Column-column joint connection tightening hoop climbing robot

Abstract

The invention provides a column-column joint connecting and hooping climbing robot, and belongs to the technical field of climbing robots, and the column-column joint connecting and hooping climbing robot comprises a moving mechanism, a clamping mechanism, a steering obstacle avoidance mechanism and a load mechanism. Opening and closing of the clamping mechanism are controlled by a steering engine, sliding blocks of the steering obstacle avoidance mechanism and the two-way lead screw are connected with the steering obstacle avoidance mechanism, and a stepping motor drives the two sliding blocks to move to achieve position change of the clamping mechanism and the obstacle avoidance mechanism. The invention provides a climbing robot capable of carrying prefabricated concrete column node connection hooping equipment, climbing operation can be carried out at high altitude, hooping work of node connection can be carried out in the climbing process, and the problems that an existing climbing robot can only carry light equipment, and the hooping work of node connection can not be carried out are solved. And heavy tools and materials required for connecting and tightening the column-column joints cannot be met.

Description

Technical Field

[0001] The present invention belongs to the technical field of climbing robots, and more specifically, relates to a column-column joint connection tightening climbing robot. Background Art

[0002] With the rapid development of urbanization construction, the number of high-rise buildings is increasing continuously, and the safety and efficiency of building construction have become the focus of the industry. A climbing robot is an automated device that can move autonomously on vertical or inclined surfaces and is usually used for tasks such as high-altitude operations, inspections, and repairs. Column-column joint connection tightening refers to firmly connecting two or more columns together through specific connectors in a building structure to enhance the overall stability and safety of the structure. During the construction of high-rise buildings, column-column joint connection tightening is an important and complex task that directly relates to the overall stability and safety of the building. Traditional column-column joint connection tightening methods mostly rely on manual operations, which are not only inefficient but also pose high safety hazards. Therefore, it is of great significance to develop a climbing robot that can automatically complete the column-column joint connection tightening work.

[0003] Disadvantages of traditional column-column joint connection tightening methods: In high-altitude operations, construction workers need to hang in the air for a long time to carry out the column-column joint connection tightening work. Such an operating environment not only places extremely high demands on the physical strength and psychological endurance of workers but also poses serious safety risks such as falling and electric shock. According to statistics, the accident rate of high-altitude operations is much higher than that of ground operations. Once an accident occurs, the consequences are unimaginable. Traditional manual tightening methods rely on the experience and skills of workers, and there are significant differences in operations among different workers, making it difficult to ensure the consistency of the quality of each tightening. In addition, manual operation is slow. Especially in complex construction sites, the movement and positioning of workers take a long time, seriously affecting the overall construction progress. Manual tightening not only requires high wages but also incurs corresponding insurance costs. At the same time, due to the uncertainty of manual operations, additional time and materials are often required to repair unqualified joints, further increasing the construction cost. In some special environments, such as high-altitude operations in narrow spaces and adverse weather conditions, manual operation is almost impossible. This limits the flexibility and wide applicability of construction.

[0004] Existing climbing robot products, but most of them have the following problems: Existing climbing robots usually can only carry light equipment and cannot meet the heavy tools and materials required for column-column joint connection tightening, restricting their application scope in actual construction. Most climbing robots lack an effective obstacle avoidance mechanism and are prone to collisions in complex environments, affecting operation safety and efficiency. The existing clamping mechanisms are not well-designed and cannot stably clamp columns of various diameters and shapes, easily causing the robot to fall off during climbing. Summary of the Invention

[0005] In view of this, the present invention provides a column-column joint connection tightening climbing robot, which solves the problem that existing climbing robots can usually only carry light equipment and cannot meet the heavy tools and materials required for column-column joint connection tightening, restricting their application scope in actual construction and improving the operation efficiency.

[0006] The present invention is implemented as follows:

[0007] The present invention provides a column-column joint connection tightening climbing robot, which includes a moving mechanism, a clamping mechanism, a steering and obstacle avoidance mechanism, and a load mechanism. The moving mechanism is provided with a stepping motor, a first slider, a bidirectional lead screw, a second slider, a linear bearing, a frame, and a load mechanism mounting bracket. The frame is a rectangular frame. Inside the frame, a stepping motor, a bidirectional lead screw, and a linear bearing are sequentially arranged from top to bottom. The bidirectional lead screw and the linear bearing are arranged in parallel. Sliders are installed on the bidirectional lead screw and the linear bearing. The sliders sequentially include a first slider and a second slider;

