WO2021171062A1

WO2021171062A1 - Pole climbing device

Info

Publication number: WO2021171062A1
Application number: PCT/IB2020/051641
Authority: WO
Inventors: Majid NILI AHMAD ABADI; Manouchehr MORADI SABZEVAR; Mostafa DERAFSHIAN MARAM; Mohammadreza FARAHNAK
Original assignee: Nili Ahmad Abadi Majid; Moradi Sabzevar Manouchehr; Derafshian Maram Mostafa; Farahnak Mohammadreza
Priority date: 2020-02-26
Filing date: 2020-02-26
Publication date: 2021-09-02

Abstract

An exemplary pole-climbing device may be a wheeled climbing robot with six contact points between the exemplary pole-climbing device and an exemplary pole. A frictional contact between an exemplary vertical pole and exemplary contact points of an exemplary pole-climbing device may create a natural jamming that may hold the position of the exemplary pole-climbing device on the exemplary pole without consumption of energy. An exemplary pole climbing device may include two sets of contact members, a set of three primary contact members and a set of three secondary contact members. In an exemplary embodiment, two of each three contact members in each set may include active contact members. As used herein, an active contact member may refer to a rotatable wheel that may be coupled to a rotational actuator. These exemplary active contact members may provide adequate friction for stably climbing and descending an exemplary vertical pole.

Description

POLE CLIMBING DEVICE

TECHNICAL FIELD

[0001] The present disclosure generally relates to methods and devices for climbing vertical structures. The present disclosure particularly relates to a wheeled pole climbing device and applications thereof in cleaning and painting vertical poles and posts.

BACKGROUND ART

[0002] Climbing vertical poles and posts for the purposes of sanding, cleaning, and maintenance may be necessary from time to time. In fact, climbing posts and vertical poles have been a routine task for accessing electricity and telephone lines for maintenance, lamps for cleaning or repairs, and for cleaning or painting various types of vertical posts. Workers may climb these posts by either utilizing special climbing tools, built-in ladders, or lifts. However, due to the difficulties associated with the above-mentioned methods, such as dangers of climbing the posts by harnesses or built-in ladders, unavailability of large lifts for climbing very high posts, or dangers of setting up lifts in high speed lanes of highways, there is a need for other methods and devices for climbing posts and other types of vertical poles.

[0003] One way to address the aforementioned problems is utilizing pole-climbing devices, otherwise known as climbing robots. Various types of climbing robots have been developed for different types of applications, such as cleaning/painting lamp posts, inspecting wind turbines, harvesting fruits, inspecting power and telephone lines, or surveillance. Various methods and techniques are utilized in these climbing robots to hold onto and climb vertical structures such as wall or posts. For example, climbing robots may utilize suction cups, adhesives, magnetic mechanisms, gripping mechanisms, or wheels. Robots that utilize vacuum to stick to vertical structures have been used more than other designs. In these robots, a number of suction cups are placed on a flat surface of a vertical structure and then vacuum is created to hold the robot on the flat surface. However, generating adequate vacuum is not always an easy task especially for trees and poles and other vertical structures without flat surfaces. In addition, these robots may fall off the surface in case of a vacuum failure. The amount of load that may be carried by such a robot may be determined by the number and size of suction cups and therefore the payload is limited. An example of climbing robots that utilize suction cups is disclosed by La Rosa et. ah, Mechatronics, volume 12, issue 1, pages 71 to 96.

[0004] Another example of climbing robots are wheeled climbing robots that may utilize passive bracing mechanisms in combination with active wheels at various contact points on the outer surfaces of posts in order to climb the posts. Active wheels refer to rotatable wheel that may be coupled with motors or other types of actuators to drive the linear movements of these robots up and down the vertical posts. For example, WO 2012/069676 discloses a wheeled climbing robot for climbing posts.

[0005] Most climbing robots have limited payloads, which may be considered a drawback, especially in applications where higher loads may need to be transported by the climbing robot to the top of the vertical post. In other words, most climbing robots may become unstable or may even fall off the post, when their payload increases. Other problems may occur in case of heavy payloads, such as dramatic decreases in climbing speeds or requiring very complex stabilizing mechanisms and controllers. There is, therefore, a need for climbing devices capable of carrying high payloads that may be utilized for moving up and down lamp posts, telephone/electricity poles for cleaning, painting, maintenance, inspection, or surveillance. There is further a need for a climbing device that may utilize a self-locking mechanism along with springs and other elastic elements to ensure a stable attachment between the climbing robot and the vertical post.

SUMMARY OF THE DISCLOSURE

[0010] This summary is intended to provide an overview of the subject matter of the present disclosure and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description and the drawings.

[0011] According to one or more exemplary embodiments, the present disclosure is directed to an exemplary pole-climbing device for climbing an exemplary vertical pole may include a primary support structure. An exemplary primary support structure may include a primary vertical beam and a primary horizontal beam that may be perpendicularly attached to the primary vertical beam. An exemplary primary vertical beam may be extended along and parallel to the exemplary vertical pole. An exemplary pole-climbing device may further include a secondary support structure. An exemplary secondary support structure may include a secondary vertical beam and a secondary horizontal beam that may be perpendicularly attached to the secondary vertical beam. An exemplary secondary vertical beam may be pivotally coupled to the primary vertical beam.

[0012] An exemplary pole-climbing device may further include a primary movable arm that may be pivotally coupled to an exemplary primary vertical beam from a proximal end of the exemplary primary movable arm. An exemplary primary movable arm may be extended along an exemplary primary horizontal beam. An exemplary first primary active wheel may be rotatably coupled to a distal end of the exemplary primary movable arm. An axis of rotation of an exemplary first primary active wheel may be perpendicular to both a main axis of an exemplary primary vertical beam and a main axis of an exemplary primary horizontal beam. An exemplary first primary active wheel may be in contact with an outer surface of an exemplary vertical pole.

[0013] An exemplary pole-climbing device may further include a primary sliding member that may be slidably coupled to an exemplary primary horizontal beam. An exemplary primary sliding member may be slidable along an exemplary primary horizontal beam. An exemplary primary passive wheel may be rotatably coupled to an exemplary primary sliding member. An axis of rotation of an exemplary primary passive wheel may be parallel to an axis of rotation of an exemplary first primary active wheel. An exemplary primary passive wheel may be in contact with an outer surface of an exemplary vertical pole.

[0014] An exemplary pole-climbing device may further include a second primary active wheel that may be rotatably coupled to an exemplary secondary horizontal beam. An axis of rotation of an exemplary second primary active wheel may be parallel to a main axis of an exemplary secondary horizontal beam. An exemplary second primary active wheel may be in contact with an outer surface of an exemplary vertical pole.

[0015] An exemplary pole-climbing device may further include a secondary movable arm that may be pivotally coupled to an exemplary secondary vertical beam from a proximal end of the exemplary secondary movable arm. An exemplary secondary movable arm may be extended along an exemplary secondary horizontal beam. An exemplary first secondary active wheel may be rotatably coupled to a distal end of the exemplary secondary movable arm. An axis of rotation of an exemplary first secondary active wheel may be perpendicular to both a main axis of an exemplary secondary vertical beam and a main axis of an exemplary secondary horizontal beam. An exemplary first secondary active wheel may be in contact with an outer surface of an exemplary vertical pole.

[0016] An exemplary pole-climbing device may further include a secondary sliding member that may be slidably coupled to an exemplary secondary horizontal beam. An exemplary secondary sliding member may be slidable along an exemplary secondary horizontal beam. An exemplary secondary passive wheel may be rotatably coupled to an exemplary secondary sliding member. An axis of rotation of an exemplary secondary passive wheel may be parallel to an axis of rotation of an exemplary first secondary active wheel. An exemplary secondary passive wheel may be in contact with an outer surface of an exemplary vertical pole.

[0017] An exemplary pole-climbing device may further include a second secondary active wheel that may be rotatably coupled to an exemplary primary horizontal beam. An axis of rotation of an exemplary second secondary active wheel may be parallel to a main axis of an exemplary primary horizontal beam. An exemplary second secondary active wheel may be in contact with an outer surface of an exemplary vertical pole.

