CN106150059A - A kind of stair climbing robot - Google Patents
A kind of stair climbing robot Download PDFInfo
- Publication number
- CN106150059A CN106150059A CN201510127681.2A CN201510127681A CN106150059A CN 106150059 A CN106150059 A CN 106150059A CN 201510127681 A CN201510127681 A CN 201510127681A CN 106150059 A CN106150059 A CN 106150059A
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- underarm
- gripper
- upper arm
- fixed
- stair climbing
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Abstract
A kind of stair climbing robot, it is for lifting in building structure, this device includes underarm, driving means and upper arm, this underarm is strip housing, it is provided with suitable with this upper arm and that this upper arm can be made to slide on chute inside this underarm, being respectively fixed with gripper on this underarm and this upper arm, gripper can directly be buckled in building structure or be installed in building structure and be provided with and be interlocked respectively on the attached wall handgrip of chute with upper underarm；This driving means drives this upper arm to reciprocate in this underarm chute and attached wall handgrip chute, so that being fixed on the tool pawl of upper arm and being fixed on the gripper of underarm and alternately climb in building structure.Stair climbing robot of the present invention drives upper arm to produce relative movement with underarm by driving means, so that being fixed on the gripper of upper arm and being fixed on the gripper of underarm and alternately climb in architecture storey, reach to climb the purpose in building, driving means is located in underarm, and can be with underarm elevating movement, its automaticity is high, is used conveniently and safely.
Description
Technical field
The present invention relates to building machinery, especially a kind of stair climbing robot climbing floor.
Background technology
In building field, in current high-building construction, exterior wall scaffold many employings raise scaffold.Traditional elevating scaffold mainly uses steel pipe, connection fastener and other parts to set up, its shortcoming existing predominantly following some: one is to have when assembling that steel pipe specification is many, assembly program is complicated, assembling speed is slow, efficiency is low, affect the shortcomings such as building structure main body construction progress；Two is under conditions of ensureing identical construction speed, it has to needing substantial amounts of human resources, for single workmen, labour intensity is also bigger simultaneously；Three is when support body assembles, the uncertain increase that human factor produces, the safety problem it sometimes appear that frame structure does not meets safety requirements and there is many potential safety hazards, during causing scaffold to use；Four is to need also exist for substantial amounts of manual operation in unloading process.
In prior art, elevating scaffold is mainly reflected in: integrated not high, installation difficulty, difficulty of processing are big.And lowering or hoisting gear is all often driving means with carrying platform is provided separately, driving means, such as cucurbit, hydraulic means etc. often expose, then can affect workmen's safety when running, also equipment and operation safety can be made a big impact, it is provided separately and also make installation procedure complicated, lost labor.
Content of the invention
In view of above-mentioned condition, it is necessary to provide the stair climbing robot that a kind of automaticity is high, safe and convenient to use.
For solving above-mentioned technical problem, a kind of stair climbing robot is provided, it is for lifting in building structure, this robot includes underarm, driving means and upper arm, this underarm is strip housing, including upper and lower, it is provided with suitable with this upper arm inside this underarm, and the chute that this upper arm slides on can be made, it is fixed with the first gripper and the second gripper respectively on this underarm and this upper arm, described first gripper and the second gripper can directly be buckled in this building structure, this driving means drives this upper arm to reciprocate in the chute of this underarm, make this upper arm, with this underarm, relative round displacement occur, so that this first gripper being fixed on underarm is climbed in building structure with the second gripper being fixed on upper arm, whole robot is driven to lift relative to this building structure.
This driving means includes electric block, driving wheel seat and pulley base, this electric block includes motor, transmission mechanism and chain, this motor and transmission mechanism are individually fixed on the bottom of this underarm, in this driving wheel seat and this pulley base are respectively arranged in this underarm and this driving wheel seat is fixed with this upper arm and is connected, this pulley base is fixed by the top of governor motion and this underarm, and this driving wheel seat can make this upper arm move in this chute by the driving of this motor, transmission mechanism and chain.
This driving wheel seat and this pulley base are respectively housing shape, snap connection in this underarm and vertically can move in this underarm, being provided with movable pulley in this driving wheel seat, being provided with fixed pulley in this pulley base, this chain is each passed through this driving wheel seat and this pulley base and is connected with this movable pulley and fixed pulley.
