CN208827980U - A kind of manned formula climbing level robot - Google Patents

Abstract

The utility model provides a kind of manned formula climbing level robot, including fixed part rack, movable part rack, it is characterized by: the distance between fixed part rack and movable part rack can be adjusted actively, independent driving unit is slidably fitted in fixed part rack and movable part rack, independent driving unit has independent driving mechanism and steering mechanism, fixed part rack and movable part rack are flexibly connected, position of the independent driving unit in fixed part rack and movable part rack is automatically adjusted according to the variation of shank diameter, independent driving unit has the ability turned on bar, it can be realized robot horizontally rotating on bar, facilitate worker's working drawing review on bar.

Description

A kind of manned formula climbing level robot

Technical field

The utility model relates to pole-climbing technical field, in particular to a kind of manned formula climbing level robot.

Background technique

Most of pole-climbing work is all to be climbed to complete by climbers by power worker in power construction and maintenance at present, Not only large labor intensity and degree of danger are high for this work, can all have many power workers every year because fallen from electric pole and by Wound, some pole-climbing equipment, can generally be divided into clip type, wheeled etc., but mostly structure is simple, function currently on the market Single, what is had cannot change adjust automatically drive wheel position according to pole diameter, and some can not achieve pole-climbing equipment around electric pole Rotation, such as application No. is 2016105748431 utility model patents to disclose " a kind of climbing level robot ", passes through ball Lead screw generates clamping force to electric pole, has two driving wheels and two driven wheels, but it is taken turns axis direction and cannot change, therefore It can not be turned on bar.Application No. is 2015110342050 to disclose " a kind of wheeled climbing level robot ", and driving wheel uses The technical solution of Sweden's wheel, which is realized, to be turned to, and this wheel mechanism is complicated, expensive, is not suitable for widespread adoption, and its surface is recessed Convex injustice, when operating, are not smooth enough.Power worker needs to carry out the movement in both direction on electric pole, and first is exactly vertical Up and down, second is exactly to rotate horizontally, and only realizes the combination of the two movements, can just power worker be made arbitrarily to adjust on electric pole Whole position and direction.

Utility model content

In view of the above-mentioned problems, the utility model provides a kind of manned formula climbing level robot, independent driving unit is in rack On location following bar diameter change and change, so that the contact position of driving wheel and bar is kept optimum state, independent driving is single Member has the ability turned on bar, can be realized robot horizontally rotating on bar, facilitates worker and constructs on bar dimension It repairs.

Technical solution used in the utility model is: a kind of manned formula climbing level robot, including fixed part rack, living Dynamic portion chassis, it is characterised in that: the distance between fixed part rack and movable part rack can be adjusted actively, fixed part Be slidably fitted with independent driving unit on subsystem frame and movable part rack, independent driving unit have independent driving mechanism and Steering mechanism, fixed part rack and movable part rack are flexibly connected, and independent driving unit is in fixed part rack and activity Position on portion chassis is automatically adjusted according to the variation of shank diameter.

Further, the fixed part rack include structural member A, connector A, structural member B, connector B, slide block B, Connector E, structural member C, connector G, pulley C, lead screw, structural member D, motor B, guiding axis, wirerope B, connector H, guide rail B, compressed spring, the structural member A, structural member B, structural member C are successively installed from top to bottom, structural member A and the left end structural member B Portion is connected by connector A, and structural member B is connected with the left part structural member C by connector B, structural member A, structural member B, structure The medium position of part C is connected by connector E, and right part is connected by connector F, if the pulley C by a root long axis and Dry support arm is rotatably installed in the side connector F, and pulley C is fixedly connected with the long axis, is also fixedly installed with pulley on the long axis Connector G is installed on B, connector F, guide rail B is installed on the outside of connector G, the front end of guide rail B passes through connector H rotation peace Equipped with pulley B, the pulley B on pulley B and aforementioned long axis forms a closed transmission chain, the transmission chain by wirerope B It is connected with movable part rack；Two guiding axis are slidably fitted on the inside of connector G, guiding axis rear portion is fixedly installed with structure The rear portion part D, structural member D is fixedly installed with motor B, and the motor shaft of motor B is connect by yielding coupling with lead screw, lead screw and work Feed screw nut cooperation on connector K on dynamic portion chassis；Compressed spring covers on lead screw and is located at connector G and structural member Between D, it is fixedly installed with connecting plate above connector G, connects travel switch A and travel switch B, two strokes below connecting plate The contact of switch is one in front and one in back arranged about the guiding axis front end plectrum on top；The structural member B, structural member C are equipped with carry Interface, the carry interface are used for carry seat, mechanical arm or other working equipments；It is symmetrical total on the inside of the structural member C Installation is there are two guide rail A, and the front end guide rail A is equipped with slide block B, slide block B front end is equipped with directive wheel, and slide block B rear portion is equipped with connection Two optical axises are symmetrically installed altogether below part C, the structural member B, optical axis is fixed by support base, in the upper surface structural member A It is set altogether with two optical axis corresponding positions there are two elongated slot；

