CN112278108A - Climbing robot - Google Patents

Abstract

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a climbing robot. The invention comprises a main machine and a clamping jaw; the clamping jaw comprises a fixed seat and a clamping end, the clamping end is formed by matching two symmetrical claw rods, the claw rods can perform linear reciprocating motion along the axial direction of a matched rotary sliding sleeve, and the rotary sliding sleeve is hinged on the fixed seat through a vertical hinge seat; the fixed seat comprises a lower mounting plate which is horizontally arranged, a push-pull plate is arranged right above the lower mounting plate, and two shaft ends of a vertical push-pull shaft at the tail end of each claw rod are respectively matched with an orientation groove at the lower mounting plate and a guide groove at the push-pull plate; the push-pull plate is driven by the horizontal driving assembly to generate horizontal reciprocating motion vertical to the direction of the vertical push-pull shaft; the fixing seat also comprises a V-shaped block. The invention can realize the force closure and the shape closure in the climbing process along the angle steel tower, thereby effectively ensuring the action stability and the action reliability of climbing operation and ensuring the safe and reliable operation of a power transmission system.

Description

Climbing robot

Technical Field

The invention belongs to the technical field of electric power operation climbing robots, and particularly relates to a climbing robot.

Background

The stability and the safety of the electric power are basic guarantees for promoting the development of various industries, and in China, the transmission angle steel towers are large in number and wide in distribution and are exposed in a field environment or even a dusty strong-wind high-humidity severe environment for a long time. Under traditional mode, need bear maintenance equipment by the maintainer and climb the angle-steel tower along the foot nail side, gradually articulate the safety rope and prevent weighing down, lead to patrolling and examining the cycle length, the climbing is dangerous big, and work efficiency is low. Therefore, the climbing robot suitable for the angle steel tower is produced, and climbing types with various morphological structures are gradually derived, such as snake-shaped robots, wheel-type robots, inchworm-type robots and the like. No matter what kind of robot, after loading the work portion, its whole quality is all very big, this has just proposed the serious examination to the climbing reliability of robot. Because the gigantic of robot self quality, current ordinary clamping jaw has can't satisfy actual centre gripping demand, needs urgently to develop a neotype clamping jaw structure to satisfy current angle-steel tower with the work demand of climbing robot.

Disclosure of Invention

The climbing robot can realize force closure and shape closure in the climbing process along the angle steel tower, so that the action stability and action reliability of climbing operation are effectively ensured, the labor inspection cost can be greatly saved, the maintenance efficiency is improved, and the safe and reliable operation of a power transmission system is ensured.

In order to achieve the purpose, the invention adopts the following technical scheme:

a climbing robot is characterized by comprising a host machine capable of moving along the length direction of angle steel and clamping jaws arranged on the host machine and used for forming walking feet of the host machine, wherein the clamping jaws are more than two groups and are sequentially distributed on the host machine along the moving path direction of the host machine, and the clamping jaws can move in a reciprocating manner parallel to the moving path of the host machine relative to the host machine;

the clamping jaw comprises a fixed seat and a clamping end arranged in front of the fixed seat and used for directly clamping angle steel, the clamping end is formed by matching two symmetrical claw rods, the head end of each claw rod forms a matching end used for positioning the corresponding groove edge of the angle steel, the tail end of each claw rod respectively penetrates through a group of rotary sliding sleeves, so that the corresponding claw rods can do linear reciprocating motion along the axial direction of the matched rotary sliding sleeves, and the rotary sliding sleeves are hinged on the fixed seat through vertical hinge seats; the fixed seat comprises a lower mounting plate which is horizontally arranged, the upper plate surface of the lower mounting plate is concavely provided with a directional groove, the shape of the directional groove is in a shape of a Chinese character 'ba' gradually expanding from the rear end of the fixed seat to the front port of the fixed seat, a push-pull plate is arranged right above the lower mounting plate, the lower plate surface of the push-pull plate is concavely provided with a guide groove in a shape of a Chinese character 'yi', the tail end of each claw rod is provided with a vertical push-pull shaft, and two shaft ends of the vertical push-pull shaft are respectively matched with the directional groove and the guide groove, so that two shaft ends of the vertical push-pull shaft can perform synchronous slide rail; the push-pull plate is driven by the horizontal driving assembly to generate horizontal reciprocating motion perpendicular to the direction of the vertical push-pull shaft, and the groove length direction of the guide groove is perpendicular to the horizontal motion direction of the push-pull plate; the fixed seat also comprises a V-shaped block which is vertically arranged in the groove length direction and the groove opening of which faces to the direction of the angle steel, the groove bottom line of the V-shaped block forms a matching line for matching the edge of the angle steel, and two groove surfaces of the V-shaped block form matching surfaces for matching the two groove surfaces of the angle steel; the V-shaped block is arranged in an area formed by enclosing the clamping end.

