A climbing robot

Abstract

The present invention belongs to the technical field of electric power operation climbing robots, and specifically relates to a climbing robot. The present invention includes a main machine and a clamp; the clamp includes a fixed seat and a clamping end, the clamping end is formed by two symmetrical claw rods, the claw rod can make a linear reciprocating motion along the axial direction of the matching rotating sleeve, and the rotating sleeve is hinged to the fixed seat through a plumb hinge seat; the fixed seat includes a horizontally arranged lower mounting plate, a push-pull plate is arranged directly above the lower mounting plate, and the two axial ends of the plumb push-pull shaft at the tail end of each claw rod respectively match the directional groove at the lower mounting plate and the guide groove at the push-pull plate; the push-pull plate is driven by a horizontal drive assembly to generate a horizontal reciprocating motion in the direction of the vertical push-pull shaft; the fixed seat also includes a V-shaped block. The present invention can achieve force closure and shape closure during the climbing process along the angle steel tower, thereby effectively ensuring the motion stability and motion reliability of the climbing operation, and ensuring the safe and reliable operation of the power transmission system.

Description

Technical Field

[0001] The invention belongs to the technical field of electric power operation climbing robots, and in particular relates to a climbing robot. Background Art

[0002] The stability and safety of electricity are the basic guarantee for promoting the development of all walks of life. In my country, there are many transmission angle steel towers, which are widely distributed and exposed to the harsh environment of dusty, strong wind and high humidity for a long time. In the traditional way, maintenance personnel need to carry maintenance equipment and climb the angle steel tower along the foot nail side, and gradually hang the safety rope to prevent falling, which leads to long inspection cycle, high climbing risk and low work efficiency. Therefore, climbing robots suitable for angle steel towers came into being, and gradually derived various climbing types with various forms and structures, such as snake robots, wheeled robots and inchworm robots. No matter what kind of robot, after loading the working part, its overall mass is extremely large, which puts a severe test on the climbing reliability of the robot. Due to the huge mass of the robot itself, the existing ordinary grippers can no longer meet the actual clamping needs, and it is urgent to develop a new type of gripper structure to meet the working needs of the existing climbing robot for angle steel towers. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a climbing robot with a reasonable and compact structure. The present invention can achieve force closure and shape closure during the climbing process along the angle steel tower, thereby effectively ensuring the motion stability and motion reliability of the climbing operation, so as to greatly save manpower inspection costs, improve maintenance efficiency, and ensure the safe and reliable operation of the power transmission system.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A climbing robot, characterized in that it comprises a main machine capable of moving along the length direction of an angle steel and clamps arranged on the main machine for forming the walking feet of the main machine, wherein the clamps are in two or more groups and are sequentially distributed on the main machine along the direction of the main machine's travel path, and the clamps can move back and forth relative to the main machine in parallel with the main machine's travel path;

[0006] The clamping claw comprises a fixed seat and a clamping end arranged in front of the fixed seat for directly clamping the angle steel, the clamping end is formed by the cooperation of two symmetrical claw rods, the head end of each claw rod constitutes a matching end for positioning the corresponding groove edge of the angle steel, and the tail end of each claw rod passes through a set of rotating sleeves respectively, so that the corresponding claw rod can perform linear reciprocating motion along the axial direction of the matching rotating sleeve, and the rotating sleeve is then hinged to the fixed seat through a plumb hinge seat; the fixed seat comprises a horizontally arranged lower mounting plate, the upper plate surface of the lower mounting plate is concavely provided with a directional groove, and the shape of the directional groove is an "eight-shaped" shape that gradually expands outward from the rear end of the fixed seat to the front end of the fixed seat. The push-pull plate is arranged just above the lower mounting plate, and a guide groove in the shape of a "I" is concavely arranged on the lower plate surface of the push-pull plate. A vertical push-pull shaft is arranged at the tail end of each claw rod, and the two shaft ends of the vertical push-pull shaft respectively cooperate with the directional groove and the guide groove, so that the two shaft ends of the vertical push-pull shaft can perform synchronous slide rail guiding actions in the directional groove and the guide groove; the push-pull plate is driven by a horizontal driving component to generate a horizontal reciprocating action perpendicular to the direction of the vertical push-pull shaft, and the groove length direction of the guide groove is perpendicular to the horizontal action direction of the push-pull plate; the fixed seat also includes a V-shaped block which is arranged vertically in the groove length direction and the groove opening faces the direction of the angle steel, the groove bottom line of the V-shaped block constitutes a matching line for matching the edge of the angle steel, and the two groove surfaces of the V-shaped block constitute matching surfaces for matching the two groove surfaces of the angle steel; the V-shaped block is arranged in the area enclosed by the clamping end.

