CN106741269B - Gait clamping type climbing robot - Google Patents
Gait clamping type climbing robot Download PDFInfo
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- CN106741269B CN106741269B CN201611149682.8A CN201611149682A CN106741269B CN 106741269 B CN106741269 B CN 106741269B CN 201611149682 A CN201611149682 A CN 201611149682A CN 106741269 B CN106741269 B CN 106741269B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention relates to the technical field of robots, in particular to a gait clamping type climbing robot. The gait clamping type climbing robot comprises at least two layers of clamping frames, wherein each layer of clamping frame can be horizontally clamped outside the outer wall of a tower barrel; and gait lifting electric cylinder groups are respectively connected between two adjacent layers of clamping frames and are used for pushing and pulling to drive each layer of clamping frames to vertically move along the outer wall of the tower barrel. This gait clamp type climbing robot's stable in structure, simple reliable, convenient to detach can carry out quick climbing on the outer wall of the different wind turbine generator system tower section of thick bamboo of upper and lower tower section of thick bamboo diameter, and can realize the reliable clamp of tower section of thick bamboo according to the change of tower section of thick bamboo diameter when the climbing, whole gait steady climbing when can realize the climbing again to improvement fan maintenance efficiency and security that can be very big reduces manual operation's risk, and then brings huge economic benefits for the wind-powered electricity generation field.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a gait clamping type climbing robot.
Background
Climbing robot, be in order to solve current some trade more and more high altitude construction demand, can replace the manual work to climb, and can provide a robot of fixed platform function for subsequent operation.
The climbing robot is very different from a mechanism which generally moves on the ground, the climbing robot firstly overcomes the action of gravity, and different climbing robots adopt different movement mechanisms and movement modes according to the difference of the sizes and the shapes of the climbing surfaces. Currently, for vertical wall crawling, an adsorption type or viscous substance is generally adopted to provide gripping force, while for cylindrical crawling, the gripping force is provided by the surface of the pole. The general climbing robot mainly comprises lifting means and fixture, and fixture's clamping force has decided climbing robot's bearing capacity.
The tower drum of the wind turbine generator is generally 50-100 meters in height and is in a conical shape, and the tower drum is thin at the upper part and thick at the lower part. It is known that in the current routine maintenance work of fans in China, detection equipment and small parts are generally carried by workers and climb from the inside of a tower to the top end of the tower; the device is provided with detection equipment or accessories with certain weight, the pulley is required to be arranged at the top end of the tower barrel in advance, a person pulls the rope through the pulley on the ground to hang the required equipment to the tower barrel, if the hoisting pulley is not arranged at the top end of the tower barrel in advance, a crane is required to be started or a hoisting mechanism is required to be temporarily arranged, time and labor are wasted, the risk is high, and the efficiency is too low.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to solve the technical problem of providing a gait clamping type climbing robot which can quickly climb on the outer wall of a wind turbine generator tower with different diameters of an upper tower barrel and a lower tower barrel, can reliably clamp the tower barrel according to the change of the diameter of the tower barrel during climbing, can realize stable climbing of the whole gait during climbing, and has the characteristics of stable structure, simplicity, reliability, convenience in disassembly and capability of bearing a certain weight.
(II) technical scheme
In order to solve the technical problems, the invention provides a gait clamping type climbing robot, which comprises at least two layers of clamping frames, wherein each layer of clamping frame can be horizontally clamped outside the outer wall of a tower barrel; and gait lifting electric cylinder groups are respectively connected between the two adjacent layers of clamping frames and are used for pushing and pulling to drive each layer of clamping frames to vertically move along the outer wall of the tower.
Further, the clamping frame comprises a clamping arm assembly and a tensioning assembly, and the two groups of clamping arm assemblies are oppositely arranged outside the outer wall of the tower barrel; the two ends of each clamping arm assembly are respectively in tensioning connection through a group of tensioning assemblies, and the tensioning assemblies are used for enabling the two groups of clamping arm assemblies to be simultaneously clamped outside the outer wall of the tower.
