68results about How to "Improve climbing efficiency" patented technology

The invention discloses a crawler climbing type cleaning detection robot with a variable framework structure for a wind power tower. The crawler climbing type cleaning detection robot comprises a variable V-shaped corner, a push-pull rod mechanism, a cleaning mechanism and a tower drum permanent magnet crawler climbing mechanism, wherein the variable V-shaped corner and the push-pull rod mechanism form a polygonal framework structure; the cleaning mechanism and the tower drum permanent magnet crawler climbing mechanism are uniformly distributed in the same direction or uniformly distributed and arranged on the variable V-shaped corner and/or the push-pull rod mechanism along the different directions relative to the polygonal framework structure; at least one part of the V-shaped corner is detachably and movably connected with the push-pull rod mechanism. According to the crawler climbing type cleaning detection robot disclosed by the invention, by using the modular polygonal variable framework structure, surrounding of a fan tower drum is realized; a climbing function of the framework is realized by mounting the permanent magnet crawler climbing mechanism arranged in the polygonal framework; meanwhile, cleaning of the fan tower drum and detection of fan blades are finished by the cleaning mechanism and an imaging mechanism which are arranged in the framework on the basis; the crawler climbing type cleaning detection robot is ideal robot equipment for maintaining a wind turbine generator.

The invention discloses a loading and climbing robot with target tracking and automatic obstacle avoidance functions. The loading and climbing robot comprises a shell, a frame mechanism, a wheel leg mechanism and a control system. The shell is provided with a loading platform, and the frame mechanism comprises a first frame and a second frame, the wheel leg mechanism comprises a first wheel leg group and a second wheel leg group, and the control system comprises a power supply, a hardware circuit, a driving motor, an encoder, a single chip microcomputer, a PC machine, a mobile phone APP, a 4Gcommunication module, an ultrasonic distance sensor, a laser radar and a camera. The loading and climbing robot has the functions of automatic obstacle avoidance, image recognition tracking and mobilephone APP remote control, and achieves the effects of efficient climbing and smooth delivery.

The embodiment of the invention discloses a control method of a climbing robot. The climbing robot comprises a climbing main body, a duct propeller and a holding unit, wherein the duct propeller and the holding unit are arranged on the climbing main body, and the climbing main body is used for sleeving a climbed object. The method comprises the following steps of determining a target position to which the climbing robot needs to climb, determining the magnitude and direction of target thrust according to the weight of the climbing robot and the inclination angle of the climbed object relativeto the ground, controlling the duct propeller to output the target thrust in the magnitude and the direction, so that the climbing robot flies along the sleeved climbed object, and when the real-timeflight position of the climbing robot is the same as the target position, controlling the holding unit to hold the climbed object.

The invention provides an integrated inner climbing type tower crane supporting device without an upstanding beam. The integrated inner climbing type tower crane supporting device comprises supporting frames, sleeve frames and a bracket embedded piece. The supporting frames comprise the lower supporting frame, the middle supporting frame and the upper supporting frame which are arranged on a tower crane tower frame sequentially from bottom to top. The sleeve frames comprise the middle sleeve frame arranged on the middle supporting frame and the upper sleeve frame arranged on the upper supporting frame. A lower supporting frame connecting part, a middle supporting frame connecting part and an upper supporting frame connecting part are arranged on the bracket embedded piece from bottom to top. The bottom of the tower frame is fixed on the lower supporting frame. By adopting the system, hoisting and transferring of the supporting frames are not needed, a simple lifting tool is utilized to lift up the middle supporting frame and the upper supporting frame, so that the climbing efficiency of a tower crane is improved, the climbing time of the tower crane is shortened, the working amount is reduced, simpleness and practicability are achieved, and good economic benefits are achieved.

