Pier column climbing robot

Abstract

The invention discloses a pier column climbing robot which comprises a plurality of power devices, a plurality of driven devices and a connecting mechanism, and the power devices and the driven devices are annularly distributed; the connecting mechanism is used for connecting the adjacent power device and driven device; the power device comprises a power body and a steering wheel, the steering wheel is installed on the end face, corresponding to a pier column, of the power body, and the connecting mechanism is connected to the side face of the power body. According to the pier column climbing robot, the power device and the driven device which are adjacent are connected through the connecting mechanism to form the robot of an annular structure, and the robot of the annular structure surrounds the outer side of the pier column, so that the structural layout of the robot can be adjusted according to the size of the pier column, and the robot can adapt to the pier columns of different sizes; and the steering wheels walk along the axis of the pier column or the circumferential direction of the pier column, so that the robot can reach any height and angle, and the application range is wider.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge pier climbing devices, and in particular to a pier column climbing robot. Background Art

[0002] Piers are the lower load-bearing structures used to support superstructures in civil engineering projects. They are crucial components in highway bridges, railway bridges, overpasses, and other projects. However, over time and due to various factors during use, piers may develop internal defects, posing a serious threat to the safety and stability of the entire engineering structure.

[0003] Traditional inspection methods typically rely on manual climbing or scaffolding to complete height-based work. However, these methods are not only labor-intensive but also carry significant safety risks. While some climbing devices exist on the market specifically for pier inspection, these devices often utilize fixed structures that lack flexibility for piers of varying sizes, making transportation difficult and on-site adjustments difficult, making them difficult to meet diverse needs. Summary of the Invention

[0004] The present application provides a pier-climbing robot, which solves the technical problem in the prior art that climbing devices have poor adaptability to piers of different sizes.

[0005] The present application provides a pier climbing robot, comprising: A power device and a driven device, wherein the power device and the driven device are both multiple and distributed in a ring shape; A connecting mechanism, the connecting mechanism being used to connect adjacent power devices and driven devices, including but not limited to a connection between a power device and a driven device, a connection between a plurality of consecutive power devices, and a connection between a plurality of consecutive driven devices; The power device includes a power body and a steering wheel. The steering wheel is installed on the end surface of the power body corresponding to the pier column, and the connecting mechanism is connected to the side surface of the power body.

[0006] In some embodiments, there are four steering wheels distributed at the four corners of the power body.

[0007] In some embodiments, a probe is further provided on the end face of the power body corresponding to the pier column, a blind hole is opened on the end face of the power body corresponding to the pier column, a telescopic rod is fixedly provided in the blind hole, and the probe is installed at the telescopic end of the telescopic rod.

[0008] In some embodiments, the driven device includes a driven body and a first bull's eye wheel, the first bull's eye wheel is installed on the end face of the driven body corresponding to the pier, and the connecting mechanism is connected to the side face of the driven body.

[0009] In some embodiments, the connection mechanism between adjacent power devices and driven devices includes at least two groups of connection components, and the connection components are staggered up and down in the axial direction of the pier column.

[0010] In some embodiments, the connecting assembly includes a first connecting rod, a second connecting rod and a threaded connecting tube. The first connecting rod is fixedly arranged on one side of the power device and the driven device, and a hanging ring is provided on the other side of the power device and the driven device. One end of the second connecting rod is connected to the first connecting rod through a threaded connecting tube. The thread of the threaded connecting tube is opposite to that of the first connecting rod and the second connecting rod. The other end of the second connecting rod is provided with a hook, and the hook can be operably hooked on the hanging ring corresponding to it.

[0011] In some embodiments, the first connecting rod and the second connecting rod are arc-shaped structures.

[0012] In some embodiments, a lead screw is fixedly provided at one end of the first connecting rod connected to the power device and the driven device, a pair of bearing seats are fixedly provided inside the power body, sleeves are installed in the two bearing seats through bearings, the sleeves are threadedly engaged with the lead screw, a first gear is fixedly provided on the outside of the sleeve, a first motor is also fixedly provided inside the power body, a second gear is provided on the output shaft of the first motor, and the first gear is meshed with the second gear.

