CN106608604A - Auxiliary platform of wall-climbing robot and lifting method of wall-climbing robot - Google Patents
Auxiliary platform of wall-climbing robot and lifting method of wall-climbing robot Download PDFInfo
- Publication number
- CN106608604A CN106608604A CN201610848505.2A CN201610848505A CN106608604A CN 106608604 A CN106608604 A CN 106608604A CN 201610848505 A CN201610848505 A CN 201610848505A CN 106608604 A CN106608604 A CN 106608604A
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- CN
- China
- Prior art keywords
- platform
- climbing robot
- fixed
- lifting
- wall
- Prior art date
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
- B66F7/04—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars hydraulically or pneumatically operated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
The invention provides an auxiliary platform of a wall-climbing robot and a lifting method of the wall-climbing robot. The auxiliary platform of the wall-climbing robot comprises a fixing platform, a lifting platform arranged in the fixing platform, two hydraulic cylinders arranged on the two sides of the lifting platform respectively, a lifting chain, an introduction section, a winch arranged on the lifting platform and a stretching rope which is connected with the winch and is used for overturning the introduction section, wherein the lower end of each hydraulic cylinder is fixedly connected with the fixing platform, and the upper end of each hydraulic cylinder is provided with a bearing wheel group; and one end of the lifting chain is fixed on the fixing platform, and the other end of the lifting chain is fixed connected with the lifting platform after bypassing a bearing wheel groups; one end of the introduction section is rotationally connected with the fixing platform. According to the auxiliary platform of the wall-climbing robot, the initial operation height of the wall-climbing robot can be regulated according to the practical requirements. The auxiliary platform of the wall-climbing robot completely adopts an electric control system, is simple and convenient to control, can be used in multiple purposes, finishes transportation and cleaning preparation work of the wall-climbing robot and integrates a control cabinet of the wall-climbing robot and a pipeline reeling and unreeling device.
Description
Technical field
The present invention relates to a kind of assistance platform of climbing robot, the invention further relates to the method for improving of climbing robot,
Belong to robot field.
Background technology
Climbing robot is largely used to the occasions such as vessel coating, cleaning, and at present most climbing robot is using wheeled
Structure, therefore typically cannot directly from horizontal plane motion to the scope of operation.Climbing robot is placed into into the process needs of the scope of operation
By assistance platform, typically section is drawn than larger transition using size, this draw section progressively horizontal plane is transitioned into by curved surface it is vertical
Face directly, allow in the scope of operation of the climbing robot voluntarily from horizontal plane motion to vertical.But such segment body product of drawing is big, is difficult to move
It is dynamic, cause to be required for before climbing robot operation to reinstall this and draw section.In fact, rest in ship in dock at present in order to
Manufacture mending course and under the later stage water convenience, typically held up by support, highly in 3-4 rice, therefore wall-climbing device
People is also required to disclosure satisfy that the operation of the height.But lacking one kind in the market can easily move and will climb wall machine
Device people is placed into the device on working face.
The content of the invention
It is an object of the invention to provide the method for improving of a kind of assistance platform of climbing robot and climbing robot,
To solve the above problems.
Present invention employs following technical scheme：
The present invention provides a kind of assistance platform of climbing robot, it is characterised in that include：Fixed platform, is framework knot
Structure；Platform is lifted, the inside of fixed platform is arranged on；Hydraulic cylinder, is arranged on the both sides for lifting platform, and lower end is fixedly connected on
On fixed platform, upper end is provided with BOGEY WHEEL group；Hoisting chain, one end is fixed on the stationary platform, and the other end bypasses BOGEY WHEEL group
It is fixedly connected with lifting platform afterwards；Draw section, for the climbing robot that berths, the one end for drawing section is connected with fixed platform rotation；Twist
Disk, is arranged on lifting platform；Pulling rope, is connected with the capstan winch, and described section is drawn for overturning.
Further, the assistance platform of climbing robot of the invention, can also have the feature that, also include：It is multiple
Slip guide pillar and multiple fixed guide pillars, fixed guide pillar is arranged on around lifting platform, and slip guide pillar slides with fixed guide pillar and connects
Connect, slip guide pillar is corresponded with fixed guide pillar.
Further, the assistance platform of climbing robot of the invention, can also have the feature that, also include：Guide wheel
Installing plate, is arranged on the side for lifting platform, and guide wheel is fixedly connected on the both sides of guide wheel installing plate, hollow in slip guide pillar, leads
Slipping is arranged in the hollow space of slip guide pillar.
Further, the assistance platform of climbing robot of the invention, can also have the feature that also have：It is universal
Wheel, is arranged on the bottom of fixed platform.
Further, the assistance platform of climbing robot of the invention, can also have the feature that also have：Cable
Bundling device, is arranged on the framework of fixed platform.