The movable part rack includes support base, optical axis, structural member E, connector L, connector M, structural member F, steel Cord C, second pulley C, connector K, sliding block C, shaft B, pulley D, structural member E and the left part structural member F are connected by connector M It connects, middle part is connected by connector L, is symmetrically equipped with two optical axises below the structural member E altogether, and optical axis is solid by support base Fixed, the optical axis corresponding position above the upper surface structural member F and its is set altogether there are two elongated slot, and structural member E and structural member F right end are distinguished Be rotatablely connected with the upper and lower ends of shaft B, shaft B and connector K are rotatablely connected by bearing, connector K with by sliding block C and Guide rail B is slidably connected, and locking and fixing device is additionally provided between connector K and structural member E, structural member F, is fixedly mounted on shaft B There are second pulley C and pulley D, the left and right ends wirerope C are respectively fixedly connected in the rear and front end of guide rail B, wirerope C Middle part is wrapped on second pulley C.

Further, the independent driving unit includes bearing block, wheel carrier, driving wheel, sleeve, motor C, motor A, is driven Wheel rotation is mounted on wheel carrier front end, sleeve and bearing block and is rotatablely connected by bearing, and barrel forward end face and wheel carrier rear end face are solid Fixed connection；Motor C is rotated by steering gear band moving sleeve and wheel carrier, and motor A is driven by active force transmission mechanism and driven Driving wheel.

Further, the steering gear includes rear cover, motor C, connector N, and the rear cover is mounted on axis A rear portion is held, the motor C is mounted on rear cover side by connector N, and sleeve rear portion is equipped with worm gear, and motor C passes through snail Bar drives worm gear rotation；The active force transmission mechanism include lead spindle, axis B, driven bevel pinion, driving bevel gear, from Movable sprocket, wheel shaft, drive sprocket, axis A and chain and chain box, axis B are rotatably installed in sleeve inner, the fixed peace of driving bevel gear Mounted in the front end axis B, axis A rotation peace turns inside wheel carrier, and drive sprocket and driven bevel pinion are fixedly mounted on axis A, and wheel shaft turns Dynamic to be mounted on wheel carrier front end, driving wheel and driven sprocket are fixedly connected with wheel shaft, and driven sprocket and drive sprocket are connected by chain Connect, the power of motor A successively via lead spindle, axis B, driving bevel gear, driven bevel pinion, axis A, drive sprocket, chain, from Dynamic bevel gear, wheel shaft are transmitted to driving wheel；Chain box is mounted on wheel carrier side；It further include idler wheel, idler wheel is mounted under bearing block Side.

Further, a sliding block, connection below each sliding block are slidably fitted on each optical axis of fixed part rack Have an independent driving unit, the bearing block of independent driving unit is fixedly connected with a slide block, independent driving unit by idler wheel with Elongated slot rolling above structural member A is coupled；Also a sliding block is slidably fitted on each optical axis of movable part rack, often It is connected with an independent driving unit below a sliding block, the bearing block of independent driving unit is fixedly connected with a slide block, independent to drive Unit is coupled by idler wheel and the elongated slot rolling above structural member F.

