Lightning rod climbing robot

Abstract

The invention provides a lightning rod climbing robot. The method can be used in the technical field of climbing robots. The lightning rod climbing robot comprises a plurality of clamping structures and a driving device, wherein the clamping structures comprise a first clamping structure and a second clamping structure; the first clamping structure and the second clamping structure are both used for being fixed to the lightning rod. The driving device is provided with a first driving end and a second driving end, the first driving end is connected with the first clamping structure, the second driving end is connected with the second clamping structure, and the driving device drives the first driving end and the second driving end to get close to each other and get away from each other. Therefore, the effect of improving the lightning rod maintenance efficiency can be achieved.

Description

Technical Field

[0001] This application relates to the technical field of climbing robots, and particularly to a lightning rod climbing robot. Background Art

[0002] As an important lightning protection device, a lightning rod mainly establishes an electrical path with a charged cloud through tip discharge, guiding lightning into the ground, thereby effectively preventing the harm of direct lightning strikes to facilities and personnel. It plays an irreplaceable role in protecting the safety of substation equipment and personnel. However, due to the usually slender and tall structure of lightning rods, it is difficult for conventional maintenance equipment and personnel to access and maintain these facilities. Since they were put into use, the maintenance problem of lightning rods has not been effectively solved.

[0003] Currently, for problems such as the aging, corrosion, and surface defects of lightning rods, domestic and foreign operation and maintenance units usually adopt the method of manual operation after power outage for maintenance. This method relies on equipment such as large cranes or aerial work platforms to assist in the operation, sending maintenance personnel near the lightning rod.

[0004] However, there is a problem of low maintenance efficiency when using the method of manual operation after power outage for maintenance. Summary of the Invention

[0005] This application provides a lightning rod climbing robot to solve the problem of low maintenance efficiency of existing lightning rods.

[0006] This application provides a lightning rod climbing robot, including a plurality of clamping structures and a driving device. The plurality of clamping structures include a first clamping structure and a second clamping structure;

[0007] Both the first clamping structure and the second clamping structure are used to fix to the lightning rod;

[0008] The driving device is provided with a first driving end and a second driving end. The first driving end is connected to the first clamping structure, and the second driving end is connected to the second clamping structure. The driving device drives the first driving end and the second driving end to approach and separate from each other.

[0009] To solve the above technical problem, an embodiment of this application provides a lightning rod climbing robot, including a plurality of spaced clamping structures and a driving device. The plurality of clamping structures include a first clamping structure and a second clamping structure. Both the first clamping structure and the second clamping structure can be used to fix to the lightning rod. The driving device is provided with a first driving end and a second driving end. The first driving end is connected to the first clamping structure, and the second driving end is connected to the second clamping structure. The driving device can drive the first driving end and the second driving end to approach and separate from each other.

[0010] When maintenance of the lightning rod is required, the lightning rod climbing robot can, through the control of the driving device, alternately clamp and release the lightning rod with the first clamping structure and the second clamping structure, and move along the lightning rod under the drive of the driving device.

[0011] When the first clamping structure clamps the lightning rod, the second clamping structure releases and moves; when the second clamping structure clamps the lightning rod, the first clamping structure releases and moves. This alternating action enables the robot to climb stably on the lightning rod and achieve the effect of crossing obstacles.

[0012] It is easy to understand that, compared with the method of maintaining the lightning rod manually or by traditional climbing robots in the related art, the lightning rod climbing robot provided in the embodiment of the present application can, through the coordinated work of multiple clamping structures and the driving device, achieve the functions of stable climbing and obstacle avoidance on the lightning rod, and is applicable to the maintenance and repair tasks of the lightning rod, with the characteristics of simple structure and flexible operation.

[0013] In some possible implementation manners, the first clamping structure is located above the second clamping structure;

[0014] When the first clamping structure is in the first state, the first clamping structure is used to fix to the lightning rod; when the first clamping structure is in the second state, the first clamping structure disengages from the lightning rod;

[0015] When the second clamping structure is in the first state, the second clamping structure is used to fix to the lightning rod; when the second clamping structure is in the second state, the second clamping structure disengages from the lightning rod;

[0016] The driving device is configured such that when the first clamping structure is in the first state and the second clamping structure is in the second state, the first clamping structure is fixed to the lightning rod, and the driving device controls the first driving end and the second driving end to approach each other, so that the second clamping structure moves upward;

[0017] When the first clamping structure is in the second state and the second clamping structure is in the first state, the second clamping structure is fixed to the lightning rod, and the driving device controls the first driving end and the second driving end to move away from each other, so that the first clamping structure moves upward.

