Climbing anti-falling device for electric power iron tower

Abstract

The invention provides a climbing anti-falling device for an electric power iron tower. The climbing anti-falling device for the electric power iron tower comprises a climbing main body which comprises a plurality of connecting arms which are rotationally connected with one another, and an included angle is formed between the rotating axis of at least one connecting arm and the rotating axis of at least another connecting arm; the magnetic structures are used for being magnetically attracted with a target climbing object, and the magnetic structures are arranged on the connecting arms located at the two ends of the climbing body so that the magnetic structures can be driven to move through the connecting arms; the rope hanging structure is arranged on the climbing main body, the rope hanging structure comprises at least two clamping parts, the at least two clamping parts are oppositely arranged to form a clamping space in a surrounding mode, and the size of the clamping space is adjustable so that the clamping space can be used for clamping or loosening a part to be hung. The climbing anti-falling device effectively solves the problem that the application scenes of the climbing anti-falling device in the prior art are few.

Description

Technical Field

[0001] The invention relates to the technical field of power equipment maintenance, and in particular to a climbing and falling prevention device for a power tower. Background Art

[0002] At present, power towers are one of the most common infrastructures for the erection of transmission lines. In their daily maintenance work, such as load-bearing climbing and transporting equipment, line installation, high-altitude maintenance and other operations are usually carried out manually. During the operation, one worker must first climb up the power tower and hang a traction rope, and the other workers must connect the traction rope to their bodies before they can start the operation to avoid falling accidents during the operation and ensure that the workers have a high level of personal safety.

[0003] In the prior art, the workers responsible for hanging the traction rope have no traction rope for protection. Although they are equipped with some auxiliary climbing devices, there is still a high operating risk. Some construction units have begun to use automated equipment to replace manual rope hanging operations (such as installing clamps on the step-by-step climbing mechanism to realize automated climbing and rope hanging operations).

[0004] However, the use environment requirements of the step-type climbing mechanism are relatively strict. Usually, it can only move on relatively regular structures such as beam-column structures, or on relatively flat surfaces, and it is difficult to apply it to some power towers with complex structures. Summary of the invention

[0005] The main purpose of the present invention is to provide a climbing and falling prevention device for power tower engineering, so as to solve the problem that the climbing and falling prevention devices in the prior art have few applicable scenarios.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a climbing and falling prevention device for an electric power tower, comprising: a climbing body, comprising a plurality of connecting arms rotatably connected to each other, the rotation axis of at least one connecting arm being arranged at an angle to the rotation axis of at least another connecting arm; a magnetic structure, used for magnetically engaging with a target climbing object, the connecting arms at both ends of the climbing body being provided with a magnetic structure to drive the magnetic structure to move through the connecting arms; a hanging rope structure, arranged on the climbing body, the hanging rope structure comprising at least two clamping parts, the at least two clamping parts being arranged relative to each other to surround and form a clamping space, the size of the clamping space being adjustable to clamp or release a part to be hung.

[0007] Furthermore, the magnetic structure includes: an electromagnet member, the electromagnet member has a magnetic attraction state and a separation state, when the electromagnet member is in the magnetic attraction state, the electromagnet member and the target climbing object are magnetically attracted; when the electromagnet member is in the separation state, the electromagnet member and the target climbing object are separated.

[0008] Furthermore, the multiple connecting arms include: a first connecting arm, a second connecting arm and a third connecting arm that are rotatably connected in sequence, and the rotation axis of the first connecting arm and the rotation axis of the third connecting arm are set at 90°; wherein the end of the first connecting arm away from the second connecting arm and the end of the third connecting arm away from the second connecting arm are both provided with a magnetic structure.

[0009] Furthermore, the first connecting arm is arranged at the end of the second connecting arm, and the climbing and falling prevention device for the power tower also includes: a first driving member, which is arranged on the second connecting arm; a first connecting rod, which is passed through the first connecting arm and the second connecting arm, and the second connecting arm is rotatably connected to the first connecting arm through the first connecting rod; wherein the first driving member is rotatably connected to the first connecting arm through the first connecting rod, so as to drive the first connecting arm to rotate.

