A pole climbing robot

Abstract

The utility model provides a pole climbing robot, which relates to the field of pole climbing equipment. It includes a support frame, a fixed pulley block, a mobile pulley block and a slewing mechanism. The support frame is a semi-enclosed structure. The fixed pulley block and the mobile pulley block are relatively arranged in the support frame. The fixed pulley block is fixedly connected to the closed side of the support frame. The fixed pulley block is connected to the main driving mechanism, and the main driving mechanism is installed on the support frame; the mobile pulley block is slidably connected to the open side of the support frame through the mobile driving mechanism and is detachably connected to the support frame; the slewing mechanism is arranged on the top of the support frame, and the slewing mechanism includes a driving assembly and a rotating assembly. The driving assembly is an openable and closable annular structure, and the rotating assembly is connected to the driving assembly. The driving assembly is used to drive the rotating assembly to perform an annular rotation motion, and the rotating assembly is used to install the pole maintenance device. The present application can realize automatic crawling on the pole, automatically detect and repair the pole, and can automatically adjust the clamping distance of the pole to improve applicability.

Description

Technical Field

[0001] The utility model relates to the field of pole climbing equipment, in particular to a pole climbing robot. Background Art

[0002] For the daily maintenance and inspection of cement poles, the current traditional methods are still mostly completed by manpower, and the pole climbing equipment used is mostly rope climbing pole plates or iron foot buckles. During use, there are disadvantages such as high safety risks, high labor intensity, low operating efficiency, high labor costs and not adaptable to harsh environments.

[0003] In order to improve these problems, modern power grid maintenance operations have introduced live-working robots, which use engineering vehicles to load lifting mechanisms to drive the robots to lift and lower for operations. This has greatly improved line operation and maintenance, but the cost of repair work is too high. At the same time, some areas cannot be reached by engineering vehicles, and manual climbing is still required, which limits the scope of application of automatic live-working. Utility Model Content

[0004] The utility model aims to provide a pole climbing robot which can adjust the spacing between pulley blocks and adapt to poles of different sizes; can hold the pole tightly and crawl automatically, and can repair the pole by driving a repair device to rotate at a specified position through a rotating component.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0006] A pole climbing robot comprises a support frame, a fixed pulley block, a movable pulley block and a slewing mechanism, wherein the support frame is a semi-enclosed structure, the fixed pulley block and the movable pulley block are relatively arranged in the support frame, the fixed pulley block is fixedly connected to a closed side of the support frame, the fixed pulley block is connected to a main driving mechanism for driving the fixed pulley block to rotate, and the main driving mechanism is installed on the support frame; the movable pulley block is slidably connected to an open side of the support frame through a movable driving mechanism and is detachably connected to the support frame, and the movable driving mechanism is used to adjust the spacing between the movable pulley block and the fixed pulley block;

[0007] The slewing mechanism is arranged on the top of the support frame, and the slewing mechanism includes a driving assembly and a rotating assembly. The driving assembly is an openable and closable annular structure, and the rotating assembly is connected to the driving assembly. The driving assembly is used to drive the rotating assembly to perform annular rotational motion, and the rotating assembly is used to install the pole maintenance device.

[0008] Furthermore, in the utility model, the main drive mechanism includes a main drive motor and a dual-axis reducer, the output end of the main drive motor is connected to the input end of the reducer, the dual-axis reducer has two output shafts and the two output shafts are arranged on opposite sides of the dual-axis reducer.

[0009] Furthermore, in the utility model, the fixed pulley group includes a first fixed bracket and two groups of driving wheels, the first fixed bracket includes two first rectangular frames arranged in an eight-shaped shape, the two groups of driving wheels are horizontally rotatably connected in the first rectangular frames, and the adjacent ends of the two groups of driving wheels are respectively connected to the two output shafts of the dual-axis reducer through transmission units.

[0010] Furthermore, in the utility model, the movable pulley group includes a second fixed bracket and two groups of driven wheels, the second fixed bracket includes two second rectangular frames connected in a V-shape, and the two groups of driven wheels are horizontally rotatably connected in the second rectangular frames.

