Wheel type climbing mechanism

Abstract

The invention discloses a wheel type climbing mechanism which comprises a rack and a plurality of driving units, the driving units are assembled and connected to the rack, and the driving units are located on the two sides of the rack correspondingly so that the rack can be erected on handrail ropes arranged in parallel; the driving unit comprises a driving wheel module and an anti-falling module, and the driving wheel module climbs in the length direction of the handrail rope during operation; the anti-falling module comprises a box body, a driven roller and a lifting assembly, the driving wheel module is arranged on the box body, the box body is installed on the rack, and the driven roller is horizontally arranged and is in rolling fit with a handrail rope; the lifting assembly is arranged on the box body and drives the driven roller to be close to the handrail rope so as to be matched with the driving wheel module to clamp the handrail rope, or the lifting assembly drives the driven roller to be away from the handrail rope so as to release clamping of the handrail rope. The climbing device has the effects of being high in climbing speed and high in climbing efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of bridge maintenance, and more specifically, to a wheeled climbing mechanism. Background Art

[0002] In order to eliminate the potential for major accidents, the main cables of suspension bridges need to be regularly inspected and maintained. Human maintenance of the main cables is inefficient and risky, which has led to the new trend of machine maintenance of the main cables. Climbing the handrails of the main cables is one of the key technologies to achieve machine maintenance of the main cables.

[0003] In the prior art, a peristaltic climbing mechanism for main cable handrail climbing is common. The peristaltic climbing mechanism is usually composed of a series of interconnected modules. The modules arranged in sequence work together to achieve advancement in segmented motion, presenting a wave-like advancement pattern as a whole. Therefore, the peristaltic climbing mechanism has the defects of slow climbing speed and low climbing efficiency during the climbing process.

[0004] With regard to the above technical means, there are defects in that the creeping climbing mechanism has a slow climbing speed and low climbing efficiency. Summary of the invention

[0005] The embodiment of the present application provides a wheeled climbing mechanism, which has the effects of fast climbing speed and high climbing efficiency.

[0006] The present application provides a wheeled climbing mechanism that adopts the following technical solution:

[0007] A wheeled climbing mechanism, comprising:

[0008] frame;

[0009] A plurality of driving units are provided and assembled and connected to the frame, and the plurality of driving units are respectively located on both sides of the frame, so that the frame is erected on handrail ropes arranged in parallel;

[0010] The driving unit includes a driving wheel module and an anti-fall module. The driving wheel module climbs along the length direction of the handrail rope when in operation; the anti-fall module includes a box, a passive roller and a lifting assembly. The driving wheel module is arranged in the box, and the box is installed on the frame. The passive roller is horizontally arranged and cooperates with the handrail rope in rolling. The lifting assembly is arranged in the box and drives the passive roller to approach the handrail rope to cooperate with the driving wheel module to clamp the handrail rope, or drives the passive roller away from the handrail rope to release the clamping of the handrail rope.

[0011] Optionally, the anti-fall module also includes a rotating component, which includes a mounting seat and a connecting shaft. The mounting seat is slidably set on the box body, the connecting shaft is set perpendicular to the handrail rope and rotates with the mounting seat, and the passive roller is rotatably set at one end of the connecting shaft away from the mounting seat. The rotation of the connecting shaft drives the passive roller to rotate to avoid obstacles.

[0012] Optionally, a plurality of passive rollers are provided, and the plurality of passive rollers are evenly distributed in a circle with the rotation axis of the connecting shaft as the center; the rotating assembly drives one of the passive rollers to rotate to avoid obstacles, and at the same time the adjacent passive rollers rotate to correspond to the handrail rope, so that the handrail rope is again located between the driving wheel module and the passive roller.

[0013] Optionally, the rotating assembly also includes a rotating motor, which is fixedly connected to the mounting seat, and the output shaft of the rotating motor is connected to one end of the connecting shaft close to the mounting seat, and the rotating motor is used to drive the connecting shaft to rotate to drive the passive roller to rotate to avoid obstacles.

[0014] Optionally, the connecting shaft is provided with a plurality of first sector-shaped magnets with the rotation axis as the center, and the first sector-shaped magnets are provided one-to-one corresponding to the passive roller; the mounting seat is provided with a plurality of second sector-shaped magnets corresponding to the first sector-shaped magnets, and the second sector-shaped magnets are magnetically attracted to the first sector-shaped magnets.

