Cylinder pole-climbing robot

Abstract

The utility model relates to the technical field of intelligent equipment, and discloses a column pole-climbing robot which comprises a plurality of climbing mechanisms, adjacent climbing mechanisms are connected through connecting structures, and the climbing mechanisms and the connecting structures are connected to form a containing space capable of containing columns. The two ends of each clamping telescopic mechanism are connected with the corresponding climbing mechanism and the corresponding connecting structure respectively, and the telescopic end of each clamping telescopic mechanism is connected with one of the climbing mechanism and the corresponding connecting structure. The climbing mechanism and the connecting structure are connected to form the containing space capable of containing the column body, the column body is located in the containing space, the relative position relation of the climbing mechanism and the connecting structure is adjusted through the clamping telescopic mechanism, the size of the containing space is adjusted, universality is higher, stability is better, the structure is simple, and use is convenient. And the assembly is more convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent equipment, in particular to a column climbing robot. Background Art

[0002] A pole climbing robot is an automated robot that can climb and complete tasks on vertical walls. Traditional pole climbing robots are only suitable for columns of fixed sizes and are not compatible with multiple column sizes. They have poor versatility, complex structures, and heavy weight. During the assembly process, it often requires the cooperation of multiple people to complete the installation, resulting in low installation efficiency.

[0003] Therefore, how to provide a lightweight, simple-structured and versatile pole-climbing robot is an urgent problem that needs to be solved by those skilled in the art. Utility Model Content

[0004] In view of this, the utility model provides a column climbing robot to solve the problems of poor versatility of existing robots used for climbing columns, as well as complex structure, heavy weight and difficult assembly.

[0005] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0006] A column climbing robot, comprising:

[0007] A plurality of climbing mechanisms, wherein adjacent climbing mechanisms are connected via a connecting structure, and after the climbing mechanisms and the connecting structure are connected, an accommodating space capable of accommodating a column is formed, and the connecting structure is made of a lightweight material;

[0008] At least one clamping and telescopic mechanism, both ends of each of the clamping and telescopic mechanisms are respectively connected to the corresponding climbing mechanism and the connecting structure, and the telescopic end of the clamping and telescopic mechanism is connected to one of the climbing mechanism and the connecting structure.

[0009] Preferably, each of the climbing mechanisms comprises:

[0010] frame;

[0011] A driving motor is mounted on the frame;

[0012] A plurality of climbing wheels are rotatably arranged on the inner side of the frame and are transmission-connected to the driving motor. The driving motor drives the climbing wheels to climb along the outer wall of the column, and the climbing wheels can clamp the outer wall of the column as the connecting structure moves.

[0013] Preferably, each of the climbing mechanisms further includes an auxiliary wheel, which is rotatably mounted on the inner side of the frame, and when the climbing wheel is in contact with the outer wall of the column, the auxiliary wheel is also in contact with the outer wall of the column, and the auxiliary wheel is located on the side of the climbing wheel close to the connecting structure.

[0014] Preferably, the connecting structure is assembled from a plurality of connecting parts, the connecting parts close to the frame are detachably connected to the frame, adjacent connecting parts are movably connected, the clamping and telescopic mechanism drives the plurality of connecting parts to contract or relax, and the clamping and telescopic mechanism can keep the connecting structure in a preset state.

[0015] Preferably, the connecting member is a connecting rod, adjacent connecting rods are slidably connected to each other, and the connecting rod close to the frame is slidably connected to the frame via a connecting frame.

[0016] Preferably, the clamping telescopic mechanism is a linear telescopic mechanism, one end of which is mounted on the frame and the other end is mounted on the connecting frame; the telescopic end of the linear telescopic mechanism is driven by a motor to perform telescopic movement, thereby driving the connecting rod to contract or relax through the connecting frame.

[0017] Preferably, the connecting member is a connecting piece, adjacent connecting pieces are rotationally connected to each other, and the connecting piece close to the frame is slidingly connected to the frame.

