Angle steel climbing foot and climbing robot

Abstract

The invention relates to the technical field of angle steel tower climbing robots, in particular to an angle steel climbing foot and a climbing robot. The abutting telescopic rod is installed on the installation base and can stretch out and draw back to be close to or away from the angle steel main materials according to needs, so that the abutting part can flexibly adapt to the angle steel main materials of different positions and sizes. Meanwhile, a hinge seat is installed at the telescopic end of the abutting telescopic rod, two clamping plates hinged to the hinge seat are opened and closed to form a V-shaped clamping opening, the V-shaped clamping opening can accurately cover the V-shaped outer wall face of the angle steel main material, and the folding assembly is arranged on the moving path, away from the angle steel main material, of the hinge seat; the main function is that the V-shaped clamping opening is closed and kept in a closed state in a non-working state, so that the space volume of the two clamping plates is reduced, the risk that the clamping plates collide with inclined materials or other obstacles on angle steel main materials when the angle steel climbing foot moves or adjusts the position can be effectively avoided, and the use safety and convenience are improved.

Description

Technical Field

[0001] The invention relates to the technical field of angle steel tower climbing robots, in particular to an angle steel climbing foot and a climbing robot. Background Art

[0002] The stability and safety of electricity is 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 outdoor environment, even dusty, windy and humid environment 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 different forms and structures, such as snake-like robots, wheeled robots and inchworm robots.

[0003] The snake-like robot uses "adhesion" motion to cross obstacles, which has the characteristics of good motion stability, strong ability to adapt to terrain and large traction, but it has many degrees of freedom, difficult to control and low speed. The wheeled climbing robot relies on the friction between the wheels and the wall to generate forward power, with fast driving speed and flexible movement. Its motion mode adopts negative pressure adsorption, high motion speed and easy control, but its contact area with the tower surface is small, and the robot needs to carry a large weight during movement, which makes it difficult for the wheeled robot to maintain a stable climbing state and is also very unfavorable for obstacle crossing. The inchworm-type robot with redundant mechanical claws has a simple structure, but it is difficult to climb the main material of the angle steel, and its motion control is relatively complex. Therefore, in the current design concept, it is mainly still in the laboratory stage for climbing simple trusses and angle steel surfaces, and does not consider the complex obstacles of the main material of the angle steel tower in practice. The control and obstacle crossing difficulties in this actual situation are relatively large, so it is urgent to solve. Summary of the invention

[0004] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides an angle steel climbing foot and a climbing robot. The present invention can effectively improve the obstacle-crossing capability of the climbing robot.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An angle steel climbing foot comprises a mounting seat, on which are arranged a pressing portion for pressing against the outer wall surface of a main material of the angle steel and a clamping portion for generating a retracting and clamping action along the cross-sectional direction of the main material of the angle steel, and the pressing portion and the clamping portion apply force toward each other and clamp the main material of the angle steel, the pressing portion comprises a retractable rod for pressing against the main material of the angle steel, a hinge seat is installed on the telescopic end of the retractable rod, two clamping plates are hinged on the hinge seat, the two clamping plates can be opened and closed with each other to cooperate to form a V-shaped clamping opening for pressing against the V-shaped outer wall surface of the main material of the angle steel, and a retracting component is arranged on the moving path of the hinge seat away from the main material of the angle steel, which can close the V-shaped clamping opening and keep it in a closed state to reduce the spatial volume of the two clamping plates.

[0007] As a further solution of the present invention: the folding assembly includes two sliding blocks fixedly mounted on the force-applying ends of the two clamps, and a control panel arranged on the mounting seat and located at the end of the moving path of the hinged seat away from the main material of the angle steel; two sliding grooves are symmetrically opened on the control panel, and the two sliding grooves cooperate with each other to form an eight-shaped opening direction which is opposite to the opening direction of the V-shaped clamp, and the sliding block slides in the sliding groove to close the two clamps.

[0008] As a further solution of the present invention: elastic reset parts are connected between the force-applying ends of the two splints to enable the two splints to open, and a limit block fixed to the hinge seat for limiting the maximum opening angle is arranged on the opening path of the two splints.

[0009] As a further solution of the present invention: the clamping part includes two groups of clamping arms that cooperate with each other to complete a double-arm semi-embracing closing and clamping action from both sides of the angle steel main material, the clamping arms include a push rod and a hook-shaped clamping claw hinged on the push rod through a hinge shaft, the front end of the clamping claw constitutes a clamping end for clamping the edge of the wing plate on the same side of the angle steel main material; a closing driving part for driving the clamping claw to open and close to cooperate in completing the closing action is also arranged at the hinge between the clamping claw and the push rod; a clamping driving part is also arranged at the push rod, which can pull the two clamping claws toward the angle steel main material and make the two clamping ends press against the edges of the two wing plates of the angle steel main material after the clamping claw completes the closing action.

[0010] As a further solution of the present invention: the folding drive unit includes a flip telescopic rod installed on the arch back of the clamping claw, and a hook rod and a push rod that move synchronously are installed on the telescopic end of the flip telescopic rod; a stop pin that is hooked with the hook end of the hook rod is installed at the eccentric part of the push rod's hinge axis, and the front end of the push rod abuts against the eccentric part of the push rod's hinge axis; the hook rod can actively hook the stop pin during the contraction of the flip telescopic rod to make the clamping claw perform a flipping and opening action, and the front end of the push rod actively pushes the push rod during the extension of the flip telescopic rod to make the clamping claw perform a reverse flipping and embracing action; the push rod is also arranged with a stop block that can block the tail of the clamping claw during the rotation of the clamping claw to cooperate with the push rod to limit the flipping and embracing angle of the clamping claw, the stop pin is installed on the side of the stop block, and the front end of the push rod abuts against the upper end surface of the stop block.

[0011] As a further solution of the present invention: the clamping drive part includes a linear guide groove opened on the mounting seat, and the push rod is arranged in the linear guide groove; a driven rack is installed on the rod body of the push rod, and a driving gear is installed at the notch of the guide groove, which is meshed with the driven rack to drive the push rod to slide back and forth in the linear guide groove.

