CN118083001A

CN118083001A - Wheeled climbing device of transmission tower

Info

Publication number: CN118083001A
Application number: CN202410316709.6A
Authority: CN
Inventors: 赵义鹏; 孟伟涛; 裴佳星; 郭菲; 侯瑞生; 王磊磊
Original assignee: Hebei University of Engineering
Current assignee: Hebei University of Engineering
Priority date: 2024-03-20
Filing date: 2024-03-20
Publication date: 2024-05-28

Abstract

The application discloses a transmission tower wheel type climbing device, which comprises: the device comprises a head steering mechanism, a power mechanism, a tail steering mechanism and a clamping mechanism; the head steering mechanism is positioned at the forefront end of the climbing device, and the rear end of the head steering mechanism is connected with the power mechanism and is used for adjusting the advancing direction of the climbing device in the climbing process; the power mechanism is positioned behind the head steering mechanism, the front end of the power mechanism is connected with the head steering mechanism, and the rear end of the power mechanism is connected with the tail steering mechanism and is used for providing climbing power for the climbing device; the tail steering mechanism is positioned behind the power mechanism, the front end of the tail steering mechanism is connected with the power mechanism, and the rear end of the tail steering mechanism is connected with the clamping mechanism, so that the advancing direction of the climbing device is cooperatively adjusted in the climbing process; the clamping mechanism is located at the rearmost end of the climbing device and connected with the tail steering mechanism and is used for fixing the wheel type climbing device and traction and suspension of the safety rope. The transmission tower wheel type climbing device disclosed by the application can climb along the bent iron tower, and can adjust power according to load conditions, so that the safety rope is suspended on the transmission tower.

Description

Wheeled climbing device of transmission tower

Technical Field

The embodiment of the application relates to the technical field of power transmission, in particular to a wheel type climbing device for a power transmission tower.

Background

In order to ensure the sustainability and reliability of power delivery, as well as to protect the ecological environment and optimize power network planning, circuit workers are often required to service lines and pylons. At present, circuit workers are usually required to climb high-voltage transmission towers for overhauling the lines and the transmission towers, the high-voltage transmission towers are generally trapezoidal or triangular tower-shaped buildings, the height of each high-voltage transmission tower is as high as tens of meters or even two or three hundred meters, safety ropes reserved for a long time are not needed, a first worker is required to climb up first during overhauling operation of each worker, the safety ropes are installed, and after the operation is finished, the last worker is required to loosen the safety ropes, throw down the safety ropes and climb down by oneself. Thus, the safety of the first worker and the last worker can not be ensured, and if muscle spasm, sudden diseases, unexpected foot slip and the like occur in the climbing process of the workers, the workers can possibly fall off from the high altitude, and great danger exists.

For this reason, it is necessary to develop a device capable of independently climbing and suspending the safety rope on the electric iron tower to solve the above-mentioned technical problems.

Disclosure of Invention

In view of this, the embodiment of the application provides a power transmission tower wheel climbing device, which can adjust power according to actual load conditions, has a fast climbing speed and a steering function, can independently climb on a bent power transmission tower, and can fix a safety rope 52 on the tower.

According to an embodiment of the present application, there is provided a pylon wheel climbing device, including: a head steering mechanism 1, a power mechanism 2, a tail steering mechanism 3 and a clamping mechanism 4;

The head steering mechanism 1 is positioned at the forefront end of the climbing device, and the rear end of the head steering mechanism is connected with the power mechanism 2 and is used for adjusting the advancing direction of the climbing device in the climbing process;

the power mechanism 2 is positioned behind the head steering mechanism 1, the front end of the power mechanism is connected with the head steering mechanism 1, and the rear end of the power mechanism is connected with the tail steering mechanism 3 and is used for providing climbing power for the climbing device;

the tail steering mechanism 3 is positioned behind the power mechanism 2, the front end of the tail steering mechanism is connected with the power mechanism 2, and the rear end of the tail steering mechanism is connected with the clamping mechanism 4, so that the advancing direction of the climbing device is cooperatively adjusted in the climbing process;

The clamping mechanism 4 is located at the rearmost end of the climbing device and is connected with the tail steering mechanism 3 for fixing the wheel type climbing device and pulling and hanging the safety rope 52.

