CN115229482A - Climbing operation platform and climbing method - Google Patents

Abstract

The invention discloses a climbing operation platform and a climbing method, wherein the climbing operation platform comprises a host, a clamping device is arranged on the host, the clamping device comprises a fixed seat, a pair of claw rods is arranged on the fixed seat in a swinging mode, each claw rod comprises a rear rod body and a front rod body which are hinged together, and when the two claw rods are opened, the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees. The climbing method comprises the following steps: two clamping device centre gripping in turn wait the object of climbing, the host computer upwards climbs along the object of waiting to climb. The invention has the advantages that: this climbing operation platform's clamping device opens the angle great, and clamping device after opening is when moving along the angle steel main material, because it opens the angle great, can dodge barriers such as longer foot nail, and for prior art, it dodges the scope wider.

Description

Climbing operation platform and climbing method

Technical Field

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

Background

The angle steel tower is an important facility in the field of electric power, and is a schematic diagram of an angle steel main material a of the angle steel tower in the prior art as shown in fig. 18 and 19, the section of the angle steel main material a is in a right-angle shape, a plurality of foot nails a1 are distributed on two outer sides of the angle steel main material a from bottom to top, the foot nails a1 are of rod-shaped structures and are perpendicular to the outer side surface of the angle steel main material a, two adjacent angle steel main materials a are connected through a connecting plate a2 in the right-angle shape, the connecting plate a2 is located on the outer side of the joint 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 angle steel tower has the advantages that the number is large, the distribution is wide, the electric angle steel tower can be exposed to a field environment or even a dusty strong wind high-humidity severe environment for a long time, maintenance personnel need to ascend and operate in the follow-up maintenance process, the connecting bolt at the position of the electric angle steel tower is stably tightened, the danger coefficient is high, the labor intensity is high, the idle time is long, physical strength of the working personnel is easily penetrated, the physical health of the working personnel is further harmed, and meanwhile, the maintenance mode is obviously extremely low in efficiency. Therefore, in the prior art, various overhaul robots used for electric angle steel towers or other high-altitude operations have been developed to meet the requirement of bolt tightening operation under full high-altitude operations, for example, chinese patent application publication No. CN112356940A discloses a climbing robot for angle steel towers, which can climb the angle steel tower by clamping jaws on angle steel and avoid obstacles such as pins on the angle steel tower by opening the jaws during climbing, but the jaws have limited opening angles, cannot avoid longer pins, and have a small avoiding range. This angle steel tower is with climbing robot is in the 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 centre gripping angle steel. But actually be connected through the connecting plate between angle steel and the angle steel tip usually, the connecting plate can follow the edge of two angle steel junctions and stick out partly promptly, causes the obstacle to climbing robot march, and the V type piece among the prior art is fixed, and angle steel connecting plate can not dodged to V type piece itself, consequently can only come to cross obstacles such as angle steel connecting plate through the gesture of adjusting the robot, and the structure is comparatively complicated, and the action is not nimble enough.

Disclosure of Invention

The technical problem to be solved by the invention is as follows:

the climbing robot in the prior art has the technical problems of limited opening angle and small avoidance range.

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

the utility model provides a climbing operation platform, includes the host computer, be provided with clamping device on the host computer, clamping device includes the fixing base, the swing sets up a pair of claw pole on the fixing base, the claw pole is including the articulated back body of rod together, the preceding body of rod, and when two claw poles opened, the inboard contained angle between the back body of rod and the preceding body of rod was greater than 180.

The climbing operation platform is mainly used for climbing operation of objects such as main angle steel materials, the climbing operation platform is clamped on the main angle steel materials through the clamping device and climbs upwards along the main angle steel materials, two claw rods of the clamping device can be clamped or opened when approaching or departing, the claw rods are in two sections, namely when the two claw rods are opened, the inner side included angle between the rear rod body and the front rod body can be opened to be larger than 180 degrees, the opening angle of the clamping device is larger than the opening angle of a clamping jaw which is common in the prior art, when the opened clamping device moves along the main angle steel materials, the opened clamping device can avoid longer obstacles such as foot nails due to the larger opening angle, and compared with the prior art, the avoiding range is wider.

Preferably, at least two clamping devices are arranged, wherein at least one clamping device can slide in a reciprocating manner relative to the main machine.

Preferably, the two clamping devices are arranged, one clamping device can slide in a reciprocating mode relative to the main machine, and the other clamping device is fixedly installed on the main machine.

Set up two clamping device, can alternate centre gripping, open, realize along angle steel main material climbing, its structure, principle are comparatively simple, and the action is reliable.

Preferably, a sliding block is arranged on the clamping device capable of sliding back and forth relative to the main machine, a sliding track is arranged on the main machine, the sliding block is slidably mounted on the sliding track, and a clamping device driving mechanism is further arranged on the main machine.

In practical application, the clamping device can be driven by the clamping device driving mechanism to slide along the sliding rail, so that climbing action is realized, and the movement is smooth.

Preferably, the clamping device driving mechanism comprises a sliding screw rod and a sliding motor which are arranged on the host, a sliding sleeve is arranged on the clamping device capable of sliding back and forth relative to the host, the sliding screw rod is connected with the sliding sleeve through threads, and the sliding screw rod is connected to an output shaft of the sliding motor.

Preferably, the main frame is a rectangular frame structure, and the clamping device driving mechanism is located on the inner side of the frame of the main frame.

The clamping device driving mechanism is arranged on the inner side of the frame of the main machine, the whole structure is regular, and meanwhile the clamping device driving mechanism on the inner side can be protected from being influenced by objects on the outer side through the main machine.

Preferably, the clamping device further comprises a pressing part with a movable end located between the roots of the two claw rods, and the movable end of the pressing part can slide along a direction far away from or close to a clamping area between the end parts of the two claw rods.

During clamping, the movable end of the pressing part can slide towards the direction close to the clamping area between the end parts of the two claw rods, and the movable end of the pressing part abuts against the edge of the angle steel so as to be matched with the two claw rods to realize clamping; when the two claw rods are opened, the movable end of the pressing part can slide towards the direction far away from the clamping area between the end parts of the two claw rods, and the movable end of the pressing part is far 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 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 can be kept away from a connecting plate protruding from the edge of the angle steel, so that the angle steel connecting plate can be avoided.

Preferably, the movable end of the pressing part comprises a V-shaped block which is slidably mounted on the fixed seat, and the pressing part comprises a V-shaped block driving mechanism arranged on the fixed seat.

In practical application, the V-shaped block driving mechanism can drive the V-shaped block to be pressed at the edge of the angle steel, the V-shaped block is tightly attached to the edge of the angle steel, the V-shaped block can be matched with the two claw rods to realize firm clamping, and the V-shaped block can be driven to be far away from the edge of the angle steel to realize avoidance of an angle steel connecting plate.

Preferably, the fixed seat is hinged with a pair of swing guide sleeves, and the rear rod body is slidably mounted in the swing guide sleeves; the fixed seat is provided with a push-pull plate in a sliding mode, the push-pull plate can pull the hinged position of the rear rod body and the front rod body to the swing guide sleeve to clamp the two claw rods, and the push-pull plate can push the hinged position of the rear rod body and the front rod body to the outside of the swing guide sleeve to open the two claw rods.

In practical application, the push-pull plate is used for providing a clamping and opening power source, during clamping, the push-pull plate moves to pull the rear rod body, so that the hinged position of the rear rod body and the front rod body can be pulled into the swing guide sleeve, meanwhile, the two swing guide sleeves can swing to enable the two claw rods to be close to each other for clamping, when the hinged position of the rear rod body and the front rod body is pulled into the swing guide sleeve, the rear rod body and the front rod body are limited by the swing guide sleeve, the internal included angle between the rear rod body and the front rod body is reduced to be 180 degrees, the limited rear rod body and the limited front rod body do not swing, so that stable clamping can be realized, when the push-pull plate stops at different positions, the positions of the two claw rods in the swing guide sleeves and the included angle between the two swing guide sleeves are different, and the clamping angle of the two claw rods can be adjusted flexibly through the movement stopping position of the push-pull plate; when opening, the push-and-pull board promotes the articulated position of the back body of rod and the preceding body of rod and pushes away to swing uide bushing outside, realizes that two claw poles open, and when the articulated position of the back body of rod and the preceding body of rod pushed away to swing uide bushing outside, the swing then can take place between the two, and at this moment, the inboard contained angle between the back body of rod and the preceding body of rod is greater than 180, and then realizes opening great angle, can dodge barriers such as longer foot nail, for prior art, it dodges the scope wider.