Further, the assistance platform of climbing robot of the invention, can also have the feature that also have：Positioning
Bar, is arranged on the front end for drawing section, and when drawing section and packing up, locating rod is against on the framework of fixed platform.
Further, the assistance platform of climbing robot of the invention, can also have the feature that also have：Positioning
Pin, locating rod one end corresponding with the framework of fixed platform has pin-and-hole, and alignment pin insertion pin-and-hole consolidates one end of locating rod
It is scheduled on the framework of fixed platform.
The present invention also provides a kind of assistance platform of the climbing robot using above-mentioned any one carries out climbing robot
The method of lifting, it is characterised in that comprise the steps：
Step one：Loosen capstan winch, pulling rope extends therewith, make to draw section and open and support to climbing robot place downwards
In plane, then allow climbing robot to drive to and draw in section；
Step 2：After treating that climbing robot is driven in section, capstan winch is tightened up, section will be drawn by pulling rope and packed up；
Step 3：Fixed platform is moved near working face, then hydraulic cylinder jacking BOGEY WHEEL group upwards, hoisting-chain
Bar is subject to after the jacking of BOGEY WHEEL group, and one end maintains static, and the other end drives lifting platform to move upwards, when on lifting platform
When guide wheel lifts the top of the slip guide pillar for arriving fixed platform corner, guide wheel is contacted with the upper plate of slip guide pillar, and drives cunning
Dynamic guide pillar slides in fixed guide pillar and is lifted；
Step 4：After lifting platform is promoted to predetermined altitude, climbing robot is set to move on work surface.
The beneficial effect of the invention
The assistance platform of the climbing robot of the present invention, with advantages below：
1) climbing robot initial job height can freely be adjusted according to actual requirement.
2) operation process automatization, this platform adopts completely electric control system, controls simple and convenient.
3) platform with a tractor serves several purposes, can complete transport and the cleaning preparation of climbing robot, and by wall-climbing device
The switch board of people has carried out integrated with pipeline taking-up/taking-offdevice device.
Description of the drawings
Fig. 1 is the structural representation of the assistance platform of climbing robot；
Fig. 2 is the front view of climbing robot；
Fig. 3 is the schematic diagram that climbing robot is docked on assistance platform；
Fig. 4 is to draw a section schematic diagram for part collapsed state；
Fig. 5 be climbing robot it is elevated after schematic diagram；
Fig. 6 is the installation relation schematic diagram of guide wheel and slip guide pillar；
Fig. 7 is the schematic diagram for drawing the assembly pulley in section.
Specific embodiment
The specific embodiment of the present invention is illustrated below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, the assistance platform of climbing robot includes：Fixed platform 1, lifting platform 20, hydraulic cylinder
17th, hoisting chain 10, draw section 9, capstan winch 16 and pulling rope 11.
Fixed platform 1, is frame structure；The bottom of fixed platform is provided with universal wheel 5 and integral type driving wheel 13, is easy to
The movement and steering of fixed platform.Integral type driving wheel 13 is a kind of by direct current generator, reductor, drives directional wheel to be integrated in one
The equipment for rising.Universal wheel 5 is coordinated to complete whole climbing robot transport and the platform advance turning motion for being lifted.Platform
Turning operation is realized mainly by the differential of integral type driving wheel 13.Using the configuration mode of forerunner's rear steering, can effectively reduce and turn
Curved radius, improves the motility of whole platform.
Platform 20 is lifted, the inside of fixed platform 1 is arranged on.
Hydraulic cylinder 17, is arranged on the both sides for lifting platform 20, and lower end is fixedly connected in fixed platform 1, hydraulic cylinder 17
Pistons end is provided with BOGEY WHEEL group 8.
Hoisting chain 10, one end is fixed in fixed platform 1, and the other end bypassed and consolidate with lifting platform 20 after BOGEY WHEEL group 8
Fixed connection；When 17 jacking upwards of hydraulic cylinder, BOGEY WHEEL group 8 is also moved upwards therewith, because the one end of hoisting chain 10 is fixed, separately
One end is connected on lifting platform 20, therefore when BOGEY WHEEL group 8 is moved upwards, hoisting chain 10 is pulled upwardly lifting platform
20。
As shown in Figure 5 and Figure 6, the assistance platform of climbing robot also has four slip guide pillars 7 and four fixed guide pillars
21, four fixed guide pillars 21 are arranged on the stationary platform, and around platform is lifted, slip guide pillar 7 is corresponded with fixed guide pillar 21
And it is slidably connected each other.
Guide wheel installing plate 12, there is two, is separately positioned on former and later two sides for lifting platform 20.
Guide wheel 19, is fixedly connected on the both sides of guide wheel installing plate 12,
As shown in fig. 6, hollow in slip guide pillar 7, guide wheel 19 is slidably arranged in the hollow space of slip guide pillar 7.
