CN107762132A - A kind of side pendulum-type mechanical arm and its application method - Google Patents
A kind of side pendulum-type mechanical arm and its application method Download PDFInfo
- Publication number
- CN107762132A CN107762132A CN201711064054.4A CN201711064054A CN107762132A CN 107762132 A CN107762132 A CN 107762132A CN 201711064054 A CN201711064054 A CN 201711064054A CN 107762132 A CN107762132 A CN 107762132A
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- Prior art keywords
- manipulator
- interior
- guide rail
- climbing
- rail
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G5/00—Component parts or accessories for scaffolds
- E04G5/006—Scaffold with cantilevered sections, e.g. to accommodate overhangs or recesses in the facade
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G5/00—Component parts or accessories for scaffolds
- E04G5/04—Means for fastening, supporting, or bracing scaffolds on or against building constructions
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G2003/286—Mobile scaffolds; Scaffolds with mobile platforms mobile vertically
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of side pendulum-type mechanical arm and its application method, the guide rail coordinated including multiple manipulators and two mutual sliding sleeves, each guide rail adheres to fixed at least one manipulator along its short transverse, the manipulator can be realized by rotation in the horizontal plane switch between the open mode vertical with architecture enclosing and the tightening state parallel with architecture enclosing, can coordinate when the manipulator is rocked to open mode with climbing point it is fixed, can be withdrawn from from climbing point when being rocked to tightening state；During climbing, two guide rails alternately slide up and down the following climbing operation of execution：Manipulator on guide rail is withdrawn from from current climbing point, and the manipulator on the guide rail and target climbing point are coordinated behind the mobile guide rail to the position of target climbing point and fixed.The present invention can be alternately performed climbing operation by two guide rails, realize up or down climbing in building external, reduce labor strength, substantially increase efficiency of construction, saved a large amount of labours.
Description
Technical field
The present invention relates to building climbing mechanism field, more particularly to a kind of side pendulum-type mechanical arm and its application method.
Background technology
Skyscraper in city is more and more, at present, is also needed in many Construction of High-rise hoistable platforms many artificial
Back work is done, for example manually goes to carry the labor for downstairs, adding worker on the heavy parts such as guide bracket, cucurbit and suspension centre bearing
Fatigue resistance, add construction cost, low construction efficiency.Current mechanical arm is in construction, if it is irregular or have to run into wall
Bridging piece, balcony etc. are not easy to set attached wall support, and mechanical arm is stepped on less than, it is necessary to padded in the position of building structure attachment one
Part, make mechanical arm step on this it is overhanging increase on part, this mode workload is big, and labor intensity is high, and cost is high and dangerous.
The content of the invention
The technical problem to be solved in the present invention is, for the drawbacks described above of prior art, there is provided a kind of side pendulum-type machinery
Arm and its application method.
The technical solution adopted for the present invention to solve the technical problems is：A kind of side pendulum-type mechanical arm is constructed, including it is multiple
The guide rail that manipulator and two mutual sliding sleeves coordinate, each guide rail adhere to fixed at least one machinery along its short transverse
Hand, the manipulator can be realized in the open mode vertical with architecture enclosing and and building by rotation in the horizontal plane
Switch between the tightening state of peripheral parallel, fixed, swing can be coordinated when the manipulator is rocked to open mode with climbing point
It can be withdrawn to during tightening state from climbing point；
During climbing, two guide rails alternately slide up and down the following climbing operation of execution：Manipulator on guide rail is climbed from currently
Climb and a little withdraw from, and coordinate the manipulator on the guide rail and target climbing point admittedly behind the mobile guide rail to the position of target climbing
It is fixed.
