Climbing robot

Abstract

The invention relates to the technical field of robots, in particular to a climbing robot. The climbing robot comprises a frame; the two driving mechanisms are arranged on the frame; the clamping mechanism comprises a first clamping assembly and a second clamping assembly which are arranged on the frame, one driving mechanism is connected with the first clamping assembly, the other driving mechanism is connected with the second clamping assembly, and the two driving mechanisms respectively drive the first clamping assembly and the second clamping assembly to move along a rod body to be clamped; the first clamping assembly and the second clamping assembly jointly clamp or release a to-be-clamped rod body. At least one of the first clamping assembly and the second clamping assembly rotates in the circumferential direction of the to-be-clamped rod body so as to avoid the protruding part of the to-be-clamped rod body and clamp the to-be-clamped rod body. According to the technical scheme, the problem that the detection task of the lightning rod is difficult to carry out due to the fact that the climbing robot cannot deal with bending or protruding of the lightning rod when the climbing robot moves along the lightning rod can be effectively solved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a climbing robot. Background Technology

[0002] Lightning rods establish an electrical path with charged clouds through point discharge, guiding the charge into the ground. As an effective lightning protection device, they can effectively prevent direct lightning strikes. Therefore, lightning rods play an extremely important role in protecting the safety of equipment and personnel within substations. Lightning rods require regular maintenance to reduce problems such as corrosion and water accumulation.

[0003] In related technologies, a climbing robot can be used to grip the rod of a lightning rod and climb it, thereby inspecting the lightning rod and facilitating its maintenance based on the inspection results.

[0004] However, existing climbing robots cannot cope with obstacles such as bends or protrusions in the lightning rod when they move along it, making it difficult to carry out the inspection of the lightning rod smoothly. Summary of the Invention

[0005] This application provides a climbing robot to solve the problem that when a climbing robot moves along a lightning rod, it cannot respond when the lightning rod is bent or protruding, making it difficult to carry out the lightning rod detection task.

[0006] This application provides a climbing robot, including:

[0007] frame;

[0008] Both drive mechanisms are mounted on the frame;

[0009] The clamping mechanism includes a first clamping component and a second clamping component disposed on a frame. One drive mechanism is connected to the first clamping component, and the other drive mechanism is connected to the second clamping component. The two drive mechanisms respectively drive the first clamping component and the second clamping component to move sequentially along the rod to be clamped. Both the first clamping component and the second clamping component can clamp or release the rod to be clamped together.

[0010] At least one of the first clamping assembly and the second clamping assembly rotates circumferentially along the rod to be clamped in order to avoid the protrusion of the rod to be clamped and clamp the rod to be clamped.

[0011] In some embodiments, at least one of the first clamping assembly and the second clamping assembly further includes a frame, a drive arm, and a clamping member. The drive mechanism is connected to the frame, the drive arm is disposed on the frame, the drive arm is connected to the clamping member, the drive arm drives the clamping member to rotate circumferentially along the rod to be clamped, and the clamping member clamps or releases the rod to be clamped.

[0012] In some embodiments, the drive arm includes a first swing arm and a second swing arm. The first end of the first swing arm is rotatably mounted on the frame, and the second end of the first swing arm is rotatably connected to the first end of the second swing arm. The second end of the second swing arm is rotatably connected to the clamping member. The first swing arm and the second swing arm together drive the clamping member to rotate circumferentially along the rod to be clamped, so as to avoid the protrusion of the rod to be clamped and clamp the rod to be clamped.

[0013] In some embodiments, the frame includes a first support frame and a second support frame connected to each other, wherein a drive mechanism is disposed on the first support frame and drives a first clamping assembly to move along the extension direction of the first support frame, and another drive mechanism is disposed on the second support frame and drives a second clamping assembly to move along the extension direction of the second support frame.

[0014] In some embodiments, a rotating mechanism is also included, wherein the first support frame and the second support frame are connected by the rotating mechanism, and the rotating mechanism drives one of the first support frame and the second support frame to rotate relative to the other.

[0015] In some embodiments, the rotating mechanism includes a first driving member, a second driving member, a rotating shaft, and two transmission wheels. The first driving member is disposed on a first support frame, and the second driving member is disposed on a second support frame. The first support frame and the second support frame are rotatably connected by the rotating shaft. The first transmission wheel is disposed on the first support frame, and the second transmission wheel is disposed on the second support frame. The first driving member is connected to the second transmission wheel and drives the second support frame to rotate relative to the first support frame. The second driving member is connected to the first transmission wheel and drives the first support frame to rotate relative to the second support frame.

[0016] In some embodiments, the driving mechanism includes a first lead screw motor, a first transmission lead screw, and a slider. The first lead screw motor is mounted on a first support frame and connected to the first transmission lead screw. The rotation axis of the first transmission lead screw extends vertically and is rotatably mounted on the first support frame. The first transmission lead screw passes through the slider and drives the slider and the first clamping assembly connected to the slider to move along the rod to be clamped.

[0017] In some embodiments, both the first support frame and the second support frame are provided with slide rails, and both the first clamping assembly and the second clamping assembly are provided with slide grooves corresponding to the slide rails.