[0018] An exemplary pole-climbing device may further include a primary link that may be pivotally coupled to an exemplary primary sliding member from a first end of the exemplary primary link and may be pivotally coupled to an exemplary primary moveable arm from a second opposite end of the exemplary primary link. An exemplary pole-climbing device may further include a secondary link that may be pivotally coupled to an exemplary secondary sliding member from a first end of the exemplary secondary link and may be pivotally coupled to an exemplary secondary moveable arm from a second opposite end of the exemplary secondary link.

[0019] An exemplary pole-climbing device may further include a first primary actuator that may be coupled to an exemplary first primary active wheel. An exemplary first primary actuator may be configured to drive a rotational movement of an exemplary first primary active wheel about the axis of rotation of the exemplary first primary active wheel. An exemplary pole-climbing device may further include a second primary actuator that may be coupled to an exemplary second primary active wheel. An exemplary second primary actuator may be configured to drive a rotational movement of an exemplary second primary active wheel about the axis of rotation of the exemplary second primary active wheel.

[0020] An exemplary pole-climbing device may further include a first secondary actuator that may be coupled to an exemplary first secondary active wheel. An exemplary first secondary actuator may be configured to drive a rotational movement of an exemplary first secondary active wheel about the axis of rotation of the exemplary first secondary active wheel. An exemplary pole-climbing device may further include a second secondary actuator that may be coupled to an exemplary second secondary active wheel. An exemplary second secondary actuator may be configured to drive a rotational movement of an exemplary second secondary active wheel about the axis of rotation of the exemplary second secondary active wheel. [0021] An exemplary pole-climbing device may further include a first primary tension spring. An exemplary first primary tension spring may be coupled to an exemplary primary vertical beam from a proximal end of the exemplary first primary tension spring. An exemplary first primary tension spring may further be coupled to a distal end of an exemplary primary movable arm from a distal end of the exemplary first primary tension spring. An exemplary first primary tension spring may be extended along an exemplary primary horizontal beam and may be configured to draw the distal end of the exemplary primary movable arm toward the exemplary primary vertical beam.

[0022] An exemplary pole-climbing device may further include a second primary tension spring. An exemplary second primary tension spring may be coupled to an exemplary primary vertical beam from a proximal end of the exemplary second primary tension spring. An exemplary second primary tension spring may further be coupled to a first end of an exemplary primary link from a distal end of the exemplary second primary tension spring. An exemplary second primary tension spring may be extended along an exemplary primary horizontal beam. An exemplary second primary tension spring may be configured to draw an exemplary primary sliding member toward an exemplary primary vertical beam.

[0023] An exemplary pole-climbing device may further include a first secondary tension spring. An exemplary first secondary tension spring may be coupled to an exemplary secondary vertical beam from a proximal end of the exemplary first secondary tension spring. An exemplary first secondary tension spring may further be coupled to a distal end of an exemplary secondary movable arm from a distal end of the exemplary first secondary tension spring. An exemplary first secondary tension spring may be extended along an exemplary secondary horizontal beam and may be configured to draw the distal end of the exemplary secondary movable arm toward the exemplary secondary vertical beam.

[0024] An exemplary pole-climbing device may further include a second secondary tension spring. An exemplary second secondary tension spring may be coupled to an exemplary secondary vertical beam from a proximal end of the exemplary second secondary tension spring. An exemplary second secondary tension spring may further be coupled to a first end of an exemplary secondary link from a distal end of the exemplary second secondary tension spring. An exemplary second secondary tension spring may be extended along an exemplary secondary horizontal beam. An exemplary second secondary tension spring may be configured to draw an exemplary secondary sliding member toward an exemplary secondary vertical beam.

[0025] An exemplary secondary vertical beam of an exemplary pole-climbing device may be pivotally coupled to an exemplary primary vertical beam of an exemplary pole-climbing device utilizing at least one hinge. An exemplary secondary vertical beam may be pivotable about a pivot axis of the at least one hinge. An exemplary pivot axis of the at least one hinge may be parallel to a main axis of an exemplary vertical pole on which an exemplary pole-climbing device may be attached.

[0026] An exemplary primary moveable arm of an exemplary pole-climbing device may include a first primary elongated portion that may be extended along an exemplary primary horizontal beam. A proximal end of an exemplary first primary elongated portion may be pivotally coupled to an exemplary vertical beam at a first primary pivot point. An exemplary first primary pivot point may be positioned on a rotational axis of an exemplary second primary active wheel of an exemplary pole-climbing device. An exemplary primary moveable arm of an exemplary pole-climbing device may further include a second primary portion that may be attached to a distal end of an exemplary first primary elongated portion. An exemplary second primary portion may be perpendicular to an exemplary first primary elongated portion. An exemplary first primary active wheel may be mounted on an exemplary second portion. An axis of rotation of an exemplary first primary active wheel may be parallel to a main axis of an exemplary second primary portion.

[0027] An exemplary primary link of an exemplary pole-climbing device may be pivotally coupled to an exemplary first primary elongated portion at a second primary pivot point on the exemplary first primary elongated portion. An exemplary pivot axis of an exemplary primary link at an exemplary second primary pivot point may be parallel to a pivot axis of an exemplary first primary elongated portion at an exemplary first primary pivot point.

[0028] An exemplary primary moveable arm of an exemplary pole-climbing device may further include a first primary sliding mechanism that may be attached to an exemplary second primary portion. An exemplary first primary active wheel may be mounted on an exemplary first primary sliding mechanism. An exemplary first primary sliding mechanism may include a first primary sliding track that may be attached to an exemplary second primary portion. An exemplary first primary sliding track may be extended along and parallel to an exemplary second primary portion. An exemplary first primary sliding mechanism may further include a first primary slider slidably that may be mounted on an exemplary first primary sliding track. An exemplary first primary active wheel may be mounted on an exemplary first primary slider, where the exemplary first primary active wheel may slide along the exemplary second primary portion.

[0029] An exemplary pole-climbing device may further include a second primary sliding mechanism that may be attached to an exemplary primary horizontal beam. An exemplary primary sliding member may be slidably coupled to an exemplary second primary sliding mechanism. An exemplary second primary sliding mechanism may include a second primary sliding track that may be attached to an exemplary primary horizontal beam. An exemplary second primary sliding track may be extended along and parallel to an exemplary primary horizontal beam. An exemplary second primary sliding mechanism may further include a second primary slider that may be slidably mounted on an exemplary second primary sliding track. An exemplary primary sliding member may be mounted on an exemplary second primary slider.

[0030] An exemplary primary sliding member may include a primary horizontal sliding beam that may be parallel to an exemplary second primary portion. An exemplary primary passive wheel may be mounted on an exemplary primary horizontal sliding beam. A rotational axis of an exemplary primary passive wheel may be parallel to a main axis of an exemplary primary horizontal sliding beam. An exemplary primary link may be pivotally coupled to an exemplary primary horizontal sliding beam at a third primary pivot point on the exemplary primary horizontal sliding beam. An exemplary first primary pivot point, an exemplary second primary pivot point and an exemplary third primary pivot point may be on an exemplary vertical plane parallel to a main axis of an exemplary vertical pole. Exemplary pivot axes at an exemplary first primary pivot point, an exemplary second primary pivot point and an exemplary third primary pivot point may be perpendicular to the exemplary vertical plane.

[0031] An exemplary secondary moveable arm of an exemplary pole-climbing device may include a first secondary elongated portion that may be extended along an exemplary secondary horizontal beam. A proximal end of an exemplary first secondary elongated portion may be pivotally coupled to an exemplary vertical beam at a first secondary pivot point. An exemplary first secondary pivot point may be positioned on a rotational axis of an exemplary second secondary active wheel of an exemplary pole-climbing device. An exemplary secondary moveable arm of an exemplary pole-climbing device may further include a second secondary portion that may be attached to a distal end of an exemplary first secondary elongated portion. An exemplary second secondary portion may be perpendicular to an exemplary first secondary elongated portion. An exemplary first secondary active wheel may be mounted on an exemplary second portion. An axis of rotation of an exemplary first secondary active wheel may be parallel to a main axis of an exemplary second secondary portion.

