Wheel claw mechanism for climbing of iron tower

Abstract

The utility model relates to the technical field of electric power equipment, in particular to a wheel claw mechanism for climbing an iron tower, which comprises a rack, a walking mechanism, a first telescopic arm and a second telescopic arm are arranged below the rack, and the first telescopic arm and the second telescopic arm are used for surrounding and clamping a clamped object. The telescopic end of the first telescopic arm and the telescopic end of the second telescopic arm are rotationally provided with an overturning frame and an overturning power mechanism for driving the overturning frame to rotate, the end of the overturning frame is provided with a guide wheel, and the walking mechanism and the overturned guide wheels on the first telescopic arm and the second telescopic arm are arranged in a triangular space. 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 utility model relates to the technical field of power equipment especially relates to a wheel claw mechanism for iron tower crawling. BACKGROUND

[0002] Iron tower as high altitude infrastructure is widely used in the field of power transmission, communication and the like. In order to ensure the normal operation of the iron tower equipment, artificial climbing on the tower is often needed in daily inspection and maintenance to carry out maintenance, replacement of parts and the like, however, the artificial climbing process is limited by body strength and the single load is small, and the climbing process is often accompanied by the risk of falling and great safety hazards.

[0003] The utility model discloses a kind of power iron tower climbing devices of prior art patent No.CN201811392532.9, first base is moved relative to rack by first lifting assembly, second base is moved relative to rack by second lifting assembly, to realize the distance change between first clamping mechanism and second clamping mechanism, in the climbing process, by first claw subassembly and second claw subassembly, the angle iron of power iron tower is clamped to make first base relative to power iron tower fixed, third claw subassembly and fourth claw subassembly, the angle iron of power iron tower is clamped to make second base relative to power iron tower fixed, the scheme is clamped to the angle iron rod piece on main power iron tower by first clamping mechanism;First lifting assembly and second lifting assembly make first base and second base close, after second clamping mechanism clamps power iron tower, first clamping mechanism loosens, first clamping mechanism is away from second clamping mechanism again clamps power iron tower, by repeating the above steps, realize the climbing of power iron tower climbing device on power iron tower.

[0004] However, the device needs first clamping mechanism and second clamping mechanism to alternately clamp and loosen iron tower every climbing distance, on the one hand, repeated clamping and loosening actions can lead to low climbing efficiency, on the other hand, the bearing capacity of single clamping mechanism is insufficient in the process of switching clamping, which exists the risk of falling. UTILITY MODEL CONTENTS

[0005] To solve the problems of low efficiency and safety hazards in artificial climbing of iron tower and conveying maintenance tools in prior art, or low climbing efficiency and reduced bearing capacity in the process of alternate action of existing climbing device, the utility model provides a wheel claw mechanism for iron tower crawling, which has the characteristics of high climbing efficiency, stable clamping effect and high safety.

[0006] To achieve the above purpose, the following technical solutions are provided:

[0007] The utility model provides a wheel claw mechanism for iron tower climbing, including frame, the lower portion of frame is provided with walking mechanism and first telescopic arm and second telescopic arm for forming the embrace of the clamping object, the telescopic end of first telescopic arm and second telescopic arm is rotationally provided with turnover frame and turnover power mechanism of driving turnover frame rotation, the end of turnover frame is provided with guide wheel, and the guide wheel after the inward turnover of first telescopic arm and second telescopic arm is in triangular space layout with first telescopic arm and second telescopic arm.

[0008] Further, the telescopic end of the second telescopic arm is also rotationally provided with a third telescopic arm, the extending end of the third telescopic arm is provided with a hook, and the first telescopic arm is provided with a hooking buckle matched with the hook.

