CN115041952B

CN115041952B - Climbing operation platform with bolt tightening function and operation method

Info

Publication number: CN115041952B
Application number: CN202210690073.2A
Authority: CN
Inventors: 张金锋; 程智余; 张天忠; 刘军; 罗义华; 刘勇; 刘承志; 何辉; 刘大平; 王鹏; 汪胜和; 黄杰; 徐宁; 计策; 魏松; 李先纯; 程华龙; 金义; 马路遥
Original assignee: State Grid Anhui Electric Power Co Ltd
Current assignee: State Grid Anhui Electric Power Co Ltd
Priority date: 2021-06-21
Filing date: 2022-06-17
Publication date: 2024-05-10
Anticipated expiration: 2042-06-17
Also published as: CN115026555A; CN115229483B; CN115229482A; CN115026556B; CN217727803U; CN115041952A; CN113649796A; CN115026555B; CN115026556A; CN115229483A

Abstract

The invention discloses a climbing operation platform with a bolt tightening function and an operation method. The operation method comprises the steps that a host and clamping devices climb along an object to be climbed, when the object to be climbed is climbed to a position where bolt tightening is needed, the two clamping devices are clamped on the object to be climbed, and the bolt tightening device is used for screwing and tightening bolts on the object to be climbed. The invention has the advantages that: the bolt tightening device has the bolt tightening function, does not need manual operation, and is good in safety, low in labor intensity and high in tightening efficiency. The climbing mode is simple and reliable, stable support can be provided for the re-tightening operation, and the re-tightening effect is good.

Description

Climbing operation platform with bolt tightening function and operation method

Technical Field

The invention relates to the field of electric power operation climbing robots, in particular to a climbing operation platform with a bolt tightening function and an operation method.

Background

The angle steel tower is an important facility in the electric power field, as shown in fig. 28 and 29, is a schematic diagram of an angle steel main material a of the angle steel tower in the prior art, the section of the angle steel main material a is in a right angle shape, a plurality of pins a1 are distributed on two sides of the section of the angle steel main material a from bottom to top, the pins a1 are in a rod-shaped structure and are perpendicular to the outer side surfaces of the angle steel main material a, two adjacent angle steel main materials a are connected through a right angle-shaped connecting plate a2, the connecting plate a2 is positioned on the outer side of a connecting position of the two angle steel main materials a, and the connecting plate a2 is fixedly connected with the end part of the angle steel main material a through bolts. The electric power angle steel towers are large in number and wide in distribution, and are exposed to the field environment or even the severe environment with high dust and strong wind and high humidity for a long time, so that maintenance personnel need to ascend a height in the subsequent overhaul and maintenance process, and the connecting bolts at the electric power angle steel towers are re-tightened and stabilized. In the prior art, various maintenance robots for electric angle steel towers or other high-altitude operations have been developed, for example, chinese patent application publication No. CN112356940a discloses a climbing robot for angle steel towers, which can clamp the angle steel tower on angle steel by means of clamping jaws and avoid obstacles such as foot nails on the angle steel tower in the climbing process by opening the clamping jaws, but the opening angle of the clamping jaws is limited, long foot nails cannot be avoided, and the avoiding range is small. This climbing robot for angle steel tower is in actual climbing in-process through V type piece and clamping jaw cooperation, and V type piece passes through V type groove pressure in the edge department of angle steel, realizes firmly the purpose of holding the angle steel. But connect through the connecting plate between actual angle steel and the angle steel tip generally, the connecting plate can follow two angle steel junction's edge outstanding partly promptly, and march to climbing robot and cause the obstacle, and V type piece among the prior art is fixed, and V type piece itself can't dodge the angle steel connecting plate, consequently only can cross obstacles such as angle steel connecting plate through the gesture of adjustment robot, and the structure is comparatively complicated, and the action is inflexible. Furthermore, the climbing robot in the prior art does not have the bolt re-tightening function, the re-tightening of the connecting bolts at the electric power angle steel tower still needs manpower to be completed, the danger coefficient is high, the labor intensity is high, the dead time is long, and the physical overdrawing of the staff is extremely easy to be caused, so that the physical health of the staff is further endangered, and meanwhile, the efficiency of the manpower re-tightening maintenance mode is low.

Disclosure of Invention

The technical problems to be solved by the invention are as follows:

the climbing robot in the prior art does not have the technical problem of bolt tightening function.

The invention solves the technical problems by the following technical means:

The utility model provides a climbing operation platform with bolt is tight function again, includes the host computer, be provided with clamping device, bolt and is tight device again on the host computer, clamping device can follow the climbing object of waiting, bolt is tight device again including setting up the extension arm on the host computer, the tip of extension arm is provided with the working head, the expansion end of working head is provided with the sleeve, bolt is tight device again can treat the bolt on the climbing object and revolve and twist.

When the climbing operation platform with the bolt tightening function is actually applied, the host and the clamping device can carry the bolt tightening device to climb on an object to be climbed, the climbing is stopped when the position of the bolt tightening is needed, the bolt tightening device is used for screwing the bolt on the object to be climbed so as to realize the tightening operation, and compared with the prior art, the climbing operation platform has the bolt tightening function, does not need manual operation, and is good in safety, low in labor intensity and high in tightening efficiency.

Preferably, the extension arm comprises a bottom frame arranged on the host, a rotating assembly is arranged at the end part of the bottom frame, the rotating axis of the rotating assembly is perpendicular to the object to be climbed, an X-axis displacement mechanism is arranged at the movable end of the rotating assembly, a Y-axis displacement mechanism is arranged at the movable end of the X-axis displacement mechanism, the reciprocating direction of the movable end of the Y-axis displacement mechanism is perpendicular to the reciprocating direction of the movable end of the X-axis displacement mechanism, and the working head is arranged at the movable end of the Y-axis displacement mechanism.

In practical application, rotating assembly can drive X axle displacement mechanism, Y axle displacement mechanism, work head are whole along the perpendicular to wait to climb the rotation axis of object rotatory to adjust the work position of work head on waiting to climb the object, X axle displacement mechanism can drive Y axle displacement mechanism, the whole reciprocating motion of work head, with the work position of adjusting the work head on waiting to climb the object, Y axle displacement mechanism then can drive work head along perpendicular to X axle displacement mechanism direction reciprocating motion, in order to control the work head be close to or keep away from waiting to climb the object, satisfy the demand of rening up, this structure overall principle is simple, the action is nimble, can satisfy the demand of adjusting the work head to different operation positions.

Preferably, an included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism and the rotation axis of the rotation assembly is 45 degrees.

The included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism and the rotation axis of the rotating assembly is set to be 45 degrees, so that when objects such as angle steel main materials are climbed, the working head is perpendicular to the side face of the angle steel main materials, bolts on the surface of the working head are conveniently re-tightened, and when the rotating assembly rotates, the working head can be regulated to point to different side faces, and re-tightening requirements of the bolts on different side faces of the angle steel main materials are met.

Preferably, the bottom frame is slidably mounted on the host machine, and the sliding direction of the bottom frame is parallel to the climbing direction of the host machine.

When the bottom frame slides relative to the host, the working head can be stretched to different heights, so that the re-tightening operation of bolts at different positions is realized, and the operation range is wider.

Optimally, a guide rail is arranged on the host, a sliding block is arranged on the bottom frame and is slidably mounted on the guide rail, a motor is arranged on the host, and the motor drives the bottom frame to slide back and forth through a belt transmission mechanism.

Preferably, the rotating assembly comprises a rotating seat arranged at the end part of the bottom frame, a turntable is rotatably arranged on the rotating seat, the rotating assembly further comprises a rotating motor arranged on the rotating seat, the rotating motor drives the turntable to rotate through a worm and gear mechanism, and the X-axis displacement mechanism is arranged on the turntable.

In practical application, the rotating motor can rotate to drive the turntable to rotate through the turbine worm mechanism so as to drive components such as the X-axis displacement mechanism to rotate, and because of the self-locking effect of the turbine worm mechanism, namely, power can only be transmitted to the turntable from the rotating motor, the components such as the X-axis displacement mechanism can stably stay at a preset position after rotating, so that the operation position is ensured to be fixed, and the stability is good.

Preferably, the X-axis displacement mechanism comprises an X-axis frame arranged on the movable end of the rotating assembly, an X-axis moving block is slidably arranged on the X-axis frame, an X-axis screw rod is rotatably arranged on the X-axis frame, the X-axis moving block is further provided with a synchronous motor, the X-axis moving block is connected with the X-axis screw rod through threads, the synchronous motor can drive the X-axis screw rod to rotate, and the Y-axis displacement mechanism is arranged on the X-axis moving block.

In practical application, when the synchronous motor drives the X-axis screw rod to rotate, the X-axis moving block moves along with the X-axis screw rod, so that the position adjustment of the Y-axis displacement mechanism is realized, and the X-axis displacement mechanism is simple in structure and reliable in action.

Preferably, the Y-axis displacement mechanism comprises a Y-axis frame, the Y-axis frame is slidably arranged at the movable end of the X-axis displacement mechanism, a Y-axis screw rod is rotatably arranged on the Y-axis frame, a synchronous motor connected with the Y-axis screw rod is further arranged on the Y-axis frame, and the Y-axis screw rod is in threaded connection with the movable end of the X-axis displacement mechanism.