Further, the clamping arm assembly comprises a first clamping arm, a clamping connecting arm and a second clamping arm which are sequentially connected, the tail ends of the first clamping arm and the second clamping arm are respectively connected with one group of tensioning assemblies, and the inner walls of the first clamping arm and the second clamping arm can be simultaneously pressed outside the outer wall of the tower under the driving of the tensioning force of the two groups of tensioning assemblies.
Further, two ends of the clamping connecting arm are respectively hinged with the first clamping arm and the second clamping arm through a segmented joint assembly; the tail ends of the first clamping arm and the second clamping arm are respectively provided with a tail end connecting piece, and the tail end connecting pieces are used for being connected with the tensioning assembly; and reinforcing ribs are arranged between each tail end connecting piece and the first clamping arm or the second clamping arm.
Further, anti-slip pads are respectively arranged on the inner walls of the first clamping arm and the second clamping arm.
Further, the tensioning assembly comprises a speed reducer, a tensioning screw rod and a transmission nut group, two ends of an output shaft of the speed reducer are respectively connected with one tensioning screw rod, two tensioning screw rods are respectively connected with one group of clamping arm assemblies through the transmission nut group, and two groups of clamping arm assemblies are driven to move simultaneously through relative movement between each group of transmission nut groups and the tensioning screw rod.
Furthermore, a supporting beam is respectively fixed at two ends of an output shaft of the speed reducer, each supporting beam is parallel to the tensioning screw rod, and mounting seats for fixedly mounting the tail ends of the tensioning screw rods are respectively arranged on the two supporting beams.
Further, the tensioning screw rod is sleeved with a first protective cover and a second protective cover, the first protective cover is arranged between the mounting seat and the transmission nut group, and the second protective cover is arranged between the transmission nut group and the speed reducer.
Further, an adjustable force measuring mechanism and a force measuring travel switch are arranged on the transmission nut group, and the force measuring travel switch is used for measuring the driving force of the transmission nut group and controlling the relative movement travel between the transmission nut group and the tensioning screw rod through the adjustable force measuring mechanism.
Further, the gait lifting electric cylinder group comprises a servo electric cylinder, a connecting plate and a fastening assembly, wherein the electric cylinder shaft and the electric cylinder seat of the servo electric cylinder are respectively connected with the connecting plate through the fastening assembly, the connecting plate arranged on the electric cylinder shaft and the connecting plate arranged on the electric cylinder seat are respectively and correspondingly fixed on two adjacent layers of clamping frames, and the servo electric cylinder drives each layer of clamping frames to vertically move along the outer wall of the tower through piston movement push-pull between the electric cylinder shaft and the electric cylinder seat.
(III) beneficial effects
The technical scheme of the invention has the following beneficial effects: the gait clamping type climbing robot comprises at least two layers of clamping frames, wherein each layer of clamping frame can be horizontally clamped outside the outer wall of a tower barrel; and gait lifting electric cylinder groups are respectively connected between two adjacent layers of clamping frames and are used for pushing and pulling to drive each layer of clamping frames to vertically move along the outer wall of the tower barrel. This gait clamp type climbing robot's stable in structure, simple reliable, convenient to detach can carry out quick climbing on the outer wall of the different wind turbine generator system tower section of thick bamboo of upper and lower tower section of thick bamboo diameter, and can realize the reliable clamp of tower section of thick bamboo according to the change of tower section of thick bamboo diameter when climbing, whole gait steady climbing when can realize climbing again to can provide an automatic fixed platform for the daily detection and the maintenance work of fan at any time, improvement fan maintenance efficiency and security that can be very big reduces manual operation's risk, thereby bring huge economic benefits for the wind-powered electricity generation field.
Drawings
Fig. 1 is a schematic structural view of a gait clamp type climbing robot according to an embodiment of the invention;
FIG. 2 is a schematic view of a gait lifting electric cylinder group according to an embodiment of the present invention;
FIG. 3 is a schematic view of a first clamping state of a clamping frame according to an embodiment of the present invention;
FIG. 4 is a schematic view of a second clamping state of the clamping frame according to the embodiment of the present invention;
FIG. 5 is a schematic view of a clamp arm assembly according to an embodiment of the present invention;
FIG. 6 is an exploded view of a clamp arm assembly of an embodiment of the present invention;
FIG. 7 is a schematic view of a tensioning assembly according to an embodiment of the present invention.