Preferably, the push-pull plate is provided with a pair of guide grooves, the fixed seat is provided with an installation plate, and the installation plate is provided with a pair of directional grooves; the end part of the rear rod body is provided with a vertical push-pull shaft, and two ends of the vertical push-pull shaft are respectively installed in the guide groove and the orientation groove in a sliding mode.

The arrangement of the guide groove and the orientation groove can respectively guide the vertical push-pull shaft to move according to a preset track when the push-pull plate moves, so that two rear rod bodies can be pulled simultaneously and swing along with the swing guide sleeve in the reciprocating movement process of the push-pull plate, the hinged positions of the rear rod bodies and the front rod body are pulled into the swing guide sleeve, and the two claw rods realize clamping; it is also possible to realize: the two rear rod bodies can be pushed simultaneously and swing reversely along with the swing guide sleeve, the hinged positions of the rear rod bodies and the front rod body are pushed to the outside of the swing guide sleeve, the inner side included angle between the rear rod bodies and the front rod body is larger than 180 degrees, and the two claw rods are opened; the arrangement of the guide groove and the orientation groove can ensure the reliability of clamping and opening actions.

Preferably, a push-pull driving mechanism is arranged on the fixed seat and can drive the push-pull plate to move in a reciprocating manner; the push-pull driving mechanism comprises a push-pull lead screw which is rotatably arranged on a fixed seat, and a push-pull motor which is arranged on the fixed seat, wherein the push-pull lead screw is rotatably arranged in a push-pull plate through threads, and the push-pull motor is connected with the push-pull lead screw through a worm gear mechanism.

In practical application, when the push-pull motor rotates, the worm in the worm-and-gear mechanism can be driven to rotate, so that the worm is driven to rotate, the worm wheel drives the push-pull screw rod to rotate, the push-pull plate is driven to reciprocate through the push-pull screw rod, the worm-and-gear mechanism and the screw-nut mechanism can achieve a large transmission ratio, so that a large push-and-pull driving force can be provided for the push-pull plate, stable clamping and opening actions can be achieved, the worm-and-gear mechanism and the screw-nut mechanism have reverse locking characteristics, namely, power can be transmitted to the push-pull plate only through the push-pull motor but cannot be transmitted reversely, so that the clamping and opening stability can be effectively ensured, and the defects of untight clamping or unsmooth opening and the like are avoided.

Preferably, the swing guide sleeve is provided with a limiting elastic sheet, the front rod body is provided with a notch matched with the limiting elastic sheet, and when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, the limiting elastic sheet can be clamped into the notch so that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees.

In practical application, when the articulated position of the back body of rod and the preceding body of rod is pushed away to the swing uide bushing when outside, breach on the preceding body of rod exposes from swing uide bushing tip, when the breach removes to spacing shell fragment department, spacing shell fragment card is to in the breach, exert the stirring effect to the preceding body of rod in the breach at spacing shell fragment card under, the preceding body of rod is around its articulated position for the outside swing of the back body of rod to can swing to the inboard contained angle between the back body of rod and the preceding body of rod and be greater than 180 states, and then realize dodging the expansion of scope, the structure is the following, the principle is comparatively simple, the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the limiting elastic sheet slides out of the notch to realize clamping.

Preferably, the limiting elastic sheet is located on the outer side of the swing guide sleeve, a bending end bent to the inner side is arranged at the first end of the limiting elastic sheet, the bending end is pressed on the outer side of the front rod body, and the notch is located on the outer side of one end, hinged to the rear rod body, of the front rod body.

In practical application, the bending end is used for being clamped in the notch to adjust the opening angle between the rear rod body and the front rod body, and the bending end is simple in structure and reliable in action.

The swing guide sleeve is characterized in that a fixing column is arranged on the outer side of the swing guide sleeve, a long hole is formed in the limiting elastic sheet, the length direction of the long hole is parallel to the guide direction of the swing guide sleeve, the fixing column is located in the long hole, a connecting lug bent outwards is arranged at the second end of the limiting elastic sheet, and an axial tension spring is connected between the connecting lug and the fixing column.

The axial tension spring can apply tension to one end where the connecting lug is located, and then the bending end has the trend of compressing tightly the outer side of the front rod body, so that the notch can accurately slide into the position when sliding out, and when the notch slides into the swing guide sleeve, the bending end can flexibly slide out from the notch, the whole structure and the principle are simple, and the action is reliable.

Preferably, a radial tension spring is arranged between the limiting elastic sheet and the swing guide sleeve and can enable the limiting elastic sheet to be pressed on the swing guide sleeve.

The radial tension spring can enable the limiting elastic sheet to be tightly attached to the swing guide sleeve so as to ensure that the limiting elastic sheet can accurately slide into a position when the notch slides out, and the limiting elastic sheet can flexibly slide out of the notch when the notch slides into the swing guide sleeve, so that the overall structure and principle are simple, and the action is reliable.

Preferably, a reset tension spring is arranged between the rear rod body and the front rod body, and the reset tension spring can enable the front rod body to swing outwards around the end part of the rear rod body.

In practical application, when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, under the action of the tension force applied to the front rod body by the reset tension spring, the front rod body swings outwards relative to the rear rod body around the hinged position of the front rod body, and can swing to a state that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees, so that the expansion of the avoiding range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the reset tension spring is stretched to realize clamping.

Optimally, the opening angle between the two claw rods can be adjusted.

In practical application, through adjusting the angle of opening between two claw poles, can realize the centre gripping climbing to the object of waiting to climb of different specifications, application scope is wider.

Preferably, the clamping device is adjustable in pitch angle relative to the main machine.

In the actual climbing process, the adjustment of the posture of the host can be realized by adjusting the pitching angle of the clamping device relative to the host, and if the host can be adjusted to be parallel to the posture of the object to be climbed, the actual climbing requirement is further met.

The invention also discloses a climbing method adopting the climbing operation platform, wherein two clamping devices are arranged, one clamping device can slide in a reciprocating manner relative to the host, and the other clamping device is fixedly arranged on the host, and the climbing method comprises the following steps:

s1, clamping an object to be climbed by a clamping device capable of sliding, stretching two claw rods of the fixed clamping device, and enabling an inner side included angle between a rear rod body and a front rod body of the stretched claw rods to be larger than 180 degrees;

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

s3, after the host moves upwards and stops, the fixed clamping device clamps the object to be climbed, two claw rods of the clamping device capable of sliding open, and an inner side included angle between a rear rod body and a front rod body of the open claw rods is larger than 180 degrees;

s4, the clamping device capable of sliding moves upwards along the host;

and S5, after the sliding clamping device moves upwards and stops, repeating the steps S1-S5.

The climbing method is simple in action and reliable in climbing when in actual application, can smoothly realize climbing of objects such as angle steel towers and the like, and in the climbing process, because the inner side included angle between the rear rod body and the front rod body can be opened to be larger than 180 degrees, the opening angle of the clamping device is larger than the common clamping jaw opening angle in the prior art, when the opened clamping device moves along an angle steel main material, the opened clamping device can avoid longer obstacles such as pins and the like because the opening angle is larger, and compared with the prior art, the avoidance range is wider.

Preferably, the clamping device further comprises a pressing part with a movable end positioned between the roots of the two claw rods, and the movable end of the pressing part can slide along a direction far away from or close to a clamping area between the end parts of the two claw rods;

when the clamping device clamps an object to be climbed, the movable end of the pressing part on the clamping device moves towards the object to be climbed and presses on the object;

when the two claw rods of the clamping device are opened, the movable end of the pressing part on the clamping device moves towards the direction far away from the object to be climbed.

