955 results about "Climbing robots" patented technology

The invention discloses a pole climbing robot for a wind power tower pole, which is characterized in that the robot mainly comprises a robot body, 4-8 pole climbing mechanisms, a snake-shaped swing arm and a movable studio, wherein the snake-shaped swing arm and the movable studio are mounted on one side of the robot body; the robot body is an annular body formed by combining two semicircular cambered bodies or three equal cambered bodies; the diameter of an internal ring of the circular body is matched with the diameter of the wind power tower pole; the pole climbing mechanisms mainly comprise upper foot wheels, lower foot wheels, connecting arms, driving gears, thrust screw rods, nut gears and supporting seats; the upper foot wheels are connected with the lower foot wheels by the connecting arms through wheel shafts; the connecting arms are connected with the thrust screw rods by connecting pin shafts on the connecting arms, and form movable hinges; the 4-8 pole climbing mechanisms are distributed in the circular robot body uniformly; the snake-shaped swing arm consists of three swing arm parts, namely a large arm, a middle arm and a small arm; and the movable studio comprises two paralleled linear guide rails, a walk driving device and an operation room.

The utility model discloses a system for large-range high-efficiency detection of a building facade. The system comprises a wall-climbing robot and a remote controller, the wall-climbing robot comprises a robot body, a climbing module, a propeller propelling module, a detection module and a control module, the control module is in communication connection with the remote controller; and the control module is suitable for controlling the climbing module to drive the wall-climbing robot to climb or descend along the rope, controlling the propeller propelling module to propel the wall-climbing robot to be tightly attached to the building facade and controlling the detection module to carry out large-range damage detection on the building facade in the climbing or descending process of the wall-climbing robot under an instruction of the remote controller. According to the utility model, the wall-climbing robot is controlled to climb up and down stably on the vertical facade through the remote controller, and the large-range detection of the crack damage of the building facade is realized.

The invention discloses a crane steel wire rope flaw detection device and a flaw detection method, and belongs to the technical field of nondestructive flaw detection. The device comprises a magnetic memory flaw detection module and a wheel type rope climbing robot device for driving the magnetic memory flaw detection module to move along a crane steel wire rope, the magnetic memory flaw detection module comprises a hollow flaw detection shell, the flaw detection shell is longitudinally provided with a central through hole for a crane steel wire rope to penetrate through, and a plurality of giant magneto-impedance effect magnetic sensors are evenly arranged in the flaw detection shell in the circumferential direction of the central through hole. Therefore, a sensor array used for detecting the leakage magnetic field intensity of the crane steel wire rope is formed, and the giant magneto-impedance effect magnetic sensors are arranged in a coplanar mode. The device is mainly based on the giant magneto-impedance effect magnetic sensor and the metal magnetic memory principle, extremely weak magnetic nondestructive testing is conducted on the crane steel wire rope, and the device is convenient to use, high in detection precision, simple in structure and suitable for various steel wire rope detection environments.

The invention relates to a crawler-type magnetic adsorption wall-climbing robot, and belongs to the field of wall-climbing robots. The wall-climbing robot comprises a main body bracket, a control module, a driving module, an adsorption module and a mechanical arm module, the main body support is a frame of a hollow structure and comprises a bottom plate, side plates arranged on the two sides of a chassis and a cover plate connected with the tops of the side plates, and a power source is arranged in the main body support. The control module is arranged in the main body bracket and is electrically connected with a power supply, and the control module comprises a wireless communication unit. The robot is simple in structure and high in obstacle crossing capacity, permanent magnet magnetic poles are arranged in a Halbach array, the upper sides and the lower sides of the magnetic poles are in an upper strong magnetic state and a lower weak magnetic state, and the magnetic adsorption force to the wall face is greatly improved.

The invention relates to a wall-climbing laser cleaning robot weld joint identification tracking control method and device, and belongs to the technical field of robot tracking control. The maximum curvature of the arc length between the position point of the robot at the current moment and a preview point is determined, the maximum longitudinal speed corresponding to the maximum curvature is determined, and the preview point is any point on the weld joint track in the advancing direction of the robot; and determining a predicted position of the robot at the next moment according to the maximum curvature and the maximum longitudinal speed, and controlling the robot to move to the predicted position. The method solves the problem that the precision of a dynamical model and an operation control strategy of the wall-climbing robot is low because the wall surface motion control of the wall-climbing robot does not consider the influence of adsorption force and gravity.