[0010] Furthermore, the third connecting arm includes at least two oppositely arranged first connecting plates, which surround and form a first accommodating space, and at least a portion of the second connecting arm is located in the first accommodating space. The second connecting arm is rotatably connected to the third connecting arm by passing the first rotating member through the first connecting plate and the second connecting arm.

[0011] Furthermore, the climbing and falling prevention device for the power tower also includes: a second driving member, which is arranged in the first accommodating space; a first transmission assembly, which is arranged on the third connecting arm, and the second driving member is driven and connected to the first rotating member through the first transmission assembly, and the second driving member drives the first rotating member to rotate to drive the second connecting arm to rotate.

[0012] Furthermore, the magnetic structure arranged on the third connecting arm is a first magnetic structure, and at least two second connecting plates arranged opposite to each other are arranged on the electromagnet member of the first magnetic structure, and a second accommodating space is formed around the at least two second connecting plates, and at least a part of the third connecting arm is located in the second accommodating space, and the second rotating member is inserted through the second connecting plate and the third connecting arm so that the first magnetic structure is rotatably connected to the third connecting arm; wherein, the climbing anti-fall device for the power tower also includes a third driving member and a second transmission assembly, the third driving member is arranged in the second accommodating space, the second transmission assembly is arranged on the second connecting plate, the third driving member is drivingly connected to the second rotating member through the second transmission assembly, and the third driving member drives the second rotating member to rotate to drive the third connecting arm to rotate.

[0013] Furthermore, the climbing and falling prevention device for the electric power tower also includes: an infrared flaw detection device, which is arranged on the second connecting plate, and the infrared flaw detection device is used to detect surface damage of the target climbing object.

[0014] Furthermore, the magnetic structure arranged on the first connecting arm is a second magnetic structure, the second magnetic structure includes a mounting seat, the electromagnet member of the second magnetic structure is arranged on the mounting seat and moves synchronously with the mounting seat, the mounting seat has at least two third connecting plates arranged opposite to each other, at least two third connecting plates surround to form a third accommodating space, at least part of the first connecting arm is located in the third accommodating space, and the first connecting arm and the mounting seat are rotatably connected by passing the third rotating member through the third connecting plate and the first connecting arm; wherein, the climbing anti-fall device for the power tower also includes a fourth driving member and a third transmission assembly, the fourth driving member and the third transmission assembly are both arranged on the first connecting arm, the fourth driving member is drivingly connected to the third rotating member through the third transmission assembly, and the fourth driving member drives the third rotating member to rotate to drive the mounting seat to rotate.

[0015] Furthermore, the electromagnet part of the second magnetic structure is rotatably arranged, and the climbing and falling prevention device for the power tower also includes: a fifth driving member, which is arranged on the mounting seat, and the fifth driving member is drivingly connected to the electromagnet part of the second magnetic structure to drive the electromagnet part of the second magnetic structure to rotate.

[0016] By applying the technical solution of the present invention, a climbing body of a climbing and falling prevention device for an electric power tower comprises a plurality of connecting arms rotatably connected to each other, a rotation axis of at least one connecting arm being arranged at an angle to a rotation axis of at least another connecting arm, a magnetic structure being used for magnetically engaging with a target climbing object, connecting arms at both ends of the climbing body being provided with magnetic structures to drive the magnetic structures to move through the connecting arms, a hanging rope structure being arranged on the climbing body and comprising at least two clamping parts, at least two clamping parts being arranged relative to each other to surround and form a clamping space, and the size of the clamping space being adjustable for clamping or releasing a part to be hung. In this way, the climbing body can achieve multi-degree-of-freedom movement through two connecting arms with different rotating shaft axes, and at the same time, the climbing body is fixed with the magnetic attraction ability of the magnetic structure, so that the climbing body can climb target climbing objects with complex environments and structures (that is, as long as there is a small adsorbable position, it is no longer limited to a plane or a regular structure), so that the climbing anti-fall device for power towers can perform rope hanging actions on target climbing objects with more complex environments and structures (that is, after the climbing body climbs to the predetermined position, the rope hanging structure releases the hanging part to be hung, so that the rope body is sleeved on the corresponding structure), thereby solving the problem of limited application scenarios of the climbing anti-fall device in the prior art and greatly improving the versatility of the climbing anti-fall device for power towers. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of a climbing and falling prevention device for an electric power tower according to the present invention is shown;

[0019] Figure 2 Shows Figure 1 Schematic diagram of the three-dimensional structure from another angle of the climbing and falling protection device for the power tower.

