Pole-climbing robot

Abstract

The utility model provides a pole-climbing robot. The pole-climbing robot comprises a body, a clamping device, a climbing device and a bearing device, wherein the clamping device is arranged on the body and used for clamping a rod body; the crawling device is arranged on the body, located on the same side of the body with the clamping device and used for driving the body to move along the rod body after the rod body is clamped by the clamping device. The bearing device is arranged on the body and used for bearing the tool. According to the utility model, the clamping device clamps the rod body, the crawling device drives the body to move along the rod body, the bearing device is arranged on the body, and the bearing device bears the tool, so that the movement of the body drives the bearing device to move along the rod body, and the crawling device can drive the tool to move to the top of the rod body; the operation is simple and convenient, the construction time is saved, the worker does not need to climb the pole body, the safety risk of climbing the pole body by the worker is reduced, and the personal safety of the worker is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary tools, and particularly relates to a pole-climbing robot. Background Art

[0002] Street lamps refer to lamps that provide lighting functions for roads, generally referring to lamps within the range of road surface lighting in traffic lighting. Street lamps are widely used in various places where lighting is required.

[0003] In order to ensure the normal operation of street lamps and the service life of lamp poles, it is necessary to perform operations such as maintenance, cleaning, etc. on street lamps, and operations such as grinding, painting, cleaning, etc. on lamp poles. When performing operations, workers use special tools to climb up the lamp pole to reach the top of the lamp pole, and then perform operations such as maintenance, replacement, etc. on the light bulbs of the street lamps, or clean the light bulbs, lamp shades, etc. After the operation is completed, they climb down the lamp pole. When performing operations on the lamp pole, workers climb to the top of the lamp pole through climbing tools and then crawl down from the top, and perform operations during the crawling process. In this way, it is necessary for workers to climb the lamp pole, the operation is complex, and it threatens the personal safety of workers. Summary of the Utility Model

[0004] In view of this, the utility model provides a pole-climbing robot, aiming to solve the problems in the prior art that manual climbing of lamp poles to operate street lamps leads to complex operations and threatens personal safety.

[0005] The utility model provides a pole-climbing robot, which includes: a main body, a clamping device, a crawling device, and a carrying device; wherein, the clamping device is arranged on the main body and is used for clamping the pole body; the crawling device is arranged on the main body and on the same side of the main body as the clamping device, and is used for driving the main body to move along the pole body after the clamping device clamps the pole body; the carrying device is arranged on the main body and is used for carrying the tooling.

[0006] Further, in the above-mentioned pole-climbing robot, the clamping device includes: a clamping driving mechanism and clamping rollers; wherein, the clamping driving mechanism is arranged on the first side of the main body and is connected to the clamping rollers; the clamping rollers are parallel to the main body, and the pole body is clamped between the clamping rollers and the main body; the clamping driving mechanism is used for driving the clamping rollers to move towards the main body so that the clamping rollers and the main body clamp the pole body.

[0007] Further, in the above-mentioned pole-climbing robot, the clamping driving mechanism includes: a support frame, a driving cylinder, a sliding member, and a smooth rod; wherein, the support frame is connected to the first side of the main body; the smooth rod is arranged on the support frame along the length direction of the support frame, the sliding member is slidably connected to the smooth rod, and the sliding member is connected to the clamping rollers; the driving cylinder is arranged inside the support frame, and the driving end of the driving cylinder is connected to the sliding member, and the driving cylinder is used for driving the sliding member to slide along the smooth rod to drive the clamping rollers to move.

[0008] Further, the above-mentioned pole-climbing robot further includes: a detection sensor and a control device; wherein, the detection sensor is disposed on the body and is used for detecting the clamping force applied by the clamping roller to the pole body; the control device is disposed inside the body and is electrically connected to both the detection sensor and the clamping drive mechanism, and is used for controlling the clamping drive mechanism to drive the clamping roller to move towards the body according to the clamping force.

[0009] Further, the above-mentioned pole-climbing robot includes: a clamping button; wherein, the clamping button is disposed on the outer wall of the body and is used for receiving a clamping instruction; the control device is also electrically connected to the clamping button and is used for controlling the clamping drive mechanism to drive the clamping roller to move towards the body according to the clamping instruction.

