CN116279878A

CN116279878A - Climbing operation platform

Info

Publication number: CN116279878A
Application number: CN202211090812.0A
Authority: CN
Inventors: 张金锋; 汪胜和; 程智余; 孙磊; 龚志文; 刘勇; 汪宏春; 刘承志; 陈晨; 何辉; 黄杰; 姚兰波; 王军燕; 高方景; 张永奈; 张必余; 李凯; 杨少春; 余刚; 关绍峰
Original assignee: State Grid Anhui Electric Power Co Ltd; Hefei Institutes of Physical Science of CAS
Current assignee: State Grid Anhui Electric Power Co Ltd; Hefei Institutes of Physical Science of CAS
Priority date: 2022-09-07
Filing date: 2022-09-07
Publication date: 2023-06-23

Abstract

The utility model discloses a climbing operation platform, which comprises a general-purpose host machine and at least two clamping devices, wherein at least one clamping device can reciprocate along the general-purpose host machine; the clamping device comprises a mounting seat and a pair of clamping jaw structures, wherein the clamping jaw structures comprise clamping jaw fixing plates, clamping sliding plates are slidably arranged on the clamping jaw fixing plates, the clamping sliding plates of the two clamping jaw structures are arranged in a crossed mode, a turnover claw is hinged to the first end of each clamping sliding plate, a turnover driving mechanism is arranged between each turnover claw and each clamping sliding plate, and a sliding plate driving mechanism is arranged on each clamping jaw fixing plate; the two clamping jaw fixing plates are arranged on the mounting seat, the sliding directions of the two clamping sliding plates are vertical, and the end parts of the two overturning claw hooks are bent towards the middle. The utility model has the advantages that: the clamping stability and reliability are better, and the application range is wider.

Description

Climbing operation platform

Technical Field

The utility model relates to the field of climbing robots, in particular to a climbing operation platform.

Background

The climbing robot is a mechanical device for climbing objects such as a pole, a column and angle steel, in the prior art, for example, chinese patent publication No. CN216067470U discloses an adaptive climbing robot for an electric angle steel tower, which is used for climbing an angle steel tower as shown in fig. 37, specifically climbing up along angle a of the angle steel tower, and comprises a host machine and angle steel clamping assemblies, wherein each angle steel clamping assembly can generate a linear reciprocating motion along the length direction of an angle steel main material under the driving action of a linear driving part; the angle steel clamping assembly comprises a fixed seat, wherein a pressing part and a clamping part are arranged on the fixed seat; the claw rod at the clamping part comprises a rear rod body and a front rod body; a limiting elastic piece is fixed on the swing guide sleeve, and the head end of the limiting elastic piece extends out of the swing guide sleeve and bends towards the claw rod along the radial direction of the swing guide sleeve until the limiting elastic piece is abutted against the outer wall of the claw rod; the tail end of the front rod body is concavely provided with a notch corresponding to the bending end of the limiting elastic sheet. This type clamping part, angle steel clamping assembly are limited by its structure, principle, and clamping force is limited, and clamping stability and reliability are not good to its overall structure is comparatively complicated, and its object specification that can the centre gripping is limited, and application scope is not wide. Moreover, the angle steel clamping assembly pitch angle of the climbing robot in the prior art cannot be adjusted, so that the climbing robot is difficult to overstretch when climbing a curved object.

Disclosure of Invention

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

the clamping stability and reliability of the climbing operation platform in the prior art are poor, and the application range is not wide.

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

the climbing operation platform comprises a general-purpose host machine, wherein at least two clamping devices are arranged on the general-purpose host machine, and at least one clamping device can reciprocate along the general-purpose host machine; the clamping device comprises a mounting seat and a pair of clamping jaw structures, wherein the clamping jaw structures comprise clamping jaw fixing plates, clamping sliding plates are slidably arranged on the clamping jaw fixing plates, the clamping sliding plates of the two clamping jaw structures are arranged in a crossed mode, a turnover claw is hinged to the first end of each clamping sliding plate, a turnover driving mechanism is arranged between each turnover claw and each clamping sliding plate, and a sliding plate driving mechanism capable of driving the corresponding clamping sliding plate to slide in a reciprocating and linear mode is arranged on each clamping jaw fixing plate; the two clamping jaw fixing plates are arranged on the mounting seat, the sliding directions of the two clamping sliding plates are vertical, and the end parts of the two overturning hooks are bent towards the middle.

When the climbing operation platform is actually applied, the climbing operation platform is mainly used for climbing angle steel towers, different clamping devices can clamp or loosen angle steel, a plurality of clamping devices clamp the angle steel, the clamping devices capable of sliding are loosened, the clamping devices capable of sliding slide upwards along the universal host, then clamp on the angle steel, the rest clamping devices are loosened, then the universal host slides upwards along the clamping devices clamped on the angle steel with the rest clamping devices, the angle steel is clamped by the clamping devices after sliding upwards, then the process is repeated, the climbing operation of the climbing operation platform along the angle steel can be realized, during the operation of the clamping devices, the two clamping sliding plates slide towards the respective first end directions, the overturning driving mechanism drives the overturning claw to be outwards turned, the two overturning claws are in an open state, namely, the object to be clamped can be separated, and as the overturning claw is outwards turned relative to the clamping sliding plates, the outwards, when the clamping devices move along the axial direction of the object to be clamped, the outwards turned overturning claw can avoid obstacles on the surface of the object to be clamped, such as pins on the surface of the angle steel, and the like obstacles can be avoided, and the obstacle avoidance capability is strong. When the clamping is needed, the overturning driving mechanism drives the overturning claw to be turned inwards, the two overturning claws are folded inwards, the two clamping sliding plates slide towards the respective second end directions, the overturning claw is gradually close to the object until the object is clamped on the surface, so that the clamping is realized.

Preferably, the universal host comprises a host frame, a fixed clamping jaw pitching seat is hinged at the end part of the host frame, a clamping device is arranged on the fixed clamping jaw pitching seat, a hinge shaft of the fixed clamping jaw pitching seat is perpendicular to the length direction of the host frame, and a first pitching driving mechanism capable of driving the fixed clamping jaw pitching seat to swing is further arranged on the host frame.

When the climbing operation platform actually climbs the curved object, the pitching angle of the fixed clamping jaw pitching seat relative to the host frame is adjusted through the first pitching driving mechanism, and then the adjustment of the pitching position of the fixed clamping jaw pitching seat relative to the host frame is realized, so that the actual climbing requirement is met, and compared with the prior art, the host structure is simpler, and the pitching adjustment is convenient and reliable, and the application range is wider.

Preferably, a pair of first installation lugs are arranged at the end part of the main machine frame, a pair of second installation lugs are arranged on the pitching seat of the fixed clamping jaw, a first pitching driving motor is arranged between one of the first installation lugs and the second installation lug, and a pitching angle detection encoder is arranged between the other first installation lug and the second installation lug.

Preferably, the main frame is provided with a clamping jaw installation sliding seat and a working tool installation sliding seat in a sliding manner, the sliding directions of the clamping jaw installation sliding seat and the working tool installation sliding seat are parallel to the length direction of the main frame, and the clamping jaw installation sliding seat is provided with a clamping device.

In practice, the work tool mounting slide is used for mounting a work tool, such as a bolt tightening device.

Preferably, a first reciprocating driving mechanism is arranged on the main machine frame and comprises a first driving motor and a first belt which are arranged on the main machine frame, and the clamping jaw mounting sliding seat is connected to the first belt; the machine frame is provided with a first reciprocating belt wheel, the first belt is wound on a first driving motor and the first reciprocating belt wheel, the machine frame is also provided with a clamping jaw sliding position detection encoder, and the clamping jaw sliding position detection encoder is connected to the first reciprocating belt wheel.

Preferably, a second reciprocating driving mechanism is arranged on the main machine frame, the second reciprocating driving mechanism comprises a second driving motor and a second belt which are arranged on the main machine frame, and the working tool mounting sliding seat is connected to the second belt; the main machine frame is provided with a second reciprocating belt wheel, the second belt is wound on the second driving motor and the second reciprocating belt wheel, the main machine frame is also provided with a working tool sliding position detection encoder, and the working tool sliding position detection encoder is connected to the second reciprocating belt wheel.

Preferably, a turnover driving mechanism is arranged between the turnover claw and the clamping slide plate, and the turnover driving mechanism can drive the turnover claw to turn inwards or outwards.

Preferably, the turnover driving mechanism comprises a telescopic part arranged on the outer side of the turnover claw, the telescopic part is perpendicular to a hinge shaft of the turnover claw, and the movable end of the telescopic part can prop against the outer side of the clamping slide plate when extending out, so that the turnover claw can turn inwards, the turnover driving mechanism further comprises a claw driving part arranged between the turnover claw and the clamping slide plate, and the claw driving part can enable the turnover claw to turn outwards.

During practical application, when the movable end of the telescopic piece is retracted, under the action of the claw driving piece, the overturning claw turns outwards around the clamping sliding plate, so that when the clamping jaw structure moves along the axial direction of an object to be clamped, the outwards turned overturning claw can avoid an obstacle on the surface of the object to be clamped, and the obstacle avoidance capability is strong. When clamping is needed, the movable end of the telescopic piece stretches out and props against the outer side of the clamping slide plate, the acting force of the claw driving piece is overcome, the overturning claw overturns inwards, the clamping slide plate slides towards the second end direction of the overturning claw, the overturning claw gradually approaches to the object surface until the object surface is clamped, so that clamping is realized, the structure principle is simple, and the action is reliable.

Preferably, the telescopic piece comprises a telescopic pin which is slidably mounted on the outer side of the overturning claw, and further comprises an electric push rod which is arranged on the outer side of the overturning claw, the electric push rod can drive the telescopic pin to slide in a telescopic manner, and the telescopic pin can prop against the outer side of the clamping slide plate when extending out, so that the overturning claw can overturn inwards.

Preferably, the outer side of the clamping slide plate is provided with an opening guide groove matched with the telescopic pin, and the telescopic pin can slide in the opening guide groove when extending out.

The arrangement of the opening guide groove can provide stable guide for the telescopic pin, ensure that the telescopic pin can accurately move along a preset track and has reliable action.

Preferably, the slide driving mechanism comprises a hydraulic rod arranged on the clamping jaw fixing plate, the hydraulic rod is parallel to the length direction of the clamping jaw fixing plate, a piston rod of the hydraulic rod points to the first end of the clamping slide plate, and the piston rod of the hydraulic rod is connected with the clamping slide plate through a tension sensor.

The hydraulic rod depends on hydraulic action, can provide powerful power for the removal of clamp slide, and then ensures to realize firm centre gripping, and the reliability is high.

Preferably, a stay wire sensor is arranged on the clamping jaw fixing plate, a stay wire traction end of the stay wire sensor is connected to the clamping slide plate, and the stay wire sensor can detect the telescopic position of the clamping slide plate.

In practical application, the sensor of acting as go-between can detect the flexible position of clamp slide, and then obtains the centre gripping stroke of clamp slide, conveniently carries out corresponding adjustment to the removal of clamp slide according to detecting the structure, ensures that clamp slide can accurately remove to the preset position.

Preferably, a linkage mechanism is arranged between the two clamping sliding plates, and the two clamping sliding plates can synchronously stretch out and draw back through the linkage mechanism; the linkage mechanism comprises a pair of mutually meshed linkage gears rotatably mounted on the clamping jaw fixing plate, linkage racks parallel to the sliding direction of the clamping slide plates are respectively arranged on the two clamping slide plates, and the two linkage racks are respectively meshed with the corresponding linkage gears.