[0020] The above drawings include the following reference numerals:

[0021] 10. climbing body; 11. first connecting arm; 12. second connecting arm; 13. third connecting arm; 131. first connecting plate;

[0022] 20. Magnetic structure; 21. Electromagnetic member; 22. First magnetic structure; 221. Second connecting plate; 23. Second magnetic structure; 231. Mounting seat; 232. Third connecting plate;

[0023] 30. First driving member; 31. First connecting rod;

[0024] 40. first rotating member; 41. second driving member; 42. first transmission assembly;

[0025] 50. second rotating member; 51. third driving member; 52. second transmission assembly;

[0026] 60. third rotating member; 61. fourth driving member; 62. third transmission assembly;

[0027] 70. Infrared flaw detection device;

[0028] 80. Fifth drive member. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0031] In the present invention, unless otherwise specified, the directional words used, such as "up" and "down", usually refer to the directions shown in the drawings, or to the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0032] In order to solve the problem that the climbing anti-fall device in the prior art has limited applicable scenarios, the present application provides a climbing anti-fall device for power tower engineering.

[0033] like Figure 1 and Figure 2 As shown, the climbing and falling prevention device for power towers includes a climbing body 10, a magnetic structure 20 and a hanging rope structure. The climbing body 10 includes a plurality of connecting arms that are rotatably connected to each other, and the rotation axis of at least one connecting arm is set at an angle with the rotation axis of at least another connecting arm. The magnetic structure 20 is used to magnetically engage with the target climbing object. The connecting arms at both ends of the climbing body 10 are provided with magnetic structures 20 to drive the magnetic structure 20 to move through the connecting arms. The hanging rope structure is arranged on the climbing body 10, and the hanging rope structure includes at least two clamping parts, and the at least two clamping parts are arranged relative to each other to surround and form a clamping space. The size of the clamping space can be adjusted to clamp or release the object to be hung.

[0034] Applying the technical solution of this embodiment, the climbing body 10 of the climbing and falling prevention device for an electric power tower includes a plurality of connecting arms rotatably connected to each other, the rotation axis of at least one connecting arm is arranged at an angle to the rotation axis of at least another connecting arm, the magnetic structure 20 is used to magnetically engage with the target climbing object, and the connecting arms located at both ends of the climbing body 10 are provided with magnetic structures 20 to drive the magnetic structure 20 to move through the connecting arms, the hanging rope structure is arranged on the climbing body 10 and includes at least two clamping parts, and the at least two clamping parts are arranged relative to each other to surround and form a clamping space, and the size of the clamping space can be adjusted to clamp or release the part to be hung. In this way, the climbing body 10 can achieve movement in multiple degrees of freedom through two connecting arms with different rotation axis lines, and at the same time, the climbing body 10 is fixed by the magnetic attraction ability of the magnetic structure 20, so that the climbing body 10 can climb target climbing objects with complex environments and structures (that is, as long as there is a small adsorbable position, it is no longer limited to a plane or a regular structure), so that the climbing anti-fall device for power towers can perform a rope hanging action on target climbing objects with more complex environments and structures (that is, after the climbing body 10 climbs to the predetermined position, the rope hanging structure loosens the rope body so that the rope body is sleeved on the corresponding structure), thereby solving the problem of limited application scenarios of the climbing anti-fall device in the prior art and greatly improving the versatility of the climbing anti-fall device for power towers.

[0035] In this embodiment, the target climbing object is an electric power tower.

[0036] In this embodiment, the hanging member is a safety rope.

[0037] It should be noted that the actual structure of the hanging rope structure is not limited to this, and can be adjusted accordingly according to working conditions and usage requirements. For example, common structures such as telescopic arms and manipulators can be added to achieve matching of safety ropes of different structures and corresponding structures on the power tower.

