Mechanical arm for hanging tower climbing anti-falling device

Abstract

The invention discloses a mechanical arm for hanging a tower climbing anti-falling device, and relates to the technical field of auxiliary tower climbing equipment, the mechanical arm comprises a steering mechanism, a flexible arm and a splayed fork frame, the steering mechanism is fixedly connected with a bottom interface of an unmanned aerial vehicle, the flexible arm is connected with a steering engine, and the splayed fork frame is connected to the lower end of the flexible arm; the steering mechanism can drive the flexible arm and the splayed fork frame to rotate, and when the splayed fork frame cannot be accurately in butt joint with the angle of a hanging ring or an inverted eight-fork frame on the anti-falling clamping piece, the splayed fork frame can be driven to rotate through the steering mechanism, so that the splayed fork frame is accurately in butt joint with the hanging ring or the inverted eight-fork frame. Therefore, the problem that the angle of the splayed fork frame is relatively difficult to adjust through rotation of the unmanned aerial vehicle due to the influence of the flight precision of the unmanned aerial vehicle and the natural environment in the flight process of the unmanned aerial vehicle in the prior art is solved.

Description

Technical Field

[0001] The invention relates to the technical field of tower climbing auxiliary equipment, and in particular to a mechanical arm for suspending a tower climbing anti-falling device. Background Art

[0002] The drone is equipped with a tower climbing anti-fall device, and the safety rope is installed by the drone. There is no need for workers to climb the tower to install or remove the anti-fall component. Workers can climb and descend the tower under the protection of the safety rope on the anti-fall system, thus avoiding falling accidents for workers and reducing the risk factor of climbing the tower for maintenance and inspection of transmission lines.

[0003] At present, the anti-fall device for hanging UAV tower climbing mainly fixes the anti-fall card connector through the hanging ring or inverted eight-fork frame fixed on the anti-fall card connector carried by the UAV. During the hanging process, the figure eight fork frame, the hanging ring or the inverted eight-fork frame all have a guiding function, so that the figure eight fork frame can be accurately connected to the hanging ring or the inverted eight-fork frame. However, when the figure eight fork frame is connected to the anti-fall card connector, if the angle between the figure eight fork frame and the hanging ring or the inverted eight-fork frame fixed on the anti-fall card connector is not vertical, it is necessary to adjust the angle of the figure eight fork frame by rotating the UAV. Since the UAV is affected by the flight accuracy of the UAV and the natural environment during flight, it is relatively difficult to adjust the angle of the figure eight fork frame by rotating the UAV. Summary of the invention

[0004] In view of this, the main purpose of the present invention is to provide a mechanical arm for suspending a tower climbing anti-falling device, which can solve the problem in the prior art that it is relatively difficult to adjust the angle of the splayed fork frame by rotating a drone.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A mechanical arm for suspending a tower climbing anti-falling device comprises a steering mechanism, a flexible arm and an eight-shaped fork frame, wherein the steering mechanism is fixedly connected to a bottom interface of a drone, the flexible arm is connected to the steering machine, and the eight-shaped fork frame is connected to the lower end of the flexible arm.

[0007] The steering mechanism includes a shell, a motor and a steering rod, the shell is fixedly connected to the bottom interface of the drone, the motor is fixedly connected to the shell, the steering rod is connected to the output end of the motor, and the steering rod is rotatably connected to the shell.

[0008] The figure-eight fork frame includes: a shell, a locking hook and an electric telescopic rod. The shell is connected to the lower end of the flexible arm. A accommodating cavity is arranged in the middle of the lower end of the shell. Locking holes are arranged in the shell on both sides of the accommodating cavity. The locking hook can be inserted into the locking hole to lock the accommodating cavity. The middle part of the locking hook is hinged to the shell. One end of the locking hook can be inserted into the locking hole, and the other end is hinged to the telescopic rod. One end of the telescopic rod is hinged to the shell, and the other end is hinged to the locking hook.

[0009] Preferably, the housing further comprises: a connecting plate, a fixing plate, a fixing rod and a steering rod fixing housing;

[0010] The connecting plate is fixedly connected to the bottom interface of the drone, the upper end of the fixing rod is fixedly connected to the connecting plate, the lower end of the connecting rod is fixedly connected to the fixing plate, the steering rod fixing shell is fixed on the upper surface of the fixing plate, the motor is fixed on the upper end of the steering rod fixing shell, the output end of the motor is directed downward, and the steering rod is connected to the output end of the motor.

