CN102602859B - Wire-traction wall lifting and carrying combining mechanism - Google Patents
Wire-traction wall lifting and carrying combining mechanism Download PDFInfo
- Publication number
- CN102602859B CN102602859B CN201210086974.7A CN201210086974A CN102602859B CN 102602859 B CN102602859 B CN 102602859B CN 201210086974 A CN201210086974 A CN 201210086974A CN 102602859 B CN102602859 B CN 102602859B
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- Prior art keywords
- hanging basket
- groups
- counterweight
- underlying
- steel rope
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 44
- 239000010959 steel Substances 0.000 claims abstract description 44
- 238000004804 winding Methods 0.000 claims abstract description 16
- 239000002965 ropes Substances 0.000 claims description 38
- 230000003068 static Effects 0.000 claims description 22
- 230000001429 stepping Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 239000003638 reducing agents Substances 0.000 abstract 2
- 238000010276 construction Methods 0.000 abstract 1
- 238000005266 casting Methods 0.000 description 8
- 238000000034 methods Methods 0.000 description 4
- 210000004373 Mandible Anatomy 0.000 description 3
- 238000006073 displacement reactions Methods 0.000 description 3
- 210000003625 Skull Anatomy 0.000 description 2
- 230000003028 elevating Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000969 carriers Substances 0.000 description 1
- 235000015111 chews Nutrition 0.000 description 1
- 238000010586 diagrams Methods 0.000 description 1
- 238000005516 engineering processes Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquids Substances 0.000 description 1
- 239000000203 mixtures Substances 0.000 description 1
- 230000000149 penetrating Effects 0.000 description 1
- 230000001737 promoting Effects 0.000 description 1
- 238000000207 volumetry Methods 0.000 description 1
Abstract
Description
Technical field
The present invention relates to a kind of carrying mechanism for building in industrial and commercial bank's industry and wall upkeep operation, especially relating to a kind of wire saws wall and promoting carrying parallel institution.
Background technology
Existing wall carrying mechanism many employings winch, this elevating gear overwhelming majority can only complete the lifter motion on single vertical direction, and carrying space is very limited.Lift system in wall operation often must readjust the position of lifting after each job task terminates; Some hanging basket mechanism does not have the constraint of power in the horizontal direction usually, and hanging basket easily forms pendulum model and waves, and thus usually forbid operation in higher wind speed (more than 5 grades), these all bring great restriction to operating efficiency.Compared with above-mentioned elevating gear, wire saws wall involved in the present invention promotes the job requirements that carrying parallel institution can meet the super large coverage in carrying process, high support stiffness, high stability (hanging basket is without wigwag motion), can significantly improve the carrying efficiency of wall operation.
Chinese patent CN1397414 discloses a kind of three-freedom parallel mechanism driven by flexible rope.It is made up of three groups of driver elements and motion platform, wherein: reel, column etc. that each driver element comprises support, is installed together with electrical motor, on wirerope-winding reel, then be connected with clump weight bottom through down-place static pulley, autogamy pouring weight top is drawn, then walks around upper static pulley and be connected to motion platform; The steel rope of three groups of driver element extractions is all connected with motion platform, forms triangle.
Chinese patent CN101372036 discloses a kind of novel pouring robot connected in parallel, comprises pedestal, revolute, rotating disk, body and casting ladle; Described transverse arm penetrates and swings slide block and be connected with swing skid, and one end of transverse arm is connected with casting ladle, and its other end is affixed by the counterweight flexible cable and counterweight being wound in assembly pulley; First reel and the second reel are arranged at internal body, and are connected with transverse arm hinge type by upper flexible cable, lower flexible cable; Fuselage adopts parallel moving mechanism, realizes high rigidity, heavy lift; Casting ladle is connected with casting ladle oscillating motor by the parallelogram four-bar mechanism be located in transverse arm.Can be connected with motor with revolute by rotating disk by the pivotal fuselage of horizontal direction, the requirement according to casting machine adopts volumetry, ensures the accuracy of at every turn getting liquid; Casting ladle oscillating motor drives a set of parallelogram four-bar mechanism to realize casting ladle angle at-45 ° ~ 75 ° scale oscillation, realizes the accurate location of casting ladle; Adopt operation program, there is the operating feature of high efficiency, high stable.
