阅读说明：本技术 一种带有越障功能的连续移动式爬杆装置 (Continuous mobile pole climbing device with obstacle crossing function ) 是由 陈在新 陆小龙 汪渊 伍青 蒋慧慧 邓镓卓 张睿 何明俊 胡昭 严峻 蒲斌 于 2021-09-30 设计创作，主要内容包括：本发明公开了一种带有越障功能的连续移动式爬杆装置,涉及一种机器人领域,能够抱紧攀爬杆件,并沿攀爬件上下移动,可以越过攀爬件上的部分障碍。包括装置基座、主动行走机构、摆臂机构以及抱紧机构,所述主动行走机构包括受行走电机驱动的主动轮；所述摆臂机构包括分别铰接于所述装置基座两侧的两个摆臂；所述抱紧机构包括活动设置于不同摆臂上的两个抱紧副臂,两个所述抱紧副臂的自由端上分别设有从动轮,当任一摆臂合拢时,所述从动轮能够与所述主动轮配合对攀爬杆件进行夹持固定。本发明通过摆臂机构和抱紧机构实现环抱攀爬杆件,并利用两个从动轮的交错以及与所述摆臂机构和抱紧机构的配合实现越障。(The invention discloses a continuous movable pole climbing device with an obstacle crossing function, and relates to the field of robots. The device comprises a device base, a driving travelling mechanism, a swing arm mechanism and a holding mechanism, wherein the driving travelling mechanism comprises a driving wheel driven by a travelling motor; the swing arm mechanism comprises two swing arms hinged to two sides of the device base respectively; the holding mechanism comprises two holding auxiliary arms movably arranged on different swing arms, the free ends of the holding auxiliary arms are respectively provided with a driven wheel, and when any swing arm is folded, the driven wheel can be matched with the driving wheel to clamp and fix the climbing rod. The climbing rod piece is encircled by the swing arm mechanism and the holding mechanism, and obstacle crossing is realized by the staggering of the two driven wheels and the matching of the swing arm mechanism and the holding mechanism.)

1. A continuous movable pole climbing device with an obstacle crossing function is characterized by comprising a device base, a driving walking mechanism, a swing arm (13) mechanism and a holding mechanism;

the driving walking mechanism comprises a walking motor (12) and a belt wheel set, wherein the walking motor (12) and the belt wheel set are fixed on the device base, and the belt wheel set comprises a driving wheel (9) driven by the walking motor (12);

the swing arm (13) mechanism comprises two swing arms (13) which are respectively hinged to two sides of the device base and two swing arm motors (22) which are respectively used for driving different swing arms (13) to rotate, and the free ends of the swing arms (13) can be driven by the swing arm motors (22) to be folded oppositely;

embrace mechanism tightly and include that two embrace motor (14) and mobile set up two on different swing arms (13) and embrace sub-arm (19) tightly, it is close to or keep away from to embrace sub-arm (19) drive that can correspond respectively and embrace motor (14) tightly device base, two it is equipped with respectively on the free end of sub-arm (19) tightly from driving wheel (21), when arbitrary swing arm (13) fold, from driving wheel (21) can with it is fixed that climbing member (23) are carried out the centre gripping to action wheel (9) cooperation.

2. The continuous movable pole climbing device with the obstacle crossing function according to claim 1, wherein the holding mechanism further comprises a holding motor fixing support (15) fixed on the swing arm (13) and a guide rail (16), the holding motor (14) is fixed on the holding motor fixing support (15), an output shaft of the holding motor (14) is connected with a lead screw (17), the lead screw (17) and a nut (18) form a lead screw-nut transmission pair, the nut (18) is fixedly connected with the holding auxiliary arm (19), and the holding auxiliary arm (19) can slide along the guide rail (16).

3. The continuously moving type climbing pole device with obstacle crossing function according to claim 1, wherein there is an axial space between two driven wheels (21) for passing around an obstacle.

4. The continuously moving type climbing pole device with obstacle crossing function according to claim 1, wherein an elastic member for ensuring that the driving wheel (9) is always in surface contact with the climbing pole member (23) is provided between the driving wheel (9) and the device base.

