Wheel claw mechanism for climbing of iron tower

Abstract

The invention relates to the technical field of power equipment, in particular to a wheel claw mechanism for climbing of an iron tower. Comprising a rack, a walking mechanism, a first telescopic arm and a second telescopic arm are arranged below the rack, the first telescopic arm and the second telescopic arm are used for surrounding and clamping a clamped object, the telescopic ends of the first telescopic arm and the second telescopic arm are rotationally provided with an overturning frame and an overturning power mechanism for driving the overturning frame to rotate, and a guide wheel is arranged at the end of the overturning frame; the walking mechanism and the overturned guide wheels on the first telescopic arm and the second telescopic arm are arranged in a triangular space mode. According to the scheme, the wheel claw mechanism composed of the first telescopic arm and the second telescopic arm can firmly surround angle steel of the iron tower, then the walking mechanism is used for driving the whole wheel claw mechanism to climb upwards, manual iron tower climbing is replaced, and maintenance tools and substances are brought to the high position of the iron tower; through the rolling flexibility of the wheels and the grabbing stability of the wheel claw mechanism, the robot can reach a specified operation position, and has the characteristics of high dynamic adaptability and high climbing and moving efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of electric power equipment, and in particular to a wheel claw mechanism used for tower crawling. Background Art

[0002] As high-altitude infrastructure, iron towers are widely used in power transmission, communications and other fields. In order to ensure the normal operation of iron tower equipment, daily inspections and maintenance often require manual climbing of the tower to perform repairs, parts replacement and other work. However, the manual climbing process is limited by physical strength and the single load capacity is small. There is often a risk of falling and great safety hazards during the climbing process.

[0003] The invention patent with the prior art patent number CN201811392532.9 discloses an electric power tower climbing device, which drives the first base to move relative to the frame through the first lifting assembly, and drives the second base to move relative to the frame through the second lifting assembly, thereby realizing the distance change between the first clamping mechanism and the second clamping mechanism. During the climbing process, the first clamping claw assembly and the second clamping claw assembly clamp the angle iron of the electric power tower to fix the first base relative to the electric power tower, and the third clamping claw assembly and the fourth clamping claw assembly clamp the angle iron of the electric power tower to fix the second base relative to the electric power tower. This scheme clamps the angle iron rod on the main electric power tower through the first clamping mechanism; the first lifting assembly and the second lifting assembly bring the first base and the second base close to each other, and after the second clamping mechanism clamps the electric power tower, the first clamping mechanism is released, and the first clamping mechanism moves away from the second clamping mechanism and then clamps the electric power tower again. By repeating the above steps, the electric power tower climbing device is realized on the electric power tower.

[0004] However, every time the device climbs a certain distance, the first clamping mechanism and the second clamping mechanism need to alternately clamp and release the tower. On the one hand, repeated clamping and releasing actions will lead to low climbing efficiency. On the other hand, during the switching clamping process, the bearing capacity of a single clamping mechanism is insufficient and there is a risk of falling. Summary of the invention

[0005] In order to solve the problems in the prior art of low efficiency and potential safety hazards in manual tower climbing and transportation of maintenance tools, or low climbing efficiency and reduced bearing capacity during alternating actions of existing climbing devices, the present invention provides a wheel claw mechanism for tower climbing, which has the characteristics of high climbing efficiency, stable clamping effect and high safety.

[0006] In order to achieve the above objectives, the following technical solutions are provided:

[0007] A wheel claw mechanism for tower crawling comprises a frame, a walking mechanism and a first telescopic arm and a second telescopic arm for forming an embracing clamp for a clamped object are arranged below the frame, a turning frame and a turning power mechanism for driving the turning frame to rotate are rotatably provided at the telescopic ends of the first telescopic arm and the second telescopic arm, a guide wheel is arranged at the end of the turning frame, and the walking mechanism and the guide wheels on the first telescopic arm and the second telescopic arm that are turned inwardly are arranged in a triangular space.

[0008] Furthermore, a third telescopic arm is rotatably provided at the telescopic end of the second telescopic arm, a hook is provided at the protruding end of the third telescopic arm, and a hook buckle matching with the hook is provided on the first telescopic arm.