This first gripper is two, it is respectively arranged on the both sides of this underarm, described first gripper includes connecting the manipulator of this underarm and the mechanical claw hook can being buckled in building structure, the manipulator that this second gripper includes connecting this upper arm and the mechanical claw hook can being buckled in building structure.
Being installed with attached wall handgrip in this building structure, this attached wall handgrip is provided with the catching groove matching with this machinery claw hook.
This gripper rhampotheca is provided with seat cushion, and this seat cushion is suitable with this catching groove.
This governor motion includes adjustment seat, adjusting rod and the regulation extension spring being sequentially connected with, and this adjustment seat is fixed on the upper port of this underarm, and this regulation extension spring is fixing with this pulley base to be connected.
Including base, the lower vertical of this underarm fixedly mounts on the base, is provided with fixed mount on the base, and this motor and transmission mechanism are fixedly mounted on this fixed mount, are provided with gravity sensitive device between this motor and this base.
This underarm surface of shell is provided with some through holes along its vertical direction.
This first gripper and this second gripper are connected by bolt is fixing with this underarm and upper arm respectively.
Above-mentioned stair climbing robot drives upper arm to produce relative movement with underarm by driving means, so that the first gripper can being buckled in building structure and the second gripper can climb floor, reach to climb the purpose in building, driving means is located in underarm, and can be with underarm elevating movement, it has the beneficial effect that
A, integrated height；
B, installation are simple；
C, factory process are simple.
Stair climbing robot can be controlled by computer, and its automaticity is high, it is extensive to use, can be used for high floor fireproofing rescue.
Brief description
Fig. 1 is stair climbing robot decomposing state schematic diagram of the present invention.
Fig. 2 is enlarged drawing at A in Fig. 1.
Fig. 3 is enlarged drawing at B in Fig. 1.
Fig. 4 is underarm and upper arm connection status cross sectional representation in stair climbing robot of the present invention.
Fig. 5 is underarm cross sectional representation in stair climbing robot of the present invention.
Fig. 6 is upper arm cross sectional representation in stair climbing robot of the present invention.
Fig. 7 is machinery claw hook open configuration structural representation in the first gripper and the second gripper in stair climbing robot of the present invention.
Fig. 8 be in stair climbing robot the first gripper of the present invention machinery claw hook closure state and the second gripper in machinery claw hook open configuration configuration state schematic diagram.
Fig. 9 is that in stair climbing robot of the present invention, building structure and the second gripper interlock structural representation.
Figure 10 is that in stair climbing robot of the present invention, building structure and the first gripper, the second gripper interlock structural representation.
Figure 11 is that stair climbing robot upper arm of the present invention is relative to underarm relative-movement state figure.
Figure 12 is stair climbing robot overall structure schematic diagram of the present invention.
Wherein: the 10th, building structure；20th, underarm；22nd, top；24th, bottom；26th, through hole；28th, chute；30th, upper arm；42nd, the first gripper；422nd, manipulator；424th, machinery claw hook；44th, the second gripper；442nd, manipulator；444th, machinery claw hook；50th, base；52nd, fixed mount；54th, gravity sensitive device；61st, motor；62nd, transmission mechanism；63rd, chain；72nd, driving wheel seat；74th, pulley base；82nd, adjustment seat；84th, adjusting rod；86th, extension spring is regulated；90th, attached wall handgrip.
Detailed description of the invention
It is described in further detail below in conjunction with the stair climbing robot to the present invention for the drawings and Examples.