In some exemplary embodiments, the head steering mechanism 1 includes: a first steering engine 11, a head steering engine connecting plate 12, a second steering engine 13, a head steering engine turntable 14, a steering mechanism frame 15 and a steering sheave 16, wherein,

The bottom of the first steering engine 11 is connected with the front end of the power mechanism 2, and the output end of the first steering engine is connected with the head steering engine connecting plate 12;

the bottom of the second steering engine 13 is fixed on the head steering engine connecting plate 12, and the output end is connected with the head steering engine turntable 14;

The head steering engine turntable 14 is fixed on the steering mechanism frame 15;

the steering mechanism frame 15 is provided with two steering sheaves 16 for guiding and steering, and the steering sheaves 16 are magnetic sheaves.

In some exemplary embodiments, the bottom of the first steering engine 11 is connected to the front end of the power mechanism 2 in the following manner: the bottom of the first steering engine 11 is fixedly connected with a power unit frame 23 of a first power unit of the power mechanism 2;

when the first steering engine 11 outputs axial rotation, the head steering engine connecting plate 12 is driven to rotate; and when the second steering engine 13 axially rotates, the head steering engine turntable 14 is driven to rotate.

In some exemplary embodiments, the power mechanism 2 includes at least one power unit 20;

The power unit 20 includes: first magnetic sheave 21, second magnetic sheave 22, power unit frame 23, first drive motor 24, second drive motor 25, bevel gear 26, battery 27, universal joint 28, wherein,

The first magnetic grooved pulley 21 and the second magnetic grooved pulley 22 are arranged on the power unit frame 23 and used for climbing along the angle iron 51 of the transmission tower;

The first driving motor 24 and the second driving motor 25 are respectively arranged at two sides of the power unit frame 23, and respectively drive the first magnetic grooved pulley 21 and the second magnetic grooved pulley 22 to move through a pair of meshed bevel gears 26;

The battery 27 is fixed on the power unit frame 23 and is used for supplying power to the first driving motor 24 and the second driving motor 25;

the universal joint 28 is used to connect other power units 20.

In some exemplary embodiments, the magnetic sheave has a ferromagnetic property that can be attracted to the angle iron 51 of the pylon; the magnetic grooved pulley is provided with a small groove for increasing friction force between the magnetic grooved pulley and the angle iron 51 of the transmission tower.

In some exemplary embodiments, the tail steering mechanism 3 includes: a third steering engine 31, a tail steering engine connecting plate 32, a fourth steering engine 33, a tail steering engine turntable 34, wherein,

The bottom of the third steering engine 31 is connected with the rear end of the power mechanism 2, and the output end of the third steering engine is connected with the tail steering engine connecting plate 32;

The bottom of the fourth steering engine 33 is fixed on the tail steering engine connecting plate 32, and the output end is connected with the tail steering engine turntable 34;

The tail steering engine turntable 34 is fixed on the clamping mechanism 4.

In some exemplary embodiments, the bottom of the third steering engine 13 is connected to the rear end of the power unit 2 in the following manner: the bottom of the third steering engine 13 is fixedly connected with a power unit frame 23 of the last power unit of the power mechanism 2;

When the output shaft of the third steering engine 31 rotates axially, the steering engine connecting plate 32 with the tail rotates; when the fourth steering engine 33 outputs axial rotation, the tail steering engine turntable 44 is driven to rotate.

In some exemplary embodiments, the clamping mechanism 4 comprises: the base 41, the support shaft 42, the screw 43, the movable platform 44, the clip 45, the third driving motor 46, the fourth driving motor 47, the gear 48, the pull ring 49, wherein,

The base 41 is designed according to the shape of the angle iron 51 of the power transmission tower, can be attached to the angle iron 51, and does not touch the foot nails 50 of the power transmission tower in the climbing process;

the two support shafts 42 are mounted on the base 41 and are used for supporting the third driving motor 45 and the moving platform 44;

The screw 43 is mounted on the base 41 and located between the two support shafts 42, and is used for rotating under the drive of the third driving motor 26;

the moving platform 44 is mounted on the screw 43, is limited by the supporting shaft 42, and can move up and down under the rotation of the screw 43;

the third driving motor 46 is located above the two supporting shafts and is used for driving the screw 43 to rotate;

The fourth driving motor 47 is mounted on the moving platform 44, and is used for driving the gear 48 to rotate;

the gears 48 comprise two gears which are respectively connected with the connecting shafts of the two clamps 45 and are used for driving the clamps 45 to clamp and open under the driving of the fourth driving motor 45;

the clamp 45 is arranged on the mobile platform and comprises two clamping pieces, and the connecting shaft of each clamping piece is respectively connected with two gears 48 for clamping or loosening angle irons 51 of the transmission tower in the climbing process;

the pull ring 49 is located at the rear of the base 44 for pulling the suspension safety line 52.

