Wall-climbing device wall-climbing gripper telescopic mechanism

Abstract

The utility model discloses a wall climbing clamp jaw telescopic mechanism of wall climbing device belongs to fire fighting equipment field, has solved the problem that the existing technology clamp jaw mechanism is difficult to adapt to the wall body or windowsill structure of different thickness, the technical scheme that solves this problem includes frame and sets up the swing arm on the frame, the swing arm is equipped with the hook arm at the one end away from the frame, the hook arm can be opposite with the frame setting and is formed with the clamping space that is inserted and clamps the wall body for the wall body, wall climbing clamp jaw telescopic mechanism still includes the first drive unit of driving hook arm and reciprocating motion in the direction of approaching or away from the frame translation, to realize the clamping or loosening of wall body. The utility model is used for improving the applicability of clamp jaw telescopic mechanism.

Description

Technical Field

[0001] This utility model relates to the field of fire protection equipment, and in particular to a wall-climbing device with a wall-climbing claw telescopic mechanism. Background Technology

[0002] Traditional ladders require tilting against a wall for use. If the angle between the ladder and the wall is too small, it easily tips over; if it's too large, climbing becomes difficult, and a person is needed to support it during the climb to prevent slippage or tipping. When the space at the edge of the wall is narrow or the wall is high, the ladder is difficult to place or is too heavy, limiting its applicability. Existing technology, such as utility model patent CN201899792U, discloses a step-by-step hanging climbing fire rescue cabin. This cabin uses a climbing mechanism to drive a hook device to rise and fall. The hook arm, fixed claw cylinder, and articulated claw work together to achieve hooking. When the cylinder pushes the articulated claw downwards, it forms a clamping space with the cabin frame to hook onto the windowsill. However, the distance between the articulated claw and the cabin frame is relatively fixed in this device, resulting in an unadjustable clamping space, making it difficult to adapt to walls or windowsill structures of different thicknesses. Utility Model Content

[0003] The purpose of this invention is to provide a wall-climbing gripper telescopic mechanism for a wall-climbing device, which solves the problem that existing gripper mechanisms are difficult to adapt to walls or window sills of different thicknesses, and improves the applicability of the gripper telescopic mechanism.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a wall-climbing gripper telescopic mechanism for a wall-climbing device, comprising a frame and a swing arm mounted on the frame, wherein a hook arm is provided at the end of the swing arm away from the frame, the hook arm being disposed opposite to the frame and forming a clamping space for inserting and clamping the wall, the wall-climbing gripper telescopic mechanism further comprising a first driving unit for driving the hook arm to reciprocate in a direction approaching or away from the frame, so as to achieve clamping or releasing the wall.

[0005] After adopting the above technical solution, this utility model has the following advantages: by setting the first drive unit to drive the hook arm to perform translational reciprocating motion in the direction of approaching or moving away from the frame, the size of the clamping space is actively and linearly adjusted, and it can be continuously adapted to walls or windowsills of different thicknesses, which significantly improves the environmental adaptability and versatility of the wall-climbing gripper telescopic mechanism; at the same time, the translational motion path is shorter, the response is faster, and the control process is stable and reliable; in addition, the translational motion is not limited by the rotation radius and installation angle, and it can still work stably in narrow or confined spaces, further enhancing the applicability and safety of the device under complex working conditions.

[0006] Furthermore, the hook arm is rotatably connected to the swing arm and has a retracted state where it is housed within the swing arm and a working state where it extends outward relative to the swing arm to form a hooking space. The swing arm is provided with a second drive unit that drives the hook arm to switch between the retracted state and the working state.

[0007] Using the aforementioned technical solution, when in the storage state, the hook arm is stored inside the swing arm, which can significantly reduce the overall volume of the mechanism and effectively avoid interference with walls, window frames or other structures during the climbing process, ensuring smooth lifting and lowering of the device. At the same time, the compact structure makes it easier to store and transport the equipment when it is not in operation. When switching to the working state, the second drive unit drives the hook arm to extend outward relative to the swing arm, quickly forming a stable hooking space, reliably hooking onto the edge of the wall or window sill, and achieving firm attachment.

