Power transmission tower climbing device

Abstract

The invention discloses a power transmission tower climbing device which comprises a connecting guide rail, at least two crawling devices are arranged on the connecting guide rail at intervals, and one crawling device on the outermost side in the extending direction of the connecting guide rail is a fixed crawling device and is fixedly connected with the connecting guide rail. The other crawling devices are movable crawling devices and are slidably connected to the connecting guide rail, and the movable crawling devices can slide on the connecting guide rail in the extending direction of the connecting guide rail; the crawling device comprises a crawling body, and the crawling body is provided with a clamping device which can exert controllable acting force on the inner side end of the iron tower angle steel and can keep the crawling body and the iron tower angle steel in a relatively static state by pressing the bottom of the crawling body on the outer side face of the iron tower angle steel. Crawling driving devices connected with the fixed crawling device and the movable crawling devices are arranged between the fixed crawling device and the movable crawling devices, and the crawling driving devices can drive the fixed crawling device and the movable crawling devices to move in the opposite or opposite directions.

Description

Technical Field

[0001] The present invention relates to the technical field of power auxiliary equipment, and in particular to a transmission tower climbing device. Background Art

[0002] With the continued advancement of national power grid construction, the number of transmission line towers has increased significantly. As a critical step in grid construction, tower assembly requires numerous bolts to secure the various components into a cohesive structure after the tower materials have been hoisted. This process is labor-intensive and requires high precision (the tightening torque must be controlled within a ±10% tolerance), and its quality directly impacts the overall structural stability of the tower.

[0003] Bolt tightening operations for transmission lines primarily rely on manual tower climbing, where torque wrenches or electric wrenches are used to tighten the connecting bolts of tower components. In addition to the initial tightening of bolts during tower assembly, bolt re-inspection and re-tightening are also required in the later stages to ensure the safety, stability, and reliability of transmission line towers during daily operation. The loosening of bolts connecting transmission tower structural members, caused by wind load vibration and ambient temperature fluctuations, is one of the main factors affecting tower safety. Therefore, bolt loosening prevention measures are currently an effective measure to improve the ability of transmission lines to withstand severe weather disasters and prevent tower collapse.

[0004] Currently, most bolt tightening operations on transmission line towers are still performed manually, requiring workers to climb the tower. Transmission line towers are typically located outdoors, subject to harsh environments such as high temperatures, high humidity, and strong winds. Furthermore, manual climbing is physically demanding and often carries the risk of falling, posing a significant safety hazard. Therefore, further consideration is needed to design a climbing device that can be equipped with a bolt tightening device to climb and secure the tower's angle steel, thereby reducing worker workload and improving operational safety. Summary of the Invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: how to provide a transmission tower climbing device that can be climbed and fixed on the angle steel of the tower, ensure the stability and reliability of the climbing operation, and improve the safety of the operation.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: A transmission tower climbing device includes a connecting guide rail extending in a front-to-rear direction, with at least two climbing devices arranged on the connecting guide rail at intervals along the extending direction thereof, wherein one of the outermost climbing devices along the extending direction of the connecting guide rail is a fixed climbing device and is fixedly connected to the connecting guide rail, and the remaining climbing devices are movable climbing devices and are all slidably connected to the connecting guide rail, and the movable climbing devices are capable of sliding on the connecting guide rail along the extending direction of the connecting guide rail; The crawling device includes a crawling body, which is equipped with a clamping device capable of exerting a controllable force on the inner end of the tower angle steel and maintaining the crawling body and the tower angle steel in a relatively static state by pressing the bottom of the crawling body against the outer surface of the tower angle steel; A crawling drive device connected to each of the fixed crawling devices is provided between the fixed crawling device and each of the mobile crawling devices. The crawling drive device can drive the fixed crawling device and the mobile crawling device to move in opposite directions or in opposite directions.

