Automatic climbing robot

Abstract

The invention discloses an automatic climbing robot, belongs to the field of fire fighting equipment, solves the problems that equipment in the prior art is complex and unsafe to use, and adopts the technical scheme that the automatic climbing robot comprises a ladder, at least two locking assemblies arranged on the ladder and a working platform, the locking assembly comprises a rack, a first driving unit and a locking clamping jaw movably arranged on the rack, the locking clamping jaw is provided with a first position for locking the wall and a second position for separating from the wall, and the locking clamping jaw is provided with a window breaking structure; when the first driving unit drives the locking clamping jaw to be switched between the first position and the second position, a window is broken through the window breaking structure, at least one locking assembly and the operation platform can be connected into a whole, and a rack of at least one locking assembly can be movably connected to the ladder in the vertical direction of the ladder. And a second driving unit for driving the ladder and the rack of the locking assembly to move relatively is arranged between the ladder and the rack. According to the invention, the equipment is simpler and safer to use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fire-fighting equipment, in particular to an automatic climbing robot. BACKGROUND

[0002] In the process of high-rise building fire rescue, climbing and breaking windows and personnel rescue are key links. At present, climbing operation mainly depends on aerial ladder or firefighters climbing by hand. Some automatic or semi-automatic climbing rescue devices have been proposed in the prior art. For example, the invention patent CN103495265A discloses a high-rise and super high-rise climbing fire rescue system, which realizes climbing function through multi-stage telescopic mechanical arm and hydraulic drive device, and carries a rescue platform. However, this system has many technical defects: first, multi-stage mechanical arm structure is adopted, the overall configuration is complex, there are many parts, the control system needs to coordinate the synchronous movement of multiple mechanical arm joints, the operation difficulty is large, the professional requirement of the operator is high; more importantly, the control platform of the system is integrated in the device body, and the firefighter still needs to ascend with the device for on-site control, the man-machine separation is not realized, the personnel high-altitude operation risk still exists, and the life safety of the rescue personnel cannot be fundamentally guaranteed. SUMMARY

[0003] The purpose of the present application is to provide an automatic climbing robot, which solves the problems of complex equipment and unsafe use in the prior art, makes the equipment simpler and safer to use.

[0004] In order to achieve the above purpose, the present application adopts the following technical scheme: an automatic climbing robot, comprising a ladder, at least two locking assemblies arranged on the ladder, and a work platform, the locking assembly comprising a rack, a first drive unit, and a locking claw movably arranged on the rack, the locking claw having a first position for locking a wall and a second position for separating from the wall, the locking claw being provided with a window breaking structure, the first drive unit driving the locking claw to switch between the first position and the second position through the window breaking structure to break the window, at least one of the locking assemblies and the work platform being connected as a whole, the rack of at least one locking assembly being movably connected to the ladder in the vertical direction, and a second drive unit being arranged between the ladder and the rack of the locking assembly to drive the relative movement of the two.

[0005] The above technical scheme has the following advantages: multiple locking assemblies share the same ladder, reducing the repeated setting of independent guide rails or support structures, and the number of parts is small, and the overall structure is simple; the locking clamps of each locking assembly can be switched between the first position and the second position under the drive of the first driving unit, realizing reliable locking and disengagement of the wall, and ensuring operation safety; at the same time, the locking assembly is movably connected to the ladder through the rack, and the second driving unit drives the relative movement between the two, so that when a certain locking assembly is locked to the wall, the ladder can be lifted relative to the locking assembly, or the locking assembly can be moved relative to the ladder to adjust the position, thereby realizing two-way motion adaptation on the same mechanism, supporting the lifting of the whole machine in the locked state, and supporting the position adjustment in the released state, thereby integrating the locking and lifting functions on the same structure, the movement path is clear, the structure is simple and compact, and the movement flexibility and operation reliability are improved. The locking clamps integrate the window breaking structure, and the locking clamps can complete automatic window breaking during the movement of switching between the first position and the second position, realizing locking and window breaking at the same time, without the need for additional breaking devices, thereby improving the rescue efficiency. The locking assembly and the operation platform can be connected as a whole, realizing synchronous lifting of the locking assembly and the operation platform, and the operation platform can be used to carry rescue tools, deliver materials or assist personnel transfer, etc., and has strong function expansion.

[0006] Further, the ladder includes vertically arranged vertical rods and horizontally arranged horizontal rods connected between adjacent vertical rods, the locking assembly further includes a first clamp and a second clamp rotatably arranged on the rack, the first clamp is located outside the second clamp, the second clamp has a first working position for hanging the horizontal rod and a second working position for avoiding the horizontal rod, the rack is provided with a limiting piece, the second clamp abuts against the limiting piece and remains in the first working position in a natural state, when the ladder and the rack of the locking assembly move relative to each other, the horizontal rod can push the first clamp to rotate inward to push the first clamp to flip to the second working position.

[0007] Through the above technical scheme, the second clamp is naturally maintained in the first working position for hanging the horizontal rod under the action of the limiting piece, ensuring the locking stability; when the rack and the ladder move relative to each other for climbing, the horizontal rod first contacts the first clamp and pushes it to rotate inward, and at the same time, the first clamp pushes the second clamp to flip from the first working position to the second working position for avoiding the horizontal rod, realizing active obstacle crossing; after obstacle crossing is completed, the second clamp returns to the first working position in a natural state and is re-hung on the upper horizontal rod, thereby completing the step-by-step climbing and locking action, and the action logic is clearer and the obstacle crossing and locking reliability is higher.

[0008] Further, the locking assembly further comprises a rotating shaft, and the locking claw is arranged on the rack in a rotating manner through the rotating shaft; or the locking claw is connected to the rack in a sliding manner, and the first driving unit drives the locking claw to extend or retract relative to the ladder in a transverse direction to switch between the first position and the second position.

[0009] By adopting the technical scheme, the locking claw can utilize the lever effect to enhance the holding force on the cross bar or the wall during rotation, has good self-adaptability when being in contact with the locking, has a fixed rotation track, requires small installation space, and is conducive to compactness of the overall structure; and the sliding connection manner enables the locking claw to linearly extend or retract in a transverse direction, and the response is more rapid and the positioning is more accurate, thereby facilitating accurate control of the locking action.

[0010] Further, the locking claw comprises a swing arm and a hook arm, one end of the swing arm is connected to the rack in a rotating manner, the hook arm and the window breaking structure are arranged at the other end of the swing arm, the hook arm is oppositely arranged relative to the rack and forms a clamping space for inserting and clamping the wall, and the first driving unit is arranged at the end of the swing arm close to the rack, and the first driving unit drives the swing arm to rotate to switch the locking claw between the first position and the second position.

[0011] By adopting the foregoing technical scheme, the swing arm is driven to rotate by the first driving unit, the hook arm forms the clamping space relative to the rack to lock the wall, reliable clamping and window breaking functions are realized, the first driving unit is arranged at the end of the swing arm close to the rack, away from the window breaking position and the high-temperature and flame environment, the risk of thermal damage is effectively reduced, and the service life of the equipment is guaranteed.

[0012] Further, the hook arm is rotatably connected to the swing arm and has a storage state of being accommodated in the swing arm and a working state of being unfolded outward relative to the swing arm to form a hooking space, a third driving unit for driving the hook arm to switch states is arranged on the swing arm, and when the first driving unit drives the swing arm to rotate to break the window, the hook arm is in the storage state.

[0013] By adopting the foregoing technical scheme, the hook arm is designed as a rotatable structure, so that the first driving unit can drive the swing arm to rotate to perform the window breaking operation, and at the same time, the second driving unit can switch the state of the hook arm to realize orderly connection of the window breaking function and the hooking function. The hook arm is accommodated in the swing arm when the window is broken, the overall structure is more compact, and the external protruding parts are reduced, so as to avoid interference or disturbance of the hook arm with the window edge as much as possible, the hook arm can be unfolded to form a stable hooking space after the window breaking is completed, a reliable support foundation is provided for subsequent locking operation, and the safety and operation efficiency of the device are significantly improved.

[0014] Further, the swing arm comprises a fixed arm rotatably connected to the frame and an extension arm slidably arranged on the fixed arm, the hook arm is arranged on the extension arm, the extension arm has a first position extending out of the fixed arm, a second position partially retracting to enable the hook arm to hook the wall, and a third position fully retracting to the fixed arm.

[0015] With the foregoing technical scheme, the first position ensures that the hook arm is away from the wall, thereby avoiding collision between the hook arm and the wall as much as possible during the approach of the swing arm to the wall, the second position enables self-adaptive clamping of different thickness walls through retraction, and the third position fully stores the hook arm, thereby reducing the size of the mechanism, avoiding motion interference as much as possible during climbing, and further improving the adaptability, reliability and operation safety of the locking claw under unknown working conditions.

[0016] Further, the third driving unit comprises a torsional spring, the hook arm is rotatably connected to the front end of the extension arm by the torsional spring, when the extension arm moves from the second position to the third position, the fixed arm pushes the hook arm to rotate to the storage state and tension the torsional spring, when the extension arm is in the first position or the second position, the fixed arm is disengaged from the torsional spring, and the hook arm rotates to the working state under the restoring action of the torsional spring; or, the third driving unit comprises a driving motor, the driving motor is controlled by an external signal to drive the state switching of the hook arm.

