Clamping jaw device and climbing robot

Abstract

The invention relates to the technical field of robots, in particular to a clamping jaw device and a climbing robot. The jaw device includes: a frame; the two driving mechanisms are arranged on the frame; the clamping mechanism comprises a first clamping set and a second clamping set, the first clamping set and the second clamping set are arranged on the frame in a spaced mode in the vertical direction, one driving mechanism is connected with the first clamping set, and the other driving mechanism is connected with the second clamping set; at least one of the first clamping set and the second clamping set comprises two clamping assemblies, and at least one clamping assembly moves relative to the other clamping assembly, so that the two clamping assemblies get close to each other or get away from each other, and the to-be-clamped rod body is jointly clamped or released from being clamped. According to the technical scheme, the problem that the climbing robot slips or falls off from the lightning rod due to the fact that the clamping jaw device is poor in clamping stability due to the fact that the climbing robot is affected by changes of the shape and the diameter of the rod body of the lightning rod can be effectively solved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a gripper device and 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] Because lightning rods have a slender structure, in related technologies, a climbing robot can be used to clamp the rod of the lightning rod and climb it. The climbing robot can then be used to inspect the lightning rod, and the inspection results can be used to facilitate subsequent maintenance of the lightning rod.

[0004] However, the climbing robot can be affected by changes in the shape and diameter of the lightning rod, which can cause the robot's gripper to become unstable, leading to the robot slipping or falling off the lightning rod. Summary of the Invention

[0005] This application provides a gripper device and a climbing robot to solve the problem that the gripper device has poor clamping stability when the climbing robot is affected by changes in the shape and diameter of the lightning rod, which causes the climbing robot to slip or fall off the lightning rod.

[0006] In a first aspect, embodiments of this application provide a gripper device, including:

[0007] frame;

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

[0009] The clamping mechanism includes a first clamping group and a second clamping group, which are arranged vertically at intervals on the frame. One of the clamping groups has a drive mechanism connected to the first clamping group, and the other has a drive mechanism connected to the second clamping group.

[0010] At least one of the first clamping group and the second clamping group includes two clamping components, wherein at least one clamping component is movable relative to the other clamping component to bring the two clamping components closer to or further away from each other, thereby jointly clamping or releasing the clamping rod.

[0011] In some embodiments, the clamping mechanism further includes a detection element, and the clamping assembly includes a first driving element, a planar gripper, and a first V-shaped gripper. The detection element is disposed on the frame and is electrically connected to the first driving element. The detection element is used to detect the diameter of the rod to be clamped. The planar gripper and the first V-shaped gripper are arranged vertically, and the first driving element is connected to the planar gripper and the first V-shaped gripper, respectively.

[0012] The first drive unit is configured to control the planar gripper to extend to grip the rod to be gripped when the diameter is equal to a preset value; the first drive unit is also configured to control the first V-shaped gripper to extend to grip the rod to be gripped when the diameter is less than the preset value.

[0013] In some embodiments, the clamping assembly further includes a second V-shaped gripper located below the first V-shaped gripper, the first drive member being connected to the second V-shaped gripper, and the included angle of the second V-shaped gripper being greater than that of the first V-shaped gripper.

[0014] The first drive unit is also configured to control the second V-shaped gripper to extend and clamp the rod to be clamped when the diameter is greater than a preset value.

[0015] In some embodiments, the clamping mechanism further includes a plurality of sliders and a plurality of partitions. Each clamping assembly is provided with a slider, which is movably disposed laterally. A partition is provided between the planar jaw and the first V-shaped jaw, and between the first V-shaped jaw and the second V-shaped jaw. One end of each partition is connected to the slider.

[0016] The first driving component includes three driving motors, with one driving motor on each partition. The flat gripper, the first V-shaped gripper, and the second V-shaped gripper are all positioned corresponding to the driving motors. The first driving motor is connected to the flat gripper, the second driving motor is connected to the first V-shaped gripper, and the third driving motor is connected to the second V-shaped gripper.

[0017] In some embodiments, a support frame is provided on both the first clamping group and the second clamping group. The clamping assembly includes a first clamping arm and a second clamping arm. Each support frame is provided with at least one first clamping arm and at least one second clamping arm. One end of the first clamping arm and one end of the second clamping arm are rotatably mounted on the support frame. An adjustment mechanism is provided between the first clamping arm and the second clamping arm to bring the first clamping arm and the second clamping arm closer to each other or further away from each other, so that the two first clamping arms and the two second clamping arms of the two clamping assemblies can jointly clamp or release the rod to be clamped.

[0018] In some embodiments, the clamping mechanism further includes a detection element, and the adjusting mechanism includes a first worm wheel, a second worm wheel, a second driving element, and a worm. The first worm wheel is disposed on a first clamping arm, the second worm wheel is disposed on a second clamping arm, and the worm is rotatably disposed on a support frame. The worm is provided with a first threaded section that cooperates with the first worm wheel and a second threaded section that cooperates with the second worm wheel. The first threaded section and the second threaded section have opposite directions of rotation. The second driving element is disposed on the support frame and connected to the worm.