5. The continuous mobile pole climbing device with the obstacle crossing function is characterized in that the belt wheel set comprises two driving wheels (9), the two driving wheels (9) are respectively located on two sides of the device base along the axial direction, a climbing support (7) is respectively arranged between the two driving wheels (9) and the device base, one end of the climbing support (7) is hinged to the device base, the other end of the climbing support is rotatably connected with the driving wheels (9), a nitrogen spring (6) serving as the elastic piece is arranged on the other side of the climbing support (7), and two ends of the nitrogen spring (6) are respectively hinged to the climbing support (7) and the device base.

6. The continuous mobile pole climbing device with the obstacle crossing function according to any one of claims 1, 4 and 5, comprising two active traveling mechanisms, wherein the two active traveling mechanisms are symmetrically arranged on the device base, and an axial included angle between corresponding driving wheels (9) in the two active traveling mechanisms is 110-130 °.

7. The continuous mobile pole climbing device with the obstacle crossing function according to claim 6, wherein the device base comprises an upper supporting plate (1), a lower supporting plate (2) and transmission brackets (3) fixed on two sides of the upper supporting plate (1) and the lower supporting plate (2), and the transmission brackets (3) are respectively connected with the driving travelling mechanism and the swing arm (13) mechanism on the corresponding side.

8. The continuous moving type pole climbing device with the obstacle crossing function is characterized in that the walking motor (12) is fixed on the inner side of the transmission support (3), a first belt wheel (4) connected with an output shaft of the walking motor (12) is arranged on the outer side of the transmission support (3), a second belt wheel (8) is coaxially connected to one end of the driving wheel (9), a plurality of idle wheels (5) and pulleys (11) are arranged between the first belt wheel (4) and the second belt wheel (8), and synchronous belts used for belt transmission are arranged on the first belt wheel (4), the second belt wheel (8), the idle wheels (5) and the pulleys (11).

9. The continuously moving type climbing pole device with obstacle crossing function according to claim 1, wherein the driving wheel (9) and the driven wheel (21) are rubber wheels or covered with nylon layer on the surface.

Technical Field

The invention relates to the field of robots, in particular to a continuous movable pole climbing device with an obstacle crossing function.

Background

The agricultural distribution network line is a channel for operating a rural power system, and the stability and reliability of power supply are directly related to the safe operation of the agricultural distribution network line. As a major component of distribution lines, the lines are exposed to the open air for a long time, and are subjected not only to inherent mechanical and electrical loads, but also to various insults from the natural environment, and to forest growth and bird damage on both sides of the lines. Over time, the lines are prone to various faults. If reasonable maintenance is not given in time, the original tiny damage and defects can be enlarged, and finally serious accidents are caused, so that large-area power failure and huge economic loss are caused. Therefore, the line needs to be regularly inspected, the equipment defects and the potential safety hazards of the line are timely found, and reasonable maintenance is given according to the severity of the defects, so that the safe and reliable operation of the power system is ensured.

At present, the daily maintenance of rural distribution network lines basically adopts a manual pole-climbing operation mode to complete corresponding tasks, so that not only is the physical strength of maintainers consumed in a large quantity and the working efficiency is influenced, but also the rural distribution network lines are extremely unsafe. The electric power department urgent need can replace the manpower and carry out the automation equipment that pole-climbing overhauld, maintained to this alleviates workman's intensity of labour, reduces the danger that electrocutes and high altitude fall, and the live working can be carried out under the condition that does not influence the power supply to equipment moreover, improves the efficiency and the quality of overhauing, maintaining. Therefore, the rapid mobile pole-climbing robot which can reliably clamp the conical pole of the agricultural distribution network line is developed as soon as possible, has a compact structure, is suitable for the diameter change of the pole, has a certain obstacle-crossing function, replaces electric power workers to complete pole-climbing and line-feeding operation tasks, and is an important subject facing science and technology workers in the field.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the utility model provides a climbing robot can hold tightly the climbing member to reciprocate along climbing piece, can cross the partial obstacle on the climbing piece. The invention provides a continuous movable pole climbing device with an obstacle crossing function, which solves the problems.

