CN106585756A - Artificial climbing ladder robot - Google Patents
Artificial climbing ladder robot Download PDFInfo
- Publication number
- CN106585756A CN106585756A CN201611095181.6A CN201611095181A CN106585756A CN 106585756 A CN106585756 A CN 106585756A CN 201611095181 A CN201611095181 A CN 201611095181A CN 106585756 A CN106585756 A CN 106585756A
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- CN
- China
- Prior art keywords
- motor
- artificial
- climbing ladder
- hook
- mechanisms
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- Legal status (The legal status 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 status listed.)
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Classifications
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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
The invention discloses an artificial climbing ladder robot. The artificial climbing ladder robot comprises a frame body, two climbing ladder mechanisms, a plurality of positioning mechanisms, a safety belt and a pedal plate, wherein the frame body is mounted on the climbing ladder mechanisms; the safety belt and the pedal plate are arranged on the frame body; the positioning mechanisms placed on two edge bodies of an artificial climbing ladder are arranged at the bottom of the frame body; the climbing ladder mechanisms comprise arm bodies with T-shaped cross sections, two fixed seats, first motors with self-locking functions, gears, racks and hanging hook mechanisms; slidable fixed seats are mounted on the arm bodies in a matched way; the frame body are mounted on the fixed seats; the racks are arranged at the upper ends of the arm bodies; the first motors are arranged on the frame body; the gears engaged with the racks are arranged on rotating shafts of the first motors; and the front ends of the arm bodies are provided with the hanging hook mechanisms. Compared with the prior art, the artificial climbing ladder robot disclosed by the invention is advantaged in that the artificial climbing ladder robot is time-saving and labor-saving, the safety of the artificial climbing ladder robot is enhanced and the input equipment is simple.
Description
【Technical field】
The present invention relates to the technical field of robot, particularly a kind of technical field of artificial steps climbing robot.
【Background technology】
At present, the single-machine capacity of wind-driven generator constantly increases, and its tower vertical height is improved constantly.And generally big absolutely portion
Wind-driven generator is divided only to be furnished with manpower cat ladder or install simple climbing assistant device additional on manpower cat ladder.In regular maintenance, people is safeguarded
Member's almost climbs completely up and down by manpower.For this purpose, attendant often go up it is next time all very tired out.And its simple climbing assistant device
Technical performance it is still immature, its draw rate and dynamics are difficult to adjust and control, and need, with staff on duty, to be responsible for prison when in use
Shield coordinates climbing personnel.It is as inappropriate in coordinated or adjusting control, easily cause human casualty accident.
In wind power tower drum, equipment installation, maintenance personnel Jing will often arrive up to more than more than 70-120 meters of tower top
Portion carries out inspection, repair and maintenance and the repair work of generating set；At present, equipment installation, maintenance personnel reach the approach of atop a tower
Mainly there are three kinds of modes：1st, the artificial vertical stair in tower climb to top；2nd, top is climbed to along stair by climbing stairs machine；3、
Special elevator is installed in tower, using elevator will install, repair and maintenance personnel be transported to top；1st kind of mode exist arduously,
Time-consuming, unsafe phenomenon, and it is very high to the physical ability requirement of installation, repair and maintenance personnel；2nd kind of mode is to a certain degree
Mitigate installation, the muscle power of repair and maintenance personnel, but still be muscular labor, time-consuming, unsafe factor is yet suffered from；Though the 3rd kind of mode
The problem that the 1st, 2 kind of mode is present so is overcome, but due to the restriction in space in tower, the traffic coverage of elevator is limited
System --- upwards can not be up to top, downwards can not on earth, can only be in one section of middle area operation；And elevator install must be
Tower design, fabrication stage consider to open up special operation passage, otherwise cannot then install elevator additional, and elevator can not be moved
It is dynamic, can only the machine of a tower one, equipment investment cost is larger.
【The content of the invention】
The purpose of the present invention is exactly to solve the problems of the prior art, proposes a kind of artificial steps climbing robot, can be saved time
It is laborsaving, improve safety, simple device input.