[0018] In some possible implementation manners, the clamping structure includes a fixing member and a plurality of clamping members. The fixing member is used to be sleeved on the lightning rod;

[0019] The plurality of clamping members are movably arranged on the fixing member. The clamping members have fixing portions, and the fixing portions of the plurality of clamping members are located inside the fixing member;

[0020] When the first clamping structure or the second clamping structure is in the first state, the fixing portions of the plurality of clamping members approach each other, and the plurality of fixing portions are used to clamp and fix to the lightning rod;

[0021] When the first clamping structure or the second clamping structure is in the second state, the fixing parts of the plurality of clamping members move away from each other, and the plurality of fixing parts move relative to the lightning rod along the extending direction of the lightning rod.

[0022] In some possible embodiments, the fixing member is provided with a guiding groove which penetrates through the fixing member, and the clamping member is arranged through the guiding groove in the fixing member;

[0023] The clamping structure includes a first driving member which is arranged on the fixing member, the output end of the first driving member is connected with the clamping member, and the first driving member drives the clamping member to move relative to the guiding groove.

[0024] In some possible embodiments, the fixing part is arranged as a rotating wheel which is rotatably arranged on the clamping member, and the rotating wheel has a contact surface for rolling contact with the lightning rod;

[0025] The clamping structure includes a second driving member which is arranged on the clamping member, the output end of the second driving member is connected with the rotating wheel, and the second driving member drives the rotating wheel to rotate through the output end.

[0026] In some possible embodiments, the fixing member is provided with a first sensing element which is at least used for obtaining the distance between the fixing member and the lightning rod.

[0027] In some possible embodiments, the fixing member is provided with a relief opening which is at least used for sleeving the fixing member on the lightning rod.

[0028] In some possible embodiments, the clamping structure is provided with a second sensing element;

[0029] The second sensing element is movably arranged on the clamping structure, and the second sensing element is at least used for obtaining the obstacles above the clamping structure.

[0030] In some possible embodiments, the clamping structure is provided with a rotating seat, and the second sensing element moves relative to the clamping structure through the rotating seat;

[0031] The clamping structure is provided with a third driving member and a transmission assembly, and the output end of the third driving member drives the rotating seat to move relative to the clamping structure through the transmission assembly.

[0032] In some possible embodiments, the driving device includes a base and a fourth driving member;

[0033] The base is provided with a first driving end, the fourth driving member is arranged on the base, and the output end of the fourth driving member is arranged as a second driving end;

[0034] The base is fixed to the first clamping structure, the output end of the fourth driving member is fixed to the second clamping structure, and the fourth driving member drives the second clamping structure to approach or move away from the first clamping structure through the output end. Brief Description of the Drawings

[0035] The drawings herein are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0036] Figure 1 Front view of the lightning rod climbing robot provided for the embodiments of the present application;

[0037] Figure 2 Schematic diagram of the clamping structure of the lightning rod climbing robot provided for the embodiments of the present application;

[0038] Figure 3 Schematic diagram of the rotating seat of the lightning rod climbing robot provided for the embodiments of the present application;

[0039] Figure 4 Schematic diagram of the driving device of the lightning rod climbing robot provided for the embodiments of the present application;

[0040] Figure 5 Schematic diagram of the lightning rod climbing robot provided for the embodiments of the present application crossing a circular obstacle;

[0041] Figure 6 Schematic diagram of the lightning rod climbing robot provided for the embodiments of the present application crossing an extended protruding obstacle.

[0042] Reference Numerals:

[0043] 100, clamping structure; 110, first clamping structure; 120, second clamping structure; 130, fixing member; 131, guiding groove; 132, first driving member; 133, first sensing element; 140, clamping member; 141, fixing portion; 1411, rotating wheel; 150, relief opening; 160, rotating seat; 170, second sensing element; 180, third driving member; 190, transmission assembly;

[0044] 200, driving device; 210, first driving end; 220, second driving end; 230, base; 240, fourth driving member.

[0045] Through the above drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and written descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed Description of the Embodiments

[0046] As described in the background art, a lightning rod, as an important lightning protection device, mainly establishes an electrical path with a charged cloud through tip discharge, guiding lightning into the ground, thereby effectively preventing the harm of direct lightning strikes to facilities and personnel. However, due to the generally slender and tall structure of lightning rods, it is difficult for conventional maintenance equipment and personnel to access and maintain these facilities. Since their inception, the maintenance problems of lightning rods have not been effectively solved.