The invention is realized by the following technical scheme:

a continuous movable pole climbing device with an obstacle crossing function comprises a device base, a driving walking mechanism, a swing arm mechanism and a holding mechanism;

the driving travelling mechanism comprises a travelling motor and a belt pulley set, wherein the travelling motor and the belt pulley set are fixed on the device base, and the belt pulley set comprises a driving wheel driven by the travelling motor;

the swing arm mechanism comprises two swing arms respectively hinged to two sides of the device base and two swing arm motors respectively used for driving different swing arms to rotate, and the free ends of the swing arms can be driven by the swing arm motors to be folded oppositely;

it includes that two hold close the motor and mobile two that set up in different swing arms hold the sub-arm tightly to hold the mechanism tightly, it can be close to or keep away from by the drive that corresponds the motor of holding tightly respectively to hold the sub-arm tightly the device base, two it is equipped with respectively on the free end of sub-arm from the driving wheel, two it has the axial interval who is used for bypassing the obstacle to hold between the driving wheel, when arbitrary swing arm folds up, from the driving wheel can with the action wheel cooperation carries out the centre gripping to the climbing member and fixes.

In the scheme: the device can be used for climbing the operation to the pole piece. When climbing, will the action wheel supports and leans on one side of climbing member, arbitrary or two swing arms fold, and through hold motor drive tightly hold the sub-arm and be close to the opposite side of climbing member makes it cooperates from the driving wheel on the sub-arm to hold tightly the initiative wheel is to climbing member carries out the centre gripping. The action wheel receives walking motor drive drives whole device and is in the side of climbing member reciprocates, when removing near the barrier, receives holding the sub-arm tightly that the barrier blockked is kept away from the climbing member, the swing arm that corresponds outwards opens and keeps away from the climbing member, only hold from driving wheel cooperation on the sub-arm tightly through another this moment the action wheel is to the climbing member carries out the centre gripping. The device is then moved further by the drive wheel until the obstacle is circumvented. And the driven wheel on the holding auxiliary arm far away from the climbing rod member resets before, and is extruded on the climbing rod member again, so that one-time obstacle crossing operation is completed.

Preferably, hold the mechanism tightly still including fixing hold motor fixed bolster, guide rail tightly in the swing arm, hold and be fixed with on the motor fixed bolster tightly hold the motor, hold the output shaft and the lead screw hookup of motor tightly, the lead screw constitutes screw-nut transmission pair with the nut, the nut with hold sub-arm fixed connection tightly, hold the sub-arm tightly and can follow the guide rail slides. The screw rod is driven to rotate by the holding motor, so that the nut drives the holding auxiliary arm to slide along the guide rail.

Preferably, there is an axial spacing between the two driven wheels for bypassing obstacles.

In the scheme, the axial direction in the axial distance is the axial direction of the climbing rod, namely, the two driven wheels are distributed at intervals along the axial direction of the climbing rod, and the distance between the two driven wheels is enough to bypass obstacles. The axial distance between the two driven wheels is used for matching with the swing arm mechanism and the holding mechanism to bypass an obstacle partially existing on the advancing route of the driven wheels.

Preferably, an elastic piece used for ensuring that the driving wheel is always in surface contact with the climbing rod piece is arranged between the driving wheel and the device base.

In this scheme, through the elastic component makes the action wheel has the function of tensioning, ensures at the climbing in-process the action wheel can adapt to the change of climbing member diameter and all the time the laminating of climbing member ensures the climbing smoothness nature of whole device.

Further preferably, band pulley group includes two action wheels, two the action wheel is located respectively device base is along axial both sides, two the action wheel with be equipped with the climbing support between the device base respectively, the one end of climbing support with the device base is articulated, the other end with the action wheel rotates to be connected, the opposite side of climbing support is equipped with as the nitrogen spring of elastic component, the both ends of nitrogen spring respectively with the climbing support with the device base is articulated.

In the scheme: through two driving wheels respectively arranged on two sides of the device base along the axial direction, the whole climbing process is more stable.

Further preferably, the device comprises two driving traveling mechanisms, the two driving traveling mechanisms are symmetrically arranged on the device base, and an axis included angle between corresponding driving wheels in the two driving traveling mechanisms is 110 degrees to 130 degrees.

In the scheme: through setting up two initiative running gear, make simultaneously to correspond and be 110 to 130 obtuse angle settings between the action wheel, the action wheel in two initiative running gear of being convenient for is laminated simultaneously on the climbing member, and with realize three point centering from the driving wheel cooperation, the atress is balanced, improves the stability of its centre gripping and the adhesion strength of whole device to the climbing member.

