CN206265183U - A kind of gait clamped-in style climbing robot - Google Patents

Abstract

The utility model is related to robotics, more particularly to a kind of gait clamped-in style climbing robot.Gait clamped-in style climbing robot of the present utility model includes at least two-layer clamping frames, each layer clamping frames can level be clamped in outside the outer wall of tower；Gait lifting electric cylinder group is connected between adjacent two-layer clamping frames, gait lifting electric cylinder group is used for the outer wall vertical shift that push-and-pull drives each layer clamping frames along tower.It is the Stability Analysis of Structures of the gait clamped-in style climbing robot, simple and reliable, easy to disassemble, can quickly be climbed on the outer wall of the different Wind turbines tower of upper and lower tower diameter, and reliable grip of the realization to tower can be changed according to tower diameter in climbing, overall gait when can realize climbing again is climbed steadily, so as to greatly improve maintenance of fan efficiency and security, manually-operated risk is reduced, and then for wind power plant brings huge economic benefit.

Description

A kind of gait clamped-in style climbing robot

Technical field

The utility model is related to robotics, more particularly to a kind of gait clamped-in style climbing robot.

Background technology

Climbing robot, is to solve the increasing work high above the ground demand of current some industries, can replace artificial Climbed and a kind of robot of fixed platform function can be provided for follow-up operation.

Climbing robot has very big difference with the mechanism for typically moving on the ground, and climbing robot first has to overcome The effect of gravity, the difference of the size and shape according to its face of creeping, different climbing robot takes different fitness machines Structure and motor pattern.Current creeping for vertical walls, typically using absorption type or stickum offer grasp, and for Creeping for cylinder, then provide grasp by the surface of mast.General climbing robot is main by hoisting mechanism and clamping Mechanism constitutes, and the chucking power of clamping device determines the bearing capacity of climbing robot.

Wind turbines tower height is general between 50 meters to 100 meters, and mostly taper, up-thin-low-thick.It is reported that, I In the line service of the current blower fan of state, testing equipment, small-sized spare and accessory parts are general to be carried by workman, from the climbing of tower inside to Tower top；And possess the testing equipment or accessory of constant weight, then needing to dispose pulley in advance on tower top, people is on ground Rope is pulled by pulley on face, required equipment is hung to tower, if tower top needs without lifting pulley is installed in advance Start crane or hoisting mechanism is installed temporarily, not only waste time and energy, risk is larger, and efficiency is too low.

Utility model content

(1) technical problem to be solved

The technical problems to be solved in the utility model there is provided a kind of gait clamped-in style climbing robot, can be upper and lower Quickly climbed on the outer wall of the different Wind turbines tower of tower diameter, and can be according to the change of tower diameter in climbing Change and realize that the overall gait to the reliable grip of tower, and when can realizing climbing is climbed steadily, it has Stability Analysis of Structures, simply may be used By, it is easy to disassemble and the characteristics of constant weight can be carried.

(2) technical scheme

In order to solve the above-mentioned technical problem, the utility model provides a kind of gait clamped-in style climbing robot, including extremely Few two-layer clamping frames, each layer clamping frames can level be clamped in outside the outer wall of tower；Pressed from both sides described in adjacent two-layer Gait lifting electric cylinder group is connected between tight frame, the gait lifting electric cylinder group is used for push-and-pull and drives described in each layer Clamping frames along the tower outer wall vertical shift.

Further, the clamping frames include clamping arm component and pulling assembly, arm component are clamped described in two groups relative Be arranged at outside the outer wall of the tower；The two ends that arm component is clamped described in every group respectively tense connection by one group of pulling assembly, The pulling assembly is used to make clamping arm component described in two groups to simultaneously clamp in outside the outer wall of the tower.

Further, the arm component that clamps includes the first clamp arm being sequentially connected with, clamps linking arm and the second clamping The end of arm, first clamp arm and the second clamp arm is respectively connected with pulling assembly described in a group, in tension group described in two groups Under the tightening force of part drives, the inwall of first clamp arm and the second clamp arm can simultaneously be pressed in the outer wall of the tower Outward.

Further, the two ends for clamping linking arm are respectively by sectionalizing joint component and first clamp arm and the Two clamp arms are hinged；The end of first clamp arm and the second clamp arm is respectively equipped with tail end connector, the tail end connection Part is used to be connected with the pulling assembly；It is provided between each described tail end connector and the first clamp arm or the second clamp arm and is added Strong muscle.