Preferably, the horizontal driving assembly comprises a screw rod sliding block mechanism formed by matching a push-pull sliding block and a push-pull screw rod, the bottom end of the push-pull sliding block is fixed at the upper plate surface of the push-pull plate, and the push-pull screw rod horizontally extends towards the rear of the fixed seat and forms power fit with an output shaft of the push-pull motor.

Preferably, touch switches for sensing the in-place information of the angle steel are arranged at the top end and the bottom end of the V-shaped block, each group of touch switches comprises a group of sub roller switches which are arranged in pairs,

preferably, a pressure switch used for sensing the in-place information of the outer groove surface of the angle steel is arranged in the groove cavity of the V-shaped block.

Preferably, the fixed seat further comprises an upper mounting plate, the upper mounting plate and the lower mounting plate are connected with each other through a rear mounting plate, so that a square groove-shaped structure with an opening facing the direction of the angle steel is formed; the lower plate surface of the upper mounting plate is provided with a guide rod, the top end of the push-pull sliding block is concavely provided with a matching groove through which the guide rod can pass, and a guide rail sliding block is formed between the push-pull sliding block and the guide rod and is matched with the guide rod.

Preferably, the push-pull motor is fixed at the tail end of the upper mounting plate through a positioning block, and an avoidance hole for the push-pull screw rod to pass through is arranged on the rear mounting plate in a penetrating manner;

preferably, the claw rod comprises a sliding rod inserted in the square sleeve-shaped rotating sliding sleeve and a grabbing rod in threaded fit at the top end of the sliding rod; the sliding rod is concavely provided with a guide groove, and the guide groove and a guide convex edge arranged in the cavity of the rotary sliding sleeve form a sliding rail guide fit.

Preferably, the two vertical push-pull shafts are coaxially arranged at the upper part and the lower part of the tail end of the claw rod respectively; and rolling bearings which are convenient to form rolling fit with the directional grooves and the guide grooves are arranged at the corresponding shaft ends of the two vertical push-pull shafts.

Preferably, the linear guide groove is formed by two groups of horizontal sub-groove bodies arranged in sequence along the length direction of the push-pull plate, and each group of horizontal sub-groove bodies is correspondingly matched with a group of vertical push-pull shafts positioned at the tail end of the claw rod.

Preferably, the appearance of the main machine is in the shape of a rectangular frame parallel to the length direction of the angle steel, a sliding track is arranged on one side face of the main machine facing the angle steel, a sliding block is fixedly connected to the clamping jaw, and a sliding rail is formed between the sliding block and the sliding track in a guiding fit mode.

The invention has the beneficial effects that:

1) the inchworm formula robot's of tradition structure basis is on, through the special design clamping jaw to realize along power seal nature and the shape seal nature of the climbing in-process of angle-steel tower, and then effectively ensure the action stability and the action reliability of climbing operation, so that can use manpower sparingly greatly and patrol and examine the cost, improve maintenance efficiency, and guarantee transmission system safe and reliable operation.

