Wall-climbing lock attaching and lifting mechanism

Abstract

The utility model discloses a wall lock and lifting mechanism, belong to the field of fire fighting equipment, solved the problem of prior art structure is more complex, solve the technical scheme of this problem including ladder, at least two set up on the lock and attach assembly of ladder, lock and attach assembly includes frame and the lock and attach dog of movable ground of being equipped with on frame still include for drive the first drive unit of lock and attach dog moves between the first position of lock and attach wall body and the second position of separating wall body, at least one lock and attach assembly movablely connected in the ladder through frame and is equipped with operation platform, be equipped with the second drive unit of drive both relative movement between the ladder and frame. The utility model is used for making structure more simple.

Description

Technical Field

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

[0002] Traditional fire rescue ladders rely solely on aerial ladders for access during rescue operations, or firefighters climbing to break windows. This presents numerous limitations, such as excessive building height, insufficient ladder height, and the safety of firefighters, thus delaying rescue efforts. While existing technologies, such as the invention patent CN103495265A which discloses a high-rise and ultra-high-rise climbing fire rescue system using multi-stage robotic arms and hydraulic drives, exhibit complex overall structures, heavy equipment, high energy consumption, and significant operational difficulties. Utility Model Content

[0003] The purpose of this invention is to provide a wall-climbing locking and lifting mechanism, which solves the problem of complex structure in the existing technology and makes the structure simpler.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a wall-climbing locking and lifting mechanism, comprising a ladder, at least two locking components disposed on the ladder, each locking component comprising a frame and locking claws movably disposed on the frame, and further comprising a first drive unit for driving the locking claws to move between a first position of locking onto the wall and a second position of disengaging from the wall, at least one of the locking components being movably connected to the ladder via the frame and having a working platform thereon, and a second drive unit being provided between the ladder and the frame to drive relative movement between the two.

[0005] After adopting the above technical solution, this utility model has the following advantages: multiple locking components share the same ladder, reducing the repetitive setting of independent guide rails or support structures, reducing the number of parts, and simplifying the overall structure; the locking claw of each locking component can switch between a first position and a second position under the drive of the first drive unit, realizing reliable locking and unlocking of the wall and ensuring operational safety; at the same time, the locking component is movably connected to the ladder through the frame, and the second drive unit drives the relative movement between the two, so that when a certain locking component locks the wall, the ladder can be raised or lowered relative to the locking component, or the locking component can be moved relative to the ladder to adjust its position, thereby achieving bidirectional motion adaptation on the same mechanism, supporting both the lifting of the whole machine in the locking state and the position adjustment in the releasing state, thus integrating locking and lifting functions on the same structure, with a clear movement path, simple and compact structure, and improved movement flexibility and operational reliability.

[0006] Furthermore, the locking assembly also includes a rotating shaft, and the locking claw is rotatably mounted on the frame via the rotating shaft.

[0007] Using the aforementioned technical solution, the locking claw is rotatably mounted on the frame via a rotating shaft, forming a distinct rotational kinematic pair. This allows the locking claw to rotate around the rotating shaft under the drive of the first drive unit, enabling reliable switching between the second and first positions. At the same time, the rotational action requires little space and has a compact structure, which is beneficial for switching actions in confined working environments.

[0008] Furthermore, the axis of the rotating shaft is perpendicular to the vertical direction of the ladder. When the locking claw is in the first position, the locking claw is set perpendicular to the vertical direction of the ladder, and when the locking claw is in the second position, the locking claw is set parallel to the vertical direction of the ladder.

[0009] Using the aforementioned technical solution, the locking claw can rotate in a vertical plane, switching between horizontal or inclined states, so that it can avoid obstacles on the exterior wall of the building as much as possible during the locking and unlocking process, thereby ensuring the smoothness and reliability of the operation.

[0010] Furthermore, the axis of the rotating shaft is set along the vertical direction of the ladder, and when the locking claw is in the first or second position, the locking claw is set perpendicular to the vertical direction of the ladder.

[0011] Using the aforementioned technical solution, the locking claw can rotate in the horizontal plane. The horizontal rotation path is smooth, and the driving process is less affected by gravity. This also allows it to avoid obstacles on the building's exterior wall as much as possible during locking and unlocking, thereby ensuring the smoothness and reliability of the operation.

[0012] Furthermore, the locking claw is slidably connected to the frame, and the first drive unit drives the locking claw to extend or retract laterally relative to the ladder to switch between a first position and a second position.

[0013] Using the aforementioned technical solution, lateral linear motion does not require rotational adjustment, the motion path is simple and direct, it is not easy to have lateral collisions with surrounding obstacles, such as window frames and decorative components, and the action sequence is clear.

[0014] Furthermore, the locking assembly includes a first locking assembly and a second locking assembly arranged vertically on the ladder. The second driving unit can drive the first locking assembly and the second locking assembly to move relative to each other vertically along the ladder, so that when one locking assembly locks onto the wall, the other locking assembly can move to the next locking position.

[0015] Using the aforementioned technical solution, position progression is achieved through the relative vertical movement of the first and second locking components, enabling continuous climbing without the need for additional telescopic ladders or multi-stage robotic arms. When one locking component securely attaches to the wall and serves as a fixed fulcrum, the second drive unit drives the other locking component to move independently upwards along the ladder, adjusting its position. Subsequently, the first locking component locks, the original locking component disengages, and the stepping motion is completed. This method avoids free movement of the entire machine without a fulcrum, always maintaining a reliable anchor point, significantly improving fall safety during high-altitude operations. Simultaneously, the two components share the same ladder as the motion guide rail, resulting in high structural integration and eliminating the need for independent supports or drive paths for each component, reducing redundant structures. The relative movement is directly driven by the second drive unit, with a clear motion relationship and simple control logic. Fully automatic climbing can be achieved simply by starting, stopping, and switching directions, reducing the complexity of the control system and the difficulty of operation.