In some exemplary embodiments, the clip 45 releases the angle iron 51 of the pylon during climbing: the fourth driving motor 47 drives the two gears 48 to simultaneously rotate inwards, and the two clamping pieces of the rack 45 are simultaneously folded upwards under the rotation of the two gears 48; the third driving motor 46 drives the screw rod 43 to rotate, the moving platform 44 moves upwards under the rotation of the screw rod 43, the two clamping pieces of the clamp 45 move upwards along with the whole moving platform 44 after being folded upwards, and the angle iron 51 of the transmission tower is loosened;

The angle iron 51 for gripping the transmission tower in the climbing process by the clip 45 is as follows: the third driving motor 46 drives the screw rod 43 to rotate, the moving platform 44 moves downwards under the rotation of the screw rod 43, and the two clamping pieces of the clamp 45 move downwards along with the whole moving platform 44 under the condition of being folded upwards; the fourth driving motor 47 drives the two gears 48 to simultaneously rotate outwards, and after the two clamping pieces of the clamp 45 integrally move downwards to a preset position along with the moving platform 44, the two clamping pieces simultaneously retract downwards under the rotation of the two gears 48 to clamp the angle iron 51 of the power transmission tower.

In some exemplary embodiments, as the climbing device climbs up the angle 51 of the pylon, the clips 45 of the clamping mechanism 4 collapse up, releasing the angle 51 of the pylon, preventing contact with the spikes 50 of the pylon during climbing; when the climbing device reaches the target position, the clamp 45 of the clamping mechanism 4 is folded downwards and is tightly held by the angle iron 51 of the power transmission tower, and the safety rope 52 is fixed on the angle iron 51.

According to the embodiment of the application, the power unit of the climbing device for the power transmission tower adopts a magnetic sheave design, so that the climbing speed is high; the power units are connected by universal joints, so that the steering capacity of the device is increased, and the number of the power units can be adjusted according to the load; and meanwhile, the head steering mechanism and the tail steering mechanism are arranged, so that the climbing device can climb along the bent iron tower. The clamping mechanism can be used for quickly and reliably fixing the climbing device, so that the safety rope 52 is indirectly fixed for workers. After the worker's work is completed, the safety line 52 can be removed from the pylon. The climbing device for the transmission line iron tower can replace manual climbing, reduces labor intensity of workers, reduces working risks and improves working efficiency. Particularly in areas with complex terrains and severe environments, the climbing device for the power transmission tower can overcome various severe environments and complete tasks which are difficult to complete manually. The climbing device solves the problems that an existing climbing device is slow in climbing speed, complex in control, incapable of turning, poor in load capacity and the like.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are of some embodiments of the application and that other drawings may be derived from them without undue effort.

Fig. 1 shows a schematic diagram of the composition structure of a pylon wheel climbing device according to an embodiment of the present application;

FIG. 2 shows a schematic view of a climbing device according to an embodiment of the present application in climbing a bent tower;

FIG. 3 shows a schematic view of the head steering mechanism of an embodiment of the present application;

FIG. 4 shows a schematic side view of a power unit according to an embodiment of the present application;

FIG. 5 shows a schematic diagram of the bottom structure of a power unit in accordance with an embodiment of the present application;

FIG. 6 shows a schematic diagram of a tail steering mechanism according to an embodiment of the present application;

FIG. 7 is a schematic view showing an open state of a clamping mechanism according to an embodiment of the present application;

Fig. 8 shows a schematic diagram of a closed state structure of a clamping mechanism according to an embodiment of the application.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The following describes the technical scheme of the embodiment of the present application in detail with reference to the accompanying drawings.