[0008] Furthermore, the swing arm includes a fixed arm rotatably connected to the frame and an extension arm slidably disposed on the fixed arm. The extension arm has a first position extending relative to the fixed arm, a second position partially retracted to allow the hook arm to hook onto the wall, and a third position fully retracted to the fixed arm.

[0009] By adopting the aforementioned technical solution, the first position ensures that the hook arm is far away from the wall to avoid collisions during the approach process as much as possible. The second position achieves adaptive clamping of walls of different thicknesses through retraction. The third position completely retracts the hook arm to reduce the size of the mechanism and avoid motion interference during climbing as much as possible. This further improves the adaptability, reliability and operational safety of the wall-climbing gripper telescopic mechanism under unknown working conditions.

[0010] Furthermore, the second drive unit includes a torsion spring, and the hook arm is rotatably connected to the front end of the extension arm via the torsion spring. When the extension arm moves from the second position to the third position, the fixed arm abuts against the hook arm to push the hook arm to rotate to the retracted state and to keep the torsion spring in a tensioned state. When the extension arm is in the first position or the second position, the fixed arm disengages from the torsion spring, and the hook arm rotates to the working state under the reset action of the torsion spring; or, the second drive unit includes a drive motor, which is controlled by an external signal to drive the hook arm to switch between the retracted state and the working state.

[0011] Using the aforementioned technical solution, when the extension arm moves from the second position to the third position, the fixed arm abuts against the hook arm, driving the hook arm to rotate to the retracted state and keeping the torsion spring in a tensioned state; after the extension arm extends, the torsion spring resets, causing the hook arm to automatically unfold, without the need for an additional power source, realizing the linkage control of extension and retraction, and still having good stability and reliability in complex environments such as high temperature and humidity; or, when using a drive motor solution, the hook arm state switching is independently controlled by an external signal, not limited by the position of the extension arm, with flexible control, stable and adjustable driving force, suitable for precise operation under complex working conditions, and enhancing the mechanism's adaptability to diverse operational needs.

[0012] Furthermore, the first drive unit includes a first drive motor, a lead screw, and a slider. The output end of the first drive motor is fixedly connected to the lead screw, the slider is threadedly connected to the lead screw, and fixedly connected to the extension arm. The first drive motor drives the lead screw to rotate, so that the slider moves and drives the extension arm to move synchronously.

[0013] Using the aforementioned technical solution, the slider is threadedly engaged with the lead screw and fixedly connected to the extension arm. The motor drives the lead screw to rotate, which in turn drives the slider to move along the lead screw axis, thereby driving the extension arm to extend and retract. The lead screw nut transmission can achieve self-locking, ensuring that the position of the extension arm is reliably locked when it stops moving, and preventing displacement due to load or vibration.

[0014] Furthermore, the fixed arm is provided with a guide rail, the guide rail and the lead screw are aligned in the same axial direction, and the extension arm is slidably connected to the guide rail.

[0015] By adopting the aforementioned technical solution, the movement of the extension arm is constrained and supported by the guide slide rail, ensuring that it moves precisely in a straight line along the screw axis, preventing deflection or jamming during the extension and retraction process as much as possible, improving the smoothness of movement and positioning accuracy. At the same time, the synergistic effect of the slide rail and the screw can disperse the radial force generated when the extension arm moves, reducing the stress load on the threaded connection between the screw and the slider.

[0016] Furthermore, the swing arm is rotatably connected to the frame, and a third drive unit for driving the swing arm to rotate is provided at one end of the swing arm near the frame.

[0017] By adopting the aforementioned technical solution, the swing arm is rotatably connected to the frame and driven to rotate by a third drive unit. This enables the hook arm at the end to swing actively toward the wall, achieving reliable hooking. When detaching from the wall, the swing arm rotates in the opposite direction, allowing the hook arm to smoothly retract, minimizing the risk of the swing arm scraping or colliding with the wall during the climbing process. Furthermore, the third drive unit is located at the end of the swing arm near the frame, away from broken windows and high-temperature or flame environments, effectively reducing the risk of thermal damage and ensuring the service life of the equipment.

[0018] Furthermore, the hook arm and the swing arm are fixedly connected, the swing arm is slidably mounted on the frame, and the first drive unit drives the swing arm to move, thereby causing the hook arm to move synchronously.