[0018] Preferably, the clamping and telescopic mechanism comprises a transmission rope, a transmission wheel, a first wheel body, a second wheel body, a first fixing block and a second fixing block;

[0019] The first wheel body and the second wheel body are rotatably mounted on two ends of the frame respectively, the first fixing block is arranged between the first wheel body and the transmission wheel, and the second fixing block is arranged between the second wheel body and the transmission wheel;

[0020] One end of the transmission rope is wound around the first wheel body, and the other end of the transmission rope is sequentially connected to the first fixing block, the transmission wheel, the second wheel body, the second fixing block, the transmission wheel, and then fixed to the first wheel body.

[0021] Preferably, a horizontal sensor is provided on the climbing mechanism, and the horizontal sensor is electrically connected to a control system. When the pole-climbing robot tilts, the horizontal sensor feeds back the tilt information to the control system, and the control system adjusts the pole-climbing robot to return to a horizontal state.

[0022] The utility model provides a column climbing robot, which has the following beneficial effects compared with the prior art:

[0023] The utility model forms a accommodating space capable of accommodating a column by connecting a climbing mechanism and a connecting structure, so that the column is located in the accommodating space, and adjusts the relative position relationship between the climbing mechanism and the connecting structure by a clamping and telescopic mechanism, so that the size of the accommodating space is adjusted. On the one hand, compatibility with a variety of column sizes is achieved by adjusting the size of the accommodating space, thereby improving versatility. On the other hand, after the pole-climbing robot is sleeved on the column, the accommodating space is reduced by a clamping and telescopic mechanism, so that the pole-climbing robot can be clamped on the outside of the column to ensure the stability of the climbing process. In addition, the climbing mechanism of the utility model forms the accommodating space through the connecting structure, and the connecting structure adopts lightweight materials to effectively reduce the weight of the robot. In addition, the structure is simple and the assembly is more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0025] Figure 1 Illustration of the pole climbing robot fastened to the column Figure 1 ;

[0026] Figure 2 for Figure 1 A top view of

[0027] Figure 3 for Figure 1 Structural diagram of the middle climbing mechanism and the linear telescopic mechanism Figure 1 ;

[0028] Figure 4 for Figure 1 Structural diagram of the middle climbing mechanism and the linear telescopic mechanism Figure 2 ;

[0029] Figure 5 Illustration of the pole climbing robot fastened to the column Figure 2 ;

[0030] Figure 6 for Figure 5 A top view of

[0031] Figure 7 for Figure 2 Structural diagram of the middle climbing mechanism and the synchronous telescopic mechanism Figure 1 ;

[0032] Figure 8 for Figure 2 Structural diagram of the middle climbing mechanism and the synchronous telescopic mechanism Figure 2;

[0033] Fig. 9 It is a structural schematic diagram of the synchronous telescopic mechanism in a contracted and clamped state;

[0034] Fig.10 It is a structural schematic diagram of the synchronous telescopic mechanism in an extended and relaxed state;

[0035] Fig.11 A schematic diagram of the structure of the synchronous telescopic mechanism in a contracted clamping state when the four corners or diagonals of a rectangular column are actively clamped;

[0036] Fig.12 A schematic diagram of the structure of the synchronous telescopic mechanism in an extended and relaxed state when the four corners or diagonals of a rectangular column are actively clamped;

[0037] Fig.13 It is a structural schematic diagram of the synchronous telescopic mechanism in the contracted clamping state when the pole climbing robot is actively clamped with single power;

[0038] Fig.14 It is a structural schematic diagram of the synchronous telescopic mechanism in the extended and relaxed state when the pole climbing robot is actively clamped with single power;

[0039] Fig.15 This is a top view of the pole-climbing robot;

[0040] Fig.16 A schematic diagram of a connection structure in which adjacent connecting pieces are connected by hinges;

[0041] Fig.17 for Fig.16 A half-folded schematic diagram of

[0042] Fig.18 for Fig.16 A fully folded schematic diagram.