The redundant parallel that Chinese patent CN101850184A discloses a kind of Wire driven robot chews robot, and this robot is made up of frame, motor, retarder, cable pulley, flexible cable, mankind's mandible model and skull tooth model.Frame is the support platform of whole robot, is provided with movable beam, and motor is fixed on crossbeam by motor cabinet.Motor is connected with cable pulley by retarder, and cable pulley is tied with flexible cable, and the flexible cable other end is connected with mandible model, and driving mandible model realizes the masticatory movement in three dimensional space.Skull tooth model is fixed by the fixed support of frame.
Summary of the invention
The object of the invention is to for existing building that industrial and commercial bank's industry and wall promote that ubiquitous operating range in carrying Work machine is little, operation that horizontal direction cannot be carried out and the defect such as carrying hanging basket horizontal direction in lifting process is stable not, provide the wire saws wall that a kind of working space is large, support stiffness is high, stable work in work, mechanism's energy consumption are low to promote carrying parallel institution.
The present invention is provided with and loads hanging basket, 2 groups have counterweight actuating device, 2 groups without counterweight actuating device and 2 clump weights; Described loading hanging basket is provided with 4 hangers, described 2 groups have counterweight actuating device be located at load hanging basket both sides above, 2 groups have counterweight actuating device be provided with centrally-mounted driving, on put retarder, friction drum, upper static pulley, on put support and on put steel rope; Described upper static pulley is put support on passing through and is cemented on wall; The one end of putting steel rope on described be fixed on the hanger loaded on hanging basket and be connected, the other end above putting steel rope is connected with clump weight by upper static pulley, friction drum; Described 2 groups are located at the down either side of loading hanging basket without counterweight actuating device, described 2 groups are provided with lower centrally-mounted driving, underlying retarder, cable winding drum, down-place static pulley, underlying support and underlying steel rope without counterweight actuating device; Described down-place static pulley is cemented on wall by underlying support, one end of described underlying steel rope be fixed on the hanger loaded on hanging basket and be connected, the other end of described underlying steel rope by down-place static pulley around on cable winding drum.
Described 2 groups have counterweight actuating device and 2 groups can arrange in quadrangle without counterweight actuating device, with loading hanging basket in the same perpendicular parallel with wall.
Described 4 hangers can be arranged on the mid point of loading hanging basket hoop 4 minor faces.
Described 2 are put support and 2 underlying rack arrangement with loading hanging basket in the same perpendicular parallel with wall, and in quadrangle, its position is determined by wall-shaped.
The length of described 2 being put steel rope and 2 underlying steel ropes can be determined by the position 2 being put support and 2 underlying supports.
Described upper centrally-mounted driving and lower centrally-mounted driving can adopt servomotor or stepping motor.
The weight of described 2 clump weights can by load hanging basket weight, on put support and underlying support concrete layout determine, make the weight of clump weight with within the scope of payload ratings on to put the average tension of steel rope equal.
The weight of the friction coefficient of described friction drum puts steel rope pulling force and clump weight from is above determined.
Described friction drum and cable winding drum can be provided with the wire line guides such as spiral grooves.
The reduction ratio putting retarder and underlying retarder on described is determined by friction drum and the diameter of cable winding drum and the rotating speed of upper centrally-mounted driving and lower centrally-mounted driving.
The present invention is made up of with loading hanging basket the actuating devices that 4 groups is quadrangle layout, and two groups have counterweight drive arrangement above loading hanging basket both sides, and two groups are being loaded hanging basket down either side without counterweight drive arrangement.Have counterweight actuating device to comprise drive motor, retarder, friction drum, fixed pulley, support and steel rope etc., steel wire penetrating is with the friction drum of spiral grooves and fixed pulley, and fag end two ends are connected with clump weight with hanger respectively.Without counterweight drive arrangement in loading hanging basket down either side, comprise drive motor, retarder, cable winding drum, fixed pulley, support and steel rope etc., steel rope one ends wound is with on spiral grooves reel, and the other end is connected with hanger through fixed pulley.
Compared with existing carrying mechanism, the present invention has following outstanding advantages:
1) operating range is large.In the invention process process, as long as increase rope capacity and ensure that parallel institution kinematics resolves control accuracy, just can complete the carrying task of optional position in preset range.
