CN111857146B - Climbing robot - Google Patents

Abstract

The invention discloses a climbing robot, which comprises a frame, a climbing robot body and a climbing robot body, wherein the frame at least comprises a section of tubular structure and a locking assembly; a circuit control module; a first front driven wheel mechanism and a second front driven wheel mechanism which are both arranged on one end of the tubular structure; the first rear driven wheel mechanism and the second rear driven wheel mechanism are both arranged at the other end of the tubular structure; the first driving module and the second driving module are arranged on the rack, and drive the first front driven wheel mechanism and the second front driven wheel mechanism and simultaneously drive the first rear driven wheel mechanism and the second rear driven wheel mechanism; when this robot that climbs drives first preceding driven wheel mechanism and second through first drive module and second drive module, also drive driven wheel mechanism behind first back driven wheel mechanism and the second, guarantee sufficient power that climbs, make this robot that climbs can stably climb on striding cable-stay bridge cable greatly, climbing speed is faster, and efficiency is higher, more saves power.

Description

a climbing robot

technical field

The invention relates to the field of cable detection robots, in particular to a climbing robot.

Background technique

Due to the long-term exposure of the cable and the harsh environment, the surface protection layer may be damaged, causing the internal steel wire to break and tilt outward. Therefore, a climbing robot is required for detection. However, the climbing robot itself is very dangerous to work at high altitude. When the climbing robot passes through these obstacles, it is very likely that an accident will occur, resulting in the inability to return to the ground, and the climbing device of the prior art faces the need for speed regulation during the ascent and descent process. The problems are all difficult to solve, and the existing rope climbing robots mostly cooperate with each other by the upper and lower clamping mechanisms, and slowly stretch and climb one by one. The mechanism is complicated, the weight is heavy, the climbing ability is not strong, and the climbing efficiency is not high.

Contents of the invention

The purpose of the present invention is to at least solve one of the technical problems in the prior art, and provide a climbing robot that can adopt a brand-new transmission system, optimize the internal structure, and improve the climbing ability.

According to the embodiment of the first aspect of the present invention, a climbing robot is provided, including a frame, at least including a section of tubular structure, and a locking assembly is arranged on the tubular structure; a circuit control module, arranged on the frame; a first front driven wheel The mechanism and the second front driven wheel mechanism are all arranged on one end of the tubular structure, and the first front driven wheel mechanism and the second front driven wheel mechanism are respectively arranged on both sides of the tubular structure; the first rear driven wheel mechanism and the second rear driven wheel mechanism The driven wheel mechanisms are all arranged on the other end of the tubular structure, and the first rear driven wheel mechanism is located on the same side of the first front driven wheel mechanism, and the second rear driven wheel mechanism is located on the same side of the second front driven wheel mechanism; A drive module and a second drive module are both arranged on the frame, the first drive module and the second drive module drive the first front driven wheel mechanism and the second front driven wheel mechanism, while the first drive module and the second drive module The first rear driven wheel mechanism and the second rear driven wheel mechanism are also driven.

Beneficial effects: when the climbing robot drives the first front driven wheel mechanism and the second front driven wheel mechanism through the first drive module and the second drive module, it also drives the first rear driven wheel mechanism and the second rear driven wheel mechanism, ensuring With sufficient power to climb, the climbing robot can climb stably and continuously on the cables of long-span cable-stayed bridges. Compared with the traditional one-to-one expansion telescopic climbing, the climbing speed is faster, more efficient, and more power-saving. .

According to the climbing robot of the embodiment of the first aspect of the present invention, the first driving module and the second driving module are located in the middle of the tubular structure, the first driving module includes a first output end and a second output end, and the second driving module includes a third The output end and the fourth output end, the first output end and the third output end drive the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism, one end of the second rear driven wheel mechanism, the second The output end and the fourth output end drive the other end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism, and the second rear driven wheel mechanism, and the first drive module and the second drive module are both provided The two output ends act on the two ends of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism to make climbing more stable and grip stronger.

According to the climbing robot of the embodiment of the first aspect of the present invention, both the first drive module and the second drive module are biaxial motors, and the use of biaxial motors can make the structure more reasonable.