The invention provides a distribution line climbing tool with an improved structure. The distribution line climbing tool comprises a distribution line supporting column, a connecting clamping sleeve, a telescopic lifting rope, an adjusting buckle, a waist life belt, a folding foot rest, a fixing and detaching part, a protection rail, safety armrests and a reverse rotation button. The adjusting buckle is installed between the telescopic lifting rope and the waist life belt. The waist life belt is installed on the rear side of the adjusting buckle. The folding foot rest is installed on one side of the fixing and detaching part. The fixing and detaching part is installed on the outer surface of the distribution line supporting column. The protection rail is installed on the upper side of the folding foot rest. The safety armrests are installed at the upper end of the middle of the protection rail. Due to the fact that the folding pedal plate, the protection rail, the safety armrests and the waist life belt are arranged, the foot rest can be easily folded and erected, space is saved, safety and climbing rapidity and convenience are improved, dual-protection is achieved, and the climbing efficiency is high.

The invention discloses a diagonal-bracing type clamping mechanism and a climbing robot suitable for a rod-shaped object, and belongs to the field of robots. The diagonal-bracing type clamping mechanism comprises an annular body which can be opened or closed, wherein a plurality of clamping units are uniformly distributed on the annular body in the circumferential direction; each clamping unit comprises a lifter screw rod, a lifter body and a driving motor; each lifter body is fixedly arranged on a baffle plate of the annular body; each lifter screw rod is arranged on the lifter body in a penetrating manner, and one end of each lifter screw rod penetrates through the baffle plate to extend to the rod-shaped climbing object; each driving motor is used for driving the corresponding lifter screw rod to horizontally move; a curved surface pressing plate is arranged at one end of each lifter screw rod; a rubber pad is arranged on one side of each curved surface pressing plate; a pressure sensor is arranged between each curved surface pressing plate and the corresponding rubber pad; each curved surface pressing plate comprises an upper plate surface, a lower plate surface and a concave surface; one end, close to the rod-shaped climbing object, of each lifter screw rod is hinged to the corresponding upper plate surface; and a diagonal-bracing rod of which the length is adjustable is hinged between the other end of the lifter screw rod and the lower plate surface. The diagonal-bracing type clamping mechanism disclosed by the invention is high in clamping force, can climb the oblique rod-shaped object, and is high in climbing efficiency.

The invention discloses a pavement rod climbing support, which is characterized by comprising two main beams (4), cylinder fixing seats, two longitudinal beams (2 and 10) and telescopic arms (1). The cylinder fixing seats are fixed on the main beams, the two longitudinal beams (2 and 10) are arranged between the two main beams (4) and are detachably connected with the two main beams (4), the telescopic arms (1) are sleeved in end cavities of the two main beams (4) and can move along the main beams (4), and the main beams and the longitudinal beams are provided with hoisting portions convenient for hoisting. The pavement rod climbing support can climb through different layers, can be assembled and disassembled fast, and is simple in structural design and light in weight. The invention further provides a climbing method of the pavement rod climbing support, a concrete pavement rod with the support and a climbing method of the pavement rod.

The invention provides a self-climbing crane and wind power generator mounting equipment and relates to the technical field of cranes. The self-climbing crane comprises a climbing mechanism, a hoisting mechanism and a lifting mechanism, wherein the climbing mechanism can climb a tower drum and can be fixed on the tower drum; the lifting mechanism is used for lifting the hoisting mechanism; and the hoisting mechanism is used for hoisting a weight and detachably connected with the climbing mechanism through the lifting mechanism, and a fixing component is arranged on the hoisting mechanism and used for fixing the hoisting mechanism on the tower drum. When climbing, firstly, the self-climbing crane climbs to a tower top along the tower drum by use of the climbing mechanism, and then the hoisting mechanism is lifted to an appropriate position by the lifting mechanism. As the climbing mechanism is simple in structure and less in number of oil cylinders, the dead weight of the climbing mechanism is relatively light, the positioning accuracy during positioning can be improved in the climbing process of the climbing mechanism, the climbing efficiency can be improved, and the climbing performance of the self-climbing crane is improved.