[0010] Further, in the above-mentioned pole-climbing robot, the crawling device includes: at least two crawling mechanisms; wherein, each crawling mechanism is connected to the body and is respectively disposed on the upper and lower sides of the clamping device; each crawling mechanism includes: two crawling components; the two crawling components are symmetrically disposed on the body, and moreover, the two crawling components are respectively disposed on both sides of the pole body in the circumferential direction to clamp the pole body, and each crawling component is used for rotating itself to move itself relative to the pole body, and further drive the body to move along the pole body.

[0011] Further, in the above-mentioned pole-climbing robot, each crawling component includes: a support shell, a crawling drive motor, a transmission connecting piece and a rotating structure; wherein, the crawling drive motor is disposed inside the support shell; the first end of the transmission connecting piece is disposed outside the support shell and is connected to the body, the transmission connecting piece is rotatably disposed through the first end of the support shell, and moreover, the second end of the transmission connecting piece is connected to the crawling drive motor; the rotating structure is disposed inside the support shell and is rotatably connected to the transmission connecting piece; the crawling drive motor is used for driving the support shell to rotate.

[0012] Further, in the above-mentioned pole-climbing robot, the rotating structure includes: two bearings; wherein, a receiving cavity is provided in the part of the transmission connecting piece inside the support shell, the crawling drive motor is disposed in the receiving cavity, and moreover, the driving end of the crawling drive motor is connected to the second end of the support shell, the two bearings are spaced apart and disposed inside the support shell, and the inner ring of the bearing is sleeved and connected to the outside of the transmission connecting piece; and / or, each crawling component further includes: a sealing structure; wherein, the sealing structure is annular, the sealing structure is disposed inside the support shell and is close to the first end of the support shell, and the sealing structure is rotatably sleeved on the outside of the transmission connecting piece.

[0013] Furthermore, in the above-mentioned pole-climbing robot, the carrying device includes: an arc-shaped track, a carrying driving mechanism, a carrying slider, and a carrying platform; wherein, the arc-shaped track is arranged at the top of the main body and wraps around the outside of part of the pole; the carrying slider is slidably arranged on the arc-shaped track; the carrying platform is connected to the carrying slider and is used for carrying the tooling; the carrying driving mechanism is connected to the carrying slider and is used to drive the carrying slider to slide along the arc-shaped track so as to drive the carrying platform to slide.

[0014] Furthermore, in the above-mentioned pole-climbing robot, the carrying driving mechanism includes: a carrying driving motor and a gear; wherein, a toothed ring is arranged along the arc direction of the arc-shaped track; the carrying driving motor is arranged on the carrying platform, and the driving end of the carrying driving motor is connected to the gear, and the gear meshes with the toothed ring. The carrying driving motor is used to drive the gear to rotate, driving the carrying slider and the carrying platform to slide along the arc-shaped track.

[0015] In the present utility model, the clamping device clamps the pole, and the crawling device drives the main body to move along the pole. Since the carrying device is arranged on the main body and the carrying device carries the tooling, the movement of the main body drives the carrying device to move along the pole. In this way, the crawling device can be used to drive the tooling to move to the top of the pole, and then subsequent operations can be carried out using the tooling. The operation is simple and convenient, saving construction time. Moreover, there is no need for workers to climb the pole, reducing the safety risk of workers climbing the pole and ensuring the personal safety of workers, solving the problem in the prior art that manual climbing of the lamp pole to operate on the street lamp leads to complex operation and threatens personal safety. Description of the Drawings

[0016] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present utility model. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0017] Figure 1 is a schematic structural diagram of the pole-climbing robot provided by an embodiment of the present utility model;

[0018] Figure 2 is a schematic structural diagram of another perspective of the pole-climbing robot provided by an embodiment of the present utility model;

[0019] Figure 3 is a schematic structural diagram of the clamping device in the pole-climbing robot provided by an embodiment of the present utility model;

[0020] Figure 4 is a schematic structural diagram of the other side of the clamping device in the pole-climbing robot provided by an embodiment of the present utility model;

[0021] Figure 5The structural schematic diagram of the climbing component in the pole-climbing robot provided by the embodiment of the present utility model;

[0022] Figure 6 The structural schematic diagram of the bearing device in the pole-climbing robot provided by the embodiment of the present utility model;

[0023] Figure 7 The structural block diagram of the pole-climbing robot provided by the embodiment of the present utility model. Detailed implementation manners

[0024] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present utility model and the features in the embodiments can be combined with each other. Hereinafter, the present utility model will be described in detail with reference to the drawings and in combination with the embodiments.

