A cylindrical climbing robot

Abstract

This invention discloses a column-climbing robot, comprising a frame, at least two climbing devices, and an execution device. The frame includes a first support and a second support, which are connected end-to-end to form a ring structure. The first and second supports are detachable or can be rotated relative to each other. All climbing devices are arranged circumferentially on the frame, with the climbing direction of the devices perpendicular to the circumferential direction of the frame. The execution device is mounted on the frame. The column-climbing robot provided by this invention can be mounted on a column and climb along it to perform work. After completing its work, it can detach from the column, thereby replacing workers in performing work on building columns, eliminating the need to disassemble and reassemble the operating frame, and improving construction efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a cylindrical climbing robot. Background Technology

[0002] In bridges, auditoriums, stadiums, and other large buildings, there are often columns. The outer surface of these columns sometimes needs to be painted, or the columns need to be inspected to determine their construction quality. Currently, the painting and inspection of these columns are usually done by workers. During this process, workers need to stand on scaffolding to work at heights. This method is inefficient and prone to safety accidents. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a column climbing robot that can replace workers in performing tasks on columns, eliminating the need to disassemble and reassemble the operating frame, thereby improving construction efficiency and safety.

[0004] According to an embodiment of the present invention, a cylindrical climbing robot includes a frame, at least two climbing devices, and an execution device. The frame includes a first support and a second support, which are connected end-to-end to form a ring structure. The first support and the second support are detachable or can be rotated relative to each other. All the climbing devices are arranged along the circumference of the frame, and the climbing direction of the climbing devices is perpendicular to the circumference of the frame. The execution device is mounted on the frame.

[0005] The column climbing robot according to embodiments of the present invention has at least the following beneficial effects: Since the first support and the second support are detachable or can be rotated open relative to each other, when the column climbing robot provided by the present invention needs to perform tasks such as spraying or inspection on the column, it can first separate the first support and the second support, or rotate them open relative to each other, then make the first support and the second support surround the column, and then reassemble the first support and the second support into a ring-shaped frame, thereby fitting the frame onto the column. Since the climbing direction of the climbing device is perpendicular to the circumference of the frame, that is, the climbing direction of the climbing device is perpendicular to the axis of the column... Since the lines are parallel, the climbing device can climb along the surface of the column, driving the entire column-climbing robot to move up and down along the column. During this process, the execution device can perform tasks such as spraying or inspection on the column surface. After completing the work, the column-climbing robot can be detached from the column by separating the first bracket and the second bracket or by rotating the first bracket and the second bracket relative to each other. With the above configuration, the column-climbing robot provided by this invention can be fitted onto the column and crawl along the column to work. After completing the work, it can also detach from the column. Thus, it can replace workers in performing work on the columns of buildings, eliminating the need to disassemble and assemble the operating frame, and improving construction efficiency and safety.

[0006] According to some embodiments of the present invention, an adjustment device is provided between the first support and the second support, the adjustment device being capable of adjusting the relative position between the first support and the second support to adjust the size of the frame.

[0007] According to some embodiments of the present invention, the first bracket includes a first connecting frame and two second connecting frames. The two ends of the first connecting frame are movably connected to the two second connecting frames in a one-to-one correspondence, and the second connecting frames are rotatable relative to the first connecting frame. The two second connecting frames are detachably connected to the two ends of the second bracket in a one-to-one correspondence. The adjustment device is provided between the second connecting frame and the second bracket.

[0008] According to some embodiments of the present invention, the first connecting frame is provided with first receiving spaces at both ends, and one end of the two second connecting frames is movably inserted into the corresponding first receiving spaces. The opposite side walls of the first receiving spaces are provided with guide grooves, and a rotating shaft is provided in the guide groove. The rotating shaft can slide along the guide groove and is connected to the corresponding second connecting frame.

[0009] According to some embodiments of the present invention, the second bracket is provided with second receiving spaces at both ends, and the two ends of the first bracket are inserted into two second receiving spaces in a corresponding manner. At least one of the second receiving spaces is provided with the adjustment device, which includes a rope tensioner. The rope tensioner is connected to the first bracket via a pull rope and to the second bracket via a pull rope. The pull rope between the first bracket and the rope tensioner can be detached, or the pull rope between the second bracket and the rope tensioner can be detached. The second receiving space is connected to an allowance for operating the rope tensioner.