Preferably, the clamping devices are adjustable in pitch angle relative to the main machine, and one clamping device is used for adjusting the pitch angle relative to the main machine through the other clamping device before clamping the object to be climbed, so that the main machine is parallel to the object to be climbed.

The invention has the advantages that:

1. the climbing operation platform is mainly used for climbing operation of objects such as main angle steel materials, the climbing operation platform is clamped on the main angle steel materials through the clamping device and climbs upwards along the main angle steel materials, two claw rods of the clamping device can be clamped or opened when approaching or departing, the claw rods are in two sections, namely when the two claw rods are opened, the inner side included angle between the rear rod body and the front rod body can be opened to be larger than 180 degrees, the opening angle of the clamping device is larger than the opening angle of a clamping jaw which is common in the prior art, when the opened clamping device moves along the main angle steel materials, the opened clamping device can avoid longer obstacles such as foot nails due to the larger opening angle, and compared with the prior art, the avoiding range is wider.

2. Set up two clamping device, can alternate centre gripping, open, realize along the climbing of angle steel main material, its structure, principle are comparatively simple, and the action is reliable.

3. In practical application, the clamping device can be driven by the clamping device driving mechanism to slide along the sliding rail, so that the climbing action is realized, and the movement is smooth.

4. The clamping device driving mechanism is arranged on the inner side of the frame of the main machine, the whole structure is regular, and meanwhile the clamping device driving mechanism on the inner side can be protected from being influenced by an outer object through the main machine.

5. During clamping, the movable end of the pressing part can slide towards the direction close to the clamping area between the end parts of the two claw rods, and the movable end of the pressing part is pressed against the edge of the angle steel so as to be matched with the two claw rods to realize clamping; when the two claw rods are opened, the movable end of the pressing part can slide towards the direction far away from the clamping area between the end parts of the two claw rods, and the movable end of the pressing part is far 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 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 can be kept away from a connecting plate protruding from the edge of the angle steel, so that the angle steel connecting plate can be avoided.

6. In practical application, the V-shaped block driving mechanism can drive the V-shaped block to be pressed at the edge of the angle steel, the V-shaped block is tightly attached to the edge of the angle steel, the V-shaped block can be matched with the two claw rods to realize firm clamping, and the V-shaped block can be driven to be far away from the edge of the angle steel to realize avoidance of an angle steel connecting plate.

7. In practical application, the push-pull plate is used for providing a clamping and opening power source, during clamping, the push-pull plate moves to pull the rear rod body, so that the hinged position of the rear rod body and the front rod body can be pulled into the swing guide sleeve, meanwhile, the two swing guide sleeves can swing to enable the two claw rods to be close to each other for clamping, when the hinged position of the rear rod body and the front rod body is pulled into the swing guide sleeve, the rear rod body and the front rod body are limited by the swing guide sleeve, the internal included angle between the rear rod body and the front rod body is reduced to be 180 degrees, the limited rear rod body and the limited front rod body do not swing, so that stable clamping can be realized, when the push-pull plate stops at different positions, the positions of the two claw rods in the swing guide sleeves and the included angle between the two swing guide sleeves are different, and the clamping angle of the two claw rods can be adjusted flexibly through the movement stopping position of the push-pull plate; when opening, the body of rod pushes away the articulated position of the body of rod of back body of rod and preceding body of rod outside to the swing uide bushing after the push-and-pull board promotes, realizes that two claw poles open, and when the articulated position of the body of rod of back body of rod and preceding body of rod pushed away the swing uide bushing outside, the swing then can take place between the two, and at this moment, the inboard contained angle between the body of rod of back body of rod and the preceding body of rod is greater than 180, and then realizes opening great angle, can dodge barriers such as longer foot nail, for prior art, it dodges the scope wider.

8. The arrangement of the guide groove and the orientation groove can respectively guide the vertical push-pull shaft to move according to a preset track when the push-pull plate moves, so that two rear rod bodies can be pulled simultaneously and swing along with the swing guide sleeve in the reciprocating movement process of the push-pull plate, the hinged positions of the rear rod bodies and the front rod body are pulled into the swing guide sleeve, and the two claw rods realize clamping; it is also possible to realize: the two rear rod bodies can be pushed simultaneously and swing reversely along with the swing guide sleeve, the hinged positions of the rear rod bodies and the front rod body are pushed to the outside of the swing guide sleeve, the inner side included angle between the rear rod bodies and the front rod body is larger than 180 degrees, and the two claw rods are opened; the arrangement of the guide groove and the orientation groove can ensure the reliability of clamping and opening actions.

9. In practical application, when the push-pull motor rotates, the worm in the worm-and-gear mechanism can be driven to rotate, the worm wheel is driven to rotate, the worm wheel drives the push-pull screw rod to rotate, the push-pull plate is driven to move back and forth through the push-pull screw rod, the worm-and-gear mechanism and the screw rod nut mechanism can achieve a large transmission ratio, and a large push-and-pull driving force can be provided for the push-pull plate, so that stable clamping and opening actions can be achieved, the worm-and-gear mechanism and the screw rod nut mechanism have reverse locking characteristics, namely, power can be transmitted to the push-pull plate only through the push-pull motor and cannot be transmitted reversely, the clamping and opening stability can be effectively ensured, and the defects that clamping is not tight or opening is not smooth and the like are avoided.

10. In practical application, when the articulated position of the back body of rod and the preceding body of rod pushed away to the swing uide bushing when outside, breach on the preceding body of rod exposes from the swing uide bushing tip, when the breach removes to spacing shell fragment department, spacing shell fragment card is to in the breach, exert the stirring effect to the preceding body of rod in the breach at spacing shell fragment card under, the preceding body of rod is around its articulated position for the outside swing of the back body of rod to the outside, and can swing to the inboard contained angle between the back body of rod and the preceding body of rod and be greater than 180 states, and then realize dodging the expansion of scope, the structure is a structure, the principle is comparatively simple, the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the limiting elastic sheet slides out of the notch to realize clamping.

11. In practical application, the bending end is used for being clamped in the notch to adjust the opening angle between the rear rod body and the front rod body, and the bending end is simple in structure and reliable in action.

12. The axial tension spring can apply tension to one end where the connecting lug is located, and then the bending end has the trend of compressing tightly the outer side of the front rod body, so that the notch can accurately slide into the position when sliding out, and when the notch slides into the swing guide sleeve, the bending end can flexibly slide out from the notch, the whole structure and the principle are simple, and the action is reliable.

13. The radial tension spring can enable the limiting elastic sheet to be tightly attached to the swing guide sleeve so as to ensure that the limiting elastic sheet can accurately slide into a position when the notch slides out, and the limiting elastic sheet can flexibly slide out of the notch when the notch slides into the swing guide sleeve, so that the overall structure and principle are simple, and the action is reliable.

14. In practical application, when the hinged position of the rear rod body and the front rod body is pushed to the outside of the swing guide sleeve, under the action of the tension force applied to the front rod body by the reset tension spring, the front rod body swings outwards relative to the rear rod body around the hinged position of the front rod body, and can swing to a state that the inner side included angle between the rear rod body and the front rod body is larger than 180 degrees, so that the expansion of the avoiding range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod body and the front rod body retracts into the swing guide sleeve, the reset tension spring is stretched to realize clamping.

15. In practical application, through adjusting the angle of opening between two claw poles, can realize the centre gripping climbing to the object of waiting to climb of different specifications, application scope is wider.

16. In the actual climbing process, the pitching angle of the clamping device relative to the host can be adjusted to realize the adjustment of the posture of the host, and if the host can be adjusted to be parallel to the posture of the object to be climbed, the actual climbing requirement can be met.

17. The climbing method is simple in action and reliable in climbing when in actual application, can smoothly realize climbing of objects such as angle steel towers and the like, and in the climbing process, because the inner side included angle between the rear rod body and the front rod body can be opened to be larger than 180 degrees, the opening angle of the clamping device is larger than that of a clamping jaw which is common in the prior art, when the opened clamping device moves along an angle steel main material, the opened clamping device can avoid longer obstacles such as pins and the like due to the larger opening angle, and compared with the prior art, the avoiding range is wider.