[0016] Furthermore, the second drive unit includes a second drive motor fixed on the working platform, a transmission gear connected to the output end of the second drive motor, and a transmission rack arranged along the length direction of the ladder, wherein the transmission gear meshes with the transmission rack.

[0017] Using the aforementioned technical solution, the meshing transmission of the transmission gear and rack is a rigid connection, which can achieve efficient power transmission, reduce energy loss, is not easily affected by external interference, and can maintain reliable operation in the complex environment of rescue operations. It can ensure that the movement of the locking component relative to the ladder or the ladder relative to the locking component is more precise and efficient during alternating climbing.

[0018] Furthermore, the second drive unit includes a lead screw arranged along the length of the ladder, a nut fixedly connected to the working platform, and a second drive motor for driving the lead screw to rotate, wherein the nut is threadedly engaged with the lead screw.

[0019] By adopting the aforementioned technical solution, the threaded engagement of the lead screw and nut can achieve very high position control accuracy, ensuring that the movement of the locking component relative to the ladder or the ladder relative to the locking component is more precise. Secondly, the lead screw and nut structure has a self-locking function. When the second drive motor stops working, the nut and lead screw can lock their positions automatically, minimizing the risk of slippage due to accidental power outages or power interruptions. Especially in high-rise rescue, it can provide additional safety assurance for the secure locking of the locking component and enhance the reliability of the overall mechanism.

[0020] Furthermore, the second drive unit includes a drive wheel rotatably mounted on the ladder, a flexible member wound around the drive wheel, a connector connected to the flexible member, and a second drive motor for driving the drive wheel to rotate. The connector is fixedly connected to the work platform.

[0021] By adopting the aforementioned technical solution, since the flexible component can flexibly change its shape and angle, it can be flexibly arranged according to the relative positional relationship between the ladder and the working platform. Regardless of complex installation scenarios such as steering or misalignment between the drive wheel and the working platform, it can stably achieve power transmission, making the layout of the second drive unit more adaptable.

[0022] Furthermore, the locking claw is equipped with a pressure sensor for detecting the contact pressure between the locking claw and the wall, and the working platform is equipped with a controller, which is connected to the second drive unit and the pressure sensor signal respectively, and is used to control the operation of the second drive unit according to the pressure signal of the pressure sensor.

[0023] Using the aforementioned technical solution, the pressure sensor monitors the contact pressure between the locking claw and the wall in real time, converting the physical contact state into a quantifiable electrical signal and transmitting it to the controller on the work platform. The controller determines whether the locking is in place based on a preset pressure threshold: only when the pressure reaches the set value, indicating that the locking claw is firmly locked, is the controller allowed to send a start command to the second drive unit to drive the ladder or the second locking assembly to perform the next lifting action; if the pressure is insufficient or no effective pressure is detected, the current operating state is maintained or the machine is stopped for manual inspection to prevent misoperation from causing the equipment to slip or overturn. Attached Figure Description

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

[0025] Figure 1 This is a structural schematic diagram of the wall-climbing locking and lifting mechanism according to Embodiment 1 of this utility model;

[0026] Figure 2 This is a schematic diagram of the structure of the second locking component in Embodiment 1 of this utility model;

[0027] Figure 3 This is a schematic diagram of the structure of the first locking component in Embodiment 1 of this utility model;

[0028] Figure 4 This is a schematic diagram of the wall-climbing locking and lifting mechanism of Embodiment 2 of this utility model;

[0029] Figure 5 This is a schematic diagram of the wall-climbing locking and lifting mechanism of Embodiment 3 of this utility model;

[0030] Figure 6 This is a schematic diagram of the wall-climbing locking and lifting mechanism of Embodiment 4 of this utility model;

[0031] Figure 7 This is a schematic diagram of the structure of the second locking component in Embodiment 4 of this utility model;

[0032] Figure 8 This is a schematic diagram of the structure of the first locking component in Embodiment 4 of this utility model;

[0033] Figure 9 This is a schematic diagram of the wall-climbing locking and lifting mechanism of Embodiment 5 of this utility model;

[0034] Figure 10 This is a schematic diagram of the structure of an automatic climbing robot with its locking claw extending according to an embodiment of the present invention;

[0035] Figure 11 This is a schematic diagram of the retracted locking claw structure of an automatic climbing robot according to an embodiment of the present invention;

[0036] Figure 12 This is a schematic diagram of the structure of the automatic climbing robot with its locking claws extended, according to another embodiment of the present invention.

[0037] Figure 13 This is a schematic diagram of the locking and retraction structure of the automatic climbing robot with its locking claws, according to another embodiment of the present invention.

[0038] In the diagram, 10 is the ladder; 11 is the vertical bar; 12 is the inner side; 13 is the outer side; 14 is the guide rail; 15 is the horizontal bar; 20 is the first locking assembly; 21 is the second locking assembly; 22 is the frame; 221 is the mating part; 23 is the locking claw; 231 is the swing arm; 232 is the hook arm; 24 is the first drive unit; 241 is the first drive motor; 242 is the worm gear reducer; 243 is the first gear; 244 is the second gear; 245 is the third gear; and 246 is the fourth gear. 247. Fifth gear; 248. Worm gear; 249. Transmission rod; 25. Second drive unit; 251. Second drive motor; 252. Transmission rack; 253. Lead screw; 254. Nut; 255. Drive wheel; 256. Flexible component; 257. Connector; 26. Working platform; 27. Clamping space; 28. Rotating shaft; 291. First gripper; 292. Second gripper; 2921. Limiting protrusion; 293. Limiting component; 294. Lifting frame; 295. Support wheel. Detailed Implementation

[0039] 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.

