Climbing robot with climbing assembly convenient to replace and use method of climbing robot

Abstract

The climbing robot comprises a robot body and the climbing assemblies arranged on the two sides of the robot body, connecting structures are arranged on the two sides of the robot body, the connecting structures are used for connecting the robot body with the climbing assemblies, and each connecting structure comprises a shaft rod fixedly connected to the two sides of the robot body; the climbing assembly is arranged on the surface of the shaft rod in a sleeving mode, the inner side of the climbing assembly is fixedly connected with a sleeve plate, the sleeve plate is arranged on the surface of the shaft rod in a sleeving mode, the surface of the shaft rod is sleeved with a rotating wheel, and the inner side of the rotating wheel is fixedly connected with a sliding rod. Through the combination of the shaft rod, the sleeve plate, the rotating wheel and the sliding rod, rapid installation and fixation of the climbing assembly are achieved, when the rotating wheel rotates, the sliding rod extrudes the sleeve plate to enable the climbing assembly to swing and be inserted into the positioning frame, the installation process is simplified through the design, the installation efficiency is improved, and stable connection of the climbing assembly is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of climbing robots, and in particular to a climbing robot with easy replacement of climbing components and a use method thereof. Background Art

[0002] The electric angle steel tower climbing robot is an automated operation equipment designed for electric angle steel towers. It can be attached to the tower, climb accurately along the main material of the angle steel tower, and perform various maintenance tasks, such as bolt tightening. The electric angle steel tower climbing robot is usually composed of a mechanical system and a control system, and has multiple functions such as autonomous climbing, obstacle crossing, and operation. The robot can be attached to the main material of the angle steel tower and achieve stable climbing through a specific climbing mechanism. Some advanced robots also have the ability of ruler-curling bionic movement, which can flexibly deal with various obstacles on the tower.

[0003] For example, the patent application number published on the China Patent Network is: 202223070837.2, and the patent name is: Wind turbine tower cleaning robot, including a chassis, an outer plate and an inner plate, a set of outer plates and inner plates are arranged on the left and right sides of the chassis; an outer bottom plate is arranged at a certain distance in the lower middle of the chassis; the magnetic climbing system includes four independently controllable magnetic climbing units, and the magnetic climbing units include magnetic wheels driven and controlled by climbing drive motors; the climbing drive motor is fixed to the chassis of the frame and connected to the magnetic wheels through a gear transmission mechanism; the cleaning system includes a water tank, a water pump, a high-pressure water pump, a water outlet pipe, a cleaning drive motor, a rotating cleaning head, a swinging cleaning brush, a transmission gear and an active gear. The utility model replaces manpower to complete the efficient cleaning of the wind turbine tower, thereby avoiding interference factors and dirt accumulation in the detection of the wind turbine tower, which may cause safety hazards.

[0004] However, the connection method of the climbing components on both sides of the existing climbing robot is relatively complicated, and is mainly fixed through threaded components. The fixity of the climbing components limits the operating range of the robot. When it is necessary to climb angle steel towers of different types or heights, the climbing components cannot be quickly replaced to adapt to the new environment, which will affect the wide application and flexibility of the robot.

[0005] In addition, when the climbing components are damaged or worn, if the replacement process is complicated and inconvenient, it will greatly increase the difficulty and time cost of maintenance. This will not only affect the efficiency of the robot, but may also cause other unnecessary losses due to long-term downtime. At the same time, special tools or professionals are required to replace them. If the climbing components are frequently damaged due to improper design, the maintenance cost will be further increased.