Wherein, 1, a tower barrel; 2. 3, clamping the frame; 4. gait lifting electric cylinder group; 5. a clamp arm assembly; 6. a tensioning assembly; 7. 11, connecting plates; 8. 10, fastening components; 9. a servo electric cylinder; 12. a first clamping arm; 13. clamping the connecting arm; 14. a second clamping arm; 15 tail end connectors; 16. reinforcing ribs; 17. an anti-slip pad; 18. 19, a segmented joint assembly; 20. a connecting rod; 21. a support beam; 22. a first shield; 23. a drive nut group; 24. an adjustable force measuring mechanism; 25. a force measuring travel switch; 26. a second shield; 27. tensioning a screw rod; 28. a speed reducer.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1, the gait clamping type climbing robot provided in this embodiment includes at least two layers of clamping frames 2, 3, each layer of clamping frames 2, 3 has the same structure, and each layer of clamping frames 2, 3 can be horizontally clamped outside the outer wall of the tower 1, so as to realize the clamping and loosening processes of the clamping frames 2, 3 on the tower 1; a gait lifting electric cylinder group 4 is connected between the two adjacent layers of clamping frames 2 and 3 respectively, and the gait lifting electric cylinder group 4 is used for pushing and pulling to drive each layer of clamping frames 2 and 3 to vertically move along the outer wall of the tower 1. Preferably, a plurality of groups of gait lifting electric cylinder groups 4 are respectively arranged between two adjacent layers of clamping frames 2 and 3 in parallel, so that a vertical connection structure between the two adjacent layers of clamping frames 2 and 3 is realized, the conical surface of the tower 1 is subjected to self-adaption of clamping angles through the clamping frames 2 and 3, the outer walls of the tower 1 can be clamped and loosened through the clamping frames 2 and 3, the climbing robot is matched with push-pull movement of the gait lifting electric cylinder groups 4, vertical push-pull climbing and horizontal clamping are alternately performed, and therefore the climbing robot can climb up and down on the surface of the tower 1 quickly and reliably.
This gait clamp type climbing robot's stable in structure, simple reliable, convenient to detach can climb fast on the outer wall of the different wind turbine generator system tower section of thick bamboo 1 of upper and lower tower section of thick bamboo 1 diameter, and can realize the reliable clamp of tower section of thick bamboo 1 according to the change of tower section of thick bamboo 1 diameter when climbing, whole gait steady climbing when can realize the climbing again to can provide an automatic fixed platform for the daily detection and the maintenance work of fan at any time, improvement fan maintenance efficiency and security that can be very big reduces manual operation's risk, thereby bring huge economic benefits for the wind-powered electricity generation field.
As shown in fig. 2, the gait lifting electric cylinder group 4 of the present embodiment includes a servo electric cylinder 9, connecting plates 7, 11 and fastening components 8, 10, the electric cylinder of the servo electric cylinder 9 is sleeved in the electric cylinder seat and can do piston movement along the electric cylinder seat; the electric cylinder shaft and the electric cylinder seat of the servo electric cylinder 9 are respectively connected with connecting plates 7 and 11 through fastening components 8 and 10, the connecting plate 7 arranged on the electric cylinder shaft and the connecting plate 11 arranged on the electric cylinder seat are respectively and correspondingly fixed on the two adjacent layers of clamping frames 2 and 3, the servo electric cylinder 9 drives each layer of clamping frames 2 and 3 to vertically move along the outer wall of the tower 1 through piston movement push-pull between the electric cylinder shaft and the electric cylinder seat, and the clamping frames 2 and 3 are matched to clamp or loosen the tower 1, so that the gait lifting process of the climbing robot during climbing up and down along the outer wall of the tower 1 is realized.