[0013] In some embodiments, a slide groove is provided on the side of the power body on which the steering wheel is installed, and a first slider and a second slider are slidingly provided in the slide groove, and the first slider and the second slider slide along the depth direction of the slide groove, and the steering wheel is installed on the first slider, and a pressure sensor is provided on the bottom surface of the slide groove, and the second slider is pressed on the pressure sensor, and a spring is provided between the first slider and the second slider, and a controller and a power supply are provided in the power body, and the steering wheel, the first motor, the pressure sensor and the power supply are all connected to the controller.

[0014] In some embodiments, the power devices and the driven devices are distributed in a ring-shaped manner, and the power devices are evenly distributed in the ring-shaped distribution.

[0015] The beneficial effects of this application are as follows: The pier climbing robot provided by the present invention connects adjacent power devices and driven devices through a connecting mechanism to form a ring-shaped robot. The ring-shaped robot surrounds the outside of the pier, so that the robot can adjust its structural layout according to the size of the pier, so that it can adapt to piers of different sizes. By walking along the axis of the pier or the circumference of the pier through the steering wheel, the robot can reach any height and angle, and has a wider range of adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention.

[0017] Figure 1 A schematic diagram of a pier-climbing robot in a climbing state provided in this application; Figure 2 A schematic diagram of the overall structure of a pier climbing robot provided in this application; Figure 3 A schematic structural diagram of a power unit in a pier climbing robot provided in this application; Figure 4 A schematic structural diagram of a driven device in a pier climbing robot provided in this application; Figure 5 This is one of the partial cross-sectional views of a power device in a pier-climbing robot provided in this application; Figure 6 This is the second partial cross-sectional view of the power device of the pier-climbing robot provided in this application; Figure 7 A schematic diagram of the circuit structure of a pier climbing robot provided in this application; Figure 8 This is a schematic structural diagram of a threaded connection pipe in a pier climbing robot provided in this application; Figure 9 This is a third partial cross-sectional view of a power device in a pier-climbing robot provided in this application; Figure 10 This is the fourth partial cross-sectional view of the power device in the pier-climbing robot provided in this application.

[0018] in, 10. Power unit; 11. Power unit; 111. Slide; 112. First slider; 113. Second slider; 114. Pressure sensor; 115. Spring; 116. Hanging ring; 12. Steering wheel; 13. Probe; 14. Blind hole; 15. Telescopic rod; 16. Lead screw; 17. Bearing seat; 18. Sleeve; 181. First gear; 19. First motor; 191. Second gear. 20. driven device; 21. driven body; 22. first bull's eye wheel; 30. Connecting mechanism; 31. Connecting assembly; 32. First connecting rod; 33. Second connecting rod; 34. Threaded connecting pipe; 35. Hook; 36. Ball joint; 41. Controller; 42. Power supply; 43. Seesaw; 44. Second bull's eye wheel; 45. Cavity; 46. Magnet; 47. Slider; 48. Rack; 49. Second motor; 50. Pier column. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0020] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0022] The embodiments of the present application provide a pier-climbing robot, thereby solving the technical problem in the prior art that climbing devices have poor adaptability to piers of different sizes.

[0023] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows: like Figure 1 、 Figure 2 As shown, the present application provides a pier climbing robot, comprising: A power device 10 and a driven device 20, wherein the power device 10 and the driven device 20 are both multiple and distributed in a ring shape; A connecting mechanism 30, the connecting mechanism 30 is used to connect adjacent power devices 10 and driven devices 20, including but not limited to the connection between one power device 10 and one driven device 20, the connection between multiple consecutive power devices 10, and the connection between multiple consecutive driven devices 20; The power device 10 includes a power body 11 and a steering wheel 12. The steering wheel 12 is installed on the end face of the power body 11 corresponding to the pier 50. The connecting mechanism 30 is connected to the side of the power body 11. The steering wheel 12 has been maturely used in the existing technology. The steering wheel 12 can rotate 360° in situ, so that the power device 10 can move along the axial direction of the pier 50, along the circumference of the pier 50, or in a spiral shape on the outer side of the pier 50. The part of the steering wheel 12 that contacts the outer side of the pier 50 is made of polyurethane rubber, which makes the steering wheel 12 more wear-resistant and provides better friction between the steering wheel 12 and the pier 50 to ensure stable climbing of the robot.