[0011] Furthermore, in the utility model, the mobile drive mechanism is provided with two groups, and the two groups of mobile drive mechanisms are respectively arranged on opposite sides of the support frame and are respectively arranged adjacent to the fixed pulley group and the mobile pulley group; the mobile drive mechanism includes a stepper motor, a lead screw and a slider, the stepper motor is installed on a side of the support frame close to the fixed pulley group, the lead screw is connected to the stepper motor, the slider is screwed on the lead screw, the slider is slidably connected to the support frame, and the slider is detachably connected to the second rectangular frame.

[0012] Furthermore, in the utility model, a pressure sensor is also included, and the pressure sensor is used to detect the pressure when the fixed pulley block and the movable pulley block hug the electric pole.

[0013] Further, in the utility model, the driving assembly includes a rotary motor, a pinion, a large gear ring and an annular housing, wherein the annular housing is arranged on the top of the support frame, wherein the large gear ring and the annular housing are both formed by connecting two half rings;

[0014] The rotary motor is mounted on the support frame and is located outside the annular housing. The pinion is connected to the output shaft of the rotary motor. The large gear is rotatably disposed in the annular housing and meshes with the pinion. The rotating assembly is connected to the large gear.

[0015] Furthermore, in the utility model, a support ring and a plurality of support members are also provided in the annular shell, the support ring is formed by connecting two half rings, the support ring is arranged opposite to the large gear ring, and a plurality of support members are connected between the support ring and the large gear ring at intervals; wherein, a plurality of support members located on both sides of the connection between the two half rings of the support ring are connected by a latch.

[0016] Furthermore, in the utility model, the rotating assembly includes a connecting member and a rotating plate, the rotating plate is located above the annular shell, the connecting member is connected between the rotating plate and the supporting ring, and the connecting member is provided with a groove for the annular shell to pass through.

[0017] Furthermore, in the utility model, a spraying device and a camera are installed on the rotating plate.

[0018] The utility model has at least the following advantages or beneficial effects:

[0019] The utility model can adapt to different sizes of poles by adjusting the spacing between the mobile pulley block and the fixed pulley block through the mobile drive mechanism, and has a wide range of applications; after the fixed pulley block and the mobile pulley block are clamped tightly on the pole, the fixed pulley block is driven to rotate by the main drive mechanism, and the mobile pulley block is assisted in rotation, so that it can automatically crawl on the pole; by setting the mobile pulley block on the opening side of the support frame and detachably connecting it to the support frame, it is convenient to disassemble and assemble the structure from the pole; by driving the rotating assembly to rotate through the driving assembly on the top of the support frame, the rotating assembly can drive the repair device such as the spray repair device to perform circular rotating spray repair; by setting the driving assembly as an openable and closable ring structure, the driving assembly is also easy to disassemble and assemble from the pole, so that it can be circulated and reused. The present application can realize automatic crawling on the pole, automatically detect and repair the pole, and automatically adjust the clamping spacing of the pole, thereby improving applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the overall structure of the pole climbing robot provided in an embodiment of the present application;

[0022] Figure 2 A schematic diagram of the structure of the support frame and the pulley block provided in the embodiment of the present application;

[0023] Figure 3 Another isometric structural diagram of the support frame and the pulley block provided in the embodiment of the present application;

[0024] Figure 4 A partial structural schematic diagram of the rotary mechanism provided in an embodiment of the present application.

[0025] Icons: 10-support frame, 20-fixed pulley set, 21-first fixed bracket, 22-driving wheel, 23-belt, 24-roller, 30-moving pulley set, 31-second fixed bracket, 32-driven wheel, 41-main drive motor, 42-dual-axis reducer, 51-stepping motor, 52-screw, 53-slider, 54-connecting ear, 60-drive assembly, 61-rotating motor, 62-small gear, 63-large gear ring, 64-annular housing, 65-support ring, 66-support member, 67-pin, 68-bearing, 70-rotating assembly, 71-connecting member, 72-rotating plate, 80-camera. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example

[0029] Please refer to Figure 1-Figure 4 , which is a schematic diagram of the structure of the pole climbing robot in an embodiment of the utility model;