[0012] As a further solution of the present invention: the mounting seat is hinged to the base through a hinge axis, and a pitch adjustment component is arranged between the mounting seat and the base, which drives the mounting seat to rotate around its hinge axis to adjust the pitch angle between the clamp arm and the length direction of the main material of the angle steel; the pitch adjustment component includes positioning plates fixed on both sides of the mounting seat, and the two positioning plates are provided with waist-shaped guide holes parallel to each other and inclined to the length direction of the main material of the angle steel; two directional grooves parallel to each other are provided on the base, and an directional block is bridged between the two directional grooves, and the directional blocks are synchronously slidably arranged in the two directional grooves; positioning pins are symmetrically arranged on both sides of the directional block, and the two positioning pins are respectively inserted into the waist-shaped guide holes on the corresponding sides; a pitch telescopic rod is arranged on the base, the directional block is installed on the telescopic end of the pitch telescopic rod, and the pitch telescopic rod can push the positioning pin to slide back and forth along the length direction of the waist-shaped guide hole to adjust the pitch angle.

[0013] A climbing robot uses an angle steel climbing foot as described above, including a main machine, on which are arranged two groups of angle steel climbing feet arranged along the direction of the angle steel main material. Each angle steel climbing foot can generate a linear reciprocating motion along the length direction of the angle steel main material under the driving action of a linear driving part, so as to cooperate with the retracting and clamping action of the angle steel climbing foot to complete climbing.

[0014] As a further solution of the present invention: the linear drive part includes a linear guide rail installed on the main body trunk frame and extending along the length direction of the main material of the angle steel, and a slide seat for fixing the base is slidably installed on the linear guide rail; a linear rack is installed on the linear guide rail, and a driving gear is installed on the slide seat, and the driving gear and the linear rack are meshed and transmitted with each other through the steering wheel; the steering wheels are in two groups and are symmetrically arranged between the driving gear and the linear rack, and each steering wheel is rotatably installed on the slide seat through an anti-backlash component; the anti-backlash component includes a limiting groove opened on the slide seat and sealed at both ends, the groove length direction of the limiting groove is parallel to the length direction of the linear rack, a bearing block is slidably arranged in the limiting groove, a gear shaft is fixedly installed on the bearing block, and the steering wheel is coaxially rotatably installed on the gear shaft; an anti-backlash elastic member for pushing the steering wheel to move between the driving gear and the linear rack is also installed in the limiting groove.

[0015] As a further solution of the present invention: the trunk frame is also provided with a ground laser rangefinder for detecting the distance from the ground, a phase laser rangefinder for detecting the distance between two angle steel climbing feet, and a battery pack for providing power supply.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The pressing telescopic rod is installed on the mounting seat and can be extended and retracted to get closer to or away from the angle steel main material as needed, so that the pressing part can flexibly adapt to angle steel main materials of different positions and sizes. At the same time, a hinged seat is installed on the telescopic end of the pressing telescopic rod. The two splints hinged on the hinged seat are opened and closed to form a V-shaped clamp, which can be accurately covered on the V-shaped outer wall surface of the angle steel main material, and the folding component is arranged on the moving path of the hinged seat away from the angle steel main material. Its main function is to close the V-shaped clamp and keep it closed in the non-working state, thereby reducing the spatial volume of the two splints, so as to effectively avoid the risk of the splint colliding with the oblique material or other obstacles on the angle steel main material when the angle steel climbing foot is moved or adjusted, thereby improving the obstacle crossing ability and convenience of use.

[0018] 2. The two slide grooves on the control panel are symmetrically arranged in an eight-shaped shape, so that the two splints will naturally close together when the slider slides in the slide groove, which not only simplifies the folding process, but also ensures the stability of the splint in the closed state under the guiding effect of the slide groove.

[0019] 3. The clamping jaws of the present invention are hinged to the push rod via a hinge axis and can be flipped around the hinge axis. This double-arm semi-encircling design enables the clamping portion to clamp the angle steel main material from both sides at the same time, thereby increasing the stability and firmness of the clamping.

[0020] 4. Flip telescopic rod and synchronous moving parts: The folding drive unit uses the flip telescopic rod as the power source, and the telescopic end is equipped with a synchronously moving hook rod and a top rod. This design enables the telescopic action of the flip telescopic rod to simultaneously drive the hook rod and the top rod to move accordingly.

[0021] 5. When the flip telescopic rod is retracted, the hook rod will actively hook the stop pin, causing the clamping jaws to flip and open around the hinge axis. During the extension of the flip telescopic rod, the top rod will push the push rod to move along its axial direction, causing the clamping jaws to flip and close in the opposite direction. During the extension and contraction of the flip telescopic rod, the top rod and the hook rod alternately serve as active parts, one master and one slave applying force to the push rod, thereby acting in the opposite direction on the clamping jaws, thereby accurately controlling the flipping angle of the clamping jaws. When facing angle steels of different sizes, the distance between the clamping ends of the two clamping jaws is controlled by adjusting the extension degree of the flip telescopic rod, thereby achieving the clamping of angle steel main materials with different opening degrees by the clamping ends. The telescopic effect of the push rod can, after determining the opening and closing degree of the clamping end, reversely tighten the clamping jaws and press them against the edge of the angle steel main material, thereby completing the double-arm semi-encircling clamping action from both sides of the angle steel main material.

[0022] 6. The cooperation of the folding drive unit and the clamping drive unit can make the clamps arranged on both sides of the mounting seat tighten and open as much as possible; so that when opened, they can clamp angle steel main materials of different sizes; when the clamps are tightened, an M shape is formed, and the spatial volume of the clamping part is reduced as much as possible, so as to effectively reduce the risk of collision with the oblique materials, foot nails or other obstacles on the angle steel main material when the climbing foot moves, thereby improving the safety and convenience of use.

[0023] 7. The stopper cooperates with the mandrel to limit the turning and clasping angle of the clamping jaws, ensuring that the clamping jaws can accurately clamp on the edge of the wing plate of the main angle steel material. At the same time, the stopper pin is installed on the side of the stopper and abuts against the front end of the mandrel, further enhancing the stability and reliability of the structure.

[0024] 8. When it is necessary to drive the angle steel climbing foot to move along the length direction of the main material of the angle steel, the motor drives the driving gear to rotate, and the rotation of the driving gear is transmitted to the linear rack through the steering wheel. Since the linear rack is fixed, the driving gear will slide along the linear guide rail, and the steering wheel plays a key role in the transmission process. They not only transmit torque, but also install the gap-eliminating elastic parts in the limit groove, and push the bearing block and the steering wheel to move between the driving gear and the linear rack, thereby eliminating the gap between them, maintaining close contact with the driving gear and the linear rack, so as to eliminate the transmission gap and effectively improve the stability of the transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a diagram of the initial climbing state of the climbing robot in the present invention.