[0017] With the foregoing technical scheme, when the extension arm moves from the second position to the third position, the fixed arm abuts against the hook arm, drives the hook arm to rotate to the storage state, and makes the torsional spring in a tensioned state; after the extension arm extends, the hook arm is automatically unfolded by the restoring of the torsional spring, without the need for an additional power source, thereby realizing linkage control of extension and retraction, and having good stability and reliability in complex environments such as high temperature and humidity; or, when the driving motor scheme is adopted, the state switching of the hook arm is independently controlled by an external signal, is not limited by the position of the extension arm, has flexible control, stable and adjustable driving force, is suitable for precise operation under complex working conditions, and enhances the adaptability of the mechanism to diversified operation requirements.

[0018] Further, the window breaking structure comprises a base fixed to the swing arm, and an impact head, a trigger and an energy storage member arranged on the base, the impact head is movably arranged on the base to have an initial position and an impact position moving relative to the initial position to break the glass window, the trigger is configured to respond to an external input to trigger the impact head to move from the initial position to the impact position, the energy storage member is connected with the impact head, and the energy storage member is used to accumulate energy when the impact head returns to the initial position, and provide the impact head with assistance to move from the initial position to the impact position when the trigger is triggered.

[0019] The base, the impact head, the trigger and the energy storage member are integrated, the overall structure is arranged at the end of the swing arm, the structure is compact, the swing arm and the hook arm can be well matched, and interference to other components is avoided; the energy storage member can accumulate energy in advance when the impact head returns to the initial position, and when the trigger is triggered in response to external input such as a control signal, the energy storage member releases energy to provide power for the impact head, so that the impact head can quickly move to the impact position to break the glass window with greater impact force, thereby effectively improving the window breaking efficiency, especially for thicker or higher strength glass; meanwhile, the impact head can reciprocate between the initial position and the impact position, the energy accumulation and release of the energy storage member form a cycle mechanism, so that repeated operation can be performed when the first window breaking is unsuccessful, the window breaking success rate is improved, and manual close operation is not required, thereby reducing the exposure risk of rescue personnel in a high-temperature and flame environment.

[0020] Further, the at least two locking assemblies are arranged staggered in the vertical direction of the ladder.

[0021] The staggered design optimizes the use of space, makes the overall structure more compact, and also makes the multiple locking assemblies avoid structural interference as much as possible when they are alternately locked and moved.

[0022] Further, the first driving unit and the second driving unit are wirelessly connected and wirelessly connected with an external mobile terminal.

[0023] The driving units are wirelessly coordinated and remotely controllable, the firefighter can remotely control through the mobile terminal on the ground or in a safe area, the rescue safety is improved, the number of physical wiring between modules is reduced, especially in a high-temperature, open flame or smoke-filled rescue environment, the risk of control failure caused by cable ablation, wear and tear, or short circuit is avoided, and the reliability and safety of the system under extreme conditions are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] The application will be further described below with reference to the drawings:

[0025] Figure 1 is an exploded view of the automatic climbing robot of embodiment one of the application;

[0026] Figure 2 is a structural schematic view of the automatic climbing robot of embodiment one of the application;

[0027] Figure 3 is another perspective view of the structural schematic view of the automatic climbing robot of embodiment one of the application;

[0028] Figure 4 is a structural schematic view of the second locking assembly of embodiment one of the application;

[0029] Figure 5 Structure diagram of the locking assembly of the first embodiment of the present application;

[0030] Figure 6 Structure diagram of another state of the locking assembly of the first embodiment of the present application;

[0031] Figure 7 Partial exploded view of the locking assembly of the first embodiment of the present application;

[0032] Figure 8 Exploded view of the locking assembly of the first embodiment of the present application;

[0033] Figure 9 Structure diagram of the locking claw of the first embodiment of the present application;

[0034] Figure 10 Partial structure sectional view of the locking claw of the first embodiment of the present application;

[0035] Figure 11 Structure diagram of the locking claw of the first embodiment of the present application from another perspective;

[0036] Figure 12 Structure diagram of the window breaking structure of the first embodiment of the present application;

[0037] Figure 13 Structure diagram of the window breaking structure of the first embodiment of the present application from another perspective;

[0038] Figure 14 Structure diagram of the hook arm of the first embodiment of the present application in the storage state;

[0039] Figure 15 Structure diagram of the window breaking structure of the first embodiment of the present application in the window breaking state;

[0040] Figure 16 Structure diagram of the window breaking structure of the first embodiment of the present application in the two window breaking state;

[0041] Figure 17 Structure diagram of the hook arm of the first embodiment of the present application in the working state;

[0042] Figure 18 Structure diagram of the extension arm of the first embodiment of the present application in the third position;

[0043] Figure 19 Structure diagram of the extension arm of the first embodiment of the present application in the second position;

[0044] Figure 20 Structure diagram of the automatic climbing robot of the first embodiment of the present application in the climbing state;

[0045] Figure 21Structure schematic diagram of automatic climbing robot of embodiment two of the present application;

[0046] Figure 22 Structure schematic diagram of automatic climbing robot of embodiment three of the present application;

[0047] Figure 23 Structure schematic diagram of automatic climbing robot of embodiment four of the present application;

[0048] Figure 24 Structure schematic diagram of second locking assembly of embodiment four of the present application;

[0049] Figure 25 Structure schematic diagram of first locking assembly of embodiment four of the present application;

[0050] Figure 26 Structure schematic diagram of automatic climbing robot of embodiment five of the present application;

[0051] Figure 27 Partial structure schematic diagram of automatic climbing robot of embodiment five of the present application;

[0052] Figure 28 Another state structure schematic diagram of automatic climbing robot of embodiment five of the present application;

[0053] Figure 29 Structure schematic diagram of automatic climbing robot locking claw extension of an embodiment of the present application;

[0054] Figure 30 Structure schematic diagram of automatic climbing robot locking claw retraction of an embodiment of the present application;

[0055] Figure 31 Structure schematic diagram of automatic climbing robot locking claw extension of another embodiment of the present application;

[0056] Figure 32 Structure schematic diagram of automatic climbing robot locking claw retraction of another embodiment of the present application;

[0057] In the figure, 10, ladder; 11, vertical rod; 12, inner side; 13, outer side; 14, guide rail; 15,

[0058] Crossbar; 20, first locking assembly; 21, second locking assembly; 22, rack; 221, matching part; 23, locking claw; 231, swing arm; 2311, fixed arm; 2312, driving protrusion; 2313, extension arm; 2314, torsional spring; 2315, guide slide rail; 232, hook arm; 2321, sawtooth; 2322, driving block; 2323, matching protrusion; 24, first driving unit; 241, first driving motor; 242, worm gear reducer; 243, first gear; 244, second gear; 245, third gear; 246, fourth gear; 247, fifth gear; 248, worm; 249, transmission rod; 25, second driving unit; 251, second driving motor; 252, transmission rack; 253, lead screw; 254, nut; 255, driving wheel; 256, flexible piece; 257, connecting piece; 258, chain; 259, driving rack; 26, rotating shaft; 27, clamping space; 28, fourth driving unit; 281, fourth driving motor; 282, screw rod; 283, sliding block; 291, first clamping jaw; 292, second clamping jaw; 2921, limiting protrusion; 293, limiting piece; 294, lifting frame; 295, supporting wheel; 30, operation platform; 40, window breaking structure; 41, base; 411, accommodating groove; 42, impact head; 43, stop notch; 44, energy storage piece; 441, first elastic piece; 45, limiting rib; 46, trigger piece; 461, third elastic piece; 462, linkage mechanism; 4621, movable connecting rod; 4622, push rod; 4623, rotating shaft; 4624, guide slide; 463, touch rod; 47, second elastic piece; 50, glass window; 51, wall. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application.

[0060] The terms "first", "second", "third", "fourth" and the like in the description, claims, and drawings of the present application, if any, are used to distinguish similar objects, and do not necessarily mean a particular order or a particular sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0061] It should be understood that, in various embodiments of the present application, the magnitude of the serial numbers as related to the processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0062] It should be understood that, in the present application, "comprising" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units need not be limited to those clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0063] It should be understood that, in the present application, "a plurality of" means two or more. "And / or" is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, X and / or Y can represent the three cases of X alone, X and Y together, and Y alone. The character " / " generally represents that the associated objects before and after are in an "or" relationship. "Including X, Y and Z", "including X, Y, Z" means that X, Y and Z are all included, "including X, Y or Z" means that one of X, Y and Z is included, and "including X, Y and / or Z" means that any one or any two or all of X, Y and Z is included.

[0064] The technical solutions of the present application will be described in detail below with specific examples. The following specific examples can be combined or replaced according to actual conditions, and the same or similar concepts or processes may not be described in some examples.

[0065] Example one:

[0066] As shown in Figures 1 to 20 The present application provides an automatic climbing robot, which comprises a ladder 10, at least two locking assemblies arranged on the ladder 10, and a work platform 30. The locking assembly comprises a rack 22, a first driving unit 24, and a locking claw 23 movably arranged on the rack 22. The locking claw 23 has a first position for locking a wall 51 and a second position for separating from the wall 51. The locking claw 23 is provided with a window breaking structure 40. The first driving unit 24 drives the locking claw 23 to break the window through the window breaking structure 40 when switching between the first position and the second position. The at least one locking assembly and the work platform 30 are connected as a whole. The rack 22 of the at least one locking assembly is movably connected to the ladder 10 in the vertical direction of the ladder 10. A second driving unit 25 is arranged between the ladder 10 and the rack 22 of the locking assembly to drive the relative movement of the two.