The present invention discloses a wall-climbing robot for weld detection, which includes a top plate, a flaw detection mechanism, a magnetic wheel mechanism, a sensor assembly, a liquid supply mechanism, a gravity feedback mechanism, and a controller. An industrial camera in the sensor assembly detects the weld. The controller drives the rotation of four groups of magnetic wheel mechanisms for weld tracking according to the weld detection result. The gravity feedback mechanism drives the water pump in the liquid supply mechanism to continuously spray magnetic suspension liquid on the weld to be detected according to the gravity detection result. The first servo motor in the flaw detection mechanism drives the magnetic particle flaw detector to move downwards to continuously detect the weld to be detected. The device has a simple structure. Through four independent groups of magnetic wheel mechanisms, it can adapt to different container wall surfaces. At the same time, through gravity detection, continuous liquid supply of the liquid supply mechanism is realized, improving the efficiency, accuracy and reliability of weld detection.

The invention relates to the technical field of robots, in particular to a heterogeneous robot cooperative three-dimensional inspection planning method under a vertical structure facility. Obtaining point cloud data of a target facility of a vertical structure; according to the point cloud data, a three-dimensional convex hull enhancement algorithm is adopted to generate a target facility minimum convex polygon describing a vertical structure; determining a cruise starting point and a cruise ending point of the unmanned aerial vehicle based on the minimum convex polygon; performing path planning between the cruise starting point and the cruise ending point of the unmanned aerial vehicle by adopting an improved A star algorithm, and determining a global inspection path of the unmanned aerial vehicle; performing routing inspection according to the determined global routing inspection path to obtain a global routing inspection result; determining a to-be-inspected position of the climbing robot in the minimum convex polygon according to the global inspection result; and determining a vertical inspection path of the climbing robot by adopting an improved branch and bound algorithm according to the to-be-inspected position. According to the invention, more efficient, safer and more intelligent inspection operation can be realized, and the flexibility and efficiency of task execution are improved while a wider area is covered.

The invention relates to the technical field of high-rise building crack detection, and particularly discloses a high-rise building crack detector based on an unmanned aerial vehicle and a stair-climbing robot, the bottom of the stair-climbing robot is fixedly connected with an aircraft, and the side surface of the stair-climbing robot is fixedly connected with a contact component. According to the high-rise building crack detector based on the unmanned aerial vehicle and the stair-climbing robot, the sweeping assembly is arranged, when a second connecting arm drives a connecting plate to approach to a to-be-detected area and a sweeping brush makes contact with a wall surface, a first spring immediately generates stretching deformation, a sliding rod is promoted to flexibly slide in a connecting block, and through elastic adjustment of the spring, the sweeping assembly is arranged; the cleaning brush can be adaptively matched with wall surfaces with different flatness, it is ensured that the cleaning brush tightly abuts against an area to be detected all the time, efficient cleaning force can be kept even if the cleaning brush faces the uneven wall surfaces, and therefore a clean and reliable working face is provided for follow-up high-precision crack detection, and the accuracy and reliability of a detection result are improved.

The invention provides a steel formwork surface grinding device. The steel formwork surface grinding device comprises a wall-climbing robot, a mounting mechanism and a grinding mechanism. The wall-climbing robot is provided with an installation position, the installation mechanism comprises a frame assembly and a driving assembly, the frame assembly is detachably connected to the installation position, the driving assembly is installed on the frame assembly, the grinding mechanism comprises a first flange, a rotating rod, an end plate, a steel wire grinding piece and a diamond abrasive grinding piece, one end of the rotating rod is fixedly connected with the first flange, and the other end of the rotating rod is fixedly connected with the end plate. The steel wire grinding piece and the diamond grinding piece are both installed on the end plate, the steel wire grinding piece is arranged on the outer side of the diamond grinding piece in a surrounding mode, and the first flange can be connected to the driving assembly so that the driving assembly can drive the grinding mechanism to rotate. In this way, the grinding mechanism is driven to rotate through the driving assembly, and the wall-climbing robot moves on the to-be-ground steel formwork, so that concrete sticky skin and rust on the steel formwork can be cleaned up.