For achieving the above object, the present invention proposes a kind of artificial steps climbing robot, including support body, two stair-climbing mechanisms,
Some detent mechanisms, safety belt and pedal, are provided with support body on the stair-climbing mechanism, the support body is provided with safety belt and foot
Pedal, the bottom of the support body is provided with the detent mechanism on the both sides body for being shelved on artificial cat ladder, and the stair-climbing mechanism includes horizontal stroke
Section is arm body, two fixed seats, the first motor with auto-lock function, gear, tooth bar and the hitch gears of T-shape, described
Coordinate on arm body and slidable fixed seat be installed, support body is installed in the fixed seat, the upper end of the arm body is provided with tooth bar,
The support body is provided with the first motor, and the rotary shaft of first motor is provided with the gear being connected with tooth bar engagement, the arm
The front end of body is provided with hitch gear, and the hitch gear includes installing rack, the second motor, two forked standards, two hook rack and peaces
Dress plate, the front portion of the arm body is provided with installing rack and the hook rack that can slide up and down, and the installation is erected at two hook rack
Centre, the installing rack is provided with the second motor, and the installing plate of threaded connection, institute are arranged with the rotary shaft of second motor
The two ends for stating installing plate are fixedly connected by forked standard with hook rack.
Preferably, the hook rack includes sliding sleeve, axis body, two pedestals, two hooks and two clamp nuts, it is described
Arm body is provided with slide opening, and slidable sliding sleeve is provided with the slide opening, and axis body is provided with the sliding sleeve, and the forked standard is consolidated with axis body
Fixed connection, the two ends of the axis body are equipped with pedestal, and the front end of the pedestal is inserted with the hook of threaded connection, and the hook exists
The front end of pedestal is provided with clamp nut.
Preferably, if the fixed seat includes fork body and dry bearing, two inner sides of the fork body phase pair are in arm body
Upper top and bottom surface are provided with bearing.
Preferably, the support body includes frame body and grille body, the upper end of the frame body is provided with grille body, described solid
Frame body is installed in reservation, on the inside of the front body of the frame body the first motor is provided with.
Preferably, the rear end of the arm body is provided with baffle element, the baffle element is provided with rear limit switch, the arm body
Front limit switch is provided with the front end of tooth bar.
Preferably, the detent mechanism includes support column and is located at the guide rail wheel of support column lower end, the guide rail wheel is put
Put on the side body of artificial cat ladder.
Beneficial effects of the present invention：The present invention operationally, hook is hooked on the connection cross-lining of artificial cat ladder, and is ensured
Guide rail wheel is shelved on the side body of corresponding artificial cat ladder, and then staff steps on the footrests, and safety belt is fixed on work
Make the waist of personnel, the first motor work of a stair-climbing mechanism is then started by controller, the first motor is by gear and tooth
The mating band swing arm body of bar travels forward, and when the first motor works 3 seconds, controller restarts the work of the second motor, and second is electric
Machine drives installing plate to move upwards, and installing plate drives axis body to move upwards by forked standard, and axis body drives hook upwards by pedestal
Motion, and arm body travels forward until the rear end of support body contacts with rear limit switch, now rear limit switch transmits a signal to control
Device processed, controller stops the first motor, restarts the work of the second motor, and the second motor drives installing plate to move downward, installing plate
Axis body is driven to move downward by forked standard, axis body drives hook to move downward by pedestal, and then controller starts the first motor
Work, the first motor is moved backward by the mating band swing arm body of gear and tooth bar, when hook hooks the connection horizontal stroke in artificial cat ladder
During lining, because arm body can not continue to move backward, the first motor side drives support body to travel forward, and now, controller also starts
The first motor work of another stair-climbing mechanism, the above-mentioned work of repetition, two stair-climbing mechanism alternations realize that cat ladder works, and existing
There is technology to compare, can be time saving and energy saving, improve safety, simple device input.
The feature and advantage of the present invention will combine accompanying drawing and be described in detail by embodiment.