[0011] Preferably, a thrust ball bearing is arranged at the upper end of the fixing plate, the shoulder of the steering rod is at the upper end of the thrust bearing, and a bearing is arranged between the steering rod fixing housing and the steering rod.

[0012] Preferably, the figure-eight fork frame further comprises a proximity switch, which is fixed to the inner wall of the housing, and the sensing head of the proximity switch is directly opposite to one end of the lock hook inserted into the locking hole.

[0013] Preferably, the locking hook comprises a hinged portion and a locking portion, the middle portion of the hinged portion is hinged to the housing, one end of the hinged portion is hinged to the electric telescopic rod, the other end of the hinged portion is connected to one end of the locking portion, and the other end of the locking portion is inserted into the locking hole;

[0014] An elastic element is arranged between the hinge part and the locking part, so that the locking part presses the hinge part upwards. When the locking part is connected to the anti-falling clamping piece, the locking part overcomes the elastic force of the elastic element and moves downwards.

[0015] Preferably, a blind hole is provided at the position where the hinged portion is connected to the locking portion, a rod is provided at the connection position between the locking portion and the hinged portion, a sliding block is provided in the blind hole, the sliding block is slidably connected to the blind hole, an elastic element is provided at the lower end of the sliding block, a spring fixing piece is provided at the lower end of the elastic element, the spring fixing piece is fixed at the hole position of the blind hole, a through hole is provided in the middle of the spring fixing piece, the rod passes through the spring fixing piece and the elastic element and is fixedly connected to the sliding block.

[0016] Preferably, the blind hole is a hexagonal hole, the sliding block is a hexagonal nut, and the rod is a threaded rod.

[0017] A protrusion is arranged at the opening of the blind hole, and the cross section of the protrusion is a triangle.

[0018] Preferably, an anti-drop rod is arranged in the shell, and the anti-drop rod is arranged at the lower part of one side of the lock hook. When the locking part is connected to the anti-falling clamping piece, the locking part moves downward, and the anti-drop rod can prevent the lock hook from rotating.

[0019] Preferably, the housing is provided with a camera hole, the camera hole is located at the upper end of the accommodating cavity, and a camera is fixed on the upper side of the camera hole.

[0020] Preferably, the flexible arm comprises a plurality of connecting rods, the connecting rods are directly hinged, and the hinge directions of the two hinge points at both ends of each section are perpendicular.

[0021] The mechanical arm for suspending a tower climbing anti-falling device of the present invention has the following beneficial effects:

[0022] A mechanical arm for suspending a tower climbing anti-falling device comprises: a steering mechanism, a flexible arm and an eight-shaped fork frame, wherein the steering mechanism is fixedly connected to the bottom interface of a drone, the flexible arm is connected to the steering machine, the eight-shaped fork frame is connected to the lower end of the flexible arm, and the steering mechanism can drive the flexible arm and the eight-shaped fork frame to rotate. When the angle of the eight-shaped fork frame and the hanging ring or the inverted eight-shaped fork frame on the anti-falling clamping part cannot be accurately docked, the steering mechanism can be used to drive the eight-shaped fork frame to rotate so that the eight-shaped fork frame can be accurately docked with the hanging ring or the inverted eight-shaped fork frame. This solves the problem in the prior art that it is relatively difficult to adjust the angle of the eight-shaped fork frame by rotating the drone during flight due to the influence of the drone's flight accuracy and the natural environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of a structure in which a mechanical arm for suspending a tower climbing anti-falling device according to an embodiment of the present disclosure is mounted on a drone;

[0025] Figure 2 It is a schematic structural diagram of a mechanical arm for suspending a tower climbing anti-falling device according to an embodiment of the present disclosure;

[0026] Figure 3 It is a schematic structural diagram of an eight-shaped fork frame of a mechanical arm for suspending a tower climbing anti-falling device according to an embodiment of the present disclosure;

[0027] Figure 4 It is a schematic diagram of another working state of the figure eight fork frame of the mechanical arm for suspending the tower climbing anti-fall device according to an embodiment of the present disclosure;

[0028] Figure 5 A schematic diagram of another working state of the splayed fork frame of the mechanical arm for suspending the tower climbing anti-fall device according to an embodiment of the present disclosure;

[0029] Figure 6It is a schematic structural diagram of a locking hook of a mechanical arm of a tower climbing anti-fall device suspended according to an embodiment of the present disclosure;

[0030] Figure 7 It is a cross-sectional view of a locking hook of a mechanical arm for suspending a tower climbing anti-fall device according to an embodiment of the present disclosure;

[0031] Figure 8 for Figure 7 A local enlarged view of the point C;

[0032] Fig. 9 It is a schematic diagram of the structure of the outer shell of a mechanical arm for suspending a tower climbing anti-fall device according to an embodiment of the present disclosure.

