Wheel type climbing mechanism

Abstract

The application discloses a wheeled climbing mechanism, which comprises a frame and a driving unit, the driving unit is provided with a plurality of and assembled to the frame, the plurality of driving units are respectively located on both sides of the frame, so that the frame is arranged on the parallel arranged handrail rope; the driving unit comprises a driving wheel module and a falling prevention module, the driving wheel module climbs along the length direction of the handrail rope during operation; the falling prevention module comprises a box body, a passive roller and a lifting assembly, the driving wheel module is arranged in the box body, the box body is installed on the frame, the passive roller is horizontally arranged and is in rolling cooperation with the handrail rope, and the lifting assembly is arranged in the box body and drives the passive roller to be close to the handrail rope so as to clamp the handrail rope in cooperation with the driving wheel module, or drives the passive roller to be far away from the handrail rope so as to release the clamping of the handrail rope. The application has the effects of fast climbing speed and high climbing efficiency.

Description

TECHNICAL FIELD

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

[0002] In order to eliminate major accident hazards, the main cable of a suspension bridge needs to be regularly maintained. Manual maintenance of the main cable is low in efficiency and high in risk, and thus machine maintenance of the main cable has become a new trend, and the realization of climbing movement for the main cable handrail rope is one of the key technologies for realizing machine maintenance of the main cable.

[0003] In the prior art, a common creeping climbing mechanism for climbing the main cable handrail rope is usually composed of a series of modules connected with each other, and the modules arranged in sequence work cooperatively to realize forward movement in segmented motion, and the whole presents a wave-like forward mode, so that the creeping climbing mechanism has defects of slow climbing speed and low climbing efficiency in the climbing process.

[0004] In view of the above technical means, the creeping climbing mechanism has defects of slow climbing speed and low climbing efficiency. SUMMARY

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

[0006] The wheeled climbing mechanism provided by the present application adopts the following technical scheme:

[0007] A wheeled climbing mechanism comprises:

[0008] a rack;

[0009] a plurality of driving units are arranged and assembled to the rack, and the plurality of driving units are respectively located on both sides of the rack so that the rack is arranged on the parallel handrail ropes;

[0010] The driving unit comprises a driving wheel module and an anti-falling module, the driving wheel module climbs along the length direction of the handrail rope during operation; the anti-falling module comprises a box body, a passive roller and a lifting assembly, the driving wheel module is arranged in the box body, the box body is installed on the rack, the passive roller is horizontally arranged and rolls with the handrail rope, and the lifting assembly is arranged in the box body 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 to move away from the handrail rope to release the clamping of the handrail rope.

[0011] Optionally, the anti-falling module further comprises a rotating assembly, the rotating assembly comprises a mounting seat and a connecting shaft, the mounting seat is slidingly arranged in the box, the connecting shaft is arranged perpendicularly to the handrail rope and rotationally connected with the mounting seat, the passive roller is rotationally arranged at one end of the connecting shaft away from the mounting seat, and the connecting shaft rotates to drive the passive roller to rotate to avoid obstacles.

[0012] Optionally, a plurality of passive rollers are arranged, and the plurality of passive rollers are uniformly 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 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.

[0013] Optionally, the rotating assembly further comprises a rotating motor, the rotating motor is fixedly connected with the mounting seat, an output shaft of the rotating motor is connected with 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, a plurality of first sector magnets are arranged in the connecting shaft with the rotation axis as the center, and the first sector magnets are arranged one by one to correspond to the passive rollers; the mounting seat is provided with a plurality of second sector magnets corresponding to the first sector magnets, and the second sector magnets are magnetically attracted to the first sector magnets.

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

[0016] Optionally, the lifting assembly comprises a lead screw, a lead screw nut and a lifting motor.