[0019] By adopting the aforementioned technical solution, the hook arm and the swing arm are fixedly connected, which significantly improves the overall structural rigidity and connection reliability, enhances the stability during the clamping process, and directly drives the swing arm to slide linearly along the frame through the first drive unit, so as to realize the precise feeding and retraction of the hook arm and ensure the stable and reliable clamping action.

[0020] Furthermore, the surface of the hook arm is provided with serrations, friction textures, or suction cups; or, the hook arm is in the shape of a barb or a needle.

[0021] Using the aforementioned technical solutions, the serrations or friction textures can effectively increase the friction between the hook arm and the wall, preventing slippage during clamping and improving adhesion reliability. The suction cup can help form a negative pressure adsorption force, enhancing the adhesion to smooth walls. The barbed or needle-like structures can be embedded into the edge or gap of the wall during clamping, achieving mechanical locking and significantly improving pull-out and shear resistance.

[0022] Furthermore, the swing arm is provided with at least two, and the at least two swing arms are arranged side by side.

[0023] Using the aforementioned technical solution, multiple swing arms can simultaneously form multi-point clamping with the wall or windowsill through their respective hook arms. Compared with a single swing arm, it can disperse the load generated by the device itself and during operation, reduce the stress intensity at a single point, and reduce the risk of slippage caused by local overload. Especially when climbing high walls or carrying heavy equipment, the multi-point support structure can greatly enhance the safety of operation. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 1 of this utility model;

[0026] Figure 2 This is a schematic diagram of another state of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 1 of this utility model;

[0027] Figure 3 This is a partial exploded view of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 1 of this utility model;

[0028] Figure 4 This is an exploded view of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 1 of this utility model;

[0029] Figure 5 This is a schematic diagram of the hook arm in the retracted state according to Embodiment 1 of this utility model;

[0030] Figure 6 This is a schematic diagram of the hook arm in the working state according to Embodiment 1 of this utility model;

[0031] Figure 7 This is a schematic diagram of the extension arm in the third position according to Embodiment 1 of this utility model;

[0032] Figure 8This is a schematic diagram of the extension arm in the second position according to Embodiment 1 of the present invention.

[0033] Figure 9 This is a schematic diagram of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 2 of this utility model;

[0034] Figure 10 This is a schematic diagram of another state of the wall-climbing gripper telescopic mechanism of the wall-climbing device according to Embodiment 2 of this utility model;

[0035] In the diagram, 10 is the frame; 20 is the swing arm; 21 is the fixed arm; 211 is the drive protrusion; 22 is the extension arm; 221 is the mating part; 23 is the torsion spring; 24 is the first drive motor; 25 is the lead screw; 26 is the slider; 27 is the guide rail; 28 is the clamping space; 30 is the second drive motor; 31 is the worm gear reducer; 50 is the hook arm; 51 is the toothed structure; 60 is the wall; 70 is the input gear; 71 is the chain; and 72 is the rack. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0037] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein.

[0038] It should be understood that in the various embodiments of this utility model, the number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this utility model.

[0039] It should be understood that in this invention, "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0040] It should be understood that in this utility model, "multiple" refers to two or more. "And / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, X and / or Y can represent: X alone, X and Y simultaneously, or Y alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "Contains X, Y, and Z", "Contains X, Y, and Z" means that all three X, Y, and Z are contained; "Contains X, Y, or Z" means that one of X, Y, and Z is contained; "Contains X, Y, and / or Z" means that any one, two, or three of X, Y, and Z are contained.

[0041] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be selected to be combined or substituted with each other according to the actual situation, and the same or similar concepts or processes may not be described again in some embodiments.

[0042] Example 1:

[0043] like Figures 1 to 8 As shown, this utility model provides a wall-climbing device with a wall-climbing gripper telescopic mechanism, including a frame 10 and a swing arm 20 disposed on the frame 10. The end of the swing arm 20 away from the frame 10 is provided with a hook arm 50. The hook arm 50 can be disposed opposite to the frame 10 and form a clamping space 28 for inserting and clamping the wall 60. The wall-climbing gripper telescopic mechanism also includes a first drive unit that drives the hook arm 50 to move back and forth in a direction close to or away from the frame 10, so as to realize the clamping or releasing of the wall 60.