nullRefer to Fig. 1 to Figure 11，A kind of stair climbing robot of the embodiment of the present invention，It is for lifting in building structure 10，This robot includes underarm 20、Driving means and upper arm 30，This underarm 20 is strip housing，Including top 22 and bottom 24，This underarm 20 inside is provided with suitable with this upper arm 30、And the chute 28 that this upper arm 30 slides on can be made，It is fixed with the first gripper 42 and the second gripper 44 respectively on this underarm 20 and this upper arm 30，Described first gripper 42、Second gripper 44 can directly be buckled in this building structure 10，This driving means drives this upper arm 30 to reciprocate in the chute 28 of this underarm 20，This upper arm 30 and this underarm 20 is made to occur relative to come and go displacement，So that this first gripper 42 being fixed on underarm 20 is climbed in building structure 10 with the second gripper 44 being fixed on upper arm 30，Whole robot is driven to lift relative to this building structure 10.When driving means forward drive, this upper arm 30 moves up relative to chute 28, second gripper 44 moves up (as shown in Figure 9) with upper arm 30, when in the building structure 10 of a mobile supreme floor, driving means decommissions, upper arm 30 stops mobile, the first gripper 42 jail is made to be buckled in building structure, when being again started up driving means reverse drive, make underarm 20 produce relative to this upper arm 30 to move down, underarm 20 is buckled at building structure 10 by the first gripper 42 and rises as fulcrum, when the first gripper 42 moves to during with the first gripper same level floor, driving means decommissions, now, whole stair climbing robot rises a floor.
More specifically, this driving means includes electric block, driving wheel seat 72 and pulley base 74, this electric block includes motor the 61st, transmission mechanism 62 and chain 63, this motor 61 and transmission mechanism 62 are individually fixed in this underarm 20, in this driving wheel seat 72 and this pulley base 74 are respectively arranged in this underarm 20 and this driving wheel seat 72 is fixed with this upper arm 30 and is connected, this pulley base 74 is fixed by the top 22 of governor motion and this underarm 20, and this driving wheel seat 72 can make this upper arm 30 move in this chute 28 by the driving of this motor the 61st, transmission mechanism 62 and chain 63；This driving wheel seat 72 and this pulley base 74 are respectively housing shape, snap connection in this underarm 20 and vertically can move in this underarm 20, it is provided with movable pulley in this driving wheel seat 72, being provided with fixed pulley in this pulley base 74, this chain 63 is each passed through this driving wheel seat 72 and this pulley base 74 and is connected with this movable pulley and fixed pulley.When motor 61 forward starts, electric block comes into operation, chain 63 drives driving wheel seat 72 to rise, driving wheel seat 72 is connected with upper arm 30, therefore driving wheel seat 72 drives upper arm 30 to rise (as shown in figure 11), when rising to a upper floor, the second gripper 44 on this upper arm 30 is buckled in the building structure 10 of floor, now motor 61 reverse starting, transmission mechanism 62 makes motor 61 and transmission mechanism 62 be both secured in underarm 20, chain 63 drives driving wheel seat 72 to decline, upper arm 30 moves down relative to underarm 20, when the first gripper 42 rises to the second gripper 44 same level position, stop motor 61, now, whole stair climbing robot rises a floor.
Electric block, driving wheel seat 72 and pulley base 74 are all located in underarm 20, and when motor 61 running drives, whole driving means is all in integral sealing state, and with underarm 20 elevating movement, its automaticity is high, is used conveniently and safely.
As shown in Figure 7 to 10, this first gripper 42 being located at same level height is two, and it is respectively arranged on the both sides of this underarm 20, described first gripper 42 includes connecting the manipulator 422 of this underarm 20 and the mechanical claw hook 424 can being buckled in building structure 10, the manipulator 442 that this second gripper 44 includes connecting this upper arm 30 and the mechanical claw hook 444 can being buckled in building structure 10；This building structure 10 is installed with attached wall handgrip 90, this attached wall handgrip 90 is provided with and this machinery claw hook the 424th, 444 catching groove matching, attached wall handgrip 90 is secured by bolts in building structure 10, machinery claw hook shown in Fig. 8, Fig. 9 424 is rounding state, machinery claw hook 444 is holding state, the mechanical claw hook 444 of holding state is used for hooking building structure 10 to be made upper arm 30 be in remain static with building structure 10, and the underarm 20 at mechanical claw hook 424 place of rounding state is in the state of rising or falling.
The 424th, this machinery claw hook 444 is arranged with seat cushion, and this seat cushion is suitable with this catching groove, and seat cushion can mitigate the abrasion of machinery claw hook the 424th, 444 pairs of building structure 10 or attached wall handgrip 90.