The invention discloses a wall-climbing robot positioning and path planning method based on unmanned aerial vehicle cooperation, and the method comprises the steps: constructing and updating a three-dimensional map based on the point cloud and image data of a laser radar and a camera; based on the three-dimensional map, the two-dimensional code of the wall-climbing robot is identified by using the unmanned aerial vehicle, and the accurate positioning information of the wall-climbing robot is obtained by combining self-positioning and cross validation and fusion correction of the ground control unit; updating a map by synchronizing sensing data, and optimizing a climbing track based on the obtained positioning information and a global planning path of the ground control unit; for positioning information and environment information of the wall-climbing robot, the unmanned aerial vehicle adopts a trajectory prediction control algorithm to adjust the attitude, and meanwhile, sudden obstacles are avoided in real time through path planning. According to the invention, through laser vision fusion SLAM and unmanned aerial vehicle collaborative operation, the environment perception capability is enhanced, and through combination of a dynamic map and visual word bag optimization, the functions of operation map construction, accurate positioning, path planning, autonomous navigation obstacle avoidance and the like of the wall-climbing robot are realized.

The invention discloses a road damage identification and positioning method fused with multi-source information, and relates to the technical field of road and bridge facility health monitoring. The method comprises the following steps: S1, collecting multi-source image data of a road bridge through an unmanned aerial vehicle, a wall-climbing robot and / or an industrial camera; and S2, preprocessing the multi-source image data, respectively inputting the multi-source image data into a pre-trained deep learning recognition model, and outputting the type and initial position information of a disease. According to the method, the global view angle of the unmanned aerial vehicle and the local high-definition data of the wall-climbing robot / industrial camera are deeply fused, and the deep learning-based semantic segmentation model is utilized to perform pixel-level recognition on tiny diseases such as cracks, so that the recognition accuracy and reliability are greatly improved, and meanwhile, the recognition efficiency is improved. Image coordinates are accurately mapped to the three-dimensional live-action model through a coordinate transformation formula, centimeter-level space positioning of the disease is achieved, and detection accuracy and operation safety are remarkably improved.

The invention discloses a magnetic array adsorption module, a design method thereof and a wall-climbing robot. The magnetic array adsorption module comprises a first magnetic assembly and a second magnetic assembly, the first magnetic assembly comprises a plurality of first magnets distributed in an array mode in the first direction and the second direction, every two adjacent first magnets are spaced and opposite in magnetism in the third direction, and every two of the first direction, the second direction and the third direction are perpendicular to each other; the second magnetic assembly comprises a plurality of second magnets, each second magnet is connected with two adjacent first magnets, an air gap exists between the two adjacent second magnets, and the magnetism of the two adjacent second magnets is opposite in the first direction or the second direction. By designing the magnetic array adsorption module arranged in the circumferential direction, the permanent magnet utilization rate of the magnetic array adsorption module is superior to that of a linear classic Halbach magnetic array adsorption module under the same magnet volume, and magnetic attenuation caused by the end effect is improved. And meanwhile, the air gap can be used as a replacement space of the mounting hole, so that magnetic loss caused by opening a hole in the magnet is avoided.

The invention provides a wall-climbing robot and a control method. The robot comprises a supporting plate, an outer foot assembly slidably arranged at the top of the supporting plate, an inner foot assembly arranged at the bottom of the supporting plate and a motion posture sensor. The outer foot assembly comprises a second rack and a plurality of first swing adsorption units; the linear driving mechanism is arranged on the top face of the supporting plate, and the second rack is connected with the moving end of the linear driving mechanism. The inner foot assembly comprises a first rack, a plurality of second swing adsorption units and a rotating mechanism, the first rack comprises a plurality of supporting arms, and the second swing adsorption units are correspondingly arranged at the extending ends of the supporting arms respectively; the rotating end of the rotating mechanism is connected with the supporting plate; the first swing adsorption unit and the second swing adsorption unit respectively comprise a swing mechanism, a suction cup arranged at the swing end of the swing mechanism and a negative pressure air pump; the motion attitude sensor is in communication connection with the negative pressure air pump; the wall-climbing robot is not easy to fall off and can realize large-span obstacle crossing.