[0032] An exemplary secondary link of an exemplary pole-climbing device may be pivotally coupled to an exemplary first secondary elongated portion at a second secondary pivot point on the exemplary first secondary elongated portion. An exemplary pivot axis of an exemplary secondary link at an exemplary second secondary pivot point may be parallel to a pivot axis of an exemplary first secondary elongated portion at an exemplary first secondary pivot point. [0033] An exemplary secondary moveable arm of an exemplary pole-climbing device may further include a first secondary sliding mechanism that may be attached to an exemplary second secondary portion. An exemplary first secondary active wheel may be mounted on an exemplary first secondary sliding mechanism. An exemplary first secondary sliding mechanism may include a first secondary sliding track that may be attached to an exemplary second secondary portion. An exemplary first secondary sliding track may be extended along and parallel to an exemplary second secondary portion. An exemplary first secondary sliding mechanism may further include a first secondary slider slidably that may be mounted on an exemplary first secondary sliding track. An exemplary first secondary active wheel may be mounted on an exemplary first secondary slider, where the exemplary first secondary active wheel may slide along the exemplary second secondary portion.

[0034] An exemplary pole-climbing device may further include a second secondary sliding mechanism that may be attached to an exemplary secondary horizontal beam. An exemplary secondary sliding member may be slidably coupled to an exemplary second secondary sliding mechanism. An exemplary second secondary sliding mechanism may include a second secondary sliding track that may be attached to an exemplary secondary horizontal beam. An exemplary second secondary sliding track may be extended along and parallel to an exemplary secondary horizontal beam. An exemplary second secondary sliding mechanism may further include a second secondary slider that may be slidably mounted on an exemplary second secondary sliding track. An exemplary secondary sliding member may be mounted on an exemplary second secondary slider.

[0035] An exemplary secondary sliding member may include a secondary horizontal sliding beam that may be parallel to an exemplary second secondary portion. An exemplary secondary passive wheel may be mounted on an exemplary secondary horizontal sliding beam. A rotational axis of an exemplary secondary passive wheel may be parallel to a main axis of an exemplary secondary horizontal sliding beam. An exemplary secondary link may be pivotally coupled to an exemplary secondary horizontal sliding beam at a third secondary pivot point on the exemplary secondary horizontal sliding beam. An exemplary first secondary pivot point, an exemplary second secondary pivot point and an exemplary third secondary pivot point may be on an exemplary vertical plane parallel to a main axis of an exemplary vertical pole. Exemplary pivot axes at an exemplary first secondary pivot point, an exemplary second secondary pivot point and an exemplary third secondary pivot point may be perpendicular to the exemplary vertical plane.

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following drawings in which a presently preferred embodiment of the present disclosure will now be illustrated by way of example. It is expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the present disclosure. Embodiments of the present disclosure will now be described by way of example in association with the accompanying drawings in which:

[0037] FIG. 1A illustrates a perspective view of a pole-climbing device, consistent with one or more exemplary embodiments of the present disclosure;

[0038] FIG. IB illustrates a top view of a pole-climbing device, consistent with one or more exemplary embodiments of the present disclosure;

[0039] FIG. 1C illustrates a side view of a right side portion of a pole-climbing device, consistent with one or more exemplary embodiments of the present disclosure; [0040] FIG. ID illustrates a side view of a left side portion of a pole-climbing device, consistent with one or more exemplary embodiments of the present disclosure;

[0041] FIGs. 2A and 2B illustrate a schematic side-view of a right side portion of a pole climbing device 1, consistent with one or more exemplary embodiments of the present disclosure; and

[0042] FIGs. 2C and 2D illustrate a schematic side-view of a left side portion of a pole climbing device, consistent with one or more exemplary embodiments of the present disclosure.

DESCRIPTION OF EMBODIMENTS

[0043] The novel features which are believed to be characteristic of the present disclosure, as to its structure, organization, use and method of operation, together with further objectives and advantages thereof, will be better understood from the following discussion.

[0044] The present disclosure is directed to exemplary embodiments of a pole-climbing device. An exemplary pole-climbing device may be a wheeled climbing robot with six contact points between the exemplary pole-climbing device and an exemplary pole. A frictional contact between an exemplary vertical pole and exemplary contact points of an exemplary pole climbing device may create a natural jamming that may hold the position of the exemplary pole-climbing device on the exemplary pole without consumption of energy. An exemplary pole climbing device may include two sets of contact members, a set of three primary contact members and a set of three secondary contact members. In an exemplary embodiment, two of each three contact members in each set may include active contact members. As used herein, an active contact member may refer to a rotatable wheel that may be coupled to a rotational actuator. These exemplary active contact members may provide adequate friction for stably climbing and descending an exemplary vertical pole. An exemplary set of primary contact members and an exemplary set of secondary contact members may contact an outer surface of an exemplary vertical pole by an offset of 90° between each of the primary contact members and its corresponding contact member of the secondary contact members. For example, a set of primary contact members may include a first primary active wheel, a second primary active wheel, and a primary passive wheel. An exemplary first primary active wheel and an exemplary second primary active wheel may contact an outer surface of an exemplary vertical pole on opposite sides of the exemplary vertical pole. An exemplary first primary active wheel may be mounted on a first end of an exemplary primary moveable arm. An exemplary primary moveable arm may be pivotally coupled with an axis of rotation of an exemplary second primary active wheel. An exemplary load may be attached to a second end of the exemplary primary moveable arm away from a main axis of the exemplary vertical pole such that under the weight of the exemplary load, the exemplary primary moveable arm may be forced to pivot about the axis of rotation of the second primary active wheel and press the first primary active wheel onto the outer surface of the exemplary vertical pole. Consequently, normal forces at the contact point of the first primary active wheel and the contact point of the second primary active wheel may be created due to the weight of the exemplary load on the second end of the primary moveable arm. This way it may be possible to hold the position of the exemplary pole climbing device on the exemplary vertical pole without consumption of energy. An exemplary primary passive wheel may be slidably moveable along a horizontal sliding track perpendicular to a main axis of an exemplary vertical pole. An exemplary primary passive wheel may be coupled to an exemplary primary moveable arm by a primary double-pivot link such that when the primary active arm is forced to pivot about the rotational axis of the second primary active wheel, the primary double pivot link may force the primary passive wheel to slide toward the vertical pole and contact the outer surface of the vertical pole. In an exemplary embodiment, the first primary active wheel and the primary passive wheel may be vertically aligned such that a rotational axis of the first primary active wheel and a rotational axis of the primary passive wheel may exist on a similar vertical plane and may be parallel with each other. In an exemplary embodiment, the second primary active wheel and the primary passive wheel may be horizontally aligned such that a rotational axis of the second primary active wheel and a rotational axis of the primary passive wheel may exist on a similar horizontal plane and may be parallel with each other.

[0045] In an exemplary embodiment, a set of secondary contact members may be structurally similar to an exemplary set of primary contact members, as was described in the preceding paragraph. For example, a set of secondary contact members may include a first secondary active wheel, a second secondary active wheel, and a secondary passive wheel. An exemplary first secondary active wheel and an exemplary second secondary active wheel may contact an outer surface of an exemplary vertical pole on opposite sides of the exemplary vertical pole. An exemplary first secondary active wheel may be mounted on a first end of an exemplary secondary moveable arm. An exemplary secondary moveable arm may be pivotally coupled with an axis of rotation of an exemplary second secondary active wheel. An exemplary load may be attached to a second end of the exemplary secondary moveable arm away from a main axis of the exemplary vertical pole such that under the weight of the exemplary load, the exemplary secondary moveable arm may be forced to pivot about the axis of rotation of the second secondary active wheel and press the first secondary active wheel onto the outer surface of the exemplary vertical pole. Consequently, normal forces at the contact point of the first secondary active wheel and the contact point of the second secondary active wheel may be created due to the weight of the exemplary load on the second end of the secondary moveable arm. This way it may be possible to further hold the position of the exemplary pole-climbing device on the exemplary vertical pole without consumption of energy. An exemplary secondary passive wheel may be slidably moveable along a horizontal sliding track perpendicular to a main axis of an exemplary vertical pole. An exemplary secondary passive wheel may be coupled to an exemplary secondary moveable arm by a secondary double-pivot link such that when the secondary active arm is forced to pivot about the rotational axis of the second secondary active wheel, the secondary double pivot link may force the secondary passive wheel to slide toward the vertical pole and contact the outer surface of the vertical pole. In an exemplary embodiment, the first secondary active wheel and the secondary passive wheel may be vertically aligned such that a rotational axis of the first secondary active wheel and a rotational axis of the secondary passive wheel may exist on a similar vertical plane and may be parallel with each other. In an exemplary embodiment, the second secondary active wheel and the secondary passive wheel may be horizontally aligned such that a rotational axis of the second secondary active wheel and a rotational axis of the secondary passive wheel may exist on a similar horizontal plane and may be parallel with each other.

