Pole climbing and obstacle avoiding type insulating umbrella shield robot

Abstract

The invention provides a pole climbing and obstacle avoiding type insulating umbrella shield robot which comprises a climbing and obstacle avoiding system longitudinal beam, an upper tensioning guide wheel mechanism assembly, a pole holding safety caliper assembly, an upper driving wheel type climbing caliper assembly, a middle tensioning guide wheel mechanism assembly, a lower driving wheel type climbing caliper assembly, a lower tensioning guide wheel mechanism assembly and an insulating umbrella shield lifting system assembly. An insulating umbrella shield disassembling and assembling system assembly and an insulating umbrella shield folding system assembly; according to the pole climbing and obstacle avoiding type insulating umbrella shield robot, electric poles with different pole diameters can climb up and down in a remote control mode, and the pole climbing and obstacle avoiding type insulating umbrella shield robot can adapt to taper changes of the electric poles; the robot is provided with a movement mechanism for actively avoiding obstacles on the electric pole; the robot is provided with an insulating baffle plate mechanism with folding, unfolding, folding and lifting functions.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of mobile robots, and particularly relates to an insulating umbrella shield robot capable of climbing poles and avoiding obstacles. BACKGROUND

[0002] The existing pole climbing robot adopts a clamping mechanism such as a multi-claw or ring-shaped gripper, a moving mechanism such as a track type, wheel type or step type, and a power system with a battery and a motor. The mechanical structure of the existing power pole climbing robot includes a clamping mechanism, a moving mechanism, a balance and stability system, the clamping mechanism: a reliable clamping mechanism is the basis for climbing, and a multi-claw or ring-shaped gripper is usually adopted, which can be firmly attached to the surface of the pole tower and adapt to pole towers with different diameters and materials (such as steel and concrete). The clamping mechanism should have self-adaptive adjustment capability to adapt to the change of the diameter of the pole tower; the moving mechanism: including various designs such as track type, wheel type or step type. The track type robot is suitable for complex terrain and large diameter pole towers; the wheel type robot may be more portable, but a more stable clamping system is needed; the step type robot climbs upward step by step through a mechanical arm or leg structure; the balance and stability system: ensures that the robot maintains balance during climbing to prevent overturning due to wind force, load change and other factors. It may include gyroscopes, accelerometers and other sensors and corresponding control algorithms.

[0003] The power system of the existing power pole climbing robot includes a driving motor and an energy supply, the driving motor: provides power for the clamping mechanism and the moving mechanism, and needs to have sufficient torque and speed adjustment capability to adapt to different climbing speeds and load requirements; the energy supply: can adopt battery power supply, and needs to consider the endurance capability and fast charging technology. For long time operation, solar auxiliary power supply or wireless energy transmission technology can be considered.

[0004] The control system of the existing power pole climbing robot includes an intelligent control algorithm and remote control, the intelligent control algorithm: combines sensor data (such as position, speed, attitude, etc.) to realize autonomous path planning, obstacle avoidance and stability control. Advanced control theories such as fuzzy control and neural network control are adopted to improve the adaptability and robustness of the robot; the remote control: is equipped with a wireless communication module to allow ground operators to remotely monitor and control the robot through a remote controller or computer to ensure operation safety.

[0005] The perception and interaction system of the existing power pole climbing robot includes a sensor array and a human-computer interaction interface, the sensor array: includes visual sensors (cameras), distance sensors, force sensors and the like for environment perception, obstacle detection and target positioning; the human-computer interaction interface: provides an intuitive operation interface to display the state of the robot, operation progress and surrounding environment information, and supports voice or gesture control and other interaction modes.

[0006] The existing power tower climbing robot safety protection and emergency treatment includes a safety locking mechanism and an emergency braking system, the safety locking mechanism: in the climbing process, once an abnormal situation (such as power interruption, clamping failure, etc.) is detected, the safety locking is immediately started to prevent the robot from falling; the emergency braking system: equipped with an emergency braking device to ensure that all movements can be quickly stopped in an emergency.

[0007] The existing power tower climbing robot can carry a high-definition camera, an infrared thermal imager, an ultrasonic flaw detector, a mechanical arm and other tools according to specific task requirements to perform various tasks such as inspection, maintenance and cleaning.

[0008] The technical problems faced in the design of the existing pole climbing obstacle avoidance type insulating umbrella shield robot are as follows: 1. The electric pole has a taper change, and the robot climbing mechanism needs to adapt to the taper change of the electric pole and different specifications of the pole diameter electric pole; 2. The robot can avoid obstacles to the electric power equipment installed on the electric pole during the pole climbing process; 3. According to the installation operation process of the insulating baffle, the insulating baffle of the robot needs to be able to realize folding and recycling; 4. According to the operation requirements, the height of the insulating baffle from the electric pole line and the operation space under the insulating baffle can be adjusted. SUMMARY

[0009] To solve the above problems, the present application provides a pole climbing obstacle avoidance type insulating umbrella shield robot, which can climb up and down different pole diameter electric poles by remote control, and can adapt to the taper change of the electric pole; the robot has a motion mechanism that actively avoids obstacles on the electric pole; the robot is equipped with an insulating baffle mechanism that can be folded, unfolded and lifted.

[0010] The present application is a pole climbing obstacle avoidance type insulating umbrella shield robot, which includes a climbing obstacle avoidance system, an insulating umbrella shield lifting and folding system, and an insulating umbrella shield disassembly system.

[0011] The climbing obstacle avoidance system has an upper drive wheel type climbing caliper assembly and a lower drive wheel type climbing caliper assembly as core components, an upper tension guide wheel mechanism assembly, a middle tension guide wheel mechanism assembly, a lower tension guide wheel mechanism assembly, and a pole holding safety caliper assembly as auxiliary components; the upper drive wheel type climbing caliper assembly and the lower drive wheel type climbing caliper assembly are both provided with 2 pairs of horizontally opposed independently driven wheel type clamping arms, and are respectively fixed through an upper drive wheel type climbing caliper "V" type bridge, a lower drive wheel type climbing caliper "V" type bridge, and a longitudinal beam; by controlling the rotation direction of the 4 pairs of drive motors of the upper and lower drive wheel type climbing calipers, the robot can ascend and descend along the electric pole axis; by controlling the extension and retraction of the 4 pairs of hydraulic cylinders of the upper and lower drive wheel type climbing caliper "V" type bridges, the tension of the caliper pole holding can be driven, and combined with the upper, middle and lower three groups of tension guide wheels, the robot can be locked, released and hovered; by controlling the rotating motors of the 4 pairs of upper and lower drive wheel type climbing calipers, the robot can rotate along the electric pole diameter to avoid obstacles.

[0012] The insulating umbrella shield lifting and folding system is vertically installed on the longitudinal beam vertical surface of the climbing obstacle avoidance system by a fixed support, and a 2-stage lifting mast is driven by a mast lifting motor to make ascending and descending movement along the axial direction of the pole. The insulating umbrella shield folding mechanism is fixed on the top platform of the insulating umbrella shield lifting mechanism, and is driven by a folding motor to make 0-90° folding action, so as to realize the movement of the insulating umbrella shield from the initial state parallel to the pole to the state perpendicular to the pole.

[0013] The insulating umbrella shield dismounting system is fixed on the "H" beam of the folding system, and the main body is composed of three fan-shaped insulating baffles. In the contracted state, the three fan-shaped insulating baffles are arranged in three layers from top to bottom, the inner and outer sides of the middle layer insulating baffle are respectively provided with sliding grooves for receiving the upper and lower insulating baffles, and the upper and lower insulating baffles are respectively provided with driving devices for driving the upper and lower insulating baffles to expand and retract. In the expanded state, the three fan-shaped insulating baffles are arranged around the pole in the form of an umbrella shield.