The climbing robot according to the embodiment of the first aspect of the present invention also includes a first chain transmission mechanism and a second chain transmission mechanism, the first chain transmission mechanism includes four first sprockets and The first chain, four first sprockets are respectively arranged on one end of the first front driven wheel mechanism, one end of the second front driven wheel mechanism, the first output end and the third output end, and the second chain transmission mechanism includes four The second sprocket and the second chain sleeved on the four second sprockets, the four second sprockets are respectively arranged on the other end of the first front driven wheel mechanism, the other end of the second front driven wheel mechanism, the second The second output end and the fourth output end adopt the chain transmission for more stable meshing, higher transmission efficiency, and can reduce the occurrence of accidents that reduce the transmission efficiency due to the influence of environmental factors.

The climbing robot according to the embodiment of the first aspect of the present invention also includes a third chain transmission mechanism and a fourth chain transmission mechanism, the third chain transmission mechanism includes four third sprockets and four third sprockets sleeved on the four third sprockets The third chain, four third sprockets are respectively arranged on one end of the first rear driven wheel mechanism, one end of the second rear driven wheel mechanism, the first output end, and the third output end, and the fourth chain transmission mechanism includes four first The four sprockets and the fourth chain sleeved on the four fourth sprockets, the four fourth sprockets are respectively arranged on the other end of the first rear driven wheel mechanism, the other end of the second rear driven wheel mechanism, and the second rear driven wheel mechanism. output terminal, the fourth output terminal.

According to the climbing robot of the embodiment of the first aspect of the present invention, the first chain transmission mechanism and the second chain transmission mechanism have the same structure, and the third chain transmission mechanism and the fourth chain transmission mechanism have the same structure, which ensures the symmetry of the structure and is more stable.

According to the climbing robot of the embodiment of the first aspect of the present invention, one end of the tubular structure is provided with a first circular platform, the first circular platform carries the first front driven wheel mechanism and the second front driven wheel mechanism, and the other end of the tubular structure is provided with a second circular platform , the second round table carries the first rear driven wheel mechanism and the second rear driven wheel mechanism, and the first and second round tables are used as the bearing platform to more accurately position and install the first front driven wheel mechanism and the second front driven wheel mechanism , the first rear driven wheel mechanism and the second rear driven wheel mechanism.

According to the climbing robot of the embodiment of the first aspect of the present invention, a first pressing assembly is provided between the first round table, the first front driven wheel mechanism, and the second front driven wheel mechanism, and the first pressing assembly makes the first front follower The driving wheel mechanism and the second front driven wheel mechanism move closer to the axis of the tubular structure, and a second pressing assembly is arranged between the second round platform, the first rear driven wheel mechanism, and the second rear driven wheel mechanism, and the second pressing assembly makes The first rear driven wheel mechanism and the second rear driven wheel mechanism move closer to the axis of the tubular structure, ensuring that the first front driven wheel mechanism and the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism can press Tighten the rope and climb steadily.

According to the climbing robot of the embodiment of the first aspect of the present invention, the circuit control module includes an image acquisition module, a storage module and a transmission module, the image acquisition module is connected to the storage module and the transmission module respectively, and the collected pictures are transmitted to the staff through a wireless network On the display screen, the staff make corresponding command control after background analysis.

According to the climbing robot of the embodiment of the first aspect of the present invention, the image acquisition module includes several detection ends, each detection end is arranged on the outer wall of the tubular structure, and each detection end is distributed around the axis of the tubular structure, so that the entire cable can be detected Cylindrical case.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings that need to be used in the description of the embodiments. Apparently, the described drawings are only some embodiments of the present invention, not all embodiments, and those skilled in the art can obtain other designs and drawings based on these drawings without creative work.

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is the structural representation of the first chain transmission mechanism and the third chain transmission mechanism in the embodiment of the present invention;

Fig. 3 is a structural schematic diagram of the first front driven wheel mechanism and the second front driven wheel mechanism in the embodiment of the present invention;

Fig. 4 is a structural schematic diagram of the first rear driven wheel mechanism and the second rear driven wheel mechanism in the embodiment of the present invention.

Detailed ways

This part will describe the specific embodiment of the present invention in detail, and the preferred embodiment of the present invention is shown in the accompanying drawings. Each technical feature and overall technical solution of the invention should not be construed as limiting the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc. indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only In order to facilitate the description of the present invention and simplify the description, it does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, several means one or more, and multiple means more than two. Greater than, less than, exceeding, etc. are understood as not including the original number, and above, below, within, etc. are understood as including the original number. If the description of the first and second is only for the purpose of distinguishing the technical features, it cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features relation.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, and connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