[0044] By setting the first drive unit to drive the hook arm 50 to perform translational reciprocating motion in the direction of approaching or moving away from the frame 10, the size of the clamping space 28 is actively and linearly adjusted, enabling continuous adaptation to walls 60 or window sills of different thicknesses, significantly improving the environmental adaptability and versatility of the wall-climbing gripper telescopic mechanism; at the same time, the translational motion path is shorter, the response is faster, and the control process is smooth and reliable; in addition, the translational motion is not limited by the rotation radius and installation angle, and can still work stably in narrow or confined spaces, further enhancing the applicability and safety of the device under complex working conditions.

[0045] The hook arm 50 is rotatably connected to the swing arm 20 and has a retracted state (folded inside the swing arm 20) and a working state (extended outward relative to the swing arm 20 to form a hooking space). The swing arm 20 is equipped with a second drive unit that drives the hook arm 50 to switch between the retracted and working states. When in the retracted state, the hook arm 50 is retracted inside the swing arm 20, which significantly reduces the overall size of the mechanism and effectively avoids interference with the wall 60, window frame, or other structures during wall climbing, ensuring smooth lifting and lowering of the device. At the same time, the compact structure makes it easier to store and transport the equipment when it is not in operation. When switching to the working state, the second drive unit drives the hook arm 50 to extend outward relative to the swing arm 20, quickly forming a stable hooking space and reliably hooking onto the wall 60 or window sill edge for secure attachment.

[0046] The swing arm 20 is rotatably connected to the frame 10. A third drive unit is provided at the end of the swing arm 20 near the frame 10 to drive the swing arm 20 to rotate. This unit can drive the hook arm 50 at the end to swing actively towards the wall 60 to achieve reliable hooking. When detaching from the wall 60, the swing arm 20 rotates in the opposite direction to allow the hook arm 50 to exit smoothly, minimizing the risk of the swing arm 20 scraping or colliding with the wall 60 during the climbing process. Furthermore, the third drive unit is located at the end of the swing arm 20 near the frame 10, away from broken windows and high-temperature or flame environments, effectively reducing the risk of thermal damage and ensuring the service life of the equipment.

[0047] Specifically, the swing arm 20 includes a fixed arm 21 rotatably connected to the frame 10 and an extension arm 22 slidably disposed on the fixed arm 21. The extension arm 22 has a first position extending relative to the fixed arm 21, a second position partially retracted to allow the hook arm 50 to hook onto the wall 60, and a third position fully retracted to the fixed arm 21. The first position ensures that the hook arm 50 is far away from the wall 60, minimizing collisions during approach. The second position achieves adaptive clamping of walls 60 of different thicknesses through retraction. The third position completely retracts the hook arm 50, reducing the size of the mechanism and minimizing motion interference during climbing, further improving the adaptability, reliability, and operational safety of the wall-climbing gripper telescopic mechanism under unknown working conditions.

[0048] It should be noted that the first position and the second position are not limited to a fixed position. The first position is the position where the clamping space 28 is larger than the thickness of the wall 60, depending on the thickness of the wall 60. The second position is the position where the hook arm 50 hooks onto the wall 60, which is determined by the thickness of the wall 60.

[0049] The first drive unit includes a first drive motor 24, a lead screw 25, and a slider 26. The output end of the first drive motor 24 is fixedly connected to the lead screw 25. The slider 26 is threadedly connected to the lead screw 25 and fixedly connected to the extension arm 22. The first drive motor 24 drives the lead screw 25 to rotate, thereby moving the slider 26 and causing the extension arm 22 to move synchronously. The lead screw 25 is a trapezoidal lead screw, which can achieve self-locking, ensuring that the position of the extension arm 22 is reliably locked when it stops moving, and preventing displacement due to load or vibration as much as possible.

