Vertical wall-climbing lifting system

Abstract

The invention relates to the technical field of high-altitude maintenance equipment, and particularly discloses a vertical wall-climbing lifting system which comprises a first double-crawler-type climber, a second double-crawler-type climber and a flexible tensioning control assembly, and the first double-crawler-type climber and the second double-crawler-type climber are annularly arranged; the first double-crawler-type climbing device and the second double-crawler-type climbing devices are connected through a flexible tensioning control assembly, the adjacent second double-crawler-type climbing devices are connected through a flexible tensioning control assembly, a carrying platform is arranged on the first double-crawler-type climbing device, and an operation mechanism, a detection mechanism and a man-machine interaction module are arranged on the carrying platform. The first double-crawler-type climbing device, the second double-crawler-type climbing device, the operation mechanism and the detection mechanism are all electrically connected with the man-machine interaction module. The device is simple in structure, high in adaptability, wide in application range and high in operation efficiency, and integrates detection and repair.

Description

Technical Field

[0001] This invention belongs to the technical field of high-altitude maintenance equipment, specifically relating to a vertical wall-climbing lifting system. Background Technology

[0002] In recent years, with the continuous expansion of infrastructure construction such as wind power hybrid towers, highways, and railways, a large number of tall structures such as high piers, wind power hybrid towers, and chimneys have been built. These structures are generally characterized by large external dimensions, high height, and reinforced concrete as the main material, making them prone to surface cracks, spalling, and exposed rebar during long-term use. Currently, defect detection is mostly carried out using suction-type wall-climbing robots and drones, while defect repair still mainly relies on manual high-altitude operations, such as "spider-men" or suspended platforms. However, due to the high wind speeds and heights of high-altitude operations, there are significant safety risks and operational difficulties.

[0003] While existing adhesive-based wall-climbing robots can replace manual inspection to some extent, they suffer from limited load-bearing capacity, insufficient structural stability, and high safety risks, making them unsuitable for practical repair operations. Therefore, developing a safe, reliable, adaptable wall-climbing robot capable of simultaneously performing inspection and repair is of great significance.

[0004] In the prior art, patent application number 202310264345.7 discloses an adaptive variable cross-section column climbing intelligent robot based on dynamic balance of clamping force. It uses a rigid outer frame for support and achieves crawling and lifting via hydraulic clamping and friction wheels. While possessing a certain climbing ability, its overall mechanism is complex and the handover process is cumbersome, limiting operational efficiency. Patent application number 202210222864.2 discloses a column climbing robot, also using a rigid outer frame as a locking device for climbing. However, it has poor adaptability to changes in peripheral dimensions and is insufficiently applicable to columns of different diameters or shapes. Patent application number 202210507292.2 discloses a wind turbine tower vertical climbing robot. This device uses a rigid outer ring for support and provides friction through inclined support wheels, combined with rotational ascent to achieve climbing. However, it has poor adaptability to columns with varying peripheral interfaces (such as square or irregularly shaped columns), thus limiting its application scope.

[0005] In summary, existing wall-climbing robots generally suffer from problems such as complex mechanisms, poor adaptability, and insufficient load-bearing capacity, making it impossible to achieve efficient and stable climbing operations and failing to meet the needs of integrated inspection and repair operations for diverse structures such as high piers and wind power towers.

[0006] Therefore, we propose a vertical wall-climbing lifting system to solve the above-mentioned technical problems. Summary of the Invention

[0007] In order to solve the technical problems existing in the prior art, the present invention proposes a vertical wall-climbing lifting system.

[0008] The technical solution adopted in this invention is as follows: A vertical wall-climbing lifting system includes a first dual-tracked climber, at least one second dual-tracked climber, and a flexible tension control component. The first and second dual-tracked climbers are arranged in a ring. The first and second dual-tracked climbers, as well as adjacent second dual-tracked climbers, are connected by the flexible tension control component. The first dual-tracked climber is equipped with a loading platform, and the loading platform is equipped with a working mechanism, a detection mechanism, and a human-machine interface module. The first and second dual-tracked climbers, the working mechanism, and the detection mechanism are all electrically connected to the human-machine interface module.

[0009] In a further technical solution, the flexible tension control component includes a tension rope and a tensioner. Tensioners are provided on both sides of the first dual-track climber and the second dual-track climber. The two ends of the tension rope are movably connected between adjacent tensioners.

[0010] In a further technical solution, the tensioner is a winch with a self-locking function, which is one of the worm gear type and the cycloidal type.

[0011] In a further technical solution, the tensioning rope is one or more of the following: steel wire rope, braided fiber rope, braided fiber tape, and flexible rack.