In side pendulum-type mechanical arm of the present invention, mutual fastening is provided between each manipulator and climbing point
Inclination prevention structure, each guide rail is respectively provided with connects the electronic of rotation with driving manipulator in the horizontal plane with corresponding manipulator
Transfer bar mechanism, either each manipulator is including driving the electronic rotation mechanism or hydraulic rotary mechanism or manual that itself rotates
Rotating mechanism.；
Described two guide rails are divided into interior guide rail and outer guide, and the manipulator is divided into attachment and is fixed on the interior of the interior guide rail
The outer manipulator of the outer guide is fixed in manipulator and attachment, and the interior guide rail is provided with along its short transverse and installed in described
The interior manipulator attachment rail of manipulator, the outer guide are provided with slide rail along its short transverse and install the outer manipulator
Outer manipulator attachment rail, the interior guide rail is socketed with the slide rail, and the interior manipulator attachment rail and the outer machinery
Hand attachment rail is arranged side by side.
In side pendulum-type mechanical arm of the present invention, the interior guide rail includes sliding part and vertical with the sliding part two
Individual inner orbit portion, described two inner orbit portions are arranged on the sliding part as the interior manipulator attachment rail is parallel,
And it is spaced apart between two inner orbit portions, set in two inner orbit portions on the outside of an inner orbit portion away from outer guide
The electric pushrod mechanism is put, each inner orbit portion offers multiple for fixing the interior manipulator along its short transverse
Interior manipulator mounting hole.
In side pendulum-type mechanical arm of the present invention, the outer guide includes two main parts being oppositely arranged, two
The relative obverse mirror picture of main part sets one group of chute, and one group of chute is used to be socketed the interior guide rail as the slide rail, its
In a main part side it is vertical and mirror image is provided with two outside track portions each other, described in described two outside track portions are used as
Outer manipulator attachment rail it is parallel be arranged at main part side, and spaced apart between two outside track portions, two are outer
The outside in an outside track portion away from interior guide rail sets the electric pushrod mechanism, each outside track portion edge in orbit portion
Its short transverse offers multiple outer manipulator mounting holes for being used to fix the outer manipulator.
In side pendulum-type mechanical arm of the present invention, the side in the remote outside track portion of the outer guide is from up to
Under offer multiple outer guide fixing holes being connected with lifting device.
In side pendulum-type mechanical arm of the present invention, the interior manipulator and outer manipulator include and corresponding interior machine
The mechanical block of tool hand attachment rail/outer manipulator attachment rail fixation and the rotation being rotatably installed on the mechanical block
Arm, the rotary shaft of the cursor are parallel with the interior manipulator attachment rail and outer manipulator attachment rail.
In side pendulum-type mechanical arm of the present invention, the mechanical block includes being installed on interior manipulator attachment rail/outer
The fixed part of rectangle in manipulator attachment rail and the rotating mechanism being connected with the fixed part side, the rotating mechanism are
Electronic rotation mechanism either hydraulic rotary mechanism or can be manually rotated mechanism, has below the rotating mechanism and connects the rotation
The rotating shaft of arm, the central shaft of the rotating shaft are parallel with the interior manipulator attachment rail/outer manipulator attachment rail.
In side pendulum-type mechanical arm of the present invention, the cursor include being socketed on planar portions in the rotating shaft and
The kink down bent from planar portions, the planar portions offer the fixing hole matched with the rotating shaft.
In side pendulum-type mechanical arm of the present invention, the planar portions include a spacing right angle and one for being located at inner side
The individual arc corners positioned at outside, the cursor drive the arc corners to be rolled on the mechanical block when rotating；
When needing the manipulator being rocked to open mode, the cursor of the manipulator can be turned to institute inside
Spacing right angle is stated to abut with mechanical block；, can be by the cursor outward when needing the manipulator being rocked to tightening state
Rotate.
The invention also discloses a kind of application method of side pendulum-type mechanical arm, including：
S0, the manipulator on two guide rails is rocked to the open mode vertical with architecture enclosing, and matched somebody with somebody with climbing point
Close and fix, when up or down climbing, be alternately performed step S1 and step S2；
S1, the All Robots on one of guide rail are rocked to the tightening state parallel with architecture enclosing with from working as
Preceding climbing point is withdrawn from, then moves the guide rail to the position of target climbing point, and the All Robots on the guide rail are rocked to and beaten
Open state, and climb point with target and coordinate fixation；
S2, the All Robots on a remaining guide rail are rocked to tightening state to be withdrawn from from current climbing point, then
All Robots on the guide rail are rocked to and open mode to the position of target climbing point by the mobile guide rail, and and target
Climbing point, which coordinates, to be fixed.
