CN113581315A - Modularized upright climbing chassis - Google Patents
Modularized upright climbing chassis Download PDFInfo
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- CN113581315A CN113581315A CN202111084607.9A CN202111084607A CN113581315A CN 113581315 A CN113581315 A CN 113581315A CN 202111084607 A CN202111084607 A CN 202111084607A CN 113581315 A CN113581315 A CN 113581315A
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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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
Abstract
The invention discloses a modularized upright climbing chassis which comprises a plurality of driving modules and a plurality of tension modules; the driving module is hinged with the tension module to form a surrounding chassis; cylinders with different diameters are adapted by adjusting the length of the tension module or adjusting the number between the driving module and the tension module; a working track is hinged on the driving module; a pulley is movably arranged on the working track; the pulley is provided with a working head; the invention adopts a modular design, and the columns with different shapes, sizes and specifications can quickly meet the construction requirements by adjusting the length of the tension module or by combining different numbers of driving modules and tension modules; the working head arranged on the working track can realize the work of automatic inspection, cleaning, spraying, polishing, roughening, local breaking and repairing, grooving and the like; the problem that prior art exists is solved, work efficiency has effectively been improved, has also reduced the probability that the accident appears in the work progress simultaneously.
Description
Technical Field
The invention relates to the technical field of building maintenance, in particular to a modularized upright post climbing chassis.
Background
In road and bridge maintenance reinforcement, municipal road maintenance, wind power setting, marine operation platform tubular pile maintenance process, often can need to be handled cylinder surface, including detection, washing, spraying, surface chisel hair, local chisel remove, local restoration. The large-scale bridge pier comprises a road bridge pier, a large bridge pier, a pile foundation, a wind power tower, a large-scale building upright post and the like. Traditional manual handling just can go up personnel and equipment and carry out construction work after need set up scaffold frame and operation platform in order to satisfy personnel's safety. The need is to provide a novel upright climbing chassis, which can directly carry a construction working head to perform construction operation on a column.
Disclosure of Invention
The invention aims to provide a modularized upright climbing chassis which adopts a modularized design, and cylinders with different shapes and sizes can quickly meet construction requirements through simple module combination.
The invention is realized by the following technical scheme:
a modular upright climbing chassis comprises a plurality of driving modules and a plurality of tension modules; the driving module is hinged with the tension module to form a surrounding chassis; the cylinders with different diameters can be adapted by adjusting the length of the tension modules or adjusting the number between the driving modules and the tension modules.
Further, a working track is hinged to the driving module; a pulley is movably arranged on the working track; the pulley is provided with a working head.
Further, the drive module includes a frame, a resilient assembly, and a crawler assembly; the elastic component is arranged in the middle of the frame; the crawler belt walking assembly is arranged on the elastic assembly.
Further, the crawler belt walking assembly comprises a crawler belt, a driving wheel, a pressing wheel, a tensioning wheel, a driving motor and a speed reducer; the crawler belt is arranged between the driving wheel and the tensioning wheel; the pinch roller is tightly pressed on the inner side wall of the crawler belt; the driving motor is in transmission connection with the driving wheel through the speed reducer; the crawler belt is pressed against the side wall of the column body.
Further, the device also comprises a control module, a force sensor and an actuator; the control module is electrically connected with the force sensor and the actuator respectively; the positive pressure of the encircling chassis embracing cylindrical surface is controlled by adjusting the tension of the tension module through the force sensor and the actuator, so that the encircling chassis has enough friction force.
Further, the working track is hinged between the driving module and the tension module.
Further, the driving wheel and the tension wheel are both mounted on the elastic assembly through a first mounting plate; the pinch roller passes through the second mounting panel install in elastic component is last.
Further, a driver for driving the pulley is installed on the working track.
Further, the working head is one of a camera, a detection head, a high-pressure water spray gun, a paint spray gun, a burr cutting head and a manned platform.
Further, the column body is one of a column, a square column and the like with equal section and a variable section.
Furthermore, the number of the driving modules and the number of the tension modules are more than 2.