[0030] The present embodiment provides a pole climbing robot, comprising a support frame 10, a fixed pulley block 20, a movable pulley block 30 and a slewing mechanism, wherein the support frame 10 is a semi-enclosed structure, the fixed pulley block 20 and the movable pulley block 30 are relatively arranged in the support frame 10, the fixed pulley block 20 is fixedly connected to the closed side of the support frame 10, and the fixed pulley block 20 is connected to the main driving mechanism, and the main driving mechanism is installed on the support frame 10; the movable pulley block 30 is slidably connected to the open side of the support frame 10 through the movable driving mechanism and is detachably connected to the support frame 10, wherein the moving direction of the movable pulley block 30 is opposite to the fixed pulley block 20;

[0031] The slewing mechanism is arranged on the top of the support frame 10, and the slewing mechanism includes a driving assembly 60 and a rotating assembly 70. The driving assembly 60 is an openable and closable annular structure. The rotating assembly 70 is connected to the driving assembly 60. The driving assembly 60 can drive the rotating assembly 70 to perform annular rotational motion. The rotating assembly 70 is used to install the pole maintenance device.

[0032] Next, the pole climbing robot of this exemplary embodiment will be further described.

[0033] In some embodiments of the present application, the support frame 10 is a semi-enclosed structure. Specifically, the support frame 10 includes three interconnected side frames, and the side frames can be provided with mounting plates for mounting structural members. The bottom of the support frame 10 is provided with rollers for movement, which is convenient for transferring the pole climbing robot. The fixed pulley block 20 and the mobile pulley block 30 are relatively arranged in the support frame 10. The fixed pulley block 20 is fixedly connected to the closed side of the support frame 10, that is, fixed to the middle side frame, and the fixed pulley block 20 is connected to the main driving mechanism, and the main driving mechanism is installed on the support frame 10; the mobile pulley block 30 is slidably connected to the open side of the support frame 10 through the mobile driving mechanism and is detachably connected to the support frame 10. Through two pulley blocks arranged opposite to each other, an annular space for holding the pole can be formed when they are close to each other. The fixed pulley block 20 is driven to rotate by the main driving mechanism to provide the main driving force. The mobile pulley block 30 plays an auxiliary rotation role, and cooperates with the fixed pulley block 20 to enable the robot to automatically crawl on the pole; and the mobile pulley block 30 can adjust the distance between it and the fixed pulley block 20 through the mobile driving mechanism, thereby adjusting the holding range of the pole, which is suitable for various types of poles (large head 390mm-small head 190mm) without manual adjustment.

[0034] As a preferred embodiment, the main drive mechanism includes a main drive motor 41 and a dual-axis reducer 42, the output end of the main drive motor 41 is connected to the input end of the reducer, and the dual-axis reducer 42 has two output shafts and the two output shafts are arranged on opposite sides of the dual-axis reducer 42. The main drive motor 41 and the reducer are installed on the side frame in the middle of the support frame 10, corresponding to the fixed pulley block 20, and are used to provide driving force for the fixed pulley block 20.

[0035] The fixed pulley block 20 comprises a first fixed bracket 21 and two sets of driving wheels 22. The first fixed bracket 21 comprises two first rectangular frames arranged in an eight-shaped shape. The outer ends of the first rectangular frames are fixedly connected to two opposite side frames of the support frame 10. The two sets of driving wheels 22 are respectively connected to the first rectangular frame for horizontal rotation, and the adjacent ends of the two sets of driving wheels 22 are respectively connected to the two output shafts of the double-axis reducer 42 through a transmission unit. The transmission unit is a belt 23 and a roller 24 adapted to the belt 23. The roller 24 is arranged at the ends of the driving wheel 22 and the double-axis reducer 42, and is arranged correspondingly up and down. The belt 23 is sleeved and tensioned on the roller 24, and the main driving motor 41 provides power. The reducer adjusts the speed and drives the two sets of driving wheels 22 to rotate through the belt 23, thereby providing the main driving force for crawling. By arranging the two first rectangular frames in an eight-shaped shape, a gap is provided at one end close to each other, which is just used to accommodate the roller 24 and the belt 23.

[0036] Specifically, each set of driving wheels 22 has two driving wheels 22 , which correspond to each other up and down, and provide sufficient creeping driving force and a clamping force with the pole.