Fig. 1 shows a schematic diagram of a component structure of a power transmission tower wheel type climbing device according to an embodiment of the application, as shown in fig. 1, a foot nail 50 for a worker to climb is arranged on one side of a power transmission tower, and the foot nail 50 is a part reserved for overhauling workers on the power transmission tower and stepped on when climbing the tower. The transmission tower wheel climbing device according to the embodiment of the application climbs upwards from one side of the transmission tower with the foot nails 50.

The embodiment of the application provides a power transmission tower wheel type climbing device, which comprises: a head steering mechanism 1, a power mechanism 2, a tail steering mechanism 3 and a clamping mechanism 4; wherein,

The head steering mechanism 1 is located at the forefront end of the climbing device, and the rear end of the head steering mechanism is connected with the power mechanism 2 and is used for adjusting the advancing direction of the climbing device in the climbing process.

Since the pylon of the pylon is not always straight, it may have some angular variation in some locations, and therefore it is necessary to provide steering means to counter the bending of the angle bar 51. Fig. 2 is a schematic view of a climbing device according to an embodiment of the present application in a climbing state along a bent tower, and as shown in fig. 2, a head steering mechanism 1 and a tail steering mechanism 3 according to an embodiment of the present application can make the climbing device climb along the bent tower.

Fig. 3 is a schematic structural view of a head steering mechanism according to an embodiment of the present application, as shown in fig. 3, in the embodiment of the present application, the head steering mechanism 1 includes: the steering mechanism comprises a first steering engine 11, a head steering engine connecting plate 12, a second steering engine 13, a head steering engine turntable 14, a steering mechanism frame 15 and a steering sheave 16, wherein the bottom of the first steering engine 11 is connected with the front end of the power mechanism 2, and the output end of the first steering engine is connected with the head steering engine connecting plate 12; the bottom of the second steering engine 13 is fixed on the head steering engine connecting plate 12, and the output end is connected with the head steering engine turntable 14; the head steering engine turntable 14 is fixed on the steering mechanism frame 15; the steering mechanism frame 15 is provided with two steering sheaves 16 for guiding and steering, and the steering sheaves 16 are magnetic sheaves. The connection mode between the bottom of the first steering engine 11 and the front end of the power mechanism 2 is as follows: the bottom of the first steering engine 11 is fixedly connected with a power unit frame 23 of a first power unit of the power mechanism 2; when the first steering engine 11 outputs axial rotation, the head steering engine connecting plate 12 is driven to rotate; and when the second steering engine 13 axially rotates, the head steering engine turntable 14 is driven to rotate. When the head steering mechanism 1 climbs and walks on the bent angle iron 51, it completes steering by means of the rotation of the first steering engine 11 and the second steering engine 13.

The power mechanism 2 is positioned behind the head steering mechanism 1, the front end of the power mechanism is connected with the head steering mechanism 1, and the rear end of the power mechanism is connected with the tail steering mechanism 3 and is used for providing climbing power for the climbing device.

In the embodiment of the present application, the power mechanism 2 includes at least one power unit 20; fig. 4 is a schematic side view of a power unit according to an embodiment of the present application, and fig. 5 is a schematic bottom view of a power unit according to an embodiment of the present application, as shown in fig. 4 and 5, each power unit 20 according to an embodiment of the present application includes: the power unit comprises a first magnetic sheave 21, a second magnetic sheave 22, a power unit frame 23, a first driving motor 24, a second driving motor 25, a bevel gear 26, a battery 27 and a universal joint 28, wherein the first magnetic sheave 21 and the second magnetic sheave 22 are arranged on the power unit frame 23 and used for climbing along angle irons 51 of a power transmission tower; the first driving motor 24 and the second driving motor 25 are respectively installed at two sides of the power unit frame 23 to ensure weight balance at two sides and not to topple over. The first driving motor 24 and the second driving motor 25 respectively drive the first magnetic grooved pulley 21 and the second magnetic grooved pulley 22 to move through a pair of meshed bevel gears 26; the battery 27 is fixed on the power unit frame 23 and is used for supplying power to the first driving motor 24 and the second driving motor 25; the universal joint 28 is used to connect other power units 20. The magnetic grooved wheel provided by the embodiment of the application has strong magnetism and can be adsorbed on the angle iron 51 of the transmission tower; the magnetic grooved pulley is provided with a small groove for increasing friction force between the magnetic grooved pulley and the angle iron 51 of the transmission tower. The power unit 20 in the embodiment of the application adopts a magnetic sheave, so that the climbing speed is higher.