[0040] 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 the embodiments of the utility model described herein can be implemented in orders other than those illustrated or described herein.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] Example 1:

[0046] like Figures 1 to 3As shown, this utility model provides a wall-climbing locking and lifting mechanism, including a ladder 10 and at least two locking components disposed on the ladder 10. Each locking component includes a frame 22 and locking claws 23 movably disposed on the frame 22. It also includes a first drive unit 24 for driving the locking claws 23 to move between a first position of locking onto the wall and a second position of disengaging from the wall. At least one locking component is movably connected to the ladder 10 via the frame 22 and is provided with a working platform 26. A second drive unit 25 is provided between the ladder 10 and the frame 22 to drive the relative movement of the two.

[0047] Multiple locking components share the same ladder 10, reducing the duplication of independent guide rails or support structures, resulting in fewer parts and a simpler overall structure. The locking claw 23 of each locking component can switch between a first position and a second position under the drive of the first drive unit 24, achieving reliable locking and unlocking of the wall and ensuring operational safety. At the same time, the locking components are movably connected to the ladder 10 via the frame 22, and the second drive unit 25 drives relative movement between the two. This allows the ladder 10 to rise or fall relative to the locking component when a certain locking component is locking the wall, or the locking component to move relative to the ladder 10 to adjust its position. This achieves bidirectional motion adaptation on the same mechanism, supporting both lifting and lowering of the entire machine in the locking state and position adjustment in the released state. Thus, locking and lifting functions are integrated on the same structure, with a clear movement path, simple and compact structure, and improved movement flexibility and operational reliability.

[0048] In this embodiment, the locking assembly includes a first locking assembly 20 and a second locking assembly 21 arranged vertically on the ladder 10. The frame 22 of the first locking assembly 20 is fixedly connected to the ladder 10, and the frame 22 of the second locking assembly 21 is movably connected to the ladder 10. The second drive unit 25 drives the frame 22 of the second locking assembly 21 and the ladder 10 to move relative to each other. When the first locking assembly 20 locks onto the wall, the second locking assembly 21 rises to the position of the first locking assembly 20 through the second drive unit 25 and locks onto the wall. Then, the first locking assembly 20 disengages from the wall, and the second drive unit 25 runs again to make the ladder 10 rise relative to the second locking assembly 21, and drives the first locking assembly 20 to rise synchronously to the next wall position. The above steps are repeated to achieve continuous climbing.

[0049] Position progression is achieved through the relative vertical movement of the first locking component 20 and the second locking component 21, enabling continuous climbing without the need for additional telescopic ladders or multi-stage robotic arms. When one locking component securely attaches to the wall and serves as a fixed fulcrum, the second drive unit 25 drives the other locking component to move independently upwards along the ladder 10, adjusting its position. Subsequently, the first locking component locks, the original locking component disengages, and the stepping motion is completed. This method avoids free movement of the entire machine without a fulcrum, always maintaining a reliable anchor point, significantly improving fall safety during high-altitude operations. Simultaneously, the two components share the same ladder 10 as a motion guide, resulting in high structural integration and eliminating the need for independent supports or drive paths for each component, reducing redundant structures. The relative movement is directly driven by the second drive unit 25, with a clear motion relationship and simple control logic. Fully automatic climbing can be achieved simply by starting, stopping, and switching directions, reducing the complexity of the control system and the difficulty of operation. The first locking component 20 and the second locking component 21 are staggered vertically. The staggered design optimizes space utilization, making the overall structure more compact, and also minimizes structural interference between the first locking component 20 and the second locking component 21 when they alternately lock and move.

[0050] Specifically, the ladder 10 includes two vertical bars 11 spaced apart and a horizontal bar 15 connecting the adjacent vertical bars 11. The second locking assembly 21 needs to move relative to the ladder 10, requiring a large amount of space. The outer side 13 of the two vertical bars 11 has a spacious area that facilitates movement, and the second locking assembly 21 is installed on the outer side 13 of the two vertical bars 11. The first locking assembly 20 is fixed and requires less space, and the first locking assembly 20 is installed in the area between the two vertical bars 11.

[0051] The second drive unit 25 includes a second drive motor 251 fixed on the work platform 26, a transmission gear connected to the output end of the second drive motor 251, and a transmission rack 252 arranged along the length of the ladder 10. The transmission gear and the transmission rack 252 mesh to achieve efficient power transmission, reduce energy loss, are not easily affected by external interference, and can maintain reliable operation in the complex environment of rescue operations. It also ensures that the movement of the second locking assembly 21 relative to the ladder 10 or the ladder 10 relative to the second locking assembly 21 is more precise and efficient during alternating climbing.

[0052] The first locking assembly 20 and the second locking assembly 21 are each provided with two locking claws 23. The two locking claws 23 are installed on the same frame 22. Only one vertical rod 11 needs to be provided with a transmission rack 252. The lifting and lowering are achieved by the transmission gear on one side meshing with the transmission rack 252, so as to drive the two locking claws 23 to lift and lower.