The invention has the beneficial effects that:
the invention adopts a modular design, and the columns with different shapes, sizes and specifications can quickly meet the construction requirements by adjusting the length of the tension module or by combining different numbers of driving modules and tension modules. Different working tracks are carried on the climbing chassis provided by the invention, and the working heads arranged on the working tracks can realize the work of automatic inspection, cleaning, spraying, polishing, roughening, local breaking and repairing, grooving and the like; the problem of traditional artifical when handling the cylinder surface in order to satisfy personnel's safety, just can go up personnel and equipment and carry out the construction operation after need set up scaffold frame and operation platform is solved, work efficiency has effectively been improved, has also reduced the probability that the accident appears in the work progress simultaneously.
Drawings
Fig. 1 is a schematic front view of an assembly of a modular upright climbing chassis and a column according to embodiment 1 of the present invention;
FIG. 2 is a schematic top view of an assembly of a modular upright climbing chassis and a column according to embodiment 1 of the present invention;
fig. 3 is a schematic front view of an assembly of a modular upright climbing chassis and a column according to embodiment 2 of the present invention;
fig. 4 is a schematic top view of an assembly of a modular upright climbing chassis and a column according to embodiment 2 of the present invention;
fig. 5 is a schematic front view of an assembly of a modular upright climbing chassis and a square column according to embodiment 3 of the present invention;
fig. 6 is a schematic top view of an assembly of a modular upright climbing chassis and a square column according to embodiment 3 of the present invention;
FIG. 7 is a schematic front view of a crawler assembly according to an embodiment of the present invention;
FIG. 8 is a side view of a crawler track assembly according to an embodiment of the present invention;
FIG. 9 is another side view of the crawler travel assembly of the present invention;
FIG. 10 is a schematic top view of a crawler track assembly according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of a tension analysis of a crawler assembly according to an embodiment of the present invention;
FIG. 12 is a second schematic view of a tension analysis of a crawler belt running assembly according to an embodiment of the present invention.
In the drawings: 1-a drive module; 2-a tension module; 3-a working track; 4-pulley; 5-working head; 6-column body; 7-a first mounting plate; 8-a second mounting plate; 11-a frame; 12-a resilient component; 13-a crawler track assembly; 100-surrounding the chassis; 131-a crawler; 132-a drive wheel; 133-pinch roller; 134-tension wheel; 135-a drive motor; 136-reducer.
Detailed Description
The invention will be described in detail with reference to the drawings and specific embodiments, which are illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that all the directional indications (such as up, down, left, right, front, back, upper end, lower end, top, bottom … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.
In the present invention, unless expressly stated or limited otherwise, the term "coupled" is to be interpreted broadly, e.g., "coupled" may be fixedly coupled, detachably coupled, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature; in addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 10, a modular upright climbing chassis comprises a plurality of driving modules 1 and a plurality of tension modules 2; the driving module 1 and the tension module 2 are hinged to form a surrounding chassis 100; the cylinders 6 with different diameters are adapted by adjusting the length of the tension module 2 or adjusting the number between the driving module 1 and the tension module 2; a working track 3 is hinged on the driving module 1; a pulley 4 is movably arranged on the working track 3; the pulley 4 is provided with a working head 5. The invention adopts a modular design, and the columns 6 with different shapes, sizes and specifications can quickly meet the construction requirements by adjusting the length of the tension module 2 or by combining different numbers of driving modules 1 and tension modules 2. Different working rails 3 are carried on the climbing chassis provided by the invention, and the working heads 5 arranged on the working rails 3 can realize the work of automatic inspection, cleaning, spraying, polishing, roughening, local breaking and repairing, grooving and the like; the problem of traditional artifical when handling 6 surfaces of cylinder in order to satisfy personnel's safety, just can go up personnel and equipment and carry out the construction operation after need set up scaffold frame and operation platform is solved, work efficiency has effectively been improved, has also reduced the probability that the accident appears in the work progress simultaneously.
Specifically, in this embodiment, the driving module 1 includes a frame 11, an elastic assembly 12, and a crawler assembly 13; the elastic component 12 is arranged in the middle of the frame 11; the crawler belt units 13 are mounted on the elastic units 12. It should be noted that the elastic member 12 can serve as a shock absorber and a buffer, and further improve the stability of the crawler belt 13 during operation.