In the embodiment of the application, the power mechanism 2 comprises a plurality of power units 20, the number of the power units 20 is determined by the load of the climbing device, and the larger the load is, the more the number of the power units 20 is, so as to ensure that enough power is provided for the power transmission tower wheel type climbing device. When the load is small, the number of the power units 20 can be properly reduced, and under the condition that the power transmission tower wheel type climbing device can complete the task of climbing and hanging the safety rope 52, the energy is saved and the size of the climbing device is reduced. The number of power units in fig. 1 and 2 is merely illustrative, and the number of power units in the pylon wheel climbing device of the present application is determined by the load and is not limited to the ranges shown in fig. 1 and 2.

The tail steering mechanism 3 is positioned behind the power mechanism 2, the front end of the tail steering mechanism is connected with the power mechanism 2, the rear end of the tail steering mechanism is connected with the clamping mechanism 4, and the advancing direction of the climbing device is cooperatively adjusted in the climbing process.

Fig. 6 is a schematic structural diagram of a tail steering mechanism according to an embodiment of the present application, and in the embodiment of the present application shown in fig. 6, the tail steering mechanism 3 includes: the steering system comprises a third steering engine 31, a tail steering engine connecting plate 32, a fourth steering engine 33 and a tail steering engine turntable 34, wherein the bottom of the third steering engine 31 is connected with the rear end of the power mechanism 2, and the output end of the third steering engine is connected with the tail steering engine connecting plate 32; the bottom of the fourth steering engine 33 is fixed on the tail steering engine connecting plate 32, and the output end is connected with the tail steering engine turntable 34; the tail steering engine turntable 34 is fixed on the clamping mechanism 4. Specifically, the connection mode between the bottom of the third steering engine 13 and the rear end of the power unit 2 is: the bottom of the third steering engine 13 is fixedly connected with a power unit frame 23 of the last power unit of the power mechanism 2; when the output shaft of the third steering engine 31 rotates axially, the steering engine connecting plate 32 with the tail rotates; when the fourth steering engine 33 outputs axial rotation, the tail steering engine turntable 44 is driven to rotate.

The clamping mechanism 4 is located at the rearmost end of the climbing device and is connected with the tail steering mechanism 3 for fixing the climbing device and pulling and hanging the safety rope 52.

Fig. 7 is a schematic diagram of an open state structure of a clamping mechanism according to an embodiment of the present application, and fig. 8 is a schematic diagram of a closed state structure of a clamping mechanism according to an embodiment of the present application. As shown in fig. 7 and 8, in the embodiment of the present application, the clamping mechanism 4 includes: the climbing device comprises a base 41, a supporting shaft 42, a screw rod 43, a movable platform 44, a clamp 45, a third driving motor 46, a fourth driving motor 47, a gear 48 and a pull ring 49, wherein the base 41 is designed according to the shape of an angle iron 51 of a power transmission tower, can be attached to the angle iron 51, and does not touch a foot nail 50 of the power transmission tower in the climbing process; the two support shafts 42 are mounted on the base 41 and are used for supporting the third driving motor 45 and the moving platform 44; the screw 43 is mounted on the base 41 and located between the two support shafts 42, and is used for rotating under the drive of the third driving motor 26; the moving platform 44 is mounted on the screw 43, is limited by the supporting shaft 42, and can move up and down under the rotation of the screw 43; in the embodiment of the present application, since the two ends of the moving platform 44 are penetrated by the two supporting shafts 42, the moving platform 44 can only move up and down. The third driving motor 46 is located above the two supporting shafts and is used for driving the screw 43 to rotate; the fourth driving motor 47 is mounted on the moving platform 44, and is used for driving the gear 48 to rotate; the gears 48 comprise two gears which are respectively connected with the connecting shafts of the two clamps 45 and are used for driving the clamps 45 to clamp and open under the driving of the fourth driving motor 45; the clamp 45 is arranged on the mobile platform and comprises two wide and thick clamping pieces, and the connecting shaft of each clamping piece is respectively connected with two gears 48 for clamping or loosening angle irons 51 of the power transmission tower in the climbing process; the clamp 45 in the embodiment of the application is made of reliable materials, and the clamping piece can be firmly and forcefully clamped with the angle iron 51 of the transmission tower. The pull ring 49 is located at the rear of the base 44 for pulling the suspension safety line 52.