The synchronous motor rotates to drive the Y-axis screw rod to rotate so as to drive the whole Y-axis frame to move, thereby realizing position adjustment, and having simple structure and reliable action.

Preferably, the working head comprises a striking seat arranged at the end part of the extension arm and a striking motor arranged on the striking seat, a striking anchor rod is rotatably arranged on the striking seat, the striking motor can drive the striking anchor rod to rotate, and the sleeve is arranged on the striking anchor rod.

In practical application, when the striking motor works, the striking anchor rod can be driven to rotate, and then the sleeve is driven to rotate, so that the bolt is screwed to be re-tightened, and the re-tightening effect is ensured.

The invention also discloses an operation method of the climbing operation platform with the bolt tightening function, wherein two clamping devices are arranged, one clamping device can slide back and forth relative to a host, and the other clamping device is fixedly arranged on the host, and the operation method comprises the following steps:

s1, clamping a sliding clamping device on an object to be climbed, and opening two claw rods of the fixed clamping device;

s2, the host machine moves upwards along an object to be climbed relative to the clamping device capable of sliding;

s3, after the host machine stops moving upwards, the fixed clamping device clamps the object to be climbed, and two claw rods of the clamping device capable of sliding open;

s4, the slidable clamping device moves upwards along the host;

S5, after the sliding clamping device moves upwards and stops, repeating the steps S1-S5, wherein in the process, when the host drives the bolt tightening device to climb to a position where bolt tightening is needed, the two clamping devices are clamped on an object to be climbed, and the bolt tightening device screws bolts on the object to be climbed.

When the operation method is actually applied, the two clamping devices are used for alternately clamping and opening, so that climbing to the position where bolt tightening is required can be smoothly realized, the two clamping devices are clamped on an object to be climbed, stable support is provided for tightening operation, the bolt tightening device is used for screwing bolts on the object to be climbed to realize tightening, the climbing mode is simple and reliable, stable support can be provided for tightening operation, the tightening effect is good, and the operation efficiency is high.

The invention has the advantages that:

1. When the climbing operation platform with the bolt tightening function is actually applied, the host and the clamping device can carry the bolt tightening device to climb on an object to be climbed, the climbing is stopped when the position of the bolt tightening is needed, the bolt tightening device is used for screwing the bolt on the object to be climbed so as to realize the tightening operation, and compared with the prior art, the climbing operation platform has the bolt tightening function, does not need manual operation, and is good in safety, low in labor intensity and high in tightening efficiency.

2. In practical application, rotating assembly can drive X axle displacement mechanism, Y axle displacement mechanism, work head are whole along the perpendicular to wait to climb the rotation axis of object rotatory to adjust the work position of work head on waiting to climb the object, X axle displacement mechanism can drive Y axle displacement mechanism, the whole reciprocating motion of work head, with the work position of adjusting the work head on waiting to climb the object, Y axle displacement mechanism then can drive work head along perpendicular to X axle displacement mechanism direction reciprocating motion, in order to control the work head be close to or keep away from waiting to climb the object, satisfy the demand of rening up, this structure overall principle is simple, the action is nimble, can satisfy the demand of adjusting the work head to different operation positions.

3. The included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism and the rotation axis of the rotating assembly is set to be 45 degrees, so that when objects such as angle steel main materials are climbed, the working head is perpendicular to the side face of the angle steel main materials, bolts on the surface of the working head are conveniently re-tightened, and when the rotating assembly rotates, the working head can be regulated to point to different side faces, and re-tightening requirements of the bolts on different side faces of the angle steel main materials are met.

4. When the bottom frame slides relative to the host, the working head can be stretched to different heights, so that the re-tightening operation of bolts at different positions is realized, and the operation range is wider.

5. In practical application, the rotating motor can rotate to drive the turntable to rotate through the turbine worm mechanism so as to drive components such as the X-axis displacement mechanism to rotate, and because of the self-locking effect of the turbine worm mechanism, namely, power can only be transmitted to the turntable from the rotating motor, the components such as the X-axis displacement mechanism can stably stay at a preset position after rotating, so that the operation position is ensured to be fixed, and the stability is good.

6. In practical application, when the synchronous motor drives the X-axis screw rod to rotate, the X-axis moving block moves along with the X-axis screw rod, so that the position adjustment of the Y-axis displacement mechanism is realized, and the X-axis displacement mechanism is simple in structure and reliable in action.

7. The synchronous motor rotates to drive the Y-axis screw rod to rotate so as to drive the whole Y-axis frame to move, thereby realizing position adjustment, and having simple structure and reliable action.

8. In practical application, when the striking motor works, the striking anchor rod can be driven to rotate, and then the sleeve is driven to rotate, so that the bolt is screwed to be re-tightened, and the re-tightening effect is ensured.

9. When the operation method is actually applied, the two clamping devices are used for alternately clamping and opening, so that climbing to the position where bolt tightening is required can be smoothly realized, the two clamping devices are clamped on an object to be climbed, stable support is provided for tightening operation, the bolt tightening device is used for screwing bolts on the object to be climbed to realize tightening, the climbing mode is simple and reliable, stable support can be provided for tightening operation, the tightening effect is good, and the operation efficiency is high.

Drawings

Fig. 1 and 2 are perspective views of a climbing operation platform with a bolt tightening function according to a first embodiment of the present invention;

Fig. 3 and 4 are schematic perspective views of a bolt tightening device according to a first embodiment of the present invention;

FIG. 5 is a schematic perspective view (hidden parts) of an X-axis displacement mechanism according to a first embodiment of the present invention;

FIG. 6 is a schematic perspective view (hidden parts) of a Y-axis displacement mechanism according to a first embodiment of the present invention;

FIG. 7 is a schematic perspective view of a rotating assembly according to an embodiment of the invention;

FIG. 8 is an exploded view of the assembly of the structure of FIG. 7;

FIG. 9 is a schematic perspective view of an X-axis displacement assembly according to an embodiment of the present invention;

FIG. 10 is an exploded view of the assembly of the structure of FIG. 9;

FIG. 11 is a schematic perspective view of a Y-axis displacement assembly and a working head according to a first embodiment of the present invention;

FIG. 12 is an exploded view of the assembly of the structure of FIG. 11;

FIG. 13 is an exploded view of the assembly of a working head according to a first embodiment of the present invention;

Fig. 14 and 15 are schematic perspective views (clamping states) of a clamping device according to a first embodiment of the present invention;

FIGS. 16 and 17 are exploded views (open state) of a clamping device according to a first embodiment of the present invention;

FIG. 18 is a cross-sectional view (open state) of a clamping device according to a first embodiment of the present invention;

FIG. 19 is a schematic view showing a structure of a clamping device in an open state of a claw bar according to the first embodiment of the present invention;

FIG. 20 is a cross-sectional view of FIG. 19;

FIG. 21 is a view showing the state of the front rod and the limit spring in FIG. 19;

FIG. 22 is a schematic perspective view of a limiting spring plate according to an embodiment of the invention;

FIG. 23 is a schematic view showing a claw pole in a clamping process according to the first embodiment of the present invention;

FIG. 24 is a schematic view showing a structure of a claw pole in a clamping state according to the first embodiment of the present invention;

FIG. 25 is a perspective view of a mounting plate according to a first embodiment of the invention;

Fig. 26 is a right side view of a climbing work platform with bolt tightening function (hidden bolt tightening device) according to a second embodiment of the present invention;

fig. 27 is a schematic diagram of a clamping device after adjusting the pitch angle (hidden bolt tightening device) according to the second embodiment of the present invention;

Fig. 28 and 29 are schematic views of a prior art angle steel main;

Wherein,

A-angle steel main material; a1-a foot nail; a 2-connecting plate; b-a sleeve; b1-positioning notch;

10-a bolt tightening device;

11-extension arms; 111-a bottom frame; 112-a rotating assembly; 112 a-a swivel; 112 b-a rotating electric machine; 113-X axis displacement mechanism; 113a-X axis gantry; 113b-X axis motion block; 113c-X axis screw rod; 113 d-a synchronous belt;

114-Y axis displacement mechanism; 114a-Y axis gantry; 114b-Y axis motion block; 114c-Y axis screw rod; 115-synchronous motor; 12-working head; 12 a-a striking base; 12 b-striking the anchor; 12 c-elastic pins; 12 d-a striking motor; 12 e-camera; 12 f-rotating the shaft sleeve; 12 g-striking lugs; 12 h-a striking head; 12 i-a striking protrusion;

30-a host; 31-a slip track; 32-a sliding block; 33-sliding screw rods; 34-slipping sleeve; 35-a slipping motor;

40-clamping device;

41-fixing seats; 411-floor; 412-a riser; 413-a mounting rack; 414-front mount; 415-rear mount; 416-a connection plate; 417-reinforcing plates;

42-pressing part; 421-V block; 422-a screw sleeve; 423-screw; 424-synchronous belt; 425-synchronous motor; 43-a clamping part; 431-claw bar; 431a—a vertical push-pull axis; 431 b-rear stick body; 431 c-front stick body; 431 d-vertical axis; 431 e-middle jaw; 431 f-notch; 431 g-jaw; 431 h-jaw connection block; 432-swinging guide sleeve; 432 a-mating wall; 433-a vertical hinging seat; 434-mounting plate; 434 a-an orientation slot; 434 b-a curved section; 434 c-straight line segment; 434 d-inclined section; 435-a push-pull plate; 435 a-a guide groove; 436-limiting spring piece; 436 a-horizontal plate segment; 436 b-connecting ears; 436 c-bent ends; 437 a-a reset tension spring; 437 b-radial tension spring; 437 c-an axial tension spring; 438 a-push-pull lead screw; 438 b-push-pull motor; 438 c-turbine; 438 d-worm;

44-pitch adjusting plate; 45-sliding plate; 46-pitch adjustment nut; 47-pitch adjustment motor; 48-pitching adjusting screw rod.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Embodiment one:

As shown in fig. 1 and 2, a climbing work platform with a bolt tightening function includes a main machine 30, a clamping device 40, a clamping device driving mechanism, and a bolt tightening device 10.