Further, it is respectively equipped with slipmat on the inwall of first clamp arm and the second clamp arm.

Further, the pulling assembly includes decelerator, tenses screw mandrel and transmission nut group, the reducer output shaft Two ends be connected to a tension screw mandrel, two screw mandrels that tense connect one group of institute by transmission nut group respectively Clamping arm component is stated, is driven by every group of the transmission nut group and the relative motion tensed between screw mandrel and clamped described in two groups Arm component is moved simultaneously.

Further, the output shaft of the decelerator is respectively fixed at two ends with a support beam, and the every support beam is equal It is be arranged in parallel with the tension screw mandrel, the fixed installation tension screw mandrel end is respectively provided with two support beams Mounting seat.

Further, the first protective cover and the second protective cover are set with outside the tension screw mandrel, first protective cover sets Be placed between the mounting seat and transmission nut group, second protective cover be arranged at the transmission nut group and decelerator it Between.

Further, the transmission nut group is provided with adjustable force measuring machine and dynamometry travel switch, the dynamometry stroke The driving force size for measuring the transmission nut group is switched, and the transmission nut is controlled by the adjustable force measuring machine Distance of relative movement between group and tension screw mandrel.

Further, the gait lifting electric cylinder group includes servo electric jar, connecting plate and fastening assembly, the servo Connecting plate is connected with by fastening assembly respectively on electric cylinders axle and the electric cylinders seat of electric cylinder, the connection on the electric cylinders axle is arranged at Plate and the connecting plate being arranged on the electric cylinders seat correspond to be fixed on clamping frames described in adjacent two-layer respectively, the servo Electric cylinder drives each layer clamping frames along the outer of the tower by the piston movement push-and-pull between electric cylinders axle and electric cylinders seat Wall vertical shift.

(3) beneficial effect

Above-mentioned technical proposal of the present utility model has the advantages that：Gait clamped-in style climbing machine of the present utility model Device people includes at least two-layer clamping frames, each layer clamping frames can level be clamped in outside the outer wall of tower；Adjacent two-layer Gait lifting electric cylinder group is connected between clamping frames, gait lifting electric cylinder group is used for push-and-pull and drives each layer clamp frame Frame along tower outer wall vertical shift.The Stability Analysis of Structures of the gait clamped-in style climbing robot, simple and reliable, easy to disassemble, energy It is enough quickly to be climbed on the outer wall of the different Wind turbines tower of upper and lower tower diameter, and can be according to tower in climbing The change of diameter realizes that the overall gait to the reliable grip of tower, and when can realizing climbing is climbed steadily, such that it is able at any time For the routine testing and maintenance work of blower fan provide a fixed platform for automation, maintenance of fan can greatly be improved Efficiency and security, reduce manually-operated risk, so that for wind power plant brings huge economic benefit.

Brief description of the drawings

Fig. 1 is the structural representation of the gait clamped-in style climbing robot of the utility model embodiment；

Fig. 2 lifts the structural representation of electric cylinder group for the gait of the utility model embodiment；

Fig. 3 is the first clamped condition schematic diagram of the clamping frames of the utility model embodiment；

Fig. 4 is second clamped condition schematic diagram of the clamping frames of the utility model embodiment；

Fig. 5 is the structural representation of the clamping arm component of the utility model embodiment；

Fig. 6 is the explosive view of the clamping arm component of the utility model embodiment；

Fig. 7 is the structural representation of the pulling assembly of the utility model embodiment.

Wherein, 1, tower；2nd, 3, clamping frames；4th, gait lifting electric cylinder group；5th, arm component is clamped；6th, pulling assembly； 7th, 11, connecting plate；8th, 10, fastening assembly；9th, servo electric jar；12nd, the first clamp arm；13rd, linking arm is clamped；14th, the second folder Tight arm；15 tail end connectors；16th, reinforcement；17th, slipmat；18th, 19, sectionalizing joint component；20th, connecting rod；21st, support beam； 22nd, the first protective cover；23rd, transmission nut group；24th, adjustable force measuring machine；25th, dynamometry travel switch；26th, the second protective cover；27、 Tense screw mandrel；28th, decelerator.

Specific embodiment

Implementation method of the present utility model is described in further detail with reference to the accompanying drawings and examples.Following examples For illustrating the utility model, but can not be used for limiting scope of the present utility model.