The invention discloses an adjustable type architectural decoration scaffold, and relates to the technical field of indoor decoration. The adjustable type architectural decoration scaffold comprises apedal box, a protective fence is fixedly connected to the upper surface of the pedal box, a clamping mechanism is arranged in the pedal box, and a connecting mechanism is arranged at the bottom of the pedal box. An adjusting mechanism is arranged at the bottom of the connecting mechanism, and a clamp groove is formed in the bottom surface of the pedal box. The clamping mechanism comprises a strip-shaped sliding hole, a first motor, a first threaded rod, a threaded ring, a sliding rod, a clamping block and a first bearing; the connecting mechanism comprises a connecting cylinder, a second bearing, a transmission rod, a first gear, a toothed chain, a connecting rod, a third bearing, a first rotary rod, a crank, a threaded groove, a limiting rod, a second gear and a hand rail; and the adjusting mechanism comprises a supporting cylinder, a second threaded rod, a third gear, a fourth gear, a second motor, a second rotary rod and a placing seat, and the strip-shaped sliding hole is formed in the upper surface of the pedal box. The adjustable type indoor decoration scaffold has the advantage of convenient adjustment.

The invention discloses a crawling ladder with a foot bar interval adjusting function. The crawling ladder comprises a crawling ladder body; the two sides of the crawling ladder body are provided with fixed handrailings, a groove is formed in the handrailing face of the inner side of each handrailing and provided with a plurality of holes, and a plurality of pushing and plugging columns are guided into the positions, corresponding to the grooves, of the outer portions of the handrailings; a plurality of foot bars are installed between the grooves, a plurality of hydraulic supporting retractable rods are vertically connected between the foot bars, and the two ends of each foot bar are separately provided with spring type latches; and the two ends of the foot bars abut against the grooves to slide through the spring type latches. By adoption of the mode, the crawling ladder with the foot bar interval adjusting function can freely adjust the interval between the foot bars of the crawling ladder to be adapted to different working requirements and different personnel using requirements.

The invention provides a planning and control method of a crawler-type unmanned vehicle on a cliff obstacle road. The planning and control method comprises the steps of: planning a path on a road witha cliff; processing cliff obstacle data information; and planning and controlling gaits during the climbing of the cliff with a complex shape. A path planning system is added to the crawler-type unmanned vehicle; when the vehicle encounters the cliff during running, the vehicle plans an optimal path and sends the optimal path to a path tracking system; the detected size data of the cliff are calculated and judged; a working section of the crawler-type unmanned vehicle climbing the cliff is selected through a designed cost function; and a control time sequence and a control method are calculated and designed according to the size data of the cliff and the size data of the vehicle, so that the crawler-type unmanned vehicle can climb the complex cliff with variable height.

The invention discloses a lifting channel structure inside a wind driven generator tower. The lifting channel structure comprises a tower for supporting a cabin at a high altitude, wherein the top ofthe tower is provided with a tower-top platform below the cabin; a perpendicular lifting elevator capable of performing lifting action between the bottom and the top is arranged in the tower; a passing channel for allowing the perpendicular lifting elevator to lift and operate is arranged on the tower-top platform; the biggest lifting stroke, in the tower, of the perpendicular lifting elevator ison the tower-top platform; the position, at the passing channel, of the perpendicular lifting elevator on the tower-top platform is equipped with a climbing sunken box of a sunken structure; sinking height of the climbing sunken box rises to the car bottom on the highest position in a mode of corresponding to the perpendicular lifting elevator; the climbing sunken box can communicate with the carwhich rises to the highest position of the perpendicular lifting elevator; and a pedestrian tower ladder which extends to the tower-top platform from the box bottom is arranged in the climbing sunkenbox. The lifting channel structure is beneficial for improving climbing efficiency and safety, in the tower, of an operator, so that timeliness of maintaining operation of the wind driven generator isreliably improved favorably.

The invention discloses a super high-rise building inhaul cable type flexible steel platform formwork and a lifting method. The steel platform formwork comprises a steel platform, outward extending corbels of the steel platform, upright post supporting structures, upright post corbels, a connecting truss, jacking oil cylinders, oil cylinder corbels, a main cable and a plurality of adjustable inhaul cables; and the steel platform is supported on an outer side wall body of a core barrel shear wall through the outward extending corbels of the steel platform, the upright post support structures are supported on an inner side wall body of the core barrel shear wall through the upright post corbels at the side parts, the jacking oil cylinders are arranged at the bottoms of the upright post support structures and are supported on the inner side wall body of the core barrel shear wall through the oil cylinder corbels, the two ends of the main cable are respectively connected with the tops ofthe two upright post support structures, and the plurality of adjustable inhaul cables are used for lifting the steel platform. According to the steel platform formwork and the lifting method, a mainclimbing member of the steel platform is converted into a tension member from a compression member, the compression support is separated from the climbing member, and the limitation of a climbing height per time is not needed to be considered.