[0053] To improve the lifting reliability of the two locking claws 23, a guide rail 14 can be installed on the vertical rod 11. Correspondingly, a mating part 221, such as a slider, roller, or guide groove, is installed on the frame 22 to cooperate with the guide rail 14. The guide rail 14 restricts the degree of freedom of movement of the frame 22, clarifies the movement path, and prevents it from shaking, deflecting, or jamming during lifting, ensuring the smooth operation of the work platform 26. Of course, limiters can be installed at both ends of the vertical rod 11. The limiters can abut against the frame 22, and the starting and ending points of the lifting stroke are clearly defined by physical limiting, effectively limiting the travel boundary of the second locking assembly 21 during lifting, and minimizing the risk of the frame 22 detaching from the ladder 10 due to control failure or misoperation during lifting, causing equipment loss of control or falling.

[0054] The locking assembly also includes a rotating shaft 28. The locking claw 23 is rotatably mounted on the frame 22 via the rotating shaft 28, forming a clear rotational kinematic pair. This allows the locking claw 23 to rotate around the rotating shaft 28 under the drive of the first drive unit 24, enabling reliable switching between the second position and the first position. At the same time, the rotational action requires little space and has a compact structure, which is beneficial for switching actions in confined working environments.

[0055] The axis of the rotating shaft 26 is set along the width direction of the ladder 10. The first drive unit 24 can drive the locking claw 23 to rotate relative to the ladder 10 in the vertical plane. When the locking claw 23 is in the first position, the rotating shaft 26 is set perpendicular to the length direction of the ladder 10, that is, the length direction of the rotating shaft 26 is set perpendicular to the vertical direction of the ladder 10. When the locking claw 23 is in the second position, the rotating shaft 26 is set parallel to the length direction of the ladder 10, that is, the length direction of the rotating shaft 26 is set parallel to the vertical direction of the ladder 10. This allows it to avoid obstacles on the exterior wall of the building as much as possible during the locking and unlocking process, thereby ensuring the smoothness and reliability of the operation.

[0056] The first drive unit 24 includes a drive component and a synchronous transmission structure. The synchronous transmission structure is connected to two locking claws 23 respectively. The drive component drives the two locking claws 23 to move synchronously between a first position and a second position through the synchronous transmission structure. This eliminates the need for independent control and synchronous feedback of multiple drive components, reducing the complexity and cost of the control system. The synchronous action of multiple locking claws 23 allows them to simultaneously contact and lock different positions on the wall, forming multi-point support, effectively distributing stress, and minimizing stress concentration or eccentric instability caused by single-point locking, thus enhancing the overall structural load-bearing capacity.

[0057] It should be noted that, since the first locking assembly 20 is located on the inner side 12 of the two vertical rods 11, the distance between the two locking claws 23 of the first locking assembly 20 is small, and the two locking claws 23 of the first locking assembly 20 are driven by the same driving member and synchronous transmission structure. On the other hand, the second locking assembly 21 is located on the outer side 13 of the two vertical rods 11, the distance between the two locking claws 23 of the second locking assembly 21 is large, and the two locking claws 23 of the second locking assembly 21 are driven separately by two first driving units 24.

[0058] Specifically, the locking claw 23 includes a swing arm 231 rotatably mounted on the frame 22. The first drive unit 24 is located at the end of the swing arm 231 near the frame 22, forming a longer physical distance between it and the high-temperature wall and flame, reducing the risk of failure of the first drive unit 24 due to overheating. The end of the swing arm 231 away from the frame 22 is provided with a hook arm 232. The hook arm 232 can be arranged opposite to the frame 22 and form a clamping space 27 for inserting and clamping the wall. The drive component is a drive motor, and the synchronous transmission structure is a worm gear 248 speed reducer. The output shaft of the drive motor is fixedly connected to the worm 248 of the worm gear reducer 242. The output end of the worm gear reducer 242 is fixedly connected to the swing arm 231 of the locking claw 23. The self-locking characteristic of the worm gear reducer 242 can be used to make the swing arm 231 stably in the current position.

[0059] It should be noted that the hook arm 232 is rotatably connected to the swing arm 231 and has a retracted state within the swing arm 231 and a working state in which it extends outward relative to the swing arm 231 to form a hooking space. The swing arm 231 is equipped with a third drive unit that drives the hook arm 232 to switch between the retracted and working states. When in the retracted state, the hook arm 232 is retracted within the swing arm 231, which significantly reduces the overall size of the mechanism and effectively avoids interference with walls, window frames, 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 third drive unit drives the hook arm 232 to extend outward relative to the swing arm 231, quickly forming a stable hooking space and reliably hooking onto the edge of the wall or window sill for secure attachment. The third drive unit can be a motor or other similar structure.

[0060] Furthermore, the locking claw 23 is equipped with a pressure sensor for detecting the contact pressure between the locking claw 23 and the wall. The working platform 26 is equipped with a controller, which is connected to the second drive unit 25 and the pressure sensor signal respectively, and is used to control the operation of the second drive unit 25 according to the pressure signal from the pressure sensor. The pressure sensor monitors the contact pressure between the locking claw 23 and the wall in real time, converts the physical contact state into a quantifiable electrical signal, and transmits it to the controller on the working platform 26. The controller determines whether the locking is in place according to the preset pressure threshold. Only when the pressure reaches the set value, indicating that the locking claw 23 is firmly locked, is the controller allowed to send a start command to the second drive unit 25 to drive the ladder 10 or the second locking assembly 21 to perform the next lifting action, avoiding erroneous operation when the locking is not complete or the locking fails, and effectively preventing the equipment from slipping or tipping over. If the pressure is insufficient or no effective pressure is detected, the current operating state is maintained or the machine is stopped for manual inspection, further preventing the equipment from slipping or tipping over due to misoperation.