[0019] The second driving member is configured to, when the detection member detects that the diameter of the rod to be clamped is less than a preset value, drive the worm to rotate in a first direction and drive the first worm wheel and the second worm wheel to rotate, so that the first clamping arm and the second clamping arm move closer to each other to clamp the rod to be clamped; the second driving member is also configured to, when the detection member detects that the diameter of the rod to be clamped is greater than a preset value, drive the worm to rotate in a second direction and drive the first worm wheel and the second worm wheel to rotate, so that the first clamping arm and the second clamping arm move further apart to clamp the rod to be clamped.

[0020] In some embodiments, the drive mechanism includes a control motor and a lead screw. The control motor is mounted on a frame, and the lead screw is rotatably mounted on the frame. The lead screw has a left-hand threaded section and a right-hand threaded section. One clamping assembly is mounted on the left-hand threaded section, and the other clamping assembly is mounted on the right-hand threaded section, so that the two clamping assemblies move closer to or further away from each other.

[0021] In some embodiments, a guide rail is provided on the frame, the guide rail extends laterally, and both the first clamping group and the second clamping group are slidably disposed on the guide rail.

[0022] In some embodiments, the detection element includes a binocular vision module for detecting the diameter and surface condition of the rod to be clamped.

[0023] Secondly, embodiments of this application provide a climbing robot, including a frame and a claw device as described above that is movably mounted on the frame.

[0024] This application provides a gripper device, which includes a frame, two drive mechanisms, and a clamping mechanism. The first and second gripping groups form a double fixation at different heights. Both the first and second gripping groups contain two clamping components that apply clamping forces from both sides, enabling both vertical clamping and bilateral clamping. This effectively resists radial sway and axial torque during climbing, reducing robot body deviation even in strong winds or with slight vibrations of the clamped rod. When encountering protruding obstacles, the drive mechanisms first move the first and second gripping groups to avoid them, and then the relative movement of the two clamping components in the first and second gripping groups completes the clamping, further improving work efficiency and clamping stability.

[0025] It should be noted that the two movable gripping components can flexibly adjust the gripping distance, accommodating gripping rods of different diameters and handling protruding obstacles on the surface of the gripping rod, such as weld points and rust protrusions. When encountering a protrusion, the two movable gripping components can temporarily increase the distance to avoid the obstacle, and then resume gripping after passing through, solving the jamming problem caused by protrusion interference in traditional robots. The first and second gripping groups are arranged vertically at intervals and move alternately, ensuring that at least one group of the robot maintains a reliable connection with the gripping rod during movement, significantly reducing the risk of detachment. Furthermore, two drive mechanisms are set up to drive the first and second gripping groups to grip the gripping rod, respectively. If one drive mechanism experiences a temporary failure, the other gripping component can be driven by the other drive mechanism to keep the robot body fixed, preventing the gripper device from being affected by the failure of one drive mechanism, thus preventing the climbing robot from slipping and falling off the lightning rod. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a schematic diagram of the chuck device provided in this application;

[0028] Figure 2 A schematic diagram of the structure of the jaw device provided in this application clamping the rod to be clamped;

[0029] Figure 3 This is a schematic diagram of the clamping assembly of the chuck device provided in this application.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100. Framework;

[0032] 200. Clamping mechanism; 210. First clamping group; 220. Second clamping group; 230. Clamping assembly; 231. First driving component; 232. Planar gripper; 233. First V-shaped gripper; 234. Second V-shaped gripper; 235. First clamping arm; 236. Second clamping arm; 240. Detection component; 250. Slider; 260. Partition plate; 270. Adjustment mechanism; 271. First worm gear; 272. Second worm gear; 274. Worm; 275. First threaded section; 276. Second threaded section; 280. Drive mechanism; 281. Control motor; 282. Lead screw;

[0033] 300. The rod to be clamped.

[0034] 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

[0035] 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.

[0036] Lightning rods are effective lightning protection devices that can effectively prevent damage to substations from direct lightning strikes. However, due to their tall, towering installation and the difficulty in timely maintenance, lightning rods are prone to corrosion. Because of their slender structure, some technologies utilize the gripper devices on climbing robots to clamp onto the rod's shaft and climb it. This allows the climbing robot to inspect the lightning rod, and the inspection results facilitate subsequent maintenance.

[0037] However, in existing technologies, climbing robots are affected by changes in the shape and diameter of the lightning rod, which can cause the gripper device of the climbing robot to have poor clamping stability. This can ultimately cause the climbing robot to slip or fall off the lightning rod, making it impossible to inspect the lightning rod.

[0038] In view of this, this application provides a gripper device. The gripper device can be connected to a first gripping group and a second gripping group respectively through two drive mechanisms. In order to ensure that the rod to be gripped is clamped and to prevent it from falling off the rod, at least one of the first gripping group and the second gripping group is provided with two gripping components. One of the two gripping components moves relative to the other gripping component, so that the two gripping components can move closer to each other or further away from each other. When the two gripping components are close to each other, they can clamp the rod to be gripped. When they are far apart, they can release the clamping of the rod to be gripped. This can improve the stability of clamping the rod to be gripped and avoid the problem of slipping and falling due to poor clamping stability during the climbing robot's climbing process.