The invention relates to a modular bionic climbing robot and a multi-target continuous operation method thereof. The invention relates to a climbing robot simulating inchworm motion, in particular to a modular bionic climbing robot which is suitable for operations such as bamboo forest felling, forest pruning and tower inspection. The robot comprises a posture adjusting module, a self-adaptive clamping module, a replaceable tail end operation module and a visual navigation module. A battery is arranged in the posture adjusting module and supplies power through wiring of the arm body. The robot climbs, descends and transversely rotates along the rod through the pitching joint and the yawing joint. Based on the inchworm motion principle, the two clamping modules work alternately, and continuous transfer operation is achieved. When the distance between every two adjacent bamboo stalks is not larger than the arm span, multi-target continuous felling can be automatically completed, efficiency is remarkably improved, and cost is reduced.

The invention discloses an HPC curtain wall safety intelligent monitoring method and system, and the method comprises the steps: obtaining curtain wall multi-domain monitoring data and a cable climbing robot scanning record, recognizing a vibration abnormal component, generating a defect sensitivity coefficient, and constructing a damage response field domain; scanning and generating a modal capacity contour surface, setting a resonance early warning trigger node, extracting frequency response distribution to determine a resonance dangerous area, and generating a high-sensitivity monitoring area and a sensor control strategy; an environment load sequence is collected and projected to a damage response field domain to form an effective load bandwidth, and a safety control range is determined by combining structure bearing requirements; performing path search by applying a layered monitoring and adjusting scheme, identifying a stress concentration position through keel deformation modulation, and generating a structure control anchor; analyzing a structure control anchor to generate a fatigue accumulation rate, forming a damage development speed in combination with a scanning record, and extracting collaborative deformation parameters; and comparing the cooperative deformation parameter with a preset value to form a control deviation signal, and generating a self-adaptive control sequence to realize intelligent monitoring and active adjustment of structure safety.

The invention belongs to the technical field of miniature wall-climbing robots, and particularly relates to a miniature double-foot wall-climbing robot based on electrostatic adsorption, which comprises a bracket, two groups of symmetrically arranged driving devices, two actuating legs and two groups of electrostatic chucks, the driving devices are respectively arranged on two sides of the bracket, the output ends of the driving devices are connected with the actuating legs, and the electrostatic chucks are arranged at the lower ends of the actuating legs. The two sets of driving devices drive the actuating legs to drive the electrostatic chucks to alternately swing through alternate actuation, and the two feet alternately execute adsorption, swing and desorption actions in cooperation with alternate adsorption and desorption of the electrostatic chucks, so that the robot continuously and stably crawl on the wall face. A bionic gait mode is formed through alternate adsorption, desorption and swinging of the left and right feet, continuous adsorption of the suction cups on at least one side at any moment is ensured, instability caused by simultaneous desorption of the two feet is avoided, stable adsorption and continuous and efficient crawling on multiple types of wall surfaces are achieved, the structure is compact, and operation is convenient. The adaptability and the stability of the robot in a narrow space and a complex wall surface environment are improved.

The invention discloses a crawler-type wall-climbing robot single body and a crawler-type wall-climbing robot. Each crawler-type wall-climbing robot single body comprises a rack, a magnetic crawler belt, a crawler belt driving device and a tensioning mechanism, the magnetic crawler belt, the crawler belt driving device and the tensioning mechanism are installed on the rack, the magnetic crawler belt can provide magnetic adsorption force, and the crawler belt driving device is in transmission connection with the magnetic crawler belt and provides driving force for the magnetic crawler belt; the tensioning mechanism is connected with or makes contact with the magnetic crawler belt, and the tensioning mechanism can be driven by external force to stretch out and draw back in the selected direction and provide tensioning force for the magnetic crawler belt. The wall-climbing robot is easier and more efficient to manufacture, assemble and maintain, and meanwhile, different modules can be flexibly configured in different application scenes, so that the capacity of customized production and quick response to market requirements is achieved.

