A climbing bionic robot for angle steel tower

Abstract

The application discloses a corner tower climbing bionic robot, which comprises a main machine, symmetrical double feet, a steering mechanism and a multi-stage telescopic arm. The feet are provided with L-shaped slot clamping claws and pressure sensors, so that the corner steel can be stably gripped in a cladding type force closed mode. The posture is adjusted through the cooperation of a rolling and yawing steering engine and a screw rod drive, and the self-adaptive centering and reliable clamping are realized in combination with pressure feedback. The whole adopts inchworm gait to realize continuous climbing and crossing between the main material and the cross arm, has multi-degree-of-freedom space motion capability and good obstacle crossing performance, and can be used for corner steel tower inspection and maintenance operation, thereby effectively reducing the risk of manual high-altitude operation.

Description

Technical Field

[0001] This invention relates to the field of climbing robots for power operations, and more particularly to a biomimetic robot for climbing angle steel towers. Background Technology

[0002] Angle steel towers are important carriers for power transmission, playing a vital role in overhead lines, bearing the tension of power lines, and crossing obstacles. With increasing electricity demand, angle steel towers have been widely constructed throughout the country. However, long-term exposure to the natural environment has led to structural corrosion, necessitating regular tower maintenance. To reduce reliance on manual labor for maintenance, research into angle steel tower climbing robots has become a new hot topic in the field of power operations.

[0003] Existing angle steel tower climbing robots include magnetic and clamping types. Magnetic robots are fixed in position solely by the attraction of the magnetic surface, posing a certain risk of falling off; while clamping robots, such as Figure 1 As shown on the left, when clamping angle steel with an L-shaped cross-section, due to the angle steel's special shape, the grippers can usually only grasp one right-angled side of the angle steel, failing to achieve a full-wrap gripping of the entire angle steel, increasing the risk of the robot falling. To achieve a more stable gripping method, some robots increase the number of grippers so that the robot can simultaneously grasp both right-angled sides of the angle steel, such as... Figure 1 As shown on the right, increasing gripping fulcrums improves gripping stability and reduces the risk of falling. However, this method only allows for wrapping gripping from the outside of the angle steel, resulting in a complex gripper structure, heavy weight, and poor flexibility. Furthermore, due to the complexity of the angle steel tower in both the horizontal and vertical directions, the robot needs sufficient degrees of freedom; otherwise, it cannot successfully traverse structurally complex areas. In conclusion, there is an urgent need to develop a climbing robot that balances gripping stability with climbing freedom. Summary of the Invention

[0004] Purpose of the invention: To address the above-mentioned shortcomings, this invention provides a biomimetic robot for climbing angle steel towers. When gripping, it can completely surround the angle steel to form a force-closed grip, eliminating the risk of slippage, providing high grip stability, and having a high degree of freedom, enabling free movement in multiple directions.

[0005] Technical solution: To solve the above problems, the present invention adopts an angle steel tower climbing bionic robot, including a main unit, two first feet installed on both sides of the main unit, a first steering mechanism connected to the first feet, a telescopic arm connected to the first steering mechanism, a second steering mechanism connected to the telescopic arm, and a second foot connected to the second steering mechanism.

[0006] The first and second feet have the same structure, including a fixed base, a clamping claw, and a movable base. The clamping claw is hinged to the fixed base, and a clamping drive device is installed inside the fixed base to drive the clamping claw to open and close. The clamping claw is used to grip the top of the two right-angled surfaces of the angle steel. The movable base is movably connected to the fixed base, and a compression spring is provided between the movable base and the fixed base. When no external force is applied, the movable base and the fixed base do not contact each other under the action of the compression spring. The movable base is provided with an L-shaped groove for pressing the right angle of the angle steel. Several pressure sensors are installed on the side of the fixed base near the movable base to detect the pressure applied by the movable base to different positions of the fixed base.