[0007] Preferably, the horizontal drive assembly includes a screw slider mechanism formed by a push-pull slider and a push-pull screw rod, the bottom end of the push-pull slider is fixed on the upper plate surface of the push-pull plate, the push-pull screw rod extends horizontally to the rear of the fixed seat and forms a power match with the output shaft of the push-pull motor.

[0008] Preferably, the top and bottom ends of the V-shaped block are both provided with touch switches for sensing the angle steel in position information, and each set of touch switches includes a set of sub-roller switches arranged in pairs.

[0009] Preferably, a pressure switch for sensing the position information of the outer groove surface of the angle steel is arranged in the groove cavity of the V-shaped block.

[0010] Preferably, the fixing seat also includes an upper mounting plate, and the upper mounting plate and the lower mounting plate are connected to each other through a rear mounting plate, thereby forming a square groove structure with an opening facing the direction of the angle steel; a guide rod is arranged on the lower plate surface of the upper mounting plate, and a matching groove for the guide rod to pass through is recessed at the top end of the push-pull slider, and the push-pull slider and the guide rod form a guide rail slider fit.

[0011] Preferably, the push-pull motor is fixed to the rear end of the upper mounting plate through a positioning block, and a clearance hole is provided on the rear mounting plate for the push-pull screw rod to pass through;

[0012] Preferably, the claw rod includes a sliding rod inserted in a square sleeve-shaped rotating sleeve and a grabbing rod threadedly engaged at the top of the sliding rod; a guide groove is recessed on the sliding rod, and a guide groove and a guide ridge arranged in the sleeve cavity of the rotating sleeve form a slide rail guide engagement.

[0013] Preferably, the two vertical push-pull shafts are coaxially disposed at the upper and lower parts of the tail end of the claw rod; the corresponding shaft ends of the two vertical push-pull shafts are arranged with rolling bearings that are convenient for forming a rolling fit with the directional groove and the guide groove.

[0014] Preferably, the “I”-shaped guide groove is formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts located at the tail end of the claw rod.

[0015] Preferably, the main machine is in the shape of a rectangular frame parallel to the length direction of the angle steel, a sliding track is arranged on a side of the main machine facing the angle steel, a sliding block is fixed to the clamping jaw, and a sliding rail guide is formed between the sliding block and the sliding track.

[0016] The beneficial effects of the present invention are:

[0017] 1) Based on the structure of the traditional inchworm robot, a specially designed gripper is used to achieve force closure and shape closure during the climbing process along the angle steel tower, thereby effectively ensuring the stability and reliability of the climbing operation, so as to greatly save manpower inspection costs, improve maintenance efficiency, and ensure the safe and reliable operation of the power transmission system.