As shown in fig. 1, in the present embodiment, the clamping device 40 is disposed on the main machine 30, and for convenience of understanding and description, the side of the angle steel main material a opposite to the main machine 30 is taken as the front side, that is, the clamping device 40 is disposed on the front side of the main machine 30, and the rest of directions are taken as references, it should be understood that this direction setting is only for convenience of description and understanding, and is not to be construed as limiting the present invention.

As shown in fig. 1 and 2, the host 30 is provided with a bolt tightening device 10, the host 30 and the clamping device 40 can climb along an object to be climbed, and the bolt tightening device 10 can screw bolts on the object to be climbed.

Specifically, as shown in fig. 1 and 2, the bolt tightening device 10 includes an extension arm 11 disposed on a host 30, a working head 12 is disposed at an end of the extension arm 11, and a sleeve b is disposed at a movable end of the working head 12.

Further, as shown in fig. 2 and 3, the extension arm 11 includes a bottom frame 111 disposed on the host 30, a rotating assembly 112 is disposed at an end of the bottom frame 111, specifically, the bottom frame 111 includes two vertically disposed support rods 111a, the lower ends of the two support rods 111a are connected by a lower connection transverse plate 111b, a pair of clamping blocks 111c connected together by bolts are disposed on the front side of the lower connection transverse plate 111b, and the clamping blocks 111c are used for clamping and fixing the synchronous belt.

As shown in fig. 3, the upper ends of the two support rods 111a are connected by an upper connection transverse plate 111d, the upper connection transverse plate 111d is perpendicular to the two support rods 111a, the upper connection transverse plate 111d is connected with the support rods 111a by a right-angle block 111e, and the right-angle block 111e is connected with the bottom surface of the upper connection transverse plate 111d and the front side of the top ends of the support rods 111a by bolts.

As shown in fig. 1 and 2, the bottom frame 111 is slidably mounted on the host computer 30, and the sliding direction of the bottom frame 111 is parallel to the climbing direction of the host computer 30. Specifically, a pair of vertical guide rails are disposed on the rear side of the main body 30, a slider is disposed on the bottom frame 111, the slider is specifically disposed on the front side of the support rod 111a, and the slider is slidably mounted on the guide rails. As shown in fig. 1 and 2, the inner side of the upper portion of the main machine 30 is provided with a motor 116, an output shaft of the motor 116 faces horizontally to the rear side, a belt wheel is arranged on the output shaft of the motor 116, the motor 116 drives the bottom frame 111 to slide reciprocally through a belt transmission mechanism 117, specifically, the belt transmission mechanism 117 comprises a belt wheel 117a arranged on the rear side of the lower portion of the main machine 30, a synchronous belt 117b is wound between the belt wheel 117a and the belt wheel of the motor 116, the synchronous belt 117b can reciprocate along the vertical direction, and the clamping block 111c is fixedly connected with the synchronous belt 117 b.

Referring to fig. 1 and 3, the rotation axis of the rotation assembly 112 is perpendicular to the object to be climbed, in this embodiment, the rotation axis of the rotation assembly 112 is perpendicular to the angle steel main material a, and the rotation axis points to the middle edge of the angle steel main material a, the movable end of the rotation assembly 112 is provided with an X-axis displacement mechanism 113, the movable end of the X-axis displacement mechanism 113 is provided with a Y-axis displacement mechanism 114, the reciprocating direction of the movable end of the Y-axis displacement mechanism 114 is perpendicular to the reciprocating direction of the movable end of the X-axis displacement mechanism 113, and the working head 12 is disposed at the movable end of the Y-axis displacement mechanism 114. Because the angle steel main material a is right angle steel, the included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism 113 and the rotation axis of the rotation assembly 112 is 45 degrees, so as to ensure that the axis of the working head 12 is perpendicular to the side surface of the angle steel main material a when the working head swings to the horizontal plane. The rotation axis of the rotation assembly 112, the reciprocating track line of the movable end of the X-axis displacement mechanism 113 and the reciprocating track line of the movable end of the Y-axis displacement mechanism 114 are all located in the same plane.

As shown in fig. 3 and 4, the rotating assembly 112 includes a rotating base 112a disposed at an end of the bottom frame 111, and in particular, the rotating base 112a is a vertically disposed plate-like structure perpendicular to a rotation axis of the rotating assembly 112, the rotating base 112a is mounted above a front end of the upper connection cross plate 111d by a bolt, and the rotating base 112a and the upper connection cross plate 111d are mounted with a reinforcing plate by a bolt.

Referring to fig. 3, 7 and 8, the rotating base 112a is rotatably provided with a turntable 112c, the turntable 112c is located at the rear side of the rotating base 112a, the front side of the turntable 112c is provided with a rotating shaft 112d, the rotating shaft 112d is rotatably installed in the rotating base 112a through a bearing, the front end of the rotating shaft 112d is provided with a turbine 112e, the rotating base further comprises a rotating motor 112b arranged at the front side of the rotating base 112a, an output shaft of the rotating motor 112b is provided with a worm 112f, and the worm 112f is meshed with the turbine 112e, namely, the rotating motor 112b drives the turntable 112c to rotate through a turbine worm mechanism. The rear side of the turntable 112c is provided with a bracket 112g, and the X-axis displacement mechanism 113 is provided on the bracket 112g of the turntable 112 c.

Further, three photoelectric switches are disposed on the rotating base 112a, and are respectively located right above the rotating shaft 112d and on the left and right sides, and are all distributed on the rotation track of the rotating disc 112c, and a blocking piece matched with the photoelectric switches is disposed on the right side of the rotating disc 112 c.

Specifically, referring to fig. 3, 5, 9, and 10, the X-axis displacement mechanism 113 includes an X-axis frame 113a disposed at a movable end of the rotating assembly 112, specifically, the X-axis frame 113a includes two L-shaped plates disposed symmetrically, and the two L-shaped plates are fixedly mounted on the bracket 112g, an X-axis moving block 113b is slidably mounted on the X-axis frame 113a, an X-axis screw 113c is rotatably mounted on the X-axis frame 113a, a front side included angle between the X-axis screw 113c and the rotating shaft 112d is 45 °, further, a sliding block is disposed inside the two X-axis frames 113a, two sides of the X-axis moving block 113b are respectively provided with a sliding rail mounted in a sliding fit with the sliding block, the X-axis moving block 113b is in a rectangular frame structure, and a nut engaged with the X-axis screw 113c is disposed at a rear end thereof, that is, and the X-axis moving block 113b is connected with the X-axis screw 113c through threads of the nut. Two photoelectric switches are arranged on the X-axis frame 113a, a baffle matched with the photoelectric switches is arranged on the X-axis moving block 113b, and the two photoelectric switches are used for limiting the limit position of the travel of the X-axis moving block 113 b.

As shown in fig. 3, 5 and 10, the X-axis frame 113a further includes a mounting plate disposed at the rear ends of the two L-shaped plates, a synchronous motor 115 is disposed on the mounting plate, the synchronous motor 115 is connected with the rear end of the X-axis screw 113c through a synchronous belt 113d, the synchronous motor 115 can drive the X-axis screw 113c to rotate, and the Y-axis displacement mechanism 114 is disposed at the front end of the X-axis moving block 113 b.

Referring to fig. 3, 6, 11, and 12, the Y-axis displacement mechanism 114 includes a Y-axis frame 114a, where the Y-axis frame 114a is slidably mounted on a movable end of the X-axis displacement mechanism 113, and further, the Y-axis frame 114a includes two parallel long plates, and the two long plates are connected by two Y-axis moving blocks 114b, and the Y-axis moving blocks 114b are also of a long plate structure. Specifically, a sliding rail perpendicular to the moving direction of the X-axis displacement mechanism 113 is provided on the Y-axis frame 114a, a slider matched with the sliding rail is provided at the end of the X-axis moving block 113b, a Y-axis screw 114c is rotatably mounted on the Y-axis frame 114a, a synchronous motor 115 connected with the Y-axis screw 114c is provided at the rear end of the Y-axis frame 114a, and the Y-axis screw 114c is connected with a nut on the X-axis moving block 113b through threads. Further, two photoelectric switches are disposed on the Y-axis frame 114a, and a blocking piece matched with the X-axis moving block 113b is disposed on the Y-axis frame 114a, where the photoelectric switches are matched with the blocking piece to limit the movement travel limit of the Y-axis frame 114 a.