[0007] In the present invention, when in use, the bottom of each crawling body is respectively abutted against the outer surface of the tower angle steel, and at the same time, the extension direction of the connecting guide rail is kept consistent with the extension direction of the tower angle steel. First, a controllable force is applied to the inner end of the tower angle steel by the clamping device located on the fixed crawling device, and the inner and outer sides of the tower angle steel are clamped by the crawling body, so that the fixed crawling device is kept in a fastened and static state with the tower angle steel, so that the entire device can be fixed on the tower angle steel; and then the corresponding crawling driving device is controlled, and when the fixed crawling device is fixed relative to the tower angle steel, the mobile crawling device is driven to move, that is, the mobile crawling device moves along the extension direction of the connecting guide rail toward the direction away from the fixed crawling device, and the mobile crawling device is kept in a fastened and static state with the tower angle steel. After the device is moved into place, the clamping device on the mobile crawling device is controlled to apply a controllable force to the inner end of the tower angle steel, so that the mobile crawling device remains in a fastened state with the tower angle steel, and then the clamping between the fixed crawling device and the tower angle steel is released. Under the fastening of the mobile crawling device, the entire device will not fall. When the mobile crawling device is fixed, the fixed crawling device together with the connecting guide rail can move toward the direction of the mobile crawling device, shortening the distance between the fixed crawling device and the mobile crawling device, completing the climbing on the tower angle steel along the extension direction of the tower angle steel; repeating the above operations can be used to continuously climb on the tower angle steel, and at the same time, it can also remain fixed to the tower angle steel in the corresponding position, with stable crawling and firm fixation, thereby improving the safety of the operation.

[0008] As an optimization, the crawling drive device includes a crawling drive motor and a crawling drive screw. The crawling drive screw extends parallel to the extension direction of the connecting guide rail. One end of the crawling drive screw is rotatably connected to the crawling body located on the fixed crawling device. The crawling drive screw passes through the crawling body of the corresponding mobile crawling device and is threadedly connected thereto. The crawling drive motor is fixedly connected to the crawling body of the fixed crawling device and is transmission-connected to the corresponding crawling drive screw to drive the crawling drive screw to rotate. The rotation of the crawling body can be avoided by the constraint of the abutting iron tower angle steel, so the rotation of the crawling drive screw can achieve the rotation of the crawling body. By fixing the fixed crawling device and the mobile crawling device at different times, and the crawling drive motor controlling the forward and reverse rotation of the crawling drive screw, the relative movement of the fixed crawling device and the mobile crawling device is ultimately achieved.

[0009] As an optimization, the end of the connecting guide rail away from the fixed crawling device is fixedly connected to a support bracket, the end of the crawling drive screw away from the crawling drive motor is rotatably connected to the support bracket, a preload guide rod is provided on the support bracket, the preload guide rod extends in the up-down direction, both ends of the preload guide rod are respectively fixed to the support bracket, a preload pressure block is slidably connected to the preload guide rod along its length direction, a support wheel that can roll on the outer surface of the tower angle steel along the extension direction of the tower angle steel is installed at the bottom of the preload pressure block, a preload spring is sleeved on the preload guide rod, the two ends of the preload spring respectively abut the preload pressure block and the support bracket, and can provide spring force for the support wheel to abut against the outer surface of the tower angle steel. The support bracket can not only provide support for the connecting guide rail and the crawling drive screw, but also provide support for the fixed crawling device during the crawling process.

[0010] As an optimization, the clamping device includes a clamping and telescopic driving device, a clamping and tightening driving device and a movable slide. The movable slide is slidably connected to the crawling body and can slide along the up and down directions of the crawling body. The clamping and telescopic driving device is fixed on the crawling body and its driving end is connected to the movable slide and can drive the movable slide to move back and forth along the up and down directions of the crawling body. The front end or the rear end of the crawling body is provided with a claw seat fixedly connected to the movable slide, and claw arms are respectively provided on the left and right sides of the claw seat. One end of the claw arm is a clamping claw end, and the other end is a connecting end and is hinged by a hinge shaft. Connected to the claw seat, the hinge shaft is extended in a direction parallel to the extension direction of the connecting guide rail. The clamping and tensioning drive device is fixed on the claw seat and its driving end is respectively connected to the two claw arms and can drive the clamping ends of the two claw arms to perform opening and closing operations, so that the clamping ends of the two claw arms can be clamped at the end portions of the two side edges of the tower angle steel. When the clamping ends of the two claw arms are respectively clamped at the end portions of the two side edges of the tower angle steel, the clamping and telescopic drive device can drive the movable slide toward the upper end of the crawling body, so that the crawling body and the clamping ends of the two claw arms are respectively pressed on the inner and outer ends of the tower angle steel. The clamping and tightening driving device first drives the two claw arms to open each other, and then drives the movable slide to move toward the bottom direction of the crawling body through the clamping and telescopic driving device, so that the clamping end of the claw arm can be better located on the inner side of the tower angle steel; the clamping and tightening driving device then drives the two claw arms to close each other, and at the same time the clamping and telescopic driving device drives the movable slide to move toward the top direction of the crawling body, and the clamping end of the claw arm can hook on the side end of the tower angle steel and continue to apply force, and combined with the crawling body to abut against the outer side of the tower angle steel, thereby achieving clamping of the crawling body and the tower angle steel.