Drawings

Fig. 1 and 2 are schematic perspective views of a climbing operation platform according to a first embodiment of the invention;

FIG. 3 is a schematic diagram illustrating a climbing operation of the climbing operation platform according to an embodiment of the present invention;

fig. 4 and 5 are schematic perspective views (clamping states) of a clamping device according to a first embodiment of the invention;

FIGS. 6 and 7 are exploded views (open state) of a clamping device according to an embodiment of the present invention;

FIG. 8 is a cross-sectional view of a clamping device in accordance with one embodiment of the present invention (in an open state);

FIG. 9 is a schematic view of a clamping device according to one embodiment of the present invention in an open position;

FIG. 10 is a cross-sectional view of FIG. 9;

FIG. 11 is a view showing the state of FIG. 9 in which the lower-limit resilient piece is engaged with the front rod body;

fig. 12 is a schematic perspective view of a position-limiting elastic sheet according to an embodiment of the present invention;

FIG. 13 is a schematic view of the claw rod being clamped according to the first embodiment of the present invention;

FIG. 14 is a schematic view of a claw bar in a clamping state according to an embodiment of the present invention;

FIG. 15 is a schematic perspective view of a mounting plate according to one embodiment of the present invention;

figure 16 is a right side view of the climbing platform according to the second embodiment of the present invention;

FIG. 17 is a schematic view of the clamping device after adjustment of the pitch angle according to the second embodiment of the present invention;

fig. 18 and 19 are schematic diagrams of main angle steel materials in the prior art;

wherein, the first and the second end of the pipe are connected with each other,

a-angle steel main material; a 1-foot nail; a 2-connecting plate;

30-a host computer; 31-a glide track; 32-a sliding block; 33-a sliding screw rod; 34-a sliding sleeve; 35-a slipping motor;

40-a clamping device;

41-a fixed seat; 411-a backplane; 412-vertical plate; 413-a mounting frame; 414-front mount; 415-rear mounting; 416-a connecting plate; 417-a reinforcement plate;

42-a pressing part; 421-V shaped block; 422-thread insert; 423-a screw; 424-synchronous belt; 425-a synchronous machine; 43-a clamping portion; 431-claw rod; 431 a-vertical push-pull shaft; 431 b-rear rod body; 431 c-front bar; 431 d-vertical axis; 431 e-middle jaw; 431 f-notch; 431 g-claw head; 431 h-clamping jaw connecting block; 432-a swing guide sleeve; 432 a-a mating wall; 433-a vertical hinge base; 434-mounting plate; 434 a-orientation groove; 434 b-curved section; 434 c-straight line segment; 434 d-inclined section; 435-push-pull plate; 435 a-guiding groove; 436-limit elastic pieces; 436 a-horizontal plate section; 436 b-engaging ears; 436 c-bent end; 437 a-a reset tension spring; 437 b-radial tension spring; 437 c-axial tension spring; 438 a-push-pull screw rod; 438 b-push-pull motor; 438 c-turbine; 438 d-worm;

44-pitch adjustment plate; 45-a slide plate; 46-pitch adjustment nut; 47-pitch adjustment motor; and 48-a pitch adjusting screw rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

The first embodiment is as follows:

as shown in fig. 1 and 2, the climbing operation platform comprises a main machine 30, a clamping device 40 and a clamping device driving mechanism.

As shown in fig. 3, in the present embodiment, the clamping device 40 is disposed on the main frame 30, for convenience of understanding and description, a side of the angle steel main material a relative to the main frame 30 is taken as a front side, that is, the clamping device 40 is disposed on the front side of the main frame 30, and the rest of the orientations are analogized by taking this as a reference.

As shown in fig. 4, the clamping device 40 includes a fixing base 41, a pair of claw rods 431 is arranged on the fixing base 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 claw rods 431 are opened, an inner included angle between the rear rod body 431b and the front rod body 431c is greater than 180 °.

Further, at least two holding devices 40 are provided, wherein at least one holding device 40 can slide back and forth relative to the main frame 30. Specifically, as shown in fig. 1, in the present embodiment, two clamping devices 40 are provided, wherein one of the clamping devices 40 located above can slide up and down reciprocally with respect to the main unit 30, and the other clamping device 40 located below is fixedly installed at the front side of the bottom of the main unit 30.

As shown in fig. 1, a sliding block 32 is disposed on the upper clamping device 40 capable of sliding back and forth relative to the main machine 30, a pair of sliding rails 31 is vertically disposed on the front side of the main machine 30, the sliding block 32 is slidably mounted on the sliding rails 31, and the clamping device driving mechanism is disposed on the main machine 30 for driving the upper clamping device 40 to slide back and forth.

As shown in fig. 1 and 2, the main body 30 has a rectangular frame structure, and the clamping device driving mechanism is located inside the frame of the main body 30. Specifically, clamping device actuating mechanism is including setting up the lead screw 33 that slides, the motor 35 that slides on host computer 30, can be provided with the cover 34 that slides on the clamping device 40 for host computer 30 reciprocating sliding, slide the cover 34 and stretch into backward the frame of host computer 30 is inboard, slides and is provided with the through-hole of axis along vertical direction on the cover 34, install the nut in the through-hole, slide lead screw 33 and rotate and install the host computer 30 frame is inboard, the vertical setting of lead screw 33 slides, slide lead screw 33 and slide and pass through threaded connection between the nut in the cover 34, the motor 35 that slides is located the inboard bottom of host computer 30 frame, and its output shaft is vertical up, slide lead screw 33 be connected to the output shaft of the motor 35 that slides.

As shown in fig. 4, the clamping device 40 includes a fixing base 41, a pressing portion 42, and a clamping portion 43.

The clamping portion 43 is disposed at the front side of the fixing seat 41, in this embodiment, the fixing seat 41 is used for providing a mounting position for other components, and is not limited to a specific shape, and can provide a mounting position for other components and enable the components to cooperate with each other to achieve corresponding functions. As shown in fig. 4, in the present embodiment, the fixing base 41 is a vertically disposed plate-shaped structure, a bottom plate 411 is installed at the bottom of the fixing base 41, and a vertical plate 412 is vertically disposed at the front end of the bottom plate 411.

As shown in fig. 6, the clamping portion 43 includes a pair of claw rods 431 swingably disposed on the fixing base 41, and as shown in fig. 10, the claw rods 431 include a rear rod 431b and a front rod 431c hinged together, and hinged together by a vertical shaft 431d, and when the two claw rods 431 are opened, an inner angle between the rear rod 431b and the front rod 431c is greater than 180 °.

Further, as shown in fig. 9, a pair of swing guide sleeves 432 is hinged to the fixing base 41, specifically, a left vertical hinge base 433 and a right vertical hinge base 433 are arranged on the front side of the fixing base 41, as shown in fig. 4, an opening of the horizontal U-shaped structure of the vertical hinge base 433 faces forward, each swing guide sleeve 432 is hinged to the opening of the vertical hinge base 433 through an upper coaxial hinge shaft and a lower coaxial hinge shaft, the hinge shafts on the vertical hinge bases 433 are along a vertical direction, and further, as shown in fig. 5, the hinge positions of the swing guide sleeves 432 are located at inner ends of the swing guide sleeves 432.

As shown in fig. 4, the swing guide sleeve 432 is a rectangular square tubular structure, a rectangular through hole is formed in the swing guide sleeve 432, and the rear rod body 431b is slidably installed in the rectangular through hole of the swing guide sleeve 432; specifically, the cross-sectional shape of the rear rod body 431b is a rectangle in sliding fit with the rectangular through hole of the swing guide sleeve 432, and the cross-sectional shape of the end, hinged to the front rod body 431c and the rear rod body 431b, of the front rod body is also a rectangle in sliding fit with the rectangular through hole of the swing guide sleeve 432.