As shown in fig. 11-13, the working head 12 includes a striking seat 12a disposed at an end of the extension arm 11 and a striking motor 12d disposed on the striking seat 12a, specifically, the striking seat 12a and the X-axis moving block 113b are respectively disposed on two sides of the Y-axis frame 114a, the striking seat 12a is a rectangular frame structure, and is fixedly connected with the Y-axis frame 114a, the striking motor 12d is disposed inside the frame of the striking seat 12a, an axis of the striking motor 12d is parallel to a moving direction of the Y-axis displacement mechanism 114, a striking anchor 12b is rotatably mounted on the striking seat 12a, the striking motor 12d can drive the striking anchor 12b to rotate, and the sleeve b is mounted on the striking anchor 12 b.

Further, as shown in fig. 13, the striking anchor rod 12b is rotatably mounted on the striking seat 12a through a rotary shaft sleeve 12f, two striking lugs 12g are symmetrically arranged on two sides of the end part of the striking anchor rod 12b, a striking head 12h is mounted on an output shaft of the striking motor 12d, a key is fixedly mounted on the output shaft of the striking motor 12d, a chute matched with the key is arranged in a through hole of the striking head 12h, so that the output shaft of the striking motor 12d can drive the striking head 12h to rotate circumferentially, the striking head 12h can reciprocate along the axial direction, a spring is sleeved on the output shaft of the striking motor 12d, and the spring is positioned between the striking head 12h and the striking motor 12 d. The end of the driving striking head 12h is symmetrically provided with two striking protrusions 12i which are respectively used for striking the striking lug 12g, the circumferential width of the end of the striking protrusion 12i is smaller than that of the root of the striking protrusion 12i, so that when the striking motor 12d continuously applies torque after the striking protrusion 12i strikes the striking lug 12g, the striking head 12h retreats and compresses a spring, after the striking protrusion 12i passes over the striking lug 12g, the striking protrusion 12i ejects towards the direction of the striking anchor rod 12b under the action of the spring, and the striking protrusion 12i strikes the striking lug 12g again, so that bolt re-tightening is realized through the sleeve b.

The sleeve b is in the prior art, further, an elastic pin 12c capable of stretching and retracting along the direction perpendicular to the striking anchor rod 12b is arranged on the side face of the striking anchor rod 12b, a clamping groove is formed in a hole in the sleeve b, which is used for being matched with the striking anchor rod 12b, and when the sleeve b is inserted into the striking anchor rod 12b, the elastic pin 12c is clamped in the clamping groove to achieve fixation.

Further, as shown in fig. 3, a camera 12e is disposed on the upper side of the striking seat 12a, and a lens of the camera 12e faces the sleeve b, so as to observe the working condition of the sleeve b.

Further, for the purpose of driving the sleeve b to rotate to screw the bolt, the working head 12 may also be an electric impact wrench in the prior art.

Further, a positioning notch b1 with a ring groove shape is arranged on the outer side of the sleeve b, so that after the sleeve b is detached, the sleeve b is positioned through the positioning notch b1 to prevent play.

As shown in fig. 14, the clamping device 40 includes a fixed seat 41, a pair of claw rods 431 are arranged on the fixed seat 41 in a swinging manner, the claw rods 431 include a rear rod body 431b and a front rod body 431c which are hinged together, and when the two claw rods 431 are opened, an inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 °.

Further, at least two clamping devices 40 are provided, wherein at least one clamping device 40 can slide reciprocally relative to the host 30. Specifically, as shown in fig. 1, in this embodiment, two clamping devices 40 are provided, where one clamping device 40 located above can slide up and down reciprocally with respect to the main machine 30, and the other clamping device 40 located below is fixedly mounted on the front side of the bottom of the main machine 30.

As shown in fig. 1, a sliding block 32 is disposed on a clamping device 40 that is located above and capable of sliding reciprocally relative to a host 30, a pair of sliding rails 31 is vertically disposed on the front side of the host 30, the sliding block 32 is slidably mounted on the sliding rails 31, and a clamping device driving mechanism is disposed on the host 30 and is used for driving the clamping device 40 above to slide reciprocally up and down.

As shown in fig. 1 and 2, the main unit 30 has a rectangular frame structure, and the clamping device driving mechanism is located inside the frame of the main unit 30. Specifically, the clamping device driving mechanism comprises a sliding screw 33 and a sliding motor 35 which are arranged on the host 30, a sliding sleeve 34 is arranged on a clamping device 40 capable of sliding reciprocally relative to the host 30, the sliding sleeve 34 stretches into the inner side of a frame of the host 30 backward, a through hole with an axis along the vertical direction is arranged on the sliding sleeve 34, a nut is arranged in the through hole, the sliding screw 33 is rotatably arranged on the inner side of the frame of the host 30, the sliding screw 33 is vertically arranged, the sliding screw 33 is in threaded connection with the nut in the sliding sleeve 34, the sliding motor 35 is positioned at the bottom of the inner side of the frame of the host 30, an output shaft of the sliding motor 35 is vertically upwards, and the sliding screw 33 is connected to the output shaft of the sliding motor 35.

As shown in fig. 14, the clamping device 40 includes a fixing base 41, a pressing portion 42, and a clamping portion 43.

The clamping portion 43 is disposed on the front side of the fixing seat 41, in this embodiment, the fixing seat 41 is used for providing an installation position for other parts, which is not limited to a specific shape, and can provide an installation position for other parts and enable the parts to cooperate with each other to achieve corresponding functions. As shown in fig. 14, in this embodiment, the fixing base 41 is a vertically arranged plate structure, a bottom plate 411 is installed at the bottom of the fixing base 41, and a vertical plate 412 is vertically arranged at the front end of the bottom plate 411.

As shown in fig. 16, the clamping portion 43 includes a pair of claw rods 431 swingably disposed on the fixing base 41, as shown in fig. 20, the claw rods 431 include a rear rod body 431b and a front rod body 431c hinged together, and the rear rod body 431b and the front rod body 431c are hinged through a vertical axis 431d, and when the two claw rods 431 are opened, an inner side included angle between the rear rod body 431b and the front rod body 431c is larger than 180 °.

Further, as shown in fig. 19, a pair of swing guide sleeves 432 is hinged on the fixed seat 41, specifically, as shown in fig. 14, two left and right vertical hinge seats 433 are disposed on the front side of the fixed seat 41, the transverse U-shaped structure of the vertical hinge seat 433 is opened forward, each swing guide sleeve 432 is hinged in the opening of the vertical hinge seat 433 through two coaxial hinge shafts up and down, the hinge shaft on the vertical hinge seat 433 is along the vertical direction, and further, as shown in fig. 15, the hinge position of the swing guide sleeve 432 is located at the inner end of the swing guide sleeve 432.

As shown in fig. 14, the swing guide sleeve 432 has a rectangular square tube structure, a rectangular through hole is formed in the swing guide sleeve 432, and the rear rod 431b is slidably mounted in the rectangular through hole of the swing guide sleeve 432; specifically, the cross section of the rear rod 431b is rectangular and slidably engaged with the rectangular through hole of the swing guide sleeve 432, and the cross section of the end of the front rod 431c hinged to the rear rod 431b is also rectangular and slidably engaged with the rectangular through hole of the swing guide sleeve 432.

Further, as shown in fig. 15, the front rod body 431c includes two sets of middle claws 431e and claw heads 431g that are symmetrically disposed, the two sets of middle claws 431e and claw heads 431g are connected through a claw connection block 431h, specifically, the middle claws 431e are in a sheet structure with a middle portion bent outwards, two ends of the middle claws 431e are straight, the claw heads 431g are in a sheet structure with a middle portion bent outwards, the ends of the middle claws 431e and the claw heads 431g are all mounted on the claw connection block 431h through screws, the section of the claw connection block 431h is in a transverse T shape, the two sets of middle claws 431e and the claw heads 431g are mounted on the upper side and the lower side of the claw connection block 431h respectively, and the outer side surfaces of the ends of the middle claws 431e and the claw heads 431g are abutted against the front side surface of the claw connection block 431 h.

As shown in fig. 16, the fixed seat 41 is slidably provided with a push-pull plate 435, specifically, the bottom plate 411 is provided with a guide rail along the front-rear direction, the bottom of the push-pull plate 435 is provided with a slider, the slider is slidably mounted on the guide rail, the bottom plate 411 is further provided with a front photoelectric switch and a rear photoelectric switch, the front photoelectric switch and the rear photoelectric switch are respectively located at the front-rear limit positions of the stroke of the push-pull plate 435, and the push-pull plate 435 is provided with a blocking piece matched with the two photoelectric switches for limiting the front-rear sliding stroke of the push-pull plate 435.

The push-pull plate 435 can pull the rear rod 431b to pull the hinge position of the rear rod 431b and the front rod 431c into the swing guide sleeve 432 to clamp the two claw rods 431, namely, the state shown in fig. 23 and 24. The push-pull plate 435 can push the rear rod 431b to push the hinged position of the rear rod 431b and the front rod 431c to the outside of the swing guide sleeve 432 so as to open the two claw rods 431.

Specifically, as shown in fig. 20, the top surface of the push-pull plate 435 is provided with a pair of symmetrical guide grooves 435a, the guide grooves 435a are inclined in a straight line, the distance between the two guide grooves 435a is small, and the front and rear sides are large, and the guide grooves are open backwards.