[0067] The plurality of locking assemblies share the same ladder 10, reducing the repeated arrangement of independent guide rails or support structures, reducing the number of parts, and simplifying the overall structure; the locking clamps 23 of each locking assembly can be switched between the first position and the second position under the drive of the first drive unit 24, realizing reliable locking and disengagement of the wall 51, and ensuring work safety; at the same time, the locking assembly is movably connected to the ladder 10 through the rack 22, and the second drive unit 25 drives the relative movement between the two, so that when a certain locking assembly locks the wall 51, the ladder 10 can be lifted relative to the locking assembly, or the locking assembly can be moved relative to the ladder 10 to adjust the position, thereby realizing bidirectional motion adaptation on the same mechanism, supporting the lifting of the whole machine in the locked state, and supporting the position adjustment in the released state, thereby integrating the locking and lifting functions on the same structure, the movement path is clear, the structure is simple and compact, and the movement flexibility and work reliability are improved. The locking clamps 23 integrate the window breaking structure 40, and the locking clamps 23 can complete automatic window breaking during the movement of switching between the first position and the second position, realizing locking and window breaking at the same time, without the need for additional breaking devices, improving the rescue efficiency. The locking assembly and the work platform 30 can be connected as a whole, realizing the synchronous lifting of the locking assembly and the work platform, and the work platform can be used to carry rescue tools, deliver materials, or assist personnel transfer, etc., with strong functional expandability.

[0068] Preferably, the locking assembly includes a first locking assembly 20 and a second locking assembly 21, the rack 22 of the first locking assembly 20 is fixedly connected to the ladder 10, the rack 22 of the second locking assembly 21 is movably connected to the ladder 10 along the vertical direction of the ladder 10 and is provided with a work platform 30, and the second drive unit 25 drives the relative movement between the ladder 10 and the rack 22 of the second locking assembly 21.

[0069] The climbing is realized by the cooperation of the two locking assemblies and the second driving unit 25. When the first locking assembly 20 is locked to the wall 51, the second locking assembly 21 is lifted to the position of the first locking assembly 20 by the second driving unit 25 and is locked to the wall 51. Then, the first locking assembly 20 is separated from the wall 51, the second driving unit 25 is operated again to lift the ladder 10 relative to the second locking assembly 21, and the first locking assembly 20 is lifted synchronously to the next wall 51 position. The above steps are repeated to realize continuous climbing. In this process, the second driving unit 25 can alternately drive the second locking assembly 21 to rise relative to the ladder 10 and the ladder 10 to rise relative to the second locking assembly 21. Without the multiple driving devices provided for the multi-stage mechanical arm in the prior art, the structural complexity is simplified, the equipment weight is greatly reduced, and the synchronization and coordination control of multiple driving devices are not required. The full-automatic climbing is realized only by starting and stopping and direction switching of the single second driving unit 25, the control complexity caused by multiple-device linkage is avoided as much as possible, the operation difficulty and maintenance cost are greatly reduced, the first locking assembly 20 is always fixedly connected with the ladder 10, the load is effectively transmitted to the wall 51 during the rising of the ladder 10 relative to the second locking assembly 21, the shaking or instability caused by loose connection or sliding deviation is avoided, the overall stability of the equipment in high-altitude operation is enhanced, and complex sliding guide rails, transmission mechanisms or dynamic connection components do not need to be arranged, the number of kinematic pairs and connecting pieces 257 is further reduced, and the structural complexity is reduced.

[0070] The first driving unit 24 of the first locking assembly 20, the first driving unit 24 of the second locking assembly 21 and the second driving unit 25 are wirelessly connected and wirelessly connected with an external mobile terminal. The driving units are wirelessly coordinated and can be remotely controlled. The firefighter can remotely control through the mobile terminal on the ground or in a safe area, improve the rescue safety, and reduce the number of physical wiring between modules. Especially in a rescue environment with high temperature, open fire or smoke, the risk of control failure caused by cable ablation, wear and tear, fracture or short circuit is avoided, and the reliability and safety of the system under extreme conditions are improved.

[0071] It should be noted that the first locking assembly 20, the second locking assembly 21 and the ladder 10 are independent modules and can be detachably connected. When used, they are assembled to realize function integration, and are convenient for separate transportation and on-site rapid deployment.

[0072] It needs to be explained that each module is built-in wireless communication module, taking Wi-Fi ad hoc network as the main communication mode, to build a local wireless network without relying on external router. Among them, a main control unit is integrated in the rack 22 of the second locking assembly 21, as the network center node, receiving control instructions from the external mobile terminal, and distributing the instructions to the first driving unit 24 and the second driving unit 25 of the first locking assembly 20 through Wi-Fi wireless, realizing the cooperative action among the three. At the same time, each driving unit will return the running state, such as locking state, driving stroke, fault alarm, etc. to the mobile terminal in real time, supporting remote monitoring and operation feedback. The external mobile terminal controls the whole machine and module action through the cloud server.

[0073] In order to operate the remote power reset of the device conveniently, an intermediate relay can also be added in the circuit of the main control unit to realize remote power reset.

[0074] Of course, in other embodiments, the cooperative action between modules can also be realized by transmitting Bluetooth or 4G or radio frequency signals between modules to realize wireless connection communication between modules.

[0075] After the automatic climbing robot is assembled, the first locking assembly 20 and the second locking assembly 21 are arranged staggered in the vertical direction of the ladder 10, that is, the positions are staggered in the length direction of the ladder 10, and the length direction of the ladder 10 is as Figure 2 and Figure 3 indicated by the up and down arrows. The staggered design optimizes the space utilization, makes the overall structure more compact, and also makes the first locking assembly 20 and the second locking assembly 21 avoid structural interference as much as possible when they are alternately locked and moved.

[0076] Specifically, the ladder 10 includes two vertical poles 11 arranged at intervals and a cross bar 15 connected between adjacent vertical poles 11. The second locking assembly 21 needs to move vertically relative to the ladder 10, and the space requirement for movement is large. The outer side 13 of the two vertical poles 11 is spacious, and the second locking assembly 21 can be installed on the outer side 13 of the two vertical poles 11. The first locking assembly 20 is fixed and does not move, and the space requirement is small. The first locking assembly 20 is installed in the area between the two vertical poles 11.

[0077] The second driving unit 25 includes a second driving motor 251 fixed on the working platform 30, a transmission gear connected to the output end of the second driving motor 251, and a transmission rack 252 arranged along the length direction of the ladder 10. The transmission gear and the transmission rack 252 are engaged, which can realize efficient transmission of power, reduce energy loss, and is not easy to be disturbed by the outside world, so as to keep reliable operation in the complex environment of rescue operation and ensure the movement of the second locking assembly 21 relative to the ladder 10 or the ladder 10 relative to the second locking assembly 21 more accurate and efficient in the process of alternating climbing.

[0078] The first locking assembly 20 and the second locking assembly 21 are each provided with two locking clamps 23, which are mounted on the same rack 22, and only a transmission rack 252 needs to be arranged on one vertical rod 11, and the transmission gear on one side is engaged with the transmission rack 252 to realize lifting, so as to drive the two locking clamps 23 to lift.

[0079] In order to improve the lifting reliability of the two locking clamps 23, a guide rail 14 can be arranged on the vertical rod 11, and a corresponding matching part 221, such as a sliding block 283, a roller or a guide groove, is arranged on the rack 22 to cooperate with the guide rail 14. The guide rail 14 restricts the movement freedom of the rack 22, clearly defines the movement path, and as much as possible prevents it from shaking, deflecting or jamming during lifting, so as to ensure the smooth operation of the working platform 30. Of course, limit pieces can be arranged at both ends of the vertical rod 11, which can abut against the rack 22 to clearly define the starting point and the end point of the lifting stroke through physical limiting, effectively limiting the stroke boundary of the second locking assembly 21 during lifting, and as much as possible avoiding the rack 22 from being out of the ladder 10 due to control failure or misoperation during lifting, causing equipment out of control or falling risk.

[0080] The first locking assembly 20 and the second locking assembly 21 each further include a rotating shaft 26, and the locking clamps 23 are rotatably arranged on the rack 22 through the rotating shaft 26. The locking clamps 23 are rotatably arranged on the rack 22 through the rotating shaft 26, forming a clear rotating pair, so that the locking clamps 23 can rotate around the rotating shaft 26 under the drive of the first driving unit 24, realizing reliable switching between the second position and the first position. At the same time, the space required for rotation is small, the structure is compact, and it is beneficial to realize action switching in a narrow working environment.

[0081] Preferably, the axis of the rotating shaft 26 is arranged in the width direction of the ladder 10, and the first driving unit 24 can drive the locking clamps 23 to rotate in the vertical plane relative to the ladder 10. When the locking clamps 23 are in the first position, they are arranged perpendicular to the length direction of the ladder 10, i.e. perpendicular to the vertical direction of the ladder 10. When the locking clamps 23 are in the second position, they are arranged parallel to the length direction of the ladder 10, i.e. parallel to the vertical direction of the ladder 10, so as to as much as possible avoid obstacles on the outer wall of the building during locking and unlocking, thereby ensuring the smoothness and reliability of the action.

[0082] The first driving unit 24 comprises a driving member and a synchronous transmission structure, the synchronous transmission structure is respectively in transmission connection with the two locking clamps 23, and the driving member drives the two locking clamps 23 to move synchronously between the first position and the second position through the synchronous transmission structure. Without multiple driving members for control and synchronous feedback, the control system complexity and cost are reduced, the multiple locking clamps 23 move synchronously, can simultaneously contact and lock different positions of the wall body 51, form multi-point support, effectively disperse stress, avoid stress concentration or eccentric instability caused by single-point locking as far as possible, and enhance the overall structural bearing capacity.