[0011] As an optimization, the clamping and telescopic driving device includes a clamping and telescopic motor fixedly connected to the crawling body, the driving end of the clamping and telescopic motor is transmission-connected to a clamping and telescopic screw extending in the up and down directions of the crawling body, the clamping and telescopic motor can drive the clamping and telescopic screw to rotate, and the clamping and telescopic screw passes through the movable slide and is threadedly connected to the movable slide; The clamping and tightening drive device includes a clamping and tightening motor fixedly connected to the claw seat, and the driving end of the clamping and tightening motor is transmission-connected to a clamping and tightening screw extending in the left and right directions of the crawling body. Both ends of the clamping and tightening screw are rotatably connected to the claw seat respectively. Two threaded sections with opposite thread rotation directions are provided on the rod body of the clamping and tightening screw. The two threaded sections of the clamping and tightening screw are respectively threadedly connected with a clamping slider, and the clamping slider slides on the claw seat and is connected to the corresponding claw arm through a connecting rod mechanism. When the two clamping and tightening sliders move in opposite directions, the two clamping and tightening sliders can each drive the two claw arms to rotate around the hinge shaft through the connecting rod mechanism to realize the clamping and closing operation of the clamping claw ends of the two claw arms. The movable slide is slidably connected to the crawling body, and the rotation direction of the movable slide is controlled by the forward and reverse rotation of the clamping telescopic screw; in addition, the rotation of the clamping tensioning screw can realize the simultaneous movement of the two opening and closing sliders with opposite thread rotation directions in relative or opposite directions, and the opening and closing control of the clamping ends of the two claw arms is realized by driving the claw arms through the connecting rod mechanism.

[0012] As an optimization, the claw ends of the claw arms are fixedly connected to claw hooks that are bent toward the inside of the two claw arms, and the inner side of the claw hooks is bonded with elastic rubber pads. The claw hooks can better hook on the side edges of the tower angle steel, and the elastic rubber pads on them can make the clamping more smooth and stable.

[0013] As an optimization, a correction block is provided at the position below the crawling body, and the bottom of the correction block is provided with a V-shaped correction groove along the front-back direction, and the V-shaped correction groove is a through groove, and a correction rod is provided at the position below the movable slide, and the correction rod is extended along the upper and lower directions of the crawling body. The position of the crawling body corresponding to the correction rod is provided with a correction mounting portion, and the correction rod passes through the correction mounting portion and can slide with the correction mounting portion along the extension direction of the correction rod. The lower end of the correction rod is fixedly connected to the top of the correction block through the correction connecting portion, and the upper end of the correction rod is fixedly connected to the limit block, and the rod body of the correction rod is provided with a support spring at a position between the limit block and the correction mounting portion, and the two ends of the support spring respectively abut on the limit block and the correction mounting portion. When the movable slide moves toward the bottom of the crawling body, the movable slide can abut on the limit block and push the correction rod to move downward, so that the two side groove walls of the V-shaped correction groove can respectively abut on the two side outer edges of the tower angle steel, thereby realizing the function of correcting the relative position of the crawling body and the tower angle steel. The crawling device is prone to deviation or tilt when crawling on the tower angle steel, so its posture needs to be corrected. When not in use, the support spring can support the limit block to keep the correction block away from the tower angle steel to avoid interference with it; when in use, the sliding seat is moved toward the bottom of the crawling body, and then abuts against the limit block below, pushing the correction rod downward, and the correction connection part is used to move the correction block toward the outer top corner of the tower angle steel, so that the outer top corner of the tower angle steel is relatively extended into the V-shaped correction groove. The V-shaped correction groove mutually constrains the outer sides of the tower angle steel on both sides. Under the condition that the state of the tower angle steel remains unchanged, the crawling body's own posture can be corrected, that is, the crawling direction can be corrected to avoid deviation during the crawling process, and the clamping device cannot clamp the tower angle steel.