In description of the present utility model, unless otherwise indicated, " multiple " is meant that two or more.Term " on ", D score, "left", "right", " interior ", " outward ", " front end ", " rear end ", " head ", the orientation of the instruction such as " afterbody " or position close System is, based on orientation shown in the drawings or position relationship, to be for only for ease of description the utility model and simplify description, rather than Indicate or imply signified device or element and must have specific orientation, with specific azimuth configuration and operation, therefore can not It is interpreted as to limitation of the present utility model.Additionally, term " first ", " second " etc. be only used for describe purpose, and it is not intended that Indicate or imply relative importance.

As shown in figure 1, the gait clamped-in style climbing robot that the present embodiment is provided includes at least two-layer clamping frames 2,3, The structure of each layer clamping frames 2,3 is identical, each layer clamping frames 2,3 can level be clamped in outside the outer wall of tower 1, to realize The clamping of 2,3 pairs of towers 1 of clamping frames and loosen process；Gait is connected between adjacent two-layer clamping frames 2,3 to carry Electric cylinder group 4 is risen, gait lifting electric cylinder group 4 is used for push-and-pull and drives each layer clamping frames 2,3 to be moved vertically along the outer wall of tower 1 It is dynamic.It is preferred that the multigroup gait lifting electric cylinder group 4 of parallel setting is distinguished between adjacent two-layer clamping frames 2,3, so that real Vertical attachment structure between existing adjacent two-layer clamping frames 2,3, by 2,3 pairs of conical surfaces of tower 1 of each layer clamping frames The self adaptation of angle is clamped, and clamping frames 2,3 can be clamped and loosen to the outer wall of tower 1, so that and gait The push-and-pull campaign of lifting electric cylinder group 4 is engaged, it is ensured that the climbing robot realizes that vertical push-and-pull climbing and transverse horizontal are clamped Alternately, fast and reliable climbing up and down is carried out on the surface of tower 1 so as to realize the climbing robot.

It is the Stability Analysis of Structures of the gait clamped-in style climbing robot, simple and reliable, easy to disassemble, can be straight in upper and lower tower 1 Quickly climbed on the outer wall of the different Wind turbines tower 1 in footpath, and can be according to the change reality of the diameter of tower 1 in climbing Now to the reliable grip of tower 1, but can realize climbing when overall gait climb steadily, such that it is able at any time be blower fan it is daily Detection and maintenance work provide a fixed platform for automation, can greatly improve maintenance of fan efficiency and safety Property, manually-operated risk is reduced, so that for wind power plant brings huge economic benefit.

As shown in Fig. 2 the gait lifting electric cylinder group 4 of the present embodiment includes servo electric jar 9, connecting plate 7,11 and fastening Component 8,10, the electric cylinders axle sleeve of servo electric jar 9 can make piston movement in electric cylinders seat along electric cylinders seat；Servo-electric Connecting plate 7,11 is connected with by fastening assembly 8,10 respectively on electric cylinders axle and the electric cylinders seat of cylinder 9, the company on electric cylinders axle is arranged at Fishplate bar 7 and the connecting plate 11 being arranged on electric cylinders seat correspond to be fixed on adjacent two-layer clamping frames 2,3 respectively, servo-electric Cylinder 9 drives each layer clamping frames 2,3 to be moved vertically along the outer wall of tower 1 by the piston movement push-and-pull between electric cylinders axle and electric cylinders seat It is dynamic, and be matched for clamping tightly the clamping of 2,3 pairs of towers 1 of framework or loosen and realize that the climbing robot is upper and lower vertically along the outer wall of tower 1 Gait lifting process during climbing.