[0083] It should be noted that, since the first locking assembly 20 is located at the inner side 12 of the two vertical rods 11, the spacing of the two locking clamps 23 of the first locking assembly 20 is small, the two locking clamps 23 of the first locking assembly 20 are driven through the same driving member and synchronous transmission structure, and the second locking assembly 21 is located at the outer side 13 of the two vertical rods 11, the spacing of the two locking clamps 23 of the second locking assembly 21 is large, and the two locking clamps 23 of the second locking assembly 21 are driven by two first driving units 24. The driving member is a first driving motor 241, the synchronous transmission structure is a worm gear reducer 242, the output shaft of the first driving motor 241 is fixedly connected with the worm of the worm gear reducer 242, and the worm gear reducer 242 can provide continuous and stable power output, and the output end of the worm gear reducer 242 is fixedly connected with the rotating shaft 26.

[0084] The locking clamp 23 comprises a swing arm 231 and a hook arm 232, one end of the swing arm 231 is rotatably connected to the rack 22, that is, the swing arm 231 is fixedly connected with the rotating shaft 26, the hook arm 232 and the window breaking structure 40 are arranged at the other end of the swing arm 231, the hook arm 232 is oppositely arranged with the rack 22 and forms a clamping space 27 for inserting and clamping the wall body 51, the first driving unit 24 is arranged at one end of the swing arm 231 close to the rack 22, and the first driving unit 24 drives the swing arm 231 to rotate to realize the switching of the locking clamp 23 between the first position and the second position. The first driving unit 24 drives the swing arm 231 to rotate, drives the hook arm 232 to form the clamping space 27 with the rack 22 to lock the wall body 51, realizes reliable clamping and window breaking function, and the first driving unit 24 is arranged at one end of the swing arm 231 close to the rack 22, away from the window breaking position and high temperature and flame environment, effectively reduces the risk of thermal damage, and protects the service life of the equipment.

[0085] The hook arm 232 is rotationally connected to the swing arm 231 and has a storage state in which it is accommodated in the swing arm 231 and a working state in which it is unfolded outward relative to the swing arm 231 to form a hooking space. The swing arm 231 is provided with a third driving unit for driving the hook arm 232 to switch states. When the first driving unit 24 drives the swing arm 231 to rotate to break the window of the window breaking structure 40, the hook arm 232 is in the storage state, the overall structure is more compact, and the external protruding parts are reduced, thereby avoiding as much as possible the interference or disturbance of the breaking action of the hook arm 232 with the window edge. After the window breaking is completed, the hook arm 232 can be unfolded to the working state to form a stable hooking space, providing a reliable support basis for subsequent locking operations, and significantly improving the safety and operation efficiency of the device.

[0086] The swing arm 231 includes a fixed arm 2311 rotationally connected to the rack 22 and an extension arm 2313 slidably arranged on the fixed arm 2311. The hook arm 232 is arranged on the extension arm 2313. The extension arm 2313 has a first position extending out relative to the fixed arm 2311, a second position partially retracted to enable the hook arm 232 to hook the wall 51, and a third position fully retracted to the fixed arm 2311. The first position ensures that the hook arm 232 is away from the wall 51, and avoids as much as possible the collision of the hook arm 232 with the wall 51 during the approach of the swing arm 231 to the wall 51. The second position enables self-adaptive clamping of different thicknesses of the wall 51 by retraction. The third position fully accommodates the hook arm 232, reduces the size of the mechanism, avoids as much as possible the motion interference during climbing, and further improves the adaptability, reliability and operation safety of the locking claw 23 under unknown working conditions.

[0087] It should be noted that the first position and the second position are not limited to a certain fixed position. The first position is a position unfolded to make the clamping space 27 greater than the thickness of the wall 51 according to the thickness of the wall 51. The second position is a position of the hook arm 232 when it hooks the wall 51, which is determined by the thickness of the wall 51.

[0088] The fixed arm 2311 is provided with a fourth driving unit 28 for driving the extension arm to switch between the first position, the second position and the third position. The fourth driving unit 28 includes a fourth driving motor 281, a screw rod 282 and a sliding block 283. The output end of the fourth driving motor 281 is fixedly connected with the screw rod 282. The sliding block 283 is threadedly connected with the screw rod 282. The sliding block 283 is fixedly connected with the extension arm 2313. The fourth driving motor 281 drives the screw rod 282 to rotate, so that the sliding block 283 moves to drive the extension arm 2313 to move synchronously. The screw rod 282 is a trapezoidal screw rod 282, which can realize self-locking, thereby ensuring the reliable position locking of the extension arm 2313 when it stops moving, and preventing as much as possible the displacement caused by load or vibration.

[0089] Further, the fixed arm 2311 is provided with a guide rail 2315, the guide rail 2315 is consistent with the axial direction of the screw rod 282, and the extension arm 2313 is slidingly connected to the guide rail 2315. The movement of the extension arm 2313 is constrained and supported by the guide rail 2315, so that the extension arm 2313 moves accurately and linearly along the axial direction of the screw rod 282, and the deflection or jamming during the extension and retraction is prevented as much as possible, the movement stability and positioning accuracy are improved, and the radial force generated when the extension arm 2313 moves is dispersed by the cooperation of the guide rail and the screw rod 282, so that the stress load of the threaded connection part of the screw rod 282 and the sliding block 283 is reduced.

[0090] The third driving unit includes a torsion spring 2314, and the hook arm 232 is rotationally connected to the front end of the extension arm 2313 by the torsion spring 2314. When the extension arm 2313 moves from the second position to the third position, the fixed arm 2311 abuts against the hook arm 232 to drive the hook arm 232 to rotate to the storage state, and the torsion spring 2314 is in a tension state. When the extension arm 2313 is located at the first position or the second position, the fixed arm 2311 is disengaged from the abutment with the torsion spring 2314, and the hook arm 232 rotates to the working state under the restoring action of the torsion spring 2314. No additional power source is needed to realize the linkage control of the extension and retraction, and the stability and reliability are good in a complex environment such as high temperature and humidity.

[0091] Specifically, the fixed arm 2311 can be provided with a driving protrusion 2312, the hook arm 232 is provided with a matching protrusion 2323 facing the driving protrusion 2312, and the torsion spring 2314 is sleeved on the rotation shaft 4623 between the hook arm 232 and the extension arm 2313. When the extension arm 2313 moves from the second position to the third position, the driving protrusion 2312 of the fixed arm 2311 abuts against the matching protrusion 2323 of the hook arm 232 to drive the hook arm 232 to rotate to the storage state. The rotation of the hook arm 232 forces the torsion spring 2314 to twist, so that the torsion spring 2314 is in a tension state. When the extension arm 2313 extends outward and is located at the first position or the second position, the driving protrusion 2312 is disengaged from the matching protrusion 2323, and the torsion spring 2314 releases the torque under the action of its restoring force to drive the hook arm 232 to automatically rotate to the working state.

[0092] In order to improve the reliability of the hooking, the surface of the hook arm 232 is provided with a sawtooth 2321, which can effectively increase the friction between the hook arm 232 and the wall 51. The tooth is embedded in the contact surface to form a more firm mechanical engagement, so as to prevent slipping as much as possible in the clamping state and improve the adhesion reliability.

[0093] Further, the surface of the fixing arm 2311 can also be provided with serrations 2321. When the locking clamps 23 form a clamping fit with the wall body 51, the serrations 2321 on the fixing arm 2311 are in contact with the other side of the wall body 51 at the same time and produce mechanical engagement, achieving double-sided anti-skid locking and further enhancing the overall clamping stability.

[0094] For thicker or higher-strength glass windows 50, a single set of window breaking structure 40 may need multiple impacts to break. The window breaking structure 40 can be provided with two sets, or even three sets or more. Multiple sets of window breaking structure 40 are installed on multiple sets of swing arms 231, which can exert force from different positions at the same time, making it easier to break through the structural strength of the glass and greatly improving the window breaking efficiency. At the same time, in a high-temperature environment, even if part of the window breaking structure 40 fails due to extreme conditions, the remaining sets of window breaking structure 40 can still work normally, ensuring the continuity and reliability of the window breaking operation, reducing the risk of window breaking failure due to the failure of a single window breaking structure 40, and further enhancing the emergency handling capability in a complex high-temperature flame environment.

[0095] Specifically, the window breaking structure 40 includes a base 41 fixed to the swing arm 231, an impact head 42 provided on the base 41, a trigger 46, and an energy storage member 44. The impact head 42 is movably arranged on the base 41 to have an initial position and an impact position relative to the initial position for breaking the glass window 50. The trigger 46 is configured to be triggered in response to an external input to trigger the impact head 42 to move from the initial position to the impact position. The energy storage member 44 is connected to the impact head 42. The energy storage member 44 is used to accumulate energy when the impact head 42 returns to the initial position, and to provide the impact head 42 with assistance to move from the initial position to the impact position when the trigger 46 is triggered.

[0096] By integrating the base 41, the impact head 42, the trigger 46, and the energy storage member 44 into the swing arm 231, the entire structure is arranged at the end of the swing arm 231, which is compact and can cooperate well with the swing arm 231 and the hook arm 232 without interfering with other components. The energy storage member 44 can accumulate energy in advance when the impact head 42 returns to the initial position. When the trigger 46 is triggered in response to an external input such as a control signal, the energy storage member 44 releases energy to provide assistance to the impact head 42, enabling the impact head 42 to move quickly to the impact position with greater impact force to break the glass window 50, effectively improving the window breaking efficiency, especially for thicker or higher-strength glass. At the same time, the impact head 42 can move back and forth between the initial position and the impact position, and the energy accumulation and release of the energy storage member 44 form a cyclic mechanism, which facilitates repeated operation when a window breaking operation is not successful, improves the window breaking success rate, and reduces the exposure risk of rescue personnel in a high-temperature, flame environment without the need for close-range manual operation.