[0018] For the clamping end, on the one hand, it is required to have a stable clamping force so that it can have reliable force closure and shape closure when clamping the angle steel; on the other hand, due to the special shape of the angle steel, the clamping end needs to have a sufficient opening area to meet the requirements of the wrapped clamping of the angle steel. In view of this, the present invention provides a clamping end structure formed by a claw rod, a rotating sleeve and a fixed seat. During actual operation, the push-pull plate is driven forward by the action of the horizontal driving component, and the guide groove at the push-pull plate pushes the vertical push-pull shaft at the claw rod, so that the claw rod slides along the vertical push-pull shaft while moving forward along the rotating sleeve; at the same time, since the vertical push-pull shaft at the claw rod also forms a slide rail with the "eight"-shaped directional groove, the claw rod moves outward due to the groove action of the directional groove while moving forward; and due to the existence of the rotating sleeve hinged at the fixed seat, the tail end of the claw rod is pushed to produce a forward and outward oblique action, and the rotating sleeve forcibly limits the claw rod to only produce a forward movement and a hinged action along the rotating sleeve. At this time, the claw rod forms a compound outward expansion action. The two sets of claw rods synchronously produce a compound outward expansion action. The opening angle is larger than that of conventional clamps, which is more conducive to clamping special-shaped main materials such as angle steel. At the same time, once tightened after clamping, it cooperates with the V-block for two-way clamping, and its tightening force and clamping stability are also higher. It can more reliably carry the huge mass of the main machine and move forward along the angle steel, with remarkable results.

[0019] 2) For the V-block, its function is that when the two sets of claw rods are tightened inward and clamp the two groove edges of the angle steel, the groove cavity of the V-block can fit outward and press against the outer groove surface and even the ridge of the angle steel, thereby achieving a clamping effect in opposite directions, so as to significantly improve the clamping reliability of the relative angle steel. When the outer groove surface of the angle steel contacts the sub-roller switch at the touch switch, the sub-roller switch is compressed and sends a signal; at the same time, when the outer groove surface of the angle steel contacts the pressure switch, the pressure switch will also send an in-place signal. Only when the above two sets of in-place signals are confirmed to be in place, the control unit at the host will know that the current clamp has been reliably clamped on the angle steel, and then proceed to the next step, otherwise it will re-clamp once, thereby maximizing the reliability of the device moving along the angle steel tower.

[0020] 3) For the horizontal drive assembly, conventional drive methods such as electric push rods or even pneumatic piston cylinders can be used in actual use; similarly, considering the huge mass of the main machine, the present invention provides a screw slider mechanism formed by a push-pull slider and a push-pull screw rod driven by a push-pull motor, thereby realizing a strong push-pull function for the push-pull plate.

[0021] 4) As for the fixed seat, it mainly plays the function of bearing the claw rod, and can bear a series of driving parts to drive the claw rod to produce corresponding clamping and releasing actions. Considering that when the screw slider mechanism pushes the push-pull plate forward, the push-pull slider completely relies on the bottom surface to cooperate with the push-pull plate, and the push-pull plate completely relies on the guide groove on one side to apply a huge driving force to the tail end of the claw rod, therefore, the push-pull slider and the push-pull plate are extremely prone to inaccurate movement or oblique force conditions. In order to ensure the accuracy of the movement of the push-pull plate and to ensure the service life of the push-pull slider and the push-pull screw, the present invention adds a guide rod, and the guide rod is fixed on the lower plate surface of the upper mounting plate, so as to ensure that the push-pull slider can be balanced in both directions at the top and bottom ends, ensuring the accuracy, reliability and long service life of its movement.

[0022] 5) In actual operation, angle steel towers of different sizes may use different angle steel models. To ensure the high applicability of the present invention, the gripping end of the clamp of the present invention, that is, the claw rod, is replaceable. In other words, when dealing with different types of angle steels, the gripping rod at the front end of the claw rod can be disassembled and replaced with a new size of gripping rod to adapt to the current type of angle steel, and the operational flexibility is obviously higher. At the same time, since the replacement part is only the top position of the claw rod, and the sliding rod that needs to cooperate with the rotating sleeve and even the push-pull plate and other moving parts does not need to be replaced, it also effectively guarantees the efficiency and convenience of on-site replacement, killing two birds with one stone. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a clamping position diagram of the present invention relative to the angle steel tower;

