CN106143669B - A kind of vertical ladder climbing mechanism - Google Patents
A kind of vertical ladder climbing mechanism Download PDFInfo
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- CN106143669B CN106143669B CN201610680858.6A CN201610680858A CN106143669B CN 106143669 B CN106143669 B CN 106143669B CN 201610680858 A CN201610680858 A CN 201610680858A CN 106143669 B CN106143669 B CN 106143669B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
Climbing mechanism provided by the invention is directed to the design feature of vertical ladder, is coordinated using the action for climbing finger and climbing device, and the sequential movements between three stations needed for automatic climbing process are realized according to designed climbing strategy.In design, this climbing mechanism is simple in structure, dead weight is small, so load capacity is greatly improved compared with the equipment that the prior art provides.
Description
Technical field
The present invention relates to automated machine apparatus field, more particularly, to a kind of vertical ladder climbing mechanism.
Background technology
Current automation climbing mechanism completes climbing for different application environment features using different attachment principles
Action, has absorption type, electromagnetic type, Alcula type etc. by action principle main species.
Absorption type climbing mechanism offsets itself as absorption principle using negative pressure or vacuum cup using adsorption capacity mostly
Weight passes through the cooperation folding and unfolding of multiple suckers, the climbing of implementation mechanism；Its canonical form such as high-altitude glass cleaning machine people.It inhales
Attached formula climbing mechanism has good ability to work on smooth surface, and load is larger.But for non-smooth surface due to it
Adsorption capacity very little, so adsorption capacity can not offset the weight of climbing mechanism, thus its applicability is restricted.Magnetic-type climbing machine
Structure generates magnetic attraction to the object climbed by the electromagnetic force equipment of itself and realizes climbing, such robot to offset dead weight
There is magnetic force requirement to climbed object, so the climbing of non-magnetic structure can not be completed.Alcula type climbing mechanism, using bionic type hook
Pawl structure grabs in its climbing hand and is designed with multiple tiny crotches, rough surface is buckled in using crotch when climbing,
Its own gravity is offset on such as mixed pure land wall, realizes climbing.But such current mechanism is influenced by structure, itself payload rate compared with
It is low, it can not realize the climbing motion of heavy load.
Invention content
Purpose of the present invention to solve the more than prior art, provides a kind of vertical ladder climbing mechanism, which utilizes fixation
Arm, climbing arm realize upward climbing and climbing downwards on vertical ladder, compared with prior art, simple in structure, dead weight
Small, load capacity is strong, can implement the climbing motion of big load.
For realization more than goal of the invention, the technical solution adopted is that：
A kind of vertical ladder climbing mechanism, including rack, it is characterised in that：Further include the fixing arm being arranged in rack,
Crank, connecting rod, motor, synchronous belt, the sliding platform being arranged in rack and the climbing arm being arranged on sliding platform；It is described
Sliding platform is arranged on the lower section of fixing arm, and the movement in vertical direction can occur for sliding platform；
The fixing arm includes the first bottom plate, the first torsional spring, the first pawl, the first ratchet, fixed finger and the first spine
Pawl pushes element, wherein the first bottom plate is connect with rack, the first torsional spring, the first ratchet, fixed finger and the first pawl push member
Part is arranged on the first bottom plate；One end of first torsional spring is connect with the first bottom plate, and the other end is connect with the first ratchet；First pawl
It is connect with the push end of the first pawl push element, the first pawl push element is used to the first pawl pushing to the first ratchet institute
It is engaged in position and the first ratchet；One end of fixed finger is connect with the first ratchet；
The climbing arm includes the second bottom plate, the second torsional spring, the second pawl, the second ratchet, climbing finger and the second spine
Pawl pushes element, wherein the second bottom plate is arranged on sliding platform, the second torsional spring, the second ratchet, climbing finger and the second pawl
Push element is arranged on the second bottom plate；One end of second torsional spring is connect with the second bottom plate, and the other end is connect with the second ratchet；The
Two pawls are connect with the push end of the second pawl push element, and the second pawl push element is used to the second pawl pushing to second
Ratchet position is engaged with the second ratchet；One end of climbing finger is connect with the second ratchet；
The motor, crank are arranged in rack, and wherein motor is connect with a belt wheel, and crank is connect with another belt wheel, electricity
Machine is connect by belt wheel, synchronous belt, another belt wheel with crank；Connecting rod one end is connect with crank, and the other end is connect with sliding platform.