Specifically, the electric cylinder seat of the servo electric cylinder 9 of the embodiment is fixed on the lower clamping frame 3 through a set of fastening components 10 and a connecting plate 11, the extending end of the electric cylinder shaft is correspondingly fixed on the adjacent upper clamping frame 2 through another set of fastening components 8 and the connecting plate 7, when the climbing robot climbs upwards, the lower clamping frame 3 is clamped and fastened on the outer wall of the tower 1, the upper clamping frame 2 is loosened from the outer wall of the tower 1, the electric cylinder shaft extends out of the electric cylinder seat, so that the upper clamping frame 2 is pushed to move upwards vertically, then the upper clamping frame 2 is clamped and fastened on the outer wall of the tower 1, the lower clamping frame 3 is loosened from the outer wall of the tower 1, and the electric cylinder seat is pulled upwards to move vertically by the electric cylinder seat by means of shrinkage movement between the electric cylinder shaft and the electric cylinder seat, so that a gait lifting process of the climbing robot can be realized; when the climbing robot climbs downwards, the process is performed in the reverse order. The climbing robot can perform a single gait lifting process even if the mounting direction of the cylinder block and the cylinder shaft of the servo electric cylinder 9 is reversed.
Further, in order to ensure that the electric cylinder shaft and the electric cylinder seat of the servo electric cylinder 9 are reliably fixed with the clamping frames 2, 3 respectively, the connecting plates 7, 11 of the embodiment are preferably fixedly arranged on the clamping frames 2, 3 through bolts; in order to ensure that the mounting activities of the electric cylinder shaft and the electric cylinder seat of the servo electric cylinder 9 on the corresponding clamping frames 2, 3 are flexible and changeable, the fastening assemblies 8, 10 of the preferred embodiment are movable hinge connectors so as to adapt to the angle change caused by the diameter change of different heights of the tower 1 during vertical climbing.
As shown in fig. 3 to 7, the clamping frames 2 and 3 of the present embodiment include a clamping arm assembly 5 and a tensioning assembly 6, and the two groups of clamping arm assemblies 5 are oppositely disposed outside the outer wall of the tower 1; the two ends of each group of clamping arm assemblies 5 are respectively in tensioning connection through a group of tensioning assemblies 6, so that the clamping frames 2 and 3 form a variable frame structure, and the clamping arm assemblies 5 of each group are preferably in matching connection with the tensioning assemblies 6 of each group through bolts and pin shafts; the tensioning assembly 6 is used for enabling the two groups of clamping arm assemblies 5 to be clamped outside the outer wall of the tower 1 at the same time, and the clamping arm assemblies 5 can move along the length direction of the tensioning assembly 6 so as to change the inner ring sizes of the clamping frames 2 and 3, so that the clamping frames 2 and 3 can clamp the towers 1 with different section sizes reliably.
When the clamping frames 2 and 3 are clamped on the outer wall of the tower 1, two ends of the tensioning assembly 6 are utilized to simultaneously provide horizontal tensioning force for the two groups of clamping arm assemblies 5, and at the moment, the inner wall of the clamping arm assemblies 5 is tightly pressed on the outer wall of the tower 1; when the clamping frame 2 is loosened from the outer wall of the tower 1, the tensioning assemblies 6 are spread towards two ends, so that the clamping arm assemblies 5 are separated from the outer wall of the tower 1, and at the moment, the gait lifting electric cylinder group 4 and the adjacent clamping frames 3 in the clamping state jointly provide a vertical supporting force for the clamping frame 2 in the loosening state, so that the clamping frame 2 in the loosening state is prevented from falling.
Wherein fig. 3 and 4 are schematic views of two different states of the clamping frames 2, 3 in the clamped state. Fig. 3 is a first clamping state diagram, wherein the cross-sectional diameter of the tower 1 is d1=4600 mm, and because the cross-sectional diameter of the motor tower 1 in fig. 3 is larger, two ends of each clamping arm assembly 5 are respectively pressed outside the outer wall of the tower 1; fig. 4 is a second clamping state diagram, the cross-sectional diameter of the tower 1 is d2=2500 mm, and since the cross-sectional diameter D2 of the motor tower 1 in fig. 4 is smaller than D1, the middle part of each clamping arm assembly 5 is respectively pressed outside the outer wall of the tower 1.