[0025] Refer to Figures 1 to 6 , which shows the preferred structure of the pole-climbing robot in this embodiment. As shown in the figure, the pole-climbing robot includes: a main body 1, a clamping device 2, a climbing device 3, and a bearing device 4. Among them, the clamping device 2 is arranged on the main body 1, and the clamping device 2 is used for clamping the pole body.

[0026] The climbing device 3 is arranged on the main body 1, and both the climbing device 3 and the clamping device 2 are located on the same side of the main body 1. After the clamping device 2 clamps the pole body, the climbing device 3 drives the main body 1 to move along the pole body.

[0027] The bearing device 4 is arranged on the main body 1, and the bearing device 4 is used for bearing the tooling.

[0028] It can be seen that in this embodiment, the clamping device 2 clamps the pole body, and the climbing device 3 drives the main body 1 to move along the pole body. Since the bearing device 4 is arranged on the main body 1 and the bearing device 4 bears the tooling, the movement of the main body 1 drives the bearing device 4 to move along the pole body. In this way, the tooling can be driven to move to the top of the pole by using the climbing device 3, and then subsequent operations can be carried out by using the tooling. The operation is simple and convenient, saving construction time. Moreover, there is no need for the staff to climb the pole, reducing the safety risk of the staff climbing the pole and ensuring the personal safety of the staff, solving the problem in the prior art that manual climbing of the lamp post to operate on the street lamp leads to complex operation and threatens personal safety.

[0029] Refer to Figures 1 to 3, in the above embodiments, the clamping device 2 includes: a clamping drive mechanism 21 and a clamping roller 22. Among them, the clamping drive mechanism 21 is disposed on the first side of the body 1, and the clamping drive mechanism 21 is connected to the clamping roller 22. Specifically, the body 1 is in the shape of a cuboid, and the length direction of the body 1 ( Figure 1 the direction from top to bottom as shown) is parallel to the length direction of the rod body, and the clamping drive mechanism 21 is disposed on one surface of the body 1 in the length direction.

[0030] The clamping roller 22 is parallel to the body 1. More specifically, the clamping roller 22 is parallel to the first side of the body 1, and the rod body is clamped between the clamping roller 22 and the body 1.

[0031] The clamping drive mechanism 21 is used to drive the clamping roller 22 to move towards the body 1 so that the clamping roller 22 and the body 1 clamp the rod body.

[0032] The clamping drive mechanism 21 includes: a support frame 211, a drive cylinder 212, a sliding member 213, and a smooth rod 214. Among them, the support frame 211 is connected to the first side of the body 1. The smooth rod 214 is disposed on the support frame 211 along the length direction of the support frame 211. Specifically, the length direction of the support frame 211 is perpendicular to the first side of the body 1, and the length direction of the smooth rod 214 is parallel to the length direction of the support frame 211. The sliding member 213 is slidably connected to the smooth rod 214 so that the sliding member 213 slides along the smooth rod 214. Then, the smooth rod 214 is used to limit the sliding trajectory of the sliding member 213 to prevent the sliding member 213 from shifting during the sliding process. And the sliding member 213 is connected to the clamping roller 22, so the sliding of the sliding member 213 drives the clamping roller 22 to slide along the smooth rod 214, that is, the clamping roller 22 slides along the length direction of the support frame 211, making the clamping roller 22 approach the body 1, and further making the clamping roller 22 and the body 1 clamp the rod body.

[0033] The drive cylinder 212 is disposed in the support frame 211, and the drive end of the drive cylinder 212 is connected to the sliding member 213. The drive cylinder 212 is used to drive the sliding member 213 to slide along the smooth rod 214 to drive the clamping roller 22 to move.