[0024] Figure 2 This is a diagram of the clamping state of the present invention relative to the angle steel;

[0025] Figure 3 , Figure 4 , Figure 5 and Figure 6 It is an action flow chart of the present invention;

[0026] Figure 7 and Figure 8 It is a three-dimensional diagram of the action state of the clamping end;

[0027] Fig. 9 for Figure 7 A cross-sectional schematic diagram of

[0028] Fig.10 for Figure 7 Exploded view of the three-dimensional structure;

[0029] Fig.11 for Fig.10 Exploded view of the three-dimensional structure;

[0030] Fig.12It is an exploded view of the matching state of the claw rod, the rotating sleeve, the vertical push-pull shaft, the push-pull slider and the lower mounting plate;

[0031] Fig.13 It is a schematic diagram of the three-dimensional structure of the clamping assembly when the lifting assembly is in the lifting state;

[0032] Fig.14 It is the working state diagram of the clamping assembly;

[0033] Fig.15 for Fig.14 A local enlarged view of part I;

[0034] Fig.16 and Fig.17 It is a schematic diagram of the three-dimensional structure of the clamping assembly when the lifting assembly is in the return state;

[0035] Fig.18 It is a three-dimensional structural exploded diagram of the clamping assembly;

[0036] Fig.19 and Fig. 20 It is a schematic diagram of the pitching action of the clamping end when the angle adjustment component is in motion;

[0037] Fig.21 It is a flow chart of walking control of the present invention.

[0038] The actual correspondence between the reference numerals and component names of the present invention is as follows:

[0039] A- Angle steel B- Obstacle

[0040] a-upper clamping assembly b-lower clamping assembly

[0041] 10-Host 20-Gripper

[0042] 21-fixed seat 21a-lower mounting plate 21b-orientation groove 21c-push-pull plate

[0043] 21d- guide groove 21e- V-shaped block 21f- push-pull slider 21g- push-pull screw rod

[0044] 21h- push-pull motor 21i- upper mounting plate 21j- rear mounting plate

[0045] 21k-guide rod 21l-positioning block

[0046] 22-claw rod 22a-sliding rod 22b-grabbing rod 22c-guide groove

[0047] 23-rotating sleeve 23a-vertical hinge seat

[0048] 24-vertical push-pull shaft 24a-rolling bearing

[0049] 25-Tact switch 26-Pressure switch

[0050] 30-angle adjustment assembly 31-angle adjustment plate 32-bottom hinge ear

[0051] 33- Top hinge ear 34- Angle adjustment screw 35- Angle adjustment slider

[0052] 36-Angle adjustment motor

[0053] 40-lifting assembly 41-vertical base plate 42-guide column 43-directional screw

[0054] 44-Lifting motor DETAILED DESCRIPTION

[0055] For the sake of overall understanding, the structure and working mode of the specific embodiment of the entire climbing robot are described as follows:

[0056] Climbing robots, such as Figure 1-20 As shown, its preferred structure includes a main machine 10 in the shape of a long strip frame and a clamping assembly arranged on the main machine 10; in actual operation, the length direction of the main machine 10 should be parallel to the length direction of the angle steel A. A sliding track is arranged on the side of the main machine 10 facing the angle steel A, and an electrically controlled sliding block is arranged on the sliding track, so that the main machine 10 can produce a reciprocating motion in the length direction according to the action of the control unit; and a group of clamping assemblies are fixed one-to-one on the sliding block. Figure 1-6 In the structure of the specific embodiment shown, it can be seen that the clamping assembly is divided into two groups, namely, the upper clamping assembly a and the lower clamping assembly b. When working, one or both of the upper clamping assembly a and the lower clamping assembly b can slide up and down on the sliding track along the length direction of the main machine 10 through the sliding block, thereby realizing the action function similar to that of an inchworm. When the main machine 10 moves to a specified point along the angle steel A and stops, the specified action can be realized by the working part pre-assembled at the head end or other parts of the main machine 10. If the working part is a mechanical head with a torque wrench, the tightening action of the mounting screws assembled at the angle steel A can be realized.