As shown in fig. 5, the clamping arm assembly 5 of this embodiment includes a first clamping arm 12, a clamping connection arm 13 and a second clamping arm 14 that are sequentially connected, and detachable structures are formed among the first clamping arm 12, the clamping connection arm 13 and the second clamping arm 14, and the ends of the first clamping arm 12 and the second clamping arm 14 are respectively connected with a group of tensioning assemblies 6, so that under the driving of the tensioning forces of the two groups of tensioning assemblies 6, the inner walls of the first clamping arm 12 and the second clamping arm 14 can be simultaneously pressed outside the outer wall of the tower 1.
When the clamping arm assembly 5 is pressed outside the outer wall of the tower 1, the clamping arm assembly can flexibly adapt to the change of different section diameters of the tower 1, and when the clamping frames 2 and 3 are in a first clamping state, the tail ends of the first clamping arm 12 and the second clamping arm 14 are simultaneously pressed outside the outer wall of the tower 1; when the clamping frames 2 and 3 are in the second clamping state, the middle parts of the first clamping arm 12 and the second clamping arm 14 are pressed outside the outer wall of the tower 1 at the same time at the positions close to the clamping connecting arm 13; preferably, the inner walls of the first clamping arm 12 and the second clamping arm 14 are respectively provided with an anti-slip pad 17, so that the clamping arm assembly 5 can be contacted with the outer wall surface of the tower 1 and generate larger static friction adhesion force in the clamping process, the clamping arm assembly 5 can be reliably pressed and attached outside the outer wall of the tower 1, and further preferably, the anti-slip pads 17 are rubber pads with frameworks.
As shown in fig. 6, two ends of the clamping connection arm 13 of the present embodiment are detachably hinged to the first clamping arm 12 and the second clamping arm 14 through the segment joint assemblies 18 and 19, the segment joint assemblies 18 and 19 include a first hinge piece and a second hinge piece, the first hinge piece is installed on the first clamping arm 12 or the second clamping arm 14, preferably installed on an end portion of the first clamping arm 12 or the second clamping arm 14 connected to the clamping connection arm 13, the second hinge piece is installed on two ends of the clamping connection arm 13, and the hinge connection mode of the segment connection assembly is utilized to ensure that the connection angle among the first clamping arm 12, the clamping connection arm 13 and the second clamping arm 14 can be flexibly changed when the clamping arm assembly 5 is in a clamping state, so as to ensure that the first clamping arm 12 and the second clamping arm 14 can be simultaneously pressed outside the outer wall of the tower 1; the first hinge part and the second hinge part are connected through a pin shaft, so that the clamping arm assembly 5 can be assembled and disassembled in a segmented manner quickly; the two ends of the connecting rod 20 of the clamping connecting arm 13 in this embodiment are respectively fixed with a first hinge member and a second hinge member, and the connecting rod 20 is preferably a rectangular steel structural member so as to ensure the reliable strength of the connecting rod 20.
The tail ends of the first clamping arm 12 and the second clamping arm 14 of the embodiment are respectively provided with a tail end connecting piece 15, and the tail end connecting pieces 15 are used for being detachably connected with the tensioning assembly 6; between each trailing link 15 and the first clamping arm 12 or the second clamping arm 14, a reinforcing rib 16 is provided, the reinforcing rib 16 preferably being a steel structure, ensuring a more reliable connection when the angle between the first clamping arm 12 or the second clamping arm 14 and the tightening assembly 6 is varied.