Wherein, the axis included angle between the corresponding driving wheels is generally 120 degrees, thereby easily realizing three-point centering to achieve force balance and ensuring the reliable attachment of the whole device.

Further preferably, the device base comprises an upper supporting plate, a lower supporting plate and a transmission support fixed on two sides of the upper supporting plate and the lower supporting plate, and the transmission support is connected with the driving travelling mechanism and the swing arm mechanism on the corresponding side respectively.

In the scheme: the device base includes backup pad, bottom suspension fagging and sets up in the transmission support of the two both sides, at this moment, device base overall structure is comparatively succinct, and its whole weight is lighter, and the required climbing force of less climbing process reduces the degree of difficulty of climbing.

Further preferably, the transmission support inboard is fixed with the walking motor, the transmission support outside be equipped with the first band pulley of walking motor output shaft hookup, the coaxial hookup of one end of action wheel has the second band pulley, be equipped with a plurality of idler and pulley between first band pulley and the second band pulley, be equipped with on first band pulley, second band pulley, idler and the pulley and be used for constituting driven hold-in range of belt. The driving wheel is driven by the belt transmission formed by the first belt wheel, the second belt wheel, the plurality of idle wheels, the pulleys and the synchronous belt, and the driving wheel rotates stably.

Preferably, the driving wheel and the driven wheel are rubber wheels or nylon layers are covered on the surfaces of the rubber wheels and the driven wheel. So as to increase the friction coefficient between the driving wheel, the driven wheel and the climbing rod piece.

The invention has the following advantages and beneficial effects:

1. in order to realize reliable and rapid climbing on a climbing rod member including a conical electric pole, the climbing device adopts a bionic design, refers to the double-hand embracing action of a human climbing electric pole, embraces the climbing rod member through a swing arm mechanism and a holding mechanism, drives the whole device to realize rapid movement through an active walking mechanism, and realizes obstacle crossing by the matching of the swing arm mechanism and the holding mechanism;

2. according to the continuous movable type pole climbing device with the obstacle crossing function, provided by the embodiment of the invention, two driving wheels are arranged in the driving travelling mechanisms, and the included angle of the axes between the corresponding driving wheels in the two driving travelling mechanisms is 110-130 degrees, so that the whole device can stably and reliably clamp a rod to be climbed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a schematic front view of embodiment 1 of the present invention;

FIG. 2 is a left side view schematically illustrating the structure of embodiment 1 of the present invention;

FIG. 3 is a schematic top view of the structure of embodiment 1 of the present invention;

FIG. 4 is a schematic axial side view of the structure of embodiment 1 of the present invention;

fig. 5 is a left side view structural schematic diagram of the active walking mechanism in embodiment 1 of the present invention;

fig. 6 is a right-view structural schematic diagram of the active walking mechanism in embodiment 1 of the present invention;

fig. 7 is a schematic structural view of a clasping mechanism in embodiment 1 of the present invention;

FIG. 8 is a schematic view showing the attachment of the device to a climbing bar in example 1 of the present invention;

figure 9 is a schematic top view of the device attached to a climbing rod in example 1 of the present invention.

Reference numbers and corresponding part names in the drawings:

1-upper supporting plate, 2-lower supporting plate, 3-transmission support, 4-first belt wheel, 5-idler wheel, 6-nitrogen spring, 7-climbing support, 8-second belt wheel, 9-driving wheel, 10-third belt wheel, 11-pulley, 12-walking motor, 13-swing arm, 14-holding motor, 15-holding motor fixing support, 16-guide rail, 17-lead screw, 18-nut, 19-holding auxiliary arm, 20-fixing block, 21-driven wheel, 22-swing arm motor and 23-climbing rod piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one of ordinary skill in the art that: it is not necessary to employ these specific details to practice the present invention. In other instances, well-known structures, circuits, materials, or methods have not been described in detail so as not to obscure the present invention.

Throughout the specification, reference to "one embodiment," "an embodiment," "one example," or "an example" means: the particular features, structures, or characteristics described in connection with the embodiment or example are included in at least one embodiment of the invention. Thus, the appearances of the phrases "one embodiment," "an embodiment," "one example" or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, or characteristics may be combined in any suitable combination and/or sub-combination in one or more embodiments or examples. Further, those of ordinary skill in the art will appreciate that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "upper", "lower", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present invention.