[0038] In this embodiment, the climbing body 10 may be equipped with a camera and a corresponding remote control device to realize manual remote control by staff, or may be equipped with a camera and a corresponding software control system to realize automated climbing of the climbing body 10 .

[0039] Specifically, before performing corresponding maintenance operations on the power tower, the initial automatic hanging of the safety rope can be completed through the power tower climbing and fall protection device in this embodiment, and subsequent personnel can assemble the safety rope for climbing and maintenance, thereby completely avoiding the safety hazards caused by manual hanging of safety ropes.

[0040] Optionally, the magnetic structure 20 includes an electromagnet 21, and the electromagnet 21 has a magnetic attraction state and a separation state. When the electromagnet 21 is in the magnetic attraction state, the electromagnet 21 is magnetically attracted to the target climbing object; when the electromagnet 21 is in the separation state, the electromagnet 21 is separated from the target climbing object. In this way, by switching the working state of the electromagnet 21, the connecting arm of the climbing body 10 can be facilitated to perform corresponding activities. At the same time, compared with conventional magnetic structures, the electromagnet 21 can adjust the magnitude of the magnetic attraction force by adjusting the magnitude of the current passed through it, thereby improving the climbing reliability of the climbing body 10.

[0041] In this embodiment, a corresponding control module is also provided on the climbing body 10. The control module adjusts the working state of the electromagnet 21 by controlling the on-off state of the current connected to the electromagnet 21. That is, the electromagnet 21 is in a magnetic attraction state when current passes through it, and is in a separation state when the current connected to the electromagnet 21 is disconnected.

[0042] like Figure 1 and Figure 2 As shown, the multiple connecting arms include a first connecting arm 11, a second connecting arm 12 and a third connecting arm 13 which are rotatably connected in sequence, and the rotation axis of the first connecting arm 11 and the rotation axis of the third connecting arm 13 are arranged at 90°. Among them, the end of the first connecting arm 11 away from the second connecting arm 12 and the end of the third connecting arm 13 away from the second connecting arm 12 are both provided with a magnetic structure 20. In this way, the arrangement of the three connecting arms is conducive to increasing the range of motion of the end of the climbing body 10 (i.e., the magnetic structure 20), so as to further enhance the versatility of the climbing anti-fall device for power towers. At the same time, the above arrangement in combination with the magnetic structure 20 can actually adjust the width and height of the climbing body 10, so as to further adapt to power towers with complex structures.

[0043] It should be noted that the angle between the rotation axis of the first connecting arm 11 and the rotation axis of the third connecting arm 13 is not limited thereto, and can be adjusted according to working conditions and usage requirements. Optionally, the angle between the rotation axis of the first connecting arm 11 and the rotation axis of the third connecting arm 13 is 45°, or 60°, or 75°, or 105°, or 120°.

[0044] like Figure 1 and Figure 2 As shown, the first connecting arm 11 is arranged at the end of the second connecting arm 12, and the climbing and falling prevention device for the electric power tower further includes a first driving member 30 and a first connecting rod 31, and the first driving member 30 is arranged on the second connecting arm 12. The first connecting rod 31 is penetrated through the first connecting arm 11 and the second connecting arm 12, and the second connecting arm 12 is rotatably connected to the first connecting arm 11 through the first connecting rod 31. Among them, the first driving member 30 is drivingly connected to the first connecting arm 11 through the first connecting rod 31, so as to drive the first connecting arm 11 to rotate. In this way, the automatic rotation of the first connecting arm 11 can be realized through the first driving member 30 and the first connecting rod 31, thereby improving the degree of automation of the climbing and falling prevention device for the electric power tower.

[0045] In this embodiment, the second connecting arm 12 is actually a frame-like structure, that is, a rectangular frame structure formed by four plates connected around each other, the first driving member 30 is arranged on the end of the second connecting arm 12 away from the first connecting arm 11, and the first connecting rod 31 is passed through the first connecting arm 11 and the second connecting arm 12 to achieve a rotational connection between the two. At the same time, the driving shaft of the first driving member 30 is drivingly connected to the end of the first connecting rod 31 to drive the first connecting rod 31 to drive the first connecting arm 11 to rotate.