Implement the side pendulum-type mechanical arm and its application method of the present invention, have the advantages that：The present invention can pass through
Two guide rails alternately slide up and down execution climbing operation, realize up or down climbing in building external, reduce high level
The carrying of construction lifting platform guide bracket, reduce the connection of Construction of High-rise hoistable platform attachment point and take work apart, improve and build
Mechanization of building operation and automatization level are built, labor strength is reduced, substantially increases efficiency of construction, saved a large amount of work
Power.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings：
Fig. 1 is the structural representation of the preferred embodiment of side pendulum-type mechanical arm of the present invention；
Fig. 2 is the structural representation of the outer guide in Fig. 1；
Fig. 3 is the structural representation of the interior guide rail in Fig. 1；
Fig. 4 is the exploded view of the manipulator in Fig. 1；
Fig. 5 is the structural representation in another preferred embodiment of side pendulum-type mechanical arm；
Fig. 6 is the structural representation that side pendulum-type mechanical arm coordinates with climbing point；
Fig. 7 is the operation principle schematic diagram one of preferred embodiment；
Fig. 8 is the operation principle schematic diagram two of preferred embodiment；
Fig. 9 is the operation principle schematic diagram three of preferred embodiment；
Figure 10 is the operation principle schematic diagram four of preferred embodiment；
Figure 11 is the operation principle schematic diagram five of preferred embodiment；
Figure 12 is the operation principle schematic diagram six of preferred embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the exemplary embodiments of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes
The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
The total thinking of the present invention is：A kind of side pendulum-type mechanical arm is constructed, it includes multiple manipulators and two mutually sliding
The guide rail coordinated is covered, each guide rail adheres to fixed at least one manipulator along its short transverse, and the manipulator can pass through
Rotation in the horizontal plane is realized in the open mode vertical with architecture enclosing and the tightening state parallel with architecture enclosing
Between switch, can coordinate when the manipulator is rocked to open mode with climbing point it is fixed, can be from climbing when being rocked to tightening state
Climb and a little withdraw from；
During climbing, two guide rails alternately slide up and down the following climbing operation of execution：Manipulator on guide rail is climbed from currently
Point (coordinating fixed climbing point with manipulator) is climbed to withdraw from, and by the guide rail behind the mobile guide rail to the position of target climbing point
On manipulator and target climbing point coordinate and fix.
It is to be appreciated that the current climbing point of each manipulator, target climbing point are different, each manipulator has
Respective current climbing point, target climbing point.
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application
The detailed description of technical scheme, rather than the restriction to technical scheme, in the case where not conflicting, the present invention is implemented
Technical characteristic in example and embodiment can be mutually combined.
With reference to figure 1, side pendulum-type mechanical arm of the invention includes interior guide rail 1, outer guide 2, interior manipulator 3 and outer manipulator 4.
Interior guide rail 1,2 mutual sliding sleeve of outer guide coordinate.Interior guide rail 1 fixes two interior manipulators 3, outer guide 2 along the attachment of its short transverse
Two outer manipulators 4 are fixed in the attachment of its short transverse.Interior manipulator 3 and outer manipulator 4 can be real by rotation in the horizontal plane
Switch between open mode now vertical with architecture enclosing and the tightening state parallel with architecture enclosing.
It is understood that interior manipulator 3, the quantity of outer manipulator 4 are not limited, can according to circumstances set.It is interior
The swing of manipulator 3, outer manipulator 4, can be manual control or Electronic control.