[0008] The clamping mechanism includes a driven mechanical claw, a servo motor, a driving mechanical claw, a clamping arm, and a synchronous belt. The opening and closing of the clamping mechanism are controlled by the servo motor. The clamping arm is semi-circular. The two ends of the clamping arm are respectively connected to the driven mechanical claw. The synchronous belt is arranged outside the clamping arm. A driving mechanical claw is arranged on the side of the driven mechanical claw close to the clamping arm. A servo motor is arranged between the driven mechanical claw and the driving mechanical claw;

[0009] The steering and obstacle avoidance mechanism includes a first rubber-coated roller, a tightening screw, a mounting bracket, a first driven gear, a motor support, a reduction motor, a driving gear, a second driven gear, a synchronous pulley, a second rubber-coated roller, and a third rubber-coated roller. The mounting bracket includes two polygonal flat plates. The two sides of the two polygonal flat plates are fixedly connected by mounting plates. A first rubber-coated roller, a second rubber-coated roller, and a third rubber-coated roller are arranged between the two polygonal flat plates. Synchronous pulleys are arranged at both ends of the second rubber-coated roller and the third rubber-coated roller. Tightening screws are arranged on the tops of the two polygonal flat plates. A first driven gear, a motor support, a reduction motor, a driving gear, and a second driven gear are arranged outside one of the polygonal flat plates;

[0010] The load mechanism includes a first motor, a base, a motor base, a second motor, a first arm, a third motor, a second arm, a fourth motor, and a third arm. A first motor is provided at the bottom of the base. The top of the base is bolted to the motor base. The motor base is rotatably connected to one end of the first arm. The top of the motor base is fixedly connected to the second motor by bolts. The other end of the first arm is rotatably connected to one end of the second arm. A third motor is provided between the first arm and the second arm. The other end of the second arm is rotatably connected to the third arm. A fourth motor is provided above the third arm. A fifth motor is provided above the fourth motor. A gripper is provided outside the fifth motor.

[0011] On the basis of the above technical solution, a column-column joint connection tight hoop climbing robot of the present invention can also be improved as follows:

[0012] Among them, a first driven gear, a motor support, a reduction motor, a driving gear, and a second driven gear are provided outside one polygonal flat plate of the mounting frame. The motor support is located at the center of the polygonal flat plate. The motor support is fixedly connected to the mounting frame by bolts. A reduction motor is provided outside the motor support. A driving gear is provided inside the motor support near the mounting frame side. A first driven gear and a second driven gear are respectively provided on both sides of the motor support. The second driven gear is surrounded by the first driven gear;

[0013] Through holes are respectively provided at corresponding positions above the motor support on the two polygonal flat plates of the mounting frame. The through holes are used to fix the first rubber-coated roller.

[0014] Furthermore, the second rubber-coated roller and the third rubber-coated roller are arranged in parallel. The first rubber-coated roller is located above the second rubber-coated roller and the third rubber-coated roller.

[0015] Furthermore, the mounting frame includes two identical polygonal flat plates. The two sides of the two polygonal flat plates are connected by the rectangular mounting plates. The mounting plates are bolted to the polygonal flat plates.

[0016] Furthermore, the gripper is provided with fingers, connecting rods, a connecting plate, and a sixth motor. The gripper is provided with a semi-circular flat plate base. The semi-circular flat plate base is used to connect the fifth motor. A sixth motor is provided on the top of the semi-circular flat plate base. A connecting plate is provided on the top of the sixth motor. The connecting plate is connected to two connecting rods. The connecting rods are both arc-shaped. One ends of the two connecting rods are bolted through the center position of the connecting plate, and the other ends are bolted to the fingers.

[0017] Furthermore, the base is a multi-layer disc structure, and adjacent discs are connected by bolts.

[0018] Furthermore, the base is specifically a three-layer circular ring, which are the first circular ring, the second circular ring, and the third circular ring from top to bottom. The outer diameters of each layer of the circular ring are equal, and the three layers of circular rings are fixedly connected by a plurality of bolts.

[0019] Furthermore, the base includes a rotating disc, an inner ring of a rolling bearing, an outer ring of a rolling bearing, and a support. The support is a three-layer circular ring. An inner ring of a rolling bearing and an outer ring of a rolling bearing are arranged between the first circular ring and the second circular ring. A rotating shaft is arranged at the connection position between the inner ring of the rolling bearing and the outer ring of the rolling bearing. The inner ring of the rolling bearing is close to the center of the support, and the outer ring of the rolling bearing is far from the center of the support. Rotating discs are arranged on the inner sides of the first circular ring and the second circular ring. The rotating disc is disc-shaped, the diameter of the rotating disc is smaller than the inner diameters of the first circular ring and the second circular ring, and the inner diameter of the outer ring of the rolling bearing is equal to the diameter of the rotating disc.