[0017] The lifting motor is fixedly arranged in the box, the length direction of the lead screw is the same as the length direction of the connecting shaft, the lead screw is rotationally connected with the box through a bearing, and one end of the lead screw is connected with the output shaft of the lifting motor; the lead screw nut is fixedly connected with the mounting seat, and the lead screw nut is in transmission connection with the lead screw, the lifting motor drives the lead screw to rotate, so that the lead screw nut moves axially along the lead screw, thereby driving the mounting seat to ascend or descend to move the passive roller to approach or move away from the handrail rope.

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

[0019] Optionally, the main wheel module further comprises a motor base for slidingly fitting with the box, the crawling driving motor is fixedly connected to the motor base, the motor base is provided with a second linear sliding block towards the end face of the box, the box is provided with a second linear guide rail perpendicular to the handrail rope towards the end face of the motor base, and the second linear sliding block is slidingly connected with the second linear guide rail.

[0020] Optionally, the box is provided with a cover plate, the motor base is provided with a limiting column, the limiting column is arranged between the motor base and the cover plate and is slidingly connected with the cover plate, and a supporting spring is sleeved on the outer circumferential wall of the limiting column, one end of the supporting spring is in contact with the motor base, and the other end is in contact with the cover plate.

[0021] From the above technical solutions, the embodiments of the present application have the following advantages:

[0022] The main wheel module serves as the power source for the climbing mechanism to climb along the handrail rope. When the climbing mechanism is working, the lifting assembly drives the passive roller to move close to the handrail rope so that the main wheel module and the passive roller cooperatively clamp and apply a certain force to the handrail rope. At this time, the handrail rope is enclosed between the main wheel module and the passive roller. When the main wheel module is working, the main wheel module climbs along the length direction of the handrail rope. Since the handrail rope applies a friction force to the main wheel module and the passive roller in contact with the handrail rope, the friction force is transmitted to the whole 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 peristaltic climbing action, the continuous wheel-type climbing action is fast and has high climbing efficiency of the climbing mechanism. Meanwhile, the handrail rope is limited between the main wheel module and the passive roller during the climbing along the handrail rope, which prevents the derailment during the climbing and improves the stability and safety of the climbing mechanism. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art according to these drawings.

[0024] Figure 1 A use schematic diagram of a wheel-type climbing mechanism disclosed by the embodiments of the present application;

[0025] Figure 2 A whole structure schematic diagram of a driving unit highlighted by a wheel-type climbing mechanism disclosed by the embodiments of the present application;

[0026] Figure 3 A schematic view of a handrail rope clamped by a driving wheel module and a falling prevention module of a wheel type climbing mechanism disclosed by an embodiment of the present application;

[0027] Figure 4 A structural sectional view of a wheel type climbing mechanism disclosed by an embodiment of the present application;

[0028] Figure 5 A structural sectional view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a rotating assembly embodiment 1;

[0029] Figure 6 A structural schematic view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a rotating assembly embodiment 1;

[0030] Figure 7 A structural schematic view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a rotating assembly embodiment 2;

[0031] Figure 8 A structural top view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a first sector magnet and a second sector magnet in a rotating assembly embodiment 2;

[0032] Figure 9 A structural schematic view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a falling prevention module state 1;

[0033] Figure 10 A structural schematic view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a box body;

[0034] Figure 11 A structural schematic view of a wheel type climbing mechanism disclosed by an embodiment of the present application highlighting a falling prevention module state 2.

[0035] Explanation of reference signs:

[0036] 100, rack; 200, driving unit;

[0037] 210, driving wheel module; 211, driving wheel body; 212, climbing driving motor; 213, motor base; 2131, second linear slide; 2132, limiting column; 214, supporting spring;

[0038] 220, falling prevention module; 221, box body; 2211, cover plate; 2212, fixed 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, screw rod; 2232, screw nut; 2233, lifting motor;

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

[0041] The application will be further described below in conjunction with the accompanying drawings.

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

[0043] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work should belong to the protection scope of the application. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on that the technical solutions can be realized by those skilled in the art, when the combination of the technical solutions appears contradictory or cannot be realized, it should be considered that the combination of the technical solutions does not exist, and is not within the protection scope of the application.