For the clamping end, on one hand, the clamping end needs to have stable clamping force, so that the clamping end can have reliable force closure and shape closure when clamping the angle steel; on the other hand, due to the special shape of the angle steel, the clamping end needs to have a sufficient expanding area, so that the requirement of cladding type clamping of the angle steel is met. In view of the above, the invention provides a clamping end structure formed by a claw rod, a rotary sliding sleeve and a fixed seat, during actual operation, the action of a horizontal driving assembly drives a push-pull plate to move forward, and a guide groove at the push-pull plate pushes a vertical push-pull shaft at the claw rod, so that the claw rod generates sliding action along the vertical push-pull shaft when moving forward along the rotary sliding sleeve; meanwhile, the vertical push-pull shaft at the claw rod is matched with the splayed directional groove to form a slide rail, so that the claw rod moves forwards and outwards due to the action of the directional groove; due to the existence of the rotary sliding sleeve hinged at the fixed seat, the tail end of the claw rod is pushed to generate forward and outward oblique action, the rotary sliding sleeve forcibly limits the claw rod to only generate forward and hinged action along the rotary sliding sleeve, and at the moment, the claw rod forms outward-opening composite action. Two sets of claw poles produce combined type's action of flare-outing in step each other, and the crossing conventional clamping jaw of its angle of flare-out is the opening bigger, more does benefit to the special main material of shape such as centre gripping angle steel, and in case when tightening up after the centre gripping, cooperation V type piece carries out two-way clamp, and its tightening force and clamping stability are also higher, and the host computer that more can be reliable and bear the weight of the quality huge produces the antedisplacement action along the angle steel, and the result is showing.

2) For the V-shaped block, the function is that when two groups of claw rods are inwards tightened and used for clamping two groove edges of the angle steel, the groove cavities of the V-shaped block can be coincided and outwards abut against the outer groove surface and even the ridge of the angle steel, so that the opposite clamping effect is realized, and the clamping reliability of the opposite angle steel is remarkably improved. When the outer groove surface of the angle steel contacts the sub roller switch at the touch switch, the sub roller switch is pressed and sends a signal; meanwhile, when the outer groove surface of the angle steel contacts the pressure switch, the pressure switch can also send in-place signals. When the two sets of in-place signals confirm the position, the control unit at the host can determine that the current clamping jaw is reliably clamped on the angle steel, and then the next action is carried out, otherwise, the clamping jaw is clamped once again, so that the traveling reliability of the device along the angle steel tower is guaranteed to the maximum.

3) For the horizontal driving component, the conventional driving mode such as an electric push rod and even a pneumatic piston cylinder can be adopted in practical use; in the same way, in consideration of the huge mass of the host machine, the invention provides a screw rod sliding block mechanism formed by matching a push-pull sliding block and a push-pull screw rod driven by a push-pull motor, thereby realizing the powerful push-pull function of the push-pull plate.

4) For the fixed seat, the function of bearing the claw rod is mainly achieved, and a series of driving pieces can be borne so as to drive the claw rod to generate corresponding clamping and loosening actions. Considering that when the screw rod sliding block mechanism pushes the push-pull plate to move forward, the push-pull sliding block completely depends on the bottom surface to be matched with the push-pull plate, and the push-pull plate completely depends on the guide groove positioned on one side to apply huge driving force to the tail end of the claw rod, therefore, the push-pull sliding block and the push-pull plate are extremely easy to generate inaccurate advancing movement or oblique stress condition. In order to ensure the accuracy of the advancing of the push-pull plate and the service life of the push-pull sliding block and the push-pull lead screw, the invention is additionally provided with the guide rod, and the guide rod is fixed at the lower plate surface of the upper mounting plate, thereby ensuring the bidirectional balanced stress of the top end and the bottom end of the push-pull sliding block, and ensuring the precision, the reliability and the high service life of the action of the push-pull sliding block.

5) In actual operation, the types of the used angle steels of the angle steel towers with different sizes are possibly different, and in order to ensure the high applicability of the invention, the grabbing end of the clamping jaw, namely the jaw rod, is replaceable. In other words, when aiming at different models of angle steel, the grabbing rod positioned at the front end of the claw rod can be detached and replaced by the grabbing rod with a new size, so that the current model of angle steel is adapted, and the operational flexibility is obviously higher. Meanwhile, the replacement part is only the top end position of the claw rod, and the sliding rod which is matched with the rotating sliding sleeve and even the sliding plate and other moving parts does not need to be replaced, so that the efficiency and convenience of field replacement are effectively guaranteed, and multiple purposes are achieved.