[0034] Preferably, there are two optical bars 214. The two optical bars 214 are parallel to each other. Moreover, the two optical bars 214 are respectively arranged at the top and bottom of the support frame 211, and each optical bar 214 is arranged along the length direction of the support frame 211 on the support frame 211. The sliding member 213 includes: a driving frame and two clamping sliders 2131. Among them, the driving frame includes: two driving plates 2132 arranged side by side, a first connecting plate 2133 and a second connecting plate 2134. Both of the two driving plates 2132 extend along the length direction of the support frame 211. One of the driving plates 2132 is parallel to the top of the support frame 211 and is placed above the top of the support frame 211, and the other driving plate 2132 is parallel to the bottom of the support frame 211 and is placed below the bottom of the support frame 211. The first connecting plate 2133 is vertically clamped between the first ends ( Figure 3 the right end shown in the figure) of the two driving plates 2132. The second connecting plate 2134 is located on one side of the second ends ( Figure 3 the left end shown in the figure) of the two driving plates 2132. Moreover, the second connecting plate 2134 is connected to the second ends of the two driving plates 2132, that is, the second connecting plate 2134 is not located at the end faces of the second ends of the two driving plates 2132, but is located on one side of the two driving plates 2132. The end of the clamping roller 22 is vertically connected to the second connecting plate 2134 so that the clamping roller 22 is parallel to the body 1. The two clamping sliders 2131 are respectively arranged on the two driving plates 2132 in a one-to-one correspondence, and the two clamping sliders 2131 are connected to the two optical bars 214 in a one-to-one correspondence and slidably.

[0035] The driving cylinder 212 is arranged inside the support frame 211. The driving cylinder 212 is fixed as a whole. The driving end of the driving cylinder 212 is connected to the first connecting plate 2133. The expansion and contraction of the driving end of the driving cylinder 212 drive the first connecting plate 2133 to slide. The first connecting plate 2133 drives the two clamping sliders 2131 to slide along the corresponding optical bars 214 through the two driving plates 2132, and the two driving plates 2132 drive the second connecting plate 2134 and the clamping roller 22 connected thereto to slide.

[0036] During specific implementation, a plurality of weight-reducing holes are formed in each driving plate 2132.

[0037] Preferably, the driving cylinder 212 is a pneumatic cylinder. Of course, the driving cylinder 212 can also be a hydraulic cylinder, and this embodiment does not make any restrictions on this.

[0038] During specific implementation, the limit positions of the contraction and extension of the driving cylinder 212 are determined by the size of the rod body, and the clamping force is provided by the rodless cavity of the driving cylinder 212.

[0039] It can be seen that in this embodiment, the driving cylinder 212 drives the sliding member 213 to slide along the optical bar 214, driving the clamping roller 22 to move, so that the clamping roller 22 approaches the main body 1 and clamps the rod body. The structure of the clamping driving mechanism 21 is simple and easy to implement. Moreover, the sliding member 213 slides along the optical bar 214, which not only ensures the linear movement of the clamping roller 22, but also resists the bending moment generated by a large clamping force. In this way, the clamping driving mechanism 21 can provide a large force output and ensure the linear movement of the sliding member 213.

[0040] See Figure 6 , in each of the above embodiments, the pole-climbing robot further includes: a detection sensor 5 and a control device 6. Among them, the detection sensor 5 is disposed on the main body 1, and the detection sensor 5 is used to detect the clamping force applied by the clamping roller 22 to the rod body.

[0041] The control device 6 is disposed inside the main body 1, and the control device 6 is electrically connected to both the detection sensor 5 and the clamping driving mechanism 21. The control device 6 is used to receive the clamping force detected by the detection sensor 5 and control the clamping driving mechanism 21 to drive the clamping roller 22 to move towards the main body 1 according to the clamping force. In this way, the clamping force applied by the clamping roller 22 to the rod body can be accurately detected, and the clamping roller 22 and the main body 1 can accurately clamp the rod body according to the clamping force, ensuring the stable movement of the main body 1 along the rod body and guaranteeing the stability.