[0039] The gripper device provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0040] Firstly, such as Figure 1 and Figure 2 As shown, the gripper device in this embodiment includes a frame 100, two drive mechanisms 280, and a clamping mechanism 200.

[0041] Both drive mechanisms 280 are mounted on the frame 100.

[0042] The clamping mechanism 200 includes a first clamping group 210 and a second clamping group 220. The first clamping group 210 and the second clamping group 220 are arranged vertically at intervals on the frame 100. One of the driving mechanisms 280 is connected to the first clamping group 210, and the other driving mechanism 280 is connected to the second clamping group 220, driving the first clamping group 210 and the second clamping group 220 to move and clamp the rod 300 to be clamped.

[0043] At least one of the first clamping group 210 and the second clamping group 220 includes two clamping components 230, wherein at least one clamping component 230 is movable relative to the other clamping component 230 so that the two clamping components 230 move closer to or further away from each other, thereby jointly clamping or releasing the clamping rod 300.

[0044] In this application, the frame 100 serves as the basic load-bearing structure, and two drive mechanisms 280 are mounted on the frame 100. The two drive mechanisms 280 are respectively connected to a first clamping group 210 and a second clamping group 220 arranged vertically at intervals. When it is necessary to clamp the rod 300 to be clamped, the two drive mechanisms 280 respectively drive the first clamping group 210 and the second clamping group 220, which are arranged vertically at intervals, to move to both sides of the rod 300 to be clamped. At least one of the first clamping group 210 and the second clamping group 220 includes two clamping components 230, one of which is movable relative to the other. The movable clamping component 230 moves closer to the fixed clamping component 230, and the two clamping components 230 exert force from both sides of the rod 300 to be clamped to complete the clamping. At this time, the two clamping components 230 of the first clamping group 210 and the clamping components 230 of the second clamping group 220 form a double fixation at different heights. During the climbing process, the two drive mechanisms 280 respectively drive the two clamping components 230 of the first clamping group 210 and the two clamping components 230 of the second clamping group 220 to move away from the rod body 300 to be clamped. Under the drive of the corresponding lifting mechanism, they move along the rod body 300 to be clamped to a new position. Then, the two drive mechanisms 280 respectively drive the first clamping group 210 and the second clamping group 220 to approach and re-clamp, thereby completing the operation or adjusting the position.

[0045] The first clamping group 210 and the second clamping group 220 form a double fixation at different heights. Combined with the clamping force applied from both sides by two clamping components 230 in both groups, this achieves both vertical clamping and bilateral clamping. This effectively resists radial sway and axial torque during the climbing robot's ascent, reducing robot body deviation even in strong winds or with slight vibrations of the clamped rod 300. When encountering protruding obstacles, the drive mechanism 280 first moves the first clamping group 210 and the second clamping group 220 to avoid them, and then the two clamping components 230 in the first and second groups move relative to each other to complete the clamping, further improving work efficiency and clamping stability.

[0046] It should be noted that the two movable gripping components 230 can flexibly adjust the gripping distance, adapting to gripping rods 300 of different diameters and addressing protruding obstacles on the surface of the gripping rod 300, such as weld points and rust protrusions. When encountering a protrusion, the two movable gripping components 230 can temporarily increase the distance to avoid the obstacle, and then resume gripping after passing through, solving the jamming problem caused by protrusion interference in traditional robots. The first gripping group 210 and the second gripping group 220 are arranged vertically at intervals and move alternately, ensuring that at least one group always maintains a reliable connection with the gripping rod 300 during the robot's movement, significantly reducing the risk of detachment from the gripping rod 300. Furthermore, two drive mechanisms 280 are set up to drive the first clamping group 210 and the second clamping group 220 respectively to clamp the rod body 300 to be clamped. If one of the drive mechanisms 280 experiences a brief failure, the other clamping assembly 230 can be driven by the other drive mechanism 280 to keep the body fixed, thus preventing the gripper device from affecting the clamping stability due to the failure of one of the drive mechanisms 280, and thus preventing the climbing robot from slipping and falling off the lightning rod.

[0047] like Figure 1 and Figure 2 As shown, in some embodiments, the clamping mechanism 200 further includes a detection element 240. The clamping assembly 230 includes a first driving element 231, a planar gripper 232, and a first V-shaped gripper 233. The detection element 240 is disposed on the frame 100 and electrically connected to the first driving element 231. The detection element 240 is used to detect the diameter of the rod 300 to be clamped. The planar gripper 232 and the first V-shaped gripper 233 are arranged vertically. The first driving element 231 is connected to the planar gripper 232 and the first V-shaped gripper 233, respectively. The first driving element 231 is configured to control the planar gripper 232 to extend to clamp the rod 300 when the diameter is equal to a preset value; the first driving element 231 is also configured to control the first V-shaped gripper 233 to extend to clamp the rod 300 when the diameter is less than the preset value.