[0012] In a further technical solution, the working mechanism includes a horizontal electric sliding platform and a multi-degree-of-freedom robotic arm. The horizontal electric sliding platform is installed below the loading platform, and a slider is movably installed at the output end of the horizontal electric sliding platform. The multi-degree-of-freedom robotic arm is installed on the slider and is equipped with a set of working tools. The horizontal electric sliding platform and the multi-degree-of-freedom robotic arm are both electrically connected to the human-machine interaction module.

[0013] In a further technical solution, the work tool set includes at least an electric grinding head, a high-pressure blowing head, a glue gun, and a spray head, all of which are electrically connected to the human-machine interaction module.

[0014] In a further technical solution, the electric grinding head, high-pressure blowing head, glue gun, and spraying head are all detachably connected to the multi-degree-of-freedom robotic arm via quick-change interfaces.

[0015] In a further technical solution, the detection mechanism includes at least a binocular vision sensor, an infrared thermal imager, a lidar rangefinder, and a supplementary light, all of which are electrically connected to the human-computer interaction module.

[0016] In a further technical solution, the human-machine interaction module includes a power supply unit, a signal transmission unit, and a controller. The signal transmission unit is integrated into the controller. The loading platform is provided with a mounting plate. The power supply unit and the controller are both located on the mounting plate. The power supply unit, the signal transmission unit, the first dual-tracked climber, the second dual-tracked climber, and the working mechanism are all electrically connected to the controller.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This invention features a simple structure and significantly improved overall load-bearing capacity, adapting to columns of different diameters and shapes, exhibiting strong adaptability and a wide range of applications. The system demonstrates excellent anti-overturning and wind resistance in high-altitude environments, ensuring stability and safety during operations. The integrated design of detection and repair avoids the inefficiency caused by the separation of detection and repair processes in traditional operations. Furthermore, the human-machine interface module enables remote control, real-time monitoring, and task scheduling, enhancing operational convenience and operational intelligence. Operators do not need to directly contact the high-altitude work areas, effectively reducing safety risks. Attached Figure Description

[0018] The present invention will be described by way of example and with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0019] Reference numerals: 1-First dual-tracked climber, 2-Second dual-tracked climber, 3-Carrying platform, 4-Tension rope, 5-Tensioner, 6-Horizontal electric sliding platform, 7-Multi-degree-of-freedom robotic arm, 8-Detection mechanism, 9-Power supply unit, 10-Controller, 11-Mounting plate, 12-Slider. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Example: See Figure 1 and Figure 2 This invention provides a vertical climbing and lifting system, including a first dual-tracked climber 1, at least one second dual-tracked climber 2, and a flexible tension control component. The first dual-tracked climber 1 and the second dual-tracked climber 2 are arranged in a ring. The first dual-tracked climber 1 and the second dual-tracked climber 2, as well as adjacent second dual-tracked climbers 2, are connected by the flexible tension control component. The first dual-tracked climber 1 is provided with a loading platform 3. The loading platform 3 is provided with a working mechanism, a detection mechanism 8, and a human-machine interaction module. The first dual-tracked climber 1, the second dual-tracked climber 2, the working mechanism, and the detection mechanism 8 are all electrically connected to the human-machine interaction module.

[0022] This vertical wall-climbing lifting system comprises a closed-loop structure consisting of a first dual-tracked climber 1, a second dual-tracked climber 2, and a flexible tension control assembly. The first and second dual-tracked climbers 1 and 2 work together to share the load, effectively improving the overall load-bearing capacity of the system. The flexible tension control assembly adjusts the spacing between adjacent climbers according to changes in the building's perimeter, ensuring mutual traction and stable attachment of the climbers to the building surface. This adapts to columns of different diameters and shapes, ensuring excellent anti-overturning and wind resistance in high-altitude environments. Vertical climbing is achieved through the friction of the tracks, and lateral movement in the left and right directions is also possible by controlling the differential speed of the left and right tracks, allowing for coverage of a larger area and facilitating subsequent inspection and repair work. A loading platform 3 is installed on the first dual-tracked climbing device 1 to support the working mechanism, the inspection mechanism 8, and the human-machine interface module, thereby realizing integrated inspection and repair operations and avoiding the inefficiency caused by the separation of inspection and repair processes. Furthermore, the human-machine interface module can uniformly control the first dual-tracked climbing device 1, the second dual-tracked climbing device 2, the working mechanism, and the inspection mechanism 8, achieving remote control, real-time monitoring, and task scheduling, thus improving operational convenience and the level of operational intelligence. Compared to traditional adhesive-type wall-climbing robots, this vertical wall-climbing lifting system has a simple structure, strong adaptability, and wide application range, making it particularly suitable for maintenance operations on diverse structures such as wind turbine towers and high piers.

[0023] In one specific implementation, see Figure 1 and Figure 2 The flexible tension control assembly includes a tension rope 4 and a tensioner 5. Tensioners 5 are provided on both sides of the first dual-track climber 1 and the second dual-track climber 2. The two ends of the tension rope 4 are movably connected between adjacent tensioners 5.