[0010] According to some embodiments of the present invention, guide sliding holes are provided on the opposite side walls of the second accommodating space. The guide sliding holes have an inlet and outlet at one end facing the first bracket. A sliding column passes through the guide sliding hole and is connected to the second bracket. The sliding column is provided with a limiting part, which is located on the side of the corresponding guide sliding hole away from the second accommodating space and fits against the side wall of the corresponding guide sliding hole.

[0011] According to some embodiments of the present invention, a first elastic device is provided between the climbing device and the frame, the first elastic device being capable of driving the climbing device to move toward the inside of the frame.

[0012] According to some embodiments of the present invention, a guide post is provided between the climbing device and the frame, the guide post being disposed towards the inner side of the frame, one of the climbing device and the frame being connected to the guide post, and the other being provided with a guide hole, the guide post being inserted into the guide hole, the climbing device being provided with an insertion hole, the first elastic device including an adjusting screw, a spring and an assembly rod, one end of the assembly rod being slidably inserted into the insertion hole, the other end of the assembly rod being provided with a mounting part, the spring being sleeved on the assembly rod, and the spring abutting against the mounting part and the climbing device, the adjusting screw passing through the frame and abutting against the mounting part, the adjusting screw being screwed to the frame.

[0013] According to some embodiments of the present invention, two climbing devices are provided and are arranged opposite to each other on the inner side of the frame. Two auxiliary climbing mechanisms are arranged opposite to each other on the frame. The two climbing devices and the two auxiliary climbing mechanisms are arranged in a cross shape. The auxiliary climbing mechanism includes a second elastic device and a roller. The second elastic device is mounted on the frame. The roller is located on the inner side of the frame and is rotatably connected to the second elastic device. The roller is capable of moving towards the inner side of the frame.

[0014] According to some embodiments of the present invention, the frame is provided with a mounting bracket, the mounting bracket is used to mount the actuator and the protective housing, the actuator includes a spray gun, the protective housing covers the spray gun, and all of the protective housings are open on the inward-facing side.

[0015] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0017] Figure 1 This is a schematic diagram of the bottom of the cylindrical climbing robot according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0019] Figure 3 for Figure 1 Enlarged view of point B in the middle;

[0020] Figure 4 for Figure 1 Enlarged view of point C in the middle;

[0021] Figure 5 for Figure 1 A schematic diagram of the top of the cylindrical climbing robot is shown.

[0022] Figure 6 for Figure 1 An exploded view of the cylindrical climbing robot shown;

[0023] Figure 7 for Figure 1 A cross-sectional view of the second support of the cylindrical climbing robot is shown.

[0024] Figure 8 for Figure 7 Enlarged view at point D;

[0025] Figure 9 for Figure 1 The diagram shows the auxiliary climbing mechanism of the cylindrical climbing robot.

[0026] Figure label:

[0027] First bracket 110, first connecting frame 111, first accommodating space 1111, guide slide 1112, second connecting frame 112, rotating shaft 1121, sliding column 1122, limiting part 11221, second bracket 120, second accommodating space 121, clearance opening 1211, guide slide hole 122, inlet and outlet 1221, guide column 130, climbing device 200, guide hole 210, insertion hole 220, actuator 300, adjusting device 400, rope tensioner 410, pull rope 420, first elastic device 500, adjusting screw 510, spring 520, assembly rod 530, auxiliary climbing mechanism 600, second elastic device 610 and roller 620, mounting frame 710, support part 711, protective shell 720, clearance hole 721, support member 730, slot 731. Detailed Implementation

[0028] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0029] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0030] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0031] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0032] Reference Figure 1 , Figure 2 and Figure 6According to an embodiment of the present invention, a cylindrical climbing robot includes a frame, at least two climbing devices 200, and an execution device 300. The frame includes a first support 110 and a second support 120, which are connected end to end to form a ring structure. The first support 110 and the second support 120 are detachable or can be rotated relative to each other to open. All climbing devices 200 are arranged on the frame along the shape of the frame, and the climbing direction of the climbing devices 200 is along the axial direction of the frame. The execution device 300 is mounted on the frame.