[0006] Therefore, it is necessary to design and modify a climbing robot that is easy to replace climbing components and a method of using the same. Summary of the invention

[0007] In order to solve the problems raised in the above-mentioned background technology, the purpose of the present invention is to provide a climbing robot with easy replacement of climbing components and a method of using the same, which has the advantage of easy replacement of climbing components and solves the problem that the connection method of the climbing components on both sides of the existing climbing robot is relatively cumbersome, mainly through threaded components for fixing, and the fixity of the climbing components limits the operating range of the robot. When it is necessary to climb angle steel towers of different types or heights, the climbing components cannot be quickly replaced to adapt to the new environment.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solutions: a climbing robot that is convenient for replacing climbing components and a method of using the same, comprising a body; Climbing components arranged on both sides of the fuselage; Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0009] As a preferred embodiment of the present invention, the transmission structure includes a screw rod threadedly connected to the surface of the machine body, the surface of the screw rod is threadedly connected to a transmission plate, both sides of the transmission plate are fixedly connected to extension rods, the side of the extension rod away from the transmission plate is fixedly connected to a tooth plate located at the bottom of the shaft rod, the surface of the shaft rod is fixedly connected to a gear located at the top of the tooth plate, and the gear and the tooth plate are meshed with each other.

[0010] As a preferred embodiment of the present invention, the surface of the body is fixedly connected to a support plate located at the bottom of the screw, the side of the support plate away from the body is sleeved on the surface of the screw, and the end of the screw away from the body is fixedly connected to a wheel located outside the support plate.

[0011] As a preferred embodiment of the present invention, a guide rod is fixedly connected between the support plate and the body, and the transmission plate is sleeved on the surface of the guide rod and is slidably connected to the guide rod.

[0012] As a preferred embodiment of the present invention, the climbing component includes a shell sleeved on the surface of the shaft rod, a roller is provided on the outer side of the shell, a drive motor is fixedly connected to the inner side of the shell, the drive motor is used to drive the roller to rotate, an adsorption component is fixedly connected to the bottom of the shell, the adsorption component can be adsorbed by magnetic force, and the sleeve plate is fixedly connected to the inner side of the shell.

[0013] As a preferred embodiment of the present invention, both sides of the body are movably connected with connecting rods through bearings, the outer ends of the connecting rods are fixedly connected with pressure plates, the bottom of the pressure plates are fixedly connected with rubber pads, the side of the rubber pads away from the pressure plate is in contact with the top of the shell, the outer side of the body is fixedly connected with a bracket located on one side of the connecting rod, the side of the bracket away from the body is sleeved on the surface of the connecting rod and movably connected to the connecting rod, the connecting rod can drive the pressure plate to swing and squeeze the shell into position when it contacts the top of the shell.

[0014] As a preferred embodiment of the present invention, a force-bearing plate is fixedly connected to the surface of the connecting rod, a pressure roller is installed on the side of the tooth plate away from the extension plate, the force-bearing plate extends from the side of the connecting rod to the other side of the pressure roller, and the tooth plate can squeeze the force-bearing plate to swing when moving with the pressure roller, and a spring plate is fixedly connected to the surface of the bracket, the side of the spring plate away from the bracket is in contact with the surface of the force-bearing plate, and the spring plate is elastic.

[0015] A climbing robot that is easy to replace climbing components and a method of using the same, comprising the following steps: S1: Sleeve the climbing assembly's sleeve onto the shafts on both sides of the machine body. At this time, the bottom of the climbing assembly has not yet been plugged into the positioning frame. Rotate the screw on the surface of the machine body. Since the screw is threadedly connected to the transmission plate, the rotation of the screw will drive the transmission plate to slide on the guide rod, and the extension rods on both sides of the transmission plate will move accordingly, driving the toothed plate at the bottom of the shaft to move. The toothed plate and the gears on the shaft are meshed with each other, so the movement of the toothed plate will drive the gears to rotate, and the rotation of the gears will in turn drive the rotating wheel on the shaft to rotate. The sliding rod inside the rotating wheel will rotate accordingly and squeeze the sleeve. The squeezing of the sliding rod causes the sleeve and the climbing assembly to swing on the shaft until the bottom of the climbing assembly is completely plugged into the surface of the positioning frame, completing the installation; S2: When the tooth plate moves, the pressure roller squeezes the force plate to swing, and the force plate drives the pressure plate to swing using the connecting rod. When the pressure plate contacts the top of the shell, the shell is squeezed and positioned to increase the stability of the connection; S3: The adsorption component at the bottom of the shell uses magnetic force to increase the stability and safety of climbing. The roller of the climbing component rotates under the drive of the drive motor, so that the climbing robot can move along the climbing surface.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention realizes the rapid installation and fixation of the climbing assembly through the combination of the shaft rod, the sleeve plate, the rotating wheel and the sliding rod. When the rotating wheel rotates, the sliding rod squeezes the sleeve plate to make the climbing assembly swing and insert into the positioning frame. This design simplifies the installation process, improves the installation efficiency, and ensures the stable connection of the climbing assembly.