[0057] Based on the above structure, the structure of the clamping assembly refers to Figure 13-20 As shown, it mainly includes three parts: a clamping jaw 20, an angle adjustment assembly 30 and a lifting assembly 40. Among them:

[0058] 1. Gripper 20

[0059] The purpose of the clamping jaws 20 is to directly realize the clamping, holding and loosening functions relative to the angle steel A. Figure 7-12 As shown, the clamping claw 20 used by the climbing robot of the present invention includes a fixing seat 21 and a clamping end arranged in front of the fixing seat 21 .

[0060] The structure of the fixing seat 21 is as follows: Figure 10-11 As shown, it is formed by the cooperation of the lower mounting plate 21a, the rear mounting plate 21j and the upper mounting plate 21i, and the guide rod 21k, the push-pull screw rod 21g, the push-pull slider 21f, the push-pull plate 21c, the positioning block 21l, the V-block 21e and the push-pull motor 21h are installed in the groove cavity of the fixed seat 21. The structure of the clamping end includes two groups of claw rods 22 symmetrical to each other, and the two groups of claw rods 22 are both inserted in the rotating sleeve 23, and the rotating sleeve 23 is fixed to the fixed seat 21 through the vertical hinge seat 23a. When assembling, the clamping end is fixed relative to the fixed seat 21. At this time, it is necessary to ensure that the lower shaft end of the vertical push-pull shaft 24 located at the tail end of the claw rod 22 should be accurately matched in the directional groove 21b, that is, the rolling bearing 24a at the vertical push-pull shaft 24 can accurately form a rolling match with the groove wall of the directional groove 21b. Then, insert the push-pull guide groove 21d into the upper shaft end of the vertical push-pull shaft 24, and then install the push-pull slider 21f and the push-pull screw rod 21g in sequence. Then, assemble the guide rod 21k on the upper mounting plate 21i, and then fix the upper mounting plate 21i on the rear mounting plate 21j. The push-pull motor 21h is installed on the corresponding plate surface of the rear mounting plate 21j or the tail end of the upper mounting plate 21i through the positioning block 21l. Finally, fix the two ends of the V-block 21e at the head end of the upper mounting plate 21i and the lower mounting plate 21a respectively, and complete all the assembly actions of the clamping end. In fact, the "I"-shaped guide groove 21d can also be formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate 21c, and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts 24 located at the tail end of the claw rod 22. Refer to Fig.10 and Fig.12 shown.

[0061] When dealing with angle steels A of different models, the grabbing rod 22b at the front end of the claw rod 22 can be removed and replaced with a new size grabbing rod 22b to adapt to the current model of angle steel A, which is obviously more flexible in operation. At the same time, since the replacement part is only the top position of the claw rod 22, the sliding rod 22a that needs to cooperate with the rotating sleeve 23 or even the push-pull plate 21c and other moving parts does not need to be replaced, which effectively ensures the efficiency and convenience of on-site replacement, achieving multiple goals at one stroke. The guide groove 22c serves to further ensure the accuracy of the linear movement of the sliding rod 22a.

[0062] 2. Angle adjustment component 30

[0063] Angle adjustment component 30, such as Figure 18-20 As shown, it includes an angle adjustment plate 31, two groups of bottom hinged ears 32, a group of top hinged ears 33, a group of screw slider units formed by the cooperation of an angle adjustment screw 34 and an angle adjustment slider 35, and a group of angle adjustment motors 36.