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

[0045] First, the working environment of the wheeled climbing mechanism of the application is described, please refer to Figure 1, an embodiment scenario of the wheel type climbing mechanism of the present application is realized. The main cable is the core load-bearing structure in the suspension bridge, and three layers of ropes parallel to the main cable are installed above both sides of the main cable in the length direction. Usually, two opposite horizontal ropes are a layer, and a stand is arranged at a certain rope length distance. The rope clamp on the two stands is used to fix the three layers of ropes on both sides of the main cable in the vertical direction, and the two ropes in the uppermost layer are called handrail ropes. The embodiment of the present application takes the handrail ropes as the climbing object, and proposes a technical scheme of the wheel type climbing mechanism, which can realize climbing along the length direction of the handrail ropes. Further, the wheel type climbing mechanism of the present application can also realize carrying the detection instrument for the main cable to maintain the main cable along the direction of the handrail ropes.

[0046] It can be understood that, although the wheel type climbing mechanism of the present application takes the handrail ropes as the climbing object, under the same climbing condition of two ropes, the wheel type climbing mechanism of the present application can also be applied to other climbing scenes. The present application only takes the handrail ropes as an example to describe the wheel type climbing mechanism, and is not limited to the present application.

[0047] Please refer to Figure 1 and Figure 2 , an embodiment of the wheel type climbing mechanism of the present application, the wheel type climbing mechanism comprises a rack 100 and a driving unit 200, the driving unit 200 is provided with a plurality of and assembled to the rack 100, the plurality of driving units 200 are respectively located on both sides of the rack 100, so that the rack 100 is erected on the parallel arranged handrail ropes. In the present application, the rack 100 is fixedly spliced by two groups of mutually parallel connecting rods, the driving unit 200 is provided with four, the four driving units 200 are divided into two groups and symmetrically arranged on both sides of the rack 100, that is, two driving units 200 are arranged on the left side of the rack 100 and contact with the left handrail rope of the main cable, two driving units 200 are arranged on the right side of the rack 100 and contact with the right handrail rope 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 rack 100 respectively, so as to erect the rack 100 above the parallel arranged handrail ropes and climb along the length direction of the handrail ropes under the action of the driving unit 200.

[0048] Please refer to Figure 2 and Figure 3 , the driving unit 200 comprises a driving wheel module 210 and a falling prevention module 220, the driving wheel module 210 is the power source for the climbing mechanism to climb along the handrail ropes, and the falling prevention module 220 is used to clamp the handrail ropes in cooperation with the driving wheel module 210 to prevent the driving unit 200 from falling off the handrail ropes during climbing. The driving wheel module 210 operates to climb along the length direction of the handrail ropes, drives the falling prevention module 220 to move synchronously, so as to realize the climbing of the climbing mechanism along the handrail ropes.

[0049] Please refer toFigure 2 and Figure 4 The anti-falling 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, which is installed on the rack 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 move close to the handrail rope to cooperate with the driving wheel module 210 to clamp the handrail rope, or to drive the passive roller 222 to move 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.

[0050] When the climbing mechanism is working, 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 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 working, the driving wheel module 210 climbs along the length direction of the handrail rope. Since the handrail rope applies a friction force 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 advances or retreats along the length direction of the handrail rope, that is, the climbing action for the handrail rope is realized. When an obstacle such as a column is encountered during climbing, 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 peristaltic climbing action, the continuous wheel-type climbing action is fast, which makes the climbing efficiency of the climbing mechanism high. At the same time, during the climbing process along the handrail rope, the handrail rope is limited between the driving wheel module 210 and the passive roller 222, which can prevent the occurrence of derailment during the climbing process, thereby improving the stability and safety of the climbing mechanism.