Further, as shown in fig. 5, the front rod body 431c includes an upper middle claw 431e and a lower middle claw 431g which are symmetrically arranged, the upper middle claw 431e and the lower middle claw 431g are connected through a claw connecting block 431h, specifically, the middle claw 431e is a sheet structure with the middle part bent outwards, two ends of the middle claw 431e are straight, the claw head 431g is a sheet structure with the middle part bent outwards, ends of the middle claws 431e and the claw head 431g are both mounted on the claw connecting block 431h through screws, the section of the claw connecting block 431h is in a transverse T shape, the two middle claws 431e and the claw head 431g are respectively mounted on upper and lower sides of the claw connecting block 431h, and outer side surfaces of the ends of the middle claws 431e and the claw head 431g abut against a front side surface of the claw connecting block 431h, so that the claw head 431g can be flexibly replaced to meet different use requirements.

As shown in fig. 6, a push-pull plate 435 is slidably mounted on the fixed seat 41, specifically, a guide rail along the front-back direction is disposed on the bottom plate 411, a slider is disposed at the bottom of the push-pull plate 435, the slider is mounted on the guide rail in a sliding manner, a front photoelectric switch and a rear photoelectric switch are further disposed on the bottom plate 411, the front photoelectric switch and the rear photoelectric switch are respectively located at the front-back limit position of the stroke of the push-pull plate 435, and a blocking piece matched with the two photoelectric switches is disposed on the push-pull plate 435 to limit the front-back sliding stroke of the push-pull plate 435.

The push-pull plate 435 can pull the rear rod body 431b to pull the hinged position of the rear rod body 431b and the front rod body 431c into the swing guide sleeve 432 to clamp the two claw rods 431, namely, the state shown in fig. 13 and 14. The push-pull plate 435 can push the rear rod body 431b to push the hinged position of the rear rod body 431b and the front rod body 431c to the outside of the swing guide sleeve 432, so that the two claw rods 431 are opened.

Specifically, as shown in fig. 10, a pair of symmetrical guide grooves 435a is disposed on the top surface of the push-pull plate 435, the guide grooves 435a are in an inclined straight shape, and the distance between the two guide grooves 435a is small in the front and large in the rear, and is in a rearward open shape.

As shown in fig. 4 and 6, the fixing seat 41 is provided with a mounting plate 434, the mounting plate 434 is a horizontal plate-shaped structure, the front end of the mounting plate 434 is connected to 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. 15, the bottom surface of the mounting plate 434 is provided with a pair of symmetrical directional grooves 434a, the directional groove 434a sequentially includes a curved section 434b, a straight section 434c and an inclined section 434d which are communicated with each other from front to back, the three sections are transited by a fillet, the front end of the curved section 434b is bent outwards, the straight 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 directional grooves 434a are communicated with each other.

As shown in fig. 4, a vertical push-pull shaft 431a is disposed at an end of the rear rod body 431b along a vertical direction, two ends of the vertical push-pull shaft 431a are slidably mounted in the guide groove 435a and the orientation 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 orientation 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. 5 and 6, a push-pull driving mechanism is disposed on the fixed seat 41, 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 lead screw 438a rotatably mounted on the fixing base 41, the push-pull lead screw 438a is rotatably mounted on the vertical plate 412 along the front-back direction, the front end of the push-pull lead screw 438a is rotatably mounted on the push-pull plate 435 through a thread, and the push-pull driving mechanism further includes a push-pull motor 438b disposed on the fixing base 41, and the push-pull motor 438b is connected with the push-pull lead screw 438a through a worm gear mechanism.

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 clamping or avoiding requirements of different angles.

Specifically, as shown in fig. 5, a mounting frame 413 is disposed on the rear side of the fixing base 41, the rear end of the push-pull screw rod 438a penetrates through the fixing base 41 and is rotatably mounted on the mounting frame 413, a worm wheel 438c is disposed at the rear end of the push-pull screw rod 438a, the push-pull motor 438b is disposed on the rear side of the fixing base 41, a worm 438d is disposed on an output shaft of the push-pull motor 438b, and the worm 438d is horizontally disposed above the worm wheel 438c and is matched with the worm wheel 438 c.

As shown in fig. 9 and 11, the swing guide sleeve 432 is provided with a limiting elastic sheet 436, the front rod 431c is provided with a notch 431f matched with the limiting elastic sheet 436, and when the hinged position of the rear rod 431b and the front rod 431c is pushed to the outside of the swing guide sleeve 432, the limiting elastic sheet 436 can be clamped into 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. 11 and 12, the limiting elastic sheet 436 is located on a matching wall 432a outside the swing guide sleeve 432, a main body of the limiting elastic sheet 436 is a sheet structure attached to the outside of the swing guide sleeve 432, and includes a horizontal plate section 436a, an upper bending end 436c and a lower bending end 436c bent inward are provided at a first end of the limiting elastic sheet 436, the bending ends 436c are pressed on the outside of the front rod body 431c, and the notch 431f is located on the outside of one end of the front rod body 431c hinged to the rear rod body 431 b. Specifically, the notches 431f are located outside one end of the hinge position of each set of intermediate claws 431 e.

Further, as shown in fig. 11, a fixing post perpendicular to the swing guide sleeve 432 is disposed outside the swing guide sleeve 432, a long hole is disposed on the limit elastic piece 436, a length direction of the long hole is parallel to a guiding direction of the swing guide sleeve 432, the fixing post is located in the long hole, a connection lug 436b bent outward is disposed at a second end of the limit elastic piece 436, and an axial tension spring 437c is connected between the connection lug 436b and the fixing post.

Further, as shown in fig. 11, a radial tension spring 437b is arranged between the limiting elastic sheet 436 and the swing guide sleeve 432, specifically, the upper surface and the lower surface of the swing guide sleeve 432 are respectively provided with a connecting column, the upper edge and the lower edge of the limiting elastic sheet 436 are symmetrically provided with two engaging lugs, the two engaging lugs are respectively connected with the corresponding connecting columns through the radial tension spring 437b, and the radial tension spring 437b can press the limiting elastic sheet 436 on the swing guide sleeve 432.

Further, as shown in fig. 9 and 10, a return tension spring 437a is disposed between the rear rod 431b and the front rod 431c, and the return tension spring 437a can swing the front rod 431c outward around the end of the rear rod 431 b. Specifically, the one end that is close to the back body of rod 431b on the clamping jaw connecting block 431h is crooked to the inboard, and this crooked tip is provided with the connecting hole, articulated one end outside is provided with the connecting hole on the back body of rod 431b, the both ends of extension spring 437a that reset are connected respectively on two connecting holes.

Further, referring to fig. 4 to 8, the pressing part 42 is installed on the fixing base 41, the movable end of the pressing part 42 is located between the roots of the two claw rods 431, and the movable end of the pressing part 42 can slide in a direction away from or close to the clamping area between the ends of the two claw rods 431.

Specifically, the movable end of the pressing portion 42 includes a V-shaped block 421 slidably mounted on the fixing base 41, the V-shaped block 421 can slide back and forth, the V-shaped block 421 is a vertical strip-shaped structure, a V-shaped groove is formed in the front side of the V-shaped block, the V-shaped groove is vertical, and an opening of the V-shaped groove faces forward. Furthermore, a rubber pad is arranged on the inner wall of the V-shaped groove.

The pressing part 42 includes a V-shaped 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 rear sides of the upper end and the lower end of the V-shaped block 421 are respectively provided with the threaded sleeve 422, and the axis of the threaded sleeve 422 is along the front-back direction.

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

The swivel nut 422 rear end top of below is provided with the slider, as shown in fig. 4, bottom plate 411 bottom has set gradually preceding mount pad 414, back mount pad 415, preceding mount pad 414 is along the vertical platelike structure of fore-and-aft direction, sets up the fretwork on it, is horizontal day font, mount pad 415 behind preceding mount pad 414 perpendicular to, back mount pad 415 is the vertical platelike 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. 6-8, a screw 423 is rotatably mounted on the top of the fixing seat 41 and on the lower portion of the rear mounting seat 415, the screw 423 is respectively in threaded connection with two screw sleeves 422, a synchronous pulley is disposed at the rear end of the screw 423, a synchronous belt 424 is wound on the two synchronous pulleys, a synchronous motor 425 is disposed on 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 worm wheel may be disposed at the rear end of the screw 423, a worm is disposed on an output shaft of the synchronous motor 425, and the worm cooperates with the worm wheel to drive the screw 423 at the bottom and the synchronous pulley to rotate through the synchronous motor 425.