[0007] The first steering mechanism and the second steering mechanism have the same structure, including a roll servo and a yaw servo fixedly connected to the roll servo. The roll servo is connected to the foot, and the yaw servo is connected to the telescopic arm. The output shaft axis of the roll servo and the output shaft axis of the yaw servo are perpendicular to each other.

[0008] The main unit includes a frame, a battery pack mounted on the frame, and a controller; the battery pack is used to power the clamping drive device, the roll servo, the roll servo and the telescopic arm, and the controller is used to receive pressure sensor data and control the clamping drive device, the roll servo, the roll servo and the telescopic arm.

[0009] Furthermore, both the movable base and the fixed base have grooves, and coaxial guide columns are installed in the grooves. A compression spring is sleeved on the guide columns. The fixed base also has a strip hole, and a bolt is installed on the movable base. The bolt is located in the strip hole, and the bolt slides in the strip hole as the compression spring extends and retracts.

[0010] Furthermore, the gripper includes a swing slider and a gripper. The swing slider is U-shaped and has an opening for the gripper to pass through. The swing slider is connected to a fixed base. One end of the gripper is connected to the output shaft of the gripping drive device, and the other end of the gripper extends through the opening on the swing slider. The gripping drive device drives the gripper to slide within the opening and achieves gripping and releasing of the diagonal steel tower.

[0011] Furthermore, it includes at least two pressure sensors, the mounting surfaces of which are perpendicular to the opening and closing plane of the gripper, and the two pressure sensors are symmetrically arranged on both sides of the opening and closing plane of the gripper.

[0012] Furthermore, the telescopic arm includes a first telescopic arm, a second telescopic arm, a first telescopic drive device, a second telescopic drive device, and a third telescopic drive device. One end of the first telescopic arm is hinged to one end of the second telescopic arm, and the other end of the first telescopic arm is hinged to a first steering mechanism. The other end of the second telescopic arm is hinged to a second steering mechanism. One end of the first telescopic drive device is hinged to the middle of the first telescopic arm, and the other end of the first telescopic drive device is hinged to the middle of the second telescopic arm. One end of the second telescopic drive device is hinged to the middle of the first telescopic arm, and the other end of the second telescopic drive device is hinged to the first steering mechanism. One end of the third telescopic drive device is hinged to the middle of the second telescopic arm, and the other end of the third telescopic drive device is hinged to the second steering mechanism. The first telescopic drive device is used to change the angle between the first telescopic arm and the second telescopic arm, the second telescopic drive device is used to change the angle between the first steering mechanism and the first telescopic arm, and the third telescopic drive device is used to change the angle between the second steering mechanism and the second telescopic arm.

[0013] Furthermore, the yaw servo is hinged to the first telescopic arm or the second telescopic arm via a hinged seat, and the hinged seat is also hinged to the second telescopic drive device or the third telescopic drive device; a connecting plate is installed on the output shaft of the yaw servo, the roll servo is fixedly installed on the connecting plate, a second foot mounting plate is installed on the output shaft of the roll servo, and the first foot or the second foot is installed on the foot mounting plate.

[0014] Furthermore, the clamping drive device, the first telescopic drive device, the second telescopic drive device, and the third telescopic drive device are all lead screw motors.

[0015] Furthermore, the frame is provided with first foot mounting plates on both sides, and the first feet are mounted on the first foot mounting plates; a support platform for placing carrying equipment is provided on the side of the frame away from the opening and closing direction of the first feet.

[0016] Furthermore, a circular groove is formed at the right angle of the L-shaped groove to reduce stress.

[0017] Furthermore, the controller adjusts the gripping angles of the first and second feet based on pressure sensor data. Specifically, when the pressure data from several pressure sensors are different, the angle between the telescopic arm and the first or second foot is adjusted so that the foot rotates to the side with less pressure until the pressure data from each pressure sensor is the same. Then, the foot angle is kept constant, and the clamping drive device is activated so that the clamping claws grip the angle steel. When the pressure measured by the pressure sensor reaches the preset value, the clamping drive device is turned off.