When specific implementation, since fixed finger, climbing finger are attached by ratchet, torsional spring and bottom plate
, so in the state of normal, have a certain degree between fixed finger, climbing finger and rack, pawl and ratchet
In the case of engagement, this angle ensures that climbing mechanism can be affiliated to by fixed finger, climbing finger on vertical ladder, and unlikely
In falling down.In general, fixed finger, climbing finger be there are three types of operating position, and fixed finger wherein under normal condition is climbed
It climbs finger and is in 1 state of station, i.e., angulation is less than 90 ° along clockwise direction between rack；2 state of station is upward
Fixed finger, climbing finger are clockwise to after being acted on by ladder cross bar at angle maximum value during climbing, 3 state of station
It is rotated counterclockwise after being acted on for fixed finger, climbing finger during climbing downwards by ladder cross bar to angle maximum value.
The concrete principle process climbed upwards climbing mechanism and climbed downwards below is described, and climbing mechanism is upward
During climbing or downwards climbing, motor shaft rotation drives crank rotation, and crank is used between fixing arm and climbing arm
Link rod structure connects, so that climbing arm can move in the vertical direction, climbing mechanism utilizes and climbs arm
Climbing upward or downward is realized in the rule variation of distance between fixing arm, and detailed process is as follows：
（1）Climbing upwards：During this, the spacing between climbing arm, fixing arm passes through the band of brace and connecting rod framework
It is dynamic that minimum is changed to by initial maximum, maximum is then changed to by minimum again, so as to complete once to climb, specifically includes following step
Suddenly：
S11. the starting stage：The torsional spring of arm, fixing arm is climbed in the state of normally, fixed finger, climbing hand
Finger reaches 1 state of station, and angulation is less than 90 ° along clockwise direction between rack, climbing arm, fixing arm
Pawl is engaged with ratchet, and climbing mechanism is affiliated to by fixed finger, climbing finger in vertical ladder in the starting stage；
S12. the climbing arm climbing stage：Motor rotates so that the spacing between climbing arm, fixing arm gradually becomes
It is small, and the second pawl push element drives the second pawl to make it away from the second ratchet, the second pawl is not nibbled the second ratchet
Locking is closed, climbing finger is allow to rotate and reaches 2 state of station, so as to cross over vertical ladder cross bar, when crank rotation makes climbing
During spacing minimum between arm, fixing arm, the arm of crank handle turns climbing at this time climbs n ladders upwards, due to the second torsional spring band
Dynamic climbing finger restores 1 state of station, thus the second pawl push element can push the second pawl make its with the second ratchet into
Row engagement, the second pawl lock the second ratchet, and climbing mechanism is affiliated to by climbing finger on the cross bar of vertical ladder, then
Perform step S13；
S13. the fixing arm climbing stage：At this point, the first pawl push element drives the first pawl to make it away from the first spine
Wheel, the first pawl do not lock the first ratchet, and fixed finger, which can rotate, reaches 2 state of station, so as to across directly
Terraced cross bar since climbing finger has been affiliated on the cross bar of vertical ladder, is rotated by motor, between climbing arm, fixing arm
Spacing can incrementally increase, then when motor rotates climbing arm, the spacing between fixing arm is maximum, fixed hand
Arm climbs n ladders upwards, since the first torsional spring drives climbing finger to restore 1 state of station, so the push element push of the first pawl
First pawl makes it be engaged with the first ratchet, and the first pawl locks the first ratchet, and climbing mechanism is by climbing hand
Refer to, fixed finger is affiliated on the cross bar of vertical ladder.
S14. step S11 ~ S13 is the process once climbed, and after completing primary climbing, is re-executing step S11, is entering
Climbing next time, so as to fulfill the upward climbing of climbing mechanism.