[0051] The box 221 is in the shape of a cuboid, the driving wheel module 210 is located at one side of the box 221, the box 221 is provided with a cover plate 2211, the cover plate 2211 is located above the box 221, and the cover plate 2211 is fixedly connected with the box 221, one end of the cover plate 2211 extends beyond the opening edge of the box 221 towards the direction of the driving wheel module 210. The box 221 is provided with a fixing block 2212 and a bolt 2213 at the side corresponding to the driving wheel module 210, the box 221 is fixed to the rack 100 through the fixing block 2212 and the bolt 2213, the bolt 2213 penetrates the fixing block 2212, and the fixing block 2212 has a mounting gap with the box 221 to allow the connecting rod of the rack 100 to pass through. Loosening the bolt 2213 increases the mounting gap, so that the box 221 can slide relative to the rack 100; tightening the bolt 2213 reduces the mounting gap, so that the fixing block 2212 presses against the connecting rod of the rack 100 to control the fixation of the box 221 relative to the rack 100.

[0052] Please refer to 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 221 and is slidingly arranged in the box 221, the connecting shaft 2243 is perpendicular to the handrail rope and is rotationally connected with the mounting seat 2241, one end of the connecting shaft 2243 connected with the mounting seat 2241 is located in the box 221, the other end of the connecting shaft 2243 penetrates the box 221 and is located outside the box 221, the driven roller 222 is rotationally arranged at the end of the connecting shaft 2243 away from the mounting seat 2241, the connecting shaft 2243 rotates to drive the driven roller 222 to rotate to avoid obstacles. The driven roller 222 is provided in plurality, and the plurality of driven rollers 222 are uniformly distributed in a circle with the rotation axis of the connecting shaft 2243 as the center; the rotating assembly 224 drives one of the driven rollers 222 to rotate to avoid obstacles, while the adjacent driven 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 driven roller 222, thereby improving the climbing stability of the climbing mechanism when avoiding obstacles.

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

[0054] Please refer to 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 rotationally connected through the bearing, and the roller shaft 2222 is perpendicular to the connecting shaft 2243 and is fixedly connected to the connecting shaft 2243. When the roller body 2221 is in contact with the handrail rope, the roller body 2221 and the handrail rope are in rolling cooperation under the action of the friction force between the handrail rope and the roller body 2221.

[0055] Please refer to Figure 5 and Figure 6 In one specific embodiment, the connecting shaft 2243 is driven to rotate by a rotary motor 2245, the rotary motor 2245 is fixedly connected to the mounting seat 2241, the output shaft of the rotary motor 2245 is connected to one end of the connecting shaft 2243 close to the mounting seat 2241, and the rotary motor 2245 is used to drive the connecting shaft 2243 to rotate to drive the passive roller 222 to rotate for obstacle avoidance. The rotary motor 2245 converts electric current into mechanical energy to provide constant and reliable torque for the rotation of the connecting shaft 2243. The use of the rotary motor 2245 can accurately adjust the rotating speed, and through the frequency conversion technology, the connecting shaft 2243 can be stopped 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] Please refer to Figure 7 and Figure 8In another specific embodiment, the connecting shaft 2243 is driven to rotate by magnetic force. Specifically, the connecting shaft 2243 is provided with a plurality of first sector magnets 2246 at an end thereof away from the passive rollers 222, the number of the first sector magnets 2246 is the same as that of the passive rollers 222, and the first sector magnets 2246 are arranged one-to-one corresponding to the passive rollers 222. The mounting seat 2241 is provided with a plurality of second sector magnets 2247 corresponding to the first sector magnets 2246, the second sector magnets 2247 are arranged around the outer periphery of the first sector magnets 2246, and the second sector magnets 2247 are magnetically attracted to the first sector magnets 2246. In this application, four first sector magnets 2246 and four second sector magnets 2247 are arranged on the same plane, the second sector magnets 2247 can always exert an attractive force on the first sector magnets 2246 at the upper end of the connecting shaft 2243, the first sector magnets 2246 remain fixed in position when no other external force (force exerted by the obstacle) acts on them, so that the connecting shaft 2243 remains fixed in position. When one of the passive rollers 222 encounters an obstacle, the obstacle exerts a certain force on the passive roller 222, causing 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°, and the adjacent passive roller 222 synchronously rotates 90° to avoid the obstacle, the second sector magnets 2247 on the mounting seat 2241 generate a strong attractive force on the adjacent first sector magnets 2246 at the upper end of the connecting shaft 2243, so that the connecting shaft 2243 remains in position after rotating 90°.