[0043] In the figure:

[0044] 100-climbing mechanism, 110-frame, 120-drive motor, 130-climbing wheel, 140-auxiliary wheel, 200-connecting structure, 210-connecting rod, 220-connecting plate, 221-hinge, 300-clamping telescopic mechanism, 310-linear telescopic mechanism, 320-synchronous telescopic mechanism, 321-transmission rope, 322-transmission wheel, 323-first wheel body, 324-second wheel body, 325-first fixed block, 326-second fixed block, 327-motor, 400-column, 500-connecting frame, 600-guide rail, 700-moving trolley. DETAILED DESCRIPTION

[0045] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0046] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0047] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0048] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0049] like Figure 1 , 2 As shown in Figures 5 and 6, an embodiment of the utility model provides a column climbing robot, comprising a plurality of climbing mechanisms 100, a connecting structure 200 and at least one clamping and telescopic mechanism 300. Adjacent climbing mechanisms 100 are connected via the connecting structure 200. After the climbing mechanism 100 and the connecting structure 200 are connected, an accommodating space capable of accommodating the column is formed. The two ends of each clamping and telescopic mechanism 300 are respectively connected to the corresponding climbing mechanism 100 and the connecting structure 200. The telescopic end of the clamping and telescopic mechanism 300 is connected to one of the climbing mechanism 100 and the connecting structure 200. The connecting structure 200 is driven to move by the clamping and telescopic mechanism 300, so that the climbing mechanism 100 clamps the outer wall of the column 400.

[0050] The utility model connects the climbing mechanism 100 and the connecting structure 200 to form a accommodating space that can accommodate the column 400, so that the column 400 is located in the accommodating space, and adjusts the relative position relationship between the climbing mechanism 100 and the connecting structure 200 by the clamping and telescopic mechanism 300, so that the size of the accommodating space can be adjusted. On the one hand, the compatibility of various column sizes is achieved by adjusting the size of the accommodating space, thereby improving the versatility. On the other hand, after the pole climbing robot is sleeved on the column 400, the accommodating space is reduced by the clamping and telescopic mechanism 300, so that the pole climbing robot can be clamped on the outside of the column 400, thereby ensuring the stability of the climbing process. In addition, the climbing mechanism 100 of the utility model forms the accommodating space through the connecting structure 200, has a simple structure, and is more convenient to assemble. In the utility model, the clamping and telescopic mechanism 300 drives the connecting structure 200 to move, so that the climbing mechanism 100 clamps the outer wall of the column 400, so as to achieve the effect of fastening the pole climbing robot to the outer periphery of the column 400. After ensuring that the robot is clamped, the robot is climbed along the column 400 through the remote control drive device.

[0051] In some embodiments of the utility model, multiple climbing mechanisms 100 are controlled by a motor and are used to climb along the column 400 to a predetermined working position. Each climbing mechanism 100 is arranged on the outer periphery of the column 400 and matches the outer peripheral surface of the column 400. The column can be a circular cylinder or a polygonal cylinder. The following embodiments of the utility model are described using a rectangular cylinder as an example.

[0052] Optional, such as Figure 3 , 4 As shown in FIGS. 7 and 8, each climbing mechanism 100 includes a frame 110, a drive motor 120 and a plurality of climbing wheels 130. The frame 110 is preferably L-shaped, and the angle of the L-shaped frame 110 matches the angle of the corners of the column 400, so that the climbing wheels 130 can be clamped on the surface of the column 400; further, the corners of the L-shaped frame 110 can be rounded or not. When the corners of the L-shaped frame 110 are rounded, that is, in an arc shape, it can be more convenient for the mobile trolley 700 to pass through.

[0053] The driving motor 120 is installed on the frame 110, and is used to drive the climbing wheel 130 to climb along the column 400 to a predetermined working position; the climbing wheel 130 is rotatably arranged on the inner side of the frame 110 and is transmission-connected to the driving motor 120, and the climbing wheel 130 is driven by the driving motor 120 to climb along the outer wall of the column 400, and the climbing wheel 130 can clamp the outer wall of the column 400 as the connecting structure 200 moves.

[0054] It can be understood that by clamping the telescopic mechanism 300, the climbing wheel 130 is brought close to the column 400 until it is close to the surface of the column 400. After ensuring that the robot is clamped, the robot can be made to climb along the column 400 by remotely controlling the driving device. In addition, the inner side of the climbing mechanism 100 is an arc transition through the cooperation between the frame 110 and the climbing wheel 130, so it can also be applied to a column 400 with a certain curvature.