（2）Climbing downwards：During this, the spacing between climbing arm, fixing arm is by the drive of crank by initial
Minimum change to maximum, then by maximum change to minimum again, so as to complete once to climb, specifically include following steps：
S21. the starting stage：The torsional spring of arm, fixing arm is climbed in the state of normally, fixed finger, climbing hand
Finger reaches 1 state of station, and angulation is less than 90 ° along clockwise direction between rack, climbing arm, fixing arm
Pawl is engaged with ratchet, and climbing mechanism is affiliated to by fixed finger, climbing finger in vertical ladder under the starting stage；
S22. the climbing arm climbing stage：Motor rotates so that the spacing between climbing arm, fixing arm gradually becomes
Greatly, and the second pawl push element drives the second pawl to make it away from the second ratchet, and the second pawl is not locked the second ratchet
Rule climbing finger can rotate, and climbing finger rotates counterclockwise to 3 state of station, so as to cross over vertical ladder cross bar, works as song
When handle rotation makes the spacing between climbing arm, fixing arm for maximum, the arm of crank handle turns climbing at this time climbs downwards n ladders,
Under the action of the second torsional spring, climbing finger restores 1 state of station, so the second pawl push element can push the second pawl
It is made to be engaged with the second ratchet, the second pawl locks the second ratchet, and climbing mechanism is affiliated to by climbing finger
On the cross bar of vertical ladder, step S23 is then performed；
S23. the fixing arm climbing stage：At this point, the first pawl push element drives the first pawl to make it away from the first spine
Wheel, the first pawl do not lock the first ratchet, and fixed finger can rotate, since climbing finger has been affiliated to
On the cross bar of vertical ladder, the rotation of motor is transmitted by synchronous belt so that crank rotate, so as to enable climbing arm, fixing arm it
Between spacing gradually become smaller, then when climbing arm, the spacing between fixing arm is minimum, fixing arm is climbed downwards
N ladders are climbed, fixed finger rotates counterclockwise to 3 state of station, and under the action of the first torsional spring, climbing finger restores 1 state of station,
So the first pawl push element can push the first pawl and it is made to be engaged with the first ratchet, the first pawl is to the first ratchet
It is locked, climbing mechanism is by climbing finger, fixed finger is affiliated on the cross bar of vertical ladder.
S24. step S21 ~ S23 is the process once climbed, and after completing primary climbing, is re-executing step S21, is entering
Climbing next time, so as to fulfill the downward climbing of climbing mechanism.
In said program, climbing mechanism can be securely fixed on vertical ladder using finger, fixed finger is climbed, so
The load capacity of climbing mechanism is greatly improved compared with the equipment that the prior art provides.
During specific implementation, if only setting a fixing arm and a climbing hand on vertical ladder climbing mechanism
Arm, then the heavy burden ability and the balanced capacity of itself of climbing mechanism are extremely limited, for this purpose, can be directed to fixing arm,
The quantity and its position for climbing arm do special setting to overcome this defect：
The vertical ladder climbing mechanism includes two symmetrical fixing arms, and the first bottom plate of two fixing arms is arranged on together
On one horizontal line, and two fixing arms are respectively arranged at the left and right sides of rack.
The vertical ladder climbing mechanism include two climbing arms, two climbing arm the second bottom plates respectively with sliding platform
Left and right ends connection, two climbing arms the second bottom plates setting in the same horizontal line.
In said program, two fixing arms are arranged by four regions in upper left, upper right, lower-left, bottom right in rack
With two climbing arms the heavy burden ability of climbing mechanism and balanced capacity are improved.
Preferably, the crank is arranged on the region between fixing arm and climbing arm, and crank is moved in a circle
The sliding platform being connect with connecting rod end is enable to do the back and forth movement in vertical direction.
Preferably, the first pawl push element, the second pawl push element are electromagnet.
Preferably, in order to ensure the accuracy in direction during climbing, the left and right ends of the rack are provided with directive wheel.
The directive wheel of rack left and right ends is arranged on for being contacted with the montant of vertical ladder, is made by guiding of the directive wheel on montant
It is universal wheel component with so that climbing mechanism climbs the directive wheel according to set direction.
Preferably, the left and right ends of the rack are provided with auxiliary wheel.The auxiliary wheel is universal wheel component.
Preferably, the left and right ends of the rack are respectively arranged with a discourager, and discourager is perpendicular to the place face of rack
It sets, multi-directional ball is inlaid on the outside of discourager, discourager limits climbing mechanism and exist for being contacted with the montant of vertical ladder
Displacement in horizontal direction, so as to have guiding function that climbing mechanism is caused to be climbed according to set direction on montant.
Compared with prior art, the beneficial effects of the invention are as follows：
1）Climbing mechanism provided by the invention is compared with the climbing equipment that the prior art provides, since its structure is simplified, certainly
Weight is smaller, it is thus possible to load more objects, heavy burden ability is improved.