[0057] See Figure 9 and Figure 11The lifting assembly 223 comprises 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 rotationally connected with the box body 221 through a bearing. One end of the lead screw 2231 is connected with the output shaft of the lifting motor 2233. The lead screw nut 2232 is fixedly connected with the mounting seat 2241 and is in transmission connection with the lead screw 2231. The lifting motor 2233 drives the lead screw 2231 to rotate so that the lead screw nut 2232 moves along the axial direction of the lead screw 2231, thereby driving the mounting seat 2241 to ascend or descend and driving the passive roller 222 to move close to or away from the handrail rope. In the present application, the lifting motor 2233 is fixedly connected with the cover plate 2211 through a lifting motor seat. One end of the lead screw 2231 is coaxially fixedly connected with the output shaft of the lifting motor 2233. The connecting shaft 2243 is rotationally connected with the middle part of the mounting seat 2241 through a bearing. The lead screw nut 2232 is fixedly connected with the middle part of the mounting seat 2241. One end of the lead screw 2231 is rotationally connected with the cover plate 2211 through a bearing. The other end of the lead screw 2231 is rotationally connected with 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. 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, i.e. to move close to or away from the handrail rope.

[0058] In order to keep the lifting stability of the mounting seat 2241, the end face of the mounting seat 2241 towards the inner wall of the box body 221 is provided with a first linear sliding block 2242. 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 sliding block 2242. The end face of the inner wall of the box body 221 towards the mounting seat 2241 is provided with a first linear guide rail 2215. The first linear sliding block 2242 is in sliding connection with the first linear guide rail 2215. The mounting seat 2241 is in sliding connection with the box body 221 through the cooperation of the first linear guide rail 2215 and the first linear sliding block 2242, i.e. the mounting seat 2241 can move linearly along the direction of the first linear guide rail 2215 relative to the box body 221.

[0059] Please refer to Figure 6 and Figure 10 The end of the connecting shaft 2243 away from the mounting seat 2241 is an axially sectioned shaft segment with a special shape. The bottom of the box body 221 is provided with a special-shaped hole 2214. The special-shaped hole 2214 of the bottom of the box body 221 can be matched with the special-shaped shaft segment 2244 of the connecting shaft 2243. In the present application, the cross section of the special-shaped shaft segment 2244 of the connecting shaft 2243 is rectangular. The special-shaped hole 2214 is a rectangular hole. As shown in Figure 9As shown, under the driving of the lifting motor 2233, when the mounting seat 2241 and the connecting shaft 2243 rise to the matching of the special-shaped shaft section 2244 of the connecting shaft 2243 and the special-shaped hole 2214 of the box body 221, the special-shaped hole 2214 and the special-shaped shaft section 2244 realize the shaft hole matching and cannot rotate, so that the connecting shaft 2243 is kept fixed relative to the mounting seat 2241. As shown in Figure 10 As shown, under the driving of the lifting motor 2233, when the mounting seat 2241 and the connecting shaft 2243 rise to the matching of the special-shaped shaft section 2244 of the connecting shaft 2243 and the special-shaped hole 2214 of the box body 221, the special-shaped hole 2214 and the special-shaped shaft section 2244 realize the shaft hole matching and cannot rotate, so that the connecting shaft 2243 is kept fixed relative to the mounting seat 2241. As shown in