[0033] Since the first support 110 and the second support 120 are detachable or can be rotated open relative to each other, the column climbing robot provided by this invention can, when performing tasks such as spraying or inspecting on a column, first separate the first support 110 and the second support 120, or rotate them open relative to each other, then surround the column with the first support 110 and the second support 120, and then reassemble the first support 110 and the second support 120 into a ring-shaped frame. This frame is then fitted onto the column. Because the climbing direction of the climbing device 200 is perpendicular to the circumference of the frame, that is, the climbing direction of the climbing device 200 is parallel to the axis of the column, the climbing... The climbing device 200 can climb along the surface of the column, driving the entire column-climbing robot to move up and down along the column. During this process, the execution device 300 can perform tasks such as spraying or inspection on the surface of the column. After completing the work, the column-climbing robot can be detached from the column by separating the first bracket 110 and the second bracket 120 or by rotating the first bracket 110 and the second bracket 120 relative to each other. With the above configuration, the column-climbing robot provided by the present invention can be fitted onto the column and climb along the column to work. After completing the work, it can also detach from the column. Thus, it can replace workers to perform work on the columns of buildings, eliminating the need to disassemble and assemble the operating frame, and improving construction efficiency and safety.

[0034] Reference Figure 1 and Figure 2An adjustment device 400 is provided between the first support 110 and the second support 120. The adjustment device 400 can adjust the relative position between the first support 110 and the second support 120 to adjust the size of the frame. During use, after the first support 110 and the second support 120 surround the column, the relative position between the first support 110 and the second support 120 can be adjusted according to the size of the column using the adjustment device 400, so that all the climbing devices 200 installed on the frame can move closer or further apart. Then, the first support 110 and the second support 120 can be assembled into a ring-shaped frame. With the above configuration, the frame can be fitted onto columns of different diameters, and the climbing devices 200 can make good contact with the outer surface of columns of different diameters. Thus, the column climbing robot can be used to perform tasks such as spraying or inspection on columns of various diameters. The size of the frame can be adjusted simultaneously during the process of fitting the frame onto the column.

[0035] Reference Figure 1 , Figure 3 and Figure 6 As can be imagined, in some embodiments, the first support 110 includes a first connecting frame 111 and two second connecting frames 112. The two ends of the first connecting frame 111 are movably connected to the two second connecting frames 112, and the second connecting frames 112 are rotatable relative to the first connecting frame 111. The two second connecting frames 112 are detachably connected to the two ends of the second support 120, and an adjustment device 400 is provided between the second connecting frames 112 and the second support 120. During the process of mounting the frame onto the column, the first connecting frame 111 and the second connecting frame 112 can be rotated and unfolded relative to each other to facilitate the first support 110 and the second support 120 surrounding the column. When the relative position between the first connecting frame 111 and the second support 120 is adjusted using the adjustment device 400, the second connecting frame 112 can swing relative to the first connecting frame 111, causing the first support 110 to deform according to the size of the column. This facilitates the reassembly of the first support 110 and the second support 120 into a frame.

[0036] Reference Figure 1 and Figure 3As can be imagined, in some embodiments, the first connecting frame 111 has first receiving spaces 1111 at both ends, and one end of the two second connecting frames 112 is movably inserted into the corresponding first receiving spaces 1111. The opposite side walls of the first receiving spaces 1111 are provided with guide grooves 1112, and a rotating shaft 1121 is provided in the guide groove 1112. The rotating shaft 1121 can slide along the guide groove 1112 and is connected to the corresponding second connecting frame 112. With the above configuration, when the relative position between the first connecting frame 111 and the second support 120 is adjusted using the adjusting device 400, the second connecting frame 112 can move and extend relative to the first connecting frame 111. At the same time, the second connecting frame 112 can rotate relative to the first connecting frame 111 to expand or retract. Thus, during the adjustment of the relative position between the first connecting frame 111 and the second support 120, the second connecting frame 112 can move flexibly, thereby allowing for more flexible adjustment of the relative position between the first connecting frame 111 and the second support 120 according to the size of the column.

[0037] Reference Figure 1 and Figure 2 As can be imagined, in some embodiments, the two ends of the second support 120 are provided with second receiving spaces 121, and the two ends of the first support 110 are inserted into the two second receiving spaces 121 respectively. An adjustment device 400 is provided in the two second receiving spaces 121. The adjustment device 400 includes a rope tensioner 410. The rope tensioner 410 is connected to the first support 110 through a pull rope 420 and is connected to the second support 120 through a pull rope 420. The pull rope 420 between the first support 110 and the rope tensioner 410 can be detached or the pull rope 420 between the second support 120 and the rope tensioner 410 can be detached. The second receiving space 121 is connected to a clearance opening 1211 for operating the rope tensioner 410. With the above configuration, the rope 420 between the first support 110 and the second support 120 can be tightened or loosened by the rope tensioner 410, allowing one end of the first support 110 to slide within the corresponding second receiving space 121. This enables adjustment of the relative position between the first support 110 and the second support 120, making the adjustment process convenient and simple, allowing workers to adjust the size of the machine frame while it is being fitted onto the column. Furthermore, with the two rope tensioners 410, the two ends of the first support 110 can be detachably connected to the two ends of the second support 120, one-to-one. Specifically, by untying the rope 420 of one rope tensioner 410, the first support 110 and the second support 120 can rotate relative to each other and open. When both rope tensioners 410 are untied, the first support 110 and the second support 120 can be separated.