In an exemplary embodiment, the clip 45 releases the angle iron 51 of the pylon during climbing: the fourth driving motor 47 drives the two gears 48 to simultaneously rotate inwards, and the two clamping pieces of the rack 45 are simultaneously folded upwards under the rotation of the two gears 48; in the embodiment of the application, the rotation angular speeds of the two gears 48 are the same, but the directions are opposite, so that the two clamping pieces of the clamp 45 can be ensured to simultaneously do the same upward folding action. The third driving motor 46 drives the screw 43 to rotate, the moving platform 44 moves upwards under the rotation of the screw 43, and after the two clamping pieces of the clamp 45 are folded upwards, the two clamping pieces move upwards along with the moving platform 44 integrally, so that the angle iron 51 of the transmission tower is loosened.

The angle iron 51 for gripping the transmission tower in the climbing process by the clip 45 is as follows: the third driving motor 46 drives the screw rod 43 to rotate, the moving platform 44 moves downwards under the rotation of the screw rod 43, and the two clamping pieces of the clamp 45 move downwards along with the whole moving platform 44 under the condition of being folded upwards; the fourth driving motor 47 drives the two gears 48 to simultaneously rotate outwards, and after the two clamping pieces of the clamp 45 integrally move downwards to a preset position along with the moving platform 44, the two clamping pieces simultaneously retract downwards under the rotation of the two gears 48 to clamp the angle iron 51 of the power transmission tower. In the embodiment of the application, the rotation angles of the two gears 48 are the same in speed but opposite in direction, so that the two clamping pieces of the clamp 45 can simultaneously do the same downward folding action.

In the embodiment of the application, the supporting shaft 42 and the screw 43 are fixed on the base, and the base can be well attached to the angle iron 51 of the iron tower. When the climbing device climbs upwards along the angle iron 51 of the power transmission tower, the clamp 45 of the clamping mechanism 4 is folded upwards, the angle iron 51 of the power transmission tower is loosened, and the contact with the foot nails 50 of the power transmission tower in the climbing process is prevented; when the climbing device reaches the target position, the clamp 45 of the clamping mechanism 4 is folded downwards and clasps the angle iron 51 of the power transmission tower, and the safety rope 52 is suspended on the pull ring 49 of the clamping mechanism 4, so that when the clamping mechanism 4 clamps the angle iron 51 of the power transmission tower, the safety rope 52 is fixed on the angle iron 51.

Even though the worker falls down due to the loss of feet during the operation using the safety rope 52, the impact force generated will pull the clamping mechanism 4 downward, but the climbing device will not slide too far because the spikes 50 block the closed clips 45, the safety rope 52 is always safely and effectively fixed to the pull ring 49, and therefore, the worker will not fall under the action of the safety rope 52.

After the worker finishes the work, the clamping mechanism 4 releases the angle iron 51 of the power transmission tower, the climbing device climbs downwards, the tail steering mechanism 3 at the front end in the advancing direction at the moment, and the head steering mechanism 1 at the rear end in the advancing direction. Thereby removing safety line 52 from the pylon.

The power unit of the power transmission tower wheel type climbing device adopts a magnetic sheave design, so that the climbing speed is high; the power units are connected by universal joints, so that the steering capacity of the device is increased, and the number of the power units can be adjusted according to the load; and meanwhile, the head steering mechanism and the tail steering mechanism are arranged, so that the climbing device can climb along the bent iron tower. The clamping mechanism can be used for quickly and reliably fixing the climbing device, so that the safety rope 52 is indirectly fixed for workers. After the worker's work is completed, the safety line 52 can be removed from the pylon. The climbing device for the transmission line iron tower can replace manual climbing, reduces labor intensity of workers, reduces working risks and improves working efficiency. Particularly in areas with complex terrains and severe environments, the climbing device for the power transmission tower can overcome various severe environments and complete tasks which are difficult to complete manually. The climbing device has autonomous climbing and intelligent sensing capabilities, can climb to the top end of the iron tower before workers start working, and is fixed with the safety rope 52 for subsequent workers to climb. The climbing device solves the problems that an existing climbing device is slow in climbing speed, complex in control, incapable of turning, poor in load capacity and the like.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present invention, and the changes and substitutions are intended to be covered by the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A pylon wheel climbing device, the device comprising: a head steering mechanism (1), a power mechanism (2), a tail steering mechanism (3) and a clamping mechanism (4);