2) support stiffness is high.Because rope traction and parallel-connection mechanism in the present invention adopts redundant drive, the support of it and rigidity parallel institution is the same has higher rigidity.
3) good operating stability.In the present invention, load the degree of freedom of hanging basket in horizontal surface and be obtained for restriction or control, fundamentally avoid hanging basket pendulum model in the horizontal direction and wave, thus work under larger wind speed, with also ensureing normal safe.
4) mechanism's energy consumption is low.Arranged by rational clump weight in the present invention, counteract the gravity of part cargo shipment hanging basket and carrier, thus effectively reduce the power of drive motor.
5) structure is simple, is convenient to manufacture, I& M.Often organize driver module all same or similar in principle, save design and manufacture cost.
Accompanying drawing explanation
Fig. 1 is the structure composition schematic diagram of the embodiment of the present invention.
Detailed description of the invention
See Fig. 1, the embodiment of the present invention is provided with loading hanging basket 2,2 groups has counterweight actuating device 11,2 groups without counterweight actuating device 1 and 2 clump weights 3; Described loading hanging basket 1 is provided with 4 hangers 4, described 2 groups have counterweight actuating device 11 be located at load hanging basket 2 both sides above, 2 groups have counterweight actuating device 11 be provided with centrally-mounted driving 10, on put retarder 9, friction drum 6, upper static pulley 7, on put support 8 and on put steel rope 5; Putting support 8 on described upper static pulley 7 passes through is cemented on wall; The one end of putting steel rope 5 on described be fixed on the hanger 4 loaded on hanging basket 2 and be connected, the other end above putting steel rope 5 is connected with clump weight 3 by upper static pulley 7, friction drum 6; Described 2 groups are located at the down either side of loading hanging basket 2 without counterweight actuating device 1, described 2 groups are provided with lower centrally-mounted driving 12, underlying retarder 13, cable winding drum 14, down-place static pulley 16, underlying support 15 and underlying steel rope 17 without counterweight actuating device 1; Described down-place static pulley 16 is cemented on wall by underlying support 15, one end of described underlying steel rope 17 be fixed on the hanger 4 loaded on hanging basket 2 and be connected, the other end of described underlying steel rope 17 by down-place static pulley 16 around on cable winding drum 14.
Described 2 groups have counterweight actuating device 11 and 2 groups can arrange in quadrangle without counterweight actuating device 1, with loading hanging basket 2 in the same perpendicular parallel with wall.
Described 4 hangers 4 can be arranged on the mid point of loading hanging basket 2 hoop 4 minor faces.
Described 2 are put support 8 be arranged in 2 underlying supports 15 and load hanging basket 2 in the same perpendicular parallel with wall, and in quadrangle, its position is determined by wall-shaped.
The length of described 2 being put steel rope 5 and 2 underlying steel ropes 17 can be determined by the position 2 being put support 8 and 2 underlying supports 15.
Described upper centrally-mounted driving 10 and lower centrally-mounted driving 12 can adopt servomotor or stepping motor.
The weight of described 2 clump weights 3 can by load hanging basket 2 weight, on put support 8 and underlying support 15 concrete layout determine, make the weight of clump weight 3 with within the scope of payload ratings on to put the average tension of steel rope 5 equal.
The weight of the friction coefficient of described friction drum 6 puts steel rope 5 pulling force and clump weight 3 from is above determined.
Described friction drum 6 and cable winding drum 14 can be provided with the wire line guides such as spiral grooves.
The reduction ratio putting retarder 9 and underlying retarder 13 on described is determined by friction drum 6 and the diameter of cable winding drum 14 and the rotating speed of upper centrally-mounted driving 10 and lower centrally-mounted driving 12.
