Climbing device and robot

Abstract

The invention discloses a climbing device and a robot, belongs to the technical field of specialized robots, is used for climbing on a bridge pier column or a steel wire rope or a cable-stayed rope for bridge construction, and comprises two groups of mounting frames and two groups of tensioning mechanisms, the two groups of mounting frames are respectively arranged on two symmetrical sides of the pier column or the rope; the two groups of tensioning mechanisms are arranged between the two groups of mounting frames, are respectively positioned at the two ends of the two groups of mounting frames, and are used for enabling the two groups of mounting frames to have a trend of moving in opposite directions so as to be clamped on a pier column or a rope; the two groups of mounting racks are respectively a first mounting rack and a second mounting rack, and are respectively provided with a driving mechanism for driving the first mounting rack and the second mounting rack to synchronously move on the pier column or the rope. According to the climbing device and the robot, the problems that in the prior art, when a large-span bridge and an elevated bridge are constructed, high-altitude operation is conducted in a manual scaffold assembling mode, efficiency is low, time is long, cost is high, and maneuverability and flexibility are poor can be effectively solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of special robots, and particularly relates to a climbing device and a robot. BACKGROUND

[0002] As important traffic infrastructure, bridges are key links connecting space and promoting development. For example, bridges can directly cross rivers, gorges, lakes, straits and other natural barriers, avoiding detours and greatly reducing travel time and transportation costs. In cities, bridges (including overpasses) can solve the problem of flat traffic congestion, realize the vertical distribution of vehicle and pedestrian flows in different directions, and improve road traffic capacity. However, in the construction of large-span bridges and elevated bridges, the proportion of high-altitude work is gradually increasing due to high piers and ropes, and the high height of piers and ropes also increases the difficulty of construction work. Therefore, how to improve construction efficiency and ensure worker safety becomes a top priority. Currently, workers often use scaffolding, safety belts, safety ropes, and aerial work platforms to assist in high-altitude work. However, scaffolding needs to be installed several days in advance and is almost manually assembled, which is slow and time-consuming. A large number of personnel are needed for long-term installation, which requires high labor costs, thereby resulting in high overall costs. Once installed, the position cannot be changed, and changing the position requires re-disassembly and re-installation, which is not flexible. Therefore, a climbing device that uses the bridge pier or rope itself as the main body has a wide application prospect in bridge construction. However, the existing climbing device for bridge piers or ropes has a complex structure, is inconvenient to install, and is bulky, which is not conducive to construction. SUMMARY

[0003] The present application aims to provide a climbing device and robot to solve the problems of slow efficiency, long time, high cost, and poor flexibility in the prior art for large-span bridge and elevated bridge construction using manual assembly of scaffolding for high-altitude work. To achieve the above-mentioned purpose, the present application provides the following technical solutions: A climbing device for climbing on a bridge pier or a steel wire rope or a cable-stayed rope used in bridge construction, comprising two groups of mounting racks and two groups of tensioning mechanisms; the two groups of mounting racks are respectively arranged on the two sides of the pier or the rope symmetrically; the two groups of tensioning mechanisms are arranged between the two groups of mounting racks and respectively located at the two ends of the two groups of mounting racks, for making the two groups of mounting racks have a tendency to move towards each other, thereby clamping on the pier or the rope; the two groups of mounting racks are respectively a first mounting rack and a second mounting rack, both of which are provided with a driving mechanism for driving the first mounting rack and the second mounting rack to move synchronously on the pier or the rope.

[0004] Further, the tensioning mechanism comprises a first tension spring, a first connecting plate, a first tensioning mechanism, a second tension spring and a second connecting plate; one end of the first tension spring is fixedly connected to one end of the first mounting frame, and the other end is fixedly connected to one end of the first connecting plate; the first tension spring is vertically arranged with the first connecting plate; one end of the second tension spring is fixedly connected to one end of the second mounting frame, and the other end is fixedly connected to one end of the second connecting plate; the second tension spring is vertically arranged with the second connecting plate; the first connecting plate and the second connecting plate are connected through the first tensioning mechanism for adjusting the tension of the first tension spring and the second tension spring.