[0014] As an optimization, the bottom of the crawling body is equipped with a V-shaped roller, which enables the crawling body to move along the outer top corner of the tower angle steel. The V-shaped roller is fitted at the outer top corner of the tower angle steel, which not only reduces the friction between the crawling body and the tower angle steel during crawling, but also provides a certain degree of guidance and correction.

[0015] As an optimization, a rotating shaft extending in the left-right direction is provided at the bottom of the crawling body, and the two ends of the rotating shaft are respectively rotatably connected to the crawling body. A wheel sleeve is provided on the rotating shaft and is connected to the rotating shaft key. A wheel arm extending in the radial direction of the rotating shaft is fixedly connected to the wheel sleeve. The V-shaped roller is mounted on the end of the wheel arm. A roller flip motor is fixedly connected to the crawling body. The driving end of the roller flip motor is connected to the rotating shaft through a worm gear pair, thereby driving the rotating shaft to rotate and controlling the V-shaped roller to contact the outer top corner of the tower angle steel. The tower angle steel is usually connected to another tower angle steel through a connecting plate. Therefore, when the V-shaped roller rolls, it is easy to interfere with the connecting plate. Therefore, when the crawling body encounters this situation, the roller flip motor drives the rotating shaft to rotate, that is, drives the wheel arm to rotate, adjusts the position of the V-shaped roller, avoids interference while meeting the crawling constraints.

[0016] As an optimization, a bolt tightening device is provided at a position between any two adjacent crawling devices, and the bolt tightening device includes a bolt tightening body slidably connected to the connecting guide rail and capable of sliding along the extension direction of the connecting guide rail. The left and right sides of the bolt tightening body are respectively fixedly connected with side wings extending obliquely outward and downward, and the ends of the side wings are penetrated by support slide bars extending in parallel with the extension direction of the connecting guide rail. The support slide bars can slide with the side wings along their extension direction. The left and right sides of the crawling body are respectively fixed with support wings, and the support slide bars pass through The fixed support wing of the mobile crawler device is capable of slidingly cooperating with the support slide rod in the extension direction of the support slide rod, one end of the support slide rod is fixedly connected to the fixed support wing of the fixed crawler device, and the side wing is slidably connected with a sliding platform that can slide along the extension direction of the side wing. The side wing is also fixedly connected with a sliding drive device that can drive the sliding platform to slide on the side wing. An extension bracket that can be telescopically controlled toward the inner direction of the side wing is installed on the sliding platform, and a screwing device that can tighten the bolts on the iron tower angle steel is installed on the extension bracket; A mobile drive device is provided between the bolt tightening body and the fixed crawling device. The mobile drive device includes a mobile drive motor and a mobile drive screw. The mobile drive screw is extended in a direction parallel to the extension direction of the connecting guide rail. One end of the mobile drive screw is rotatably connected to the crawling body of the fixed crawling device. The mobile drive screw passes through the bolt tightening body and is threadedly connected thereto. The mobile drive motor is fixedly connected to the crawling body of the fixed crawling device and is in transmission connection with the mobile drive screw to drive the mobile drive screw to rotate. After the bolt tightening body is driven into position by the mobile drive device, the position of the screwing device is adjusted to correspond to the position of the bolt to be tightened by moving the sliding platform according to the different positions of the bolts on the tower angle steel. Then, the screwing device is made to act on the bolt to be tightened by extending the extension bracket, thereby realizing the bolt tightening operation.

[0017] Compared with the existing technology, the present invention has the following beneficial effects: through the coordinated control of each crawling device, the present invention can complete crawling and positioning and fixing on the tower angle steel, replacing manual climbing operations, significantly reducing the labor intensity of workers, completely eliminating the risk of falling from heights, and improving the safety and continuity of tower installation and maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention in a climbing state on the iron tower angle steel; Figure 2 Schematic diagram of the three-dimensional structure of the crawling device in the present invention Figure 1 ; Figure 3 Schematic diagram of the three-dimensional structure of the crawling device in the present invention Figure 2 ; Figure 4 Schematic diagram of the three-dimensional structure of the support bracket in the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the bolt tightening device in the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0020] like Figures 1 to 5 As shown, the transmission tower climbing device in this specific embodiment includes a connecting guide rail 1 extending in the front-to-back direction, and two climbing devices are arranged on the connecting guide rail 1 at intervals along the extension direction thereof, one of which is a fixed climbing device and is fixedly connected to the connecting guide rail, and the other is a movable climbing device and is slidably connected to the connecting guide rail, and the movable climbing device can slide on the connecting guide rail 1 along the extension direction of the connecting guide rail 1; The crawling device includes a crawling body 2, which is equipped with a clamping device capable of exerting a controllable force on the inner end of the tower angle steel and maintaining the crawling body 2 and the tower angle steel in a relatively static state by pressing the bottom of the crawling body 2 against the outer surface of the tower angle steel; A crawling drive device connected to each of the fixed crawling devices is provided between the fixed crawling device and each of the mobile crawling devices. The crawling drive device can drive the fixed crawling device and the mobile crawling device to move in opposite directions or in opposite directions.