[0048] In this application, the detection element 240 is mounted on the frame 100. By electrically connecting the detection element 240 to the first drive element 231 of the clamping assembly 230, the diameter of the rod 300 to be clamped is detected in real time, and the detection data is transmitted to the first drive element 231 electrically connected to it. The planar gripper 232 and the first V-shaped gripper 233 in the clamping assembly 230 are vertically distributed and both are driven by the first drive element 231. When the detection element 240 detects that the diameter of the rod is equal to a preset value, the first drive element 231 drives the planar gripper 232 to extend, utilizing the planar contact characteristic to form a stable clamp on the rod 300. If the detection element 240 detects that the diameter of the rod 300 is less than the preset value, the first drive element 231 switches to control the extension of the first V-shaped gripper 233, using the convergence effect of the V-shaped structure to adapt to the smaller diameter rod, ensuring a firm clamping.

[0049] The cooperation between the detection component 240 and the first drive component 231 enables the climbing robot to automatically identify changes in the diameter of the rod 300 to be clamped during the climbing process. For parts with a smaller diameter, the triangular structure of the first V-shaped gripper 233 can automatically center and clamp through the guiding action of the inclined surfaces on both sides, solving the problem of loose or overly tight clamping when the diameter fluctuates in traditional single grippers. In scenarios where the lightning rod has a gradual change in diameter or local unevenness in thickness, the detection component 240 can capture the diameter change in real time and trigger the gripper switching. When the robot moves from a base with a larger diameter to a rod 300 with a smaller diameter, the detection component 240 identifies that the diameter is smaller than the preset value, and the first drive component 231 immediately switches to the first V-shaped gripper 233 to maintain reliable clamping and avoid slippage or disengagement caused by mismatch between the gripper and the rod 300. The planar gripper 232 and the first V-shaped gripper 233 can be adapted to rods 300 with different diameter ranges, making the clamping force more matched with the rod size. The diameter of the rod body 300 to be clamped is detected by the detection component 240, and a suitable clamping claw is selected. This allows the clamping claw device to not only adapt to sections of different diameters on the same lightning rod, but also to different specifications of rod bodies 300 to be clamped. There is no need to change the clamping component 230 for a specific rod body 300 to be clamped, which improves the practicality of the clamping claw device.

[0050] like Figure 1 As shown, in some embodiments, the clamping assembly 230 further includes a second V-shaped gripper 234, which is located below the first V-shaped gripper 233. The first drive member 231 is connected to the second V-shaped gripper 234, and the included angle of the second V-shaped gripper 234 is greater than the included angle of the first V-shaped gripper 233. The first drive member 231 is also configured to control the second V-shaped gripper 234 to extend to clamp the rod body 300 to be clamped when the diameter is greater than a preset value.

[0051] In this application, the second V-shaped gripper 234 is positioned below the first V-shaped gripper 233, and the included angle of the second V-shaped gripper 234 is greater than that of the first V-shaped gripper 233. The second V-shaped gripper 234 is driven by the first driving member 231. The detection member 240 detects the diameter of the rod body 300 to be clamped in real time and transmits the detection data to the first driving member 231 electrically connected to it. The planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 in the clamping assembly 230 are vertically distributed and are all driven by the first driving member 231.

[0052] The detection component 240 detects the diameter of the rod 300 to be clamped in real time and transmits the data to the first driving component 231. When the detected rod diameter is greater than a preset value, the first driving component 231 controls the second V-shaped gripper 234 to extend for clamping. When the diameter is equal to the preset value, the planar gripper 232 is controlled to extend. When the diameter is less than the preset value, the first V-shaped gripper 233 is controlled to extend.

[0053] It should be noted that the addition of the second V-shaped gripper 234 enables the clamping assembly 230 to handle rods 300 with a diameter larger than the preset value. Combined with the original flat gripper 232 and the first V-shaped gripper 233, it adapts to rods 300 with diameters smaller than, equal to, or larger than the preset value, solving the previous problem of insufficient clamping capacity for large-diameter rods 300. Because the included angle of the second V-shaped gripper 234 is larger than that of the first V-shaped gripper 233, when clamping a large-diameter rod 300, its two claw arms can fit more closely to the surface of the rod 300, increasing the contact area and providing a more stable clamping force. This also ensures clamping reliability, reduces slippage, and improves work efficiency.

[0054] like Figure 1 As shown, in some embodiments, the clamping mechanism 200 further includes a plurality of sliders 250 and a plurality of partitions 260. Each clamping component 230 is provided with a slider 250, which is movably arranged laterally. A partition 260 is provided between the planar jaw 232 and the first V-shaped jaw 233, and between the first V-shaped jaw 233 and the second V-shaped jaw 234. One end of each partition 260 is connected to the slider 250.

