A chassis and robot for crossing latches

Abstract

This invention relates to the field of scaffolding dismantling technology, specifically to a chassis and robot for crossing clips. The chassis for crossing clips includes a body and at least three sets of support units. Along the length of the body, each support unit is spaced apart at the bottom of the body. Each support unit includes two support members, which are arranged along the width of the body. It also includes a drive unit configured to drive the two support members to extend or retract simultaneously. This invention solves the technical problem that existing dismantling robots cannot cross clips on scaffolding, thus preventing lateral movement on the scaffolding.

Description

Technical Field

[0001] This invention relates to the field of scaffolding dismantling technology, and more specifically to a chassis and robot for crossing clips. Background Technology

[0002] In the construction and engineering field, scaffolding serves as the core support structure for high-altitude operations. Its standardized construction typically consists of longitudinal and transverse steel pipes interconnected by multiple clips, forming a grid frame with complex three-dimensional topological features. The stability of this structure relies on the rigid constraints between the clips and the steel pipes, but this also presents technical challenges for dismantling. Currently, scaffolding dismantling still heavily relies on manual operation, requiring workers to manually disconnect hundreds of clips and dismantle steel pipes one by one in an environment several meters or even tens of meters above the ground. With technological advancements, automated dismantling robots have emerged. However, traditional dismantling robots are primarily designed for planar or regular curved surface operations, which makes it impossible for them to move stably on circular steel pipes. The protruding structures of the clip nodes further hinder their movement, making traditional dismantling robots easily blocked by the clips and unable to move on the scaffolding.

[0003] Therefore, the inventors have proposed a chassis and robot for crossing latches to solve the aforementioned technical problems. Summary of the Invention

[0004] One objective of this invention is to provide a chassis for crossing clips, thereby solving the technical problem that existing demolition robots cannot cross clips on scaffolding, resulting in the inability to move laterally on scaffolding; another objective is to provide a robot.

[0005] On the one hand, in order to achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A chassis for crossing a latch includes a base plate and at least three sets of support units, wherein each support unit is spaced apart at the bottom of the base plate along the length direction of the base plate;

[0007] The support unit includes two support members, which are arranged along the width direction of the base plate;

[0008] It also includes a driving component configured to drive the two support members to extend or retract simultaneously. When the two support members are in an extended state, the bottoms of the two support members rest on the two adjacent steel pipes simultaneously; when the two support members are retracted simultaneously, the bottoms of the two support members detach from the two adjacent steel pipes simultaneously.

[0009] Furthermore, the driving component includes two sliders, a first motor, and a double-ended screw. The first motor is fixedly mounted on one side of the base plate, and the double-ended screw is rotatably mounted on the bottom of the base plate. The two sliders are threadedly connected to the double-ended screw. The first motor is connected to the double-ended screw and is used to drive the two sliders to move closer to or further away from each other.

[0010] Each of the aforementioned support members is correspondingly mounted on one of the sliders;

[0011] The support member includes a first support rod, a second support rod, and a third support rod. A first driven bevel gear is fixedly mounted on the first support rod. The first driven bevel gear is rotatably mounted on the slider. The free end of the first support rod is hinged to the second support rod. The free end of the second support rod is hinged to the third support rod. The third support rod is hinged to the slider.

[0012] Furthermore, the driving component also includes a first support plate fixed to the bottom of the base plate, a first rod is rotatably mounted on the first support plate, and a first driving bevel gear is coaxially fixed at both ends of the first rod, the first driving bevel gear meshing with the first driven bevel gear;

[0013] A first driven pulley is provided in the middle of the first rod body, and a first driving pulley is provided in the middle of the double-ended screw. A first belt is tensioned between the first driving pulley and the first driven pulley.

[0014] Furthermore, the driving component includes a second support plate fixedly disposed at the bottom of the base plate and two fixing blocks, with each support component correspondingly mounted on one of the fixing blocks;

[0015] A second rod is rotatably mounted on the second support plate, and a second driving bevel gear is coaxially fixed at both ends of the second rod;

[0016] A second motor is provided on one side of the second support plate. The output shaft of the second motor is connected to a second driving pulley. A second driven pulley is coaxially fixed on the second rod. A second belt is tensioned between the second driving pulley and the second driven pulley.

[0017] Furthermore, the support member includes a fourth support rod, a fifth support rod, and a movable support rod. A second driven bevel gear is fixedly mounted on the fourth support rod. The second driven bevel gear is rotatably mounted on the fixed block. The free end of the fourth support rod is hinged to the fifth support rod. The free end of the fifth support rod is hinged to the movable support rod. The movable support rod is hinged to the fixed block.

[0018] The second driving bevel gear meshes with the second driven bevel gear;

[0019] The movable support rod includes a first support rod and a second support rod, and the first support rod and the second support rod are movably connected.

[0020] A first gear is rotatably disposed inside the first support rod, and a second gear is fixedly disposed inside the second support rod, with the first gear and the second gear meshing with each other;

[0021] A drive gear is formed on the fifth support rod, and the drive gear meshes with the first gear.

[0022] Furthermore, the third support rod is connected to a drive unit, which includes a drive motor, a drive gear, a wheel gear, and a meniscus. The output end of the drive motor is connected to the drive gear, and the drive gear meshes with the wheel gear. The wheel gear is rotatably disposed within the meniscus, and several rubber wheels are also rotatably disposed within the meniscus. The wheel gear is used to contact the steel pipe.

[0023] On the other hand, this application also proposes a robot for crossing buckles, including a body and a buckle removal mechanism disposed on the body, the buckle removal mechanism being mounted on the body, and further including a chassis for crossing buckles as described above, the chassis for crossing buckles being mounted on the bottom of the body.

[0024] Furthermore, the buckle disassembly mechanism includes:

[0025] The base, the support structure set on the base, and the mounting plate fixedly set on the support structure, wherein a drive plate is rotatably connected inside the mounting plate, and two clamping blocks are slidably set on the mounting plate, and each clamping block is provided with two sliding grooves;

[0026] The support structure is rotatably provided with a toothed ring, the drive disk is provided with a plurality of arc-shaped grooves, and a drive column is provided in each arc-shaped groove. The mounting disk is provided with a plurality of strip-shaped grooves, and two adjacent drive columns extend through the corresponding two strip-shaped grooves into the two sliding grooves of the clamping block. When the drive disk rotates, it can drive the two clamping blocks to move closer or further apart, for clamping the buckle.

[0027] A screw-on component is provided in the middle of the mounting plate, which is used to remove the nut in the buckle;

[0028] It also includes a drive unit configured to simultaneously drive the drive disk and the screwing component to rotate.