[0047] Currently, for problems such as aging, corrosion, and surface defects of lightning rods, domestic and foreign operation and maintenance units usually adopt the method of manual operation after power outage for maintenance. This method relies on equipment such as large cranes or aerial work platforms to assist in the operation, sending maintenance personnel near the lightning rod.

[0048] During the operation process, maintenance personnel carry out tasks such as visual inspection, surface cleaning, coating repair, or component replacement of the lightning rod. This operation method requires a relatively high technical level and safety awareness of maintenance personnel. At the same time, it is necessary to be equipped with complete safety protection measures, such as safety belts, anti-fall devices, etc., to reduce the risks of working at heights.

[0049] In addition, power outage maintenance may have a certain impact on the normal operation of the power system. Especially during peak power demand periods or in key power facilities, power outages may lead to power supply interruptions or unstable power supply.

[0050] To address the above problems, some studies have proposed using climbing robots to detect and repair lightning rods. Existing lightning rod climbing robots can move vertically along the lightning rod, which to a certain extent reduces the danger of manual work at heights.

[0051] However, the adaptability of these robots in complex environments is still limited. For example, traditional climbing robots usually lack effective obstacle avoidance functions and cannot autonomously avoid or adjust the path when encountering obstacles on the lightning rod (such as flanges, grounding devices, or down conductors).

[0052] At the same time, these robots have weak processing capabilities for irregular lightning rod structures and are difficult to perform complex tasks such as cleaning, inspection, and repair.

[0053] To solve the above technical problems, an embodiment of the present application provides a lightning rod climbing robot, including a plurality of clamping structures arranged at intervals and a driving device. The plurality of clamping structures include a first clamping structure and a second clamping structure. Both the first clamping structure and the second clamping structure can be used to fix to the lightning rod. The driving device is provided with a first driving end and a second driving end. The first driving end is connected to the first clamping structure, and the second driving end is connected to the second clamping structure. The driving device can drive the first driving end and the second driving end to approach and move away from each other.

[0054] When maintenance of a lightning rod is required, the lightning rod climbing robot can, through the control of the driving device, alternately clamp and release the lightning rod with the first clamping structure and the second clamping structure, and move along the lightning rod under the drive of the driving device.

[0055] When the first clamping structure clamps the lightning rod, the second clamping structure releases and moves; when the second clamping structure clamps the lightning rod, the first clamping structure releases and moves. This alternating action enables the robot to climb steadily on the lightning rod and achieve the effect of overcoming obstacles.

[0056] It is easy to understand that, compared with the method of maintaining a lightning rod manually or by a traditional climbing robot in the related art, the lightning rod climbing robot provided in the embodiment of the present application can, through the collaborative work of multiple clamping structures and a driving device, achieve the functions of stable climbing and obstacle avoidance on the lightning rod, is applicable to the maintenance and repair tasks of lightning rods, and has the characteristics of simple structure and flexible operation.

[0057] Here, exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices consistent with some aspects of the present application as detailed in the appended claims.

[0058] In the embodiments of the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0059] In addition, in the embodiments of the present application, orientation terms such as "upper", "lower", "left", and "right" are defined relative to the orientation in which the components in the drawings are schematically placed. It should be understood that these directional terms are relative concepts, which are used for relative description and clarification and may change accordingly with the change of the orientation in which the components in the drawings are placed.

[0060] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium.

[0061] In the embodiments of the present application, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, article or device comprising such element.

[0062] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific manner.

[0063] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems will be described in detail below with specific embodiments. These several specific embodiments below can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0064] See Figure 1 , the embodiments of the present application provide a lightning rod climbing robot, which may include a clamping structure 100 and a driving device 200.

[0065] The clamping structure 100 can achieve stable climbing, obstacle crossing and adaptation to complex environments of the robot by clamping and releasing the lightning rod.

[0066] See Figure 2 , there may be multiple clamping structures 100. The multiple clamping structures 100 may be arranged at intervals. The multiple clamping structures 100 may be evenly distributed along the main axis of the robot to form a multi-section clamping system.

[0067] The multiple clamping structures 100 alternately clamp the lightning rod, which can ensure that at least one clamping structure 100 is fixed to the lightning rod during the climbing process of the robot, avoiding the robot from falling off due to the failure of a single clamping structure 100.

[0068] The multiple clamping structures 100 may include a first clamping structure 110 and a second clamping structure 120. Both the first clamping structure 110 and the second clamping structure 120 can be used to fix to the lightning rod. The first clamping structure 110 may be located at the upper part of the robot, and the second clamping structure 120 may be located at the lower part of the robot. The first clamping structure 110 may be above the second clamping structure 120.