[0055] In this application, each clamping assembly 230 is equipped with a slider 250, which can move laterally. A partition 260 is provided between the planar gripper 232 and the first V-shaped gripper 233, and between the first V-shaped gripper 233 and the second V-shaped gripper 234. One end of each partition 260 is connected to the slider 250. When the first driving member 231 controls the extension or retraction of different grippers according to the signal from the detection member 240, the slider 250 will move laterally accordingly, thereby driving the partition 260 connected to it to move synchronously, so as to clamp the rod body 300 to be clamped.

[0056] The planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 are vertically distributed. The partition 260, which moves with the slider 250, forms an isolation structure that effectively prevents contact between the non-working gripper and the working gripper, preventing collisions and jamming during extension, retraction, or clamping. This ensures smooth gripper switching and solves the mechanical interference problem in multi-gripper layouts. The movement of the slider 250 provides flexible position adjustment for the grippers and partition 260, allowing each component to maintain a reasonable clearance during long-term use, extending the service life of the clamping mechanism and reducing maintenance costs.

[0057] In some embodiments, the first driving member 231 includes three driving motors, with one driving motor provided on each partition 260. The planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 are all positioned corresponding to the driving motors. The first driving motor is connected to the planar gripper 232, the second driving motor is connected to the first V-shaped gripper 233, and the third driving motor is connected to the second V-shaped gripper 234.

[0058] In this application, the first driving component 231 includes three driving motors, each connected to a planar gripper 232, a first V-shaped gripper 233, and a second V-shaped gripper 234, respectively, with each motor mounted on a corresponding partition 260. When the detection component 240 detects the diameter of the rod 300 to be clamped, it transmits a signal to the control system. The control system then instructs the corresponding driving motor to operate based on the diameter information. If the diameter of the rod 300 is equal to a preset value, the first driving motor starts, causing the planar gripper 232 to extend and clamp the rod 300, while the other two driving motors remain stationary. When the diameter of the rod 300 is less than the preset value, the second driving motor operates, causing the first V-shaped gripper 233 to extend and clamp the rod 300, while the other driving motors remain inactive. When the diameter of the rod 300 is greater than the preset value, the third driving motor starts, controlling the second V-shaped gripper 234 to extend and clamp the rod 300. Furthermore, since the drive motor is mounted on the partition 260, when the slider 250 moves the partition 260 laterally, the three drive motors also move together, ensuring the stable transmission of driving force when the planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 are adjusted.

[0059] The three drive motors control the planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 respectively, avoiding potential interference from a single drive source controlling multiple grippers. The extension, retraction, and clamping force of the planar gripper 232, the first V-shaped gripper 233, and the second V-shaped gripper 234 can all be independently adjusted by their respective motors, improving clamping accuracy and reliability. When the diameter of the rod to be clamped 300 changes and a gripper switch is required, the control system can directly command the corresponding drive motor to start, eliminating the need for complex mechanical transmission conversion and reducing energy loss and action delay in intermediate stages. The partition 260 provides a stable mounting platform for the drive motors, preventing vibration and other factors from affecting their operational stability.

[0060] In some embodiments, such as Figure 3 As shown, both the first clamping group 210 and the second clamping group 220 are provided with support frames. The clamping assembly 230 includes a first clamping arm 235 and a second clamping arm 236. Each support frame is provided with at least one first clamping arm 235 and at least one second clamping arm 236. One end of the first clamping arm 235 and one end of the second clamping arm 236 are rotatably mounted on the support frame. An adjustment mechanism 270 is provided between the first clamping arm 235 and the second clamping arm 236 to bring the first clamping arm 235 and the second clamping arm 236 closer to each other or further away from each other, so that the two first clamping arms 235 and the two second clamping arms 236 of the two clamping assemblies 230 jointly clamp or release the rod body 300 to be clamped.

[0061] In this application, the support frames of the first clamping group 210 and the second clamping group 220 serve as the mounting base for the first clamping arm 235 and the second clamping arm 236. At least one first clamping arm 235 and at least one second clamping arm 236 are rotatably connected to each support frame. The rotation axis spacing between the first clamping arm 235 and the second clamping arm 236 is fixed, forming an opening and closing structure similar to a "scissor arm." The adjustment mechanism 270 (such as a hydraulic rod, screw drive, or gear set) between the first clamping arm 235 and the second clamping arm 236 is the core of the operation. When the adjustment mechanism 270 shortens or is driven forward, it pulls or pushes the first clamping arm 235 and the second clamping arm 236 to rotate towards each other around their respective rotation axes, bringing their free ends closer together. When the adjustment mechanism 270 extends or is driven in the reverse direction, the first clamping arm 235 and the second clamping arm 236 rotate in opposite directions, and their free ends move away from each other.

[0062] Specifically, when the adjusting mechanism 270 drives the first clamping arm 235 and the second clamping arm 236 to move closer together, the first clamping arm 235 and the second clamping arm 236 of the two clamping assemblies 230 will converge from both sides toward the rod body 300 to be clamped, forming a ring-like clamping. When the adjusting mechanism 270 drives the two clamping arms to move away from each other, the first clamping arm 235 and the second clamping arm 236 separate from the rod body 300 to be clamped, releasing the clamping state.