[0021] In this specific embodiment, the crawling drive device includes a crawling drive motor 3 and a crawling drive screw 4. The crawling drive screw 4 is extended in parallel with the extension direction of the connecting guide rail 1. One end of the crawling drive screw 4 is rotatably connected to the crawling body 2 located on the fixed crawling device. The crawling drive screw 4 passes through the crawling body 2 of the corresponding mobile crawling device and is threadedly connected to it. The crawling drive motor 3 is fixedly connected to the crawling body 2 of the fixed crawling device and is transmission-connected to the corresponding crawling drive screw 4 to drive the crawling drive screw 4 to rotate.

[0022] In this specific embodiment, the connecting guide rail 1 is fixedly connected to a support bracket 5 at one end away from the fixed crawling device, and the crawling drive screw 4 is rotatably connected to the support bracket 5 at one end away from the crawling drive motor 3. A preload guide rod 6 is provided on the support bracket 5, and the preload guide rod 6 is extended in the up and down directions. Both ends of the preload guide rod 6 are respectively fixed on the support bracket 5, and a preload pressure block 7 is slidably connected to the preload guide rod 6 along its length direction. A support wheel 8 that can roll on the outer surface of the tower angle steel along the extension direction of the tower angle steel is installed at the bottom of the preload pressure block 7. A preload spring 9 is sleeved on the preload guide rod 6, and both ends of the preload spring 9 are respectively abutted on the preload pressure block 7 and the support bracket 5, and can provide spring force for the support wheel 8 to abut against the outer surface of the tower angle steel.

[0023] In this specific embodiment, the clamping device includes a clamping and telescopic driving device, a clamping and tightening driving device and a movable slide 10. The movable slide 10 is slidably connected to the crawling body 2 and can slide along the up and down directions of the crawling body 2. The clamping and telescopic driving device is fixed on the crawling body 2 and its driving end is connected to the movable slide 10 and can drive the movable slide 10 to move back and forth along the up and down directions of the crawling body 2. The front end or the rear end of the crawling body 2 is provided with a claw seat 37 fixedly connected to the movable slide 10, and the left and right sides of the claw seat 37 are respectively provided with claw arms 11, one end of the claw arm 11 is a clamping claw end, and the other end is a connecting end and is connected through The hinge shaft is hingedly connected to the claw seat 37, and the hinge shaft is extended in a direction parallel to the extension direction of the connecting guide rail 1. The clamping and tensioning drive device is fixed on the claw seat 37 and its driving end is respectively connected to the two claw arms 11 and can drive the clamping ends of the two claw arms 11 to perform opening and closing operations, so that the clamping ends of the two claw arms 11 can be clamped at the ends of the two side edges of the tower angle steel. When the clamping ends of the two claw arms 11 are respectively clamped at the ends of the two side edges of the tower angle steel, the clamping and telescopic drive device can drive the movable slide 10 to move toward the upper end of the crawling body 2, so that the crawling body 2 and the clamping ends of the two claw arms 11 are respectively pressed on the inner and outer ends of the tower angle steel.