The setting of link gear can ensure that two clamp slide synchronous flexible, the action is unanimous, and then avoids the action asynchronous and the centre gripping deviation that leads to, influences the centre gripping. During actual action, when one of the clamping sliding plates slides, the linkage gear meshed with the clamping sliding plate can be driven to rotate through the linkage rack on the clamping sliding plate, and as the two gears are meshed and the specifications of the two gears are the same, the other gear can drive the other linkage rack and the clamping sliding plate to move, so that synchronous linkage is realized, and the clamping sliding plate is simpler in overall structure and principle and reliable in action.

The optimization still includes V type clamp splice telescoping device, V type clamp splice telescoping device includes first mounting bracket, and first mounting bracket sets up on the mount pad, slidable mounting has V type clamp splice on the first mounting bracket, V type clamp splice is located two upset knuckle middles, and the contained angle between the slip direction of V type clamp splice and the slip direction of two clamp slide is 45, still be provided with the flexible detection mechanism that can detect V type clamp splice flexible sliding travel on the first mounting bracket.

In practical application, clamping device is cliied and is waited the climbing object, V type clamp splice is used for withholding and wait to climb the object, V type clamp splice and two upset knuckle cooperation realize firm centre gripping, during practical application, flexible detection mechanism can detect the flexible sliding travel of V type clamp splice, and then can obtain the accurate flexible distance of V type clamp splice, ensure to make V type clamp splice can accurately stretch out or retract, and then ensure that V type clamp splice fully stretches out, V type clamp splice pushes up on waiting to climb the object, guarantee stable centre gripping, then can fully retract when V type clamp splice is retracted, and then can keep away from the object surface when clamping jaw and V type clamp splice follow wait to climb object length direction and remove, avoid interfering with the barrier on waiting to climb object surface, the security is better.

Optimally, a first screw rod is rotatably arranged on the first mounting frame, a telescopic nut matched with the first screw rod is arranged on the V-shaped clamping block, and a telescopic driving motor capable of driving the first screw rod to rotate is also arranged on the first mounting frame; the V-shaped clamping block is provided with two telescopic nuts, the first screw rods are arranged in parallel and are respectively in threaded connection with the corresponding telescopic nuts, the end part of each first screw rod is respectively provided with a first belt wheel, and the two first belt wheels are wound with a first synchronous belt.

In practical application, when the telescopic driving motor works, the first screw rod can be driven to rotate, and when the first screw rod rotates, the telescopic nut can be driven to reciprocate so as to realize the telescopic action of the V-shaped clamping block, and the first synchronous belt can effectively ensure the synchronous rotation of the two first screw rods, further realize the synchronous movement of the two telescopic nuts and ensure the stable telescopic action of the V-shaped clamping block.

Preferably, the telescopic detection mechanism comprises an encoder arranged on the first mounting frame, and the encoder is linked with the first screw rod.

In practical application, encoder and first lead screw linkage then accessible encoder detects the circle speed of first lead screw to obtain V type clamp splice's flexible volume, be used for the position of real-time detection V type clamp splice, conveniently control the rotation of first lead screw according to the testing result, with the flexible target in place of assurance V type clamp splice.

Preferably, the clamping device capable of moving reciprocally along the general host machine further comprises an inclination adjusting mechanism, the inclination adjusting mechanism comprises a fixing plate, the fixing plate is arranged on the mounting seat, the fixing plate is provided with a swinging plate in a swinging mode, the clamping device further comprises an inclination detecting mechanism, the inclination detecting mechanism can detect the swinging plate swinging inclination angle relative to the fixing plate, the two clamping jaw fixing plates are arranged on the swinging plate, the two clamping sliding plates are arranged in a crossed mode, the overturning claw and the swinging plate are respectively located at two sides of the crossed positions of the two clamping sliding plates, and an included angle between the swinging axis of the swinging plate and the sliding direction of the two clamping sliding plates is 45 degrees.

In practical application, the swinging plate can swing for the fixed plate to realize the inclination adjustment of two clamping jaw structures, satisfy the bending demand of climbing robot when the crooked object of actual climbing, at this in-process, accessible inclination detection mechanism detects the swinging plate for the wobbling inclination of fixed plate, and then obtain whether the swinging plate inclination accords with the requirement, then the inclination of adjustable swinging plate according to the testing result, so that it satisfies the inclination requirement, improve inclination adjustment precision, for prior art, this inclination adjustment mechanism, but accurate detection inclination size, ensure inclination adjustment precision.

Preferably, a pitching shaft is arranged on the fixed plate, and the swinging plate is rotatably arranged on the pitching shaft; the inclination angle detection mechanism comprises an encoder arranged on the swinging plate, the encoder and the pitching shaft are coaxially arranged, and a rotating shaft of the encoder is connected to the pitching shaft.

The encoder has a simple structure and is convenient to install, the detection result is accurate and reliable, and the actual inclination detection requirement of the inclination adjusting mechanism can be met.

Preferably, a second pitching driving mechanism is arranged on the fixed plate, and the second pitching driving mechanism can drive the swinging plate to swing relative to the fixed plate; the second pitching driving mechanism comprises a push-pull block which is slidably mounted on the fixed plate, the sliding direction of the push-pull block is perpendicular to the swinging axis of the swinging plate, a pitching sliding pin is arranged on the side edge of the push-pull block, a pitching sliding chute which is slidably matched with the pitching sliding pin is arranged on the swinging plate, and an included angle between the pitching sliding chute and the sliding direction of the push-pull block is larger than 0 degrees and smaller than 90 degrees.

During actual motion, when the push-pull block reciprocates, the pitching sliding pin is driven to move together, and as the pitching sliding pin and the pitching sliding groove are installed in a sliding fit mode and the pitching sliding groove is obliquely arranged relative to the sliding direction of the push-pull block, the pitching sliding pin can drive the swinging plate to swing through the pitching sliding groove during movement, and the structure is simple and the driving is reliable.

Preferably, the second pitching driving mechanism comprises a second pitching driving motor arranged on the fixed plate and a pitching driving screw rod rotatably arranged on the fixed plate, the pitching driving screw rod is parallel to the sliding direction of the push-pull block, the second pitching driving motor can drive the pitching driving screw rod to rotate, and the pitching driving screw rod is connected with the push-pull block through screw thread driving.

During actual motion, the second pitching driving motor drives the pitching driving screw rod to rotate, and then drives the push-pull block to reciprocate, so that the structure and principle are simpler, the motion is reliable, self-locking can be realized through the pitching driving screw rod, and the structure is stable.

The invention has the advantages that:

1. when the climbing operation platform is actually applied, the climbing operation platform is mainly used for climbing angle steel towers, different clamping devices can clamp or loosen angle steel, a plurality of clamping devices clamp the angle steel, the clamping devices capable of sliding are loosened, the clamping devices capable of sliding slide upwards along the universal host, then clamp on the angle steel, the rest clamping devices are loosened, then the universal host slides upwards along the clamping devices clamped on the angle steel with the rest clamping devices, the angle steel is clamped by the clamping devices after sliding upwards, then the process is repeated, the climbing operation of the climbing operation platform along the angle steel can be realized, during the operation of the clamping devices, the two clamping sliding plates slide towards the respective first end directions, the overturning driving mechanism drives the overturning claw to be outwards turned, the two overturning claws are in an open state, namely, the object to be clamped can be separated, and as the overturning claw is outwards turned relative to the clamping sliding plates, the outwards, when the clamping devices move along the axial direction of the object to be clamped, the outwards turned overturning claw can avoid obstacles on the surface of the object to be clamped, such as pins on the surface of the angle steel, and the like obstacles can be avoided, and the obstacle avoidance capability is strong. When the clamping is needed, the overturning driving mechanism drives the overturning claw to be turned inwards, the two overturning claws are folded inwards, the two clamping sliding plates slide towards the respective second end directions, the overturning claw is gradually close to the object until the object is clamped on the surface, so that the clamping is realized.

2. When the climbing operation platform actually climbs the curved object, the pitching angle of the fixed clamping jaw pitching seat relative to the host frame is adjusted through the first pitching driving mechanism, and then the adjustment of the pitching position of the fixed clamping jaw pitching seat relative to the host frame is realized, so that the actual climbing requirement is met, and compared with the prior art, the host structure is simpler, and the pitching adjustment is convenient and reliable, and the application range is wider.

3. In practice, the work tool mounting slide is used for mounting a work tool, such as a bolt tightening device.

4. During practical application, when the movable end of the telescopic piece is retracted, under the action of the claw driving piece, the overturning claw turns outwards around the clamping sliding plate, so that when the clamping jaw structure moves along the axial direction of an object to be clamped, the outwards turned overturning claw can avoid an obstacle on the surface of the object to be clamped, and the obstacle avoidance capability is strong. When clamping is needed, the movable end of the telescopic piece stretches out and props against the outer side of the clamping slide plate, the acting force of the claw driving piece is overcome, the overturning claw overturns inwards, the clamping slide plate slides towards the second end direction of the overturning claw, the overturning claw gradually approaches to the object surface until the object surface is clamped, so that clamping is realized, the structure principle is simple, and the action is reliable.

5. The arrangement of the opening guide groove can provide stable guide for the telescopic pin, ensure that the telescopic pin can accurately move along a preset track and has reliable action.

6. The hydraulic rod depends on hydraulic action, can provide powerful power for the removal of clamp slide, and then ensures to realize firm centre gripping, and the reliability is high.

7. In practical application, the sensor of acting as go-between can detect the flexible position of clamp slide, and then obtains the centre gripping stroke of clamp slide, conveniently carries out corresponding adjustment to the removal of clamp slide according to detecting the structure, ensures that clamp slide can accurately remove to the preset position.

8. The setting of link gear can ensure that two clamp slide synchronous flexible, the action is unanimous, and then avoids the action asynchronous and the centre gripping deviation that leads to, influences the centre gripping. During actual action, when one of the clamping sliding plates slides, the linkage gear meshed with the clamping sliding plate can be driven to rotate through the linkage rack on the clamping sliding plate, and as the two gears are meshed and the specifications of the two gears are the same, the other gear can drive the other linkage rack and the clamping sliding plate to move, so that synchronous linkage is realized, and the clamping sliding plate is simpler in overall structure and principle and reliable in action.

9. In practical application, clamping device is cliied and is waited the climbing object, V type clamp splice is used for withholding and wait to climb the object, V type clamp splice and two upset knuckle cooperation realize firm centre gripping, during practical application, flexible detection mechanism can detect the flexible sliding travel of V type clamp splice, and then can obtain the accurate flexible distance of V type clamp splice, ensure to make V type clamp splice can accurately stretch out or retract, and then ensure that V type clamp splice fully stretches out, V type clamp splice pushes up on waiting to climb the object, guarantee stable centre gripping, then can fully retract when V type clamp splice is retracted, and then can keep away from the object surface when clamping jaw and V type clamp splice follow wait to climb object length direction and remove, avoid interfering with the barrier on waiting to climb object surface, the security is better.

10. In practical application, when the telescopic driving motor works, the first screw rod can be driven to rotate, and when the first screw rod rotates, the telescopic nut can be driven to reciprocate so as to realize the telescopic action of the V-shaped clamping block, and the first synchronous belt can effectively ensure the synchronous rotation of the two first screw rods, further realize the synchronous movement of the two telescopic nuts and ensure the stable telescopic action of the V-shaped clamping block.

11. In practical application, encoder and first lead screw linkage then accessible encoder detects the circle speed of first lead screw to obtain V type clamp splice's flexible volume, be used for the position of real-time detection V type clamp splice, conveniently control the rotation of first lead screw according to the testing result, with the flexible target in place of assurance V type clamp splice.

12. In practical application, the swinging plate can swing for the fixed plate to realize the inclination adjustment of two clamping jaw structures, satisfy the bending demand of climbing robot when the crooked object of actual climbing, at this in-process, accessible inclination detection mechanism detects the swinging plate for the wobbling inclination of fixed plate, and then obtain whether the swinging plate inclination accords with the requirement, then the inclination of adjustable swinging plate according to the testing result, so that it satisfies the inclination requirement, improve inclination adjustment precision, for prior art, this inclination adjustment mechanism, but accurate detection inclination size, ensure inclination adjustment precision.