[0063] It should be noted that the first gripping arm 235 and the second gripping arm 236 are rotatable and can flexibly change their opening and closing angles, adapting to different diameters of the rod 300 to be gripped. They can also accommodate tilting or bending of the surface of the rod 300, such as the bending part between the lightning rod base and the main body. The first gripping arm 235 and the second gripping arm 236 of the two gripping components 230 grip the rod 300 from both sides, forming a symmetrical gripping force distribution. This effectively counteracts the eccentric gravity of the gripper device when the robot climbs, avoiding posture tilting caused by unilateral force.

[0064] like Figure 1 and Figure 3As shown, in some embodiments, the clamping mechanism 200 further includes a detection element 240, and the adjusting mechanism 270 includes a first worm gear 271, a second worm gear 272, a second driving member, and a worm 274. The first worm gear 271 is disposed on the first clamping arm 235, the second worm gear 272 is disposed on the second clamping arm 236, and the worm 274 is rotatably disposed on the support frame. The worm 274 is provided with a first threaded section 275 that cooperates with the first worm gear 271 and a second threaded section 276 that cooperates with the second worm gear 272. The first threaded section 275 and the second threaded section 276 have opposite directions of rotation. The second driving member is disposed on the support frame and connected to the worm 274. The second driving member is configured to, when the detection member 240 detects that the diameter of the rod body 300 to be clamped is less than a preset value, drive the worm gear 274 to rotate in a first direction and drive the first worm wheel 271 and the second worm wheel 272 to rotate, so that the first clamping arm 235 and the second clamping arm 236 move closer to each other to clamp the rod body 300 to be clamped; the second driving member is also configured to, when the detection member 240 detects that the diameter of the rod body 300 to be clamped is greater than a preset value, drive the worm gear 274 to rotate in a second direction and drive the first worm wheel 271 and the second worm wheel 272 to rotate, so that the first clamping arm 235 and the second clamping arm 236 move further apart to clamp the rod body 300 to be clamped.

[0065] In this application, the first worm gear 271 and the second worm gear 272 of the adjusting mechanism 270 are respectively mounted on the first clamping arm 235 and the second clamping arm 236. The worm 274 is rotatably mounted on the support frame. The first threaded section 275 and the second threaded section 276, which rotate in opposite directions, engage with the first worm gear 271 and the second worm gear 272, respectively. The second driving member is fixed on the support frame and drives the worm 274 to rotate. When the detection member 240 detects that the diameter of the rod 300 to be clamped is less than a preset value, it sends a signal to the second driving member, which then drives the worm 274 to rotate in the first direction. Since the first threaded section 275 and the second threaded section 276 rotate in opposite directions, the first worm gear 271 and the second worm gear 272, which mesh with them, will drive the first clamping arm 235 and the second clamping arm 236 to rotate in a direction closer to each other, reducing the angle between them, thereby gripping the thinner rod 300 to be clamped. If the detection component 240 detects that the diameter of the rod is greater than the preset value, the second driving component drives the worm 274 to rotate in the second direction opposite to the first direction. The reverse-rotating threaded section drives the first worm wheel 271 and the second worm wheel 272 to rotate in opposite directions, so that the first clamping arm 235 and the second clamping arm 236 move away from each other, increasing the included angle to accommodate the thicker rod 300 to be clamped, and achieving stable clamping.

[0066] Specifically, the worm gear structure has a self-locking characteristic. Once the worm 274 stops rotating, the first worm gear 271 and the second worm gear 272 will remain in a fixed position, keeping the opening and closing angles of the first clamping arm 235 and the second clamping arm 236 stable and preventing the clamping arms from loosening due to external forces such as vibrations during robot climbing. This self-locking function can continuously provide stable clamping force during the clamping process, which is especially suitable for high-altitude operation scenarios such as lightning rods, reducing the risk of falls caused by clamping force failure. The linkage control between the detection component 240 and the second drive component allows the opening and closing actions of the first clamping arm 235 and the second clamping arm 236 to respond in real time to changes in the diameter of the rod body 300 to be clamped. Since the first clamping arm 235 and the second clamping arm 236 are driven by the same worm gear 274 and the threaded sections rotate in opposite directions, their movements are always symmetrical and synchronized. When they approach each other, the angle between them decreases at the same speed, and when they move away from each other, the angle between them increases at the same speed. This ensures that the clamping force is evenly distributed on both sides, avoids the force deviation of the clamping rod 300 caused by the inconsistent movements of the first clamping arm 235 and the second clamping arm 236, and further improves the posture stability of the robot when climbing.

[0067] like Figure 1 and Figure 2 As shown, in some embodiments, the drive mechanism 280 includes a control motor 281 and a lead screw 282. The control motor 281 is mounted on the frame 100, and the lead screw 282 is rotatably mounted on the frame 100. The lead screw 282 is provided with a left-hand threaded section and a right-hand threaded section. One clamping assembly 230 is provided on the left-hand threaded section, and the other clamping assembly 230 is provided on the right-hand threaded section, so that the two clamping assemblies 230 are close to or far away from each other.