[0009] Further, the utility model also includes a horizontal rotation mechanism and a vertical rotation mechanism, the rotation shaft of the horizontal rotation mechanism is connected with the frame, the rotation shaft of the vertical rotation mechanism is connected with the horizontal rotation mechanism, the vertical rotation mechanism is used for driving the horizontal rotation mechanism and the frame to rotate around the X-axis, and the horizontal rotation mechanism is used for driving the frame to rotate around the Y-axis.

[0010] Further, the walking mechanism includes a driving motor, a driving wheel one and a driving wheel two arranged vertically, and the driving wheel one and the driving wheel two are both in transmission connection with the driving motor through a bevel gear mechanism.

[0011] Further, after the guide wheels on the first telescopic arm and the second telescopic arm are turned over, the guide wheel axes of the first telescopic arm and the second telescopic arm can be parallel to the axes of the driving wheel one and the driving wheel two respectively.

[0012] The utility model has the advantages that:

[0013] 1. The wheel claw mechanism formed by the first telescopic arm and the second telescopic arm can firmly embrace the angle steel of the iron tower, then the walking mechanism drives the whole wheel claw mechanism to climb upward, and the wheel claw mechanism can be used with other equipment or alone, can replace manual climbing of the iron tower, and can take the maintenance tools and materials to the high place of the iron tower; 2. After the wheel claw mechanism clamps the angle steel of the iron tower, the device can be directly walked along the angle steel by the walking mechanism, has the advantages of high climbing efficiency and stable clamping; 3. Through the rolling flexibility of the wheels and the grabbing stability of the wheel claw mechanism, the device can quickly move on the high building such as the iron tower and reach the specified operation position, has the characteristics of strong dynamic adaptability, high climbing and movement efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] ATTACHED Figure 1 It is a structural schematic view of the wheel claw mechanism for iron tower climbing of the utility model;

[0015] ATTACHED Figure 2 It is a structural schematic view of the wheel claw mechanism for iron tower climbing of the utility model; Figure 1 It is a half cut structure schematic view;

[0016] ATTACHEDFigure 3 Figure 2 is a structural schematic view of the wheel claw mechanism cooperating with the angle steel of the iron tower of the utility model;

[0017] Figure 1 is a state diagram of the wheel claw mechanism working on the iron tower of the utility model; Figure 4 Figure 1 is a state diagram of the wheel claw mechanism working on the iron tower of the utility model;

[0018] In the figure: 1, first telescopic arm; 2, second telescopic arm; 3, guide wheel; 4, turnover frame; 5, rack; 6, turnover power mechanism; 7, third telescopic arm; 8, hook; 9, hanging buckle; 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 utility model discloses a wheel claw mechanism for iron tower climbing, which will be described in detail below in combination with specific embodiments.

[0020] As shown in Figure 1 , Figure 2 , Figure 3 A wheel claw mechanism for iron tower climbing, comprising a rack 5, a walking mechanism is arranged below the rack 5, and a first telescopic arm 1 and a second telescopic arm 2 are arranged on the rack 5 and used for forming a ring holding of a clamped object, a turnover frame 4 is rotatably arranged at the telescopic end of the first telescopic arm 1 and the second telescopic arm 2, and a turnover power mechanism 6 for driving the turnover frame 4 to rotate is arranged on the turnover frame 4, an end of the turnover frame 4 is provided with a guide wheel 3, and the walking mechanism, the first telescopic arm 1 and the second telescopic arm 2 are arranged in a triangular space layout after the guide wheel 3 is inwardly turned.

[0021] The wheel claw mechanism in the utility model is a claw mechanism with wheels and can be used independently. In the embodiment, the wheel claw mechanism is controlled by a control unit to move upward along the angle steel of the iron tower to transport tools or equipment used for maintenance to a high position of the iron tower.