[0017] 2. The present invention adopts a transmission structure of a screw rod, a transmission plate, an extension rod, a tooth plate and a gear. The rotating wheel can be driven to rotate by rotating the screw rod, thereby realizing the installation of the climbing component. It is simple and reliable, easy to operate, and reduces the skill requirements for the operator.

[0018] 3. The present invention provides support for the screw and prevents the screw from shaking during rotation by sleeve-arranging a support plate on the surface of the screw. The wheel design at the far end of the screw allows the operator to easily drive the screw by rotating the wheel, further improving the convenience of operation.

[0019] 4. The present invention ensures the stable sliding of the transmission plate during the rotation of the screw by arranging the guide rod, and prevents the transmission plate from deflecting or shaking, thereby ensuring the accuracy and reliability of the transmission structure.

[0020] 5. The present invention provides a housing, rollers, a drive motor and an adsorption assembly, so that the climbing robot can move flexibly on various climbing surfaces and increase stability through magnetic adsorption. The drive motor drives the rollers to rotate, providing power for climbing.

[0021] 6. The present invention realizes the extrusion positioning of the top of the climbing component shell by arranging the connecting rod, the pressure plate and the rubber pad, further enhances the connection stability between the climbing component and the body, and can effectively prevent the climbing component from loosening or falling off during movement.

[0022] 7. The present invention provides a force-bearing plate, and can utilize the power of the tooth plate carrying the pressure roller to move to squeeze the force-bearing plate to swing during the transmission process, thereby saving the operation steps of additionally providing a driving device. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 It is a left-side structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the top view structure of the present invention; Figure 4 It is a schematic diagram of the local structure of the present invention; Figure 5 This is a schematic diagram of the structure of the climbing assembly of the present invention; Figure 6 For the present invention Figure 2 Enlarged structural diagram at A in the middle.

[0024] In the figure: 1. body; 2. climbing component; 3. connecting structure; 4. shaft; 5. sleeve; 6. rotating wheel; 7. sliding rod; 8. positioning frame; 9. transmission structure; 10. screw; 11. transmission plate; 12. extension rod; 13. tooth plate; 14. gear; 15. support plate; 16. wheel; 17. guide rod; 18. shell; 19. roller; 20. driving motor; 21. adsorption component; 22. connecting rod; 23. pressure plate; 24. rubber pad; 25. bracket; 26. force plate; 27. pressure roller; 28. spring plate. DETAILED DESCRIPTION

[0025] 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.

[0026] like Figures 1 to 6 As shown, the present invention provides a climbing robot that is easy to replace climbing components and a method of using the same, comprising a body 1; Climbing components 2 arranged on both sides of the body 1; The climbing assembly 2 is sleeved on the surface of the shaft rod 4, and a sleeve plate 5 is fixedly connected to the inner side of the climbing assembly 2, and the sleeve plate 5 is sleeved on the surface of the shaft rod 4. The surface of the shaft rod 4 is sleeved with a rotating wheel 6, and a sliding rod 7 is fixedly connected to the inner side of the rotating wheel 6. The sliding rod 7 extends to the inside of the sleeve plate 5 away from the rotating wheel 6. A positioning frame 8 is fixedly connected to both sides of the body 1, and the positioning frame 8 extends to the bottom of the climbing assembly 2 away from the side of the body 1 and is plugged into the climbing assembly 2. When the rotating wheel 6 drives the sliding rod 7 to rotate, the sliding rod 7 can be used to squeeze the sleeve plate 5 together with the climbing assembly 2 to swing on the surface of the shaft rod 4, so that the climbing assembly 2 is plugged into the surface of the positioning frame 8. A transmission structure 9 is provided on the surface of the body 1, and the transmission structure 9 can drive the rotating wheel 6 to rotate.