The invention relates to the technical field of building construction, in particular to a detachable tower crane climbing device. According to the technical scheme, the detachable tower crane climbingdevice comprises a climbing frame, a climbing track and a plurality of pre-embedded parts, wherein the pre-embedded parts are pre-embedded in a building wall body; the climbing track is vertically arranged along the building wall body, the climbing track is detachably connected with the pre-embedded parts, and the climbing track is matched with an upper sliding block and a lower sliding block; the climbing track is provided with a one-way mechanism, the one-way mechanism is used for enabling the upper sliding block and the lower sliding block to slide upwards along the climbing track only ina limited mode; and the upper sliding block is fixedly connected with the climbing frame, and the climbing frame is connected with the lower sliding block through a hydraulic cylinder. According to the climbing device, when a tower crane climbs, the occupied time of the tower crane is short, the construction efficiency of the building can be improved, the repeated utilization of the climbing trackcan be realized, and the climbing device has the characteristics that climbing is rapid and convenient, and the cost is low.

The invention discloses a wheelchair capable of walking up and down stairs. The wheelchair comprises a wheel carrier, wherein the top surface of the wheel carrier is provided with a seat; the wheel carrier comprises two strip-shaped brackets which are arranged horizontally in parallel; the inner sides of the two strip-shaped brackets are provided with connecting frames, and the two ends of the connecting frames are connected with the strip-shaped brackets respectively; the outer sides of the front and back ends of the strip-shaped brackets are provided with electric walking wheels for walking; the lower surfaces of the front and back ends of the strip-shaped brackets are provided with frame legs extending downwards and vertically respectively; a stair climbing device which is parallel to the strip-shaped bracket is further arranged between the two frame legs; the front end and the back end of the stair climbing device are provided with elastic connectors, and are connected with the frame legs respectively; the stair climbing device is provided with a plurality of stair climbing wheels for climbing stairs along the frontward-backward direction; the lowest points of the stair climbing wheels are higher than the lowest points of the electric walking wheels. The wheelchair has the advantages of simple structure, convenience in operation, low manufacturing cost, capability of walking up and down stairs stably, high stability, capability of preventing overturning and high climbing efficiency.

The invention belongs to the technical field of climbing robots for electric power operation, and particularly relates to a walking control method based on a climbing robot for an angle steel tower. The walking control method comprises two sets of clamping assemblies for clamping the angle steel at the same time; the lower clamping assembly is loosened; a control host is parallel to the currentlyclamped angle steel; the lower clamping assembly moves upwards along the host. The upper clamping assembly is loosened, and the control host is parallel to the currently clamped angle steel; the hostmoves upwards relative to the lower clamping assembly. The upper clamping assembly clamps the angle steel; therefore, a round of walking control action is completed. By means of the walking control method, the climbing robot can have high obstacle crossing capacity and high climbing efficiency; meanwhile, the action stability and the action reliability of climbing operation can be synchronously guaranteed, so that the manpower inspection cost can be greatly saved, the maintenance efficiency can be improved, and safe and reliable operation of a power transmission system can be guaranteed.

The invention provides a levelling carrying robot. The robot is mainly composed of a driving mechanism, a placing mechanism, a micro-sensing unit and a control system, wherein according to the drivingmechanism, two driving motors independently drive two crawler belts through different crawler belt wheels and are installed on the inner sides of side plates of the driving mechanism so that the transverse size of the robot can be effectively reduced, and the robot can conveniently move; the placing mechanism is installed on a side plate of a chassis through a rotary shaft, and the placing mechanism can be kept horizontal through angle adjustment conducted by a levelling motor; a driving device, a sweeping device and the micro-sensing unit are connected to the control system. The robot can stably climb stairs, and the horizontal state of the placing mechanism is kept to avoid the problems of falling of goods due to inclining and the like.