[0015] Optionally, the passive roller comprises a roller body, a roller shaft and a bearing, the roller body and the roller shaft are rotatably connected via the bearing, and the roller shaft is perpendicular to the connecting shaft and fixedly connected to the connecting shaft.

[0016] Optionally, the lifting assembly includes a lead screw, a lead screw nut and a lifting motor;

[0017] The lifting motor is fixedly arranged on the box body, the length direction of the lead screw is the same as the length direction of the connecting shaft, the lead screw is rotatably matched with the box body through a bearing, and one end of the lead screw is connected to the output shaft of the lifting motor; the lead screw nut is fixedly connected to the mounting seat, and the lead screw nut is transmission-matched with the lead screw, and the lifting motor drives the lead screw to rotate so that the lead screw nut moves along the axial direction of the lead screw, thereby driving the mounting seat to rise or fall to realize the movement of the passive roller close to or away from the handrail rope.

[0018] Optionally, the driving wheel module includes a driving wheel body and a creeping drive motor, the creeping drive motor is arranged in the box, the driving wheel body is arranged on the output shaft of the creeping drive motor, and the creeping drive motor drives the driving wheel body to roll along the length direction of the handrail rope.

[0019] Optionally, the driving wheel module also includes a motor seat for slidingly cooperating with the box body, the creeping drive motor is fixedly connected to the motor seat, the end surface of the motor seat facing the box body is provided with a second linear slider, the end surface of the box body facing the motor seat is provided with a second linear guide rail perpendicular to the handrail rope, and the second linear slider is slidably connected to the second linear guide rail.

[0020] Optionally, the box body is provided with a cover plate, and the motor base is provided with a limiting column, the limiting column is arranged between the motor base and the cover plate, and is passed through the cover plate and is slidably connected to the cover plate, and a support spring is sleeved on the outer peripheral wall of the limiting column, one end of the support spring is in contact with the motor base, and the other end is in contact with the cover plate.

[0021] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0022] The driving wheel module serves as the power source for the climbing mechanism to climb along the handrail rope. When the climbing mechanism is in operation, the lifting assembly drives the passive roller to move close to the handrail rope so that the driving wheel module and the passive roller cooperate with each other to clamp the handrail rope and apply a certain force to the handrail rope. At this time, the handrail rope is enveloped between the driving wheel module and the passive roller; when the driving wheel module is in operation, the driving wheel module climbs along the length direction of the handrail rope. Since the handrail rope will apply friction to the driving wheel module and the passive roller in contact with it, the friction force is transmitted to the entire climbing mechanism through the driving unit, so that the climbing mechanism moves forward or backward along the length direction of the handrail rope, that is, the climbing action for the handrail rope is realized; compared with the intermittent creeping climbing action, the continuous wheel climbing action is fast and the climbing efficiency of the climbing mechanism is high; at the same time, when the climbing mechanism is climbing along the handrail rope, the handrail rope is restricted between the driving wheel module and the passive roller, which can prevent the occurrence of derailment during the climbing process, thereby improving the stability and safety of the climbing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0024] Figure 1 A schematic diagram of the use of a wheeled climbing mechanism disclosed in an embodiment of the present application;

[0025] Figure 2 This is a schematic diagram of the overall structure of a wheeled climbing mechanism disclosed in an embodiment of the present application, highlighting a driving unit;

[0026] Figure 3 A schematic diagram of a wheeled climbing mechanism disclosed in an embodiment of the present application highlighting a driving wheel module and a fall prevention module clamping a handrail rope;

[0027] Figure 4 A structural cross-sectional view of a wheeled climbing mechanism disclosed in an embodiment of the present application;

[0028] Figure 5 A structural cross-sectional view showing a rotating component embodiment 1 of a wheeled climbing mechanism disclosed in an embodiment of the present application;

[0029] Figure 6 A structural schematic diagram of a wheeled climbing mechanism disclosed in an embodiment of the present application showing a rotating assembly embodiment 1;

[0030] Figure 7 A structural schematic diagram of a wheeled climbing mechanism disclosed in an embodiment of the present application that highlights a rotating assembly embodiment 2;

[0031] Figure 8 A top view showing the structure of the first sector magnet and the second sector magnet in Embodiment 2 of the rotating assembly of a wheeled climbing mechanism disclosed in an embodiment of the present application;

[0032] Fig. 9 A structural schematic diagram of a wheeled climbing mechanism disclosed in an embodiment of the present application showing a state 1 of an anti-fall module;

[0033] Fig.10 A schematic structural diagram of a wheeled climbing mechanism with a prominent box body disclosed in an embodiment of the present application;

[0034] Fig.11 This is a structural schematic diagram of a wheeled climbing mechanism disclosed in an embodiment of the present application, highlighting state 2 of the anti-fall module.