[0033]

Main component symbol description

[0034] 1. Steering mechanism;

[0035] 11. Housing; 12. Motor; 13. Steering rod; 14. Thrust bearing; 15. Bearing;

[0036] 111, connecting plate; 112, fixing plate; 113, fixing rod; 114, steering rod fixing housing;

[0037] 2. Flexible arm;

[0038] 3. Eight-shaped fork frame;

[0039] 31. Housing; 32. Lock hook; 33. Electric telescopic rod; 34. Accommodating cavity; 35. Locking hole; 36. Proximity switch; 37. Camera;

[0040] 311. Anti-drop rod; 312. Camera hole;

[0041] 321, hinged portion; 322, locking portion; 323, blind hole; 324, rod; 325, sliding block; 326, elastic element; 327, spring fixing member; 328, protrusion;

[0042] 4. Anti-falling connector;

[0043] 5. Angle steel. DETAILED DESCRIPTION

[0044] The method of the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments of the present invention.

[0045] 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.

[0046] 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.

[0047] 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 data used in this way can be interchangeable 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, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0049] See also Figure 1-Figure 9 , the present invention provides a technical solution:

[0050] A mechanical arm for hanging a tower climbing anti-falling device, characterized in that it comprises: a steering mechanism 1, a flexible arm 2 and an eight-shaped fork frame 3, wherein the steering mechanism 1 is fixedly connected to the bottom interface of a drone, the flexible arm 2 is connected to a steering machine, and the eight-shaped fork frame 3 is connected to the lower end of the flexible arm 2; the steering mechanism 1 can drive the flexible arm 2 and the eight-shaped fork frame 3 to rotate, and when the angle of the eight-shaped fork frame 3 and the hanging ring or the inverted eight-shaped fork frame on the anti-falling clamp 4 cannot be accurately docked, the steering mechanism 1 can be used to drive the eight-shaped fork frame 3 to rotate, so that the eight-shaped fork frame 3 and the hanging ring or the inverted eight-shaped fork frame are accurately docked. This solves the problem in the prior art that it is relatively difficult to adjust the angle of the eight-shaped fork frame by rotating the drone during flight due to the influence of the drone's flight accuracy and the natural environment.

[0051] In order to facilitate the control of the steering mechanism from the ground, the steering mechanism 1 includes a shell 11, a motor 12 and a steering rod 13. The shell 11 is fixedly connected to the bottom interface of the drone, the motor 12 is fixedly connected to the shell 11, the steering rod 13 is connected to the output end of the motor 12, and the steering rod 13 is rotatably connected to the shell. The motor 12 is controlled and powered by the function expansion interface of the drone. The motor 12 has an integrated reducer inside, which can drive the steering rod 13 to rotate, thereby controlling the direction of the splayed fork.

[0052] The figure eight fork frame 3 includes: a shell 31, a locking hook 32 and an electric telescopic rod 33. The shell 31 is connected to the lower end of the flexible arm 2. A accommodating cavity 34 is arranged in the middle of the lower end of the shell 31. The accommodating cavity 34 is used to accommodate the inverted eight fork frame or the hanging ring on the anti-falling clamp 4. The shell on both sides of the accommodating cavity 34 is provided with locking holes 35. The locking hook 32 can be inserted into the locking hole 35 to lock the accommodating cavity 34. The locking hook 32 passes through the hole on the inverted eight fork frame or the hanging ring, and the inverted eight fork frame or the hanging ring can be locked in the accommodating cavity. The middle part of the lock hook 32 is hinged to the housing 31, one end of the lock hook 32 can be inserted into the locking hole 35, and the other end is hinged to the telescopic rod 33; one end of the telescopic rod 33 is hinged to the housing 31, and the other end is hinged to the lock hook 32. The telescopic rod 33 can be an electric telescopic rod, which is controlled and powered by the function expansion interface of the drone. When the telescopic rod 22 is extended, the lock hook 32 is driven to rotate counterclockwise, and the lock hook 32 withdraws from the locking hole 35. Figure 4 When the telescopic rod 22 is retracted, the lock hook 32 is driven to rotate clockwise, and the lock hook 32 is inserted into the locking hole 35, such as Figure 3 Status shown.