2）Climbing mechanism can be securely fixed on vertical ladder using finger, fixed finger is climbed, so climbing mechanism
Load capacity compared with the equipment that the prior art provides, be greatly improved.
3）The cooperation of climbing mechanism and climbing strategy makes it possible that the automatic of vertical ladder climbs, and wherein discourager mechanism can be certainly
The direction of dynamic adjustment climbing, the present invention can lean on motor and continuously run the continuous climbing of realization, climbing speed under single steering
Degree and efficiency are obtained for raising.
4）Climbing mechanism provided by the invention is for designed by the design feature of vertical ladder, and use scope is extensive.
Description of the drawings
Fig. 1 is the structure diagram of climbing mechanism.
Fig. 2 is the structure diagram of fixing arm.
Fig. 3 is the structure diagram of climbing mechanism.
Fig. 4 be climb finger, fixed finger three station schematic diagrames.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；
Below in conjunction with drawings and examples, the present invention is further elaborated.
Embodiment 1
As shown in Figure 1, Figure 2, Figure 3 shows, vertical ladder climbing mechanism includes rack 1 and the fixing arm 2 being arranged in rack 1, song
Handle 3, connecting rod, motor 4, synchronous belt, the sliding platform 6 being arranged in rack and the climbing arm 5 being arranged on sliding platform 6；
The sliding platform 6 is arranged on the lower section of fixing arm 2, and the movement in vertical direction can occur for sliding platform 6；
As shown in Fig. 2, wherein fixing arm 2 includes the first bottom plate 21, the first torsional spring, the first pawl 23, the first ratchet
24th, 25 and first pawl of fixed finger push element 26, wherein the first bottom plate 21 is connect with rack 1, the first torsional spring, the first ratchet
24th, 25 and first pawl of fixed finger push element 26 is arranged on the first bottom plate 21；One end of first torsional spring and the first bottom plate
21 connections, the other end are connect with the first ratchet 24；First pawl 23 is connect with the push end of the first pawl push element 26, and first
Pawl push element 26 is engaged for the first pawl 23 to be pushed to 24 position of the first ratchet with the first ratchet 24；Gu
The one end for determining finger 25 is connect with the first ratchet 24；
As shown in figure 3, it is described climbing arm 5 include the second bottom plate 51, the second torsional spring, the second pawl 53, the second ratchet 54,
Climb 55 and second pawl of finger push element 56；Second torsional spring, the second ratchet 54 and the second pawl push element 56 are arranged on
On second bottom plate 51；Second bottom plate 51 is arranged on sliding platform 6, and one end of the second torsional spring is connect with the second bottom plate 51, another
End is connect with the second ratchet 54；Second pawl 53 is connect with the push end of the second pawl push element 56, the second pawl push member
Part 56 is engaged for the second pawl 53 to be pushed to 54 position of the second ratchet with the second ratchet 54；Climb finger 55
One end is connect with the second ratchet 54；
The crank 3, motor 4 are arranged in rack 1, and wherein motor 4 is connect with a belt wheel, and crank 3 connects with another belt wheel
It connects, motor 4 is connect by belt wheel, synchronous belt, another belt wheel with crank 3；Connecting rod one end is connect with crank 3, and the other end is with sliding
Platform 6 connects.
When specific implementation, since fixed finger 25, climbing finger 55 are connected by ratchet, torsional spring and bottom plate
It connects, so in the state of normal, has a certain degree between fixed finger 25, climbing finger 55 and rack 1, pawl
In the case of being engaged with ratchet, this angle can ensure that climbing mechanism is affiliated to by fixed finger 25, climbing finger 55 straight
On ladder, and it is unlikely to fall down.In general, as shown in figure 4, fixed finger, climbing finger are there are three types of operating position, wherein
Fixed finger 25, climbing finger 55 are in 1 state of station under normal condition, i.e., formed along clockwise direction between rack 1
Angle is less than 90 °；2 state of station is suitable after being acted on for fixed finger 25, climbing finger 55 during climbing upwards by ladder cross bar
Hour hands are turned at angle maximum value, and 3 state of station is made for fixed finger, climbing finger during climbing downwards by ladder cross bar
It is rotated counterclockwise after at angle maximum value.