[0009] Furthermore, it also includes a horizontal rotation mechanism and a vertical rotation mechanism, the rotation axis of the horizontal rotation mechanism is connected to the frame, the rotation axis of the vertical rotation mechanism is connected to the horizontal rotation mechanism, the vertical rotation mechanism is used to drive the horizontal rotation mechanism and the frame to rotate around the X-axis, and the horizontal rotation mechanism is used to drive the frame to rotate around the Y-axis.

[0010] Furthermore, the walking mechanism includes a driving motor, a vertically arranged driving wheel 1 and a driving wheel 2, and the driving wheel 1 and the driving wheel 2 are both connected to the driving motor through a bevel gear mechanism.

[0011] Furthermore, after the guide wheels on the first telescopic arm and the second telescopic arm are flipped, the axes of the guide wheels of the first telescopic arm and the second telescopic arm can be parallel to the axes of the first driving wheel and the second driving wheel, respectively.

[0012] The beneficial effects of the present invention are:

[0013] 1. This scheme can firmly embrace the angle steel of the iron tower through the wheel claw mechanism composed of the first telescopic arm and the second telescopic arm, and then use the walking mechanism to drive the entire wheel claw mechanism to climb upward. It can be used in conjunction with other equipment or used alone. It can replace manual climbing of the iron tower and bring maintenance tools and materials to the top of the iron tower; 2. After the wheel claw mechanism clamps the iron tower angle steel, the walking mechanism can drive the device to walk directly along the angle steel, which has the advantages of high climbing efficiency and stable clamping; 3. Through the rolling flexibility of the wheels and the grasping stability of the wheel claw mechanism, it can move quickly on high buildings such as iron towers to reach the designated working position, and has the characteristics of strong dynamic adaptability and high climbing and movement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 It is a structural schematic diagram of the wheel claw mechanism used for tower crawling of the present invention;

[0015] Attached Figure 2 for Figure 1 Schematic diagram of the half-section structure;

[0016] Attached Figure 3 It is a structural schematic diagram of the wheel claw mechanism of the present invention cooperating with the iron tower angle steel;

[0017] Attached Figure 4 This is a state diagram of the wheel claw mechanism of the present invention working on the iron tower;

[0018] In the figure: 1. first telescopic arm; 2. second telescopic arm; 3. guide wheel; 4. turning frame; 5. frame; 6. turning power mechanism; 7. third telescopic arm; 8. hook; 9. hook; 10. horizontal rotation mechanism; 11. vertical rotation mechanism; 12. driving motor; 13. driving wheel one; 14. driving wheel two; 15. bevel gear mechanism; 16. auxiliary wheel; 17. tower. DETAILED DESCRIPTION

[0019] The following is a detailed description of a wheel claw mechanism for tower crawling according to the present invention in conjunction with specific embodiments.

[0020] like Figure 1 , Figure 2 , Figure 3 As shown, a wheel claw mechanism for tower crawling includes a frame 5, a walking mechanism and a first telescopic arm 1 and a second telescopic arm 2 for forming an embracing clamp for a clamped object are arranged below the frame 5, a turning frame 4 and a turning power mechanism 6 for driving the turning frame 4 to rotate are rotatably provided at the telescopic ends of the first telescopic arm 1 and the second telescopic arm 2, a guide wheel 3 is provided at the end of the turning frame 4, and the walking mechanism and the guide wheels 3 on the first telescopic arm 1 and the second telescopic arm 2 after being turned inward are arranged in a triangular space.

[0021] The wheel claw mechanism in the present invention is a clamping claw mechanism with wheels, which can be used alone. In this embodiment, taking the climbing angle steel tower as an example, the control unit controls the wheel claw mechanism to climb and move upward along the angle steel of the tower to transport the tools or equipment used for maintenance to the height of the tower.