Draw section 9, for the climbing robot that berths, the one end for drawing section 9 is connected with the rotation of fixed platform 1；
Capstan winch 16, is arranged on lifting platform 20, can adopt electric capstan.
Pulling rope 11, one end is fixed on lifting platform 20, and the other end is connected with capstan winch 16.Pulling rope can use steel wire
The fiber suitable for pulling operation of rope or other materials.The one end of pulling rope 11 is connected on capstan winch 16, and the other end is through cunning
It is connected to after wheel group on lifting platform 20.The setting of assembly pulley forms pulley as shown in fig. 7, drawing and have in section 9 four pulleys 18
Group, capstan winch is tightened up after pulling rope, by the commutation of assembly pulley 18, makes whole pulling rope 11 form a closed loop, by control
The rotation of capstan winch processed 16 changes the length of steel wire rope in whole closed loop, and ensures pulling rope 11 using the gravity for drawing section 9
Tensioning, and then the upset of section 9 is drawn in control.
Cable bundling device 14, is arranged on the framework of fixed platform 1, for wind climbing robot 3 power line and
Control line, can guarantee that the power line of climbing robot 3, and control line is according to working length voluntarily line sending.Simultaneously in transportation side
Just transport, will not mutually wind.
Locating rod 22, is arranged on the front end for drawing section 9, and when drawing section 9 and packing up, locating rod 22 is against the framework of fixed platform 1
On.
The one end corresponding with the framework of fixed platform 1 of locating rod 22 has pin-and-hole 23, and alignment pin insertion pin-and-hole 23 will be fixed
One end of position bar 22 is fixed on the framework of fixed platform 1.
Using climbing robot assistance platform by climbing robot lifted and be placed into operating position method it is as follows：
Step one：Loosen capstan winch, pulling rope extends therewith, make to draw section and open and support to climbing robot place downwards
In plane, then allow climbing robot to drive to and draw in section；Now state is as shown in Figure 3.
Step 2：After treating that climbing robot drives to and draws in section, capstan winch is tightened up, section upset will be drawn by pulling rope and received
Rise, this state is as shown in Figure 5.Alignment pin is now inserted, section will be drawn and fixed.
Step 3：Fixed platform is moved near working face, then hydraulic cylinder jacking BOGEY WHEEL group upwards, hoisting-chain
Bar is subject to after the jacking of BOGEY WHEEL group, and one end maintains static, and the other end drives lifting platform to move upwards, when on lifting platform
When guide wheel lifts the top of the slip guide pillar for arriving fixed platform corner, guide wheel is contacted with the upper plate of slip guide pillar, and drives cunning
Dynamic guide pillar slides in fixed guide pillar and is lifted；State after lifting is as shown in Figure 4.
Step 4：After lifting platform is promoted to predetermined altitude, climbing robot is set to move on work surface.
Electric cabinet 2 is arranged in the lead frame of fixed platform 1, mainly includes two parts control element：Climbing robot 3
Control element and climbing robot assistance platform control element.The assistance platform of climbing robot is supplied using set of cells 15
Electricity, and the power supply of climbing robot 3 needs to after scene separately to connect again.
Hydraulic Station 4 is fixed in fixed platform 1.Mainly include direct current generator, hydraulic pump, hydraulic line, electromagnetic valve, hydraulic pressure
Lock, overflow valve, check valve, filter, pressure gauge, fuel tank etc., by synchronous valve the two groups of hydraulic cylinder synchronous operations in left and right are ensured.Liquid
Pressure system has balanced loop, it is ensured that hydraulic cylinder will not occur the phenomenon of sudden contraction in the case of loaded, it is ensured that Ren Yuanhe
The safety of equipment.
Suspension ring 6, are arranged on the corner of fixed platform 1, are easy to lift by crane the assistance platform of whole climbing robot
And whole Transporting.
For the problem that the center in the case of balanced hoisting platform raised configuration is too high, by set of cells 15 and Hydraulic Station
4 rear sides for being arranged on fixed platform 1, for counterweight.
Claims (8)
1. a kind of assistance platform of climbing robot, it is characterised in that include：
Fixed platform, is frame structure；
Platform is lifted, the inside of the fixed platform is arranged on；
Hydraulic cylinder, is arranged on the both sides of the lifting platform, and lower end is fixedly connected in the fixed platform, and upper end is provided with holds
Roller group；
Hoisting chain, one end is fixed in the fixed platform, the other end bypass after the BOGEY WHEEL group with the lifting platform
It is fixedly connected；
Draw section, for the climbing robot that berths, the one end for drawing section is connected with fixed platform rotation；
Capstan winch, is arranged on the lifting platform；
Pulling rope, is connected with the capstan winch, and described section is drawn for overturning.