[0020] Furthermore, the steering and obstacle avoidance mechanism is fixed above the slider, and the movement of the slider driven by the stepping motor realizes the position change of the clamping mechanism and the steering and obstacle avoidance mechanism. The sliders are the first slider and the second slider respectively.

[0021] Furthermore, a gripper is arranged on the side of the fifth motor away from the second arm.

[0022] Compared with the prior art, the beneficial effects of a column-column joint connection and tight hoop climbing robot provided by the present invention are as follows:

[0023] 1. Improve safety:

[0024] Reduce manual risks: By replacing manual labor with a robot for high-altitude operations, the safety risks of construction workers are significantly reduced. The robot can move freely in complex and dangerous environments without worrying about accidents such as personnel falling or electric shock;

[0025] Real-time monitoring: The robot is equipped with a variety of sensors, which can monitor the surrounding environment and its own state in real time, timely detect potential safety hazards, and take corresponding measures to ensure the safety of operations;

[0026] 2. Improve work efficiency:

[0027] Continuous operation: The robot can continuously and efficiently complete the connection and tight hoop work of column-column joints, without being affected by fatigue and human factors. This not only speeds up the construction progress but also ensures the quality consistency of each tight hoop;

[0028] Quick response: The robot has autonomous navigation and intelligent decision-making capabilities, enabling it to quickly respond to environmental changes, flexibly adjust the operation path, and improve operation efficiency;

[0029] 3. Cost reduction:

[0030] Reduce manual dependence: Robot operations reduce the dependence on a large number of manual workers, lowering labor costs and insurance expenses. At the same time, due to the precision and efficiency of robot operations, rework and material waste caused by quality problems are reduced, further saving construction costs;

[0031] Prolong equipment life: The robot adopts advanced materials and technologies, has a long service life, and reduces the costs of equipment maintenance and replacement;

[0032] 4. Enhanced adaptability:

[0033] Widely applicable: The robot can operate in various complex environments, including narrow spaces and high-altitude operations under adverse weather conditions. This greatly expands its application scope and improves the flexibility and wide applicability of construction. Brief description of the drawings

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0035] Figure 1 It is an example diagram of a column-column joint connection tight hoop climbing robot;

[0036] Figure 2 It is a side view of a column-column joint connection tight hoop climbing robot;

[0037] Figure 3 It is an example diagram of a clamping mechanism of a column-column joint connection tight hoop climbing robot;

[0038] Figure 4 It is a front view of a clamping mechanism of a column-column joint connection tight hoop climbing robot;

[0039] Figure 5 It is a left view of a clamping mechanism of a column-column joint connection tight hoop climbing robot;

[0040] Figure 6 It is an example diagram of a steering and obstacle avoidance mechanism of a column-column joint connection tight hoop climbing robot;

[0041] Figure 7 It is a front view of a steering and obstacle avoidance mechanism of a column-column joint connection tight hoop climbing robot;

[0042] Figure 8 Left view of the steering and obstacle avoidance mechanism of a column-to-column node-connected tight-hoop climbing robot

[0043] Figure 9 This is an example diagram of a load mechanism of a column-to-column node-connected tight-hoop climbing robot;

[0044] Figure 10 It is a front view of the claw part of a load mechanism of a column-to-column node-connected tight hoop climbing robot;

[0045] Figure 11 It is a front view of the base portion of a column-to-column node connection clamp climbing robot load mechanism;

[0046] Figure 12 A side view of a base portion of a load mechanism of a column-to-column node-connected tight-hoop climbing robot;

[0047] Figure 13 This is an example diagram of a mobile mechanism of a column-to-column node-connected tight-hoop climbing robot;

[0048] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0049] 10. Moving mechanism; 11. Stepper motor; 12. First slider; 13. Bidirectional lead screw; 14. Second slider; 15. Linear bearing; 16. Frame; 17. Load mechanism mounting frame; 20. Clamping mechanism; 21. Driven mechanical claw; 22. Servo; 23. Active mechanical claw; 24. Clamping arm; 25. Synchronous belt; 30. Steering obstacle avoidance mechanism; 31. First rubber-coated roller; 310. Second rubber-coated roller; 311. Third rubber-coated roller; 32. Tightening screw; 33. Mounting frame; 34. First driven gear; 35. Motor support; 36. Speed ​​reducer machine; 37, driving gear; 38, second driven gear; 39, synchronous pulley; 40, load mechanism; 41, first motor; 410, fifth motor; 411, claw; 4111, finger; 4112, connecting rod; 4113, connecting plate; 4114, sixth motor; 42, base; 421, rotating disk; 422, inner ring of rolling bearing; 423, outer ring of rolling bearing; 424, support; 43, motor base; 44, second motor; 45, arm No. 1; 46, third motor; 47, arm No. 2; 48, fourth motor; 49, arm No. 3. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0051] Embodiment 1:

[0052] As Figure 1 , Figure 2 shown, it is the first embodiment of a column-column joint connection and tight-banding climbing robot provided by the present invention. In this embodiment, the mechanical structure of the vertical climbing robot mainly includes a moving mechanism, a clamping mechanism, a steering and obstacle avoidance mechanism, and a load mechanism. The opening and closing of the clamping mechanism are controlled by a servo motor. The steering and obstacle avoidance mechanism and the slider of the bidirectional lead screw are connected to the steering and obstacle avoidance mechanism, and the movement of the two sliders is driven by a stepping motor to realize the position change of the clamping mechanism and the obstacle avoidance mechanism.

[0053] The main process for the climbing robot to climb upward: First, place the climbing robot on the climbing object. When the climbing robot is started, the upper and lower mechanical claws in the clamping mechanism will clamp the climbing object to prepare for climbing. Then, the upper mechanical claw releases the clamped object, while the lower mechanical claw still remains in the tightened state. The stepping motor is started to move the frame and the upper slider to the designated position. When the upper slider reaches the designated position, the stepping motor stops working, and the upper mechanical claw will clamp the climbing object again. At this time, the relative distance between the two sliders is the largest, and the lower mechanical claw releases the clamped object. The stepping motor continues to work to move the frame and the lower slider upward to the designated position. When the lower slider moves to the designated position, the stepping motor stops working, and the lower mechanical claw clamps again. At this time, the distance between the two sliders is the shortest, completing a working cycle of climbing upward. Repeat this working cycle until the climbing robot reaches the designated position. After reaching the designated position, both the upper and lower mechanical claws are clamped, and the manipulator on the back starts to work. After the work is completed, reverse the synchronous motor and repeat the above cycle, that is, the climbing robot moves vertically downward.

[0054] (1) Clamping of the mechanical claw:

[0055] The servo motor drives the active mechanical claw to rotate. The active mechanical claw and the driven mechanical claw are engaged through gears, thereby controlling the opening and clamping of the mechanical claw. A rubber sleeve is installed on the mechanical claw, increasing the friction between the contact surfaces with the climbing object and making it adaptable to various climbing surfaces.

[0056] (2) Steering and obstacle avoidance process:

[0057] The reduction motor drives the active gear to rotate. Since both the first driven gear and the second driven gear are engaged with the active gear, the first and second driven gears are driven to rotate in the same direction, and at the same time, the rubber-coated drums and synchronous belt pulleys on the two transmission shafts are driven to rotate, thereby driving the arc-shaped arm to rotate around the climbed rod body, enabling the climbing robot to avoid obstacles. The three rubber-coated drums limit and fix the arc-shaped arm, and the magnitude of the limiting force is adjusted by the tightening screw. The steering and obstacle avoidance mechanism can be started at any time during the climbing process of the robot to avoid obstacles.

[0058] (3) Working process of the load mechanism:

[0059] The outer ring of the rolling bearing is fixed on the support, the inner ring is connected to the rotating disk by a thread, and the arm, the gripper, etc. are all fixed on the rotating disk. Therefore, the motor can drive the rotation of the arm and the gripper by driving the rotation of the inner ring of the bearing; the second motor, the third motor, and the fourth motor can control the pitching angle of the arm; the motor 5 can control the rotation of the gripper; the finger is connected to the connecting rod, where the connecting rod is fixed on the connecting plate, and the finger can move in the chute. The movement process of the finger is that the sixth motor drives the connecting plate to rotate, and the tangential force generated by the rotation is transmitted to the finger through the connecting rod, thereby controlling the opening and closing of the finger.

[0060] (4) Working process of the moving mechanism:

[0061] The moving mechanism adopts a frame-type moving method, including a stepper motor, a slider, a ball screw, a linear bearing, etc. One end of the ball screw is connected to the stepper motor, and the slider is installed on the ball screw and the linear bearing. Moving principle: The stepper motor is connected to one end of the ball screw, so as to achieve synchronous drive. The stepper motor drives the rotation of the ball screw, so that the two screw sliders move in opposite directions along the linear bearing.