This governor motion includes adjustment seat the 82nd, adjusting rod 84 and the regulation extension spring 86 being sequentially connected with, this adjustment seat 82 is fixed on top 22 port of this underarm 20, this regulation extension spring 86 is fixed with this pulley base 74 and is connected, pass through governor motion, the elasticity that conveniently adjusted pulley base 74 is connected with underarm 20, pass through adjusting tightness, it can be ensured that whole device uniform force, play firm effect.
Stair climbing robot can load multiple construction equipment as one construction carrier, such as operation platform, turns material platform and hoisting facilities.Underarm 20 in robot is provided with some through holes 26 at its vertical direction, by the through hole 26 on underarm 20, can build, mounting platform, is used for transporting carrying.
Stair climbing robot of the present invention, base 50 can also be included, when being provided with base 50, the bottom 24 of this underarm 20 is vertically fixedly mounted on this base 50, on this base 50, fixed mount 52 is installed, this motor 61 and transmission mechanism 62 are fixedly mounted on this fixed mount 52, when underarm 20 moves, base 50 is driven to move together, being provided with gravity sensitive device 54 between this motor 61 and this base 50, motor 61 and transmission mechanism 62 are installed on fixed mount 52, it is to avoid directly contact with base 50, by gravity sensitive device 54, can the launch weight of timely monitor device.
This first gripper 42 and this second gripper 44 are fixed by bolt be connected with this underarms 20 and upper arm 30 respectively, according to story height, can conveniently adjust the fixed position of the first gripper 42 and this second gripper 44 and underarm 20 and upper arm 30.
Building structure 10 in the present invention is the fixed station terrace having in each floor, for the overall structure figure of stair climbing robot of the present invention shown in Figure 12.
The above, it is only presently preferred embodiments of the present invention, not make any pro forma restriction to the present invention, although the present invention is disclosed above with preferred embodiment, driving means such as of the present invention uses electric block, but it is not limited to the present invention, inventive drive means also replaceable one-tenth fluid pressure drive device, any those skilled in the art, in the range of without departing from technical solution of the present invention, when the technology contents of available the disclosure above makes a little Equivalent embodiments changing or be modified to equivalent variations, in every case it is without departing from technical solution of the present invention content, any simple modification above example made according to the technical spirit of the present invention, equivalent variations and modification, in the range of all still falling within technical solution of the present invention.
Claims (10)
- null1. a stair climbing robot，It is in the upper lifting of building structure (10)，It is characterized in that: this robot includes underarm (20)、Driving means and upper arm (30)，This underarm (20) is strip housing，Including top (22) and bottom (24)，This underarm (20) inside is provided with suitable with this upper arm (30)、And the chute (28) that this upper arm (30) slides on can be made，It is fixed with the first gripper (42) and the second gripper (44) respectively on this underarm (20) and this upper arm (30)，Described first gripper (42) and the second gripper (44) can directly be buckled in this building structure (10)，This driving means drives this upper arm (30) to reciprocate in the chute (28) of this underarm (20)，Make this upper arm (30), with this underarm (20), relative round displacement occur，So that this is fixed on first gripper (42) of underarm (20) and is fixed on second gripper (44) of upper arm (30) and climbs in building structure (10)，Whole robot is driven to lift relative to this building structure (10).
- null2. stair climbing robot as claimed in claim 1，It is characterized in that: this driving means includes electric block、Driving wheel seat (72) and pulley base (74)，This electric block includes motor (61)、Transmission mechanism (62) and chain (63)，This motor (61) and transmission mechanism (62) are individually fixed on the bottom (24) of this underarm (20)，This driving wheel seat (72) and this pulley base (74) are respectively arranged in this underarm (20) and this driving wheel seat (72) is fixed with this upper arm (30) and is connected，This pulley base (74) is fixed by the top (22) of governor motion and this underarm (20)，This driving wheel seat (72) is by this motor (61)、The driving of transmission mechanism (62) and chain (63) can make this upper arm (30) move in this chute (28).