Further, the structural member B is equipped with a pulley blocks, and pulley blocks are by several pulley A and a pulley C group At a wire rope A successively bypasses pulley C and above-mentioned pulley A and forms the transmission chain of a complete closure, and the transmission chain is along knot The peripheral sideline of component B arranges that two connector D are connect with by two connector C with wirerope A respectively, passes through steel wire The A that restricts drives independent driving unit mobile in optical axis；A transmission chain identical with above-mentioned transmission chain also is provided on structural member C, it should Transmission chain passes through two locking member A respectively and connect with the bearing block of two independent driving units in fixed part rack；It is described Structural member E on be again provided with a pulley blocks, pulley blocks are made of several pulley A and a pulley D, pass through a wire rope A successively bypasses pulley D and above-mentioned pulley A and forms the transmission chain of a complete closure, and the wirerope A of the transmission chain passes through respectively Two connection buckles are connect with the bearing block of two independent driving units in movable part rack.

Further, the directive wheel includes global wheel and universal wheel.

Since the utility model uses above-mentioned technical proposal, the utility model is had the advantage that

1. driving wheel and bar can be made by actively adjusting the distance between fixed part rack and movable part rack A certain range of pressure is kept between surface.

2. can be avoided robot in uphill process by directive wheel to turn on one's side, the safety of pole-climbing personnel ensure that Property.

3. the diameter change of the location following bar of independent driving unit on the rack and change, make connecing for driving wheel and bar It touches position and keeps optimum state.

4. independent driving unit has the ability turned on bar, robot horizontally rotating on bar can be realized, side Worker's working drawing review on bar.

5. have plurality of devices carry ability, it being capable of carry seat, mechanical arm, gondola or other working equipments.

Detailed description of the invention

Fig. 1, Fig. 2 are the integral installation distribution structure schematic diagram of the utility model.

Fig. 3 is guide rail B scheme of installation.

Fig. 4 is compressed spring scheme of installation.

Fig. 5 is the side view of independent driving unit.

Fig. 6 is the diagrammatic cross-section of independent driving unit.

Fig. 7 is the overall structure diagram of independent driving unit.

Drawing reference numeral:

1- structural member A1；2- support base；3- optical axis；4- driving unit；5- connector A；6- pulley A；7- locking member A；8- Wirerope A；9- structural member B；10- connector B；11- guide rail A；12- slide block B；13- connector C；14- connector D；15- connection Part E；16- structural member C；The seat 17-；18- foot pedal；19- connector F；20- shaft mounting base；21- shaft A；22- connector G；23- pulley B；24- pulley C；25- lead screw；26- structural member D；27- motor B；28 guiding axis；29- wirerope B；30- connector H；31- guide rail B；33- wirerope C；34- second pulley C；35- connector K；36- sliding block C；37- wirerope D；38- shaft B； 39- pulley D；40- compressed spring；41- connecting plate；42- travel switch A；43- travel switch B；45- structural member E；46- connection Part L；47- connector M；48- structural member F；401- bearing block；403- wheel carrier；404- driving wheel；405- driven sprocket；406- Chain box；407- rear cover；408- idler wheel；409- motor C；410- connector N；48- structural member H；411- motor A；412- wheel Axis；413- drive sprocket；414- axis A；415- driven bevel pinion；416- driving bevel gear；417- sleeve；419- axis B；420- master Shaft coupling；421- worm gear.

Specific embodiment

Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.

Embodiment

As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, a kind of manned formula climbing level robot, including fixed part extension set Frame, movable part rack, it is characterised in that: the distance between fixed part rack and movable part rack can be adjusted actively, Independent driving unit is slidably fitted in fixed part rack and movable part rack, independent driving unit has independent driving Mechanism and steering mechanism, fixed part rack and movable part rack are flexibly connected, and independent driving unit is in fixed part rack It is automatically adjusted with the position in movable part rack according to the variation of shank diameter.