Example 1:

as shown in fig. 1 to 9, a continuous mobile pole climbing device with obstacle crossing function comprises a device base, an active walking mechanism, a swing arm 13 mechanism and a holding mechanism;

wherein to the device base, in one or more embodiments, the device base includes backup pad 1, bottom suspension fagging 2 and is fixed in go up the transmission support 3 of backup pad 1 and bottom suspension fagging 2 both sides, it is the arc structure that matches with climbing member 23 to go up backup pad 1 and bottom suspension fagging 2, has carried out the fretwork under the prerequisite that the assurance has sufficient intensity on its face to reduce the weight of whole device.

A swing arm 13 fixing base is fixed on the outer side of the transmission support 3, a swing arm 13 is hinged to the swing arm motor 22 base, a swing arm motor 22 is fixed at the same time, and the free ends of the swing arms 13 can be driven by the swing arm motor 22 to be folded oppositely;

be equipped with on the swing arm 13 and hold tightly the mechanism, hold tightly the mechanism including holding tightly motor 14 and holding tightly sub-arm 19, hold tightly sub-arm 19 and can be close to or keep away from by the drive that corresponds holding tightly motor 14 respectively the device base, two hold tightly and be equipped with respectively on the free end of sub-arm 19 from driving wheel 21, when arbitrary swing arm 13 folds, from driving wheel 21 can with the cooperation of action wheel 9 carries out the centre gripping to climbing member 23 and fixes.

Wherein in order to make hold close the fly jib 19 can with action wheel 9 cooperation carries out the centre gripping to climbing rod 23, can make hold close the fly jib 19 and be in stretch out and draw back on the free end of swing arm 13, also can set up the confession on the swing arm 13 hold close the slide that the fly jib 19 removed, consequently, to one or more embodiments, hold close the mechanism still including fixing hold close motor fixed bolster 15, guide rail 16 on the swing arm 13, it is fixed with on the motor fixed bolster 15 to hold close motor 14, hold the output shaft and the hookup of lead screw 17 of motor 14, lead screw 17 constitutes screw-nut transmission pair with nut 18, nut 18 with hold close fly jib 19 fixed connection, hold close fly jib 19 can follow guide rail 16 slides. The screw rod 17 is driven to rotate by the holding motor 14, so that the nut 18 drives the holding auxiliary arm 19 to slide along the guide rail 16.

For one or more embodiments, there is an axial distance between the two driven wheels 21, that is, as shown in fig. 8, the driven wheels 21 are arranged at a distance from each other, so that the robot can conveniently pass through obstacles with short obstruction length, such as communication cables hung on an electric pole. The two driven wheels 21 may be displaced by providing the clasping auxiliary arm 19 with a bent portion that is bent upward or downward, or by providing the swing arm 13 or the clasping auxiliary arm 19 with an overall upward and downward inclination, and in consideration of the fact that the balance should be maintained as much as possible during climbing, fixing blocks 20 extending in opposite axial directions are provided at the free ends of the two clasping auxiliary arms 19, and the driven wheels 21 are rotatably connected to the free ends of the fixing blocks 20, respectively. On the basis of the above, the whole device can be symmetrically arranged, and only the fixed block 20 and the driven wheel 21 thereon are asymmetrical, so that the balance of the whole device is ensured.

The fixing block 20 may be integrally formed with the clasping auxiliary arm 19, or may be a separate component fixed to the free end of the clasping auxiliary arm 19.

One side of the device base facing the climbing rod piece 23 is provided with a driving travelling mechanism, the driving travelling mechanism comprises a travelling motor 12 and a belt pulley set, the travelling motor 12 is fixed on the device base, and the belt pulley set comprises a driving wheel 9 driven by the travelling motor 12; the driving travelling mechanism can be a single driving travelling mechanism arranged in the middle of the device base or two driving travelling mechanisms respectively arranged on the two transmission supports 3, when the driving travelling mechanism is one, a driving wheel 9 in the driving travelling mechanism can be a cylindrical rotating wheel, or an inwards concave circumferential groove is arranged in the center of the wheel surface of the driving wheel 9, the cross section of the circumferential groove is V-shaped or U-shaped, and a certain included angle is formed between the inner walls of the two sides of the circumferential groove; when the number of the driving travelling mechanisms is two, the two driving travelling mechanisms are symmetrically arranged, and a certain included angle is formed between the axes of the driving wheels 9 which correspond to each other in the two driving travelling mechanisms; the included angle is typically between 110 ° and 130 °, preferably 120 °. The three-point centering is easy to realize to achieve force balance, and the reliable attachment of the whole device is ensured.