[0035] Description of reference numerals:

[0036] 100, frame; 200, drive unit;

[0037] 210, driving wheel module; 211, driving wheel body; 212, creeping drive motor; 213, motor seat; 2131, second linear slider; 2132, limiting column; 214, supporting spring;

[0038] 220, anti-fall module; 221, box body; 2211, cover plate; 2212, fixing block; 2213, bolt; 2214, special-shaped hole; 2215, first linear guide rail; 2216, second linear guide rail; 222, passive roller; 2221, roller body; 2222, roller shaft;

[0039] 223, lifting assembly; 2231, lead screw; 2232, lead screw nut; 2233, lifting motor;

[0040] 224, rotating assembly; 2241, mounting seat; 2242, first linear slider; 2243, connecting shaft; 2244, special-shaped shaft segment; 2245, rotating motor; 2246, first sector-shaped magnet; 2247, second sector-shaped magnet. DETAILED DESCRIPTION

[0041] The present application is further described in detail below in conjunction with the accompanying drawings.

[0042] An embodiment of the present application provides a wheeled climbing mechanism.

[0043] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only embodiments of a part of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0044] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] First, the working environment of the wheeled climbing mechanism of this application is described. Figure 1, which is an embodiment scenario of the wheeled climbing mechanism of the present application for climbing. The main cable is the core load-bearing structure in the suspension bridge. Three layers of ropes parallel to the main cable are installed above both sides in the length direction of the main cable. Usually, two relatively horizontal ropes form one layer. Columns are set at a certain distance of rope length. The three layers of ropes on both sides of the main cable are fixed vertically by using rope clamps on the two columns. The two top ropes are called handrail ropes. The embodiment of the present application takes the handrail rope as the climbing object and proposes a technical solution of a wheeled climbing mechanism, which can realize climbing along the length direction of the handrail rope. Furthermore, the wheeled climbing mechanism of the present application can also carry detection instruments for the main cable to inspect the main cable along the direction of the handrail rope.

[0046] It is understandable that although the wheeled climbing mechanism of the present application uses the handrail rope as the climbing object, under the same two-rope climbing conditions, the wheeled climbing mechanism of the present application can also be applied to other climbing scenarios. The present application only uses the handrail rope as an example to illustrate the wheeled climbing mechanism, which is not a limitation of the present application.

[0047] See also Figure 1 and Figure 2 , is an embodiment of the wheeled climbing mechanism of the embodiment of the present application, the wheeled climbing mechanism includes a frame 100 and a driving unit 200, the driving unit 200 is provided with a plurality of and assembled and connected to the frame 100, and the plurality of driving units 200 are respectively located on both sides of the frame 100, so that the frame 100 is erected on the handrail ropes arranged in parallel. In the present application, the frame 100 is formed by two sets of mutually parallel connecting rods fixedly spliced, and the driving unit 200 is provided with four, and the four driving units 200 are divided into two groups and symmetrically arranged on both sides of the frame 100, that is, two driving units 200 are arranged on the left side of the frame 100 to contact the handrail rope on the left side of the main cable, and two driving units 200 are arranged on the right side of the frame 100 to contact the handrail rope on the right side of the main cable, and the four driving units 200 are arranged in the left front, left rear, right front, and right rear directions of the frame 100, respectively, so that the frame 100 is erected above the handrail ropes arranged in parallel, and climbs along the length direction of the handrail rope under the action of the driving unit 200.

[0048] See also Figure 2 and Figure 3 The driving unit 200 includes a driving wheel module 210 and an anti-fall module 220. The driving wheel module 210 serves as a power source for the climbing mechanism to climb along the handrail rope. The anti-fall module 220 is used to cooperate with the driving wheel module 210 to clamp the handrail rope to prevent the driving unit 200 from falling from the handrail rope during the climbing process. When operating, the driving wheel module 210 climbs along the length direction of the handrail rope, driving the anti-fall module 220 to move synchronously, thereby realizing the climbing mechanism crawling along the handrail rope.