2. the assistance platform of climbing robot as claimed in claim 1, it is characterised in that also include：
Multiple slip guide pillars and multiple fixed guide pillars, the fixed guide pillar is arranged in the fixed platform, the slip guide pillar
It is slidably connected with fixed guide pillar, the slip guide pillar is corresponded with the fixed guide pillar.
3. the assistance platform of climbing robot as claimed in claim 2, it is characterised in that also include：
Guide wheel installing plate, is arranged on the side for lifting platform,
Guide wheel, is fixedly connected on the both sides of the guide wheel installing plate,
It is hollow in the slip guide pillar,
The guide wheel is slidably arranged in the hollow space of the slip guide pillar.
4. the assistance platform of climbing robot as claimed in claim 1, it is characterised in that also have：
Universal wheel, is arranged on the bottom of the fixed platform.
5. the assistance platform of climbing robot as claimed in claim 1, it is characterised in that also have：
Cable bundling device, is arranged on the framework of fixed platform.
6. the assistance platform of climbing robot as claimed in claim 1, it is characterised in that also have：
Locating rod, is arranged on the front end for drawing section, when it is described draw section and pack up when, the locating rod is against the framework of fixed platform
On.
7. the assistance platform of climbing robot as claimed in claim 6, it is characterised in that also have：
Alignment pin,
Locating rod one end corresponding with the framework of fixed platform has pin-and-hole, and the alignment pin inserts the pin-and-hole, will
One end of locating rod is fixed on the framework of fixed platform.
8. a kind of utilization carries as the assistance platform of the climbing robot of any one in claim 1 to 7 carries out climbing robot
The method for rising, it is characterised in that comprise the steps：
Step one：Loosen capstan winch, pulling rope extends therewith, make to draw the plane that section is opened downwards and supports to climbing robot place
On, then allow climbing robot to drive to and draw in section；
Step 2：After treating that climbing robot is driven in section, capstan winch is tightened up, section will be drawn by pulling rope and packed up；
Step 3：Fixed platform is moved near working face, then hydraulic cylinder jacking BOGEY WHEEL group upwards, hoisting chain is received
To after the jacking of BOGEY WHEEL group, one end maintains static, and the other end drives lifting platform to move upwards, the guide wheel on lifting platform
When lifting the top of slip guide pillar of fixed platform corner, guide wheel is contacted with the upper plate of slip guide pillar, and drives slip to lead
Post slides in fixed guide pillar and is lifted；
Step 4：After lifting platform is promoted to predetermined altitude, climbing robot is set to move on work surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848505.2A CN106608604A (en) | 2016-09-23 | 2016-09-23 | Auxiliary platform of wall-climbing robot and lifting method of wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848505.2A CN106608604A (en) | 2016-09-23 | 2016-09-23 | Auxiliary platform of wall-climbing robot and lifting method of wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608604A true CN106608604A (en) | 2017-05-03 |
Family
ID=58615083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610848505.2A Pending CN106608604A (en) | 2016-09-23 | 2016-09-23 | Auxiliary platform of wall-climbing robot and lifting method of wall-climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN106608604A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915698A (en) * | 2019-03-30 | 2019-06-21 | 青岛东卡环保工程技术有限公司 | A kind of climbing robot delivery device and put-on method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201190094Y (en) * | 2008-04-14 | 2009-02-04 | 贾广生 | Hydraulic balancing guiding and positioning lifting control apparatus |
| CN203095520U (en) * | 2012-12-18 | 2013-07-31 | 杨端禄 | Guide rail type hydraulic lifting platform |
| CN204675749U (en) * | 2015-06-12 | 2015-09-30 | 浙江海洋学院 | A kind of port loader-unloader |
| CN205099304U (en) * | 2015-11-16 | 2016-03-23 | 中科新松有限公司 | Wall dolly upset elevating gear climbs |
-
2016
- 2016-09-23 CN CN201610848505.2A patent/CN106608604A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201190094Y (en) * | 2008-04-14 | 2009-02-04 | 贾广生 | Hydraulic balancing guiding and positioning lifting control apparatus |
| CN203095520U (en) * | 2012-12-18 | 2013-07-31 | 杨端禄 | Guide rail type hydraulic lifting platform |
| CN204675749U (en) * | 2015-06-12 | 2015-09-30 | 浙江海洋学院 | A kind of port loader-unloader |
| CN205099304U (en) * | 2015-11-16 | 2016-03-23 | 中科新松有限公司 | Wall dolly upset elevating gear climbs |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109915698A (en) * | 2019-03-30 | 2019-06-21 | 青岛东卡环保工程技术有限公司 | A kind of climbing robot delivery device and put-on method |
| CN109915698B (en) * | 2019-03-30 | 2024-04-19 | 青岛东卡环保工程技术有限公司 | Wall climbing robot throwing device and throwing method |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |
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