Drawings

FIG. 1 is a view of the clamping position of the present invention relative to an angle steel tower;

FIG. 2 is a view showing a clamping state of the angle iron of the present invention;

FIGS. 3, 4, 5 and 6 are flow charts of the operation of the present invention;

FIGS. 7 and 8 are perspective views showing the operation state of the holding member;

FIG. 9 is a schematic cross-sectional view of FIG. 7;

FIG. 10 is an exploded view of the perspective structure of FIG. 7;

FIG. 11 is an exploded view of the perspective structure of FIG. 10;

FIG. 12 is an exploded view of the engagement of the claw rod, the rotary sliding sleeve, the vertical push-pull shaft, the push-pull slider, and the lower mounting plate;

FIG. 13 is a schematic perspective view of the clamp assembly when the lift assembly is in a raised position;

FIG. 14 is an operational view of the clamping assembly;

FIG. 15 is an enlarged view of a portion I of FIG. 14;

fig. 16 and 17 are schematic perspective views of the clamping assembly when the lifting assembly is in a return stroke state;

FIG. 18 is an exploded perspective view of the clamping assembly;

FIGS. 19 and 20 are schematic views showing the tilting of the clamping end during the operation of the angle adjustment assembly;

fig. 21 is a block diagram of the walking control flow of the present invention.

The actual correspondence between each label and the part name of the invention is as follows:

a-angle steel B-barrier

a-upper clamping assembly b-lower clamping assembly

10-main unit 20-clamping jaw

21-fixed seat 21 a-lower mounting plate 21 b-orientation groove 21 c-push-pull plate

21 d-guide groove 21 e-V-shaped block 21 f-push-pull sliding block 21 g-push-pull screw rod

21 h-push-pull motor 21 i-upper mounting plate 21 j-rear mounting plate

21 k-guide bar 21 l-positioning block

22-claw rod 22 a-sliding rod 22 b-grabbing rod 22 c-guide groove

23-rotary sliding sleeve 23 a-plumb hinge seat

24-plumb push-pull shaft 24 a-rolling bearing

25-tact switch 26-pressure switch

30-angle adjusting assembly 31-angle adjusting plate 32-bottom hinge lug

33-top hinged lug 34-angle adjusting screw rod 35-angle adjusting slide block

36-Angle adjusting Motor

40-lifting assembly 41-plumb bottom plate 42-guide column 43-directional screw rod

44-lifting motor

Detailed Description

For the sake of general understanding, the structure and operation of the embodiment of the entire climbing robot are described as follows:

the climbing robot, as shown in fig. 1-20, has a preferred structure comprising a main machine 10 in the shape of an elongated frame and a clamping assembly arranged on the main machine 10; in actual operation, the length direction of the main body 10 should be parallel to the length direction of the angle iron a. One surface of the main machine 10 facing the angle steel A is provided with a sliding track, and an electric control sliding block is arranged on the sliding track, so that the main machine 10 can reciprocate along the length direction according to the action of the control unit; and a group of clamping components are fixed on the sliding block one by one. In the particular example configuration shown in fig. 1-6, it can be seen that there are two sets of clamping assemblies, namely, an upper clamping assembly a and a lower clamping assembly b. When the clamping device works, one or both of the upper clamping component a and the lower clamping component b can slide up and down on the sliding track along the length direction of the main machine 10 through the sliding block, so that an inchworm-like action function is realized. When the main body 10 travels to a predetermined point along the angle a and stops, a predetermined operation can be performed by a working part which is previously installed at the head end or other portion of the main body 10. If the working part is a mechanical head with a torque wrench, the tightening action of the assembled mounting screw at the angle steel A can be realized.