[0064] During the actual assembly, first install the screw slider unit on the upper part of the angle adjustment plate 31, and the corresponding angle adjustment motor 36; at the same time, install the bottom hinged ear 32 on the lower part of the angle adjustment plate 31; at this time, a set of screw slider units and two sets of bottom hinged ears 32 form a stable isosceles triangle three-point layout. The lower part of the fixed seat 21 of the clamping jaw 20 corresponds to the bottom hinged ear 32, so that the clamping jaw 20 can be hinged relative to the bottom hinged ear 32; the upper part of the fixed seat 21 extends upward with a top hinged ear 33, and the top hinged ear 33 is as shown in FIG. Figure 16-20 The illustrated hinge is on an angle adjustment slide 35 .

[0065] When the above structure is assembled, whenever the angle adjustment motor 36 rotates, it can drive the angle adjustment screw 34 assembled on the angle adjustment plate 31 through the assembly groove to rotate, and then drive the angle adjustment slider 35 located on the angle adjustment screw 34 to move closer to and away from the angle steel A. The guiding action of the angle adjustment slider 35 then drives the top hinged ear 33 and even the entire clamping jaw 20 to swing around the bottom hinged ear 32, thereby achieving the pitch angle adjustment effect of the entire clamping jaw 20.

[0066] 3. Lifting assembly 40

[0067] Lifting assembly 40 Figure 13-20 As shown, it includes a set of vertical base plates 41, four sets of guide columns 42, a set of directional screw rods 43 and a set of lifting motors 44.

[0068] During actual assembly, first install four sets of guide columns 42 on the angle adjustment plate 31, and then thread the directional screw 43 on the plumb bottom plate 41 to form a power match with the lifting motor 44 located on the angle adjustment plate 31; at this time, synchronously ensure that the guide columns 42 are plugged in and out of the guide holes or guide sleeves at the plumb bottom plate 41.

[0069] When the lifting assembly 40 is assembled, whenever the lifting motor 44 is in motion, the directional screw rod 43 can be driven to rotate, and the slider on the directional screw rod 43, that is, the vertical bottom plate 41, can be driven to move. The vertical bottom plate 41 moves toward and away from the angle adjustment plate 31 under the guidance of the guide column 42. When the vertical bottom plate 41 is fixed on the sliding block at the main machine 10, it is obvious that whenever the lifting assembly 40 is in telescopic motion, the clamping jaw 20 will also move toward and away from the main machine 10.

[0070] To further describe the action state of the climbing robot of the present invention, a bipedal inchworm structure is taken as an example. Figure 1-6 and Fig.21, the walking control process of the present invention is given as follows:

[0071] 1) Figure 1-2 The figure shows a state diagram of the two feet of the present invention, i.e., two groups of clamping components, clamping the angle steel A at the same time under normal conditions. At this time, it can be clearly seen that the length direction of the main machine 10 is parallel to the length direction of the currently clamped angle steel A;

[0072] 2) When the host 10 needs to move upward, the lower clamping component b is first released. At this time, due to the gravity of the host 10 itself, the host 10 tilts relative to the angle steel A currently clamped. Figure 3 As shown;

[0073] 3) The inclinometer on the host 10 collects the inclination angle of the host 10 relative to the currently clamped angle steel A, and sends a signal to the control unit on the host 10, and the control unit controls the angle adjustment component 30 at the upper clamping component a to move; at this time, the angle adjustment motor 36 starts to move, so that the clamping claw 20 at the upper clamping component a produces an articulated action relative to the bottom articulated ear 32 by pushing and pulling back the top articulated ear 33, thereby realizing the function of adjusting the relative angle between the host 10 and the angle steel A with the above clamping component a as the fulcrum, until the host 10 is parallel to the currently clamped angle steel A, at which time the posture of the host 10 is referenced Figure 4 As shown;

[0074] 4) The lower clamping assembly b moves upward along the main machine 10 through the sliding guide rail and the sliding block. After the lower clamping assembly b moves upward to the position, the lower clamping assembly b adjusts the angle through its own angle adjustment assembly 30 so that the angle steel A can be clamped at a suitable angle. After the angle adjustment of the lower clamping assembly b is completed, the lifting assembly 40 can be used to extend to the angle steel A and clamp the angle steel A. At this time, the posture of the main body is referenced Figure 5 As shown;