[0018] Beneficial effects: Compared with the prior art, the significant advantages of this invention are (1) the L-shaped groove and the gripper cooperate to achieve force closure and joint gripping of the angle steel, realizing complete encirclement of the angle steel, so that there is no risk of slippage in the gripping and enhancing the stability of the robot climbing; (2) the gripping angle of the gripper is adjusted by the pressure value detected by the pressure sensor on both sides, ensuring that the angle steel falls into the L-shaped groove in parallel, further enhancing the gripping firmness; (3) the multi-directional rotation is realized by the steering mechanism, improving the robot's climbing freedom and helping the robot to cross the complex area of ​​the angle steel tower; (4) the telescopic arm has a large span, which is conducive to crossing the crossarm and node plate; (5) the main unit can be equipped with equipment, and the screw motor provides a large torque, improving the robot's carrying capacity. Attached Figure Description

[0019] Figure 1 The diagram shows the non-wrapped gripping force points of L-steel (left) and the wrapped gripping force points (right).

[0020] Figure 2 This is a schematic diagram of the overall structure of the climbing bionic robot of the present invention;

[0021] Figure 3 This is a side view of the climbing biomimetic robot of the present invention;

[0022] Figure 4 This is a schematic diagram of the host structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the connection structure between the main unit and the foot of the present invention;

[0024] Figure 6 This is a schematic diagram of the first foot structure of the present invention;

[0025] Figure 7 This is a cross-sectional view of the first foot of the present invention;

[0026] Figure 8 This is a schematic diagram of the first foot of the present invention gripping angle steel of different sizes;

[0027] Figure 9 This is a schematic diagram of the first foot gripping angle steel of the present invention in a non-parallel state;

[0028] Figure 10 This is a schematic diagram of the telescopic arm and steering mechanism of the present invention;

[0029] Figure 11 This is a schematic diagram of the climbing process of the climbing bionic robot of the present invention;

[0030] Figure 12 This is a schematic diagram of the climbing bionic robot of the present invention crossing angle steel in different directions. Detailed Implementation

[0031] like Figure 2 and Figure 3 As shown in the figure, this embodiment is a biomimetic robot for climbing angle steel towers. The robot has a symmetrical structure and includes a main body 1, two first feet 2 installed on both sides of the main body 1, a first steering mechanism 3 connected to the first feet 2, a telescopic arm 4 connected to the first steering mechanism 3, a second steering mechanism 5 connected to the telescopic arm 4, and a second foot 6 connected to the second steering mechanism 5.

[0032] like Figure 4 and Figure 5 As shown, the main unit 1 includes a frame 11, a battery pack 12 mounted on the frame 11, and a controller 13. The frame 11 is rectangular, and the battery pack 12 is installed inside the frame 11. The side walls of the frame 11 have a hollow structure to facilitate heat dissipation from the battery pack. The controller 13 is mounted on the top of the frame 11. The battery pack 12 is used to power the robot, and the controller 13 is used to control the robot's various drive components. First foot mounting plates 14 are provided on both sides of the frame 11, and the first feet are mounted on the first foot mounting plates 14. A support platform 15 is provided above the controller 13. The support platform 15 is connected to the frame 11 through connecting columns, and the support platform 15 is used to place the equipment needed for maintenance.

[0033] like Figure 6 and Figure 7 As shown, the first foot 2 includes a fixed base 21, a clamping claw 22, and a movable base 23. The fixed base 21 is bolted to the first foot mounting plate 14. A clamping drive device 24 is installed inside the fixed base 21, and a pull rod 241 is installed on the output shaft of the clamping drive device 24.