[0069] When the first clamping structure 110 or the second clamping structure 120 is in the first state, the first clamping structure 110 or the second clamping structure 120 can be used to fix to the lightning rod. The first state of the first clamping structure 110 or the second clamping structure 120 can be a clamping state. When the first clamping structure 110 or the second clamping structure 120 is in the first state, it can be driven by a cylinder or a motor to firmly clamp the lightning rod.

[0070] When the first clamping structure 110 or the second clamping structure 120 is in the second state, the first clamping structure 110 or the second clamping structure 120 can be disengaged from the lightning rod. The second state of the first clamping structure 110 or the second clamping structure 120 can be a released state. When the first clamping structure 110 or the second clamping structure 120 is in the second state, the lightning rod can be released to enable it to move freely.

[0071] The clamping structure 100 can include a fixing member 130 and a plurality of clamping members 140. The fixing member 130 can be used to sleeved outside the lightning rod as the main frame of the clamping structure 100 to support the movement of the clamping members 140.

[0072] The clamping members 140 can be movably arranged on the fixing member 130 for clamping or releasing the lightning rod. For example, the clamping members 140 can be a plurality of arc-shaped or strip-shaped structures evenly distributed on the inner side of the fixing member 130 and are driven by a cylinder, a motor or a spring to open and close.

[0073] The clamping members 140 can be provided with fixing parts 141. A plurality of fixing parts 141 can be located on the inner side of the fixing member 130. The fixing part 141 can be the part where the clamping member 140 directly contacts the lightning rod and is used to provide a clamping force. The fixing part 141 can be a contact surface with an anti-slip pad or a flexible material to ensure that it can firmly grip when clamping and will not damage the surface of the lightning rod.

[0074] When the first clamping structure 110 or the second clamping structure 120 is in the first state, the fixing parts 141 of the plurality of clamping members 140 can approach each other to form a closed clamping ring to firmly clamp the lightning rod for clamping and fixing to the lightning rod. When the robot needs to be fixed, the clamping members 140 can contract inward to make the fixing parts 141 closely adhere to the surface of the lightning rod to provide sufficient clamping force. The first clamping structure 110 or the second clamping structure 120 in the clamping state can be used as the fixed fulcrum of the robot to provide support for the movement of the other clamping structure 100.

[0075] When the first clamping structure 110 or the second clamping structure 120 is in the second state, the fixing parts 141 of the plurality of clamping members 140 can move away from each other to form an open annular structure, and the plurality of fixing parts 141 can move relative to the lightning rod along the extending direction of the lightning rod. When the robot needs to move, the clamping member 140 can expand outwards to disengage the fixing part 141 from the surface of the lightning rod, and then the first clamping structure 110 or the second clamping structure 120 can move along the lightning rod through a linear motor or a sliding table module.

[0076] The fixing member 130 can be provided with a guiding groove 131. The guiding groove 131 can be used to provide an accurate path for the movement of the clamping member 140 to ensure that the clamping member 140 does not deviate from the predetermined trajectory during the movement.

[0077] The guiding groove 131 can penetrate through the fixing member 130, and the clamping member 140 is disposed through the guiding groove 131 in the fixing member 130. The guiding groove 131 can be a linear groove or an arc-shaped groove, and is distributed along the circumferential or axial direction of the fixing member 130. For example, in the annular fixing member 130, the guiding groove 131 can penetrate through the fixing member 130 along the radial direction, and the clamping member 140 extends from the outside to the inside of the fixing member 130 through the guiding groove 131.

[0078] The clamping structure 100 can include a first driving member 132. The first driving member 132 can provide power for the movement of the clamping member 140 to enable it to perform clamping and releasing actions.

[0079] The first driving member 132 can be disposed on the fixing member 130. The output end of the first driving member 132 can be connected to the clamping member 140 to drive the clamping member 140 to move relative to the guiding groove 131. When the first driving member 132 pushes the clamping member 140 to move towards the inner side of the fixing member 130, the fixing part 141 of the clamping member 140 approaches the lightning rod to achieve the clamping state; when the first driving member 132 pulls the clamping member 140 to move towards the outer side of the fixing member 130, the fixing part 141 of the clamping member 140 moves away from the lightning rod to achieve the releasing state.

[0080] The first driving member 132 can be a cylinder, a linear motor or a servo motor. For example, the output end of the cylinder is connected to the clamping member 140 through a connecting rod to drive the clamping member 140 to move in the guiding groove 131.