The concrete principle process climbed upwards climbing mechanism and climbed downwards below is described, and climbing mechanism is upward
During climbing or downwards climbing, 4 shaft rotation of motor, which is moved, drives crank 3 to rotate, and is used between fixing arm 2 and climbing arm 5
Crank-linkage type structure connects, so that climbing arm 5 moves in the vertical direction, climbing mechanism utilizes and climbs arm
The climbing of 5 mobile realization upward or downward, detailed process are as follows：
（1）Climbing upwards：During this, the spacing between climbing arm 5, fixing arm 2 is by the drive of crank 3 by first
The maximum of beginning changes to minimum, then changes to maximum again by minimum, so as to complete once to climb, specifically includes following steps：
S11. the starting stage：The torsional spring of arm 5, fixing arm 2 is climbed in the state of normally, fixed finger 25 is climbed
It climbs finger 55 and reaches 1 state of station, angulation is less than 90 ° along clockwise direction between rack 1, and climbing arm 5 is consolidated
The pawl and ratchet for determining arm 2 are engaged, and climbing mechanism is affiliated to by fixed finger 25, climbing finger 55 under the starting stage
Vertical ladder；
S12. climbing arm 5 climbs the stage：Motor 4 rotates so that the spacing between climbing arm 5, fixing arm 2 is gradual
Become smaller, and the second pawl push element 56 drives the second pawl 53 to make it away from the second ratchet 54, the second pawl 53 is not to second
Ratchet 54 is engaged locking, and climbing finger 55 is allow to rotate, and reaches 2 state of station, so as to cross over vertical ladder cross bar, when
When the rotation of crank 3 makes the spacing minimum between climbing arm 5, fixing arm 2, crank 3 drives climbing arm 5 to climb upwards at this time
N ladders, since the second torsional spring drives climbing finger to restore 1 state of station, so the second pawl push element 56 can push second
Pawl 53 makes it be engaged with the second ratchet 54, and the second pawl 53 locks the second ratchet 54, and climbing mechanism is by climbing
It climbs finger 55 to be affiliated on the cross bar of vertical ladder, then performs step S13；
S13. fixing arm 2 climbs the stage：At this point, the first pawl push element 26 drives the first pawl 23 to make it away from
First ratchet 24, the first pawl 23 do not lock the first ratchet 24, and fixed finger 25, which can rotate, reaches station 2
State, so as to cross over vertical ladder cross bar, since climbing finger 55 has been affiliated on the cross bar of vertical ladder, in the situation that motor 4 rotates
Under, the spacing between climbing arm 5, fixing arm 2 can incrementally increase, and then rotate climbing arm 5, fixing arm 2 in motor 4
Between spacing when be maximum, the climbing n ladders upwards of fixing arm 2, since the first torsional spring drives climbing finger to restore station 1
State, so the first pawl push element 26 pushes the first pawl 23 and it is made to be engaged with the first ratchet 24, the first pawl 23
First ratchet 24 is locked, climbing mechanism is by climbing finger 55, fixed finger 25 is affiliated on the cross bar of vertical ladder.
S14. step S11 ~ S13 is the process once climbed, and after completing primary climbing, is re-executing step S11, is entering
Climbing next time, so as to fulfill the upward climbing of climbing mechanism.