As shown in fig. 7, the tensioning assembly 6 of the present embodiment includes a speed reducer 28, a tensioning screw rod 27 and a transmission nut group 23, two ends of an output shaft of the speed reducer 28 are respectively connected with one tensioning screw rod 27, two tensioning screw rods 27 are respectively connected with one group of clamping arm assemblies 5 through the transmission nut group 23, and the two groups of clamping arm assemblies 5 are driven to move simultaneously through relative movement between the transmission nut group 23 and the tensioning screw rod 27 of each group; in this embodiment, the speed reducer 28 is preferably connected with a servo motor for providing power, and the speed reducer 28 is preferably a worm gear speed reducer 28, and after the power is input to the worm gear speed reducer 28 by the servo motor, the two tensioning screw rods 27 are respectively driven to perform synchronous rotation movements in opposite left and right directions, so as to drive the two sets of transmission nut groups 23 to move simultaneously, and further drive the clamping arm assembly 5 to move through the movement of the transmission nut groups 23, so that the clamping arm assembly 5 is switched between a clamping state and a loosening state.
In order to ensure synchronous axial fixation of the two tensioning screw rods 27 and thus ensure reliable synchronous rotation of the two tensioning screw rods 27, it is preferable that two support beams 21 are respectively fixed at two ends of an output shaft of the speed reducer 28, each support beam 21 is arranged in parallel with the tensioning screw rods 27, and further preferable that the two support beams 21 are coaxially arranged; mounting seats for fixedly mounting the tail ends of the tensioning screw rods 27 are respectively arranged on the two support beams 21, and mounting bearings are preferably arranged on the mounting seats so as to axially fix the tensioning screw rods 27 in shaft holes of an output shaft of the speed reducer 28.
The tensioning screw rod 27 of the embodiment is sleeved with the first protective cover 22 and the second protective cover 26, the first protective cover 22 is arranged between the mounting seat and the transmission nut group 23, the second protective cover 26 is arranged between the transmission nut group 23 and the speed reducer 28, and when the transmission nut group 23 moves along the length direction of the tensioning screw rod 27, the first protective cover 22 and the second protective cover 26 can stretch and shrink according to the position of the transmission nut group 23 so as to ensure the external protective effect of the tensioning screw rod 27; preferably, two ends of the first protection cover 22 are respectively and fixedly connected to the mounting seat and the transmission nut group 23 through a clamp, and two ends of the second protection cover 26 are respectively and fixedly connected to shaft holes of the transmission nut group 23 and the speed reducer 28 through a clamp.
The adjustable force measuring mechanism 24 and the force measuring travel switch 25 are arranged on the transmission nut group 23, the force measuring travel switch 25 is used for measuring the driving force of the transmission nut group 23, and the relative movement travel between the transmission nut group 23 and the tensioning screw rod 27 is controlled through the adjustable force measuring mechanism 24; preferably, the adjustable force measuring mechanism 24 is an adjustable bolt, an elastic element connected with the force measuring travel switch 25 is arranged in the transmission nut group 23, the clamping deformation of the clamping arm is transmitted to the elastic element, and then the clamping force reflected on the elastic element is measured through the force measuring travel switch 25, so that the movement travel of the tensioning screw rod 27 driven by the servo motor is controlled, the control of the clamping force is realized, and the required clamping force can be changed through the adjustable bolt.
The gait clamping type climbing robot of the embodiment is provided with an upper layer clamping frame 2 and a lower layer clamping frame 3, three groups of gait lifting electric cylinder groups 4 are respectively connected between two corresponding clamping arm assemblies 5 of the upper layer clamping frame 2 and the lower layer clamping frame 3, namely six groups of gait lifting electric cylinder groups 4 are arranged between the two adjacent layers of clamping frames 2 and 3, when climbing is carried out, taking upward climbing as an example, when the upper layer clamping frame 2 and the lower layer clamping frame 3 are clamped outside the outer wall of the tower 1, firstly, the upper layer clamping frame 2 is loosened, after the upper layer clamping frame 2 is synchronously pushed upwards to a preset position by the six groups of gait lifting electric cylinder groups 4, the upper layer clamping frame 2 is clamped outside the outer wall of the tower 1, then the lower layer clamping frame 3 is loosened, after the lower layer clamping frame 3 is synchronously pulled upwards to the preset position by the six groups of gait lifting electric cylinder groups 4, and then the lower layer clamping frame 3 is clamped on the outer wall of the tower 1, and the gait lifting process can be completed once; when climbing downwards, ensure that upper clamping frame 2 presss from both sides tightly outside tower 1 outer wall, open lower floor clamping frame 3 earlier, utilize six sets of gait to promote electric cylinder group 4 and promote lower floor clamping frame 3 to the preset position downwards simultaneously after, make lower floor clamping frame 3 press from both sides tightly outside tower 1 outer wall, then loosen upper clamping frame 2, utilize six sets of gait to promote electric cylinder group 4 to draw down upper clamping frame 2 to the preset position simultaneously after, make upper clamping frame 2 press from both sides tightly at tower 1 outer wall, can accomplish a gait decline process, its principle is the same with the gait lift process, can also regard as a gait lift process.