[0046] In an exemplary embodiment, when an exemplary pole-climbing device is mounted on an exemplary vertical pole ready to stably ascend or descend the pole, an exemplary set of primary contact members and an exemplary set of secondary contact members may contact an outer surface of an exemplary vertical pole by an offset of 90° between each of the primary contact members and its corresponding contact member of the secondary contact members. For example, the first primary active wheel may contact an outer surface of an exemplary vertical pole with an offset of 90° from the first secondary active wheel. The second primary active wheel may contact an outer surface of an exemplary vertical pole with an off set of 90° from the second secondary active wheel. The primary passive wheel may contact an outer surface of an exemplary vertical pole with an offset of 90° from the secondary passive wheel. Therefore, six wheels as six contact members may embrace the exemplary vertical pole.

[0047] In exemplary embodiments, such utilization of six contact members for holding an exemplary pole-climbing robot on an exemplary vertical pole, where four active contact members facilitate ascending and descending movements of the exemplary pole-climbing device on the exemplary vertical pole may allow for developing a stable pole-climbing device that may be capable of climbing various types of vertical poles even with sudden changes in diameter and may further allow for developing a stable pole-climbing device capable of carrying large payloads. In exemplary embodiments, a pole-climbing device may be capable of carrying large payloads because the exemplary pole-climbing device may utilize the weight of the payload to create the required gripping force for stabilizing the exemplary pole-climbing device on an exemplary vertical pole. In other words, increase in normal forces exerted by exemplary six contact members of an exemplary pole-climbing robot onto an exemplary vertical pole due to an increase in the weight of an exemplary payload, may act as an automatic compensation for the increased payload.

[0048] FIG. 1A illustrates a perspective view of a pole-climbing device 1, consistent with one or more exemplary embodiments of the present disclosure. FIG. IB illustrates a top view of pole-climbing device 1, consistent with one or more exemplary embodiments of the present disclosure. FIG. 1C illustrates a side view of a right side portion of pole-climbing device 1, consistent with one or more exemplary embodiments of the present disclosure. FIG. ID illustrates a side view of a left side portion of pole-climbing device 1, consistent with one or more exemplary embodiments of the present disclosure.

[0049] Referring to FIGs. 1A-1D, in an exemplary embodiment, pole-climbing device 1 may include a primary support structure 10. Primary support structure 10 may include a primary vertical beam 102 and a primary horizontal beam 104. Primary horizontal beam 104 may be perpendicularly attached to primary vertical beam 102. Primary vertical beam 102 may be extended along and parallel to an exemplary vertical pole, such as vertical pole 13 illustrated by a broken line in FIG. 1C. In an exemplary embodiment, primary support structure 10 may be a T-shaped structure, in which primary horizontal beam 104 may be perpendicularly attached to a middle point of primary vertical beam 102.

[0050] In an exemplary embodiment, pole-climbing device 1 may further include a secondary support structure 10’. Secondary support structure 10’ may include a secondary vertical beam 102’ and a secondary horizontal beam 104’. Secondary horizontal beam 104’ may be perpendicularly attached to secondary vertical beam 102’. In an exemplary embodiment, secondary vertical beam 102 of pole-climbing device 1 may be pivotally coupled to primary vertical beam 102 of pole-climbing device 1 utilizing a number of hinges 1112. Secondary vertical beam 102’ may be pivotable about a pivot axis 1113 of hinges 1112. In an exemplary embodiment, pivot axis 1113 may be parallel to main axis 15 of vertical pole 13, which pole climbing device 1 is to climb. In exemplary embodiments, such connection of secondary vertical beam 102 and primary vertical beam 102 may allow for pivoting secondary horizontal beam 104’ away or toward primary horizontal beam 104. As will be discussed further in the following paragraphs, pivoting secondary horizontal beam 104’ away primary horizontal beam 104 may provide the required space for an exemplary vertical beam, such as vertical beam 13 to be positioned in the middle of pole-climbing device 1. After that, secondary horizontal beam 104’ may be pivoted toward primary horizontal beam 104 for pole-climbing device 1 to embrace vertical beam 13.

[0051] In an exemplary embodiment, pole-climbing device 1 may further include a primary movable arm 14 that may be pivotally coupled to primary vertical beam 102 from a proximal end of primary movable arm 14. Primary movable arm 14 may be extended along primary horizontal beam 104. In an exemplary embodiment, pole-climbing device 1 may further include a first primary active wheel 110 that may be rotatably coupled to a distal end of primary movable arm 14. In an exemplary embodiment, an axis 111 of rotation of first primary active wheel 110 may be perpendicular to both a main axis 103 of primary vertical beam 102 and a main axis 105 of primary horizontal beam 104. First primary active wheel 110 may be in contact with an outer surface of an exemplary vertical pole, which pole-climbing device 1 is to climb. In an exemplary embodiment, first primary active wheel 110 may be a wheel with a rubber surface that may provide adequate friction for stably ascending and descending an exemplary vertical pole. In an exemplary embodiment, first primary active wheel 110 may be a V-shaped or a bobbin-shaped wheel that embraces an exemplary vertical pole to avoid unwanted rolling in directions other than vertical direction.

[0052] In an exemplary embodiment, pole-climbing device 1 may further include a primary sliding member 12 that may be slidably coupled to primary horizontal beam 104. Primary sliding member 12 may be slidable along primary horizontal beam 104 along an axis parallel to main axis 105 of primary horizontal beam 104. In an exemplary embodiment, pole-climbing device 1 may further include a primary passive wheel 18 that may be rotatably coupled to primary sliding member 12. An axis 19 of rotation of primary passive wheel 18 may be parallel to axis 111 of rotation of first primary active wheel 110. Primary passive wheel 18 may be in contact with an outer surface of an exemplary vertical pole, such as vertical pole 13 illustrated by a broken line in FIG. 1C.

[0053] In an exemplary embodiment, pole-climbing device 1 may further include a second primary active wheel 112 that may be rotatably coupled to secondary horizontal beam 104’. An axis 113 of rotation of second primary active wheel 112 may be parallel to a main axis 105’ of secondary horizontal beam 104’. In an exemplary embodiment, axis 113 of rotation of second primary active wheel 112 may be parallel to axis 111 of rotation of first primary active wheel 110. Second primary active wheel 112 may be in contact with an outer surface of an exemplary vertical pole, such as vertical pole 13. In an exemplary embodiment, second primary active wheel 112 may be a wheel with a rubber surface that may provide adequate friction for stably ascending and descending an exemplary vertical pole. In an exemplary embodiment, second primary active wheel 112 may be a V-shaped or a bobbin-shaped wheel that embraces an exemplary vertical pole to avoid unwanted rolling in directions other than vertical direction. [0054] In an exemplary embodiment, pole-climbing device 1 may further include a secondary movable arm 14’ that may be pivotally coupled to secondary vertical beam 102’ from a proximal end of secondary movable arm 14’. Secondary movable arm 14’ may be extended along secondary horizontal beam 104’. In an exemplary embodiment, pole-climbing device 1 may further include a first secondary active wheel 110 that may be rotatably coupled to a distal end of secondary movable arm 14’. An axis 111’ of rotation of first secondary active wheel 110 may be perpendicular to both a main axis 103’ of an exemplary secondary vertical beam 102’ and a main axis 105’ of secondary horizontal beam 104’. First secondary active wheel 110 may be in contact with an outer surface of an exemplary vertical pole, which pole climbing device 1 is to climb.

[0055] In an exemplary embodiment, pole-climbing device 1 may further include a secondary sliding member 12’ that may be slidably coupled to secondary horizontal beam 104’. Secondary sliding member 12’ may be slidable along main axis 105’ of secondary horizontal beam 104’. In an exemplary embodiment, pole-climbing device 1 may further include a secondary passive wheel 18’ that may be rotatably coupled to secondary sliding member 12’. An axis 19’ of rotation of secondary passive wheel 18’ may be parallel to axis 111’ of rotation of first secondary active wheel 110’. Secondary passive wheel 18’ may be in contact with an outer surface of an exemplary vertical pole, which pole-climbing device 1 is to climb.