（2）Climbing downwards：During this, the spacing between climbing arm 5, fixing arm 2 is by the drive of crank 3 by first
The minimum of beginning changes to maximum, then changes to minimum again by maximum, so as to complete once to climb, specifically includes following steps：
S21. the starting stage：The torsional spring of arm 5, fixing arm 2 is climbed in the state of normally, fixed finger 25 is climbed
Climb between finger 55 and rack 1 angulation along clockwise direction and be less than 90 °, climbing arm 5, fixing arm 2 pawl with
Ratchet is engaged, and climbing mechanism is affiliated to by fixed finger 25, climbing finger 55 in vertical ladder under the starting stage；
S22. climbing arm 5 climbs the stage：Motor 4 rotates so that the spacing between climbing arm 5, fixing arm 2 is gradual
Become larger, and the second pawl push element 56 drives the second pawl 53 to make it away from the second ratchet 54, the second pawl 53 is not to second
Ratchet 54 is locked, and climbing finger 55 can rotate, when the rotation of crank 3 makes between climbing arm 5, fixing arm 2
When spacing is maximum, crank 3 drives climbing arm 5 climbing n ladders downwards at this time, and climbing finger rotates counterclockwise to 3 state of station,
Since the second torsional spring drives climbing finger to restore 1 state of station, so the second pawl push element 56 can push the second pawl
53 make it be engaged with the second ratchet 54, and the second pawl 53 locks the second ratchet 54, and climbing mechanism is by climbing hand
Refer to 55 to be affiliated on the cross bar of vertical ladder, then perform step S23；
S23. fixing arm 2 climbs the stage：At this point, the first pawl push element 26 drives the first pawl 23 to make it away from
First ratchet 24, the first pawl 23 do not lock the first ratchet 24, and fixed finger 25 can rotate, due to climbing
Finger 55 has been affiliated on the cross bar of vertical ladder, is transmitted in the rotation of motor 4 by synchronous belt so that crank rotates, so as to enable
Spacing between climbing arm 5, fixing arm 2 gradually becomes smaller, and then the spacing between climbing arm 5, fixing arm 2 is most
When small, climbing n ladders, climbing finger rotate counterclockwise to 3 state of station to fixing arm 2 downwards, since the second torsional spring drives
It climbs finger and restores 1 state of station, so the first pawl push element 26 can push the first pawl 23 and make itself and the first ratchet
24 are engaged, and the first pawl 23 locks the first ratchet 24, and climbing mechanism is by climbing finger 55, fixed finger 25 is hung
It leans against on the cross bar of vertical ladder.
S24. step S21 ~ S23 is the process once climbed, and after completing primary climbing, is re-executing step S21, is entering
Climbing next time, so as to fulfill the downward climbing of climbing mechanism.
In said program, using climb finger 55, climbing mechanism can be securely fixed on vertical ladder by fixed finger 25,
So the load capacity of climbing mechanism is greatly improved compared with the equipment that the prior art provides.
Embodiment 2
The climbing mechanism that embodiment 1 provides not to be defined the quantity of fixing arm 2 and climbing arm 5, so
It is considered that actually climbing mechanism only includes a fixing arm 2 and a climbing arm 5, still, if being climbed in vertical ladder
One fixing arm 2 and a climbing arm 5 are only set in mechanism, then the heavy burden ability of climbing mechanism and the balance energy of itself
Power is extremely limited.
The present embodiment is exactly the quantity and its cloth of fixing arm 2, climbing arm 5 to climbing mechanism for this reason
Seated position has carried out special setting, specific as shown in Figure 1, vertical ladder climbing mechanism includes two fixing arms 2, two fixations
First bottom plate 21 of arm 2 is set in the same horizontal line, and two fixing arms 2 are respectively arranged at the left and right sides of rack 1；
Vertical ladder climbing mechanism includes two climbing arms 5, and sliding platform 6 is horizontally disposed, and the second bottom plate 51 of two climbing arms 5 is distinguished
It is connect with the left and right ends of sliding platform 6, the connecting rod of crank 3 is connect with sliding platform 6.
In said program, two fixing arms are arranged by four regions in upper left, upper right, lower-left, bottom right in rack 1
2 and two climbing arms 5 the heavy burden ability of climbing mechanism and balanced capacity be improved.
Embodiment 3
The climbing mechanism of embodiment 1 and embodiment 2 during climbing, easily because vertical ladder be not be vertically arranged and
Climbing changes on direction, so that climbing mechanism cannot smoothly climb up the height specified.For this purpose, as shown in Figure 1, originally
The climbing mechanism of embodiment is on the basis of embodiment 1 and embodiment 2, there is provided directive wheel 7, auxiliary wheel 8 and discourager 9,
In, directive wheel 7, auxiliary wheel 8 are separately positioned on the left and right ends of rack 1, and discourager 9 is set perpendicular to the place face of rack 1,
The outside of discourager 9 is inlaid with multi-directional ball.
