WO2024040624A1 - 攀爬设备和攀爬系统 - Google Patents

攀爬设备和攀爬系统 Download PDF

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Publication number
WO2024040624A1
WO2024040624A1 PCT/CN2022/115629 CN2022115629W WO2024040624A1 WO 2024040624 A1 WO2024040624 A1 WO 2024040624A1 CN 2022115629 W CN2022115629 W CN 2022115629W WO 2024040624 A1 WO2024040624 A1 WO 2024040624A1
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WO
WIPO (PCT)
Prior art keywords
guide
assembly
wheel
climbing
vehicle body
Prior art date
Application number
PCT/CN2022/115629
Other languages
English (en)
French (fr)
Inventor
余铁辉
王继伟
何明
Original Assignee
中际联合（北京）科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 中际联合（北京）科技股份有限公司 filed Critical 中际联合（北京）科技股份有限公司
Publication of WO2024040624A1 publication Critical patent/WO2024040624A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed

Definitions

  • This application belongs to the technical field of climbing devices, and specifically relates to a climbing equipment and a climbing system.
  • climbing equipment is mainly used in tower cranes, wind turbine towers, high-voltage power towers and high-rise buildings.
  • Climbing equipment can run up and down along the tracks installed on buildings or equipment ladders to transport people and materials.
  • the embodiment of this application proposes a climbing device, including:
  • the vehicle body assembly includes a vehicle body and a pedal assembly, and the pedal assembly is connected to the vehicle body;
  • a control assembly located on the vehicle body, includes an anti-fall device and an auxiliary guide assembly;
  • the anti-fall device includes a speed limiter and an anti-fall gear, and the speed limiter is connected to the anti-fall gear;
  • the auxiliary guide assembly is used to cooperate with the guide body to guide the vehicle body assembly to move along the guide body; the anti-fall gear is used to move relative to the guide body when the climbing equipment stalls and descends.
  • the meshing rolling of the rack portion on the climbing gear is limited by the speed limiter to lock the climbing equipment.
  • the embodiment of the present application proposes a climbing system, including: a guide body and a climbing device as described in any one of the above; the guide body is attached to a building surface or a tower surface.
  • the guide body includes a guide rail body and a rack portion; the guide rail body and the rack portion are connected and extend in the same direction.
  • Figure 1 is one of the schematic diagrams of the first climbing equipment provided according to an embodiment of the present application.
  • Figure 2 is the second schematic diagram of the first climbing equipment provided according to an embodiment of the present application.
  • Figure 3 is the third schematic diagram of the first climbing equipment provided according to an embodiment of the present application.
  • Figure 4 is one of the schematic diagrams of the cooperation between the first climbing equipment and the guide body provided according to the embodiment of the present application;
  • Figure 5 is the second schematic diagram of the cooperation between the first climbing equipment and the guide body provided according to the embodiment of the present application.
  • Figure 6 is the third schematic diagram of the cooperation between the first climbing equipment and the guide body provided according to the embodiment of the present application.
  • Figure 7 is the fourth schematic diagram of the cooperation between the first climbing equipment and the guide body provided according to the embodiment of the present application.
  • Figure 8 is a schematic diagram of a driving assembly according to an embodiment of the present application.
  • Figure 9 is a schematic cross-sectional view of a second zero-backlash roller according to an embodiment of the present application.
  • Figure 10 is a schematic diagram of an anti-fall device according to an embodiment of the present application.
  • Figure 11 is a schematic structural diagram of an adapter rack according to an embodiment of the present application.
  • Figure 12 is a schematic diagram of the cooperation between the guide wheel and the guide body according to the embodiment of the present application.
  • Figure 13 is a schematic structural diagram of a first guide wheel according to an embodiment of the present application.
  • Figure 14 is an exploded schematic diagram of the first guide wheel according to an embodiment of the present application.
  • Figure 15 is a schematic structural diagram of a second guide wheel according to an embodiment of the present application.
  • Figure 16 is an exploded schematic diagram of a second guide wheel according to an embodiment of the present application.
  • Figure 17 is a schematic structural diagram of the first anti-wheel-off assembly according to an embodiment of the present application.
  • Figure 18 is a schematic cross-sectional view of the first anti-wheel-off assembly according to an embodiment of the present application.
  • Figure 19 is a schematic structural diagram of a second anti-wheel-off assembly according to an embodiment of the present application.
  • Figure 20 is an exploded schematic diagram of the second anti-wheel-off assembly according to an embodiment of the present application.
  • Figure 21 is a schematic cross-sectional view of the second anti-wheel assembly and the guide body according to the embodiment of the present application.
  • Figure 22 is a schematic cross-sectional view of a first support wheel according to an embodiment of the present application.
  • Figure 23 is a schematic structural diagram of a second support wheel according to an embodiment of the present application.
  • Figure 24 is one of the schematic diagrams of the second climbing device according to an embodiment of the present application.
  • Figure 25 is the second schematic diagram of the second climbing device according to the embodiment of the present application.
  • Figure 26 is the third schematic diagram of the second climbing device according to the embodiment of the present application.
  • Figure 27 is a schematic diagram of a climbing system according to an embodiment of the present application.
  • Figure 28 is a schematic top view of a first guide body according to an embodiment of the present application.
  • Figure 29 is a schematic top view of a second guide body according to an embodiment of the present application.
  • Figure 30 is one of the three-dimensional schematic views of the first guide body according to an embodiment of the present application.
  • Figure 31 is an enlarged schematic diagram of part A in Figure 30 according to an embodiment of the present application.
  • Figure 32 is the second schematic perspective view of the first guide body according to an embodiment of the present application.
  • Figure 33 is one of the schematic diagrams of the cooperation between the guide body and the guide wheel according to the embodiment of the present application.
  • Figure 34 is the second schematic diagram of the cooperation between the guide body and the guide wheel according to the embodiment of the present application.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be an internal connection between two components.
  • this embodiment provides a climbing equipment.
  • the climbing equipment is used on a ladder in a building or tower, and can run up and down along a track installed on the ladder to transport people at high altitudes. and material operations.
  • the climbing equipment of this embodiment includes: a vehicle body assembly and a control assembly.
  • the vehicle body assembly includes a vehicle body body 1 and a pedal assembly 2.
  • the pedal assembly 2 is connected to the vehicle body body 1.
  • the pedal assembly 2 is used for workers to step on.
  • the pedal assembly 2 can be detachably connected to the vehicle body 1 through bolt locking components, or can be rotationally connected to the vehicle body 1 through hinges, but at least it should be ensured that it is in working condition.
  • the stepping surface of the pedal assembly 2 is perpendicular to the surface of the vehicle body 1 .
  • the control assembly is provided on the vehicle body 1, and the control assembly includes an anti-fall device 11 and an auxiliary guide assembly.
  • the anti-fall device 11 can restrict the vehicle body 1 to the guide body 12 when the vehicle body 1 stalls and falls, ensuring the safety of the climbing equipment.
  • the auxiliary guide assembly is used to cooperate with the guide body 12 to guide the vehicle body assembly to move along the guide body 12 .
  • the anti-fall device 11 includes a speed limiter 1101 and an anti-fall gear 1102.
  • the transmission shaft of the speed limiter 1101 is connected to the anti-fall gear 1102.
  • the anti-fall gear 1102 is used to connect with the rack portion on the guide body 12. 1220 mesh setting.
  • the above-mentioned guide body 12 is usually configured as a vertically arranged guide rail, and a rack portion 1220 is provided on the guide rail. Based on the cooperation between the auxiliary guide component and the guide body 12, it not only ensures the reliability of the connection between the drive component 7 and the guide body 12, but also ensures the stability of the lifting operation of the vehicle body 1 relative to the guide body 12, preventing the climbing equipment from colliding with the guide body. 12 Detachment occurs.
  • the anti-fall device of existing lifting equipment is usually a centrifugal throwing block structure.
  • This type of anti-falling device includes a centrifugal throwing block, a spring and a speed measuring wheel.
  • the speed measuring wheel rotates along the guide body and drives the centrifugal throwing block to rotate; when the lifting equipment stalls and falls, that is, when the descending speed of the lifting equipment exceeds the set speed threshold, the centrifugal throwing block It overcomes the tension of the spring and is thrown outward, and is instantly locked on the guide body.
  • the existing anti-fall device will produce a large impact when performing anti-fall braking.
  • the speed limiter 1101 can monitor the running speed of the climbing equipment in real time through the rotation of the anti-fall gear 1102.
  • the speed limiter 1101 performs Braking is performed to limit the anti-fall gear 1102 from rolling relative to the rack portion, thereby locking and braking the stalled climbing equipment.
  • the braking method of the present application clearly ensures the smooth locking and braking of the climbing equipment. It can prevent large impact when locking and ensure the safety of climbing equipment operation.
  • the speed limiter 1101 of the present application can adopt anti-fall speed limiting equipment well known in the art.
  • the speed limiter 1101 may include components such as a centrifugal speed limiter mechanism, a braking mechanism, a loading mechanism, and a speed limit switch.
  • the braking mechanism and the loading mechanism are respectively connected to the centrifugal speed limiting mechanism, and the centrifugal speed limiting mechanism is connected through the transmission shaft and the anti-fall gear 1102.
  • the anti-fall gear 1102 drives the centrifugal speed limiting mechanism to rotate, so that the centrifugal speed limiting mechanism can detect the operating speed of the climbing equipment.
  • the centrifugal speed limiting mechanism detects that the running speed of the climbing equipment is greater than the preset value
  • the centrifugal block in the centrifugal speed limiting mechanism opens and drives the braking mechanism to rotate to generate braking force.
  • the braking mechanism is acted by the loading mechanism, so that the braking force gradually increases until the anti-falling gear 1102 stops rotating.
  • the anti-fall gear 1102 of the present application includes a first zero-backlash roller, and the rack portion 1220 on the guide body 12 selects zero-backlash teeth. bar, a first zero-backlash roller and a zero-backlash rack meshing setting. Among them, the first zero-backlash roller meshes with the arc-shaped tooth groove of the zero-backlash rack through the rolling pin.
  • the first zero-backlash roller and the zero-backlash rack in the embodiment of the present application can achieve anti-backlash locking.
  • the groove wall surface of the arc-shaped tooth groove Fits the side of the rolling pin on the first zero-backlash roller.
  • control assembly of the embodiment of the present application also includes a control component 6 and a driving component 7 , and the control component 6 is connected to the driving component 7 .
  • vehicle body 1 is configured with an installation space for installing at least part of the driving assembly 7 , the control assembly 6 and the anti-falling device 11 to protect the driving assembly 7 , the control assembly 6 and the anti-falling device 11 .
  • the driving assembly 7 is provided with at least one driving gear, and the at least one driving gear is configured to mesh with the rack portion 1220 on the guide body 12 to drive the vehicle body assembly to move along the extension direction of the guide body 12 .
  • the driving gear can be configured with a second gear.
  • Zero backlash roller 73 In order to ensure that the driving gear and the rack portion 1220 on the guide body 12 are in good meshing arrangement, the driving gear can be configured with a second gear.
  • At least one second zero-backlash roller 73 on the driving assembly 7 can be engaged with the zero-backlash rack on the guide body 12 .
  • the anti-backlash transmission based on the second zero-backlash roller 73 and the zero-backlash rack can ensure the smooth driving of the climbing equipment and reduce the driving noise.
  • control component 6 is used to send control instructions to the driving component 7 to control the operating status of the driving component 7, so that based on the driving force provided by the driving component 7, the second zero-backlash roller 73 of the driving component 7 and the guide With the cooperation of the guide body 12, the vehicle body 1 can move up and down along the guide body 12.
  • the second zero-backlash roller 73 in the embodiment of the present application includes a connecting flange 731 , a first wheel plate 732 , a second wheel plate 733 and a rolling pin 735 .
  • the first wheel plate 732 and the second wheel plate 733 are both circular; the first wheel plate 732, the second wheel plate 733 and the connecting flange 731 are coaxially arranged, and the first wheel plate 732 and the second wheel plate 733 are locked through a lock.
  • the fastener 734 is connected to the connecting flange 731; the first wheel plate 732 and the second wheel plate 733 are spaced apart and arranged oppositely.
  • the first wheel plate 732 and the second wheel plate 733 are provided with a plurality of pin holes arranged one to one oppositely, and the plurality of pin holes are evenly distributed around the circumference relative to the central axis of the connecting flange 731 .
  • a plurality of rolling pins 735 are provided, and the plurality of rolling pins 735 are arranged between the first wheel plate 732 and the second wheel plate 733 , and are evenly distributed around the circumference relative to the central axis of the connecting flange 731 .
  • One end of each rolling pin 735 is inserted into the pin hole of the first wheel plate 732 , and the other end is inserted into the pin hole of the second wheel plate 733 .
  • the second zero-backlash roller 73 of the present application has the same structure as the above-mentioned first zero-backlash roller.
  • the number of teeth of the first zero-backlash roller and the second zero-backlash roller 73 can be the same or different. Specifically, Set according to actual needs.
  • the rolling pin 735 may include a first plug-in part, a connecting part and a second plug-in part.
  • the first plug-in part, the connecting part and the second plug-in part are connected in sequence, and the connecting part
  • the diameters are respectively larger than the diameter of the first plug-in part and the diameter of the second plug-in part.
  • the first plug-in part is inserted into the pin hole of the first wheel plate 732, and the second plug-in part is inserted into the second wheel plate 733. in the pin hole.
  • bushings 736 can be embedded in the pin holes of the first wheel plate 732 and the second wheel plate 733 .
  • the bushing 736 is specifically an oil-free bushing well known in the art, and the first plug-in part and the second plug-in part are rotatably plugged into the oil-free bushing.
  • the driving assembly 7 of the embodiment of the present application includes a rotary driving member 71 and at least a second zero-backlash roller 73; the output shaft of the rotary driving member 71 and at least a second zero-backlash roller 73; Two zero backlash rollers 73 power coupling connection.
  • the rotary drive member 71 includes a drive motor and a reducer.
  • the output end of the drive motor is connected to the input end of the reducer.
  • the output end of the reducer is dynamically coupled to at least one second zero-backlash roller 73 .
  • the driving motor can be a DC servo motor or an AC variable frequency motor known in the art.
  • one second zero-backlash roller 73 can be provided.
  • the output shaft of the rotary driving member 71 and the second zero-backlash roller 73 can be directly connected coaxially, and it is only necessary to ensure that the second zero-backlash roller 73 Just mesh with the zero backlash rack on the guide body 12.