Further, the fixed part rack include structural member A1, connector A5, structural member B9, connector B10, Slide block B 12, connector E15, structural member C16, connector G22, pulley C24, lead screw 25, structural member D26, motor B27, guiding axis 28, wirerope B29, connector H30, guide rail B31, compressed spring 40, the structural member A1, structural member B9, structural member C16 according to Secondary to install from top to bottom, structural member A1 is connected with the left part structural member B9 by connector A5, and structural member B9 and structural member C16 are left End is connected by connector B10, structural member A1, structural member B9, structural member C16 medium position connected by connector E15, Right part is connected by connector F19, and the pulley C24 is rotatably installed in connector by a root long axis and several supporting elements The side F19, pulley C24 are fixedly connected with the long axis, and pulley B23 is also fixedly installed on the long axis, is equipped on connector F19 Guide rail B31 is installed on the outside of connector G22, connector G22, the front end of guide rail B31 is rotatably equipped with pulley by connector H30 Pulley B23 on B23, pulley B23 and aforementioned long axis forms a closed transmission chain, the transmission chain by wirerope B29 It is connected with movable part rack；Two guiding axis 28 are slidably fitted on the inside of connector G22,28 rear portion of guiding axis is fixedly mounted There is structural member D26, the rear portion structural member D26 is fixedly installed with motor B27, and the motor shaft of motor B27 passes through yielding coupling and silk Thick stick 25 connects, and the feed screw nut on connector K35 on lead screw 25 and movable part rack cooperates；40 sets of compressed spring in lead screw On 25 and between connector G22 and structural member D26, it is fixedly installed with connecting plate 41 above connector G22, under connecting plate 41 Side's connection travel switch A42 and travel switch B43, guiding axis 28 front end plectrum one of the contact of two travel switches about top Arrangement after previous；The structural member B9, structural member C16 be equipped with carry interface, the carry interface for carry seat 17, Mechanical arm or other working equipments；There are two guide rail A11, the front end guide rail A11 peaces for symmetrical installation altogether on the inside of the structural member C16 It is equipped with directive wheel equipped with slide block B 12,12 front end of slide block B, 12 rear portion of slide block B is equipped with connector C13, under the structural member B9 Side is symmetrically equipped with two optical axises 3 altogether, and optical axis 3 is fixed by support base 2, corresponding with two optical axises 3 in the upper surface structural member A1 Place is set altogether there are two elongated slot；

The movable part rack includes support base 2, optical axis 3, structural member E45, connector L46, connector M47, knot Component F48, wirerope C33, second pulley C34, connector K35, sliding block C36, shaft B38, pulley D39, structural member E45 and knot The left part component F48 is connected by connector M47, and middle part is connected by connector L46, symmetrical below the structural member E45 Two optical axises 3 are installed altogether, optical axis 3 is fixed by support base 2,3 corresponding position of optical axis above the upper surface structural member F48 and its It is set altogether there are two elongated slot, structural member E45 and structural member F48 right end are rotatablely connected with the upper and lower ends of shaft B38 respectively, shaft B38 and connector K35 is rotatablely connected by bearing, and connector K35 is slidably connected with by sliding block C36 and guide rail B31, connector It is additionally provided with locking and fixing device between K35 and structural member E45, structural member F48, is fixedly installed with second pulley on shaft B38 C34 and pulley D39, the left and right ends wirerope C33 are respectively fixedly connected in the rear and front end of guide rail B31, wirerope C33 Middle part is wrapped on second pulley C34.

Further, the independent driving unit includes bearing block 401, wheel carrier 403, driving wheel 404, sleeve 417, electricity Machine C409, motor A411, driving wheel 404 are rotatably installed in 403 front end of wheel carrier, sleeve 417 and bearing block 401 and are rotated by bearing Connection, 417 front end face of sleeve are fixedly connected with 403 rear end face of wheel carrier；Motor C409 passes through steering gear band moving sleeve 417 It is rotated with wheel carrier 403, motor A411 drives driving wheel 404 by active force transmission mechanism.