[0027] refer to Figure 3 The transmission structure 9 includes a screw rod 10 threadedly connected to the surface of the body 1, a transmission plate 11 is threadedly connected to the surface of the screw rod 10, extension rods 12 are fixedly connected to both sides of the transmission plate 11, a toothed plate 13 located at the bottom of the shaft rod 4 is fixedly connected to the side of the extension rod 12 away from the transmission plate 11, and a gear 14 located at the top of the toothed plate 13 is fixedly connected to the surface of the shaft rod 4, and the gear 14 and the toothed plate 13 are meshed with each other.

[0028] As a technical optimization solution of the present invention, by adopting a transmission structure 9 including a screw 10, a transmission plate 11, an extension rod 12, a tooth plate 13 and a gear 14, the rotating wheel 6 can be driven to rotate by rotating the screw 10, thereby realizing the installation of the climbing component 2. It is simple, reliable, easy to operate, and reduces the skill requirements for the operator.

[0029] refer to Figure 3 A support plate 15 located at the bottom of the screw 10 is fixedly connected to the surface of the body 1, and the side of the support plate 15 away from the body 1 is sleeved on the surface of the screw 10, and the end of the screw 10 away from the body 1 is fixedly connected to a wheel 16 located outside the support plate 15.

[0030] As a technical optimization solution of the present invention, by sleeve-mounting the support plate 15 on the surface of the screw 10, it not only provides support for the screw 10, but also prevents the screw 10 from shaking during rotation. The design of the wheel disc 16 at the far end of the screw 10 allows the operator to easily drive the screw 10 by rotating the wheel 6, further improving the convenience of operation.

[0031] refer to Figure 3 A guide rod 17 is fixedly connected between the support plate 15 and the body 1 , and the transmission plate 11 is sleeved on the surface of the guide rod 17 and is slidably connected to the guide rod 17 .

[0032] As a technical optimization solution of the present invention, by providing the guide rod 17, the stable sliding of the transmission plate 11 during the rotation of the screw 10 is ensured, and the transmission plate 11 is prevented from deflecting or shaking, thereby ensuring the accuracy and reliability of the transmission structure 9.

[0033] refer to Figure 4 The climbing component 2 includes a shell 18 sleeved on the surface of the shaft 4, a roller 19 is arranged on the outer side of the shell 18, a driving motor 20 is fixedly connected to the inner side of the shell 18, and the driving motor 20 is used to drive the roller 19 to rotate. An adsorption component 21 is fixedly connected to the bottom of the shell 18, and the adsorption component 21 can be adsorbed by magnetic force. The sleeve plate 5 is fixedly connected to the inner side of the shell 18.

[0034] As a technical optimization solution of the present invention, by providing a housing 18, a roller 19, a drive motor 20 and an adsorption assembly 21, the climbing robot can move flexibly on various climbing surfaces and increase stability through magnetic adsorption. The drive motor 20 drives the roller 19 to rotate, providing power for climbing.

[0035] refer to Figure 6Both sides of the body 1 are movably connected with connecting rods 22 through bearings, the outer ends of the connecting rods 22 are fixedly connected with pressure plates 23, the bottom of the pressure plates 23 is fixedly connected with rubber pads 24, the side of the rubber pads 24 away from the pressure plates 23 contacts the top of the shell 18, and the outer side of the body 1 is fixedly connected with a bracket 25 located on one side of the connecting rod 22, the side of the bracket 25 away from the body 1 is sleeved on the surface of the connecting rod 22 and movably connected to the connecting rod 22, the connecting rod 22 can drive the pressure plate 23 to swing and squeeze the shell 18 to position when it contacts the top of the shell 18.