Specifically, the electric cylinders seat of the servo electric jar 9 of the present embodiment is fixed by a set of fastening assembly 10 and connecting plate 11 On lower floor's clamping frames 3, the external part of electric cylinders axle by another set of fastening assembly 8 and connecting plate 7 it is corresponding be fixed on it is adjacent Upper strata clamping frames 2 on, when the climbing robot is climbed upwards, lower floor's clamping frames 3 are fixedly clamped in the outer wall of tower 1 On, upper strata clamping frames 2 unclamp from the outer wall of tower 1, are protruded upward outside electric cylinders seat using electric cylinders axle, so as to promote upper strata clamp frame The upward vertical shift of frame 2, then makes upper strata clamping frames 2 be fixedly clamped on the outer wall of tower 1, and lower floor's clamping frames 3 are from tower 1 Outer wall unclamps, and using the contractile motion between electric cylinders axle and electric cylinders seat, electric cylinders seat is pulled up lower floor's clamping frames 3 perpendicular upwards Translation is moved, you can realize a gait lifting process of the climbing robot；When the climbing robot is climbed downwards, will be above-mentioned Process inverted order is carried out.Even if it should be noted that mutually being run on the electric cylinders seat of servo electric jar 9 and the installation direction of electric cylinders axle Set, can also realize a gait lifting process of the climbing robot.

Further, it is reliable with clamping frames 2,3 solid respectively in order to ensure electric cylinders axle and the electric cylinders seat of servo electric jar 9 Fixed, the connecting plate 7,11 of preferably the present embodiment is mounted by means of bolts on clamping frames 2,3；In order to ensure servo electric jar Installation activity flexibility and changeability of the 9 electric cylinders axle with electric cylinders seat on corresponding clamping frames 2,3, preferably the fastening group of the present embodiment Part 8,10 is living hinge connections, and angle during the vertical climbing brought with the diameter change for adapting to the different height of tower 1 becomes Change.

As shown in Fig. 3~Fig. 7, the clamping frames 2,3 of the present embodiment include clamping arm component 5 and pulling assembly 6, two groups of folders Tightly arm component 5 is relative is arranged at outside the outer wall of tower 1；Respectively drawn by one group of pulling assembly 6 at every group of two ends of clamping arm component 5 It is close to and connects, so that clamping frames 2,3 forms variset, preferably every group clamping arm component 5 and each group pulling assembly 6 Between by the mating connection of bolt and bearing pin；Pulling assembly 6 is used to make two groups of clamping arm components 5 simultaneously clamp in tower 1 Outside outer wall, clamping arm component 5 can move along the length direction of pulling assembly 6, to change the inner ring size of clamping frames 2,3, from And realizing 2,3 pairs of towers 1 of different cross section size of clamping frames can carry out reliable grip.

It is simultaneously two groups of clamp arms using the two ends of pulling assembly 6 when clamping frames 2,3 are clamped on the outer wall of tower 1 Component 5 provides horizontal tightening force, and now, the inwall for clamping arm component 5 is pressed on the outer wall of tower 1；When clamping frames 2 from tower Cylinder 1 outer wall unclamp when, pulling assembly 6 is strutted to two ends so that clamping arm component 5 from the outer wall of tower 1 depart from, now, gait Lifting electric cylinder group 4 and the adjacent clamping frames 3 in clamped condition are jointly for the clamping frames 2 for being in releasing orientation are carried For the support force of vertical direction, to prevent the clamping frames 2 in releasing orientation from dropping.

Wherein, Fig. 3 and Fig. 4 is two kinds of different conditions schematic diagrames when clamping frames 2,3 are in clamped condition.Fig. 3 is A kind of clamped condition figure, the diameter of section of tower 1 is D1=4600mm, because the diameter of section of the motor tower 1 in Fig. 3 is larger, Now each two end for clamping arm component 5 is pressed on outside the outer wall of tower 1 respectively；Fig. 4 is second clamped condition figure, tower 1 diameter of section of cylinder is D2=2500mm, because the diameter of section D2 of the motor tower 1 in Fig. 4 is less than D1, now each clamp arm The middle part of component 5 is pressed on outside the outer wall of tower 1 respectively.

As shown in figure 5, the clamping arm component 5 of the present embodiment includes the first clamp arm 12 being sequentially connected with, clamps linking arm 13 and second clamp arm 14, the first clamp arm 12, to clamp and be demountable structure between the clamp arm 14 of linking arm 13 and second, the The end of one clamp arm 12 and the second clamp arm 14 is respectively connected with one group of pulling assembly 6, in two groups of tightening force bands of pulling assembly 6 Under dynamic, the inwall of the first clamp arm 12 and the second clamp arm 14 can be pressed in outside the outer wall of tower 1 simultaneously.