[0049] See also Figure 2 and Figure 4 The anti-fall module 220 includes a box 221, a passive roller 222, a lifting assembly 223 and a rotating assembly 224. The driving wheel module 210, the lifting assembly 223 and the rotating assembly 224 are all arranged in the box 221, and the box 221 is installed on the frame 100. The driving wheel module 210 is located above the handrail rope, and the passive roller 222 is located below the handrail rope. The passive roller 222 is horizontally arranged to cooperate with the driving wheel module 210 to clamp the handrail rope and roll with the handrail rope; the lifting assembly 223 is used to drive the passive roller 222 to approach the handrail rope to cooperate with the driving wheel module 210 to clamp the handrail rope, or drive the passive roller 222 away from the handrail rope to release the clamping of the handrail rope; the rotating assembly 224 is used to drive the passive roller 222 to rotate in a plane parallel to the handrail rope to avoid obstacles to the column.

[0050] When the climbing mechanism is in operation, the lifting assembly 223 drives the passive roller 222 to move close to the handrail rope so that the driving wheel module 210 and the passive roller 222 cooperate with each other to clamp the handrail rope and apply a certain force to the handrail rope. At this time, the handrail rope is enveloped between the driving wheel module 210 and the passive roller 222; when the driving wheel module 210 is in operation, the driving wheel module 210 climbs along the length direction of the handrail rope. Since the handrail rope will apply friction to the driving wheel module 210 and the passive roller 222 in contact with it, the friction force is transmitted to the entire climbing mechanism through the driving unit 200, so that the climbing mechanism moves forward or backward along the length direction of the handrail rope, that is, the climbing action for the handrail rope is realized. When encountering obstacles such as columns during the climbing process, the rotating assembly 224 drives the passive roller 222 to rotate in a plane parallel to the handrail rope, so that the passive roller 222 deviates from the column to avoid the column. Compared with the intermittent creeping climbing action, the continuous wheel climbing action is fast, which makes the climbing efficiency of the climbing mechanism high; at the same time, when the climbing mechanism is climbing along the handrail rope, the handrail rope is restricted between the driving wheel module 210 and the passive roller 222, which can prevent derailment during the climbing process, thereby improving the stability and safety of the climbing mechanism.

[0051] The box body 221 is in a rectangular parallelepiped configuration, the driving wheel module 210 is located on one side of the box body 221, and the box body 221 is provided with a cover plate 2211, the cover plate 2211 is located above the box body 221, and the cover plate 2211 is fixedly connected to the box body 221, and one end of the cover plate 2211 extends beyond the opening edge of the box body 221 toward the driving wheel module 210. A fixing block 2212 and a bolt 2213 are provided on one side of the box body 221 corresponding to the driving wheel module 210, and the box body 221 is fixed to the frame 100 through the fixing block 2212 and the bolt 2213, and the bolt 2213 passes through the fixing block 2212, and there is an installation gap between the fixing block 2212 and the box body 221 for the connecting rod of the frame 100 to pass through. Loosen the bolts 2213 to increase the installation gap so that the box body 221 can slide relative to the rack 100; tighten the bolts 2213 to reduce the installation gap so that the fixing block 2212 presses the connecting rod of the rack 100 to control the box body 221 to be fixed relative to the rack 100.

[0052] See also Figure 4 The rotating assembly 224 includes a mounting seat 2241 and a connecting shaft 2243. The mounting seat 2241 is located in the box body 221 and is slidably arranged on the box body 221. The connecting shaft 2243 is arranged perpendicular to the handrail rope and rotates with the mounting seat 2241. One end of the connecting shaft 2243 connected to the mounting seat 2241 is located in the box body 221, and the other end of the connecting shaft 2243 passes through the box body 221 and is located outside the box body 221. The passive roller 222 is rotatably arranged at one end of the connecting shaft 2243 away from the mounting seat 2241. The rotation of the connecting shaft 2243 drives the passive roller 222 to rotate to avoid obstacles. A plurality of passive rollers 222 are provided, and the plurality of passive rollers 222 are evenly distributed in a circle with the rotation axis of the connecting shaft 2243 as the center; the rotating assembly 224 drives one of the passive rollers 222 to rotate to avoid obstacles, and at the same time the adjacent passive rollers 222 rotate to correspond to the handrail rope, so that the handrail rope is again located between the driving wheel module 210 and the passive roller 222, thereby improving the climbing stability of the climbing mechanism when avoiding obstacles.