[0026] Figure 2 This is a climbing state diagram of the climbing robot in the present invention.

[0027] Figure 3 This is a secondary climbing state diagram of the climbing robot in the present invention.

[0028] Figure 4 This is a diagram of three climbing states of the climbing robot in the present invention.

[0029] Figure 5 It is a schematic diagram of the back structure of the host in the present invention.

[0030] Figure 6 It is a schematic diagram of the abdominal structure of the host in the present invention.

[0031] Figure 7 It is a schematic diagram of the structure of the linear drive unit in the present invention.

[0032] Figure 8 It is a cross-sectional view of the anti-backlash component in the present invention.

[0033] Fig. 9It is a schematic structural diagram of part of the anti-backlash component in the present invention.

[0034] Fig.10 It is a schematic diagram of the structure of the climbing foot in the present invention.

[0035] Fig.11 This is a state diagram of the climbing foot of the present invention when performing a folding and clamping action.

[0036] Fig.12 This is a state diagram of the climbing foot when it retracts to the minimum position space in the present invention.

[0037] Fig.13 It is a schematic structural diagram of the pitch adjustment assembly in the present invention.

[0038] Fig.14 It is a schematic structural diagram of the pressing part in the present invention.

[0039] Fig.15 It is a schematic diagram of the structure of the clamp arm in the present invention.

[0040] Fig.16 It is a schematic diagram of the structure of the fastening device in the present invention.

[0041] Fig.17 It is a schematic structural diagram of the first telescopic rod in the present invention.

[0042] Fig.18 It is a schematic structural diagram of the fastening part in the present invention.

[0043] Fig.19 It is a cross-sectional view of the fastening portion in the present invention.

[0044] Fig. 20 It is a structural schematic diagram of the feeding part in the present invention.

[0045] Fig.21 It is the front view of the feeding part in the present invention.

[0046] In the figure: 1, host; 11, trunk frame; 12, battery pack; 13, handle; 14, controller; 15, phase-separated laser rangefinder; 16, ground laser rangefinder; 17, linear drive unit; 171, linear guide; 1712, slide; 1713, linear rack; 1714, driving gear; 1715, steering wheel; 1716, anti-backlash assembly; 17161, limit groove; 17162, bearing block; 17163, gear shaft; 17164, fixing plate; 17165, anti-backlash elastic member; 17166, positioning bolt; 1717, sliding encoder; 1718 , coding gear; 2, angle steel climbing foot; 21, pitch adjustment assembly; 211, mounting seat; 212, positioning plate; 213, waist-shaped guide hole; 214, base; 215, orientation block; 216, positioning pin; 217, pitch telescopic rod; 22, clamping part; 221, clamping claw; 222, clamping end; 2221, pressure sensor; 223, flip telescopic rod; 224, hook rod; 225, push rod; 226, push rod; 2261, driven rack; 227, block; 2271, stop pin; 23, pressing part; 231, pressing telescopic rod; 232, hinged seat; 233, clamp plate; 234, slider; 235, elastic reset member; 236, control board; 2361, slide; 237, limit block; 3, fastening device; 31, feeding part; 311, support seat; 312, turntable; 313, cylindrical cavity; 314, cover plate; 3141, material taking hole; 32, fastening part; 321, rotating motor; 3211, limit pin; 322, drive shaft; 3221, vibration hole; 3222, waist collision hole; 323, positioning pin hole; 324, elastic pin; 325, directional hole; 326, elastic guide; 327, guide pin; 328, unlocking part; 3 281. Unlocking telescopic rod; 329. Flexible return spring; 33. Nut tightening sleeve; 331. Disassembly hole; 332. Guide groove; 34. Multi-degree-of-freedom robotic arm; 341. First telescopic rod; 3411. Fixed sleeve; 3412. First slide bar; 3413. First rack; 3414. Bearing seat; 3415. First bearing; 3416. First drive motor; 3417. Second drive motor; 3418. Second telescopic rod; 3419. Third drive motor; 34120. Third telescopic rod; 40. Angle steel main material; 41. Foot nail; 42. Bevel material; 43. Connecting plate. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] See also Figure 1 to Figure 21 The climbing robot of the present invention comprises a main body 1 and a climbing foot mounted on the main body 1. The climbing action of the climbing robot on the angle steel tower is completed by the cooperation of the angle steel climbing foot 2 and the main body 1.

[0049] 1. Host

[0050] like Figure 1 to Figure 6 As shown, the main machine 1 includes a rectangular trunk frame 11, on the back of which is mounted a battery pack 12 for providing power to the entire climbing robot, a handle 13 for easy manual carrying, a controller 14 for controlling the operation of all electrical components, a linear drive unit 17 for fixing and moving the climbing foot, a phase-to-phase laser rangefinder 15 for measuring the distance between two angle steel climbing feet 2, and a ground-to-ground laser rangefinder 16 for detecting the distance from the ground.

[0051] 1.1 Linear drive unit

[0052] like Figure 5 to Figure 7 As shown, the linear drive unit 17 includes a linear guide rail 171 installed on the trunk frame 11 and extending along the length direction of the angle steel main material 40, and a slide 1712 for fixing the climbing foot mid-base 214 is slidably installed on the linear guide rail 171. There are two linear guide rails 171, which are arranged in parallel, and the slide 1712 is bridged and slidably arranged on the two linear guide rails 171. Among them, a linear rack 1713 is installed on one of the linear guide rails 171, and a driving gear 1714 is installed on the slide 1712, and the driving gear 1714 is driven by a driving motor installed on the slide 1712. The driving gear 1714 and the linear rack 1713 are meshed and transmitted with each other through a steering wheel 1715, and the steering wheel 1715 is in two groups, and the two groups of steering wheels 1715 are symmetrically arranged between the driving gear 1714 and the linear rack 1713. By driving the gear 1714 to rotate, the climbing foot mounted on the slide 1712 can be moved on the trunk frame 11, thereby achieving inchworm crawling.