[0029] Furthermore, the support structure includes a first support block and a support strip, a base plate is fixedly disposed on the support strip, and the driving part includes an airflow driving unit and an airflow generating unit, the airflow driving unit is fixed to the airflow generating unit, and the airflow driving unit is mounted on the base plate;

[0030] The airflow generating unit includes an airflow generating housing, a third motor, a drive shaft, and fan blades. The third motor, the drive shaft, and the fan blades are disposed inside the airflow generating housing. The third motor is fixedly disposed on one side of the airflow generating housing. The output shaft of the third motor is connected to the drive shaft. The fan blades are fixedly disposed on the drive shaft. The drive shaft passes through the airflow driving unit, the base plate, and the drive disk. The end of the drive shaft is connected to the screwing component.

[0031] Furthermore, the airflow drive unit includes an airflow drive housing, a rotating shaft, and a rotating ring. The outer periphery of the rotating ring is provided with a plurality of turbine blades. The airflow drive housing is connected to the airflow generating housing. The rotating shaft and the rotating ring are disposed inside the airflow drive housing. The rotating ring is fixedly disposed on the outer periphery of the rotating shaft. The rotating shaft has a hollow structure. The rotating shaft is sleeved on the drive shaft and rotatably connected to the drive shaft. The end of the rotating shaft extends out of the airflow drive housing and the base plate and is connected to a first airflow ring. A connecting member is provided between the first airflow ring and the drive disk.

[0032] The connector includes a plurality of first connecting rods and a plurality of second connecting rods. One end of each first connecting rod is connected to the first airflow ring, and the other end of each first connecting rod is connected to the toothed ring. The toothed ring is rotatably connected to the screwing component.

[0033] One end of the second connecting rod is connected to the gear ring, and the other end of the second connecting rod is connected to the drive disk;

[0034] A second airflow ring is fixedly disposed on the first airflow ring. A first air passage is formed on the substrate. A second air passage is formed on the first airflow ring. A third air passage is formed inside the second airflow ring. A plurality of air outlets are formed at one end of the second airflow ring facing the mounting plate. The first air passage, the second air passage, the third air passage and the air outlets are interconnected. One end of the first air passage is connected to the inner cavity of the airflow drive housing.

[0035] The beneficial effects of this invention are:

[0036] This invention achieves continuous obstacle crossing through the alternating extension and retraction of multiple sets of support units. Each set of support units contains two support members that can retract or extend synchronously. When one set of support units retracts and detaches from the steel pipe, the other support units remain in a supporting state, ensuring that the base plate always has at least two sets of support units providing stable support and preventing overall overturning. When crossing a latch, the electronic control system identifies the obstacle and controls the first motor to rotate forward, driving the double-headed screw to move the two sliders closer together. Simultaneously, the bevel gear set links the support rod to retract and lift, detaching it from the steel pipe surface. After crossing the obstacle, the motor reverses, and the support rod extends again to reconnect with the steel pipe. This alternating action mechanism significantly improves the robot's efficiency in traversing complex scaffolding grids, and is particularly suitable for dismantling scenarios that require frequent crossing of latches.

[0037] This invention employs a mechanically coupled linkage design to achieve strict synchronization between contraction and shape adjustment. The main linkage uses a double-ended screw with forward and reverse threads to convert motor rotation into synchronous, reverse linear motion of two sliders, directly controlling the lateral span contraction of the support component and providing space for obstacle crossing. The secondary linkage (angle transformation): the double-ended screw drives a bevel gear set via belt transmission, converting rotational motion into the oscillation of the support rod, causing the support component to switch from an extended state (overlapping with the steel pipe) to a retracted state (detached from the steel pipe). The first active bevel gear drives the first driven bevel gear to rotate, forcing the first support rod to rotate around its axis. The second and third support rods are linked through the hinge point to complete the attitude adjustment. Both linkages are driven by the same motor. The mechanical structure naturally ensures the synchronization and timing accuracy of the movements, eliminating the need for additional sensors or complex control algorithms. This reduces system complexity and avoids movement deviations caused by electrical control delays.

[0038] This invention uses a drive motor to transmit power through a gear set (drive gear → wheel gear), with the wheel gear directly contacting the steel pipe to generate traction. Multiple rubber wheels within the meniscus act as driven wheels, distributing pressure and forming a "one master, multiple slaves" drive mode to reduce the risk of slippage. The rubber wheels have built-in elastic elements; when the steel pipe surface is uneven or vibrates, springs push push rods to radially lift the rubber rings, increasing their contact area and positive pressure with the steel pipe, thereby dynamically increasing friction. This design can adapt to steel pipes of different diameters or surface conditions, ensuring smooth and reliable movement.

[0039] Other advantages, objectives, and features of this application will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from practice of this application. The objectives and other advantages of this application may be realized and obtained through the detailed embodiments described below. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the chassis structure for crossing the buckle in the first embodiment of the present invention;

[0041] Figure 2 This is a partial cross-sectional schematic diagram of the chassis used for crossing the buckle in the first embodiment of the present invention;

[0042] Figure 3 for Figure 2 A schematic diagram of a partial structure;

[0043] Figure 4 This is a schematic diagram of the structure of one of the support units in the chassis used for crossing the buckle when it is suspended in the air, according to the first embodiment of the present invention.

[0044] Figure 5 This is a partial structural diagram of the chassis used for crossing the buckle in the second embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the movable support rod structure of the chassis for crossing the buckle in the second embodiment of the present invention;

[0046] Figure 7 This is a cross-sectional schematic diagram of the movable support rod of the chassis used to cross the buckle in the second embodiment of the present invention;

[0047] Figure 8 This is a schematic diagram of the structure in the first embodiment of the present invention, showing the drive unit of the chassis for crossing the buckle mounted on the third support rod;

[0048] Figure 9 for Figure 8 A schematic diagram of the split structure;

[0049] Figure 10 for Figure 3 A schematic diagram of a partial structure;

[0050] Figure 11 This is a schematic diagram of the overall structure of the buckle disassembly mechanism in this invention;

[0051] Figure 12 This is a schematic diagram of the disassembled structure of the airflow driving unit in this invention;

[0052] Figure 13 In this invention Figure 11 A schematic diagram of the partially split structure;

[0053] Figure 14 This is a cross-sectional view of the buckle disassembly mechanism in this invention;

[0054] Figure 15 In this invention Figure 14 A magnified structural diagram of part A.