  • the drive assembly 7 also includes a linkage mechanism 74; multiple second zero-backlash rollers 73 can be provided to connect the output end of the rotary drive member 71 to the linkage mechanism 74, or to connect the output end of the rotary drive member 71 Connected to one of the plurality of second zero-backlash rollers 73 .
  • a plurality of second zero-backlash rollers 73 are arranged at intervals along the extension direction of the guide body 12 .
  • the plurality of second zero-backlash rollers 73 are dynamically coupled through a linkage mechanism 74 , so that the plurality of second zero-backlash rollers 73 are dynamically coupled.
  • the gap rollers 73 can rotate synchronously in the same direction of rotation.
  • a rotational drive can be provided for one of the plurality of second zero-backlash rollers 73 through the output end of the rotary driving member 71 , and based on the transmission function of the linkage mechanism 74, each second zero-backlash roller 73 can be rotated synchronously in the same direction of rotation; on the other hand, the output end of the rotation drive member 71 can also be used to provide rotational drive to the linkage mechanism 74, Then, the linkage mechanism 74 drives each second zero-backlash roller 73 to rotate synchronously along the same rotational direction.
  • the linkage mechanism 74 can be a gear transmission mechanism, a sprocket transmission mechanism, a belt transmission mechanism, etc. that are well known in the art, and there is no specific limitation on this.
  • the linkage mechanism 74 of the embodiment of the present application is provided between two adjacent second zero-backlash rollers 73 .
  • the linkage mechanism 74 includes a first transmission gear 741, a second transmission gear 742 and a third transmission gear 743; the first transmission gear 741 is coaxially connected to one of the two adjacent second zero-backlash rollers 73 and is connected with the first transmission gear 741.
  • the second transmission gear 742 meshes with the third transmission gear 743 , and the third transmission gear 743 is coaxially connected to the other one of the two adjacent second zero-backlash rollers 73 .
  • the embodiment of the present application can coaxially connect the output end of the rotary driving member 71 with any one of the two adjacent second zero-backlash rollers 73 , or connect the output end of the rotary driving member 71 with Any one of the first transmission gear 741, the second transmission gear 742, and the third transmission gear 743 is connected, and this is not limited.
  • the output end of the rotary driving member 71 and the second transmission gear 742 can be coaxially connected.
  • the total number of the first transmission gear 741 , the second transmission gear 742 and the third transmission gear 743 is 2n-1, n is the number of the second zero-backlash roller 73 , and n is an integer greater than 1.
  • the transmission function of the linkage mechanism 74 can be used to ensure that the other second zero-backlash rollers 73 and the rotary driving member 71 rotate in the same rotation direction. Rotate synchronously.
  • each second zero-backlash roller 73 can be used as a driving gear to realize multiple second zero-backlash rollers.
  • 73 is used in conjunction with the zero-backlash rack on the same guide body 12, which is beneficial to distributing the weight of the entire equipment to each second zero-backlash roller 73, reducing the load on each second zero-backlash roller 73.
  • the load of the rolling pin 735 not only ensures the safety of the engagement between the second zero-backlash roller 73 and the zero-backlash rack, but also reduces the wear of the zero-backlash rack, and also reduces the strength requirements for the guide body 12 , the zero-backlash rack can be appropriately thinned in practical applications, thereby reducing equipment costs.
  • control assembly of the embodiment of the present application also includes a removable power supply 4, and the removable power supply 4 is connected to the control component 6 and the driving component 7 respectively.
  • this embodiment can provide unified power supply to various power supply devices on the climbing equipment through the movable power supply 4, so that the climbing equipment can run without accompanying cables, avoid redundant accompanying accessories, and ensure the power supply operation of the climbing equipment. reliability.
  • the removable power source 4 can be a battery component.
  • the battery component is a rechargeable battery component.
  • the rechargeable battery component can be electrically connected to a charging interface provided on the vehicle body 1 , or the rechargeable battery component can be electrically connected to a charging interface provided on the vehicle body 1
  • the solar panels on the battery are electrically connected to realize energy storage of the rechargeable battery components.
  • the driving assembly 7 of the embodiment of the present application also includes a brake 72; the brake 72 has a first state and a second state, and the brake 72 can be the original state.
  • Electromagnetic brakes well known in the art.
  • the braking member 72 When the braking member 72 is in the first state, the braking member 72 is connected to the output shaft of the rotating driving member 71 to control the braking of the rotating driving member 71; when the braking member 72 is in the second state , the braking member 72 is separated from the output shaft of the rotary driving member 71 .
  • the control component 6 of this embodiment can control the movable power supply 4 to stop supplying power to the braking member 72 so that the braking member 72 is in the first state, and the braking member 72 controls the rotation of the rotation driving member 71 .
  • the output shaft is locked, and the climbing equipment can be conveniently controlled to stop at a preset height position relative to the guide body 12, which not only ensures the reliability of the braking control of the climbing equipment, but also saves electric energy.
  • control component 6 of this embodiment can control the movable power source 4 to supply power to the braking member 72 so that the braking member 72 is in the second state, and the braking member 72 releases the rotational driving member 71 .
  • the locking of the output shaft enables the climbing equipment to be raised and lowered along the guide body 12 .
  • the control assembly 6 includes a control switch 61 and a control module 62 , the control switch 61 is connected to the control module 62 , and the control module 62 is connected to the rotation driving member 71 and the braking member 72 .
  • control switch 61 is used to control the climbing equipment to perform upward movement, downward movement and deceleration operation on the guide body 12, or the control switch 61 is used to switch the operation control mode of the climbing equipment to a remote control mode, or control
  • the switch 61 is used to perform emergency stop control of the climbing equipment, and to send control instructions to the brake member 72 in an emergency.
  • the brake member 72 is controlled to perform a brake action on the output shaft of the rotary drive member 71 to achieve climbing control.
  • the device performs brake control.
  • control switch 61 includes an emergency stop switch and a gear conversion switch.
  • the gear conversion switch is provided with three gears, which respectively control the uplink, downlink and remote control mode switching of the climbing equipment.
  • Other buttons and indicator lights can also be provided at the installation position of the control switch 61 .
  • control component 6 of the embodiment of the present application further includes a buzzer 63 , an antenna 64 , and at least one of a remote control and a trigger switch 65 .
  • the buzzer 63 is electrically connected to the above-mentioned control module 62.
  • the climbing equipment runs on the guide body 12 and fails, an abnormal sound will be generated through the buzzer 63 to remind.
  • the antenna 64 is electrically connected to the above-mentioned control module 62 .
  • the staff can send control instructions to the antenna 64 through the remote controller to realize remote control of the climbing equipment, and the control operation is simple and convenient.
  • the remote controller is not specifically shown in FIG. 4 .
  • the trigger switch 65 when the control assembly 6 includes a trigger switch 65 , the trigger switch 65 is installed on a side of the vehicle body 1 facing the guide body 12 , and the trigger switch 65 is electrically connected to the control module 62 .
  • the trigger switch 65 may be a contact or non-contact trigger switch such as a mechanical travel switch, a proximity switch or a mirror-reflective photoelectric switch.
  • the trigger switch 65 is used to cooperate with the external trigger device. After being triggered by the trigger device, the trigger switch 65 can send a switch signal to the control module 62. The control module 62 can act according to the switch signal. The working state of the rotating driving member 71 is controlled to control the climbing equipment to stop going up, stop going down, or decelerate.
  • control module 62 may include at least one of a frequency converter, a PLC controller, a single-chip computer, and a microprocessor that are well known in the art, and there is no specific limitation on this.
  • the climbing equipment of this embodiment integrates the vehicle body 1 and the pedal assembly 2 into a modular vehicle body assembly, and integrates the control assembly on the vehicle body 1.
  • the compactness of the overall structure of the climbing equipment is ensured and the space occupied is reduced; on the other hand, by providing the second zero-backlash roller 73 to the driving assembly 7, the second zero-backlash roller 73 and the guide body 12 can be
  • the anti-backlash transmission between the zero-backlash racks on the machine can eliminate the gap, reduce the friction on the zero-backlash rack, and reduce the noise generated in the transmission, which can ensure that the climbing equipment can be used in wind power, power towers and other fields. Operational stability and reliability during climbing operations.
  • the vehicle body 1 of this embodiment includes a box 110 , the pedal assembly 2 is detachably connected to the box 110 , and the control assembly is installed in the box 110 . A part of the assembly extends out of the box 110 and cooperates with the guide body 12 .
  • the box 110 includes a structural frame 101 and a box plate 102.
  • the box plate 102 is installed on the structural frame 101.
  • the box plate 102 is provided with multiple blocks, so that the structural frame 101 and multiple The box panels 102 form a closed box 110.
  • the above-mentioned control module 62, rotary driving member 71 and braking member 72 can be installed in the box 110.
  • the output shaft of the rotary driving member 71 passes through the box 110 and is connected with the box 110.
  • the above-mentioned at least one second zero-backlash roller 73 is dynamically coupled.
  • this embodiment can provide compartments in the box 110; the movable power supply 4, the control component 6 and the driving component 7 are provided in the corresponding compartments.
  • a first chamber 111 and a second chamber 112 can be provided in the box 110; the movable power supply 4 is provided in the first chamber 111, at least part of the control component 6 and at least part of the driving component 7 is located in the second room 112.
  • a first partition 113 can be provided in the box 110 to separate the first chamber 111 and the second chamber 112 in the box 110 through the first partition 113 .
  • the movable power source 4 can be installed in the first compartment 111 , and the rotation driving member 71 and the braking member 72 can be installed in the second compartment 112 .
  • this embodiment does not specifically limit the number and layout positions of the compartments in the box 110, and the corresponding adjustments and layouts can be made according to the actual needs of the climbing equipment.
  • the vehicle body 1 of this embodiment is movably connected with an accommodating box 5 , and the removable power supply 4 is provided in the accommodating box 5 ; the accommodating box 5 can be stored in the vehicle body 1 or Extends outside the vehicle body 1.
  • an opening corresponding to the first chamber 111 is constructed on the box body 110, and the containing box 5 is movably arranged in the first chamber 111 through a rotating member.
  • the containing box 5 is located in the first chamber 111, and the outer surface of the containing box 5 is flush with the panel of the box 110.
  • the accommodating box 5 can be controlled to open at a certain angle relative to the panel of the box 110 so that the portable power source 4 can be easily taken out from the opening of the box 110 .
  • the accommodating box 5 is rotatably provided on the vehicle body 1 , and a guide structure 130 is provided between the accommodating box 5 and the vehicle body 1 .
  • the guide structure 130 is used to guide the accommodating box 5 to rotate relative to the vehicle body 1 , and limit the rotation angle of the containing box 5.
  • the above-mentioned guide structure 130 includes a limit contact and an arc-shaped guide hole.
  • the limit contact is connected to the containing box 5.
  • the limit contact is inserted into the arc-shaped guide hole and can be moved along the arc.
  • the extending direction of the guide hole moves, and the arc-shaped guide hole is provided on the box 110 , for example, the arc-shaped guide hole is provided on the above-mentioned first spacer 113 .
  • the limit contact is not specifically shown in FIG. 3 .
  • this embodiment can rotatably connect the lower end of the containing box 5 to the box body 110.
  • the limiting contact will move along the The extension length of the arc-shaped guide hole limits the rotation angle of the containing box 5 relative to the box body 110 .
  • the vehicle body assembly of this embodiment also includes an armrest assembly 3 , and the armrest assembly 3 is detachably connected to the vehicle body 1 .
  • the armrest assembly 3 and the box 110 are connected.
  • the armrest assembly 3 can be disposed on the top of the box 110 .
  • the armrest assembly 3 includes a first handle 31 and a second handle 32. Both the first handle 31 and the second handle 32 can be installed on the top of the box 110 by welding or bolting.
  • first handle 31 and the second handle 32 are spaced apart from each other and arranged side by side.
  • the first handle 31 and the second handle 32 are used to support the worker's arms when standing on the pedal assembly 2.
  • the first handle 31 can correspond to the worker's left hand
  • the second handle 32 can correspond to the worker's right hand.
  • Either one of the first handle 31 and the second handle 32 is provided with a platform trigger 33.
  • the platform trigger structure is connected to a mechanical trigger switch, and the mechanical trigger switch is connected to the control assembly 6 of the above embodiment.
  • the platform trigger 33 can trigger the mechanical trigger switch to switch the switch state.
  • the control component 6 controls the climbing equipment to stop running. , to prevent impact damage to climbing equipment.
  • the pedal assembly 2 of this embodiment includes a pedal part 21 and a mounting part 22 , the pedal part 21 is connected to the mounting part 22 , and the mounting part 22 is connected to the vehicle body 1 .
  • the pedal assembly 2 is provided at the bottom of the box 110 , one end of the pedal portion 21 is rotatably connected to the mounting portion 22 , and the mounting portion 22 is detachably connected to the bottom of the box 110 .
  • the stepping part 21 includes two pedals, and the two pedals respectively correspond to the two soles of the worker's feet.
  • the pedals may be a fixed pedal structure or a foldable pedal structure, which is not specifically limited.
  • the vehicle body 1 shown in this embodiment is provided with a hinge part 121 and a stopper part 122; the mounting part 22 is rotationally connected to the hinge part 121, and the stopper part 122 is used to connect with the hinge part 121.
  • the mounting portion 22 is in contact.
  • an adapter frame 120 may be provided at the lower end of the box 110 , and a hinge part 121 and a stopper part 122 may be provided on the adapter frame 120 .
  • the end of the mounting portion 22 away from the pedal portion 21 can be connected to the hinge portion 121 through the pin.
  • the auxiliary guide assembly shown in this embodiment includes a guide wheel assembly; the guide wheel assembly includes a plurality of guide wheels 8, and the guide wheels 8 are used to interact with the guide body. 12 are rollingly connected; at least one set of guide wheels 8 are arranged on opposite sides of the guide body 12 .
  • the guide wheel assembly of this embodiment includes a first guide wheel portion and a second guide wheel portion.
  • the first guide wheel portion and the second guide wheel portion are distributed on opposite sides of the guide body 12 .
  • the guide wheel assembly is provided with two guide wheels, and the two guide wheels are provided on opposite sides of the guide body 12 .
  • the guide wheel assembly of this embodiment can be specifically provided with two sets of guide wheels 8, one set of guide wheels 8 is disposed near the upper end of the box 110, and the other set of guide wheels 8 is disposed near the lower end of the box 110 to ensure that The stability of the lifting operation of the vehicle body 1 relative to the guide body 12 prevents the climbing equipment from detaching from the guide body 12 .