[0042] Preferably, the detection sensor 5 is disposed inside the main body 1, and the detection sensor 5 is connected to the driving cylinder 212 through a transmission member. The detection sensor 5 detects the pressure of the driving cylinder 212, and the control device 6 converts the detected pressure of the driving cylinder 212 into a clamping force. When the driving cylinder 212 is a pneumatic cylinder, the transmission member is an air pipe, the air pipe is connected to the pneumatic cylinder, the detection sensor 5 detects the air pressure, and the control device 6 converts the air pressure into a clamping force.

[0043] See Figure 6 , in each of the above embodiments, the pole-climbing robot may further include: a clamping button 7. Among them, the clamping button 7 is disposed on the outer wall of the main body 1, and the clamping button 7 is used to receive a clamping instruction. The control device 6 is also electrically connected to the clamping button 7, and the control device 6 is used to control the clamping driving mechanism 21 to drive the clamping roller 22 to move towards the main body 1 according to the clamping instruction. In this way, the staff only needs to press the clamping button 7 to control the clamping roller 22 to move towards the main body 1, realizing the clamping of the clamping roller 22 and the main body 1 to the rod body. There is no need for manual operation, and the clamping can be automatically completed, and the operation is simple and convenient.

[0044] See Figure 1 , Figure 2 and Figure 4, in each of the above embodiments, the crawling device 3 includes: at least two crawling mechanisms. Among them, each crawling mechanism is connected to the main body 1, and each crawling mechanism is disposed on the first side of the main body 1, and each crawling mechanism is respectively placed on the upper and lower sides of the clamping device 2.

[0045] Each crawling mechanism includes: two crawling components 31. Among them, the two crawling components 31 are symmetrically arranged on the main body 1, and the two crawling components 31 are respectively placed on both sides of the rod body in the circumferential direction to clamp the rod body. Specifically, the two crawling components 31 are symmetrically arranged on the main body 1. On any annular ring in the circumferential direction of the rod body, the two crawling components 31 are located on both sides of the annular ring, then the two crawling components 31 are both in contact with the rod body and can clamp the rod body. Each crawling component 31 is used for its own rotation. Also, since the clamping roller 22 and the main body 1 clamp the rod body, the self-rotation of each crawling component 31 enables it to move relative to the rod body, thereby driving the main body 1 to move along the rod body.

[0046] Each crawling component 31 includes: a support shell 311, a crawling drive motor 312, a transmission connecting piece 313, and a rotating structure. Among them, the support shell 311 is in contact with the rod body, and the crawling drive motor 312 is disposed inside the support shell 311.

[0047] The first end ( Figure 4 the right end shown) of the transmission connecting piece 313 is placed outside the support shell 311, and the first end of the transmission connecting piece 313 is connected to the main body 1, then the transmission connecting piece 313 is relatively fixed to the main body 1, that is, the transmission connecting piece 313 is fixed and immovable. The transmission connecting piece 313 is rotatably inserted through the first end ( Figure 4 the right end shown) of the support shell 311, and the second end ( Figure 4 the left end shown) of the transmission connecting piece 313 is placed inside the support shell 311. The second end of the transmission connecting piece 313 is connected to the crawling drive motor 312. The crawling drive motor 312 is used to drive the support shell 311 to rotate. The support shell 311 is in contact with the rod body, then the rotation of the support shell 311 drives the support shell 311 to move along the rod body. Since the support shell 311 is connected to the main body 1 through the transmission connecting piece 313, the movement of the support shell 311 drives the main body 1 to move along the rod body.

[0048] Specifically, a receiving cavity is provided in the part of the transmission connecting piece 313 inside the support shell 311. The crawling drive motor 312 is placed in the receiving cavity, and the driving end of the crawling drive motor 312 is connected to the second end ( Figure 4 the left end shown) of the support shell 311. Then the main body of the crawling drive motor 312 and the transmission connecting piece 313 are both fixed and immovable. The driving end of the crawling drive motor 312 rotates, driving the support shell 311 to rotate.

[0049] The rotating structure is arranged inside the support shell 311, and the rotating structure is rotatably connected to the transmission connecting member 313. In this way, when the support shell 311 rotates relative to the transmission connecting member 313, the arrangement of the rotating structure can reduce friction and facilitate the rotation of the support shell 311.