Principle of work of the present invention is: having in counterweight actuating device 11, put retarder 9 on upper centrally-mounted driving 10 passes through and twist moment is passed to friction drum 6, friction drum 6 utilize friction force to drive to be wrapped on friction drum on put steel rope 5 and move, on put the guiding of steel rope 5 by upper static pulley 7 and displacement passed to hanger 4 on hanging basket upper side frame, there is clump weight 3 in the steel cord ends system of extracting out from friction drum 6, the weight counteracting part by adjustment clump weight 3 is put the pulling force of steel rope 5; Without in counterweight actuating device 1, twist moment to be passed to the cable winding drum 14 with spiral grooves by underlying retarder 13 by lower centrally-mounted driving 12, cable winding drum 14 is by the underlying steel rope 17 of forward and reverse rotary motion folding and unfolding, and displacement to be passed to the hanger 4 on hanging basket lower frame by underlying steel rope 17 by the guiding of down-place static pulley 16.Resolved the cooperation motion controlling above-mentioned two kinds, 4 groups actuating devices by parallel institution kinematics, folding and unfolding steel wire, makes loading hanging basket 2 can do the displacement movement of 2 degree of freedom in the perpendicular parallel with wall, and makes loading hanging basket 2 be in horizontal attitude.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210086974.7A CN102602859B (en) | 2012-03-28 | 2012-03-28 | Wire-traction wall lifting and carrying combining mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210086974.7A CN102602859B (en) | 2012-03-28 | 2012-03-28 | Wire-traction wall lifting and carrying combining mechanism |
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| Publication Number | Publication Date |
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| CN102602859A CN102602859A (en) | 2012-07-25 |
| CN102602859B true CN102602859B (en) | 2015-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210086974.7A CN102602859B (en) | 2012-03-28 | 2012-03-28 | Wire-traction wall lifting and carrying combining mechanism |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103466517A (en) * | 2013-08-06 | 2013-12-25 | 总装备部工程设计研究总院 | Spatial attitude stabilizing system |
| CN103711300B (en) * | 2013-12-20 | 2016-06-08 | 西安电子科技大学 | A kind of rope traction parallel translational landing stage of scaffold device |
| CN104236491B (en) * | 2014-06-27 | 2017-03-22 | 华东交通大学 | Four-rope traction three-freedom-degree intelligent measurement robot |
| CN105406380A (en) * | 2015-11-09 | 2016-03-16 | 国网河南伊川县供电公司 | Hanging basket used for high-voltage line maintenance |
| CN107098276A (en) * | 2017-05-12 | 2017-08-29 | 江苏信息职业技术学院 | A kind of rope suspension crane |
| CN108928778B (en) * | 2017-06-13 | 2020-05-15 | 漳浦新时代农业开发有限公司 | Modular companion ladder for power maintenance |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2484153Y (en) * | 2001-05-30 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Four-free-degree parallel machanism to achieve two-dimensional rotation and two-dimension translation |
| CN1387977A (en) * | 2001-05-30 | 2003-01-01 | 中国科学院沈阳自动化研究所 | Four-freedom parallel mechanism realizing 2D rotation and 2D translation |
| CN1397414A (en) * | 2001-07-16 | 2003-02-19 | 中国科学院沈阳自动化研究所 | Three-freedom parallel mechanism driven by flexible rope |
| CN1463821A (en) * | 2002-06-28 | 2003-12-31 | 杨廷力 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
| CN101844349A (en) * | 2010-05-17 | 2010-09-29 | 清华大学 | Redundant parallel robot system |
-
2012
- 2012-03-28 CN CN201210086974.7A patent/CN102602859B/en active IP Right Grant
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2484153Y (en) * | 2001-05-30 | 2002-04-03 | 中国科学院沈阳自动化研究所 | Four-free-degree parallel machanism to achieve two-dimensional rotation and two-dimension translation |
| CN1387977A (en) * | 2001-05-30 | 2003-01-01 | 中国科学院沈阳自动化研究所 | Four-freedom parallel mechanism realizing 2D rotation and 2D translation |
| CN1397414A (en) * | 2001-07-16 | 2003-02-19 | 中国科学院沈阳自动化研究所 | Three-freedom parallel mechanism driven by flexible rope |
| CN1463821A (en) * | 2002-06-28 | 2003-12-31 | 杨廷力 | Two parallel move and two rotary motion parallel device containing biplane circuit for imaginary axis machine tool and robot |
| CN101844349A (en) * | 2010-05-17 | 2010-09-29 | 清华大学 | Redundant parallel robot system |
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| CN102602859A (en) | 2012-07-25 |
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