[0038] In the specific implementation process, the two second connecting frames 112 of the first bracket 110 are inserted into the two second receiving spaces 121 in a one-to-one correspondence, and the rope tensioner 410 is connected to the corresponding second connecting frame 112 through the pull rope 420.

[0039] Reference Figure 1 , Figure 2 and Figure 7 As can be imagined, in some embodiments, guide sliding holes 122 are provided on the opposite side walls of the second receiving space 121. The end of the guide sliding hole 122 facing the first bracket 110 has an inlet and outlet 1221. A sliding column 1122 passes through the guide sliding hole 122 and is connected to the second bracket 120. The sliding column 1122 is provided with a limiting part 11221, which is located on the side of the corresponding guide sliding hole 122 away from the second receiving space 121 and fits against the side wall of the corresponding guide sliding hole 122. During the adjustment of the relative position between the first bracket 110 and the second bracket 120, the guide sliding hole 122 can play a guiding role, allowing one end of the first bracket 110 to move smoothly along the corresponding guide sliding hole 122. The inlet and outlet 1221 on the guide sliding hole 122 allows the sliding column 1122 to enter and exit the guide sliding hole 122, avoiding interference with the assembly and disassembly of the first bracket 110 and the second bracket 120.

[0040] It should be noted that in some embodiments, only one rope tensioner 410 may be provided. This rope tensioner 410 is disposed within one of the second receiving spaces 121. The rope tensioner 410 is connected to one end of the first bracket 110 via a pull rope 420. A limiting groove is provided on the inner wall of the other second receiving space 121. A sliding post 1122 is provided at the other end of the first bracket 110, and the sliding post 1122 is inserted into the limiting groove. The limiting groove does not have an inlet / outlet 1221 facing the first bracket 110. A single rope tensioner 410 can also adjust the relative position between the first bracket 110 and the second bracket 120, and when the pull rope 420 of the rope tensioner 410 is released, the first bracket 110 and the second bracket 120 can rotate relative to each other and open.

[0041] It is conceivable that the aforementioned adjustment device 400 can also be configured in other ways. For example, the aforementioned rope tensioner 410 can be replaced with a push rod motor. One end of the push rod motor is rotatably connected to the second bracket 120, and the other end is detachably connected to the corresponding second connecting frame 112 through a gripper, hook, or other means. Thus, the push rod motor can drive the second connecting frame 112 to move within the corresponding second accommodating space 121, thereby adjusting the size of the frame. During the process of mounting the frame on the column, the second connecting frame 112 and the second bracket 120 can be easily and quickly disassembled or assembled.

[0042] Reference Figure 7 and Figure 8 It is conceivable that in some embodiments, a first elastic device 500 is provided between the climbing device 200 and the frame. The first elastic device 500 can drive the climbing device 200 to move inward toward the frame. Thus, when the frame is fitted onto the column, driven by the first elastic device 500, the climbing device 200 can abut against the surface of the column, ensuring close contact between the climbing device 200 and the column. This generates sufficient resistance to overcome gravity, allowing the climbing device 200 to climb up and down the column. For columns of different diameters, the first elastic device 500 can also automatically compensate, reducing the possibility of the climbing device 200 getting stuck between the frame and the column or failing to effectively abut against the column after adjusting the frame size.

[0043] Reference Figure 7 and Figure 8 As can be imagined, in some embodiments, a guide post 130 is provided between the climbing device 200 and the frame, the guide post 130 extends toward the inside of the frame, one of the climbing device 200 and the frame is connected to the guide post 130, and the other is provided with a guide hole 210, the guide post 130 is inserted into the guide hole 210, the climbing device 200 is provided with an insertion hole 220, the first elastic device 500 includes an adjusting screw 510, a spring 520 and an assembly rod 530, one end of the assembly rod 530 is slidably inserted into the insertion hole 220, the other end of the assembly rod 530 is provided with a mounting part, the spring 520 is sleeved on the assembly rod 530, and the spring 520 abuts against the mounting part and the climbing device 200, the adjusting screw 510 passes through the frame and abuts against the mounting part, and the adjusting screw 510 is screwed to the frame. With the above setup, after the frame is fitted onto the column, the spring force of the spring 520 can be adjusted by rotating the adjusting screw 510, thereby adjusting the resistance between the climbing device 200 and the column. This ensures good contact between the climbing device 200 and the column, and solves the problem of the climbing device 200 getting stuck between the frame and the column or the climbing device 200 failing to effectively contact the column.