the head steering mechanism (1) is positioned at the forefront end of the climbing device, and the rear end of the head steering mechanism is connected with the power mechanism (2) and is used for adjusting the advancing direction of the climbing device in the climbing process;

the power mechanism (2) is positioned behind the head steering mechanism (1), the front end of the power mechanism is connected with the head steering mechanism (1), and the rear end of the power mechanism is connected with the tail steering mechanism (3) and is used for providing climbing power for the climbing device;

The tail steering mechanism (3) is positioned behind the power mechanism (2), the front end of the tail steering mechanism is connected with the power mechanism (2), and the rear end of the tail steering mechanism is connected with the clamping mechanism (4) to cooperatively adjust the advancing direction of the climbing device in the climbing process;

The clamping mechanism (4) is positioned at the rearmost end of the climbing device and is connected with the tail steering mechanism (3) and used for fixing the wheel type climbing device and traction suspension safety ropes (52).

2. Pylon wheel climbing device according to claim 1, characterized in that the head steering mechanism (1) comprises: the steering mechanism comprises a first steering engine (11), a head steering engine connecting plate (12), a second steering engine (13), a head steering engine turntable (14), a steering mechanism frame (15) and a steering sheave (16), wherein,

The bottom of the first steering engine (11) is connected with the front end of the power mechanism (2), and the output end of the first steering engine is connected with the head steering engine connecting plate (12);

The bottom of the second steering engine (13) is fixed on the head steering engine connecting plate (12), and the output end is connected with the head steering engine turntable (14);

The head steering engine turntable (14) is fixed on the steering mechanism frame (15);

The steering mechanism frame (15) is provided with two steering sheaves (16) for guiding and steering, and the steering sheaves (16) are magnetic sheaves.

3. The pylon wheel climbing device of claim 2,

The bottom of the first steering engine (11) is connected with the front end of the power mechanism (2) in the following manner: the bottom of the first steering engine (11) is fixedly connected with a power unit frame (23) of a first power unit of the power mechanism (2);

When the output shaft of the first steering engine (11) rotates axially, the head steering engine connecting plate (12) is driven to rotate; and when the output shaft of the second steering engine (13) rotates axially, the head steering engine turntable (14) is driven to rotate.

4. Pylon wheel climbing device according to claim 1, characterized in that the power mechanism (2) comprises at least one power unit (20);

the power unit (20) includes: a first magnetic sheave (21), a second magnetic sheave (22), a power unit frame (23), a first driving motor (24), a second driving motor (25), a bevel gear (26), a battery (27), a universal joint (28), wherein,

The first magnetic grooved pulley (21) and the second magnetic grooved pulley (22) are arranged on the power unit frame (23) and used for climbing along an angle iron (51) of the transmission tower;

The first driving motor (24) and the second driving motor (25) are respectively arranged at two sides of the power unit frame (23), and respectively drive the first magnetic grooved wheel (21) and the second magnetic grooved wheel (22) to move through a pair of meshed bevel gears (26);

The battery (27) is fixed on the power unit frame (23) and is used for supplying power to the first driving motor (24) and the second driving motor (25);

the universal joint (28) is used for connecting other power units (20).

5. The pylon wheel climbing device according to claim 2 or 4, wherein the magnetic sheave is ferromagnetic and is capable of being attracted to an angle iron (51) of the pylon; the magnetic grooved pulley is provided with a small groove for increasing friction force between the magnetic grooved pulley and angle iron (51) of the transmission tower.

