CN106585756B - A kind of artificial steps climbing robot - Google Patents
A kind of artificial steps climbing robot Download PDFInfo
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- CN106585756B CN106585756B CN201611095181.6A CN201611095181A CN106585756B CN 106585756 B CN106585756 B CN 106585756B CN 201611095181 A CN201611095181 A CN 201611095181A CN 106585756 B CN106585756 B CN 106585756B
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- frame body
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- rack
- hook
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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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of artificial steps climbing robots, including frame body, two stair-climbing mechanisms, several positioning mechanisms, safety belt and foot pedal, frame body is installed on the stair-climbing mechanism, the frame body is equipped with safety belt and foot pedal, the bottom of the frame body is equipped with the positioning mechanism being shelved on the both sides body of artificial ladder, the stair-climbing mechanism includes the arm body that cross section is T-shape, two fixing seats, first motor with self-locking function, gear, rack gear and hitch gear, slidable fixing seat is fitted on the arm body, frame body is installed in the fixing seat, the upper end of the arm body is equipped with rack gear, the frame body is equipped with first motor, the rotation axis of the first motor is equipped with the gear that connection is engaged with rack, the front end of the arm body is equipped with hitch gear, compared with prior art, it can be time saving and energy saving, improve peace Quan Xing, simple device investment.
Description
[technical field]
The present invention relates to the technical field of robot, especially a kind of technical field of artificial steps climbing robot.
[background technique]
Currently, the single-machine capacity of wind-driven generator constantly increases, tower vertical height is continuously improved.And usually exhausted big portion
Wind-driven generator is divided only to be furnished with manpower ladder or install simple climbing assistant device additional on manpower ladder.In daily maintenance, people is safeguarded
Member's almost climbs by manpower up and down.For this purpose, maintenance personnel is next time very tired out on often.And its simple climbing assistant device
Technical performance it is still immature, draw rate and dynamics are difficult to adjust and control, and need to be responsible for prison with staff on duty when in use
Shield cooperation climbing personnel.If cooperation or adjustment control are inappropriate, human casualty accident is easily caused.
In wind power tower drum, equipment installation, maintenance personnel will often arrive up to more than 70-120 meters or more of tower top
Inspection, maintenance and the repair work of portion's progress generating set；Currently, equipment installation, maintenance personnel reach the approach of tower top
There are mainly three types of modes: 1, the vertical stair manually in tower climb to top；2, top is climbed to along stair by climbing stairs machine；3,
Special elevator is installed in tower, will be installed using elevator, maintenance staff are transported to top；1st kind of mode exist it is laborious,
Time-consuming, unsafe phenomenon, and the physical efficiency of installation, maintenance staff is required very high；2nd kind of mode is only to a certain degree
Mitigate the physical strength of installation, maintenance staff, but still be muscular labor, time-consuming, unsafe factor still has；Though the 3rd kind of mode
So overcome the 1st, 2 kind of mode there are the problem of, but due to the limitation in space in tower, the traffic coverage of elevator is limited
System --- upwards cannot be up to top, downwards cannot on earth, it can only be in one section of intermediate area operation；And elevator installation must be
Tower design, fabrication stage consideration open up dedicated operation channel, otherwise can not then install elevator additional, and elevator cannot move
It is dynamic, can only one machine of a tower, equipment input cost is larger.
[summary of the invention]
The object of the invention is to solve the problems of the prior art, a kind of artificial steps climbing robot is proposed, it can be time saving
It is laborsaving, improve safety, simple device investment.
To achieve the above object, the invention proposes a kind of artificial steps climbing robot, including frame body, two stair-climbing mechanisms,
Several positioning mechanisms, safety belt and foot pedal, frame body is equipped on the stair-climbing mechanism, and the frame body is equipped with safety belt and foot
Pedal, the bottom of the frame body are equipped with the positioning mechanism being shelved on the both sides body of artificial ladder, and the stair-climbing mechanism includes cross
Section is arm body, two fixing seats, the first motor with self-locking function, gear, rack gear and the hitch gear of T-shape, described
It is fitted with slidable fixing seat on arm body, frame body is installed in the fixing seat, the upper end of the arm body is equipped with rack gear,
The frame body is equipped with first motor, and the rotation axis of the first motor is equipped with the gear that connection is engaged with rack, the arm
The front end of body is equipped with hitch gear, and the hitch gear includes mounting rack, the second motor, two forked standards, two hook rack and peace
The front of loading board, the arm body is equipped with mounting rack and the hook rack that can slide up and down, the installation are erected at two hook rack
Centre, the mounting rack are equipped with the second motor, the mounting plate of threaded connection, institute are arranged in the rotation axis of second motor
The both ends for stating mounting plate pass through forked standard and are fixedly connected with hook rack.