13. The encoder has a simple structure and is convenient to install, the detection result is accurate and reliable, and the actual inclination detection requirement of the inclination adjusting mechanism can be met.

14. During actual motion, when the push-pull block reciprocates, the pitching sliding pin is driven to move together, and as the pitching sliding pin and the pitching sliding groove are installed in a sliding fit mode and the pitching sliding groove is obliquely arranged relative to the sliding direction of the push-pull block, the pitching sliding pin can drive the swinging plate to swing through the pitching sliding groove during movement, and the structure is simple and the driving is reliable.

15. During actual motion, the second pitching driving motor drives the pitching driving screw rod to rotate, and then drives the push-pull block to reciprocate, so that the structure and principle are simpler, the motion is reliable, self-locking can be realized through the pitching driving screw rod, and the structure is stable.

Drawings

FIG. 1 is a perspective view of a climbing work platform in an embodiment of the present invention;

FIGS. 2-4 are perspective views of a general-purpose host machine according to embodiments of the present invention;

FIG. 5 is a schematic diagram of a hidden part of a general-purpose host machine according to an embodiment of the present invention;

FIG. 6 is a schematic perspective view of a clamping jaw structure according to an embodiment of the invention;

FIG. 7 is a front view of a jaw structure according to an embodiment of the invention;

FIG. 8 is an everting schematic view of an everting finger in an embodiment of the invention;

FIG. 9 is a schematic perspective view of a clamping device according to an embodiment of the invention;

FIG. 10 is a schematic view illustrating the installation of a clamping jaw structure and a V-shaped clamping block telescopic device according to an embodiment of the present invention;

FIG. 11 is a schematic diagram of a cross arrangement of two clamping jaw structures according to an embodiment of the present invention;

FIG. 12 is a schematic view of a V-clamp block according to an embodiment of the present invention;

FIG. 13 is a schematic view of a clamping device for clamping angle steel of different sizes according to an embodiment of the present invention;

FIG. 14 is a schematic view of a clamping device according to an embodiment of the present invention;

FIG. 15 is a schematic perspective view of a V-clamp block telescoping device according to an embodiment of the invention;

FIG. 16 is a schematic perspective view of a clamping device capable of pitch adjustment in an embodiment of the invention;

fig. 17 is a schematic perspective view of a clamping device capable of pitch adjustment (with a mounting base hidden) according to an embodiment of the present invention;

FIG. 18 is a pitch adjustment schematic of a clamping device according to an embodiment of the present invention;

FIG. 19 is a perspective view of a recliner mechanism according to an embodiment of the present invention;

FIG. 20 is a perspective view of a hidden swing plate caster adjustment mechanism in accordance with an embodiment of the present invention;

FIG. 21 is a perspective view of a hidden swing plate and fixed plate caster adjustment mechanism in accordance with an embodiment of the present invention;

FIG. 22 is a perspective view of a bolt tightening device according to an embodiment of the present invention;

FIGS. 23 and 25 are perspective views of a working arm according to an embodiment of the present invention;

FIG. 24 is an enlarged view of a portion of FIG. 1A;

FIGS. 26 and 27 are schematic views of the first bracket rotation axis facing the angle steel edge in accordance with embodiments of the present invention;

FIGS. 28 and 29 are perspective views of an adaptive bolt-tightening head according to an embodiment of the present invention;

FIG. 30 is a side view of an adaptive bolt-tightening head according to an embodiment of the present invention;

FIG. 31 is a cross-sectional view B-B of FIG. 30;

FIGS. 32-36 are schematic diagrams of climbing angle steel for a climbing work platform in an embodiment of the invention;

FIG. 37 is a schematic view of a prior art angle tower;

wherein, angle steel-a;

a general-purpose host machine-1; a host frame-11; a first mounting ear-111; a controller-112; a battery pack-113; the industrial personal computer-114; fixing a clamping jaw pitching seat-12; a second mounting ear-121; a first pitch drive mechanism-13; a first pitch drive motor-131; pitch angle detection encoder-132; a clamping jaw is provided with a sliding seat-14; a working tool mounting sliding seat-15; a host rail-16; a first reciprocating drive mechanism-17; a first drive motor-171; a first belt-172; a first reciprocating pulley-173; jaw slip position detection encoder-174; a first connector-175; a second reciprocating drive mechanism-18; a second drive motor-181; a second belt-182; a second reciprocating pulley-183; work tool slip position detection encoder-184; a second connector-185;

V-shaped clamp block telescoping device-2; a first mounting frame-21; a second rail-211; v-shaped clamping blocks-22; a second slider-221; a telescoping nut-222; v-groove-223; a telescoping detection mechanism-23; an encoder-231; a second pulley-232; a second timing belt-233; a first screw-24; a first pulley-241; a first synchronization belt-242; a telescopic drive motor-25;

a working arm-3; a base-31; fourth slider-311; turntable-312; a turntable drive motor-313; a first bracket-32; a first base plate-321; a second floor-322; a second side plate-323; a first linear reciprocating mechanism-33; a fifth slider-331; a shuttle-332; a fourth rail-333; a shuttle drive motor-334; reciprocating gear-335; reciprocating rack-336; a first detection mechanism-34; a second bracket-35; a second linear reciprocating mechanism-36; movable block-361; a second lead screw-362; screw rod driving piece-363; a second detection mechanism-37;

an inclination angle adjusting mechanism-4; a fixing plate (41); a bottom plate-411; a first side panel-412; pitch axis-413; a third rail-414; a through-hole-415; swinging plate-42; pitching sliding grooves-421; a fluted plate-422; an inclination angle detection mechanism-43; a second pitch drive mechanism-44; push-pull block-441; pitch slide pin-442; a third slider-443; a second pitch drive motor-444; pitch drive screw-445;

An adaptive bolt tightening head-5; a second mounting bracket-51; fastening the motor-52; a fastening rod-521; a fastening sleeve-53; mounting groove-531; a clamping arm-532; guide groove-533; guide bosses-534; clamping bosses-535; wedge-shaped protrusions-536; positioning edges-537; clamping arm sleeve-54; stopping the turntable step-541; a platen section-542; a stop collar-543; a locking mechanism-55; a piston rod-551;

a clamping device-6; a jaw fixing plate-61; a first slider-611; pull-wire sensor-612; a clamping slide plate-62; turning the claw-621; first rail-622; an open channel-623; rotating a rack-624; jaw-625; an inversion limit part-626; an eversion limiting part-627; support clamp block-628; a flip drive mechanism-63; claw driving piece-631; telescoping pin-632; an electric push rod-633; a slide plate driving mechanism-64; a tension sensor-641; a mounting base-65; a hydraulic pump-651; two-way reversing valve-652; hydraulic cylinder-653; a linkage mechanism-66; a linkage gear-661; linkage rack-662.

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.

As shown in fig. 1, the climbing work platform comprises a general host machine 1, a V-shaped clamping block telescopic device 2, an inclination angle adjusting mechanism 4, a clamping device 6 and a bolt fastening device.

At least two clamping devices 6 are disposed on the universal host 1, wherein at least one clamping device 6 can reciprocate along the universal host 1, as shown in fig. 1, in this embodiment, two upper and lower clamping devices 6 are disposed, and the upper clamping device 6 can slide up and down along the universal host 1.

As shown in fig. 9, the clamping device 6 includes a mounting seat 65 and a pair of clamping jaw structures, the clamping jaw structures include a clamping jaw fixing plate 61, a clamping slide plate 62 is slidably mounted on the clamping jaw fixing plate 61, a turnover claw 621 is hinged at a first end of the clamping slide plate 62, a turnover driving mechanism 63 is arranged between the turnover claw 621 and the clamping slide plate 62, and a slide plate driving mechanism 64 capable of driving the clamping slide plate 62 to slide linearly in a reciprocating manner is arranged on the clamping jaw fixing plate 61; the two clamping jaw fixing plates 61 are mounted on the mounting base 65, the sliding directions of the two clamping sliding plates 62 are vertical, namely, the two clamping sliding plates 62 are arranged in a crossed and vertical mode, and the end portions of the two turnover hooks 621 are bent towards the middle.

Specifically, as shown in fig. 2 and 3, the universal host 1 includes a host frame 11, a fixed jaw pitch seat 12, a first pitch driving mechanism 13, a jaw mounting sliding seat 14, a work tool mounting sliding seat 15, a host rail 16, a first reciprocating driving mechanism 17, and a second reciprocating driving mechanism 18.

As shown in fig. 4, the end of the mainframe frame 11 is hinged to a fixed jaw elevation seat 12, the fixed jaw elevation seat 12 is provided with a clamping device 6, the fixed jaw elevation seat 12 has a rectangular plate structure, and specifically, a mounting seat 65 of the clamping device 6 located below is mounted on the fixed jaw elevation seat 12. The hinge shaft of the fixed clamping jaw pitching seat 12 is perpendicular to the length direction of the main frame 11, and a first pitching driving mechanism 13 capable of driving the fixed clamping jaw pitching seat 12 to swing is further arranged on the main frame 11.

Specifically, as shown in fig. 4, the main frame 11 is a rectangular frame structure, a pair of first mounting ears 111 are disposed at the end of the main frame 11, a pair of second mounting ears 121 are disposed on the fixed jaw pitch seat 12, the second mounting ears 121 are located inside the first mounting ears 111, a first pitch driving motor 131 is disposed between one of the first mounting ears 111 and the second mounting ears 121, specifically, the first pitch driving motor 131 is mounted inside the second mounting ears 121, and an output shaft of the first pitch driving motor 131 is fixedly connected with the first mounting ears 111 outside the second mounting ears 121.

As shown in fig. 4, a pitch angle detection encoder 132 is provided between the other first mounting ear 111 and the second mounting ear 121. Specifically, the first mounting ear 111 and the second mounting ear 121 may be rotatably connected by a bearing and shaft in a matched manner, the pitch angle detecting encoder 132 is disposed inside the second mounting ear 121, and the pitch angle detecting encoder 132 is fixedly connected with the first mounting ear 111 outside to detect a pitch angle of the fixed jaw pitch seat 12 relative to the main frame 11. The pitch angle detection encoder 132 is coaxially disposed with the first pitch drive motor 131.

As shown in fig. 3, the abdomen of the mainframe frame 11 is slidably provided with a clamping jaw installation sliding seat 14 and a working tool installation sliding seat 15, the clamping jaw installation sliding seat 14 and the working tool installation sliding seat 15 are respectively used for installing the clamping device 6 and the working tool in practical application, in this embodiment, the working tool is a bolt fastening device, the sliding directions of the clamping jaw installation sliding seat 14 and the working tool installation sliding seat 15 are parallel to the length direction of the mainframe frame 11, the working tool installation sliding seat 15 is located between the clamping jaw installation sliding seat 14 and the fixed clamping jaw pitching seat 12, the clamping jaw installation sliding seat 14 is provided with the clamping device 6, and specifically, the installation seat 65 of the clamping device 6 located above is installed on the clamping jaw installation sliding seat 14. Alternatively, the jaw mounting slide 14 may be disposed at a position between the work tool mounting slide 15 and the fixed jaw pitch 12 to enable the work tool mounting slide 15 to be mounted at the front or middle of the mainframe frame 11.

Specifically, as shown in fig. 3, the main frame 11 is provided with a pair of main rails 16, and the jaw mounting sliding seat 14 and the work tool mounting sliding seat 15 are slidably mounted on the main rails 16 through four sliding blocks, respectively. The clamping jaw installation sliding seat 14 and the working tool installation sliding seat 15 are both rectangular plate-shaped structures.