On the basis of the above structure, the structure of the clamping assembly is shown in fig. 13-20, and mainly comprises three major parts, namely a clamping jaw 20, an angle adjusting assembly 30 and a lifting assembly 40. Wherein:

clamping jaw 20

The clamping jaw 20 is provided to directly achieve the clamping and loosening functions of the angle iron A. As shown in fig. 7-12, the gripping jaw 20 for the climbing robot according to the present invention comprises a fixed base 21 and a gripping end arranged in front of the fixed base 21.

The fixing base 21 is formed by a lower mounting plate 21a, a rear mounting plate 21j and an upper mounting plate 21i, and a guide rod 21k, a push-pull screw rod 21g, a push-pull slider 21f, a push-pull plate 21c, a positioning block 21l, a V-shaped block 21e, a push-pull motor 21h, etc. are installed in a groove cavity of the fixing base 21, as shown in fig. 10-11. The structure of the clamping end comprises two sets of claw rods 22 which are symmetrical to each other, the two sets of claw rods 22 are inserted into the rotary sliding sleeve 23, and the rotary sliding sleeve 23 is fixed on the fixed seat 21 through the vertical hinge seat 23 a. During assembly, the clamping end is fixed relative to the fixed seat 21, and it is required to ensure that the lower shaft end of the vertical push-pull shaft 24 located at the tail end of the claw rod 22 is accurately matched with the orientation groove 21b, that is, the rolling bearing 24a located at the vertical push-pull shaft 24 is accurately in rolling fit with the groove wall of the orientation groove 21 b. Then, the push-pull quick-position guide groove 21d is clamped into the upper shaft end of the vertical push-pull shaft 24, and then the push-pull slider 21f and the push-pull lead screw 21g are sequentially installed. Then, the guide rod 21k is assembled at the upper mounting plate 21i, the upper mounting plate 21i is fixed on the rear mounting plate 21j, and the push-pull motor 21h is mounted on the corresponding plate surface of the rear mounting plate 21j or the tail end of the upper mounting plate 21i through the positioning block 21 l. Finally, the two ends of the V-shaped block 21e are fixed to the head ends of the upper mounting plate 21i and the lower mounting plate 21a, respectively, thereby completing the overall assembly of the clamping ends. In fact, the "straight" shaped guiding groove 21d may also be formed by two sets of horizontal sub-grooves arranged in sequence along the length direction of the push-pull plate 21c, each set of horizontal sub-grooves correspondingly matching with a set of vertical push-pull shafts 24 at the tail end of the claw rod 22, as shown in fig. 10 and 12.

When being directed at the angle steel A of different models, accessible dismantlement is located the grabbing pole 22b of claw pole 22 front end and is changed the grabbing pole 22b of new size to the angle steel A of adaptation current model, the flexibility is obviously higher in the operation. Meanwhile, the replacement part is only the top end position of the claw rod 22, and the sliding rod 22a which is matched with the rotating sliding sleeve 23 and even the sliding plate 21c and other moving parts does not need to be replaced, so that the efficiency and convenience of field replacement are effectively ensured, and multiple purposes are achieved. The guide groove 22c serves the purpose of further ensuring the accuracy of the linear motion of the slide lever 22 a.

Second, the angle adjusting assembly 30

The angle adjustment assembly 30, as shown in fig. 18-20, includes an angle adjustment plate 31, two sets of bottom hinge lugs 32, one set of top hinge lugs 33, one set of screw slider unit formed by the cooperation of an angle adjustment screw 34 and an angle adjustment slider 35, and one set of angle adjustment motor 36.

During actual assembly, firstly, a screw rod sliding block unit is arranged at the upper part of the angle adjusting plate 31, and the angle adjusting motor 36 is correspondingly assembled; meanwhile, a bottom hinge lug 32 is installed at the lower part of the angle adjusting plate 31; at this time, a stable isosceles triangle three-point layout is formed by the two sets of screw slider units and the two sets of bottom hinge lugs 32. The lower part of the fixed seat 21 of the clamping jaw 20 is correspondingly matched with the bottom hinge lug 32, so that the clamping jaw 20 can generate hinge action relative to the bottom hinge lug 32; the upper part of the fixed base 21 extends upwards to form a top hinge lug 33, and the top hinge lug 33 is hinged on an angle adjusting slide block 35 as shown in fig. 16-20.