【Description of the drawings】
Fig. 1 is a kind of structural representation of artificial steps climbing robot of the present invention；
Fig. 2 is a kind of top view of artificial steps climbing robot of the present invention.
In figure：1- support bodys, 2- stair-climbing mechanisms, 3- detent mechanisms, 4- safety belts, 5- pedals, 11- frame bodies, 12- grids
Body, 21- arm bodies, 22- fixed seats, the motors of 23- first, 24- gears, 25- tooth bars, 26- hitch gears, 27- slide openings, 28- stop
Body, 29- rear limit switches, 210- front limit switches, 261- installing racks, the motors of 262- second, 263- forked standards, 264- hook rack,
265- installing plates, 2641- sliding sleeves, 2642- axis bodies, 2643- pedestals, 2644- hooks, 2645- clamp nuts, 221- fork body,
222- bearings, 31- support columns, 32- guide rail wheels.
【Specific embodiment】
Refering to Fig. 1,2, a kind of artificial steps climbing robot of the present invention, including support body 1, two stair-climbing mechanisms 2, some localization machines
Structure 3, safety belt 4 and pedal 5, are provided with support body 1 on the stair-climbing mechanism 2, the support body 1 is provided with safety belt 4 and rides
Plate 5, the bottom of the support body 1 is provided with the detent mechanism 3 on the both sides body for being shelved on artificial cat ladder, and the stair-climbing mechanism 2 includes
Cross section is 21, two fixed seats 22 of arm body, the first motor 23 with auto-lock function, gear 24, tooth bar 25 and the extension of T-shape
Hook mechanism 26, coordinates on the arm body 21 and is provided with slidable fixed seat 22, and support body 1, institute are provided with the fixed seat 22
The upper end for stating arm body 21 is provided with tooth bar 25, and the support body 1 is provided with the first motor 23, sets in the rotary shaft of first motor 23
There is the gear 24 being connected with the engagement of tooth bar 25, the front end of the arm body 21 is provided with hitch gear 26, and the hitch gear 26 includes
Installing rack 261,262, two, the second motor hook rack 264 of forked standard 263, two and installing plate 265, the front portion of the arm body 21 sets
There is installing rack 261 and the hook rack 264 that can slide up and down, the installing rack 261 is located at the centre of two hook rack 264, described
Installing rack 261 is provided with the second motor 262, and the installing plate of threaded connection is arranged with the rotary shaft of second motor 262
265, the two ends of the installing plate 265 are fixedly connected by forked standard 263 with hook rack 264.The hook rack 264 includes sliding sleeve
2641st, the pedestal 2643, two of axis body 2642, two hook 2644 and two clamp nuts 2645, the arm body 21 is provided with cunning
It is provided with hole 27, the slide opening 27 in slidable sliding sleeve 2641, the sliding sleeve 2641 and is provided with axis body 2642, the forked standard 263
It is fixedly connected with axis body 2642, the two ends of the axis body 2642 are equipped with pedestal 2643, and the front end of the pedestal 2643 is inserted with
The hook 2644 of threaded connection, the hook 2644 is provided with clamp nut 2645, the fixed seat 22 in the front end of pedestal 2643
If including fork body 221 and dry bearing 222, two relative inner sides of the fork body 221 arm body 21 upper top and bottom surface set
There is bearing 222, the support body 1 includes frame body 11 and grille body 12, and the upper end of the frame body 11 is provided with grille body 12, described
Frame body 11 is installed in fixed seat 22, the first motor 23, the arm body 21 are provided with the inside of the front body of the frame body 11
Rear end be provided with baffle element 28, the baffle element 28 is provided with rear limit switch 29, and the arm body 21 sets in the front end of tooth bar 25
There is front limit switch 210, the detent mechanism 3 includes support column 31 and is located at the guide rail wheel 32 of the lower end of support column 31, described to lead
Rail wheel 32 is shelved on the side body of artificial cat ladder.