[0005] Further, the first tensioning mechanism comprises two oppositely arranged tensioning adjusting plates; the first connecting plate and the second connecting plate are respectively connected with one of the two tensioning adjusting plates; the corresponding positions of the two tensioning adjusting plates are provided with through holes, and the two tensioning adjusting plates are connected and adjusted through a tensioning screw passing through the through holes to adjust the spacing between the two tensioning adjusting plates and thus adjust the tension of the first tension spring and the second tension spring.

[0006] Further, the first connecting plate is fixedly and vertically connected with a first tension spring standby rope on one side of the first tension spring, and the other end of the first tension spring standby rope is vertically connected with the second mounting frame; the second connecting plate is fixedly and vertically connected with a second tension spring standby rope on one side of the second tension spring, and the other end of the second tension spring standby rope is vertically connected with the first mounting frame; the first tension spring standby rope and the second tension spring standby rope are in a straightened but not forced state.

[0007] Further, the first mounting frame and the second mounting frame are each provided with a second tensioning mechanism; the first tension spring standby rope and the second tension spring standby rope are fixedly connected with the first mounting frame and the second mounting frame through the second tensioning mechanism; the second tensioning mechanism comprises a support plate and a tension spring standby rope tensioning plate; the support plate is fixedly arranged on the side of the first mounting frame and the second mounting frame away from the pier column or the rope; the first mounting frame and the second mounting frame are each provided with a sliding groove; the tension spring standby rope tensioning plate is slidingly arranged in the sliding groove; one end of the first tension spring standby rope is connected with the tension spring standby rope tensioning plate on the second mounting frame; one end of the second tension spring standby rope is connected with the tension spring standby rope tensioning plate on the first mounting frame; the support plate is provided with a through hole, and the side of the tension spring standby rope tensioning plate opposite to the support plate is provided with a screw rod, the screw rod passes through the through hole on the support plate and is limited by a nut, and the spacing of the tension spring standby rope tensioning plate relative to the support plate is adjusted by adjusting the nut.

[0008] Further, the first tension spring and the first connecting plate are connected through a connecting ring; the second tension spring and the second connecting plate are connected through a connecting ring.

[0009] Further, the first connecting plate and the second connecting plate are provided with reinforcing ribs; one end of the reinforcing rib on the first connecting plate is fixed with the connecting ring, and the other end is fixed at one end of the first connecting plate away from the connecting ring; one end of the reinforcing rib on the second connecting plate is fixed with the connecting ring, and the other end is fixed at one end of the second connecting plate away from the connecting ring; the first connecting plate and the second connecting plate form a triangular force structure with the connecting ring and the reinforcing rib.

[0010] Further, the first mounting frame and the second mounting frame are each provided with a pair of limiting baffle plates; the two pairs of limiting baffle plates are respectively arranged on one side of the first mounting frame and the second mounting frame close to the pier column or the rope to be climbed.

[0011] Further, the driving mechanism comprises a plurality of driving wheels; the first mounting frame and the second mounting frame are each provided with a plurality of roller mounting grooves; the driving wheels are rotatably arranged in the roller mounting grooves, and the outer periphery of the driving wheels can be in contact with the surface of the pier column or the rope.

[0012] A robot comprising the above climbing device.

[0013] The beneficial effects of the present application are: The present application discloses a climbing device and a robot, which stably clamps the first mounting frame and the second mounting frame on the bridge pier column or the steel wire rope or the cable-stayed rope through two groups of first tension springs, second tension springs and first tensioning mechanisms, cooperates with the driving wheels to stably climb and realizes the climbing action, has simple overall structure, is convenient to install, small in size and low in cost, and can be widely applied in projects with column structures; when the first tensioning mechanism or the tension spring connecting line fails, the first tension spring and the second tension spring are converted from the series structure to the parallel structure, so that the clamping force of the first mounting frame and the second mounting frame on the bridge pier column or the steel wire rope or the cable-stayed rope is increased, and safety accidents caused by falling are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 is a top view of the climbing device of the present application installed on the bridge pier column; Figure 2 is a side view of the climbing device of the present application installed on the bridge pier column; Figure 3 is a structure schematic view of the present application Figure 1 in which one side of the first tensioning mechanism is removed; Figure 4is a perspective view of the climbing device of the present application installed on a bridge pier column; In the drawings: 1, first mounting frame; 2, second mounting frame; 3, first tension spring; 4, first connecting plate; 5, second tension spring; 6, second connecting plate; 7, tension adjusting plate; 8, tension screw; 9, first tension spring spare rope; 10, second tension spring spare rope; 11, support plate; 12, tension spring spare rope tension plate; 13, screw rod; 14, connecting ring; 15, limiting baffle; 16, drive wheel; 17, tension spring connecting line; 18, pier column. DETAILED DESCRIPTION