Wherein, interior guide rail 1, outer guide 2 top and bottom in positioning are alignment, and interior manipulator 3, outer manipulator 4 are simultaneously
Row's alignment is set.It is two neighboring climbing point climbing proceed in two phases, the first step be first by interior manipulator 3 be rocked to tightening state with
Withdrawn from from current climbing point, interior guide rail 1 is then pulled out into a mobile segment distance up to interior manipulator 3 is climbed with target from outer guide 2
A correspondence is climbed, then interior manipulator 3 is rocked to open mode and climbs point with the target and coordinates fixation, whole machinery during this
Arm is fixed on architecture enclosing by outer manipulator 4.Second step is that outer manipulator 4 is rocked into tightening state with from current
Climbing is put and withdrawn from, and outer guide 2 then is moved into outer manipulator 4 puts corresponding (now fixed with interior manipulator 3 with target climbing
Climbing point), then by outer manipulator 4 be rocked to open mode and with the target climb point coordinate fix, whole machine during this
Tool arm is fixed on architecture enclosing by interior manipulator 3.
In preferred embodiment, interior guide rail 1 is provided with the installation interior manipulator 3 along its short transverse (i.e. vertical direction)
Interior manipulator attachment rail, the outer guide 2 are provided with slide rail along its short transverse (i.e. vertical direction) and install the outer machine
The outer manipulator attachment rail of tool hand 4, the interior guide rail 1 is socketed with the slide rail, and the interior manipulator attachment rail and institute
Outer manipulator attachment rail is stated to be arranged side by side.
With specific reference to Fig. 2, outer guide 2 includes two main parts being oppositely arranged, the relative obverse mirror picture of two main parts
One group of chute 21 is set, and one group of chute 21 is used to be socketed the interior guide rail 1, the side of one of main part as the slide rail
Side is vertical and mirror image is provided with two outside track portions 22 each other, and described two outside track portions 22 are as the outer manipulators installation
Being arranged at for parallel track is spaced apart between main part side and two outside track portions 22, each outside track portion 22
Multiple outer manipulator mounting holes 220 for being used to fix the outer manipulator 4 are offered along its short transverse, user can basis
Need to select several outer manipulator mounting holes 220 therein fixed outer manipulator 4 respectively.
With continued reference to Fig. 2, the side in the remote outside track portion 22 of the outer guide 2 offer from top to bottom it is multiple with
The outer guide fixing hole 20 of lifting device connection.
With reference to figure 3, interior guide rail 1 includes sliding part 11 and vertical with the sliding part 11 and mirror image each other two inner orbits
Portion 12, sliding part 11, the rectangular tabular in inner orbit portion 12.
Described two inner orbit portions 12 are parallel as the interior manipulator attachment rail to be arranged on the sliding part 11
And it is spaced apart between two inner orbit portions 12, each inner orbit portion 12 opens along its short transverse (i.e. vertical direction)
Provided with multiple interior manipulator mounting holes 120 for being used to fix the interior manipulator 3, user can select therein as needed
Several interior manipulator mounting holes 120 respectively fix in manipulator 3.
With reference to figure 4, the interior manipulator 3 is identical with the structure of outer manipulator 4, includes installing with corresponding interior manipulator
The mechanical block 5 of track/outer manipulator attachment rail fixation and the cursor 6 being rotatably installed on the mechanical block 5, it is described
The rotary shaft of cursor 6 is parallel with the interior manipulator attachment rail and outer manipulator attachment rail, i.e., vertically.
Specifically, the mechanical block 5 includes the rectangle being installed in interior manipulator attachment rail/outer manipulator attachment rail
Fixed part 51 and the rotating mechanism 52 that is connected with the side of fixed part 51.Wherein, connecting hole is offered on fixed part 51
510, fixed part 51 is arranged between two outside track portions 22 or two inner orbit portions 12, and passes through connecting hole 510 and outer machine
It is fixed after tool hand mounting hole 220 or the alignment of interior manipulator mounting hole 120 by bolt etc..Wherein, rotating mechanism 52 is in
Cylindricality and axis is vertically, the lower section of rotating mechanism 52 have the rotating shaft 53 for connecting the cursor 6, and rotating shaft 53 is radially
Size is less than the radial dimension of rotating mechanism 52, the central shaft of the rotating shaft 53 and the interior manipulator attachment rail/outer machinery
Hand attachment rail is parallel, that is, is vertically arranged.
It is understood that rotating mechanism 52 can be the person's of needing to use manual toggle to realize rotation can be manually rotated machine
Structure, it can also be electronic rotation mechanism or hydraulic rotary mechanism.