[0022] Among them, the first telescopic arm 1 is on the same side as the traveling mechanism, and the second telescopic arm 2 is divided at a right angle to the first telescopic arm 1 on the frame 5. The first telescopic arm 1 and the second telescopic arm 2 can be hydraulic telescopic arms or electric telescopic arms. The flip frames 4 on the sides of the first telescopic arm 1 and the second telescopic arm 2 are both flipped inwards, forming a triangular clamping posture together with the traveling mechanism. The wheel surface of the guide wheel 3 is provided with a V-shaped groove for adapting to the right-angle edge of the angle steel. The axis of the guide wheel 3 is parallel to the extension direction of the flip frame 4, so that after the flip frame 4 rotates, the guide wheel 3 can be stuck on the right-angle edge of the angle steel; an auxiliary wheel 16 perpendicular to the axis of the guide wheel 3 is also provided on the flip frame 4. When the guide wheel 3 can be stuck on the right-angle edge of the angle steel, the auxiliary wheel 16 can be attached to the side of the angle steel to play a role of auxiliary support.

[0023] Through the rolling flexibility of the wheels and the grasping stability of the wheel claw mechanism, it can move quickly on high buildings such as iron towers to reach the designated working position. It has strong dynamic adaptability and high climbing and movement efficiency.

[0024] The dual-axis rotation mechanism includes a horizontal rotation mechanism 10 and a vertical rotation mechanism 11. The rotation axis of the horizontal rotation mechanism 10 is connected to the frame 5, and the rotation axis of the vertical rotation mechanism 11 is connected to the horizontal rotation mechanism 10. The vertical rotation mechanism 11 is used to drive the horizontal rotation mechanism 10 and the frame 5 to rotate around the X axis, and the horizontal rotation mechanism 10 is used to drive the frame 5 to rotate around the Y axis. In this embodiment, the horizontal rotation mechanism 10 and the vertical rotation mechanism 11 can both be rotating motors.

[0025] like Figure 1 As shown, the vertical rotation mechanism 11 is used to drive the horizontal rotation mechanism 10 and the frame 5 to rotate around the X-axis, which means driving the horizontal rotation mechanism 10 and the frame 5 to rotate vertically, and the horizontal rotation mechanism 10 is used to drive the frame 5 to rotate around the Y-axis, which means driving the frame 5 to rotate horizontally. When the claw mechanism is installed on other equipment for use, the dual-axis rotation mechanism is used to adjust the claw mechanism to achieve an adaptive posture on the working platform.

[0026] The first telescopic arm 1 and the second telescopic arm 2 can both adopt an electric telescopic rod or a hydraulic telescopic rod to drive the turning frame 4 to extend and retract and adjust the position of the clamping tower angle steel. The turning drive device can be a rotating servo connected to the connecting shaft of the turning frame 4. The rotating servo drives the turning frame 4 to flip and is used to adjust the clamping angle of the guide wheel 3.

[0027] The walking mechanism includes a driving motor 12, a driving wheel 13 and a driving wheel 2 14, which are arranged vertically on the bottom side of the driving motor 12 housing, and are both connected to the driving motor 12 through a bevel gear mechanism 15, and are arranged vertically. The driving motor 12 is installed below the output shaft of the vertical rotating mechanism 11.

[0028] like Figure 3 , Figure 4 As shown, driven by the drive motor 12, the drive wheel 13 and the drive wheel 2 14 roll along the surface of the tower 17 to provide power for the wheel claw mechanism to climb. Especially on the angle steel tower 17, the drive wheel 13 and the drive wheel 2 14 can be respectively located on the right-angled edges on both sides of the angle steel to slide.

[0029] A third telescopic arm 7 is rotatably provided at the telescopic end of the second telescopic arm 2. A hook 8 is provided at the protruding end of the third telescopic arm 7. A hook buckle 9 matching the hook 8 is provided on the first telescopic arm 1. When the hook 8 is locked with the hook buckle 9, a closed-loop clamping structure is formed to enhance stability.

[0030] When the first telescopic arm 1 and the second telescopic arm 2 are extended and the flip frame 4 thereon flips over to reach the clamping angle, the telescopic end of the third telescopic arm 7 is driven to extend and retract, and then the power device for rotating the third telescopic arm 7, such as a steering gear, is rotated, so that the hook 8 on the third telescopic arm 7 can hook the hook 9 on the outer side of the first telescopic arm 1, so that the first telescopic arm 1 and the second telescopic arm 2 form a closed-loop overall structure, thereby further clamping the clamped object.

