Stepping climbing robot

Abstract

A stepping climbing robot includes: two symmetrically arranged semi-circular outer shells connected by a locking mechanism, with multiple climbing mechanisms symmetrically arranged along the circumference on the inner side. Each climbing mechanism includes a screw and two sets of connecting blocks. The screw is vertically arranged with forward and reverse threads at both ends. The two sets of connecting blocks are threaded to both ends of the screw and their inner sides match the shape of a steel column. Electrically controlled permanent magnet chucks are installed inside the connecting blocks. A frame is connected to the inner side of the outer shell, and the two sets of connecting blocks are slidably connected to the upper and lower ends of the frame. A drive mechanism for rotating the screw is mounted on the frame. This design uses the alternating opening and closing of the two electrically controlled permanent magnet chucks, combined with the drive mechanism to rotate the screw, thereby moving the connecting blocks upwards. This allows the robot to move up and down the steel column alternately. The entire process is automated, allowing the robot to replace manual labor for high-altitude work.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a stepping climbing robot. Background Technology

[0002] In order to make effective use of limited ground space and improve construction efficiency, for some common high-altitude operations in engineering construction, such as the construction, inspection, maintenance, corrosion prevention, and welding of regular columns such as vertical power cables, steel columns, concrete columns, and exposed steel trusses, workers need to use scaffolding or various lifting equipment to provide a lifting platform for construction.

[0003] Because scaffolding erection and dismantling are time-consuming and labor-intensive, and are also limited by height and site conditions, electronic pole C-shaped climbing devices are usually used when climbing regular circular, square, or octagonal structural columns or truncated cone columns with a slope close to 90°. For example, a foot-operated pole climber disclosed in Chinese patent CN200966880Y can be used to climb utility poles and perform high-altitude work. However, in actual use, this structure has relatively poor balance, and it still mainly relies on manual operation. Due to the high overall construction height, the safety of construction personnel cannot be guaranteed. At the same time, the operator needs to control the lifting and lowering during operation, resulting in low work efficiency and high labor intensity. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects and problems of poor safety and high labor intensity in the existing technology, and to provide a stepping climbing robot with higher safety and lower labor intensity.

[0005] To achieve the above objectives, the technical solution of this utility model is: a stepping climbing robot, comprising: a shell arranged symmetrically on the left and right sides, the shell being semi-circular, the two shells being connected as one unit by a locking mechanism, and multiple sets of climbing mechanisms symmetrically arranged along the circumferential direction on the inner side of the shell, each climbing mechanism including a frame, a screw, and upper and lower sets of connecting blocks, the screw being vertically arranged and having a forward thread and a reverse thread at both ends respectively, the two sets of connecting blocks being threaded to both ends of the screw and having their inner sides matching the shape of a steel column, the inner side of each connecting block being provided with an electrically controlled permanent magnet chuck that magnetically engages with the steel column, the frame being connected to the inner side of the shell, the two sets of connecting blocks being slidably connected to the upper and lower ends of the inner side of the frame respectively, and a drive mechanism for driving the screw to rotate being mounted on the frame.

[0006] The upper and lower ends of the outer shell are respectively provided with a set of symmetrical clamps. The clamps are semi-circular, and the upper and lower sets of clamps are connected into one piece by a locking mechanism.

[0007] Each locking mechanism includes two clamps, a compression spring, a bolt, and a nut. One end of one clamp is rotatably connected to one end of the other clamp. The two clamps are respectively connected to the outside of one end of the two clamps. The compression spring is connected between the two clamps. The bolt is threadedly connected to the other end of the two clamps. The nut is threadedly connected to the bolt and abuts against the outside of the other end of the other clamp.

[0008] One of the clamps has a rotating groove at one end, and the other clamp has a rotating seat that matches the rotating groove at one end. A rotating shaft is connected to the center of the rotating seat, and one end of the clamp is fitted onto the rotating shaft.