The course of work of the present invention：
Hook 2644 in the course of the work, is hooked the connection cross-lining in artificial cat ladder by a kind of artificial steps climbing robot of the present invention
On, and ensure that guide rail wheel 32 is shelved on the side body of corresponding artificial cat ladder, then staff is stepped down on pedal 5, is protected
Danger works with 4 waists for being fixed on staff, the first motor 23 for then starting a stair-climbing mechanism 2 by controller, and first
Motor 23 is travelled forward by the mating band swing arm body 21 of gear 24 and tooth bar 25, when the first motor 23 works 3 seconds, controller
Restart the second motor 262 to work, the second motor 262 drives installing plate 265 to move upwards, and installing plate 265 passes through the band of forked standard 263
Moving axis body 2642 is moved upwards, and axis body 2642 drives hook 2644 to move upwards by pedestal 2643, and arm body 21 travels forward
Until the rear end of support body 1 contacts with rear limit switch 29, now rear limit switch 29 transmits a signal to controller, and controller stops
First motor 23, restarts the second motor 262 and works, and the second motor 262 drives installing plate 265 to move downward, and installing plate 265 leads to
Crossing forked standard 263 drives axis body 2642 to move downward, and axis body 2642 drives hook 2644 to move downward by pedestal 2643, then controls
Device processed starts the first motor 23 and works, and the first motor 23 is moved backward by the mating band swing arm body 21 of gear 24 and tooth bar 25,
When 2644 hooks are linked up with the connection cross-lining of artificial cat ladder, because arm body 21 can not continue to move backward, the side of the first motor 23
Support body 1 is driven to travel forward, now, controller also starts the first motor 23 of another stair-climbing mechanism 2 and works, the above-mentioned work of repetition
Make, the alternation of two stair-climbing mechanisms 2 realizes that cat ladder works, compared with prior art, can be time saving and energy saving, safety is improved,
Simple device puts into.
Above-described embodiment is the description of the invention, is not limitation of the invention, it is any to simple transformation of the present invention after
Scheme belong to protection scope of the present invention.
Claims (6)
1. a kind of artificial steps climbing robot, it is characterised in that：Including support body (1), two stair-climbing mechanisms (2), some detent mechanisms
(3), safety belt (4) and pedal (5), are provided with support body (1) on the stair-climbing mechanism (2), the support body (1) is provided with insurance
Band (4) and pedal (5), the bottom of the support body (1) is provided with the detent mechanism (3) on the both sides body for being shelved on artificial cat ladder,
The stair-climbing mechanism (2) including cross section be the arm body (21) of T-shape, two fixed seats (22), with auto-lock function first
Motor (23), gear (24), tooth bar (25) and hitch gear (26), coordinate on the arm body (21) and are provided with slidable fixation
Seat (22), is provided with support body (1) on the fixed seat (22), the upper end of the arm body (21) is provided with tooth bar (25), the support body
(1) the first motor (23) is provided with, the rotary shaft of first motor (23) is provided with the gear being connected with tooth bar (25) engagement
(24), the front end of the arm body (21) is provided with hitch gear (26), the hitch gear (26) including installing rack (261), second
Motor (262), two forked standards (263), two hook rack (264) and installing plates (265), the front portion of the arm body (21) is provided with peace
Shelve (261) and the hook rack that can slide up and down (264), the installing rack (261) is located at the centre of two hook rack (264),
The installing rack (261) is provided with the second motor (262), and in the rotary shaft of second motor (262) threaded connection is arranged with
Installing plate (265), the two ends of the installing plate (265) are fixedly connected by forked standard (263) with hook rack (264).
2. a kind of artificial steps climbing robot as claimed in claim 1, it is characterised in that：The hook rack (264) is including sliding sleeve
(2641), axis body (2642), two pedestals (2643), two hooks (2644) and two clamp nuts (2645), the arm body
(21) it is provided with to be provided with slidable sliding sleeve (2641), the sliding sleeve (2641) in slide opening (27), the slide opening (27) and is provided with
Axis body (2642), the forked standard (263) is fixedly connected with axis body (2642), and the two ends of the axis body (2642) are equipped with pedestal
(2643), the front end of the pedestal (2643) is inserted with the hook (2644) of threaded connection, and the hook (2644) is in pedestal
(2643) front end is provided with clamp nut (2645).