[0061] During the climbing process, the first locking assembly 20 is first positioned on the windowsill of the lowest floor of the building. The locking claws 23 of the first locking assembly 20 are flipped downwards to the first position and locked to the building wall. At this time, the swing arm 231 of the first locking assembly 20 is perpendicular to the ladder 10. Then, the two first drive units 24 synchronously drive the two locking claws 23 of the second locking assembly 21 to flip upwards to the second position. At this time, the swing arm 231 of the second locking assembly 21 is parallel to the ladder 10. After that, the second drive motor 251 starts, and the second locking assembly 21 moves upwards through the gear rack 252 arranged on the ladder 10. The working platform 26 also moves upwards synchronously. Once the second locking assembly 21 moves to the position of the first locking assembly 20, the second drive motor 251 stops working. Then, the locking claw 23 of the second locking assembly 21 flips downward to perform the wall locking action. Once the locking claw 23 of the second locking assembly 21 is fully locked (i.e., the locking claw 23 is in the first position), the first locking assembly 20 runs and moves, causing the locking claw 23 of the first locking assembly 20 to move to the second position. Afterward, the second drive unit 25 runs again, because the second locking assembly... When component 21 is locked to the wall, the ladder 10 rises relative to the second locking component 21, simultaneously driving the first locking component 20 to rise to the next wall. Then, the first locking component 20 operates and moves, causing its locking claw 23 to move to the first position. The second drive motor 251 then operates, causing the ladder 10 to move downwards until the swing arm 231 of the first locking component 20 touches the wall. The second drive motor 251 stops when the pressure detected by the pressure sensor reaches a set threshold, indicating a secure lock. This cycle can then be repeated to enable climbing operations.

[0062] It is understood that in other embodiments, the first locking component and the second locking component may also have one, three, four or other suitable number of locking claws to form a reliable locking connection.

[0063] Understandably, in other embodiments, transmission racks can also be provided on both vertical bars, and the transmission gears on both sides can mesh with the transmission racks simultaneously to achieve lifting and lowering, so that the driving force and load are evenly distributed on the left and right vertical bars of the ladder, forming a symmetrical force flow path to form a guiding constraint, so as to avoid torsional torque and off-center load caused by the force line deviating from the center when the transmission is on one side as much as possible, and to prevent the support from tilting or jamming during the lifting and lowering process as much as possible.

[0064] Understandably, in other embodiments, the hook arm can also be fixedly connected to the swing arm to form an integrated locking structure. The overall structure is stable and can effectively transmit the locking force, avoiding shaking or stress concentration caused by loose connection as much as possible, thereby improving load-bearing capacity and impact resistance.

[0065] Understandably, in other embodiments, the frames of the first and second locking components are movably connected to the ladder and each is equipped with a second drive unit, allowing the movement of each locking component on the ladder to be controlled independently without relying on the state or action of the other locking component. When one locking component is locked to the wall as a fixed fulcrum, the other locking component can actively and independently move along the ladder to the next locking position through its independent second drive unit, achieving precise positioning and efficient position switching.

[0066] Example 2:

[0067] like Figure 4 As shown, in this embodiment, the second drive unit 25 includes a lead screw 253 arranged along the length of the ladder 10, a nut 254 fixedly connected to the working platform 26, and a second drive motor 251 for driving the lead screw 253 to rotate. The nut 254 is threadedly engaged with the lead screw 253. This design ensures precise movement of the locking assembly relative to the ladder 10 or vice versa. Furthermore, the lead screw 253 and nut 254 structure has a self-locking function. When the second drive motor 251 stops working, the nut 254 and lead screw 253 can automatically lock into position, minimizing the risk of slippage due to unexpected power outages or power interruptions. Especially in high-rise rescue operations, this provides additional safety assurance for the secure locking of the locking assembly, enhancing the overall reliability of the mechanism.

[0068] When the second drive motor 251 rotates, the lead screw 253 acts as the active body for movement, and the nut 254 rotates with the lead screw 253 according to the lead of the corresponding specification, which is converted into linear motion, so as to realize the upward movement of the work platform 26 and the climbing operation.

[0069] Example 3:

[0070] like Figure 5 As shown, in this embodiment, the second drive unit 25 includes a drive wheel 255 rotatably mounted on the ladder 10, a flexible member 256 wound around the drive wheel 255, a connector 257 connected to the flexible member 256, and a second drive motor 251 for driving the drive wheel 255 to rotate. The connector 257 is fixedly connected to the work platform 26. Since the flexible member 256 can flexibly change its shape and angle, it can be flexibly arranged according to the relative positional relationship between the ladder 10 and the work platform 26. Regardless of complex installation scenarios such as turning or misalignment between the drive wheel 255 and the work platform 26, it can stably achieve power transmission, making the layout of the second drive unit 25 more adaptable.

[0071] Specifically, the drive wheel 255 is a gear, the flexible component 256 is a chain, and the connecting component 257 is a fixed seat. The chain is mounted on the gear, and the gear is fixed to the top of the ladder 10. The lifting platform is mounted on one side of the chain via the fixed seat. When the second drive motor 251 drives the chain through the gear, the fixed seat follows the chain in a vertical linear motion, realizing the upward movement of the lifting platform and climbing operations.