[0018] In some embodiments, at least one of the first clamping assembly and the second clamping assembly further includes a support frame, the second end of the second swing arm is rotatably connected to the support frame, the support frame is provided with a transmission mechanism, and the clamping member is movably disposed on the transmission mechanism so that the clamping member clamps or releases the clamping rod to be clamped.

[0019] In some embodiments, the transmission mechanism includes a second lead screw motor and a second transmission lead screw. The second lead screw motor is mounted on a support frame, and the second transmission lead screw is rotatably passed through the support frame in a horizontal direction. The second lead screw motor is connected to the second transmission lead screw, and the second transmission lead screw is provided with a first threaded section and a second threaded section. The clamping member includes a first jaw and a second jaw. The first jaw cooperates with the first threaded section, and the second jaw cooperates with the second threaded section, so that the first jaw and the second jaw jointly clamp or release the clamping rod body.

[0020] This application provides a climbing robot, which includes a frame, two drive mechanisms, and a gripping mechanism. A first gripping component and a second gripping component rotate circumferentially along the rod to be gripped, avoiding protrusions in the circumferential direction of the rod. This rotational motion allows the first and second gripping components to avoid obstacle areas, solving the problem of gripping jamming caused by protrusions. The two drive mechanisms independently control the first and second gripping components, allowing for flexible adjustment of their movement positions according to the state of the rod to be gripped. The first and second gripping components are each connected by a drive mechanism, ensuring that at least one component of the climbing robot maintains a reliable connection with the rod to be gripped during movement. Furthermore, during the rotation to avoid protrusions, the non-rotating gripping component can still provide stable gripping force, further reducing the risk of the climbing robot swaying or falling due to a single gripping component avoiding obstacles. Furthermore, both the first and second clamping components can rotate circumferentially along the rod to be clamped. For rods with unevenly distributed circumferential protrusions, obstacles can be continuously avoided by real-time angle adjustment (such as dynamic rotation with the position of the protrusions), without relying on adaptation to changes in the rod diameter. This allows the climbing robot to cope with more complex surface morphologies of the rod to be clamped. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0022] Figure 1 This is a structural schematic diagram of the climbing robot provided in this application;

[0023] Figure 2 A schematic diagram of the clamping mechanism provided in this application;

[0024] Figure 3A schematic diagram of the drive mechanism provided in this application;

[0025] Figure 4 A schematic diagram of the climbing robot gripping the rod to be gripped, provided in this application;

[0026] Figure 5 A schematic diagram showing the first clamping component releasing the clamp and the second clamping component clamping the rod to be clamped, provided in this application;

[0027] Figure 6 A schematic diagram of the drive arm driving the second clamping assembly to rotate circumferentially along the rod to be clamped, provided in this application;

[0028] Figure 7 A schematic diagram of the first clamping assembly provided in this application clamping the rod to be clamped;

[0029] Figure 8 A schematic diagram of the clamping mechanism provided in this application clamping an inclined rod to be clamped;

[0030] Figure 9 A schematic diagram showing the first clamping component releasing the clamp and the second clamping component clamping the rod to be clamped, provided in this application;

[0031] Figure 10 A schematic diagram showing the rotating mechanism provided in this application driving the first support frame to rotate and the first clamping assembly to rise and clamp the rod to be clamped.

[0032] Figure 11 A schematic diagram of the second clamping assembly releasing the clamped rod provided in this application;

[0033] Figure 12 A schematic diagram showing how the rotating mechanism provided in this application drives the second support frame to rotate and the second clamping assembly to rise;

[0034] Figure 13 A schematic diagram of the clamping mechanism provided in this application clamping a vertical rod to be clamped.

[0035] Explanation of reference numerals in the attached figures:

[0036] 100. Frame; 110. First support frame; 120. Second support frame;

[0037] 200. Drive mechanism; 210. First lead screw motor; 220. First transmission lead screw; 230. Slider;

[0038] 300. Clamping mechanism; 310. First clamping assembly; 320. Second clamping assembly;

[0039] 410. Frame; 420. Drive arm; 421. First swing arm; 422. Second swing arm; 430. Clamping component; 431. First gripper; 432. Second gripper; 440. Support frame; 450. Transmission mechanism; 451. Second lead screw motor; 452. Second transmission lead screw;

[0040] 500. Rotating mechanism;

[0041] 600. The rod to be clamped.

[0042] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0043] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0044] Lightning rods are effective lightning protection devices that can effectively prevent damage to substations from direct lightning strikes. However, due to their tall installation and the difficulty in timely maintenance, lightning rods are prone to corrosion. One technological solution involves using a climbing robot with grippers to clamp onto the lightning rod and climb it, allowing the robot to inspect it and facilitate subsequent maintenance based on the inspection results.

[0045] However, existing climbing robots cannot cope with obstacles such as bends or protrusions in the lightning rod when they move along it, making it difficult to carry out the inspection of the lightning rod smoothly.

[0046] In view of this, this application provides a climbing robot. The climbing robot can drive a first clamping component and a second clamping component to climb along the rod to be clamped via two drive mechanisms. In order to ensure that the rod to be clamped is firmly clamped and to prevent it from falling off the rod, both the first clamping component and the second clamping component can clamp or release the rod to be clamped together, which can improve the stability of clamping the rod to be clamped. In order to deal with protruding and bending positions, at least one of the first clamping component and the second clamping component can rotate around the circumference of the rod to be clamped, so that the first clamping component and the second clamping component can rotate to avoid the protruding part of the rod to be clamped, and then clamp the rod to be clamped. This allows the climbing robot of this application to deal with the bending position and protruding obstacle of the lightning rod, ensuring the inspection operation of the lightning rod.