[0055] The components include: base plate 1, support unit 2, support member 3, first support rod 311, second support rod 312, third support rod 313, first driven bevel gear 314, fourth support rod 321, fifth support rod 322, movable support rod 323, first support rod 3231, second support rod 3232, first gear 3233, second gear 3234, drive gear 3235, second driven bevel gear 324, slider 411, first motor 412, double-ended screw 413, first support plate 414, first rod body 415, first driven pulley 416, first driving pulley 417, second support plate 421, fixed block 422, second rod body 423, second driving bevel gear 424, second motor 425, second driving pulley 426, second driven pulley 427, drive motor 41, drive gear 42, wheel gear 43, meniscus 44, rubber wheel 45, and inner shaft. 451. Rubber ring; 452. Spring; 453. Push rod; 454. Steel pipe; 5. Buckle; 6. Base a1; Snap ring a111; Screw a112; Nut a113; Support structure a2; First support block a21; Support bar a22; Mounting plate a3; Strip groove a31; Drive plate a4; Arc groove a41; Drive column a42; Clamping block a5; Slide groove a51; Toothed ring a6; Tightening component a61; Base plate a7; First air passage a7 1. Airflow drive unit a8, airflow drive housing a81, rotating shaft a82, rotating ring a83, turbine fan blade a84, first airflow ring a85, second air passage a851, connecting piece a86, first connecting rod a861, second connecting rod a862, second airflow ring a87, third air passage a871, air outlet a872, airflow generating unit a9, airflow generating housing a91, third motor a92, drive shaft a93, fan blade a94. Detailed Implementation

[0056] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0057] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0058] This embodiment proposes a chassis for crossing the latch, such as Figures 1 to 10 As shown, it includes a base plate 1 and at least three sets of support units 2. Along the length of the base plate 1, each support unit 2 is spaced apart at the bottom of the base plate 1. In this embodiment, there are four sets of support units 2, which are spaced apart at the bottom of the base plate 1. The distance between adjacent support units 2 is greater than the width of the buckle 6.

[0059] like Figure 2 and Figure 3 As shown, the support unit 2 includes two support members 3, which are arranged along the width direction of the base plate 1; it also includes a driving member, which is configured to drive the two support members 3 to extend or retract simultaneously. When the two support members 3 are in the extended state, the bottom of the two support members 3 rests on the two adjacent steel pipes 5 at the same time; when the two support members 3 retract simultaneously, the bottom of the two support members 3 is suspended in the air and detaches from the two adjacent steel pipes 5 at the same time.

[0060] In the first implementation, such as Figure 3 As shown, the driving component includes two sliders 411, a first motor 412, and a double-ended screw 413, with the threads at both ends of the double-ended screw 413 rotating in opposite directions. The first motor 412 is fixedly mounted on one side of the base plate 1, and the double-ended screw 413 is rotatably mounted on the bottom of the base plate 1. The two sliders 411 are threadedly connected to the double-ended screw 413. The first motor 412 is connected to the double-ended screw 413 and is used to drive the two sliders 411 to move closer or further apart. Each support member 3 is correspondingly mounted on the corresponding slider 411.

[0061] In this embodiment, as Figure 1 and Figure 2 As shown, four sets of support units 2 are spaced apart along the length of the bottom of the base plate 1. Each set of support units 2 includes two support members 3 distributed along the width of the base plate 1. The driving component synchronously controls the extension or retraction of the two support members 3 in each set of support units 2. When the driving component drives the support members 3 to extend, the bottoms of the two support members 3 respectively overlap two adjacent parallel steel pipes 5 of the scaffold, so that the set of support units 2 forms a stable support (e.g., Figure 2 (as shown); when the driving component drives the support component 3 to retract, the bottoms of the two support components 3 rise synchronously and completely detach from the surface of the steel pipe 5 (as shown). Figure 4 As shown), this enables the robot to cross the obstacles of the buckles 6; through the alternating extension and retraction of multiple sets of support units 2, the base plate 1 can continuously walk and cross obstacles on the steel pipe grid 5 filled with buckles 6.

[0062] As a preferred embodiment, such as Figure 2 and Figure 3As shown, the support member 3 includes a first support rod 311, a second support rod 312, and a third support rod 313. A first driven bevel gear 314 is fixedly mounted on the first support rod 311. The first driven bevel gear 314 is rotatably mounted on the slider 411. The free end of the first support rod 311 (i.e., the bottom end of the first support rod 311) is hinged to the second support rod 312. The free end of the second support rod 312 (i.e., the bottom end of the second support rod 312) is hinged to the third support rod 313. The third support rod 313 is hinged to the slider 411. The driving component also includes a first support plate 414 fixed to the bottom of the base plate 1. A first rod 415 is rotatably mounted on the first support plate 414. A first driving bevel gear (not shown) is coaxially fixed at both ends of the first rod 415. The first driving bevel gear meshes with the first driven bevel gear 314. A first driven pulley 416 is provided in the middle of the first rod 415. A first driving pulley 417 is provided in the middle of the double-ended screw 413. A first belt is tensioned between the first driving pulley 417 and the first driven pulley 416.

[0063] In this embodiment, an electronic control system is also included. This system is used to control the operation of the first motor 412 when the support member 3 reaches a preset position. For example, when the electronic control system detects that it needs to pass over the latch 6, it controls the first motor 412 to operate. In this example, the electronic control system is prior art well known to those skilled in the art, and will not be described in detail here.

[0064] The first motor 412 is a reversible motor, capable of both forward and reverse rotation. When the robot needs to cross the latch 6, the electronic control system controls the first motor 412 to rotate forward. The forward rotation of the first motor 412 drives the double-ended screw 413 to rotate forward, and the rotation of the double-ended screw 413 causes the two sliders 411 to move closer to each other. At the same time, the rotation of the double-ended screw 413 drives the first driving pulley 417 to rotate, which in turn drives the first driven pulley 416 to rotate via the first belt, thereby driving the first rod body 415 to rotate. The rotation of the first rod body 415 drives the first driving bevel gears at both ends to rotate, and the first driven bevel gear 314, which meshes with the first driving bevel gear, rotates, thereby driving the first support rod 311 to rotate around the axis of the first driven bevel gear 314. Figure 3 and Figure 4 Taking the left-side support member 3 as an example, when the first motor 412 rotates clockwise, the first support rod 311 rotates counterclockwise, causing the angle of the second support rod 312 to change, which in turn causes the third support rod 313 to rotate. The support member 3 is thus... Figure 3 State transition Figure 4 In the state of crossing the support unit 2, after crossing the buckle 6, the electronic control system controls the first motor 412 to rotate in the opposite direction, and vice versa. The two sliders 411 move away from each other, and at the same time the third support rod 313 rotates. The third support rod 313 is placed on the steel pipe 5, and the support member 3 is composed of... Figure 4 State transition Figure 3 In the state where one of the support units 2 crosses the buckle 6, the base plate 1 continues to move, and the next support unit 2 then crosses the buckle 6, finally completing the robot's purpose of walking on the steel pipe 5.

[0065] In summary, this embodiment adopts a design with primary and secondary linkages. The linear motion of the double-ended screw 413 and the slider 411 is linked. When the first motor 412 rotates forward, the double-ended screw 413 rotates accordingly, forcing the two sliders 411 to move closer to each other axially through threaded transmission. This linkage is a direct mechanical transmission. The thread direction design of the double-ended screw 413 transforms the rotational motion into the synchronous reverse linear motion of the slider 411, thereby reducing the overall span of the support unit 2 and providing a shrinkage space for crossing the buckle 6. The secondary linkage is the linkage between the rotation of the double-ended screw 413 and the angle change of the first support rod 311. The rotation of the double-ended screw 413 simultaneously drives the first driving pulley 417 to rotate, which drives the first driven pulley 416 through the first belt transmission, thereby causing the first rod body 415 to rotate. The first driving bevel gears at both ends of the first rod body 415 rotate accordingly, meshing with the first driven bevel gear 314, and finally driving the first support rod 311 to rotate around the axis. The primary linkage ensures that the support unit 2 quickly detaches from the surface of the steel pipe 5; the secondary linkage compensates for the curvature difference of the steel pipe 5 or the position deviation of obstacles by adaptively adjusting the internal shape, avoiding the risk of jamming caused by rigid contraction; the two achieve strict synchronization of the action through mechanical coupling, which not only ensures the accuracy of the detachment action, but also enhances the adaptability and reliability of the system in complex scaffolding environments.