[0024] The adjacent power devices 10 and driven devices 20 are connected by a connecting mechanism 30 to form a ring-shaped robot. The ring-shaped robot surrounds the outside of the pier 50, so that the robot can adjust its structural layout according to the size of the pier 50, so that it can adapt to piers 50 of different sizes. The steering wheel 12 is used to walk along the axis of the pier 50 or the circumference of the pier 50, so that the robot can reach any height and angle, and has a wider range of adaptability.

[0025] Specifically, there are four steering wheels 12 distributed at the four corners of the power body 11, so that the power body 11 of the robot contacts the side of the pier 50 more stably and the power of the robot is improved.

[0026] Furthermore, in the annular distribution of the power device 10 and the driven device 20, the power device 10 is evenly distributed in the annular distribution, so that the power device 10 of the robot can be evenly distributed in the entire annular structure, ensuring the balance of force when the robot contacts the pier 50, avoiding the risk of the robot detaching from the pier 50 due to uneven distribution of friction between the steering wheel 12 and the pier 50, and optimizing the power output, so that the traction force of the steering wheel 12 on the robot as a whole is more even, and the climbing effect is better.

[0027] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0028] Preferably, Figure 3As shown, a probe 13 is further provided on the end face of the power body 11 corresponding to the pier 50, and a blind hole 14 is opened on the end face of the power body 11 corresponding to the pier 50, and a telescopic rod 15 is fixedly provided in the blind hole 14, and the probe 13 is installed at the telescopic end of the telescopic rod 15, and the telescopic rod 15 is an electric push rod. Specifically, a power supply 42 for powering the electric push rod is provided in the power body 11, and the electric push rod drives the probe 13 to extend out of the blind hole 14 so that the probe 13 contacts the surface of the pier 50. The probe 13 can be at least one of a temperature sensor, a humidity sensor, and an ultrasonic sensor, or these three sensors can be integrated to perform a comprehensive detection of the pier 50. Furthermore, a force sensor is installed on the probe 13 to detect the contact force between the probe 13 and the surface of the pier 50 in real time. When the contact force reaches a preset value, the telescopic rod 15 is controlled to stop extending, so that the probe 13 maintains good contact with the surface of the pier 50.

[0029] Preferably, Figure 4 As shown, the driven device 20 includes a driven body 21 and a first bull's eye wheel 22. The first bull's eye wheel 22 is installed on the end face of the driven body 21 corresponding to the pier 50. The connecting mechanism 30 is connected to the side of the driven body 21. The first bull's eye wheel 22 is in point contact with the surface of the pier 50 to ensure support for the entire robot, make the pressure between the robot and the pier 50 more uniform, and the robot can better walk on the surface of the pier 50; at the same time, reduce the friction between the driven device 20 and the surface of the pier 50, and reduce the resistance of the power device 10 when moving.

[0030] Preferably, Figures 1-4 As shown, the connection mechanism 30 between adjacent power devices 10 and driven devices 20 includes at least two groups of connection components 31 , and the connection components 31 are staggered up and down in the axial direction of the pier 50 .