3. a kind of artificial steps climbing robot as claimed in claim 1, it is characterised in that：The fixed seat (22) includes fork body
(221) and if dry bearing (222), it is described fork body (221) it is relative two inner side arm body (21) upper top and bottom surface set
There is bearing (222).
4. a kind of artificial steps climbing robot as claimed in claim 1, it is characterised in that：The support body (1) is including frame body
(11) and grille body (12), the upper end of the frame body (11) is provided with grille body (12), installs framed on the fixed seat (22)
Support body (11), on the inside of the front body of the frame body (11) the first motor (23) is provided with.
5. a kind of artificial steps climbing robot as claimed in claim 1, it is characterised in that：The rear end of the arm body (21) is provided with resistance
Block body (28), the baffle element (28) is provided with rear limit switch (29), and the arm body (21) is provided with the front end of tooth bar (25)
Front limit switch (210).
6. a kind of artificial steps climbing robot as any one of claim 1 to 5, it is characterised in that：The detent mechanism
(3) including support column (31) and the guide rail wheel (32) of support column (31) lower end is located at, the guide rail wheel (32) is shelved on manually climbs
On the side body of ladder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095181.6A CN106585756B (en) | 2016-12-01 | 2016-12-01 | A kind of artificial steps climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611095181.6A CN106585756B (en) | 2016-12-01 | 2016-12-01 | A kind of artificial steps climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106585756A true CN106585756A (en) | 2017-04-26 |
| CN106585756B CN106585756B (en) | 2019-10-11 |
Family
ID=58596775
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611095181.6A Active CN106585756B (en) | 2016-12-01 | 2016-12-01 | A kind of artificial steps climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106585756B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| CN1603198A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Steps climbing robot |
| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
| CN105641880A (en) * | 2016-03-02 | 2016-06-08 | 湖南泰吉风能机器人有限公司 | Climbing rod mechanism for biomimetic ladder climbing robot |
| CN105752182A (en) * | 2016-03-02 | 2016-07-13 | 湖南泰吉风能机器人有限公司 | Safe and efficient intelligent bionic ladder-climbing robot |
| CN105799804A (en) * | 2016-03-17 | 2016-07-27 | 哈尔滨工程大学 | Speed and distance increasing type ladder crawling robot based on crank block |
-
2016
- 2016-12-01 CN CN201611095181.6A patent/CN106585756B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6175075A (en) * | 1984-09-20 | 1986-04-17 | Toshiba Corp | Ladder climbing/lowering robot system |
| CN1603198A (en) * | 2004-11-01 | 2005-04-06 | 大连大学 | Steps climbing robot |
| CN101475031A (en) * | 2009-02-12 | 2009-07-08 | 大连工业大学 | Robot climbing ladder apparatus |
| CN105641880A (en) * | 2016-03-02 | 2016-06-08 | 湖南泰吉风能机器人有限公司 | Climbing rod mechanism for biomimetic ladder climbing robot |
| CN105752182A (en) * | 2016-03-02 | 2016-07-13 | 湖南泰吉风能机器人有限公司 | Safe and efficient intelligent bionic ladder-climbing robot |
| CN105799804A (en) * | 2016-03-17 | 2016-07-27 | 哈尔滨工程大学 | Speed and distance increasing type ladder crawling robot based on crank block |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106585756B (en) | 2019-10-11 |
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Effective date of registration: 20190911 Address after: 201706 Room 201, Lane 26, 2778, Chonggu Road, Chonggu Town, Qingpu District, Shanghai Applicant after: Shanghai Shen Xue Supply Chain Management Co., Ltd. Address before: Hangzhou City, Zhejiang province 310000 Xihu District Tianmushan Road No. 7 Building 1 room 415 (settled day Secretary of Commerce No. 063) Applicant before: Hangzhou Smart Network Technology Co., Ltd. |
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