[0068] In this application, the control motor 281 of the drive mechanism 280 is fixed on the frame 100. The control motor 281 is connected to a lead screw 282 rotatably mounted on the frame 100. A left-hand threaded section and a right-hand threaded section on the lead screw 282 are each connected to a clamping assembly 230. When clamping the rod 300, the control motor 281 drives the lead screw 282 to rotate in the forward direction. Since the left-hand and right-hand threaded sections have opposite helical directions, the two clamping assemblies 230 move towards each other along the lead screw 282 under the influence of the threads, eventually clamping the rod from both sides. When releasing the clamp, the control motor 281 drives the lead screw 282 to rotate in the reverse direction. The two clamping assemblies 230 then move away from each other along the lead screw 282, disengaging from the rod 300. The synchronous approach or departure of the two clamping assemblies 230 is achieved through the forward and reverse rotation of the lead screw 282.

[0069] Specifically, the control motor 281 drives the clamping assembly 230 to move via the lead screw 282. The self-locking characteristic of the lead screw 282's thread ensures that the clamping assembly 230 maintains its current position stably when it stops moving, preventing loosening due to external forces such as vibrations during robot climbing. Even if a sudden external impact occurs during clamping, the two clamping assemblies 230 can firmly maintain the clamping state, ensuring operational stability and safety. The length of the threaded section of the lead screw 282 determines the travel of the clamping assembly 230, allowing for a wide range of spacing adjustments between the two clamping assemblies 230. Whether the clamping rod 300 has a smaller or larger diameter, the clamping spacing can be precisely adjusted by rotating the lead screw 282. Combined with different types of grippers, this further enhances the gripper device's ability to clamp rods 300 of different diameters.

[0070] It should be noted that both drive mechanisms 280 include a control motor 281 and a lead screw 282. The control motor 281 of one drive mechanism 280 controls the lead screw 282 to rotate, causing the two clamping components 230 of the first clamping group 210 to move towards or away from each other. The control motor 281 of the other drive mechanism 280 controls the lead screw 282 to rotate, causing the two clamping components 230 of the second clamping group 220 to move towards or away from each other, thereby realizing the synchronous clamping or release of the clamping rod 300 in the vertical direction.

[0071] In some embodiments, a guide rail is provided on the frame 100, the guide rail extends laterally, and the first clamping group 210 and the second clamping group 220 are slidably disposed on the guide rail.

[0072] In this application, the guide rail on the frame 100 extends laterally, providing a horizontal sliding path for the first clamping group 210 and the second clamping group 220. The first clamping group 210 and the second clamping group 220 are slidably mounted on the guide rail by a structure such as a slider, and their lateral positions can be freely adjusted along the guide rail.

[0073] Specifically, the guide rail extends laterally, providing rigid guidance for the sliding of the first clamping group 210 and the second clamping group 220, limiting the horizontal offset of the first clamping group 210 and the second clamping group 220, and ensuring that the first clamping group 210 and the second clamping group 220 can only move along a preset lateral trajectory. This prevents the first clamping group 210 and the second clamping group 220 from swaying left and right or deviating from the clamping rod 300 during the sliding process.

[0074] In some embodiments, the detection element 240 includes a binocular vision module for detecting the diameter and surface condition of the rod body 300 to be clamped.

[0075] In this application, the binocular vision module can complete the diameter and surface condition detection without direct contact with the rod to be clamped 300, thus avoiding the scratches that traditional contact sensors may cause to the surface of the rod to be clamped 300.

[0076] Secondly, this application provides a climbing robot, including a frame and a claw device as described above, which is movably mounted on the frame.

[0077] In this application, the climbing robot uses a frame as its basic support structure. The aforementioned gripper device is movably mounted on the frame and can move along the frame in a preset direction to achieve the climbing process. The entire climbing process does not require releasing the gripping rod 300, thus avoiding the risk of falling.

[0078] 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 gripper device, characterized in that, include: Frame (100); Both drive mechanisms (280) are mounted on the frame (100); The clamping mechanism (200) includes a first clamping group (210) and a second clamping group (220). The first clamping group (210) and the second clamping group (220) are arranged vertically at intervals on the frame (100). One of the driving mechanisms (280) is connected to the first clamping group (210), and the other driving mechanism (280) is connected to the second clamping group (220), driving the first clamping group (210) and the second clamping group (220) to move together and clamp the rod (300) to be clamped. At least one of the first clamping group (210) and the second clamping group (220) includes two clamping components (230), wherein at least one clamping component (230) is movable relative to the other clamping component (230) to bring the two clamping components (230) closer to or further away from each other, thereby jointly clamping or releasing the rod body (300) to be clamped.