[0024] In this specific embodiment, the clamping and telescopic driving device includes a clamping and telescopic motor 12 fixedly connected to the crawling body 2, and the driving end of the clamping and telescopic motor 12 is transmission-connected to a clamping and telescopic screw 13 extending in the up and down directions of the crawling body 2. The clamping and telescopic motor 12 can drive the clamping and telescopic screw 13 to rotate, and the clamping and telescopic screw 13 passes through the movable slide 10 and is threadedly connected to the movable slide 10. The clamping and tensioning drive device includes a clamping and tensioning motor 14 fixedly connected to the claw seat 37, and the driving end of the clamping and tensioning motor 14 is transmission-connected to a clamping and tensioning screw 15 extending in the left and right directions of the crawling body 2. The two ends of the clamping and tensioning screw 15 are respectively rotatably connected to the claw seat 37, and two threaded sections with opposite thread rotation directions are provided on the rod body of the clamping and tensioning screw 15. The two threaded sections of the clamping and tensioning screw 15 are respectively threadedly connected with a clamping slider 16, and the clamping slider sliding 16 is engaged with the claw seat 37 and is connected to the corresponding claw arm 11 through a connecting rod mechanism. When the two clamping and tensioning sliders 16 move in opposite directions, the two clamping and tensioning sliders 16 can each drive the two claw arms 11 to rotate around the hinge shaft through the connecting rod mechanism to realize the clamping and closing operation of the clamping ends of the two claw arms 11.

[0025] In this specific embodiment, the clamping end of the claw arm 11 is fixedly connected to a claw hook 17 bent toward the inner side of the two claw arms 11, and an elastic rubber pad is bonded to the inner side of the claw hook 17.

[0026] In this specific embodiment, a correction block 19 is provided at the position below the crawling body 2, and a V-shaped correction groove is provided at the bottom of the correction block 19 along the front-to-back direction. The V-shaped correction groove is a through groove, and a correction rod 18 is provided at the position below the movable slide 10. The correction rod 18 extends along the up and down directions of the crawling body 2, and a correction mounting portion is provided at the position of the crawling body 2 corresponding to the correction rod 18. The correction rod 18 passes through the correction mounting portion and can slide with the correction mounting portion along the extension direction of the correction rod 18. The lower end of the correction rod 18 is fixedly connected to the top of the correction block 19 through the correction connecting portion. The upper end of the correction rod 18 is fixedly connected to the limiting block 20, and a support spring 21 is sleeved on the rod body of the correction rod 18 and located between the limiting block 20 and the correction mounting portion. The two ends of the support spring 21 respectively abut against the limiting block 20 and the correction mounting portion. When the movable slide 10 moves toward the bottom of the crawling body 2, the movable slide 10 can abut against the limiting block 20 and push the correction rod 18 to move downward, so that the two side groove walls of the V-shaped correction groove can respectively abut against the two side outer edges of the tower angle steel, thereby achieving the function of correcting the relative position of the crawling body 2 and the tower angle steel.

[0027] In this specific embodiment, a V-shaped roller 22 is installed at the bottom of the crawling body 2, and the crawling body 2 can move on the outer top corner of the tower angle steel through the V-shaped roller 22.

[0028] In this specific embodiment, a rotating shaft 23 extending in the left and right directions is provided at the bottom of the crawling body 2, and both ends of the rotating shaft 23 are respectively rotatably connected to the crawling body 2. A wheel sleeve 24 is sleeved on the rotating shaft 23 and is keyed to the rotating shaft 23. The wheel sleeve 24 is fixedly connected to a wheel arm 25 extending in the radial direction of the rotating shaft 23. The V-shaped roller 22 is installed at the end of the wheel arm 25. A roller flip motor 26 is fixedly connected to the crawling body 2. The driving end of the roller flip motor 26 is connected to the rotating shaft 23 through a worm gear pair, thereby driving the rotating shaft 23 to rotate, thereby controlling the V-shaped roller 22 to contact the outer top angle of the tower angle steel.