[0062] The specific transmission process is as follows:

[0063] (1) Clamping process of the mechanical claw:

[0064] This process is completed through the driven mechanical claw, the servo motor, the active mechanical claw, and the linear guide.

[0065] The specific transmission process is: The servo motor drives the active mechanical claw to rotate, and the active mechanical claw and the driven mechanical claw are meshed through gears, so as to realize the opening and clamping of the mechanical claw.

[0066] (2) Steering and obstacle avoidance process:

[0067] This process is completed through the first rubber-coated roller, the tightening screw, the first driven gear, the reduction motor, the driving gear, the second driven gear, the synchronous pulley, the second rubber-coated roller, and the third rubber-coated roller.

[0068] The specific transmission process is: The reduction motor drives the driving gear to rotate, and then drives the first driven gear and the second driven gear to rotate in the same direction. The synchronous pulleys and the second rubber-coated roller on the two transmission shafts rotate synchronously; the clamping mechanism is meshed with the synchronous pulley, so that it rotates around the pole body to be climbed. The first rubber-coated roller, the second rubber-coated roller, and the third rubber-coated roller limit and fix the clamping mechanism, and the size of the limiting force is adjusted through the tightening screw.

[0069] (3) Working process of the load mechanism:

[0070] This process is completed through the operation of the first motor, the second motor, the first arm, the third motor, the second arm, the fourth motor, the third arm, the fifth motor, the gripper, the rotating disk, the inner ring of the rolling bearing, the fingers, the connecting rod, the connecting plate, and the sixth motor.

[0071] The specific implementation is as follows: The first motor drives the rotation of the inner ring of the rolling bearing, thereby driving the rotation of the first arm, the second arm, the third arm, and the gripper on the rotating disk; the second motor, the third motor, and the fourth motor control the pitching angle of the arm; the fifth motor controls the rotation of the gripper; the fingers are connected to the connecting rod and fixed on the connecting plate, and the sixth motor drives the rotation of the connecting plate, and the tangential force generated by the rotation is transmitted to the fingers through the connecting rod, thereby controlling the opening and closing of the fingers.

[0072] (4) Working process of the moving mechanism:

[0073] This process is completed through the operation of the stepper motor, the first slider, the bidirectional lead screw, the second slider, the linear bearing, and the load mechanism mounting bracket.

[0075] The stepper motor drives the rotation of the bidirectional lead screw, causing the clamping mechanism connected to the first slider and the second slider to move in opposite directions along the linear bearing, and the load mechanism mounting bracket is used to connect and fix the load mechanism.

[0076] Embodiment 2:

[0077] As Figure 1 、 Figure 2 shown, it is the second embodiment of a column-column joint connection tight hoop climbing robot provided by the present invention. In this embodiment, it includes a moving mechanism 10, a clamping mechanism 20, a steering and obstacle avoidance mechanism 30, and a load mechanism 40. As Figure 13 shown, the moving mechanism 10 is provided with a stepper motor 11, a first slider 12, a bidirectional lead screw 13, a second slider 14, a linear bearing 15, a frame 16, and a load mechanism mounting bracket 17. The frame 16 is a rectangular frame. Inside the frame 16, a stepper motor 11, a bidirectional lead screw 13, and a linear bearing 15 are arranged in sequence from top to bottom. The bidirectional lead screw 13 and the linear bearing 15 are arranged in parallel. Sliders are installed on the bidirectional lead screw 13 and the linear bearing 15, and the sliders sequentially include a first slider 12 and a second slider 14;

[0078] As Figure 3 、 Figure 4 、 Figure 5As shown, the clamping mechanism 20 includes a driven mechanical claw 21, a steering gear 22, a driving mechanical claw 23, a clamping arm 24, and a synchronous belt 25. The opening and closing of the clamping mechanism 20 are controlled by the steering gear 22. The clamping arm 24 is semi-circular in shape. The two ends of the clamping arm 24 are respectively connected to the driven mechanical claw 21. The synchronous belt 25 is arranged on the outer side of the clamping arm 24. The driving mechanical claw 23 is arranged on the side of the driven mechanical claw 21 close to the clamping arm 24. The steering gear 22 is arranged between the driven mechanical claw 21 and the driving mechanical claw 23;