[0066] In the second implementation, such as Figure 5 As shown, the driving component includes a second support plate 421 fixedly mounted on the bottom of the base plate 1 and two fixing blocks 422, with each support component 3 correspondingly mounted on the corresponding fixing block 422; a second rod 423 is rotatably mounted on the second support plate 421, and a second driving bevel gear 424 is coaxially fixedly mounted on both ends of the second rod 423; a second motor 425 is mounted on one side of the second support plate 421, and the output shaft of the second motor 425 is connected to a second driving pulley 426; a second driven pulley 427 is coaxially fixedly mounted on the second rod 423, and a second belt is tensioned between the second driving pulley 426 and the second driven pulley 427.

[0067] like Figure 5As shown, the support member 3 includes a fourth support rod 321, a fifth support rod 322, and a movable support rod 323. A second driven bevel gear 324 is fixedly mounted on the fourth support rod 321. The second driven bevel gear 324 is rotatably mounted on the fixed block 422. The free end of the fourth support rod 321 (i.e., the bottom end of the fourth support rod 321) is hinged to the fifth support rod 322. The free end of the fifth support rod 322 (i.e., the bottom end of the fifth support rod 322) is hinged to the movable support rod 323. The movable support rod 323 is hinged to the fixed block 422. The second driving bevel gear 424 meshes with the second driven bevel gear 324.

[0068] like Figure 6 and Figure 7 As shown, the movable support rod 323 includes a first support rod 3231, a second support rod 3232, and a connecting plate (not shown). The first support rod 3231 and the second support rod 3232 are movably connected. The purpose of the connecting plate is to connect the first support rod 3231 and the second support rod 3232 together, but the first support rod 3231 and the second support rod 3232 can rotate relative to each other. Specifically, a first gear 3233 is rotatably arranged inside the first support rod 3231, and a second gear 3234 is fixedly arranged inside the second support rod 3232. The first gear 3233 and the second gear 3234 mesh with each other. A drive gear 3235 is formed on the fifth support rod 322, and the drive gear 3235 meshes with the first gear 3233.

[0069] In this embodiment, when the second motor 425 starts, it rotates forward. Its output shaft is driven by a second belt between the second driving pulley 426 and the second driven pulley 427 on the second rod 423, causing the second rod 423 to rotate on the second support plate 421. The second driving bevel gears 424 at both ends of the second rod 423 rotate synchronously, driving the second driven bevel gears 324 on the fourth support rods 321 on both sides to rotate. Since the second driven bevel gears 324 are fixed to the fourth support rods 321, the rotational motion of the second driven bevel gears 324 is converted into the swinging motion of the fourth support rods 321, driving the fifth support rod 322 to move synchronously. The hinge between the fifth support rod 322 and the movable support rod 323 forms a variable angle structure. When the fourth support rod 321 swings, the fifth support rod 322 pushes the movable support rod 323 to retract through the hinge point. Specifically, with... Figure 5Taking the support member 3 on the left side as an example, the second motor 425 rotates clockwise and drives the fourth support rod 321 to rotate counterclockwise through the second rod body 423. This drives the fifth support rod 322 to rotate clockwise around the hinge between the fifth support rod 322 and the movable support rod 323. This drives the drive gear 3235 to rotate clockwise. When the drive gear 3235 rotates clockwise, it drives the first gear 3233 to rotate counterclockwise. Since the first gear 3233 meshes with the second gear 3234, it drives the second support rod 3232 to rotate around the first support rod 3231.

[0070] In summary, when the second motor 425 rotates forward, it has two combined actions to achieve better disengagement from the steel pipe 5. The first linkage is that the second motor 425 drives the second belt through the second driving pulley 426 connected to the output shaft, transmitting the rotational motion to the second driven pulley 427 on the second rod 423, causing the second rod 423 to rotate. This causes the second driving bevel gears 424 at both ends to rotate synchronously, meshing with the second driven bevel gears 324 on the fourth support rods 321 on both sides. This converts the rotational motion of the second driven bevel gears 324 into the swing motion of the fourth support rods 321, thereby driving the fifth support rod 322 to rotate synchronously, pushing the movable support rod 323 to retract as a whole through the hinge point. The second linkage is inside the movable support rod 323, the first... The drive gear 3235 on the five support rods 322 rotates clockwise with the movement, meshing with the first gear 3233 in the first support rod 3231 of the movable support rod 323, causing the first gear 3233 to rotate counterclockwise. Since the first gear 3233 meshes with the second gear 3234 in the second support rod 3232, the second gear 3234 rotates clockwise, causing the second support rod 3232 to rotate relative to the first support rod 3231, thereby changing the shape of the movable support rod 323 to achieve adjustment. The double linkage synergy ensures the strict synchronization of the joint movements of the support unit 2 during the retraction process, avoiding the posture deviation caused by single-point drive, and enabling the support member 3 to accurately detach from the surface of the steel pipe 5, providing a stable action basis for obstacle crossing.

[0071] As a preferred embodiment, such as Figure 8 and Figure 9 As shown, the third support rod 313 is connected to a driving unit or the second support rod 3232 is connected to a driving unit. This embodiment takes the third support rod 313 being connected to a driving unit as an example; Figure 8 and Figure 9As shown, the drive unit includes a drive motor 41, a drive gear 42, a wheel gear 43, and a meniscus 44. The output end of the drive motor 41 is connected to the drive gear 42, which meshes with the wheel gear 43. The wheel gear 43 is rotatably mounted within the meniscus 44, which also rotatably houses several rubber wheels 45. The wheel gear 43 is used to contact the steel pipe 5. The drive unit achieves stable movement on the surface of the steel pipe 5 through a combination of gear transmission and friction drive. When the drive motor 41 starts, its output end drives the drive gear 42 to rotate. The drive gear 42 meshes with the wheel gear 43, converting the rotational power of the drive motor 41 into the rotation of the wheel gear 43. The wheel gear 43 directly contacts the outer wall of the steel pipe 5. The outer edge of the wheel gear 43 is covered with a rubber layer or tooth structure with a high coefficient of friction, converting the rotational motion into linear motion along the axial direction of the steel pipe 5 through friction. The meniscus 44, as the core support component, has an arc-shaped structure that fits snugly against the outer wall of the steel pipe 5. Multiple rubber wheels 45, internally mounted and rotated via bearings, serve to distribute pressure, reduce friction, and enhance walking stability through multi-point contact. During movement, the wheel gears 43 generate traction through contact with the steel pipe 5, while the rubber wheels 45 roll naturally as the base plate 1 moves, forming a "one master, multiple slave" drive mode. The arc-shaped design of the meniscus 44 allows the rubber wheels 45 to adapt to changes in the curvature of the steel pipe 5, ensuring effective contact on steel pipes of different diameters and enabling the base plate 1 to move smoothly and reliably on the surface of the steel pipe 5.