[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 adhere to the handrail rope and generate a certain size of force, at this time, the mounting seat 2241 and the connecting shaft 2243 rise to the matching of the special-shaped shaft section 2244 of the connecting shaft 2243 and 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 climbing driving motor 212 rotates, under the action of the friction force, the climbing mechanism can move along the direction of the handrail rope, further enhancing the climbing stability of the anti-falling module 220. When the climbing mechanism encounters a column fixed with the handrail rope in the climbing process, under the action of the lifting motor 2233, the passive roller 222 descends by a certain height to make the passive roller 222 and the handrail rope disengage, the special-shaped shaft section 2244 of the connecting shaft 2243 and the special-shaped hole 2214 at the bottom of the box body 221 disengage, the limiting of the special-shaped shaft section 2244 is released, and the driving connecting shaft 2243 can rotate relative to the mounting seat 2241; at this time, when the passive roller 222 below the handrail rope approaches the column, the driving 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 the below of the handrail rope, under the action of the lifting motor 2233, the passive roller 222 rises to adhere to the handrail rope, the special-shaped shaft section 2244 of the connecting shaft 2243 and the special-shaped hole 2214 at the bottom of the box body 221 match, 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 again.

[0061] Please refer to Figure 2 and Figure 4The driving wheel module 210 comprises a driving wheel body 211, a crawling driving motor 212 and a motor base 213. When the climbing mechanism is working, the driving wheel body 211 is located above the handrail rope and closely adheres to the handrail rope, the crawling driving motor 212 is designed to provide power for the driving wheel body 211, the crawling driving motor 212 is arranged on the box body 221 through the motor base 213, the crawling driving motor 212 is fixedly connected to the motor base 213, the motor base 213 is in sliding fit with the box body 221, the driving wheel body 211 is arranged on the output shaft of the crawling driving motor 212, and the crawling driving motor 212 drives the driving wheel body 211 to roll along the length direction of the handrail rope. In the embodiment, the driving wheel body 211 is selected as a V-shaped wheel. During the process of the climbing mechanism climbing on the handrail rope, at least two driving wheel bodies 211 and the passive roller 222 of the driving unit 200 can always envelop the handrail rope.

[0062] Further, the motor base 213 is provided with a second linear sliding block 2131 on the end face facing the box body 221, the box body 221 is provided with a second linear guide rail 2216 perpendicular to the handrail rope on the end face facing the motor base 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 sliding block 2131 is arranged on the second linear guide rail 2216 and is in sliding connection with the second linear guide rail 2216, and the motor base 213 can move along the length direction of the second linear guide rail 2216, so as to drive 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 the gravity of the climbing mechanism, the handrail rope exerts a supporting force on the driving wheel body 211, and the driving wheel body 211 moves along the second linear guide rail 2216 under the action of the supporting force, so that the distance between the driving wheel body 211 and the passive roller 222 is increased, the clamping force between the driving wheel body 211 and the passive roller 222 is prevented from being too large, the situation that the driving unit 200 is hindered to climb is avoided, and the frictional damage of the driving wheel body 211 and the passive roller 222 to the handrail rope is reduced.

[0063] The motor base 213 is provided with a limiting column 2132, which is arranged between the motor base 213 and the cover plate 2211 and penetrates the cover plate 2211 and is in sliding connection with the cover plate 2211. The outer circumferential wall of the limiting column 2132 is sleeved with a supporting spring 214, one end of the supporting spring 214 is in contact with the motor base 213, and the other end is in contact with the cover plate 2211. The supporting spring 214 is used for buffering the lifting movement of the motor base 213, and the limiting column 2132 limits the movement of the supporting spring 214 in the left-right direction. When the driving wheel body 211 is assembled on the handrail rope, under the action of the supporting force of the handrail rope, the motor base 213 moves along the second linear guide rail 2216 to approach the cover plate 2211, and the motor base 213 gradually compresses the supporting spring 214, thereby avoiding the hard contact between the motor base 213 and the cover plate 2211. At the same time, the rebound force of the supporting spring 214 applied to the driving wheel body 211 makes the driving wheel body 211 always closely contact the handrail rope.