[0079] As Figure 6 , Figure 7 , Figure 8 As shown, the steering and obstacle avoidance mechanism 30 includes a first rubber-coated roller 31, a tightening screw 32, a mounting bracket 33, a first driven gear 34, a motor support 35, a reduction motor 36, a driving gear 37, a second driven gear 38, a synchronous pulley 39, a second rubber-coated roller 310, and a third rubber-coated roller 311. The mounting bracket 33 includes two polygonal flat plates. The two sides of the two polygonal flat plates are fixedly connected through mounting plates. The first rubber-coated roller 31, the second rubber-coated roller 310, and the third rubber-coated roller 311 are arranged between the two polygonal flat plates. The two ends of the second rubber-coated roller 310 and the third rubber-coated roller 311 are respectively provided with synchronous pulleys 39. The tightening screw 32 is arranged on the top of the two polygonal flat plates. The first driven gear 34, the motor support 35, the reduction motor 36, the driving gear 37, and the second driven gear 38 are arranged on the outer side of one of the polygonal flat plates;

[0080] As Figure 9 As shown, the load mechanism 40 includes a first motor 41, a base 42, a motor base 43, a second motor 44, a first arm 45, a third motor 46, a second arm 47, a fourth motor 48, and a third arm 49. The first motor 41 is arranged at the bottom of the base 42. The top of the base 42 is connected to the motor base 43 through bolts. The motor base 43 is rotationally connected to one end of the first arm 45. The top of the motor base 43 is fixedly connected to the second motor 44 through bolts. The other end of the first arm 45 is rotationally connected to one end of the second arm 47. The third motor 46 is arranged between the first arm 45 and the second arm 47. The other end of the second arm 47 is rotationally connected to the third arm 49. The fourth motor 48 is arranged above the third arm 49. The fifth motor 410 is arranged above the fourth motor 48. The hand claw 411 is arranged outside the fifth motor 410.

[0081] Among them, in the above technical solution, a first driven gear 34, a motor support 35, a reduction motor 36, a driving gear 37 and a second driven gear 38 are arranged on the outer side of a polygonal flat plate of the mounting frame 33. The motor support 35 is located at the center of the polygonal flat plate. The motor support 35 is fixedly connected to the mounting frame 33 by bolts. A reduction motor 36 is arranged on the outer side of the motor support 35. A driving gear 37 is arranged on the side of the motor support 35 close to the mounting frame 33. The first driven gear 34 and the second driven gear 38 are respectively arranged on both sides of the motor support 35. The second driven gear 38 is surrounded by the first driven gear 34;

[0082] Through holes are respectively arranged at corresponding positions above the motor support 35 on the two polygonal flat plates of the mounting frame 33. The through holes are used to fix the first rubber-coated roller 31.

[0083] Further, in the above technical solution, the second rubber-coated roller 310 and the third rubber-coated roller 311 are arranged in parallel. The first rubber-coated roller 31 is located above the second rubber-coated roller 310 and the third rubber-coated roller 311.

[0084] Further, in the above technical solution, the mounting frame 33 includes two identical polygonal flat plates. The two sides of the polygonal flat plates are connected by rectangular mounting plates. The mounting plates and the polygonal flat plates are connected by bolts.

[0085] As Figure 10 shown, further, in the above technical solution, the gripper 411 is provided with fingers 4111, connecting rods 4112, a connecting plate 4113 and a sixth motor 4114. The gripper 411 is provided with a semi-circular flat plate base. The semi-circular flat plate base is used to connect the fifth motor 410. A sixth motor 4114 is arranged on the top of the semi-circular flat plate base. A connecting plate 4113 is arranged on the top of the sixth motor 4114. The connecting plate 4113 is connected with two connecting rods 4112. The connecting rods 4112 are both arc-shaped. One ends of the two connecting rods 4112 are connected to the center position of the connecting plate 4113 through bolts, and the other ends are connected to the fingers 4111 through bolts.

[0086] As Figure 11 、 Figure 12 shown, further, in the above technical solution, the base 42 is a multi-layer disc structure. Adjacent discs are connected by bolts.

[0087] Further, in the above technical solution, the base 42 is specifically a three-layer circular ring, which are respectively the first circular ring, the second circular ring and the third circular ring from top to bottom. The outer diameters of each layer of circular ring are equal. The three layers of circular rings are fixedly connected by a plurality of bolts.