  • this embodiment can also dispose the above-mentioned at least one second zero-backlash roller 73 and at least one guide wheel 8 on opposite sides of the guide body 12 so that the guide body 12 is clamped on the second zero-backlash roller 73 and the guide wheel 8 to ensure the reliability of the second zero-backlash roller 73 corresponding to the drive assembly 7 meshing with the zero-backlash rack on the guide body 12 .
  • the structure of the guide wheel 8 may be an eccentric wheel. By adjusting the installation angle of the eccentric wheel, the distance between the eccentric wheel and the guide body 12 can be adjusted.
  • the distance between the guide wheel 8 and the guide body 12 can be adjusted so that the outer periphery of the guide wheel 8 can fit against the guide body 12. surface to ensure that the guide wheel 8 can achieve rolling contact with the guide bodies 12 of different widths.
  • the first part of the guide wheel and the second part of the guide wheel can be distributed on the opposite sides of the guide body 12.
  • the center distance between the first part guide wheel and the second part guide wheel can be adjusted so that the center distance matches the width of the guide body 12, so that the first part guide wheel and the second part guide wheel are clamped on the guide body 12 the opposite side.
  • the guide wheel 8 includes a mounting shaft 81 , a first bearing 82 and a guide wheel 83 .
  • the mounting shaft 81 is provided with an eccentric hole 8111 and is installed on the vehicle body 1 through the eccentric hole 8111; the first bearing 82 is sleeved on the mounting shaft 81, and the guide wheel 83 is sleeved on the outside of the first bearing 82; the mounting shaft 81 , the first bearing 82 and the guide wheel 83 are arranged coaxially, and the eccentric hole 8111 is arranged axially eccentrically relative to the installation shaft 81 .
  • the central axis of the installation shaft 81 is parallel to the center line of the eccentric hole 8111 but not coincident, and the guide wheel 83 is installed on the installation shaft 81 through the first bearing 82, through the Circumferentially adjusting the installation angle of the installation shaft 81 can easily adjust the distance between the guide wheel 83 and the guide body 12, and ensure rolling contact between the guide wheel 83 and the guide body 12.
  • the installation shaft 81 includes a body part 811 and an adjustment part 812.
  • the body part 811 is provided with an eccentric hole 8111, and the first bearing 82 is sleeved on the body part 811; the adjustment part 812 is connected to the body part 811, and the circumferential direction of the adjustment part 812 A flat surface is formed in the direction.
  • the installation shaft 81 is provided with a body part 811 and an adjustment part 812.
  • the body part 811 is provided with an eccentric hole 8111 at an eccentric position, and the inner ring of the first bearing 82 is sleeved on the body part.
  • the outer wall surface of 811 facilitates the installation of the first bearing 82.
  • the adjustment part 812 and the body part 811 adopt an integrally formed structure, or are connected by bonding, welding, snapping, etc. It should be noted that a flat surface is formed in the circumferential direction of the adjusting portion 812, and the flat surface is used to clamp the adjusting portion 812 and thereby rotate the mounting shaft 81 to adjust the mounting direction of the mounting shaft 81.
  • parallel flat surfaces can be provided on both sides of the adjustment portion 812 facing away from each other, that is, the mounting shaft 81 can be rotated using a wrench or other tools.
  • the adjusting portion 812 is in the shape of a hexagonal prism to facilitate clamping adjustment.
  • the installation shaft 81 of this embodiment also includes a limiting portion 813.
  • the limiting portion 813 is provided on the outer peripheral wall of the body portion 811 to form a stepped shaft.
  • the inner ring of the first bearing 82 and the limiting portion The bit portion 813 is in contact.
  • the first bearing 82 can be installed and limited through the limiting portion 813.
  • the limiting portion 813 can be integrally formed with the body portion 811 to improve connection stability.
  • the installation shaft 81 of this embodiment is also equipped with a stopper 814.
  • the stopper 814 is in contact with one end of the body part 811, and the inner ring of the first bearing 82 faces away from the stopper 813. One side is in contact with the stopper 814 .
  • the first bearing 82 can be blocked by the stopper 814 to prevent the first bearing 82 from moving in the axial direction of the mounting shaft 81, ensuring that the first bearing 82 installation stability.
  • a receiving groove can be provided on the end surface of one end of the body portion 811
  • the bottom wall of the accommodating groove 1211 is provided in the eccentric hole 8111.
  • a positioning boss is provided on the side of the stopper 814 facing the body part 811. The positioning boss is accommodated and limited in the accommodating groove 1211 to facilitate positioning and connecting the stop. 814 and body part 811.
  • the guide wheel 83 of this embodiment is provided with a through hole 831, and a limiting ring 832 is protruding from the wall of the through hole 831.
  • the first bearing 82 is accommodated in the through hole 831 , and the outer ring of the first bearing 82 is in contact with the limiting ring 832 to limit the first bearing 82 .
  • the outer ring of the first bearing 82 is fixed to the guide wheel 83 so that the guide wheel 83 rotates as the outer ring of the first bearing 82 rotates.
  • the guide wheel 8 is also provided with a limiting ring 85.
  • the limiting ring 85 can be a circlip well known in the art; at the same time, the inner wall of the through hole 831 is provided with a retaining spring.
  • the outer ring of the first bearing 82 is in limited contact with the limit ring 85, and the first bearing 82 is sandwiched between the limit ring groove 833 and the limit ring groove 833. between the position ring 85 and the limiting ring 832.
  • the first bearing 82 When installing the first bearing 82, the first bearing 82 can be placed in the through hole 831 of the guide wheel 83 first, so that the outer ring of the first bearing 82 is in contact with the limiting ring 832, and then the limiting ring is 85 is installed in the limiting ring groove 833 to clamp and fix the first bearing 82, thereby realizing the fixation of the first bearing 82 and making installation easy. Since the first bearing 82 is installed between the limiting ring 85 and the limiting ring 832, and the outer ring of the first bearing 82 is clamped by the limiting ring 85 and the limiting ring 832, the outer ring of the first bearing 82 can be The guide wheel 83 is driven to rotate.
  • the auxiliary guide assembly in the embodiment of the present application also includes an anti-wheel pull-off assembly 9.
  • the anti-wheel pull-off assembly 9 includes a mounting base 91 and an anti-wheel pull-off 92.
  • the mounting base 91 is connected to the vehicle body 1 to prevent the wheel from falling off.
  • the pull-off wheel 92 is rotatably provided in the mounting base 91; the guide body 12 is provided with a receiving groove 1211 along its extension direction; the mounting base 91 is movably provided in the receiving groove 1211, and the anti-shedding wheel 92 is provided in the receiving groove 1211, and It is rollingly connected with the inner wall of the receiving groove 1211.
  • the receiving groove 1211 has a notch 12111 , and the mounting base 91 can pass through the notch 12111 of the receiving groove 1211 and be connected to the vehicle body 1 . Since the mounting seat 91 is movably disposed in the receiving groove 1211 and is connected to the vehicle body 1 , a part of the guide body 12 is located between the anti-shedding wheel 92 and the vehicle body 1 . When the vehicle body 1 is raised and lowered along the guide body 12, the anti-detachment wheel 92 is in rolling contact with the inner wall of the guide body 12 to prevent the climbing equipment from derailing during the lift.
  • the anti-separation wheel 92 may be a rubber-coated wheel.
  • the anti-separation wheel 92 is rotatably provided on the side wall of the mounting base 91 , and the diameter of the anti-separation wheel 92 is greater than the thickness of the mounting base 91 .
  • the anti-off wheel assembly 9 of this embodiment also includes anti-off protrusions 911.
  • the anti-off protrusions 911 are provided on the mounting base 91.
  • the anti-off protrusions 911 are spaced apart from the anti-off wheels 92.
  • the anti-off protrusions 911 are used for To prevent the mounting base 91 from being separated from the receiving groove 1211.
  • the anti-detachment protrusion 911 can be integrally formed with the mounting base 91 , or can be connected to the mounting base 91 through bonding, welding, clamping or threaded connection, which is not limited here.
  • the anti-come-off protrusion 911 and the anti-off-off wheel 92 are located on the same side of the mounting base 91 and are spaced apart.
  • the anti-off-off protrusion 911 and the anti-off-off wheel 92 play a dual anti-off function.
  • the anti-off protrusion 911 When one of the anti-detachment protrusion 911 and the anti-detachment wheel 92 is damaged, the other one of the anti-detachment protrusion 911 and the anti-detachment wheel 92 can still have an anti-detachment effect, ensuring the safety of the operation of the climbing equipment.
  • the anti-detachment protrusion 911 does not need to contact the guide body 12 to prevent detachment. It is only necessary that the anti-detachment wheel 92 and the guide body 12 are in rolling contact to prevent detachment. At this time, the function of the anti-come-off protrusion 911 is to prevent the anti-off-off wheel 92 from being suddenly damaged or falling without anti-off measures. In this way, the anti-off-off wheel 92 and the anti-off-off protrusion 911 achieve double anti-off function, thereby improving the anti-off effect. Ensure safety.
  • the anti-separation protrusion 911 is in the shape of a long strip and extends along the extension direction of the guide body 12 .
  • the outer peripheral surface of the anti-separation wheel 92 is closer to the guide body 12 than the anti-separation protrusion 911 , so that the anti-separation wheel 92 preferentially contacts the guide body 12 .
  • Guide body 12 is in the shape of a long strip and extends along the extension direction of the guide body 12 .
  • anti-removal protrusions 911 are provided on opposite sides of the mounting base 91 to improve anti-removal stability.
  • two anti-removal protrusions 911 are arranged in pairs relative to the mounting base 91, which not only achieves the anti-removal effect, but also makes the force on both sides of the mounting base 91 uniform to ensure anti-removal stability.
  • the number of the anti-removal protrusions 911 may also be multiple, and the plurality of anti-removal protrusions 911 are evenly distributed on opposite sides of the mounting base 91 to improve the anti-removal stability.
  • the anti-separation wheel assembly 9 is provided with at least two anti-separation wheels 92 , and the at least two anti-separation wheels 92 are evenly distributed on opposite sides of the mounting base 91 .
  • two anti-detachment wheels 92 are symmetrically arranged on opposite sides of the mounting base 91 to improve anti-detachment stability.
  • the number of anti-detachment wheels 92 may be four, and the four anti-detachment wheels 92 are evenly distributed on opposite sides of the mounting base 91 .
  • the anti-detachment protrusion 911 is located between the two anti-detachment wheels 92 on the same side. When one of the anti-detachment wheels 92 falls off, the anti-detachment protrusion 911 can contact and limit the guide body 12 in time to prevent the detachment of the anti-detachment wheel 92 .
  • the mounting base 91 is prevented from being detached from the receiving groove 1211, thereby preventing the climbing equipment from derailing during operation.
  • the anti-separation wheel 92 includes a roller 921 and an anti-separation shaft 922.
  • the roller 921 is in rolling contact with the guide 12; the anti-separation shaft 922 is connected to the mounting base 91, and the roller 921 is provided on the anti-separation shaft. Off axis 922.
  • the roller 921 is rotationally connected to the mounting base 91 through the anti-separation shaft 922.
  • the anti-separation shaft 922 can also be connected to the roller 921 through a bearing.
  • the anti-separation shaft 922 penetrates the mounting base 91 , and both ends of the anti-separation shaft 922 protrude from the opposite sides of the mounting base 91 .
  • the two rollers 921 pass through bearings respectively. Installed on both ends of the anti-detachment shaft 922. In this way, when the roller 921 is in rolling contact with the guide body 12 to prevent it from coming off, the anti-detachment shaft 922 can effectively fix the roller 921 to prevent the roller 921 from being displaced.
  • the anti-detachment wheel 92 also includes a gasket 923 and a washer 924.
  • the gasket 923 is sleeved on the anti-detachment shaft 922 and is located on the side of the roller 921 facing away from the mounting base 91 .
  • the washer 924 is sleeved on the anti-separation shaft 922 and is located on the side of the roller 921 facing the mounting base 91 .
  • spacers 923 and washers 924 are respectively provided on both sides of the roller 921 to limit the position of the roller 921 and prevent the roller 921 from moving axially along the anti-separation shaft 922 .
  • the gasket 923 and the washer 924 can be in contact with the inner ring of the bearing for fixation, and the roller 921 is sleeved on the outer ring of the bearing to prevent the gasket 923 and the washer 924 from affecting the rotation of the roller 921.
  • the anti-separation assembly also includes a wear-resistant block 94 , the mounting base 91 is connected to the wear-resistant block 94 , and the wear-resistant block 94 is connected to the vehicle body 1 of the climbing equipment.
  • the wear-resistant block 94 is provided on the side of the mounting seat 91 facing the vehicle body 1, and the wear-resistant block 94 is located outside the receiving groove 1211. In this way, the anti-wear block 94 is located between the guide body 12 and the vehicle body 1 . Based on the isolation effect of the anti-wear block 94 , friction between the vehicle body 1 and the guide body 12 can be prevented.
  • the wear-resistant block 94 can be fixed to the outer wall surface of the vehicle body 1 and connected to one side of the mounting base 91 so that the mounting base 91 is connected to the climbing equipment through the wear-resistant block 94 .
  • the anti-wear block 94 is cylindrical, and the end surface of the anti-wear block 94 is in contact with the outer wall surface of the vehicle body 1 to improve installation stability.
  • the anti-wear block 94 can also be Rectangular shape or square shape is not limited here.
  • the anti-shedding assembly 9 of this embodiment is provided with two anti-wear blocks 94 , and the two anti-wear blocks 94 are spaced apart along the length direction of the mounting base 91 .
  • two anti-wear blocks 94 are provided in the length direction of the mounting base 91, which can also make the connection between the mounting base 91 and the vehicle body 1 evenly stressed.
  • the number of wear-resistant blocks 94 can also be three, four or more, which is not limited here.
  • the embodiment of the present application also provides another anti-wheel pull-off assembly 9.
  • the anti-wheel pull-off assembly 9 can use the above-mentioned anti-wear block 94 is replaced with a hinge base 93, and the hinge base 93 is connected to the vehicle body 1.
  • the mounting base 91 is rotatably provided on the hinge base 93.
  • this embodiment can move the hinge base 93 away from the vehicle body 1
  • One end is hinged through the hinge shaft and the mounting base 91 , and the hinged portion of the hinge base 93 and the mounting base 91 is located between two adjacent sets of anti-shedding wheels 92 .
  • multiple sets of anti-separation wheels 92 are provided, which not only prevents contact friction between the mounting base 91 and the guide body 12, but also reduces the force on each anti-separation wheel 92, ensuring that each anti-separation wheel 92 Uniformity of force.