[0036] As a technical optimization solution of the present invention, by setting a connecting rod 22, a pressure plate 23 and a rubber pad 24, the top extrusion positioning of the climbing component 2 shell 18 is achieved, which further enhances the connection stability between the climbing component 2 and the body 1, and can effectively prevent the climbing component 2 from loosening or falling off during movement.

[0037] refer to Figure 6 A force-bearing plate 26 is fixedly connected to the surface of the connecting rod 22, a pressure roller 27 is installed on the side of the tooth plate 13 away from the extension plate, the force-bearing plate 26 extends from the side away from the connecting rod 22 to the other side of the pressure roller 27, and the tooth plate 13 can squeeze the force-bearing plate 26 to swing when moving with the pressure roller 27. A spring plate 28 is fixedly connected to the surface of the bracket 25, and the side of the spring plate 28 away from the bracket 25 contacts the surface of the force-bearing plate 26, and the spring plate 28 is elastic.

[0038] As a technical optimization solution of the present invention, by setting the force plate 26, the force plate 26 can be squeezed and swung by the power of the tooth plate 13 carrying the pressure roller 27 during the transmission process, thereby saving the operation steps of setting up additional driving equipment.

[0039] refer to Figure 1 , a climbing robot that is easy to replace climbing components and a method of using the same, comprising the following steps: S1: Sleeve the sleeve 5 of the climbing component 2 onto the shaft 4 on both sides of the body 1. At this time, the bottom of the climbing component 2 has not yet been plugged into the positioning frame 8. Rotate the screw 10 on the surface of the body 1. Since the screw 10 is threadedly connected to the transmission plate 11, the rotation of the screw 10 will drive the transmission plate 11 to slide on the guide rod 17, and the extension rods 12 on both sides of the transmission plate 11 will move accordingly, driving the toothed plate 13 located at the bottom of the shaft 4 to move. The toothed plate 13 is meshed with the gear 14 on the shaft 4, so the movement of the toothed plate 13 will drive the gear 14 to rotate, and the rotation of the gear 14 will in turn drive the rotating wheel 6 on the shaft 4 to rotate, and the sliding rod 7 on the inner side of the rotating wheel 6 will rotate accordingly and squeeze the sleeve 5. The squeezing of the sliding rod 7 causes the sleeve 5 and the climbing component 2 to swing on the shaft 4 until the bottom of the climbing component 2 is completely plugged into the surface of the positioning frame 8, and the installation is completed; S2: When the tooth plate 13 moves, the pressure roller 27 squeezes the force plate 26 to swing, and the force plate 26 drives the pressure plate 23 to swing by the connecting rod 22. When the pressure plate 23 contacts the top of the shell 18, the shell 18 is squeezed and positioned to increase the stability of the connection; S3: The adsorption component 21 at the bottom of the shell 18 uses magnetic force to increase the stability and safety of climbing. The roller 19 of the climbing component 2 rotates under the drive of the driving motor 20, so that the climbing robot can move along the climbing surface.

[0040] The working principle and use process of the present invention are as follows: shafts 4 are fixed on both sides of the body 1 of the climbing robot, and a rotating wheel 6 is sleeved on the shaft 4. A sliding rod 7 is connected to the inner side of the rotating wheel 6. Positioning frames 8 are also fixed on both sides of the body 1 for plugging with the bottom of the climbing component 2. The climbing component 2 is sleeved together with the sleeve plate 5 on the shaft 4 of the body 1. At this time, the bottom of the climbing component 2 has not been completely plugged with the positioning frame 8. When the inner side of the sleeve plate 5 is wrapped around the surface of the sliding rod 7, by rotating a part of the screw 10 transmission structure 9 on the surface of the body 1, the screw 10 drives the transmission plate 11 to slide on the guide rod 17 to ensure that the transmission plate 11 moves stably. The extension rods 12 on both sides of the transmission plate 11 drive the tooth plate 13 to move. The tooth plate 13 is meshed with the gear 14 on the shaft 4, so the movement of the tooth plate 13 drives the gear 1 4 rotates, the rotation of the gear 14 drives the rotating wheel 6 on the shaft 4 to rotate, and the sliding bar 7 inside the rotating wheel 6 rotates accordingly and squeezes the sleeve plate 5, and the squeezing of the sliding bar 7 makes the sleeve plate 5 together with the climbing component 2 swing on the shaft 4 until the bottom of the climbing component 2 is completely inserted into the surface of the positioning frame 8, and the installation is completed. When the tooth plate 13 moves, the pressure roller 27 squeezes the force plate 26 to swing, and the force plate 26 drives the pressure plate 23 to swing by the connecting rod 22. When the pressure plate 23 contacts the top of the shell 18, the shell 18 is squeezed and positioned to increase the stability of the connection. The adsorption component 21 at the bottom of the shell 18 uses magnetic force for adsorption to increase the stability and safety of climbing. The roller 19 of the climbing component 2 rotates driven by the driving motor 20, so that the climbing robot can move along the climbing surface.