[0055] Optionally, each climbing mechanism 100 is symmetrically equipped with climbing wheels 130 with the extension line of the angle of the L-shaped frame 110 as the center, so as to ensure that the surface adjacent to each corner of the column 400 can be evenly stressed, so that the clamping force of the climbing mechanism 100 is more uniform and stable. Preferably, each climbing mechanism 100 is provided with four climbing wheels 130, that is, each surface adjacent to the corner is provided with two climbing wheels 130, and the two climbing wheels 130 are respectively arranged near the top and bottom of the frame 110.

[0056] Optionally, each climbing mechanism 100 further includes an auxiliary wheel 140, which is rotatably mounted on the inner side of the frame 110. When the climbing wheel 130 is in contact with the outer wall of the column 400, the auxiliary wheel 140 is also in contact with the outer wall of the column 400, and the auxiliary wheel 140 is located on the side of the climbing wheel 130 close to the connecting structure 200. The auxiliary wheel 140 can clamp the outer wall of the column 400 with the movement of the connecting structure 200, and play a role of auxiliary support. Preferably, the auxiliary wheel 140 is also installed symmetrically with the extension line of the angle of the L-shaped frame 110 as the center, and the number of installations is not specifically limited. More specifically, the auxiliary wheel 140 is arranged between the climbing wheel 130 and the end of the frame 110. Compared with the climbing wheel 130, the auxiliary wheel 140 is slightly farther from the corner of the column 400, and plays a role of assisting the climbing wheel 130 in supporting and clamping.

[0057] In some embodiments of the utility model, the connection structure 200 is assembled from a plurality of connecting parts, the connecting parts close to the frame 110 are detachably connected to the frame 110, and adjacent connecting parts are movably connected. The clamping and telescopic mechanism 300 drives the plurality of connecting parts to contract or relax, and the clamping and telescopic mechanism 300 can keep the connection structure 200 in a preset state.

[0058] It can be understood that the connection between the connector and the frame 110 of the utility model is set to a detachable connection, so that the connector and the frame 110 can be stored separately for easy transportation, and the detachable connection is not limited to a snap connection, a threaded connection, a sliding connection, etc., and the installation and disassembly process is simple and efficient. And the movable connection between the connectors can be, for example, a snap connection, a sliding connection, etc. of a telescopic structure, that is, under the participation of an external force, the connection structure composed of multiple connectors can achieve a telescopic length, so that the clamping and telescopic mechanism 300 can drive the connector to move to adapt to the outer circumference of the column 400 and clamp it.

[0059] In some embodiments of the present invention, Figure 1-4 As shown, the connecting member is a connecting rod 210 , adjacent connecting rods 210 are slidably connected to each other, and the connecting rod 210 close to the frame 100 is slidably connected to the frame 110 via a connecting frame 500 .

[0060] Optionally, the connecting rod 210 is arranged in one layer around the column 400, that is, it is connected to the middle position in the height direction of the frame 110 through the connecting frame 500; or the connecting rod 210 is arranged in two layers, upper and lower, around the column 400, that is, it is connected to both ends in the height direction of the frame 110 through the same connecting frame 500.

[0061] It is understandable that the more layers of connecting rods 210 there are, the better the clamping force of the climbing mechanism 100 on the column 400, but the material consumption is also higher. Therefore, it is preferred that the connecting rods 210 are arranged in two upper and lower layers around the column 400 to reduce costs while ensuring good clamping force.

[0062] Optionally, the clamping telescopic mechanism 300 is a linear telescopic mechanism 310, one end of the linear telescopic mechanism 310 is installed on the frame 110, and the other end is installed on the connecting frame 500; the telescopic end of the linear telescopic mechanism 310 is driven by a motor to perform telescopic movement, and then the connecting rod 210 is driven to contract or relax through the connecting frame 500.

[0063] Specifically, for example, the linear telescopic mechanism 310 may be a screw-nut mechanism controlled by a pull rod motor, the connecting rod 210 is slidably connected to the climbing mechanism 100 via a connecting frame 500, and the screw-nut mechanism can be contracted and relaxed under the drive of the pull rod motor.