As shown in fig. 14 and 16, the fixing seat 41 is provided with a mounting plate 434, the mounting plate 434 is in a horizontal plate structure, the front end of the mounting plate 434 is connected with the top end of the vertical plate 412 through a bolt, and the mounting plate 434 is located above the push-pull plate 435.

As shown in fig. 25, the bottom surface of the mounting plate 434 is provided with a pair of symmetrical orientation grooves 434a, the orientation grooves 434a sequentially comprise a bending section 434b, a straight line section 434c and an inclined section 434d which are communicated from front to back, the three sections are transited by fillets, the front end of the bending section 434b is bent outwards, the straight line section 434c is along the front-back direction, the rear end of the inclined section 434d is inclined inwards, and the rear ends of the inclined sections 434d of the two orientation grooves 434a are communicated.

As shown in fig. 14, the end of the rear rod 431b is provided with a vertical push-pull shaft 431a along the vertical direction, two ends of the vertical push-pull shaft 431a are slidably mounted in the guide groove 435a and the directional groove 434a, further, two ends of the vertical push-pull shaft 431a are rotatably mounted with a rolling member, two ends of the vertical push-pull shaft 431a are rotatably mounted in the guide groove 435a and the directional groove 434a through the rolling member, and the rolling member may be a sliding sleeve, a rolling bearing, a roller, or the like.

As shown in fig. 15 and 16, the fixed seat 41 is provided with a push-pull driving mechanism, and the push-pull driving mechanism can drive the push-pull plate 435 to reciprocate. Further, the push-pull driving mechanism includes a push-pull screw rod 438a rotatably mounted on the fixing seat 41, the push-pull screw rod 438a is mounted on the vertical plate 412 in a front-rear direction, the push-pull screw rod 438a is rotatably mounted in the push-pull plate 435 through threads, and the push-pull driving mechanism further includes a push-pull motor 438b disposed on the fixing seat 41, and the push-pull motor 438b is connected with the push-pull screw rod 438a through a worm and gear mechanism.

Namely, the opening angle between the two claw rods 431 is adjustable, specifically, the push-pull motor 438b drives the push-pull screw rod 438a to rotate so as to drive the push-pull plate 435 to reciprocate, and when the push-pull plate 435 stays at different positions, the opening angle between the two claw rods 431 can be adjusted to a required angle so as to meet the clamping or avoiding requirements of different angles.

Specifically, as shown in fig. 15, the rear side of the fixing seat 41 is provided with a mounting frame 413, the rear end of the push-pull screw 438a passes through the fixing seat 41 and is rotatably mounted on the mounting frame 413, the rear end of the push-pull screw 438a is provided with a turbine 438c, the push-pull motor 438b is disposed on the rear side of the fixing seat 41, the output shaft of the push-pull motor 438b is provided with a worm 438d, and the worm 438d is horizontally disposed above the turbine 438c and is matched with the turbine 438 c.

As shown in fig. 19 and 21, the swing guide sleeve 432 is provided with a limiting spring 436, the front rod 431c is provided with a notch 431f matching with the limiting spring 436, and when the hinge position of the rear rod 431b and the front rod 431c is pushed to the outside of the swing guide sleeve 432, the limiting spring 436 can be blocked in the notch 431f so that the inner included angle between the rear rod 431b and the front rod 431c is greater than 180 °.

Specifically, as shown in fig. 21 and 22, the limiting elastic piece 436 is located on the mating wall 432a on the outer side of the swing guide sleeve 432, the main body of the limiting elastic piece 436 is a sheet structure attached on the outer side of the swing guide sleeve 432, and includes a horizontal plate section 436a, the first end of the limiting elastic piece 436 is provided with an upper bending end and a lower bending end 436c that are bent inwards, the bending end 436c is pressed on the outer side of the front rod body 431c, and the notch 431f is located on the outer side of one end of the front rod body 431c hinged with the rear rod body 431 b. Specifically, the notch 431f is located outside one end of the hinge position of each set of intermediate claws 431 e.

Further, as shown in fig. 21, a fixing post perpendicular to the swing guide sleeve 432 is disposed on the outer side of the swing guide sleeve 432, a long hole is disposed on the limiting elastic sheet 436, the length direction of the long hole is parallel to the guiding direction of the swing guide sleeve 432, the fixing post is located in the long hole, a connecting lug 436b bent outwards is disposed at the second end of the limiting elastic sheet 436, and an axial tension spring 437c is connected between the connecting lug 436b and the fixing post.

Further, as shown in fig. 21, a radial tension spring 437b is disposed between the limiting elastic sheet 436 and the swing guide sleeve 432, specifically, a connecting column is disposed on each of the upper and lower surfaces of the swing guide sleeve 432, two connecting lugs are symmetrically disposed on the upper and lower edges of the limiting elastic sheet 436, the two connecting lugs are respectively connected with the corresponding connecting columns through the radial tension spring 437b, and the radial tension spring 437b can enable the limiting elastic sheet 436 to be pressed on the swing guide sleeve 432.

Further, as shown in fig. 19 and 20, a return spring 437a is provided between the rear rod 431b and the front rod 431c, and the return spring 437a can swing the front rod 431c outward around the end of the rear rod 431 b. Specifically, the end of the jaw connection block 431h near the rear rod 431b is bent inward, a connection hole is formed at the bent end, a connection hole is formed at the outer side of the hinged end of the rear rod 431b, and two ends of the return tension spring 437a are respectively connected to the two connection holes.

Further, referring to fig. 14-18, the pressing portion 42 is mounted on the fixing base 41, the movable end of the pressing portion 42 is located between the root portions of the two claw bars 431, and the movable end of the pressing portion 42 can slide in a direction away from or close to the clamping area between the end portions of the two claw bars 431.

Specifically, the movable end of the pressing portion 42 includes a V-shaped block 421 slidably mounted on the fixing seat 41, the V-shaped block 421 can slide back and forth, the V-shaped block 421 is of a vertical strip-shaped structure, a V-shaped groove is disposed on the front side of the V-shaped block 421, the V-shaped groove is vertical, and the V-shaped groove is opened forward. Further, a rubber pad is arranged on the inner wall of the V-shaped groove.

The pressing portion 42 includes a V-block driving mechanism disposed on the fixing base 41. The V-shaped block driving mechanism comprises a threaded sleeve 422, a screw 423, a synchronous belt 424 and a synchronous motor 425, wherein the threaded sleeve 422 is respectively arranged at the rear sides of the upper end and the lower end of the V-shaped block 421, and the axis of the threaded sleeve 422 is along the front-rear direction.

Wherein, a slider is arranged below the rear end of the upper screw sleeve 422, a guide rail along the front-rear direction is arranged at the top of the mounting plate 434, and the slider is slidably mounted on the guide rail. Further, two photoelectric switches are disposed on top of the mounting plate 434, the two photoelectric switches are respectively located at the limit positions of the front and rear strokes of the upper screw sleeve 422, a blocking piece matched with the photoelectric switch is disposed at the rear end of the upper screw sleeve 422, and the blocking piece is matched with the photoelectric switch to limit the front and rear strokes of the screw sleeve 422.

The slider is provided with above the swivel nut 422 rear end of below, as shown in fig. 14, preceding mount pad 414, back mount pad 415 have been set gradually to bottom plate 411 bottom, preceding mount pad 414 is along the vertical platy structure of fore-and-aft direction, sets up the fretwork on it, is the day font of horizontal, preceding mount pad 414 perpendicular to back mount pad 415, back mount pad 415 is the vertical platy structure of T shape, preceding mount pad 414 bottom is provided with along the guide rail of fore-and-aft direction, and the slider slidable mounting of swivel nut 422 rear end top of below is on this guide rail.

As shown in fig. 16-18, a screw 423 is rotatably mounted on the top of the fixing seat 41 and the lower portion of the rear mounting seat 415, the screw 423 is in threaded connection with two threaded sleeves 422, a synchronous pulley is disposed at the rear end of the screw 423, synchronous belts 424 are wound on the two synchronous pulleys, a synchronous motor 425 is disposed at the rear side of the lower portion of the rear mounting seat 415, and the synchronous motor 425 drives the screw 423 and the synchronous pulley at the bottom to rotate.

Further, a turbine may be disposed at the rear end of the screw 423, and a worm is disposed on an output shaft of the synchronous motor 425, and is matched with the turbine, so as to drive the screw 423 and the synchronous pulley at the bottom to rotate through the synchronous motor 425.

Further, as shown in fig. 14 and 15, two connection plates 416 are respectively disposed on two sides of the top rear of the fixing seat 41, and a horizontal reinforcing plate 417 is disposed between the two connection plates 416.

As shown in fig. 14 and 15, a connection plate 416 is provided on each of the two sides of the rear portion of the rear mounting seat 415, and a horizontal reinforcement plate 417 is provided between the connection plates 416.

In practical application, as shown in fig. 1, four connection plates 416 of the lower clamping device 40 are fixedly mounted on the front side of the bottom of the host 30 through bolts.

Further, as shown in fig. 14 and 15, the sliding blocks 32 are disposed at the rear side of the fixing seat 41 of the upper slidable holding device 40, specifically, as shown in fig. 14 and 15, four sliding blocks 32 are disposed and respectively mounted at the rear parts of the four connecting plates 416, wherein the upper two sliding blocks 32 are located directly above the lower two sliding blocks 32, and the sliding grooves of the sliding blocks 32 are along the vertical direction.