As shown in fig. 5, the first reciprocating driving mechanism 17 is disposed on the main frame 11, the first reciprocating driving mechanism 17 includes a first driving motor 171 disposed on the main frame 11, a first belt 172, and the jaw mounting and sliding base 14 is connected to the first belt 172 through a first connecting member 175. The first connecting piece 175 is mounted on the jaw mounting sliding seat 14 through bolts, and the first connecting piece 175 comprises two clamping plates, and the two clamping plates are connected through bolts so as to clamp the first belt 172 between the two clamping plates.

As shown in fig. 5, the main frame 11 is provided with a first reciprocating pulley 173, the first driving motor 171 and the first reciprocating pulley 173 are respectively located at two ends of the main frame 11, the first belt 172 is wound around the first driving motor 171 and the first reciprocating pulley 173, the main frame 11 is further provided with a jaw sliding position detecting encoder 174, and the jaw sliding position detecting encoder 174 is connected to the first reciprocating pulley 173. The rotation axis of the first driving motor 171 is parallel to the rotation axis of the first reciprocating pulley 173, and the rotation axis of the first driving motor 171 is perpendicular to the hinge shaft of the fixed jaw pitch block 12.

As shown in fig. 5, the second reciprocating driving mechanism 18 is disposed on the main frame 11, the second reciprocating driving mechanism 18 includes a second driving motor 181 and a second belt 182 disposed on the main frame 11, the work tool mounting sliding seat 15 is connected to the second belt 182 through a second connecting member 185, and the second connecting member 185 has the same structure and connection manner as the first connecting member 175. The main frame 11 is provided with a second reciprocating belt wheel 183, the second driving motor 181 and the second reciprocating belt wheel 183 are respectively positioned at two ends of the main frame 11, the second belt 182 is wound on the second driving motor 181 and the second reciprocating belt wheel 183, the main frame 11 is also provided with a working tool sliding position detection encoder 184, and the working tool sliding position detection encoder 184 is connected to the second reciprocating belt wheel 183. The rotation axis of the second driving motor 181 is parallel to the rotation axis of the second reciprocating pulley 183, and the rotation axis of the second driving motor 181 is perpendicular to the hinge shaft of the fixed jaw pitch block 12.

Further, as shown in fig. 2, the back of the mainframe 11 is further provided with a controller 112, a battery pack 113, and an industrial personal computer 114. When facing crooked object, the pitching angle of fixed clamping jaw every single move seat 12 for host computer frame 11 is adjusted to accessible first every single move actuating mechanism 13, and then realizes the regulation of fixed clamping jaw every single move seat 12 for host computer frame 11 every single move position to satisfy actual climbing demand, for prior art, this host computer structure is comparatively simple, and every single move is adjusted conveniently, reliably, and application scope is wider. In practical application, the working tool mounting sliding seat 15 is used for mounting a working tool, such as a bolt fastening device, and the working tool mounting sliding seat 15 is arranged between the clamping jaw mounting sliding seat 14 and the fixed clamping jaw pitching seat 12, so that stability is good during operation. Further, the jaw mounting slide base 14 and the work tool mounting slide base 15 may be driven to reciprocate by a motor and a rack and pinion mechanism. The number of the work tool mounting slide seats 15 is set according to actual demands, and the number of the bolt fastening devices mounted on each work tool mounting slide seat 15 is set according to actual demands.

Referring to fig. 6 and 7, the jaw structure includes a jaw fixing plate 61, a clamping slide plate 62, a flip drive mechanism 63, and a slide drive mechanism 64.

Referring to fig. 6 and 7, the clamping slide plate 62 is slidably mounted on the clamping jaw fixing plate 61, a turnover claw 621 is hinged at a first end of the clamping slide plate 62, a turnover driving mechanism 63 is disposed between the turnover claw 621 and the clamping slide plate 62, and a slide plate driving mechanism 64 capable of driving the clamping slide plate 62 to slide linearly in a reciprocating manner is disposed on the clamping jaw fixing plate 61.

Specifically, referring to fig. 6 and 7, the jaw fixing plate 61 is provided with a first slider 611 in an inclined manner, the clamping slide plate 62 is provided with a first guide rail 622, the first guide rail 622 is slidably mounted in the first slider 611, and the first guide rail 622 and the clamping slide plate 62 are mounted in parallel by screws.

As shown in fig. 6, the turning claw 621 includes a rotating frame 624, and a clamping jaw 625 mounted on the rotating frame 624, where the rotating frame 624 has a strip structure, a first end of the rotating frame 624 is hinged to the ends of the first guide rail 622 and the clamping slide plate 62, an inward turning limiting portion 626 is disposed at the inner side of the first end of the rotating frame 624, and when the rotating frame 624 is turned inward to be parallel to the first guide rail 622 and the clamping slide plate 62, the inward turning limiting portion 626 abuts against the inner sides of the ends of the first guide rail 622 and the clamping slide plate 62. An eversion limiting portion 627 is arranged on the outer side of the first end of the rotating frame 624, and when the rotating frame 624 everts to be perpendicular to the first guide rail 622 and the clamping sliding plate 62, the eversion limiting portion 627 abuts against the outer sides of the end portions of the first guide rail 622 and the clamping sliding plate 62.

As shown in fig. 6, a pair of clamping jaws 625 are mounted on each rotating frame 624 through screws, the two clamping jaws 625 are parallel, the clamping jaws 625 are of inward bent sheet structures, the two clamping jaws 625 are positioned on two sides of the rotating frame 624, a supporting clamping block 628 is mounted between the end parts of the two clamping jaws 625 through screws, and when the object is clamped by the overturning hook claw 621, the inner side of the supporting clamping block 628 is in direct contact with the clamped object. Further, the rotating frame 624 is provided with a plurality of mounting holes along the length direction thereof, and the clamping jaw 625 can be mounted in different mounting holes by screws so as to realize the adjustment of the position of the clamping jaw 625 on the rotating frame 624.

The flip drive mechanism 63 can drive the flip fingers 621 to flip inwardly or outwardly. As shown in fig. 7, the turning driving mechanism 63 includes a telescopic member disposed outside the turning claw 621, the telescopic member is perpendicular to the hinge shaft of the turning claw 621, the telescopic member is mounted in parallel outside the rotating frame 624, the movable end of the telescopic member points to the first end of the rotating frame 624, and the movable end of the telescopic member can prop against the outside of the clamping slide plate 62 when extending out, so that the turning claw 621 turns inwards.

As shown in fig. 7, the telescopic member includes a telescopic pin 632 slidably mounted on the outer side of the turning claw 621, the telescopic pin 632 is specifically slidably mounted in the everting limiting portion 627, the telescopic pin 632 is parallel to the rotating frame 624, the telescopic member further includes an electric push rod 633 disposed on the outer side of the turning claw 621, a telescopic end of the electric push rod 633 is connected with the telescopic pin 632, the electric push rod 633 can drive the telescopic pin 632 to slide in a telescopic manner, an end portion of the telescopic pin 632 is chamfered, and the telescopic pin 632 can push against the outer side of the clamping slide plate 62 when extending out, so that the turning claw 621 turns inwards.

Further, as shown in fig. 10, the outside of the clamping slide 62 is provided with an opening guide groove 623 which is matched with the telescopic pin 632, and the telescopic pin 632 can slide in the opening guide groove 623 when extending, or the opening guide groove 623 can be opened outside the first guide rail 622 which is installed together with the clamping slide 62.

Referring to fig. 7 and 8, the turning driving mechanism 63 further includes a finger driving member 631 disposed between the turning finger 621 and the clamp slide 62, the finger driving member 631 being capable of turning the turning finger 621 outwardly. In this embodiment, the claw driving member 631 employs a tension spring, the everting limiting portion 627 is provided with a connecting lug, and two ends of the tension spring are respectively connected to the connecting lug and the clamping slide plate 62. In addition, according to practical requirements, the hook claw driving element 631 may also adopt a push rod, a tension rope, etc.

As shown in fig. 7, the slide driving mechanism 64 includes a hydraulic rod disposed on the jaw fixing plate 61, the hydraulic rod being parallel to the length direction of the jaw fixing plate 61, a piston rod of the hydraulic rod being directed to a first end of the clamping slide 62, the piston rod of the hydraulic rod being connected to the clamping slide 62 by a tension sensor 641.

As shown in fig. 7, the jaw fixing plate 61 is provided with a pull wire sensor 612, a pull wire pulling end of the pull wire sensor 612 is connected to the clamping slide plate 62, a pull wire of the pull wire sensor 612 is parallel to a sliding direction of the clamping slide plate 62, and the pull wire sensor 612 can detect a telescopic position of the clamping slide plate 62. Alternatively, the pull wire sensor 612 is mounted at the end of the hydraulic stem.

In practical application, the clamping jaw structure of the invention slides towards the first end direction of the clamping slide plate 62, the turning driving mechanism 63 drives the turning claw 621 to turn outwards, so that the object to be clamped can be separated, and the turning claw 621 turns outwards relative to the clamping slide plate 62, so that when the clamping jaw structure moves along the axial direction of the object to be clamped, the turned-outwards turning claw 621 can avoid the obstacle on the surface of the object to be clamped, and the obstacle avoidance capability is strong. When clamping is needed, the overturning driving mechanism 63 drives the overturning claw 621 to overturn inwards, the overturning claw 621 is folded inwards, the clamping slide plate 62 slides towards the second end direction of the overturning claw 621, the overturning claw 621 gradually approaches to the object surface until the object surface is clamped, and compared with the prior art, the clamping is realized, because the overturning driving mechanism 63 acts between the overturning claw 621 and the clamping slide plate 62, stable and reliable clamping driving can be provided for the overturning claw 621, and therefore, the clamping stability and reliability of the overturning claw 621 are better. And the clamping force and the clamping speed are improved by 4-5 times.

In practical application, when the movable end of the telescopic piece is retracted, under the action of the claw driving piece 631, the turning claw 621 turns outwards around the clamping sliding plate 62, so that when the clamping jaw structure moves axially along an object to be clamped, the turning claw 621 turned outwards can avoid an obstacle on the surface of the object to be clamped, and the obstacle avoidance capability is strong. When clamping is needed, the movable end of the telescopic piece extends out and props against the outer side of the clamping slide plate 62, the acting force of the hook claw driving piece 631 is overcome, the overturning hook claw 621 overturns inwards, the clamping slide plate 62 slides towards the second end direction, the overturning hook claw 621 gradually approaches until the object surface is clamped, so that clamping is realized, the structure principle is simple, and the action is reliable.

The provision of the open guide groove 623 can provide stable guide for the telescopic pin 632, ensure accurate movement along a predetermined trajectory, and ensure reliable operation. The hydraulic rod relies on hydraulic action, can provide powerful power for the removal of clamp slide 62, and then ensures to realize firm centre gripping, and the reliability is high. In practical application, the pull wire sensor 612 can detect the telescopic position of the clamping slide plate 62, so as to obtain the clamping stroke of the clamping slide plate 62, and the movement of the clamping slide plate 62 can be adjusted correspondingly according to the detection structure, so that the clamping slide plate 62 can be ensured to be moved to a preset position accurately.

Referring to fig. 9 and 10, the mounting base 65 is used to provide a mounting position for other components, which is not limited to a specific shape, and in this embodiment, the mounting base 65 is a rectangular frame structure. Further, a hydraulic pump 651, two paths of reversing valves 652 and a hydraulic cylinder 653 are arranged in the mounting seat 65, and the hydraulic pump 651 is connected with the hydraulic cylinder 653 through one end of an oil pipe, and one end of the hydraulic pump 651 is connected with the two paths of reversing valves 652 and is used for outputting high-pressure hydraulic oil to the two paths of reversing valves 652; the 2 channels of the two-way reversing valve 652 are respectively connected with the two hydraulic rods through oil pipes, and the two-way reversing valve 652 can control the hydraulic oil output direction of each channel, so as to control the two hydraulic rods to extend or retract; the hydraulic cylinder 653 is used for storing hydraulic oil.