[0072] Of course, in other embodiments, the flexible element can also be a belt, which is driven by a belt. Belts usually have good weather resistance and chemical corrosion resistance. Unlike chains, they do not need to be lubricated regularly, which avoids problems such as oil dripping and lubrication failure. They can still operate stably in high-temperature, dusty or humid fire scenes.

[0073] Example 4:

[0074] like Figures 6 to 8 As shown, in this embodiment, the axis of the rotating shaft 26 is set along the length direction of the ladder 10, that is, along the vertical direction of the ladder 10. The first driving unit 24 can drive the locking claw 23 to rotate relative to the ladder 10 in the horizontal plane. When the locking claw 23 is in the first position or the second position, the rotating shaft 26 is set perpendicular to the length direction of the ladder 10, that is, the length direction of the rotating shaft 26 is set perpendicular to the vertical direction of the ladder 10. The horizontal rotation path is relatively gentle, and the driving process is less affected by gravity, so that it avoids obstacles on the exterior wall of the building as much as possible during the locking and unlocking process, thereby ensuring the smoothness and reliability of the operation.

[0075] It should be noted that the locking claw 23 can rotate 180° between the first and second positions, allowing it to completely switch between a fully wall-facing locking state and a fully deflected rearward disengaged state. The locking claw 23 flips from its wall-facing position to a rearward position, creating sufficient clearance and further reducing the risk of collision between the locking claw 23 and the wall structure. This is particularly suitable for scenarios with dense wall openings or limited space. Of course, in other embodiments, the rotation angle can also be suitable, such as 90°, 120°, or 150°. The choice of these angles depends on the equipment installation space, the distribution characteristics of wall obstacles, and the avoidance range required for the locking action, ensuring sufficient avoidance travel while also considering the size and driving torque of the rotating mechanism.

[0076] Specifically, the first drive unit 24 includes a first drive motor 241 and a gear set to simultaneously drive the two locking claws 23 to switch synchronously between the first and second positions. Since the first locking assembly 20 is located inside the two vertical rods 11, the distance between the two locking claws 23 of the first locking assembly 20 is small. The gear set includes a first gear 243 connected to the first drive motor 241, two second gears 244, and a third gear 245. The swing arms 231 of the two locking claws 23 are fixedly connected to the two second gears 244 respectively through a rotating shaft. One second gear 244 directly meshes with the first gear 243, and the other second gear 244 meshes with the third gear 245. The third gear 245 meshes with the first gear 243 to achieve reversal, thereby enabling the two locking claws 23 to flip in different directions and avoid mutual interference. Since the second locking assembly 21 is located on the outer side 13 of the two vertical rods 11, the distance between the two locking claws 23 of the second locking assembly 21 is relatively large. The gear set includes two worms 248, two fourth gears 246 and one fifth gear 247. The first drive motor 241 is a dual-output motor. The two worms 248 are respectively connected to the two output ends of the dual-output motor. The swing arms 231 of the two locking claws 23 are fixedly connected to the two fourth gears 246 respectively through the rotating shaft. One fourth gear 246 meshes with one worm 248, the other fourth gear 246 meshes with the fifth gear 247, and the fifth gear 247 meshes with the other worm 248, thereby realizing that the two locking claws 23 rotate in different directions to avoid mutual interference.

[0077] Example 5:

[0078] like Figure 9As shown, in this embodiment, the locking claw 23 is slidably connected to the frame 22. The first drive unit 24 drives the locking claw 23 to extend or retract laterally relative to the ladder 10 to switch between a first position and a second position. The lateral linear movement does not require rotational adjustment, the movement path is simple and direct, and it is not easy to have lateral collisions with surrounding obstacles, such as window frames and decorative components. The action sequence is clear.

[0079] Specifically, the first drive unit 24 includes a first drive motor 241, a transmission rod 249, an input gear, an output gear, a chain, a synchronizing gear, a rack, and a drive shaft. The first drive motor 241 can be installed at the rear of the frame 22 or in a location away from high-temperature areas. The input gear is fixed to the transmission rod 249, and the output shaft of the first drive motor 241 is fixedly connected to the transmission rod 249. The output gear and the synchronizing gear are respectively fixed to the drive shaft, which is rotatably mounted on the frame 22. The input gear and the output gear are connected via chain transmission. The rack and the swing arm 231 are fixedly connected, and the synchronizing gear and the rack mesh. Thus, the first drive motor 241 drives the transmission rod 249 to rotate, which in turn drives the input gear to rotate. Through chain transmission, the output gear rotates, which in turn drives the drive shaft to rotate, thereby causing the synchronizing gear to rotate. This drives the swing arm 231 to extend and retract, achieving long-distance power transmission and protecting the first drive motor 241 from high temperatures and dust.

[0080] It should be noted that, in one embodiment, such as Figures 10 to 11 As shown, the locking claw 23, except for the part connected to the frame 22, is entirely exposed externally. This facilitates direct and rapid contact with the wall 51 or crossbar 15, improving locking response speed and positioning accuracy. It also facilitates observation and maintenance, and the structure is highly operable. The exposed arrangement also promotes heat dissipation and the removal of foreign objects, minimizing jamming and enhancing operational reliability, especially in complex or polluted environments where it ensures stable execution of the locking function. In another embodiment, the frame 22 is vertically arranged and has a channel through which the locking claw 23 passes. The channel guides and limits the movement of the locking claw 23, ensuring stable and precise extension or rotation, and reducing swaying and off-center loading. And, in another embodiment, as... Figure 12 and Figure 13 As shown, the frame 22 is arranged laterally and has a receiving cavity to accommodate the locking portion of the locking claw 23. This effectively accommodates the root structure of the locking claw 23, improving the overall compactness and safety of the layout, and also optimizing the appearance. Of course, support wheels 295 can also be provided on the frame 22, allowing the entire locking assembly to slide and move more easily.