[0050] Furthermore, the fixed arm 21 is provided with a guide rail 27, which is aligned with the axial direction of the lead screw 25. The extension arm 22 is slidably connected to the guide rail 27. The guide rail 27 constrains and supports the movement of the extension arm 22, ensuring its precise linear movement along the axial direction of the lead screw 25. This minimizes the risk of deflection or jamming during extension and retraction, improving the smoothness of movement and positioning accuracy. Simultaneously, the synergistic effect of the guide rail and the lead screw 25 disperses the radial force generated during the movement of the extension arm 22, reducing the stress on the threaded connection between the lead screw 25 and the slider 26.

[0051] The second drive unit includes a torsion spring 23. The hook arm 50 is rotatably connected to the front end of the extension arm 22 through the torsion spring 23. When the extension arm 22 moves from the second position to the third position, the fixed arm 21 abuts against the hook arm 50 to push the hook arm 50 to rotate to the retracted state and to keep the torsion spring 23 in a tensioned state. When the extension arm 22 is in the first position or the second position, the fixed arm 21 disengages from the torsion spring 23, and the hook arm 50 rotates to the working state under the reset action of the torsion spring 23. No additional power source is required to realize the linkage control of extension and retraction. It still has good stability and reliability in complex environments such as high temperature and humidity.

[0052] Specifically, the fixed arm 21 may be provided with a drive protrusion 211, and the hook arm 50 is provided with a mating part facing the drive protrusion 211. The torsion spring 23 is sleeved on the pivot between the hook arm 50 and the extension arm 22. When the extension arm 22 moves from the second position to the third position, the drive protrusion 211 of the fixed arm 21 abuts against the mating part of the hook arm 50 and pushes the hook arm 50 to rotate to the retracted state. The rotation of the hook arm 50 forces the torsion spring 23 to twist, so that the torsion spring 23 is in a tensioned state. When the extension arm 22 extends outward and is in the first position or the second position, the drive protrusion 211 disengages from the mating part, and the torsion spring 23 releases torque under its own restoring force, driving the hook arm 50 to automatically rotate back to the working state.

[0053] The third drive unit includes a second drive motor 30 and a worm gear reducer 31. The output shaft of the second drive motor 30 is fixedly connected to the worm of the worm gear reducer 31, providing continuous and stable power output. This allows for precise drive of the swing arm 20 to rotate, ensuring smooth and precise movement of the swing arm 20 during hooking operations, meeting the requirements of different operating scenarios for the rotation angle and speed of the swing arm 20. The self-locking characteristic of the worm gear reducer 31 can also be used to ensure that the swing arm 20 remains stably in its current position.

[0054] The device has at least two swing arms 20 arranged side by side. For example, if there are two swing arms 20, multiple swing arms 20 can simultaneously form multi-point clamping with the wall 60 or window sill through their respective hook arms 50. Compared with a single swing arm 20, this can distribute the load generated by the device itself and during operation, reduce the stress intensity at a single point, and reduce the risk of slippage due to local overload. Especially when climbing high walls 60 or carrying heavy equipment, the multi-point support structure can greatly enhance the safety of operation.

[0055] It should be noted that the output end of the worm gear reducer 31 is connected to both swing arms 20 simultaneously, driving the two swing arms 20 to swing synchronously, without the need for multiple drive structures. Each swing arm 20 is equipped with a hook arm 50.

[0056] Of course, in other embodiments, the swing arms can also be set in appropriate numbers such as three or four, and can be driven by the same third drive unit. Alternatively, each swing arm can be equipped with a third drive unit, which drives the swing arm independently. The movement of each swing arm can be controlled independently, which facilitates posture adjustment according to the wall structure or operation requirements, realizing asymmetrical clamping or adapting to inclined or uneven walls. When the force at a certain clamping point is abnormal, the corresponding swing arm can be adjusted individually to optimize the force distribution and improve clamping stability and safety. At the same time, independent drive supports step-by-step action execution, such as alternating hooking or step-by-step unhooking, enhancing the adaptability and operational flexibility of the mechanism in complex environments and improving the reliability of the overall climbing process.

[0057] To improve the reliability of the hook, the surface of the hook arm 50 is provided with serrations. The serrations can effectively increase the friction between the hook arm 50 and the wall 60. By embedding the teeth into the contact surface, a stronger mechanical engagement is formed, which can prevent slippage in the clamping state as much as possible and improve the adhesion reliability.