As shown in fig. 11, a link mechanism 66 is provided between the two clamp slide plates 62, and the two clamp slide plates 62 can be synchronously retracted by the link mechanism 66. Specifically, the linkage mechanism 66 includes a pair of intermeshing linkage gears 661 rotatably mounted on the jaw fixing plate 61, the two linkage gears 661 have the same specification, the two clamping slide plates 62 are respectively provided with linkage racks 662 parallel to the sliding direction of the clamping slide plates 62, and the two linkage racks 662 are respectively meshed with the corresponding linkage gears 661.

Referring to fig. 9 and 10, the V-shaped clamp block expansion device 2 includes a first mounting frame 21, a V-shaped clamp block 22, an expansion detection mechanism 23, a first screw 24, and an expansion driving motor 25. As shown in fig. 9, the first mounting frame 21 is mounted on the mounting seat 65 through the clamping jaw fixing plate 61, a V-shaped clamping block 22 is slidably mounted on the first mounting frame 21, the V-shaped clamping block 22 is located between two turning hooks 621, the V-shaped clamping block 22 is perpendicular to the two turning hooks 621, an included angle between the sliding direction of the V-shaped clamping block 22 and the sliding direction of the two clamping sliding plates 62 is 45 °, and a telescopic detection mechanism 23 capable of detecting a telescopic sliding stroke of the V-shaped clamping block 22 is further arranged on the first mounting frame 21.

The first mounting rack 21 is used for providing mounting positions for the rest parts of the V-shaped clamping block expansion device 2, and is not limited to a specific shape, so long as the parts can be mounted and matched according to requirements, and corresponding functions can be realized. As shown in fig. 15, the first mounting frame 21 is provided with a pair of parallel second guide rails 211, and the V-shaped clamping blocks 22 are respectively slidably mounted on the corresponding second guide rails 211 through a pair of second sliding blocks 221. As shown in fig. 15, the first mounting frame 21 is rotatably provided with a first screw rod 24, the V-shaped clamping block 22 is provided with a telescopic nut 222 matched with the first screw rod 24, and the first mounting frame 21 is further provided with a telescopic driving motor 25 capable of driving the first screw rod 24 to rotate.

Further, as shown in fig. 15, two expansion nuts 222 are disposed on the V-shaped clamping block 22, and the two expansion nuts 222 are respectively located at two ends of the V-shaped clamping block 22. The second sliding blocks 221 are respectively installed inside the two expansion nuts 222. The two first lead screws 24 are arranged in parallel and are respectively in threaded connection with the corresponding telescopic nuts 222, the end part of each first lead screw 24 is respectively provided with a first belt wheel 241, and the two first belt wheels 241 are wound with a first synchronous belt 242. The pair of jaw structures described above are located at a position intermediate the two first lead screws 24. As shown in fig. 15, the telescopic driving motor 25 adopts a right angle motor, and the right angle motor drives one of the first screw rods 24 to rotate, that is, the other first screw rod 24 is synchronously driven to rotate by the first synchronous belt 242.

As shown in fig. 15, the expansion and contraction detecting mechanism 23 includes an encoder 231 provided on the first mounting frame 21, and the encoder 231 is linked with the first screw 24. As shown in fig. 15, the rotary shaft of the encoder 231 and the first screw 24 are respectively provided with a second pulley 232, and a second timing belt 233 is wound around the second pulleys 232. Alternatively, the encoder 231 is coaxially disposed with the first screw 24, and the rotation shaft of the encoder 231 is connected with the first screw 24 through a coupling.

In practical application, the telescopic position of the V-shaped clamping block 22 is obtained according to the data detected by the encoder 231, so as to control the rotation of the telescopic driving motor 25, and ensure that the V-shaped clamping block 22 stretches into place. Further, the V-shaped clamping block 22 is provided with a V-shaped groove 223, and a cushion pad is arranged in the V-shaped groove 223, and the cushion pad is a rubber pad. As shown in the left view of fig. 12, two turning fingers 621 are respectively clamped at two edge positions of the angle steel, and a V-shaped clamping block 22 is propped against the middle edge of the outer side of the angle steel, so as to realize stable clamping. As shown in the right view of fig. 12, a connecting plate attached to the outer surface of the angle steel is arranged on the outer side of the angle steel, and is also in a right-angle structure, at this time, two turning fingers 621 are respectively clamped at two edge positions of the angle steel, and a V-shaped clamping block 22 is propped against the middle edge of the outer side of the connecting plate, so that stable clamping is realized. Fig. 13 is a schematic view of the clamping device for clamping angle steel with different specifications. As shown in fig. 14, the two sides of the angle steel are vertically provided with pins, at this time, the two turning fingers 621 are turned outwards, so that the pins can be avoided, when the clamping device moves along the length direction of the angle steel under the action of external force, such as the climbing robot, the V-shaped clamping block 22 is separated from the angle steel, the two turning fingers 621 can avoid the pins, smooth movement is ensured, and interference is avoided.

In practical application, the clamping device 6 in the invention slides towards the respective first end directions, the overturning driving mechanism 63 drives the overturning claw 621 to be outwards turned, the two overturning claws 621 are in an open posture, and can be separated from the clamped object, and the outwards turned overturning claw 621 can avoid the obstacle on the surface of the object to be clamped, such as the foot nails on the angle steel surface, when the clamping device moves along the axial direction of the object to be clamped, and has stronger obstacle avoidance capability. When clamping is needed, the overturning driving mechanism 63 drives the overturning claw 621 to overturn inwards, the two overturning claws 621 are folded inwards, the two clamping sliding plates 62 slide towards the respective second end directions, the overturning claw 621 gradually approaches until being clamped on the surface of an object, so that clamping is realized, and compared with the prior art, the overturning driving mechanism 63 acts between the overturning claw 621 and the clamping sliding plates 62, so that stable and reliable clamping driving can be provided for the overturning claw 621, and therefore, the clamping stability and reliability are better.

The linkage mechanism 66 can ensure that the two clamping sliding plates 62 synchronously stretch and act in a consistent way, so that clamping deviation caused by asynchronous action is avoided, and clamping is prevented from being influenced. In actual motion, when one of the clamping slide plates 62 slides, the linkage gear 661 meshed with the clamping slide plate can be driven to rotate by the linkage rack 662, and as the two gears are meshed and the specifications of the two gears are the same, the other gear can drive the other linkage rack 662 and the clamping slide plate 62 to move, so that synchronous linkage is realized, and the whole structure and principle are simpler, and the motion is reliable.

In practical application, clamping device 6 is used for clieing the object of waiting to climb, V type clamp splice 22 is used for propping up the object of waiting to climb, V type clamp splice 22 and two upset knuckle 621 cooperation realize firm centre gripping, during practical application, flexible detection mechanism 23 can detect the flexible sliding travel of V type clamp splice 22, and then can obtain the accurate flexible distance of V type clamp splice 22, ensure to make V type clamp splice 22 accurately stretch out or withdraw, and then ensure that V type clamp splice 22 fully stretches out, V type clamp splice 22 top is on the object of waiting to climb, ensure stable centre gripping, then can fully withdraw when V type clamp splice 22 is retracted, and then can keep away from the object surface when clamping jaw and V type clamp splice 22 follow the object length direction of waiting to climb, avoid interfering with the barrier on object surface of waiting to climb, the security is better.

In practical application, when the telescopic driving motor 25 works, the first screw rod 24 can be driven to rotate, and when the first screw rod 24 rotates, the telescopic nut 222 can be driven to reciprocate, so that the telescopic action of the V-shaped clamping block 22 is realized, the first synchronous belt 242 can effectively ensure that the two first screw rods 24 synchronously rotate, further realize the synchronous movement of the two telescopic nuts 222, and ensure the stable telescopic action of the V-shaped clamping block 22. In practical application, the encoder 231 and the first screw 24 are linked, and then the encoder 231 detects the ring speed of the first screw 24, so as to obtain the expansion and contraction amount of the V-shaped clamping block 22, and the expansion and contraction amount is used for detecting the position of the V-shaped clamping block 22 in real time, so that the rotation of the first screw 24 is conveniently controlled according to the detection result, and the expansion and contraction of the V-shaped clamping block 22 are ensured. In practical application, rubber pads and the like can be adopted for the buffer pad, so that damage to the surface of an object is avoided when the V-shaped groove 223 of the V-shaped clamping block 22 is propped against the object to be climbed, and the safety is good.

Further, in the present embodiment, the upper clamping device 6 can also realize pitch adjustment, specifically, as shown in fig. 16 and 17, the upper clamping device 6 further includes a tilt adjusting mechanism 4, and the tilt adjusting mechanism 4 includes a fixed plate 41, a swinging plate 42, a tilt detecting mechanism 43, and a second pitch driving mechanism 44.

As shown in fig. 16 and 17, the fixing plate 41 is disposed on the mounting base 65, the fixing plate 41 is provided with a swinging plate 42 in a swinging manner, and the device further comprises an inclination detecting mechanism 43, the inclination detecting mechanism 43 can detect an inclination of the swinging plate 42 swinging relative to the fixing plate 41, two clamping jaw fixing plates 61 are mounted on the swinging plate 42, and the first mounting frame 21 of the V-shaped clamping block telescopic device 2 is mounted on the clamping jaw fixing plates 61. The two clamping slide plates 62 are arranged in a crossed manner, the overturning claw 621 and the swinging plate 42 are respectively positioned at two sides of the crossed position of the two clamping slide plates 62, and the included angles between the swinging axis of the swinging plate 42 and the sliding directions of the two clamping slide plates 62 are 45 degrees. The swing axis of the swing plate 42 is perpendicular to the V-shaped clamp block 22 of the V-shaped clamp block telescoping device 2.

Specifically, referring to fig. 19 and 20, the fixing plate 41 includes a bottom plate 411 and first side plates 412 disposed on two sides of the bottom plate 411, the two first side plates 412 are disposed in parallel, the first side plates 412 are perpendicular to the bottom plate 411, and the swinging plate 42 is installed between the two first side plates 412 in a swinging manner.

Referring to fig. 20 and 21, a pitch shaft 413 is provided on the fixed plate 41, and the swing plate 42 is rotatably mounted on the pitch shaft 413. Specifically, the pitch shafts 413 are coaxially disposed in a pair, and are located inside the first ends of the two first side plates 412, and the pitch shafts 413 are perpendicular to the first side plates 412. Referring to fig. 20 and 21, the tilt angle detecting mechanism 43 includes an encoder mounted on the inner side of the swing plate 42, the encoder being coaxially disposed with the pitch shafts 413, and a rotation shaft of the encoder being connected to one of the pitch shafts 413.

Referring to fig. 20 and 21, the fixed plate 41 is provided with a second pitch driving mechanism 44, and the second pitch driving mechanism 44 is capable of driving the swing plate 42 to swing with respect to the fixed plate 41. Specifically, referring to fig. 20 and 21, the second pitch driving mechanism 44 includes a push-pull block 441 slidably mounted on the fixed plate 41, the push-pull block 441 has a T-shaped structure, a sliding direction of the push-pull block 441 is perpendicular to a swinging axis of the swinging plate 42, a pitch sliding pin 442 is disposed on a side edge of the push-pull block 441, a pitch sliding groove 421 slidably matched with the pitch sliding pin 442 is disposed on the swinging plate 42, and an included angle between the pitch sliding groove 421 and the sliding direction of the push-pull block 441 is greater than 0 ° and smaller than 90 °.