[0009] The connecting block includes a first wedge block and a second wedge block, which are right-angled trapezoids. The long right-angled side of the first wedge block matches the shape of the steel column. The electrically controlled permanent magnet chuck is installed on the long right-angled side of the first wedge block. A pull rod is connected to the upper end face of the first wedge block. The inclined surface of the second wedge block abuts against the inclined surface of the first wedge block. A connecting hole is opened on the upper end face of the second wedge block. The pull rod is movably connected to the connecting hole. A stop block is connected to the upper end face of the pull rod. The stop block abuts against the upper end face of the second wedge block. A threaded hole that mates with the screw thread is opened on the second wedge block.

[0010] The long right-angled side of the first wedge block is also connected to an anti-slip rubber ring pad. An installation hole is opened on the lower side of the long right-angled side of the first wedge block. A tension spring is connected in the installation hole. One end of the tension spring is connected to the electrically controlled permanent magnet chuck. The electrically controlled permanent magnet chuck is slidably connected in the installation hole.

[0011] The frame is U-shaped, and a horizontal support is installed on the inner side wall of the frame. The horizontal support is U-shaped, and its outer bottom wall is connected to the inner side wall of the frame. The two side walls of the horizontal support are respectively fitted onto the outer circumferential surface of the screw. Dovetail grooves are respectively formed on the two side walls of the frame. A dovetail-shaped slider that matches the shape of the dovetail groove is connected to the outer side of the second wedge block. The two dovetail-shaped sliders are slidably connected to the two dovetail grooves respectively.

[0012] The drive mechanism includes a drive motor, a reducer, a worm, and a worm wheel. The drive motor is mounted on the outside of the frame. The input end of the reducer is mounted on the output end of the drive motor. The output end of the reducer passes through the frame and the horizontal support and is connected to the worm. The worm wheel is sleeved in the middle of the screw and located inside the horizontal support. The worm is meshed with the worm wheel.

[0013] The screw includes a stepped shaft, with optical shafts connected to both ends of the stepped shaft. A threaded rod is connected to the end of the optical shaft. The outer circumferential surfaces of the two threaded rods are respectively provided with a forward thread and a reverse thread. A through hole is provided on the upper sidewall of the horizontal support, and a self-aligning roller bearing is installed within the through hole. The self-aligning roller bearing is sleeved on the outer circumferential surface of the upper optical shaft. A stepped through hole, larger at the top and smaller at the bottom, is provided on the lower sidewall of the horizontal support, and a thrust bearing is installed within the stepped through hole. The thrust bearing is located on the outer circumferential surface of the lower optical shaft. The worm gear is sleeved at the center of the stepped shaft.

[0014] A limiting plate is connected to the side of the second wedge block away from the frame. The limiting plate is arranged relative to the dovetail groove, and the size of the limiting plate is larger than the size of the dovetail groove.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] 1. In this utility model of a stepping climbing robot, when the lower electrically controlled permanent magnet chuck is energized, it temporarily attracts the steel column, forming a temporary fixed point on the lower connecting block. Then, the drive mechanism drives the screw to rotate, increasing the distance between the upper and lower connecting blocks. Supported by the lower temporary fixed point, the entire robot body and the upper connecting block move upward together. Because the screw has a reverse thread structure, the displacement of the robot body is half the displacement of the upper connecting block. When this half stroke is completed, the power supply automatically switches between positive and negative poles, the upper electrically controlled permanent magnet chuck is electrically activated, and the chuck firmly adheres to the steel column. The lower electrically controlled permanent magnet chuck is simultaneously electrically deactivated. Under the action of spring force, the robot retracts and resets, thus forming a temporary fixed point on the upper connecting block. The drive mechanism then reverses, causing the screw to rotate in the opposite direction, reducing the distance between the upper and lower connecting blocks. Suspended by the upper temporary fixed point, the screw, under force, moves the entire robot body and the lower connecting block upwards, achieving retraction and reset. Because the screw has a reverse thread structure, the robot body completes the other half of its displacement, thus completing one climb. This cycle repeats, allowing the robot to move up and down alternately on the steel column. The entire process is automated, with the robot performing step-by-step climbing, replacing manual labor for high-altitude work with low labor intensity. Therefore, this invention offers good safety and low labor intensity.