The invention discloses a composite type four-foot wall climbing robot integrating a fish suction cup adsorption mechanism and lizard crawling characteristics. The problems that a traditional wall climbing robot is poor in adsorption stability and insufficient in moving flexibility on uneven and wet wall surfaces are solved. The core structure of the robot comprises an adsorption sole assembly, a multi-degree-of-freedom leg joint, a bionic spine, a micro air pump and a sole pressure sensor, and the adsorption sole assembly controls an air bag through the air pump to generate negative pressure to adapt to various wall surfaces; multiple joints of the legs are matched with the spherical joints to achieve multi-angle attachment of the foot sole, the bionic spine can be bent and buffered, lizard diagonal gaits are adopted, the rotation angle of the joints is adjusted in combination with a sensor, self-adaptive movement on the wall with the inclination angle ranging from 0 degree to 90 degrees is achieved, and the efficiency is improved by 30% or above compared with a traditional robot. The robot breaks through the limitation of a single bionic mechanism, can be applied to complex high-altitude scenes such as building outer wall detection, and reduces the manual operation risk.

The invention relates to a wall-climbing robot system for detecting a coating of a steel pipe truss structure and an application method, and the system comprises a self-adaptive magnetic adsorption mobile platform which can be adaptively and stably adsorbed on steel trusses with different pipe diameters to execute an inspection task; the robot platform is provided with an autonomous positioning navigation system composed of a laser radar, binocular vision and an airborne computer, and the position of the robot is positioned in the steel pipe truss without satellite signals through real-time mapping and a positioning algorithm of tight coupling of laser and vision. The front part of the robot is provided with an electrically foldable surrounding type array camera, so that full-surface coverage type shooting of a steel pipe component is realized, and real-time identification of coating apparent defects is executed in combination with an artificial intelligence disease identification algorithm in an airborne computer; and the lower part of the robot is provided with a telescopic elastic electromagnetic eddy current probe for detecting the thickness of the coating. The method has the advantages that the apparent diseases and the thicknesses of coatings of steel structures such as ceilings of high-speed rail stations and ceilings of large stadiums can be rapidly detected.

The utility model discloses a wall-climbing photographing robot, which comprises a wall-climbing robot body and a pan-tilt camera arranged on the wall-climbing robot body through a rotary driving mechanism, the rotation driving mechanism comprises a first driving motor arranged in the wall-climbing robot body and a bearing seat arranged on the front face of the wall-climbing robot body and connected with an output shaft of the first driving motor, and the pan-tilt camera is fixed to the bearing seat. The first driving motor is controlled by the wall-climbing robot body and can drive the bearing base to rotate so that the pan-tilt camera can be kept in a horizontal state. The wall-climbing photographing device can meet the use requirements of wall-climbing photographing.

The embodiment of the invention discloses a steel formwork polishing and cleaning path planning method, device and equipment and a storage medium. The method comprises the steps that multispectral data and laser point cloud data are used for recognizing concrete residues on the surface of a steel formwork, the area, height and volume of the steel formwork are calculated, the shape type and the polishing mode are determined, and the polishing and cleaning duration is calculated according to the height and the volume; and combining the service life of the polishing head and the total electric quantity of the battery to determine polishing operation areas and generate a polishing cleaning path of each area. Concrete residues are recognized with high accuracy, the area, height and volume are calculated, and then the polishing and cleaning time is calculated, so that the consumption of the polishing head and the battery power is accurately evaluated, the polishing operation area capable of being cleaned by the wall-climbing robot in one operation period is planned, the service life of the polishing head is evenly distributed, and the utilization rate is increased. And the polishing cleaning path is generated according to the cleaning sequence, the cleaning mode and the boundary coordinates, the frequency of returning to the maintenance point is reduced, the operation efficiency is improved, and the cost is reduced.