[0015] The present application will be further described below in conjunction with the drawings and specific embodiments, but the present application is not limited to the following embodiments.

[0016] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0017] In the description of the present application, "first feature" and "second feature" can include one or more of the features.

[0018] In the description of the present application, "a plurality of" means two or more.

[0019] In the description of the present application, "above" or "below" the first feature in the second feature can include direct contact between the first and second features, or can include indirect contact between the first and second features through another feature therebetween.

[0020] In the description of the present application, "above", "over" and "on" the first feature in the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height.

[0021] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the specification, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0022] Embodiment 1 See attached Figures 1 to 4 The embodiment discloses a climbing device for climbing on a bridge pier column 18 or a steel wire rope or a cable-stayed rope for bridge construction, wherein the steel wire rope and the cable-stayed rope are large-diameter structures special for bridge construction. Taking the bridge pier column 18 as an example, the climbing device of the whole bridge pier column 18 is composed of two groups of mounting racks and tensioning mechanisms. The climbing device comprises two groups of mounting racks oppositely arranged on both sides of the bridge pier column 18 and two groups of tensioning mechanisms respectively connected to both ends of the two groups of mounting racks, the two groups of mounting racks comprise a first mounting rack 1 and a second mounting rack 2, and the two groups of tensioning mechanisms form a rectangular connection structure with the first mounting rack 1 and the second mounting rack 2. The tensioning mechanisms connect the first mounting rack 1 and the second mounting rack 2 and apply a force to make them move towards each other, so as to be clamped on the pier column 18. A driving mechanism cooperating with the first mounting rack 1 and the second mounting rack 2 is used to realize the up-and-down movement on the pier column 18. Specifically, the tensioning mechanism comprises a first tension spring 3, a second tension spring 5, a first connecting plate 4, a second connecting plate 6 and a first tensioning mechanism. One end of the first tension spring 3 is fixedly connected with the first mounting rack 1, and the other end is fixedly connected with one end of the first connecting plate 4. The first connecting plate 4 and the first tension spring 3 are vertically arranged with each other. One end of the first connecting plate 4 opposite side is connected with the first tensioning mechanism. One end of the second tension spring 5 is fixedly connected with the second mounting rack 2, and the other end is fixedly connected with one end of the second connecting plate 6. The second connecting plate 6 and the second tension spring 5 are vertically arranged with each other. The opposite side of one end of the second connecting plate 6 is connected with the first tensioning mechanism. The first tensioning mechanism is connected for adjusting the tension of the first tension spring 3 and the second tension spring 5. Optionally, in one example, the other end of the first tension spring 3 is fixedly connected with one end of the first connecting plate 4 by welding, and the other end of the second tension spring 5 is fixedly connected with one end of the second connecting plate 6 by welding.

[0023] In one embodiment, the first tensioning mechanism comprises two tensioning adjusting plates 7 oppositely arranged and a tensioning screw 8. The first tension spring 3 and the second tension spring 5 are respectively connected with one of the two tensioning adjusting plates 7. The two tensioning adjusting plates 7 are provided with through holes. The tensioning screw 8 passes through the through holes to adjust the distance between the two tensioning adjusting plates 7.

[0024] In one embodiment, the first tension spring 3 and the second tension spring 5 are connected to the tension adjusting plate 7 through a section of tension spring connecting line 17 respectively.