[0024] By installing tensioners 5 on both sides of the first dual-tracked climber 1 and the second dual-tracked climber 2, and connecting adjacent tensioners 5 with tension ropes 4, an adjustable flexible ring structure is formed. This allows the vertical wall-climbing lifting system to flexibly adjust the spacing between the climbers according to changes in the building's outer dimensions. This structure not only ensures that the first dual-tracked climber 1 and the second dual-tracked climber 2 remain tightly attached to the building surface, improving the overall stability and safety of the vertical wall-climbing lifting system, but also enhances its adaptability to columns of different diameters and shapes, thereby broadening the application range of this vertical wall-climbing lifting system.

[0025] In one specific embodiment, the tensioner 5 is a winch with a self-locking function, which is one of the worm gear type and the cycloidal type.

[0026] The winch has a self-locking function, which maintains the tension of the tension rope 4 after adjustment, ensuring that the first double-tracked climber 1 and the second double-tracked climber 2 are firmly attached to the building surface, improving the overall anti-overturning and wind resistance capabilities, and reducing the risk of accidents. Both worm gear and cycloidal types can achieve high-precision tension control, and the appropriate structure can be selected according to the actual working conditions, improving the flexibility and reliability of this vertical wall-climbing lifting system.

[0027] In one specific embodiment, the tensioning rope 4 is one or more of the following: steel wire rope, braided fiber rope, braided fiber tape, and flexible rack.

[0028] The tensioning rope 4 can be made of various materials such as steel wire rope, braided fiber rope, braided fiber tape and flexible rack, and can be selected according to the surface material of the building, weight requirements and wear resistance, thereby improving the adaptability of this vertical climbing lifting system under different working conditions.

[0029] In one specific implementation, see Figure 1 and Figure 2 The working mechanism includes a horizontal electric sliding platform 6 and a multi-degree-of-freedom robotic arm 7. The horizontal electric sliding platform 6 is installed below the loading platform 3. A slider 12 is movably installed at the output end of the horizontal electric sliding platform 6. The multi-degree-of-freedom robotic arm 7 is installed on the slider 12. The multi-degree-of-freedom robotic arm 7 is equipped with a set of working tools. The horizontal electric sliding platform 6 and the multi-degree-of-freedom robotic arm 7 are both electrically connected to the human-machine interaction module.

[0030] The horizontal electric sliding platform 6 precisely controls the movement of the slider 12 via its output end, which in turn drives the multi-degree-of-freedom robotic arm 7 to move horizontally. The multi-degree-of-freedom robotic arm 7 possesses multi-directional operation capabilities, enabling the working mechanism to cover a wider repair area. The multi-degree-of-freedom robotic arm 7 is equipped with a set of working tools, which can be configured with different tools according to different operational needs, achieving a combination of multiple functions and thus improving the flexibility and versatility of the operation.

[0031] In one specific embodiment, the work tool set includes at least an electric grinding head, a high-pressure blowing head, a glue gun, and a spray head, all of which are electrically connected to the human-machine interface module.

[0032] The work tool kit integrates electric grinding heads, high-pressure blow heads, caulking guns, and spray nozzles, enabling this vertical climbing and lifting system to meet various repair needs. To reduce the frequency of downtime for material replenishment, it can also be equipped with water buckets, paint buckets, glue buckets, and air pumps, ensuring a continuous supply of materials to the work tools, thereby improving work continuity and construction efficiency.

[0033] In one specific embodiment, the electric grinding head, high-pressure blowing head, glue gun, and spraying head are all detachably connected to the multi-degree-of-freedom robotic arm 7 via quick-change interfaces.

[0034] With quick-change interfaces, tools such as electric grinding heads, high-pressure blowing heads, caulking guns, and spray heads can be quickly disassembled and replaced without complicated operations. Operators can freely select or switch tools according to different repair tasks, enabling this vertical climbing lifting system to flexibly cope with various work scenarios and task requirements.

[0035] In one specific embodiment, the detection mechanism 8 includes at least a binocular vision sensor, an infrared thermal imager, a lidar rangefinder, and a supplementary light, all of which are electrically connected to the human-computer interaction module.

[0036] Among the eight inspection components, a binocular vision sensor provides high-precision three-dimensional image information, an infrared thermal imager monitors temperature anomalies or structural defects, a lidar rangefinder enables precise distance measurement, and supplementary lighting ensures inspection effectiveness in low-light environments. Through the synergistic effect of these sensors, this vertical wall-climbing lifting system can simultaneously perform multimodal inspections. The collected data is transmitted in real-time to the human-machine interface module for analysis, enabling precise location and diagnosis of defects and providing reliable reference for subsequent repair work.