[0014] The above technical solution is realized based on the automatic installation function of the insulating baffle, and the pole climbing obstacle avoidance type insulating umbrella shield robot adopts an electric pole climbing system as the core technology. In view of the characteristics that the pole diameters are different, the models are various, and the pole diameters change in taper, an electric double-drive wheel type pole climbing clamp structure is used as the pole axial movement system, hydraulic radial compensation is adopted to provide constant pole clamping force, a rotatable pole climbing clamp driving wheel is designed to realize the movement of the robot from the axial pole climbing to the radial pole movement around the pole, and obstacles on the pole are avoided, a foldable dismounting system is designed to combine three insulating baffles into an insulating umbrella shield structure, and a 2-stage lifting system is designed to realize flexible control of the safety distance and the working space.

[0015] Compared with the prior art, the beneficial effects are:

[0016] The pole climbing obstacle avoidance type insulating umbrella shield robot in the application is designed with a pole climbing obstacle avoidance system, an insulating umbrella shield lifting and folding system, and an insulating umbrella shield dismounting system. The pole climbing obstacle avoidance system has an electric double-drive wheel type pole climbing clamp mechanism, can realize axial lifting, descending and hovering along the pole, radial rotation around the pole, and has a fall protection system composed of three sets of tension guide wheels and pole clamping safety clamps. The insulating umbrella shield lifting and folding system has a 2-stage lifting mechanism, ensures that the safety working space can reach 1.5 meters in the axial height of the pole, and the folding mechanism improves the carrying capacity and obstacle avoidance capability of the robot for the insulating umbrella shield. The insulating umbrella shield dismounting system realizes automatic dismounting of the insulating baffle and improves the insulation protection level of live working. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the overall mechanism front view schematic diagram of the pole climbing obstacle avoidance type insulating umbrella shield robot of the application;

[0018] Figure 2 It is the overall mechanism isometric left view schematic diagram of the pole climbing obstacle avoidance type insulating umbrella shield robot of the application;

[0019] Figure 3 It is the upper drive wheel type climbing caliper release state front view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0020] Figure 4 It is the upper drive wheel type climbing caliper release state plan view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0021] Figure 5 It is the middle position tension guide wheel mechanism front view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0022] Figure 6 It is the middle position tension guide wheel mechanism plan view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0023] Figure 7 It is the lower drive wheel type climbing caliper engagement state front view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0024] Figure 8 It is the lower drive wheel type climbing caliper engagement state plan view schematic diagram of the pole climbing obstacle avoidance system of the application;

[0025] Figure 9 It is the insulating umbrella shield lifting and folding system front view schematic diagram of the application;

[0026] Figure 10 It is the folding mechanism front view schematic diagram of the insulating umbrella shield lifting and folding system;

[0027] Figure 11 It is the insulating umbrella shield dismounting system unfolded state front view schematic diagram of the application;

[0028] Figure 12 It is the insulating umbrella shield dismounting system contracted state front view schematic diagram of the application;

[0029] 1-pole climbing obstacle avoidance system longitudinal beam, 2-upper position tension guide wheel mechanism assembly, 21-upper position universal guide wheel, 22-upper position universal guide wheel connecting rod, 23-first top tensioning mechanism telescopic motor, 24-second top tensioning mechanism telescopic motor;

[0030] 3-pole holding safety caliper assembly, 31-pole holding safety caliper front universal guide wheel, 32-pole holding safety caliper rear universal guide wheel, 33-pole holding safety caliper clamping arm, 34-pole holding safety caliper "V" type bridge;

[0031] 4-Upper drive wheel type climbing caliper assembly, 41-Upper drive wheel type climbing caliper left clamping arm, 411-Upper drive wheel type climbing caliper left clamping arm drive wheel support, 412-Upper drive wheel type climbing caliper left clamping arm drive wheel rotation motor, 413-Upper drive wheel type climbing caliper left clamping arm drive wheel motor, 414-Upper drive wheel type climbing caliper left clamping arm drive wheel, 415-Upper drive wheel type climbing caliper left clamping arm movable connecting rod; 42-Upper drive wheel type climbing caliper "V" type bridge, 421-Upper drive wheel type climbing caliper "V" type bridge upper plate, 422-Upper drive wheel type climbing caliper "V" type bridge connecting piece, 423-Upper drive wheel type climbing caliper left clamping arm telescopic hydraulic cylinder, 424-Upper drive wheel type climbing caliper "V" type bridge lower plate, 425-Upper drive wheel type climbing caliper right clamping arm telescopic hydraulic cylinder; 43-Upper drive wheel type climbing caliper right clamping arm, 431-Upper drive wheel type climbing caliper right clamping arm drive wheel support, 432-Upper drive wheel type climbing caliper right clamping arm drive wheel rotation motor, 433-Upper drive wheel type climbing caliper right clamping arm drive wheel motor, 434-Upper drive wheel type climbing caliper right clamping arm drive wheel, 435-Upper drive wheel type climbing caliper right clamping arm movable connecting rod;

[0032] 5-Middle tension guide wheel mechanism assembly, 51-Middle left guide wheel mechanism, 511-Middle tension left guide wheel driving gear, 512-Middle tension left guide wheel driven gear, 513-First middle tension left guide wheel support, 514-Middle tension left guide wheel, 515-Second middle tension left guide wheel support, 516-Middle tension left guide wheel universal transmission joint; 52-Middle right guide wheel mechanism, 521-Middle tension right guide wheel driving gear, 522-Middle tension right guide wheel driven gear, 523-First middle tension right guide wheel support, 524-Middle tension right guide wheel, 525-Second middle tension right guide wheel support, 526-Middle tension right guide wheel universal transmission joint; 53-Middle tension mechanism, 531-First middle tension mechanism telescopic motor, 532-Second middle tension mechanism telescopic motor, 533-Middle tension mechanism left connecting rod, 534-First middle tension guide wheel drive motor support, 535-Middle tension guide wheel drive motor, 536-Second middle tension guide wheel drive motor support, 537-Middle tension mechanism right connecting rod;

[0033] 6-Down drive wheel type climbing caliper assembly, 61-Down drive wheel type climbing caliper left clamping arm, 611-Down drive wheel type climbing caliper left clamping arm drive wheel support, 612-Down drive wheel type climbing caliper left clamping arm drive wheel rotation motor, 613-Down drive wheel type climbing caliper left clamping arm drive wheel motor, 614-Down drive wheel type climbing caliper left clamping arm drive wheel, 615-Down drive wheel type climbing caliper left clamping arm movable connecting rod; 62-Down drive wheel type climbing caliper "V" type bridge, 621-Down drive wheel type climbing caliper "V" type bridge upper plate, 622-Down drive wheel type climbing caliper "V" type bridge connecting piece, 623-Down drive wheel type climbing caliper left clamping arm telescopic hydraulic cylinder, 624-Down drive wheel type climbing caliper "V" type bridge lower plate, 625-Down drive wheel type climbing caliper right clamping arm telescopic hydraulic cylinder; 63-Down drive wheel type climbing caliper right clamping arm, 631-Down drive wheel type climbing caliper right clamping arm drive wheel support, 632-Down drive wheel type climbing caliper right clamping arm drive wheel rotation motor, 633-Down drive wheel type climbing caliper right clamping arm drive wheel motor, 634-Down drive wheel type climbing caliper right clamping arm drive wheel, 635-Down drive wheel type climbing caliper right clamping arm movable connecting rod;

[0034] 7-Down tension guide wheel mechanism assembly, 8-Insulating umbrella shield lifting system assembly, 81-Lifting mast guide wheel, 82-Internal mast, 83-Left outer mast, 84-Right outer mast, 85-Lifting motor;