  • each group of anti-detachment wheels 92 includes two anti-detachment wheels 92 , and the two anti-detachment wheels 92 are respectively arranged on opposite sides of the mounting base 91 .
  • each anti-separation wheel 92 is rotatably connected with the mounting base 91.
  • the hinge base 93 of this embodiment is hinged with the mounting base 91 at a position between two sets of anti-shedding wheels 92.
  • the inner wall surface of the guide body 12 may be tilted or uneven.
  • the mounting base 91 can adaptively move to a certain extent according to the force of the anti-detachment wheel 92.
  • the swing of the anti-detachment wheel assembly 9 ensures the passability of the anti-detachment wheel assembly 9 in the receiving groove 1211 of the guide body 12 while realizing the anti-detachment function of the anti-detachment wheel assembly 9, and also ensures the safety of the lifting operation of the climbing equipment.
  • the auxiliary guide assembly of the embodiment of the present application also includes a support wheel 10; the support wheel 10 is connected to the vehicle body 1, and the support wheel 10 is used to connect with the guide body 12 is rollingly connected toward one side of the vehicle body 1; the support wheel 10 and the anti-shedding wheel assembly 9 are arranged oppositely.
  • the support wheel 10 and the anti-wheel-off assembly 9 are located close to each other on the vehicle body 1. Based on the cooperation between the support wheel 10 and the anti-wheel assembly 9, the relative position between the vehicle body 1 and the guide body 12 can be ensured. The position remains stable, which improves the anti-swing ability of the vehicle body 1 relative to the guide body 12, thereby ensuring the stability of the climbing equipment's lifting operation along the guide body 12.
  • the support wheel 10 and the anti-shedding wheel assembly 9 can be opposed one by one. Multiple sets of support wheels 10 and anti-shedding wheel assemblies 9 are provided at intervals along the extension direction of the guide body 12 .
  • the gravity on the pedal assembly 2 can be transmitted to the guide body 12 through the support wheel 10, and the support wheel 10 is used for Balancing the load of the pedal assembly 2, based on the good support provided by the support wheel 10 to the part where the pedal assembly 2 is located, can prevent the pedal assembly 2 from bearing too much load, causing contact friction between the vehicle body 1 and the guide body 12, thereby affecting the vehicle.
  • the body 1 runs on the guide body 12.
  • the support wheel 10 is arranged at the middle position of the two corresponding mounting parts 22 of the pedal assembly 2.
  • the support wheel 10 of the embodiment of the present application includes a support 1011 , a support shaft 1012 , a second bearing 1013 and a wheel body 1014 .
  • the support 1011 is fixedly installed on the vehicle body 1
  • the support shaft 1012 is installed on the support 1011
  • the second bearing 1013 is sleeved on the support shaft 1012
  • the wheel body 1014 is sleeved on the second bearing 1013.
  • two supports 1011 are provided. One end of the support shaft 1012 is connected to one of the supports 1011, and the other end of the support shaft 1012 is connected to the other support 1011.
  • a plurality of second bearings 1013 can also be installed on the support shaft 1012, and the plurality of second bearings 1013 provide support to the wheel body 1014.
  • this embodiment can roll the wheel body 1014 and the guide body 12 toward one side of the vehicle body 1 and set the axial length of the wheel body 1014 to be greater than or equal to the side of the guide body 12 that faces the vehicle body 1 .
  • the width of the side is provided by the wheel body 1014 to provide rolling support for the movement of the climbing equipment relative to the guide body 12 .
  • the support wheel 10 of the embodiment of the present application includes a roller seat 1021 and a roller shaft 1022; the roller seat 1021 is installed on the vehicle body 1, and the middle part of the roller shaft 1022 is rotatable. is mounted on the roller seat 1021 so that both ends of the roller shaft 1022 are exposed from opposite sides of the roller seat 1021.
  • this embodiment can dispose the roller seat 1021 in the notch 12111 of the accommodation groove 1211 corresponding to the guide body 12, while ensuring that the climbing equipment can move relative to the guide body 12, and at the same time, the roller axis can be Both ends of 1022 are rollingly connected to one side of the guide body 12 facing the vehicle body 1 , and the roller shaft 1022 provides rolling support for the movement of the climbing equipment relative to the guide body 12 .
  • the first chamber 111 is provided in the second chamber along the height direction of the box 110 .
  • the pedal assembly 2 is disposed between the first chamber 111 and the second chamber 112.
  • the second compartment 112 of this embodiment is provided with a second partition 114.
  • the second partition 114 divides the second compartment 112 into a first compartment and a second compartment.
  • the first compartment and The second compartment is arranged along the width direction of the box 110.
  • the control module 62 of the above embodiment is located in the first compartment, and at least part of the driving assembly 7 is located in the second compartment.
  • this embodiment also provides a climbing system, including: a guide body 12 and a climbing device as described in any one of the above; the guide body 12 is attached to a building or tower s surface.
  • a trigger device is installed on the guide body 12 or close to the guide body 12.
  • the trigger device includes a trigger limit mechanism provided at both ends of the guide body 12.
  • the trigger limit mechanism The mechanism includes an upper trigger block 1301, a lower trigger block 1302 and a deceleration trigger block 1303.
  • the trigger switch 65 provided on the climbing equipment of this embodiment includes a first trigger switch, a second trigger switch and a third trigger switch.
  • the first trigger switch cooperates with the upper trigger block 1301 provided near the upper end of the guide body 12 to control the climbing equipment to stop moving upward when the first trigger switch is triggered by the upper trigger block 1301 .
  • the second trigger switch cooperates with the lower trigger block 1302 provided near the lower end of the guide body 12 to control the climbing equipment to stop descending when the second trigger switch is triggered by the lower trigger block 1302 .
  • the third trigger switch cooperates with the deceleration trigger block 1303 provided near the end of the guide body 12 to control the climbing equipment to decelerate when the third trigger switch is triggered by the deceleration trigger block 1303 .
  • the above-mentioned triggering device also includes a mechanical limiting mechanism provided at both ends of the guide body 12.
  • the mechanical limiting mechanism includes an upper limiting block and a lower limiting block.
  • the guide body 12 of this embodiment includes: a guide rail body 1210 and a rack portion 1220; the guide rail body 1210 and the rack portion 1220 are connected and extend in the same direction.
  • the auxiliary guide assembly is rollingly connected to the guide rail body 1210.
  • the guide rail body 1210 is provided with a receiving groove 1211 along its extension direction.
  • This extension direction can also be understood as the length direction or guide direction of the guide body 12; the rack portion 1220 extends along the guide rail body 1210. direction, the rack portion 1220 is engaged with the second zero-backlash roller 73 of the driving assembly 7 .
  • the rack portion 1220 can be disposed on at least one of the two outer sides of the guide rail body 1210 , and the rack portion 1220 can also be disposed on at least one of the two sides of the notch 12111 of the accommodating groove 1211 .
  • the guide body 12 of this embodiment can not only realize the guiding function, but also cooperate with the second zero-backlash roller 73 of the climbing equipment to have the lifting and lowering driving function, and the structure is novel. At the same time, by integrating the guide and the lifting drive, the degree of integration of the guide body 12 can be improved.
  • the rigid transmission medium provided by the embodiment of the present application can ensure stable and reliable operation of the climbing equipment, higher safety, and can achieve quick disassembly and installation.
  • the guide rail body 1210 can be a long strip structure with a rectangular cross-section.
  • the receiving grooves 1211 are formed inwardly from the front of the guide rail body 1210, and then outwards on both sides of the guide rail body 1210.
  • the first extension part 1212 is extended to form a first extension part 1212, and an array of teeth is provided on at least one side of the first extension part 1212 to form a rack part 1220.
  • the guide rail body 1210 and the rack portion 1220 are integrally formed, and both sides of the guide rail body 1210 respectively extend outward to form a first extension portion 1212, which extends outward, that is, extends in a direction away from the receiving groove 1211, so that the guide rail can
  • the cross-sectional shape of the body 1210 is a "J" shape, and the guide wheels 8 of the climbing equipment are rollingly connected to the side opposite to the first extension 1212 on the guide rail body 1210, as shown in Figures 33 and 34.
  • the guide rail body 1210 and the rack portion 1220 can be provided as an integrated structure.
  • a plurality of teeth are arranged in an array on the first extension portion 1212 on one side of the guide rail body 1210 to form a rack portion 1220.
  • the rack portion 1220 engages with the second zero-backlash roller 73 of the climbing equipment for lifting and lowering transmission.
  • the first extension 1212 on the other side of the guide rail body 1210 can serve as a track for the support wheel 10 of the climbing equipment.
  • a plurality of teeth are arranged in an array on the first extension portions 1212 on both sides of the guide rail body 1210 to form a rack portion 1220.
  • the rack portion 1220 engages with the second zero-backlash roller 73 of the climbing equipment for lifting and lowering transmission.
  • the first extension portions 1212 on both sides of the guide rail body 1210 can serve as tracks for the support wheels 10 of the climbing equipment.
  • both sides of the slot 12111 of the receiving groove 1211 respectively extend inward to form second extension portions 1213 , extending inward, that is, extending toward the center of the receiving groove 1211 .
  • teeth can also be arranged in an array on at least one side of the second extension portion 1213 to form the rack portion 1220 .
  • the guide rail body 1210 and the rack portion 1220 are integrally formed, and both sides of the notch 12111 of the receiving groove 1211 extend inward to form the second extension portion 1213, so that the cross-sectional shape of the guide rail body 1210 is similar to " ⁇ " font, that is, the width of the notch 12111 is reduced through the second extension part 1213, so that the back side of the second extension part 1213 can be used as a track for the anti-shedding wheel assembly 9 of the climbing equipment, that is, the climbing equipment is assembled on the guide rail
  • a part of the anti-shedding wheel assembly 9 is disposed in the receiving groove 1211 and is in rolling contact with the back surface of the second extension part 1213 .
  • At least one of the two sides of the notch 12111 of the accommodation groove 1211 extends inward to form a hook portion 1214.
  • the hook portion 1214 provides a corresponding connection for climbing equipment.
  • the guide hook wheel of the climbing equipment extends from the notch 12111 to the receiving groove 1211, and is in rolling contact with the inner surface of the hook portion 1214, so that the climbing equipment hook is set on the guide rail body 1210 to prevent climbing.
  • the equipment is detached from the guide rail body 1210, further improving the reliability of the connection between the climbing equipment and the guide rail body 1210.
  • the hook portion 1214 can be provided independently of the second extension portion 1213 , and the hook portion 1214 can also be acted by the second extension portion 1213 .
  • the second extension portion 1213 on one side of the notch 12111 of the accommodation groove 1211 is provided with an array of teeth to form the rack portion 1220
  • the second extension portion 1213 on the other side of the notch 12111 of the accommodation groove 1211 can serve as the hook portion 1214.
  • the guide hook wheel hook is provided on the second extension part 1213.
  • the rack portion 1220 of this embodiment is detachably connected to at least one side of the guide rail body 1210 through fasteners 1230, or the rack is detachably connected to the groove of the receiving groove 1211 through fasteners 1230. At least one of the two sides of the mouth 12111.
  • the fasteners 1230 may be screws or bolts.
  • the guide rail body 1210 and the rack portion 1220 are two independent components, and they are connected through the fastener 1230.
  • the rack portion 1220 and the guide rail body 1210 are separately, it is convenient for the guide rail body 1210 and the rack. Part 1220 repair and replacement.
  • the rack portion 1220 and the guide rail body 1210 can also be welded into one body.
  • a mounting groove 1215 can be provided on the side of the guide rail body 1210 corresponding to the installation position of the rack, and the rack can be inserted into The mounting grooves 1215 are positioned and then connected via fasteners 1230 .
  • a plurality of anti-fall locking holes 1216 are provided at equal intervals on the bottom wall of the receiving groove 1211.
  • the guide body 12 can also be used in conjunction with the anti-fall device.
  • the anti-fall lock tongue of the anti-fall device rotates under the action of centrifugal force until it is locked in the anti-fall locking hole 1216 to limit the climbing equipment from continuing to fall and avoid accidents. Further improve the safety of climbing equipment operation.
  • the guide body 12 provided in this embodiment not only has guiding and lifting driving functions, but also can cooperate with the anti-fall device of the climbing equipment to prevent falling and lock, which is safer.
  • the anti-fall locking hole 1216 can be designed as a long rectangular shape. hole, so that when the climbing equipment stalls and descends sharply, the anti-fall device 11 can be locked on the guide rail body 1210.
  • a reinforcing portion 1217 is provided on the bottom wall of the accommodation groove 1211 protruding in the direction of the notch 12111 of the accommodation groove 1211 to prevent The anti-fall locking hole 1216 is provided in the reinforced portion 1217.
  • this embodiment may also set the thickness of the bottom wall of the accommodating groove 1211 to be greater than the thickness of the side walls of the accommodating groove 1211 .
  • a cavity 12112 can also be provided in the bottom wall.
  • the cavity 12112 extends along the length direction of the guide body 12, and corresponding mounting holes are provided on the wall of the cavity 12112 to fix the guide body 12 to the tower. tube or wall.
  • the guide rail body 1210 can include multiple guide rail body units 1218, and two adjacent guide rail body units 1218 are connected by a connector (not shown in Figure 32 ) are removably connected.
  • the guide rail body units 1218 of the same length and standard can be spliced end to end, and two adjacent rail body units 1218 are connected through connectors to form a complete guide rail body 1210 of the required length and size, which is convenient for maintenance and repair. replace.
  • the connecting plate When the connecting member is a connecting plate, the connecting plate can be provided on both the front and back sides of the guide rail body 1210, and a recessed fixing portion is formed on the bottom wall of the accommodating groove 1211 and on one or both sides of the anti-fall locking hole 1216. 1219.
  • the connecting plate located on the front of the guide rail body 1210 is embedded in the fixed part 1219.
  • the fixed part 1219 can ensure the flatness between two adjacent guide rail body units 1218; then remove the bolts and other fasteners from the connecting plate.
  • the anti-fall locking hole 1216 is passed through, and the two adjacent rail body units 1218 are sandwiched between the connecting plates on the front and back sides of the rail body 1210 to realize the splicing of the two adjacent rail body units 1218.
  • mounting holes may also be provided on the fixing part 1219, and the connecting plates on the front and back sides of the guide rail body 1210 are detachably connected to the guide rail body unit 1218 through the mounting holes.
  • the connecting plate located on the back of the guide rail body 1210 can not only connect two adjacent guide rail body units 1218 together, but the connecting plate can also fix the assembled guide rail body 1210 on the tower or wall to realize the entire guide rail body. 1210 installation.