[0072] In this embodiment, during the initial state of the robot, the multiple sets of support units 2 (preferably four sets) at the bottom of the base plate 1 are all in an extended support state. Each set of support units 2 includes two support members 3 symmetrically distributed along the width direction of the base plate 1. The first motor 412 controls the two support members 3 in each set of support units 2 to move synchronously. The bottom of the support unit 2 is stably connected to two adjacent parallel steel pipes 5 of the scaffolding, forming multi-point support to ensure that the base plate 1 is stably placed on the grid of steel pipes 5 (e.g., ...). Figure 2 (As shown). The electronic control system continuously monitors the environment ahead of the robot, using sensors (such as vision and distance sensors) to identify preset positions or obstacles (especially latches 6). All sensor identification methods mentioned in this embodiment are existing technologies. When the electronic control system detects an obstacle 6 that needs to be crossed ahead, and the robot moves to the preset action start position, it triggers the obstacle crossing process, preparing to control the support unit 2 to perform a retraction action, ensuring the current state of the support unit 2 is stable, and preparing for the subsequent action sequence.

[0073] Main linkage (spacing reduction of support member 3): The forward rotation of the first motor 412 directly drives the double-ended screw 413 to rotate synchronously. Since the threads at both ends of the double-ended screw 413 rotate in opposite directions, the rotational motion is converted into synchronous, opposite linear motion of the two sliders 411 along the axial direction, that is, the two sliders 411 move closer to each other. Since each support member 3 is installed on the corresponding slider 411, the approach of the sliders 411 causes the overall span of the two support members 3 in the width direction of the base plate 1 to decrease.

[0074] Secondary linkage (adaptive attitude adjustment of the first support rod 311, second support rod 312, and third support rod 313): The rotational motion of the double-headed screw 413 is simultaneously transmitted to the first rod body 415 via a transmission (such as a combination of the first driving pulley 417 / first belt / first driven pulley 416). The first driving bevel gears at both ends of the first rod body 415 rotate synchronously and mesh to drive the first driven bevel gear 314 to rotate. The rotation of the first driven bevel gear 314 drives the first support rod 311 to rotate around its axis. The rotation of the first support rod 311 is transmitted to the second support rod 312 via a hinge, causing the third support rod 313 to undergo angle changes and / or shape adjustments. The result of the strict synchronous execution of the primary and secondary linkages is that as the spacing between the support members 3 contracts, the driving part at the bottom rises synchronously, eventually completely detaching from the surface of the overlapping steel pipe 5 below, causing the entire support unit 2 to disengage and suspend in the air (e.g. Figure 4 (As shown). This mechanically coupled linkage design not only ensures rapid and precise disengagement, but also effectively avoids the risk of jamming that may be caused by rigid contraction.

[0075] After the target support unit 2 (e.g., the first group at the front) successfully retracts and completely detaches from the surface of the steel pipe 5, the support unit 2 is in a suspended state. At this time, the drive unit located at the end of the third support rod 313 begins to work. The drive motor 41 starts, and through the drive gear 42 meshing with the wheel gear 43, it transmits power to the wheel gear 43 that is in direct contact with the steel pipe 5. The wheel gear 43 acts as traction, pushing the base plate 1 forward along the length of the steel pipe 5. At the same time, the meniscus 44 structure and the multiple rubber wheels 45 installed inside it roll in close contact with the outer wall of the steel pipe 5.

[0076] When the support unit 2 (such as the first group in front) that has retracted and crossed the buckle 6 moves to the area above the new barrier-free steel pipe 5 behind the buckle 6, the electronic control system controls the drive unit (first motor 412) to reverse. The reverse drive double-headed screw 413 rotates in the opposite direction, forcing the two sliders 411 to move away from each other axially. The reverse rotation of the double-headed screw 413 also drives the first rod body 415 to rotate in the opposite direction through the transmission mechanism, which in turn drives the first active bevel gear and the first driven bevel gear 314 to rotate in the opposite direction, driving the first support rod 311 to rotate in the opposite direction, and finally driving the third support rod 313 to rotate and adjust its shape to the extended posture. The cycle of S2-S4 is executed to achieve continuous obstacle crossing.

[0077] On the other hand, this application also proposes a robot for crossing buckles, including a body 12 and a buckle removal mechanism disposed on the body 12. The body 12 adopts an existing structure and can drive the buckle removal mechanism to move up, down, left, and right. The buckle removal mechanism is mounted on the body 12. It also includes a chassis for crossing buckles as described above, and the chassis is mounted on the bottom of the body 12.

[0078] It should be noted that the clip 6 includes a retaining ring a111, a screw a112, and a nut a113. Disassembling the clip 6 requires two actions: loosening the nut a113 and separating the retaining ring a111. Simply unscrewing the nut a113 will not directly disassemble the clip 6, as the retaining ring a111 will still be tightly engaged with the steel pipe 5. Several underlying reasons need to be explained: First, the retaining ring a111 is usually designed with a C-shaped structure, using the clamping force generated by elastic deformation to hold the steel pipe 5 to form a cross node. Even if the nut a113 is loosened, the retaining ring a111 will still maintain the clamping state due to residual deformation and friction. When the nut a113 is loosened, the buckle disassembly mechanism needs to perform a "retracting" action similar to machining. The "retracting" action refers to the distance that the nut a113 is loosened and moved backward along the axial direction of the screw a112. It can be understood as the operation before proceeding to the next step. The entire buckle 6 is moved axially out of the cross node of the steel pipe 5. When the buckle disassembly mechanism performs the "retracting" operation, the clamping force applied by the clamping block a5 moves with the buckle disassembly mechanism and is converted into axial traction force, forcibly dragging the retaining ring a111 to overcome residual friction and elastic locking, so that it is pulled out of the steel pipe 5. The clamping is released at the same time as the retaining ring a111 is pulled out, so as to achieve the one-stop removal of the buckle 6.

[0079] like Figures 11 to 15 As shown, the buckle disassembly mechanism includes a base a1, a support structure a2 set on the base a1, and a mounting plate a3 fixedly set on the support structure a2. A drive plate a4 is rotatably connected inside the mounting plate a3. Two clamping blocks a5 are slidably set on the mounting plate a3, and each clamping block a5 is provided with two sliding grooves a51.