[0034] The gripper 22 includes a swing slider 221 and a gripper 222. The swing slider 221 is U-shaped and has an opening for the gripper 222 to pass through. The swing slider 221 is connected to the fixed base 21 and can limit the movement of the gripper 222. One end of the gripper 222 is connected to the pull rod 241, and the other end of the gripper 222 extends through the opening in the swing slider 221. The gripping end of the gripper 222 is provided with a pad. The gripping drive device 24 drives the gripper 222 to slide within the opening and realize the gripping and releasing of the angle steel. Specifically, when the output rod of the gripping drive device 24 extends, the gripper 222 retracts upward to grip; when the output rod of the gripping drive device 24 retracts, the gripper 222 moves downward and releases. Figure 8 As shown, the gripper 222 can automatically adapt to angle steel of different sizes. When the angle steel is small, the extension stroke of the output shaft of the clamping drive device 24 is larger, and vice versa, so that the top of the right-angle side of the angle steel can be pressed against the pad to achieve gripping.

[0035] The movable base 23 is provided with an L-shaped groove 231 for pressing the right angle of the angle steel. A circular groove is cut at the right angle of the L-shaped groove 231 to reduce stress. The movable base 23 and the fixed base 21 are movably connected by a compression spring and bolts. Specifically, both the movable base 23 and the fixed base 21 have grooves, in which coaxial guide posts are installed, and the compression spring 25 is sleeved on the guide posts. The fixed base 21 also has a slotted hole, and a bolt is installed on the movable base 23. The bolt is located within the slotted hole and slides within the slotted hole as the compression spring 25 extends and retracts. A certain amount of slack is left between the movable base 23 and the fixed base 21 for subsequent adjustment of the angle steel gripping angle.

[0036] Two thin-film pressure sensors 26 are installed on the side of the fixed base 21 near the movable base 23. The mounting surfaces of the two thin-film pressure sensors 26 are perpendicular to the opening and closing plane of the clamping claw 22. The two thin-film pressure sensors 26 are symmetrically arranged on both sides of the opening and closing plane of the clamping claw 22 to detect the pressure applied by the movable base 23 to the front and rear sides of the fixed base 21.

[0037] When no external force is applied, the movable base 23 and the fixed base 21 do not contact each other under the action of the compression spring. When the gripper grasps the angle steel, the right angle of the angle steel falls into the range of the L-shaped groove 231, and the top of the two right angle sides of the angle steel abuts against the pad of the gripper 222. The entire foot grips the angle steel with force closure, eliminating the risk of slippage. In the gripping state, the compression spring 25 is further compressed, and the movable base 23 approaches and contacts the fixed base 21. The thin-film pressure sensor 26 detects the pressure applied by the movable base 23 to the front and rear sides of the fixed base 21.

[0038] like Figure 9 As shown, during gripping, the gripping angle is adjusted based on the data from the thin-film pressure sensor 26, ensuring that the right angle of the angle steel 7 is parallel to and abuts against the L-shaped groove. The specific adjustment method is as follows: When the pressure data from the two consecutive thin-film pressure sensors 26 are different, adjust the angle between the telescopic arm 4 and the corresponding foot to rotate the foot towards the side with greater pressure until the pressure data from each pressure sensor 26 are the same. Then, keeping the foot angle unchanged, activate the clamping drive device 24 to make the clamping claw 22 grip the angle steel. When the pressure measured by the pressure sensor 26 reaches the preset value, turn off the clamping drive device 24.

[0039] The second foot 6 has the same structure as the first foot 2.

[0040] like Figure 10As shown, the first steering mechanism 3 includes a roll servo 31 and a yaw servo 32. A second foot mounting plate 35 is mounted on the output shaft of the roll servo 31, and a first foot 2 is mounted on the foot mounting plate 35. A connecting plate 34 is mounted on the output shaft of the yaw servo 32, and the roll servo 31 is fixedly mounted on the connecting plate 34. The axis of the output shaft of the roll servo 31 is perpendicular to the axis of the output shaft of the yaw servo 32. The yaw servo 32 is connected to the telescopic arm 4.