[0050] Preferably, the rotating structure includes: two bearings 314. Among them, the two bearings 314 are arranged at intervals inside the support shell 311, and the inner rings of the bearings 314 are sleeved and connected to the outside of the transmission connecting member 313. Specifically, the outer ring of each bearing 314 is connected to the support shell 311, the inner ring of each bearing 314 is rotatable, and the inner ring of each bearing 314 is sleeved on the outside of the transmission connecting member 313.

[0051] The support shell 311 may include: a shell 3111, a first end cover 3112, and a second end cover 3113. Among them, the first end cover 3112 is detachably connected to the first end ( Figure 4 the right end shown in the figure) of the shell 3111, and the second end cover 3113 is connected to the second end ( Figure 4 the left end shown in the figure) of the shell 3111. The transmission connecting member 313 is rotatably passed through the first end cover 3112 and the second end is placed inside the shell 3111. The second end of the transmission connecting member 313 extends to the second end of the shell 3111, and the driving end of the crawling driving motor 312 is connected to the second end cover 3113. The two bearings 314 are respectively corresponding to the two ends of the shell 3111, each bearing 314 is fixedly connected to the shell 3111, and the inner ring of each bearing 314 is connected to the transmission connecting member 313.

[0052] Each crawling assembly 31 further includes: a sealing structure 315. Among them, the sealing structure 315 is annular, the sealing structure 315 is arranged inside the support shell 311, and the sealing structure 315 is close to the first end of the support shell 311. The sealing structure 315 is rotatably sleeved on the outside of the transmission connecting member 313. Specifically, the sealing structure 315 is arranged at the first end of the shell 3111, the sealing structure 315 is in contact with the first end cover 3112, and the sealing structure 315 is rotatably connected to the transmission connecting member 313. Specifically, the sealing structure 315 can be a skeleton oil seal, which can not only realize the rotation of the support shell 311 but also realize sealing and waterproofing.

[0053] Preferably, the rotating structure includes: two bearings 314; wherein, a part of the transmission connecting member 313 inside the support shell 311 is provided with a receiving cavity, the crawling driving motor 312 is placed inside the receiving cavity, and the driving end of the crawling driving motor 312 is connected to the second end of the support shell 311. The two bearings 314 are spaced apart and arranged inside the support shell 311, and the inner ring of the bearing 314 is sleeved and connected to the outside of the transmission connecting member 313; and / or, each crawling assembly 31 further includes: a sealing structure 315; wherein, the sealing structure 315 is annular, the sealing structure 315 is arranged inside the support shell 311 and close to the first end of the support shell 311, and the sealing structure 315 is rotatably sleeved on the outside of the transmission connecting member 313.

[0054] It can be seen that in this embodiment, the structure of the crawling device 3 is simple and easy to implement.

[0055] See Figure 1 、 Figure 2 and Figure 5 In the above-mentioned various embodiments, the carrying device 4 includes: an arc-shaped track 41, a carrying driving mechanism 42, a carrying slider 43 and a carrying platform 44. Among them, the arc-shaped track 41 is arranged on the top of the main body 1, and the arc-shaped track 41 wraps around the outside of part of the rod body. Specifically, the arc-shaped track 41 can wrap around most of the rod body along the circumferential direction of the rod body, or can wrap around a small part of the rod body along the circumferential direction of the rod body.

[0056] The carrying slider 43 is slidably arranged on the arc-shaped track 41, so the carrying slider 43 can slide along the arc-shaped track 41.

[0057] The carrying platform 44 is connected to the carrying slider 43. The carrying platform 44 is used to carry the tooling. When the carrying slider 43 slides along the arc-shaped track 41, it drives the carrying platform 44 to slide along the arc-shaped track 41, that is, drives the tooling to slide along the arc-shaped track 41.

[0058] The carrying driving mechanism 42 is connected to the carrying slider 43. The carrying driving mechanism 42 is used to drive the carrying slider 43 to slide along the arc-shaped track 41 to drive the carrying platform 44 to slide.

[0059] Preferably, the arc-shaped track 41 is provided with a toothed ring 45 along its arc direction. The toothed ring 45 is arc-shaped, and a plurality of meshing teeth are arranged on the toothed ring 45.