Specifically, in this embodiment, the crawler belt traveling assembly 13 includes a crawler belt 131, a driving wheel 132, a pressing wheel 133, a tensioning wheel 134, a driving motor 135, and a speed reducer 136; the crawler 131 is mounted between the driving wheel 132 and the tension wheel 134; the pinch roller 133 is pressed on the inner side wall of the crawler belt 131; the driving motor 135 is in transmission connection with the driving wheel 132 through the reducer 136; the track 131 bears against the side wall of the column 6. In use of the present invention, the driving motor 135 is operated to transmit power to the driving wheel 132 through the decelerator 136; the driving wheel 132 drives the crawler 131 to rotate, and under the action of the tension wheel 134 and the pinch wheel 133, the crawler 131 is tightly attached to the side wall of the column 6, so that enough friction force (ground grabbing force) is generated for the climbing chassis to perform lifting movement, a scaffold and an operation platform are replaced to be manually erected, the workload is reduced, and the working efficiency is effectively improved.
Specifically, in the present embodiment, the device further includes a control module, a force sensor, and an actuator; the control module is electrically connected with the force sensor and the actuator respectively; the force sensor and the actuator are used for adjusting the tension of the tension module 2 to control the positive pressure of the encircling chassis 100 on the cylindrical surface, so that the encircling chassis 100 has enough friction force, and the phenomenon that the encircling chassis 100 slides downwards due to insufficient friction force or is overloaded due to an overlarge positive pressure structure is prevented.
Specifically, in this embodiment, the working rail 3 is hinged between the driving module 1 and the tension module 2. It should be noted that, according to different use occasions, the working track 3 may be disposed at different positions, so as to facilitate working.
Specifically, in this embodiment, the driving wheel 132 and the tension wheel 134 are both mounted on the elastic component 12 through a first mounting plate 7; the pinch roller 133 is mounted to the spring assembly 12 by a second mounting plate 8.
Specifically, in this embodiment, a driver for driving the trolley 4 is installed on the working track 3. The pulley 4 is arranged on the working track 3, so that the working head 5 can move conveniently, the working head 5 can quickly reach a working position to work, and the working efficiency is further improved.
Specifically, in this embodiment, the working head 5 is one of a camera, a detection head, a high-pressure water spray gun, a paint spray gun, a burr cutting head, and a manned platform. According to different types of stand columns, the working head 5 can be replaced by components with different functions, such as a camera, a detection head, a high-pressure water spray gun, a paint spray gun, a burr cutting head, a manned platform and the like, and the device has the advantages of wide application range, strong applicability and good economic benefit.
Specifically, in the embodiment, the column body 6 is one of a cylindrical column, a square column and other cross-sectional columns and a variable cross-sectional column. It should be noted that, the variable cross-section column, such as a wind power column, is a tapered shape, the length of the tension module 2 is adjusted in a hydraulic manner, and the size of the tension module is adjusted in the climbing process so as to adapt to the tapered side wall surface of the variable cross-section column.
Example 1
Referring to fig. 1-2, fig. 11; when the column 6 is a cylinder, the number of the driving modules 1 and the number of the tension modules 2 are 3, and the 3 driving modules 1 and the 3 tension modules 2 are hinged end to form a hexagonal surrounding chassis 100; if the tension of the tension module 2 is F, the crawler 131 presses the side wall of the column 6 in the forward direction by F ═ F √ 3 ≈ 1.73F, the column climbing chassis is provided with a control system, and the control system comprises a control module, a force sensor and an actuator; the positive pressure of the cylindrical surface of the whole set of equipment is controlled by adjusting the tension of the connecting tension module 2 through the force sensor and the actuator, so that the equipment is ensured to have sufficient friction force. Prevent the structure that the frictional force is not enough to slide down or the positive pressure is too big from overloading.
Example 2
3-4, FIG. 12; when the column 6 is a cylinder, the number of the driving modules 1 and the number of the tension modules 2 are 4, and the 4 driving modules 1 and the 4 tension modules 2 are hinged end to form an octagonal surrounding chassis 100; if the tension of the tension module 2 is F, the crawler 131 presses the side wall of the column 6 in the forward direction by F ═ F √ 2 ≈ 1.41F, the column climbing chassis is provided with a control system, and the control system comprises a control module, a force sensor and an actuator; the positive pressure of the cylindrical surface of the whole set of equipment is controlled by adjusting the tension of the connecting tension module 2 through the force sensor and the actuator, so that the equipment is ensured to have sufficient friction force. Prevent the structure that the frictional force is not enough to slide down or the positive pressure is too big from overloading.