[0053] 1.2. Anti-backlash components

[0054] like Figure 7 to Figure 9As shown, each steering wheel 1715 is rotatably mounted on the slide 1712 through a backlash elimination component 1716. The backlash elimination component 1716 includes a limiting groove 17161 opened on the slide 1712 and sealed at both ends. The groove length direction of the limiting groove 17161 is parallel to the length direction of the linear rack 1713, and the groove length direction of the limiting groove 17161 is parallel to the length direction of the linear guide 171. A bearing block 17162 is slidably arranged in the limiting groove 17161, and a gear shaft 17163 is fixedly mounted on the bearing block 17162. The steering wheel 1715 is coaxially rotatably mounted on the gear shaft 17163. The top ends of the two bearings are both internal thread segments, and a waist-shaped hole is opened on a fixed plate 17164. The fixed plate 17164 is sleeved on the two internal thread segments through the waist-shaped hole, and the hole length direction of the waist-shaped hole is parallel to the length direction of the linear guide 171. Bolts are threadedly connected to the threaded section, so as to movably assemble the fixing plate 17164 on the two gear shafts 17163. Under the action of the fixing plate 17164, even if the bearing block 17162 tends to slide to the outermost end of the limiting groove 17161, the fixing plate 17164 will tighten the two steering wheels 1715 so that they are always meshed with the driving gear 1714 and the linear rack 1713.

[0055] The limiting groove 17161 is also provided with a backlash-eliminating elastic member 17165 for pushing the steering wheel 1715 to move between the driving gear 1714 and the linear rack 1713. The backlash-eliminating elastic member 17165 is a reset spring pressed between the groove end of the limiting groove 17161 and the bearing block 17162. The groove end of the limiting groove 17161 squeezed by the reset spring begins to have a threaded hole. The front end of the positioning bolt 17166 passes through the threaded hole, the reset spring, and the through hole provided on the bearing block 17162 and abuts against the other groove end. At this time, the positioning bolt 17166 and the threaded hole are threadedly connected to each other, and the front end thereof is a light rod, and the light rod and the through hole on the bearing block 17162 are coaxially slidably connected to each other. The backlash-eliminating assembly 1716 can not only eliminate the backlash of the spur gear transmission and avoid the occurrence of swaying during reverse motion, but also reduce the transmission error so that the actual climbing distance of the climbing subject is closer to the theoretical one.

[0056] A sliding encoder 1717 is also installed on the slide 1712, and a coding gear 1718 is coaxially fixed to the rotating end of the sliding encoder 1717. The coding gear 1718 and the linear rack 1713 are in transmission engagement with each other to feed back the real-time sliding position of the slide 1712 on the trunk frame 11 to the controller 14, thereby realizing precise control of the sliding state.

[0057] 2. Angle steel climbing foot

[0058] like Figure 10 to Figure 15As shown, the angle steel climbing foot 2 includes a mounting seat 211 equipped with a pressing portion 23 and a clamping portion 22. The mounting seat 211 is hinged on a base 214 through a hinge shaft, and when in use, the axis of the hinge shaft on the base 214 is parallel to the length direction of the angle steel main material 40. A pitch adjustment component 21 is arranged between the mounting seat 211 and the base 214 to drive the mounting seat 211 to rotate around its hinge shaft to adjust the pitch angle between the clamp arm and the length direction of the angle steel main material 40.

[0059] 2.1. Pitch adjustment components

[0060] like Fig.13 As shown, the pitch adjustment assembly 21 includes positioning plates 212 fixed on both sides of the mounting seat 211, and waist-shaped guide holes 213 are provided on the two positioning plates 212, which are parallel to each other and inclined to the length direction of the angle steel main material 40. Two directional grooves are provided on the base 214, and an directional block 215 is bridged between the two directional grooves, and the directional block 215 is synchronously slidably arranged in the two directional grooves. Positioning pins 216 are symmetrically arranged on both sides of the directional block 215, and the two positioning pins 216 are respectively inserted in the waist-shaped guide holes 213 on the corresponding sides. A pitch telescopic rod 217 is arranged on the base 214, and the pitch telescopic rod 217 actually adopts a lead screw nut structure, a threaded hole is started on the directional block 215, and the lead screw is threadedly connected in the threaded hole, and then the screw is driven by a motor to change the position of the positioning pin 216 in the length direction of the waist-shaped guide hole 213, thereby realizing the adjustment of the pitch angle of the base 214 relative to the length direction of the angle steel main material 40.

[0061] 2.2. Pressing part

[0062] like Fig.11 , Fig.12 and Fig.14 As shown, the pressing part 23 includes a telescopic rod 231 arranged on the mounting seat 211 and extending toward the angle steel main material 40, and a telescopic motor used in the telescopic rod 231. There are two sets of telescopic motors, which are arranged on both sides of the mounting seat 211, respectively, and are used to connect the hinge seat 232. The hinge seat 232 is installed on the telescopic ends of the two telescopic motors at the same time, and two clamping plates 233 are symmetrically hinged on the hinge seat 232. The two clamping plates 233 can be opened and closed with each other to form a V-shaped clamping mouth that presses against the V-shaped outer wall surface of the angle steel main material 40. The V-shaped clamping surface formed by the V-shaped clamping mouth can be covered on the V-shaped outer wall surface of the angle steel main material 40. Even if a connecting plate 43 is arranged on the outer wall of the angle steel main material 40, the V-shaped clamping surface can also be covered on the outer plate surface of the connecting plate 43, thereby pressing against the angle steel main material 40 for subsequent clamping actions.

[0063] A folding assembly is arranged on the moving path of the hinge seat 232 away from the angle steel main material 40, which can close the V-shaped clamp and keep it in a closed state to reduce the space volume of the two clamps 233. The folding assembly includes two sliders 234 fixedly mounted on the force-applying ends of the two clamps 233, and a control board 236 arranged on the mounting seat 211 and located at the end of the moving path of the hinge seat 232 away from the angle steel main material 40. Two slide grooves 2361 are symmetrically opened on the control board 236, and the two slide grooves 2361 cooperate with each other to form an eight-shaped opening direction opposite to the opening direction of the V-shaped clamp, and the slider 234 slides in the slide groove 2361 to close the two clamps 233.

[0064] The force-applying ends of the two splints 233 are connected to each other with elastic reset members 235 that can open the two splints 233. The elastic reset member 235 is a reset spring, and a limit block 237 fixed to the hinge seat 232 is arranged on the opening path of the two splints 233 to limit the maximum opening angle. The maximum opening angle is 90 degrees.