[0060] The load-carrying driving mechanism 42 includes: a load-carrying driving motor 421 and a gear 422. Among them, the load-carrying driving motor 421 is arranged on the load-carrying platform 44, and the load-carrying driving motor 421 is fixedly connected to the load-carrying platform 44. The driving end of the load-carrying driving motor 421 is connected to the gear 422. Specifically, the gear 422 is located below the load-carrying platform 44, and the driving end of the load-carrying driving motor 421 rotatably passes through the load-carrying platform 44 and is connected to the gear 422.

[0061] The gear 422 meshes with the meshing teeth on the gear ring 45. The load-carrying driving motor 421 is used to drive the gear 422 to rotate. Since the arc track 41 and the gear ring 45 are fixed and immovable, the rotation of the gear 422 drives the load-carrying platform 44 to slide along the arc track 41, and at the same time drives the load-carrying slider 43 to also slide along the arc track 41.

[0062] Preferably, limit blocks 46 are respectively arranged at two end portions of the arc track 41. The two limit blocks 46 are used to block and limit the load-carrying slider 43 to prevent the load-carrying slider 43 from sliding out of the arc track 41 and ensure that the load-carrying slider 43 slides along the arc track 41.

[0063] It can be seen that in this embodiment, the structure of the load-carrying device 4 is simple and easy to implement.

[0064] In summary, in this embodiment, the clamping device 2 clamps the rod body, the crawling device 3 drives the body 1 to move along the rod body. Since the load-carrying device 4 is arranged on the body 1, and the load-carrying device 4 carries the tooling, the movement of the body 1 drives the load-carrying device 4 to move along the rod body. In this way, the crawling device 3 can drive the tooling to move to the top of the rod body, and then use the tooling for subsequent operations. The operation is simple and convenient, saving construction time. And there is no need for the staff to climb the rod body, reducing the safety risk of the staff climbing the rod body and ensuring the personal safety of the staff. This crawling robot uses electric + pneumatic hybrid power as the power source, reducing the self-weight of the fuselage and improving the operation load to achieve continuous operation.

[0065] It should be noted that in the description of the present invention, the terms indicating the direction or position relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or position relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0066] In addition, it should be noted that in the description of the present utility model, unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a direct connection, or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0067] Obviously, those skilled in the art can make various modifications and variations to the present utility model without departing from the spirit and scope of the present utility model. Thus, if these modifications and variations of the present utility model fall within the scope of the claims of the present utility model and their equivalent technologies, the present utility model also intends to include these modifications and variations.

Claims

1. A pole-climbing robot, characterized in that, Including: A main body (1), a clamping device (2), a crawling device (3), and a carrying device (4); wherein, The clamping device (2) is disposed on the main body (1) for clamping a rod; The crawling device (3) is disposed on the main body (1) and on the same side of the main body (1) as the clamping device (2), and is used to drive the main body (1) to move along the rod after the clamping device (2) clamps the rod; The carrying device (4) is disposed on the main body (1) for carrying a tooling.

2. The pole-climbing robot according to claim 1, wherein The clamping device (2) includes: a clamping driving mechanism (21) and clamping rollers (22); wherein, The clamping driving mechanism (21) is disposed on the first side of the main body (1) and is connected to the clamping rollers (22); The clamping rollers (22) are parallel to the main body (1), and the rod is clamped between the clamping rollers (22) and the main body (1); The clamping driving mechanism (21) is used to drive the clamping rollers (22) to move towards the main body (1) so that the clamping rollers (22) and the main body (1) clamp the rod.

3. The pole-climbing robot according to claim 2, characterized in that, The clamping driving mechanism (21) includes: a support frame (211), a driving cylinder (212), a sliding member (213), and a smooth rod (214); wherein, The support frame (211) is connected to the first side of the main body (1); The smooth rod (214) is disposed on the support frame (211) along the length direction of the support frame (211), the sliding member (213) is slidably connected to the smooth rod (214), and the sliding member (213) is connected to the clamping rollers (22); The driving cylinder (212) is disposed inside the support frame (211), the driving end of the driving cylinder (212) is connected to the sliding member (213), and the driving cylinder (212) is used to drive the sliding member (213) to slide along the smooth rod (214) to drive the clamping rollers (22) to move.