[0064] In some embodiments of the present invention, Figure 5-8 As shown, the connecting member is a connecting piece 220, adjacent connecting pieces 220 are connected by rotation, and the connecting piece 220 close to the frame 110 is connected to the frame 110 by sliding. Figure 16-18As shown, for example, the connecting piece can be a hinge 221, wherein the connection method through the hinge 221 can make the connecting piece 220 as a whole foldable and stored, with a small volume for easy transportation, and can be quickly connected by passing the hinge 221 through the axis during installation. In addition, the hinge 221 forms a long board with good integrity under the action of tensioning force, thereby improving the longitudinal strength and rigidity of the connecting piece, thereby achieving the effect of horizontal synchronous climbing of each climbing mechanism.

[0065] Optional, such as Figure 5-14 As shown, the clamping and telescopic mechanism 300 is a synchronous telescopic mechanism 320, which includes a transmission rope 321, a transmission wheel 322, a first wheel body 323, a second wheel body 324, a first fixing block 325 and a second fixing block 326; the first wheel body 323 and the second wheel body 324 are respectively installed at two ends of the frame 110, the first fixing block 325 is arranged between the first wheel body 323 and the transmission wheel 322, and the second fixing block 326 is arranged between the second wheel body 324 and the transmission wheel 322; the first fixing block 325 and the second fixing block 326 are arranged between the first wheel body 323 and the transmission wheel 322. The blocks 326 are respectively fixedly connected to the connecting piece 220 located at the end, and the first fixing block 325 and the second fixing block 326 are both provided with fixing holes. The transmission rope 321 is fixed to the first wheel body 323 after passing through the first wheel body 323, the fixing hole of the first fixing block 325, the transmission wheel 322, the second wheel body 324, the fixing hole of the second fixing block 326, and the transmission wheel 322 in sequence. The winding length of the transmission rope 321 is controlled by the motor 327, and then the connecting piece 220 is driven to contract or relax by the first fixing block 325 and / or the second fixing block 326.

[0066] Optionally, a guide rail 600 is provided between the connecting piece 220 and the frame 110. When the synchronous telescopic mechanism 320 drives the connecting piece 220 to move, the connecting piece 220 moves along the frame 110 through the guide rail 600, so that the movement process of the synchronous telescopic mechanism 320 is more stable and smooth.

[0067] In some embodiments of the present invention, the connecting rod 210 and the connecting plate 220 are both made of lightweight materials, such as aluminum alloy or carbon fiber reinforced carbon-based composite materials, to achieve lightweight and facilitate installation and transportation.

[0068] It can be understood that the climbing mechanism 100 is arranged at the corner of the column 400, and the connecting piece is subjected to the tension of the clamping and telescopic mechanism 300 so that the climbing wheel 130 is tightly attached to the surface of the column 400. At the same time, since the connecting rod 210 is only subjected to tension but not torque, it does not need to be too strong, thereby effectively reducing the strength of the connecting piece and thus reducing the weight of the entire machine.

[0069] In some embodiments of the present invention, each climbing mechanism 100 is provided with at least one clamping and telescopic mechanism 300 , and the clamping and telescopic mechanism 300 drives the connecting piece to pull the clamping column 400 of each climbing mechanism 100 .

[0070] It can be understood that when each climbing mechanism 100 is matched with a clamping and telescopic mechanism 300, the contraction between the outer surface connecting parts of the column 400 can be achieved, and when the clamping and telescopic mechanisms 300 are symmetrically arranged at both ends of each climbing mechanism 100, the synchronous telescopic extension of all the connecting parts on the periphery of the column 400 can be achieved, the clamping force of the climbing mechanism 100 on the column 400 is more balanced, and the climbing stability is better.

[0071] In some embodiments of the present invention, Figure 11-12 As shown, the climbing mechanism 100 is installed at the four corners of the rectangular column 400, and the synchronous telescopic mechanism 320 connected to the climbing mechanism 100 at each corner is an active force-generating mechanism, that is, the synchronous telescopic mechanism 320 at the four corners of the rectangular column 400 is actively clamped. At this time, the connecting piece 220 is evenly contracted or relaxed toward both ends, and the clamping force on the column 400 is more balanced.