[0065] 2.3. Clamping part

[0066] like Fig.11 , Fig.12 and Fig.15 As shown, the clamping part 22 includes two groups of clamping arms that cooperate with each other to complete the double-arm semi-encircling folding and clamping action from both sides of the angle steel main material 40, and the clamping arm includes a push rod 226 and a hook-shaped clamping claw 221 hinged on the push rod 226 by a hinge shaft, and the front end of the clamping claw 221 constitutes a clamping end 222 that clamps the edge of the same side wing plate of the angle steel main material 40. The clamping end 222 is also arranged with a pressure sensor 2221 to detect the clamping pressure, and in order to improve the stability of the clamping at each clamping, the clamping pressure needs to be greater than a certain value. The hinged part of the clamping claw 221 and the push rod 226 is also arranged with a folding driving part that drives the clamping claw 221 to open and close to cooperate with the folding action. The folding driving part includes a flip telescopic rod 223 installed on the arch back of the clamping claw 221, and a hook rod 224 and a push rod 225 that move synchronously are installed on the telescopic end of the flip telescopic rod 223. The push rod 226 is provided with a stop pin 2271 which is hooked with the hook end of the hook rod 224 at the eccentric part of the hinge axis thereof, and the front end of the push rod 225 abuts against the eccentric part of the hinge axis of the push rod 226. The hook rod 224 can actively hook the stop pin 2271 during the contraction of the flip telescopic rod 223 to make the clamping jaw 221 do a flipping and opening action, and the front end of the push rod 225 actively pushes the push rod 226 during the extension of the flip telescopic rod 223 to make the clamping jaw 221 do a reverse flipping and embracing action. The push rod 226 is also provided with a stop block 227 which can block the tail of the clamping jaw 221 during the rotation process of the clamping jaw 221 to cooperate with the push rod 225 to limit the flipping and embracing angle of the clamping jaw 221, and the stop pin 2271 is installed on the side of the stop block 227, and the front end of the push rod 225 abuts against the upper end surface of the stop block 227.

[0067] The push rod 226 is also provided with a clamping drive part which can pull the two clamping jaws 221 toward the angle steel main material 40 and make the two clamping ends 222 close to the edges of the two wing plates of the angle steel main material 40 after the clamping jaws 221 complete the closing action. The clamping drive part includes a linear guide groove 332 provided on the mounting seat 211, and the push rod 226 is arranged in the linear guide groove 332. A driven rack 2261 is installed on the rod body of the push rod 226, and a driving gear which meshes with the driven rack 2261 to drive the push rod 226 to slide back and forth in the linear guide groove 332 is installed at the notch of the guide groove 332. When the driving gear rotates, it will drive the push rod 226 to slide back and forth in the linear guide groove 332 through the meshing action with the driven rack 2261, so that the clamping drive part can accurately control the moving distance and speed of the push rod 226, thereby realizing the accurate adjustment of the clamping force of the clamping jaws 221.

[0068] 3. Fastening equipment

[0069] like Figure 11 to Figure 21 As shown, the fastening device 3 includes a feeding part 31 arranged at the head end of the host 1 and used to place a plurality of nut fastening sleeves 33 of different specifications, and a fastening part 32 installed at the head end of the host 1 through a multi-degree-of-freedom mechanical arm 34 and capable of driving the nut fastening sleeve 33 to rotate. The multi-degree-of-freedom mechanical arm 34 can drive the fastening part 32 to move to the target nut and complete the fastening work of the nut, and the rotating end of the fastening part 32 can form a detachable elastic snap connection with the preset disassembly holes 331 at each nut fastening sleeve 33.

[0070] 3.1 Fastening part

[0071] like Fig.18 and Fig.19 As shown, the fastening portion 32 includes a driving shaft 322, the head end of which is in the shape of a square prism matching the outer shape of the disassembly hole 331, and a positioning pin hole 323 is recessed on the side wall of the head end, and an elastic pin 324 is arranged in the positioning pin hole 323 to produce elastic telescopic action along the radial direction of the driving shaft 322, and a positioning groove is provided on the hole wall of the disassembly hole 331 for the hemispherical front end of the elastic pin 324 extending out of the positioning pin hole 323 to be inserted. The head end of the driving shaft 322 is designed to be in the shape of a square prism, matching the outer shape of the disassembly hole 331, to ensure a stable connection. The positioning pin hole 323 and the elastic pin 324 on the side wall are designed to allow a detachable elastic snap connection to be formed between the driving shaft 322 and the nut fastening sleeve 33.

[0072] The head end of the drive shaft 322 is coaxially provided with a directional hole 325 that is connected to the positioning pin hole 323. A guide pin 327 is coaxially slidably matched in the directional hole 325 along the axial direction. A return spring serving as a spring-guide member 326 is compressed between the tail end of the guide pin 327 and the bottom of the directional hole 325. The head end of the guide pin 327 and the tail end of the elastic pin 324 abut against each other under the pushing action of the spring-guide member 326 to form a wedge surface fit, so as to drive the front end of the elastic pin 324 to extend out of the positioning pin hole 323. The elastic pin 324 is connected to the guide pin 327 through the wedge surface fit. When the guide pin 327 is pushed, the front end of the elastic pin 324 extends out and is inserted into the positioning groove to achieve a fastened connection. The spring-guide pin used here is a sphere, one side of which is inserted into the positioning groove, and the head ends of the guide pins 327 on the opposite side abut against each other to form a wedge surface fit.

[0073] The drive shaft 322 is also provided with an unlocking portion 328 at the part where the nut fastening sleeve 33 is replaced, which can make the guide pin 327 move in the opposite direction to release the elastic engagement of the elastic pin 324. When replacing the nut fastening sleeve 33, the unlocking telescopic rod 3281 pushes the guide pin 327 to move in the opposite direction, so that the elastic pin 324 is retracted back into the positioning pin hole 323, thereby releasing the engagement and facilitating the replacement of the sleeve.