[0053] In order to facilitate the fixation of the steering mechanism, the housing 11 further includes: a connecting plate 111, a fixing plate 112, a fixing rod 113 and a steering rod fixing housing 114;

[0054] The connecting plate 111 is fixedly connected to the bottom interface of the drone. The interface of the connecting plate 111 is adaptively designed according to the model of the drone. The upper end of the fixing rod 113 is fixedly connected to the connecting plate 111, and the lower end of the fixing rod 113 is fixedly connected to the fixing plate 112. In order to make the fixing plate 112 stable, the number of fixing rods 113 is 2-6. The steering rod fixing shell 114 is fixed on the upper surface of the fixing plate 112, and the motor 12 is fixed on the upper end of the steering rod fixing shell 114. The output end of the motor 12 is downward, and the steering rod 13 is connected to the output end of the motor 12.

[0055] A thrust ball bearing 14 is arranged at the upper end of the fixed plate 112, and the shoulder of the steering rod 13 is at the upper end of the thrust bearing 14, that is, the thrust bearing 14 is arranged between the fixed plate 112 and the steering rod 13, so that the steering rod 13 can withstand the axial force generated by the anti-fall clamping part. The thrust bearing can be a thrust ball bearing. In order to better fix the steering rod, a bearing 15 is arranged between the steering rod fixed shell 114 and the steering rod 13, and the bearing 15 can be a deep groove ball bearing.

[0056] The figure-eight fork frame 3 also includes a proximity switch 36, which is fixed on the inner wall of the shell 31. The sensing head of the proximity switch 36 is directly opposite to one end of the lock hook 32 inserted into the locking hole 35. When the lock hook 32 is inserted into the locking hole 35, the proximity switch 36 can sense the lock hook 32. The proximity switch is controlled and powered by the function expansion interface of the drone, and its signal is transmitted to the ground operating panel, so that the ground operator can clearly see whether the lock hook 32 has been inserted into the locking hole 35.

[0057] In order to optimize the force of the lock hook 32, the lock hook 32 includes a hinge part 321 and a locking part 322. The middle part of the hinge part 321 is hinged to the housing 32, one end of the hinge part 321 is hinged to the electric telescopic rod 33, the other end of the hinge part 321 is connected to one end of the locking part 322, and the other end of the locking part 322 is inserted into the locking hole 35.

[0058] An elastic element 326 is arranged between the hinge part 321 and the locking part 322, so that the locking part 322 presses the hinge part 321 upwards, and when the locking part 322 is connected to the anti-falling clamp 4, the locking part 322 overcomes the elastic force of the elastic element 326 and moves downwards. In this way, the weight of the anti-falling clamp 4 and the safety rope will be directly transferred to the housing through the locking part 322, so that the force of the lock hook 32 is further optimized, and the lock hook 32 is prevented from transferring all the weight of the anti-falling clamp 4 and the safety rope to the hinge position, thereby causing damage to the hinge position.

[0059] In order to make the structure of the lock hook 32 more reasonable, a blind hole 323 is provided at the position where the hinge part 321 and the locking part 322 are connected, a rod 324 is provided at the connection position between the locking part 322 and the hinge part 321, a sliding block 325 is provided in the blind hole 323, and the sliding block 325 is slidably connected with the blind hole 323. An elastic element 326 is provided at the lower end of the sliding block 325, and a spring fixing piece 327 is provided at the lower end of the elastic element 326. The spring fixing piece 327 is fixed at the hole position of the blind hole 323, and a through hole is provided in the middle of the spring fixing piece 327. The rod 324 passes through the spring fixing piece 327 and the elastic element 326 and is fixedly connected with the sliding block 325.

[0060] In order to facilitate installation and use, the blind hole 323 is a hexagonal hole, the sliding block 325 is a hexagonal nut, and the rod 324 is a threaded rod, that is, a hexagonal hole is provided at the position where the hinge 321 and the locking part 322 are connected, a threaded rod is provided at the connection position between the locking part 322 and the hinge 321, a nut is provided in the hexagonal hole, an elastic element 326 is provided at the lower end of the nut, a fixing piece 327 is provided at the lower end of the elastic element 326, the fixing piece 327 is fixed at the opening of the hexagonal hole, and the threaded rod passes through the fixing piece 327 and the elastic element 326 and is connected to the nut. When installing, first place the nut in the hexagonal hole, then put the elastic element 326 into the hexagonal hole, fix the fixing piece 327 at the opening of the hexagonal hole, and then pass the threaded rod on the locking part 322 through the fixing piece 327 and the elastic element 326, and screw it into the nut, and the installation is completed.