[0075] 5) Similarly to steps 2), 3) and 4), when the upper clamping component a is released, due to the gravity of the main machine 10, the main machine 10 tilts relative to the angle steel A currently clamped; at this time, the control unit controls the angle adjustment component 30 at the lower clamping component b to operate, so as to adjust the relative angle between the main machine 10 and the angle steel A with the lower clamping component b as the fulcrum until the main machine 10 is parallel to the angle steel A currently clamped;

[0076] 6) The main machine 10 moves upward relative to the lower clamping assembly b. When the main machine 10 moves upward to the position, the upper clamping assembly a adjusts the angle through its own angle adjustment assembly 30. After the angle adjustment of the upper clamping assembly a is completed, the lifting assembly 40 can be used to extend to the angle steel A and clamp the angle steel A. Finally, the main machine 10 is restored to the position as shown in FIG. Figure 6 The mainframe 10 is shown in a state parallel to the angle steel A. Figure 6 The status shown is Figure 2 The state shown is the state after one step upward, thus completing a round of walking control action.

[0077] When the host 10 needs to carry the working part to continue to go up, the above steps are repeated as a cycle. Conversely, if the host 10 needs to go down, the same principle can also be implemented. Similarly, when the host 10 needs to avoid obstacle B, it only needs to retract the corresponding clamping component to the lowest position.

[0078] The working part can be a torque wrench, a camera or even a welding head, etc., which can be changed according to the site conditions. As a functional part for performing precise operations, the working part can be installed at any position on the host 10, and can even form an integrated structure with the host 10 or form a convenient disassembly structure relative to the main body, which will not be described in detail here.

[0079] Of course, the above is one specific embodiment of the present invention. In actual operation, equivalent replacement of each power source, such as using a drive cylinder or even a gear rack to replace the rotational drive action of each motor, etc., and increasing the number of clamping components, or changing the arrangement of the clamping components, or even connecting multiple groups of climbing robot hosts 10 in series by hinged end to end to form a more insect-like robot structure, etc.; these conventional structural changes made under conventional ideas after knowing the specific structure of the present invention should be regarded as equivalent or similar designs and fall within the protection scope of the present invention.