[0074] 3.2 Feeding Department

[0075] like Fig. 20 and Fig.21 As shown, the feeding part 31 includes a support seat 311 and a turntable 312 rotatably arranged on the support seat 311, a plurality of cylindrical cavities 313 are opened on the turntable 312, and each nut tightening sleeve 33 is coaxially placed in the cylindrical cavity 313 in sequence, and a cover plate 314 is arranged on the support seat 311 to cover each cylindrical cavity 313 at the same time, and a material taking hole 3141 which can be coaxial with each cylindrical cavity 313 during the rotation of the turntable 312 is opened on the plate surface of the cover plate 314 located at the material taking position, and the multi-degree-of-freedom robot arm 34 guides the driving shaft 322 to carry the nut tightening sleeve 33. The sleeve 33 coaxially passes through the material extraction hole 3141 and the nut tightening sleeve 33 is inserted into the cylindrical cavity 313; a through hole is opened at the bottom end of each cylindrical cavity 313, and a telescopic motor as an unlocking telescopic rod 3281 is installed on the support seat 311 and is coaxially arranged with the material extraction hole 3141. The unlocking telescopic rod 3281 can pass through the through hole, the barrel cavity of the nut tightening sleeve 33, the disassembly hole 331 and the directional hole 325 from bottom to top in the vertical direction, and push the guide pin 327 to produce the reverse movement. The unlocking telescopic rod 3281 constitutes the unlocking part 328.

[0076] The feeding part 31 adopts a turntable 312 design, and a plurality of cylindrical cavities 313 are provided on the turntable 312 for storing nut tightening sleeves 33 of different specifications. The turntable 312 rotates so that each sleeve is aligned with the material taking hole 3141 in turn, which is convenient for the multi-degree-of-freedom robot arm 34 to take the material. The design of the cover plate 314 ensures the closedness of the cylindrical cavity 313, and each cylindrical cavity 313 is staggered with the material taking hole 3141 to prevent the nut tightening sleeve 33 from accidentally slipping out of the cylindrical cavity 313; at the same time, the setting of the material taking hole 3141 enables the robot arm to accurately take the material during the rotation of the turntable 312. In the process of taking the material and tightening the nut, the position of the drive shaft 322 and the nut tightening sleeve 33 is calibrated in real time by a camera, so as to accurately take the part according to the positioning structure and position it at the target nut to complete its reset and tightening action.

[0077] The drive shaft 322 is coaxially connected to the motor shaft of the rotating motor 321 through a flexible connection part. The two sides of the head end of the motor shaft are vertically fixed with limit pins 3211. The tail end of the drive shaft 322 is coaxially recessed with a vibration hole 3221, and waist-shaped collision holes 3222 are penetrated on the hole walls opposite to the vibration hole 3221, and the length direction of the waist-shaped collision hole 3222 is parallel to the axial direction of the drive shaft 322. The motor shaft is coaxially inserted in the vibration hole 3221 with clearance fit, and the two limit pins 3211 are respectively inserted in the corresponding waist-shaped collision holes 3222 with clearance fit; the outer sides of the motor shaft and the drive shaft 322 are sleeved with a flexible reset spring 329, and the two ends of the flexible reset spring 329 are coaxially fixed on the motor shaft and the drive shaft 322. A flexible connection is used between the drive shaft 322 and the rotating motor 321. The design of the flexible reset spring 329 and the waist-shaped collision hole 3222 absorbs vibration and impact during the operation of the motor, protecting the drive shaft 322 and the motor from damage. At the same time, a dynamometer is also arranged on the rotating motor 321 to monitor the size of the nut warning force in real time, and when the nut warning force reaches the set value, the nut is stopped from being tightened, and the re-tightening of the current nut is completed. The design of the limit pin 3211 and the waist-shaped collision hole 3222 limits the relative displacement between the drive shaft 322 and the motor shaft, while allowing a certain axial and radial offset, thereby improving the stability and durability of the system.

[0078] 3.3 Multi-DOF Robotic Arm

[0079] like Fig.16As shown, the multi-degree-of-freedom mechanical arm 34 includes a first telescopic rod 341. The first telescopic rod 341 includes a fixed sleeve 3411 fixed at the head end of the main machine 1, and a first slide bar 3412 is coaxially slidably connected in the fixed sleeve 3411, and a first rack 3413 is installed on the first slide bar 3412. An opening is provided on the fixed sleeve 3411, and a first gear is transmission-connected to the driving motor installed on the fixed sleeve 3411, and the first gear is meshed with the first rack 3413 through the opening, thereby driving the first slide bar 3412 to extend and retract along the length direction of the main machine 1. A plurality of first bearings 3415 are evenly arranged at the sleeve openings at both ends of the fixed sleeve 3411 along the circumferential direction, and each first bearing 3415 is fixedly installed on the fixed sleeve 3411 through a bearing seat 3414. The outer circumferential surface of each bearing rolls with the first slide bar 3412 to improve the smoothness of the sliding of the first slide bar 3412.

[0080] A first drive motor 3416 is installed at the telescopic end of the first slide bar 3412, and the axial direction of the first drive motor 3416 is parallel to the length direction of the first slide bar 3412. A second drive motor 3417 is installed at the rotation end of the first drive motor 3416, and the axis of the second drive motor 3417 is parallel to the axis of the first drive motor 3416. A second telescopic rod 3418 is installed on the driving shaft 322 of the second drive motor 3417, and the telescopic direction is perpendicular to the axial direction thereof, and the structure of the second telescopic rod 3418 is the same as that of the first telescopic rod 341.

[0081] A third drive motor 3419 is coaxially mounted on the telescopic end of the second telescopic rod 3418, and the axial direction of the third drive motor 3419 is parallel to the telescopic direction of the second telescopic rod 3418. A third telescopic rod 34120 is mounted on the rotating end of the third drive motor 3419, and the telescopic direction of the third telescopic rod 34120 is parallel to the axial direction of the third drive motor 3419. The third telescopic rod 34120 can be a telescopic rod with the same structure as the first telescopic rod 341, or a telescopic cylinder, or a belt drive structure. The rotating motor 321 in the clamping part is mounted on the telescopic end of the third telescopic rod 34120.

[0082] The multi-degree-of-freedom mechanical arm 34 can drive the driving shaft 322 to complete the placement and removal of the nut tightening sleeve 33 .

[0083] Combined with the figure, the process of nut re-tightening in the present invention is as follows:

[0084] 1) In the initial state, the main machine 1 is manually moved to align with the angle steel main material 40, and then the controller 14 is used to drive the telescopic rod 231 to extend, and the slider 234 and the slide groove 2361 are pushed away from each other. The two clamps 233 are opened under the action of the reset spring as the elastic reset member 235, and under the limiting action of the limit block 237, the two clamps 233 are opened to the maximum angle and pressed against the outer wall surface of the angle steel main material 40. Then the push rod 226 is driven to extend to an appropriate length, and then the flip telescopic rod 223 is driven to extend, so that the two clamps 221 are gradually unfolded from the M shape with the smallest space volume, and unfolded to a predetermined angle. Then the servo motor drives the active gear to pull back the clamps 221 in the reverse direction, and the two clamps 221 are pressed against the edge of the angle steel wing plate to complete the double-arm semi-encircling clamping action from both sides of the angle steel main material 40.