For one or more embodiments, in order to accommodate some surface-less undulations or variations in width during the climbing of the climbing bar 23, it is necessary to provide a certain tightness of the driving wheel 9 or of the driven wheel 21, i.e. to provide between the driving wheel 9 and the base of the device an elastic element that keeps the driving wheel 9 in surface contact with the climbing bar 23 at all times.

Simultaneously, in order to further ensure that the operation of whole device is enough steady, band pulley group includes two action wheels 9, two action wheel 9 is located respectively device base is along axial both sides, action wheel 9 respectively with be equipped with climbing support 7 between the device base, climbing support 7's one end with it is articulated to go up adjacent one side in transmission support 3, the other end with action wheel 9 rotates and connects, climbing support 7's opposite side is equipped with as the nitrogen spring 6 of elastic component, the both ends of nitrogen spring 6 respectively with climbing support 7 with transmission support 3 is articulated.

In addition to this, the pulley group comprises a plurality of pulleys 11 arranged on the side of the base of the device facing the climbing bar 23. Is used for replacing the device base laminating is in when the device base is close to climbing pole 23 on the climbing pole 23 to this ensures that whole climbing process is more stable, and avoids the device base wearing and tearing appear.

When initiative running gear is equipped with two, transmission support 3 is the relative setting of 60 contained angles, and its inboard is fixed with walking motor 12, the 3 outsides of transmission support be equipped with the first band pulley 4 of walking motor 12 output shaft hookup, the coaxial hookup of one end of action wheel 9 has second band pulley 8, climb support 7 with the articulated department coaxial coupling of transmission support 3 has third band pulley 10, be equipped with a plurality of idler 5 and pulley 11 between first band pulley 4 and the second band pulley 8, idler 5 and pulley 11 distribute in same one side of transmission support 3 and climbing support 7, be equipped with on first band pulley 4, second band pulley 8, third band pulley 10, idler 5 and the pulley 11 and be used for constituting belt drive's hold-in range. The driving wheel 9 is driven by the belt transmission consisting of the first belt wheel 4, the second belt wheel 8, the third belt wheel 10, the idle wheels 5, the pulleys 11 and the synchronous belt, and the rotation of the driving wheel is stable.

For one or more embodiments, the driving wheel 9 and the driven wheel 21 are rubber wheels or covered with nylon layers. Thereby increasing the friction coefficient between the driving wheel, the driven wheel and the wall of the pole to be climbed.

In the above embodiment, it is considered that an infrared sensor is installed on the apparatus frame for automatic adjustment of the change of the rod diameter by the robot.

Wherein, climbing member 23 mainly is the pole, but also can be applied to other climbing members that have the cylinder structure such as pipeline, straight trunk according to on-the-spot operating mode.

The use mode of the embodiment is as follows:

when climbing, will the action wheel 9 supports and leans on in one side of climbing member 23, and arbitrary or two swing arms 13 fold, and through hold close motor 14 drive and hold close the opposite side that sub-arm 19 is close to climbing member 23, make hold close the cooperation of follow driving wheel 21 on the sub-arm 19 the action wheel 9 is right climb member 23 and carry out the centre gripping. The action wheel 9 receives walking motor 12 drive drives whole device and is in the side of climbing pole piece 23 reciprocates, when removing near the barrier, receives hold tightly the sub-arm 19 that the barrier blockked keeps away from climbing pole piece 23, corresponding swing arm 13 outwards opens and keeps away from climbing pole piece 23, only hold tightly the cooperation of follow driving wheel 21 on the sub-arm 19 through another this moment the action wheel 9 is right climb pole piece 23 and carry out the centre gripping. The device is then driven by the driving wheel 9 to continue moving until the obstacle is circumvented. At the moment, the driven wheel 21 on the holding auxiliary arm 19 which is far away from the climbing rod piece 23 is reset and is squeezed on the climbing rod piece 23 again, so that one obstacle crossing operation is completed.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.