[0035] 9-Insulating umbrella shield disassembly system assembly, 90-Upper sliding groove, 91-Upper rack, 92-Upper insulating baffle, 93-Upper insulating baffle folding and unfolding drive motor, 94-Middle insulating baffle, 95- Lower rack, 96-Lower sliding groove, 97-Lower insulating baffle, 98-Lower insulating baffle folding and unfolding drive motor, 99-Insulating umbrella shield connecting and fixing plate piece;

[0036] 10-Insulating umbrella shield folding system assembly, 101-Umbrella shield support short cross beam, 102-Umbrella shield support longitudinal beam, 103-Umbrella shield support long cross beam, 104-Umbrella shield radial movement sliding block, 105-Umbrella shield rotation mechanism support, 106-Umbrella shield radial movement guide rail, 107-Umbrella shield radial movement lead screw, 108-Umbrella shield radial movement drive motor, 109-Umbrella shield rotation crank push rod, 1010-Umbrella shield rotation crank, 1011-Umbrella shield folding driven gear disc, 1012-Umbrella shield folding mechanism drive motor, 1013-Umbrella shield folding mechanism connecting sleeve. DETAILED DESCRIPTION

[0037] The specific embodiments of the insulating umbrella shield robot of the present application will be described in detail below with reference to the accompanying drawings.

[0038] As Figure 1As shown, the pole-climbing obstacle-avoiding insulating umbrella shield robot of the present application comprises a pole-climbing obstacle-avoiding system, an insulating umbrella shield lifting and folding system, and an insulating umbrella shield dismounting system.

[0039] The pole-climbing obstacle-avoiding system has the upper driving wheel type pole-clamping assembly 4 and the lower driving wheel type pole-clamping assembly 6 as core components, and has the upper tension guide wheel mechanism assembly 2, the middle tension guide wheel mechanism assembly 5, the lower tension guide wheel mechanism assembly 7, and the pole-holding safety clamp assembly 3 as auxiliary components. The upper driving wheel type pole-clamping assembly 4 and the lower driving wheel type pole-clamping assembly 6 are each provided with two pairs of horizontally-opposed independently-driven wheel type clamping arms (the upper driving wheel type pole-clamping assembly left clamping arm 41, the upper driving wheel type pole-clamping assembly right clamping arm 43, the lower driving wheel type pole-clamping assembly left clamping arm 61, and the lower driving wheel type pole-clamping assembly right clamping arm 63), and are fixed by the upper and lower driving pole-climbing clamp "V" shaped bridge and the longitudinal beam. By controlling the rotation directions of the four pairs of driving motors (412-upper driving wheel type pole-clamping assembly left clamping arm driving wheel rotation motor, 413-upper driving wheel type pole-clamping assembly left clamping arm driving wheel motor, 432-upper driving wheel type pole-clamping assembly right clamping arm driving wheel rotation motor, and 433-upper driving wheel type pole-clamping assembly right clamping arm driving wheel motor) of the upper and lower driving pole-climbing clamps, the robot can ascend and descend along the pole axis. By controlling the extension and contraction of the four pairs of hydraulic cylinders (425-upper driving wheel type pole-clamping assembly right clamping arm extension and contraction hydraulic cylinder and 625-lower driving wheel type pole-clamping assembly right clamping arm extension and contraction hydraulic cylinder) of the upper and lower driving pole-climbing clamp "V" shaped bridge, the tension of the pole-holding clamp is driven, and the robot can be locked, relaxed, and hovered by the three sets of tension guide wheels. By controlling the rotation motors (the upper driving wheel type pole-clamping assembly left clamping arm driving wheel rotation motor 412, the upper driving wheel type pole-clamping assembly right clamping arm driving wheel rotation motor 432, the lower driving wheel type pole-clamping assembly left clamping arm driving wheel rotation motor 612, and the lower driving wheel type pole-clamping assembly right clamping arm driving wheel rotation motor 632) of the four pairs of upper and lower driving pole-climbing clamps, the robot can rotate and avoid obstacles along the pole radial direction. Specific embodiment 1

[0041] In combination Figures 1-2The application provides a pole-climbing obstacle-avoiding insulating umbrella shield robot, which comprises a pole-climbing obstacle-avoiding system longitudinal beam 1, an upper tension guide wheel mechanism assembly 2, a pole-holding safety clamp assembly 3, an upper driving wheel type pole-climbing clamp assembly 4, a middle tension guide wheel mechanism assembly 5, a lower driving wheel type pole-climbing clamp assembly 6, a lower tension guide wheel mechanism assembly 7, an insulating umbrella shield lifting system assembly 8, an insulating umbrella shield dismounting system assembly 9 and an insulating umbrella shield folding system assembly 10. Embodiment 2

[0043] In combination Figures 1-2 The pole-holding safety clamp "V"-shaped bridge 34 is horizontally fixed to the front end of the pole-climbing obstacle-avoiding system longitudinal beam 1, the upper tension guide wheel mechanism assembly 2 is fixed to the upper end of the pole-holding safety clamp "V"-shaped bridge 34, the upper tension guide wheel mechanism assembly 2 drives the upper universal guide wheel 21 to make telescopic movement along the radial direction of the pole through the electric connecting rod mechanism formed by the first top telescopic motor 23, the second top telescopic motor 24 and the upper universal guide wheel connecting rod 22, a pair of pole-holding safety clamp clamping arms 33 are movably connected to the left and right front ends of the pole-holding safety clamp "V"-shaped bridge 34, the pole-holding safety clamp clamping arms 33 are provided with the pole-holding safety clamp front guide wheel 31 fixed to the front end of each clamping arm and the pole-holding safety clamp rear guide wheel 32 fixed to the rear end of each clamping arm, the rotating central shafts of the four guide wheels are parallel to the radial plane of the pole and can make universal movement in the axial and radial directions of the pole surface, the roots of the two clamping arms are connected through the hydraulic telescopic cylinder, the piston movement of the hydraulic telescopic cylinder is controlled to drive the two clamping arms to clamp and open, so that the pole-holding action is locked and released, and the upper tension guide wheel mechanism assembly 2 and the pole-holding safety clamp assembly 3 constitute the anti-falling safety system of the pole-climbing obstacle-avoiding insulating umbrella shield robot.

[0044] The pole-holding safety clamp assembly 3, the upper driving wheel type pole-climbing clamp assembly 4, the middle tension guide wheel mechanism assembly 5, the lower driving wheel type pole-climbing clamp assembly 6 and the lower tension guide wheel mechanism assembly 7 are distributed on the front end of the pole-climbing obstacle-avoiding system longitudinal beam 1 from top to bottom and horizontally along the axial direction of the pole, and are located below the pole-holding safety clamp assembly 3 as a whole, and jointly constitute the pole-climbing obstacle-avoiding movement system of the pole-climbing obstacle-avoiding insulating umbrella shield robot. Embodiment 3