Referring to Figures 1 to 4, a climbing robot includes a frame, at least including a section of tubular structure 10, on which a locking assembly 11 is provided; a circuit control module is arranged on the frame; a first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 are all arranged on one end of the tubular structure 10, and the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 are respectively arranged on both sides of the tubular structure 10, the present embodiment is the upper side and the lower side; the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 are all arranged on the other end of the tubular structure 10, and the first rear driven wheel mechanism 31 is located on the same side of the first front driven wheel mechanism 21 side, the second rear driven wheel mechanism 32 is located on the same side of the second front driven wheel mechanism 22; the first drive module and the second drive module are all arranged on the frame, and the first drive module and the second drive module drive the first The front driven wheel mechanism 21 and the second front driven wheel mechanism 22 , and the first driving module and the second driving module also drive the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 . When this climbing robot drives the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 through the first drive module and the second drive module, it also drives the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32, Ensuring sufficient power to climb, so that the climbing robot can climb stably and continuously on the cables of the long-span cable-stayed bridge. power.

In this embodiment, the inner diameter of the tubular structure 10 matches the outer diameter of the rope, and the tubular structure 10 is provided with a gap. When the climbing robot is installed on the rope, the tubular structure 10 is clamped by the locking assembly 11. On the rope, and through this gap, the state fixed on the rope can be adjusted to ensure the reliable fixing of the climbing robot. Preferably, the locking assembly 11 includes ear plates arranged on both sides of the notch and bolts installed on the ear plates. In other embodiments, the locking assembly 11 may also be a clamp structure or the like.

In this embodiment, the first driving module and the second driving module are located in the middle of the tubular structure 10, specifically in the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second driven wheel mechanism. Between the two rear driven wheel mechanisms 32, the first drive module includes a first output end and a second output end, the second drive module includes a third output end and a fourth output end, and the first output end and the third output end drive the first output end and the third output end. One front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, one end of the second rear driven wheel mechanism 32, the second output end and the fourth output end drive the first front driven wheel mechanism 21 , the other end of the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, and the second rear driven wheel mechanism 32, the first drive module and the second drive module are provided with two output ends acting on the first front driven wheel The two ends of mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, and the second rear driven wheel mechanism 32 make climbing more stable and grip stronger.

Preferably, both the first driving module and the second driving module are biaxial motors, and the use of biaxial motors can make the structure more reasonable.

In this embodiment, a first chain transmission mechanism and a second chain transmission mechanism are also included, and the first chain transmission mechanism includes four first sprockets 51 and a first chain 52 sleeved on the four first sprockets 51 , the four first sprockets 51 are respectively arranged on one end of the first front driven wheel mechanism 21, one end of the second front driven wheel mechanism 22, the first output end, and the third output end, and the second chain transmission mechanism includes four The second sprocket 41 and the second chain 42 sleeved on the four second sprockets 41, the four second sprockets 41 are respectively arranged on the other end of the first front driven wheel mechanism 21, the second front driven wheel mechanism The other end of 22, the second output end, and the fourth output end.

Further, it also includes a third chain transmission mechanism and a fourth chain transmission mechanism, the third chain transmission mechanism includes four third sprockets 61 and a third chain 62 sleeved on the four third sprockets 61, four The 3rd sprocket 61 is respectively arranged on one end of the first rear driven wheel mechanism 31, one end of the second rear driven wheel mechanism 32, the first output end, the third output end, and the fourth chain transmission mechanism includes four fourth sprockets 71 and the fourth chain 72 sleeved on the four fourth sprockets 71, the four fourth sprockets 71 are respectively arranged on the other end of the first rear driven wheel mechanism 31 and the other end of the second rear driven wheel mechanism 32 , The second output end and the fourth output end adopt chain transmission to make the mesh more stable, the transmission efficiency is higher, and the accidents that reduce the transmission efficiency due to the influence of environmental factors can be reduced.

Wherein, the first sprocket 51 and the third sprocket 61 arranged on the first output end are the main sprocket, and the second sprocket 41 and the fourth sprocket 71 arranged on the second output end are also the main sprocket , that is, the two ends of the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, and the second rear driven wheel mechanism 32 are all driven sprockets.

Preferably, the first sprocket 51 and the third sprocket 61 arranged on the first output end are fixed to each other, and the second sprocket 41 and the fourth sprocket 71 arranged on the second output end are fixed to each other. The first sprocket 51 and the third sprocket 61 on the three output ends are fixed to each other, and the second sprocket 41 and the fourth sprocket 71 arranged on the fourth output end are fixed to each other to ensure that the first drive module and the second drive The module can simultaneously drive the first front driven wheel mechanism 21 , the second front driven wheel mechanism 22 , the first rear driven wheel mechanism 31 , and the second rear driven wheel mechanism 32 .