[0041] The roll servo 31 adjusts the roll angle of the entire telescopic arm 4, allowing it to rotate around the climbing direction and thus pass through some obstacles in front. Furthermore, the roll servo 31 plays a crucial role in the robot's turning and climbing. By rotating the telescopic arm 4 around its feet, the roll servo 31 can rotate the telescopic arm 4 to a position conducive to extension, thereby reducing the load on the internal screw motor of the robotic arm. The yaw servo 32 primarily serves the turning function. The two sets of yaw servos in front of the first foot 2 and the second foot 6 allow for vertical turning. By controlling the rotation of these two sets of yaw servos, the second foot 6 at the end of the robot's telescopic arm 4 can directly grasp the crossarm or diagonal arm facing the body at a right angle, extending the telescopic arm 4 to an extension equal to or greater than the length of the main body. Then, through the coordinated action of the feet fixed to the main body and the feet on the crossarm, along with the motors throughout the body, the main body is moved from the main body to the crossarm. The combined action of roll servo 31 and yaw servo 32 enables the telescopic arm to move in multiple directions, greatly enhancing the climbing robot's climbing freedom. Since the servos in the steering mechanism do not involve pitch adjustment, but only adjust roll and yaw angles, there is no risk of insufficient torque during climbing and migration.

[0042] The telescopic arm 4 includes a first telescopic arm 41, a second telescopic arm 42, a first telescopic drive device 43, a second telescopic drive device 44, and a third telescopic drive device 45. One end of the first telescopic drive device 43 is hinged to the middle of the first telescopic arm 41, and the other end is hinged to the middle of the second telescopic arm 42. One end of the first telescopic arm 41 is hinged to one end of the second telescopic arm 42, and the other end is hinged to the yaw servo 32 via a hinge seat 33. One end of the second telescopic drive device 44 is hinged to the hinge seat 33 via a top plate 331, and the other end is hinged to the middle of the first telescopic arm 41. The second telescopic drive device 44, the first telescopic arm 41, and the hinge seat 33 are hinged together to form a near-triangular shape.

[0043] Similarly, one end of the third telescopic drive device 45 is hinged to the middle of the second telescopic arm 42, and the other end of the third telescopic drive device 45 is hinged to the hinge seat of the second steering mechanism 5.

[0044] The first telescopic drive device 43 is used to change the angle between the first telescopic arm 41 and the second telescopic arm 42, the second telescopic drive device 44 is used to change the angle between the first steering mechanism 3 and the first telescopic arm 41, and the third telescopic drive device 45 is used to change the angle between the second steering mechanism 5 and the second telescopic arm 42.

[0045] In this embodiment, the clamping drive device 24, the first telescopic drive device 43, the second telescopic drive device 44, and the third telescopic drive device 45 are all lead screw motors. Lead screw motors use helical transmission, resulting in a very small lever arm. When the robot needs to carry equipment, it can generate a strong thrust to drive the main unit and the equipment to move together.

[0046] like Figure 11 As shown, the angle steel tower climbing bionic robot in this embodiment imitates the movement of an inchworm, and the specific climbing method is as follows:

[0047] At the start of the operation, the main unit 1 and its four legs are fixed to the main material of the corner tower. The second legs 6 at both ends naturally grip and have not reached their maximum extension limit. Figure 11 As shown in (a), when climbing begins, the first foot 2 remains fixed, while the second foot 6 relaxes simultaneously. The clamping drive device 24 of the second foot is activated to pull back, and the pull rod 241 causes the gripper to release. When the gripper is released to a suitable position, the first telescopic drive device 43 is activated to pull back the output rod, causing the second telescopic arm 42 to move closer to the first telescopic arm 41 and slightly lift the second foot 6. Figure 11 As shown in (b), after the telescopic arm is activated, the upper second foot is extended along the direction of the corner tower main member, the lower second foot is pulled back, and both feet are pressed back onto the corner tower main member. The specific downward displacement is autonomously controlled based on the data from the membrane pressure sensor. After the compression action is completed, the clamping drive device 24 is activated to extend the output rod, the gripper tightens, and grips the corner tower main member from both sides towards the main unit until the membrane pressure sensor 219 reading reaches the predetermined value. Figure 11 As shown in (c), after the second feet 6 at both ends are fixed, the grippers of the first feet 2 on both sides of the main unit are released, the process being the same as with the grippers on both sides. The telescopic arms of the feet at both ends exert force, causing the main unit to lift and move upward until it approaches the front foot. Figure 11 As shown in (d), the telescopic arm then moves again, causing the main unit to descend and compress towards the corner tower's main structure. Foot adaptive control is activated again until the feet on both sides of the main unit have gripped it, thus completing one round of climbing. From the overall posture, the main unit has now moved a certain distance compared to before the entire process, with the front feet closer to the main unit and the rear feet further away. As... Figure 11 As shown in (e), repeat the first step, relax and lift both feet and push them forward to start the next cycle of climbing.