[0046] It should be noted that the structure of the second connecting arm 12 is not limited to this and can be adjusted accordingly according to working conditions and usage requirements.

[0047] In this embodiment, the first driving member 30 is a servo motor.

[0048] like Figure 1 and Figure 2As shown, the third connecting arm 13 includes at least two first connecting plates 131 arranged opposite to each other, and at least two first connecting plates 131 arranged opposite to each other surround and form a first accommodation space, and at least part of the second connecting arm 12 is located in the first accommodation space, and the first rotating member 40 is inserted through the first connecting plate 131 and the second connecting arm 12, so that the second connecting arm 12 and the third connecting arm 13 are rotatably connected. In this way, the above arrangement makes the structure of the third connecting arm 13 simpler, so as to realize the lightweight design of the climbing body 10, and at the same time makes the position design between the third connecting arm 13 and the second connecting arm 12 more reasonable, thereby making the overall structure of the climbing body 10 smaller, which is more conducive to adapting to the complex structure of the power tower.

[0049] In this embodiment, the connection position between the first connecting plate 131 and the second connecting arm 12 is actually located in the middle of the second connecting arm 12. In this way, during the rotation of the second connecting arm 12 and the third connecting arm 13, the first accommodating space can also accommodate the first driving member 30 located at the end of the second connecting arm 12, further reducing the overall size of the climbing body 10.

[0050] like Figure 1 and Figure 2 As shown, the climbing and falling prevention device for the power tower also includes a second driving member 41 and a first transmission assembly 42, and the second driving member 41 is arranged in the first accommodation space. The first transmission assembly 42 is arranged on the third connecting arm 13, and the second driving member 41 is drivingly connected to the first rotating member 40 through the first transmission assembly 42. The second driving member 41 drives the first rotating member 40 to rotate, thereby driving the second connecting arm 12 to rotate. In this way, while the second driving member 41 drives the second connecting arm 12 to rotate through the first transmission assembly 42, the first transmission assembly 42 makes the setting position of the second driving member 41 more flexible and diverse to adapt to different working conditions and use requirements, and the second driving member 41 arranged in the first accommodation space can be protected by the first connecting plate 131 to extend the service life of the second driving member 41.

[0051] In this embodiment, the first transmission assembly 42 is a pulley transmission assembly. Optionally, the first transmission assembly 42 may also be a sprocket transmission assembly or a gear transmission assembly.

[0052] In this embodiment, the second driving member 41 is a servo motor.

[0053] like Figure 1 and Figure 2As shown, the magnetic structure 20 arranged on the third connecting arm 13 is a first magnetic structure 22, and at least two second connecting plates 221 arranged opposite to each other are arranged on the electromagnet member 21 of the first magnetic structure 22, and a second accommodation space is formed around at least two second connecting plates 221, and at least part of the third connecting arm 13 is located in the second accommodation space, and the second rotating member 50 is inserted through the second connecting plate 221 and the third connecting arm 13, so that the first magnetic structure 22 is rotatably connected to the third connecting arm 13. Among them, the climbing and falling prevention device for the power iron tower also includes a third driving member 51 and a second transmission assembly 52, the third driving member 51 is arranged in the second accommodation space, the second transmission assembly 52 is arranged on the second connecting plate 221, the third driving member 51 is connected to the second rotating member 50 through the second transmission assembly 52, and the third driving member 51 drives the second rotating member 50 to rotate, so as to drive the third connecting arm 13 to rotate. In this way, the above arrangement allows the magnetic structure 20 to rotate, so as to further increase the range of motion of the magnetic structure 20, and further improve the versatility of the climbing and falling prevention device for the power iron tower. While the third driving member 51 drives the third connecting arm 13 to rotate (the first magnetic structure 22 also rotates relatively) through the second transmission assembly 52, the second transmission assembly 52 makes the setting position of the third driving member 51 more flexible and diverse to adapt to different working conditions and usage requirements. The third driving member 51 arranged in the second accommodating space can also be protected by the second connecting plate 221, thereby extending the service life of the third driving member 51.

[0054] In this embodiment, the second transmission assembly 52 is a pulley transmission assembly. Optionally, the second transmission assembly 52 may also be a sprocket transmission assembly or a gear transmission assembly.