Preferably, the hook rack include sliding sleeve, axis body, two pedestals, two hook and two fastening nuts, it is described
Arm body is equipped with slide opening, and slidable sliding sleeve is equipped in the slide opening, and axis body is equipped in the sliding sleeve, and the forked standard and axis body are solid
Fixed connection, the both ends of the axis body are equipped with pedestal, and inserted with the hook of threaded connection, the hook exists for the front end of the pedestal
The front end of pedestal is equipped with fastening nut.
If two opposite insides of the fork body are in arm body preferably, the fixing seat includes fork body and dry bearing
Upper top and bottom surface are equipped with bearing.
Preferably, the frame body includes frame body and grille body, the upper end of the frame body is equipped with grille body, described solid
Frame body is installed, the inside of the front body of the frame body is equipped with first motor in reservation.
Preferably, the rear end of the arm body, which is equipped with, stops body, the blocking body is equipped with rear limit switch, the arm body
Front limit switch is equipped in the front end of rack gear.
Preferably, the positioning mechanism includes support column and the guide rail wheel for being located at support column lower end, the guide rail wheel is put
It sets on the side body of artificial ladder.
Beneficial effects of the present invention: at work, hook is hooked on the connection cross-lining of artificial ladder, and is guaranteed by the present invention
Guide rail wheel is shelved on the side body of corresponding artificial ladder, and then staff steps on the footrests, and safety belt is fixed on work
Make the waist of personnel, is then worked by the first motor that controller starts a stair-climbing mechanism, first motor passes through gear and tooth
The mating band swing arm body of item travels forward, and when first motor works 3 seconds, controller restarts the work of the second motor, the second electricity
Machine drives mounting plate to move upwards, and mounting plate drives axis body to move upwards by forked standard, and axis body drives hook upward by pedestal
Movement, and arm body travels forward and contacts until the rear end of frame body with rear limit switch, rear limit switch transmits a signal to control at this time
Device processed, controller stop first motor, restart the work of the second motor, and the second motor drives mounting plate to move downward, mounting plate
Axis body is driven to move downward by forked standard, axis body drives hook to move downward by pedestal, and then controller starts first motor
Work, first motor are moved backward by the mating band swing arm body of gear and rack gear, when hook hooks the connection cross in artificial ladder
When lining, since arm body cannot continue to move backward, first motor side drives frame body to travel forward, at this point, controller also starts
The first motor of another stair-climbing mechanism works, and repeats above-mentioned work, and two stair-climbing mechanisms, which work alternatively, realizes ladders work, and existing
There is technology to compare, can be time saving and energy saving, improve safety, simple device investment.
Feature and advantage of the invention will be described in detail by embodiment combination attached drawing.
[Detailed description of the invention]
Fig. 1 is a kind of structural schematic diagram 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- frame body, 2- stair-climbing mechanism, 3- positioning mechanism, 4- safety belt, 5- foot pedal, 11- frame body, 12- grid
Body, 21- arm body, 22- fixing seat, 23- first motor, 24- gear, 25- rack gear, 26- hitch gear, 27- slide opening, 28- stop
Body, 29- rear limit switch, 210- front limit switch, 261- mounting rack, the second motor of 262-, 263- forked standard, 264- hook rack,
265- mounting plate, 2641- sliding sleeve, 2642- axis body, 2643- pedestal, 2644- hook, 2645- fastening nut, 221- fork body,
222- bearing, 31- support column, 32- guide rail wheel.