Further, as shown in fig. 15, a U-shaped sliding sleeve 34 is disposed at the upper portion of the rear side of the rear mounting seat 415, the sliding sleeve 34 is located between the two connecting plates 416 at the lower portion, the sliding sleeve 34 is opened forward, the synchronous belt 424 vertically passes through the opening of the sliding sleeve 34, and a nut with an axis along the vertical direction is mounted at the rear end of the sliding sleeve 34 and is used for being matched with the sliding screw 33, so that the sliding sleeve 34 is driven by the sliding screw 33 to drive the clamping device 40 located above to move according to actual requirements.

Further, the climbing operation platform with bolt tightening function further comprises a control unit, the control unit is in the prior art, for example, a PLC (programmable logic controller) or the like can be adopted, the photoelectric switch and the camera 12e are connected to the control unit, and the sliding motor 35, the synchronous motor 425, the push-pull motor 438b, the pitching adjusting motor 47, the rotating motor 112b, the synchronous motor 115 and the striking motor 12d are controlled by the control unit.

Working principle:

The climbing operation platform with the bolt tightening function is mainly used for climbing operations of objects such as angle steel main materials and the like in practical application, and is clamped on the angle steel main materials through the clamping device 40 to climb upwards along the angle steel main materials.

Avoiding the foot nail a1:

With reference to fig. 1, 2 and 20, when the two claw rods 431 of the clamping device 40 approach or separate from each other, clamping or opening can be realized, and the claw rods 431 are two-section, that is, when the two claw rods 431 open, the inner included angle between the rear rod body 431b and the front rod body 431c can be opened to be larger than 180 °, the opening angle of the clamping device 40 is larger than the opening angle of the common clamping jaw in the prior art, and when the opened clamping device 40 moves along the angle steel main material, the opening angle is larger, so that longer obstacles such as pins can be avoided, and compared with the prior art, the avoiding range is wider.

The climbing is stopped when the position where the bolt is required to be re-tightened, the bolt re-tightening device 10 is used for screwing the bolt on the object to be climbed so as to realize re-tightening operation, and compared with the prior art, the climbing operation platform has the function of re-tightening the bolt, does not need manual operation, and is good in safety, low in labor intensity and high in re-tightening efficiency.

In practical application, rotating assembly 112 can drive X axle displacement mechanism 113, Y axle displacement mechanism 114, work head 12 are whole along being perpendicular to wait to climb the rotation axis rotation of object to adjust the work position of work head 12 on waiting to climb the object, X axle displacement mechanism 113 can drive Y axle displacement mechanism 114, work head 12 whole reciprocating motion, in order to adjust the work position of work head 12 on waiting to climb the object, Y axle displacement mechanism 114 then can drive work head 12 along being perpendicular to X axle displacement mechanism 113 direction reciprocating motion, in order to control work head 12 be close to or keep away from waiting to climb the object, satisfy the demand of recovering, this whole principle of structure is simple, flexible action, can satisfy the demand of adjusting work head 12 to different work positions. The included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism 113 and the rotation axis of the rotating assembly 112 is set to be 45 degrees, so that when objects such as angle steel main materials are climbed, the working head 12 is perpendicular to the side surface of the angle steel main materials, bolts on the surface of the angle steel main materials are conveniently re-tightened, and when the rotating assembly 112 rotates, the working head 12 can be regulated to point to different side surfaces, and re-tightening requirements on the bolts on different side surfaces of the angle steel main materials are met.

When the bottom frame 111 slides relative to the main unit 30, the working head 12 can be extended and contracted to different heights, so that the tightening operation of bolts at different positions can be realized, and the working range is wider. In practical application, the rotating motor 112b can drive the turntable 112c to rotate through the worm and gear mechanism to drive the components such as the X-axis displacement mechanism 113 to rotate, and the power can only be transmitted from the rotating motor 112b to the turntable 112c due to the self-locking effect of the worm and gear mechanism, so that the components such as the X-axis displacement mechanism 113 can stably stay at a preset position after rotating, thereby ensuring the fixed and stable working position and having better stability. In practical application, when the synchronous motor 115 drives the X-axis screw 113c to rotate, the X-axis moving block 113b moves along with the rotation, so that the position adjustment of the Y-axis displacement mechanism 114 is realized, and the structure is simple and the action is reliable. The synchronous motor 115 rotates to drive the Y-axis screw 114c to rotate so as to drive the whole Y-axis frame 114a to move, thereby realizing position adjustment, and having simple structure and reliable action. In practical application, when the striking motor 12d works, the striking anchor rod 12b can be driven to rotate, and then the sleeve b is driven to rotate, so that the bolt is screwed and re-tightened, and the re-tightening effect is ensured.

Two clamping devices 40 are arranged, can be clamped and opened alternately, realize climbing along the angle steel main material, and have simple structure and principle and reliable action. In practical application, the clamping device 40 can be driven to slide along the sliding rail 31 by the clamping device driving mechanism, so as to realize climbing action, and the movement is smoother. The clamping device driving mechanism is arranged on the inner side of the frame of the host 30, so that the whole structure is regular, and meanwhile, the inner clamping device driving mechanism can be protected from being influenced by an outer object through the host 30. During clamping, the movable end of the pressing part 42 can slide towards the direction close to the clamping area between the end parts of the two claw rods 431, and the movable end of the pressing part 42 is pressed against the edge of the angle steel so as to be matched with the two claw rods 431 to realize clamping; when the two claw rods 431 are opened, the movable end of the pressing part 42 can slide in a direction away from a clamping area between the end parts of the two claw rods 431, and the movable end of the pressing part 42 is away from the edge of the angle steel, so that a certain safety distance can be kept between the movable end of the pressing part 42 and the edge of the angle steel, and when the clamping device moves along the length direction of the angle steel, the movable end of the pressing part 42 can avoid a connecting plate protruding from the edge of the angle steel, so that the angle steel connecting plate is avoided.

Avoidance connection plate a2:

In practical application, the V-shaped block driving mechanism can drive the V-shaped block 421 to be pressed at the edge of the angle steel main material a, the V-shaped block 421 is tightly attached to the edge of the angle steel main material a and can be matched with the two claw rods 431 to realize firm clamping, and in addition, the V-shaped block 421 can be driven to be far away from the edge of the angle steel main material a to realize avoiding of the connecting plate a2 of the angle steel main material a, so that the structure is simple and the action is reliable.

In practical application, the push-pull plate 435 is used to provide a power source for clamping and opening, when clamping, the push-pull plate 435 moves, and pulls the rear rod body 431b, so that the hinged position of the rear rod body 431b and the front rod body 431c can be pulled into the swinging guide sleeve 432, and meanwhile, the two swinging guide sleeves 432 can swing, so that the two claw rods 431 are clamped close, when the hinged position of the rear rod body 431b and the front rod body 431c is pulled into the swinging guide sleeve 432, the rear rod body 431b and the front rod body 431c are limited by the inside of the swinging guide sleeve 432, the internal included angle between the rear rod body 431b and the front rod body 431c is reduced, for example, the limited rear rod body 431b and the front rod body 431c can be changed into 180 degrees, and stable clamping can be realized; when the rear rod body 431b and the front rod body 431c are pushed to the outside of the swing guide sleeve 432 by the push-pull plate 435 during opening, the two claw rods 431 are opened, when the hinge position of the rear rod body 431b and the front rod body 431c is pushed to the outside of the swing guide sleeve 432, the two claw rods 431 can swing, at the moment, the inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that a larger opening angle is realized, longer obstacles such as foot nails can be avoided, and the avoidance range is wider compared with the prior art.

The guide groove 435a and the orientation groove 434a are arranged, so that when the push-pull plate 435 moves, the vertical push-pull shaft 431a can be respectively guided to move according to a preset track, and further, in the reciprocating movement process of the push-pull plate 435, the two rear rod bodies 431b can be simultaneously pulled and swing along with the swing guide sleeve 432, the hinged positions of the rear rod bodies 431b and the front rod body 431c are pulled into the swing guide sleeve 432, and the two claw rods 431 realize clamping; it is also possible to realize: the two rear rod bodies 431b can be pushed at the same time and swing reversely along with the swing guide sleeve 432, the hinged position of the rear rod body 431b and the front rod body 431c is pushed to the outside of the swing guide sleeve 432, the inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, and the two claw rods 431 are opened; the guide groove 435a and the orientation groove 434a are provided to ensure reliability of the clamping and opening operation. In practical application, when the push-pull motor 438b rotates, the worm in the worm and gear mechanism can be driven to rotate, the turbine is driven to rotate, the push-pull screw 438a is driven to rotate, and then the push-pull plate 435 is driven to reciprocate through the push-pull screw 438a, the worm and gear mechanism and the screw nut mechanism can achieve larger transmission ratio, and further can provide larger push-pull driving force for the push-pull plate 435, so as to achieve stable clamping and opening actions, and the worm and gear mechanism and the screw nut mechanism have reverse locking characteristics, namely, power can only be transmitted to the direction of the push-pull plate 435 by the push-pull motor 438b and cannot be transmitted reversely, so that the stability of clamping and opening can be effectively ensured, and the defects of loose clamping or unsmooth opening and the like are avoided.