The invention discloses a stair climbing robot and an operation and control method. The four or more mechanical legs are connected with the machine body, extend downwards and are used for standing or climbing stairs; the one or more manipulators extend out of the upper surface or the side surface or the front surface of the machine body and are used for grabbing handrails or handrails; the bearing mechanism is arranged on the machine body; the detection mechanism is arranged on the machine body or the mechanical legs or the manipulators; the computer control device and the man-machine interaction device are arranged in the system; the sensor and the storage battery are arranged in the system; the mechanical legs and the manipulator are driven and controlled by the computer control device, the machine body or the hip joint or the mechanical legs or the shoulder joint or the mechanical arm or a motor in the shell, a transmission mechanism and a sensor; the control system enables the step stepping action of the mechanical legs to be matched with the approaching or grasping or releasing action of the manipulator to the handrail or the handrail, so that the robot can safely and stably carry people to go up and down stairs.

Provided in the present application is a wall-climbing robot, which can stably walk on a curved surface to implement stable operation on a curved wall surface. The wall-climbing robot comprises: a robot base; and a traveling mechanism, which is arranged on the side of the robot base facing toward a wall surface, and comprises a swing shaft, a connecting shaft, wheels and a magnet, wherein the wheels are used for walking on the wall surface and are arranged at two ends of the connecting shaft that extend in a first direction, the first direction being perpendicular to the diameter direction of the wheels; the magnet is used for providing a magnetic attraction force between the traveling mechanism and the wall surface and is arranged between the wheels at the two ends of the connecting shaft; the swing shaft extends in a second direction and is arranged between the wheels at the two ends of the connecting shaft, the second direction being perpendicular to the first direction; and the connecting shaft is capable of rotating about the swing shaft.

A pipeline length and tightness degree self-adaptive control system of a wall-climbing robot comprises a sensor and an automatic adjusting device. The sensors are arranged on a pipeline and a control circuit of the wall-climbing robot, the sensors comprise a tension sensor and a length sensor, and the tension sensor and the length sensor are used for monitoring the tightness degree and the length change of the pipeline and the control circuit in real time and transmitting sensor data to a ground control station or a control system of the robot in real time. The automatic adjusting device is a wire spool, and the wire spool is driven by a motor to rotate, drives the pipeline and controls the line to be wound and unwound.

A wall-climbing robot for cleaning a swimming pool is provided. The cleaning robot includes a machine body, walking assemblies located on both sides of the machine body, and a roller brush assembly located at a front side of the machine body. The roller brush assembly includes a support shaft and two sections of roller brush bodies rotatably arranged on the support shaft. The support shaft is connected to the machine body. Each walking assembly includes a walking motor, and a first output end and a second output end connected to the walking motor. The first output end is connected to a walking crawler belt and the second output end is connected to the roller brush body. The walking crawler belt and the roller brush body on the same side of the machine body can accelerate and decelerate synchronously.

The invention discloses a climbing robot for a power transmission line steel tube pole tower and an operation method thereof, the climbing robot comprises an upper clamping jaw mechanism, a lower clamping jaw mechanism, a lower clamping jaw mechanism and a climbing mechanism, the upper clamping jaw mechanism comprises two upper clamping jaws capable of being opened and closed oppositely and an upper clamping jaw driving part used for driving the two upper clamping jaws to be opened and closed; the lower clamping jaw mechanism comprises two lower clamping jaws capable of being oppositely opened and closed and a lower clamping jaw driving part used for driving the two lower clamping jaws to be opened and closed; the telescopic mechanism is provided with an upper telescopic end and a lower telescopic end which can be relatively close to each other or relatively far away from each other, the upper telescopic end is connected with the upper clamping jaw mechanism, and the lower telescopic end is connected with the lower clamping jaw mechanism; the upper telescopic end and the lower telescopic end move oppositely in the first direction, the two upper clamping jaws and the two lower clamping jaws are oppositely opened and closed in the second direction, and the first direction is perpendicular to the second direction. Through the arrangement, the climbing robot can climb up and down along the power transmission line steel pipe tower provided with the foot nails.