[0025] In one embodiment, two through holes are arranged on the two tension adjusting plates 7 respectively, the two through holes are located on opposite sides of the connection between the first tension spring 3 and the second tension spring 5 and the tension adjusting plate 7, and the tension screw 8 includes a pair of bolts and nuts, the pair of bolts are arranged through the two through holes on one end of the two tension adjusting plates 7, and the tension of the first tension spring 3 and the second tension spring 5 is adjusted by adjusting the bolts and the nuts.

[0026] In one embodiment, the climbing device further includes a first tension spring standby rope 9 and a second tension spring standby rope 10. One end of the first tension spring standby rope 9 is fixedly connected to the first connecting plate 4 opposite to the opposite side of one end of the first tension spring 3, the other end of the first tension spring standby rope 9 is connected to the second mounting frame 2 and is in a straightened but not forced state, and the first tension spring standby rope 9 is vertically connected to the first connecting plate 4 and the second mounting frame 2 respectively; one end of the second tension spring standby rope 10 is fixedly connected to the second connecting plate 6 opposite to the opposite side of one end of the second tension spring 5, the other end of the second tension spring standby rope 10 is connected to the first mounting frame 1 and is in a straightened but not forced state, and the second tension spring standby rope 10 is vertically connected to the second connecting plate 6 and the first mounting frame 1 respectively.

[0027] In one embodiment, the climbing device can further include four second tensioning mechanisms, and the first tension spring standby rope 9 and the second tension spring standby rope 10 are straightened by the second tensioning mechanisms. Specifically, the second tensioning mechanism includes a tension spring standby rope tensioning plate 12 and a support plate 11, wherein the first mounting frame 1 and the second mounting frame 2 are provided with sliding grooves, the tension spring standby rope tensioning plate 12 is slidably arranged in the sliding grooves, one end of the first tension spring standby rope 9 is connected to the tension spring standby rope tensioning plate 12 on the second mounting frame 2, one end of the second tension spring standby rope 10 is connected to the tension spring standby rope tensioning plate 12 on the first mounting frame 1, the support plate 11 is provided with a through hole, the tension spring standby rope tensioning plate 12 is provided with a screw rod 13 opposite to one side of the support plate 11, the screw rod 13 passes through the through hole on the support plate 11 and is limited by a nut, the distance between the tension spring standby rope tensioning plate 12 and the support plate 11 is adjusted by adjusting the nut, the support plate 11 is fixed, and the tension spring standby rope tensioning plate 12 straightens the first tension spring standby rope 9 and the second tension spring standby rope 10.

[0028] In one embodiment, the climbing device can further include a connecting ring 14, and the first tension spring 3 and the second tension spring 5 are fixedly connected to the corresponding first connecting plate 4 and second connecting plate 6 through the connecting ring 14. For example, the connecting ring 14 and the first connecting plate 4 and the second connecting plate 6 can be fixed by welding. The arrangement of the connecting ring 14 can compensate for the gap that the connection between the corresponding connecting plate and the tension spring is not in a straight line, so that they are connected in a straight line.

[0029] In one embodiment, the climbing device further comprises a reinforcing rib (not shown), one end of which is fixedly connected with the connecting ring 14, and the other end is fixedly connected with the first connecting plate 4 and the second connecting plate 6 away from the one end of the connecting ring 14, and a triangular force structure is formed between the connecting ring 14, the first connecting plate 4 and the reinforcing rib and between the connecting ring 14, the second connecting plate 6 and the reinforcing rib, so as to enhance the stress capacity.

[0030] In one embodiment, a pair of limiting baffle plates 15 are arranged on the first mounting frame 1 and the second mounting frame 2, and the limiting baffle plates 15 are fixedly arranged on the side close to the bridge pier column 18, so as to limit the transverse movement of the first mounting frame 1 and the second mounting frame 2 relative to the bridge pier column 18 during climbing.

[0031] In one embodiment, a plurality of roller mounting grooves are further arranged on the first mounting frame 1 and the second mounting frame 2, the roller mounting grooves are arranged along the vertical direction, rollers are rotatably connected in the roller mounting grooves, and the outer periphery of the rollers can be in contact with the surface of the bridge pier column 18. The driving mechanism is the driving wheel 16, at least one of the rollers can be the driving wheel 16, and the climbing device is driven to climb upward along the bridge pier column 18 under the driving of the driving wheel 16. Preferably, all the rollers are driving wheels 16. The specific number of rollers can be set according to actual needs.