[0041] In summary: the climbing robot with easy replacement of climbing components and the use method thereof, through the combination of the shaft rod 4, the sleeve plate 5, the rotating wheel 6 and the sliding rod 7, realizes the rapid installation and fixation of the climbing component 2. When the rotating wheel 6 rotates, the sliding rod 7 squeezes the sleeve plate 5 to make the climbing component 2 swing and insert into the positioning frame 8. This design simplifies the installation process, improves the installation efficiency, and ensures the stable connection of the climbing component 2.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A climbing robot with easy replacement of climbing components, comprising a body (1); Climbing components (2) arranged on both sides of the machine body (1); Features: A connecting structure (3) is provided on both sides of the machine body (1), and the connecting structure (3) is used to connect the machine body (1) with the climbing assembly (2). The connecting structure (3) comprises a shaft (4) fixedly connected to both sides of the machine body (1), the climbing assembly (2) is sleeved on the surface of the shaft (4), a sleeve plate (5) is fixedly connected to the inner side of the climbing assembly (2), the sleeve plate (5) is sleeved on the surface of the shaft (4), a rotating wheel (6) is sleeved on the surface of the shaft (4), a sliding rod (7) is fixedly connected to the inner side of the rotating wheel (6), and the sliding rod (7) is away from the rotating wheel (6). One side of the machine body (1) extends to the interior of the sleeve plate (5), and both sides of the machine body (1) are fixedly connected with positioning frames (8). The positioning frame (8) extends to the bottom of the climbing assembly (2) on the side away from the machine body (1) and is plugged into the climbing assembly (2). When the rotating wheel (6) drives the sliding rod (7) to rotate, the sliding rod (7) can be used to squeeze the sleeve plate (5) together with the climbing assembly (2) to swing on the surface of the shaft (4), so that the climbing assembly (2) is plugged into the surface of the positioning frame (8). The surface of the machine body (1) is provided with a transmission structure (9), and the transmission structure (9) can drive the rotating wheel (6) to rotate.

2. A climbing robot that is easy to replace climbing components according to claim 1, characterized in that: The transmission structure (9) comprises a screw rod (10) threadedly connected to the surface of the machine body (1); the surface of the screw rod (10) is threadedly connected to a transmission plate (11); both sides of the transmission plate (11) are fixedly connected to extension rods (12); the side of the extension rod (12) away from the transmission plate (11) is fixedly connected to a toothed plate (13) located at the bottom of the shaft rod (4); the surface of the shaft rod (4) is fixedly connected to a gear (14) located at the top of the geared plate (13); the gear (14) and the geared plate (13) are meshed with each other.

3. A climbing robot that is easy to replace climbing components according to claim 2, characterized in that: A support plate (15) located at the bottom of the screw rod (10) is fixedly connected to the surface of the machine body (1); a side of the support plate (15) away from the machine body (1) is sleeved on the surface of the screw rod (10); and an end of the screw rod (10) away from the machine body (1) is fixedly connected to a wheel disc (16) located outside the support plate (15).