[0037] As a preferred embodiment, the above-mentioned mobile pulley block 30 includes a second fixed bracket 31 and two groups of driven wheels 32. The second fixed bracket 31 includes two second rectangular frames connected in a V shape. The two groups of driven wheels 32 are respectively connected in a horizontal rotation in the second rectangular frames. Specifically, each group of driven wheels 32 has two, and the two driven wheels 32 correspond to each other up and down, respectively corresponding to the driving wheel 22, and cooperate with the driving wheel 22 to provide auxiliary power and sufficient clamping force for crawling. The second fixed bracket 31 is configured as two second rectangular frames connected in a V shape, so that the second fixed bracket 31 can be structurally compatible with the first fixed bracket 21, and at the same time, it is connected as an integral body, and can be driven by the mobile drive mechanism to quickly move to one side of the fixed pulley block 20 to achieve clamping of the electric pole.

[0038] The above-mentioned mobile driving mechanism includes a stepper motor 51, a lead screw 52 and a slider 53. The stepper motor 51 is installed on the side of the support frame 10 close to the fixed pulley block 20. The lead screw 52 is connected to the stepper motor 51. The slider 53 is screwed on the lead screw 52 so that the lead screw 52 can drive the slider 53 to move on the lead screw 52 when rotating. The slider 53 is slidably connected to the support frame 10. Specifically, the slider 53 is in a vertically arranged long strip shape, and the top and bottom of the slider 53 are respectively slidably connected to the top and bottom of the side frame of the support frame 10. The stepper motor 51 drives the lead screw 52 to rotate, so that the slider 53 screwed with the lead screw 52 can move on the lead screw 52. The slider 53 is slidably connected to the support frame 10, and the support frame 10 can provide support and guidance for the slider 53, so that it remains stable when moving on the lead screw 52. The slider 53 is detachably connected to the second rectangular frame so that it can be disassembled and assembled from the mobile pulley block 30, so that it can be disassembled from the electric pole or installed on the electric pole.

[0039] Specifically, the slider 53 is provided with a connection ear 54, and the second rectangular frame is also provided with a connection ear 54 on one side close to the slider 53, and the two connection ears 54 are connected by a latch. Through the above connection method, it can be conveniently and quickly disassembled.

[0040] As a preferred embodiment, the above-mentioned mobile drive mechanism is provided with two groups, and the two groups of mobile drive mechanisms are respectively arranged on opposite sides of the support frame 10 and are respectively arranged adjacent to the fixed pulley block 20 and the mobile pulley block 30. The two groups of mobile drive mechanisms can drive the two sides of the second fixed bracket 31 to move synchronously, which can improve the clamping force between the mobile pulley block 30 and the fixed pulley block 20, and at the same time can improve the stability during movement.

[0041] In some embodiments of the present application, a pressure sensor is also included, and the pressure sensor is used to detect the pressure when the fixed pulley block 20 and the mobile pulley block 30 clamp the pole. The pressure sensor can be installed on the mobile pulley block 30 or the fixed pulley block 20, as long as the pressure can be detected. The pressure sensor is connected to the main control board installed on the support frame 10. At the same time, the main control board is electrically connected to the main drive motor 41, the dual-axis reducer 42 and the stepper motor 51, etc., to achieve variable diameter clamping and telescoping, robot climbing and other actions. The pressure sensor can detect the clamping force of the fixed pulley block 20 and the mobile pulley block 30 on the pole in real time, and then the clamping force can be adjusted by controlling the stepper motor 51.

[0042] In some embodiments of the present application, the above-mentioned slewing mechanism is arranged on the top of the support frame 10, and the slewing mechanism includes a driving assembly 60 and a rotating assembly 70. The driving assembly 60 is an openable and closable annular structure, and the rotating assembly 70 is connected to the driving assembly 60. The driving assembly 60 can drive the rotating assembly 70 to perform annular rotational motion. The rotating assembly 70 is used to install a pole maintenance device, such as a spraying device or a camera 80. The driving assembly 60 drives the rotating assembly 70 to rotate, and the rotating assembly 70 drives the maintenance device to rotate, so that the pole can be maintained.