Preferably, the first chain transmission mechanism and the second chain transmission mechanism have the same structure, and the third chain transmission mechanism and the fourth chain transmission mechanism have the same structure, so as to ensure the symmetry of the structure and make it more stable.

In this embodiment, the transmission ratios of the first chain transmission mechanism and the second chain transmission mechanism, the third chain transmission mechanism and the fourth chain transmission mechanism or the diameters of the sprockets can be adjusted and replaced according to the needs of the actual site. The installation mode of the first chain transmission mechanism and the second chain transmission mechanism, the third chain transmission mechanism and the fourth chain transmission mechanism is detachable installation.

In other embodiments, the first driving module and the second driving module can also drive the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, The second rear driven wheel mechanism 32.

In this embodiment, one end of the tubular structure 10 is provided with a first circular platform 12, the first circular platform 12 carries the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, and the other end of the tubular structure 10 is provided with a second circular platform 13. The second round platform 13 carries the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32. By using the first round platform 12 and the second round platform 13 as the carrying platform, the first front driven wheel mechanism 21 can be positioned and installed more accurately And the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32.

In this embodiment, a first pressing assembly 23 is provided between the first round table 12, the first front driven wheel mechanism 21, and the second front driven wheel mechanism 22, and the first pressing assembly 23 makes the first front driven wheel The mechanism 21 and the second front driven wheel mechanism 22 move closer to the axis of the tubular structure 10, and a second pressing assembly 33 is arranged between the second round platform 13 and the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32. The second pressing assembly 33 makes the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 draw closer to the axis of the tubular structure 10, ensuring that the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, the first rear driven wheel mechanism The driven wheel mechanism 31 and the second rear driven wheel mechanism 32 can compress the rope and climb steadily.

In this embodiment, the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 have the same structure, and the first front driven wheel mechanism 21 includes a first hanging wheel shaft and a first hanging wheel shaft rotating on the first hanging wheel shaft 211. Wheel 212, the first chain transmission mechanism and the second chain transmission mechanism are connected to the two ends of the first suspension wheel shaft 211, a first connecting plate 24 is arranged between the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, Ensure that they are fixed to each other. At the same time, two groups of connecting bars are provided on the first connecting plate 24. The other ends of the two groups of connecting bars extend to the first round table 12, and then the connecting bars are fixed by the pressing plate. The fixing can be fixed with bolts, so that Compress the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 . That is, in this embodiment, the first pressing assembly 23 includes a first connecting plate, a connecting bar and a pressing plate.

In this embodiment, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 have the same structure, the first rear driven wheel mechanism 31 includes two second suspension wheels 311, and the two second suspension wheels 311 have A second suspension wheel shaft 312 is provided, and the third chain transmission mechanism and the fourth chain transmission mechanism are connected to the two ends of one of the second suspension wheel shafts 312 to drive one of the second suspension wheels 311 to roll, and the other second suspension wheel 311 follows of rolling. Wherein, a second connecting plate 313 is provided between the two second hanging wheels 311, and the second rear driven wheel mechanism 32 also includes a second connecting plate 313, and a pressing bar is set on the second connecting plate 313. Connect the second suspension wheel shaft 312, adjust the compression degree of the compression bar so as to compress the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32. That is, in this embodiment, the second pressing assembly 33 includes a pressing strip and a second connecting plate. In other embodiments, the two second connecting plates 313 are installed on the chute 314, and by adjusting the distance between the two second connecting plates 313 on the chute 314, the first rear driven wheel mechanism 31 and the second driven wheel mechanism 31 are realized. The two rear driven wheel mechanisms 32 are pressed on the rope, that is, the second pressing assembly 33 includes a second connecting plate 313 and a slide groove 314 .

In this embodiment, the circuit control module includes an image acquisition module, a storage module and a transmission module. The image acquisition module is connected to the storage module and the transmission module respectively, and the collected pictures are transmitted to the display screen of the staff through a wireless network. After the background analysis, the corresponding command control is made. Further, the circuit control module also includes a controller such as a single-chip microcomputer, through which the scheduling and subsequent control of the image acquisition module, the storage module and the transmission module are realized, including controlling the output power of the first driving module and the second driving module to ensure that the climbing motivation.

In this embodiment, the image acquisition module includes several detection ends, each detection end is arranged on the outer wall of the tubular structure 10, and each detection end is distributed around the axis of the tubular structure 10, so that the cylindrical surface of the entire cable can be detected. Each detection terminal may be a camera or the like.