[0085] 2) The two climbing feet on the main machine 1 clamp the angle steel according to the action in step 1, so that the main machine 1 is placed parallel to the main angle steel material 40.

[0086] 3) When the host 1 needs to climb upward, the operation is reversed according to the content of step 1, so that the upper climbing foot and the angle steel main material 40 are separated from each other, and the pitch angle detector on the host 1 is used to measure the pitch angle of the host 1. After losing a climbing foot support point, the host 1 generates a pitch angle under the action of gravity. If the pitch angle detected at this time can make the climbing foot that is separated from the host 1 and shrinks to the minimum space volume not collide with the inclined material 42 or the foot nail 41 when it rises under the action of the linear drive unit 17, then the linear drive unit 17 is directly started to make the climbing foot rise. Otherwise, it is necessary to adjust the pitch adjustment component 21 on the lower climbing foot to adjust the host 1 until the climbing foot that is separated from the host 1 does not collide with the inclined material 42 or the foot nail 41 when it rises under the action of the linear drive unit 17. During the process of the climbing foot rising, the distance between the two climbing feet is monitored in real time by the phase-separated laser rangefinder 15. When the distance reaches the set value, the climbing foot stops rising. Then, the main machine 1 and the angle steel main material 40 are adjusted to be parallel to each other through the pitch adjustment assembly 21 on the lower climbing foot, and at the same time, the upper climbing foot is operated according to the content of step 1 so that the climbing foot is placed on the angle steel main material 40.

[0087] 4) When the main machine 1 needs to continue climbing, release the bottom climbing foot, and then adjust the pitch angle of the main machine 1 through the pitch adjustment component 21 on the upper climbing foot, until the lower climbing foot, which is separated from the main machine 1 and shrinks to the minimum space volume, does not collide with the oblique material 42 or the foot nail 41 when rising under the action of the linear drive unit 17. Then, the main machine 1 is driven upward by the linear drive unit 17 to drive the lower climbing foot to climb upward, and when the distance between the two climbing feet is shortened to the set distance, the linear drive unit 17 stops running, and then the main machine 1 and the angle steel main material 40 are adjusted to be parallel to each other through the pitch adjustment component 21 on the upper climbing foot, and at the same time, the lower climbing foot is operated according to the content of step 1 so that the climbing foot is placed on the angle steel main material 40.

[0088] 5) Operate the host 1 and the climbing foot according to the contents of steps 3 and 4 until the host 1 climbs to the target position. Conversely, if the host 1 needs to descend, it can also be achieved in the same way.

[0089] 6) After the host 1 climbs to the target position, the nuts on the angle steel tower are tightened by the tightening device 3. First, the rules of the nuts driven by the camera are determined by taking a photo of the nuts. Then, the turntable 312 is rotated to rotate the corresponding nut tightening sleeve 33 to the feeding hole 3141. Then, under the action of the multi-degree-of-freedom mechanical arm 34 and the camera machine vision, the driving rod is aligned with the disassembly hole 331 at the feeding hole 3141. Then, the front end of the driving rod is inserted into the disassembly hole 331 and forms a snap fit with the disassembly hole 331. Then, the nut tightening sleeve 33 is removed from the turntable 312 and, under the action of the camera machine vision, is aligned with the nut to be tightened. Start the rotating motor 321, start tightening the nuts, and observe the indication on the dynamometer at the same time. When the indication is greater than the set value, stop tightening. At this time, the current nut tightening is completed, and then the subsequent tightening of other nuts is carried out.

[0090] 7) When the nut fastening sleeve 33 needs to be replaced, the nut fastening sleeve 33 to be replaced is inserted into the cylindrical cavity 313 of the hole through the cooperation of the multi-degree-of-freedom mechanical arm 34 and the camera machine vision, and a certain drop gap is left between the bottom of the nut fastening sleeve 33 and the bottom of the cylindrical cavity 313. Then the telescopic motor serving as the unlocking telescopic rod 3281 is driven to extend, and the guide pin 327 is pushed from bottom to top to produce the reverse movement, so that the ball loses the guide support, and then the nut fastening sleeve 33 squeezes the ball out of the positioning groove under the action of gravity and falls into the cylindrical cavity 313. Then the telescopic motor retracts, and the guide pin 327 moves down synchronously, squeezing the ball out of the positioning pin hole 323 again. Finally, the replacement of the nut fastening sleeve 33 can be completed according to the content of step 6, and the tightening of nuts of different specifications can be performed.

[0091] The working part on the host 1 can also be other torque wrenches, cameras or even welding heads, etc., which can be changed as appropriate depending on the site conditions. As a functional part for performing precise operations, the working part can be installed at any position on the host 1, and can even form an integrated structure with the host 1 or form a convenient disassembly structure relative to the main body, which will not be repeated here.

[0092] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An angle steel climbing foot, comprising a mounting seat (211), on which a pressing portion (23) for pressing against an outer wall surface of an angle steel main material (40) and a clamping portion (22) for performing a closing and clamping action along a cross-sectional direction of the angle steel main material (40) are arranged, and the pressing portion (23) and the clamping portion (22) exert force toward each other and clamp the angle steel main material (40), characterized in that: The pressing portion (23) comprises a pressing telescopic rod (231) arranged on the mounting seat (211) and extendable toward the angle steel main material (40); a hinge seat (232) is installed on the telescopic end of the pressing telescopic rod (231); two clamping plates (233) are hinged on the hinge seat (232); the two clamping plates (233) can be opened and closed with each other to cooperate to form a V-shaped clamping opening that presses against the V-shaped outer wall surface of the angle steel main material (40); and a folding component that can close the V-shaped clamping opening and keep it in a closed state to reduce the space volume of the two clamping plates (233) is arranged on the moving path of the hinge seat (232) away from the angle steel main material (40).

2. The angle steel climbing foot according to claim 1, characterized in that: The folding assembly comprises two sliders (234) respectively fixedly mounted on the force-applying ends of the two clamping plates (233), and a control plate (236) arranged on the mounting seat (211) and located at the end of the moving path of the hinge seat (232) away from the main angle steel material (40); two slide grooves (2361) are symmetrically opened on the control plate (236), and the two slide grooves (2361) cooperate with each other to form an eight-shaped opening direction opposite to the opening direction of the V-shaped clamping mouth, and the slider (234) slides in the slide groove (2361) to close the two clamping plates (233).