[0047] The climbing robot provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0048] like Figure 1 , Figure 4 as well as Figure 13 As shown, the climbing robot in this embodiment includes a frame 100, two drive mechanisms 200, and a clamping mechanism 300.

[0049] Both drive mechanisms 200 are mounted on the frame 100.

[0050] The clamping mechanism 300 includes a first clamping component 310 and a second clamping component 320 disposed on the frame 100. One drive mechanism 200 is connected to the first clamping component 310, and the other drive mechanism 200 is connected to the second clamping component 320. The two drive mechanisms 200 respectively drive the first clamping component 310 and the second clamping component 320 to move sequentially along the rod body 600 to be clamped. Both the first clamping component 310 and the second clamping component 320 can clamp or release the rod body 600 to be clamped.

[0051] At least one of the first clamping assembly 310 and the second clamping assembly 320 rotates circumferentially along the rod body 600 to avoid the protrusion of the rod body 600 and clamp the rod body 600.

[0052] In this application, the climbing robot moves along the rod 600 to be clamped through the coordinated operation of the frame 100, two independent drive mechanisms 200, and the clamping mechanism 300. Both drive mechanisms 200 are fixed to the frame 100, and the two drive mechanisms 200 are respectively connected to the first clamping component 310 and the second clamping component 320. During operation, when the first clamping assembly 310 clamps the rod 600 to be clamped to fix the machine body, the drive mechanism 200 connected to the second clamping assembly 320 is activated. When the second clamping assembly 320 releases its clamp on the rod 600, it is driven to move along the rod 600 to a new position. Then, the second clamping assembly 320 re-clamps and holds the rod. Conversely, when the second clamping assembly 320 clamps and fixes the rod 600, the first clamping assembly 310 releases its clamp on the rod 600, and after completing the movement under the drive of the corresponding drive mechanism 200, the first clamping assembly 310 re-clamps the rod 600. For protrusions (such as welding points, fixing brackets, etc.) on the surface of the rod 600 to be clamped, at least one of the first clamping assembly 310 and the second clamping assembly 320 can rotate circumferentially along the rod 600 to be clamped: when the protrusion is detected to be approaching, the rotatable first clamping assembly 310 or the second clamping assembly 320 adjusts its relative angle with the rod 600 to be clamped by circumferential rotation, avoids the protrusion, and then clamps and fixes it, thereby ensuring that the movement and clamping action are not interfered with by the protrusion.

[0053] Specifically, the first clamping component 310 and the second clamping component 320 rotate circumferentially along the rod 600 to be clamped, thus avoiding any protrusions in the circumferential direction of the rod 600. This rotational action allows the first clamping component 310 and the second clamping component 320 to avoid obstacle areas, resolving the problem of clamping jamming caused by protrusions. Two drive mechanisms 200 independently control the first clamping component 310 and the second clamping component 320, allowing for flexible adjustment of their movement positions based on the state of the rod 600. Each of the first clamping component 310 and the second clamping component 320 is connected via a drive mechanism 200, ensuring that at least one component of the climbing robot maintains a reliable connection with the rod 600 during movement. Furthermore, during the rotation to avoid protrusions, the non-rotating clamping component can still provide stable clamping force, further reducing the risk of the climbing robot swaying or falling due to a single clamping component avoiding the obstacle. Furthermore, both the first clamping component 310 and the second clamping component 320 can rotate circumferentially along the rod 600 to be clamped. For rods 600 with unevenly distributed circumferential protrusions, obstacles can be continuously avoided by real-time angle adjustment (such as dynamic rotation with the position of the protrusions) without relying on adaptation to changes in rod diameter, enabling the climbing robot to cope with more complex surface morphologies of rods 600 to be clamped.

[0054] like Figure 1 and Figure 2As shown, in some embodiments, at least one of the first clamping assembly 310 and the second clamping assembly 320 further includes a frame 410, a drive arm 420, and a clamping member 430. The drive mechanism 200 is connected to the frame 410, the drive arm 420 is disposed on the frame 410, and the drive arm 420 is connected to the clamping member 430. The drive arm 420 drives the clamping member 430 to rotate circumferentially along the rod 600 to be clamped, and the clamping member 430 clamps or releases the rod 600 to be clamped.

[0055] In this application, at least one of the first clamping assembly 310 and the second clamping assembly 320 comprises a frame 410, a drive arm 420, and a clamping member 430. The drive mechanism 200 is connected to the frame 410 and can drive either the first clamping assembly 310 or the second clamping assembly 320 to move up and down, facilitating the climbing robot's climbing along the rod 600 to be clamped. The first end of the drive arm 420 is mounted on the frame 410, and the second end of the drive arm 420 is connected to the clamping member 430.