In summary, the gait clamping climbing robot of the embodiment of the invention comprises at least two layers of clamping frames 2 and 3, wherein each layer of clamping frames 2 and 3 can be horizontally clamped outside the outer wall of the tower 1; a gait lifting electric cylinder group 4 is connected between the two adjacent layers of clamping frames 2 and 3 respectively, and the gait lifting electric cylinder group 4 is used for pushing and pulling to drive each layer of clamping frames 2 and 3 to vertically move along the outer wall of the tower 1. This gait clamp type climbing robot's stable in structure, simple reliable, convenient to detach can climb fast on the outer wall of the different wind turbine generator system tower section of thick bamboo 1 of upper and lower tower section of thick bamboo 1 diameter, and can realize the reliable clamp of tower section of thick bamboo 1 according to the change of tower section of thick bamboo 1 diameter when climbing, whole gait steady climbing when can realize the climbing again to can provide an automatic fixed platform for the daily detection and the maintenance work of fan at any time, improvement fan maintenance efficiency and security that can be very big reduces manual operation's risk, thereby bring huge economic benefits for the wind-powered electricity generation field.
The embodiments of the invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (5)
1. The gait clamping type climbing robot is characterized by comprising at least two layers of clamping frames, wherein each layer of clamping frame can be horizontally clamped outside the outer wall of a tower barrel; a gait lifting electric cylinder group is respectively connected between two adjacent layers of clamping frames and is used for pushing and pulling to drive each layer of clamping frames to vertically move along the outer wall of the tower barrel;
the clamping frame comprises a clamping arm assembly and a tensioning assembly, and the two groups of clamping arm assemblies are oppositely arranged outside the outer wall of the tower barrel; the two ends of each group of clamping arm assemblies are respectively in tensioning connection through a group of tensioning assemblies, and the tensioning assemblies are used for enabling the two groups of clamping arm assemblies to be clamped outside the outer wall of the tower barrel at the same time;
the tensioning assembly comprises a speed reducer, tensioning screw rods and a transmission nut group, wherein two ends of an output shaft of the speed reducer are respectively connected with one tensioning screw rod, the two tensioning screw rods are respectively connected with one group of clamping arm assemblies through the transmission nut group, and the two groups of clamping arm assemblies are driven to move simultaneously through relative movement between the transmission nut group and the tensioning screw rods of each group;
two ends of an output shaft of the speed reducer are respectively fixed with a support beam, each support beam is arranged in parallel with the tensioning screw rod, and mounting seats for fixedly mounting the tail ends of the tensioning screw rods are respectively arranged on the two support beams;
the tensioning screw rod is sleeved with a first protective cover and a second protective cover, the first protective cover is arranged between the mounting seat and the transmission nut group, and the second protective cover is arranged between the transmission nut group and the speed reducer;
the adjustable force measuring mechanism is arranged on the transmission nut group, and the force measuring travel switch is used for measuring the driving force of the transmission nut group and controlling the relative movement travel between the transmission nut group and the tensioning screw rod through the adjustable force measuring mechanism.