[0022] The first telescopic arm 1 is on the same side of the walking mechanism, and the second telescopic arm 2 is arranged on the rack 5 at a right angle with the first telescopic arm 1. The first telescopic arm 1 and the second telescopic arm 2 can be hydraulic telescopic arms or electric telescopic arms. The turnover frame 4 on the side surface of the first telescopic arm 1 and the second telescopic arm 2 is inwardly turned and is arranged in a triangular clamping posture together with the walking 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 turnover frame 4, so that the guide wheel 3 can be clamped on the right-angle edge of the angle steel after the turnover frame 4 is turned. An auxiliary wheel 16 perpendicular to the axis of the guide wheel 3 is further arranged on the turnover frame 4. When the guide wheel 3 is clamped on the right-angle edge of the angle steel, the auxiliary wheel 16 can be attached to the side surface of the angle steel to play a role of auxiliary support.

[0023] Through the rolling flexibility of the wheels and the gripping stability of the wheel claw mechanism, the device can quickly move on high structures such as towers, reach the designated work position, and dynamically adapt, with high climbing and movement efficiency.

[0024] The double-axial rotation mechanism comprises a horizontal rotation mechanism 10 and a vertical rotation mechanism 11, the rotation axis of the horizontal rotation mechanism 10 is connected with the rack 5, the rotation axis of the vertical rotation mechanism 11 is connected with the horizontal rotation mechanism 10, the vertical rotation mechanism 11 is used to drive the horizontal rotation mechanism 10 and the rack 5 to rotate around the X axis, and the horizontal rotation mechanism 10 is used to drive the rack 5 to rotate around the Y axis. In the embodiment, the horizontal rotation mechanism 10 and the vertical rotation mechanism 11 can both be rotary motors.

[0025] As shown in Figure 1 , the vertical rotation mechanism 11 is used to drive the horizontal rotation mechanism 10 and the rack 5 to rotate around the X axis, which means driving the horizontal rotation mechanism 10 and the rack 5 to vertically rotate, and the horizontal rotation mechanism 10 is used to drive the rack 5 to rotate around the Y axis, which means driving the rack 5 to horizontally rotate. When the wheel claw mechanism is installed on other equipment for use, the double-axial rotation mechanism is used to adjust the posture of the wheel claw mechanism on the work platform.

[0026] The first telescopic arm 1 and the second telescopic arm 2 can both be electric telescopic rods or hydraulic telescopic rods, which are used to drive the turnover frame 4 to telescope, adjust the position of clamping the tower angle steel, and the turnover driving device can be a rotary rudder connected with the connecting shaft of the turnover frame 4, which drives the turnover frame 4 to turn over, and is used to adjust the clamping angle of the guide wheel 3.

[0027] The walking mechanism comprises a driving motor 12, a driving wheel one 13 and a driving wheel two 14, the driving wheel one 13 and the driving wheel two 14 are arranged on the bottom side of the driving motor 12 shell perpendicularly, the driving wheel one 13 and the driving wheel two 14 are both transmissionally connected with the driving motor 12 through a bevel gear mechanism 15, and the driving wheel one 13 and the driving wheel two 14 are arranged perpendicularly. The driving motor 12 is installed below the output shaft of the vertical rotation mechanism 11.

[0028] As shown in Figure 3 , Figure 4 , under the driving of the driving motor 12, the driving wheel one 13 and the driving wheel two 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 driving wheel one 13 and the driving wheel two 14 can be respectively located on the two sides of the right angle side of the angle steel to slide.

[0029] A third telescopic arm 7 is further rotationally arranged at the telescopic end of the second telescopic arm 2, a hook 8 is arranged at the extending end of the third telescopic arm 7, and a hooking buckle 9 matched with the hook 8 is arranged on the first telescopic arm 1. When the hook 8 is locked with the hooking buckle 9, a closed loop clamping structure is formed to enhance the stability.

[0030] When the first telescopic arm 1 and the second telescopic arm 2 are stretched, the turnover frame 4 on them is turned to the clamping angle, then the hook 8 on the third telescopic arm 7 can hook the clasp 9 on the outside of the first telescopic arm 1 by driving the telescopic end of the third telescopic arm 7 to stretch and then rotating the third telescopic arm 7 through the power device such as a steering wheel, so that the first telescopic arm 1 and the second telescopic arm 2 form a closed-loop overall structure, further clamping the clamped object.