The clamping arm component 5 of the present embodiment is pressed on when outside the outer wall of tower 1, is capable of the different cross section of flexible adaptation tower 1 Diameter change, when clamping frames 2,3 are in the first clamped condition, the end of the first clamp arm 12 and the second clamp arm 14 is same When be pressed in outside the outer wall of tower 1；When clamping frames 2,3 are in second clamped condition, the first clamp arm 12 and second is pressed from both sides The middle part of tight arm 14, the close position for clamping linking arm 13 are pressed in outside the outer wall of tower 1 simultaneously；It is preferred that the He of the first clamp arm 12 Slipmat 17 is respectively equipped with the inwall of the second clamp arm 14, to cause that clamp arm component 5, can be with tower in clamping process 1 outer wall surface is contacted and produces larger static friction adhesive force, it is ensured that clamping arm component 5 can reliably be compressed and be attached to tower Outside the outer wall of cylinder 1, the further preferred slipmat 17 is band skeleton rubber pad.

As shown in fig. 6, the two ends of the clamping linking arm 13 of the present embodiment pass through sectionalizing joint component 18,19 and first respectively The clamp arm 14 of clamp arm 12 and second is detachably hinged, and sectionalizing joint component 18,19 is hinged including the first articulated elements and second Part, the first articulated elements is arranged on the first clamp arm 12 or the second clamp arm 14, is preferably mounted at the first clamp arm 12 or the second Clamp arm 14 with clamp the end that be connected of linking arm 13, the second articulated elements is arranged on the two ends for clamping linking arm 13, using dividing The mode that is articulated and connected of section coupling assembly, it is ensured that clamp arm component 5 in clamped condition, can flexibly change the first clamp arm 12nd, the connection angle between the clamp arm 14 of linking arm 13 and second is clamped, to ensure the first clamp arm 12 and the second clamp arm 14 Can be pressed on simultaneously outside the outer wall of tower 1；Preferably connected by bearing pin between first articulated elements and the second articulated elements so that clamp Arm component 5 can quickly assemble and be segmented dismounting；The two ends of the connecting rod 20 of the clamping linking arm 13 of the present embodiment are fixed respectively There are the first articulated elements and the second articulated elements, the preferably rectangular steel construction piece of connecting rod 20, to ensure the intensity reliability of connecting rod 20.

First clamp arm 12 of the present embodiment and the end of the second clamp arm 14 are respectively equipped with tail end connector 15, and tail end connects Fitting 15 is used to removably be connected with pulling assembly 6；Each clamp arm 12 of tail end connector 15 and first or the second clamp arm Reinforcement 16 is provided between 14, reinforcement 16 is preferably steel construction piece, when the first clamp arm 12 or the second clamp arm 14 and tension Ensure that connection is relatively reliable during angle change between component 6.

As shown in fig. 7, the pulling assembly 6 of the present embodiment includes decelerator 28, tenses screw mandrel 27 and transmission nut group 23, subtract The two ends of the output shaft of fast device 28 are connected to a tension screw mandrel 27, and two tension screw mandrels 27 pass through transmission nut group 23 respectively One group of clamping arm component 5 is connected, two groups are driven by the relative motion between every group of transmission nut group 23 and tension screw mandrel 27 Arm component 5 is clamped to move simultaneously；In the present embodiment, preferably decelerator 28 connects the servomotor for being provided with power, preferably slows down Device 28 is worm type of reduction gearing 28, and be input into power to worm type of reduction gearing 28 by servomotor, and two drawings are driven respectively Tight screw mandrel 27 carries out the synchronous rotary motion of the opposite rotation direction in left and right, so that drive two groups of transmission nut groups 23 to move simultaneously, and then Clamping arm component 5 is driven to move by the motion of transmission nut group 23, to realize clamping arm component 5 in clamped condition and unclamp shape Switch between state.

In order to ensure two synchronous axial restraints of tension screw mandrel 27, so as to ensure two reliable synchronizations of tension screw mandrel 27 Rotation, the output shaft of preferably decelerator 28 is respectively fixed at two ends with a support beam 21, every support beam 21 with tense screw mandrel 27 be arranged in parallel, and further preferred two support beams 21 are coaxially disposed；Fixation is respectively provided with two support beams 21 The mounting seat for tensing the end of screw mandrel 27 is installed, installation bearing is preferably provided with mounting seat, screw mandrel 27 will be tensed and be axially fixed in In the output shaft axis hole of decelerator 28.