3. The angle steel climbing foot according to claim 3, characterized in that: An elastic reset member (235) is connected between the force-applying ends of the two clamping plates (233) to enable the two clamping plates (233) to open, and a limit block (237) fixed to the hinge seat (232) for limiting the maximum opening angle is arranged on the opening path of the two clamping plates (233).

4. An angle steel climbing foot according to claim 1, 2 or 3, characterized in that: The clamping part (22) comprises two groups of clamping arms which cooperate with each other to complete a double-arm semi-encircling closing and clamping action from both sides of the angle steel main material (40), the clamping arms comprising a push rod (226) and a hook-shaped clamping claw (221) hinged on the push rod (226) through a hinge shaft, the front end of the clamping claw (221) constituting a clamping end (222) for clamping the edge of the wing plate on the same side of the angle steel main material (40); a closing driving part for driving the clamping claw (221) to open and close to cooperate with the closing action is also arranged at the hinge of the clamping claw (221) and the push rod (226); a clamping driving part is also arranged at the push rod (226) which can pull the two clamping claws (221) toward the angle steel main material (40) and make the two clamping ends (222) press against the edges of the two wing plates of the angle steel main material (40) after the clamping claw (221) completes the closing action.

5. The angle steel climbing foot according to claim 4, characterized in that: The folding driving part comprises a flip telescopic rod (223) installed on the arch back of the clamping claw (221), and a hook rod (224) and a push rod (225) which move synchronously are installed on the telescopic end of the flip telescopic rod (223); a stop pin (2271) which is hooked with the hook end of the hook rod (224) is installed at the eccentric part of the hinge axis of the push rod (226), and the front end of the push rod (225) abuts against the eccentric part of the hinge axis of the push rod (226); the hook rod (224) can actively hook the stop pin (2271) during the contraction process of the flip telescopic rod (223) to make the clamping claw (221) move. 21) performs a flipping and opening action, and the front end of the push rod (225) actively pushes the push rod (226) during the extension process of the flipping telescopic rod (223) to make the clamping jaw (221) perform a reverse flipping and embracing action; the push rod (226) is also arranged with a stopper (227) which can block the tail of the clamping jaw (221) during the rotation process of the clamping jaw (221) to cooperate with the push rod (225) to limit the flipping and embracing angle of the clamping jaw (221), the stopper pin (2271) is installed on the side of the stopper (227), and the front end of the push rod (225) and the upper end surface of the stopper (227) are in contact with each other.

6. The angle steel climbing foot according to claim 5, characterized in that: The clamping drive unit comprises a linear guide groove (332) provided on a mounting seat (211), and a push rod (226) is arranged in the linear guide groove (332); a driven rack (2261) is installed on the rod body of the push rod (226), and a driving gear meshing with the driven rack (2261) is installed at the notch of the guide groove (332) to drive the push rod (226) to slide back and forth in the linear guide groove (332).

7. The angle steel climbing foot according to claim 6, characterized in that: The mounting seat (211) is hinged on the base (214) via a hinge axis, and a pitch adjustment component (21) is arranged between the mounting seat (211) and the base (214) to drive the mounting seat (211) to rotate around its hinge axis to adjust the pitch angle between the clamp arm and the length direction of the angle steel main material (40); the pitch adjustment component (21) comprises positioning plates (212) fixed on both sides of the mounting seat (211), and waist-shaped guide holes (213) parallel to each other and inclined in the length direction of the angle steel main material (40) are formed on the two positioning plates (212); two parallel waist-shaped guide holes (213) are formed on the base (214) The two directional grooves are bridged with an directional block (215), and the directional block (215) is synchronously slidably arranged in the two directional grooves; positioning pins (216) are symmetrically arranged on both sides of the directional block (215), and the two positioning pins (216) are respectively inserted into the waist-shaped guide holes (213) on the corresponding sides; a pitch telescopic rod (217) is arranged on the base (214), the directional block (215) is installed on the telescopic end of the pitch telescopic rod (217), and the pitch telescopic rod (217) can push the positioning pin (216) to slide back and forth along the length direction of the waist-shaped guide hole (213) to adjust the pitch angle.

8. A climbing robot, the climbing robot using an angle steel climbing foot as claimed in any one of claims 1 to 7, characterized in that: The invention comprises a main machine (1), on which are arranged two groups of angle steel climbing feet (2) arranged along the direction of the angle steel main material (40), each angle steel climbing foot (2) can generate a linear reciprocating motion along the length direction of the angle steel main material (40) under the driving action of a linear driving part (17), so as to cooperate with the closing and clamping action of the angle steel climbing foot (2) to complete climbing.

9. The climbing robot according to claim 8, characterized in that: The linear drive unit (17) comprises a linear guide rail (171) mounted on the trunk frame (11) of the main machine (1) and extending along the length direction of the angle steel main material (40); a slide seat (1712) for fixing the base (214) is slidably mounted on the linear guide rail (171); a linear rack (1713) is mounted on the linear guide rail (1711); a driving gear (1714) is mounted on the slide seat (1712); the driving gear (1714) and the linear rack (1713) are meshed and transmitted with each other through a steering wheel (1715); the steering wheels (1715) are in two groups and are symmetrically arranged between the driving gear (1714) and the linear rack (1713); each steering wheel (1715) is connected to the linear guide rail (1711) by a backlash elimination component (1716). ) is rotatably mounted on the slide (1712); the anti-backlash component (1716) comprises a limiting groove (17161) which is opened on the slide (1712) and sealed at both ends, the groove length direction of the limiting groove (17161) is parallel to the length direction of the linear rack (1713), a bearing block (17162) is slidably arranged in the limiting groove (17161), a gear shaft (17163) is fixedly mounted on the bearing block (17162), and the steering wheel (1715) is coaxially rotatably mounted on the gear shaft (17163); the limiting groove (17161) is also equipped with an anti-backlash elastic member (17165) for driving the steering wheel (1715) to move between the driving gear (1714) and the linear rack (1713).

10. The climbing robot according to claim 9, characterized in that: The trunk frame (11) is also provided with a ground laser rangefinder (16) for detecting the distance from the ground, a phase laser rangefinder (15) for detecting the distance between the two angle steel climbing feet (2), and a battery pack (12) for providing power.

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