[0031] The third telescopic arm 7 may be an electric telescopic rod or a hydraulic telescopic rod.

[0032] After the guide wheels 3 on the first telescopic arm 1 and the second telescopic arm 2 are flipped, the axes of the guide wheels 3 can be respectively parallel to the axes of the driving wheel 1 13 and the driving wheel 2 14. In this embodiment, the middle part of the guide wheel 3 is concave, which is particularly suitable for the angle steel tower 17 structure. The guide wheels 3 on the first telescopic arm 1 and the second telescopic arm 2 can be stuck on both sides of the angle steel by flipping, and the driving wheel 1 13 and the driving wheel 2 14 that are perpendicular to each other can be stuck at the right angle side of the angle steel to form a more stable support.

Claims

1. A wheel claw mechanism for tower crawling, characterized in that: The invention comprises a frame (5), a walking mechanism and a first telescopic arm (1) and a second telescopic arm (2) for forming an embracing clamping of a clamped object are arranged below the frame (5), a turning frame (4) and a turning power mechanism (6) for driving the turning frame (4) to rotate are arranged at the telescopic ends of the first telescopic arm (1) and the second telescopic arm (2), a guide wheel (3) is arranged at the end of the turning frame (4), and the walking mechanism and the guide wheels (3) on the first telescopic arm (1) and the second telescopic arm (2) after turning inwards are arranged in a triangular space.

2. The wheel claw mechanism for tower climbing according to claim 1, characterized in that: A third telescopic arm (7) is rotatably provided at the telescopic end of the second telescopic arm (2); a hook (8) is provided at the protruding end of the third telescopic arm (7); and a hook (9) matching the hook (8) is provided on the first telescopic arm (1).

3. The wheel claw mechanism for tower climbing according to claim 1 or 2, characterized in that: The invention also comprises a horizontal rotation mechanism (10) and a vertical rotation mechanism (11), wherein the rotation axis of the horizontal rotation mechanism (10) is connected to the frame (5), and the rotation axis of the vertical rotation mechanism (11) is connected to the horizontal rotation mechanism (10). The vertical rotation mechanism (11) is used to drive the horizontal rotation mechanism (10) and the frame (5) to rotate around the X-axis, and the horizontal rotation mechanism (10) is used to drive the frame (5) to rotate around the Y-axis.

4. The wheel claw mechanism for tower climbing according to claim 1 or 2, characterized in that: The walking mechanism comprises a driving motor (12), a vertically arranged driving wheel 1 (13) and a driving wheel 2 (14); the driving wheel 1 (13) and the driving wheel 2 (14) are both connected to the driving motor (12) through a bevel gear mechanism (15).

5. The wheel claw mechanism for tower climbing according to claim 3, characterized in that: The walking mechanism comprises a driving motor (12), a vertically arranged driving wheel 1 (13) and a driving wheel 2 (14); the driving wheel 1 (13) and the driving wheel 2 (14) are both connected to the driving motor (12) through a bevel gear mechanism (15).

6. The wheel claw mechanism for tower climbing according to claim 1, 2 or 5, characterized in that: After the guide wheels (3) on the first telescopic arm (1) and the second telescopic arm (2) are turned over, the axes of the guide wheels (3) can be parallel to the axes of the first driving wheel (13) and the second driving wheel (14) respectively.

7. The wheel claw mechanism for tower climbing according to claim 3, characterized in that: After the guide wheels (3) on the first telescopic arm (1) and the second telescopic arm (2) are turned over, the axes of the guide wheels (3) can be parallel to the axes of the first driving wheel (13) and the second driving wheel (14) respectively.

8. The wheel claw mechanism for tower climbing according to claim 4, characterized in that: After the guide wheels (3) on the first telescopic arm (1) and the second telescopic arm (2) are turned over, the axes of the guide wheels (3) can be parallel to the axes of the first driving wheel (13) and the second driving wheel (14) respectively.

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