Further, referring to fig. 20 and 21, the fixing plate 41 is provided with a pair of third guide rails 414, the third guide rails 414 are parallel to the first side plate 412, the bottoms of two ends of the push-pull block 441 are respectively provided with a third slider 443, and the third sliders 443 are in one-to-one sliding fit with the third guide rails 414.

Referring to fig. 20 and 21, the pair of pitch sliding pins 442 are coaxially disposed and symmetrically distributed on two sides of the push-pull block 441, and the pitch sliding grooves 421 and the pitch sliding pins 442 are in one-to-one correspondence. Specifically, the entire pitch sliding pin 442 is cylindrical, the inner end is provided with external threads for being mounted in the end face of the push-pull block 441, and the outer end face of the pitch sliding pin 442 is provided with a linear slot for screwing the pitch sliding pin 442 into the threaded hole of the end face of the push-pull block 441.

Referring to fig. 20 and 21, a pair of groove plates 422 are disposed on the inner side of the swing plate 42, the cross section of the groove plates 422 is L-shaped, the groove plates 422 are mounted on the swing plate 42 by bolts, two groove plates 422 are symmetrically distributed on two sides of the swing plate 42, the groove plates 422 are located on the inner side of the first side plate 412, the groove plates 422 are perpendicular to the swing plate 42, and the pitch sliding groove 421 is located on the groove plates 422. As shown in fig. 19, two mounting lugs 423 are respectively disposed on two sides of the first end of the swinging plate 42, the mounting lugs 423 are perpendicular to the swinging plate 42, the mounting lugs 423 are rotatably mounted on the pitching shafts 413, the mounting lugs 423 are in one-to-one correspondence with the pitching shafts 413, and the mounting lugs 423 are located inside the first side plate 412.

Referring to fig. 20 and 21, the second pitch driving mechanism 44 includes a second pitch driving motor 444 disposed on the fixed plate 41 and a pitch driving screw 445 rotatably mounted on the fixed plate 41, the second pitch driving motor 444 employs a right-angle gear motor, the pitch driving screw 445 is parallel to the sliding direction of the push-pull block 441, the second pitch driving motor 444 is capable of driving the pitch driving screw 445 to rotate, and the pitch driving screw 445 is in threaded driving connection with the push-pull block 441.

Further, as shown in fig. 20, a through hole 415 is formed in the middle of the bottom plate 411, the second pitch driving motor 444 is located in the through hole 415, the rotation shaft of the second pitch driving motor 444 is used as a rotation axis, the second pitch driving motor 444 is obliquely arranged, and the pitch driving screw 445 is located inside the bottom plate 411. In this embodiment, the second pitch drive motor 444 is controlled to act according to the magnitude of the tilt angle detected by the encoder, so as to ensure that the tilt angle is adjusted to a predetermined magnitude, thereby meeting the actual tilt angle adjustment requirement.

In practical application, as shown in fig. 18, the swinging plate 42 can swing relative to the fixed plate 41, so as to realize the inclination adjustment of the two-jaw structure, namely, the state shown in the right diagram of fig. 18, so as to meet the requirement of the climbing robot on excessive bending when actually climbing a curved object, in this process, the inclination angle of the swinging plate 42 relative to the fixed plate 41 can be detected by the inclination angle detection mechanism 43, so as to obtain whether the inclination angle of the swinging plate 42 meets the requirement, and the inclination angle of the swinging plate 42 can be adjusted according to the detection result, so that the inclination angle requirement is met, the inclination angle adjustment precision is improved, and compared with the prior art, the inclination angle adjustment mechanism can accurately detect the inclination angle and ensure the inclination angle adjustment precision.

The encoder has a simple structure and is convenient to install, the detection result is accurate and reliable, and the actual inclination detection requirement of the inclination adjusting mechanism can be met. In actual motion, when the push-pull block 441 reciprocates, the pitching sliding pin 442 is driven to move together, and since the pitching sliding pin 442 and the pitching sliding groove 421 are mounted in a sliding fit manner and the pitching sliding groove 421 is arranged obliquely relative to the sliding direction of the push-pull block 441, the pitching sliding pin 442 can drive the swinging plate 42 to swing through the pitching sliding groove 421 in moving, and the structure is simple and the driving is reliable. In actual motion, the second pitching driving motor 444 drives the pitching driving screw rod 445 to rotate, so that the push-pull block 441 is driven to reciprocate, the whole structure and principle are simpler, the motion is reliable, self-locking can be realized through the pitching driving screw rod 445, and the structure is stable.

In this embodiment, the bolt fastening device includes a working arm 3 and an adaptive bolt fastening head 5, specifically, as shown in fig. 23 and 24, the working arm 3 includes a base 31, a first bracket 32, a first linear reciprocating mechanism 33, a first detecting mechanism 34, a second bracket 35, a second linear reciprocating mechanism 36, a second detecting mechanism 37, and a control unit.

As shown in fig. 23, the base 31 is rotatably mounted with a first support 32, the first support 32 is provided with a first linear reciprocating mechanism 33 and a first detecting mechanism 34 capable of detecting the moving position of the movable end of the first linear reciprocating mechanism 33, the movable end of the first linear reciprocating mechanism 33 is provided with a second support 35, and the second support 35 is provided with a second linear reciprocating mechanism 36 and a second detecting mechanism 37 capable of detecting the moving position of the movable end of the second linear reciprocating mechanism 36.

As shown in fig. 25 and 27, specifically, the base 31 has a plate-shaped structure, and in practical application, the base 31 may be mounted on the working tool mounting sliding seat 15, so as to realize sliding of the whole working arm 3, thereby facilitating movement to a working position, and having a wide application range.

As shown in fig. 23, the turntable 312 is rotatably mounted on the base 31, or in practical application, the base 31 may be omitted, and the turntable 312 may be directly rotatably mounted on the tool mounting slide 15 by replacing the base 31 with the tool mounting slide 15. The first bracket 32 is disposed on the turntable 312, and the turntable driving motor 313 is further disposed on the base 31. Specifically, the base 31 is rotated by a worm wheel, the turntable 312 is coaxially mounted on the worm wheel, and a worm is disposed on an output shaft of the turntable driving motor 313, and is meshed with the worm wheel to drive the turntable 312 to rotate.

As shown in fig. 23 and 24, the turntable 312 is disc-shaped, the first bracket 32 includes a first bottom plate 321, a second bottom plate 322, and two second side plates 323, an included angle between the first bottom plate 321 and the second bottom plate 322 is 45 °, the second side plates 323 are curved, two ends of the first bottom plate 321 and the second bottom plate 322 are respectively connected through the two second side plates 323, and the first bottom plate 321 is mounted on the turntable 312.

Referring to fig. 23-25, the first linear reciprocating mechanism 33 includes a fifth slider 331 disposed on the first bracket 32, and further includes a reciprocating member 332 and a reciprocating member driving mechanism, wherein the reciprocating member 332 is slidably mounted on the fifth slider 331 through a fourth guide rail 333, and the reciprocating member 332 is in a long strip shape.

Specifically, referring to fig. 23-25, the fourth guide tracks 333 are disposed in a pair, two fourth guide tracks 333 are disposed on two sides of the reciprocating member 332 and parallel to the reciprocating member 332, the fifth slide blocks 331 are disposed in a pair, and are respectively mounted on the inner sides of the two second side plates 323, the two fourth guide tracks 333 are respectively slidably mounted between the corresponding fifth slide blocks 331, and the fourth guide tracks 333 and the reciprocating member 332 are parallel to the second bottom plate 322.

Referring to fig. 23-25, the shuttle driving mechanism includes a shuttle driving motor 334 provided on the first bracket 32, an output shaft of the shuttle driving motor 334 is provided with a shuttle gear 335, and a shuttle rack 336 engaged with the shuttle gear 335 is provided on the shuttle 332.

As shown in fig. 23 and 24, the first detecting mechanism 34 includes a first encoder provided on the first bracket 32, the first encoder being connected to the reciprocating gear 335, specifically, the reciprocating driving motor 334 and the first encoder are respectively mounted on two second side plates 323.

As shown in fig. 23, the second linear reciprocating mechanism 36 includes a movable block 361 slidably mounted on the second bracket 35. The second bracket 35 is used to provide a mounting location for the remaining components, which is not limited to a specific shape, and the second bracket 35 is perpendicular to the reciprocator 332.

Further, a guide post may be disposed on the second support 35, and a guide sleeve slidably matched with the guide post may be disposed on the movable block 361 to implement guiding, or a guide rail may be disposed on the second support 35, and a slider slidably matched with the guide rail may be disposed on the movable block 361 to implement guiding, where a portion of the section of the movable block 361 located outside the second support 35 is in a right-angle U shape.

As shown in fig. 23, the device further comprises a second screw rod 362 rotatably mounted on the second support 35, the movable block 361 is connected with the second screw rod 362 through threads, and a portion of the movable block 361 extending into the second support 35 is matched with the second screw rod 362. The second bracket 35 is further provided with a screw rod driving piece 363, the screw rod driving piece 363 comprises a motor arranged on one side of the second bracket 35, and an output shaft of the motor is linked with the end part of the second screw rod 362 through a belt transmission mechanism.

As shown in fig. 23, the second detecting mechanism 37 includes a second encoder provided on the second bracket 35, the second encoder being coaxially provided with the second screw 362, and a rotation shaft of the second encoder being connected to the second screw 362.

As shown in fig. 23 and 26, the angle between the rotation axis of the first bracket 32 and the moving direction of the first linear reciprocating mechanism 33 is 45 °, the moving direction of the second linear reciprocating mechanism 36 is perpendicular to the moving direction of the first linear reciprocating mechanism 33, and the rotation axis of the first bracket 32, the moving direction of the first linear reciprocating mechanism 33, and the moving direction of the second linear reciprocating mechanism 36 are located in the same plane.

In practical application, the first bracket 32 can drive the first linear reciprocating mechanism 33, the first detecting mechanism 34, the second bracket 35, the second linear reciprocating mechanism 36, the second detecting mechanism 37, and the like to rotate together, when the movable end of the first linear reciprocating mechanism 33 moves, the second bracket 35, the second linear reciprocating mechanism 36, and the second detecting mechanism 37 can be driven to move, when the movable end of the second linear reciprocating mechanism 36 moves, the tool mounted on the movable end of the second linear reciprocating mechanism 36 can be driven to move to the working position, and in the practical action process, the first detecting mechanism 34 and the second detecting mechanism 37 can respectively detect the movable end moving position of the first linear reciprocating mechanism 33 and the movable end moving position of the second linear reciprocating mechanism 36, so that the movable end moving position of the working arm is obtained, and the working arm can be ensured to work normally.

Furthermore, four fourth sliders 311 may be disposed on the base 31, and during practical application, the base 31 may be slidably mounted on the host guide rail 16 through the four fourth sliders 311, and the base 31 may be located between the upper and lower clamping devices 6, thereby facilitating movement of the whole working arm, and having a wide working range. In practical application, the turntable 312 can be driven to rotate by the turntable driving motor 313, so as to drive the movable end of the working arm to move to the working position, and the working range is wider. In practical application, the reciprocating member driving motor 334 drives the reciprocating gear 335 to rotate, and then the reciprocating member 332 is driven to reciprocate by the reciprocating rack 336, in this process, the ring speed of the reciprocating gear 335 can be detected by the first encoder, and then the moving position of the reciprocating member 332 can be obtained, and the reciprocating member driving motor has a simple structure and is convenient to detect. In practical application, the screw rod driving piece 363 can drive the second screw rod 362 to rotate, and then can drive the movable block 361 to reciprocate, and in this process, the second encoder can detect the second screw rod 362 circle speed, and then can obtain the movement position of movable block 361, overall structure is simple, detects conveniently.