[0081] The fixing part 141 can be set as a rotating wheel 1411. The rotating wheel 1411 can be rotatably disposed on the clamping member 140. The rotating wheel 1411 can be installed on the clamping member 140 through a bearing or a rotating shaft and can rotate freely. The rotating wheel 1411 can be a rubber wheel, a metal wheel or a composite material wheel, and its contact surface is designed with an anti-slip or flexible material to increase the friction with the lightning rod and reduce wear.

[0082] The rotating wheel 1411 may have a contact surface for rolling contact with the lightning rod. The rolling contact between the rotating wheel 1411 and the lightning rod significantly reduces sliding friction and reduces the resistance of the robot during movement.

[0083] A flexible pressure sensing strip may be integrated inside the rotating wheel 1411. The flexible pressure sensing strip may return the clamping pressure data, and if it exceeds a preset threshold, the propulsion command is stopped to avoid excessive pressure, thereby achieving precise control and safe operation.

[0084] The rotating wheel 1411 may be covered with a special rubber strip, which can increase the friction with the surface of the lightning rod, thereby ensuring that the wheel can be stably and tightly fitted on the lightning rod, providing a more stable grip, preventing sliding or displacement, and ensuring that the robot has higher stability and reliability during the climbing process.

[0085] The clamping structure 100 may include a second driving member (not shown in the figure). The second driving member may provide power for the rotation of the rotating wheel 1411, so that the robot can roll laterally along the surface of the lightning rod.

[0086] The second driving member may be disposed on the clamping member 140. The output end of the second driving member may be connected to the rotating wheel 1411, and the output end may drive the rotating wheel 1411 to rotate. When the robot needs to rotate clockwise on the lightning rod, the second driving member may drive the rotating wheel 1411 to rotate clockwise; when the robot needs to rotate counterclockwise on the lightning rod, the second driving member may drive the rotating wheel 1411 to rotate counterclockwise.

[0087] The second driving member can be a motor, a stepper motor or a servo motor. For example, the motor is connected to the rotating wheel 1411 through a gear or a belt transmission to drive the rotating wheel 1411 to rotate.

[0088] The fixing member 130 may be provided with a first sensor element 133. The first sensor element 133 may be provided on the inner wall of the fixing member 130 close to the lightning rod. The first sensor element 133 may be used to obtain the distance between the fixing member 130 and the lightning rod, monitor the relative position of the clamping structure 100 and the lightning rod in real time, and ensure that the clamping structure 100 can accurately clamp the lightning rod to avoid clamping too tight or too loose.

[0089] The first sensor element 133 may be an ultrasonic sensor, a laser distance sensor or an infrared sensor. For example, the laser distance sensor is installed inside the fixing member 130, emits laser toward the surface of the lightning rod and receives the reflected signal to calculate the distance between the fixing member 130 and the lightning rod.

[0090] When the first sensing element 133 detects an increase in the distance between the fixing member 130 and the lightning rod, it indicates that the diameter of the lightning rod becomes smaller, and the clamping structure 100 can automatically increase the clamping force; conversely, when the distance decreases, the clamping structure 100 can reduce the clamping force.

[0091] The fixing member 130 may be provided with a relief opening 150. The relief opening 150 can be used to sleave the fixing member 130 on the lightning rod. For example, the fixing member 130 can be a U-shaped or C-shaped structure, and the internal space is slightly larger than the diameter of the lightning rod to ensure smooth sleaving and allow the clamping member 140 to move inside.

[0092] The clamping structure 100 may be provided with a second sensing element 170. The second sensing element 170 can be movably arranged on the clamping structure 100. The second sensing element 170 can be used to detect obstacles above the clamping structure 100. The second sensing element 170 can be an ultrasonic sensor, a lidar or a camera. For example, the lidar is installed on the clamping structure 100, which can scan the area above the clamping structure 100 to detect the position and shape of the obstacles. Through accurate obstacle detection, it is ensured that the robot can adjust its actions in time to avoid collisions or jams.

[0093] See Figure 3 , the clamping structure 100 may be provided with a rotating seat 160. The second sensing element 170 can move relative to the clamping structure 100 through the rotating seat 160, so that the detection range of the second sensing element 170 covers the area above the clamping structure 100.

[0094] The rotating seat 160 can be a rotating platform, and the second sensing element 170 can be installed on the rotating platform to adjust the detection direction by rotation. For example, the lidar can rotate 360° in the horizontal direction through the rotating platform to comprehensively scan the obstacles above the clamping structure 100.