[0055] In this embodiment, the third driving member 51 is a servo motor.

[0056] like Figure 1 and Figure 2 As shown, the climbing and falling prevention device for electric iron towers also includes an infrared flaw detection device 70, which is arranged on the second connecting plate 221. The infrared flaw detection device 70 is used to detect the surface damage of the target climbing object. In this way, the above arrangement enables the climbing and falling prevention device for electric iron towers to also have the flaw detection and detection functions, that is, the staff can use the climbing and falling prevention device for electric iron towers to detect the rust and damage of the steel of the electric iron tower, thereby making the functions of the climbing and falling prevention device for electric iron towers more flexible and diverse.

[0057] Specifically, in power engineering, insulators are fixed on the brackets of power towers to isolate electrical equipment from the towers, such as transformers, circuit breakers, etc. During operation, insulators may be affected by factors such as material aging and environmental contamination, and may experience local cracking, flashover breakdown, etc., resulting in permanent losses or even complete failure. The performance loss and failure of insulators will seriously endanger the security of the transmission network. Therefore, it is important to keep track of the status of insulators in a timely manner.

[0058] In this embodiment, after the infrared flaw detection device 70 is transported to the target position, the insulator is inspected. The infrared flaw detection device 70 allows inspection without contacting the insulator. By analyzing the infrared image of the insulator, local overheating caused by internal defects or external contamination can be identified. According to the heating position and temperature rise of the insulator under different defect types, the defects can be classified and diagnosed.

[0059] like Figure 1 and Figure 2 As shown, the magnetic structure 20 arranged on the first connecting arm 11 is a second magnetic structure 23, the second magnetic structure 23 includes a mounting seat 231, the electromagnet 21 of the second magnetic structure 23 is arranged on the mounting seat 231 and moves synchronously with the mounting seat 231, the mounting seat 231 has at least two third connecting plates 232 arranged opposite to each other, at least two third connecting plates 232 surround to form a third accommodating space, at least part of the first connecting arm 11 is located in the third accommodating space, and the third rotating member 60 is inserted through the third connecting plate 232 and the first connecting arm 11, so that the first connecting arm 11 and the mounting seat 231 are rotatably connected. Among them, the climbing and falling prevention device for the power iron tower also includes a fourth driving member 61 and a third transmission assembly 62, the fourth driving member 61 and the third transmission assembly 62 are both arranged on the first connecting arm 11, the fourth driving member 61 is drivingly connected to the third rotating member 60 through the third transmission assembly 62, and the fourth driving member 61 drives the third rotating member 60 to rotate, so as to drive the mounting seat 231 to rotate. In this way, the other magnetic structure 20 set above can also rotate, so as to further increase the range of movement of the magnetic structure 20, and further improve the versatility of the climbing and falling prevention device for the power tower. While the fourth driving member 61 drives the mounting seat 231 to rotate (the second magnetic structure 23 also rotates) through the third transmission assembly 62, the third transmission assembly 62 makes the setting position of the fourth driving member 61 more flexible and diverse to adapt to different working conditions and usage requirements.

[0060] In this embodiment, the third transmission assembly 62 is a pulley transmission assembly. Optionally, the third transmission assembly 62 may also be a sprocket transmission assembly or a gear transmission assembly.

[0061] In this embodiment, the fourth driving member 61 is a servo motor.

[0062] In this embodiment, the rotation axes of the two magnetic structures 20 and the rotation axis of the third connecting arm 13 are parallel to each other, so as to increase the range of movement of the magnetic structures 20 and achieve obstacle avoidance at different angles.

[0063] like Figure 1 and Figure 2 As shown, the electromagnet member 21 of the second magnetic structure 23 is rotatably arranged, and the climbing and falling prevention device for the electric power tower further includes a fifth driving member 80, which is arranged on the mounting seat 231. The fifth driving member 80 is drivingly connected to the electromagnet member 21 of the second magnetic structure 23 to drive the electromagnet member 21 of the second magnetic structure 23 to rotate. In this way, by driving the electromagnet member 21 to rotate through the fifth driving member 80, the posture of the electromagnet member 21 can be adjusted to further adapt to the electric power tower with a complex structure, and reduce the possibility that the electromagnet member 21 cannot be magnetically attracted to the electric power tower due to structural interference.