In practical application, referring to fig. 26 and 27, the rotation axis of the first bracket 32 is opposite to the middle edge of the angle steel tower, the second linear reciprocating mechanism 36 may swing to two sides of the angle steel under the driving of the first bracket 32, and since the angle between the rotation axis of the first bracket 32 and the moving direction of the first linear reciprocating mechanism 33 is 45 °, the moving direction of the second linear reciprocating mechanism 36 is perpendicular to the moving direction of the first linear reciprocating mechanism 33, and the rotation axis of the first bracket 32, the moving direction of the first linear reciprocating mechanism 33 and the moving direction of the second linear reciprocating mechanism 36 are located in the same plane, and when the second linear reciprocating mechanism 36 swings to two sides of the angle steel, the moving direction of the movable end of the second linear reciprocating mechanism 36 is perpendicular to the side of the angle steel, so as to be close to or far away from the side of the angle steel, thereby facilitating related operations such as bolt fastening.

As shown in fig. 28 and 29, the adaptive bolt-tightening head 5 includes a second mounting bracket 51, a tightening motor 52, a tightening sleeve 53, a clamping arm sleeve 54, and a locking mechanism 55. As shown in fig. 22, the adaptive bolt tightening head 5 is mounted on the movable block 361 of the working arm 3 through a second mounting bracket 51, and the axis of the tightening sleeve 53 is parallel to the moving direction of the movable block 361.

Referring to fig. 30 and 31, the fastening motor 52 is located in the second mounting frame 51, a fastening rod 521 is disposed on an output shaft of the fastening motor 52, a fastening sleeve 53 is coaxially mounted on the fastening rod 521 through threads, a clamping arm 532 is hinged to the fastening sleeve 53, and a first end of the clamping arm 532 faces an opening of the fastening sleeve 53.

As shown in fig. 31, the arm locking sleeve 54 is disposed outside the fastening sleeve 53, when the fastening sleeve 53 moves axially toward the inside of the arm locking sleeve 54, the arm locking sleeve 54 can press the outside of the arm locking 532 to swing the first end inward, when the fastening sleeve 53 moves axially toward the outside of the arm locking sleeve 54, the first end of the arm locking 532 swings outward, a locking mechanism 55 is disposed on the side of the fastening motor 52, and the locking mechanism 55 is disposed on the second mounting frame 51. The locking mechanism 55 can lock or unlock the arm lock sleeve 54, and when the arm lock sleeve 54 is locked, the fastening sleeve 53 can move axially relative to the arm lock sleeve 54 without rotating.

Specifically, in this embodiment, with reference to fig. 28 and 29, the main function of the second mounting frame 51 is to provide a mounting position for other components, which is not limited to a specific structure, in this embodiment, the second mounting frame 51 is a rectangular parallelepiped frame structure, the fastening motor 52 is mounted in the middle of the frame, parallel to the length direction of the frame, and the fastening rod 521 extends from the end of the frame.

Referring to fig. 28 and 31, the first end of the fastening sleeve 53 is a cylindrical portion, the end of the cylindrical portion is open, the second end of the fastening sleeve 53 is a prismatic portion, the end of the prismatic portion is provided with a threaded hole, and the threaded hole is in threaded connection with the fastening rod 521. The outer diameter of the cylindrical portion is greater than the radial dimension of the prismatic portion, the cross section of the prismatic portion is regular polygon, such as regular quadrangle, regular pentagon, regular hexagon, etc., and correspondingly, a regular polygon hole is formed in the middle of the clamping arm sleeve 54 so as to axially slide and match with the prismatic portion, and the prismatic portion and the clamping arm sleeve 54 can only slide relatively along the axial direction and cannot rotate relatively.

As shown in fig. 28, the fastening sleeve 53 is provided with a mounting groove 531 parallel to the axial direction of the fastening sleeve 53, and the clip arm 532 is located in the mounting groove 531.

The clamping arms 532 are uniformly arranged along the circumferential direction of the fastening sleeve 53. In this embodiment, three mounting grooves 531 are provided, and the three mounting grooves 531 are uniformly distributed along the circumferential direction of the cylindrical portion, and the mounting grooves 531 communicate the inside and outside of the cylindrical portion in the radial direction. The clamping arms 532 are in one-to-one correspondence with the mounting grooves 531, the first ends of the clamping arms 532 point to the opening of the end part of the cylinder part, the second ends of the clamping arms 532 are hinged with the side walls of the second ends of the mounting grooves 531, and the hinge shafts are parallel to the tangential direction of the cylinder part where the second ends of the clamping arms 532 are located.

Further, as shown in fig. 28 and 29, a swing guide mechanism is provided between the clip arm 532 and the mounting groove 531. The swing guide mechanism includes a pair of guide grooves 533 provided on both side walls of the first end of the mounting groove 531 and a pair of guide protrusions 534 provided on both side edges of the first end of the clamp arm 532, the guide protrusions 534 are slidably engaged with the guide grooves 533, and the guide protrusions 534 are slidably movable in the guide grooves 533 when the clamp arm 532 swings about its hinge axis. That is, the guide projection 534 and the guide groove 533 are circular arcs centered on the hinge shaft at the second end of the clip arm 532.

Further, an elastic body is provided between the clamping arm 532 and the fastening sleeve 53, and the elastic body can cause the clamping arm 532 to have a tendency to be outwardly opened. The elastic body may be a torsion spring, and the torsion spring may be mounted on the hinge shaft of the clamping arm 532, and two ends of the torsion spring respectively prop against the clamping arm 532 and the fastening sleeve 53, so that the clamping arm 532 has a tendency to be opened outwards. Alternatively, the elastic body may employ a tension spring, one end of which is connected to the second end of the clamping arm 532, and the other end of which is connected to the fastening sleeve 53, so that the clamping arm 532 has a tendency to be opened outwards under the action of the tension spring. Alternatively, the elastic body may use a compression spring, where one end of the compression spring abuts against the clamping arm 532 and the other end abuts against the fastening sleeve 53, so that the clamping arm 532 has a tendency to be opened outwards.

Further, as shown in fig. 31, a clamping protrusion 535 is provided inside the first end of the clamping arm 532 to implement a clamping bolt. The outside of the latch arm 532 is provided with a wedge-shaped protrusion 536, the wedge-shaped protrusion 536 is located near the second end of the latch arm 532, and the thickness of the wedge-shaped protrusion 536 gradually decreases from the first end to the second end of the latch arm 532.

Further, referring to fig. 28 and 29, a plurality of positioning ribs 537 parallel to the axial direction of the fastening sleeve 53 are disposed on the inner wall of the fastening sleeve 53, and the positioning ribs 537 are uniformly distributed along the circumferential direction of the fastening sleeve 53, that is, the positioning ribs 537 are disposed on the inner wall of the cylindrical portion.

Further, referring to fig. 28 and 29, the first end of the arm clamping sleeve 54 is uniformly provided with three pressing plate portions 542 along the circumferential direction, the pressing plate portions 542 protrude from the end of the arm clamping sleeve 54 along the axial direction, and the pressing plate portions 542 have a circular arc plate-shaped structure and are in one-to-one correspondence with the clamping arms 532, so as to press the wedge-shaped protrusions 536 to enable the clamping arms 532 to swing inwards.

Referring to fig. 28 and 29, the outer side of the arm clamping sleeve 54 is provided with rotation stopping steps 541, the rotation stopping steps 541 are outwards protruded in the radial direction, the outer end surfaces of the rotation stopping steps 541 are plane, the rotation stopping steps 541 are symmetrically arranged in two, the locking mechanism 55 comprises two electric push rods which are arranged on the side edges of the fastening motor 52 in parallel, the two electric push rods are in one-to-one correspondence with the rotation stopping steps 541, the electric push rods are parallel to the axis of the arm clamping sleeve 54, and a piston rod 551 of each electric push rod can extend and block the outer side of the rotation stopping step 541 to stop rotation, or retract and separate from the rotation stopping step 541.

Further, as shown in fig. 31, a limiting ring 543 is mounted at the second end of the clamping arm sleeve 54, the inner hole of the limiting ring 543 is identical to the inner hole of the clamping arm sleeve 54, and the limiting ring 543 is axially slidably engaged with the prismatic portion of the fastening sleeve 53.

In practical application, the self-adaptive bolt fastening head of the invention is characterized in that the fastening sleeve 53 is sleeved on a bolt to be fastened, the locking mechanism 55 locks the clamping arm sleeve 54, the clamping arm sleeve 54 cannot rotate, the fastening motor 52 drives the fastening rod 521 to rotate positively, the fastening rod 521 rotates positively in the same rotation direction as the bolt to be fastened is screwed, the fastening sleeve 53 cannot rotate relatively relative to the clamping arm sleeve 54, so that the fastening sleeve 53 can only move axially inwards of the clamping arm sleeve 54 under the action of threads, meanwhile, the clamping arm sleeve 54 presses the outer side of the clamping arm 532 to enable the first end of the clamping arm sleeve to swing inwards until the inner side of the clamping arm sleeve is clamped, after the clamping is carried out, the locking mechanism 55 releases the clamping arm sleeve 54, the fastening motor 52 continuously drives the fastening rod 521 to rotate positively, and further drives the fastening sleeve 53 and the clamping arm sleeve 54 to rotate together, so as to realize fastening operation of the bolt, after fastening is completed, the locking mechanism 55 locks the clamping arm sleeve 54, the fastening rod 521 drives the fastening rod 521 to rotate reversely, and simultaneously pushes the fastening sleeve 53 out of the clamping arm sleeve 54, and the clamping arm sleeve 54 gradually releases the clamping arm sleeve 54 from the clamping arm sleeve 54, and after the fastening operation is completed, the bolt is further opened outwards. Compared with the prior art, the clamping arm 532 can adapt to the fastening operation of bolts with different specifications through the folding and unfolding action, has stronger adaptability and wider application range.

The swing guide mechanism formed by sliding fit of the guide protruding portion 534 and the guide groove 533 can play a guiding role in swing of the clamping arm 532, so that smooth, stable and reliable swing of the clamping arm 532 is ensured. When the fastening sleeve 53 moves axially toward the inside of the clamping arm sleeve 54, the clamping arm sleeve 54 can press the wedge-shaped protrusion 536 on the outer side of the clamping arm 532, so that the first end of the clamping arm sleeve swings inward to realize clamping, and the clamping device has a simple integral structure and reliable action. When the bolt is large in size, the clamping arms 532 are opened and do not directly act on the bolt, and at the moment, the edges of the bolt can be clamped through the grooves formed between the positioning edges 537 and the positioning edges 537, so that clamping and fastening operations are realized. In practical application, the piston rod 551 of the electric push rod extends out and is blocked outside the rotation stopping table step 541 to realize rotation stopping, or retracts and breaks away from the rotation stopping table step 541, so that the structure principle is simpler and the action is reliable.

Or, the fastening rod 521 is fixedly connected with the fastening sleeve 53, the arm clamping sleeve 54 includes a rotor located at the inner side and a stator located at the outer side, a bearing is disposed between the rotor and the stator to realize relative rotation between the rotor and the stator, the rotor is sleeved at the outer side of the fastening sleeve 53, the side edge of the fastening motor 52 is provided with arm clamping sleeve push-pull mechanisms, the arm clamping sleeve push-pull mechanisms can adopt electric push rods, two arm clamping sleeve push-pull mechanisms are symmetrically disposed and are respectively located at two sides of the fastening motor 52, the movable end of the arm clamping sleeve push-pull mechanism is connected with the stator, and the arm clamping sleeve push-pull mechanisms can drive the arm clamping sleeve 54 to axially reciprocate.