Further, the steering gear includes rear cover 407, motor C409, connector N410, the rear cover 407 are mounted on 401 rear portion of bearing block, and the motor C409 is mounted on 407 side of rear cover, sleeve 417 by connector N410 Rear portion is equipped with worm gear 421, and motor C409 drives worm gear 421 to rotate by worm screw；The active force transmission mechanism includes master Shaft coupling 420, axis B419, driven bevel pinion 415, driving bevel gear 416, driven sprocket 405, wheel shaft 412, drive sprocket 413, Axis A414 and chain and chain box 406, axis B419 are rotatably installed in inside sleeve 417, and driving bevel gear 416 is fixedly mounted on axis The front end B419, axis A414 rotation peace turn inside wheel carrier 403, and drive sprocket 413 and driven bevel pinion 415 are fixedly mounted on axis On A414, wheel shaft 412 is rotatably installed in 403 front end of wheel carrier, and driving wheel 404 and driven sprocket 405 are fixedly connected with wheel shaft 412, Driven sprocket 405 is connected with drive sprocket 413 by chain, and the power of motor A411 is successively via lead spindle 420, axis B419, driving bevel gear 416, driven bevel pinion 415, axis A414, drive sprocket 413, chain, driven bevel pinion 415, wheel shaft 412 are transmitted to driving wheel 404；Chain box 406 is mounted on 403 side of wheel carrier；It further include idler wheel 408, idler wheel 408 is mounted on bearing 401 lower section of seat.

Further, a sliding block, connection below each sliding block are slidably fitted on each optical axis 3 of fixed part rack There is an independent driving unit, the bearing block 401 of independent driving unit is fixedly connected with a slide block, and independent driving unit passes through idler wheel 408 are coupled with the elongated slot rolling above structural member A1；One is also slidably fitted on each optical axis 3 of movable part rack Sliding block, each sliding block lower section are connected with an independent driving unit, and the bearing block 401 and sliding block of independent driving unit are fixed to be connected It connects, independent driving unit is coupled by the elongated slot rolling above idler wheel 408 and structural member F48.

Further, the directive wheel includes global wheel and universal wheel.

Further, the structural member B9 is equipped with a pulley blocks, and pulley blocks are by several pulley A6 and a pulley C24 Composition, a wire rope A8 successively bypass pulley C24 and above-mentioned pulley A6 and form the transmission chain of a complete closure, the transmission Chain arranges that two connector D14 connect with by two connector C13 and wirerope A8 respectively along the peripheral sideline of structural member B9 It connects, drives independent driving unit mobile in optical axis 3 by wirerope A8；One and above-mentioned transmission chain also are provided on structural member C16 Identical transmission chain, the transmission chain pass through two independent driving units in two locking member A7 and fixed part rack respectively Bearing block 401 connects；A pulley blocks are again provided on the structural member E45, pulley blocks are by several pulley A6 and a cunning D39 composition is taken turns, pulley D39 and above-mentioned pulley A6 are successively bypassed by a wire rope A8 and forms the transmission of a complete closure Chain, the wirerope A8 of the transmission chain pass through the axis of two independent driving units in two connection buckles and movable part rack respectively Hold the connection of seat 401.

Utility model works principle:

S1. the driving wheel 404 of the independent driving unit of the utility model in pole-climbing with electric pole, lamp stand or other bars Outer round surface CONTACT WITH FRICTION controls lead screw 25 by motor B27 and rotates, and then controls fixed part rack and movable part rack The distance between, when distance between the two constantly reduces, compressed spring 40 is compressed, until 28 front end plectrum of guiding axis with The contact of travel switch A42 contacts, and control system control motor B27 stops operating, otherwise works as movable part rack and fixed part When the distance between subsystem frame constantly increases, compressed spring 40 is gradually discharged, until 28 front end plectrum of guiding axis is opened with stroke The contact contact of B is closed, control system control motor B27 stops operating, and repeatedly, makes the pressure of driving wheel 404 Yu electric pole surface Power is maintained at a certain range.

S2. it drives driving wheel 404 to rotate by active force transmission mechanism by motor A411, then climbs robot upwards It climbs, is rotated by motor C409 by steering gear band moving sleeve 417 and wheel carrier 403, then control the advance of driving wheel 404 Direction, so as to realize the movement of robot all around four direction.