[0029] In this specific embodiment, a bolt tightening device is provided at a position between any two adjacent crawling devices, and the bolt tightening device includes a bolt tightening body 27 that is slidably connected to the connecting guide rail 1 and can slide along the extension direction of the connecting guide rail 1. The left and right sides of the bolt tightening body 27 are respectively fixedly connected with side wings 28 extending obliquely outward and downward. The ends of the side wings 28 are penetrated with support slide bars 29 extending in a direction parallel to the extension direction of the connecting guide rail 1. The support slide bars 29 can slide with the side wings 28 along the extension direction thereof. The left and right sides of the crawling body 2 are respectively fixed with support wings 30, and the support slide bars 29 pass through the The fixed support wing 30 of the mobile crawling device can slide with the support slide bar 29 along the extension direction thereof. One end of the support slide bar 29 is fixedly connected to the fixed support wing 30 of the fixed crawling device. The side wing 28 is slidably connected to a sliding platform 31 that can slide along the extension direction of the side wing 28. The side wing 28 is also fixedly connected to a sliding drive device 32 that can drive the sliding platform 31 to slide on the side wing 28. An extension bracket 33 that can be telescopically controlled toward the inner side of the side wing 28 is installed on the sliding platform 31. The extension bracket 33 is equipped with a screwing device 34 that can tighten the bolts on the iron tower angle steel. A mobile driving device is provided between the bolt tightening body 27 and the fixed crawling device, and the mobile driving device includes a mobile driving motor 35 and a mobile driving screw 36. The mobile driving screw 36 is extended along an extension direction parallel to the connecting guide rail 1. One end of the mobile driving screw 36 is rotatably connected to the crawling body 2 of the fixed crawling device. The mobile driving screw 36 passes through the bolt tightening body 27 and is threadedly connected to it. The mobile driving motor 35 is fixedly connected to the crawling body 2 of the fixed crawling device, and is transmission-connected to the mobile driving screw 36 to drive the mobile driving screw 36 to rotate.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the technical solutions. Those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present invention that do not depart from the purpose and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A transmission tower climbing device, characterized by: The invention comprises a connecting guide rail extending in a front-to-rear direction, and at least two crawling devices are arranged on the connecting guide rail at intervals along the extending direction thereof, wherein one of the crawling devices on the outermost side along the extending direction of the connecting guide rail is a fixed crawling device and is fixedly connected to the connecting guide rail, and the remaining crawling devices are movable crawling devices and are all slidably connected to the connecting guide rail, and the movable crawling devices can slide on the connecting guide rail along the extending direction of the connecting guide rail; The crawling device includes a crawling body, which is equipped with a clamping device capable of exerting a controllable force on the inner end of the tower angle steel and maintaining the crawling body and the tower angle steel in a relatively static state by pressing the bottom of the crawling body against the outer surface of the tower angle steel; A crawling drive device connected to each of the fixed crawling devices is provided between the fixed crawling device and each of the mobile crawling devices. The crawling drive device can drive the fixed crawling device and the mobile crawling device to move in opposite directions or in opposite directions.

2. The transmission tower climbing device according to claim 1, characterized in that: The crawling drive device includes a crawling drive motor and a crawling drive screw. The crawling drive screw is extended in parallel with the extension direction of the connecting guide rail. One end of the crawling drive screw is rotatably connected to the crawling body located on the fixed crawling device. The crawling drive screw passes through the crawling body of the corresponding mobile crawling device and is threadedly connected to it. The crawling drive motor is fixedly connected to the crawling body of the fixed crawling device and is transmission-connected to the corresponding crawling drive screw to drive the crawling drive screw to rotate.

3. The transmission tower climbing device according to claim 2, characterized in that: The cam is secured to the chassis and is adapted to engage the driver, who is provided with a lever, which is secured to the chassis at the bottom with a pin, and the cam is secured to the chassis with a pin.

4. The transmission tower climbing device according to claim 1, characterized in that: The clamping device includes a clamping and telescopic driving device, a clamping and tightening driving device and a movable slide. The movable slide is slidably connected to the crawling body and can slide along the up and down directions of the crawling body. The clamping and telescopic driving device is fixed on the crawling body and its driving end is connected to the movable slide and can drive the movable slide to move back and forth along the up and down directions of the crawling body. The front end or the rear end of the crawling body is provided with a claw seat fixedly connected to the movable slide, and claw arms are respectively provided on the left and right sides of the claw seat, one end of the claw arm is a clamping claw end, and the other end is a connecting end and is hingedly connected to the On the claw seat, the hinge shaft is extended in a direction parallel to the extension direction of the connecting guide rail. The clamping and tensioning drive device is fixed on the claw seat and its driving end is respectively connected to the two claw arms and can drive the clamping ends of the two claw arms to perform opening and closing operations, so that the clamping ends of the two claw arms can be clamped at the end portions of the two side edges of the tower angle steel. When the clamping ends of the two claw arms are respectively clamped at the end portions of the two side edges of the tower angle steel, the clamping and telescopic drive device can drive the movable slide toward the upper end of the crawling body, so that the crawling body and the clamping ends of the two claw arms are respectively pressed on the inner and outer ends of the tower angle steel.