[0056] like Figures 4 to 7 As shown, when it is necessary to avoid the protrusion of the rod 600 to be clamped, the drive arm 420 is activated, causing the clamping member 430 to rotate circumferentially around the rod (such as clockwise or counterclockwise). By adjusting the relative angle between the clamping member 430 and the rod 600 to be clamped, the clamping member 430 avoids the location of the protrusion. After rotating to the correct position, the clamping member 430 performs a clamping action, holding the rod 600 to be clamped to fix the first clamping assembly 310. When it is necessary to move or release the clamp, the clamping member 430 first releases the rod. The drive arm 420 can readjust the circumferential angle of the clamping member 430 as needed. Then, driven by the drive mechanism 200, the frame 410 moves the entire first clamping assembly 310 along the rod 600 to be clamped. During alternating climbing, if the first gripping component 310 needs to avoid a protrusion, the second gripping component 320 maintains the gripping state to stabilize the robot body. After the first gripping component 310 adjusts the angle of the gripper 430 through the drive arm 420 and completes the gripping, the second gripping component 320 repeats the above actions to realize the continuous movement of the climbing robot along the pole.

[0057] Specifically, the drive arm 420 directly drives the clamping member 430 to rotate circumferentially along the rod 600 to be clamped, enabling small-angle fine-tuning and large-angle steering, and accurately avoiding protrusions of different sizes and distributions. The clamping member 430 can be adjusted by the drive arm 420 to a clamping angle that fits against the surface of the rod 600 to be clamped, ensuring maximum contact area between the clamping member 430 and the rod 600 even if the rod 600 has local tilt or circumferential curvature (such as the arc transition surface at the bend of a lightning rod). By adjusting the angle of the drive arm 420, the clamping member 430 can adapt to rods 600 with different cross-sectional shapes, further improving clamping stability.

[0058] It should be noted that the second clamping assembly 320 is also equipped with a frame 410, a drive arm 420, and a clamping member 430. The clamping member 430 on the second clamping assembly 320 is driven by the drive arm 420 to rotate circumferentially along the rod body 600 to be clamped. The drive mechanism 200 of the second clamping assembly 320 is connected to the frame 410 and can drive the second clamping assembly 320 to move. Thus, the climbing process is realized by the first clamping assembly 310 and the second clamping assembly 320 under the action of the two drive mechanisms 200 respectively.

[0059] like Figure 1 and Figure 2 As shown, in some embodiments, the drive arm 420 has a first swing arm 421 and a second swing arm 422. The first end of the first swing arm 421 is rotatably mounted on the frame 410. The second end of the first swing arm 421 is rotatably connected to the first end of the second swing arm 422. The second end of the second swing arm 422 is rotatably connected to the clamping member 430. The first swing arm 421 and the second swing arm 422 jointly drive the clamping member 430 to rotate circumferentially along the rod body 600 to be clamped, so as to avoid the protrusion of the rod body 600 to be clamped and clamp the rod body 600 to be clamped.

[0060] In this application, the first swing arm 421 and the second swing arm 422 of the drive arm 420 form a multi-joint linkage structure: the first end of the first swing arm 421 is rotatably connected to the frame 410, the second end of the first swing arm 421 is rotatably connected to the first end of the second swing arm 422, and the second end of the second swing arm 422 is rotatably connected to the clamping member 430. When it is necessary to avoid the protrusion of the rod 600 to be clamped, the first swing arm 421 rotates around the frame 410 as a fulcrum, and drives the second swing arm 422 to move synchronously through the hinge point. The first swing arm 421 and the second swing arm 422 form a flexion and extension action similar to an "elbow joint", which together drives the clamping member 430 to rotate circumferentially along the rod 600 to be clamped. During the rotation, the angle change of the two arms can adjust the spatial position of the clamping member 430 in real time, so that it accurately avoids the protrusion. After reaching the safe position, the two arms maintain the current angle, and the clamping member 430 performs the clamping action to hold the rod 600 to be clamped. During alternating climbing, the coordinated action of the first swing arm 421 and the second swing arm 422 works in conjunction with the stable clamping of another clamping component to ensure that the climbing robot does not shake while avoiding protrusions.

[0061] Specifically, the linkage between the first swing arm 421 and the second swing arm 422 can adjust the posture of the clamping member 430 in real time, so that it can still maintain a vertical fit with the surface of the rod after avoiding the protrusion, ensuring a uniform distribution of clamping force.

[0062] It should be noted that the frame 410 is equipped with a motor that can be connected to the first end of the first swing arm 421, the second end of the first swing arm 421 is equipped with a motor that can be connected to the first end of the second swing arm 422, and the second end of the second swing arm 422 is equipped with a motor that can be connected to the clamping member 430. This allows a single motor to drive the corresponding first swing arm 421, second swing arm 422, or clamping member 430 to rotate, thereby enhancing the rotational effect of the drive arm 420 and enabling it to avoid protruding obstacles.

[0063] like Figure 1 and Figure 3 As shown, in some embodiments, the frame 100 includes a first support frame 110 and a second support frame 120 connected to each other, wherein a drive mechanism 200 is disposed on the first support frame 110, and the drive mechanism 200 drives the first clamping assembly 310 to move along the extension direction of the first support frame 110; another drive mechanism 200 is disposed on the second support frame 120, and the other drive mechanism 200 drives the second clamping assembly 320 to move along the extension direction of the second support frame 120.