  • At least one reinforcing rib 12110 may be provided inside the receiving groove 1211.
  • the reinforcing ribs 12110 can be disposed inside the accommodating groove 1211 along the extension direction of the guide rail body 1210. This embodiment can also be arranged on the four walls of the accommodating groove 1211 at an angle at the connection positions between two adjacent walls. Reinforcing ribs 12110 to increase the rigidity and strength of the entire guide rail body 1210.
  • a modular design is adopted, the vehicle body and the pedal assembly are integrated into a modular vehicle body assembly, and the control assembly is integrated into the vehicle body, which not only ensures modular lifting equipment
  • the compactness of the overall structure reduces the occupied space, and enables quick disassembly and installation of lifting equipment at the engineering site. It can be widely used in climbing operations in wind power, power towers and other fields.
  • the invention provides a lifting system, which includes the modular lifting equipment described in any one of the above, and has all the advantages as mentioned above, and has strong environmental adaptability and broad market application prospects.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

本申请公开了一种攀爬设备和攀爬系统，包括车体总成和控制总成；车体总成包括车体本体和踏板组件，踏板组件与车体本体连接；控制总成设于车体本体上，包括防坠落装置和辅助导向组件；防坠落装置包括限速器和防坠齿轮，限速器和防坠齿轮连接；辅助导向组件用于与导向体配合，以引导车体总成沿导向体移动，防坠齿轮用于在攀爬设备失速下降时，相对于导向体上的齿条部的啮合滚动被限速器限制，以对攀爬设备进行锁止。

Description

攀爬设备和攀爬系统
相关申请的交叉引用
本申请要求于2022年08月25日提交的申请号为202211029861.3，申请名称为“攀爬设备和攀爬系统”的中国专利申请的优先权，其通过引用方式全部并入本申请。
技术领域
本申请属于攀爬装置技术领域，具体涉及一种攀爬设备和攀爬系统。
背景技术
近年来，随着高空升降设备的不断发展，开发结构简单、安装方便、功能可靠、成本低廉的攀爬设备成为企业发展的方向。
目前，攀爬设备主要应用于塔吊、风机塔筒、高压电塔和高层建筑等领域，攀爬设备能够沿安装于建筑或者设备爬梯上的轨道上下运行，进行运送人员和物资的作业。
但是，相关的攀爬设备在锁止时易产生较大的冲击，不利于确保攀爬设备的作业安全。
发明内容
本申请实施例提出了一种攀爬设备，包括：
车体总成，包括车体本体和踏板组件，所述踏板组件与所述车体本体连接；
控制总成，设于所述车体本体上，包括防坠落装置和辅助导向组件；所述防坠落装置包括限速器和防坠齿轮，所述限速器和所述防坠齿轮连 接；
所述辅助导向组件用于与导向体配合，以引导所述车体总成沿所述导向体移动；所述防坠齿轮用于在所述攀爬设备失速下降时，相对于所述导向体上的齿条部的啮合滚动被所述限速器限制，以对所述攀爬设备进行锁止。
本申请实施例提出了一种攀爬系统，包括：导向体和如上任一项所述的攀爬设备；所述导向体附着至建筑物表面或塔筒表面。
根据本申请实施例提出的一种攀爬系统，所述导向体包括导轨本体和齿条部；所述导轨本体和所述齿条部连接，并沿相同的方向延伸设置。
本申请的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请实施例提供的第一种攀爬设备的示意图之一；
图2是根据本申请实施例提供的第一种攀爬设备的示意图之二；
图3是根据本申请实施例提供的第一种攀爬设备的示意图之三；
图4是根据本申请实施例提供的第一种攀爬设备和导向体配合的示意图之一；
图5是根据本申请实施例提供的第一种攀爬设备和导向体配合的示意图之二；
图6是根据本申请实施例提供的第一种攀爬设备和导向体配合的示意图之三；
图7是根据本申请实施例提供的第一种攀爬设备和导向体配合的示意图之四；
图8是根据本申请实施例的驱动组件的示意图；
图9是根据本申请实施例的第二零背隙滚轮的剖面示意图；
图10是根据本申请实施例的防坠落装置的示意图；
图11是根据本申请实施例的转接架的结构示意图；
图12是根据本申请实施例的导向轮与导向体相配合的示意图；
图13是根据本申请实施例的第一种导向轮的结构示意图；
图14是根据本申请实施例的第一种导向轮的爆炸示意图；
图15是根据本申请实施例的第二种导向轮的结构示意图；
图16是根据本申请实施例的第二种导向轮的爆炸示意图；
图17是根据本申请实施例的第一种防脱轮组件的结构示意图；
图18是根据本申请实施例的第一种防脱轮组件的剖面示意图；
图19是根据本申请实施例的第二种防脱轮组件的结构示意图；
图20是根据本申请实施例的第二种防脱轮组件的爆炸示意图；
图21是根据本申请实施例的第二种防脱轮组件与导向体配合的剖视示意图；
图22是根据本申请实施例的第一种支撑轮的剖面示意图；
图23是根据本申请实施例的第二种支撑轮的结构示意图；
图24是根据本申请实施例的第二种攀爬设备的示意图之一；
图25是根据本申请实施例的第二种攀爬设备的示意图之二；
图26是根据本申请实施例的第二种攀爬设备的示意图之三；
图27是根据本申请实施例的攀爬系统的示意图；
图28是根据本申请实施例的第一种导向体的俯视示意图；
图29是根据本申请实施例的第二种导向体的俯视示意图；
图30是根据本申请实施例的第一种导向体的立体示意图之一；
图31是根据本申请实施例的图30中A部的放大示意图；
图32是根据本申请实施例的第一种导向体的立体示意图之二；
图33是根据本申请实施例的导向体和导向轮配合的示意图之一；
图34是根据本申请实施例的导向体和导向轮配合的示意图之二。
具体实施方式
下面将详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
请参阅图1至图34，对本申请实施例保护的攀爬设备和攀爬系统进行阐述说明。应当理解的是，以下描述仅是本申请的示意性实施方式，并未对本申请构成任何限定。
如图1至图7所示，本实施例提供一种攀爬设备，攀爬设备应用在建筑物或者塔筒的爬梯上，能够沿安装于爬梯上的轨道上、下运行，进行高空运送人员和物资作业。
本实施例的攀爬设备包括：车体总成和控制总成。
车体总成包括车体本体1和踏板组件2，踏板组件2与车体本体1连接。踏板组件2用于供作业人员踩踏，踏板组件2既可通过螺栓锁紧组件与车体本体1可拆卸连接，也可通过铰接件与车体本体1转动连接，但至少应确保在工作状态下，踏板组件2的踩踏面与车体本体1的表面垂直。
如图1和图4所示，控制总成设于车体本体1上，控制总成包括防坠落装置11和辅助导向组件。当车体本体1沿着导向体12进行升降移动时，防 坠落装置11能够在车体本体1失速下坠的情况下，将车体本体1限制在导向体12上，确保攀爬设备的运行安全。辅助导向组件用于与导向体12配合，以引导车体总成沿导向体12移动。
如图10所示，防坠落装置11包括限速器1101和防坠齿轮1102，限速器1101的传动轴和防坠齿轮1102连接，防坠齿轮1102用于与导向体12上的齿条部1220啮合设置。
在实际应用中，上述导向体12通常设置为竖直布置的导轨，在导轨上设置有齿条部1220。基于辅助导向组件与导向体12配合，既确保驱动组件7与导向体12之间连接的可靠性，又确保车体本体1相对于导向体12升降运行的稳定性，防止攀爬设备与导向体12发生脱离。
相关技术中，现有升降设备的防坠落装置通常为离心甩块结构，这类防坠落装置包括离心甩块、弹簧和测速轮。
当升降设备以正常速度下降运行时，测速轮沿着导向体旋转运行并带动离心甩块旋转；当升降设备失速下坠时，也即升降设备的下降速度超过设定的速度阈值时，离心甩块克服弹簧的拉力向外甩开，瞬间锁止在导向体上。在实际应用中，现有防坠落装置在进行防坠制动时，会产生较大的冲击。
相比而言，对于本申请的防坠落装置11而言，限速器1101可通过防坠齿轮1102的转动实时监测攀爬设备的运行速度，在攀爬设备失速下降时，限速器1101进行制动，以限制防坠齿轮1102相对于齿条部滚动，从而对失速的攀爬设备进行锁止制动。由于攀爬设备在升降运行和制动过程中，防坠齿轮1102与导向体12上的齿条部始终保持啮合状态，本申请的制动方式明显确保了对攀爬设备锁止制动的平稳性，可防止锁止时产生较大的冲击，确保攀爬设备运行的安全性。
在此应指出的是，本申请的限速器1101可采用本领域公知的防坠限速设备。例如，限速器1101可包括离心限速机构、制动机构、加载机构和限速开关等部件。制动机构和加载机构分别与离心限速机构连接，离心限速机构通过传动轴和防坠齿轮1102连接。
当攀爬设备运行的过程中，防坠齿轮1102带动离心限速机构转动，以使得离心限速机构能够检测攀爬设备的运行速度。在攀爬设备失速下降时，也即离心限速机构检测到攀爬设备的运行速度大于预设值时，离心限速机构中的离心块打开并带动制动机构旋转产生而制动力。在制动的过程中，制动机构受加载机构的作用，使得制动力逐渐增大，直至防坠齿轮1102停止转动。
在一些实施例中，为了进一步确保对攀爬设备锁止制动的平稳性，本申请的防坠齿轮1102包括第一零背隙滚轮，导向体12上的齿条部1220选用零背隙齿条，第一零背隙滚轮和零背隙齿条啮合设置。其中，第一零背隙滚轮通过滚销和零背隙齿条的圆弧状齿槽啮合。
如此，本申请实施例的第一零背隙滚轮和零背隙齿条可实现消隙锁止，在第一零背隙滚轮和零背隙齿条啮合时，圆弧状齿槽的槽壁面能够与第一零背隙滚轮上的滚销的侧面贴合。
在一些实施例中，本申请实施例的控制总成还包括控制组件6和驱动组件7，控制组件6与驱动组件7连接。在车体本体1构造有用于安装至少部分驱动组件7、控制组件6以及防坠落装置11的安装空间，以对驱动组件7、控制组件6以及防坠落装置11进行防护。
其中，驱动组件7设有至少一个驱动齿轮，至少一个驱动齿轮用于与导向体12上的齿条部1220啮合设置，以驱动车体总成沿导向体12的延伸方向移动。
如图4和图8所示，在齿条部1220选用零背隙齿条的情形下，为确保驱动齿轮和导向体12上的齿条部1220较好地啮合设置，驱动齿轮可采用第二零背隙滚轮73。
如此，在实际应用中，可将驱动组件7上的至少一个第二零背隙滚轮73与导向体12上的零背隙齿条啮合设置。基于第二零背隙滚轮73和零背隙齿条的消隙传动，可确保对攀爬设备驱动的平稳性，减小驱动噪音。
与此同时，控制组件6用于向驱动组件7发送控制指令，以控制驱动组 件7的运行状态，从而基于驱动组件7提供的驱动力，在驱动组件7的第二零背隙滚轮73与导向体12的配合下，车体本体1可沿着导向体12升降运行。
如图8和图9所示，本申请实施例的第二零背隙滚轮73包括连接法兰731、第一轮板732、第二轮板733和滚销735。第一轮板732和第二轮板733均呈圆环状；第一轮板732、第二轮板733和连接法兰731同轴设置，第一轮板732和第二轮板733通过锁紧件734与连接法兰731相连接；第一轮板732和第二轮板733相间隔，并呈相对设置。
在第一轮板732和第二轮板733上设有多个一一相对布置的销孔，多个销孔相对于连接法兰731的中轴线呈圆周均布。滚销735设有多个，多个滚销735设于第一轮板732和第二轮板733之间，并相对于连接法兰731的中轴线呈圆周均布。每个滚销735的一端插装于第一轮板732的销孔中，另一端插装于第二轮板733的销孔中。
其中，本申请的第二零背隙滚轮73和上述第一零背隙滚轮的结构相同，但是，第一零背隙滚轮和第二零背隙滚轮73的齿数可相同，也可不同，具体根据实际需求设置。
为确保滚销735安装的可靠性，滚销735可包括第一插接部、连接部和第二插接部，第一插接部、连接部和第二插接部依次连接，连接部的直径分别大于第一插接部的直径和第二插接部的直径，第一插接部插装于第一轮板732的销孔中，第二插接部插装于第二轮板733的销孔中。
为减小滚销735与第一轮板732和第二轮板733之间的摩擦，可在第一轮板732的销孔和第二轮板733的销孔中均嵌装衬套736。
其中，衬套736具体为本领域公知的无油衬套，第一插接部和第二插接部可转动地插接于无油衬套中。
在一些实施例中，如图4和图7所示，本申请实施例的驱动组件7包括旋转驱动件71和至少一个第二零背隙滚轮73；旋转驱动件71的输出轴和至少一个第二零背隙滚轮73动力耦合连接。