[0095] The clamping structure 100 may be provided with a third driving member 180 and a transmission assembly 190. The output end of the third driving member 180 can drive the rotating seat 160 to move relative to the clamping structure 100 through the transmission assembly 190, so that the second sensing element 170 can adjust its position relative to the clamping structure 100. The third driving member 180 can be a stepper motor or a servo motor, and the transmission assembly 190 can be a gear, a belt or a linkage mechanism. For example, the stepper motor drives the rotating seat 160 to rotate through gear transmission, so that the second sensing element 170 can scan the area above the clamping structure 100.

[0096] The first clamping structure 110 and the second clamping structure 120 can be simultaneously equipped with independent second sensing elements 170, rotating seats 160, third driving members 180, and transmission components 190. The second sensing element 170 of the first clamping structure 110 can be used to detect obstacles above the robot, and the second sensing element 170 of the second clamping structure 120 can be used to detect obstacles below the robot. The second sensing elements 170 of the two clamping structures 100 can simultaneously monitor obstacles above and below the robot, providing a more comprehensive environmental perception.

[0097] The second sensing element 170 of the first clamping structure 110 and the second sensing element 170 of the second clamping structure 120 can both be used to monitor obstacles above the robot. Among them, the size of the rotating seat 160 of the first clamping structure 110 can be different from the size of the rotating seat 160 of the second clamping structure 120 to avoid blocking the second sensing element 170 on the rotating seat 160 of the second clamping structure 120. The two second sensing elements 170 simultaneously monitoring obstacles above can provide a more comprehensive environmental perception, more accurately obtaining information on the position, size, and shape of the obstacles, and avoiding missing any obstacles.

[0098] Alternatively, the second sensing element 170, the rotating seat 160, the third driving member 180, and the transmission component 190 can be arranged on the first clamping structure 110. The second sensing element 170, the rotating seat 160, the third driving member 180, and the transmission component 190 can be arranged on the second clamping structure 120.

[0099] See Figure 4 , the driving device 200 can be used to drive the alternating movement and fixation of the first clamping structure 110 and the second clamping structure 120, so as to complete the climbing, obstacle crossing, and stable operation of the robot.

[0100] The driving device 200 can be a linear motor, a hydraulic cylinder, or a servo motor. For example, the linear motor drives the first driving end 210 and the second driving end 220 to move along the axial direction of the lightning rod through a slide table module.

[0101] The driving device 200 can be provided with a first driving end 210 and a second driving end 220. The first driving end 210 can be connected to the first clamping structure 110, and the second driving end 220 can be connected to the second clamping structure 120. The driving device 200 can drive the first driving end 210 and the second driving end 220 to approach and move away from each other, so that the two clamping structures 100 alternately clamp and release the lightning rod.

[0102] The driving device 200 can be configured such that when the first clamping structure 110 is in the first state and the second clamping structure 120 is in the second state, the first clamping structure 110 can be fixed to the lightning rod, and the driving device 200 can control the first driving end 210 and the second driving end 220 to approach each other, causing the second clamping structure 120 to move upward.

[0103] When the first clamping structure 110 is in the second state and the second clamping structure 120 is in the first state, the second clamping structure 120 can be fixed to the lightning rod, and the driving device 200 can control the first driving end 210 and the second driving end 220 to move away from each other, causing the first clamping structure 110 to move upward.

[0104] Among them, the first state can refer to the clamping state, fixed to the lightning rod, and the second state can refer to the loosening state, disengaged from the lightning rod.

[0105] During the state switching process of the first clamping structure 110 and the second clamping structure 120, the driving device 200 realizes the alternating climbing of the robot by controlling the movement of the first driving end 210 and the second driving end 220.

[0106] The driving device 200 can include a base 230 and a fourth driving member 240. Through the collaborative work of the base 230 and the fourth driving member 240, the relative movement of the first clamping structure 110 and the second clamping structure 120 can be realized, thus completing the climbing and obstacle-crossing tasks of the robot.

[0107] The base 230 can be the main frame of the driving device 200, used to provide the first driving end 210.

[0108] The fourth driving member 240 can be arranged on the base 230. The output end of the fourth driving member 240 can be set as the second driving end 220, which can provide power for the movement of the second clamping structure 120 to ensure the stable climbing and obstacle-crossing of the robot.

[0109] The fourth driving member 240 can be a linear motor, a hydraulic cylinder or a servo motor. For example, the output end of the linear motor is connected to the second clamping structure 120 through a slide table module, driving the second clamping structure 120 to move along the lightning rod, approaching or moving away from the first clamping structure 110.

[0110] The lightning rod climbing robot can be equipped with a mechanical self-locking function. In the event of an accidental power outage, the robot can automatically lock the current clamping position to prevent loosening or displacement caused by power interruption.