Further, as shown in fig. 4 and 5, two connecting plates 416 are respectively disposed on two sides of the rear of the top of the fixing base 41, and a horizontal reinforcing plate 417 is disposed between the two connecting plates 416.

As shown in fig. 4 and 5, the rear mounting seat 415 is provided with a connecting plate 416 on each of the upper rear sides thereof, and a horizontal reinforcing plate 417 is provided between the connecting plates 416.

In practical applications, as shown in fig. 1, the four connecting plates 416 of the lower clamping device 40 are fixedly mounted on the front side of the bottom of the main frame 30 by bolts.

Further, as shown in fig. 4 and 5, the rear side of the fixing seat 41 of the clamping device 40 which is located above and can slide is provided with four sliding blocks 32, specifically, as shown in fig. 4 and 5, the four sliding blocks 32 are respectively installed at the rear of the four connecting plates 416, wherein two sliding blocks 32 above are located right above two sliding blocks 32 below, and the sliding grooves of the sliding blocks 32 are along the vertical direction.

Further, as shown in fig. 5, the rear mounting seat 415 is provided with a U-shaped sliding sleeve 34 on the upper portion of the rear side, the sliding sleeve 34 is located between the two lower connecting plates 416, an opening of the sliding sleeve 34 faces forward, the synchronous belt 424 vertically penetrates through the opening of the sliding sleeve 34, and a nut with an axis along the vertical direction is installed at the rear end of the sliding sleeve 34 and 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 further comprises a control unit, the control unit is in the prior art, if a PLC is adopted, the photoelectric switch is connected to the control unit, and the sliding motor 35, the synchronous motor 425, the push-pull motor 438b and the pitching adjusting motor 47 are controlled by the control unit.

The climbing operation platform is a universal operation platform, other tools such as a tool for screwing a bolt and a deicing tool can be mounted on the host 30 in practical application, the climbing operation platform carries the tools mounted on the climbing operation platform to climb along the angle steel main material a of the angle steel tower to a preset height, and corresponding operation can be performed through the carried tools.

The working principle is as follows:

as shown in fig. 3, the climbing operation platform of the present invention is mainly used for climbing operation of objects such as a main angle steel material a in practical application, and the climbing operation platform is clamped on the main angle steel material by the clamping device 40 and climbs upwards along the main angle steel material.

Avoiding the foot nails a1:

combine fig. 3, 9, can realize the centre gripping when two claw pole 431 of clamping device 40 are close to or keep away from or open, claw pole 431 is two segmentations, when two claw pole 431 open, because the inboard contained angle between the body of rod 431b of back and the preceding body of rod 431c can open to being greater than 180, this clamping device 40 opens the angle and is greater than the common clamping jaw angle that opens among the prior art, when clamping device 40 after opening moves along angle steel owner material a, because it opens the angle great, can dodge barriers such as longer foot nail a1, for prior art, it dodges the scope wider.

Set up two clamping device 40, can alternate centre gripping, open, realize along angle steel main material climbing, its structure, principle are comparatively simple, and the action is reliable. In practical application, the clamping device 40 can be driven by the clamping device driving mechanism to slide along the sliding rail 31, so that the climbing action is realized, and the movement is smooth. The clamping device driving mechanism is arranged on the inner side of the frame of the main machine 30, the whole structure is regular, and meanwhile, the inner side clamping device driving mechanism can be protected from being influenced by an outer side object through the main machine 30.

Avoiding the connecting plate a2:

with reference to fig. 3 and 9, during clamping, the movable end of the pressing portion 42 can slide towards a direction close to a clamping area between the end portions of the two claw rods 431, and the movable end of the pressing portion 42 abuts against the edge of the angle steel main material a 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 towards the direction far away from the clamping area between the end parts of the two claw rods 431, and the movable end of the pressing part 42 is far away from the edge of the main material a 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 main material a of the angle steel, when the clamping device moves along the length direction of the main material a of the angle steel, the movable end of the pressing part 42 can avoid a connecting plate a2 protruding from the edge of the main material a of the angle steel, and the purpose of avoiding the connecting plate a2 of the main material a of the angle steel is achieved. Specifically, in practical application, the V-shaped block driving mechanism can drive the V-shaped block 421 to be pressed on the edge of the main material a of the angle steel, the V-shaped block 421 is tightly attached to the edge of the main material a of the angle steel and can be matched with the two claw rods 431 to realize firm clamping, and the V-shaped block 421 can be driven to be far away from the edge of the main material a of the angle steel to realize avoiding of a connecting plate a2 of the main material a of the angle steel.

In practical applications, the push-pull plate 435 is used to provide a power source for clamping and opening, when clamping is performed, the push-pull plate 435 moves to pull the rear rod body 431b, and further, the hinged position of the rear rod body 431b and the front rod body 431c can be pulled into the swing guide sleeves 432, and simultaneously, the two swing guide sleeves 432 swing to enable the two claw rods 431 to be close to each other for clamping, when the hinged position of the rear rod body 431b and the front rod body 431c is pulled into the swing guide sleeves 432, the rear rod body 431b and the front rod body 431c are limited by the inside of the swing guide sleeves 432, and an internal included angle between the rear rod body 431b and the front rod body 431c becomes smaller, such as 180 degrees, and the limited rear rod body 431b and front rod body 431c do not swing, so that stable clamping can be achieved, when the push-pull plate 435 stays at different positions, the positions of the two claw rods 431 in the swing guide sleeves 432 and the included angle between the two swing guide sleeves 432 are different, and therefore, the clamping angle between the two claw rods 431 can be adjusted flexibly through the movement staying position of the push-pull plate 435; when the rear rod body 431b is pushed to the outside of the swing guide sleeve 432, the push-pull plate 435 pushes the hinged position of the rear rod body 431b and the hinged position of the front rod body 431c to the outside of the swing guide sleeve 432, so that the two claw rods 431 are opened, when the hinged position of the rear rod body 431b and the hinged position of the front rod body 431c are pushed to the outside of the swing guide sleeve 432, the rear rod body and the swing guide sleeve can swing, at the moment, the inner side included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, a larger opening angle is further realized, long foot nails and other obstacles can be avoided, and compared with the prior art, the avoidance range is wider.

The guide groove 435a and the orientation groove 434a are arranged to respectively guide the vertical push-pull shaft 431a to move according to a preset track when the push-pull plate 435 moves, so that in the reciprocating process of the push-pull plate 435, the two rear rod bodies 431b can be pulled simultaneously 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 are clamped; it is also possible to realize: the two rear rod bodies 431b can be pushed simultaneously and swing reversely along with the swing guide sleeve 432, the hinged positions of the rear rod bodies 431b and the front rod body 431c are pushed to the outside of the swing guide sleeve 432, the inner side included angle between the rear rod bodies 431b and the front rod body 431c is larger than 180 degrees, and the two claw rods 431 are opened; the guide grooves 435a and the orientation grooves 434a ensure the reliability of the clamping and opening operations. In practical application, when the push-pull motor 438b rotates, the worm in the worm gear mechanism can be driven to rotate, so that the worm gear is driven to rotate, the worm gear drives the push-pull screw rod 438a to rotate, the push-pull plate 435 is driven to reciprocate through the push-pull screw rod 438a, the worm gear mechanism and the screw rod nut mechanism can achieve a large transmission ratio, so that a large push-pull driving force can be provided for the push-pull plate 435, so that stable clamping and opening actions can be achieved, and the worm gear mechanism and the screw rod nut mechanism have reverse locking characteristics, namely power can be transmitted to the push-pull plate 435 only through the push-pull motor 438b, but cannot be transmitted reversely, so that the clamping and opening stability can be effectively ensured, and the defects that clamping is not tight or the opening is not smooth are overcome.