The climbing robot makes the climbing method approximate to peristalsis through chain transmission, which changes the traditional climbing method, and the climbing is more stable and the working efficiency is higher. Before climbing, manually measure the required parameters, estimate the approximate resistance of the mechanism during the movement, predict the approximate speed of the mechanism according to the actual situation, and change the parameters such as the number of teeth of each sprocket to control the approximate speed. At the same time, due to the existence of the circuit control module, there can be different speed gears during the return process. At the same time, in order to cope with emergencies, the output power of the first driving module and the second driving module can be adjusted to achieve deceleration and speed up.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the technical field, various modifications can be made without departing from the gist of the present invention. kind of change.

Claims (8)

1. A climbing robot, comprising:

the frame at least comprises a section of tubular structure, and a locking assembly is arranged on the tubular structure;

the circuit control module is arranged on the rack;

a first front driven wheel mechanism and a second front driven wheel mechanism which are both arranged on one end of the tubular structure, wherein the first front driven wheel mechanism and the second front driven wheel mechanism are respectively arranged on two sides of the tubular structure;

the first rear driven wheel mechanism and the second rear driven wheel mechanism are both arranged at the other end of the tubular structure, the first rear driven wheel mechanism is positioned at the same side of the first front driven wheel mechanism, and the second rear driven wheel mechanism is positioned at the same side of the second front driven wheel mechanism;

the first driving module and the second driving module are arranged on the rack, drive the first front driven wheel mechanism and the second front driven wheel mechanism, and drive the first rear driven wheel mechanism and the second rear driven wheel mechanism;

the first driving module and the second driving module are located in the middle of the tubular structure, the first driving module comprises a first output end and a second output end, the second driving module comprises a third output end and a fourth output end, the first output end and the third output end drive one end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism, and the second output end and the fourth output end drive the other end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism;

the chain transmission mechanism comprises four first chain wheels and first chains sleeved on the four first chain wheels, the four first chain wheels are arranged at one end of a first front driven wheel mechanism, one end of a second front driven wheel mechanism, a first output end and a third output end respectively, the second chain transmission mechanism comprises four second chain wheels and second chains sleeved on the four second chain wheels, and the four second chain wheels are arranged at the other end of the first front driven wheel mechanism, the other end of the second front driven wheel mechanism, the second output end and the fourth output end respectively.

2. A climbing robot according to claim 1, wherein: the first driving module and the second driving module are both double-shaft motors.

3. The climbing robot according to claim 1, wherein: the chain transmission mechanism comprises four third chain wheels and four third chains sleeved on the third chain wheels, the four third chain wheels are arranged at one end of a first rear driven wheel mechanism, one end of a second rear driven wheel mechanism, a first output end and a third output end respectively, the fourth chain transmission mechanism comprises four fourth chain wheels and four fourth chains sleeved on the fourth chain wheels, and the four fourth chain wheels are arranged at the other end of the first rear driven wheel mechanism, the other end of the second rear driven wheel mechanism, the second output end and the fourth output end respectively.

4. A climbing robot according to claim 3, wherein: the first chain drive and the second chain drive are of identical design, and the third chain drive and the fourth chain drive are of identical design.

5. A climbing robot according to claim 3, wherein: the one end of tubular structure is equipped with first round platform, first round platform bears first preceding driven wheel mechanism with driven wheel mechanism before the second, the other end of tubular structure is equipped with the second round platform, the second round platform bears first back driven wheel mechanism with driven wheel mechanism behind the second.

6. The climbing robot according to claim 5, wherein: the first round platform with first preceding driven wheel mechanism all be equipped with first compress tightly the subassembly before the second between the driven wheel mechanism, first compress tightly the subassembly and make first preceding driven wheel mechanism the driven wheel mechanism moves towards before the second tubular structure's axis draws close, the second round platform with first back driven wheel mechanism all be equipped with the second between the driven wheel mechanism behind the second and compress tightly the subassembly, the second compresses tightly the subassembly and makes first back driven wheel mechanism follow driven wheel mechanism behind the second moves towards the tubular structure's axis draws close.

7. A climbing robot according to any of claims 1 to 6, characterized in that: the circuit control module comprises an image acquisition module, a storage module and a transmission module, wherein the image acquisition module is respectively connected with the storage module and the transmission module.

8. The climbing robot according to claim 7, wherein: the image acquisition module comprises a plurality of detection ends, each detection end is arranged on the outer side wall of the tubular structure, and each detection end is circumferentially distributed around the axis of the tubular structure.

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