[0111] It is easy to understand that through the coordinated work of the clamping structure 100 and the driving device 200, the lightning rod climbing robot can flexibly respond to different structural features on the surface of the lightning rod and achieve stable climbing and obstacle-crossing functions. Its motion process can be divided into two operation modes according to whether there are connecting point obstacles on the lightning rod: the conventional peristaltic forward mode and the obstacle-crossing mode.

[0112] When the ranging module does not detect connecting point obstacles on the lightning rod, the robot is in the conventional peristaltic forward mode and climbs through the alternating actions of the first clamping structure 110 and the second clamping structure 120. Specifically, the first clamping structure 110 clamps the lightning rod, the second clamping structure 120 releases the lightning rod, and the driving device 200 controls the second clamping structure 120 to move upward and approach the first clamping structure 110; subsequently, the second clamping structure 120 clamps the lightning rod, the first clamping structure 110 releases the lightning rod, and the driving device 200 controls the first clamping structure 110 to move upward. Through this peristaltic forward method of alternating clamping, releasing, and moving, the robot can stably climb upward on the lightning rod. The advantage of this mode lies in its stability and efficiency. The alternating clamping and releasing ensure that the robot always has at least one clamping structure 100 fixed to the lightning rod at any time, avoiding falling off, and is suitable for scenarios where there are no complex obstacles on the surface of the lightning rod.

[0113] See Figure 5 As shown in, when the first sensing element 133 detects the connecting point annular obstacle (such as a flange or a grounding device) on the lightning rod, the robot switches to the obstacle-crossing mode. In the obstacle-crossing mode, the robot first adjusts the position and posture of the clamping structure 100. For example, the first clamping structure 110 moves upward to a suitable position below the obstacle and clamps the lightning rod to ensure that the robot is stably fixed in front of the obstacle; subsequently, the second clamping structure 120 moves upward, approaches the obstacle and clamps the lightning rod; then, the first clamping structure 110 releases the lightning rod, and the driving device 200 controls the first clamping structure 110 to move upward and cross the obstacle. Through this precise positioning and action adjustment, it is ensured that the robot can safely and efficiently pass through the obstacle in a complex environment.

[0114] See Figure 6, when the first sensing element 133 detects an obstacle on the grounding wire of the lightning rod, the obstacle on the grounding wire extends outwards and cannot avoid the obstacle by simply alternately loosening the clamping structure 100. In this regard, the rotating wheel 1411 can drive the fixing member 130 to perform fine adjustment through the built-in second driving member, ensuring that the position of the opening completely matches the obstacle on the grounding wire. This precise positioning ability enables the robot to flexibly adjust its posture, avoid being blocked by the protruding obstacles on the lightning rod, reflects the high adaptability of the robot in complex environments, and also significantly improves its obstacle-crossing efficiency and safety, providing a reliable guarantee for the comprehensive inspection and maintenance of the lightning rod. Through the switching and cooperation of the above two modes, the climbing robot can flexibly respond to different structural features on the lightning rod and achieve comprehensive coverage climbing of the entire lightning rod.

[0115] The above technical description may refer to the accompanying drawings, which form a part of this application and illustrate the implementation manners in accordance with the described embodiments by description in the drawings. Although these embodiments are described in sufficient detail to enable those skilled in the art to implement these embodiments, these embodiments are non-limiting; thus, other embodiments can be used and changes can be made without departing from the scope of the described embodiments. For example, the order of operations described in the flowcharts is non-limiting, so the order of two or more operations illustrated and described according to the flowcharts can be changed according to several embodiments. As another example, in several embodiments, one or more operations illustrated and described according to the flowcharts are optional or can be deleted. Additionally, certain steps or functions can be added to the disclosed embodiments, or the order of two or more steps can be permuted. All these changes are considered to be included in the disclosed embodiments and the claims.

[0116] In addition, terms are used in the above technical description to provide a thorough understanding of the described embodiments. However, overly detailed details are not required to implement the described embodiments. Therefore, the above description of the embodiments is presented for illustration and description. The embodiments presented in the above description and the examples disclosed according to these embodiments are provided separately to add context and help understand the described embodiments. The above specification is not intended to be exhaustive or to limit the described embodiments to the exact form of the application. According to the above teachings, several modifications, selections, and variations are feasible. In some cases, well-known processing steps are not described in detail to avoid unnecessarily affecting the described embodiments.

[0117] In this application, specific embodiments are used to elaborate on the principles and implementation manners of the application. The descriptions of the above embodiments are only for helping to understand the core idea of the application. At the same time, for those of ordinary skill in the art, according to the idea of the application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the application.