[0037] In one specific implementation, see Figure 1 and Figure 2The human-machine interaction module includes a power supply unit 9, a signal transmission unit, and a controller 10. The signal transmission unit is integrated into the controller 10. The loading platform 3 is provided with a mounting plate 11. The power supply unit 9 and the controller 10 are both located on the mounting plate 11. The power supply unit 9, the signal transmission unit, the first dual-tracked climber 1, the second dual-tracked climber 2, and the working mechanism are all electrically connected to the controller 10.

[0038] The human-machine interface module consists of a power supply unit 9, a signal transmission unit, and a controller 10. The power supply unit 9 provides power to each mechanism, ensuring its continuous and stable operation. The signal transmission unit ensures data transmission and interaction, enabling remote control, task scheduling, and real-time monitoring. Operators do not need to directly contact the high-altitude work areas, reducing safety risks. The controller 10 centrally manages all mechanisms, achieving coordinated operation of all parts of this vertical climbing lifting system, thereby improving work efficiency and safety.

[0039] It is worth mentioning that the components mentioned above but not specifically described, such as the first dual-tracked climber 1, the second dual-tracked climber 2, the horizontal electric sliding platform 6, the multi-degree-of-freedom robotic arm 7, the power supply unit 9, the signal transmission unit, and the controller 10, all adopt conventional technical means in the prior art. This invention does not involve changes to their structure and usage methods, and is not the innovation point of this invention. Those skilled in the art can fully implement them, so they will not be described in detail here.

[0040] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A vertical wall-climbing lifting system, characterized in that, The device includes a first dual-tracked climber (1), at least one second dual-tracked climber (2), and a flexible tension control assembly. The first dual-tracked climber (1) and the second dual-tracked climber (2) are arranged in a ring. The first dual-tracked climber (1) and the second dual-tracked climber (2) are connected to each other and to adjacent second dual-tracked climbers (2) through the flexible tension control assembly. The first dual-tracked climber (1) is provided with a loading platform (3). The loading platform (3) is provided with a working mechanism, a detection mechanism (8), and a human-machine interaction module. The first dual-tracked climber (1), the second dual-tracked climber (2), the working mechanism, and the detection mechanism (8) are all electrically connected to the human-machine interaction module.

2. The vertical wall-climbing lifting system according to claim 1, characterized in that, The flexible tension control assembly includes a tension rope (4) and a tensioner (5). Tensioners (5) are provided on both sides of the first dual-track climber (1) and the second dual-track climber (2). The two ends of the tension rope (4) are movably connected between adjacent tensioners (5).

3. A vertical wall-climbing lifting system according to claim 2, characterized in that, The tensioner (5) is a winch with a self-locking function, which is one of the worm gear type and the star cycloidal type.

4. A vertical wall-climbing lifting system according to claim 2, characterized in that, The tensioning rope (4) is one or more of the following: steel wire rope, braided fiber rope, braided fiber tape and flexible rack.

5. A vertical wall-climbing lifting system according to any one of claims 1-4, characterized in that, The working mechanism includes a horizontal electric sliding platform (6) and a multi-degree-of-freedom working robot (7). The horizontal electric sliding platform (6) is installed below the loading platform (3). A slider (12) is movably installed at the output end of the horizontal electric sliding platform (6). The multi-degree-of-freedom working robot (7) is installed on the slider (12). The multi-degree-of-freedom working robot (7) is equipped with a working tool set. The horizontal electric sliding platform (6) and the multi-degree-of-freedom working robot (7) are electrically connected to the human-machine interaction module.

6. A vertical wall-climbing lifting system according to claim 5, characterized in that, The work tool set includes at least an electric grinding head, a high-pressure blowing head, a glue gun, and a spray head, all of which are electrically connected to the human-machine interface module.

7. A vertical wall-climbing lifting system according to claim 6, characterized in that, The electric grinding head, high-pressure blowing head, glue gun and spraying head are all detachably connected to the multi-degree-of-freedom robotic arm (7) via quick-change interfaces.

8. A vertical wall-climbing lifting system according to claim 1, characterized in that, The detection mechanism (8) includes at least a binocular vision sensor, an infrared thermal imager, a lidar rangefinder, and a supplementary light, all of which are electrically connected to the human-computer interaction module.

9. A vertical wall-climbing lifting system according to claim 1, characterized in that, The human-machine interaction module includes a power supply unit (9), a signal transmission unit and a controller (10). The signal transmission unit is integrated into the controller (10). The loading platform (3) is provided with a mounting plate (11). The power supply unit (9) and the controller (10) are both located on the mounting plate (11). The power supply unit (9), the signal transmission unit, the first dual-tracked climber (1), the second dual-tracked climber (2) and the working mechanism are all electrically connected to the controller (10).

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