S3. when adjusting the distance between fixed part rack and movable part rack, connector K35 follows movable part Rack synchronizing moving, second pulley C34 are rotated synchronously under the pulling of wirerope C33, then drive shaft B38 and pulley D39 rotation, is operated by the transmission chain on pulley D39 driving structure part E45, keeps two in movable part rack independent drivings single Member is synchronous mobile to inside/outside, realizes the straight of the location following bar in movable part rack of above-mentioned two independent driving unit Diameter changes and changes, and the contact position of driving wheel 44 and bar is made to keep best；Similarly, when movable part rack is on guide rail B31 When mobile, wirerope D37 band movable pulley B23 is rotated, and then drives two pulley C24 rotations, pulley C24 driving structure above Transmission chain operating on part C16, then drives two directive wheels to inside/outside synchronizing moving, the moving direction of two directive wheels and Independent driving unit in movable part rack keeps synchronizing, and two independent driving units in fixed part rack are in structural member Under the driving of transmission chain above B9, movement identical with two directive wheels is kept.

Claims (6)

1. a kind of manned formula climbing level robot, including fixed part rack, movable part rack, it is characterised in that: fixed part The distance between rack and movable part rack can be adjusted actively, be slidably installed in fixed part rack and movable part rack There is independent driving unit, independent driving unit has independent driving mechanism and steering mechanism, fixed part rack and movable part Subsystem frame is flexibly connected, and position of the independent driving unit in fixed part rack and movable part rack is according to the change of shank diameter Change and automatically adjusts.

2. a kind of manned formula climbing level robot according to claim 1, it is characterised in that: the fixed part rack packet Include structural member A(1), connector A(5), structural member B(9), connector B(10), slide block B (12), connector E(15), structural member C (16), connector G(22), pulley C(24), lead screw (25), structural member D(26), motor B(27), guiding axis (28), wirerope B (29), connector H(30), guide rail B(31), compressed spring (40), the structural member A(1), structural member B(9), structural member C (16) successively install from top to bottom, structural member A(1) and structural member B(9) left part is by connector A(5) connection, structural member B (9) and structural member C(16) left part pass through connector B(10) connection, structural member A(1), structural member B(9), structural member C(16) Medium position passes through connector E(15) it connects, right part passes through connector F(19) and connection, the pulley C(24) pass through a root long Axis and several supporting elements are rotatably installed in connector F(19) side, pulley C(24) it is fixedly connected with the long axis, on the long axis also Be fixedly installed with pulley B(23), connector F(19) on connector G(22 is installed), connector G(22) outside guide rail B is installed (31), guide rail B(31) front end pass through connector H(30) be rotatably equipped with pulley B(23), the pulley B(23) with aforementioned long axis On pulley B(23) pass through wirerope B(29) form a closed transmission chain, which is connected with movable part rack； Connector G(22) on the inside of be slidably fitted with two guiding axis (28), guiding axis (28) rear portion is fixedly installed with structural member D (26), structural member D(26) rear portion is fixedly installed with motor B(27), motor B(27) motor shaft pass through yielding coupling and lead screw (25) it connects, lead screw (25) cooperates with the feed screw nut on the connector K(35 in movable part rack)；Compressed spring (40) set On lead screw (25) and be located at connector G(22) and structural member D(26) between, connector G(22) above be fixedly installed with connection Plate (41) connects travel switch A(42 below connecting plate (41)) and travel switch B(43), the contacts of two travel switches about Guiding axis (28) front end plectrum on top is one in front and one in back arranged；The structural member B(9), structural member C(16) connect equipped with carry Mouthful, the carry interface is for carry seat (17), mechanical arm or other working equipments；The structural member C(16) inside There are two guide rail A(11), guide rail A(11 for symmetrical installation altogether) front end is equipped with slide block B (12), slide block B (12) front end is equipped with guiding Wheel, slide block B (12) rear portion is equipped with connector C(13), the structural member B(9) lower section is symmetrically equipped with two optical axises altogether (3), optical axis (3) is fixed by support base (2), set altogether in the upper surface structural member A(1) and two optical axis (3) corresponding positions there are two Elongated slot；