[0064] In this embodiment, the fifth driving member 80 is a servo motor.

[0065] In this embodiment, each servo motor is connected to a control module so that the operating state of each servo motor can be controlled by the control module.

[0066] It can be seen that the climbing and falling prevention device for the power tower in this embodiment can adapt to the complex environment on the power tower, is suitable for climbing and walking in a three-dimensional space structure, and can achieve obstacle-crossing walking, thereby adapting to various complex environments.

[0067] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0068] The climbing body of the climbing anti-fall device for an electric power tower includes a plurality of connecting arms rotatably connected to each other, the rotation axis of at least one connecting arm is arranged at an angle to the rotation axis of at least another connecting arm, the magnetic structure is used for magnetic attraction with the target climbing object, the connecting arms at both ends of the climbing body are provided with magnetic structures to drive the magnetic structure to move through the connecting arms, the hanging rope structure is arranged on the climbing body and includes at least two clamping parts, the at least two clamping parts are arranged relative to each other to surround and form a clamping space, and the size of the clamping space can be adjusted to clamp or release the part to be hung. In this way, the climbing body can achieve multi-degree-of-freedom movement through two connecting arms with different rotating shaft axes, and at the same time, the climbing body is fixed with the magnetic attraction ability of the magnetic structure, so that the climbing body can climb target climbing objects with complex environments and structures (that is, as long as there is a small adsorbable position, it is no longer limited to a plane or a regular structure), so that the climbing anti-fall device for power towers can perform rope hanging actions on target climbing objects with more complex environments and structures (that is, after the climbing body climbs to the predetermined position, the rope hanging structure releases the hanging part to be hung, so that the rope body is sleeved on the corresponding structure), thereby solving the problem of limited application scenarios of the climbing anti-fall device in the prior art and greatly improving the versatility of the climbing anti-fall device for power towers.

[0069] Obviously, the above-described embodiments are only a part of the embodiments of the present invention, rather than all the 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.

[0070] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0071] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A climbing and falling prevention device for an electric power tower, characterized in that: include: A climbing body (10) comprises a plurality of connecting arms rotatably connected to each other, wherein a rotation axis of at least one of the connecting arms is arranged at an angle to a rotation axis of at least another of the connecting arms; A magnetic structure (20) is used for magnetically engaging with a target climbing object, and the connecting arms at both ends of the climbing body (10) are provided with the magnetic structure (20) so as to drive the magnetic structure (20) to move through the connecting arms; A hanging rope structure is arranged on the climbing body (10), the hanging rope structure comprising at least two clamping parts, the at least two clamping parts are arranged relative to each other to surround and form a clamping space, the size of the clamping space is adjustable to clamp or release a piece to be hung.

2. The climbing and falling prevention device for electric power tower according to claim 1, characterized in that: The magnetic structure (20) comprises: The electromagnet member (21) has a magnetic attraction state and a separation state. When the electromagnet member (21) is in the magnetic attraction state, the electromagnet member (21) and the target climbing object are magnetically attracted; when the electromagnet member (21) is in the separation state, the electromagnet member (21) and the target climbing object are separated.

3. The climbing and falling prevention device for electric power tower according to claim 2, characterized in that: Multiple connecting arms include: A first connecting arm (11), a second connecting arm (12) and a third connecting arm (13) which are rotatably connected in sequence, wherein the rotation axis of the first connecting arm (11) and the rotation axis of the third connecting arm (13) are arranged at 90 degrees; Wherein, the end of the first connecting arm (11) away from the second connecting arm (12) and the end of the third connecting arm (13) away from the second connecting arm (12) are both provided with the magnetic structure (20).

4. The climbing and falling prevention device for electric power tower according to claim 3, characterized in that: The first connecting arm (11) is arranged at the end of the second connecting arm (12), and the climbing and falling prevention device for the electric power tower further comprises: A first driving member (30) is arranged on the second connecting arm (12); A first connecting rod (31) is passed through the first connecting arm (11) and the second connecting arm (12); the second connecting arm (12) is rotatably connected to the first connecting arm (11) through the first connecting rod (31); Wherein, the first driving member (30) is drivingly connected to the first connecting arm (11) via the first connecting rod (31) so as to drive the first connecting arm (11) to rotate.