其中，旋转驱动件71包括驱动电机和减速机，驱动电机的输出端和减速机的输入端连接，减速机的输出端和至少一个第二零背隙滚轮73动力耦合连接。驱动电机可采用本领域公知的直流伺服电机或交流变频电机。
在一些示例中，第二零背隙滚轮73可设置一个，此时可直接将旋转驱动件71的输出轴和第二零背隙滚轮73同轴连接，只需确保第二零背隙滚轮73和导向体12上的零背隙齿条啮合即可。
在一些示例中，驱动组件7还包括联动机构74；第二零背隙滚轮73可设置多个，可将旋转驱动件71的输出端和联动机构74连接，或者将旋转驱动件71的输出端和多个第二零背隙滚轮73当中的一者连接。
多个第二零背隙滚轮73用于沿导向体12的延伸方向依次间隔设置，在多个第二零背隙滚轮73之间通过联动机构74动力耦合连接，以使得多个第二零背隙滚轮73可沿相同的旋向同步转动。
可理解的是，在第二零背隙滚轮73设置多个的情形下，在一方面，可通过旋转驱动件71的输出端对多个第二零背隙滚轮73当中的一者提供旋转驱动，并基于联动机构74的传动作用，实现各个第二零背隙滚轮73沿相同的旋向同步转动；在另一方面，也可通过旋转驱动件71的输出端对联动机构74提供旋转驱动，再通过联动机构74带动各个第二零背隙滚轮73沿相同的旋向同步转动。
其中，联动机构74可以为本领域公知的齿轮传动机构、链轮传动机构、皮带传动机构等，对此不作具体限定。
在一个具体示例中，如图7所示，本申请实施例的联动机构74设于相邻的两个第二零背隙滚轮73之间。
联动机构74包括第一传动齿轮741、第二传动齿轮742和第三传动齿轮743；第一传动齿轮741和相邻的两个第二零背隙滚轮73当中的一者同轴连接，并与第二传动齿轮742啮合，第二传动齿轮742和第三传动齿轮743啮合，第三传动齿轮743和相邻的两个第二零背隙滚轮73当中的另一者同轴连接。
在此情形下，本申请实施例可将旋转驱动件71的输出端和相邻的两个第二零背隙滚轮73当中的任一者同轴连接，或者将旋转驱动件71的输出端与第一传动齿轮741、第二传动齿轮742和第三传动齿轮743当中的任一者连接，对此不作限定。可选地，本实施例可将旋转驱动件71的输出端和第二传动齿轮742同轴连接。
其中，第一传动齿轮741、第二传动齿轮742和第三传动齿轮743设置的总数量为2n-1，n为第二零背隙滚轮73设置的数量，且n为大于1的整数。
如此，在旋转驱动件71带动与其连接的一个第二零背隙滚轮73转动时，可基于联动机构74的传动作用，确保其它第二零背隙滚轮73和旋转驱动件71沿相同的旋向同步转动。
与此同时，在第二零背隙滚轮73设置多个的情形下，基于联动机构74的设置，可使得各个第二零背隙滚轮73均作为驱动齿轮，实现多个第二零背隙滚轮73和同一个导向体12上的零背隙齿条配合使用，这有利于将整套设备的重量分配给各个第二零背隙滚轮73，减小了每个第二零背隙滚轮73上的滚销735的载荷，既确保了第二零背隙滚轮73和零背隙齿条啮合的安全性，又降低了对零背隙齿条的磨损，还减小了对导向体12的强度要求，可在实际应用中适当地对零背隙齿条进行减薄设计，从而降低了设备成本。
在一些实施例中，如图3所示，本申请实施例的控制总成还包括可移动电源4，可移动电源4分别与控制组件6和驱动组件7连接。
具体地，本实施例可通过可移动电源4为攀爬设备上的各类供电器件统一供电，实现攀爬设备在运行时无随行线缆，避免随行附件冗余，确保了攀爬设备供电运行的可靠性。
其中，可移动电源4可以为电池组件。可选的，电池组件为可充电电池组件，本实施例可将可充电电池组件与设置于车体本体1上的充电接口电性连接，也可将可充电电池组件与设置于车体本体1上的太阳能电池板电性连接，以实现可充电电池组件的蓄能。
在一些实施例中，如图3和图8所示，本申请实施例的驱动组件7还包括制动件72；制动件72具有第一状态与第二状态，制动件72可以为本领域公知的电磁制动器。
在制动件72处于第一状态的情形下，制动件72与旋转驱动件71的输出轴连接，以对旋转驱动件71进行制动控制；在制动件72处于第二状态的情形下，制动件72与旋转驱动件71的输出轴分离。
如此，在待机状态下，本实施例的控制组件6可控制可移动电源4停止向制动件72供电，以使得制动件72处于第一状态，由制动件72对旋转驱动件71的输出轴进行锁止，可便捷地控制攀爬设备相对于导向体12停靠在预设高度位置，既确保了对攀爬设备制动控制的可靠性，又节省了电能。
相应地，在工作状态，本实施例的控制组件6可控制可移动电源4向制动件72供电，以使得制动件72处于第二状态，由制动件72解除对旋转驱动件71的输出轴的锁止，使得攀爬设备能够沿导向体12进行升降。
在一些实施例中，如图1和图3所示，控制组件6包括控制开关61和控制模块62，控制开关61和控制模块62连接，控制模块62与旋转驱动件71和制动件72连接。
可选的，控制开关61用于控制攀爬设备在导向体12上进行上行运动、下行运动和减速运行，或者控制开关61用于将攀爬设备的运行控制方式切换为遥控控制方式，或者控制开关61用于对攀爬设备进行急停控制，以及在紧急状况下向制动件72发送控制指令，控制制动件72对旋转驱动件71的输出轴执行抱闸动作，以实现对攀爬设备进行制动控制。
在一些示例中，控制开关61包括急停开关和档位转换开关，档位转换开关设有三挡，分别控制攀爬设备的上行、下行和遥控控制方式的转换。在控制开关61的安装位置还可以设置其他的按钮和指示灯。
在一些示例中，如图1至图4所示，本申请实施例的控制组件6还包括蜂鸣器63、天线64和遥控器、触发开关65当中的至少一种。
如图3所示，在控制组件6包括蜂鸣器63的情形下，蜂鸣器63与上述 控制模块62电性连接。当攀爬设备在导向体12上运行出现故障时，通过蜂鸣器63发生异响进行提醒。
如图4所示，在控制组件6包括天线64和遥控器的情形下，天线64与上述控制模块62电性连接。如此，工作人员可通过遥控器向天线64发送控制指令，以实现对攀爬设备的遥控控制，其控制操作简单便捷。其中，遥控器在图4中未具体示意出。
如图4所示，在控制组件6包括触发开关65的情形下，触发开关65安装于车体本体1朝向导向体12的一侧面，触发开关65与上述控制模块62电性连接。其中，触发开关65可以为机械式行程开关、接近开关或镜面反射式光电开关等接触式或非接触式触发开关。
在攀爬设备升降移动的过程中，触发开关65用于与外部的触发装置相配合，触发开关65可在被触发装置触发后，向控制模块62发出开关量信号，控制模块62根据开关量信号对旋转驱动件71的工作状态进行控制，以控制攀爬设备停止上行、停止下行或减速运行。
与此同时，控制模块62可以包括本领域公知的变频器、PLC控制器、单片机、微处理器当中的至少一种，对此不作具体限定。
由上可知，本实施例的攀爬设备，在一方面，通过将车体本体1和踏板组件2集成设置为模块式的车体总成，并且将控制总成集成于车体本体1上，确保了攀爬设备整体结构的紧凑性，减小了占用的空间；在另一方面，通过对驱动组件7设置第二零背隙滚轮73，可基于第二零背隙滚轮73和导向体12上的零背隙齿条之间的消隙传动，以消除间隙，减小对零背隙齿条的摩擦，降低传动中产生的噪音，可确保攀爬设备在风电、电力塔架等领域进行攀爬作业时运行的稳定性和可靠性。
下面结合具体的实施例，对本申请实施例的攀爬设备进行具体说明。
在一些实施例中，请参阅图1至图7，本实施例的车体本体1包括箱体110，踏板组件2和箱体110可拆卸式连接，控制总成安装于箱体110内，控制总成的一部分伸出箱体110，并与导向体12配合。
为确保本实施例的箱体110的结构强度，箱体110包括结构框架101和箱板102，箱板102安装于结构框架101上，箱板102设有多块，以使得结构框架101和多块箱板102组成封闭的箱体110。
如此，通过将踏板组件2和控制总成集成于同一个箱体110，确保了攀爬设备的整体结构的紧凑性，减小了占用的空间。
在对控制总成进行布置时，本实施例可将上述控制模块62、旋转驱动件71和制动件72安装于箱体110内，旋转驱动件71的输出轴穿出箱体110，并与上述至少一个第二零背隙滚轮73动力耦合连接。
在一些实施例中，本实施例可在箱体110内设置间室；可移动电源4、控制组件6和驱动组件7设于相应间室。
如图1和图3所示，箱体110内可以设有第一间室111和第二间室112；可移动电源4设于第一间室111，至少部分控制组件6和至少部分驱动组件7设于第二间室112。
在实际应用中，可在箱体110内设置第一间隔件113，以通过第一间隔件113在箱体110内间隔出第一间室111和第二间室112。
与此同时，本实施例可将可移动电源4安装于第一间室111，将旋转驱动件71和制动件72安装于第二间室112。其中，本实施例对于箱体110内设置间室的数量和布局位置不做具体限定，可以根据攀爬设备实际需求进行相应调整和布局。
在一些实施例中，如图3所示，本实施例的车体本体1活动连接有容纳盒5，可移动电源4设于容纳盒5内；容纳盒5能够收纳于车体本体1内或者伸出于车体本体1外。
具体地，本实施例在箱体110上构造有与第一间室111对应的开口，将容纳盒5通过转动件活动设置于第一间室111中。如此，在攀爬设备工作过程中，容纳盒5位于第一间室111中，容纳盒5的外表面与箱体110的面板齐平。在需要对可移动电源4进行更换或检修时，可控制容纳盒5相对于箱体110的面板打开一定的角度，以便捷地将可移动电源4从箱体110的开口 处取出。
在一些示例中，容纳盒5可转动地设于车体本体1，容纳盒5与车体本体1之间设有引导结构130，引导结构130用于引导容纳盒5相对于车体本体1转动，以及限制容纳盒5的转动角度。
如图3所示，上述引导结构130包括限位触头和弧形导孔，限位触头与容纳盒5连接，限位触头穿设于弧形导孔中，并可沿着弧形导孔的延伸方向移动，弧形导孔设于箱体110上，例如将弧形导孔设于上述第一间隔件113上。其中，限位触头在图3中未具体示意出。
在实际应用中，本实施例可将容纳盒5的下端与箱体110转动连接，当工作人员手持容纳盒5的上端，并驱动容纳盒5相对于箱体110转动时，限位触头沿着弧形导孔的延伸方向移动，弧形导孔的延伸长度限制了容纳盒5相对于箱体110转动的角度。
在一些实施例中，如图1至图3所示，本实施例的车体总成还包括扶手组件3，扶手组件3和车体本体1可拆卸式连接。
具体地，在车体本体1设置为箱体110的情形下，扶手组件3和箱体110连接。例如，可将扶手组件3设置于箱体110的顶部。
扶手组件3包括第一手柄31和第二手柄32，第一手柄31和第二手柄32均可以焊接或螺栓连接的方式安装在箱体110的顶部。
与此同时，第一手柄31和第二手柄32彼此间隔，并呈并排设置。第一手柄31和第二手柄32用于工作人员站在踏板组件2上时进行手臂扶持，第一手柄31可对应工作人员的左手，第二手柄32可对应工作人员的右手。
在第一手柄31和第二手柄32当中的任一者设置有平台触发件33，平台触发结构与机械式触发开关连接，机械式触发开关与上述实施例的控制组件6连接。当攀爬设备向上运行并触碰到障碍物时，平台触发件33能够触发机械式触发开关切换开关状态，控制组件6在接收到机械式触发开关的开关量信号后，控制攀爬设备停止运行，以防止攀爬设备出现撞击损坏。
在一些实施例中，如图1和图3所示，本申实施例的踏板组件2包括踩 踏部21和安装部22，踩踏部21和安装部22连接，安装部22和车体本体1连接。
具体地，踏板组件2设于箱体110的底部，踩踏部21的一端和安装部22转动连接，安装部22与箱体110的底部可拆卸连接。
踩踏部21包括两个踏板，两个踏板分别与工作人员的两个脚掌向对应，踏板可以为固定形式的踏板结构，也可以为可折叠式的踏板结构，对此不作具体限定。
进一步地，如图1和图11所示，本实施例所示的车体本体1设有铰接部121和止挡部122；安装部22与铰接部121转动连接，止挡部122用于与安装部22抵接。
具体地，本实施例可在箱体110的下端设置转接架120，在转接架120上设置铰接部121和止挡部122。如此，本实施例可将安装部22远离踩踏部21的一端通过销轴与铰接部121连接。
在工作人员踩踏于踩踏部21的情形下，基于止挡部122对安装部22的抵接作用，可确保踩踏部21的上表面与箱体110的面板垂直，确保了工作人员在踩踏部21上站立的安全性。
在一些实施例中，如图4、图5及图12所示，本实施例所示的辅助导向组件包括导向轮组件；导向轮组件包括多个导向轮8，导向轮8用于和导向体12滚动连接；至少一组导向轮8分设于导向体12的相对侧。
具体地，本实施例的导向轮组件包括第一部分导向轮和第二部分导向轮，第一部分导向轮和第二部分导向轮分布于导向体12的相对侧。可选的，导向轮组件设置有两个导向轮，两个导向轮设置于导向体12的相对侧。
其中，本实施例的导向轮组件可具体设置两组导向轮8，其中一组导向轮8设置于靠近箱体110的上端，另一组导向轮8设置于靠近箱体110的下端，以确保车体本体1相对于导向体12升降运行的稳定性，防止攀爬设备与导向体12发生脱离。
与此同时，本实施例还可将上述至少一个第二零背隙滚轮73和至少一个导向轮8分设于导向体12的相对侧，以使得导向体12夹持于第二零背隙滚轮73和导向轮8之间，确保驱动组件7对应的第二零背隙滚轮73与导向体12上的零背隙齿条相啮合的可靠性。
在一些实施例中，导向轮8的结构形成可以为偏心轮，通过调节偏心轮的安装角度，实现调节偏心轮和导向体12之间的间距。
如此，在安装导向轮8时，通过将导向轮8旋转至合适位置进行安装，即可调节导向轮8与导向体12之间的距离，以便于导向轮8的外周缘贴合于导向体12的表面，确保导向轮8能够与不同宽度的导向体12实现滚动抵接。
如图4和图12所示，在对每组导向轮8进行安装时，可将第一部分导向轮和第二部分导向轮分布于导向体12的相对侧，通过调节每个导向轮8的安装角度，可调节第一部分导向轮和第二部分导向轮的中心间距，以便使得该中心间距与导向体12的宽度适配，从而使得第一部分导向轮和第二部分导向轮夹持于导向体12的相对侧。