[0088] Further, in the above technical solution, the base 42 includes a rotating disk 421, an inner ring 422 of a rolling bearing, an outer ring 423 of a rolling bearing, and a support 424. The support 424 is a three-layer circular ring. An inner ring 422 of a rolling bearing and an outer ring 423 of a rolling bearing are arranged between the first ring and the second ring. A rotating shaft is arranged at the connecting position of the inner ring 422 of the rolling bearing and the outer ring 423 of the rolling bearing. The inner ring 422 of the rolling bearing is on the side close to the center of the support 424, and the outer ring 423 of the rolling bearing is on the side far from the center of the support 424. Rotating disks 421 are arranged on the inner sides of both the first ring and the second ring. The rotating disk 421 is in a disk shape, and the diameter of the rotating disk 421 is smaller than the inner diameters of the first ring and the second ring. The inner diameter of the outer ring 423 of the rolling bearing is equal to the diameter of the rotating disk 421.

[0089] Further, in the above technical solution, the steering and obstacle avoidance mechanism 30 is fixed above the slider, and the movement of the slider driven by the stepping motor 11 realizes the position change of the clamping mechanism 20 and the steering and obstacle avoidance mechanism 30. The sliders are the first slider 12 and the second slider 14 respectively.

[0090] Further, in the above technical solution, a gripper 411 is arranged on the side of the fifth motor 410 away from the second arm 47.

[0091] Specifically, the principle of the present invention is as follows:

[0092] Clamping mechanism: The climbing robot of the present invention is equipped with upper and lower mechanical claws controlled by a servo motor, which can firmly grasp the climbing object and ensure stability during the climbing process. The specific working process is as follows:

[0093] Initial preparation: Place the climbing robot on the climbing object. When starting the robot, the upper and lower mechanical claws in the clamping mechanism will clamp the climbing object to prepare for climbing;

[0094] Alternate clamping: During the upward climbing process, the upper mechanical claw releases the clamped object, while the lower mechanical claw remains in the clamped state. The stepping motor is started to move the frame and the upper slider to the specified position. When the upper slider reaches the specified position, the stepping motor stops working, and the upper mechanical claw will clamp the climbing object again. At this time, the relative distance between the two sliders is the largest, and the lower mechanical claw releases the clamped object. The stepping motor continues to work to move the frame and the lower slider upward to the specified position. When the lower slider moves to the specified position, the stepping motor stops working, and the lower mechanical claw clamps again. At this time, the distance between the two sliders is the shortest, and a working cycle of upward climbing is completed. Repeat the above working cycle until the climbing robot reaches the specified position;

[0095] Steering and obstacle avoidance mechanism: The steering and obstacle avoidance mechanism is the core of the robot's intelligent navigation. This mechanism uses an integrated sensor system to continuously monitor the surrounding environment, identify obstacles, and calculate the optimal path. The specific working process is as follows:

[0096] Obstacle avoidance execution: When an obstacle is detected, the stepper motor drives the bidirectional lead screw to drive the slider to move, thereby adjusting the positions of the clamping mechanism and the steering and obstacle avoidance mechanism to achieve flexible obstacle avoidance. This design not only improves the robot's autonomous navigation ability but also reduces the need for manual intervention;

[0097] Load capacity: The robot has a strong load capacity and can carry a node connection tightening device weighing dozens of kilograms. This enables the robot to not only complete the tightening task during high-altitude operations but also carry other necessary tools and materials, further expanding its application scope.

Claims

1. A column-to-column node connection hoop climbing robot, characterized in that: It includes a moving mechanism, a clamping mechanism, a steering obstacle avoidance mechanism and a load mechanism; the moving mechanism includes a stepper motor, a slider, a bidirectional lead screw, a linear bearing, a frame and a load mechanism mounting frame, and the frame is provided with a stepper motor, a bidirectional lead screw and a linear bearing in sequence from top to bottom; the clamping mechanism includes a driven mechanical claw, a servo, an active mechanical claw, a clamping arm and a synchronous belt, and the two ends of the clamping arm are respectively connected to the driven mechanical claw; the steering obstacle avoidance mechanism includes a first rubber-coated roller, a tightening screw, a mounting frame, a first driven gear, a motor support, a reduction motor, a driving gear, a second driven gear, a synchronous pulley, a second rubber-coated roller and a third rubber-coated roller, and the mounting frame includes two polygonal plates; the load mechanism includes a first motor, a base, a motor base, a second motor, an arm No. 1, a third motor, an arm No. 2, a fourth motor and an arm No.

3.