[0097] The energy storage member 44 comprises a first elastic member 441 capable of accumulating or releasing energy through elastic deformation. The energy transmission of elastic deformation is smooth, which can reduce impact and vibration during energy release, reduce damage to other parts of the device, ensure the service life of the equipment, and the first elastic member 441 is adaptable and can maintain stable working performance in complex environments such as high temperature and dust in fire scenes, ensuring the reliability of energy accumulation and release.

[0098] It should be noted that the impact head 42 can be a conical structure, and the tip of the conical structure can concentrate the impact force on a point. Under the action of the elastic force released by the first elastic member 441, a very high pressure can be generated instantaneously, which can more efficiently break the glass window 50 whose strength changes due to high-temperature baking. The base 41 is provided with a containing groove 411, and when the impact head 42 is in the initial position, the impact head 42 is stored in the containing groove 411, and when the impact head 42 is in the impact position, the impact head 42 partially extends out of the containing groove 411.

[0099] In order to keep the impact head 42 in the initial position, the base 41 is provided with a stop notch 43, and the circumferential direction of the impact head 42 is provided with a limiting rib 45. A second elastic member 47 is arranged between the impact head 42 and the base 41 to keep the limiting rib 45 from being locked in the stop notch 43, so as to lock the impact head 42 in the initial position. As much as possible, avoid the impact head 42 from being accidentally displaced due to vibration, gravity and other factors when the swing arm 231 rotates, the equipment moves or the window breaking action is not triggered, and as much as possible, ensure that the impact head 42 is in the preset energy accumulation state before breaking the window, to provide stable initial conditions for the window breaking action. When it is necessary to trigger the window breaking, the limiting rib 45 can be made to disengage from the stop notch 43 by overcoming the force of the second elastic member 47, so as to realize simple and efficient unlocking process, without affecting the rapid action of the impact head 42, and the reliability of locking and the convenience of unlocking are taken into account.

[0100] It should be noted that the first elastic member 441 is a spring, which pushes the impact head 42 to move along the axial direction of the impact head 42; and the second elastic member 47 is a torsion spring 2314, which pushes the impact head 42 to rotate along the circumferential direction of the impact head 42 and be locked in the stop notch 43.

[0101] It should be noted that the base 41, the first elastic member 441, the second elastic member 47 and the impact head 42 can be made of metal materials such as stainless steel and aluminum alloy, which have good resistance to thermal deformation and are more suitable for use in harsh environments such as flame burning and high-temperature radiation.

[0102] Due to the high-temperature flame environment inside the window, the electronic control element is prone to heat damage or malfunction. Preferably, the trigger 46 comprises a third elastic element 461, a connecting rod mechanism 462, and a touch rod 463 slidably arranged in the base 41. Without relying on electrical elements, the risk of heat damage or malfunction of electronic control elements in the high-temperature flame environment inside the window can be avoided as much as possible, significantly improving the stability and reliability of the device in extreme environments such as fires. The touch rod 463 is kept in the initial position under the action of the third elastic element 461, ensuring that the limiting rib 45 of the impact head 42 can be reliably clamped into the stop gap 43 in the non-trigger state, effectively preventing accidental triggering and improving the safety and stability of the overall structure. The input end of the connecting rod mechanism 462 is linked with the touch rod 463, and the output end of the connecting rod mechanism 462 is linked with the limiting rib 45. When the touch rod 463 is acted upon by an external force to move away from the initial position, the impact head 42 overcomes the elastic force of the second elastic element 47 to rotate, causing the limiting rib 45 to disengage from the stop gap 43, thereby triggering the release of the impact head 42. The impact head 42 efficiently completes the window breaking action under the elastic force of the first elastic element 441.

[0103] Specifically, the connecting rod mechanism 462 comprises a movable connecting rod 4621 and a push rod 4622. The movable connecting rod 4621 is rotationally connected to the base 41 through a pivot 4623. One end of the movable connecting rod 4621 is hinged to the touch rod 463, and the other end of the movable connecting rod 4621 is hinged to the push rod 4622. The base 41 is provided with a guide sliding groove 4624, and the push rod 4622 is slidably arranged in the guide sliding groove 4624. The initial position of the touch rod 463 is protruding relative to the base 41. When the touch rod 463 touches the glass, the touch rod 463 pushes the movable connecting rod 4621 to push the limiting rib 45 to disengage from the stop gap 43, thereby releasing the impact head 42 and generating an impact to break the glass.

[0104] The hook arm 232 is provided with a driving block 2322. When the hook arm 232 rotates from the storage state to the working state, the driving block 2322 pushes the impact head 42 back to the initial position, i.e., pushes the limiting rib 45 to move and clamp into the stop gap 43. The linkage of the hook arm 232 state switching and the impact head 42 reset is realized without additional operation steps or driving components. After completing the window breaking action, the hook arm 232 is deployed while the impact head 42 is automatically reset and locked, so that the impact head 42 returns to the initial position and the first elastic element 441 recharges energy, preparing for the next window breaking action, significantly improving the convenience and continuity of operation. Moreover, the driving block 2322 adopts a mechanical structure linkage mode, which can still maintain good stability and reliability in a high-temperature flame environment. Compared with electrical or hydraulic control modes, it is not easily affected by high temperature, and the functional abnormalities caused by thermal deformation or circuit failure are avoided as much as possible, improving the adaptability and safety of the device in extreme environments such as fire scenes.

[0105] It should be noted that after the driving block 2322 pushes the limiting rib 45 to the target position, the impact head 42 rotates due to the action of the second elastic member 47, and the limiting rib 45 is clamped into the stop gap 43.

[0106] It should be noted that when the hook arm 232 is in the storage state, the limiting rib 45 located in the stop gap 43 is spaced apart from the driving block 2322, and when the impact head 42 is moved from the initial position to the impact position, the driving block 2322 will not interfere with the limiting rib 45.

[0107] In addition, the locking claw 23 is provided with a pressure sensor for detecting the contact pressure between the locking claw 23 and the wall 51, and the working platform 30 is provided with a controller, i.e. a main control unit, which is signal connected with the first driving unit 24, the second driving unit 25, the fourth driving unit 28 and the pressure sensor, for controlling the operation of the first driving unit 24, the second driving unit 25 and the fourth driving unit 28 according to the pressure signal of the pressure sensor. The pressure sensor monitors the contact pressure between the locking claw 23 and the wall 51 in real time, converts the physical contact state into a quantifiable electrical signal, and transmits it to the controller on the working platform 30. The controller determines whether the locking is in place according to the preset pressure threshold. Only when the pressure reaches the set value, indicating that the locking claw 23 has been firmly locked, will the controller be allowed to issue a start command to the second driving unit 25 to drive the ladder 10 or the second locking assembly 21 to perform the next lifting action, avoiding misoperation when the locking is not complete or fails, effectively preventing the equipment from slipping or overturning. If the pressure is insufficient or no effective pressure is detected, the current operating state will be maintained or the machine will be stopped for manual inspection, further preventing misoperation from causing the equipment to slip or overturn.

[0108] In use, first, the first locking assembly 20, the second locking assembly 21 and the ladder 10 module shown in Figure 1 are taken out, the ladder 10 is erected first, the first locking assembly 20 is installed, and the first locking assembly 20 is manually remotely controlled to climb to a set height, as shown in Figure 14 The first locking assembly 20 is arranged on the bottom window sill of the building first, as shown in Figure 15 and Figure 16 The first driving motor 241 drives the swing arm 231 to rotate, and when the touch rod 463 touches the glass, the touch rod 463 pushes the movable connecting rod 4621 to make the push rod 4622 push the limiting rib 45 out of the stop gap 43, thereby releasing the impact head 42. The impact head 42 generates an impact under the elastic force of the first elastic member 441, breaks the glass, and the first driving motor 241 continues to drive the swing arm 231 to rotate. As shown in Figure 17As shown, after the window is broken, the fourth drive motor 281 starts, driving the lead screw 282 to rotate, causing the slider 283 to move and thus driving the extension arm 2313 to move synchronously. At this time, the fixed arm 2311 disengages from the torsion spring 2314, and the hook arm 232 rotates to the working state under the reset action of the second torsion spring 2314. The drive block 2322 pushes the limiting rib 45 to move and engages with the stop notch 43, resetting and locking the impact head 42. When the extension arm 2313 is in the third position, the fourth drive motor 281 stops, and then, as... Figure 18 As shown, the first drive motor 241 continues to run. When the toothed structure of the fixed arm 2311 adheres to the wall 51, the first drive motor 241 stops. Afterwards, as... Figure 19As shown, the fourth drive motor 281 reversely rotates to drive the screw rod 282 to reversely move until the hook arm 232 abuts against the wall 51, the fourth drive motor 281 stops, the device is locked on the wall 51, at this time, the swing arm 231 of the first locking assembly 20 is perpendicular to the ladder 10, then the second drive motor 251 works to move the ladder 10 downward until the swing arm 231 of the first locking assembly 20 abuts against the wall 51, until the pressure detected by the pressure sensor reaches the set threshold value, indicating that the locking is firm, the second drive motor 251 stops, then the second locking assembly 21 is assembled and the working platform 30 is installed, the mobile terminal sets the floor number, and the climbing robot climbing function is started, then the two first drive units 24 synchronously drive the two locking clamps 23 of the second locking assembly 21 to turn upward to the second position, at this time, the swing arm 231 of the second locking assembly 21 is parallel to the ladder 10, then the second drive motor 251 starts to work, the transmission rack 252 arranged on the ladder 10 is driven to move upward to realize the upward movement of the second locking assembly 21, and the working platform 30 is also synchronously moved upward. When the second locking assembly 21 moves to the position of the first locking assembly 20, the second drive motor 251 stops working, then the locking clamps 23 of the second locking assembly 21 turn downward to perform the wall 51 locking action and the window breaking work, the locking action and the window breaking work of the second locking assembly 21 are the same as those of the first locking assembly 20, and details are not described herein again. When the locking clamps 23 of the second locking assembly 21 are completely locked, that is, the locking clamps 23 of the second locking assembly 21 are in the first position, then the first locking assembly 20 moves to move the locking clamps 23 of the first locking assembly 20 to the second position, then the second drive unit 25 works again, since the second locking assembly 21 is locked on the wall 51, at this time, the ladder 10 rises relative to the second locking assembly 21 and drives the first locking assembly 20 to synchronously rise until the next wall 51, then the first locking assembly 20 moves to move the locking clamps 23 of the first locking assembly 20 to the first position, then the second drive motor 251 works to move the ladder 10 downward until the swing arm 231 of the first locking assembly 20 abuts against the wall 51, until the pressure detected by the pressure sensor reaches the set threshold value, indicating that the locking is firm, the second drive motor 251 stops, the above actions are repeated to realize the climbing and working, until the set floor is reached, and the current state is maintained. After use, the climbing robot can be returned by the mobile terminal, and the climbing robot automatically performs the returning action.