Claims

1. A climbing robot, characterized in that It comprises a main machine (10) capable of moving along the length direction of the angle steel, and clamping jaws (20) arranged on the main machine for forming a walking foot of the main machine, wherein the clamping jaws (20) are in two or more groups and are sequentially distributed on the main machine (10) along the direction of the moving path of the main machine (10), and the clamping jaws (20) can move back and forth relative to the main machine (10) in parallel with the moving path of the main machine (10); The clamping claw (20) comprises a fixed seat (21) and a clamping end arranged in front of the fixed seat (21) for directly clamping the angle steel. The clamping end is formed by two symmetrical claw rods (22) in cooperation. The head end of each claw rod (22) constitutes a matching end for positioning the corresponding groove edge of the angle steel. The tail end of each claw rod (22) passes through a set of rotating sleeves (23) respectively, so that the corresponding claw rod (22) can perform a linear reciprocating motion along the axial direction of the matching rotating sleeve (23). The rotating sleeve ( 23) is then hinged to the fixed seat (21) through a vertical hinge seat (23a); the fixed seat (21) comprises a horizontally arranged lower mounting plate (21a), the upper plate surface of the lower mounting plate (21a) is concavely provided with an orientation groove (21b), the orientation groove (21b) is in an "eight" shape that gradually expands outward from the rear end of the fixed seat (21) to the front end of the fixed seat (21), and a push-pull plate (21c) is arranged directly above the lower mounting plate (21a), and the lower plate surface of the push-pull plate (21c) is concavely provided with a " A "-shaped guide groove (21d) is provided at the tail end of each claw rod (22), and two shaft ends of the vertical push-pull shaft (24) respectively cooperate with the orientation groove (21b) and the guide groove (21d), so that the two shaft ends of the vertical push-pull shaft (24) can perform synchronous slide rail guiding actions in the orientation groove (21b) and the guide groove (21d); the push-pull plate (21c) is driven by a horizontal driving component to generate a horizontal direction perpendicular to the vertical push-pull shaft (24). The guide groove (21d) moves back and forth, and the groove length direction of the guide groove (21d) is perpendicular to the horizontal movement direction of the push-pull plate (21c); the fixing seat (21) further comprises a V-shaped block (21e) arranged vertically in the groove length direction and with the groove opening facing the direction of the angle steel, the groove bottom line of the V-shaped block (21e) forming a matching line for matching the edge of the angle steel, and the two groove surfaces of the V-shaped block (21e) forming matching surfaces for matching the two groove surfaces of the angle steel; the V-shaped block (21e) is arranged in the area enclosed by the clamping end; The horizontal drive assembly comprises a screw slider mechanism formed by a push-pull slider (21f) and a push-pull screw rod (21g), wherein the bottom end of the push-pull slider (21f) is fixed to the upper plate surface of the push-pull plate (21c), and the push-pull screw rod (21g) extends horizontally to the rear of the fixed seat (21) and forms a power match with the output shaft of the push-pull motor (21h); A pressure switch (26) for sensing the position information of the outer groove surface of the angle steel is arranged in the groove cavity of the V-shaped block (21e); The fixing seat (21) further comprises an upper mounting plate (21i), wherein the upper mounting plate (21i) and the lower mounting plate (21a) are connected to each other via a rear mounting plate (21j), thereby forming a square groove structure with an opening facing the direction of the angle steel; a guide rod (21k) is arranged on the lower plate surface of the upper mounting plate (21i), and a matching groove for the guide rod (21k) to pass through is recessed at the top end of the push-pull slider (21f), and a guide rail slider matching is formed between the push-pull slider (21f) and the guide rod (21k).

2. A climbing robot according to claim 1, characterized in that: Touch switches (25) for sensing information on the angle steel being in place are arranged at the top and bottom of the V-shaped block (21e), and each set of touch switches (25) comprises a set of sub-roller switches arranged in pairs.

3. A climbing robot according to claim 1, characterized in that: The push-pull motor (21h) is fixed to the rear end of the upper mounting plate (21i) via a positioning block (21l), and a clearance hole is provided through the rear mounting plate (21j) for the push-pull lead screw (21g) to pass through.

4. A climbing robot according to claim 1 or 2, characterized in that: The claw rod (22) comprises a sliding rod (22a) inserted into a square sleeve-shaped rotating sleeve (23) and a grabbing rod (22b) threadedly engaged with the top end of the sliding rod (22a); a guide groove (22c) is recessed on the sliding rod (22a), and the guide groove (22c) and the guide ridge arranged in the sleeve cavity of the rotating sleeve (23) form a slide rail guide engagement.

5. A climbing robot according to claim 1 or 2, characterized in that: The two vertical push-pull shafts (24) are coaxially disposed at the upper and lower parts of the tail end of the claw rod (22); the corresponding shaft ends of the two vertical push-pull shafts (24) are provided with rolling bearings (24a) that are convenient for forming a rolling fit with the directional groove (21b) and the guide groove (21d).

6. A climbing robot according to claim 1 or 2, characterized in that: The "I"-shaped guide groove (21d) is formed by two groups of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate (21c), and each group of horizontal sub-grooves corresponds to a group of vertical push-pull shafts (24) located at the rear end of the claw rod (22).

7. A climbing robot according to claim 1 or 2, characterized in that: The main machine (10) is in the shape of a rectangular frame parallel to the length direction of the angle steel. A sliding track is arranged on a side of the main machine (10) facing the angle steel. A sliding block is fixedly connected to the clamping jaw (20), and a sliding guide is formed between the sliding block and the sliding track.

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