In practical application, when the hinged position of the rear rod 431b and the front rod 431c is pushed to the outside of the swing guide sleeve 432, the 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 position of the limiting elastic sheet 436, the limiting elastic sheet 436 is clamped in the notch 431f, and under the action of a toggle force applied to the front rod 431c when the limiting elastic sheet 436 is clamped in the notch 431f, the front rod 431c swings outwards relative to the rear rod 431b around the hinged position thereof, and can swing to a state that the inner included angle between the rear rod 431b and the front rod 431c is larger than 180 degrees, so that the expansion of the avoidance range is realized. When the hinged position of the rear rod 431b and the front rod 431c retracts into the swing guide sleeve 432, the limiting elastic sheet 436 slides out of the notch 431f to realize clamping.

In practical applications, the bent end 436c is 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 operation. The axial tension spring 437c can apply a pulling force to the end where the engaging lug 436b is located, so that the bending end 436c has a tendency of pressing the outer side of the front rod body 431c, and the notch 431f can slide out accurately, and when the notch 431f slides into the swing guide sleeve 432, the bending end 436c can slide out of the notch 431f flexibly, and the overall 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 a position when the notch 431f slides out, and the limiting elastic sheet 436 can flexibly slide out of the notch 431f when the notch 431f slides into the swing guide sleeve 432. In practical application, when 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, under the action of a pulling force applied to the front rod body 431c by the reset tension spring 437a, the front rod body 431c swings outwards relative to the rear rod body 431b around the hinged position of the front rod body, and can swing to a state that an inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that the expansion of an avoidance range is realized, and the structure and the principle of the swing guide sleeve are simpler, and the action is sensitive and reliable. When the hinged position of the rear rod 431b and the front rod 431c is retracted into the swing guide 432, the return tension spring 437a is extended to achieve clamping. In practical application, through adjusting the angle of opening between two claw poles 431, can realize the centre gripping climbing to the object of waiting to climb of different specifications, application scope is wider.

The second embodiment:

the difference between the present embodiment and the first embodiment is:

the clamping device 40 is adjustable in pitch angle relative to the main unit 30. Specifically, as shown in fig. 16, to the clamping device 40 who is located the top, it is installed in a vertical pitch regulation board 44 front side through four connecting plates 416, four sliding block 32 are installed in the slide 45 rear side of a vertical setting, slip cover 34 is installed slide 45 rear side for drive slide 45 is reciprocal up and down slided, pitch regulation board 44's upper end or lower extreme articulate on slide 45, and the articulated shaft is along the left and right directions, and pitch regulation board 44's the other end articulates and is provided with pitch regulation nut 46, and pitch regulation nut 46's articulated shaft is along the left and right directions, and pitch regulation nut 46's axis is perpendicular to its articulated shaft, the articulated pitch regulation motor 47 that is provided with on slide 45, pitch regulation motor 47's articulated shaft is along the left and right directions, and its output shaft is provided with pitch regulation lead screw 48, and pitch regulation lead screw 48 passes through screw cooperation installation with pitch regulation nut 46, and pitch regulation motor 47 drives pitch regulation lead screw 48 and just reverses to drive pitch regulation board 44 angle change through pitch regulation nut 46, and then drive the clamping device 40 of top and carry out the regulation of pitch angle.

As shown in fig. 16, for the holding device 40 located below, it is installed on the front side of a vertical pitch adjusting plate 44 through four connecting plates 416, the upper end or the lower end of the pitch adjusting plate 44 is hinged on the main frame 30, the hinge shaft is along the left-right direction, the other end of the pitch adjusting plate 44 is hinged with a pitch adjusting nut 46, the hinge shaft of the pitch adjusting nut 46 is along the left-right direction, the axis of the pitch adjusting nut 46 is perpendicular to the hinge shaft thereof, the bottom of the main frame 30 is hinged with a pitch adjusting motor 47, the hinge shaft of the pitch adjusting motor 47 is along the left-right direction, the output shaft thereof is provided with a pitch adjusting screw 48, the pitch adjusting screw 48 and the pitch adjusting nut 46 are installed through screw-thread fit, the pitch adjusting motor 47 drives the pitch adjusting screw 48 to rotate forward and backward, so as to drive the pitch adjusting nut 46 to change the pitch angle of the pitch adjusting plate 44, and further drive the holding device 40 located below to adjust the pitch 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, if the host 30 can be adjusted to be parallel to the posture of the object to be climbed, and the like, and the actual climbing requirement is further met. As shown in fig. 17, the upper gripping device 40 is in a raised posture, and the lower gripping device 40 is in a lowered posture.

Example three:

the embodiment discloses a climbing method adopting the climbing operation platform, which comprises the following steps:

s1, clamping the clamping device 40 with the upper part capable of sliding on an object to be climbed, for example, clamping the clamping device 40 on 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 on the object, namely the V-shaped block 421 is pressed on the edge of the angle steel main material a, so as to be matched with the two claw rods 431 of the clamping device 40 to realize firm clamping, namely, the state shown in FIG. 3.

As shown in fig. 3, when the two claw rods 431 of the fixed clamping device 40 are opened, the push-pull plate 435 pushes the rear rod body 431b to push the hinged position of the rear rod body 431b and the front rod body 431c to the outside of the swing guide sleeve 432, so that the two claw rods 431 are opened, and when 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 two claw rods can swing therebetween, at this time, 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 limit elastic piece 436, the limit elastic piece 436 is clamped into the notch 431f, and when the limit elastic piece 436 is clamped in the notch 431f, the front rod body 431c swings outwards around the hinged position thereof relative to the rear rod body 431b, and at the same time, under the pulling force applied by the reset tension spring 437a to the front rod body 431c, the front rod body 431c swings outwards around the hinged position thereof relative to the rear rod body 431b, and both claw rods can adjust the inner side between the rear rod body 431b and the front rod body 431c to a state of more 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 towards the direction away from the object to be climbed, that is, the V-shaped block 421 retreats away from the edge of the angle steel main material a.

S2, the main machine 30 moves upwards along the object to be climbed relative to the clamping device 40 capable of sliding; 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 main machine 30 is driven to move upwards relative to the clamping device 40 above, meanwhile, the clamping device 40 fixedly mounted at the lower end of the main machine 30 moves upwards along with the sliding screw rod 33, as the two claw rods 431 of the fixed clamping device 40 are opened, and the inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, during the rising process, the foot nails at two sides of the edge of the main angle steel material a can be avoided, and in addition, as the V-shaped block 421 on the fixed clamping device 40 is retreated away from the edge of the main angle steel material a, the connecting plate at the joint of the two sections of main angle steel materials a can be avoided during the rising process.

One of the clamping devices 40 adjusts its pitch angle relative to the main machine 30 by the other clamping device 40 before clamping the object to be climbed so that the main machine 30 is parallel to the object to be climbed.

S3, after the main machine 30 stops moving upwards, the pitching angle of the main machine 30 is adjusted through 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 clamping device 40 above, so that the main machine 30 is parallel to the object to be climbed, the fixed clamping device 40 is clamped on the object to be climbed, two claw rods 431 of the clamping device 40 capable of sliding above are opened, and the inner side 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 towards the direction away from the object to be climbed, that is, 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 main machine 30; 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 upper clamping device 40 is driven to move upwards relative to the main machine 30, two claw rods 431 of the upper clamping device 40 are opened, and an inner included angle between the rear rod body 431b and the front rod body 431c is larger than 180 degrees, so that pins on two sides of an edge of an angle steel main material a can be avoided during ascending, and in addition, a V-shaped block 421 on the upper clamping device 40 retreats from the edge of the angle steel main material a, so that a connecting plate at the joint of the two sections of angle steel main materials a can be avoided during ascending.

One of the clamping devices 40 adjusts its pitch angle relative to the main machine 30 by the other clamping device 40 before clamping the object to be climbed, so that the main machine 30 is parallel to the object to be climbed.

S5, after the sliding clamping device 40 stops moving upwards, the steps S1 to S5 are repeated.