[0053] In the present application, four passive rollers 222 are provided, the four passive rollers 222 are located in the same plane, and the angle between adjacent passive rollers 222 is 90°. It can be understood that when one of the passive rollers 222 is crawling along the length of the handrail rope, the passive roller 222 gradually approaches the column and preferentially contacts the rear side of the column, and the lifting assembly 223 drives the passive roller 222 to drop a certain height, so that the passive roller 222 is out of contact with the handrail rope; the connecting shaft 2243 rotates to drive the passive roller 222 to rotate in the direction away from the column, and the connecting shaft 2243 rotates 90° so that the passive roller 222 gradually deviates from the column to avoid the column. At the same time, the adjacent passive roller 222 gradually rotates in the direction close to the column under the rotation of the connecting shaft 2243. After rotating 90°, the adjacent passive roller 222 is located on the front side of the column and corresponds to the handrail rope, so that the handrail rope is again located between the driving wheel module 210 and the passive roller 222. At this time, the drive unit 200 achieves the obstacle avoidance effect on the column, and the drive unit 200 continues to climb along the handrail rope.

[0054] See also Figure 5 Specifically, the passive roller 222 includes a roller body 2221, a roller shaft 2222 and a bearing. The roller body 2221 and the roller shaft 2222 are rotatably connected via the bearing. The roller shaft 2222 is perpendicular to the connecting shaft 2243 and fixedly connected to the connecting shaft 2243. When the roller body 2221 fits the handrail rope, the roller body 2221 rolls with the handrail rope under the action of the friction between the handrail rope and the roller body 2221.

[0055] See also Figure 5 and Figure 6 In a specific embodiment, the connecting shaft 2243 is driven by a rotating motor 2245 to rotate the connecting shaft 2243. The rotating motor 2245 is fixedly connected to the mounting seat 2241. The output shaft of the rotating motor 2245 is connected to one end of the connecting shaft 2243 close to the mounting seat 2241. The rotating motor 2245 is used to drive the connecting shaft 2243 to rotate so as to drive the passive roller 222 to rotate for obstacle avoidance. The rotating motor 2245 converts electric current into mechanical energy to provide a constant and reliable torque for the rotation of the connecting shaft 2243. The rotating motor 2245 can accurately adjust the speed. The frequency conversion technology can make the connecting shaft 2243 stop at any position after rotating, thereby realizing accurate control of the connecting shaft 2243 and reducing the influence of external factors on the connecting shaft 2243.

[0056] See also Figure 7 and Figure 8In another specific embodiment, the connecting shaft 2243 is driven by magnetic force to achieve rotation. Specifically, the connecting shaft 2243 is provided with a plurality of first fan-shaped magnets 2246 with the rotation axis as the center. The first fan-shaped magnet 2246 is arranged at the end of the connecting shaft 2243 away from the passive roller 222. The number of the first fan-shaped magnets 2246 is the same as the number of the passive roller 222, and the first fan-shaped magnets 2246 are arranged one by one corresponding to the passive roller 222; the mounting seat 2241 is provided with a plurality of second fan-shaped magnets 2247 corresponding to the first fan-shaped magnet 2246, and the second fan-shaped magnet 2247 is arranged around the outer periphery of the first fan-shaped magnet 2246, and the second fan-shaped magnet 2247 is magnetically attracted to the first fan-shaped magnet 2246. In the present application, four first sector magnets 2246 and second sector magnets 2247 are provided, and the first sector magnets 2246 and second sector magnets 2247 are provided in the same plane. The second sector magnets 2247 can always exert an attractive force on the first sector magnet 2246 at the upper end of the connecting shaft 2243. When there is no other external force (the force exerted on it by the obstacle), the first sector magnet 2246 maintains a fixed position, thereby making the connecting shaft 2243 maintain a fixed position; when one of the passive rollers 222 encounters an obstacle, the obstacle exerts a certain force on the passive roller 222. The force of magnitude causes the connecting shaft 2243 to rotate relative to the mounting seat 2241, the first sector magnet 2246 is misaligned with the corresponding second sector magnet 2247, and then is magnetically attracted to the adjacent second sector magnet 2247, the connecting shaft 2243 drives the passive roller 222 to rotate 90°, the adjacent passive rollers 222 synchronously rotate 90° to avoid obstacles, the second sector magnet 2247 on the mounting seat 2241 generates a strong suction force on the first sector magnet 2246 arranged at 90° adjacent to the upper end of the connecting shaft 2243, so that the connecting shaft 2243 remains in this position after rotating 90°.