[0064] In this application, the first support frame 110 and the second support frame 120 of the frame 100 are interconnected to form an integral support structure. Two drive mechanisms 200 are respectively installed on the first support frame 110 and the second support frame 120. One drive mechanism 200 is fixed on the first support frame 110 and connected to the first clamping assembly 310, responsible for driving the first clamping assembly 310 to move along the extension direction of the first support frame 110. The other drive mechanism 200 is installed on the second support frame 120 and connected to the second clamping assembly 320, driving the second clamping assembly 320 to move along the extension direction of the second support frame 120. During the climbing operation, after the first clamping component 310 completes the action of clamping the rod 600 to be clamped, the drive mechanism 200 on the first support frame 110 stops driving, and the drive mechanism 200 on the second support frame 120 starts, driving the second clamping component 320 to move along the second support frame 120 to a new position and complete the clamping; then, the second clamping component 320 maintains the clamping state, and the drive mechanism 200 on the first support frame 110 drives the first clamping component 310 to move along the first support frame 110. Through the alternating movement of the two sets of clamping components, the climbing robot can continuously climb along the rod 600 to be clamped.

[0065] Specifically, the first support frame 110 and the second support frame 120 provide rigid guide tracks for the movement of the first clamping assembly 310 and the second clamping assembly 320, ensuring that the first clamping assembly 310 and the second clamping assembly 320 can only move in a preset direction, avoiding lateral deviation or swaying during movement. Two drive mechanisms 200 drive the first clamping assembly 310 and the second clamping assembly 320 respectively along the corresponding first support frame 110 and second support frame 120, enabling precise coordination of the movement of the first clamping assembly 310 and the second clamping assembly 320. The independent structure of the first support frame 110 and the second support frame 120 makes the installation and disassembly of the corresponding drive mechanism 200 and clamping assembly more convenient. When a component malfunctions, the support frame, drive mechanism 200, or clamping assembly on that side can be repaired individually without disassembling the entire frame 100, reducing maintenance difficulty and cost.

[0066] like Figure 1 As shown, in some embodiments, a rotating mechanism 500 is also included, and the first support frame 110 and the second support frame 120 are connected by the rotating mechanism 500, which drives one of the first support frame 110 and the second support frame 120 to rotate relative to the other.

[0067] In this application, the newly added rotating mechanism 500 of the frame 100 connects the first support frame 110 and the second support frame 120, forming a flexible connection structure that can rotate relative to each other. The rotating mechanism 500 has a built-in drive component, which can drive one of the first support frame 110 and the second support frame 120 to rotate relative to the other about a rotation axis. During the climbing process, when the climbing robot encounters the bending section between the lightning rod base and the main body, the rotating mechanism 500 is activated according to the signal from the detection component. If the first support frame 110 contacts the bending section first, the rotating mechanism 500 drives the second support frame 120 to rotate relative to the first support frame 110, so that the extension direction of the second support frame 120 is adapted to the angle of the rod 600 to be clamped after bending; conversely, if the second support frame 120 enters the bending area first, it drives the first support frame 110 to rotate and adjust the angle. After the angle adjustment is completed, the rotation mechanism 500 locks the rotation axis, keeping the first support frame 110 and the second support frame 120 at the current angle, ensuring that the first clamping assembly 310 and the second clamping assembly 320 can move in the direction that adapts to the bending angle. Through this dynamic angle adjustment, the climbing robot can smoothly pass through the bending part, avoiding the first clamping assembly 310 and the second clamping assembly 320 from getting stuck or detaching from the rod 600 to be clamped due to the rigid connection of the frame 100.

[0068] Specifically, the rotation function of the rotating mechanism 500 allows the frame 100 to adapt to changes in the bending angle of the rod 600 to be clamped, solving the problem of climbing interruption caused by mismatched directions at bends in traditional rigid connection frames 100. The rotating mechanism 500 can also cooperate with the circumferential rotation function of the first clamping component 310 and the second clamping component 320 to adapt to irregular twisting of the rod 600 to be clamped. When a continuous angle change of the rod 600 to be clamped is detected, the rotating mechanism 500 can adjust the included angle of the first support frame 110 and the second support frame 120 in real time, ensuring that the moving direction of the first clamping component 310 and the second clamping component 320 is always consistent with the tangential direction of the rod 600 to be clamped, ensuring stable clamping force and avoiding slippage due to angle deviation. When the rigid frame 100 is bent, the connection point between the first support frame 110 and the second support frame 120 will bear a huge torque, which can easily lead to structural deformation. However, the rotating mechanism 500 disperses the torque through flexible rotation, so that the force direction of the first support frame 110 and the second support frame 120 matches the bending angle of the rod to be clamped 600. The stress at the connection point is reduced, and the rotation locking function can maintain stable support after passing through, avoiding uneven force on the clamping components due to angular sway. Through flexible adjustment of the rotation angle, the climbing robot can not only cope with the bending of lightning rods, but also adapt to complex structures such as the branch nodes of utility poles and the diagonal bracing connection parts of communication towers.

[0069] In some embodiments, the rotating mechanism 500 includes a first driving member, a second driving member, a rotating shaft, and two transmission wheels. The first driving member is disposed on a first support frame 110, and the second driving member is disposed on a second support frame 120. The first support frame 110 and the second support frame 120 are rotatably connected by the rotating shaft. The first transmission wheel is disposed on the first support frame 110, and the second transmission wheel is disposed on the second support frame 120. The first driving member is connected to the second transmission wheel and drives the second support frame 120 to rotate relative to the first support frame 110. The second driving member is connected to the first transmission wheel and drives the first support frame 110 to rotate relative to the second support frame 120.