4. The pole-climbing robot according to claim 2, wherein It further includes: A detection sensor (5) and a control device (6); wherein, The detection sensor (5) is disposed on the main body (1) for detecting the clamping force applied by the clamping rollers (22) to the rod; The control device (6) is disposed inside the main body (1) and is electrically connected to both the detection sensor (5) and the clamping driving mechanism (21), and is used to control the clamping driving mechanism (21) to drive the clamping rollers (22) to move towards the main body (1) according to the clamping force.

5. The pole-climbing robot according to claim 4, wherein, It further includes: A clamping button (7); wherein, The clamping button (7) is disposed on the outer wall of the main body (1) for receiving a clamping instruction; The control device (6) is further electrically connected to the clamping button (7), and is used to control the clamping driving mechanism (21) to drive the clamping rollers (22) to move towards the main body (1) according to the clamping instruction.

6. The pole-climbing robot according to claim 1, wherein The crawling device (3) includes: at least two crawling mechanisms; wherein, Each of the crawling mechanisms is connected to the main body (1) and is respectively disposed on the upper and lower sides of the clamping device (2); Each of the crawling mechanisms includes: two crawling components (31); the two crawling components (31) are symmetrically arranged on the body (1), and the two crawling components (31) are respectively located on both sides of the rod body in the circumferential direction to clamp the rod body. Each crawling component (31) is used to rotate itself to move itself relative to the rod body, thereby driving the body (1) to move along the rod body.

7. The pole-climbing robot according to claim 6, wherein Each of the crawling components (31) includes: a support shell (311), a crawling drive motor (312), a transmission connecting piece (313), and a rotating structure; wherein, The crawling drive motor (312) is arranged inside the support shell (311); The first end of the transmission connecting piece (313) is located outside the support shell (311) and is connected to the body (1). The transmission connecting piece (313) is rotatably penetrated through the first end of the support shell (311), and the second end of the transmission connecting piece (313) is connected to the crawling drive motor (312); The rotating structure is arranged inside the support shell (311) and is rotatably connected to the transmission connecting piece (313); The crawling drive motor (312) is used to drive the support shell (311) to rotate.

8. The pole-climbing robot according to claim 7, wherein The rotating structure includes: two bearings (314); wherein, a receiving cavity is arranged on the part of the transmission connecting piece (313) inside the support shell (311). The crawling drive motor (312) is arranged in the receiving cavity, and the driving end of the crawling drive motor (312) is connected to the second end of the support shell (311). The two bearings (314) are arranged in the support shell (311) at intervals, and the inner ring of the bearing (314) is sleeved and connected to the outside of the transmission connecting piece (313); and / or, Each of the crawling components (31) further includes: a sealing structure (315); wherein, the sealing structure (315) is annular, the sealing structure (315) is arranged inside the support shell (311) and close to the first end of the support shell (311), and the sealing structure (315) is rotatably sleeved on the outside of the transmission connecting piece (313).

9. The pole-climbing robot according to claim 1, wherein The carrying device (4) includes: an arc track (41), a carrying drive mechanism (42), a carrying slider (43), and a carrying platform (44); wherein, The arc track (41) is arranged on the top of the body (1) and wraps around the outside of part of the rod body; The carrying slider (43) is slidably arranged on the arc track (41); The carrying platform (44) is connected to the carrying slider (43) and is used to carry the tooling; The carrying drive mechanism (42) is connected to the carrying slider (43) and is used to drive the carrying slider (43) to slide along the arc track (41) to drive the carrying platform (44) to slide.

10. The pole-climbing robot according to claim 9, characterized in that, The carrying drive mechanism (42) includes: a carrying drive motor (421) and a gear (422); wherein, The arc-shaped track (41) is provided with a gear ring (45) along its arc direction; The load driving motor (421) is arranged on the load platform (44), and the driving end of the load driving motor (421) is connected to the gear (422). The gear (422) meshes with the gear ring (45). The load driving motor (421) is used to drive the gear (422) to rotate, driving the load slider (43) and the load platform (44) to slide along the arc-shaped track (41).

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