[0058] Furthermore, the surface of the fixed arm 21 can also be provided with serrations. When the wall-climbing gripper telescopic mechanism forms a clamping engagement with the wall 60, the serrations on the fixed arm 21 simultaneously contact the other side of the wall 60 and generate mechanical engagement, achieving double-sided anti-slip locking and further enhancing the overall clamping stability.

[0059] In use, before the wall-climbing gripper telescopic mechanism approaches the wall 60, the swing arm 20 retracts parallel to the frame 10. At this time, the fixed arm 21 presses against the torsion spring 23, causing the hook arm 50 to retract. When the wall-climbing gripper telescopic mechanism approaches the wall 60, the swing arm 20 rotates towards the wall 60 and perpendicular to the frame 10. Then, the first drive unit drives the extension arm 22 to move to the first position. At this time, the torsion spring 23 disengages from the fixed arm 21 and releases torque under its own restoring force, driving the hook arm 50 to automatically rotate back to the working state. Then, the first drive unit continues to drive the extension arm 22 to retract to the second position to clamp the wall 60. When disengaged, the first drive unit drives the extension arm 22 to move to the first position. Then, the third drive unit drives the swing arm 20 to rotate to a state parallel to the frame 10. After that, when the first drive unit drives the extension arm 22 to retract to the third position, the drive protrusion 211 presses against the working end 232 of the torsion spring 23, forcing the torsion spring 23 to twist, which drives the hook arm 50 to rotate to the storage state.

[0060] Understandably, in other embodiments, the second drive unit includes a drive motor, which is controlled by an external signal to drive the hook arm to switch between a retracted state and an operating state. The drive motor enables precise timing control of the hook arm's movements, resulting in fast response and stable, reliable motion. The timing of deployment or retraction can be flexibly set according to actual working conditions, such as wall positions or environmental obstacles, without being limited by the mechanical linkage of the extension arm position, thus providing greater control freedom. It is particularly suitable for automated or remote control scenarios, and can be linked with other sensors or control systems to achieve intelligent judgment and adaptive operation. Simultaneously, the drive motor's output force is controllable, ensuring that the hook arm can reliably switch states under different load conditions, improving the adaptability, safety, and reliability of the gripper mechanism in complex and variable working environments.

[0061] Understandably, in other embodiments, the surface of the hook arm is provided with friction texture. The friction texture can effectively increase the friction between the hook arm and the wall, prevent slippage in the clamping state as much as possible, and improve the adhesion reliability.

[0062] Understandably, in other embodiments, the surface of the hook arm is provided with suction cups, which can help form negative pressure adsorption force and enhance the adhesion to smooth wall surfaces.

[0063] Understandably, in other embodiments, the hook arm is barbed or needle-shaped, which can be embedded into the edge or gap of the wall during clamping to achieve mechanical locking and significantly improve resistance to pull-out and shearing.

[0064] Example 2:

[0065] like Figure 9 and Figure 10As shown, in this embodiment, the hook arm 50 and the swing arm 20 are fixedly connected, which significantly improves the overall structural rigidity and connection reliability, and enhances the stability during the clamping process. The swing arm 20 is slidably mounted on the frame 10. The first drive unit drives the swing arm 20 to move, thereby driving the hook arm 50 to move synchronously, realizing the precise feeding and retraction of the hook arm 50, and ensuring that the clamping action is stable and reliable.

[0066] Specifically, the first drive unit includes a first drive motor 24, a transmission rod, an input gear 70, an output gear, a chain 71, a synchronizing gear and a rack 72, and a drive shaft. The first drive motor 24 is fixed to the frame 10, the input gear 70 is fixed to the transmission rod, the output shaft of the first drive motor 24 is fixedly connected to the transmission rod, and the output gear and synchronizing gear are respectively fixed to the drive shaft. The drive shaft is rotatably mounted on the frame 10. The input gear 70 and the output gear are connected by the chain 71, and the rack 72 is fixedly connected to the swing arm 20. The synchronizing gear and the rack 72 mesh. Thus, the drive motor drives the transmission rod to rotate, which in turn drives the input gear 70 to rotate. Through the chain 71, the output gear rotates, which in turn drives the drive shaft to rotate, thereby causing the synchronizing gear to rotate and driving the swing arm 20 to move.