The first protective cover 22 and the second protective cover 26 are set with outside the tension screw mandrel 27 of the present embodiment, the first protective cover 22 sets It is placed between mounting seat and transmission nut group 23, the second protective cover 26 is arranged between transmission nut group 23 and decelerator 28, when When transmission nut group 23 is moved along the tension length direction of screw mandrel 27, the first protective cover 22 and the second protective cover 26 can be according to transmission spiral shells The position of mother's group 23 is stretched and is shunk, to ensure the outer protection effect of tension screw mandrel 27；It is preferred that the two of the first protective cover 22 End is fixedly connected in mounting seat and transmission nut group 23 by clip respectively, and the two ends of the second protective cover 26 pass through clip respectively It is fixedly connected on the axis hole of transmission nut group 23 and decelerator 28.

The transmission nut group 23 of the present embodiment is provided with adjustable force measuring machine 24 and dynamometry travel switch 25, and dynamometry stroke is opened Closing 25 is used to measure the driving force size of transmission nut group 23, and is controlled transmission nut group 23 and drawn by adjustable force measuring machine 24 Distance of relative movement between tight screw mandrel 27；It is preferred that adjustable force measuring machine 24 is adjustable bolt, it is provided with transmission nut group 23 The flexible member being connected with dynamometry travel switch 25, the pinching deformation amount of clamp arm is transferred on flexible member, then by surveying Force-stroke switch 25 measures the clamping force size reflected on flexible member, so that controlling servomotor to drive tenses screw mandrel 27 The control of clamping force is realized in movement travel, and the clamping force size needed for being changed by adjustable bolt.

The gait clamped-in style climbing robot of the present embodiment has upper and lower two-layer clamping frames 2,3, upper and lower adjacent two layers Corresponding two of clamping frames 2,3 are connected to three groups of gait lifting electric cylinder groups 4 between clamping arm component 5, i.e., adjacent Six groups of gait lifting electric cylinder groups 4 are provided between two-layer clamping frames 2,3 altogether, when being climbed, by taking climbing upwards as an example, when Upper and lower two-layer clamping frames 2,3 are clamped in when outside the outer wall of tower 1, first unclamp upper strata clamping frames 2, are lifted using six groups of gaits Electric cylinder group 4 is synchronous to push up upper strata clamping frames 2 to behind precalculated position, upper strata clamping frames 2 is clamped in the outer wall of tower 1 Outward, lower floor's clamping frames 3 are then unclamped, synchronously lower floor's clamping frames 3 is drawn high upwards using six groups of gaits lifting electric cylinder groups 4 and is arrived Behind precalculated position, lower floor's clamping frames 3 are made to be clamped in the outer wall of tower 1, you can to complete a gait lifting process；Climbing downwards When, it is ensured that upper strata clamping frames 2 are clamped in outside the outer wall of tower 1, first unclamp lower floor's clamping frames 3, using six groups of gait lifting electricity Dynamic cylinder group 4 is synchronous to push down on lower floor's clamping frames 3 to behind precalculated position, lower floor's clamping frames 3 is clamped in the outer wall of tower 1 Outward, upper strata clamping frames 2 are then unclamped, synchronously dragging down upper strata clamping frames 2 downwards using six groups of gaits lifting electric cylinder groups 4 arrives Behind precalculated position, upper strata clamping frames 2 are made to be clamped in the outer wall of tower 1, you can to complete a gait and decline process, its principle and step State lifting process is identical, can also regard a gait lifting process as.

In sum, the gait clamped-in style climbing robot of the present utility model of the present embodiment includes at least two-layer clamp frame Frame 2,3, each layer clamping frames 2,3 can level be clamped in outside the outer wall of tower 1；Between adjacent two-layer clamping frames 2,3 Gait lifting electric cylinder group 4 is connected to, gait lifting electric cylinder group 4 is used for push-and-pull and drives each layer clamping frames 2,3 along tower The outer wall vertical shift of cylinder 1.It is the Stability Analysis of Structures of the gait clamped-in style climbing robot, simple and reliable, easy to disassemble, can be upper Quickly climbed on the outer wall of the different Wind turbines tower 1 of the lower diameter of tower 1, and can be straight according to tower 1 in climbing The change in footpath realizes that the overall gait to the reliable grip of tower 1, and when can realizing climbing is climbed steadily, such that it is able to be at any time The routine testing and maintenance work of blower fan provide a fixed platform for automation, can greatly improve maintenance of fan effect Rate and security, reduce manually-operated risk, so that for wind power plant brings huge economic benefit.