如此，基于多组导向轮8与导向体12的配合，在对攀爬设备的升降提供导向的同时，还有利于确保攀爬设备升降运行的稳定性。
如图13至图16所示，导向轮8包括安装轴81、第一轴承82和导轮83。
安装轴81设有偏心孔8111，并通过偏心孔8111安装于车体本体1上；第一轴承82套设于安装轴81上，导轮83套设于第一轴承82的外侧；安装轴81、第一轴承82和导轮83同轴设置，偏心孔8111相对安装轴81的轴向偏心设置。
在本申请实施例中，由于安装轴81的中轴线与偏心孔8111的中心线相平行而不相重合，并且导轮83通过第一轴承82安装于安装轴81上，通过沿偏心孔8111的周向调整安装轴81的安装角度，可便捷地调整导轮83与导向体12之间的距离，并可确保导轮83与导向体12滚动接触。
进一步地，安装轴81包括本体部811和调节部812，本体部811开设有偏心孔8111，第一轴承82套设于本体部811；调节部812与本体部811连接，调节部812的周向方向上形成有平整表面。
本实施例中，为了便于旋转安装轴81，将安装轴81设置为本体部811和调节部812，本体部811的偏心位置处设有偏心孔8111，第一轴承82的内圈套设于本体部811的外壁面，便于第一轴承82的安装。可选地，调节部812与本体部811采用一体成型结构，或通过粘接、焊接、卡接等方式连接。需要说明的是，在调节部812的周向方向上形成有平整表面，通过平整表面以便于夹持调节部812，从而旋转安装轴81，以便于调整安装轴81的安装方向。
在一个示例中，可在调节部812相背向的两侧设置相平行的平整表面，即可通过扳手等工具旋转安装轴81。可选地，调节部812呈六棱柱状，以便于夹持调整。
请结合参照图14和图16，本实施例的安装轴81还包括限位部813，限位部813设于本体部811的外周壁，以形成阶梯轴，第一轴承82的内圈与限位部813抵接。如此，本实施例可通过限位部813对第一轴承82进行安装限位，限位部813可与本体部811一体成型，以提高连接稳定性。
如图16所示，本实施例的安装轴81还配设有止挡件814，止挡件814与本体部811的一端抵接，且第一轴承82的内圈背向限位部813的一侧与止挡件814抵接。
如此，本实施例可在限位部813的配合下，通过止挡件814对第一轴承82进行止挡，防止第一轴承82沿安装轴81的轴向方向发生窜动，确保第一轴承82安装的稳定性。
在一个示例中，本实施例可在本体部811一端的端面开设有容纳槽
1211，偏心孔8111内设置容纳槽1211的底壁，在止挡件814面向本体部811的一侧设有定位凸台，定位凸台容纳并限位于容纳槽1211内，以便于定位连接止挡件814和本体部811。
如图14和图16所示，为了便于将导轮83套设于第一轴承82上，本实施例的导轮83设有通孔831，通孔831的孔壁凸设有限位环832，第一轴承82容纳于通孔831内，第一轴承82的外圈与限位环832抵接，以对第一轴承82进行限位。其中，第一轴承82的外圈与导轮83固定，以使得导轮83随第一轴承82的外圈转动而转动。
进一步地，为确保对导轮83与第一轴承82安装的可靠性，导向轮8还设置有限位圈85，限位圈85可采用本领域公知的卡簧；同时，通孔831的内壁设有限位环槽833，限位圈85的至少部分容纳并限位于限位环槽833内，第一轴承82的外圈与限位圈85限位抵接，且第一轴承82夹设于限位圈85和限位环832之间。
其中，在安装第一轴承82时，可先将第一轴承82放置于导轮83的通孔831内，并使得第一轴承82的外圈与限位环832抵接，随后将限位圈85装设于限位环槽833内，以夹紧固定第一轴承82，从而实现第一轴承82的固定，安装方便。由于第一轴承82装设于限位圈85和限位环832之间，并由限位圈85和限位环832夹紧第一轴承82的外圈，则可由第一轴承82的外圈带动导轮83旋转。
请参阅图19至图21，本申请实施例的辅助导向组件还包括防脱轮组件9，防脱轮组件9包括安装座91和防脱轮92，安装座91与车体本体1连接，防脱轮92可转动地设于安装座91；导向体12延其延伸方向设有容纳槽1211；安装座91可移动地设于容纳槽1211内，防脱轮92设于容纳槽1211内，并与容纳槽1211的内壁滚动连接。
在本实施例中，容纳槽1211具有槽口12111，安装座91可穿过容纳槽1211的槽口12111，并与车体本体1连接。由于安装座91可移动地设于容纳槽1211内，且安装座91与车体本体1连接，导向体12的一部分位于防脱轮92和车体本体1之间。在车体本体1沿导向体12进行升降时，防脱轮92与导向体12的内壁滚动抵接，以防止攀爬设备在升降中出现脱轨。
可选地，防脱轮92可以为包胶轮，防脱轮92可转动地设于安装座91 的侧壁，且防脱轮92的直径大于安装座91的厚度。如此，在将防脱轮92装设于安装座91上时，防脱轮92的外周缘的至少部分凸出于安装座91的表面，以使得防脱轮92可与导向体12滚动抵接，而安装座91无法接触到导向体12，避免安装座91与导向体12发生接触摩擦。
进一步地，本实施例的防脱轮组件9还包括防脱凸起911，防脱凸起911设于安装座91，防脱凸起911与防脱轮92间隔设置，防脱凸起911用于防止安装座91脱离容纳槽1211。
具体地，防脱凸起911可与安装座91一体成型，也可通过粘接、焊接、卡接或者螺纹连接等方式与安装座91连接，在此不做限定。
可选地，防脱凸起911与防脱轮92位于安装座91的同一侧，并相间隔设置，防脱凸起911和防脱轮92起到双重防脱作用，在防脱凸起911和防脱轮92当中一者损坏时，防脱凸起911和防脱轮92当中的另一者仍可起到防脱效果，保证了攀爬设备运行的安全性。
在实际应用中，在防脱轮92起到防脱效果时，防脱凸起911无需接触导向体12进行防脱，只需防脱轮92与导向体12滚动抵接防脱即可。此时防脱凸起911的作用是防止防脱轮92突然损坏或者掉落时没有防脱措施，如此，防脱轮92和防脱凸起911实现双重防脱，提高了防脱效果，以保证安全性。
其中，防脱凸起911呈长条状，并沿导向体12的延伸方向延伸，防脱轮92的外周面相比于防脱凸起911更接近导向体12，以使得防脱轮92优先接触导向体12。
进一步地，本实施例在安装座91的相对两侧均设置防脱凸起911，以提高防脱稳定性。可选地，两个防脱凸起911相对于安装座91成对设置，在起到防脱效果的同时，使得安装座91两侧受力均匀，以保证防脱稳定性。
当然，防脱凸起911的数量也可以是多个，多个防脱凸起911均布于安装座91的相对两侧，以提高防脱稳定性。
在一些实施例中，为确保安装座91受力地均匀性，防脱轮组件9设置 有至少两个防脱轮92，至少两个防脱轮92均布于安装座91的相对侧。
可选地，两个防脱轮92对称设置于安装座91的相对侧，以提高防脱稳定性。可选地，防脱轮92的数量可以是四个，四个防脱轮92均布于安装座91的相对侧。可选地，防脱凸起911位于同一侧的两个防脱轮92之间，在其中一个防脱轮92脱落时，防脱凸起911可及时与导向体12进行抵接限位，以防止安装座91脱离容纳槽1211，从而防止攀爬设备在运行中出现脱轨。
在一些实施例中，如图21所示，防脱轮92包括滚轮921和防脱轴922，滚轮921与导向体12滚动抵接；防脱轴922与安装座91连接，滚轮921设于防脱轴922。
本实施例中，滚轮921通过防脱轴922与安装座91转动连接，可选地，还可将防脱轴922通过轴承与滚轮921连接。
在安装座91的相对侧各设有一个滚轮921的情形下，防脱轴922贯穿安装座91，防脱轴922的两端凸出于安装座91的相对侧，两个滚轮921通过轴承分别安装于防脱轴922的两端。如此，在滚轮921与导向体12滚动抵接实现防脱时，防脱轴922可有效固定滚轮921，以防止滚轮921发生位移。
进一步地，防脱轮92还包括垫片923和垫圈924，垫片923套设于防脱轴922，并位于滚轮921背向安装座91的一侧。垫圈924套设于防脱轴922，并位于滚轮921面向安装座91的一侧。
如此，本实施例在滚轮921的两侧分别设置垫片923和垫圈924，可对滚轮921进行限位，防止滚轮921沿防脱轴922发生轴向窜动。可选地，垫片923和垫圈924可与轴承的内圈抵接进行固定，而滚轮921套设于轴承的外圈，以避免垫片923和垫圈924影响滚轮921的转动。
在一些实施例中，防脱组件还包括防磨块94，安装座91与防磨块94连接，防磨块94与攀爬设备的车体本体1连接。
如图19和图20所示，防磨块94设于安装座91面向车体本体1的一 侧，且防磨块94位于容纳槽1211的外侧。如此，防磨块94位于导向体12和车体本体1之间，基于防磨块94的隔离作用，可防止车体本体1与导向体12产生摩擦。
可选地，可将防磨块94固定于车体本体1的外壁面，并将防磨块94连接于安装座91的一侧，以使得安装座91通过防磨块94与攀爬设备连接。
可选地，防磨块94呈圆柱型，防磨块94的端面与车体本体1的外壁面贴合，以提高安装稳定性，当然，在其他实施例中，防磨块94也可以是长方体型或者正方体型，在此不做限定。
进一步地，本实施例的防脱轮组件9设置有两个防磨块94，两个防磨块94沿安装座91的长度方向间隔设置。为了提高安装稳定性，在安装座91的长度方向上设置两个防磨块94，也可使得安装座91与车体本体1之间的连接受力均匀。当然，防磨块94的数量也可以是三个、四个或者多个，在此不做限定。
在一些实施例中，如图17和图18所示，本申请实施例还提供另一种防脱轮组件9，该防脱轮组件9在上述实施例的基础上，可将上述防磨块94替换为铰接座93，将铰接座93和车体本体1连接，安装座91可转动地设于铰接座93。
具体地，在防脱轮92设置多组，且多组防脱轮92沿导向体12的延伸方向间隔设置于安装座91的情形下，本实施例可将铰接座93远离车体本体1的一端通过铰接轴和安装座91铰接，铰接座93和安装座91铰接的部位位于相邻两组防脱轮92之间。
其中，本实施例通过设置多组防脱轮92，不仅可防止安装座91和导向体12发生接触摩擦，而且也减小了各个防脱轮92上的受力，确保了各个防脱轮92受力的均匀性。
如图17和图18所示，本申请实施例的防脱轮92设置有两组，每组防脱轮92包括两个防脱轮92，两个防脱轮92分设于安装座91的相对侧，每个防脱轮92均与安装座91转动连接。本实施例的铰接座93和安装座91上 位于两组防脱轮92之间的位置铰接。
在实际应用中，因安装布置或机械加工的影响，导向体12的内壁面可能出现倾斜或不平整的情况。如此，当防脱轮92在导向体12的容纳槽1211内滚动的过程中，会遇到不平整的壁面，此时安装座91可根据防脱轮92的受力而适应性地进行一定幅度的摆动，从而在实现防脱轮组件9的防脱功能的同时，确保防脱轮组件9在导向体12的容纳槽1211中的可通过性，也确保了攀爬设备升降运行的安全性。
在一些实施例中，请参阅图5，以及图22至图23，本申请实施例的辅助导向组件还包括支撑轮10；支撑轮10和车体本体1连接，支撑轮10用于和导向体12朝向车体本体1的一侧面滚动连接；支撑轮10和防脱轮组件9相对设置。
可理解的是，支撑轮10和防脱轮组件9在车体本体1上的位置相靠近，基于支撑轮10和防脱轮组件9的配合，可确保车体本体1和导向体12的相对位置保持稳定，提高了车体本体1相对于导向体12的抗摆动能力，从而确保攀爬设备沿导向体12升降运行的稳定性。
在一些实施例中，在攀爬设备升降运行的过程中，为了更为可靠地确保车体本体1和导向体12之间的相对位置，可将支撑轮10和防脱轮组件9一一相对地设有多组，多组支撑轮10和防脱轮组件9沿导向体12的延伸方向间隔设置。
与此同时，在本实施例中，至少有一组支撑轮10和防脱轮组件9与踏板组件2相对设置。
如此，当工作人员站立在踏板组件2上时，由于踏板组件2通常设于车体本体1的下端，踏板组件2上的重力可通过支撑轮10传递至导向体12上，支撑轮10用于平衡踏板组件2的载荷，基于支撑轮10对踏板组件2所在部位提供的良好支撑，可防止踏板组件2承重过大，导致车体本体1与导向体12之间产生接触摩擦，从而影响到车体本体1在导向体12上的运行。
在此应指出的是，为确保支撑轮10对踏板组件2支撑的可靠性，将支 撑轮10设置于踏板组件2对应的两个安装部22的中间位置。
在一些示例中，如图22所示，本申请实施例的支撑轮10包括支座1011、支撑轴1012、第二轴承1013和轮体1014。支座1011固定安装于车体本体1，支撑轴1012安装于支座1011，第二轴承1013套设于支撑轴1012上，轮体1014套设于第二轴承1013上。
为确保支撑轴1012安装的稳定性，支座1011设置有两个，支撑轴1012的一端和其中一个支座1011连接，支撑轴1012的另一端和另一个支座1011连接。与此同时，本实施例也可在支撑轴1012上安装多个第二轴承1013，由多个第二轴承1013对轮体1014提供支撑。
在实际应用中，本实施例可将轮体1014和导向体12朝向车体本体1的一侧面滚动连接，并设置轮体1014的轴向长度大于或等于导向体12朝向车体本体1的一侧面的宽度，由轮体1014对攀爬设备相对于导向体12的移动提供滚动支撑。
在一些示例中，如图6和图23所示，本申请实施例的支撑轮10包括辊轮座1021和辊轴1022；辊轮座1021安装于车体本体1，辊轴1022的中部可转动地安装于辊轮座1021上，以使得辊轴1022的两端从辊轮座1021的相对侧露出。
在实际应用中，本实施例可将辊轮座1021设于导向体12所对应的容纳槽1211的槽口12111中，在确保攀爬设备能够相对于导向体12移动的同时，可使得辊轴1022的两端均与导向体12朝向车体本体1的一侧面滚动连接，由辊轴1022对攀爬设备相对于导向体12的移动提供滚动支撑。
在一些实施例中，如图24至图26所示，在上述实施例的基础上，与上述实施例不同的是，在沿箱体110的高度方向，第一间室111设于第二间室112的下侧，踏板组件2设于第一间室111和第二间室112之间。
与此同时，本实施例的第二间室112内设有第二间隔件114，第二间隔件114将第二间室112间隔为第一隔间和第二隔间，第一隔间和第二隔间沿箱体110的宽度方向排布，上述实施例的控制模块62设于第一隔间，至少 部分驱动组件7设于第二隔间。