[0080] A toothed ring a6 is rotatably mounted on the support structure a2. Several arc-shaped grooves a41 are opened on the drive disk a4, and a drive post a42 is correspondingly arranged in each arc-shaped groove a41. Several strip-shaped grooves a31 are opened on the mounting disk a3. Two adjacent drive posts a42 pass through the corresponding two strip-shaped grooves a31 and extend into the two sliding grooves a51 of the clamping block a5. When the drive disk a4 rotates, it can drive the two clamping blocks a5 to move closer or further apart, which is used to clamp or release the buckle 6. A screwing component a61 is provided in the middle of the mounting disk a3. The screwing component a61 is a cylindrical structure. The screwing component a61 has a polygonal hole along the axial direction. The cross-section of the polygonal hole can be quadrilateral, pentagonal, hexagonal or other shapes. The purpose of the polygonal hole is to adapt to different nut a113 shapes. In this example, the nut a113 is a hexagonal structure, and the polygonal hole is also a hexagonal inner hole to ensure that the screwing component a61 can completely fit and engage the nut a113.

[0081] It also includes a drive unit, which is configured to simultaneously drive the drive disk a4 and the screwing component a61 to rotate.

[0082] In this embodiment, the driving unit is used to drive the driving disk a4 and the screwing component a61 inside the mounting disk a3 to rotate. When the driving disk a4 rotates, the arc groove a41 on the driving disk a4 forces the driving column a42 embedded therein to move within the arc groove a41. Since the driving column a42 simultaneously passes through the strip groove a31 on the mounting disk a3 and extends into the sliding groove a51 on the clamping block a5, this linkage mechanism converts the rotational motion of the driving disk a4 into the sliding of the two clamping blocks a5 on the mounting disk a3 towards or away from each other, thereby achieving the clamping or loosening of the retaining ring a111 on the buckle 6. At the same time, the screwing component a61 is driven to rotate by the driving unit. The screwing component a61 is sleeved on the nut a113 of the buckle 6, and the rotational torque directly acts on the nut a113, thereby achieving the loosening of the nut a113.

[0083] like Figure 11 As shown, the support structure a2 includes a first support block a21 and a support bar a22. A base plate a7 is fixedly disposed on the support bar a22. The driving part includes an airflow driving unit a8 and an airflow generating unit a9. A connecting plate is disposed below the airflow driving unit a8. The connecting plate is connected to the base a1. The airflow driving unit a8 is fixed to the airflow generating unit a9. The airflow driving unit a8 is mounted on the base plate a7.

[0084] As a preferred embodiment, such as Figure 14As shown, the airflow generating unit a9 includes an airflow generating housing a91, a third motor a92, a drive shaft a93, and a fan blade a94. The third motor a92, drive shaft a93, and fan blade a94 are disposed inside the airflow generating housing a91. The third motor a92 is fixedly disposed inside the airflow generating housing a91. The output shaft of the third motor a92 is connected to the drive shaft a93. The fan blade a94 is fixedly disposed on the drive shaft a93. The drive shaft a93 passes through the airflow driving unit a8, the base plate a7, and the drive disk a4. The left end of the drive shaft a93 is connected to the screwing component a61.

[0085] In this embodiment, a single power source (third motor a92) generates airflow and directly drives the screwing component a61. Specifically, after the third motor a92, fixed on the airflow generating housing a91, starts, it drives the drive shaft a93 to rotate. The fan blades a94 fixed on the drive shaft a93 then rotate at high speed inside the airflow generating housing a91, generating directional airflow. External airflow enters the airflow generating housing a91 from the right side and is guided into the airflow driving housing a81 connected to it. At the same time, the drive shaft a93 passes through the entire through-airflow driving unit a8 and also through the substrate a7. The end of the drive shaft a93 is directly connected to the screwing component a61. In this embodiment, the screwing component a61 has an opening on its side. The purpose of the opening is to allow the nut a113 to fall out of the screwing component a61. Therefore, the rotational power of the third motor a92 directly and continuously drives the screwing component a61 to rotate, performing the loosening action of the nut a113. Inside the airflow drive housing a81, the airflow impacts the turbine blades a84 on the outer periphery of the rotating ring a83, forcing the rotating ring a83 to rotate with the hollow rotating shaft a82 fixedly connected to the rotating ring a83. The hollow rotating shaft a82 is sleeved outside the drive shaft a93 and rotates independently relative to the drive shaft a93. The left end of the rotating shaft a82 extends out of the base plate a7 and connects to the first airflow ring a85, which in turn drives the toothed ring a6 to rotate through the connector a86. The rotation of the toothed ring a6 is finally transmitted to the drive disk a4. The arc groove a41 on the drive disk a4, through the cooperation of the drive column a42 and the sliding groove a51 of the clamping block a5, converts the rotational motion into the sliding of the two clamping blocks a5 towards or away from each other, thereby achieving the clamping or releasing of the buckle 6.

[0086] In a preferred embodiment, the airflow drive unit a8 includes an airflow drive housing a81, a rotating shaft a82, and a rotating ring a83. The outer periphery of the rotating ring a83 is provided with a plurality of turbine blades a84. The airflow drive housing a81 is connected to the airflow generating housing a91. The rotating shaft a82 and the rotating ring a83 are disposed inside the airflow drive housing a81. The rotating ring a83 is fixedly disposed on the outer periphery of the rotating shaft a82. The rotating shaft a82 has a hollow structure. The rotating shaft a82 is sleeved on the drive shaft a93 and is rotatably connected to the drive shaft a93. The left end of the rotating shaft a82 extends out of the airflow drive housing a81 and the base plate a7 and is connected to a first airflow ring a85. A connecting member a86 is provided between the first airflow ring a85 and the drive disk a4. Specifically, the connector a86 includes several first connecting rods a861 and several second connecting rods a862. One end of each first connecting rod a861 is connected to the first airflow ring a85, and the other end of each first connecting rod a861 is connected to the gear ring a6. The gear ring a6 is rotatably connected to the screwing component a61. One end of the second connecting rod a862 is fixedly connected to the gear ring a6, and the other end of the second connecting rod a862 is fixedly connected to the drive disk a4.

[0087] In this embodiment, when the airflow generated by the airflow generating unit a9 enters the airflow driving housing a81, the airflow impacts the turbine blades a84 disposed on the outer periphery of the rotating ring a83, driving the rotating ring a83 to rotate. Since the rotating ring a83 is fixed to the outer periphery of the rotating shaft a82, the rotating shaft a82 rotates synchronously within the airflow driving housing a81. The rotating shaft a82 is designed as a hollow structure and is sleeved outside the drive shaft a93 of the direct drive screwing component a61. The two are rotatably connected by bearings and other structures, which means that the rotating shaft a82 and the drive shaft a93 can rotate independently without interfering with each other. The rotational motion of the rotating shaft a82 is output from its end extending out of the airflow driving housing a81 and the base plate a7, driving the fixedly connected first airflow ring a85 to rotate. The rotation of the first airflow ring a85 is transmitted through the connecting component a86 (specifically, several first connecting rods a861): one end of each first connecting rod a861 is fixed to the first airflow ring a85, and the other end is fixed to the toothed ring a6. Therefore, the rotation of the first airflow ring a85 is converted into the rotation of the gear ring a6 via the first connecting rod a861. The gear ring a6 and the screwing component a61 are rotatably connected (e.g., via a bearing), ensuring that the screwing component a61 can rotate freely without being restrained by the gear ring a6. The rotation of the gear ring a6 is then transmitted through the second connecting rod a862; thus, the rotational motion of the gear ring a6 is ultimately converted into the rotational motion of the drive disk a4. When the drive disk a4 rotates, the arcuate groove a41 on the drive disk a4 pushes the drive column a42 to slide. The drive column a42 is constrained by the strip groove a31 on the mounting disk a3 and acts on the sliding groove a51 on the clamping block a5, thereby controlling the sliding of the two clamping blocks a5 and realizing the clamping or releasing of the buckle 6.