Specifically, the cursor 6 includes being socketed on planar portions 61 in the rotating shaft 53 and down curved from planar portions 61
The kink 62 of folding, the planar portions 61 offer the fixing hole 610 matched with the rotating shaft 53.
Preferably, the planar portions 61 include a spacing right angle for being located at inner side and a circular arc positioned at outside turns
Angle, the cursor 6 drive the arc corners to be rolled on the mechanical block 5 when rotating.
When needing the manipulator being rocked to open mode, the cursor 6 of manipulator can be turned to inside described
Spacing right angle abuts with mechanical block 5；, can be by the cursor 6 outward when needing the manipulator being rocked to tightening state
Rotate.
Preferably, manipulator is controlled by electronic mode.With reference to figure 5, in another embodiment, interior manipulator 3, outer machine
The swing of tool hand 4 is Electronic control.A specifically, inner orbit portion 12 away from outer guide 2 in two inner orbit portions 12
Outside sets electric pushrod mechanism 7, and the outside in an outside track portion 22 away from interior guide rail 1 sets electricity in two outside track portions 22
Dynamic transfer bar mechanism 7.
Preferably, in order to improve steadiness, prevent from tilting, in another embodiment, with reference to figure 6,100,200 is equal in figure
To climb point, the inclination prevention structure 8 mutually fastened is provided between each manipulator and climbing point.
With reference to Fig. 7-12, illustrate climbing principle of the invention：
Such as Fig. 7, the current fixed position of whole mechanical arm is represented, Fig. 8 is the schematic diagram of depression angle now, now interior to lead
What rail 1 and outer guide 2 were generally flush with, interior manipulator 3, outer manipulator 4 are two, and the interior manipulator 3 of bottom, outer manipulator 4
Coordinate with climbing point 100 and fix, interior manipulator 3, the outer manipulator 4 at top coordinate with climbing point 200 to be fixed.If it is desired to
Mechanical arm is up creeped one layer, then process is as follows：
The first step, as shown in figs. 9-10, all interior manipulators 3 are first rocked to tightening state to be removed from current climbing point
Go out；Interior guide rail 1 is up pulled out from outer guide 2 again and a mobile segment distance is up to the interior manipulator 3 and target climbing point of bottom
200 correspondences, the interior manipulator 3 at top are corresponding with target climbing point 300, and now the outer manipulator 4 of bottom is still with currently climbing
Climbing a little 100 coordinates fixed, top outer manipulator 4 still to coordinate a fixations with current climbing point 200, then by all interior manipulators
3 are rocked to open mode and climb point cooperation fixation with target, as shown in figure 11；.
Second step, as shown in figure 12, all outer manipulators 4 are rocked to tightening state to be withdrawn from from current climbing point；
The outer manipulator 4 that outer guide 2 is moved to bottom again is corresponding with target climbing point 200；Outer manipulator 4 is rocked to open shape again
State simultaneously climbs point cooperation fixation with target.
It can be seen that whole mechanical arm is to be fixed on architecture enclosing by outer manipulator 4 during the whole first step；Entirely
Whole mechanical arm is to be fixed on architecture enclosing by interior manipulator 3 during second step.
It is to be understood that although disclosed in the present embodiment being that first mobile interior guide rail 1 moves outer guide 2 again, it is actual
This is not limited to, outer guide 2 is first moved and moves the deformation of interior guide rail 1 again also within protection scope of the present invention.
Based on on the one hand conceiving, the invention also discloses a kind of application method of side pendulum-type mechanical arm, method includes：
S0, the manipulator on interior guide rail 1 and outer guide 2 is rocked to the open mode vertical with architecture enclosing, and with
Climbing point, which coordinates, to be fixed, and when up or down climbing, is alternately performed step S1 and step S2；
S1, all interior manipulators 3 on interior guide rail 1 are rocked to the tightening state parallel with architecture enclosing with from current
Climbing point withdraw from, then move interior guide rail 1 to target climbing point position, by all interior manipulators 3 on interior guide rail 1 be rocked to
Open mode, and climb point with target and coordinate fixation；
S2, all outer manipulators 4 on outer guide 2 are rocked to tightening state to be withdrawn from from current climbing point, then moved
All outer manipulators 4 on outer guide 2 are rocked to and open mode to the position of target climbing point by outer guide 2, and and target
Climbing point, which coordinates, to be fixed.