[0032] The working principle of the climbing device of the present application is as follows: Before climbing, the first mounting frame 1 and the second mounting frame 2 of the climbing device are placed on the opposite sides of the bridge pier column 18 or the rope, then the first tensioning mechanism is assembled through the bolt and nut, the tensioning screw 8 of the first tensioning mechanism is adjusted to make the first tension spring 3 and the second tension spring 5 generate tensioning force, so as to generate force on the first mounting frame 1 and the second mounting frame 2, which is close to each other, so that the climbing mechanism is clamped on the bridge pier column 18 or the rope. After adjustment, the second tensioning mechanism is assembled, and the position of the tension spring standby rope tensioning plate 12 is adjusted through the adjusting nut, so that the first tension spring standby rope 9 and the second tension spring standby rope 10 are adjusted to a straight but not force state.

[0033] After the above steps are completed, the driving wheel 16 is started to make the climbing mechanism climb up along the bridge pier column 18, and due to the presence of the first tension spring 3 and the second tension spring 5, the first mounting frame 1 and the second mounting frame 2 always exert a certain pressure on the surface of the bridge pier column 18 to be clamped on the bridge pier column 18, so that the driving wheel 16 can be subjected to sufficient friction during rotation. During the climbing process, when the tension spring connecting wire 17 fails or the tension screw 8 fails, the first tension spring standby rope 9 and the second tension spring standby rope 10 are directly connected to the two first tension springs 3 and the two second tension springs 5, respectively, so that the first tension springs 3 and the second tension springs 5 change from a series structure to a parallel structure, thereby increasing the clamping force of the climbing device (the clamping force is about twice the original clamping force), avoiding the climbing device from falling off the bridge pier column 18, and ensuring the construction safety. In addition, when the climbing object is a steel wire rope or a stay cable, the size of the climbing device is adjusted accordingly.

[0034] Embodiment 2 The above embodiment 1 discloses an automatic telescopic structure, and the present embodiment further discloses a robot, which comprises the aforementioned climbing device of the bridge pier column 18 or the rope, and further comprises a mechanical arm and a controller. One end of the mechanical arm is fixed to the climbing device of the bridge pier column 18 or the rope, and the other end can be provided with a work platform. The construction personnel located on the work platform can control the mechanical arm and the climbing device of the bridge pier column 18 or the rope (for example, climbing or descending) through the controller.

[0035] The above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present application can be modified or replaced equivalently without departing from the purpose and scope of the present application, and they should all be covered in the scope of the claims of the present application. The technical, shape and structure parts not described in detail in the present application are well-known technologies.

Claims

1. A climbing device for climbing on a bridge pier or a steel wire rope or a cable-stayed rope used in bridge construction, characterized in that: The invention comprises two groups of mounting frames and two groups of tensioning mechanisms; the two groups of mounting frames are respectively arranged on two symmetrical sides of a pier column or a rope; the two groups of tensioning mechanisms are both arranged between the two groups of mounting frames and are respectively located at the two ends of the two groups of mounting frames, so as to make the two groups of mounting frames have a tendency to move toward each other and thus be clamped on the pier column or rope; the two groups of mounting frames are respectively a first mounting frame (1) and a second mounting frame (2), and both are provided with a driving mechanism for driving the first mounting frame (1) and the second mounting frame (2) to move synchronously on the pier column or rope.

2. The climbing device according to claim 1, characterized in that: The tensioning mechanism comprises a first tension spring (3), a first connecting plate (4), a first tensioning mechanism, a second tension spring (5) and a second connecting plate (6); one end of the first tension spring (3) is fixedly connected to one end of the first mounting frame (1), and the other end is fixedly connected to one end of the first connecting plate (4); the first tension spring (3) and the first connecting plate (4) are arranged vertically; one end of the second tension spring (5) is fixedly connected to one end of the second mounting frame (2), and the other end is fixedly connected to one end of the second connecting plate (6); the second tension spring (5) and the second connecting plate (6) are arranged vertically; the first connecting plate (4) and the second connecting plate (6) are connected via the first tensioning mechanism for adjusting the tensioning force of the first tension spring (3) and the second tension spring (5).