[0048] like Figure 12As shown, when a lateral transfer of the core area fulcrum is required, the roll servo 31 and yaw servo 32 can be rotated to allow the second leg 6 to grip the crossarm, thereby enabling the main unit 1 to complete the fulcrum transfer. If the installation direction of the angle steel tower crossarm cannot directly complete the turning action, it can first climb across the crossarm in a straight line, and then use the other leg to turn and grip. For obstacles with long spans, such as node plates, the node plate can be crossed when the preset forward distance for one climbing action exceeds the length of the node plate plus the length of the main unit. If the node plate is too long to be crossed in one go, it can also be crossed by climbing the crossarm. Since the robot can climb laterally, it can inspect multiple main materials simultaneously without climbing down the corner tower. In addition, thanks to the robot's symmetrical overall structure, the robot does not need to turn when climbing downwards; it can achieve downward climbing by using the exact same gait in the opposite direction.

Claims

1. A biomimetic robot for climbing angle steel towers, characterized in that, It includes a main unit (1), two first feet (2) installed on both sides of the main unit (1), a first steering mechanism (3) connected to the first feet (2), a telescopic arm (4) connected to the first steering mechanism (3), a second steering mechanism (5) connected to the telescopic arm (4), and a second foot (6) connected to the second steering mechanism (5). The first foot (2) has the same structure as the second foot (6), including a fixed base (21), a clamping claw (22), and a movable base (23). The clamping claw (22) is hinged to the fixed base (21). A clamping drive device (24) is installed in the fixed base (21) to drive the clamping claw (22) to open and close. The clamping claw (22) is used to grip the top of the two right angle surfaces of the angle steel. The movable base (23) is movably connected to the fixed base (21). A compression spring (25) is provided between the movable base (23) and the fixed base (21). When there is no external force, the movable base (23) and the fixed base (21) do not contact each other under the action of the compression spring. The movable base (23) is provided with an L-shaped groove (231) for pressing the right angle of the angle steel. Several pressure sensors (26) are installed on the side of the fixed base (21) near the movable base (23) to detect the pressure applied by the movable base (23) to the fixed base (21) at different positions. The first steering mechanism (3) and the second steering mechanism (5) have the same structure, including a roll servo (31) and a yaw servo (32) fixedly connected to the roll servo (31). The roll servo (31) is connected to the foot, and the yaw servo (32) is connected to the telescopic arm (4). The output shaft axis of the roll servo (31) and the output shaft axis of the yaw servo (32) are perpendicular to each other. The main unit (1) includes a frame (11), a battery pack (12) mounted on the frame (11), and a controller (13); the battery pack (12) is used to power the clamping drive device (24), the roll servo (31), the roll servo (31) and the telescopic arm (4), and the controller (13) is used to receive data from the pressure sensor (26) and control the clamping drive device (24), the roll servo (31), the roll servo (31) and the telescopic arm (4).

2. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The movable base (23) and the fixed base (21) are both provided with grooves, and coaxial guide columns are installed in the grooves. The compression spring (25) is sleeved on the guide columns. The fixed base (21) is also provided with a strip hole. The movable base (23) is provided with a bolt. The bolt is located in the strip hole and slides in the strip hole as the compression spring (25) extends and retracts.

3. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The gripper (22) includes a swing slider (221) and a gripper (222). The swing slider (221) is U-shaped and has an opening for the gripper (222) to pass through. The swing slider (221) is connected to the fixed base (21). One end of the gripper (222) is connected to the output shaft of the gripping drive device (24), and the other end of the gripper (222) extends through the opening on the swing slider (221). The gripping drive device (24) drives the gripper (222) to slide in the opening and realize the gripping and releasing of the diagonal steel tower.

4. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, It includes at least two pressure sensors (26), the mounting surfaces of the two pressure sensors (26) are perpendicular to the opening and closing plane of the clamping claw (22), and the two pressure sensors (26) are symmetrically arranged on both sides of the opening and closing plane of the clamping claw (22).

5. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The telescopic arm (4) includes a first telescopic arm (41), a second telescopic arm (42), a first telescopic drive device (43), a second telescopic drive device (44), and a third telescopic drive device (45). One end of the first telescopic arm (41) is hinged to one end of the second telescopic arm (42), and the other end of the first telescopic arm (41) is hinged to the first steering mechanism (3). The other end of the second telescopic arm (42) is hinged to the second steering mechanism (5). One end of the first telescopic drive device (43) is hinged to the middle of the first telescopic arm (41), and the other end of the first telescopic drive device (43) is hinged to the middle of the second telescopic arm (42). One end of the second telescopic drive device (44) is hinged to... At the middle of the first telescopic arm (41), the other end of the second telescopic drive device (44) is hinged to the first steering mechanism (3); one end of the third telescopic drive device (45) is hinged to the middle of the second telescopic arm (42), and the other end of the third telescopic drive device (45) is hinged to the second steering mechanism (5); the first telescopic drive device (43) is used to change the angle between the first telescopic arm (41) and the second telescopic arm (42), the second telescopic drive device (44) is used to change the angle between the first steering mechanism (3) and the first telescopic arm (41), and the third telescopic drive device (45) is used to change the angle between the second steering mechanism (5) and the second telescopic arm (42).

6. The angle steel tower climbing bionic robot as described in claim 5, characterized in that, The yaw servo (32) is hinged to the first telescopic arm (41) or the second telescopic arm (42) via a hinge seat (33). The hinge seat (33) is also hinged to the second telescopic drive device (44) or the third telescopic drive device (45). A connecting plate (34) is installed on the output shaft of the yaw servo (32). The roll servo (31) is fixedly installed on the connecting plate (34). A second foot mounting plate (35) is installed on the output shaft of the roll servo (31). The first foot (2) or the second foot (6) is installed on the foot mounting plate (35).

7. The angle steel tower climbing bionic robot as described in claim 5, characterized in that, The clamping drive device (24), the first telescopic drive device (43), the second telescopic drive device (44), and the third telescopic drive device (45) are all lead screw motors.

8. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The frame (11) has first foot mounting plates (14) on both sides, and the first foot (2) is mounted on the first foot mounting plates (14); the frame (11) has a support platform (15) for placing carrying equipment on the side away from the opening and closing direction of the first foot (2).

9. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The L-shaped groove (231) has a circular groove at the right angle to reduce stress.

10. The angle steel tower climbing bionic robot as described in claim 1, characterized in that, The controller (13) adjusts the gripping angle of the first foot (2) and the second foot (6) according to the pressure sensor (26) data. Specifically, when the pressure data of several pressure sensors (26) are different, the angle between the telescopic arm (4) and the first foot (2) or the second foot (6) is adjusted so that the foot rotates to the side with less pressure until the pressure data of each pressure sensor (26) are the same. Then, the foot angle is kept unchanged, and the clamping drive device (24) is started so that the clamping claw (22) grips the angle steel. When the pressure measured by the pressure sensor (26) reaches the preset value, the clamping drive device (24) is turned off.

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