[0067] In use, before the wall-climbing gripper telescopic mechanism approaches the wall 60, the hook arm 50 moves horizontally away from the frame 10 to a position that will not affect the climbing of the wall-climbing gripper telescopic mechanism. When the wall-climbing gripper telescopic mechanism approaches the wall 60, it moves downward until the swing arm 20 contacts the windowsill, and then the hook arm 50 moves horizontally towards the wall 60 until it contacts the wall 60 and hooks onto the wall 60. When the wall-climbing gripper telescopic mechanism moves away from the wall 60, it moves upward until the end of the hook arm 50 is higher than the plane of the wall 60, and then the hook arm 50 retracts without affecting the climbing of the wall-climbing gripper telescopic mechanism.

[0068] In addition to the preferred embodiments described above, there are other embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection claimed by this utility model.

Claims

1. A wall-climbing device with a telescopic gripper mechanism, comprising a frame (10) and a swing arm (20) mounted on the frame (10), characterized in that, The swing arm (20) is provided with a hook arm (50) at one end away from the frame (10). The hook arm (50) can be arranged opposite to the frame (10) and form a clamping space (28) for inserting and clamping the wall (60). The wall climbing gripper telescopic mechanism also includes a first drive unit that drives the hook arm (50) to move back and forth in a direction close to or away from the frame (10) to achieve clamping or releasing the wall (60).

2. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 1, characterized in that, The hook arm (50) is rotatably connected to the swing arm (20) and has a retracted state that is housed within the swing arm (20) and a working state that extends outward relative to the swing arm (20) to form a hooking space. The swing arm (20) is provided with a second drive unit that drives the hook arm (50) to switch between the retracted state and the working state.

3. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 2, characterized in that, The swing arm (20) includes a fixed arm (21) connected to the frame (10) and an extension arm (22) slidably disposed on the fixed arm (21). The extension arm (22) has a first position extending relative to the fixed arm (21), a second position partially retracted to allow the hook arm (50) to hook onto the wall (60), and a third position fully retracted to the fixed arm (21).

4. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 3, characterized in that, The second drive unit includes a torsion spring (23), and the hook arm (50) is rotatably connected to the front end of the extension arm (22) via the torsion spring (23). When the extension arm (22) moves from the second position to the third position, the fixed arm (21) abuts against the hook arm (50) to push the hook arm (50) to rotate to the retracted state and to keep the torsion spring (23) in a tensioned state. When the extension arm (22) is in the first position or the second position, the fixed arm (21) disengages from the torsion spring (23), and the hook arm (50) rotates to the working state under the reset action of the torsion spring (23). Alternatively, the second drive unit includes a drive motor, which is controlled by an external signal to drive the hook arm (50) to switch between the retracted state and the working state.

5. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 3, characterized in that, The first drive unit includes a first drive motor (24), a lead screw (25) and a slider (26). The output end of the first drive motor (24) is fixedly connected to the lead screw (25). The slider (26) is threadedly connected to the lead screw (25) and fixedly connected to the extension arm (22). The first drive motor (24) drives the lead screw (25) to rotate so that the slider (26) moves and drives the extension arm (22) to move synchronously.

6. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 5, characterized in that, The fixed arm (21) is provided with a guide rail (27), the guide rail (27) and the lead screw (25) are aligned in the same axial direction, and the extension arm (22) is slidably connected to the guide rail (27).

7. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 1, characterized in that, The swing arm (20) is rotatably connected to the frame (10), and a third drive unit for driving the swing arm (20) to rotate is provided at one end of the swing arm (20) near the frame (10).

8. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 1, characterized in that, The hook arm (50) and the swing arm (20) are fixedly connected. The swing arm (20) is slidably mounted on the frame (10). The first drive unit drives the swing arm (20) to move, thereby causing the hook arm (50) to move synchronously.

9. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 1, characterized in that, The surface of the hook arm (50) is provided with serrations, friction textures, or suction cups; or, the hook arm (50) is in the shape of a barb or a needle.

10. The wall-climbing gripper telescopic mechanism of the wall-climbing device according to claim 1, characterized in that, The swing arm (20) is provided in at least two, and the at least two swing arms (20) are arranged side by side.

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