2. A column-to-column node connection hoop climbing robot according to claim 1, characterized in that: The two polygonal plates are fixedly connected on both sides by a mounting plate, a first rubber-coated drum, a second rubber-coated drum and a third rubber-coated drum are arranged between the two polygonal plates of the mounting frame, synchronous pulleys are arranged at both ends of the second rubber-coated drum and the third rubber-coated drum, tightening screws are arranged on the tops of the two polygonal plates, and a first driven gear, a motor support, a reduction motor, a driving gear and a second driven gear are arranged on the outer side of one of the polygonal plates; A first driven gear, a motor support, a reduction motor, a driving gear and a second driven gear are arranged on the outside of a polygonal flat plate of the mounting frame, the motor support is located at the center of the polygonal flat plate, the motor support is fixedly connected to the mounting frame by bolts, a reduction motor is arranged on the outside of the motor support, a driving gear is arranged on the inside of the motor support close to the mounting frame, the first driven gear and the second driven gear are arranged on both sides of the motor support, and the first driven gear is arranged around the outside of the second driven gear; The two polygonal flat plates of the mounting frame are respectively provided with through holes at corresponding positions above the motor support, and the through holes are used to fix the first rubber-coated roller.

3. A column-to-column node connection hoop climbing robot according to claim 2, characterized in that: The second rubber-coated roller and the third rubber-coated roller are arranged in parallel, and the first rubber-coated roller is located above the second rubber-coated roller and the third rubber-coated roller.

4. A column-to-column node connection hoop climbing robot according to claim 3, characterized in that: The mounting frame comprises two identical polygonal flat plates, two sides of the two polygonal flat plates are connected via the rectangular mounting plate, and the mounting plate is connected to the polygonal flat plates via bolts.

5. A column-to-column node connection hoop climbing robot according to claim 4, characterized in that: The motor base is rotatably connected to one end of arm No. 1, the top of the motor base is fixedly connected to the second motor by bolts, the other end of arm No. 1 is rotatably connected to one end of arm No. 2, a third motor is arranged between arm No. 1 and arm No. 2, the other end of arm No. 2 is rotatably connected to arm No. 3, a fourth motor is arranged above arm No. 3, a fifth motor is arranged above the fourth motor, and a gripper is arranged on the outer side of the fifth motor; The gripper is provided with fingers, connecting rods, connecting plates and a sixth motor. The gripper is provided with a semicircular flat plate base, and the semicircular flat plate base is used to connect the fifth motor. The sixth motor is provided on the top of the semicircular flat plate base, and a connecting plate is provided on the top of the sixth motor. The connecting plate is connected with two connecting rods, and the connecting rods are both arc-shaped. One end of the two connecting rods is connected by bolts and passes through the center position of the connecting plate, and the other end is connected to the fingers by bolts.

6. A column-to-column node connection hoop climbing robot according to claim 5, characterized in that: A first motor is arranged at the bottom of the base, and the top of the base is connected to the motor base via bolts. The base is a multi-layer disc structure, and adjacent discs are connected via bolts.

7. A column-to-column node connection hoop climbing robot according to claim 6, characterized in that: The base is specifically a three-layer circular ring, which are respectively a first circular ring, a second circular ring and a third circular ring from top to bottom. The outer diameter of each layer of the circular ring is equal, and the three layers of the circular ring are fixedly connected by a plurality of bolts.

8. The column-to-column node connection hoop climbing robot according to claim 7, characterized in that: The base includes a rotating disk, a rolling bearing inner ring, a rolling bearing outer ring and a support. The support is a three-layer ring. The rolling bearing inner ring and the rolling bearing outer ring are arranged between the first ring and the second ring. A rotating shaft is arranged at the connecting position between the rolling bearing inner ring and the rolling bearing outer ring. The rolling bearing inner ring is close to the center of the support, and the rolling bearing outer ring is away from the center of the support. Rotating disks are arranged on the inner sides of the first ring and the second ring. The rotating disk is disc-shaped. The diameter of the rotating disk is smaller than the inner diameter of the first ring and the second ring. The inner diameter of the rolling bearing outer ring is equal to the diameter of the rotating disk.

9. A column-to-column node connection hoop climbing robot according to claim 8, characterized in that: The bidirectional lead screw and the linear bearing are arranged in parallel and in parallel, and sliders are installed on the bidirectional lead screw and the linear bearing, the steering obstacle avoidance mechanism is fixed above the slider, and the stepping motor drives the slider to move to achieve the position change of the clamping mechanism and the steering obstacle avoidance mechanism, and the sliders are respectively a first slider and a second slider; A synchronous belt is arranged outside the clamping arm of the clamping mechanism, an active mechanical claw is arranged on the side of the driven mechanical claw close to the clamping arm, a steering gear is arranged between the driven mechanical claw and the active mechanical claw, and the clamping arm is in a semicircular ring shape.

10. A column-to-column node connection hoop climbing robot according to claim 9, characterized in that: A gripper is provided on a side of the fifth motor away from the second arm.

Images