[0046] In combinationFigures 3-4 The upper driving wheel type climbing caliper assembly 4 comprises an upper driving wheel type climbing caliper "V" shaped bridge 42, which is formed into an "I" beam structure by an upper driving wheel type climbing caliper "V" shaped bridge connecting piece 422 and an upper driving wheel type climbing caliper "V" shaped bridge upper plate piece 421 and an upper driving wheel type climbing caliper "V" shaped bridge lower plate piece 424, and the rear end vertical surface of the "I" beam structure is fixedly installed on the front vertical surface of the climbing obstacle avoidance system longitudinal beam 1. The left front end of the upper driving wheel type climbing caliper "V" shaped bridge 42 is movably connected with the upper driving wheel type climbing caliper left clamping arm 41 through an upper driving wheel type climbing caliper left clamping arm movable connecting rod 415. The front end of the upper driving wheel type climbing caliper left clamping arm movable connecting rod 415 is fixedly provided with an upper driving wheel type climbing caliper left clamping arm driving wheel rotating motor 412. The rotating shaft of the upper driving wheel type climbing caliper left clamping arm driving wheel rotating motor 412 is provided with an upper driving wheel type climbing caliper left clamping arm driving wheel support 411. The outer side of the upper driving wheel type climbing caliper left clamping arm driving wheel support 411 is provided with an upper driving wheel type climbing caliper left clamping arm driving wheel motor 413, and the inner side is provided with an upper driving wheel type climbing caliper left clamping arm driving wheel 414. The right front end of the upper driving wheel type climbing caliper "V" shaped bridge 42 is movably connected with the upper driving wheel type climbing caliper right clamping arm 43 through an upper driving wheel type climbing caliper right clamping arm movable connecting rod 435. The front end of the upper driving wheel type climbing caliper right clamping arm movable connecting rod 435 is fixedly provided with an upper driving wheel type climbing caliper right clamping arm driving wheel rotating motor 432. The rotating shaft of the upper driving wheel type climbing caliper right clamping arm driving wheel rotating motor 432 is provided with an upper driving wheel type climbing caliper right clamping arm driving wheel support 431. The outer side of the upper driving wheel type climbing caliper right clamping arm driving wheel support 431 is provided with an upper driving wheel type climbing caliper right clamping arm driving wheel motor 433, and the inner side is provided with an upper driving wheel type climbing caliper right clamping arm driving wheel 434. Embodiment 4

[0048] In combination Figures 3-4The upper drive wheel type climbing caliper "V" shaped bridge 42 is fixed between the upper drive wheel type climbing caliper left clamping arm telescopic hydraulic cylinder 423 and the upper drive wheel type climbing caliper right clamping arm telescopic hydraulic cylinder 425. The piston end of the hydraulic cylinder 423 and the piston end of the hydraulic cylinder 425 are respectively connected with the upper drive wheel type climbing caliper left clamping arm movable connecting rod 415 and the upper drive wheel type climbing caliper right clamping arm movable connecting rod 435. By controlling the piston extension and retraction of the hydraulic cylinder 423 and the hydraulic cylinder 425, the left connecting rod 415 and the right connecting rod 435 are driven to form occlusion and opening movement along the electric pole diameter, so as to drive the upper drive wheel type climbing caliper left clamping arm 41 and the upper drive wheel type climbing caliper right clamping arm 43 to realize the locking and release of the pole holding action. The upper drive wheel type climbing caliper left clamping arm 41 and the upper drive wheel type climbing caliper right clamping arm 43 are horizontally opposite along the electric pole center line. By controlling the forward and reverse rotation of the upper drive wheel type climbing caliper left clamping arm drive wheel motor 413 and the upper drive wheel type climbing caliper right clamping arm drive wheel motor 433, the left clamping arm drive wheel 414 and the right clamping arm drive wheel 434 are synchronously driven to move up and down along the electric pole axis. By controlling the left clamping arm drive wheel rotating motor 412 and the right clamping arm drive wheel rotating motor 432 to rotate inward by 90°, the movement direction of the drive wheel 414 and the drive wheel 434 is changed from the electric pole axial linear climbing displacement to the radial circumferential displacement. Embodiment 5

[0050] In combination Figures 5-6 A middle tension guide wheel mechanism assembly 5 is installed below the upper drive wheel type climbing caliper assembly 4 along the vertical direction of the climbing obstacle avoidance system longitudinal beam 1. The tail ends of the four connecting rods of the middle tension mechanism left connecting rod 533 and the middle tension mechanism right connecting rod 537 are horizontally opposite fixed to the front vertical surface of the climbing obstacle avoidance system longitudinal beam 1. The four pairs of connecting rod installation positions are located below the first middle tension mechanism telescopic motor 531 and the second middle tension mechanism telescopic motor 532. The first middle tension mechanism telescopic motor 531 and the second middle tension mechanism telescopic motor 532 together constitute a middle tension mechanism telescopic system. By controlling the extension and retraction of the first middle tension mechanism telescopic motor 531 and the second middle tension mechanism telescopic motor 532, the middle tension guide wheel mechanism assembly 5 is driven to feed along the electric pole diameter under the action of the connecting rod mechanism, so as to realize the compression and relaxation action. Embodiment 6

[0052] In combination Figures 5-6The other end of the first and second mid-tensioning mechanism telescopic motors 531, 532 and the mid-tensioning mechanism connecting rods 533, 537 are fixed to the two sides of the tensioning guide pulley V-shaped bridge, the first and second mid-tensioning guide pulley drive motor supports 534, 536 are fixed in the middle of the tensioning guide pulley V-shaped bridge, and the mid-tensioning guide pulley drive motor 535 is fixed in the middle of the two supports; the left and right ends of the transmission shaft of the mid-tensioning guide pulley drive motor 535 are respectively connected with the mid-tensioning left guide pulley universal joint 516 and the mid-tensioning right guide pulley universal joint 526; the two transmission joints respectively drive the mid-left guide pulley mechanism 51 and the mid-right guide pulley mechanism 52, the mid-left guide pulley mechanism 51 and the mid-right guide pulley mechanism 52 are distributed in the radial horizontal direction of the electric pole and form a 45° angle; the transmission joints and the mid-tensioning left guide pulley driving gear 511 and the mid-tensioning right guide pulley driving gear 521 form a transmission connection; the mid-tensioning left guide pulley driving gear 511 and the mid-tensioning left guide pulley driven gear 512 are fixed outside the first mid-tensioning left guide pulley support 513, and the mid-tensioning right guide pulley driving gear 521 and the mid-tensioning right guide pulley driven gear 522 are fixed outside the second mid-tensioning right guide pulley support 525; the first and second mid-tensioning left guide pulley supports 513, 515 are fixed with the mid-tensioning left guide pulley 514, and the first and second mid-tensioning right guide pulley supports 523, 525 are fixed with the mid-tensioning right guide pulley 524; by controlling the forward and reverse rotation of the mid-tensioning guide pulley drive motor 535, the mid-tensioning left guide pulley 514 and the mid-tensioning right guide pulley 524 are driven to synchronously form up and down displacement along the electric pole axial direction. Embodiment 7