Embodiment of the present utility model in order to example and description for the sake of and be given, and be not exhaustively or will The utility model is limited to disclosed form.Many modifications and variations are for the ordinary skill in the art aobvious and easy See.Selection and description embodiment are, in order to more preferably illustrate principle of the present utility model and practical application, and to make this area Those of ordinary skill is it will be appreciated that the utility model is suitable to the various embodiments with various modifications of special-purpose so as to design.

Claims (10)

1. a kind of gait clamped-in style climbing robot, it is characterised in that including at least two-layer clamping frames, each layer clamp frame Frame can level be clamped in outside the outer wall of tower；Gait lifting electricity is connected between clamping frames described in adjacent two-layer Dynamic cylinder group, the gait lifting electric cylinder group is used for push-and-pull and drives each layer clamping frames to be moved vertically along the outer wall of the tower It is dynamic.

2. gait clamped-in style climbing robot according to claim 1, it is characterised in that the clamping frames include clamping Arm component and pulling assembly, clamp that arm component is relative is arranged at outside the outer wall of the tower described in two groups；Clamped described in every group The two ends of arm component respectively tense connection by one group of pulling assembly, and the pulling assembly is used to make clamping arm component described in two groups same When be clamped in outside the outer wall of the tower.

3. gait clamped-in style climbing robot according to claim 2, it is characterised in that the clamping arm component includes suitable The end of the first clamp arm of secondary connection, clamping linking arm and the second clamp arm, first clamp arm and the second clamp arm is each It is connected with pulling assembly described in a group, in the case where the tightening force of pulling assembly described in two groups drives, first clamp arm and second The inwall of clamp arm can be pressed in outside the outer wall of the tower simultaneously.

4. gait clamped-in style climbing robot according to claim 3, it is characterised in that the two ends of the clamping linking arm It is hinged with first clamp arm and the second clamp arm by sectionalizing joint component respectively；First clamp arm and second is clamped The end of arm is respectively equipped with tail end connector, and the tail end connector is used to be connected with the pulling assembly；Each described tail end Reinforcement is provided between connector and the first clamp arm or the second clamp arm.

5. gait clamped-in style climbing robot according to claim 3, it is characterised in that first clamp arm and second Slipmat is respectively equipped with the inwall of clamp arm.

6. gait clamped-in style climbing robot according to claim 2, it is characterised in that the pulling assembly includes slowing down Device, tension screw mandrel and transmission nut group, the two ends of the reducer output shaft are connected to a tension screw mandrel, two The tension screw mandrel is connected by transmission nut group clamp arm component described in one group respectively, by every group of the transmission nut group Being driven with the relative motion tensed between screw mandrel clamped described in two groups arm component to move simultaneously.

7. gait clamped-in style climbing robot according to claim 6, it is characterised in that the output shaft two of the decelerator End is respectively fixed with a support beam, and the every support beam be arranged in parallel with the tension screw mandrel, two support beams On be respectively provided with the fixed installation mounting seat for tensing screw mandrel end.

8. gait clamped-in style climbing robot according to claim 7, it is characterised in that be set with outside the tension screw mandrel First protective cover and the second protective cover, first protective cover are arranged between the mounting seat and transmission nut group, and described Two protective covers are arranged between the transmission nut group and decelerator.

9. gait clamped-in style climbing robot according to claim 6, it is characterised in that the transmission nut group is provided with Adjustable force measuring machine and dynamometry travel switch, the driving force that the dynamometry travel switch is used to measure the transmission nut group are big It is small, and the transmission nut group is controlled by the adjustable force measuring machine and the distance of relative movement between screw mandrel is tensed.

10. the gait clamped-in style climbing robot according to claim any one of 1-9, it is characterised in that the gait is carried Rising electric cylinder group includes servo electric jar, connecting plate and fastening assembly, divides on electric cylinders axle and the electric cylinders seat of the servo electric jar Connecting plate is not connected with by fastening assembly, the connecting plate being arranged on the electric cylinders axle and the company being arranged on electric cylinders seat Fishplate bar corresponds to be fixed on clamping frames described in adjacent two-layer respectively, and the servo electric jar is by electric cylinders axle and electric cylinders seat Between piston movement push-and-pull drive each layer clamping frames along the outer wall vertical shift of the tower.