[0031] Specifically, the connecting assembly 31 includes a first connecting rod 32, a second connecting rod 33 and a threaded connecting tube 34, the first connecting rod 32 is fixedly arranged on one side of the power device 10 and the driven device 20, and the other side of the power device 10 and the driven device 20 is provided with a hanging ring 116, one end of the second connecting rod 33 is connected to the first connecting rod 32 through a threaded connecting tube 34, and the thread of the threaded connecting tube 34 is opposite to that of the first connecting rod 32 and the second connecting rod 33, and the other end of the second connecting rod 33 is provided with a hook 35, which is operably hooked on the corresponding hanging ring 116. The rod 33 is an arc-shaped structure, and the material of the first connecting rod 32 and the second connecting rod 33 can be a rigid metal material to ensure that the contact between the robot and the surface of the pier 50 is more stable and the overall structure of the robot is more stable. Of course, it is understandable that the first connecting rod 32 and the second connecting rod 33 can also be a flexible material with a certain strength, such as carbon fiber reinforced rubber. At this time, the thread depth between the threaded connecting tube 34 and the first connecting rod 32 and the second connecting rod 33 should be deeper to ensure that the threaded connecting tube 34 and the first connecting rod 32 and the second connecting rod 33 have sufficient connection strength, so that the connecting mechanism 30 can adapt to piers 50 of different shapes, further improving the adaptability of the robot and the pier 50.

[0032] Preferably, the threaded connecting tube 34 is a straight tube, and the parts of the first connecting rod 32 and the second connecting rod 33 that cooperate with the threaded connecting tube 34 are also straight rods, so that the threaded connecting tube 34 can realize the rotation of the first connecting rod 32 and the second connecting rod 33 when they cooperate with the power device 10 and the driven device 20 respectively.

[0033] During the robot connection process, the power unit 10 and the driven unit 20 are first arranged in a predetermined order, and then the first connecting rod 32 and the second connecting rod 33 are connected through the threaded connecting tube 34. At the same time, the hook 35 is hooked on the corresponding hanging ring 116, realizing the annular arrangement of the power unit 10 and the driven unit 20. At this time, the pier 50 is located in the middle of the robot. Finally, the total length of the first connecting rod 32 and the second connecting rod 33 is shortened by adjusting the threaded connecting tube 34, and finally the power unit 10 and the driven unit 20 are tightly fitted with the pier 50, ensuring that the robot forms an annular overall structure on the surface of the pier 50 and is not easy to separate.

[0034] Preferably, Figure 5As shown, a lead screw 16 is fixedly provided at one end of the first connecting rod 32 connected to the power device 10 and the driven device 20, and a pair of bearing seats 17 are fixedly provided inside the power body 11. A sleeve 18 is installed in the two bearing seats 17 through bearings. The sleeve 18 is threadedly engaged with the lead screw 16, and a first gear 181 is fixedly provided on the outside of the sleeve 18. A first motor 19 is also fixedly provided inside the power body 11, and a second gear 191 is provided on the output shaft of the first motor 19, and the first gear 181 is meshed with the second gear 191.

[0035] When the pressure between the robot and the surface of the pier 50 becomes smaller, or even the robot is too loose and easily detaches from the pier 50, the first motor 19 drives the first gear 181 and the sleeve 18 to rotate together, thereby causing the screw 16 and the sleeve 18 to produce relative displacement. Since the sleeve 18 is fixed by the bearing seat 17, the screw 16 will move in the sleeve 18, thereby adjusting the overall length of the first connecting rod 32 and the second connecting rod 33, and finally realizing the adjustment of the circumference of the robot, so that the power device 10 and the driven device 20 can fit tightly on the surface of the pier 50, reducing manual adjustment, improving installation efficiency, and reducing installation difficulty.

[0036] Further, such as Figure 6 As shown, a slide groove 111 is provided on the side of the power body 11 on which the steering wheel 12 is mounted, and a first slider 112 and a second slider 113 are slidably provided in the slide groove 111. The first slider 112 and the second slider 113 slide along the depth direction of the slide groove 111. The steering wheel 12 is mounted on the first slider 112. A pressure sensor 114 is provided on the bottom surface of the slide groove 111. The second slider 113 presses on the pressure sensor 114. A spring 115 is provided between the first slider 112 and the second slider 113. Figure 7As shown, the power body 11 is provided with a controller 41 and a power supply 42, which are integrated inside the power body 11. The positions of the two are conventionally selected by those skilled in the art. This embodiment only shows a circuit connection schematic diagram, and the controller 41 and the power supply 42 are not shown in the structure diagram. The probe 13, the steering wheel 12, the first motor 19, the pressure sensor 114, the telescopic rod 15 and the power supply 42 are all connected to the controller 41. The power supply 42 supplies power to the controller 41, and then distributes electrical energy to the probe 13, the steering wheel 12, the first motor 19, the pressure sensor 114, and the telescopic rod 15 through the controller 41. The signals of the probe 13 and the pressure sensor 114 are received by the controller 41, and the actions of the steering wheel 12, the first motor 19 and the telescopic rod 15 are controlled by the controller 41. These are all conventional applications of electrical components. The present invention does not improve the control method. Its circuit connection relationship and working principle belong to the prior art, so they will not be explained again.