[0061] In order to facilitate fixing the fixing member 327 at the opening of the blind hole 323, a protrusion 328 is provided at the opening of the blind hole 323, and the cross section of the protrusion 328 is triangular. Figure 8 As shown, the fixing member 327 is pressed into the blind hole 323 along the inclined surface of the protrusion 328 , and the fixing member 327 is fixed in the blind hole 323 under the action of the protrusion 328 .

[0062] In order to prevent the locking hook 32 from rotating due to product failure or misoperation, causing the anti-falling connector 4 and the safety rope to fall, an anti-slip rod 311 is arranged in the outer shell 31. The anti-slip rod 311 is arranged at the lower part of one side of the locking hook 32. When the locking part 322 is connected to the anti-falling connector 4, the locking part 322 moves downward, and the anti-slip rod 311 can prevent the locking hook 32 from rotating. When starting work, the drone carries the steering mechanism 1, the flexible arm 2 and the figure eight fork frame 3 to the work site. At this time, the locking hook 32 of the figure eight fork frame 3 is in a locked state, and the anti-falling connector 4 is suspended at the lower end. The inverted figure eight fork frame or the hanging ring hanging the anti-falling connector 4 is suspended on the locking part 322. Under the action of gravity, the locking part 322 moves downward. Figure 5As shown in the figure, at this time, if the telescopic rod 33 is misoperated, causing the lock hook 32 to move counterclockwise, the lock hook 32 cannot rotate under the action of the anti-drop rod 311, thus preventing the anti-drop clamp 4 and the safety rope from falling due to misoperation. When arriving at the destination, the anti-drop clamp 4 is stuck on the angle steel 5, and the gravity of the anti-drop clamp 4 and the safety rope acts on the angle steel 5. At this time, the lock hook 32 is not subject to the downward force, and the locking part 322 moves upward to Figure 3 The telescopic rod 33 is extended, the lock hook 32 moves counterclockwise, and the anti-drop rod 311 does not affect the rotation of the lock hook 32, so that the lock hook 32 rotates to reach the position shown in FIG. Figure 4 Position shown.

[0063] In order to more intuitively observe whether the anti-falling clip 4 is securely locked, the shell 31 is provided with a camera hole 312, and the camera hole 312 is located at the upper end of the accommodating cavity 34. A camera 37 is fixed on the upper side of the camera hole 312. The camera 37 can intuitively see whether the hanging ring or the inverted eight-fork frame of the anti-falling clip 4 is locked in the accommodating cavity 34.

[0064] The flexible arm 2 includes a plurality of connecting rods, the connecting rods are hinged, and the hinge directions of the two hinge points at both ends of each connecting rod are perpendicular. Under the premise that the flexible arm 2 is bendable, it is convenient for the steering mechanism 1 to control the angle of the eight-shaped fork frame 3.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A mechanical arm for suspending a tower climbing anti-fall device, characterized in that: include: A steering mechanism (1), a flexible arm (2) and an eight-shaped fork frame (3), wherein the steering mechanism (1) is fixedly connected to an interface at the bottom of the drone, the flexible arm (2) is connected to the steering mechanism, and the eight-shaped fork frame (3) is connected to the lower end of the flexible arm (2); The steering mechanism (1) comprises a housing (11), a motor (12) and a steering rod (13); the housing (11) is fixedly connected to an interface at the bottom of the drone; the motor (12) is fixedly connected to the housing (11); the steering rod (13) is connected to an output end of the motor (12); and the steering rod (13) is rotatably connected to the housing; The cross-shaped fork frame (3) comprises: a shell (31), a locking hook (32) and a telescopic rod (33); the shell (31) is connected to the lower end of the flexible arm (2); a receiving cavity (34) is arranged in the middle of the lower end of the shell (31); locking holes (35) are arranged in the shell on both sides of the receiving cavity (34); the locking hook (32) can be inserted into the locking hole (35) to lock the receiving cavity (34); the middle of the locking hook (32) is hinged to the shell (31); one end of the locking hook (32) can be inserted into the locking hole (35), and the other end is hinged to the telescopic rod (33); one end of the telescopic rod (33) is hinged to the shell (31), and the other end is hinged to the locking hook (32).