[0043] As a preferred embodiment, the above-mentioned driving assembly 60 includes a rotary motor 61, a small gear 62, a large gear ring 63 and an annular shell 64, and the annular shell 64 is arranged on the top of the support frame 10, wherein the large gear ring 63 and the annular shell 64 are both connected by two semi-rings; the annular shell 64 includes a fixed semi-ring shell and a movable semi-ring shell, the fixed semi-ring shell is fixedly connected to the top of the support frame 10, one end of the movable semi-ring shell is hinged to one end of the fixed semi-ring shell, and the other end can be connected by a lock; the above-mentioned fixed semi-ring shell and the movable semi-ring shell both include a semi-annular bottom plate, a semi-annular side plate and a semi-annular top plate, the semi-annular side plate is connected between the semi-annular bottom plate and the semi-annular top plate, and a chamber with an opening on one side is formed therein.

[0044] The rotary motor 61 is mounted on the support frame 10 and is located outside the annular housing 64. The pinion 62 is connected to the output shaft of the rotary motor 61. The large gear ring 63 is rotatably arranged in the annular housing 64 and meshes with the pinion 62. Specifically, the large gear ring 63 is rotatably connected to the semi-annular bottom plate. The rotating assembly 70 is connected to the large gear, wherein the annular housing 64 may be provided with a through hole for the pinion 62 and the large gear ring 63 to mesh. The rotary motor 61 and the pinion 62 may be provided in two groups, respectively, and the two groups are arranged at intervals, which can increase the driving force on the large gear ring 63. The rotary motor 61 drives the pinion 62 to rotate, the pinion 62 drives the large gear ring 63 to rotate, and the large gear ring 63 drives the rotating assembly 70 to rotate.

[0045] Furthermore, in order to improve the rotation flexibility of the large gear ring 63, a plurality of rotating bearings may be provided between the large gear ring 63 and the semi-circular bottom plate, and a plurality of bearings 68 may be provided near the edge of the large gear ring 63 to achieve flexible rotation with the semi-circular side plate.

[0046] As a preferred embodiment, a support ring 65 and a plurality of support members 66 are further provided in the annular shell 64. The support ring 65 is formed by connecting two half rings. The support ring 65 is arranged opposite to the large gear ring 63, and a plurality of support members 66 are connected between the support ring 65 and the large gear ring 63 at intervals; wherein, a plurality of support members 66 located on both sides of the connection between the two half rings of the support ring 65 are connected by a latch 67. The structure of the support member 66 is a rectangular sheet structure as shown in the figure, and a weight-reducing hole is opened thereon. The design of the support member 66 and the latch 67 facilitates the disassembly and assembly of the large gear ring 63. When connected, the large gear ring 63 formed by the two half rings is connected as a whole by inserting the latch 67 into the adjacent plurality of support members 66, so that it rotates as a whole under the drive of the pinion 62; when disassembling, the two half rings can be separated by taking out the latch 67, and the robot can be disassembled from the pole as a whole by removing one of the half rings and separating the movable pulley block 30 from the support frame 10.

[0047] In a specific embodiment, when the drive assembly 60 is disassembled from the pole as a whole, first unlock the lock between the fixed half-ring shell and the movable half-ring shell, open the movable half-ring shell, and then expose the large gear ring 63 inside. Take out the pins 67 at both ends of the large gear ring 63, and then remove the two half rings of the large gear ring 63, so that the drive assembly 60 can be separated from the pole.

[0048] As a preferred embodiment, the rotating assembly 70 includes a connecting member 71 and a rotating plate 72. The rotating plate 72 is located above the annular housing 64. The connecting member 71 is connected between the rotating plate 72 and the support ring 65, and the connecting member 71 is provided with a groove for the annular housing 64 to pass through. Specifically, the connecting member 71 is in an inverted L-shape, with a horizontal axis connected to the rotating plate 72 and a vertical axis connected to the support ring 65. The connecting member 71 is arranged on the edge of the support ring 65 facing the circular side, and a groove is provided on the vertical axis for the annular housing 64 to pass through. The purpose is that when the support ring 65 drives the rotating plate 72 to rotate through the connecting member 71, the annular housing 64 is fixed and must rotate relative to the connecting member 71. Therefore, through the above structural design, the annular housing 64 can be prevented from affecting its rotation.

[0049] Furthermore, a spraying device and a camera 80 are installed on the rotating plate 72. The spraying device is used to spray the position of the pole to be repaired, and the camera 80 is used to shoot the surface of the pole and detect the surface condition of the pole.