[0109] It can be understood that in other embodiments, the rack of the first locking assembly can also be connected to the ladder vertically movably, and a second driving unit for driving the relative movement between the ladder and the rack of the first locking assembly is arranged, so that the first locking assembly and the second locking assembly both have active lifting function. Thus, the first locking assembly and the second locking assembly can be controlled independently or cooperatively to realize bidirectional active climbing and relative position adjustment: the ladder can be lifted relative to any locking assembly, or the first locking assembly and the second locking assembly drive the ladder to move cooperatively, which significantly improves the freedom of movement and the flexibility of operation of the robot. For example, during the climbing process, the first locking assembly and the second locking assembly can be used alternately as temporary anchor points to realize more stable and continuous step-by-step climbing; during the positioning operation, the position of the first locking assembly or the second locking assembly can be adjusted to realize accurate window positioning of the operation platform, which is suitable for complex scenarios with different floor heights or window misalignment.

[0110] It can be understood that in other embodiments, the ladder can also be provided with three locking assemblies, four locking assemblies or a proper number of locking assemblies to realize multi-point alternate locking and continuous climbing, thereby improving the stability and operation continuity during the climbing process. For example, when three locking assemblies are provided, a two-anchor-one-movable mode can be adopted: any two locking assemblies are fixed to the wall as stable anchor points, and the third locking assembly is moved along the ladder and repositioned, and then the anchor combination is switched to realize uninterrupted step-by-step climbing.

[0111] It can be understood that in other embodiments, a transmission rack can also be arranged on each vertical rod, and the transmission gears on both sides are engaged with the transmission rack to realize lifting, so that the driving force and the load are evenly distributed on the left and right vertical rods of the ladder, a symmetric force flow path is formed to form a guide constraint, and the torsional moment and the eccentric load phenomenon caused by the deviation of the force line from the center during unilateral transmission are avoided as much as possible, and the inclination or jamming of the support seat during lifting is prevented as much as possible.

[0112] It can be understood that in other embodiments, the third driving unit can also be a driving motor controlled by an external signal to drive the state switching of the hook arm, which is not limited by the position of the extension arm, has flexible control, stable and adjustable driving force, is suitable for precise operation under complex working conditions, and enhances the adaptability of the mechanism to diversified operation requirements.

[0113] It can be understood that in other embodiments, each locking claw is provided with a first driving unit. The independent driving and separate control of each locking claw are realized, any locking claw can be flexibly adjusted in locking time, locking force or action sequence according to the wall structure, stress state or operation requirement, the complex or irregular wall surface environment is adapted, and the operation adaptability and control precision are improved.

[0114] It can be understood that in other embodiments, the hook arm can also be fixedly connected with the swing arm to form an integrated locking structure, which is stable in structure and can effectively transmit the locking force, thereby avoiding shaking or stress concentration caused by loose connection as much as possible, and improving the carrying capacity and impact resistance.

[0115] It can be understood that in other embodiments, the surface of the hook arm is provided with friction lines, which can effectively increase the friction between the hook arm and the wall, prevent slipping as much as possible in the clamping state, and improve the adhesion reliability.

[0116] It can be understood that in other embodiments, the surface of the hook arm is provided with a suction cup, which can assist in forming a negative pressure adsorption force to enhance the adhesion to smooth walls.

[0117] It can be understood that in other embodiments, the hook arm is in the shape of an inverted hook or a sharp needle, which can be embedded in the edge or gap of the wall during clamping to achieve mechanical locking, thereby significantly improving the anti-pullout and anti-shear capabilities.

[0118] It can be understood that in other embodiments, the trigger includes a control terminal and an electric push rod for driving the limiting rib to disengage from the stop notch. The electric push rod is connected to the control terminal through an electric signal. First, remote control is realized, and rescue personnel do not need to be close to the device to send an electric signal to the control terminal to trigger the electric push rod to act, which can effectively avoid safety risks caused by glass fragmentation, high-temperature radiation, etc. in the window breaking moment, and greatly improve the operation safety. Second, the action accuracy of the electric push rod is high, and the extension stroke and speed of the push rod can be accurately controlled through the control terminal, so that the limiting rib can be more stably driven to disengage from the stop notch, thereby avoiding the problems of jamming or uneven force in mechanical transmission as much as possible, and ensuring the reliability and consistency of the triggering action as much as possible. Third, the electric signal transmission responds quickly, especially in emergency rescue scenes, the electric push rod can immediately perform an action after the control terminal sends an instruction, reducing the triggering delay and improving the window breaking efficiency.

[0119] It can be understood that in other embodiments, the window breaking structure further includes an electric driver, such as a motor, for driving the impact head to switch between the initial position and the impact position. The electric driving structure is more controllable, reducing the dependence on mechanical energy storage, and enabling more precise control and rapid response of the impact head, thereby improving the stability and automation of the window breaking action. The driving process can accurately adjust the moving speed and force of the impact head through electronic control, and can be flexibly adapted to different glass window materials and thicknesses to ensure the window breaking effect while reducing unnecessary damage to the surrounding structure. In addition, the electric driver can be used in cooperation with a remote control system to realize remote control of window breaking, which can play an important role in some scenes where close operation is not convenient, and improve the flexibility and safety of operation.

[0120] Understandably, in other embodiments, the window-breaking structure includes a base fixed to the swing arm and an impact head fixed to the base. This improves the connection strength between the impact head and the base, and between the base and the swing arm, minimizing problems such as loosening or displacement of movable parts due to long-term use or severe impact. This significantly improves the overall stability and fatigue resistance of the structure. The fixed impact head directly completes the window-breaking action under the action of the swing arm, resulting in a more direct and rapid response without the need for an additional energy storage process. It can quickly adapt to emergency window-breaking needs and does not require an additional control structure. It is not affected by high temperatures or flames, and can better adapt to the needs of harsh scenarios such as fire rescue.

[0121] Example 2:

[0122] like Figure 21 As shown, in this embodiment, the second drive unit 25 includes a lead screw 253 arranged along the length of the ladder 10, a nut 254 fixedly connected to the working platform 30, and a second drive motor 251 for driving the lead screw 253 to rotate. The nut 254 is threadedly engaged with the lead screw 253. This design ensures more precise movement of the locking assembly relative to the ladder 10 or vice versa. Furthermore, the lead screw 253 and nut 254 structure has a self-locking function. When the second drive motor 251 stops working, the nut 254 and lead screw 253 can automatically lock their positions, minimizing the risk of slippage due to accidental power outages or power interruptions. Especially in high-rise rescue operations, this provides additional safety assurance for the secure locking of the locking assembly, enhancing the overall reliability of the mechanism.

[0123] When the second drive motor 251 rotates, the lead screw 253 acts as the active body for movement, and the nut 254 rotates with the lead screw 253 according to the lead of the corresponding specification to convert into linear motion, thereby realizing the upward movement of the work platform 30 and climbing operations.

[0124] Example 3:

[0125] like Figure 22 As shown, in this embodiment, the second drive unit 25 includes a drive wheel 255 rotatably mounted on the ladder 10, a flexible member 256 wound around the drive wheel 255, a connector 257 connected to the flexible member 256, and a second drive motor 251 for driving the drive wheel 255 to rotate. The connector 257 is fixedly connected to the work platform 30. Since the flexible member 256 can flexibly change its shape and angle, it can be flexibly arranged according to the relative positional relationship between the ladder 10 and the work platform 30. Regardless of complex installation scenarios such as turning or misalignment between the drive wheel 255 and the work platform 30, power transmission can be stably achieved, making the layout of the second drive unit 25 more adaptable.

[0126] Specifically, the driving wheel 255 is a gear, the flexible member 256 is a chain 258, and the connecting member 257 is a fixed seat. The chain 258 is installed on the gear, the gear is fixed to the top of the ladder 10, and the lifting platform is installed on one side of the chain 258 through the fixed seat. When the second driving motor 251 drives the chain 258 through the gear, the fixed seat moves vertically along with the chain 258 to realize the upward movement and climbing of the lifting platform.