5. The transmission tower climbing device according to claim 4, characterized in that: The clamping and telescopic driving device includes a clamping and telescopic motor fixedly connected to the crawling body, a driving end of the clamping and telescopic motor is transmission-connected to a clamping and telescopic screw extending in the up-down direction of the crawling body, the clamping and telescopic motor can drive the clamping and telescopic screw to rotate, and the clamping and telescopic screw passes through the movable slide and is threadedly connected to the movable slide; The clamping and tightening drive device includes a clamping and tightening motor fixedly connected to the claw seat, and the driving end of the clamping and tightening motor is transmission-connected to a clamping and tightening screw extending in the left and right directions of the crawling body. Both ends of the clamping and tightening screw are rotatably connected to the claw seat respectively. Two threaded sections with opposite thread rotation directions are provided on the rod body of the clamping and tightening screw. The two threaded sections of the clamping and tightening screw are respectively threadedly connected with a clamping slider, and the clamping slider slides on the claw seat and is connected to the corresponding claw arm through a connecting rod mechanism. When the two clamping and tightening sliders move in opposite directions, the two clamping and tightening sliders can each drive the two claw arms to rotate around the hinge shaft through the connecting rod mechanism to realize the clamping and closing operation of the clamping claw ends of the two claw arms.

6. The transmission tower climbing device according to claim 4, characterized in that: The clamping claw end of the claw arm is fixedly connected with a claw hook bent toward the inner sides of the two claw arms, and an elastic rubber pad is bonded to the inner side of the claw hook.

7. The transmission tower climbing device according to claim 4, characterized in that: The cam is secured to the bottom of the support frame and is adapted to engage with the guide rails when the cam is in a position to move relative to the support rails, thereby ensuring that the cams are in a position to move relative to the support rails.

8. The transmission tower climbing device according to claim 1, characterized in that: A V-shaped roller is installed at the bottom of the crawling body, and the crawling body can move on the outer top angle of the tower angle steel through the V-shaped roller.

9. The transmission tower climbing device according to claim 8, characterized in that: A rotating shaft extending in the left and right directions is provided at the bottom of the crawling body, and both ends of the rotating shaft are rotatably connected to the crawling body respectively. A wheel sleeve connected to the rotating shaft key is provided on the rotating shaft, and a wheel arm extending in the radial direction of the rotating shaft is fixedly connected to the wheel sleeve. The V-shaped roller is installed at the end of the wheel arm, and a roller flipping motor is fixedly connected to the crawling body. The driving end of the roller flipping motor is connected to the rotating shaft through a worm gear pair, so as to drive the rotating shaft to rotate, thereby controlling the V-shaped roller to contact the outer top angle of the tower angle steel.

10. The transmission tower climbing device according to claim 1, characterized in that: A bolt tightening device is provided at a position between any two adjacent crawling devices, and the bolt tightening device includes a bolt tightening body slidably connected to the connecting guide rail and capable of sliding along the extension direction of the connecting guide rail, and the left and right sides of the bolt tightening body are respectively fixedly connected with side wings extending obliquely outward and downward, and the ends of the side wings are penetrated with support slide bars extending in parallel with the extension direction of the connecting guide rail, and the support slide bars can slide with the side wings along the extension direction thereof, and the left and right sides of the crawling body are respectively fixed with support wings, and the support slide bars pass through the The fixed support wing of the mobile crawling device is capable of slidingly cooperating with the support slide rod along the extension direction of the support slide rod, one end of the support slide rod is fixedly connected to the fixed support wing of the fixed crawling device, and a sliding platform that can slide along the extension direction of the side wing is slidably connected to the side wing, and a sliding drive device that can drive the sliding platform to slide on the side wing is also fixedly connected to the side wing, and an extension bracket that can be telescopically controlled toward the inner direction of the side wing is installed on the sliding platform, and a screwing device that can tighten the bolts on the angle steel of the iron tower is installed on the extension bracket; A mobile driving device is provided between the bolt tightening body and the fixed crawling device, and the mobile driving device includes a mobile driving motor and a mobile driving screw. The mobile driving screw is extended in a direction parallel to the extension direction of the connecting guide rail. One end of the mobile driving screw is rotatably connected to the crawling body of the fixed crawling device, and the mobile driving screw passes through the bolt tightening body and is threadedly connected to it. The mobile driving motor is fixedly connected to the crawling body of the fixed crawling device and is transmission-connected to the mobile driving screw to drive the mobile driving screw to rotate.

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