[0088] As a preferred embodiment, such as Figure 12As shown, a second airflow ring a87 is fixedly disposed on the first airflow ring a85. Of course, it can be understood that the second airflow ring a87 and the first airflow ring a85 can also be an integral structure. A first air passage a71 is formed on the substrate a7, a second air passage a851 is formed on the first airflow ring a85, a third air passage a871 is formed inside the second airflow ring a87, and a plurality of air outlets a872 are formed at the end of the second airflow ring a87 facing the mounting plate a3. The first air passage a71, the second air passage a851, the third air passage a871 and the air outlets a872 are interconnected. The right end of the first air passage a71 is connected to the inner cavity of the airflow drive housing a81. In this embodiment, the airflow after passing through the turbine fan blades a84 is discharged through the first air passage a71 on the substrate a7, and then enters the second air passage a851 connected to the first airflow ring a85, and flows into the third air passage a871. Finally, the airflow is ejected at high speed through several air outlets a872 opened on the second airflow ring a87 towards the mounting plate a3 (i.e. towards the snap fastener 6). After passing through the gaps in the mounting plate a3, the airflow acts on the snap fastener 6. In this way, before or during the disassembly operation, the ejected airflow can effectively blow away rainwater, dust, mud or rust and other foreign objects accumulated in the snap fastener 6 (especially at the thread of the screw a112 and the meshing point of the nut a113), while making use of the remaining airflow energy that might otherwise be wasted.

[0089] This embodiment directly transmits the rotational power of the third motor a92 to the drive shaft a93 to drive the screwing component a61 to loosen the nut a113. At the same time, the airflow generated by the third motor a92 driving the fan blades a94 impacts the turbine fan blades a84, indirectly driving the rotating shaft a82 and ultimately driving the drive disk a4 to rotate to control the action of the clamping block a5. This achieves physical decoupling and controllable coordination of clamping and screwing actions. Meanwhile, the remaining airflow is cleverly guided to be ejected through the air outlet a872 of the second airflow ring a87 to blow and clean the buckle 6, removing rainwater, dust or rust. The structure is simple and the functional integration is high.

[0090] This application achieves efficient coordination and physical decoupling of clamping and tightening actions, solving the core bottleneck problem of disassembling the snap fastener 6. Through an innovative mechanical linkage mechanism (the cooperation of drive disc a4, arc groove a41, drive column a42, slide groove a51 and strip groove a31), the rotational motion of drive disc a4 is converted into linear opposing or opposite motion of the two clamping blocks a5, achieving stable clamping or release of snap ring a111. At the same time, the independent tightening component a61 directly acts on nut a113 for loosening. The key is that during or after loosening the nut a113, the clamping block a5 always maintains a reliable clamping force on the retaining ring a111. When the nut a113 is completely loosened, the axial "retracting" operation can be converted into an axial traction force to overcome the residual elastic deformation and interface friction of the retaining ring a111, forcibly pulling the retaining ring a111 out of the intersection of the steel pipe 5. This solves the technical problem that existing tools cannot simultaneously complete the combined operation of "reliably clamping the retaining ring a111" and "loosening the nut a113 with reverse torque", as well as the technical problem that the retaining ring a111 cannot be separated due to residual clamping force after simply unscrewing the nut a113. This achieves a truly "one-stop" efficient and reliable disassembly of the buckle 6 (including the nut a113 and the retaining ring a111).

[0091] Meanwhile, this application innovatively integrates energy recovery and cleaning functions, significantly improving environmental adaptability and operational efficiency. It achieves triple functions using a single power source (third motor a92): First, the drive shaft a93 directly drives the screwing component a61 to loosen the nut a113; second, the airflow generated by the third motor a92 driving the fan blades a94 is used to drive the turbine fan blades a84 and the rotating ring a83, and then indirectly drives the clamping mechanism through the transmission chain, realizing the reuse of the power source and the physical separation control of the action; more importantly, the remaining airflow after being driven by the turbine fan blades a84 is not wasted, but is guided by the ingeniously designed guide channel (first air passage a71 → second air passage a851 → third air passage a871) to the air outlet a872 of the second airflow ring a87, and sprayed at high speed towards the buckle 6 (especially the joint between the nut a113 and the screw a112). The airflow blowing function requires no additional energy consumption or independent components. It can effectively remove rainwater, dust, mud, rust and other foreign objects accumulated at the snap-fit ​​thread engagement point before or during disassembly. It significantly reduces the turning resistance caused by rust or dirt, improves the success rate and efficiency of disassembly, and is especially suitable for harsh working environments. It reflects a high degree of functional integration and structural optimization. The structure is compact and has high application value.

[0092] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A chassis for crossing a latch, characterized in that, include: A base plate (1) and at least three sets of support units (2) are provided at intervals along the length of the base plate (1) at the bottom of the base plate (1); The support unit (2) includes two support members (3), which are arranged along the width direction of the base plate (1); It also includes a driving component, which is configured to drive the two support members (3) to extend or retract simultaneously. When the two support members (3) are in the extended state, the bottoms of the two support members (3) are simultaneously placed on the two adjacent steel pipes (5); when the two support members (3) are retracted simultaneously, the bottoms of the two support members (3) are simultaneously detached from the two adjacent steel pipes (5). The driving component includes two sliders (411), a first motor (412), and a double-ended screw (413). The first motor (412) is fixedly mounted on one side of the base plate (1), and the double-ended screw (413) is rotatably mounted on the bottom of the base plate (1). The two sliders (411) are threadedly connected to the double-ended screw (413). The first motor (412) is connected to the double-ended screw (413) and is used to drive the two sliders (411) to move closer to or further away from each other. Each of the aforementioned support members (3) is correspondingly mounted on one of the sliders (411); The support member (3) includes a first support rod (311), a second support rod (312) and a third support rod (313). A first driven bevel gear (314) is fixedly provided on the first support rod (311). The first driven bevel gear (314) is rotatably mounted on the slider (411). The free end of the first support rod (311) is hinged to the second support rod (312). The free end of the second support rod (312) is hinged to the third support rod (313). The third support rod (313) is hinged to the slider (411).