[0127] Of course, in other embodiments, the flexible member can also be a belt, which is driven in the form of a belt drive. The belt generally has good weather resistance and chemical corrosion resistance, and does not need to be regularly lubricated like a chain, avoiding problems such as oil dripping, lubrication failure, etc. It can still run stably in high-temperature, dusty or humid fire scenes.

[0128] Embodiment Four

[0129] As shown in Figures 23 to 25 In this embodiment, the axis of the rotating shaft 26 is arranged along the length direction of the ladder 10, i.e. along the vertical direction of the ladder 10. The first driving unit 24 can drive the locking claw 23 to rotate relative to the ladder 10 in the horizontal plane. When the locking claw 23 is in the first position or the second position, it is arranged perpendicular to the length direction of the ladder 10, i.e. perpendicular to the vertical direction of the ladder 10. The horizontal rotation path is gentle, and the driving process is less affected by gravity, so that the locking claw 23 can avoid obstacles on the outer wall of the building as much as possible during the locking and unlocking processes, thereby ensuring the smoothness and reliability of the action.

[0130] It should be noted that the angle of rotation of the locking claw 23 between the first position and the second position can be 180°, so that the locking claw 23 can be completely switched between the locking state of completely facing the wall 51 and the unlocking state of completely deflecting to the rear. The locking claw 23 is turned from the position facing the wall 51 to the back direction, forming a sufficient space gap, further reducing the risk of collision between the locking claw 23 and the wall 51 structure, especially suitable for scenes where the wall 51 has dense holes or limited space. Of course, in other embodiments, the angle of rotation can also be 90°, 120°, 150°, etc. The selection of these angles depends on the equipment installation space, the distribution characteristics of the wall 51 obstacles, and the required avoidance range of the locking action, while ensuring sufficient avoidance travel, the size and driving torque of the rotating mechanism are also considered.

[0131] Specifically, the first drive unit 24 includes a first drive motor 241 and a gear set to simultaneously drive the two locking claws 23 to switch synchronously between the first and second positions. Since the first locking assembly 20 is located inside the two vertical rods 11, the distance between the two locking claws 23 of the first locking assembly 20 is small. The gear set includes a first gear 243 connected to the first drive motor 241, two second gears 244, and a third gear 245. The swing arms 231 of the two locking claws 23 are fixedly connected to the two second gears 244 respectively through a rotating shaft 4623. One second gear 244 directly meshes with the first gear 243, and the other second gear 244 meshes with the third gear 245. The third gear 245 meshes with the first gear 243 to achieve reversal, thereby enabling the two locking claws 23 to flip in different directions and avoid mutual interference. Since the second locking assembly 21 is located on the outer side 13 of the two vertical rods 11, the distance between the two locking claws 23 of the second locking assembly 21 is relatively large. The gear set includes two worms 248, two fourth gears 246 and one fifth gear 247. The first drive motor 241 is a dual-output motor. The two worms 248 are respectively connected to the two output ends of the dual-output motor. The swing arms 231 of the two locking claws 23 are fixedly connected to the two fourth gears 246 respectively through the rotating shaft 4623. One fourth gear 246 meshes with one worm 248, the other fourth gear 246 meshes with the fifth gear 247, and the fifth gear 247 meshes with the other worm 248, thereby realizing that the two locking claws 23 rotate in different directions to avoid mutual interference.

[0132] Example 5:

[0133] like Figures 26 to 28 As shown, in this embodiment, the locking claw 23 is slidably connected to the frame 22. The first drive unit 24 drives the locking claw 23 to extend or retract laterally relative to the ladder 10 to switch between a first position and a second position. The lateral linear movement does not require rotational adjustment, the movement path is simple and direct, and it is not easy to have lateral collisions with surrounding obstacles, such as window frames and decorative components. The action sequence is clear.

[0134] Specifically, the first driving unit 24 includes a first driving motor 241, a transmission rod 249, an input gear, an output gear, a chain 258, a synchronous gear and a driving rack 259, and a transmission shaft. The first driving motor 241 can be installed at the rear of the rack 22 or a position away from the high-temperature area. The input gear is fixed on the transmission rod 249, and the output shaft of the first driving motor 241 is fixedly connected with the transmission rod 249. The output gear and the synchronous gear are respectively fixed on the transmission shaft, which is rotatably arranged on the rack 22. The input gear and the output gear are drivingly connected through the chain 258. The driving rack 259 is fixedly connected with the swing arm 231, and the synchronous gear is engaged with the driving rack 259. Thus, the first driving motor 241 drives the transmission rod 249 to rotate, drives the input gear to rotate, drives the output gear to rotate through the chain 258, drives the transmission shaft to rotate, and drives the synchronous gear to rotate, so as to drive the swing arm 231 to move telescopically, realize power transmission, and be beneficial to protecting the first driving motor 241 from high temperature and smoke.

[0135] It should be noted that, in one embodiment, as shown in Figures 26 to 28 , the locking clamps 23 are all exposed externally except the part connected with the rack 22, which is beneficial to directly and quickly contact the wall 51 or the cross rod 15, improve the locking response speed and positioning accuracy, facilitate observation and maintenance, and have strong structural operability. The exposed arrangement is also beneficial to heat dissipation and foreign matter discharge, avoids jamming as much as possible, and enhances the action reliability, especially in a complex or polluted environment, which can better guarantee the stable execution of the locking function. As shown in Figure 29 and 30 , in another embodiment, the rack 22 is vertically arranged and has a passage for the locking clamps 23 to pass through. The passage guides and limits the movement of the locking clamps 23, ensures the stable and accurate extension or rotation action of the locking clamps 23, and reduces shaking and eccentric loading. Figure 31 and Figure 32 , in another embodiment, the rack 22 is horizontally arranged and is provided with a containing cavity for accommodating the locking portions of the locking clamps 23. The containing cavity can effectively contain the root structure of the locking clamps 23, improve the compactness and safety of the overall layout, and optimize the appearance structure. Of course, support wheels 295 can also be arranged on the rack 22, so that the entire locking assembly can slide and move through the support wheels 295, and the movement is more convenient.

[0136] It can be understood that, in other embodiments, the first driving unit can also include a first driving motor, an input gear and a rack. The first driving motor is fixed on one side of the rack close to the swing arm, which shortens the power transmission distance, reduces intermediate loss, and has fewer parts. The rack is fixedly connected with the swing arm, the input gear is directly connected with the output shaft of the first driving motor and engaged with the rack, so as to drive the swing arm to switch between the first position and the second position.

[0137] It can be understood that in other embodiments, the swing arm can also be a telescopic rod, such as an electric push rod, a hydraulic cylinder or a screw linear actuator, without gears, chains or swing arm rotating mechanisms, simplifying the transmission chain, reducing failure points, improving action reliability, requiring less rotation space, and being particularly suitable for scenes with limited installation space or dense surrounding structures.

[0138] Embodiment six:

[0139] As shown in FIGS. 1, 2 and 3, the locking assembly 20 includes a bracket 22 and a locking component 24. The bracket 22 is arranged on the ladder 10 and is connected to the ladder 10. The locking component 24 is arranged on the bracket 22 and is connected to the bracket 22. The bracket 22 is arranged on the ladder 10 and is connected to the ladder 10. The locking component 24 is arranged on the bracket 22 and is connected to the bracket 22. Figure 29 and Figure 30 As shown in FIGS. 1, 2 and 3, the locking assembly 20 includes a bracket 22 and a locking component 24. The bracket 22 is arranged on the ladder 10 and is connected to the ladder 10. The locking component 24 is arranged on the bracket 22 and is connected to the bracket 22. The bracket 22 is arranged on the ladder 10 and is connected to the ladder 10. The locking component 24 is arranged on the bracket 22 and is connected to the bracket 22.

[0140] By the second jaw 292 being naturally kept in the first working position for hanging the cross rod 15 under the action of the limiting piece 293, the locking stability is ensured. When the bracket 22 moves relative to the ladder 10 for climbing, the cross rod 15 first contacts the first jaw 291 and pushes it to rotate inward, while the first jaw 291 pushes the second jaw 292, so that the second jaw 292 is flipped from the first working position to the second working position for avoiding the cross rod 15, and active obstacle crossing is realized. After the obstacle crossing is completed, the second jaw 292 returns to the first working position in the natural state to be re-hung on the upper cross rod 15, so that the step-by-step climbing and locking action is completed, and the action logic is clearer, and the obstacle crossing and locking reliability is higher.

[0141] It should be noted that the first jaw 291 is rotatably connected to the bracket 22 through a first rotating shaft 4623. The first rotating shaft 4623 is provided with a fourth elastic piece acting between the first jaw 291 and the bracket 22 to apply an elastic restoring force to the first jaw 291, so that the first jaw 291 tends to be kept in a position abutting against the second jaw 292 without external force. The second jaw 292 is hinged to the bracket 22 through a second rotating shaft 4623, and the rotating range of the second jaw 292 is limited by the limiting piece 293 between the first working position and the second working position. The second rotating shaft 4623 is provided with a fifth elastic piece applying an elastic pre-tightening force to the second jaw 292, so that the second jaw 292 is stably kept in the first working position in the natural state.