After the above structure is assembled, when the angle adjustment motor 36 rotates, the angle adjustment screw 34 assembled on the angle adjustment plate 31 through the assembly slot is driven to rotate, and the angle adjustment slider 35 on the angle adjustment screw 34 is driven to move close to and away from the angle steel a. The guiding action of the angle adjusting slider 35 then drives the top hinge lug 33 and thus the whole clamping jaw 20 to swing around the bottom hinge lug 32, thereby achieving the pitch angle adjusting effect of the whole clamping jaw 20.

Third, the lifting assembly 40

As shown in fig. 13-20, the lifting assembly 40 includes a set of vertical bottom plates 41, four sets of guide posts 42, a set of directional screws 43, and a set of lifting motors 44.

During actual assembly, firstly, four groups of guide posts 42 are installed on the angle adjusting plate 31, and then, after the guide posts are in threaded fit with the directional screw rod 43 on the vertical bottom plate 41, the guide posts and the lifting motor 44 on the angle adjusting plate 31 form power fit; at this time, it is sufficient to ensure the insertion and engagement of the guide post 42 with the guide hole or the guide boss on the vertical base plate 41.

After the assembly of the lifting assembly 40 is completed, whenever the lifting motor 44 acts, the orientation screw 43 is driven to rotate, and the slide block on the orientation screw 43, i.e. the vertical bottom plate 41, is driven to act, and the vertical bottom plate 41 acts in a manner of approaching or separating relative to the angle adjustment plate 31 under the guiding action of the guide post 42. When the vertical base plate 41 is fixed to the sliding block of the main body 10, it is obvious that the clamping jaws 20 move toward and away from the main body 10 each time the lifting assembly 40 extends and retracts.

To further describe the action state of the climbing robot, the walking control process of the present invention is given by taking the inchworm-type structure as an example and combining fig. 1-6 and fig. 21 as follows:

1) fig. 1-2 show a state diagram of two legs, i.e., two groups of clamping assemblies clamping the angle steel a at the same time under normal conditions, at this time, it can be seen that the length direction of the main machine 10 is parallel to the length direction of the currently clamped angle steel a;

2) when the main machine 10 needs to go upwards, the lower clamping component b is firstly loosened, and at the moment, due to the action of the gravity of the main machine 10, the main machine 10 has the phenomenon of inclination relative to the angle steel A currently clamped, and the reference is made to fig. 3;

3) the inclinometer on the host 10 acquires the inclination angle of the host 10 relative to the currently clamped angle steel A, and sends a signal to the control unit on the host 10, and the control unit controls the angle adjusting component 30 at the upper clamping component a to act; at this time, the angle adjusting motor 36 starts to operate, so that the clamping jaw 20 at the upper clamping assembly a generates a hinging action relative to the bottom hinging lug 32 through pushing and pulling actions on the top hinging lug 33, and further, a function of adjusting the relative angle between the host 10 and the angle iron a by taking the upper clamping assembly a as a fulcrum is realized until the host 10 is parallel to the currently clamped angle iron a, and at this time, the posture of the host 10 is shown in fig. 4;

4) the lower clamping assembly b generates an upward movement along the main machine 10 through the sliding guide rail and the sliding block, and after the lower clamping assembly b moves upward in place, the angle of the lower clamping assembly b is adjusted through the angle adjusting assembly 30 of the lower clamping assembly b in the same way, so that the angle steel A can be clamped at a proper angle; after the angle of the lower clamping assembly b is adjusted, the lower clamping assembly b can extend to the angle steel A through the lifting assembly 40 and clamp the angle steel A, and the posture of the main body is shown in figure 5;