2. The chassis for crossing the buckle according to claim 1, characterized in that: The driving component also includes a first support plate (414) fixed to the bottom of the base plate (1), a first rod (415) is rotatably mounted on the first support plate (414), and a first driving bevel gear is coaxially fixed at both ends of the first rod (415), the first driving bevel gear meshing with the first driven bevel gear (314); The first rod body (415) is provided with a first driven pulley (416) in the middle, and the double-ended screw (413) is provided with a first driving pulley (417) in the middle. A first belt is tensioned between the first driving pulley (417) and the first driven pulley (416).

3. The chassis for crossing the buckle according to claim 1, characterized in that: The driving component includes a second support plate (421) fixedly disposed at the bottom of the base plate (1) and two fixing blocks (422), and each of the support components (3) is correspondingly installed on one of the fixing blocks (422); A second rod (423) is rotatably mounted on the second support plate (421), and a second active bevel gear (424) is coaxially fixed at both ends of the second rod (423). A second motor (425) is provided on one side of the second support plate (421). The output shaft of the second motor (425) is connected to a second driving pulley (426). A second driven pulley (427) is coaxially fixed on the second rod (423). A second belt is tensioned between the second driving pulley (426) and the second driven pulley (427).

4. The chassis for crossing the buckle according to claim 3, characterized in that: The support member (3) includes a fourth support rod (321), a fifth support rod (322), and a movable support rod (323). A second driven bevel gear (324) is fixedly installed on the fourth support rod (321). The second driven bevel gear (324) is rotatably mounted on the fixed block (422). The free end of the fourth support rod (321) is hinged to the fifth support rod (322). The free end of the fifth support rod (322) is hinged to the movable support rod (323). The movable support rod (323) is hinged to the fixed block (422). The second driving bevel gear (424) meshes with the second driven bevel gear (324); The movable support rod (323) includes a first support rod (3231) and a second support rod (3232), wherein the first support rod (3231) and the second support rod (3232) are movably connected; A first gear (3233) is rotatably disposed inside the first support rod (3231), and a second gear (3234) is fixedly disposed inside the second support rod (3232). The first gear (3233) and the second gear (3234) mesh with each other. A drive gear (3235) is formed on the fifth support rod (322), and the drive gear (3235) meshes with the first gear (3233).

5. The chassis for crossing the buckle according to claim 4, characterized in that: The third support rod (313) is connected to a drive unit, which includes a drive motor (41), a drive gear (42), a wheel gear (43), and a meniscus (44). The output end of the drive motor (41) is connected to the drive gear (42). The drive gear (42) meshes with the wheel gear (43). The wheel gear (43) is rotatably disposed in the meniscus (44). Several rubber wheels (45) are also rotatably disposed in the meniscus (44). The wheel gear (43) is used to contact the steel pipe (5).

6. A robot for crossing latches, characterized in that: It includes a body (12) and a buckle removal mechanism disposed on the body (12), the buckle removal mechanism being mounted on the body (12), and also includes a chassis for crossing the buckle as described in any one of claims 1 to 5, the chassis for crossing the buckle being mounted on the bottom of the body (12).

7. The robot for crossing latches according to claim 6, characterized in that, The buckle disassembly mechanism includes: The base (a1), the support structure (a2) set on the base (a1), and the mounting plate (a3) ​​fixedly set on the support structure (a2). A drive plate (a4) is rotatably connected inside the mounting plate (a3). Two clamping blocks (a5) are slidably set on the mounting plate (a3). Each clamping block (a5) has two sliding grooves (a51). The support structure (a2) is rotatably provided with a toothed ring (a6), the drive disk (a4) is provided with a plurality of arc-shaped grooves (a41), and a drive column (a42) is provided in each arc-shaped groove (a41). The mounting disk (a3) ​​is provided with a plurality of strip-shaped grooves (a31), and two adjacent drive columns (a42) extend through the two corresponding strip-shaped grooves (a31) into the two sliding grooves (a51) of the clamping block (a5). When the drive disk (a4) rotates, it can drive the two clamping blocks (a5) to move closer or further away from each other, for clamping the buckle (6). The mounting plate (a3) ​​is provided with a screwing component (a61) in the middle, which is used to remove the nut (a113) in the buckle (6). It also includes a drive unit configured to simultaneously drive the drive disk (a4) and the screwing member (a61) to rotate.

8. The robot for crossing latches according to claim 7, characterized in that: The support structure (a2) includes a first support block (a21) and a support strip (a22). A base plate (a7) is fixedly disposed on the support strip (a22). The driving part includes an airflow driving unit (a8) and an airflow generating unit (a9). The airflow driving unit (a8) is fixed to the airflow generating unit (a9). The airflow driving unit (a8) is mounted on the base plate (a7). The airflow generating unit (a9) includes an airflow generating housing (a91), a third motor (a92), a drive shaft (a93), and a fan blade (a94). The third motor (a92), the drive shaft (a93), and the fan blade (a94) are disposed inside the airflow generating housing (a91). The third motor (a92) is fixedly disposed on one side of the airflow generating housing (a91). The output shaft of the third motor (a92) is connected to the drive shaft (a93). The fan blade (a94) is fixedly disposed on the drive shaft (a93). The drive shaft (a93) passes through the airflow driving unit (a8), the base plate (a7), and the drive disk (a4). The end of the drive shaft (a93) is connected to the screwing component (a61).

9. The robot for crossing latches according to claim 8, characterized in that: The airflow drive unit (a8) includes an airflow drive housing (a81), a rotating shaft (a82), and a rotating ring (a83). The outer periphery of the rotating ring (a83) is provided with a plurality of turbine blades (a84). The airflow drive housing (a81) is connected to the airflow generating housing (a91). The rotating shaft (a82) and the rotating ring (a83) are disposed inside the airflow drive housing (a81). The rotating ring (a83) is fixedly disposed on the outer periphery of the rotating shaft (a82). The rotating shaft (a82) has a hollow structure. The rotating shaft (a82) is sleeved on the drive shaft (a93) and rotatably connected to the drive shaft (a93). The end of the rotating shaft (a82) extends out of the airflow drive housing (a81) and the base plate (a7) and is connected to a first airflow ring (a85). A connector (a86) is provided between the first airflow ring (a85) and the drive disk (a4). The connector (a86) includes a plurality of first connecting rods (a861) and a plurality of second connecting rods (a862). One end of each first connecting rod (a861) is connected to the first airflow ring (a85), and the other end of each first connecting rod (a861) is connected to the toothed ring (a6). The toothed ring (a6) is rotatably connected to the screwing member (a61). One end of the second connecting rod (a862) is connected to the gear ring (a6), and the other end of the second connecting rod (a862) is connected to the drive disk (a4); A second airflow ring (a87) is fixedly disposed on the first airflow ring (a85). A first air passage (a71) is opened on the substrate (a7). A second air passage (a851) is opened on the first airflow ring (a85). A third air passage (a871) is opened inside the second airflow ring (a87). A plurality of air outlets (a872) are opened at one end of the second airflow ring (a87) facing the mounting plate (a3). The first air passage (a71), the second air passage (a851), the third air passage (a871) and the air outlets (a872) are interconnected. One end of the first air passage (a71) is connected to the inner cavity of the airflow drive shell (a81).

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