[0037] The steering wheel 12 is slidably arranged in the slide groove 111 through the first slider 112, and the first slider 112 and the second slider 113 are connected by a spring 115, so that there is a certain buffer in the contact between the power device 10 and the pier 50, and the pressure is transmitted to the pressure sensor 114 through the second slider 113. When the pressure signal detected by the pressure sensor 114 is too large, it means that the robot and the pier 50 are too tightly matched, and it is necessary to control the first motor 19 to rotate, adjust the lead screw 16 to move outward from the power body 11, and increase the overall length of the first connecting rod 32 and the second connecting rod 33 until the pressure detected by the pressure sensor 114 is within the threshold range, which means that the contact state between the robot and the pier 50 is normal; when If the pressure signal detected by the pressure sensor 114 is too small, it means that the fit between the robot and the pier 50 is too loose. At this time, the robot is prone to slipping or even falling off. It is necessary to control the rotation of the first motor 19 and adjust the screw 16 to move into the power body 11 to reduce the overall length of the first connecting rod 32 and the second connecting rod 33 until the pressure detected by the pressure sensor 114 is within the threshold range, indicating that the contact state between the robot and the pier 50 is normal. By adjusting the overall length of the first connecting rod 32 and the second connecting rod 33 by the controller 41, the robot can always be in a good fit with the pier 50, which is particularly suitable for situations where the size of the pier 50 varies. The robot has higher working stability, flexibility and reliability.

[0038] Further, such as Figure 8As shown, spherical joints 36 are provided at both ends of the threaded connecting tube 34, and the first connecting rod 32 and the second connecting rod 33 are fixedly connected to the spherical joints 36 at both ends of the threaded connecting tube 34 respectively; by providing spherical joints 36 at both ends of the threaded connecting tube 34, the first connecting rod 32 and the second connecting rod 33 can achieve multi-angle deflection around the joint center to adapt to the curvature change of the non-cylindrical pier.

[0039] like Figure 9 、 Figure 10 As shown, a seesaw 43 is provided inside the power body 11, with both ends of the seesaw 43 extending out of the power body 11, and a second bull's eye wheel 44 is fixedly provided at both ends of the seesaw 43. The seesaw 43 is provided along the moving direction of the power device 10, and the middle position of the seesaw 43 is hinged to the power body 11. A through cavity 45 is provided on the side of the power body 11 for mounting the seesaw 43, so that the seesaw 43 can rotate an angle in the cavity 45; A magnet 46 is provided on the end face of the cavity 45 away from the pier, a slider 47 is slidably provided on the seesaw 43, and a rack 48 is fixedly provided on the seesaw 43. The slider 47 and the rack 48 are both provided along the length direction of the seesaw 43. A second motor 49 is embedded in the slider 47. The second motor 49 is engaged with the rack 48 through gears, and the second motor 49 is electrically connected to the controller 41.