4. A climbing robot with easy replacement of climbing components according to claim 2, characterized in that: A guide rod (17) is fixedly connected between the support plate (15) and the machine body (1), and the transmission plate (11) is sleeved on the surface of the guide rod (17) and is slidably connected to the guide rod (17).

5. A climbing robot with easy replacement of climbing components according to claim 2, characterized in that: The climbing component (2) comprises a shell (18) sleeved on the surface of the shaft (4); a roller (19) is arranged on the outer side of the shell (18); a driving motor (20) is fixedly connected to the inner side of the shell (18); the driving motor (20) is used to drive the roller (19) to rotate; an adsorption component (21) is fixedly connected to the bottom of the shell (18); the adsorption component (21) can be adsorbed by magnetic force; and the sleeve plate (5) is fixedly connected to the inner side of the shell (18).

6. A climbing robot with easy replacement of climbing components according to claim 5, characterized in that: Both sides of the machine body (1) are movably connected to connecting rods (22) via bearings, the outer ends of the connecting rods (22) are fixedly connected to pressure plates (23), the bottom of the pressure plates (23) are fixedly connected to rubber pads (24), the side of the rubber pads (24) away from the pressure plates (23) is in contact with the top of the shell (18), the outer side of the machine body (1) is fixedly connected to a bracket (25) located on one side of the connecting rod (22), the side of the bracket (25) away from the machine body (1) is sleeved on the surface of the connecting rod (22) and is movably connected to the connecting rod (22), the connecting rod (22) can drive the pressure plate (23) to swing and squeeze the shell (18) to position when it contacts the top of the shell (18).

7. A climbing robot with easy replacement of climbing components according to claim 6, characterized in that: The surface of the connecting rod (22) is fixedly connected with a force-bearing plate (26); a pressure roller (27) is installed on the side of the tooth plate (13) away from the extension plate; the force-bearing plate (26) extends from the side away from the connecting rod (22) to the other side of the pressure roller (27); when the tooth plate (13) moves with the pressure roller (27), it can squeeze the force-bearing plate (26) to swing; the surface of the bracket (25) is fixedly connected with a spring plate (28); the side of the spring plate (28) away from the bracket (25) contacts with the surface of the force-bearing plate (26); and the spring plate (28) is elastic.

8. A method for using a climbing robot that facilitates replacement of climbing components according to any one of the above claims, characterized in that: The following steps are involved: S1: The sleeve plate (5) of the climbing component (2) is sleeved onto the shafts (4) on both sides of the body (1). At this time, the bottom of the climbing component (2) has not yet been plugged into the positioning frame (8). The screw rod (10) on the surface of the body (1) is rotated. Since the screw rod (10) is threadedly connected to the transmission plate (11), the rotation of the screw rod (10) will drive the transmission plate (11) to slide on the guide rod (17), and the extension rods (12) on both sides of the transmission plate (11) will move accordingly, driving the tooth plate (13) located at the bottom of the shaft (4) to move. The toothed plate (13) and the gear (14) on the shaft (4) are meshed with each other, so the movement of the toothed plate (13) drives the gear (14) to rotate, and the rotation of the gear (14) in turn drives the rotating wheel (6) on the shaft (4) to rotate, and the slide bar (7) inside the rotating wheel (6) rotates accordingly and squeezes the sleeve (5), and the squeezing of the slide bar (7) causes the sleeve (5) together with the climbing component (2) to swing on the shaft (4) until the bottom of the climbing component (2) is completely inserted into the surface of the positioning frame (8), thereby completing the installation; S2: When the tooth plate (13) moves, the pressure roller (27) squeezes the force plate (26) to swing, and the force plate (26) drives the pressure plate (23) to swing by the connecting rod (22). When the pressure plate (23) contacts the top of the shell (18), the shell (18) is squeezed and positioned to increase the stability of the connection; S3: The adsorption component (21) at the bottom of the shell (18) uses magnetic force to perform adsorption, thereby increasing the stability and safety of climbing. The roller (19) of the climbing component (2) rotates under the drive of the driving motor (20), so that the climbing robot can move along the climbing surface.

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