5) and similarly 2), 3) and 4), when the upper clamping component a is loosened, the host machine 10 inclines relative to the angle steel A currently clamped due to the self-gravity action of the host machine 10; at the moment, the control unit controls the angle adjusting assembly 30 at the lower clamping assembly b to act, so that the relative angle between the main machine 10 and the angle steel A is adjusted by taking the lower clamping assembly b as a fulcrum until the main machine 10 is parallel to the currently clamped angle steel A;

6) the main machine 10 moves upwards relative to the lower clamping component b, and when the main machine 10 moves upwards to a proper position, the angle of the upper clamping component a is adjusted through the angle adjusting component 30 of the upper clamping component a; after the angle of the upper clamping component a is adjusted, the lifting component 40 extends to the angle steel a and clamps the angle steel a, and finally the main machine 10 is restored to the state shown in fig. 6, in which the main machine 10 is parallel to the angle steel a, and the state shown in fig. 6 is the state after the upward step in the state shown in fig. 2, so that the one-wheel walking control action is completed.

When the main machine 10 needs to carry the working part to go up continuously, the steps are taken as a cycle, and the cycle is repeated. Otherwise, if the host 10 needs to go down, the same process can be performed. Similarly, when the host 10 needs to avoid the obstacle B, it is only necessary to retract the corresponding clamping assembly to the lowest position.

For the working part, it may be a torque wrench, a camera or even a welding head, etc., as appropriate depending on the field conditions. As a functional element for performing precise operation, the working portion may be mounted at any position on the main body 10, and may even form an integral structure with the main body 10 or form a structure convenient to mount and dismount with respect to the main body, which is not described herein again.

Of course, the above is one specific embodiment of the present invention. In actual operation, equivalent replacement of each power source is performed, for example, a driving cylinder or even a gear rack mode is adopted to replace the rotation driving action of each motor, the number of clamping assemblies is increased, or the arrangement mode of the clamping assemblies is changed, or even a plurality of groups of main machines 10 of the climbing robot can be hinged end to form a robot structure which is more insect-like, and the like; such known structural changes from conventional concepts, as well as those related to the general concepts, should be considered as equivalent or similar in design and fall within the scope of the present invention.

Claims (10)

1. A climbing robot is characterized by comprising a main machine (10) capable of moving along the length direction of angle steel and clamping jaws (20) arranged on the main machine and used for forming walking feet of the main machine, wherein the clamping jaws (20) are more than two groups and are sequentially distributed on the main machine (10) along the moving path direction of the main machine (10), and the clamping jaws (20) can move in a reciprocating manner relative to the main machine (10) and parallel to the moving path of the main machine (10);

the clamping jaw (20) comprises a fixed seat (21) and a clamping end arranged in front of the fixed seat (21) and used for directly clamping angle steel, the clamping end is formed by matching two symmetrical claw rods (22), the head end of each claw rod (22) forms a matching end used for positioning the corresponding groove edge of the angle steel, the tail end of each claw rod (22) penetrates through a group of rotary sliding sleeves (23) respectively, so that the corresponding claw rods (22) can do linear reciprocating motion along the axial direction of the matched rotary sliding sleeves (23), and the rotary sliding sleeves (23) are hinged to the fixed seat (21) through vertical hinge seats (23 a); the fixing seat (21) comprises a lower mounting plate (21a) which is horizontally arranged, an upper plate surface of the lower mounting plate (21a) is concavely provided with a directional groove (21b), the shape of the directional groove (21b) is in a shape of a Chinese character 'ba' gradually expanding from the rear end of the fixing seat (21) to the front port of the fixing seat (21), a push-pull plate (21c) is arranged right above the lower mounting plate (21a), a lower plate surface of the push-pull plate (21c) is concavely provided with a guide groove (21d) in a shape of a Chinese character 'yi', the tail end of each claw rod (22) is provided with a vertical push-pull shaft (24), and two shaft ends of the vertical push-pull shaft (24) are respectively matched with the directional groove (21b) and the guide groove (21d), so that two shaft ends of the vertical push-pull shaft (24) can perform synchronous slide rail guide actions in the directional groove; the push-pull plate (21c) is driven by the horizontal driving component to generate horizontal reciprocating motion in the direction vertical to the vertical push-pull shaft (24), and the groove length direction of the guide groove (21d) is vertical to the horizontal motion direction of the push-pull plate (21 c); the fixed seat (21) further comprises a V-shaped block (21e) which is vertically arranged in the groove length direction and the notch of which faces the direction of the angle steel, the groove bottom line of the V-shaped block (21e) forms a matching line used for matching the edge of the angle steel, and two groove surfaces of the V-shaped block (21e) form matching surfaces used for matching the two groove surfaces of the angle steel; the V-shaped block (21e) is arranged in an area enclosed by the clamping end.