[0056] In an exemplary embodiment, pole-climbing device 1 may further include a second secondary active wheel 112’ that may be rotatably coupled to primary horizontal beam 104. An axis 113’ of rotation of second secondary active wheel 112’ may be parallel to main axis 105 of primary horizontal beam 104. Second secondary active wheel 112’ may be in contact with an outer surface of an exemplary vertical pole, such as vertical pole 13. In an exemplary embodiment, second secondary active wheel 112’ may be a wheel with a rubber surface that may provide adequate friction for stably ascending and descending an exemplary vertical pole. In an exemplary embodiment, second secondary active wheel 112’ may be a V-shaped or a bobbin-shaped wheel that embraces an exemplary vertical pole to avoid unwanted rolling in directions other than vertical direction.

[0057] In an exemplary embodiment, pole-climbing device 1 may further include a primary link 16 that may be pivotally coupled to primary sliding member 12 from a first end of primary link 16 and may be pivotally coupled to primary moveable arm 14 from a second opposite end of primary link 16. In an exemplary embodiment, pole-climbing device 1 may further include a secondary link 16’ that may be pivotally coupled to secondary sliding member 12’ from a first end of secondary link 16’ and may be pivotally coupled to secondary moveable 14’ arm from a second opposite end of secondary link 16’.

[0058] In exemplary embodiments, connecting primary sliding member 12 and primary moveable arm 14 utilizing a double -pivot link, such as primary link 16 may allow for transferring the movement of primary moveable arm 14 to primary sliding member 12. In other words, when primary moveable arm 14 pivots up and down around the pivot connection of primary moveable arm 14 and primary vertical beam 102, primary link 16 may transfer this pivoting motion to primary sliding member 12. Primary link 16 may further convert pivoting motion of primary moveable arm 14 to a linear sliding motion of primary sliding member 12. In exemplary embodiments, connecting primary sliding member 12 and primary moveable arm 14 utilizing a double-pivot link, such as primary link 16 may allow for simultaneous movement of first primary active wheel 110 and primary passive wheel 18 away or toward vertical pole 13.

[0059] In exemplary embodiments, connecting secondary sliding member 12’ and secondary moveable arm 14’ utilizing a double -pivot link, such as secondary link 16’ may allow for transferring the movement of secondary moveable arm 14’ to secondary sliding member 12’. In other words, when secondary moveable arm 14’ pivots up and down around the pivot connection of secondary moveable arm 14’ and secondary vertical beam 102’, secondary link 16’ may transfer this pivoting motion to secondary sliding member 12’. Secondary link 16’ may further convert pivoting motion of secondary moveable arm 14’ to a linear sliding motion of secondary sliding member 12’. In exemplary embodiments, connecting secondary sliding member 12’ and secondary moveable arm 14’ utilizing a double-pivot link, such as secondary link 16’ may allow for simultaneous movement of first secondary active wheel 110’ and secondary passive wheel 18’ away or toward vertical pole 13.

[0060] In an exemplary embodiment, pole-climbing device 1 may further include a first primary actuator 114 that may be coupled to first primary active wheel 110. First primary actuator 114 may be configured to drive a rotational movement of first primary active wheel 110 about axis 111. In an exemplary embodiment, first primary actuator 114 may include a first primary motor 1140 coupled to first primary active wheel 110 utilizing a first primary shaft 1142. First primary shaft 1142 may be configured to transfer the rotational movement of first primary motor 1140 to first primary active wheel 110. In an exemplary embodiment, first primary active wheel 110 may be connected to first primary motor 1140 via first primary shaft 1142 through, for example, a worm gearbox that may lock first primary active wheel 110 when first primary motor 1140 is not powered.

[0061] In an exemplary embodiment, pole-climbing device 1 may further include a second primary actuator 116 that may be coupled to second primary active wheel 112. Second primary actuator 116 may be configured to drive a rotational movement of second primary active wheel 112 about axis 113. In an exemplary embodiment, second primary actuator 116 may include a second primary motor 1160 coupled to second primary active wheel 112 utilizing a second primary shaft 1162. second primary shaft 1162 may be configured to transfer the rotational movement of second primary motor 1160 to second primary active wheel 112. In an exemplary embodiment, second primary active wheel 112 may be connected to second primary motor 1160 via second primary shaft 1162 through, for example, a worm gearbox that may lock second primary active wheel 112 when second primary motor 1160 is not powered.

[0062] In an exemplary embodiment, pole-climbing device 1 may further include a first secondary actuator 114’ that may be coupled to first secondary active wheel 110’. First secondary actuator 114’ may be configured to drive a rotational movement of first secondary active wheel 110’ about axis 111’. In an exemplary embodiment, first secondary actuator 114’ may include a first secondary motor 1140’ coupled to first secondary active wheel 110’ utilizing a first secondary shaft 1142’ . First secondary shaft 1142’ may be configured to transfer the rotational movement of first secondary motor 1140’ to first secondary active wheel 110’. In an exemplary embodiment, first secondary active wheel 110’ may be connected to first secondary motor 1140’ via first secondary shaft 1142’ through, for example, a worm gearbox that may lock first secondary active wheel 110’ when first secondary motor 1140’ is not powered.

[0063] In an exemplary embodiment, pole-climbing device 1 may further include a second secondary actuator 116’ that may be coupled to second secondary active wheel 112’. Second secondary actuator 116’ may be configured to drive a rotational movement of second secondary active wheel 112’ about axis 113’. In an exemplary embodiment, second secondary actuator 116’ may include a second secondary motor 1160’ coupled to second secondary active wheel 112’ utilizing a second secondary shaft 1162’. Second secondary shaft 1162’ may be configured to transfer the rotational movement of second secondary motor 1160’ to second secondary active wheel 112’. In an exemplary embodiment, second secondary active wheel 112’ may be connected to second secondary motor 1160’ via second secondary shaft 1162’ through, for example, a worm gearbox that may lock second secondary active wheel 112’ when second secondary motor 1160’ is not powered.

[0064] In an exemplary embodiment, pole-climbing device 1 may further include a first primary tension spring 118. First primary tension spring 118 may be coupled to primary vertical beam 102 from a proximal end of first primary tension spring 118. First primary tension spring 118 may further be coupled to a distal end of primary movable arm 14 from a distal end of the first primary tension spring 118. In an exemplary embodiment, first primary tension spring 118 may be extended along primary horizontal beam 104 and may be configured to draw the distal end of primary movable arm 14 toward primary vertical beam 102. In an exemplary embodiment, pole-climbing device 1 may further include a first primary spring actuator 119 that may be attached to primary vertical beam 102, where the proximal end of first primary tension spring 118 may be coupled to first primary spring actuator 119 instead of being directly coupled to primary vertical beam 102. First primary spring actuator 119 may be configured to roll in and draw first primary tension spring 118 towards primary vertical beam 102 and thereby extend first primary tension spring 118 to increase an inward force exerted by first primary tension spring 118 to the distal end of primary movable arm 14. In exemplary embodiments, such configuration of first primary tension spring 118 and first primary spring actuator 119 may allow for keeping the inward force exerted by first primary tension spring 118 to the distal end of primary movable arm 14 constant when there is a sudden change in the diameter of vertical pole 13. For example, when the diameter of vertical pole 13 suddenly decreases. [0065] In an exemplary embodiment, pole-climbing device 1 may further include a second primary tension spring 1110. Second primary tension spring 1110 may be coupled to primary vertical beam 102 from a proximal end of second primary tension spring 1110. Second primary tension spring 1110 may further be coupled to a first end of primary link 16 from a distal end of second primary tension spring 1110. In an exemplary embodiment, second primary tension spring 1110 may be extended along primary horizontal beam 104. Second primary tension spring 1110 may be configured to draw primary sliding member 12 toward primary vertical beam 102. In an exemplary embodiment, pole-climbing device 1 may further include a second primary spring actuator 1111 that may be attached to primary vertical beam 102, where the proximal end of second primary tension spring 118 may be coupled to second primary spring actuator 1111 instead of being directly coupled to primary vertical beam 102. Second primary spring actuator 1111 may be configured to extend second primary tension spring 118 by pulling second primary tension spring 118 towards vertical pole 13 when there is a sudden decrease in the diameter of pole 13.