In practical application, the climbing method is simple in action and reliable in climbing, objects such as an angle steel tower can be smoothly climbed, in the climbing process, the included angle between the inner side of the rear rod body 431b and the inner side of the front rod body 431c can be expanded to be larger than 180 degrees, the expansion angle of the clamping device 40 is larger than that of a clamping jaw which is common in the prior art, when the expanded clamping device 40 moves along the main angle steel material, due to the fact that the expansion angle is large, long obstacles such as foot nails can be avoided, and compared with the prior art, the avoidance range is wider.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present 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 solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (21)

1. The utility model provides a climbing work platform which characterized in that: including host computer (30), be provided with clamping device (40) on host computer (30), clamping device (40) include fixing base (41), swing on fixing base (41) and set up a pair of claw pole (431), claw pole (431) are including articulated back body of rod (431 b), preceding body of rod (431 c) together, and when two claw poles (431) opened, the inboard contained angle between the back body of rod (431 b) and preceding body of rod (431 c) was greater than 180.

2. The climbing work platform according to claim 1, characterized in that: the number of the clamping devices (40) is at least two, wherein at least one clamping device (40) can slide in a reciprocating mode relative to the main machine (30).

3. A climbing work platform according to claim 2, wherein: the two clamping devices (40) are arranged, one clamping device (40) can slide in a reciprocating mode relative to the main machine (30), and the other clamping device (40) is fixedly installed on the main machine (30).

4. A climbing work platform according to claim 2 or 3, wherein: a sliding block (32) is arranged on the clamping device (40) capable of sliding in a reciprocating mode relative to the main machine (30), a sliding track (31) is arranged on the main machine (30), the sliding block (32) is installed on the sliding track (31) in a sliding mode, and a clamping device driving mechanism is further arranged on the main machine (30).

5. A climbing work platform according to claim 4, wherein: the clamping device driving mechanism comprises a sliding screw rod (33) and a sliding motor (35) which are arranged on a host (30), a sliding sleeve (34) is arranged on a clamping device (40) which can slide in a reciprocating mode relative to the host (30), the sliding screw rod (33) is connected with the sliding sleeve (34) through threads, and the sliding screw rod (33) is connected to an output shaft of the sliding motor (35).

6. A climbing work platform according to claim 4, wherein: the main machine (30) is of a rectangular frame structure, and the clamping device driving mechanism is located on the inner side of the frame of the main machine (30).

7. The climbing work platform according to claim 1, characterized in that: the clamping device (40) further comprises a pressing part (42) with a movable end located between the roots of the two claw rods (431), and the movable end of the pressing part (42) can slide along the direction far away from or close to the clamping area between the ends of the two claw rods (431).

8. The climbing work platform of claim 7, wherein: the movable end of the pressing part (42) comprises a V-shaped block (421) which is slidably mounted on the fixed seat (41), and the pressing part (42) comprises a V-shaped block driving mechanism arranged on the fixed seat (41).

9. The climbing work platform according to claim 1, characterized in that: a pair of swing guide sleeves (432) is hinged on the fixed seat (41), and the rear rod body (431 b) is slidably installed in the swing guide sleeves (432); the fixed seat (41) is provided with a push-pull plate (435) in a sliding mode, the push-pull plate (435) can pull a rear rod body (431 b) to pull the hinged position of the rear rod body (431 b) and a front rod body (431 c) into a swing guide sleeve (432) to clamp the two claw rods (431), and the push-pull plate (435) can push the rear rod body (431 b) to push the hinged position of the rear rod body (431 b) and the front rod body (431 c) to the outside of the swing guide sleeve (432) to open the two claw rods (431).

10. A climbing work platform according to claim 9, wherein: a pair of guide grooves (435 a) is formed in the push-pull plate (435), a mounting plate (434) is arranged on the fixed seat (41), and a pair of directional grooves (434 a) is formed in the mounting plate (434); the end part of the rear rod body (431 b) is provided with a vertical push-pull shaft (431 a), and two ends of the vertical push-pull shaft (431 a) are respectively installed in the guide groove (435 a) and the orientation groove (434 a) in a sliding mode.

11. A climbing work platform according to claim 9, wherein: 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 move in a reciprocating manner; the push-pull driving mechanism comprises a push-pull lead screw (438 a) rotatably mounted on a fixed seat (41), the push-pull lead screw (438 a) is rotatably mounted in a push-pull plate (435) through threads, and the push-pull driving mechanism also comprises a push-pull motor (438 b) arranged on the fixed seat (41), and the push-pull motor (438 b) is connected with the push-pull lead screw (438 a) through a worm gear mechanism.

12. A climbing work platform according to claim 9, wherein: be provided with spacing shell fragment (436) on swing uide bushing (432), be provided with on preceding body of rod (431 c) with spacing shell fragment (436) complex breach (431 f), when the articulated position of back body of rod (431 b) and preceding body of rod (431 c) was pushed to swing uide bushing (432) outside, spacing shell fragment (436) can block to in breach (431 f) so that the inboard contained angle between the back body of rod (431 b) and preceding body of rod (431 c) is greater than 180.

13. A climbing work platform according to claim 12, wherein: the limiting elastic sheet (436) is located on the outer side of the swing guide sleeve (432), a bending end (436 c) bent inwards is arranged at the first end of the limiting elastic sheet (436), the bending end (436 c) is pressed on the outer side of the front rod body (431 c), and the notch (431 f) is located on the outer side of one end, hinged to the rear rod body (431 b), of the front rod body (431 c).

14. A climbing work platform according to claim 13, wherein: the outer side of the swing guide sleeve (432) is provided with a fixing column, a long hole is formed in 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 column is located in the long hole, a connecting lug (436 b) bent outwards is arranged at the second end of the limiting elastic sheet (436), and an axial tension spring (437 c) is connected between the connecting lug (436 b) and the fixing column.

15. A climbing operation platform according to any one of claims 12 to 14, wherein: be provided with radial extension spring (437 b) between spacing shell fragment (436) and swing uide bushing (432), radial extension spring (437 b) can make spacing shell fragment (436) press on swing uide bushing (432).

16. The climbing work platform according to claim 1, characterized in that: a return tension spring (437 a) is arranged between the rear rod body (431 b) and the front rod body (431 c), and the return tension spring (437 a) enables the front rod body (431 c) to swing outwards around the end part of the rear rod body (431 b).

17. A climbing operation platform according to claim 1, characterized in that: the opening angle between the two claw rods (431) can be adjusted.

18. The climbing work platform according to claim 1, characterized in that: the clamping device (40) is adjustable in pitch angle relative to the main machine (30).

19. A climbing method using a climbing operation platform according to any one of claims 1 to 18, wherein: the two clamping devices (40) are arranged, one clamping device (40) can slide in a reciprocating mode relative to the main machine (30), the other clamping device (40) is fixedly installed on the main machine (30), and the method comprises the following steps:

s1, clamping a clamping device (40) capable of sliding on an object to be climbed, opening two claw rods (431) of the fixed clamping device (40), and enabling an inner side included angle between a rear rod body (431 b) and a front rod body (431 c) of the opened claw rods (431) to be larger than 180 degrees;

s2, the main machine (30) moves upwards along the object to be climbed relative to the clamping device (40) capable of sliding;

s3, after the main machine (30) moves upwards and stops, the fixed clamping device (40) is clamped on an object to be climbed, two claw rods (431) of the clamping device (40) capable of sliding open, and an inner side included angle between a rear rod body (431 b) and a front rod body (431 c) of the open claw rods (431) is larger than 180 degrees;

s4, the clamping device (40) capable of sliding moves upwards along the main machine (30);

and S5, after the sliding clamping device (40) stops moving upwards, repeating the steps S1-S5.

20. The climbing method according to claim 19, wherein: the clamping device (40) further comprises a pressing part (42) with a movable end positioned between the roots of the two claw rods (431), and the movable end of the pressing part (42) can slide along a direction far away from or close to a clamping area between the ends of the two claw rods (431);

when the clamping device (40) clamps an 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 on the object;

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 towards the direction far away from the object to be climbed.

21. The climbing method according to claim 19, wherein: the pitch angle of the clamping devices (40) relative to the main machine (30) is adjustable, wherein one clamping device (40) adjusts the pitch angle relative to the main machine (30) through the other clamping device (40) before clamping the object to be climbed, so that the main machine (30) is parallel to the object to be climbed.

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