[0070] In this application, as Figures 8 to 13As shown, the rotating mechanism 500 achieves bidirectional relative rotation between the first support frame 110 and the second support frame 120 through the coordinated action of the first driving member, the second driving member, the rotating shaft, and two transmission wheels. The rotating shaft, as the core connecting component, rotatably connects the first support frame 110 and the second support frame 120, forming a rotation fulcrum. The first transmission wheel is fixed to the first support frame 110, and the second transmission wheel is fixed to the second support frame 120; both rotate synchronously with their respective support frames. When the second support frame 120 needs to rotate relative to the first support frame 110, the first driving member is activated, and its output shaft connects to the second transmission wheel. Through the meshing or friction transmission of the transmission wheels, the second support frame 120 is driven to rotate around the rotating shaft until the target angle is reached, at which point it stops and locks. When the first support frame 110 needs to rotate relative to the second support frame 120, the second driving member is activated, and its output shaft connects to the first transmission wheel. Through the transmission wheel, the first support frame 110 is driven to rotate around the rotating shaft, and after angle adjustment, it locks. This bidirectional drive design allows for flexible selection of the drive mode based on the bending direction of the rod 600 to be clamped, ensuring that the angle of the support frame is precisely adapted to the rod structure.

[0071] Specifically, the first driving member and the second driving member drive relative rotation in two directions respectively, so that the first support frame 110 and the second support frame 120 can rotate relative to each other in both clockwise and counterclockwise directions, which can adapt to the bending scenario of the rod and solve the problem that a single driving direction cannot adapt to complex bending.

[0072] It should be noted that in this embodiment, the transmission wheel can be a worm gear, and the first driving component and the second driving component can be a drive motor and a worm. The worm and the worm gear cooperate to make the drive motor drive the worm to rotate, thereby driving the worm gear and the support frame connected to the worm gear to rotate. This facilitates the control of the relative rotation between the first support frame 110 and the second support frame 120, and thus can adapt to the bending scenario of the rod.

[0073] like Figure 1 and Figure 3 As shown, in some embodiments, the drive mechanism 200 includes a first lead screw motor 210, a first transmission lead screw 220, and a slider 230. The first lead screw motor 210 is mounted on the first support frame 110 and is connected to the first transmission lead screw 220. The rotation axis of the first transmission lead screw 220 extends vertically and is rotatably mounted on the first support frame 110. The first transmission lead screw 220 passes through the slider 230 and drives the slider 230 and the first clamping assembly 310 connected to the slider 230 to move along the rod body 600 to be clamped.

[0074] In this application, the first lead screw motor 210 of the drive mechanism 200 is fixed on the first support frame 110 and connected to the first transmission lead screw 220 as a power source. The rotation axis of the first transmission lead screw 220 extends vertically and is rotatably mounted on the first support frame 110, passing through the slider 230 and forming a threaded engagement with it. When the first lead screw motor 210 starts, it drives the first transmission lead screw 220 to rotate around the vertical axis, converting the rotational motion into linear motion of the slider 230 through threaded transmission, causing the slider 230 to move along the length direction of the first transmission lead screw 220. Since the first clamping assembly 310 is connected to the slider 230, the movement of the slider 230 will synchronously drive the first clamping assembly 310 to move along the rod, realizing position adjustment. During the climbing operation, when the first clamping assembly 310 completes the clamping action, the first lead screw motor 210 stops working, and the slider 230 and the first clamping assembly 310 remain stationary. When movement is required, the first clamping assembly 310 releases its grip, and the first lead screw motor 210 drives the first transmission lead screw 220 to rotate forward or in reverse. This drives the first clamping assembly 310 to move upward or downward via the slider 230. After reaching the target position, the first clamping assembly 310 re-clamps the rod, completing one movement cycle.

[0075] Specifically, the threaded engagement between the first transmission screw 220 and the slider 230 provides high transmission precision. Through precise control of the first screw motor 210, the slider 230 and the first clamping assembly 310 can be accurately positioned at a preset location, preventing missed detection items or misalignment due to positional deviations. The threaded pair between the first transmission screw 220 and the slider 230 has a self-locking characteristic. When the first screw motor 210 stops working, the slider 230 will not move due to gravity or external forces, allowing the first clamping assembly 310 to remain stably in its current position. This effectively prevents accidental slippage when the first clamping assembly 310 clamps the rod 600 to be clamped, significantly reducing the risk of falls due to drive failure, especially during high-altitude operations. The first transmission screw 220 is vertically mounted on the first support frame 110, aligned with the guiding direction of the first support frame 110. The movement of the slider 230 is simultaneously constrained by the thread of the first transmission screw 220 and limited by the structure of the first support frame 110, preventing rotation or offset during movement. Even after the first support frame 110 adjusts its angle with the rotating mechanism 500, the first transmission screw 220 can still maintain stable linear motion along the tilt direction of the first support frame 110, ensuring precise matching between the movement trajectory of the first clamping assembly 310 and the direction of the rod body 600 to be clamped. The rotational speed of the first screw motor 210 can be precisely adjusted via a current signal, allowing the movement speed of the first clamping assembly 310 to be flexibly adjusted according to operational requirements, thereby improving overall climbing efficiency.