6. Pylon wheel climbing device according to claim 1, characterized in that the tail steering mechanism (3) comprises: a third steering engine (31), a tail steering engine connecting plate (32), a fourth steering engine (33), a tail steering engine rotating disc (34), wherein,

The bottom of the third steering engine (31) is connected with the rear end of the power mechanism 2, and the output end of the third steering engine is connected with a tail steering engine connecting plate (32);

The bottom of the fourth steering engine (33) is fixed on the tail steering engine connecting plate (32), and the output end is connected with the tail steering engine turntable (34);

The tail steering engine turntable (34) is fixed on the clamping mechanism (4).

7. The pylon wheel climbing device of claim 6 wherein,

The bottom of the third steering engine (13) is connected with the rear end of the power unit (2) in the following way: the bottom of the third steering engine (13) is fixedly connected with a power unit frame (23) of the last power unit of the power mechanism (2);

when the output shaft of the third steering engine (31) rotates axially, the steering engine connecting plate (32) with the tail rotates; and when the output shaft of the fourth steering engine (33) rotates axially, the tail steering engine turntable (44) is driven to rotate.

8. Pylon wheel climbing device according to claim 1, characterized in that the clamping mechanism (4) comprises: the device comprises a base (41), a supporting shaft (42), a screw rod (43), a movable platform (44), a clamp (45), a third driving motor (46), a fourth driving motor (47), a gear (48) and a pull ring (49), wherein,

The base (41) is designed according to the shape of the angle iron (51) of the power transmission tower, can be attached to the angle iron (51), and does not touch the foot nails (50) of the power transmission tower in the climbing process;

The support shafts (42) comprise two support shafts, are arranged on the base (41) and are used for supporting the third driving motor (45) and the moving platform (44);

The screw rod (43) is arranged on the base (41) and positioned between the two support shafts (42) and is used for rotating under the drive of the third driving motor (26);

The movable platform (44) is arranged on the screw rod (43) and limited by the supporting shaft (42) and can move up and down under the rotation of the screw rod (43);

The third driving motor (46) is positioned above the two supporting shafts and is used for driving the screw rod (43) to rotate;

the fourth driving motor (47) is arranged on the moving platform (44) and is used for driving the gear (48) to rotate;

The gears (48) comprise two gears which are respectively connected with the connecting shafts of the two clamps (45) and are used for driving the clamps (45) to clamp and open under the driving of the fourth driving motor (45);

The clamp (45) is arranged on the mobile platform and comprises two clamping pieces, and the connecting shaft of each clamping piece is respectively connected with two gears (48) for clamping or loosening angle irons (51) of the power transmission tower in the climbing process;

The pull ring (49) is positioned at the rear part of the base (44) and is used for pulling and hanging a safety rope (52) rope.

9. The pylon wheel climbing device of claim 8,

The clamp (45) releases angle irons (51) of the transmission tower in the climbing process to be: the fourth driving motor (47) drives the two gears (48) to simultaneously rotate inwards, and the two clamping pieces of the rack (45) are simultaneously folded upwards under the rotation of the two gears (48); the third driving motor (46) drives the screw rod (43) to rotate, the moving platform (44) moves upwards under the rotation of the screw rod (43), and after the two clamping pieces of the clamp (45) are folded upwards, the two clamping pieces move upwards along with the moving platform (44) integrally, so that angle irons (51) of the transmission towers are loosened;

The clamp (45) is used for grasping angle irons (51) of a power transmission tower in the climbing process, and the angle irons are as follows: the third driving motor (46) drives the screw rod (43) to rotate, the moving platform (44) moves downwards under the rotation of the screw rod (43), and the two clamping pieces of the clamp (45) move downwards along with the moving platform (44) integrally under the condition of being folded upwards; the fourth driving motor (47) drives the two gears (48) to simultaneously and outwards rotate, and after the two clamping pieces of the clamp (45) integrally move downwards to a preset position along with the moving platform (44), the two clamping pieces simultaneously retract downwards under the rotation of the two gears (48) to clamp angle irons (51) of the power transmission iron tower.

10. The pylon wheel climbing device according to claim 9, wherein the clips (45) of the clamping mechanism (4) are folded up when the climbing device is climbing up along the angle iron (51) of the pylon, releasing the angle iron (51) of the pylon, preventing touching the spikes (50) of the pylon during climbing; when the climbing device reaches the target position, the clamp (45) of the clamping mechanism (4) is folded downwards and is tightly held by the angle iron (51) of the power transmission tower, and the safety rope (52) is fixed on the angle iron (51).