[0050] In a specific embodiment, the driving component 60 drives the rotating component 70 to rotate in the following process: the rotary motor 61 drives the small gear 62 to rotate, the small gear 62 drives the large gear ring 63 to rotate, and the large gear drives the support ring 65 and the support member 66 integrally connected thereto to rotate synchronously, thereby driving the rotating plate 72 to rotate through the connecting member 71, and the rotating plate 72 drives the spray device and the camera 80 installed thereon to rotate, the camera 80 performs 360° rotating shooting of the pole, and the spray device can spray the photographed position that needs to be repaired.

[0051] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A pole climbing robot, characterized in that: It includes a support frame, a fixed pulley block, a movable pulley block and a slewing mechanism, the support frame is a semi-closed structure, the fixed pulley block and the movable pulley block are relatively arranged in the support frame, the fixed pulley block is fixedly connected to the closed side of the support frame, the fixed pulley block is connected to a main driving mechanism for driving its rotation, and the main driving mechanism is installed on the support frame; the movable pulley block is slidably connected to the open side of the support frame through the movable driving mechanism and is detachably connected to the support frame, and the movable driving mechanism is used to adjust the distance between the movable pulley block and the fixed pulley block; The slewing mechanism is arranged on the top of the support frame, and the slewing mechanism includes a driving assembly and a rotating assembly. The driving assembly is an openable and closable annular structure, and the rotating assembly is connected to the driving assembly. The driving assembly is used to drive the rotating assembly to perform annular rotational motion, and the rotating assembly is used to install the pole maintenance device.

2. The pole climbing robot according to claim 1, characterized in that: The main driving mechanism comprises a main driving motor and a double-shaft reducer, the output end of the main driving motor is connected to the input end of the reducer, the double-shaft reducer has two output shafts and the two output shafts are arranged on opposite sides of the double-shaft reducer.

3. The pole climbing robot according to claim 2, characterized in that: The fixed pulley group includes a first fixed bracket and two groups of driving wheels. The first fixed bracket includes two first rectangular frames arranged in an eight-shaped shape. The two groups of driving wheels are horizontally rotatably connected in the first rectangular frames, and the adjacent ends of the two groups of driving wheels are respectively connected to the two output shafts of the dual-axis reducer through transmission units.

4. The pole climbing robot according to claim 1, characterized in that: The movable pulley group includes a second fixed bracket and two groups of driven wheels. The second fixed bracket includes two second rectangular frames connected in a V shape. The two groups of driven wheels are respectively connected in the second rectangular frames for horizontal rotation.

5. The pole climbing robot according to claim 4, characterized in that: The mobile driving mechanism includes a stepper motor, a lead screw and a slider. The stepper motor is installed on a side of the support frame close to the fixed pulley group. The lead screw is connected to the stepper motor. The slider is screwed onto the lead screw. The slider is slidably connected to the support frame, and the slider is detachably connected to the second rectangular frame.

6. The pole climbing robot according to claim 1, characterized in that: It also includes a pressure sensor, which is used to detect the pressure when the fixed pulley group and the movable pulley group hug the pole.

7. The pole climbing robot according to claim 1, characterized in that: The driving assembly includes a rotary motor, a pinion, a large gear ring and an annular housing, wherein the annular housing is arranged on the top of the support frame, wherein the large gear ring and the annular housing are both formed by connecting two half rings; The rotary motor is mounted on the support frame and is located outside the annular housing. The pinion is connected to the output shaft of the rotary motor. The large gear is rotatably disposed in the annular housing and meshes with the pinion. The rotating assembly is connected to the large gear.

8. The pole-climbing robot according to claim 7, characterized in that: A support ring and a plurality of support members are also provided in the annular shell. The support ring is formed by connecting two half rings. The support ring is arranged opposite to the large gear ring. A plurality of support members are connected between the support ring and the large gear ring at intervals. The plurality of support members located on both sides of the connection between the two half rings of the support ring are connected by a latch.

9. The pole-climbing robot according to claim 8, characterized in that: The rotating assembly comprises a connecting member and a rotating plate, wherein the rotating plate is located above the annular shell, the connecting member is connected between the rotating plate and the supporting ring, and the connecting member is provided with a groove for the annular shell to pass through.

10. The pole-climbing robot according to claim 9, characterized in that: A spraying device and a camera are installed on the rotating plate.

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