[0057] See also Fig. 9 and Fig.11The lifting assembly 223 includes a lead screw 2231, a lead screw nut 2232 and a lifting motor 2233. The lifting motor 2233 is fixedly arranged on the box body 221. The lead screw 2231 is vertically arranged and the length direction of the lead screw 2231 is the same as the length direction of the connecting shaft 2243. The lead screw 2231 is rotatably matched with the box body 221 through a bearing, and one end of the lead screw 2231 is connected to the output shaft of the lifting motor 2233; the lead screw nut 2232 is fixedly connected to the mounting seat 2241, and the lead screw nut 2232 is transmission-matched with the lead screw 2231. The lifting motor 2233 drives the lead screw 2231 to rotate so that the lead screw nut 2232 moves axially along the lead screw 2231, thereby driving the mounting seat 2241 to rise or fall to realize the movement of the passive roller 222 close to or away from the handrail rope. In the present application, the lifting motor 2233 is fixedly connected to the cover plate 2211 through the lifting motor seat, and one end of the lead screw 2231 is coaxially fixedly connected to the output shaft of the lifting motor 2233; the connecting shaft 2243 is rotatably connected to the middle part of the mounting seat 2241 through a bearing, and the lead screw nut 2232 is fixedly connected to the middle part of the mounting seat 2241. One end of the lead screw 2231 is rotatably connected to the cover plate 2211 through a bearing, and the other end is rotatably connected to the box body 221 through a bearing. When the output shaft of the lifting motor 2233 rotates, the lead screw 2231 is driven to rotate synchronously, and the lead screw nut 2232 moves along the axial direction of the lead screw 2231, thereby driving the mounting seat 2241, the connecting shaft 2243 and the passive roller 222 to move along the axial direction of the lead screw 2231, thereby realizing the movement of the passive roller 222 close to or away from the handrail rope.

[0058] In order to maintain the lifting stability of the mounting seat 2241, a first linear slider 2242 is provided on the end surface of the mounting seat 2241 facing the inner wall of the box body 221, and the rotation axis of the connecting shaft 2243 and the rotation axis of the lead screw 2231 are parallel to the sliding direction of the first linear slider 2242; a first linear guide rail 2215 is provided on the end surface of the inner wall of the box body 221 facing the mounting seat 2241, and the first linear slider 2242 is slidably connected to the first linear guide rail 2215. The mounting seat 2241 is slidably connected to the box body 221 through the cooperation of the first linear guide rail 2215 and the first linear slider 2242, that is, the mounting seat 2241 can move linearly relative to the box body 221 along the direction of the first linear guide rail 2215.

[0059] Please refer to Figure 6 and Fig.10 The end of the connecting shaft 2243 away from the mounting seat 2241 is a shaft section with a special-shaped cross section, and the bottom of the box body 221 is provided with a special-shaped hole 2214, which can be matched with the special-shaped shaft section 2244 of the connecting shaft 2243. In the present application, the cross section of the special-shaped shaft section 2244 of the connecting shaft 2243 is rectangular, and the special-shaped hole 2214 is a rectangular hole. Fig. 9As shown, when the mounting seat 2241 and the connecting shaft 2243 are driven by the lifting motor 2233 and the special-shaped shaft section 2244 of the connecting shaft 2243 is raised to the point where the special-shaped hole 2214 of the box body 221 is matched, the special-shaped hole 2214 and the special-shaped shaft section 2244 are matched and cannot rotate, so that the connecting shaft 2243 remains fixed relative to the mounting seat 2241. Fig.10 As shown, under the drive of the lifting motor 2233, when the mounting seat 2241 and the connecting shaft 2243 descend to the point where the special-shaped shaft segment 2244 of the connecting shaft 2243 is disengaged from the special-shaped hole 2214 of the box body 221, the special-shaped hole 2214 releases the limitation on the special-shaped shaft segment 2244, thereby driving the connecting shaft 2243 to rotate relative to the mounting seat 2241.