[0076] In some embodiments, both the first support frame 110 and the second support frame 120 are provided with slide rails, and both the first clamping assembly 310 and the second clamping assembly 320 are provided with slide grooves corresponding to the slide rails.

[0077] In this application, the slide rails on the first support frame 110 and the second support frame 120 are arranged along their respective extension directions. The sliding grooves on the first clamping assembly 310 and the second clamping assembly 320 are matched with the slide rails one-to-one, forming a sliding guide structure. When the first drive mechanism 200 drives the first clamping assembly 310 to move, the sliding groove of the first clamping assembly 310 slides along the slide rail of the first support frame 110. The slide rail provides lateral constraint to the sliding groove, ensuring that the first clamping assembly 310 can only move along the extension direction of the slide rail, avoiding lateral deviation or swaying during movement. Similarly, when the second drive mechanism 200 drives the second clamping assembly 320 to move, the sliding groove of the second clamping assembly 320 slides along the slide rail of the second support frame 120. Under the guidance of the slide rail, the second clamping assembly 320 moves stably in a preset direction.

[0078] like Figure 2 As shown, in some embodiments, at least one of the first clamping assembly 310 and the second clamping assembly 320 further includes a support frame 440, the second end of the second swing arm 422 is rotatably connected to the support frame 440, a transmission mechanism 450 is provided on the support frame 440, and a clamping member 430 is movably provided on the transmission mechanism 450 so that the clamping member 430 clamps or releases the clamping rod 600.

[0079] In this application, the support frame 440 of at least one of the first clamping assembly 310 and the second clamping assembly 320 serves as an intermediate connecting structure. It is rotatably connected to the second end of the second swing arm 422, allowing the support frame 440 to adjust its angle with the swing of the second swing arm, thereby driving the transmission mechanism 450 and the clamping member 430 on it to adjust their posture synchronously. The transmission mechanism 450 on the support frame 440 provides a moving track and driving force for the clamping member 430. When clamping the rod 600 to be clamped, the transmission mechanism 450 drives the clamping member 430 to move in a direction close to the rod 600 until it contacts the surface of the rod 600 and applies a clamping force. When releasing the clamp, the transmission mechanism 450 drives the clamping member 430 to move in a direction away from the rod 600, disengaging from the rod 600. The second swing arm 422 first adjusts the angle of the support frame 440 by rotation, and then the transmission mechanism 450 drives the clamping member 430 to move and complete the clamping. Conversely, when releasing the clamp, the transmission mechanism 450 first drives the clamping member 430 away from the rod to be clamped 600, and then the swing arm adjusts its angle to facilitate subsequent rotation along the rod to be clamped 600.

[0080] like Figure 1 and Figure 2As shown, in some embodiments, the transmission mechanism 450 includes a second lead screw motor 451 and a second transmission lead screw 452. The second lead screw motor 451 is mounted on the support frame 440, and the second transmission lead screw 452 is rotatably mounted on the support frame 440 in the horizontal direction. The second lead screw motor 451 is connected to the second transmission lead screw 452. The second transmission lead screw 452 is provided with a first threaded section and a second threaded section. The clamping member 430 includes a first jaw 431 and a second jaw 432. The first jaw 431 cooperates with the first threaded section, and the second jaw 432 cooperates with the second threaded section, so that the first jaw 431 and the second jaw 432 jointly clamp or release the clamping rod 600.

[0081] In this application, the second lead screw motor 451 of the transmission mechanism 450 is fixed on the support frame 440, serving as a power source and connected to the second transmission lead screw 452, which passes horizontally through the support frame 440, driving its rotation. The first and second threaded sections on the second transmission lead screw 452 have opposite rotation directions and respectively engage with the first gripper 431 and the second gripper 432. When it is necessary to clamp the rod body 600 to be clamped, the second lead screw motor 451 drives the second transmission lead screw 452 to rotate in the first direction. Due to the opposite rotation directions of the two threaded sections, the first gripper 431 and the second gripper 432 move towards each other in the horizontal direction, approaching each other and applying clamping force from both sides of the rod body 600 to be clamped, thus completing the clamping. When it is necessary to release the clamp, the second lead screw motor 451 drives the second transmission lead screw 452 to rotate in the second direction opposite to the first direction. The first gripper 431 and the second gripper 432 move away from each other, disengaging from contact with the rod body 600 to be clamped.

[0082] Specifically, the transmission between the second lead screw 452 and the first gripper 431 and the second gripper 432 has a self-locking characteristic. When the second lead screw motor 451 stops working, the first gripper 431 and the second gripper 432 can stably maintain their current positions and will not loosen due to external forces such as robot climbing vibrations or wind, allowing the gripper 430 to firmly hold the rod 600 to be gripped, reducing the risk of falling. Furthermore, the second lead screw motor 451 has a rapid start and stop response, and combined with the high-efficiency transmission of the lead screw drive, it can realize the rapid opening and closing between the first gripper 431 and the second gripper 432, thereby facilitating the joint gripping or release of the rod 600 to be gripped, ensuring the reliability of the gripping.