2. The gait clamp type climbing robot according to claim 1, wherein the clamping arm assembly comprises a first clamping arm, a clamping connecting arm and a second clamping arm which are sequentially connected, the tail ends of the first clamping arm and the second clamping arm are respectively connected with one group of tensioning assemblies, and the inner walls of the first clamping arm and the second clamping arm can be simultaneously pressed outside the outer wall of the tower under the driving of the tensioning forces of the two groups of tensioning assemblies.
3. The gait clamp type climbing robot of claim 2, wherein both ends of the clamp connection arm are hinged with the first and second clamp arms through a segment joint assembly, respectively; the tail ends of the first clamping arm and the second clamping arm are respectively provided with a tail end connecting piece, and the tail end connecting pieces are used for being connected with the tensioning assembly; and reinforcing ribs are arranged between each tail end connecting piece and the first clamping arm or the second clamping arm.
4. The gait clamp type climbing robot of claim 2, wherein the inner walls of the first and second clamp arms are respectively provided with a non-slip mat.
5. The gait clamp type climbing robot according to any one of claims 1 to 4, wherein the gait lifting electric cylinder group comprises a servo electric cylinder, a connecting plate and a fastening assembly, wherein the connecting plate is connected to an electric cylinder shaft and an electric cylinder seat of the servo electric cylinder through the fastening assembly respectively, the connecting plate arranged on the electric cylinder shaft and the connecting plate arranged on the electric cylinder seat are correspondingly fixed on two adjacent layers of clamping frames respectively, and the servo electric cylinder drives each layer of clamping frames to vertically move along the outer wall of the tower through piston movement push-pull between the electric cylinder shaft and the electric cylinder seat.
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| CN201611149682.8A CN106741269B (en) | 2016-12-13 | 2016-12-13 | Gait clamping type climbing robot |
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| CN201611149682.8A CN106741269B (en) | 2016-12-13 | 2016-12-13 | Gait clamping type climbing robot |
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| CN106741269B true CN106741269B (en) | 2023-08-01 |
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| CN109895114B (en) * | 2019-03-12 | 2024-02-27 | 广东机电职业技术学院 | Pneumatic muscle driven climbing robot with polygonal structure |
| CN113998023B (en) * | 2020-07-28 | 2023-09-08 | 临颍县爬杆机器人有限公司 | Force control device and pole-climbing robot |
| CN113605242B (en) * | 2021-08-03 | 2023-08-25 | 中国一冶集团有限公司 | Attachment device of cat ladder |
| CN113788384B (en) * | 2021-08-31 | 2023-01-03 | 江苏砺诚交通科技有限公司 | High-safety automatic climbing equipment and method for outer wall of tower barrel |
| CN115416777B (en) * | 2022-07-31 | 2023-08-01 | 贵州电网有限责任公司 | Climbing structure applied to columnar rod body |
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| JPS60248483A (en) * | 1984-05-23 | 1985-12-09 | Kubota Ltd | Elevator |
| AU2005325506B2 (en) * | 2005-01-19 | 2011-04-07 | Iti Scotland Limited | A clamp, self-advancing climbing device, and method of coupling same to a tubular |
| US8939299B2 (en) * | 2007-12-21 | 2015-01-27 | Vestas Wind Systems A/S | Method for handling and/or servicing components of a wind turbine and a gripping apparatus for performing the method |
| CN203391889U (en) * | 2013-07-19 | 2014-01-15 | 崔相如 | Mechanical device of self-adaptive wind power tower profile |
| CN105439005B (en) * | 2014-08-28 | 2017-06-06 | 三一汽车起重机械有限公司 | Crane |
| CN204355189U (en) * | 2015-01-04 | 2015-05-27 | 中铁十九局集团第七工程有限公司 | For the vacuum type climbing robot of column |
| CN105836636A (en) * | 2015-01-15 | 2016-08-10 | 三汽车起重机械有限公司 | Hold hoop of climbing crane and climbing crane |
| CN206265183U (en) * | 2016-12-13 | 2017-06-20 | 北京时代天工科技发展有限公司 | A kind of gait clamped-in style climbing robot |
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