2. The gripper device according to claim 1, characterized in that, The clamping mechanism (200) further includes a detection element (240). The clamping assembly (230) includes a first driving element (231), a planar gripper (232), and a first V-shaped gripper (233). The detection element (240) is disposed on the frame (100). The detection element (240) is electrically connected to the first driving element (231). The detection element (240) is used to detect the diameter of the rod body (300) to be clamped. The planar gripper (232) and the first V-shaped gripper (233) are disposed along the vertical direction. The first driving element (231) is connected to the planar gripper (232) and the first V-shaped gripper (233) respectively. The first drive member (231) is configured to control the planar gripper (232) to extend to grip the rod body (300) to be gripped when the diameter is equal to a preset value; the first drive member (231) is also configured to control the first V-shaped gripper (233) to extend to grip the rod body (300) to be gripped when the diameter is less than the preset value.

3. The gripper device according to claim 2, characterized in that, The clamping assembly (230) further includes a second V-shaped gripper (234), which is located below the first V-shaped gripper (233). The first drive member (231) is connected to the second V-shaped gripper (234), and the included angle of the second V-shaped gripper (234) is greater than that of the first V-shaped gripper (233). The first drive member (231) is also configured to control the second V-shaped gripper (234) to extend to grip the rod body (300) to be gripped when the diameter is greater than a preset value.

4. The gripper device according to claim 3, characterized in that, The clamping mechanism (200) further includes a plurality of sliders (250) and a plurality of partitions (260). Each clamping assembly (230) is provided with a slider (250), which is movably arranged laterally. A partition (260) is provided between the planar jaw (232) and the first V-shaped jaw (233) and between the first V-shaped jaw (233) and the second V-shaped jaw (234). One end of each partition (260) is connected to the slider (250). The first driving component (231) includes three driving motors. Each partition (260) is provided with one driving motor. The planar gripper (232), the first V-shaped gripper (233), and the second V-shaped gripper (234) are all arranged corresponding to the positions of the driving motors. The first driving motor is connected to the planar gripper (232), the second driving motor is connected to the first V-shaped gripper (233), and the third driving motor is connected to the second V-shaped gripper (234).

5. The gripper device according to claim 1, characterized in that, Both the first clamping group (210) and the second clamping group (220) are provided with support frames. The clamping assembly (230) includes a first clamping arm (235) and a second clamping arm (236). Each support frame is provided with at least one first clamping arm (235) and at least one second clamping arm (236). One end of the first clamping arm (235) and one end of the second clamping arm (236) are rotatably disposed on the support frame. An adjustment mechanism (270) is provided between the first clamping arm (235) and the second clamping arm (236) to make the first clamping arm (235) and the second clamping arm (236) move closer to each other or further away, so that the two first clamping arms (235) and the two second clamping arms (236) of the two clamping assemblies (230) can clamp or release the rod body (300) to be clamped.

6. The gripper device according to claim 5, characterized in that, The clamping mechanism (200) further includes a detection element (240). The adjusting mechanism (270) includes a first worm wheel (271), a second worm wheel (272), a second driving element, and a worm (274). The first worm wheel (271) is disposed on the first clamping arm (235), the second worm wheel (272) is disposed on the second clamping arm (236), and the worm (274) is rotatably disposed on the support frame. The worm (274) is provided with a first threaded section (275) that cooperates with the first worm wheel (271) and a second threaded section (276) that cooperates with the second worm wheel (272). The first threaded section (275) and the second threaded section (276) have opposite rotation directions. The second driving element is disposed on the support frame and connected to the worm (274). The second driving member is configured to, when the detection member (240) detects that the diameter of the rod body (300) to be clamped is less than a preset value, drive the worm (274) to rotate in a first direction and drive the first worm wheel (271) and the second worm wheel (272) to rotate, so that the first clamping arm (235) and the second clamping arm (236) move closer to each other to clamp the rod body (300); the second driving member is also configured to, when the detection member (240) detects that the diameter of the rod body (300) to be clamped is greater than a preset value, drive the worm (274) to rotate in a second direction and drive the first worm wheel (271) and the second worm wheel (272) to rotate, so that the first clamping arm (235) and the second clamping arm (236) move further apart from each other to clamp the rod body (300).

7. The gripper device according to claim 1, characterized in that, The drive mechanism (280) includes a control motor (281) and a lead screw (282). The control motor (281) is mounted on the frame (100), and the lead screw (282) is rotatably mounted on the frame (100). The lead screw (282) is provided with a left-hand thread section and a right-hand thread section. One of the clamping components (230) is mounted on the left-hand thread section, and the other clamping component (230) is mounted on the right-hand thread section, so that the two clamping components (230) can move closer to or further away from each other.

8. The gripper device according to claim 1, characterized in that, The frame (100) is provided with a guide rail, which extends laterally, and the first clamping group (210) and the second clamping group (220) are slidably disposed on the guide rail.

9. The gripper device according to claim 2, characterized in that, The detection component (240) includes a binocular vision module, which is used to detect the diameter and surface condition of the rod to be clamped (300).

10. A climbing robot, characterized in that, It includes a frame and a claw device as described in any one of claims 1 to 9, which is movably mounted on the frame.

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