[0044] It should be noted that the first elastic device 500 described above can also be configured in other ways. For example, in some other embodiments, all the guide posts 130 can be replaced with springs 520, and all the springs 520 are connected to the climbing device 200 and the mounting part.

[0045] Reference Figure 1 and Figure 9It is conceivable that in some embodiments, two climbing devices 200 are provided and are arranged opposite each other on the inner side of the frame. Two auxiliary climbing mechanisms 600 are arranged opposite each other on the frame. The two climbing devices 200 and the two auxiliary climbing mechanisms 600 are arranged in a cross shape. The auxiliary climbing mechanism 600 includes a second elastic device 610 and a roller 620. The second elastic device 610 is installed on the frame, and the roller 620 is located on the inner side of the frame and is rotatably connected to the second elastic device 610. The roller 620 can move towards the inner side of the frame. Thus, when the frame is fitted onto the column, under the drive of the second elastic device 610, the roller 620 can abut against the surface of the column, ensuring that the roller 620 is in close contact with the column. In addition, for columns of different diameters, the second elastic device 610 can achieve automatic compensation, reducing the situation where the roller 620 gets stuck between the frame and the column or the roller 620 cannot effectively abut against the column after adjusting the size of the frame. With the above setup, only two active climbing devices 200 are needed, along with two passive climbing auxiliary climbing mechanisms 600, to enable the cylindrical climbing robot to climb stably on the column. As a result, the cylindrical climbing robot does not need to be equipped with three or more climbing devices 200, reducing the number of complex and energy-intensive climbing devices 200, thereby simplifying the structure and reducing costs.

[0046] In the specific implementation process, one climbing device 200 is set on the first connecting frame 111, the other climbing device 200 is set on the second support 120, and the two auxiliary climbing mechanisms 600 are set on the two second connecting frames 112 in a corresponding manner. Thus, when the size of the frame is adjusted, the climbing device 200 and the auxiliary climbing mechanism 600 can adjust their positions accordingly.

[0047] Reference Figure 1 , Figure 5 and Figure 6 As can be imagined, in some embodiments, the frame is provided with a mounting bracket 710, which mounts an actuator 300 and a protective housing 720. The actuator 300 includes a spray gun, and the protective housing 720 covers the spray gun. All protective housings 720 have an inward-facing open side to allow the spray gun to spray paint onto the column. The protective housing prevents paint from scattering during spraying, reducing environmental pollution and minimizing contamination and damage to components such as the frame and climbing device 200.

[0048] Reference Figure 1 , Figure 5 and Figure 6Specifically, the first connecting frame 111, the second connecting frame 112, and the second bracket 120 are each provided with two or more mounting brackets 710. Each mounting bracket 710 is equipped with an actuator 300. Every two mounting brackets 710 form a group, and a support member 730 is provided between the two mounting brackets 710 in each group. The opposite ends of the support member 730 have slots 731 for the mounting brackets 710 to pass through. The mounting bracket 710 is provided with a support portion 711 that abuts against the lower surface of the support member 730. A protective shell 720 is installed on the support member 730, and the protective shell 720 covers the two corresponding actuators 300. The protective shell 720 has two clearance holes 721 for the support member 730 to pass through. The mounting bracket 710 can move relative to the support member 730 along the corresponding slots 731. Thus, the protective shell 720 and the support member 730 can be adjusted in size without affecting the frame. With the above arrangement, the protective shell 720 can be easily installed and removed.