[0081] Understandably, in other embodiments, the first drive unit may also include a first drive motor, an input gear, and a rack. The first drive motor is fixed on the side of the frame near the swing arm, which shortens the power transmission path, reduces intermediate losses, and has fewer parts. The rack and the swing arm are fixedly connected. The input gear is directly connected to the output shaft of the first drive motor and meshes with the rack to drive the swing arm to switch between a first position and a second position.

[0082] Understandably, in other embodiments, the swing arm can also be a telescopic rod, such as an electric push rod, hydraulic cylinder, or lead screw linear actuator, which eliminates the need for gears, chains, or swing arm rotation mechanisms, simplifies the transmission chain, reduces failure points, improves operational reliability, requires less rotation space, and is particularly suitable for scenarios with limited installation space or dense surrounding structures.

[0083] Example 6:

[0084] like Figure 10 and Figure 11 As shown, in this embodiment, the locking assembly further includes a first gripper 291 and a second gripper 292 rotatably mounted on the frame 22. The first gripper 291 is located outside the second gripper 292. The second gripper 292 has a first working position for engaging the crossbar 15 and a second working position for avoiding the crossbar 15. The frame 22 is provided with a limiting member 293. In its natural state, the second gripper 292 abuts against the limiting member 293 and remains in the first working position. When the ladder 10 moves relative to the frame 22 of the locking assembly, the crossbar 15 can push the first gripper 291 to rotate inward to push the first gripper 291 to flip to the second working position.

[0085] The second gripper 292 is naturally held in the first working position of the horizontal bar 15 by the limiting member 293, ensuring the stability of the locking. When the frame 22 and the ladder 10 move relative to each other to climb, the horizontal bar 15 first contacts the first gripper 291 and pushes it to rotate inward. At the same time, the first gripper 291 pushes the second gripper 292 between them, so that it flips from the first working position to the second working position to avoid the horizontal bar 15, realizing active obstacle crossing. After the obstacle crossing is completed, the second gripper 292 returns to the first working position in a natural state and re-attaches to the upper horizontal bar 15, thus completing the step-by-step climbing and locking action. The action logic is clearer and the reliability of obstacle crossing and locking is higher.

[0086] It should be noted that the first gripper 291 is rotatably connected to the frame 22 via the first pivot 4623. The first pivot 4623 is provided with a fourth elastic element, which acts between the first gripper 291 and the frame 22, applying an elastic restoring force to it, so that it tends to remain in the position of being in contact with the second gripper 292 when no external force is applied. The second gripper 292 is hinged to the frame 22 via the second pivot 4623, and its rotation range is limited by the limiting element 293 to a first working position and a second working position. The second pivot 4623 is provided with a fifth elastic element, which applies an elastic preload force to the second gripper 292, so that it is stably maintained in the first working position under natural conditions.

[0087] It should be noted that the limiting member 293 is a limiting shaft that is horizontally fixed on the frame 22. The limiting shaft is located on the path of the second gripper 292 rotating upward. The second gripper 292 is provided with a limiting protrusion 2921. When the second gripper 292 rotates to the first working position, the limiting protrusion 2921 and the limiting shaft abut against each other to limit the second gripper 292 from continuing to rotate upward. At this time, the angle between the second gripper 292 and the frame 22 is not greater than 90°, and the second gripper 292 can be stably hooked on the crossbar 15.

[0088] It should be noted that a first gripper 291 and a second gripper 292 form a group, and the locking assembly can be provided with two groups laterally. The height of the first gripper 291 and the second gripper 292 in the two groups is the same, that is, the movement state of the first gripper 291 and the second gripper 292 in the two groups is the same, which can realize synchronous clamping from both sides and improve the balance and stability of the locking process. The double arrangement makes the force distribution more uniform, enhances the overall clamping force and anti-overturning ability, and prevents the locking assembly from deflecting or getting stuck on the ladder 10 as much as possible. At the same time, during the obstacle crossing process, the grippers on both sides work together to ensure synchronous flipping and reset as much as possible, improve the reliability of obstacle crossing, and are suitable for ladders 10 of different widths and specifications, enhancing adaptability and operational safety.

[0089] Furthermore, the frame 22 can also be vertically equipped with a lifting frame 294, and the lifting frame 294 is equipped with two sets of first grippers 291 and second grippers 292, which, combined with the horizontal arrangement, form a total of four sets of grippers. This enables multi-point synchronous locking and obstacle crossing, significantly improving gripping stability and structural rigidity. The vertical double-set arrangement enhances the bending and torsional resistance along the direction of the ladder 10, preventing swaying or tilting during climbing as much as possible. The four sets of grippers work together to make the locking force distribution more uniform, improving the smoothness of transition when crossing obstacles, and enhancing the adaptability to complex trapezoidal structures. This makes it suitable for high-intensity operations and high-load conditions, improving the overall safety and reliability of the robot's operation.

[0090] It should be noted that in other embodiments, the grippers can also be provided in three sets to form three-point positioning and obtain more stable support.