[specific embodiment]
Refering to fig. 1,2, a kind of artificial steps climbing robot of the present invention, including frame body 1, two stair-climbing mechanism 2, several localization machines
Structure 3, safety belt 4 and foot pedal 5, are equipped with frame body 1 on the stair-climbing mechanism 2, and the frame body 1 is equipped with safety belt 4 and foot-operated
Plate 5, the bottom of the frame body 1 are equipped with the positioning mechanism 3 being shelved on the both sides body of artificial ladder, and the stair-climbing mechanism 2 includes
Cross section is 21, two fixing seats 22 of arm body, the first motor 23 with self-locking function, gear 24, rack gear 25 and the extension of T-shape
Hook mechanism 26 is fitted with slidable fixing seat 22 on the arm body 21, frame body 1, institute is equipped in the fixing seat 22
The upper end for stating arm body 21 is equipped with rack gear 25, and the frame body 1 is equipped with first motor 23, sets in the rotation axis of the first motor 23
There is the gear 24 that connection is engaged with rack gear 25, the front end of the arm body 21 is equipped with hitch gear 26, and the hitch gear 26 includes
Mounting rack 261,262, two, the second motor hook rack 264 of forked standard 263, two and mounting plate 265, the front of the arm body 21 are set
There is mounting rack 261 and the hook rack 264 that can slide up and down, the mounting rack 261 is located at the centre of two hook rack 264, described
Mounting rack 261 is equipped with the second motor 262, and the mounting plate of threaded connection is arranged in the rotation axis of second motor 262
265, the both ends of the mounting plate 265 pass through forked standard 263 and are fixedly connected with hook rack 264.The hook rack 264 includes sliding sleeve
2641, the pedestal 2643, two of axis body 2642, two hook 2644 and two fastening nuts 2645, the arm body 21, which is equipped with, to be slided
Hole 27, the slide opening 27 is interior to be equipped with slidable sliding sleeve 2641, is equipped with axis body 2642, the forked standard 263 in the sliding sleeve 2641
Be fixedly connected with axis body 2642, the both ends of the axis body 2642 are equipped with pedestal 2643, the front end of the pedestal 2643 inserted with
The hook 2644 of threaded connection, the hook 2644 are equipped with fastening nut 2645, the fixing seat 22 in the front end of pedestal 2643
If two opposite insides of the fork body 221 are set in the upper top of arm body 21 and bottom surface including fork body 221 and dry bearing 222
There is bearing 222, the frame body 1 includes frame body 11 and grille body 12, and the upper end of the frame body 11 is equipped with grille body 12, described
Frame body 11 is installed, the inside of the front body of the frame body 11 is equipped with first motor 23, the arm body 21 in fixing seat 22
Rear end be equipped with and stop body 28, equipped with rear limit switch 29, the arm body 21 is set the blockings body 28 in the front end of rack gear 25
There is front limit switch 210, the positioning mechanism 3 includes support column 31 and the guide rail wheel 32 for being located at 31 lower end of support column, described to lead
Rail wheel 32 is shelved on the side body of artificial ladder.
The course of work of the present invention:
A kind of artificial steps climbing robot of the present invention hooks the connection cross-lining in artificial ladder during the work time, by hook 2644
On, and guarantee that guide rail wheel 32 is shelved on the side body of corresponding artificial ladder, then staff steps down on foot pedal 5, protects
Dangerous band 4 is fixed on the waist of staff, is then worked by the first motor 23 that controller starts a stair-climbing mechanism 2, and first
Motor 23 is travelled forward by the mating band swing arm body 21 of gear 24 and rack gear 25, when first motor 23 works 3 seconds, controller
Restart the work of the second motor 262, the second motor 262 drives mounting plate 265 to move upwards, and mounting plate 265 passes through 263 band of forked standard
Moving axis body 2642 moves 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 frame body 1 is contacted with rear limit switch 29, rear limit switch 29 transmits a signal to controller at this time, and controller stops
First motor 23 restarts the work of the second motor 262, and the second motor 262 drives mounting plate 265 to move downward, and mounting plate 265 is logical
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 starting first motor 23 processed works, and first motor 23 is moved backward by the mating band swing arm body 21 of gear 24 and rack gear 25,
When hook 2644 hooks on the connection cross-lining of artificial ladder, since arm body 21 cannot continue to move backward, 23 side of first motor
It drives frame body 1 to travel forward, at this point, the first motor 23 that controller also starts another stair-climbing mechanism 2 works, repeats above-mentioned work
To make, two stair-climbing mechanisms 2, which work alternatively, realizes ladder work, compared with prior art, can be time saving and energy saving, safety is improved,
Simple device investment.