In practical application, when the hinge position of the rear rod body 431b and the front rod body 431c is pushed to the outside of the swing guide sleeve 432, the notch 431f on the front rod body 431c is exposed from the end of the swing guide sleeve 432, when the notch 431f moves to the position of the limiting elastic piece 436, the limiting elastic piece 436 is clamped in the notch 431f, under the action of the poking force applied to the front rod body 431c by the limiting elastic piece 436 clamped in the notch 431f, the front rod body 431c swings outwards around the hinge position of the front rod body 431c relative to the rear rod body 431b, and can swing to a state that the inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that the avoidance range is enlarged. When the hinge position of the rear rod 431b and the front rod 431c is retracted into the swing guide sleeve 432, the limiting spring 436 slides out of the notch 431f to achieve clamping.

In practical application, the bending end 436c is used for being clamped in the notch 431f to adjust the opening angle between the rear rod 431b and the front rod 431c, and has a simple structure and reliable action. The axial tension spring 437c can apply tension to one end where the connecting lug 436b is located, so that the bending end 436c has a trend of pressing the outer side of the front rod body 431c, accurate sliding-in position of the notch 431f can be ensured, and when the notch 431f slides into the swing guide sleeve 432, the bending end 436c can flexibly slide out of the notch 431f, and the whole structure and principle are simple, and the action is reliable. The radial tension spring 437b can enable the limiting elastic sheet 436 to be tightly attached to the swing guide sleeve 432, so that the limiting elastic sheet 436 can accurately slide into the position when the notch 431f slides out, and when the notch 431f slides into the swing guide sleeve 432, the limiting elastic sheet 436 can flexibly slide out of the notch 431f, so that the whole structure and principle are simple, and the action is reliable. In practical application, when the hinge position of the rear rod body 431b and the front rod body 431c is pushed to the outside of the swing guide sleeve 432, under the action of the pull force applied to the front rod body 431c by the return tension spring 437a, the front rod body 431c swings outwards around the hinge position relative to the rear rod body 431b, and can swing to a state that the inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that the avoidance range is enlarged, and the swing guide sleeve is simpler in structure and principle and sensitive and reliable in action. When the hinge position of the rear rod 431b and the front rod 431c is retracted into the swing guide 432, the return tension spring 437a is stretched to achieve the clamping. In practical application, through adjusting the opening angle between two claw rods 431, the clamping climbing of objects to be climbed of different specifications can be realized, and the application range is wider.

Embodiment two:

The difference between this embodiment and the first embodiment is that:

The pitch angle of the clamping device 40 relative to the main machine 30 is adjustable. Specifically, as shown in fig. 26, for the above-located clamping device 40, it is installed at the front side of a vertical pitching adjusting plate 44 through four connecting plates 416, four sliding blocks 32 are installed at the rear side of a vertically-arranged sliding plate 45, the sliding sleeve 34 is installed at the rear side of the sliding plate 45 and is used for driving the sliding plate 45 to slide up and down reciprocally, the upper end or the lower end of the pitching adjusting plate 44 is hinged on the sliding plate 45, the hinge shaft is along the left-right direction, the other end of the pitching adjusting plate 44 is hinged with a pitching adjusting nut 46, the hinge shaft of the pitching adjusting nut 46 is along the left-right direction, the axis of the pitching adjusting nut 46 is perpendicular to the hinge shaft thereof, the sliding plate 45 is hinged with a pitching adjusting motor 47, the hinge shaft of the pitching adjusting motor 47 is along the left-right direction, the output shaft of the pitching adjusting motor is provided with a pitching adjusting screw 48, the pitching adjusting screw 48 is installed in threaded fit with the pitching adjusting nut 46, the pitching adjusting screw 48 is driven to rotate forward and backward, so as to drive the pitching angle of the pitching adjusting plate 44 through the pitching adjusting nut 46, and further drive the above-located clamping device 40 to adjust the pitching angle.

As shown in fig. 26, for the lower clamping device 40, the lower clamping device is mounted on the front side of a vertical pitching adjusting plate 44 through four connecting plates 416, the upper end or the lower end of the pitching adjusting plate 44 is hinged on the host 30, the hinge shaft is hinged with a pitching adjusting nut 46 along the left-right direction, the hinge shaft of the pitching adjusting nut 46 is hinged with the hinge shaft, the axis of the pitching adjusting nut 46 is perpendicular to the hinge shaft, the bottom of the host 30 is hinged with a pitching adjusting motor 47, the hinge shaft of the pitching adjusting motor 47 is hinged with a pitching adjusting screw 48 along the left-right direction, the output shaft of the pitching adjusting motor is provided with a pitching adjusting screw 48, the pitching adjusting screw 48 is mounted with the pitching adjusting nut 46 through threaded fit, the pitching adjusting motor 47 drives the pitching adjusting screw 48 to rotate in a positive-negative direction so as to drive the pitching angle of the pitching adjusting plate 44 through the pitching adjusting nut 46, and further drive the lower clamping device 40 to adjust the pitching angle.

In the actual climbing process, the pitching angle of the clamping device 40 relative to the host 30 is adjusted, so that the posture of the host 30 can be adjusted, for example, the host 30 can be adjusted to be parallel to the posture of an object to be climbed, and the actual climbing requirement is met. As shown in fig. 27, the upper clamp device 40 is in a tilt-up posture, and the lower clamp device 40 is in a tilt-down posture.

Embodiment III:

The invention also discloses an operation method of the climbing operation platform with the bolt re-tightening function, which comprises the following steps:

S1, the clamping device 40 with the upper sliding part is clamped on an object to be climbed, such as an angle steel main material a of an angle steel tower, when the clamping device 40 clamps the object to be climbed, the movable end of the pressing part 42 on the clamping device 40 moves towards the object to be climbed and presses the object, namely, the V-shaped block 421 is pressed against the edge of the angle steel main material a, so that firm clamping is realized by matching with the two claw rods 431 of the clamping device 40, namely, the state shown in fig. 1 and 2.

As shown in fig. 1, when the two claw rods 431 of the fixed clamping device 40 are opened, the push-pull plate 435 pushes the hinged positions of the rear rod 431b and the front rod 431c to the outside of the swing guide sleeve 432, so as to realize the opening of the two claw rods 431, when the hinged positions of the rear rod 431b and the front rod 431c are pushed to the outside of the swing guide sleeve 432, the two claw rods can swing, at the moment, a notch 431f on the front rod 431c is exposed from the end of the swing guide sleeve 432, when the notch 431f moves to the limiting elastic piece 436, the limiting elastic piece 436 is clamped in the notch 431f, under the action of the limiting elastic piece 436 being clamped in the notch 431f and exerting a poking force on the front rod 431c, the front rod 431c swings outwards around the hinged position relative to the rear rod 431b, and simultaneously, under the action of the pulling force exerted on the front rod 431c by the reset tension spring 437a, the front rod 431c swings outwards around the hinged position relative to the rear rod 431b, and the inner included angle between the rear rod 431b and the front rod 431c can be adjusted to be more than 180 degrees under the combined action of the two.

When the two claw rods 431 of the clamping device 40 are opened, the movable end of the pressing part 42 on the clamping device 40 moves away from the object to be climbed, i.e. the V-shaped block 421 retreats away from the edge of the angle steel main material a.

S2, the host 30 moves upwards along the object to be climbed relative to the slidable clamping device 40; specifically, the sliding motor 35 drives the sliding screw rod 33 to rotate, the sliding screw rod 33 is matched with a nut in the sliding sleeve 34, the host 30 is driven to move upwards relative to the clamping device 40 above, meanwhile, the clamping device 40 fixedly installed at the lower end of the host 30 moves upwards along with the sliding screw rod, as the two claw rods 431 of the fixed clamping device 40 are opened, and the inner included angle between the rear rod 431b and the front rod 431c is larger than 180 degrees, the two spikes at the two sides of the edge of the angle steel main material a can be avoided when the angle steel main material a rises, and in addition, the V-shaped block 421 on the fixed clamping device 40 is retracted from the edge of the angle steel main material a, so that the connecting plate at the connecting position of the two sections of the angle steel main material a can be avoided in the rising process.

One of the gripping devices 40 adjusts its pitch angle with respect to the host 30 by the other gripping device 40 so that the host 30 is parallel to the object to be climbed, before gripping the object.

S3, after the host 30 stops moving upwards, the host 30 is enabled to be parallel to the object to be climbed by adjusting the pitching angle of the host 30 through parts such as a pitching adjusting plate 44, a pitching adjusting nut 46, a pitching adjusting motor 47, a pitching adjusting screw rod 48 and the like on the upper clamping device 40, the fixed clamping device 40 is clamped on the object to be climbed, two claw rods 431 of the upper sliding clamping device 40 are opened, and an inner included angle between a rear rod body 431b and a front rod body 431c of the opened claw rods 431 is larger than 180 degrees; when the two claw rods 431 of the clamping device 40 are opened, the movable end of the pressing part 42 on the clamping device 40 moves away from the object to be climbed, i.e. the V-shaped block 421 retreats away from the edge of the angle steel main material a.

