (500) is positioned on the C-shaped supporting body (110) of at least one supporting 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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