[0066] In an exemplary embodiment, pole-climbing device 1 may further include a first secondary tension spring 118’. First secondary tension spring 118’ may be coupled to secondary vertical beam 102’ from a secondary end of first secondary tension spring 118’. First secondary tension spring 118’ may further be coupled to a distal end of secondary movable arm 14’ from a distal end of the first secondary tension spring 118’. In an exemplary embodiment, first secondary tension spring 118’ may be extended along secondary horizontal beam 104’ and may be configured to draw the distal end of secondary movable arm 14’ toward secondary vertical beam 102’. In an exemplary embodiment, pole-climbing device 1 may further include a first secondary spring actuator 119’ that may be attached to secondary vertical beam 102’, where the proximal end of first secondary tension spring 118’ may be coupled to first secondary spring actuator 119’ instead of being directly coupled to secondary vertical beam 102’. First secondary spring actuator 119’ may be configured to extend first secondary tension spring 118’ by pulling first secondary tension spring 118’ towards vertical pole 13 when there is a sudden decrease in the diameter of pole 13.

[0067] In an exemplary embodiment, pole-climbing device 1 may further include a second secondary tension spring 1110’. Second secondary tension spring 1110’ may be coupled to secondary vertical beam 102’ from a secondary end of second secondary tension spring 1110’. Second secondary tension spring 1110’ may further be coupled to a first end of secondary link 16’ from a distal end of second secondary tension spring 1110’. In an exemplary embodiment, second secondary tension spring 1110’ may be extended along secondary horizontal beam 104’. Second secondary tension spring 1110’ may be configured to draw secondary sliding member 12’ toward secondary vertical beam 102’ . In an exemplary embodiment, pole-climbing device 1 may further include a second secondary spring actuator 1111 that may be attached to secondary vertical beam 102’, where the proximal end of second secondary tension spring 118’ may be coupled to second secondary spring actuator 1111 instead of being directly coupled to secondary vertical beam 102’. Second secondary spring actuator 1111’ may be configured to extend second secondary spring actuator 1110’ by pulling second secondary spring actuator 1110’ towards vertical pole 13 when there is a sudden decrease in the diameter of pole 13. [0068] Referring to FIGs. 1A-1C, in an exemplary embodiment, primary moveable arm 14 of pole-climbing device 1 may include a first primary elongated portion 140 that may be extended along primary horizontal beam 104. In an exemplary embodiment, a proximal end of first primary elongated portion 140 may be pivotally coupled to primary vertical beam 102 at a first primary pivot point 144. First primary pivot point 144 may be positioned on rotational axis 113 of second primary active wheel 112 of pole-climbing device 1. In an exemplary embodiment, primary moveable arm 14 of pole-climbing device 1 may further include a second primary portion 142 that may be attached to a distal end of first primary elongated portion 140. In an exemplary embodiment, second primary portion 142 may be perpendicular to first primary elongated portion 140. First primary active wheel 110 may be mounted on second primary portion 142. In an exemplary embodiment, axis 111 of rotation of first primary active wheel 110 may be parallel to a main axis of second primary portion 142.

[0069] In an exemplary embodiment, primary link 16 may be pivotally coupled to first primary elongated portion 140 at a second primary pivot point 160 on first primary elongated portion 140. Pivot axis of primary link 16 at second primary pivot point 160 may be parallel to a pivot axis of first primary elongated portion 140 at first primary pivot point 144. [0070] In an exemplary embodiment, primary moveable arm 14 may further include a first primary sliding mechanism 145 that may be attached to second primary portion 142. First primary active wheel 110 may be mounted on first primary sliding mechanism 145. In an exemplary embodiment, first primary sliding mechanism 145 may include a first primary sliding track 146 that may be attached to second primary portion 142. First primary sliding track 146 may be extended along and parallel to second primary portion 142. In an exemplary embodiment, first primary sliding mechanism 145 may further include a first primary slider 148 that may be slidably mounted on first primary sliding track 146. First primary active wheel 110 may be mounted on first primary slider 148, where first primary active wheel 110 may slide along second primary portion 142.

[0071] In an exemplary embodiment, pole-climbing device 1 may further include a second primary sliding mechanism 109 that may be attached to primary horizontal beam 104. Primary sliding member 12 may be slidably coupled to second primary sliding mechanism 109. In an exemplary embodiment, second primary sliding mechanism 109 may include a second primary sliding track 106 that may be attached to primary horizontal beam 104. Second primary sliding track 106 may be extended along and parallel to primary horizontal beam 104. In an exemplary embodiment, second primary sliding mechanism 109 may further include a second primary slider 108 that may be slidably mounted on second primary sliding track 106. Primary sliding member 12 may be mounted on second primary slider 108.

[0072] In an exemplary embodiment, primary sliding member 12 may include a primary horizontal sliding beam 120 that may be parallel to second primary portion 142. In an exemplary embodiment, primary passive wheel 18 may be mounted on primary horizontal sliding beam 120. A rotational axis of primary passive wheel 18 may be parallel to a main axis of primary horizontal sliding beam 120. In an exemplary embodiment, primary link 16 may be pivotally coupled to primary horizontal sliding beam 120 at a third primary pivot point 162 on primary horizontal sliding beam 120. First primary pivot point 144, second primary pivot point 160 and third primary pivot point 162 may be on a vertical plane parallel to main axis 15 of vertical pole 13. Exemplary pivot axes at first primary pivot point 144, second primary pivot point 160 and third primary pivot point 162 may be perpendicular to the aforementioned vertical plane.

[0073] Referring to FIGs. 1A, IB, and ID, in an exemplary embodiment, secondary moveable arm 14’ of pole-climbing device 1 may include a first secondary elongated portion 140’ that may be extended along secondary horizontal beam 104’. In an exemplary embodiment, a proximal end of first secondary elongated portion 140’ may be pivotally coupled to secondary vertical beam 102’ at a first secondary pivot point 144’. First secondary pivot point 144’ may be positioned on rotational axis 113’ of second secondary active wheel 112’ of pole-climbing device 1. In an exemplary embodiment, secondary moveable arm 14’ of pole-climbing device 1 may further include a second secondary portion 142’ that may be attached to a distal end of first secondary elongated portion 140’ . In an exemplary embodiment, second secondary portion 142’ may be perpendicular to first secondary elongated portion 140’. First secondary active wheel 110’ may be mounted on second secondary portion 142’. In an exemplary embodiment, axis 111 of rotation of first secondary active wheel 110 may be parallel to a main axis of second secondary portion 142’ .

[0074] In an exemplary embodiment, secondary link 16’ may be pivotally coupled to first secondary elongated portion 140’ at a second secondary pivot point 160’ on first secondary elongated portion 140’ . Pivot axis of secondary link 16’ at second secondary pivot point 160’ may be parallel to a pivot axis of first secondary elongated portion 140’ at first secondary pivot point 144’ .

[0075] In an exemplary embodiment, secondary moveable arm 14’ may further include a first secondary sliding mechanism 145’ that may be attached to second secondary portion 142’. First secondary active wheel 110’ may be mounted on first secondary sliding mechanism 145’. In an exemplary embodiment, first secondary sliding mechanism 145’ may include a first secondary sliding track 146’ that may be attached to second secondary portion 142’. First primary sliding track 146’ may be extended along and parallel to second secondary portion 142’. In an exemplary embodiment, first secondary sliding mechanism 145’ may further include a first secondary slider 148’ that may be slidably mounted on first secondary sliding track 146’. First secondary active wheel 110’ may be mounted on first secondary slider 148’, where first secondary active wheel 110’ may slide along second secondary portion 142’. [0076] In an exemplary embodiment, pole-climbing device 1 may further include a second secondary sliding mechanism 109’ that may be attached to secondary horizontal beam 104’ . Secondary sliding member 12’ may be slidably coupled to second secondary sliding mechanism 109’. In an exemplary embodiment, second secondary sliding mechanism 109’ may include a second secondary sliding track 106’ that may be attached to secondary horizontal beam 104’. Second secondary sliding track 106’ may be extended along and parallel to secondary horizontal beam 104’. In an exemplary embodiment, second secondary sliding mechanism 109’ may further include a second secondary slider 108’ that may be slidably mounted on second secondary sliding track 106’. Primary sliding member 12’ may be mounted on second secondary slider 108’.