[0064] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features. Such modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A wheeled climbing mechanism, characterized in that, include: frame; Multiple drive units are provided and assembled and connected to the frame. The multiple drive units are respectively located on both sides of the frame so that the frame is supported by parallel handrail ropes. The drive unit includes a drive wheel module and a fall prevention module. The drive wheel module climbs along the length of the handrail rope during operation. The fall prevention module includes a housing, a passive roller, a lifting assembly, and a rotating assembly. The drive wheel module is located in the housing, which is mounted on the frame. The passive roller is horizontally positioned and rolls in cooperation with the handrail rope. The lifting assembly is located in the housing and drives the passive roller to move closer to the handrail rope to cooperate with the drive wheel module in clamping the handrail rope, or drives the passive roller away from the handrail rope to release the clamping of the handrail rope. The rotating assembly includes a mounting base and a connecting shaft. The mounting base is slidably disposed on the housing. The connecting shaft is disposed perpendicular to the handrail rope and rotates in cooperation with the mounting base. The passive roller is rotatably disposed at the end of the connecting shaft away from the mounting base. The rotation of the connecting shaft drives the passive roller to rotate to avoid obstacles. The passive rollers are arranged in multiples, and the multiple passive rollers are evenly distributed in a circle around the rotation axis of the connecting shaft; the rotating component drives one of the passive rollers to rotate to avoid obstacles, while 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 rollers.

2. The wheeled climbing mechanism according to claim 1, characterized in that, The rotating assembly also includes a rotary motor, which is fixedly connected to the mounting base. The output shaft of the rotary motor is connected to one end of the connecting shaft near the mounting base. The rotary motor is used to drive the connecting shaft to rotate, thereby causing the passive roller to rotate for obstacle avoidance.

3. The wheeled climbing mechanism according to claim 1, characterized in that, The connecting shaft is provided with a plurality of first sector magnets centered on the axis of rotation, and each of the first sector magnets corresponds to one of the passive rollers; the mounting base is provided with a plurality of second sector magnets corresponding to the first sector magnets, and the second sector magnets are magnetically attracted to the first sector magnets.

4. The wheeled climbing mechanism according to claim 1, characterized in that, The passive roller includes a roller body, a roller shaft, and a bearing. The roller body and the roller shaft are rotatably connected by the bearing. The roller shaft is perpendicular to the connecting shaft and is fixedly connected to the connecting shaft.

5. A wheeled climbing mechanism according to claim 1, characterized in that, The lifting assembly includes a lead screw, a lead screw nut, and a lifting motor; The lifting motor is fixedly mounted on the housing. The length direction of the lead screw is the same as the length direction of the connecting shaft. The lead screw is rotatably engaged with the housing through a bearing. 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 base, and the lead screw nut is in transmission engagement with the lead screw. The lifting motor drives the lead screw to rotate, causing the lead screw nut to move along the lead screw axis, thereby driving the mounting base to rise or fall, thus enabling the passive roller to move closer to or away from the handrail rope.

6. A wheeled climbing mechanism according to claim 1, characterized in that, The drive wheel module includes a drive wheel body and a crawling drive motor. The crawling drive motor is disposed in the housing, and the drive wheel body is disposed on the output shaft of the crawling drive motor. The crawling drive motor drives the drive wheel body to roll along the length of the handrail rope.

7. A wheeled climbing mechanism according to claim 6, characterized in that, The drive wheel module also includes a motor base for slidingly engaging with the housing. The crawling drive motor is fixedly connected to the motor base. A second linear slider is provided on the end face of the motor base facing the housing. A second linear guide rail perpendicular to the handrail rope is provided on the end face of the housing facing the motor base. The second linear slider is slidably connected to the second linear guide rail.

8. A wheeled climbing mechanism according to claim 7, characterized in that, The housing is provided with a cover plate, and the motor base is provided with a limiting post. The limiting post is located between the motor base and the cover plate, and slides through the cover plate. A support spring is sleeved on the outer peripheral wall of the limiting post. One end of the support spring contacts the motor base, and the other end contacts the cover plate.

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