2. A climbing robot as claimed in claim 1, wherein: the horizontal driving assembly comprises a screw rod sliding block mechanism formed by matching a push-pull sliding block (21f) and a push-pull screw rod (21g), the bottom end of the push-pull sliding block (21f) is fixed at the upper plate surface of a push-pull plate (21c), and the push-pull screw rod (21g) horizontally extends towards the rear of the fixed seat (21) and forms power matching with an output shaft of a push-pull motor (21 h).

3. A climbing robot as claimed in claim 2, wherein: touch switches (25) used for sensing angle steel in-place information are arranged at the top end and the bottom end of the V-shaped block (21e), and each group of touch switches (25) comprises a group of sub-roller switches which are arranged in pairs.

4. A climbing robot according to claim 2 or 3, characterized in that: and a pressure switch (26) for sensing the in-place information of the outer groove surface of the angle steel is arranged in the groove cavity of the V-shaped block (21 e).

5. A climbing robot according to claim 1 or 2 or 3, characterized in that: the fixed seat (21) further comprises an upper mounting plate (21i), the upper mounting plate (21i) and the lower mounting plate (21a) are connected with each other through a rear mounting plate (21j), and therefore a square groove-shaped structure with an opening facing the direction of the angle steel is formed; the lower plate surface of the upper mounting plate (21i) is provided with a guide rod (21k), the top end of the push-pull sliding block (21f) is concavely provided with a matching groove through which the guide rod (21k) can pass, and a guide rail sliding block matching is formed between the push-pull sliding block (21f) and the guide rod (21 k).

6. A climbing robot as claimed in claim 5, wherein: the push-pull motor (21h) is fixed at the tail end of the upper mounting plate (21i) through the positioning block (21l), and the rear mounting plate (21j) is provided with an avoiding hole for the push-pull screw rod (21g) to pass through.

7. A climbing robot according to claim 1 or 2 or 3, characterized in that: the claw rod (22) comprises a sliding rod (22a) inserted in the square sleeve-shaped rotary sliding sleeve (23) and a grabbing rod (22b) in threaded fit at the top end of the sliding rod (22 a); the sliding rod (22a) is concavely provided with a guide groove (22c), and the guide groove (22c) and a guide rib arranged in the sleeve cavity of the rotary sliding sleeve (23) form slide rail guide fit.

8. A climbing robot according to claim 1 or 2 or 3, characterized in that: the two vertical push-pull shafts (24) are coaxial and are respectively arranged at the upper part and the lower part of the tail end of the claw rod (22); and rolling bearings (24a) which are convenient to form rolling fit with the orientation grooves (21b) and the guide grooves (21d) are arranged at the corresponding shaft ends of the two vertical push-pull shafts (24).

9. A climbing robot according to claim 1 or 2 or 3, characterized in that: the straight guide groove (21d) is formed by two groups of horizontal sub-groove bodies which are sequentially arranged along the length direction of the push-pull plate (21c), and each group of horizontal sub-groove bodies is correspondingly matched with a group of vertical push-pull shafts (24) positioned at the tail end of the claw rod (22).

10. A climbing robot according to claim 1 or 2 or 3, characterized in that: host computer (10) appearance is the rectangular frame form of parallel angle steel length direction, and the track that slides is arranged towards one side of angle steel to the face of host computer (10), the rigid coupling has the sliding block on clamping jaw (20), and sliding block constitutes slide rail direction cooperation with the track that slides between.

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