[0083] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A climbing robot, characterized in that, include: Frame (100); Both drive mechanisms (200) are mounted on the frame (100); The clamping mechanism (300) includes a first clamping component (310) and a second clamping component (320) disposed on the frame (100). One of the driving mechanisms (200) is connected to the first clamping component (310), and the other driving mechanism (200) is connected to the second clamping component (320). The two driving mechanisms (200) respectively drive the first clamping component (310) and the second clamping component (320) to move sequentially along the rod body (600) to be clamped. Both the first clamping component (310) and the second clamping component (320) can clamp or release the rod body (600) to be clamped. At least one of the first clamping assembly (310) and the second clamping assembly (320) rotates circumferentially along the rod body (600) to avoid the protrusion of the rod body (600) and clamp the rod body (600).

2. The climbing robot according to claim 1, characterized in that, At least one of the first clamping assembly (310) and the second clamping assembly (320) further includes a frame (410), a drive arm (420), and a clamping member (430). The drive mechanism (200) is connected to the frame (410), the drive arm (420) is disposed on the frame (410), the drive arm (420) is connected to the clamping member (430), the drive arm (420) drives the clamping member (430) to rotate circumferentially along the rod body (600) to be clamped, and the clamping member (430) clamps or releases the rod body (600) to be clamped.

3. The climbing robot according to claim 2, characterized in that, The drive arm (420) includes a first swing arm (421) and a second swing arm (422). The first end of the first swing arm (421) is rotatably mounted on the frame (410). The second end of the first swing arm (421) is rotatably connected to the first end of the second swing arm (422). The second end of the second swing arm (422) is rotatably connected to the clamping member (430). The first swing arm (421) and the second swing arm (422) together drive the clamping member (430) to rotate circumferentially along the rod body (600) to be clamped, so as to avoid the protrusion of the rod body (600) to be clamped and clamp the rod body (600).

4. The climbing robot according to any one of claims 1 to 3, characterized in that, The frame (100) includes a first support frame (110) and a second support frame (120) connected to each other. One drive mechanism (200) is disposed on the first support frame (110), and the first clamping assembly (310) is driven to move along the extension direction of the first support frame (110). The other drive mechanism (200) is disposed on the second support frame (120), and the other drive mechanism (200) drives the second clamping assembly (320) to move along the extension direction of the second support frame (120).

5. The climbing robot according to claim 4, characterized in that, It also includes a rotating mechanism (500), through which the first support frame (110) and the second support frame (120) are connected, and the rotating mechanism (500) drives one of the first support frame (110) and the second support frame (120) to rotate relative to the other.

6. The climbing robot according to claim 5, characterized in that, The rotating mechanism (500) includes a first driving member, a second driving member, a rotating shaft, and two transmission wheels. The first driving member is disposed on the first support frame (110), and the second driving member is disposed on the second support frame (120). The first support frame (110) and the second support frame (120) are rotatably connected by the rotating shaft. The first transmission wheel is disposed on the first support frame (110), and the second transmission wheel is disposed on the second support frame (120). The first driving member is connected to the second transmission wheel and drives the second support frame (120) to rotate relative to the first support frame (110). The second driving member is connected to the first transmission wheel and drives the first support frame (110) to rotate relative to the second support frame (120).

7. The climbing robot according to claim 4, characterized in that, The driving mechanism (200) includes a first lead screw motor (210), a first transmission lead screw (220), and a slider (230). The first lead screw motor (210) is mounted on the first support frame (110). The first lead screw motor (210) is connected to the first transmission lead screw (220). The rotation axis of the first transmission lead screw (220) extends vertically and is rotatably mounted on the first support frame (110). The first transmission lead screw (220) passes through the slider (230) and drives the slider (230) and the first clamping assembly (310) connected to the slider (230) to move along the rod body (600) to be clamped.

8. The climbing robot according to claim 7, characterized in that, The first support frame (110) and the second support frame (120) are both provided with slide rails, and the first clamping assembly (310) and the second clamping assembly (320) are both provided with slide grooves corresponding to the slide rails.

9. The climbing robot according to claim 3, characterized in that, At least one of the first clamping assembly (310) and the second clamping assembly (320) further includes a support frame (440), the second end of the second swing arm (422) is rotatably connected to the support frame (440), the support frame (440) is provided with a transmission mechanism (450), and the clamping member (430) is movably disposed on the transmission mechanism (450) so that the clamping member (430) clamps or releases the rod body (600) to be clamped.

10. The climbing robot according to claim 9, characterized in that, The transmission mechanism (450) includes a second lead screw motor (451) and a second transmission lead screw (452). The second lead screw motor (451) is mounted on the support frame (440), and the second transmission lead screw (452) is rotatably mounted on the support frame (440) in the horizontal direction. The second lead screw motor (451) is connected to the second transmission lead screw (452). The second transmission lead screw (452) is provided with a first threaded section and a second threaded section. The clamping member (430) includes a first clamping jaw (431) and a second clamping jaw (432). The first clamping jaw (431) cooperates with the first threaded section, and the second clamping jaw (432) cooperates with the second threaded section, so that the first clamping jaw (431) and the second clamping jaw (432) jointly clamp or release the rod body (600) to be clamped.

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