- 3. stair climbing robot as claimed in claim 2, it is characterized in that: this driving wheel seat (72) and this pulley base (74) are respectively housing shape, snap connection in this underarm (20) and vertically can move in this underarm (20), it is provided with movable pulley in this driving wheel seat (72), this pulley base is provided with fixed pulley in (74), and this chain (63) is each passed through this driving wheel seat (72) and this pulley base (74) and is connected with this movable pulley and fixed pulley.
- 4. stair climbing robot as claimed in claim 1, it is characterized in that: this first gripper (42) being located at same level height is two, and it is respectively arranged on the both sides of this underarm (20), described first gripper (42) includes the manipulator (422) connecting this underarm (20) and the mechanical claw hook (424) can being buckled in building structure (10), and this second gripper (44) includes the manipulator (442) connecting this upper arm (30) and the mechanical claw hook (444) can being buckled in building structure (10).
- 5. stair climbing robot as claimed in claim 1, it is characterised in that: being installed with attached wall handgrip (90) in this building structure (10), this attached wall handgrip (90) is provided with the catching groove matching with this machinery claw hook (the 424th, 444).
- 6. stair climbing robot as claimed in claim 5, it is characterised in that: this machinery claw hook (the 424th, 444) is arranged with seat cushion, and this seat cushion is suitable with this catching groove.
- 7. stair climbing robot as claimed in claim 2, it is characterized in that: this governor motion includes adjustment seat (82), adjusting rod (84) and regulation extension spring (86) being sequentially connected with, this adjustment seat (82) is fixed on top (22) port of this underarm (20), and this regulation extension spring (86) is fixing with this pulley base (74) to be connected.
- 8. stair climbing robot as claimed in claim 1, it is characterized in that: include base (50), the bottom (24) of this underarm 20 is vertically fixedly mounted on this base (50), this base (50) is provided with fixed mount (52), this motor (61) and transmission mechanism (62) are fixedly mounted on this fixed mount (52), are provided with gravity sensitive device (54) between this motor (61) and this base (50).
- 9. stair climbing robot as claimed in claim 1, it is characterised in that: this underarm (20) surface of shell is provided with some through holes (26) along its vertical direction.
- 10. the stair climbing robot as described in any one of claim 1-9, it is characterised in that: this first gripper (42) and this second gripper (44) are connected by bolt is fixing with this underarm (20) and upper arm (30) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510127681.2A CN106150059B (en) | 2015-03-23 | 2015-03-23 | A kind of stair climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510127681.2A CN106150059B (en) | 2015-03-23 | 2015-03-23 | A kind of stair climbing robot |
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| CN106150059A true CN106150059A (en) | 2016-11-23 |
| CN106150059B CN106150059B (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510127681.2A Active CN106150059B (en) | 2015-03-23 | 2015-03-23 | A kind of stair climbing robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108756199A (en) * | 2018-08-20 | 2018-11-06 | 云南建投建筑机械有限公司 | Attached lifting scaffold lifting gear |
| CN108797992A (en) * | 2017-05-02 | 2018-11-13 | 深圳市特辰科技股份有限公司 | A kind of climbing frame for assembled architecture |
| CN109650235A (en) * | 2019-01-19 | 2019-04-19 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | A kind of mine cage climbs wall method with saving oneself to climb wall device and save oneself |
| CN111470265A (en) * | 2020-04-29 | 2020-07-31 | 郑州亚瑟智能科技有限公司 | Automatic loading stair climbing carrier |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108797992A (en) * | 2017-05-02 | 2018-11-13 | 深圳市特辰科技股份有限公司 | A kind of climbing frame for assembled architecture |
| CN108756199A (en) * | 2018-08-20 | 2018-11-06 | 云南建投建筑机械有限公司 | Attached lifting scaffold lifting gear |
| CN109650235A (en) * | 2019-01-19 | 2019-04-19 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | A kind of mine cage climbs wall method with saving oneself to climb wall device and save oneself |
| CN109650235B (en) * | 2019-01-19 | 2020-10-09 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Self-rescue wall climbing device and self-rescue wall climbing method for mine cage |
| CN111470265A (en) * | 2020-04-29 | 2020-07-31 | 郑州亚瑟智能科技有限公司 | Automatic loading stair climbing carrier |
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|---|---|
| CN106150059B (en) | 2019-05-24 |
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