[0017] 2. In this utility model, a stepping climbing robot, the clamp, with its semi-circular design and hinged connection, facilitates the insertion of the device onto the column to be climbed. A compression spring is connected between two clamping plates. The spring force of the compression spring causes the clamp to rotate on the pivot, thereby closing the two semi-circular shells. This allows for easy locking with bolts, forming a unified device. After locking, the weight of the clamp causes the connecting block to compress the clamp and the steel column, converting the weight force into radial pressure to generate friction and prevent the device from slipping, ensuring mechanical stability. This prevents accidental slippage and ensures safety during high-altitude operations. The outer shell of the clamp provides wind and dust protection, preventing dust and moisture in the air from affecting the internal climbing mechanism and preventing external objects from intruding and causing mechanical failure, thus significantly extending the robot's lifespan. Therefore, this utility model is convenient to use, highly safe, and has a long service life.

[0018] 3. In this utility model of a stepping climbing robot, by setting a first wedge and a second wedge, the downward force generated by the robot's own weight under the action of gravity is applied to the temporarily fixed first wedge through the inclined surface of the second wedge. The first wedge further presses the surface of the steel column with anti-slip rubber ring pads to enhance the anti-slip force. When climbing is required, the power to the electrically controlled permanent magnet chuck is turned off, and the tension spring pulls the electrically controlled permanent magnet chuck back into the mounting hole. When the second wedge moves, it drives the first wedge and the electrically controlled permanent magnet chuck to move up and down together through the pull rod. After moving into position, the electrically controlled permanent magnet chuck is powered on, so that it adsorbs the steel column to provide a temporary fixing point. Therefore, this utility model has high stability and is easy to use.

[0019] 4. In this utility model of a stepping climbing robot, the frame and the second wedge block are slidably connected via a dovetail groove. Under the guidance of the dovetail groove, the frame will also move linearly up and down following the second wedge block. A limiting plate is set to prevent the frame from sliding off the second wedge block. Due to the use of a worm gear structure, it can achieve self-locking positioning at any vertical position for subsequent operations. The drive motor drives the screw to rotate through the worm gear structure. Since the threads at the upper and lower ends of the screw rotate in opposite directions, it will drive the two second wedge blocks to move towards each other or away from each other to displace the robot body, thereby enabling the robot to walk up and down alternately on the steel column. Therefore, this utility model has low workload and high safety. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model.

[0021] Figure 2 This is a structural diagram of the two clamps, baffles, and locking mechanisms in this utility model.

[0022] Figure 3This is a schematic diagram of the structure of one of the clamps in this utility model.

[0023] Figure 4 This is a schematic diagram of another clamp in this utility model.

[0024] Figure 5 This is a structural schematic diagram of the clamp and climbing mechanism in this utility model.

[0025] Figure 6 This is a structural schematic diagram of the climbing mechanism in this utility model.

[0026] Figure 7 This is a schematic diagram of the connecting block in this utility model.

[0027] Figure 8 This is a cross-sectional schematic diagram of the connecting block in this utility model.

[0028] Figure 9 This is a partial structural schematic diagram of the drive mechanism and climbing mechanism in this utility model.

[0029] Figure 10 This is a partial cross-sectional view of the screw and horizontal support in this utility model.

[0030] In the diagram: 1. Steel column; 2. Clamp; 21. Rotating groove; 22. Rotating seat; 23. Rotating shaft; 3. Locking mechanism; 3. Clamping plate; 31. Compression spring; 32. Bolt; 33. Nut; 34. Climbing mechanism; 4. Frame; 41. Dovetail groove; 411. Screw; 42. Stepped shaft; 421. Optical shaft; 422. Threaded rod; 423. Forward thread; 424. Reverse thread; 425. Connecting block; 43. First wedge block; 431. Second wedge block; 432. 433 connecting hole, 434 threaded hole, 435 mounting hole, 436 dovetail slider, 437 limiting plate, 44 pull rod, 45 stop block, 46 anti-slip rubber ring pad, 47 horizontal bracket, 471 through hole, 472 stepped through hole, 473 self-aligning roller bearing, 474 thrust bearing, 5 electrically controlled permanent magnet chuck, 6 drive mechanism, 61 drive motor, 62 reducer, 63 worm gear, 64 worm wheel, 7 housing, 8 tension spring. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1:

[0033] See Figures 1 to 9A stepping climbing robot includes: two semi-circular shells 7 arranged symmetrically on the left and right sides, the shells 7 being connected as one unit by a locking mechanism 3; and multiple climbing mechanisms 4 symmetrically arranged along the circumference on the inner side of the shells 7. Each climbing mechanism 4 includes a frame 41, a screw 42, and two sets of connecting blocks 43. The screw 42 is vertically arranged and has a forward thread 424 and a reverse thread 425 at both ends. The two sets of connecting blocks 43 are threaded to both ends of the screw 42 and are respectively connected to the inner... The side matches the shape of the steel column 1. The inner side of the connecting block 43 is provided with an electrically controlled permanent magnet chuck 5 that magnetically engages with the steel column 1. The frame 41 is connected to the inner side of the outer shell 7. The two sets of connecting blocks 43 are slidably connected to the upper and lower ends of the inner side of the frame 41. The frame 41 is equipped with a drive mechanism 6 for driving the screw 42 to rotate. The upper and lower ends of the outer shell 7 are respectively provided with a set of symmetrical clamps 2. The clamps 2 are semi-circular. The upper and lower sets of clamps 2 are connected into one piece by a locking mechanism 3.

[0034] In this embodiment, the clamp 2 adopts a semi-circular design. The upper and lower clamps 2 are connected as one unit by a semi-circular outer shell 7. Each outer shell 7 is equipped with two climbing mechanisms 4. In use, the two clamps 2 are first put into the steel column 1. The opening of the clamp 2 is locked by bolts or mortise and tenon structure. At the same time, the lower electrically controlled permanent magnet chuck 5 is opened, and the chuck will firmly adhere to the steel column 1. Then, the drive mechanism 6 controls the screw 42 to rotate, so that the upper connecting block 43 moves on the steel column 1. When one stroke is moved to the position, the upper electrically controlled permanent magnet chuck 5 is electrically opened and the lower electrically controlled permanent magnet chuck 5 is electrically closed. In this way, the upper connecting block forms a temporary fixed point in the axial direction. Then, the drive mechanism 6 drives the screw 42 to rotate in the opposite direction, thereby driving the lower connecting block 43 to move upward. This completes the robot to continuously walk up and down alternately on the steel column 1, or climb on standard square columns, octagonal columns, and other regular polygonal columns.

[0035] Example 2:

[0036] The basic content is the same as in Example 1, except that:

[0037] See Figures 2 to 4Each locking mechanism 3 includes two clamping plates 31, a compression spring 32, a bolt 33, and a nut 34. One end of one clamp 2 is rotatably connected to one end of the other clamp 2. The two clamping plates 31 are respectively connected to the outer side of one end of the two clamps 2. The compression spring 32 is connected between the two clamping plates 31. The bolt 33 is threaded to the other end of the two clamps 2. The nut 34 is threaded to the bolt 33 and abuts against the outer side of the other end of the other clamp 2. One end of one clamp 2 has a rotating groove 21. One end of the other clamp 2 is connected to a rotating seat 22 that matches the rotating groove 21. A rotating shaft 23 is connected to the center of the rotating seat 22. One end of one clamp 2 is sleeved on the rotating shaft 23.

[0038] In this embodiment, during use, the compression spring 32 is first compressed by pressing the two clamps 31, while the clamp 2 rotates on the pivot 23 of the other clamp 2. Then, the two clamps 2 are put into the steel column 1, the clamps 31 are released, and the compression spring 32 is reset so that the two clamps 2 rotate horizontally along the hinge point for easy locking.