S4, the clamping device 40 capable of sliding upwards moves upwards along the host 30; specifically, the sliding motor 35 drives the sliding screw rod 33 to rotate, and the sliding screw rod 33 is matched with the nut in the sliding sleeve 34 to drive the upper clamping device 40 to move upwards relative to the host 30, and as the two claw rods 431 of the upper clamping device 40 are open and the inner included angle between the rear rod 431b and the front rod 431c is larger than 180 degrees, the two spikes on two sides of the edge of the angle steel main material a can be avoided when the angle steel main material is lifted, and in addition, the V-shaped block 421 on the upper clamping device 40 is retracted from the edge of the angle steel main material a, so that the connecting plate at the connecting position of the two sections of angle steel main materials a can be avoided in the lifting process.

S5, repeating the steps S1-S5 after the upward movement of the slidable clamping device 40 is stopped.

In this process, when the host 30 drives the bolt tightening device 10 to climb to the position where the bolt tightening is required, the two clamping devices 40 are both clamped on the object to be climbed, and the bolt tightening device 10 screws the bolt on the object to be climbed. Specifically, the motor 116 drives the adjusting bolt tightening device 10 to adjust the height of the working head 12 to be at the working height, the rotating motor 112b drives the adjusting X-axis displacement mechanism 113, the Y-axis displacement mechanism 114 and the working head 12 to be adjusted to the left side surface or the right side surface of the angle steel main material a so as to tighten bolts on different side surfaces, the X-axis displacement mechanism 113 acts to drive the working head 12 to move to a position opposite to the bolts, the Y-axis displacement mechanism 114 acts to drive the sleeve b of the working head 12 to be sleeved on the bolts to be tightened, then the striking motor 12d rotates, the striking lug 12g is continuously impacted through the striking head 12h, the sleeve b is impacted to tighten the bolts, bolt tightening operation is realized, after the tightening operation is completed, the Y-axis displacement mechanism 114 acts to drive the sleeve b of the working head 12 to be separated from the bolts, and then other bolts are tightened.

When the operation method is actually applied, the two clamping devices 40 are used for alternately clamping and expanding, so that climbing to the position where bolt tightening is required can be smoothly realized, the two clamping devices 40 are clamped on an object to be climbed, stable support is provided for tightening operation, the bolt tightening device 10 is used for screwing bolts on the object to be climbed to realize tightening operation, the climbing mode is simple and reliable, stable support can be provided for tightening operation, the tightening effect is good, and the operation efficiency is high. In addition, in the climbing process, as the inner included angle between the rear rod body 431b and the front rod body 431c can be opened to be larger than 180 degrees, the opening angle of the clamping device 40 is larger than the opening angle of a clamping jaw common in the prior art, and when the opened clamping device 40 moves along the angle steel main material, the open angle is larger, so that longer obstacles such as foot nails can be avoided, and compared with the prior art, the avoidance range of the device is wider.

The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides a climbing operation platform with bolt is tight function again which characterized in that: the climbing device comprises a host machine (30), wherein a clamping device (40) and a bolt tightening device (10) are arranged on the host machine (30), the host machine (30) and the clamping device (40) can climb along an object to be climbed, the bolt tightening device (10) comprises an extension arm (11) arranged on the host machine (30), a working head (12) is arranged at the end part of the extension arm (11), a sleeve (b) is arranged at the movable end of the working head (12), and the bolt tightening device (10) can screw bolts on the object to be climbed;

The clamping device (40) comprises a fixed seat (41), a pair of claw rods (431) are arranged on the fixed seat (41) in a swinging mode, each claw rod (431) comprises a rear rod body (431 b) and a front rod body (431 c) which are hinged together, and when the two claw rods (431) are opened, an inner included angle between the rear rod body (431 b) and the front rod body (431 c) is larger than 180 degrees;

The clamping device (40) further comprises a pressing part (42) with a movable end positioned between the root parts of the two claw rods (431), and the movable end of the pressing part (42) can slide along the direction away from or close to a clamping area between the end parts of the two claw rods (431);

the movable end of the pressing part (42) comprises a V-shaped block (421) which is slidably arranged on the fixed seat (41), and the pressing part (42) comprises a V-shaped block driving mechanism which is arranged on the fixed seat (41);

The V-shaped block driving mechanism comprises screw sleeves (422), screw rods (423), synchronous belts (424) and synchronous motors, wherein the screw sleeves (422) are respectively arranged at the rear sides of the upper end and the lower end of each V-shaped block (421), the axis of each screw sleeve (422) is in the front-rear direction, the screw rods (423) are respectively in threaded connection with the two screw sleeves (422), synchronous pulleys are arranged at the rear ends of the screw rods (423), the synchronous belts (424) are wound on the two synchronous pulleys, and the screw rods (423) and the synchronous pulleys at the bottom are driven by the synchronous motors to rotate.

2. The climbing work platform with bolt tightening function according to claim 1, wherein: the extension arm (11) comprises a bottom frame (111) arranged on a host machine (30), a rotating assembly (112) is arranged at the end part of the bottom frame (111), the rotating axis of the rotating assembly (112) is perpendicular to an object to be climbed, an X-axis displacement mechanism (113) is arranged at the movable end of the rotating assembly (112), a Y-axis displacement mechanism (114) is arranged at the movable end of the X-axis displacement mechanism (113), the reciprocating direction of the movable end of the Y-axis displacement mechanism (114) is perpendicular to the reciprocating direction of the movable end of the X-axis displacement mechanism (113), and the working head (12) is arranged at the movable end of the Y-axis displacement mechanism (114).

3. The climbing work platform with bolt tightening function according to claim 2, wherein: the included angle between the reciprocating direction of the movable end of the X-axis displacement mechanism (113) and the rotation axis of the rotation assembly (112) is 45 degrees.

4. The climbing work platform with bolt tightening function according to claim 2, wherein: the bottom frame (111) is slidably mounted on the host (30), and the sliding direction of the bottom frame (111) is parallel to the climbing direction of the host (30).

5. The climbing work platform with bolt tightening function according to claim 4, wherein: the novel sliding type air conditioner is characterized in that a guide rail is arranged on the main machine (30), a sliding block is arranged on the bottom frame (111), the sliding block is slidably mounted on the guide rail, a motor (116) is arranged on the main machine (30), and the motor (116) drives the bottom frame (111) to slide in a reciprocating mode through a belt transmission mechanism (117).

6. The climbing work platform with bolt tightening function according to claim 2, wherein: the rotating assembly (112) comprises a rotating seat (112 a) arranged at the end part of the bottom frame (111), a turntable (112 c) is rotatably arranged on the rotating seat (112 a), the rotating assembly further comprises a rotating motor (112 b) arranged on the rotating seat (112 a), the rotating motor (112 b) drives the turntable (112 c) to rotate through a worm and gear mechanism, and the X-axis displacement mechanism (113) is arranged on the turntable (112 c).

7. The climbing work platform with bolt tightening function according to claim 2, wherein: x axle displacement mechanism (113) are including setting up X axle frame (113 a) on rotating assembly (112) activity end, sliding mounting has X axle movable block (113 b) on X axle frame (113 a), rotates and installs X axle lead screw (113 c), still is provided with synchronous motor (115), X axle movable block (113 b) pass through threaded connection with X axle lead screw (113 c), synchronous motor (115) can drive X axle lead screw (113 c) rotation, Y axle displacement mechanism (114) set up on X axle movable block (113 b).

8. The climbing work platform with bolt tightening function according to claim 2, wherein: the Y-axis displacement mechanism (114) comprises a Y-axis frame (114 a), the Y-axis frame (114 a) is slidably mounted at the movable end of the X-axis displacement mechanism (113), a Y-axis screw rod (114 c) is rotatably mounted on the Y-axis frame (114 a), a synchronous motor (115) connected with the Y-axis screw rod (114 c) is further arranged on the Y-axis frame (114 a), and the Y-axis screw rod (114 c) is in threaded connection with the movable end of the X-axis displacement mechanism (113).

9. The climbing work platform with bolt tightening function according to claim 1, wherein: the working head (12) comprises a striking seat (12 a) arranged at the end part of the extension arm (11) and a striking motor (12 d) arranged on the striking seat (12 a), a striking anchor rod (12 b) is rotatably arranged on the striking seat (12 a), the striking motor (12 d) can drive the striking anchor rod (12 b) to rotate, and the sleeve (b) is arranged on the striking anchor rod (12 b).

10. A method of operating a climbing work platform having a bolt tightening function according to any one of claims 1 to 9, characterized in that: two clamping devices (40) are arranged, one clamping device (40) can slide back and forth relative to the host machine (30), and the other clamping device (40) is fixedly arranged on the host machine (30), and comprises the following steps:

s1, clamping a slidable clamping device (40) on an object to be climbed, and opening two claw rods (431) of the fixed clamping device (40);

S2, the host machine (30) moves upwards along an object to be climbed relative to the clamping device (40) capable of sliding;

S3, after the host (30) stops moving upwards, the fixed clamping device (40) is clamped on an object to be climbed, and two claw rods (431) of the clamping device (40) capable of sliding are opened;

S4, the slidable clamping device (40) moves upwards along the host machine (30);

S5, after the sliding clamping devices (40) move upwards to stop, repeating the steps S1-S5, wherein in the process, when the host (30) drives the bolt tightening device (10) to climb to a position where bolt tightening is needed, the two clamping devices (40) are clamped on an object to be climbed, and the bolt tightening device (10) screws bolts on the object to be climbed.