In said program, the directive wheel 7, auxiliary wheel 8 and discourager 9 that are arranged on 1 left and right ends of rack are used for and vertical ladder
Montant is contacted, and is being climbed by the guiding function climbing mechanism of directive wheel 7, auxiliary wheel 8 and discourager 9 on montant
During be unlikely to there is a situation where climb anisotropy.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (8)
1. a kind of vertical ladder climbing mechanism, including rack, it is characterised in that：Further include the fixing arm being arranged in rack, song
Handle, connecting rod, motor, synchronous belt, the sliding platform being arranged in rack and the climbing arm being arranged on sliding platform；The cunning
Moving platform is arranged on the lower section of fixing arm, and the movement in vertical direction can occur for sliding platform；
The fixing arm is pushed away including the first bottom plate, the first torsional spring, the first pawl, the first ratchet, fixed finger and the first pawl
Element is sent, wherein the first bottom plate is connect with rack, the first torsional spring, the first ratchet, fixed finger and the first pawl push element are set
It puts on the first bottom plate；One end of first torsional spring is connect with the first bottom plate, and the other end is connect with the first ratchet；First pawl and
The push end connection of one pawl push element, the first pawl push element are in place for the first pawl to be pushed to the first ratchet institute
It puts and is engaged with the first ratchet；One end of fixed finger is connect with the first ratchet；
The climbing arm, which includes the second bottom plate, the second torsional spring, the second pawl, the second ratchet, climbing finger and the second pawl, to be pushed away
Element is sent, wherein the second bottom plate is arranged on sliding platform, the second torsional spring, the second ratchet, climbing finger and the push of the second pawl
Element is arranged on the second bottom plate；One end of second torsional spring is connect with the second bottom plate, and the other end is connect with the second ratchet；Second spine
Pawl is connect with the push end of the second pawl push element, and the second pawl push element is used to the second pawl pushing to the second ratchet
Position is engaged with the second ratchet；One end of climbing finger is connect with the second ratchet；
The motor, crank are arranged in rack, and wherein motor is connect with a belt wheel, and crank is connect with another belt wheel, and motor leads to
Belt wheel, synchronous belt, another belt wheel is crossed to connect with crank；Connecting rod one end is connect with crank, and the other end is connect with sliding platform.
2. vertical ladder climbing mechanism according to claim 1, it is characterised in that：The vertical ladder climbing mechanism includes two symmetrically
Fixing arm, in the same horizontal line, and two fixing arms are respectively arranged at for the first bottom plate setting of two fixing arms
The left and right sides of rack.
3. vertical ladder climbing mechanism according to claim 2, it is characterised in that：The vertical ladder climbing mechanism includes two climbings
Arm, the second bottom plate of two climbing arms are connect respectively with the left and right ends of sliding platform, the second bottom of two climbing arms
Plate is set in the same horizontal line.
4. vertical ladder climbing mechanism according to claim 1, it is characterised in that：The crank is arranged on fixing arm and climbing
On region between arm, crank, which moves in a circle, enables the sliding platform being connect with connecting rod end to do in vertical direction
Back and forth movement.
5. according to claim 1 ~ 4 any one of them vertical ladder climbing mechanism, it is characterised in that：The left and right ends of the rack are set
It is equipped with directive wheel.
6. vertical ladder climbing mechanism according to claim 5, it is characterised in that：The left and right ends of the rack are provided with auxiliary
Wheel.
7. vertical ladder climbing mechanism according to claim 6, it is characterised in that：The left and right ends of the rack are respectively arranged with
Discourager, discourager are set perpendicular to the place face of rack, and multi-directional ball is inlaid on the outside of discourager.
8. vertical ladder climbing mechanism according to claim 7, it is characterised in that：It is the directive wheel of the rack left and right ends, auxiliary
Wheel and discourager is helped to be separately positioned in same horizontal line.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610680858.6A CN106143669B (en) | 2016-08-17 | 2016-08-17 | A kind of vertical ladder climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610680858.6A CN106143669B (en) | 2016-08-17 | 2016-08-17 | A kind of vertical ladder climbing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106143669A CN106143669A (en) | 2016-11-23 |
| CN106143669B true CN106143669B (en) | 2018-07-10 |
Family
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| CN201610680858.6A Active CN106143669B (en) | 2016-08-17 | 2016-08-17 | A kind of vertical ladder climbing mechanism |
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| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| US4993913A (en) * | 1988-07-15 | 1991-02-19 | Nihon Biso Kabushiki Kaisha | Robot for a work on a wall surface |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN204604320U (en) * | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of new type auto pole climbing device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| US4993913A (en) * | 1988-07-15 | 1991-02-19 | Nihon Biso Kabushiki Kaisha | Robot for a work on a wall surface |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| CN204604320U (en) * | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of new type auto pole climbing device |
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