2. The mechanical arm for suspending the tower climbing anti-falling device according to claim 1, characterized in that: The housing (11) further comprises: a connecting plate (111), a fixing plate (112), a fixing rod (113) and a steering rod fixing housing (114); The connecting plate (111) is fixedly connected to the bottom interface of the drone, the upper end of the fixing rod (113) is fixedly connected to the connecting plate (111), the lower end of the connecting rod (113) is fixedly connected to the fixing plate (112), the steering rod fixing housing (114) is fixed to the upper surface of the fixing plate (112), the motor (12) is fixed to the upper end of the steering rod fixing housing (114), the output end of the motor (12) is directed downward, and the steering rod (13) is connected to the output end of the motor (12).

3. The mechanical arm for suspending the tower climbing anti-falling device according to claim 2, characterized in that: A thrust ball bearing (14) is arranged at the upper end of the fixing plate (112), a shaft shoulder of the steering rod (13) is at the upper end of the thrust bearing (14), and a bearing (15) is arranged between the steering rod fixing housing (114) and the steering rod (13).

4. The mechanical arm for suspending the tower climbing anti-falling device according to claim 1, characterized in that: The cross-shaped fork frame (3) also includes a proximity switch (36), which is fixed to the inner wall of the housing (31), and the induction head of the proximity switch (36) is directly opposite to the end of the lock hook (32) inserted into the locking hole (35).

5. The mechanical arm for suspending the tower climbing anti-falling device according to claim 1, characterized in that: The locking hook (32) comprises a hinged portion (321) and a locking portion (322); the middle portion of the hinged portion (321) is hinged to the housing (32); one end of the hinged portion (321) is hinged to the electric telescopic rod (33); the other end of the hinged portion (321) is connected to one end of the locking portion (322); and the other end of the locking portion (322) is inserted into the locking hole (35); An elastic element (326) is arranged between the hinged portion (321) and the locking portion (322), so that the locking portion (322) presses the hinged portion (321) upwards, and when the locking portion (322) is connected to the anti-falling clamping piece (4), the locking portion (322) overcomes the elastic force of the elastic element (326) and moves downwards.

6. The mechanical arm for suspending the tower climbing anti-falling device according to claim 5, characterized in that: A blind hole (323) is provided at a position where the hinge (321) and the locking portion (322) are connected, a rod (324) is provided at a position where the locking portion (322) and the hinge (321) are connected, a sliding block (325) is provided in the blind hole (323), the sliding block (325) is slidably connected to the blind hole (323), an elastic element (326) is provided at the lower end of the sliding block (325), a spring fixing piece (327) is provided at the lower end of the elastic element (326), the spring fixing piece (327) is fixed at the opening position of the blind hole (323), a through hole is provided in the middle of the spring fixing piece (327), the rod (324) passes through the spring fixing piece (327) and the elastic element (326), and is fixedly connected to the sliding block (325).

7. The mechanical arm for suspending the tower climbing anti-falling device according to claim 6, characterized in that: The blind hole (323) is a hexagonal hole, the sliding block (325) is a hexagonal nut, and the rod (324) is a threaded rod; A protrusion (328) is provided at the opening of the blind hole (323), and the cross section of the protrusion (328) is triangular.

8. The mechanical arm for suspending the tower climbing anti-falling device according to claim 5, characterized in that: An anti-slip rod (311) is arranged in the housing (31), and the anti-slip rod (311) is arranged at the lower part of one side of the lock hook (32). When the locking portion (322) is connected to the anti-falling clamping piece (4), the locking portion (322) moves downward, and the anti-slip rod (311) can prevent the lock hook (32) from rotating.

9. The mechanical arm for suspending the tower climbing anti-falling device according to claim 1, characterized in that: The housing (31) is provided with a camera hole (312), the camera hole (312) is located at the upper end of the accommodating cavity (34), and a camera (37) is fixed on the upper side of the camera hole (312).

10. The mechanical arm for suspending the tower climbing anti-falling device according to claim 1, characterized in that: The flexible arm (2) comprises a plurality of connecting rods, which are directly hinged, and the hinge directions of the two hinge points at both ends of each section are vertical.

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