[0040] The slider 47 is driven by the second motor 49 to slide along the rack 48 on the rocker 43, and the magnet 46 provides suction to the slider 47, changing the position of the slider 47 to adjust the inclination angle of the rocker 43 around the hinge point, thereby dynamically adjusting the contact pressure between the second bull's eye wheels 44 on both sides and the pier column, and the adjustment of the position of the slider 47 enables the center of gravity of the power body 11 to be adjusted. When the robot climbs a non-cylindrical pier, the pressure sensor 114 detects the pressure distribution between the power unit 10 and the pier. When it detects that the pressure on the upper side of the power body 11 is lower than the pressure on the lower side, the controller 41 controls the second motor 49 based on the feedback signal from the pressure sensor 114, causing the slider 47 to move toward the lower pressure side, shifting the center of gravity of the power body 11 upward. Simultaneously, the magnet 46 attracts the slider 47, forcing the second bull's eye wheel 44 at the lower end to press downward to increase the support force on the lower side of the power body, effectively regulating the pressure between the power body 11 and the pier 50 and making the power unit 10 move more smoothly on the pier. When it detects that the pressure on the lower side of the power body 11 is lower than the pressure on the upper side, the controller 41 controls the slider 47 to move downward. The position of the slider 47 can be adjusted in real time based on the pressure information detected by the pressure sensor 114, further improving the stability of the power unit 10 moving on the pier. Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they understand the basic inventive concept. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the present invention.

[0041] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A pier climbing robot, characterized in that: include: A power device and a driven device, wherein the power device and the driven device are both multiple and distributed in a ring shape; A connecting mechanism, the connecting mechanism being used to connect adjacent power devices and driven devices, including but not limited to a connection between a power device and a driven device, a connection between a plurality of consecutive power devices, and a connection between a plurality of consecutive driven devices; The power device includes a power body and a steering wheel. The steering wheel is installed on the end surface of the power body corresponding to the pier column, and the connecting mechanism is connected to the side surface of the power body.

2. The pier-climbing robot according to claim 1, characterized in that: There are four steering wheels distributed at the four corners of the power body.

3. The pier-climbing robot according to claim 1, wherein: A probe is further provided on the end face of the power body corresponding to the pier column. A blind hole is opened on the end face of the power body corresponding to the pier column. A telescopic rod is fixedly provided in the blind hole. The probe is installed at the telescopic end of the telescopic rod.

4. The pier-climbing robot according to claim 1, wherein: The driven device includes a driven body and a first bull's eye wheel, the first bull's eye wheel is installed on the end face of the driven body corresponding to the pier column, and the connecting mechanism is connected to the side face of the driven body.

5. The pier-climbing robot according to claim 1, wherein: The connection mechanism between adjacent power devices and driven devices includes at least two groups of connection components, and the connection components are staggered up and down in the axial direction of the pier column.

6. The pier-climbing robot according to claim 5, characterized in that: The connecting assembly includes a first connecting rod, a second connecting rod and a threaded connecting tube. The first connecting rod is fixedly arranged on one side of the power device and the driven device, and a hanging ring is provided on the other side of the power device and the driven device. One end of the second connecting rod is connected to the first connecting rod through a threaded connecting tube. The thread of the threaded connecting tube is opposite to that of the first connecting rod and the second connecting rod. The other end of the second connecting rod is provided with a hook, and the hook can be operably hooked on the corresponding hanging ring.

7. The pier-climbing robot according to claim 6, wherein: The first connecting rod and the second connecting rod are arc-shaped structures.

8. The pier-climbing robot according to claim 6, wherein: A lead screw is fixedly provided at one end of the first connecting rod connected to the power device and the driven device, a pair of bearing seats are fixedly provided inside the power body, sleeves are installed in the two bearing seats through bearings, the sleeves are threadedly engaged with the lead screw, a first gear is fixedly provided on the outside of the sleeve, a first motor is also fixedly provided inside the power body, a second gear is provided on the output shaft of the first motor, and the first gear is meshed with the second gear.

9. The pier-climbing robot according to claim 8, characterized in that: A slide groove is provided on the side of the power body on which the steering wheel is installed, and a first slider and a second slider are slidingly provided in the slide groove, and the first slider and the second slider slide along the depth direction of the slide groove, and the steering wheel is installed on the first slider, and a pressure sensor is provided on the bottom surface of the slide groove, and the second slider presses on the pressure sensor, and a spring is provided between the first slider and the second slider, and a controller and a power supply are provided in the power body, and the steering wheel, the first motor, the pressure sensor and the power supply are all connected to the controller.

10. The pier-climbing robot according to claim 1, wherein: The power devices and the driven devices are distributed in a ring-shaped manner, and the power devices are evenly distributed in the ring-shaped distribution.

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