The movable part rack includes support base (2), optical axis (3), structural member E(45), connector L(46), connector M (47), structural member F(48), wirerope C(33), second pulley C(34), connector K(35), sliding block C(36), shaft B(38), it is sliding Take turns D(39), structural member E(45) and structural member F(48) left part pass through connector M(47) connection, middle part pass through connector L(46) Connection, the structural member E(45) lower section is symmetrically equipped with two optical axises (3) altogether, optical axis (3) by support base (2) fixation, Structural member F(48) upper surface and optical axis (3) corresponding position above it set altogether there are two elongated slot, structural member E(45) and structural member F (48) right end is rotatablely connected with the upper and lower ends of shaft B(38) respectively, shaft B(38) it is rotated with connector K(35) by bearing Connection, connector K(35) it is slidably connected with by sliding block C(36) with guide rail B(31), connector K(35) and structural member E(45), Structural member F(48) between be additionally provided with locking and fixing device, shaft B(38) on be fixedly installed with second pulley C(34) and pulley D (39), the wirerope C(33) left and right ends are respectively fixedly connected in the rear and front end of guide rail B(31), wirerope C(33) in Portion is wrapped in second pulley C(34) on.

3. a kind of manned formula climbing level robot according to claim 2, it is characterised in that: the structural member B(9) it is equipped with One pulley blocks, pulley blocks are by several pulley A(6) and a pulley C(24) form, a wire rope A(8) successively around pulley C(24) and above-mentioned pulley A(6) and formed a complete closure transmission chain, the transmission chain is along the peripheral sideline of structural member B(9) Arrangement, two connector D(14) it is connect respectively with by two connector C(13) with the wirerope A(8), pass through wirerope A (8) drive independent driving unit mobile in optical axis (3)；Structural member C(16) on also be provided with a biography identical with above-mentioned transmission chain Dynamic chain, the transmission chain pass through two locking member A(7 respectively) bearing block with two independent driving units in fixed part rack (401) it connects；The structural member E(45) on be again provided with a pulley blocks, pulley blocks are by several pulley A(6) an and cunning Take turns D(39) composition, pulley D(39 is successively bypassed by a wire rope A(8)) and above-mentioned pulley A(6) and form a complete envelope The transmission chain closed, the wirerope A(8 of the transmission chain) it is driven respectively by the way that two on two connection buckles and movable part rack are independent The bearing block (401) of moving cell connects.

4. a kind of manned formula climbing level robot according to claim 1, it is characterised in that: the independent driving unit packet Include bearing block (401), wheel carrier (403), driving wheel (404), sleeve (417), motor C(409), motor A(411), driving wheel (404) it is rotatably installed in wheel carrier (403) front end, sleeve (417) and bearing block (401) are rotatablely connected by bearing, sleeve (417) Front end face is fixedly connected with wheel carrier (403) rear end face；Motor C(409) pass through steering gear band moving sleeve (417) and wheel carrier (403) rotate, motor A(411) driving wheel (404) are driven by active force transmission mechanism.

5. a kind of manned formula climbing level robot according to claim 4, it is characterised in that: the steering gear packet Include rear cover (407), motor C(409), connector N(410), the rear cover (407) is mounted on bearing block (401) rear portion, described Motor C(409) pass through connector N(410) be mounted on rear cover (407) side, sleeve (417) rear portion is equipped with worm gear (421), Motor C(409) pass through worm screw drive worm gear (421) rotation；The active force transmission mechanism includes lead spindle (420), axis B (419), driven bevel pinion (415), driving bevel gear (416), driven sprocket (405), wheel shaft (412), drive sprocket (413), Axis A(414) and chain and chain box (406), axis B(419) it is rotatably installed in that sleeve (417) is internal, and driving bevel gear (416) is solid Dingan County is mounted in axis B(419) front end, axis A(414) peace turn is rotated in wheel carrier (403) inside, drive sprocket (413) and a driven umbrella tooth Wheel (415) is fixedly mounted on axis A(414) on, wheel shaft (412) is rotatably installed in wheel carrier (403) front end, driving wheel (404) and from Movable sprocket (405) is fixedly connected with wheel shaft (412), and driven sprocket (405) is connected with drive sprocket (413) by chain, motor A (411) power is successively via lead spindle (420), axis B(419), driving bevel gear (416), driven bevel pinion (415), axis A (414), drive sprocket (413), chain, driven bevel pinion (415), wheel shaft (412) are transmitted to driving wheel (404)；Chain box (406) it is mounted on wheel carrier (403) side；It further include idler wheel (408), idler wheel (408) is mounted below bearing block (401).

6. a kind of manned formula climbing level robot according to claim 2, it is characterised in that: the directive wheel includes spherical shape Wheel and universal wheel.