3. The climbing device according to claim 2, characterized in that: The first tensioning mechanism comprises two tensioning adjustment plates (7) arranged opposite to each other; the first connecting plate (4) and the second connecting plate (6) are respectively connected to one of the two tensioning adjustment plates (7); corresponding positions of the two tensioning adjustment plates (7) are provided with through holes, and a tensioning screw (8) is passed through the through holes to connect and adjust the distance between the two tensioning adjustment plates (7) so as to adjust the tensioning force of the first tension spring (3) and the second tension spring (5).

4. The climbing device according to claim 2, characterized in that: The first connecting plate (4) is fixedly connected to a first tension spring backup rope (9) at one side relative to the first tension spring (3), and the other end of the first tension spring backup rope (9) is vertically connected to the second mounting frame (2); the second connecting plate (6) is fixedly connected to a second tension spring backup rope (10) at one side relative to the second tension spring (5), and the other end of the second tension spring backup rope (10) is vertically connected to the first mounting frame (1); the first tension spring backup rope (9) and the second tension spring backup rope (10) are both in a straightened but stress-free state.

5. The climbing device according to claim 4, characterized in that: The first mounting frame (1) and the second mounting frame (2) are both provided with a second tensioning mechanism; the first tension spring spare rope (9) and the second tension spring spare rope (10) are respectively fixedly connected to the first mounting frame (1) and the second mounting frame (2) through the second tensioning mechanism; the second tensioning mechanism comprises a support plate (11) and a tension spring spare rope tensioning plate (12); the support plate (11) is fixedly arranged on a side of the first mounting frame (1) and the second mounting frame (2) away from the pier or rope; the first mounting frame (1) and the second mounting frame (2) are both provided with a sliding groove; the tension spring spare rope tensioning plate (12) is slidably arranged on the side of the first mounting frame (1) and the second mounting frame (2) In the sliding groove; one end of the first tension spring backup rope (9) is connected to the tension spring backup rope tensioning plate (12) on the second mounting frame (2); one end of the second tension spring backup rope (10) is connected to the tension spring backup rope tensioning plate (12) on the first mounting frame (1); a through hole is provided on the support plate (11), and a screw rod (13) is provided on the side of the tension spring backup rope tensioning plate (12) opposite to the support plate (11), and the screw rod (13) passes through the through hole on the support plate (11) and is limited by a nut, and the distance between the tension spring backup rope tensioning plate (12) and the support plate (11) is adjusted by adjusting the nut.

6. The climbing device according to claim 2, characterized in that: The first tension spring (3) and the first connecting plate (4) are connected via a connecting ring (14); and the second tension spring (5) and the second connecting plate (6) are connected via a connecting ring (14).

7. The climbing device according to claim 6, characterized in that: The first connecting plate (4) and the second connecting plate (6) are both provided with reinforcing ribs; one end of the reinforcing rib on the first connecting plate (4) is fixed to the connecting ring (14), and the other end is fixed to the end of the first connecting plate (4) away from the connecting ring (14); one end of the reinforcing rib on the second connecting plate (6) is fixed to the connecting ring (14), and the other end is fixed to the end of the second connecting plate (6) away from the connecting ring (14); the first connecting plate (4), the second connecting plate (6), the connecting ring (14) and the reinforcing ribs all form a triangular force-bearing structure.

8. The climbing device according to claim 1, characterized in that: A pair of limit baffles (15) are provided on each of the first mounting frame (1) and the second mounting frame (2); the two pairs of limit baffles (15) are respectively arranged on one side of the first mounting frame (1) and the second mounting frame (2) close to the pier or rope to be climbed.

9. The climbing device according to claim 1, characterized in that: The driving mechanism comprises a plurality of driving wheels (16); a plurality of roller mounting grooves are provided on the first mounting frame (1) and the second mounting frame (2); the driving wheel (16) is rotatably arranged in the roller mounting groove, and the outer periphery of the driving wheel (16) is capable of contacting the surface of the pier or the rope.

10. A robot, characterized in that: The climbing device comprises the climbing device according to any one of claims 1 to 9.

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