[0049] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A cylindrical climbing robot, characterized in that, include: The frame includes a first support (110) and a second support (120). The first support (110) and the second support (120) are connected end to end to form a ring structure. The first support (110) and the second support (120) are detachable or the first support (110) and the second support (120) can be rotated relative to each other to open. At least two climbing devices (200) are arranged around the frame, and the climbing devices (200) are perpendicular to the circumference of the frame. An actuator (300) is mounted on the frame; An adjustment device (400) is provided between the first support (110) and the second support (120). The adjustment device (400) can adjust the relative position between the first support (110) and the second support (120) to adjust the size of the frame. The first support (110) includes a first connecting frame (111) and two second connecting frames (112). The two ends of the first connecting frame (111) are movably connected to the two second connecting frames (112) respectively, and the second connecting frames (112) can rotate relative to the first connecting frame (111). The two second connecting frames (112) are detachably connected to the two ends of the second support (120) respectively. The adjustment device (400) is provided between the second connecting frame (112) and the second support (120). The first connecting frame (111) has first receiving spaces (1111) at both ends. One end of each of the two second connecting frames (112) is movably inserted into the corresponding first receiving space (1111). The two opposite side walls of the first receiving space (1111) are provided with guide grooves (1112). A rotating shaft (1121) is provided in the guide groove (1112). The rotating shaft (1121) can slide along the guide groove (1112). The rotating shaft (1121) is connected to the corresponding second connecting frame (112). The second bracket (120) has two second receiving spaces (121) at both ends. The two ends of the first bracket (110) are inserted into the two second receiving spaces (121) respectively. At least one of the second receiving spaces (121) is provided with the adjustment device (400). The adjustment device (400) includes a rope tensioner (410). The rope tensioner (410) is connected to the first bracket (110) through a pull rope (420). The rope tensioner (410) is connected to the second bracket (120) through a pull rope (420). The pull rope (420) between the first bracket (110) and the rope tensioner (410) can be detached or the pull rope (420) between the second bracket (120) and the rope tensioner (410) can be detached. The second receiving space (121) is connected to a clearance opening (1211) for operating the rope tensioner (410). The rope tightener (410) tightens or loosens the pull rope (420) between the first bracket (110) and the second bracket (120), allowing one end of the first bracket (110) to slide within the corresponding second accommodating space (121), thereby adjusting the relative position between the first bracket (110) and the second bracket (120). When the pull rope (420) of one of the rope tighteners (410) is untied, the first bracket (110) and the second bracket (120) can rotate relative to each other and open. When the pull ropes (420) of both rope tighteners (410) are untied, the first bracket (110) and the second bracket (120) can be separated.

2. The cylindrical climbing robot according to claim 1, characterized in that, The second accommodating space (121) has guide sliding holes (122) on its opposite side walls. The guide sliding holes (122) have an inlet and outlet (1221) at one end facing the first bracket (110). A sliding column (1122) passes through the guide sliding holes (122). The sliding column (1122) is connected to the second bracket (120). The sliding column (1122) is provided with a limiting part (11221). The limiting part (11221) is located on the side of the corresponding guide sliding hole (122) away from the second accommodating space (121) and fits against the side wall of the corresponding guide sliding hole (122).

3. A cylindrical climbing robot according to any one of claims 1 to 2, characterized in that, A first elastic device (500) is provided between the climbing device (200) and the frame, the first elastic device (500) being able to drive the climbing device (200) to move toward the inside of the frame.

4. A cylindrical climbing robot according to claim 3, characterized in that, A guide post (130) is provided between the climbing device (200) and the frame. One of the climbing device (200) and the frame is connected to the guide post (130), and the other is provided with a guide hole (210). The guide post (130) is inserted into the guide hole (210). The climbing device (200) is provided with a socket (220). The first elastic device (500) includes an adjusting screw (510), a spring (520), and a mounting plate. The mounting rod (530) has one end slidably inserted into the insertion hole (220) and the other end of the mounting rod (530) is provided with a mounting part. The spring (520) is sleeved on the mounting rod (530) and abuts against the mounting part and the climbing device (200). The adjusting screw (510) passes through the frame and abuts against the mounting part. The adjusting screw (510) is screwed to the frame.

5. A cylindrical climbing robot according to claim 3, characterized in that, Two climbing devices (200) are provided and are arranged opposite each other on the inner side of the frame. Two auxiliary climbing mechanisms (600) are arranged opposite each other on the frame. The two climbing devices (200) and the two auxiliary climbing mechanisms (600) are arranged in a cross shape. The auxiliary climbing mechanism (600) includes a second elastic device (610) and a roller (620). The second elastic device (610) is installed on the frame. The roller (620) is located on the inner side of the frame and is rotatably connected to the second elastic device (610). The roller (620) can move towards the inner side of the frame.

6. A cylindrical climbing robot according to claim 1, characterized in that, The frame is provided with a mounting bracket (710), the mounting bracket (710) is equipped with the actuator (300) and the protective shell (720), the actuator (300) includes a spray gun, the protective shell (720) covers the spray gun, and all the protective shells (720) are open on the inward side.

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