[0077] In an exemplary embodiment, secondary sliding member 12’ may include a secondary horizontal sliding beam 120’ that may be parallel to second secondary portion 142’. In an exemplary embodiment, secondary passive wheel 18’ may be mounted on secondary horizontal sliding beam 120’. A rotational axis of secondary passive wheel 18’ may be parallel to a main axis of secondary horizontal sliding beam 120’ . In an exemplary embodiment, secondary link 16’ may be pivotally coupled to secondary horizontal sliding beam 120’ at a third secondary pivot point 162’ on secondary horizontal sliding beam 120’. First secondary pivot point 144’, second secondary pivot point 160’ and third secondary pivot point 162’ may be on a vertical plane 163’ parallel to a main axis of vertical pole 13’. Exemplary pivot axes at first secondary pivot point 144’, second secondary pivot point 160’ and third secondary pivot point 162’ may be perpendicular to vertical plane 163’.

[0078] Referring to FIG. 1C, in an exemplary embodiment, pole-climbing device 1 may further include a payload 1114 mounted on an extension beam 1116 attached to the proximal end of primary moveable arm 14. In an exemplary embodiment, extension beam 1116 may be an extension of primary moveable arm 14 beyond first primary pivot point 144 such that payload 1114 may be mounted at a distance 1118 from main axis 15 of vertical pole 13. In exemplary embodiments, such arrangement of payload 1114 and extension beam 1116 may allow for primary moveable arm 14 to pivot about first primary pivot point 144 under the weight of payload 1114. In an exemplary embodiment, payload 1114 may include equipment that must be carried by pole-climbing device 1 to the top of vertical pole 13, such as washing equipment. In an exemplary embodiment, payload 1114 may further include batteries and other mechanisms that may be necessary for pole-climbing device 1 to work. In an exemplary embodiment, as primary moveable arm 14 pivots under the weight of payload 1114, primary link 16 further forces primary sliding member 12 to slide towards vertical pole 13. This way, first primary active wheel 110 and primary passive wheel 18 may be pressed against the outer surface of vertical pole 13. The heavier the payload 1114, the better the stability of pole climbing device 1, because pole-climbing device 1 may utilize payload 1114 to create the required friction force at contact points of first primary active wheel 110, second primary active wheel 112, and primary passive wheel 18.

[0079] FIGs. 2A and 2B illustrate a schematic side-view of a right side portion of pole climbing device 1, consistent with one or more exemplary embodiments of the present disclosure. FIGs. 2C and 2D illustrate a schematic side-view of a left side portion of pole climbing device 1, consistent with one or more exemplary embodiments of the present disclosure.

[0080] Referring to FIG. 2A, in an exemplary embodiment, pole-climbing device 1 may be placed around vertical pole 13. As was discussed in preceding sections, payload 1114 may be attached to extension beam 1116 which may be attached to primary moveable arm 14. Primary moveable arm 14 may be coupled to primary support structure 10 utilizing first primary pivot joint 144. Since payload 1114 may be mounted on extension beam 1116 at a distance away from a main axis of first primary pivot joint 144, under the weight of payload 1114, primary moveable arm 14 may be forced to pivot about first primary pivot joint 144 in a direction shown by arrow 202. Primary link 16 may transfer this pivoting motion of primary moveable arm 14 to primary passive wheel 18 and may draw primary passive wheel towards vertical pole 13 along a linear sliding path shown by arrow 204. As can be seen in FIG. 2B, first primary active wheel 110 and primary passive wheel 18 may be pressed against vertical pole 13 under the weight of payload 1114. From the other side of vertical pole 13, second primary active wheel 112 may also contact an outer surface of vertical pole 13. After that, pole-climbing device 1 may utilize first primary active wheel 110 and second primary active wheel 112 to ascend or descend along vertical pole 13.

[0081] Referring to FIG. 2C, in an exemplary embodiment, payload 1114 may be further attached to secondary moveable arm 14’. Secondary moveable arm 14’ may be coupled to secondary support structure 10’ utilizing first secondary pivot joint 144’. Since payload 1114 may be mounted at a distance away from a main axis of first secondary pivot joint 144’, under the weight of payload 1114, secondary moveable arm 14’ may be forced to pivot about first secondary pivot joint 144’ in a direction shown by arrow 206’. Secondary link 16’ may transfer this pivoting motion of secondary moveable arm 14’ to secondary passive wheel 18’ and may draw secondary passive wheel towards vertical pole 13 along a linear sliding path shown by arrow 208’. As can be seen in FIG. 2D, first secondary active wheel 110’ and secondary passive wheel 18’ may be pressed against vertical pole 13 under the weight of payload 1114. From the other side of vertical pole 13, second secondary active wheel 112’ may also contact an outer surface of vertical pole 13. After that, pole-climbing device 1 may utilize first secondary active wheel 110 and second secondary active wheel 112 to ascend or descend along vertical pole 13.

[0082] The foregoing description of the specific embodiments will so fully reveal the general nature of the disclosure that others can, by applying knowledge within the skill of the art, readily modify and/or adapt for various applications such specific embodiments, without undue experimentation, without departing from the general concept of the present disclosure. Therefore, such adaptations and modifications are intended to be within the meaning and range of equivalents of the disclosed embodiments, based on the teaching and guidance presented herein. It is to be understood that the phraseology or terminology herein is for the purpose of description and not of limitation, such that the terminology or phraseology of the present specification is to be interpreted by the skilled artisan in light of the teachings and guidance.

[0083] The breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments but should be defined only in accordance with the following claims and their equivalents.

[0084] Throughout this specification and the claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps but not to the exclusion of any other integer or step or group of integers or steps.

[0085] Moreover, the word "substantially" when used with an adjective or adverb is intended to enhance the scope of the particular characteristic; e.g., substantially planar is intended to mean planar, nearly planar and/or exhibiting characteristics associated with a planar element. Further use of relative terms such as “vertical”, “horizontal”, “up”, “down”, and “side-to-side” are used in a relative sense to the normal orientation of the apparatus.

Claims

What is claimed is:

1. A pole-climbing device moveable along a vertical pole, the device comprising: a primary support structure comprising: a primary vertical beam extended along and parallel to the vertical pole; and a primary horizontal beam attached and perpendicular to the primary vertical beam; a secondary support structure comprising: a secondary vertical beam extended along and parallel to the vertical pole, the secondary vertical beam pivotally coupled to the primary vertical beam; and a secondary horizontal beam attached and perpendicular to the secondary vertical beam; a primary movable arm pivotally coupled to the primary vertical beam from a proximal end of the primary movable arm, the primary movable arm extended along the primary horizontal beam; a first primary active wheel rotatably coupled to a distal end of the primary movable arm, an axis of rotation of the first primary active wheel perpendicular to a main axis of the primary vertical beam and a main axis of the primary horizontal beam, the first primary active wheel in contact with an outer surface of the vertical pole; a primary sliding member slidably coupled to the primary horizontal beam, the primary sliding member slidable along the primary horizontal beam; a primary passive wheel rotatably coupled to the primary sliding member, an axis of rotation of the primary passive wheel parallel to the axis of rotation of the first primary active wheel, the primary passive wheel in contact with an outer surface of the vertical pole; a second primary active wheel rotatably coupled to the secondary horizontal beam, an axis of rotation of the second primary active wheel parallel to a main axis of the secondary horizontal beam, the second primary active wheel in contact with an outer surface of the vertical pole; a secondary movable arm pivotally coupled to the secondary vertical beam from a proximal end of the secondary movable arm, the secondary movable arm extended along the secondary horizontal beam; a first secondary active wheel rotatably coupled to a distal end of the secondary movable arm, an axis of rotation of the first secondary active wheel perpendicular to a main axis of the secondary vertical beam and a main axis of the secondary horizontal beam, the first secondary active wheel in contact with an outer surface of the vertical pole; a secondary sliding member slidably coupled to the secondary horizontal beam, the secondary sliding member slidable along the secondary horizontal beam; a secondary passive wheel rotatably coupled to the secondary sliding member, an axis of rotation of the secondary passive wheel parallel to the axis of rotation of the first secondary active wheel, the secondary passive wheel in contact with an outer surface of the vertical pole; and a second secondary active wheel rotatably coupled to the primary horizontal beam, an axis of rotation of the second secondary active wheel parallel to a main axis of the primary horizontal beam, the second secondary active wheel in contact with an outer surface of the vertical pole.