In practical application, after the fastening sleeve 53 is placed on the bolt, the clamping arm sleeve push-pull mechanism pushes the clamping arm sleeve 54 to move, under the action of the rotor of the clamping arm sleeve 54, the clamping arm 532 swings inwards to fold so as to clamp the bolt, the fastening sleeve 53 and the rotor are driven to rotate through the fastening motor 52 and the fastening rod 521, the rotor can rotate relative to the stator at this time, the fastening operation of the bolt is further realized, after the fastening is completed, the clamping arm sleeve push-pull mechanism pulls the clamping arm sleeve 54 to move, the rotor is gradually separated from each clamping arm 532, each clamping arm 532 is opened so as to loosen the bolt, and the whole structure and the principle of the clamping arm are simpler, and the action is reliable.

When the climbing operation platform in the invention actually climbs angle steel, as shown in fig. 32, the climbing operation platform is firstly placed on the angle steel, at this time, both the upper clamping device 6 and the lower clamping device 6 clamp the angle steel, then the bolt fastening device slides down to the lowest position, the lower clamping device 6 unclamps the angle steel, meanwhile, the V-shaped clamping block 22 of the V-shaped clamping block telescopic device 2 retreats to be separated from the angle steel, the universal host 1 carries the lower clamping device 6 to slide upwards relative to the upper clamping device 6, then the lower clamping device 6 clamps the angle steel, namely the state shown in fig. 33, then the upper clamping device 6 unclamps the angle steel, the universal host 1 swings rightwards through the swing of the fixed clamping jaw pitching seat 12, the upper clamping device 6 slides upwards, and the pitching angle adjusting mechanism 4 can adjust the pitching angle of the clamping device 6 relative to the angle steel, namely the state shown in fig. 34, then the lower clamping device 6 and the universal host 1 slide upwards, the lower clamping device 6 clamps the angle steel, namely the state shown in fig. 35, and then the two clamping devices clamp the angle steel 6 alternately in the state shown in fig. 36 are clamped on the bending platform, and the state shown in the schematic diagram is realized. When the climbing operation platform clamps the angle steel, the bolts on the two sides of the angle steel can be screwed through the bolt fastening devices.

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. A climbing work platform which is characterized in that: the device comprises a general-purpose host machine (1), wherein at least two clamping devices (6) are arranged on the general-purpose host machine (1), and at least one clamping device (6) can reciprocate along the general-purpose host machine (1); the clamping device (6) comprises a mounting seat (65) and a pair of clamping jaw structures, wherein the clamping jaw structures comprise clamping jaw fixing plates (61), clamping sliding plates (62) are slidably arranged on the clamping jaw fixing plates (61), the clamping sliding plates (62) of the two clamping jaw structures are arranged in a crossed mode, a turnover hook claw (621) is hinged to the first end of each clamping sliding plate (62), and a sliding plate driving mechanism (64) capable of driving the corresponding clamping sliding plate (62) to slide in a reciprocating and linear mode is arranged on each clamping jaw fixing plate (61); two clamping jaw fixing plates (61) are arranged on the mounting seat (65), the sliding directions of the two clamping sliding plates (62) are vertical, and the end parts of the two overturning hooks (621) are bent towards the middle.

2. The climbing work platform of claim 1, wherein: the universal host (1) comprises a host frame (11), a fixed clamping jaw pitching seat (12) is hinged to the end portion of the host frame (11), a clamping device (6) is arranged on the fixed clamping jaw pitching seat (12), a hinge shaft of the fixed clamping jaw pitching seat (12) is perpendicular to the length direction of the host frame (11), and a first pitching driving mechanism (13) capable of driving the fixed clamping jaw pitching seat (12) to swing is further arranged on the host frame (11).

3. The climbing work platform of claim 2, wherein: the main frame (11) tip is provided with a pair of first installation ear (111), be provided with a pair of second installation ear (121) on the fixed clamping jaw every single move seat (12), be provided with first every single move driving motor (131) between one of them first installation ear (111) and second installation ear (121), be provided with every single move angle detection encoder (132) between another first installation ear (111) and the second installation ear (121).

4. The climbing work platform of claim 2, wherein: the clamping jaw mounting sliding seat (14) and the working tool mounting sliding seat (15) are slidably mounted on the host frame (11), the sliding directions of the clamping jaw mounting sliding seat (14) and the working tool mounting sliding seat (15) are parallel to the length direction of the host frame (11), and the clamping jaw mounting sliding seat (14) is provided with the clamping device (6).

5. The climbing work platform according to claim 4, wherein: the machine frame (11) is provided with a first reciprocating driving mechanism (17), the first reciprocating driving mechanism (17) comprises a first driving motor (171) and a first belt (172) which are arranged on the machine frame (11), and the clamping jaw mounting sliding seat (14) is connected to the first belt (172); the machine frame (11) is provided with a first reciprocating belt wheel (173), the first belt (172) is wound on the first driving motor (171) and the first reciprocating belt wheel (173), the machine frame (11) is also provided with a clamping jaw sliding position detection encoder (174), and the clamping jaw sliding position detection encoder (174) is connected to the first reciprocating belt wheel (173).

6. The climbing work platform according to claim 4, wherein: a second reciprocating driving mechanism (18) is arranged on the main machine frame (11), the second reciprocating driving mechanism (18) comprises a second driving motor (181) and a second belt (182) which are arranged on the main machine frame (11), and the working tool mounting sliding seat (15) is connected to the second belt (182); the main frame (11) is provided with a second reciprocating belt wheel (183), the second belt (182) is wound on the second driving motor (181) and the second reciprocating belt wheel (183), the main frame (11) is also provided with a working tool sliding position detection encoder (184), and the working tool sliding position detection encoder (184) is connected to the second reciprocating belt wheel (183).

7. The climbing work platform of claim 1, wherein: a turnover driving mechanism (63) is arranged between the turnover claw (621) and the clamping sliding plate (62), and the turnover driving mechanism (63) can drive the turnover claw (621) to turn inwards or outwards.

8. The climbing work platform according to claim 7, wherein: the turnover driving mechanism (63) comprises a telescopic piece arranged on the outer side of the turnover claw (621), the telescopic piece is perpendicular to a hinge shaft of the turnover claw (621), the movable end of the telescopic piece can prop against the outer side of the clamping slide plate (62) when extending out, so that the turnover claw (621) can turn inwards, the turnover driving mechanism (63) further comprises a claw driving piece (631) arranged between the turnover claw (621) and the clamping slide plate (62), and the claw driving piece (631) can enable the turnover claw (621) to turn outwards.

9. The climbing work platform according to claim 8, wherein: the telescopic piece comprises a telescopic pin (632) which is slidably mounted on the outer side of the overturning claw (621), and further comprises an electric push rod (633) which is arranged on the outer side of the overturning claw (621), wherein the electric push rod (633) can drive the telescopic pin (632) to slide in a telescopic manner, and the telescopic pin (632) can prop against the outer side of the clamping sliding plate (62) when stretching out, so that the overturning claw (621) can overturn inwards.

10. The climbing work platform according to claim 9, wherein: the outer side of the clamping sliding plate (62) is provided with an opening guide groove (623) matched with the telescopic pin (632), and the telescopic pin (632) can slide in the opening guide groove (623) when extending out.

11. The climbing work platform of claim 1, wherein: the slide plate driving mechanism (64) comprises a hydraulic rod arranged on the clamping jaw fixing plate (61), the hydraulic rod is parallel to the length direction of the clamping jaw fixing plate (61), a piston rod of the hydraulic rod points to the first end of the clamping slide plate (62), and the piston rod of the hydraulic rod is connected with the clamping slide plate (62) through a tension sensor (641).

12. The climbing work platform of claim 1, wherein: be provided with on clamping jaw fixed plate (61) and act as go-between sensor (612), act as go-between the pull end of sensor (612) and be connected to clamp slide (62), act as go-between sensor (612) can detect the flexible position of clamp slide (62).

13. The climbing work platform of claim 1, wherein: a linkage mechanism (66) is arranged between the two clamping sliding plates (62), and the two clamping sliding plates (62) can synchronously stretch out and draw back through the linkage mechanism (66); the linkage mechanism (66) comprises a pair of mutually meshed linkage gears (661) rotatably mounted on the clamping jaw fixing plate (61), linkage racks (662) parallel to the sliding direction of the clamping slide plates (62) are respectively arranged on the two clamping slide plates (62), and the two linkage racks (662) are respectively meshed with the corresponding linkage gears (661).

14. The climbing work platform of claim 1, wherein: still include V type clamp splice telescoping device (2), V type clamp splice telescoping device (2) include first mounting bracket (21), and first mounting bracket (21) set up on mount pad (65), slidable mounting has V type clamp splice (22) on first mounting bracket (21), V type clamp splice (22) are located in the middle of two upset knuckle (621), and the slip direction of V type clamp splice (22) is 45 with the contained angle between the slip direction of two clamp slide (62), still be provided with on first mounting bracket (21) flexible detection mechanism (23) that can detect V type clamp splice (22) flexible sliding stroke.

15. The climbing work platform according to claim 14, wherein: the V-shaped clamping block (22) is provided with a telescopic nut (222) matched with the first screw rod (24), and the first mounting frame (21) is also provided with a telescopic driving motor (25) capable of driving the first screw rod (24) to rotate; two telescopic nuts (222) are arranged on the V-shaped clamping block (22), the first screw rods (24) are arranged in parallel and are respectively in threaded connection with the corresponding telescopic nuts (222), first belt wheels (241) are respectively arranged at the end parts of each first screw rod (24), and first synchronous belts (242) are wound on the two first belt wheels (241).

16. The climbing work platform according to claim 15, wherein: the telescopic detection mechanism (23) comprises an encoder (231) arranged on the first mounting frame (21), and the encoder (231) is linked with the first screw rod (24).

17. The climbing work platform of claim 1, wherein: clamping device (6) that can follow general host computer (1) reciprocating motion still includes inclination adjustment mechanism (4), inclination adjustment mechanism (4) include fixed plate (41), fixed plate (41) set up on mount pad (65), swing on fixed plate (41) install swing board (42), still include inclination detection mechanism (43), inclination detection mechanism (43) can detect swing board (42) are in the inclination of fixed plate (41) wobbling, and two clamping jaw fixed plate (61) are installed on swing board (42), and upset claw (621) and swing board (42) are located the both sides of the intersection position of two clamp slide (62) respectively, the contained angle between the swing axis of swing board (42) and the slip direction of two clamp slide (62) is 45.

18. The climbing work platform according to claim 17, wherein: a pitching shaft (413) is arranged on the fixed plate (41), and the swinging plate (42) is rotatably arranged on the pitching shaft (413); the inclination angle detection mechanism (43) comprises an encoder mounted on the swinging plate (42), the encoder is coaxially arranged with the pitching shaft (413), and a rotating shaft of the encoder is connected to the pitching shaft (413).

19. The climbing work platform according to claim 17, wherein: the fixed plate (41) is provided with a second pitching driving mechanism (44), and the second pitching driving mechanism (44) can drive the swinging plate (42) to swing relative to the fixed plate (41); the second pitching driving mechanism (44) comprises a push-pull block (441) which is slidably mounted on the fixed plate (41), the sliding direction of the push-pull block (441) is perpendicular to the swinging axis of the swinging plate (42), a pitching sliding pin (442) is arranged on the side edge of the push-pull block (441), a pitching sliding groove (421) which is slidably matched with the pitching sliding pin (442) is arranged on the swinging plate (42), and an included angle between the pitching sliding groove (421) and the sliding direction of the push-pull block (441) is larger than 0 DEG and smaller than 90 deg.

20. The climbing work platform according to claim 19, wherein: the second pitching driving mechanism (44) comprises a second pitching driving motor (444) arranged on the fixed plate (41) and a pitching driving screw rod (445) rotatably arranged on the fixed plate (41), the pitching driving screw rod (445) is parallel to the sliding direction of the push-pull block (441), the second pitching driving motor (444) can drive the pitching driving screw rod (445) to rotate, and the pitching driving screw rod (445) is in threaded driving connection with the push-pull block (441).