[0060] It can be understood that under the action of the lifting motor 2233, the passive roller 222 rises with the connecting shaft 2243 to fit with the handrail rope and generate a certain amount of force. At this time, the mounting seat 2241 and the connecting shaft 2243 rise to the point where the special-shaped shaft section 2244 of the connecting shaft 2243 cooperates with the special-shaped hole 2214 of the box body 221. The connecting shaft 2243 cannot rotate relative to the mounting seat 2241, and the handrail rope is enveloped between the driving wheel module 210 and the passive roller 222; when the crawling drive motor 212 rotates, under the action of friction, the climbing mechanism can move along the direction of the handrail rope, further enhancing the crawling stability of the anti-fall module 220. When the climbing mechanism encounters a column that fixes the handrail rope during the climbing process, under the action of the lifting motor 2233, the passive roller 222 drops to a certain height to separate the passive roller 222 from the handrail rope, and the special-shaped shaft section 2244 of the connecting shaft 2243 is separated from the special-shaped hole 2214 at the bottom of the box body 221, thereby releasing the limit on the special-shaped shaft section 2244, and the driving connecting shaft 2243 can rotate relative to the mounting seat 2241; at this time, when the passive roller 222 under the handrail rope approaches the column, the driving motor 2233 is driven to rotate relative to the mounting seat 2241. The dynamic connecting shaft 2243 rotates 90° relative to the mounting seat 2241 to avoid the column; after avoiding the column, the adjacent passive roller 222 rotates to under the handrail rope, and under the action of the lifting motor 2233, the passive roller 222 rises to be close to the handrail rope, and the special-shaped shaft section 2244 of the connecting shaft 2243 cooperates with the special-shaped hole 2214 at the bottom of the box body 221, and the connecting shaft 2243 cannot rotate relative to the mounting seat 2241, and the handrail rope is again enveloped between the driving wheel module 210 and the passive roller 222.

[0061] See also Figure 2 and Figure 4, the driving wheel module 210 includes a driving wheel body 211, a crawling drive motor 212 and a motor seat 213. When the climbing mechanism is operating, the driving wheel body 211 is located above the handrail rope and is close to the handrail rope. The crawling drive motor 212 is intended to provide power for the driving wheel body 211. The crawling drive motor 212 is arranged on the box 221 through the motor seat 213. The crawling drive motor 212 is fixedly connected to the motor seat 213. The motor seat 213 and the box 221 are slidably matched. The driving wheel body 211 is arranged on the output shaft of the crawling drive motor 212, and the crawling drive motor 212 drives the driving wheel body 211 to roll along the length direction of the handrail rope. In this embodiment, the driving wheel body 211 uses a V-shaped wheel. During the climbing process of the climbing mechanism on the handrail rope, the driving wheel body 211 and the passive roller 222 of at least two drive units 200 will always be kept to envelop the handrail rope.

[0062] Furthermore, a second linear slider 2131 is provided on the end surface of the motor seat 213 facing the box body 221, and a second linear guide rail 2216 perpendicular to the handrail rope is provided on the end surface of the box body 221 facing the motor seat 213. The length direction of the second linear guide rail 2216 is the same as the length direction of the connecting shaft 2243. The second linear slider 2131 is provided on the second linear guide rail 2216 and is slidably connected to the second linear guide rail 2216. The motor seat 213 can move along the length direction of the second linear guide rail 2216, thereby driving the driving wheel body 211 to move up and down relative to the handrail rope, that is, the driving wheel module 210 can freely slide within a certain range along the direction of the second linear guide rail 2216 relative to the box body 221. The driving wheel body 211 is located above the handrail rope. Under the action of gravity of the climbing mechanism, the handrail rope applies a supporting force to the driving wheel body 211. The driving wheel body 211 moves along the second linear guide rail 2216 under the action of the supporting force, thereby increasing the distance between the driving wheel body 211 and the passive roller 222, thereby avoiding excessive clamping force between the driving wheel body 211 and the passive roller 222, which would cause the driving unit 200 to be obstructed in crawling, and at the same time reduce the friction damage to the handrail rope caused by the driving wheel body 211 and the passive roller 222.

[0063] The motor seat 213 is provided with a limiting column 2132, which is provided between the motor seat 213 and the cover plate 2211, and passes through the cover plate 2211 to be slidably connected with the cover plate 2211. The outer peripheral wall of the limiting column 2132 is sleeved with a support spring 214, one end of the support spring 214 contacts the motor seat 213, and the other end contacts the cover plate 2211. The support spring 214 is used to buffer the lifting movement of the motor seat 213, and the limiting column 2132 limits the movement of the support spring 214 in the left and right directions. When the driving wheel body 211 is assembled on the handrail rope, under the support force of the handrail rope, the motor seat 213 moves along the second linear guide rail 2216 close to the cover plate 2211, and the motor seat 213 gradually compresses the support spring 214, thereby avoiding hard contact between the motor seat 213 and the cover plate 2211. At the same time, the rebound force exerted by the support spring 214 on the driving wheel body 211 makes the driving wheel body 211 always close to the handrail rope.