In summary, implement the side pendulum-type mechanical arm and its application method of the present invention, have the advantages that：The present invention
Execution climbing operation can be alternately slided up and down by two guide rails, up or down climbing in building external is realized, subtracts
Lack the carrying of Construction of High-rise hoistable platform guide bracket, reduced the connection of Construction of High-rise hoistable platform attachment point and take work apart,
Construction machine and automatization level are improved, labor strength is reduced, substantially increases efficiency of construction, has been saved big
Measure labour.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (12)
- A kind of 1. side pendulum-type mechanical arm, it is characterised in that the guide rail coordinated including multiple manipulators and two mutual sliding sleeves, often Individual guide rail adheres to fixed at least one manipulator along its short transverse, and the manipulator can pass through rotation in the horizontal plane Realization switches between the open mode vertical with architecture enclosing and the tightening state parallel with architecture enclosing, the machinery Hand, which can coordinate when being rocked to open mode with climbing point when fixing, being rocked to tightening state, to be withdrawn from from climbing point；During climbing, two guide rails alternately slide up and down the following climbing operation of execution：Manipulator on guide rail is climbed into point from current Withdraw from, and the manipulator on the guide rail and target climbing point are coordinated behind the mobile guide rail to the position of target climbing point and fixed.
- 2. side pendulum-type mechanical arm according to claim 1, it is characterised in that set between each manipulator and climbing point It is equipped with the inclination prevention structure (8) mutually fastened.
- 3. side pendulum-type mechanical arm according to claim 1, it is characterised in that each guide rail is respectively provided with and corresponding manipulator The electric pushrod mechanism (7) of the rotation with driving manipulator in the horizontal plane is connected, or each manipulator includes driving itself The rotating mechanism (52) of rotation, the rotating mechanism (52) are that electronic rotation mechanism either hydraulic rotary mechanism or can be manually rotated Mechanism.
- 4. side pendulum-type mechanical arm according to claim 1, it is characterised in that described two guide rails be divided into interior guide rail (1) and Outer guide (2), the manipulator be divided into attachment be fixed on the interior manipulator (3) of the interior guide rail (1) and attachment be fixed on it is described The outer manipulator (4) of outer guide (2), the interior guide rail (1) are provided with the interior of the installation interior manipulator (3) along its short transverse Manipulator attachment rail, the outer guide (2) are provided with slide rail along its short transverse and install the outer machine of the outer manipulator (4) Tool hand attachment rail, the interior guide rail (1) is socketed with the slide rail, and the interior manipulator attachment rail and the outer manipulator Attachment rail is arranged side by side.
- 5. side pendulum-type mechanical arm according to claim 4, it is characterised in that the interior guide rail (1) includes sliding part (11) Vertical two inner orbit portions (12) with the sliding part (11), described two inner orbit portions (12) are as the interior manipulator peace Dress parallel track is arranged on the sliding part (11), and spaced apart between two inner orbit portions (12), in two The outside of an inner orbit portion (12) away from outer guide (2) sets the electric pushrod mechanism (7) in orbit portion (12), each The inner orbit portion (12) offers multiple interior manipulator mounting holes for being used to fix the interior manipulator (3) along its short transverse (120)。
- 6. side pendulum-type mechanical arm according to claim 4, it is characterised in that the outer guide (2) includes what is be oppositely arranged Two main parts, the relative obverse mirror picture of two main parts set one group of chute (21), and one group of chute (21) is used as the cunning Rail is used to be socketed the interior guide rail (1), and the side of one of main part is vertical and mirror image is provided with two outside tracks each other Portion (22), described two outside track portions (22) it is parallel as the outer manipulator attachment rail be arranged at main part side, and It is spaced apart between two outside track portions (22), an outside track away from interior guide rail (1) in two outside track portions (22) The outside in portion (22) sets the electric pushrod mechanism (7), and each outside track portion (22) offers more along its short transverse The individual outer manipulator mounting hole (220) for being used to fix the outer manipulator (4).