2. The device of claim 1, further comprising a primary link, the primary link pivotally coupled to the primary sliding member from a first end of the primary link, the primary link further pivotally coupled to the primary movable arm from a second opposite end of the primary link.

3. The device of claim 2, further comprising a secondary link, the secondary link pivotally coupled to the secondary sliding member from a first end of the secondary link, the secondary link further pivotally coupled to the secondary movable arm from a second opposite end of the secondary link.

4. The device of claim 3, further comprising a first primary actuator coupled to the first primary active wheel, the first primary actuator configured to drive a rotational movement of the first primary active wheel about the axis of rotation of the first primary active wheel.

5. The device of claim 3, further comprising a second primary actuator coupled to the second primary active wheel, the second primary actuator configured to drive a rotational movement of the second primary active wheel about the axis of rotation of the second primary active wheel.

6. The device of claim 3, further comprising a first secondary actuator coupled to the first secondary active wheel, the first secondary actuator configured to drive a rotational movement of the first secondary active wheel about the axis of rotation of the first secondary active wheel.

7. The device of claim 3, further comprising a second secondary actuator coupled to the second secondary active wheel, the second secondary actuator configured to drive a rotational movement of the second secondary active wheel about the axis of rotation of the second secondary active wheel.

8. The device of claim 3, further comprising a first primary tension spring, the first primary tension spring coupled to the primary vertical beam from a proximal end of the first primary tension spring, the first primary tension spring coupled to the distal end of the primary movable arm from a distal end of the first primary tension spring, the first primary tension spring extended along the primary horizontal beam, the first primary tension spring configured to draw the distal end of the primary movable arm toward the primary vertical beam.

9. The device of claim 8, further comprising a second primary tension spring, the second primary tension spring coupled to the primary vertical beam from a proximal end of the second primary tension spring, the second primary tension spring coupled to the first end of the primary link from a distal end of the second primary tension spring, the second primary tension spring extended along the primary horizontal beam, the second primary tension spring configured to draw the primary sliding member toward the primary vertical beam.

10. The device of claim 3, further comprising a first secondary tension spring, the first secondary tension spring coupled to the secondary vertical beam from a proximal end of the first secondary tension spring, the first secondary tension spring coupled to the distal end of the secondary movable arm from a distal end of the first secondary tension spring, the first secondary tension spring extended along the secondary horizontal beam, the first secondary tension spring configured to draw the distal end of the secondary movable arm toward the secondary vertical beam.

11. The device of claim 10, further comprising a second secondary tension spring, the second secondary tension spring coupled to the secondary vertical beam from a proximal end of the second secondary tension spring, the second secondary tension spring coupled to the first end of the secondary link from a distal end of the second secondary tension spring, the second secondary tension spring extended along the secondary horizontal beam, the second secondary tension spring configured to draw the secondary sliding member toward the secondary vertical beam.

12. The device of claim 1, wherein the secondary vertical beam pivotally coupled to the primary vertical beam utilizing at least one hinge, the secondary vertical beam pivotable about a pivot axis of the at least one hinge, the pivot axis of the at least one hinge parallel to the main axis of the vertical pole.

13. The device of claim 1, wherein the primary movable arm comprises: a first primary elongated portion extended along the primary horizontal beam, a proximal end of the first primary elongated portion pivotally coupled to the vertical beam at a first primary pivot point, the first primary pivot point on the rotational axis of the second primary active wheel; and a second primary portion attached to a distal end of the first primary elongated portion, the second primary portion perpendicular to the first primary elongated portion, wherein, the first primary active wheel mounted on the second portion, the axis of rotation of the first primary active wheel parallel to a main axis of the second primary portion.

14. The device of claim 13, wherein the primary link pivotally coupled to the first primary elongated portion at a second primary pivot point on the first primary elongated portion, a pivot axis of the primary link at the second primary pivot point parallel to a pivot axis of first primary elongated portion at the first primary pivot point.

15. The device of claim 13, wherein the primary movable arm further comprises a first primary sliding mechanism attached to the second primary portion, the first primary active wheel mounted on the first primary sliding mechanism, the first primary sliding mechanism comprising: a first primary sliding track attached to the second primary portion, the first primary sliding track extended along and parallel to the second primary portion; and a first primary slider slidably mounted on the first primary sliding track, the first primary active wheel mounted on the first primary slider, wherein, the first primary active wheel slidable along the second primary portion.

16. The device of claim 15, further comprising a second primary sliding mechanism attached to the primary horizontal beam, the primary sliding member slidably coupled to the second primary sliding mechanism, the second primary sliding mechanism comprising: a second primary sliding track attached to the primary horizontal beam, the second primary sliding track extended along and parallel to the primary horizontal beam; and a second primary slider slidably mounted on the second primary sliding track, the primary sliding member mounted on the second primary slider.

17. The device of claim 16, wherein the primary sliding member comprises a primary horizontal sliding beam parallel to the second primary portion, the primary passive wheel mounted on the primary horizontal sliding beam, the rotational axis of the primary passive wheel parallel to a main axis of the primary horizontal sliding beam.

18. The device of claim 17, wherein the primary link pivotally coupled to the primary horizontal sliding beam at a third primary pivot point on the primary horizontal sliding beam, and wherein, the first primary pivot point, the second primary pivot point and the third primary pivot point on a vertical plane parallel to the main axis of the vertical pole, pivot axes at the first primary pivot point, the second primary pivot point and the third primary pivot point perpendicular to the vertical plane.

19. The device of claim 18, further comprising: an extension beam attached to the primary movable arm, the extension beam extending the primary moveable arm beyond the first primary pivot point; and a payload mounted on a first end of the extension beam, the first end of the extension beam away from the main axis of the vertical pole.

20. The device of claim 1, wherein the secondary movable arm comprises: a first secondary elongated portion extended along the secondary horizontal beam, a proximal end of the first secondary elongated portion pivotally coupled to the vertical beam at a first secondary pivot point, the first secondary pivot point on the rotational axis of the second secondary active wheel; and a second secondary portion attached to a distal end of the first secondary elongated portion, the second secondary portion perpendicular to the first secondary elongated portion, wherein, the first secondary active wheel mounted on the second secondary portion, the axis of rotation of the first secondary active wheel parallel to a main axis of the second secondary portion.

21. The device of claim 20, wherein the secondary link pivotally coupled to the first secondary elongated portion at a second secondary pivot point on the first secondary elongated portion, a pivot axis of the secondary link at the second secondary pivot point parallel to a pivot axis of first secondary elongated portion at the first secondary pivot point.

22. The device of claim 20, wherein the secondary movable arm further comprises a first secondary sliding mechanism attached to the second secondary portion, the first secondary active wheel mounted on the first secondary sliding mechanism, the first secondary sliding mechanism comprising: a first secondary sliding track attached to the second secondary portion, the first secondary sliding track extended along and parallel to the second secondary portion; and a first secondary slider slidably mounted on the first secondary sliding track, the first secondary active wheel mounted on the first secondary slider, wherein, the first secondary active wheel slidable along the second secondary portion.

23. The device of claim 22, further comprising a second secondary sliding mechanism attached to the secondary horizontal beam, the secondary sliding member slidably coupled to the second secondary sliding mechanism, the second secondary sliding mechanism comprising: a second secondary sliding track attached to the secondary horizontal beam, the second secondary sliding track extended along and parallel to the secondary horizontal beam; and a second secondary slider slidably mounted on the second secondary sliding track, the secondary sliding member mounted on the second secondary slider.

24. The device of claim 23, wherein the secondary sliding member comprises a secondary horizontal sliding beam parallel to the second secondary portion, the secondary passive wheel mounted on the secondary horizontal sliding beam, the rotational axis of the secondary passive wheel parallel to a main axis of the secondary horizontal sliding beam.

25. The device of claim 24, wherein the secondary link pivotally coupled to the secondary horizontal sliding beam at a third secondary pivot point on the secondary horizontal sliding beam, and wherein, the first secondary pivot point, the second secondary pivot point and the third secondary pivot point on a vertical plane parallel to the main axis of the vertical pole, pivot axes at the first secondary pivot point, the second secondary pivot point and the third secondary pivot point perpendicular to the vertical plane.