[0054] In combination Figures 7-8The lower driving wheel type climbing caliper assembly 6 is provided with a lower driving wheel type climbing caliper "V" shaped bridge 62. The lower driving wheel type climbing caliper "V" shaped bridge 62 is formed as an "H" beam structure by a lower driving wheel type climbing caliper "V" shaped bridge connecting piece 622 and a lower driving wheel type climbing caliper "V" shaped bridge upper plate piece 621 and a lower driving wheel type climbing caliper "V" shaped bridge lower plate piece 624. The rear end vertical surface of the "H" beam structure is fixedly installed on the front vertical surface of the climbing obstacle avoidance system longitudinal beam 1. The left front end of the lower driving wheel type climbing caliper "V" shaped bridge 62 is movably connected with a lower driving wheel type climbing caliper left clamping arm 61 through a lower driving wheel type climbing caliper left clamping arm movable connecting rod 615. The front end of the lower driving wheel type climbing caliper left clamping arm movable connecting rod 615 is fixedly provided with a lower driving wheel type climbing caliper left clamping arm driving wheel rotating motor 612. A lower driving wheel type climbing caliper left clamping arm driving wheel support 611 is installed on the rotating shaft of the lower driving wheel type climbing caliper left clamping arm driving wheel rotating motor 612. A lower driving wheel type climbing caliper left clamping arm driving wheel motor 613 is installed on the outer side of the lower driving wheel type climbing caliper left clamping arm driving wheel support 611, and a lower driving wheel type climbing caliper left clamping arm driving wheel 614 is installed on the inner side of the lower driving wheel type climbing caliper left clamping arm driving wheel support 611. The right front end of the lower driving wheel type climbing caliper "V" shaped bridge 62 is movably connected with a lower driving wheel type climbing caliper right clamping arm 63 through a lower driving wheel type climbing caliper right clamping arm movable connecting rod 635. The front end of the lower driving wheel type climbing caliper right clamping arm movable connecting rod 635 is fixedly provided with a lower driving wheel type climbing caliper right clamping arm driving wheel rotating motor 632. A lower driving wheel type climbing caliper right clamping arm driving wheel support 631 is installed on the rotating shaft of the lower driving wheel type climbing caliper right clamping arm driving wheel rotating motor 632. A lower driving wheel type climbing caliper right clamping arm driving wheel motor 633 is installed on the outer side of the lower driving wheel type climbing caliper right clamping arm driving wheel support 631, and a lower driving wheel type climbing caliper right clamping arm driving wheel 634 is installed on the inner side of the lower driving wheel type climbing caliper right clamping arm driving wheel support 631. Embodiment 8

[0056] In combination Figures 7-8The left clamping arm of the lower drive wheel type climbing clamp "V" shaped bridge 61 and the right clamping arm of the lower drive wheel type climbing clamp "V" shaped bridge 63 are horizontally distributed in an axial direction along the center line of the electric pole, and the positive and negative rotation of the left clamping arm drive wheel motor 613 and the right clamping arm drive wheel motor 633 is controlled to synchronously drive the left clamping arm drive wheel 614 and the right clamping arm drive wheel 634 to move up and down along the axial direction of the electric pole; the left clamping arm drive wheel rotating motor 612 and the right clamping arm drive wheel rotating motor 632 are controlled to rotate inward by 90°, respectively, to change the movement direction of the drive wheels 614 and 634 from the axial linear climbing displacement of the electric pole to the radial circumferential displacement. Embodiment 9

[0058] In combination Figure 9 The insulating umbrella shield lifting system assembly 8 is composed of a lifting mast guide wheel 81, an inner mast 82, a left outer mast 83, a right outer mast 84 and a lifting motor 85. The bottom parts of the left and right outer masts 83 and 84 are fixedly connected by a connecting sheet, the inner mast 82 is slidingly connected with the left and right outer masts 83 and 84 through the lifting mast guide wheel 81, the top part of the piston rod of the lifting motor 85 is fixedly connected with the top parts of the left and right outer masts 83 and 84, and the bottom part of the lifting motor 85 is fixedly connected with the rear vertical surface bottom part of the climbing obstacle avoidance system longitudinal beam 1. The two side fixed baffles of the lifting mast guide wheel 81 are fixedly connected with the upper parts of the left and right vertical surfaces of the climbing obstacle avoidance system longitudinal beam 1, respectively. The lifting of the piston rod of the lifting motor 85 is controlled to drive the first stage lifting of the left and right outer masts 83 and 84, and the second stage lifting of the inner mast 82 is formed through the synchronous belt traction, the lifting direction of the mast is consistent with the axial direction of the electric pole, and the relative lifting movement of the insulating umbrella shield disassembly system assembly 9, the insulating umbrella shield folding system assembly 10 and the climbing system is driven. Embodiment 10

[0060] In combination Figure 10The main body of the insulating umbrella shield folding system assembly 10 is composed of the upper umbrella shield supporting short crossbeam 101, the umbrella shield supporting longitudinal beam 102, and the lower umbrella shield supporting long crossbeam 103 to form an "I" beam structure; the inner vertical surface of the umbrella shield supporting longitudinal beam 102 is installed with an umbrella shield radial movement guide rail 106, and a sliding connection is formed between the bottom of the umbrella shield radial movement slider 104 and the guide rail 106, and the umbrella shield radial movement slider 104 forms a spiral fit with the umbrella shield radial movement screw 107 through the top screw hole, and the umbrella shield radial movement drive motor 108 rotates with the umbrella shield radial movement screw 1 07 bottom connection, the bottom of the umbrella shield radial movement drive motor 108 is fixed to the bottom of the umbrella shield supporting longitudinal beam 102; the two umbrella shield rotating mechanism brackets 105 are vertically opposed to each other along the axis of the umbrella shield radial movement screw 107, and the bottom of the bracket 105 is fixed to both sides of the slider 104. The front end of the bracket 105 is fixed with an umbrella shield rotating crank 1010. By controlling the extension and retraction of the umbrella shield rotating crank push rod 109, the crank 1010 is pushed to flip along the axial direction of the pole, driving the "I" beam structure to flip -90°-90° relative to the lifting mast, thereby realizing obstacle avoidance of the umbrella shield.

[0061] The bottom of the umbrella shield folding mechanism is connected to the clamping sleeve 1013 and fixedly matched with the left outer mast 83 and the right outer mast 84. The mounting holes on both sides of the clamping sleeve 1013 form a relatively rotational movable match with the fixed holes on both sides of the umbrella shield folding driven gear plate 1011. By controlling the rotation of the umbrella shield folding mechanism drive motor 1012, the umbrella shield folding driven gear plate 1011 is driven to rotate 0°-90° perpendicular to the axis of the pole, thereby realizing the folding movement of the insulating umbrella shield disassembly and assembly system assembly 9 fixed to the "I" beam relative to the climbing system. By controlling the forward and reverse rotation of the umbrella shield radial movement drive motor 108, the movable screw 107 drives the insulating umbrella shield disassembly and assembly system assembly 9 installed on the I-beam structure to feed radially along the pole, realizing the insulating umbrella shield disassembly and assembly system assembly 9 approaching and moving away from the pole. Specific embodiment 11

[0063] Combine Figures 11-12, the umbrella shield dismounting system assembly 9 is composed of three fan-shaped insulating baffles, i.e., the upper insulating baffle 92, the middle insulating baffle 94 and the lower insulating baffle 97; in the contracted state, the upper insulating baffle 92, the middle insulating baffle 94 and the lower insulating baffle 97 are arranged in three layers from top to bottom, the outer surface of the lower sliding groove 96 is fixed with the insulating umbrella shield connecting fixing plate 99, the fixing plate 99 is fixed on the umbrella shield support short cross beam 101 of the insulating umbrella shield folding system assembly 10, the upper sliding groove 90, the upper rack 91, the lower sliding groove 96 and the lower rack 95 are respectively arranged on the inner and outer surfaces of the middle insulating baffle 94 along the upper and lower layers, and are used to respectively accommodate the upper insulating baffle 92 and the lower insulating baffle 94; the upper sliding groove 90 and the lower sliding groove 96 are respectively provided with the upper insulating baffle folding and unfolding driving motor 93 and the lower insulating baffle folding and unfolding driving motor 98, the upper rack 91 and the lower rack 95 are respectively driven to drive the upper insulating baffle 92 and the lower insulating baffle 97 to rotate and expand or contract relative to the middle insulating baffle 94 by controlling the forward and reverse rotation of the driving motors 93 and 98. In the unfolded state, the three fan-shaped insulating baffles are arranged around the electric pole in a ring shape to form the umbrella shield shape.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. It should be understood by those skilled in the art that the specific embodiments of the present application can be modified or replaced by equivalents, and these modifications or replacements are within the scope of protection of the claims.