[0039] Example 3:

[0040] The basic content is the same as in Example 1, except that:

[0041] See Figures 5 to 8 The connecting block 43 includes a first wedge block 431 and a second wedge block 432. The first wedge block 431 and the second wedge block 432 are right-angled trapezoids. The long right-angled side of the first wedge block 431 matches the shape of the steel column 1. The electrically controlled permanent magnet chuck 5 is installed on the long right-angled side of the first wedge block 431. A pull rod 44 is connected to the upper end face of the first wedge block 431. The inclined surface of the second wedge block 432 abuts against the inclined surface of the first wedge block 431. A connecting hole 433 is opened on the upper end face of the second wedge block 432. The pull rod 44 is movably connected in the connecting hole 433. A stop block 45 is connected to the upper end face of the pull rod 44. The stop block 45 abuts against the first wedge block 431. The upper end face of the two wedge blocks 432, the second wedge block 432 is provided with a threaded hole 434 that is threaded to the screw 42, the vertical gap between the top surface of the first wedge block 431 and the bottom surface of the second wedge block 432 at the connection part of the pull rod 44 should be greater than the maximum horizontal distance between the long right angle side of the first wedge block 431 and the steel column 1, the long right angle side of the first wedge block 431 is also connected with an anti-slip rubber ring pad 46, the lower side of the long right angle side of the first wedge block 431 is provided with an installation hole 435, the installation hole 435 is connected with a tension spring 8, one end of the tension spring 8 is connected with the electrically controlled permanent magnet chuck 5, and the electrically controlled permanent magnet chuck 5 is slidably connected in the installation hole 435.

[0042] In this embodiment, after the clamp 2 is locked, the vertical distance between the top surface of the first wedge block 431 and the bottom surface of the second wedge block 432 at the pull rod 44 is greater than the maximum horizontal distance between the first wedge block 431 and the steel column 1, so that the climbing robot can smoothly climb and press the steel column 1. The connecting hole 433 is shaped like an "eight" with a larger top and a smaller bottom to prevent the pull rod 44 from deforming during the inclined displacement. The first wedge block 431 is made of high-strength and wear-resistant non-ferrous material to avoid affecting the magnetic suction operation. When the electric permanent magnet chuck 5 adsorbs the steel column, the robot's own weight is applied to the first wedge block 431 through the inclined surface of the second wedge block 432, converting the vertical force into a horizontal component force to press the steel column 1. The resulting friction force overcomes the weight of the equipment and prevents the equipment from sliding down. To ensure stability, the use of anti-slip rubber ring pads 46 can increase friction and ensure vertical climbing on non-metallic columns with a large coefficient of friction without the aid of the electric permanent magnet chuck 5.

[0043] Example 4:

[0044] The basic content is the same as Example 3, except that:

[0045] See Figures 7 to 10 The frame 41 is U-shaped, and a horizontal support 47 is installed on the inner side wall of the frame 41. The horizontal support 47 is U-shaped, and its outer bottom wall is connected to the inner side wall of the frame 41. The two side walls of the horizontal support 47 are respectively fitted onto the outer circumferential surface of the screw 42. Dovetail grooves 411 are respectively formed on the two side walls of the frame 41. A dovetail-shaped slider 436 matching the shape of the dovetail groove 411 is connected to the outer side of the second wedge block 432. The two dovetail-shaped sliders 436 are slidably connected to the two dovetail grooves 411 respectively. A limiting plate 437 is connected to the side of the second wedge block 432 away from the frame 41. The limiting plate 437 is arranged relative to the dovetail groove 411, and the size of the limiting plate 437 is larger than the size of the dovetail groove 411.

[0046] In this embodiment, the upper and lower ends of the frame 41 are connected to the second wedge block 432 through the structure of the dovetail slider 436 and the dovetail groove 411, so that the frame 41 and the second wedge block 432 form a connecting body that can only slide vertically up and down. The dovetail slider 436 is restricted from sliding out by setting the limiting plate 437.