[0072] In other embodiments of the present invention, Figure 13-14 As shown, the climbing mechanism 100 is installed at the four corners of the rectangular column 400, but only one of the climbing mechanisms 100 connected to the synchronous telescopic mechanism 320 at one corner is an active force generating mechanism, such as Figure 13-14 In the structure corresponding to the lower left corner, the connecting piece 220 at the diagonal position of the active force generating mechanism is fixedly connected to the frame 110, and the synchronous telescopic mechanism 320 is not provided.

[0073] In some embodiments of the present invention, a horizontal sensor is provided on the climbing mechanism 100. When the robot tilts, the horizontal sensor feeds back the tilt information to the robot control system, and the control system adjusts the speed of the motor to adjust the robot back to a horizontal state, thereby ensuring the stability of the state during the climbing process.

[0074] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principle of the present invention. These improvements and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. A column climbing robot, characterized in that: include: A plurality of climbing mechanisms, wherein adjacent climbing mechanisms are connected via a connecting structure, and after the climbing mechanisms and the connecting structure are connected, an accommodating space capable of accommodating a column is formed, and the connecting structure is made of a lightweight material; At least one clamping and telescopic mechanism, both ends of each of the clamping and telescopic mechanisms are respectively connected to the corresponding climbing mechanism and the connecting structure, and the telescopic end of the clamping and telescopic mechanism is connected to one of the climbing mechanism and the connecting structure.

2. The column climbing robot according to claim 1, characterized in that: Each of the climbing mechanisms comprises: frame; A driving motor is mounted on the frame; A plurality of climbing wheels are rotatably arranged on the inner side of the frame and are transmission-connected to the driving motor. The driving motor drives the climbing wheels to climb along the outer wall of the column, and the climbing wheels can clamp the outer wall of the column as the connecting structure moves.

3. The column climbing robot according to claim 2, characterized in that: Each of the climbing mechanisms also includes an auxiliary wheel, which is rotatably mounted on the inner side of the frame. When the climbing wheel is in contact with the outer wall of the column, the auxiliary wheel is also in contact with the outer wall of the column, and the auxiliary wheel is located on the side of the climbing wheel close to the connecting structure.

4. The column climbing robot according to claim 2, characterized in that: The connecting structure is assembled from a plurality of connecting parts, the connecting parts close to the frame are detachably connected to the frame, and adjacent connecting parts are movably connected to each other. The clamping and telescopic mechanism drives the plurality of connecting parts to contract or relax, and the clamping and telescopic mechanism can keep the connecting structure in a preset state.

5. The column climbing robot according to claim 4, characterized in that: The connecting member is a connecting rod, adjacent connecting rods are slidably connected to each other, and the connecting rod close to the frame is slidably connected to the frame via a connecting frame.

6. The column climbing robot according to claim 5, characterized in that: The clamping telescopic mechanism is a linear telescopic mechanism, one end of which is mounted on the frame and the other end is mounted on the connecting frame; the telescopic end of the linear telescopic mechanism is driven by a motor to perform telescopic movement, thereby driving the connecting rod to contract or relax through the connecting frame.

7. The column climbing robot according to claim 4, characterized in that: The connecting member is a connecting piece, adjacent connecting pieces are rotationally connected to each other, and the connecting piece close to the frame is slidingly connected to the frame.

8. The column climbing robot according to claim 7, characterized in that: The clamping and telescopic mechanism comprises a transmission rope, a transmission wheel, a first wheel body, a second wheel body, a first fixing block and a second fixing block; The first wheel body and the second wheel body are rotatably mounted on two ends of the frame respectively, the first fixing block is arranged between the first wheel body and the transmission wheel, and the second fixing block is arranged between the second wheel body and the transmission wheel; One end of the transmission rope is wound around the first wheel body, and the other end of the transmission rope is sequentially connected to the first fixing block, the transmission wheel, the second wheel body, the second fixing block, the transmission wheel, and then fixed to the first wheel body.

9. The column climbing robot according to claim 5, characterized in that: The climbing mechanism is provided with a horizontal sensor, which is electrically connected to a control system. When the pole-climbing robot tilts, the horizontal sensor feeds back the tilt information to the control system, and the control system adjusts the pole-climbing robot to return to a horizontal state.

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