Example 3
Referring to fig. 5-6, when the column body 6 is a square column, the number of the driving modules 1 and the number of the tension modules 2 are 4, and a surrounding chassis 100 with a hexadecaped shape formed by a working track 3 is hinged between the 4 driving modules 1 and the 4 tension modules 2; the 4 caterpillar bands 131 are respectively tightly propped against the four side walls of the square column; the upright post climbing chassis is provided with a control system, and the control system comprises a control module, a force sensor and an actuator; the positive pressure of the cylindrical surface of the whole set of equipment is controlled by adjusting the tension of the connecting tension module 2 through the force sensor and the actuator, so that the equipment is ensured to have sufficient friction force. Prevent the structure that the frictional force is not enough to slide down or the positive pressure is too big from overloading.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the present description should not be construed as a limitation to the present invention.
Claims (10)
1. A modularization stand chassis of climbing which characterized in that: the device comprises a plurality of driving modules and a plurality of tension modules; the driving module is hinged with the tension module to form a surrounding chassis; the cylinders with different diameters can be adapted by adjusting the length of the tension modules or adjusting the number between the driving modules and the tension modules.
2. The modular pole climbing chassis of claim 1, wherein: a working track is hinged on the driving module; a pulley is movably arranged on the working track; the pulley is provided with a working head.
3. The modular pole climbing chassis of claim 1, wherein: the driving module comprises a frame, an elastic component and a crawler belt walking component; the elastic component is arranged in the middle of the frame; the crawler belt walking assembly is arranged on the elastic assembly.
4. The modular pole climbing chassis of claim 3, wherein: the crawler belt walking assembly comprises a crawler belt, a driving wheel, a pressing wheel, a tensioning wheel, a driving motor and a speed reducer; the crawler belt is arranged between the driving wheel and the tensioning wheel; the pinch roller is tightly pressed on the inner side wall of the crawler belt; the driving motor is in transmission connection with the driving wheel through the speed reducer; the crawler belt is pressed against the side wall of the column body.
5. The modular pole climbing chassis of claim 1, wherein: the device also comprises a control module, a force sensor and an actuator; the control module is electrically connected with the force sensor and the actuator respectively; the positive pressure of the encircling chassis embracing cylindrical surface is controlled by adjusting the tension of the tension module through the force sensor and the actuator, so that the encircling chassis has enough friction force.
6. The modular pole climbing chassis of claim 3, wherein: the driving wheel and the tensioning wheel are both arranged on the elastic component through a first mounting plate; the pinch roller passes through the second mounting panel install in elastic component is last.
7. The modular pole climbing chassis of claim 1, wherein: and a driver for driving the pulley is arranged on the working track.
8. The modular pole climbing chassis of claim 1, wherein: the working head is one of a camera, a detection head, a high-pressure water spray gun, a paint spray gun, a burr cutting head and a manned platform.
9. The modular pole climbing chassis of claim 1, wherein: the column body is one of a column with a constant section and a column with a variable section.
10. The modular pole climbing chassis of claim 1, wherein: the number of the driving modules and the number of the tension modules are more than 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111084607.9A CN113581315A (en) | 2021-09-14 | 2021-09-14 | Modularized upright climbing chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111084607.9A CN113581315A (en) | 2021-09-14 | 2021-09-14 | Modularized upright climbing chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113581315A true CN113581315A (en) | 2021-11-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111084607.9A Pending CN113581315A (en) | 2021-09-14 | 2021-09-14 | Modularized upright climbing chassis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113581315A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| WO2023134038A1 (en) * | 2022-01-14 | 2023-07-20 | 上海建工二建集团有限公司 | Clamping track device clamped on precast pile and use method of clamping track device |
-
2021
- 2021-09-14 CN CN202111084607.9A patent/CN113581315A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023134038A1 (en) * | 2022-01-14 | 2023-07-20 | 上海建工二建集团有限公司 | Clamping track device clamped on precast pile and use method of clamping track device |
| CN116176724A (en) * | 2023-04-24 | 2023-05-30 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
| CN116176724B (en) * | 2023-04-24 | 2023-08-25 | 江苏万防风电科技有限公司 | Pull arm type climbing robot for outer wall operation of large wind power tower |
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