在一些实施例中，如图27所示，本实施例还提供一种攀爬系统，包括：导向体12和如上任一项所述的攀爬设备；导向体12附着于建筑物或塔筒的表面。
为了较好地控制攀爬设备沿导向体12升降，在导向体12上或者在靠近导向体12的位置安装有触发装置，触发装置包括设置于导向体12两端的触发限位机构，触发限位机构包括上触发块1301、下触发块1302和减速触发块1303。
相对应地，本实施例的攀爬设备上设置的触发开关65包括第一触发开关、第二触发开关和第三触发开关。
其中，第一触发开关与设于靠近导向体12上端的上触发块1301相配合，以在第一触发开关被上触发块1301触发时，控制攀爬设备停止上行。第二触发开关与设于靠近导向体12下端的下触发块1302相配合，以在第二触发开关被下触发块1302触发时，控制攀爬设备停止下行。第三触发开关与设于靠近导向体12端部的减速触发块1303相配合，以在第三触发开关被减速触发块1303触发时，控制攀爬设备减速运行。
进一步地，上述触发装置还包括设置于导向体12两端的机械限位机构，机械限位机构包括上限位块和下限位块。当触发开关65与触发限位机构组成的触发控制失灵后，攀爬设备在运行过程中，机械碰撞在上限位块和下限位块上，强制攀爬设备停止运行，避免攀爬设备滑出导向体12，造成重大事故，进而提高设备运行的安全性。
如图28至图34所示，本实施例的导向体12包括：导轨本体1210和齿条部1220；导轨本体1210和齿条部1220连接，并沿相同的方向延伸设置。
辅助导向组件与导轨本体1210滚动连接，导轨本体1210延其延伸方向设有容纳槽1211，该延伸方向也可以理解是导向体12的长度方向或导向方向；齿条部1220沿导轨本体1210的延伸方向设置，齿条部1220与驱动组 件7的第二零背隙滚轮73啮合设置。
其中，齿条部1220既可以设置在导轨本体1210两外侧中的至少一侧，齿条部1220也可以设置在容纳槽1211的槽口12111两侧中的至少一侧。
如此，本实施例的导向体12不仅可以实现导向功能，而且可以与攀爬设备的第二零背隙滚轮73相配合，以兼具升降驱动功能，结构新颖。与此同时，通过将导向和升降驱动集成设置，可提高导向体12的集成化程度。
相比于现有技术中采用柔性传动介质的钢丝绳进行升降驱动的方案，本申请实施例提供的刚性传动介质可确保攀爬设备运行稳定可靠，安全性更高，且能够实现快速拆卸安装。
如图28和图29所示，导轨本体1210可以是横截面形状为矩形的长条状结构，容纳槽1211从导轨本体1210的正面向内开设形成，然后在导轨本体1210的两侧分别向外延伸形成第一延伸部1212，至少一侧的第一延伸部1212上阵列设有齿以形成齿条部1220。
可以理解为，导轨本体1210与齿条部1220一体成型设置，导轨本体1210的两侧分别向外延伸形成第一延伸部1212，向外延伸也即向远离容纳槽1211的方向延伸，以使导轨本体1210的横截面形状为“几”字型，攀爬设备的导向轮8和导轨本体1210上的与第一延伸部1212相对的侧面滚动连接，如图33和图34所示。
在一些实施例中，如图32和图33所示，可以将导轨本体1210和齿条部1220设置为一体式结构。
例如，在导轨本体1210一侧的第一延伸部1212上阵列设置多个齿以形成齿条部1220，该齿条部1220与攀爬设备的第二零背隙滚轮73相啮合进行升降传动，导轨本体1210另一侧的第一延伸部1212可以作为攀爬设备的支撑轮10的轨道。
或者，导轨本体1210两侧的第一延伸部1212上均阵列设置多个齿以形成齿条部1220，该齿条部1220与攀爬设备的第二零背隙滚轮73相啮合进行升降传动。同时，导轨本体1210两侧的第一延伸部1212可以作为攀爬设 备的支撑轮10的轨道。
在一些实施例中，如图28和图31所示，容纳槽1211的槽口12111两侧分别向内延伸形成第二延伸部1213，向内延伸也即向靠近容纳槽1211的中心方向延伸。在此，本实施例也可将至少一侧的第二延伸部1213上阵列设置齿，以形成齿条部1220。
可以理解为，导轨本体1210与齿条部1220一体成型设置，容纳槽1211的槽口12111两侧分别向内延伸形成第二延伸部1213，以使导轨本体1210的横截面形状类似为“匚”字型，也即通过第二延伸部1213缩小了槽口12111的宽度，从而使第二延伸部1213的背面可以作为攀爬设备的防脱轮组件9的轨道，也即攀爬设备装配在导轨本体1210时，防脱轮组件9的一部分设于容纳槽1211内，并与第二延伸部1213的背面滚动接触。
在一些实施例中，如图28所示，容纳槽1211的槽口12111两侧中的至少一侧分别向内延伸以形成卡钩部1214，卡钩部1214为攀爬设备的连接提供相应的辅助作用，攀爬设备的导向钩轮从槽口12111处伸入至容纳槽1211，并与卡钩部1214的内侧表面滚动接触，以使攀爬设备钩设在导轨本体1210上，防止攀爬设备从导轨本体1210上脱出，进一步提高攀爬设备与导轨本体1210之间连接的可靠性。
其中，卡钩部1214可以独立于第二延伸部1213设置，卡钩部1214还可以由第二延伸部1213充当。比如容纳槽1211的槽口12111一侧的第二延伸部1213阵列设置齿以形成齿条部1220时，容纳槽1211的槽口12111另一侧的第二延伸部1213可以作为卡钩部1214，使导向钩轮钩设在第二延伸部1213上。
在一些实施例中，本实施例的齿条部1220通过紧固件1230可拆卸地连接在导轨本体1210的至少一侧，或者齿条通过紧固件1230可拆卸地连接在容纳槽1211的槽口12111两侧中的至少一侧。其中，紧固件1230可以为螺钉或螺栓。
可以理解为，导轨本体1210和齿条部1220是独立设置的两个部件，两 者通过紧固件1230进行连接，通过将齿条部1220与导轨本体1210分开设置，方便导轨本体1210与齿条部1220的维修和更换。当然，本实施例也可将齿条部1220和导轨本体1210焊接为一体。
如图30和图31所示，为了使齿条部1220在导轨本体1210上的安装定位更准确，可以在导轨本体1210的侧面对应齿条的安装位置设置安装槽1215，齿条可以插设于安装槽1215实现定位，然后通过紧固件1230进行连接。
在一些实施例中，沿导轨本体1210的延伸方向，在容纳槽1211的底壁等间距设置有多个防坠锁止孔1216。
如此，在车体本体上安装有带有防坠锁舌的防坠落装置的情形下，导向体12也可与该防坠落装置配合使用。当攀爬设备运行过程中出现失速坠落时，防坠落装置的防坠锁舌在离心力作用下转动，直至锁止于防坠锁止孔1216内，以限制攀爬设备继续坠落，避免意外发生，进一步提高攀爬设备运行的安全性。
因此，本实施例提供的导向体12不仅具有导向和升降驱动功能，而且还能够配合攀爬设备的防坠落装置进行防坠落锁止，其安全性更高。
由于失速急剧下降过程中，攀爬设备的速度较快，如果防坠锁止孔1216的尺寸较小，不便于防坠落装置锁止，从而防坠锁止孔1216可设计为长条状的矩形孔，方便攀爬设备失速急剧下降时，防坠落装置11能够锁止在导轨本体1210上。
在一些实施例中，如图28所示，为了增加防坠锁止孔1216处的结构强度，在容纳槽1211的底壁向容纳槽1211的槽口12111方向凸出设置有加强部1217，防坠锁止孔1216设置于加强部1217，通过增加防坠锁止孔1216处的结构强度，可延长导向体12使用时间，提高导向体12运行的安全性。
在一些实施例中，如图29所示，为了增加防坠锁止孔1216处的结构强度，本实施例也可设置容纳槽1211的底壁的厚度大于容纳槽1211的侧壁的厚度。
其中，为进一步提高升降设备运行的安全性，避免安装导向体12时占用防坠锁止孔1216，以影响防坠落装置的防坠锁止，在确保容纳槽1211的底壁的结构强度的基础上，本实施例还可在底壁内设置空腔12112，空腔12112沿导向体12的长度方向延伸，并且在空腔12112的壁面上设置相应的安装孔，以将导向体12固定于塔筒或墙壁上。
在一些实施例中，如图32所示，为了方便加工和运输，导轨本体1210可以包括多个导轨本体单元1218，相邻两个导轨本体单元1218之间通过连接件(图32中未示出)进行可拆卸地连接。
在装配过程中，可以将统一长度标准的导轨本体单元1218首尾拼接，相邻两个导轨本体单元1218之间通过连接件进行连接，以构成完整的所需长度尺寸的导轨本体1210，便于维修和更换。
当连接件为连接板时，可以在导轨本体1210的正反两面均设置连接板，在容纳槽1211的底壁且位于防坠锁止孔1216的一侧或两侧形成有凹陷状的固定部1219，位于导轨本体1210正面的连接板嵌设在该固定部1219中，能够通过固定部1219确保相邻两个导轨本体单元1218之间的平面度；然后将螺栓等紧固件从连接板所在位置的防坠锁止孔1216处穿过，将相邻两个导轨本体单元1218夹设在导轨本体1210正反面的连接板之间，实现相邻两个导轨本体单元1218拼接。
另外，还可以在固定部1219上开设有安装孔，导轨本体1210正反两面的连接板通过安装孔与导轨本体单元1218可拆卸地连接。
其中，位于导轨本体1210背面的连接板不仅可以将相邻两个导轨本体单元1218连接在一起，连接板还可以将组装为一体的导轨本体1210固定于塔筒或墙壁上，以实现整个导轨本体1210的安装。
在一些实施例中，为了增加导轨本体1210的强度和刚度，可以在容纳槽1211的内部设置有至少一个加强筋12110。
其中，加强筋12110可以沿着导轨本体1210的延伸方向设置在容纳槽1211的内部，本实施例也可针对容纳槽1211的四个壁面，在相邻两个壁面 之间的连接位置均倾斜设置加强筋12110，以增加整个导轨本体1210的刚度和强度。
在本申请的实施例中，采用模块化设计，将车体本体和踏板组件集成设置为模块式的车体总成，并且将控制总成集成于车体本体上，不仅确保了模块化升降设备的整体结构的紧凑性，减小了占用的空间，而且可以实现升降设备在工程现场的快速拆卸安装，可广泛应用于风电、电力塔架等领域的攀爬作业。
本发明提供的一种升降系统，包括如上任意一项所述的模块化升降设备，进而具有如上所述的全部优势，并且环境适应性强，市场应用前景广。
尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限
定。

Claims (14)

  1. 一种攀爬设备，包括：
    车体总成，包括车体本体和踏板组件，所述踏板组件与所述车体本体连接；
    控制总成，设于所述车体本体上，包括防坠落装置和辅助导向组件；所述防坠落装置包括限速器和防坠齿轮，所述限速器和所述防坠齿轮连接；
    所述辅助导向组件用于与导向体配合，以引导所述车体总成沿所述导向体移动；所述防坠齿轮用于在所述攀爬设备失速下降时，相对于所述导向体上的齿条部的啮合滚动被所述限速器限制，以对所述攀爬设备进行锁止。
  2. 根据权利要求1所述的攀爬设备，其中，所述防坠齿轮包括第一零背隙滚轮，所述齿条部包括零背隙齿条，所述第一零背隙滚轮和所述零背隙齿条啮合设置。
  3. 根据权利要求1所述的攀爬设备，其中，所述控制总成还包括控制组件和驱动组件；所述控制组件和所述驱动组件连接，所述驱动组件用于与所述导向体配合，以驱动所述车体总成沿所述导向体移动。
  4. 根据权利要求3所述的攀爬设备，其中，所述驱动组件包括：旋转驱动件和驱动齿轮；
    所述旋转驱动件的输出轴与所述驱动齿轮连接，所述驱动齿轮与所述导向体上的齿条部啮合。
  5. 根据权利要求1所述的攀爬设备，其中，所述辅助导向组件包括导向轮组件；所述导向轮组件包括多个导向轮，所述导向轮用于和所述导向体滚动连接，至少一组所述导向轮分设于所述导向体的相对侧。
  6. 根据权利要求5所述的攀爬设备，其中，所述导向轮组件包括安装轴、第一轴承和导轮；
    所述安装轴设有偏心孔，并通过所述偏心孔安装于所述车体本体上；所述第一轴承套设于所述安装轴上，所述导轮套设于所述第一轴承的外侧；
    所述安装轴、所述第一轴承和所述导轮同轴设置，所述偏心孔相对所述安装轴的轴向偏心设置。
  7. 根据权利要求1所述的攀爬设备，其中，所述辅助导向组件包括防脱轮组件；
    所述防脱轮组件包括安装座、防脱轮和防脱凸起，所述安装座和所述车体本体连接，所述防脱轮可转动地设于所述安装座，所述防脱凸起设于所述安装座，并且与所述防脱轮间隔设置，所述防脱凸起用于防止所述安装座脱离所述导向体。
  8. 根据权利要求1所述的攀爬设备，其中，所述辅助导向组件包括防脱轮组件；
    所述防脱轮组件包括铰接座、安装座和防脱轮，所述铰接座和所述车体本体连接，所述安装座可转动地设于所述铰接座，所述防脱轮可转动地设于所述安装座。
  9. 根据权利要求7或8所述的攀爬设备，其中，所述辅助导向组件还包括支撑轮；所述支撑轮和所述车体本体连接，所述支撑轮用于和所述导向体朝向所述车体本体的一侧面滚动连接；所述支撑轮和所述防脱轮组件相对设置。
  10. 根据权利要求9所述的攀爬设备，其中，所述支撑轮和所述防脱轮组件一一相对地设有多组，多组所述支撑轮和所述防脱轮组件分别沿所述导向体的延伸方向间隔设置，至少有一组所述支撑轮和所述防脱轮组件与所述踏板组件相对设置。
  11. 根据权利要求3至10任一项所述的攀爬设备，其中，所述控制总成还包括可移动电源，所述可移动电源分别与所述控制组件和所述驱动组件连接。
  12. 根据权利要求1至11任一项所述的攀爬设备，其中，所述车体总成还包括扶手组件；所述车体本体包括箱体；所述踏板组件和所述扶手组件分别与所述箱体连接。
  13. 一种攀爬系统，其特征在于，包括：导向体和如权利要求1至12任一项所述的攀爬设备；所述导向体附着于建筑物或塔筒的表面。
  14. 根据权利要求14所述的攀爬系统，其特征在于，所述导向体包括导轨本体和齿条部；所述导轨本体和所述齿条部连接，并沿相同的方向延伸设置。
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