- 7. side pendulum-type mechanical arm according to claim 6, it is characterised in that the remote outer rail of the outer guide (2) The side in road portion (22) offers multiple outer guide fixing holes (20) being connected with lifting device from top to bottom.
- 8. side pendulum-type mechanical arm according to claim 4, it is characterised in that the interior manipulator (3) and outer manipulator (4) Include and the mechanical block (5) of corresponding interior manipulator attachment rail/outer manipulator attachment rail fixation and rotatable installation In the cursor (6) on the mechanical block (5), the rotary shaft of the cursor (6) and the interior manipulator attachment rail and Outer manipulator attachment rail is parallel.
- 9. side pendulum-type mechanical arm according to claim 8, it is characterised in that the mechanical block (5) includes being installed on interior machine The fixed part (51) of rectangle in tool hand attachment rail/outer manipulator attachment rail and it is connected with the fixed part (51) side Rotating mechanism (52), the rotating mechanism (52) are that electronic rotation mechanism either hydraulic rotary mechanism or can be manually rotated mechanism, There is the rotating shaft (53) for connecting the cursor (6), the central shaft of the rotating shaft (53) and institute below the rotating mechanism (52) It is parallel to state interior manipulator attachment rail/outer manipulator attachment rail.
- 10. side pendulum-type mechanical arm according to claim 9, it is characterised in that the cursor (6) is described including being socketed on Planar portions (61) in rotating shaft (53) and the kink (62) down bent from planar portions (61), the planar portions (61) offer The fixing hole (610) matched with the rotating shaft (53).
- 11. side pendulum-type mechanical arm according to claim 10, it is characterised in that the planar portions (61) are located at including one The spacing right angle of inner side and the arc corners for being located at outside, the cursor (6) drive the arc corners to exist when rotating Rolled on the mechanical block (5)；When needing the manipulator being rocked to open mode, the cursor (6) of the manipulator can be turned to institute inside Spacing right angle is stated to abut with mechanical block (5)；, can be by the cursor when needing the manipulator being rocked to tightening state (6) rotate outward.
- A kind of 12. application method of side pendulum-type mechanical arm, it is characterised in that including：S0, the manipulator on two guide rails is rocked to the open mode vertical with architecture enclosing, and coordinated admittedly with climbing point It is fixed, when up or down climbing, it is alternately performed step S1 and step S2；S1, the All Robots on one of guide rail are rocked to the tightening state parallel with architecture enclosing to be climbed from currently Climb and a little withdraw from, then move the guide rail to the position of target climbing point, the All Robots on the guide rail are rocked to and open shape State, and climb point with target and coordinate fixation；S2, the All Robots on a remaining guide rail are rocked to tightening state to be withdrawn from from current climbing point, then moved All Robots on the guide rail are rocked to and open mode, and climbed with target by the guide rail to the position of target climbing point Point, which coordinates, to be fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN201711064054.4A CN107762132B (en) | 2017-11-02 | 2017-11-02 | Side-swinging mechanical arm and use method thereof |
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| CN107762132B CN107762132B (en) | 2020-02-04 |
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| CN110422772A (en) * | 2019-09-07 | 2019-11-08 | 莫崇规 | Climbing machine device device and method |
| CN112513392A (en) * | 2018-07-23 | 2021-03-16 | Peri有限公司 | Lift drive for a rail-guided climbing system |
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| CN104878918A (en) * | 2015-06-29 | 2015-09-02 | 武汉天蝎建筑装备有限公司 | Rock-climbing type robot protective screen |
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| CN103669818A (en) * | 2012-09-07 | 2014-03-26 | 深圳市特辰科技股份有限公司 | Sealing type integrated climbing frame and use method thereof |
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| CN112513392A (en) * | 2018-07-23 | 2021-03-16 | Peri有限公司 | Lift drive for a rail-guided climbing system |
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| Publication number | Publication date |
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| CN107762132B (en) | 2020-02-04 |
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