[0091] When the locking assembly climbs, the first drive unit 24 carries the locking assembly upwards. The outer side of the second gripper 292 first contacts the crossbar 15. The second gripper 292 rotates inward to avoid the crossbar. Then the crossbar 15 contacts the inner side of the first gripper 291. The first gripper 291 rotates outward. If it is necessary to hook onto the current crossbar 15, the locking assembly needs to move until the second gripper 292 completely passes over the crossbar 15. At this time, the second gripper 292 is reset to the first working position by the second elastic element 47. At this time, the first drive unit 24 stops, and the locking assembly moves downwards under the action of gravity. The inner side of the second gripper 292 contacts the crossbar 15 and hooks onto the crossbar 15. If it is not hooked on the current crossbar 15, the locking assembly continues to rise. The crossbar 15 passes the first gripper 291 and will not be hooked on the second gripper 292. The locking assembly rises to the next crossbar 15 and repeats the above action until it moves to the target crossbar 15 and is locked by the second gripper 292. The locking principle of the second gripper 292 is the same as described above.

[0092] When the locking assembly descends, the first drive assembly carries the locking assembly upwards, causing the crossbar 15 hooked by the second gripper 292 to pass over the first gripper 291. Then, the first drive assembly carrying the locking assembly descends. At this time, the crossbar 15 contacts the outer side of the gripper and pushes the first gripper 291 to flip inward to squeeze the second gripper 292, causing the second gripper 292 to flip to the second working position to avoid the crossbar 15. Then, the locking assembly continues to descend, pushing the first gripper 291 to flip inward and causing the second gripper 292 to flip to the second working position as it passes the crossbar 15, until it descends to the target crossbar 15 that needs to be hooked. After the first gripper 291 passes the target crossbar 15, the first drive assembly carrying the locking assembly rises. The crossbar 15 pushes the first gripper 291 to rotate outward, and the second gripper 292 flips above the crossbar 15, that is, the second working position. At this time, the first drive assembly stops, and the locking assembly moves downward under the action of gravity. The inner side of the second gripper 292 contacts the crossbar 15 and hooks onto the crossbar 15.

[0093] It should be noted that the four sets of grippers operate on the same principle when climbing and descending in the locking assembly.

[0094] 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 locking and lifting mechanism, characterized in that, The system includes a ladder (10), at least two locking components disposed on the ladder (10), and a working platform (26). The locking components include a frame (22) and locking claws (23) movably disposed on the frame (22). The system also includes a first drive unit (24) for driving the locking claws (23) to move between a first position of locking onto the wall and a second position of disengaging from the wall. At least one of the locking components and the working platform (26) can be connected as a whole. At least one of the locking components is movably connected to the ladder (10) through the frame (22). A second drive unit (25) is provided between the ladder (10) and the frame (22) to drive the two to move relative to each other.

2. The wall-climbing locking and lifting mechanism according to claim 1, characterized in that, The locking assembly also includes a rotating shaft, and the locking claw (23) is rotatably mounted on the frame (22) via the rotating shaft (28).

3. The wall-climbing locking and lifting mechanism according to claim 2, characterized in that, The axis of the rotating shaft (28) is perpendicular to the vertical direction of the ladder (10). When the locking claw (23) is in the first position, it is set perpendicular to the vertical direction of the ladder (10). When the locking claw (23) is in the second position, it is set parallel to the vertical direction of the ladder (10).

4. The wall-climbing locking and lifting mechanism according to claim 2, characterized in that, The axis of the rotating shaft (28) is set along the vertical direction of the ladder (10), and the locking claw (23) is set perpendicular to the vertical direction of the ladder (10) when it is in the first position or the second position.

5. The wall-climbing locking and lifting mechanism according to claim 1, characterized in that, The locking claw (23) is slidably connected to the frame (22), and the first drive unit (24) drives the locking claw (23) to extend or retract laterally relative to the ladder (10) to switch between a first position and a second position.

6. The wall-climbing locking and lifting mechanism according to claim 1, characterized in that, The locking assembly includes a first locking assembly (20) and a second locking assembly (21) arranged vertically on the ladder (10). The second drive unit (25) can drive the first locking assembly (20) and the second locking assembly (21) to move vertically relative to each other along the ladder (10), so that when one locking assembly locks onto the wall, the other locking assembly can move to the next locking position.

7. The wall-climbing locking and lifting mechanism according to claim 1 or 6, characterized in that, The second drive unit (25) includes a second drive motor (251) fixed on the work platform (26), a transmission gear connected to the output end of the second drive motor (251), and a transmission rack (252) arranged along the length direction of the ladder (10), wherein the transmission gear meshes with the transmission rack (252).

8. The wall-climbing locking and lifting mechanism according to claim 1 or 6, characterized in that, The second drive unit (25) includes a lead screw (253) arranged along the length of the ladder (10), a nut (254) fixedly connected to the work platform (26), and a second drive motor (251) for driving the lead screw (253) to rotate. The nut (254) is threadedly engaged with the lead screw (253).

9. The wall-climbing locking and lifting mechanism according to claim 1 or 6, characterized in that, The second drive unit (25) includes a drive wheel (255) rotatably mounted on the ladder (10), a flexible member (256) wound around the drive wheel (255), a connector (257) connected to the flexible member (256), and a second drive motor (251) for driving the drive wheel (255) to rotate. The connector (257) is fixedly connected to the work platform (26).

10. The wall-climbing locking and lifting mechanism according to claim 1, characterized in that, The locking claw (23) is equipped with a pressure sensor for detecting the contact pressure between the locking claw (23) and the wall. The working platform (26) is equipped with a controller, which is connected to the second drive unit (25) and the pressure sensor signal respectively, and is used to control the operation of the second drive unit (25) according to the pressure signal of the pressure sensor.

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