5. The climbing and falling prevention device for electric power tower according to claim 3, characterized in that: The third connecting arm (13) comprises at least two first connecting plates (131) arranged opposite to each other, and the at least two first connecting plates (131) arranged opposite to each other surround a first accommodating space, and at least a portion of the second connecting arm (12) is located in the first accommodating space, and the second connecting arm (12) is rotatably connected to the third connecting arm (13) by passing a first rotating member (40) through the first connecting plate (131) and the second connecting arm (12).

6. The climbing and falling prevention device for electric power tower according to claim 5, characterized in that: The climbing and falling prevention device for the electric power tower also includes: A second driving member (41), arranged in the first accommodating space; The first transmission assembly (42) is arranged on the third connecting arm (13); the second driving member (41) is drivingly connected to the first rotating member (40) through the first transmission assembly (42); the second driving member (41) drives the first rotating member (40) to rotate, thereby driving the second connecting arm (12) to rotate.

7. The climbing and falling prevention device for electric power tower according to claim 6, characterized in that: The magnetic structure (20) arranged on the third connecting arm (13) is a first magnetic structure (22); the electromagnet member (21) of the first magnetic structure (22) is provided with at least two second connecting plates (221) arranged opposite to each other; a second accommodation space is formed between the at least two second connecting plates (221); at least a part of the third connecting arm (13) is located in the second accommodation space; and the first magnetic structure (22) is rotatably connected to the third connecting arm (13) by inserting a second rotating member (50) on the second connecting plate (221) and the third connecting arm (13); The climbing and falling prevention device for the electric power tower further comprises a third driving member (51) and a second transmission assembly (52); the third driving member (51) is arranged in the second accommodating space; the second transmission assembly (52) is arranged on the second connecting plate (221); the third driving member (51) is drivingly connected to the second rotating member (50) via the second transmission assembly (52); the third driving member (51) drives the second rotating member (50) to rotate, thereby driving the third connecting arm (13) to rotate.

8. The climbing and falling prevention device for electric power tower according to claim 7, characterized in that: The climbing and falling protection device for power towers also includes: An infrared flaw detection device (70) is arranged on the second connecting plate (221), and the infrared flaw detection device (70) is used to detect surface damage of a target climbing object.

9. The climbing and falling prevention device for electric power tower according to claim 3, characterized in that: The magnetic structure (20) arranged on the first connecting arm (11) is a second magnetic structure (23), the second magnetic structure (23) comprises a mounting seat (231), the electromagnet member (21) of the second magnetic structure (23) is arranged on the mounting seat (231) and moves synchronously with the mounting seat (231), the mounting seat (231) has at least two third connecting plates (232) arranged opposite to each other, at least two third connecting plates (232) surround to form a third accommodating space, at least part of the first connecting arm (11) is located in the third accommodating space, and the first connecting arm (11) and the mounting seat (231) are rotatably connected by inserting a third rotating member (60) on the third connecting plate (232) and the first connecting arm (11); The climbing and falling prevention device for the electric power tower further comprises a fourth driving member (61) and a third transmission assembly (62); the fourth driving member (61) and the third transmission assembly (62) are both arranged on the first connecting arm (11); the fourth driving member (61) is drivingly connected to the third rotating member (60) via the third transmission assembly (62); the fourth driving member (61) drives the third rotating member (60) to rotate, thereby driving the mounting seat (231) to rotate.

10. The climbing and falling prevention device for electric power tower according to claim 9, characterized in that: The electromagnet member (21) of the second magnetic structure (23) is rotatably arranged, and the climbing and falling prevention device for the electric power tower further comprises: A fifth driving member (80) is arranged on the mounting seat (231), and the fifth driving member (80) is drivingly connected to the electromagnet member (21) of the second magnetic structure (23) so as to drive the electromagnet member (21) of the second magnetic structure (23) to rotate.

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