The invention discloses an electromagnetic wall-climbing mechanical leg based on an air gap structure and a wall-climbing robot, and the electromagnetic wall-climbing mechanical leg based on the air gap structure is used for wall-climbing movement on a magnetically attractable adsorption surface, and comprises a frame, an electromagnetic adsorption part, a driving wheel and an auxiliary wheel; the electromagnetic adsorption part is mounted on the frame and is provided with a magnetic force end which is magnetically attracted with an adsorption surface by an adjustable air gap; the driving wheel is mounted on the frame and is used for rolling driving on the adsorption surface; at least one auxiliary wheel is installed on the frame, and the auxiliary wheel and the driving wheel support the frame on the adsorption face in a rolling mode. The electromagnetic adsorption part is supported on the basis of the driving wheel and the auxiliary wheel, an air gap is provided between the electromagnetic adsorption part and an adsorption surface, the adsorption force of magnetic attraction is adjusted, stable wheel pressure is provided for the driving wheel, slipping or falling is avoided, each single leg has the independent wall climbing capacity, and a plurality of single legs can be adopted for wall climbing inspection along the plane at the same time.

The invention discloses a laser radar-based wall-climbing robot full-coverage path planning obstacle avoidance system and method, the system is applied to a wall-climbing robot, and the system comprises a remote control module, an upper computer, a laser radar and a chassis control module; the upper computer, the laser radar and the chassis control module are all mounted on the wall-climbing robot; the remote control module provides a visual interface and a control button for an operator; the remote control module sends a control signal to the upper computer and receives information from the upper computer, and the upper computer carries out fusion processing on the received data information and sends an instruction to the chassis control module to control the wall-climbing robot to work. The laser radar is used for environment perception of the wall-climbing robot, full-coverage path walking and obstacle avoidance can be achieved only through side wall and ground features, the system complexity is low, the intelligent degree of the wall-climbing robot is improved, manual remote control can be replaced for plane tank wall operation, and the manpower and material resource cost is saved.

The utility model discloses a bridge pier column detection device, and belongs to the technical field of bridge detection. Comprising a negative-pressure climbing robot, a lifting assembly is installed on the shell face, opposite to a bridge, of the negative-pressure climbing robot, a micro driving part is installed in a shell of the negative-pressure climbing robot, the output end of the micro driving part is connected with a first gear, and the lifting assembly is in transmission connection with the micro driving part through the first gear; the detection assembly is installed at the moving end of the lifting assembly, the micro driving piece adjusts the lifting assembly to rotate and drives the detection assembly to rotate in the circumferential direction to detect the bridge pier column, and the lifting assembly stretches or retracts to adjust the detection assembly to be close to or away from the outer surface of the detection assembly and the outer surface of the bridge pier column. The distance between the detection assembly and the surface of the bridge pier stud is adjusted through the lifting assembly, it is ensured that in the accurate detection process of the surface of the bridge pier stud, the detection assembly can clearly shoot the surface of the bridge pier stud, and the accuracy of surface detection of the bridge pier stud is improved.

The invention relates to the technical field of power grid equipment operation and inspection, in particular to a power transmission line tower climbing robot which comprises a tower climbing robot frame, the inner side of the tower climbing robot frame is rotationally connected with two transmission threaded rods through bearings, and the two transmission threaded rods are symmetrically distributed on the inner side of the tower climbing robot frame; the outer side of the transmission threaded rod is in transmission connection with a climbing arm assembly through threads, a driving assembly for driving the transmission threaded rod to rotate is arranged on the inner side of the tower climbing robot frame, and a connecting rod mechanical gripper capable of being opened and closed is arranged at the top end of the climbing arm assembly. And the top end of the climbing arm assembly controls the connecting rod mechanical gripper to realize opening and closing actions through the power assembly. The robot for climbing the power transmission line tower has the advantages that a steel pipe pole climbing robot replaces manual climbing, a hanging safety rope can be carried to a designated position, and it is ensured that after a follow-up maintainer hangs an anti-falling device on the safety rope, the safety rope always provides protection in the climbing process.