Claims

1. A pole climbing obstacle avoidance insulating umbrella shield robot, characterized in that: The robot comprises a climbing obstacle avoidance system longitudinal beam (1), an upper tensioning guide wheel mechanism assembly (2), a pole safety caliper assembly (3), an upper drive wheel climbing caliper assembly (4), a middle tensioning guide wheel mechanism assembly (5), a lower drive wheel climbing caliper assembly (6), a lower tensioning guide wheel mechanism assembly (7), an insulating umbrella shield lifting system assembly (8), an insulating umbrella shield disassembly and assembly system assembly (9), and an insulating umbrella shield folding system assembly (10); wherein the robot takes the climbing obstacle avoidance system longitudinal beam (1) as the main structural body, and the upper tensioning guide wheel mechanism assembly (2), The pole safety caliper assembly (3), the upper drive wheel climbing caliper assembly (4), the middle tensioning guide wheel mechanism assembly (5), the lower drive wheel climbing caliper assembly (6), the lower tensioning guide wheel mechanism assembly (7), the insulating umbrella shield lifting system assembly (8) is fixed to the rear facade of the longitudinal beam (1) of the climbing obstacle avoidance system, the insulating umbrella shield folding system assembly (10) is fixed to the upper end of the rear facade of the insulating umbrella shield lifting system assembly (8), and the insulating umbrella shield disassembly and assembly system assembly (9) is fixed to the top end of the rear facade of the insulating umbrella shield folding system assembly (10).

2. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 1, characterized in that: A pole safety clamp "V"-shaped bridge (34) is fixed horizontally on the top of the front elevation of the longitudinal beam (1) of the climbing obstacle avoidance system. The upper tensioning guide wheel mechanism assembly (2) is fixed in the center of the upper horizontal surface of the pole safety clamp "V"-shaped bridge (34). The upper tensioning guide wheel mechanism assembly (2) drives the upper universal guide wheel (21) to perform telescopic movement along the pole radial direction through the first top tensioning mechanism telescopic motor (23) and the second top tensioning mechanism telescopic motor (24) that are horizontally opposed to each other and the upper universal guide wheel connecting rod (22). The left and right front ends of the pole safety clamp "V"-shaped bridge (34) are movably connected to a pair of horizontally opposed pole safety clamps. The safety clamp clamp arm (33) comprises a pole holding safety clamp clamp arm (33), a pole holding safety clamp front guide wheel (31) being fixed to the front end of each clamp arm, and a pole holding safety clamp rear guide wheel (32) being fixed to the rear end of the clamp arm, the rotation center axes of the four guide wheels being parallel to the radial plane of the pole, and being able to perform universal motion in the axial and radial directions on the pole surface; the roots of the two clamp arms are connected by a hydraulic telescopic cylinder, and the piston movement of the hydraulic telescopic cylinder is controlled to drive the engagement and opening of the two clamp arms, thereby realizing the locking and releasing of the pole holding action; the upper tensioning guide wheel mechanism assembly (2) and the pole holding safety clamp assembly (3) constitute an anti-falling safety system of the pole climbing obstacle avoidance insulating umbrella shield robot; The pole-holding safety caliper assembly (3), the upper drive wheel climbing caliper assembly (4), the middle tensioning guide wheel mechanism assembly (5), the lower drive wheel climbing caliper assembly (6), and the lower tensioning guide wheel mechanism assembly (7) are distributed from top to bottom on the front facade of the climbing obstacle avoidance system longitudinal beam (1), and are horizontally distributed along the axial direction of the pole. The whole is located below the pole-holding safety caliper assembly (3), and together constitute the pole-holding obstacle avoidance motion system of the pole-holding obstacle avoidance insulating umbrella shield robot.

3. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 1, characterized in that: The upper drive wheel climbing caliper assembly (4) comprises an upper drive wheel climbing caliper "V"-shaped bridge (42), wherein the upper drive wheel climbing caliper "V"-shaped bridge (42) is formed by an upper drive wheel climbing caliper "V"-shaped bridge connecting member (422), an upper drive wheel climbing caliper "V"-shaped bridge upper plate (421), and an upper drive wheel climbing caliper "V"-shaped bridge lower plate (424) to form an "I"-shaped beam structure, wherein the rear end vertical elevation of the I-shaped beam structure is fixedly mounted on the front elevation of the longitudinal beam (1) of the climbing obstacle avoidance system; The left front end of the upper drive wheel climbing caliper "V" type bridge (42) is movably connected to the upper drive wheel climbing caliper left clamping arm (41) through the upper drive wheel climbing caliper left clamping arm movable link (415), the front end of the upper drive wheel climbing caliper left clamping arm movable link (415) is fixed with the upper drive wheel climbing caliper left clamping arm driving wheel rotating motor (412), and the upper drive wheel climbing caliper left clamping arm driving wheel rotating motor (412) is installed on the rotating shaft of the upper drive wheel climbing caliper left clamping arm driving wheel bracket (411), the upper drive wheel type climbing caliper left clamping arm driving wheel bracket (411) is provided with an upper drive wheel type climbing caliper left clamping arm driving wheel motor (413) on the outside, and an upper drive wheel type climbing caliper left clamping arm driving wheel (414) on the inside; the right front end of the upper drive wheel type climbing caliper "V" type bridge (42) is movably connected to the upper drive wheel type climbing caliper right clamping arm (43) through the upper drive wheel type climbing caliper right clamping arm movable link (435), and the upper drive wheel type climbing caliper right clamping arm movable link The front end of the rod (435) is fixed with an upper drive wheel type climbing caliper right clamping arm driving wheel rotating motor (432), and an upper drive wheel type climbing caliper right clamping arm driving wheel rotating motor (432) is installed on the rotating shaft of the upper drive wheel type climbing caliper right clamping arm driving wheel rotating motor (432), and an upper drive wheel type climbing caliper right clamping arm driving wheel bracket (431) is installed on the outer side of the upper drive wheel type climbing caliper right clamping arm driving wheel bracket (431), and an upper drive wheel type climbing caliper right clamping arm driving wheel motor (433) is installed on the inner side of the upper drive wheel type climbing caliper right clamping arm driving wheel (434); A telescopic hydraulic cylinder (423) for the left clamping arm of the upper drive wheel climbing caliper and a telescopic hydraulic cylinder (425) for the right clamping arm of the upper drive wheel climbing caliper are fixed between the upper drive wheel climbing caliper "V" bridge upper plate (421) and the upper drive wheel climbing caliper "V" bridge lower plate (424). The piston ends of the telescopic hydraulic cylinder (423) for the left clamping arm of the upper drive wheel climbing caliper and the telescopic hydraulic cylinder (425) for the right clamping arm of the upper drive wheel climbing caliper are respectively The movable connecting rod (415) is movably connected to the rear end of the left clamping arm movable connecting rod (415) of the upper drive wheel climbing caliper and the right clamping arm movable connecting rod (435) of the upper drive wheel climbing caliper, and the piston of the telescopic hydraulic cylinder (423) of the left clamping arm of the upper drive wheel climbing caliper and the telescopic hydraulic cylinder (425) of the right clamping arm of the upper drive wheel climbing caliper are controlled to move, thereby driving the left clamping arm movable connecting rod (415) of the upper drive wheel climbing caliper and the right clamping arm movable connecting rod (435) of the upper drive wheel climbing caliper to move along the pole diameter. The upper drive wheel climbing caliper left clamping arm (41) and the upper drive wheel climbing caliper right clamping arm (43) are driven to engage and open, thereby driving the upper drive wheel climbing caliper left clamping arm (41) and the upper drive wheel climbing caliper right clamping arm (43) to achieve the locking and releasing of the pole holding action; the upper drive wheel climbing caliper left clamping arm (41) and the upper drive wheel climbing caliper right clamping arm (43) are horizontally oppositely distributed along the central axis of the pole, and the upper drive wheel climbing caliper left clamping arm driving wheel motor (413) and the upper drive wheel climbing caliper right clamping arm driving wheel motor (433) are controlled to rotate forward and reverse. , synchronously driving the left clamping arm driving wheel (414) and the right clamping arm driving wheel (434) to perform up and down climbing motion along the axial direction of the pole; by controlling the left clamping arm driving wheel rotating motor (412) and the right clamping arm driving wheel rotating motor (432) to rotate inward by 90 degrees respectively, the movement direction of the left clamping arm driving wheel (414) and the right clamping arm driving wheel (434) of the upper drive wheel climbing caliper is changed from linear climbing displacement along the axial direction of the pole to radial circumferential displacement.

4. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 3, characterized in that: Along the vertical direction of the longitudinal beam (1) of the climbing obstacle avoidance system, below the installation position of the upper drive wheel climbing caliper assembly (4), the mid-position tensioning guide wheel mechanism assembly (5) is installed in parallel, the tail ends of the first mid-position tensioning mechanism telescopic motor (531) and the second mid-position tensioning mechanism telescopic motor (532) are fixed horizontally to the front vertical surface of the longitudinal beam (1) of the climbing obstacle avoidance system, the tail ends of the four connecting rods of the mid-position tensioning mechanism left connecting rod (533) and the mid-position tensioning mechanism right connecting rod (537) are fixed horizontally to the front vertical surface of the longitudinal beam (1) of the climbing obstacle avoidance system, and the installation positions of the four pairs of connecting rods are located at the front of the first mid-position tensioning mechanism telescopic motor (531) and the second mid-position tensioning mechanism telescopic motor (532). The first middle tensioning mechanism telescopic motor (531) and the second middle tensioning mechanism telescopic motor (532) are located below the middle tensioning mechanism, the first middle tensioning mechanism telescopic motor (531) and the middle tensioning mechanism left connecting rod (533), the second middle tensioning mechanism telescopic motor (532) and the middle tensioning mechanism right connecting rod (537) together constitute a middle tensioning mechanism telescopic system. By controlling the telescopic movement of the first middle tensioning mechanism telescopic motor (531) and the second middle tensioning mechanism telescopic motor (532), the middle tensioning guide wheel mechanism assembly (5) is driven to feed radially along the pole under the action of the connecting rod mechanism, thereby realizing the compression and relaxation actions.

5. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 4, characterized in that: The first mid-position tensioning mechanism telescopic motor (531), the second mid-position tensioning mechanism telescopic motor (532), the mid-position tensioning mechanism left connecting rod (533), and the other end of the mid-position tensioning mechanism right connecting rod (537) are fixed on both sides of the tensioning guide wheel "V"-shaped bridge, and the first mid-position tensioning guide wheel driving motor bracket (534) and the second mid-position tensioning guide wheel driving motor bracket (536) are fixed in the middle of the tensioning guide wheel "V"-shaped bridge. A middle tensioning guide wheel drive motor (535) is fixed in the middle of the second middle tensioning guide wheel drive motor bracket (536); the left and right ends of the transmission shaft of the middle tensioning guide wheel drive motor (535) are respectively connected to a middle tensioning left guide wheel universal transmission joint (516) and a middle tensioning right guide wheel universal transmission joint (526); the two transmission joints respectively drive the middle left guide wheel mechanism (51) and the middle right guide wheel mechanism (52), and the middle left guide wheel mechanism (51) and the middle right guide wheel mechanism (52) are supported in the horizontal direction of the pole radial direction. The transmission joint is connected to the middle tension left guide wheel driving gear (511) and the middle tension right guide wheel driving gear (521) in a transmission manner; the middle tension left guide wheel driving gear (511) and the middle tension left guide wheel driven gear (512) are fixed to the outside of the first middle tension left guide wheel bracket (513); the middle tension right guide wheel driving gear (521) and the middle tension right guide wheel driven gear (522) are fixed to the outside of the second middle tension right guide wheel bracket (525); A mid-position tensioning left guide wheel (514) is fixed between the first mid-position tensioning left guide wheel bracket (513) and the second mid-position tensioning left guide wheel bracket (515), and a mid-position tensioning right guide wheel (524) is fixed between the first mid-position tensioning right guide wheel bracket (523) and the second mid-position tensioning right guide wheel bracket (525); by controlling the forward and reverse rotation of the mid-position tensioning guide wheel driving motor (535), the mid-position tensioning left guide wheel (514) and the mid-position tensioning right guide wheel (524) are driven to synchronously form an up-and-down displacement along the axial direction of the pole.

6. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 5, characterized in that: The lower drive wheel climbing caliper "V" type bridge (62) of the lower drive wheel climbing caliper assembly (6) is composed of a lower drive wheel climbing caliper "V" type bridge connecting member (622), a lower drive wheel climbing caliper "V" type bridge upper plate (621), and a lower drive wheel climbing caliper "V" type bridge lower plate (624) to form an "I" beam structure, and the rear end vertical elevation of the I beam structure is fixedly installed on the front elevation of the longitudinal beam (1) of the climbing obstacle avoidance system; the lower drive wheel climbing caliper "V" type bridge The left front end of the frame (62) is movably connected to the left clamping arm (61) of the lower drive wheel type climbing caliper through the left clamping arm movable link (615) of the lower drive wheel type climbing caliper. The front end of the left clamping arm movable link (615) of the lower drive wheel type climbing caliper is fixed with a left clamping arm driving wheel rotating motor (612) of the lower drive wheel type climbing caliper. The left clamping arm driving wheel rotating motor (612) of the lower drive wheel type climbing caliper is installed on the rotating shaft of the left clamping arm driving wheel rotating motor (612). The left clamping arm driving wheel bracket (611) of the driving wheel type climbing caliper is provided with a lower driving wheel type climbing caliper left clamping arm driving wheel motor (613) on the outside, and a lower driving wheel type climbing caliper left clamping arm driving wheel (614) on the inside; the right front end of the lower driving wheel type climbing caliper "V" type bridge (62) is movably connected to the right clamping arm (63) of the lower driving wheel type climbing caliper through the right clamping arm movable link (635) of the lower driving wheel type climbing caliper, and the right clamping arm movable link (635) of the lower driving wheel type climbing caliper is provided with a lower driving wheel type climbing caliper left clamping arm driving wheel motor (613) on the inside. ) is fixed to the front end of a lower drive wheel type climbing caliper right clamping arm driving wheel rotating motor (632), a lower drive wheel type climbing caliper right clamping arm driving wheel rotating motor (632) is installed on the rotating shaft of the lower drive wheel type climbing caliper right clamping arm driving wheel rotating motor (632), a lower drive wheel type climbing caliper right clamping arm driving wheel bracket (631) is installed on the outer side of the lower drive wheel type climbing caliper right clamping arm driving wheel bracket (631), and a lower drive wheel type climbing caliper right clamping arm driving wheel motor (633) is installed on the inner side of the lower drive wheel type climbing caliper right clamping arm driving wheel (634).

7. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 6, characterized in that: A lower drive wheel type climbing caliper left clamping arm telescopic hydraulic cylinder (623) and a lower drive wheel type climbing caliper right clamping arm telescopic hydraulic cylinder (625) are fixed between the lower drive wheel type climbing caliper "V" type bridge frame upper plate (621) and the lower drive wheel type climbing caliper "V" type bridge frame lower plate (624), and the piston ends of the lower drive wheel type climbing caliper left clamping arm telescopic hydraulic cylinder (623) and the piston ends of the lower drive wheel type climbing caliper right clamping arm telescopic hydraulic cylinder (625) are respectively connected to the lower drive wheel type climbing caliper. The rear ends of the movable connecting rod (615) of the left clamping arm of the climbing caliper and the movable connecting rod (635) of the right clamping arm of the lower drive wheel climbing caliper are movably connected. By controlling the piston telescopic movement of the telescopic hydraulic cylinder (623) of the left clamping arm of the lower drive wheel climbing caliper and the telescopic hydraulic cylinder (625) of the right clamping arm of the lower drive wheel climbing caliper, the movable connecting rod (615) of the left clamping arm of the lower drive wheel climbing caliper and the movable connecting rod (635) of the right clamping arm of the lower drive wheel climbing caliper are driven to form an engagement and opening movement along the diameter of the electric pole, thereby driving the lower drive wheel The left clamping arm (61) of the lower drive wheel climbing caliper and the right clamping arm (63) of the lower drive wheel climbing caliper realize the locking and releasing of the pole holding action; the left clamping arm (61) of the lower drive wheel climbing caliper and the right clamping arm (63) of the lower drive wheel climbing caliper are horizontally oppositely distributed along the axis of the center line of the pole, and the left clamping arm driving wheel motor (613) of the lower drive wheel climbing caliper and the right clamping arm driving wheel motor (633) of the lower drive wheel climbing caliper are controlled to rotate forward and reverse, thereby synchronously driving the left clamping arm driving wheel motor (613) of the lower drive wheel climbing caliper and the right clamping arm driving wheel motor (633) of the lower drive wheel climbing caliper. 614), the right clamping arm driving wheel (634) of the lower drive wheel climbing caliper performs an up and down climbing motion along the axial direction of the pole; by controlling the left clamping arm driving wheel rotation motor (612) of the lower drive wheel climbing caliper and the right clamping arm driving wheel rotation motor (632) of the lower drive wheel climbing caliper to rotate inward 90 degrees respectively, the movement direction of the left clamping arm driving wheel (614) of the lower drive wheel climbing caliper and the right clamping arm driving wheel (634) of the lower drive wheel climbing caliper is changed from the linear climbing displacement along the axial direction of the pole to the radial circumferential displacement.

8. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 1, characterized in that: The insulating shield lifting system assembly (8) is composed of a lifting mast guide wheel (81), an inner mast (82), a left outer mast (83), a right outer mast (84), and a lifting motor (85); the bottoms of the left outer mast (83) and the right outer mast (84) are fixedly connected by a connecting piece, and the inner mast (82) and the left outer mast (83) and the right outer mast (84) are slidably connected through the lifting mast guide wheel (81); the top of the piston rod of the lifting motor (85) is fixedly connected to the tops of the left outer mast (83) and the right outer mast (84), and the bottom of the lifting motor (85) is fixedly connected to the tops of the left outer mast (83) and the right outer mast (84). The bottom of the rear facade of the longitudinal beam (1) of the climbing obstacle avoidance system is fixedly connected; the fixed baffles on both sides of the lifting mast guide wheel (81) are respectively fixedly connected to the upper left and right facades of the longitudinal beam (1) of the climbing obstacle avoidance system; by controlling the lifting and lowering of the piston rod of the lifting motor (85), the left outer mast (83) and the right outer mast (84) are driven to lift in one stage, and the inner mast (820) is pulled by a synchronous belt to form a second stage of lifting, and the mast lifting direction is consistent with the axial direction of the pole, driving the insulating umbrella shield disassembly and assembly system assembly (9) and the insulating umbrella shield folding system assembly (100) to form a relative lifting movement with the climbing system.

9. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 8, characterized in that: The main body of the insulating shield folding system assembly (10) is composed of an upper shield supporting short crossbeam (101), an umbrella shield supporting longitudinal beam (102), and a lower shield supporting long crossbeam (103) to form an "I" beam structure; an umbrella shield radial movement guide rail (106) is installed on the inner side elevation of the umbrella shield supporting longitudinal beam (102); a sliding connection is formed between the bottom of the umbrella shield radial movement slider (104) and the guide rail (106); the umbrella shield radial movement slider (104) forms a spiral fit with the umbrella shield radial movement screw (107) through the top screw hole; the umbrella shield radial movement drive motor (108) shaft is connected to the bottom of the umbrella shield radial movement screw (107); the umbrella shield radial movement drive motor (108) shaft is connected to the bottom of the umbrella shield radial movement screw (107); The bottom of the shield radial movement driving motor (108) is fixed to the bottom of the umbrella shield supporting longitudinal beam (102); two umbrella shield rotating mechanism brackets (105) are vertically opposed to each other along the axial direction of the umbrella shield radial movement screw (107); the bottom of the umbrella shield rotating mechanism bracket (105) is fixed to both sides of the umbrella shield radial movement slider (104); the front end of the umbrella shield rotating mechanism bracket (105) is fixed with an umbrella shield rotating crank (1010); by controlling the extension and contraction of the umbrella shield rotating crank push rod (109), the umbrella shield rotating crank (1010) is turned along the axial direction of the pole, driving the "I" beam structure to turn -90° to -90° relative to the lifting mast, thereby realizing obstacle avoidance of the umbrella shield; The bottom of the umbrella shield folding mechanism connecting sleeve (1013) is fixedly matched with the left outer mast (83) and the right outer mast (84), and the mounting holes on both sides of the umbrella shield folding mechanism connecting sleeve (1013) form a relatively rotatable match with the fixing holes on both sides of the umbrella shield folding driven gear disc (1011). By controlling the rotation of the umbrella shield folding mechanism driving motor (1012), the umbrella shield folding driven gear disc (1011) is driven to rotate 0°-90° perpendicular to the axial direction of the pole, thereby realizing the folding action of the insulating umbrella shield disassembly and assembly system assembly (9) fixed on the "I" beam relative to the climbing system; by controlling the forward and reverse rotation of the umbrella shield radial movement driving motor (108), the umbrella shield radial movement lead screw (107) is driven to drive the insulating umbrella shield disassembly and assembly system assembly (9) installed on the I-beam structure to feed radially along the pole, thereby realizing the insulating umbrella shield disassembly and assembly system assembly (9) approaching and moving away from the pole.

10. The pole climbing obstacle avoidance insulating umbrella shield robot according to claim 9, characterized in that: The insulating shield disassembly and assembly system assembly (9) is mainly composed of three fan-shaped insulating baffles, namely an upper insulating baffle (92), a middle insulating baffle (94), and a lower insulating baffle (97); in the retracted state, the upper insulating baffle (92), the middle insulating baffle (94), and the lower insulating baffle (97) are in three layers, upper, middle, and lower. An insulating shield connecting and fixing plate (99) is fixed on the outer surface of the lower slide groove (96). The insulating shield connecting and fixing plate (99) is fixed on the shield supporting short crossbeam (101) of the insulating shield folding system assembly (10). The inner and outer edges of the middle insulating baffle (94) are respectively provided with an upper slide groove (90), an upper rack (91), and a lower slide groove (96). and the lower rack (95), respectively for accommodating the upper insulating baffle (92) and the lower insulating baffle (94); the upper slide groove (90) and the lower slide groove (96) are respectively equipped with an upper insulating baffle retraction and extension drive motor (93) and a lower insulating baffle retraction and extension drive motor (98); by controlling the forward and reverse rotation of the upper insulating baffle retraction and extension drive motor (93) and the lower insulating baffle retraction and extension drive motor (98), the upper rack (91) and the lower rack (95) are respectively driven to drive the upper insulating baffle (92) and the lower insulating baffle (97) to rotate, extend and contract relative to the middle insulating baffle (94); in the expanded state, the three fan-shaped insulating baffles surround the pole diameter to form an umbrella shield shape.

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