[0118] The above is only the specific implementation manner of the application, but the protection scope of the application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the application can easily think of changes or substitutions, which should all be covered within the protection scope of the application. Therefore, the protection scope of the application shall be subject to the protection scope of the claims.

Claims

1. A lightning rod climbing robot, characterized in that, It includes a plurality of clamping structures and a driving device. The plurality of clamping structures include a first clamping structure and a second clamping structure; Both the first clamping structure and the second clamping structure are used to be fixed to the lightning rod; The driving device is provided with a first driving end and a second driving end. The first driving end is connected to the first clamping structure, and the second driving end is connected to the second clamping structure. The driving device drives the first driving end and the second driving end to approach and separate from each other.

2. The lightning rod climbing robot according to claim 1, wherein, The first clamping structure is located above the second clamping structure; When the first clamping structure is in the first state, the first clamping structure is used to be fixed to the lightning rod. When the first clamping structure is in the second state, the first clamping structure disengages from the lightning rod; When the second clamping structure is in the first state, the second clamping structure is used to be fixed to the lightning rod. When the second clamping structure is in the second state, the second clamping structure disengages from the lightning rod; The driving device is configured such that when the first clamping structure is in the first state and the second clamping structure is in the second state, the first clamping structure is fixed to the lightning rod, and the driving device controls the first driving end and the second driving end to approach each other, so that the second clamping structure moves upward; When the first clamping structure is in the second state and the second clamping structure is in the first state, the second clamping structure is fixed to the lightning rod, and the driving device controls the first driving end and the second driving end to separate from each other, so that the first clamping structure moves upward.

3. The lightning rod climbing robot according to claim 2, characterized in that The clamping structure includes a fixing member and a plurality of clamping members. The fixing member is used to be sleeved on the lightning rod; The plurality of clamping members are movably arranged on the fixing member. The clamping members have fixing parts, and the fixing parts of the plurality of clamping members are located inside the fixing member; When the first clamping structure or the second clamping structure is in the first state, the fixing parts of the plurality of clamping members approach each other, and the plurality of fixing parts are used to clamp and fix the lightning rod; When the first clamping structure or the second clamping structure is in the second state, the fixing parts of the plurality of clamping members move away from each other, and the plurality of fixing parts move relative to the lightning rod along the extending direction of the lightning rod.

4. The lightning rod climbing robot according to claim 3, characterized in that, The fixing member is provided with a guiding groove, and the guiding groove penetrates through the fixing member. The clamping member passes through the fixing member through the guiding groove; The clamping structure includes a first driving member. The first driving member is arranged on the fixing member, and the output end of the first driving member is connected to the clamping member. The first driving member drives the clamping member to move relative to the guiding groove.

5. The lightning rod climbing robot according to claim 3, wherein, The fixing part is set as a rotating wheel. The rotating wheel is rotatably arranged on the clamping member, and the rotating wheel has a contact surface for rolling contact with the lightning rod; The clamping structure includes a second driving member. The second driving member is arranged on the clamping member, and the output end of the second driving member is connected to the rotating wheel. The second driving member drives the rotating wheel to rotate through the output end.

6. The lightning rod climbing robot according to claim 3, characterized in that, The fixing member is provided with a first sensing element, and the first sensing element is at least used to obtain the distance between the fixing member and the lightning rod.

7. The lightning rod climbing robot according to claim 3, characterized in that The fixing piece is provided with a clearance opening, and the clearance opening is at least used to allow the fixing piece to be sleeved on the lightning rod.

8. The lightning rod climbing robot according to any one of claims 1-7, characterized in that, The clamping structure is provided with a second sensing element; The second sensor element is movably disposed on the clamping structure, and the second sensor element is at least used to detect obstacles above the clamping structure.

9. The lightning rod climbing robot according to claim 8, characterized in that The clamping structure is provided with a rotating seat, and the second sensing element moves relative to the clamping structure via the rotating seat; The clamping structure is provided with a third driving member and a transmission assembly, and the output end of the third driving member drives the rotating seat to move relative to the clamping structure through the transmission assembly.

10. The lightning rod climbing robot according to any one of claims 1-7, characterized in that, The driving device comprises a base and a fourth driving member; The base is provided with the first driving end, the fourth driving member is provided on the base, and the output end of the fourth driving member is provided with the second driving end; The base is fixed to the first clamping structure, the output end of the fourth driving member is fixed to the second clamping structure, and the fourth driving member drives the second clamping structure to approach or move away from the first clamping structure through the output end.

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