[0047] Example 5:

[0048] The basic content is the same as Example 4, except that:

[0049] See Figure 9 and Figure 10The drive mechanism 6 includes a drive motor 61, a reducer 62, a worm gear 64, and a worm 63. The drive motor 61 is mounted on the outside of the frame 41. The input end of the reducer 62 is mounted on the output end of the drive motor 61. The output end of the reducer 62 passes through the frame 41 and the horizontal support 47 and is connected to the worm 63. The worm gear 64 is sleeved in the middle of the screw 42 and located inside the horizontal support 47. The worm 63 is meshed with the worm gear 64.

[0050] The screw 42 includes a stepped shaft 421, with optical shafts 422 connected to both ends of the stepped shaft 421. A threaded rod 423 is connected to the end of the optical shaft 422. The outer circumferential surfaces of the two threaded rods 423 are respectively provided with a forward thread 424 and a reverse thread 425. A through hole 471 is opened on the upper sidewall of the horizontal support 47, and a self-aligning roller bearing 473 is installed inside the through hole 471. The self-aligning roller bearing 473 is sleeved on the outer circumferential surface of the upper optical shaft 422. A stepped through hole 472, larger at the top and smaller at the bottom, is opened on the lower sidewall of the horizontal support 47, and a thrust bearing 474 is installed inside the stepped through hole 472. The thrust bearing 474 is located on the outer circumferential surface of the lower optical shaft 422. The worm gear 64 is sleeved at the center of the stepped shaft 421.

[0051] In this embodiment, the drive motor 61 drives the worm gear 63 to rotate, the worm gear 63 drives the worm wheel 64 to rotate, and the worm wheel 64 drives the coaxially connected stepped shaft 421 to rotate horizontally under the support of the thrust bearing 474 and the self-aligning roller bearing 473. Since the threads of the threaded rods 423 at both ends are opposite, the step shaft 421 will drive the second wedge block 432 to move up and down when it rotates horizontally in both directions. When the second wedge block 432 moves up and down, it drives the first wedge block 431 and its electrically controlled permanent magnet chuck 5 to move up and down together through the pull rod 44.

[0052] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A stepping climbing robot, characterized in that, include: The outer shells (7) are arranged symmetrically on the left and right sides. The outer shells (7) are semi-circular. The two outer shells (7) are connected as one unit by a locking mechanism (3). Multiple sets of climbing mechanisms (4) are symmetrically arranged on the inner side of the outer shells (7) along the circumferential direction. The climbing mechanism (4) includes a frame (41), a screw (42) and two sets of connecting blocks (43). The screw (42) is arranged vertically and has a forward thread (424) and a reverse thread (425) at both ends. The two sets of connecting blocks (43) are threaded to both ends of the screw (42) and the inner side matches the shape of the steel column (1). The inner side of the connecting block (43) is provided with an electrically controlled permanent magnet chuck (5) that magnetically engages with the steel column (1). The frame (41) is connected to the inner side of the outer shell (7). The two sets of connecting blocks (43) are slidably connected to the upper and lower ends of the inner side of the frame (41). The frame (41) is equipped with a drive mechanism (6) for driving the screw (42) to rotate.

2. The stepping climbing robot according to claim 1, characterized in that: The upper and lower ends of the outer shell (7) are respectively arranged with a set of symmetrical clamps (2). The clamps (2) are semi-circular, and the upper and lower sets of clamps (2) are connected into one piece by a locking mechanism (3).

3. The stepping climbing robot according to claim 2, characterized in that: Each locking mechanism (3) includes two clamps (31), a compression spring (32), a bolt (33), and a nut (34). One end of one clamp (2) is rotatably connected to one end of the other clamp (2). The two clamps (31) are respectively connected to the outside of one end of the two clamps (2). The compression spring (32) is connected between the two clamps (31). The bolt (33) is threadedly connected to the other end of the two clamps (2). The nut (34) is threadedly connected to the bolt (33) and abuts against the outside of the other end of the other clamp (2).