[0031] The third telescopic arm 7 can 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 turned over, the axes of the guide wheels 3 can be parallel to the axes of the drive wheels one 13 and the drive wheels two 14 respectively. In this embodiment, the middle part of the guide wheels 3 is recessed, which is especially suitable for the structure of the angle steel tower 17. Through the turnover of the guide wheels 3 on the first telescopic arm 1 and the second telescopic arm 2, the guide wheels 3 can be clamped on both sides of the angle steel, and the mutually perpendicular drive wheels one 13 and the drive wheels two 14 can be clamped at the right angle edges of the angle steel, forming a more stable support.

Claims

1. A wheel claw mechanism for tower climbing, characterized by, The utility model relates to a kind of ring-shaped clamping machine, including rack (5), the lower part of rack (5) is provided with travelling mechanism and is used to form the first telescopic arm (1) and second telescopic arm (2) for the ring-shaped clamping of clamped object, the telescopic end of first telescopic arm (1) and second telescopic arm (2) is rotationally provided with turnover frame (4) and turnover power mechanism (6) for driving the rotation of turnover frame (4), the end of turnover frame (4) is provided with guide wheel (3), travelling mechanism and guide wheel (3) after the inward turnover of first telescopic arm (1) on, second telescopic arm (2) on are triangularly arranged in space.

2. The wheel claw mechanism for tower climbing as claimed in claim 1, wherein, Third telescopic arm (7) is also rotationally provided on the telescopic end of second telescopic arm (2), the extension end of third telescopic arm (7) is provided with hook (8), first telescopic arm (1) is provided with the hooking (9) matched with hook (8).

3. A wheel claw mechanism for tower climbing as claimed in claim 1 or 2, characterized in that, It further includes horizontal rotation mechanism (10) and vertical rotation mechanism (11), the rotation axis of horizontal rotation mechanism (10) is connected with rack (5), the rotation axis of vertical rotation mechanism (11) is connected with horizontal rotation mechanism (10), vertical rotation mechanism (11) is used to drive horizontal rotation mechanism (10) and rack (5) rotate around X axis, horizontal rotation mechanism (10) is used to drive rack (5) rotate around Y axis.

4. The wheel claw mechanism for tower climbing as claimed in claim 1 or 2, wherein Travelling mechanism includes drive motor (12), drive wheel one (13) and drive wheel two (14) vertically arranged;Drive wheel one (13) and drive wheel two (14) are all transmissionally connected with drive motor (12) by bevel gear mechanism (15).

5. The wheel claw mechanism for tower climbing as claimed in claim 3, wherein, Travelling mechanism includes drive motor (12), drive wheel one (13) and drive wheel two (14) vertically arranged;Drive wheel one (13) and drive wheel two (14) are all transmissionally connected with drive motor (12) by bevel gear mechanism (15).

6. The wheel claw mechanism for tower climbing as claimed in claim 1, 2 or 5, wherein, After the turnover of guide wheel (3) on first telescopic arm (1) and second telescopic arm (2), the axis of guide wheel (3) can be respectively parallel with the axis of drive wheel one (13) and drive wheel two (14).

7. The wheel claw mechanism for tower climbing as claimed in claim 3, wherein, After the turnover of guide wheel (3) on first telescopic arm (1) and second telescopic arm (2), the axis of guide wheel (3) can be respectively parallel with the axis of drive wheel one (13) and drive wheel two (14).

8. The wheel claw mechanism for tower climbing as claimed in claim 4, wherein, After the turnover of guide wheel (3) on first telescopic arm (1) and second telescopic arm (2), the axis of guide wheel (3) can be respectively parallel with the axis of drive wheel one (13) and drive wheel two (14).

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