Above-described embodiment is the description of the invention, is not limitation of the invention, after any pair of simple transformation of the present invention
Scheme all belong to the scope of protection of the present invention.
Claims (6)
1. a kind of artificial steps climbing robot, it is characterised in that: including frame body (1), two stair-climbing mechanisms (2), several positioning mechanisms
(3), safety belt (4) and foot pedal (5) are equipped with frame body (1) on the stair-climbing mechanism (2), and the frame body (1) is equipped with insurance
Band (4) and foot pedal (5), the bottom of the frame body (1) are equipped with the positioning mechanism (3) being shelved on the both sides body of artificial ladder,
The stair-climbing mechanism (2) includes that cross section is the arm body (21) of T-shape, two fixing seats (22), first with self-locking function
Motor (23), gear (24), rack gear (25) and hitch gear (26) are fitted with slidable fixation on the arm body (21)
Seat (22) is equipped with frame body (1) on the fixing seat (22), and the upper end of the arm body (21) is equipped with rack gear (25), the frame body
(1) first motor (23) are equipped with, the rotation axis of the first motor (23) is equipped with the gear that connection is engaged with rack gear (25)
(24), the front end of the arm body (21) is equipped with hitch gear (26), and the hitch gear (26) includes mounting rack (261), second
The front of motor (262), two forked standards (263), two hook rack (264) and mounting plate (265), the arm body (21) is equipped with peace
Shelve (261) and the hook rack that can slide up and down (264), the mounting rack (261) is located at the centre of two hook rack (264),
The mounting rack (261) is equipped with the second motor (262), is arranged with threaded connection in the rotation axis of second motor (262)
Mounting plate (265), the both ends of the mounting plate (265) pass through forked standard (263) and are fixedly connected with hook rack (264)；Two
Stair-climbing mechanism (2) structure is identical and is arranged in parallel in the lateral direction.
2. a kind of artificial steps climbing robot as described in claim 1, it is characterised in that: the hook rack (264) includes sliding sleeve
(2641), axis body (2642), two pedestals (2643), two hooks (2644) and two fastening nuts (2645), the arm body
(21) slide opening (27) are equipped with, are equipped with slidable sliding sleeve (2641) in the slide opening (27), be equipped in the sliding sleeve (2641)
Axis body (2642), the forked standard (263) are fixedly connected with axis body (2642), and the both ends of the axis body (2642) are equipped with pedestal
(2643), hook (2644) of the front end of the pedestal (2643) inserted with threaded connection, the hook (2644) is in pedestal
(2643) front end is equipped with fastening nut (2645).
3. a kind of artificial steps climbing robot as described in claim 1, it is characterised in that: the fixing seat (22) includes fork body
(221) if being set in the upper top of arm body (21) and bottom surface with dry bearing (222), two opposite insides of fork body (221)
There are bearing (222).
4. a kind of artificial steps climbing robot as described in claim 1, it is characterised in that: the frame body (1) includes frame body
(11) grille body (12) are equipped with, are installed on the fixing seat (22) framed with grille body (12), the upper end of the frame body (11)
The inside of frame body (11), the front body of the frame body (11) is equipped with first motor (23).
5. a kind of artificial steps climbing robot as described in claim 1, it is characterised in that: the rear end of the arm body (21) is equipped with resistance
Block body (28), the blocking body (28) are equipped with rear limit switch (29), and the arm body (21) is equipped in the front end of rack gear (25)
Front limit switch (210).
6. a kind of artificial steps climbing robot as described in any one of claims 1 to 5, it is characterised in that: the positioning mechanism
It (3) include support column (31) and the guide rail wheel (32) for being located at support column (31) lower end, the guide rail wheel (32), which 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 CN106585756A (en) | 2017-04-26 |
| CN106585756B true CN106585756B (en) | 2019-10-11 |
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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 |
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| 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 |
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| Publication number | Publication date |
|---|---|
| CN106585756A (en) | 2017-04-26 |
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| TA01 | Transfer of patent application right |
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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