4. A stepping climbing robot according to claim 3, characterized in that: One of the clamps (2) has a rotating groove (21) at one end, and the other clamp (2) is connected to a rotating seat (22) that matches the rotating groove (21) at one end. A rotating shaft (23) is connected to the center of the rotating seat (22), and one end of the clamp (2) is fitted onto the rotating shaft (23).

5. A stepping climbing robot according to claim 1, characterized in that: The connecting block (43) includes a first wedge block (431) and a second wedge block (432). The first wedge block (431) and the second wedge block (432) are right-angled trapezoids. The long right-angled side of the first wedge block (431) matches the shape of the steel column (1). The electrically controlled permanent magnet chuck (5) is installed on the long right-angled side of the first wedge block (431). A pull rod (44) is connected to the upper end face of the first wedge block (431). The second wedge block (432) has... The inclined surface abuts against the inclined surface of the first wedge block (431), and the upper end face of the second wedge block (432) is provided with a connecting hole (433). The pull rod (44) is movably connected in the connecting hole (433), and the upper end face of the pull rod (44) is connected with a stop block (45). The stop block (45) abuts against the upper end face of the second wedge block (432), and the second wedge block (432) is provided with a threaded hole (434) that is threadedly engaged with the screw (42).

6. A stepping climbing robot according to claim 5, characterized in that: The long right-angled side of the first wedge block (431) is also connected to an anti-slip rubber ring pad (46). An installation hole (435) is opened on the lower side of the long right-angled side of the first wedge block (431). A tension spring (8) is connected in the installation hole (435). One end of the tension spring (8) is connected to the electrically controlled permanent magnet chuck (5). The electrically controlled permanent magnet chuck (5) is slidably connected in the installation hole (435).

7. A stepping climbing robot according to claim 5, characterized in that: The frame (41) is U-shaped, and a horizontal support (47) is installed on the inner side wall of the frame (41). The horizontal support (47) is U-shaped, and the outer bottom wall of the horizontal support (47) is connected to the inner side wall of the frame (41). The two side walls of the horizontal support (47) are respectively fitted onto the outer circumferential surface of the screw (42). The two side walls of the frame (41) are respectively provided with dovetail grooves (411). The outer side of the second wedge block (432) is connected with a dovetail slider (436) that matches the shape of the dovetail groove (411). The two dovetail sliders (436) are slidably connected to the two dovetail grooves (411).

8. A stepping climbing robot according to claim 7, characterized in that: The drive mechanism (6) includes a drive motor (61), a reducer (62), a worm (63), and a worm wheel (64). The drive motor (61) is mounted on the outside of the frame (41). The input end of the reducer (62) is mounted on the output end of the drive motor (61). The output end of the reducer (62) passes through the frame (41) and the horizontal support (47) and is connected to the worm (63). The worm wheel (64) is sleeved in the middle of the screw (42) and located inside the horizontal support (47). The worm (63) is meshed with the worm wheel (64).

9. A stepping climbing robot according to claim 8, characterized in that: The screw (42) includes a stepped shaft (421), with optical shafts (422) connected to both ends of the stepped shaft (421). A threaded rod (423) is connected to the end of the optical shaft (422). The outer circumferential surfaces of the two threaded rods (423) are respectively provided with a forward thread (424) and a reverse thread (425). A through hole (471) is provided on the upper sidewall of the horizontal support (47), and a self-aligning roller bearing (4) is installed in the through hole (471). 73), the self-aligning roller bearing (473) is sleeved on the outer peripheral surface of the upper optical shaft (422), the lower side wall of the horizontal bracket (47) is provided with a stepped through hole (472) that is larger at the top and smaller at the bottom, a thrust bearing (474) is installed in the stepped through hole (472), the thrust bearing (474) is provided on the outer peripheral surface of the lower optical shaft (422), and the worm gear (64) is sleeved at the center of the stepped shaft (421).

10. A stepping climbing robot according to claim 7, characterized in that: The second wedge block (432) is connected to a limiting plate (437) on the side away from the frame (41). The limiting plate (437) is arranged relative to the dovetail groove (411), and the size of the limiting plate (437) is larger than the size of the dovetail groove (411).

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