[0064] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wheeled climbing mechanism, characterized in that: include: frame; A plurality of driving units are provided and assembled and connected to the frame, and the plurality of driving units are respectively located on both sides of the frame, so that the frame is erected on handrail ropes arranged in parallel; The driving unit includes a driving wheel module and an anti-fall module. The driving wheel module climbs along the length direction of the handrail rope when in operation; the anti-fall module includes a box, a passive roller and a lifting assembly. The driving wheel module is arranged in the box, and the box is installed on the frame. The passive roller is horizontally arranged and cooperates with the handrail rope in rolling. The lifting assembly is arranged in the box and drives the passive roller to approach the handrail rope to cooperate with the driving wheel module to clamp the handrail rope, or drives the passive roller away from the handrail rope to release the clamping of the handrail rope.

2. A wheeled climbing mechanism according to claim 1, characterized in that: The anti-fall module also includes a rotating component, which includes a mounting seat and a connecting shaft. The mounting seat is slidably set on the box body, the connecting shaft is set perpendicular to the handrail rope and rotates with the mounting seat, and the passive roller is rotatably set at one end of the connecting shaft away from the mounting seat. The rotation of the connecting shaft drives the passive roller to rotate to avoid obstacles.

3. A wheeled climbing mechanism according to claim 2, characterized in that: There are multiple passive rollers, and the multiple passive rollers are evenly distributed in a circle with the rotation axis of the connecting shaft as the center; the rotating component drives one of the passive rollers to rotate to avoid obstacles, and at the same time the adjacent passive rollers rotate to correspond to the handrail rope, so that the handrail rope is located between the driving wheel module and the passive roller again.

4. A wheeled climbing mechanism according to claim 3, characterized in that: The rotating assembly also includes a rotating motor, which is fixedly connected to the mounting seat. The output shaft of the rotating motor is connected to one end of the connecting shaft close to the mounting seat. The rotating motor is used to drive the connecting shaft to rotate to drive the passive roller to rotate to avoid obstacles.

5. A wheeled climbing mechanism according to claim 3, characterized in that: The connecting shaft is provided with a plurality of first sector-shaped magnets with the rotation axis as the center, and the first sector-shaped magnets are provided one by one corresponding to the passive roller; the mounting seat is provided with a plurality of second sector-shaped magnets corresponding to the first sector-shaped magnets, and the second sector-shaped magnets are magnetically attracted to the first sector-shaped magnets.

6. A wheeled climbing mechanism according to claim 1, characterized in that: The passive roller comprises a roller body, a roller shaft and a bearing. The roller body and the roller shaft are rotatably connected via the bearing. The roller shaft is perpendicular to the connecting shaft and fixedly connected to the connecting shaft.

7. A wheeled climbing mechanism according to claim 2, characterized in that: The lifting assembly includes a lead screw, a lead screw nut and a lifting motor; The lifting motor is fixedly arranged on the box body, the length direction of the lead screw is the same as the length direction of the connecting shaft, the lead screw is rotatably matched with the box body through a bearing, and one end of the lead screw is connected to the output shaft of the lifting motor; the lead screw nut is fixedly connected to the mounting seat, and the lead screw nut is transmission-matched with the lead screw, and the lifting motor drives the lead screw to rotate so that the lead screw nut moves along the axial direction of the lead screw, thereby driving the mounting seat to rise or fall to realize the movement of the passive roller close to or away from the handrail rope.

8. A wheeled climbing mechanism according to claim 1, characterized in that: The driving wheel module includes a driving wheel body and a creeping drive motor. The creeping drive motor is arranged in the box body. The driving wheel body is arranged on the output shaft of the creeping drive motor. The creeping drive motor drives the driving wheel body to roll along the length direction of the handrail rope.

9. A wheeled climbing mechanism according to claim 8, characterized in that: The driving wheel module also includes a motor seat for slidingly cooperating with the box body, the creeping drive motor is fixedly connected to the motor seat, the end surface of the motor seat facing the box body is provided with a second linear slider, the end surface of the box body facing the motor seat is provided with a second linear guide rail perpendicular to the handrail rope, and the second linear slider is slidably connected to the second linear guide rail.

10. A wheeled climbing mechanism according to claim 9, characterized in that: The box body is provided with a cover plate, and the motor base is provided with a limiting column, which is arranged between the motor base and the cover plate, and passes through the cover plate and is slidably connected to the cover plate. A supporting spring is sleeved on the outer peripheral wall of the limiting column, and one end of the supporting spring contacts the motor base, and the other end contacts the cover plate.

Images