[0142] It should be noted that the limiting member 293 is a limiting shaft transversely fixed on the rack 22, the limiting shaft is located on the path of upward rotation of the second jaw 292, and the second jaw 292 is provided with a limiting protrusion 2921. When the second jaw 292 is rotated to the first working position, the limiting protrusion 2921 and the limiting shaft abut to limit the second jaw 292 from continuing to flip upward. At this time, the included angle between the second jaw 292 and the rack 22 is not greater than 90°, and the second jaw 292 can be stably hooked on the cross rod 15.

[0143] It should be noted that one first jaw 291 and one second jaw 292 form a group, and the locking assembly can be transversely provided with two groups, and the first jaw 291 and the second jaw 292 of the two groups are consistent in height, that is, the movement state of the first jaw 291 and the second jaw 292 of the two groups is the same, which can realize synchronous clamping on both sides, improve the balance and stability of the locking process; the arrangement of the two groups makes the stress distribution more uniform, enhances the overall clamping force and anti-overturning ability, and prevents the locking assembly from deflecting or jamming on the ladder 10 as much as possible; at the same time, during the obstacle crossing process, the two sides of the jaw cooperate to act as much as possible to ensure synchronous flipping and resetting, improve the obstacle crossing reliability, and be suitable for ladders 10 of different widths and specifications, and enhance the adaptability and operation safety.

[0144] Further, the rack 22 can also be vertically provided with a lifting frame 294, and the lifting frame 294 is provided with two groups of first jaws 291 and second jaws 292, and in combination with the transverse arrangement, four groups of jaws are formed, which can realize multi-point synchronous locking and obstacle crossing, and significantly improve the clamping stability and structural rigidity; the vertical arrangement of the two groups enhances the bending and torsional resistance along the direction of the ladder 10, and prevents shaking or tilting as much as possible during climbing; the four groups of jaws work cooperatively, making the locking force more uniformly distributed, improving the transition stability during obstacle crossing, and at the same time enhancing the adaptability to complex ladder structures, being suitable for high-strength operation and high-load working conditions, and improving the safety and reliability of the overall operation of the robot.

[0145] When the locking assembly is climbing, the first driving unit 24 carries the locking assembly to rise, the outer side of the second clamping jaw 292 first contacts the crossbar 15, the second clamping jaw 292 rotates inward to avoid the crossbar, then the crossbar 15 contacts the inner side of the first clamping jaw 291, the first clamping jaw 291 rotates outward, if it is needed to be hooked on the current crossbar 15, the locking assembly needs to be moved to the second clamping jaw 292 completely over the crossbar 15, at this time, the second clamping jaw 292 is reset to the first working position by the second elastic member 47, at this time, the first driving unit 24 stops, the locking assembly is moved downward under the action of gravity, the inner side of the second clamping jaw 292 contacts and hooks on the crossbar 15. If it is not hooked on the current crossbar 15, the locking assembly continues to rise, the crossbar 15 passes the first clamping jaw 291, and will not be hooked on the second clamping jaw 292, the locking assembly rises to the next crossbar 15 and repeats the above-mentioned action until it is moved to the target crossbar 15 and is locked by the second clamping jaw 292, and the locking principle of the second clamping jaw 292 is consistent with the above.

[0146] When the locking assembly is descending, the first driving assembly carries the locking assembly to rise first, so that the crossbar 15 hooked by the second clamping jaw 292 passes the first clamping jaw 291. Then the first driving assembly carries the locking assembly to descend, at this time, the crossbar 15 contacts the outer side of the clamping jaw and pushes the first clamping jaw 291 to turn inward to extrude the second clamping jaw 292, so that the second clamping jaw 292 turns to the second working position to avoid the crossbar 15, then the locking assembly continues to descend, the passing crossbar 15 pushes the first clamping jaw 291 to turn inward to make the second clamping jaw 292 turn to the second working position, until it is descended to the target crossbar 15 which needs to be hooked, after the first clamping jaw 291 passes the target crossbar 15, the first driving assembly carries the locking assembly to rise, the crossbar 15 pushes the first clamping jaw 291 to turn outward, the second clamping jaw 292, the first clamping jaw 291 and the crossbar 15 turn to the upper side of the crossbar 15, that is, the second working position, at this time, the first driving assembly stops, the locking assembly is moved downward under the action of gravity, the inner side of the second clamping jaw 292 contacts and hooks on the crossbar 15.

[0147] It needs to be explained that the working principles of the four sets of clamping jaws in the climbing and descending of the locking assembly are the same.

[0148] In addition to the preferred embodiments described above, the present application also has other implementation manners, and all other embodiments obtained by those skilled in the art without creative labor on the basis of the embodiments in the present application belong to the scope of the present application.

Claims

1. An automated climbing robot, characterized in that, The ladder (10) comprises at least two locking assemblies arranged on the ladder and a working platform (30), the locking assembly comprises a frame (22), a first driving unit (24) and a locking claw (23) movably arranged on the frame (22), the locking claw (23) has a first position for locking a wall (51) and a second position for separating from the wall (51), the locking claw (23) is provided with a window breaking structure (40), the first driving unit (24) drives the locking claw (23) to break the window through the window breaking structure (40) when switching between the first position and the second position, at least one of the locking assemblies and the working platform (30) are connected as a whole, the frame (22) of at least one of the locking assemblies is movably connected to the ladder (10) in the vertical direction, and a second driving unit (25) is arranged between the ladder (10) and the frame (22) of the locking assembly to drive the relative movement of the two.

2. The automated climbing robot of claim 1, wherein, The ladder (10) comprises vertically arranged vertical rods (11) and cross rods (15) connected between adjacent vertical rods (11), the locking assembly further comprises a first clamping jaw (291) and a second clamping jaw (292) rotatably arranged on the frame (22), the first clamping jaw (291) is located outside the second clamping jaw (292), the second clamping jaw (292) has a first working position for hanging the cross rod (15) and a second working position for avoiding the cross rod (15), the frame (22) is provided with a limiting piece (293), the second clamping jaw (292) abuts against the limiting piece (293) in a natural state and is kept in the first working position, when the ladder (10) and the frame (22) of the locking assembly move relatively, the cross rod (15) can push the first clamping jaw (291) to rotate inward to push the first clamping jaw (291) to flip to the second working position.

3. The automated climbing robot of claim 1, wherein, The locking assembly further comprises a rotating shaft (28), the locking claw (23) is rotatably arranged on the frame (22) through the rotating shaft (28); or the locking claw (23) is slidably connected to the frame (22), and the first driving unit (24) drives the locking claw (23) to extend or retract relative to the ladder (10) in the transverse direction to switch between the first position and the second position.

4. The automated climbing robot of claim 1, wherein, The locking claw (23) comprises a swing arm (231) and a hook arm (232), one end of the swing arm (231) is rotatably connected to the frame (22), the hook arm (232) and the window breaking structure (40) are arranged at the other end of the swing arm (231), the hook arm (232) is oppositely arranged relative to the frame (22) and is formed with a clamping space (27) for inserting and clamping the wall (51), the first driving unit (24) is arranged at the end of the swing arm (231) close to the frame (22), and the first driving unit (24) drives the swing arm (231) to rotate to realize the switching of the locking claw (23) between the first position and the second position.

5. The automated climbing robot of claim 4, wherein, The hook arm (232) is rotationally connected to the swing arm (231) and has a storage state in which it is accommodated in the swing arm (231) and a working state in which it is unfolded outward relative to the swing arm (231) to form a hooking space, the swing arm (231) is provided with a third driving unit for driving the hook arm (232) to switch states, and when the first driving unit (24) drives the swing arm (231) to rotate to break the window of the window breaking structure (40), the hook arm (232) is in the storage state.

6. The automated climbing robot of claim 5, wherein, The swing arm (231) comprises a fixed arm (2311) rotationally connected to the rack (22) and an extension arm (2313) slidably arranged on the fixed arm (2311), and the hook arm (232) is arranged on the extension arm (2313), the extension arm (2313) has a first position in which it protrudes relative to the fixed arm (2311), a second position in which it is partially retracted to enable the hook arm (232) to hook the wall (51), and a third position in which it is fully retracted to the fixed arm (2311).

7. The automated climbing robot of claim 6, wherein, The third driving unit comprises a torsional spring (2314), the hook arm (232) is rotationally connected to the front end of the extension arm (2313) by the torsional spring (2314), when the extension arm (2313) moves from the second position to the third position, the fixed arm (2311) pushes the hook arm (232) to rotate to the storage state and tensions the torsional spring (2314), when the extension arm (2313) is in the first position or the second position, the fixed arm (2311) is disengaged from the torsional spring (2314), and the hook arm (232) rotates to the working state under the restoring action of the torsional spring (2314); or the third driving unit comprises a driving motor, the driving motor is controlled by an external signal to drive the state switching of the hook arm (232).

8. The automated climbing robot of claim 5, wherein, The window breaking structure (40) comprises a base (41) fixed to the swing arm (231), and an impact head (42), a trigger (46) and an energy storage member (44) arranged on the base (41), the impact head (42) is movably arranged on the base (41) to have an initial position and an impact position which is moved relative to the initial position to break the glass window (50), the trigger (46) is configured to respond to an external input to trigger the impact head (42) to move from the initial position to the impact position, and the energy storage member (44) is connected with the impact head (42), the energy storage member (44) is used to accumulate energy when the impact head (42) returns to the initial position, and provide the impact head (42) with assistance to move from the initial position to the impact position when the trigger (46) is triggered.

9. The automated climbing robot of claim 1, wherein, At least two of the locking assemblies are arranged staggered in the vertical direction of the ladder (10).

10. The automated climbing robot of claim 1, wherein, The first driving unit (24) and the second driving unit (25) are wirelessly connected with each other and with an external mobile terminal.

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