CN108147234A - A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot - Google Patents
A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot Download PDFInfo
- Publication number
- CN108147234A CN108147234A CN201711286306.8A CN201711286306A CN108147234A CN 108147234 A CN108147234 A CN 108147234A CN 201711286306 A CN201711286306 A CN 201711286306A CN 108147234 A CN108147234 A CN 108147234A
- Authority
- CN
- China
- Prior art keywords
- crusing robot
- elevator platform
- control device
- ramp
- track
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
- B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
- B66B9/0853—Lifting platforms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/02—Guideways; Guides
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
- B66B9/06—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces
- B66B9/08—Kinds or types of lifts in, or associated with, buildings or other structures inclined, e.g. serving blast furnaces associated with stairways, e.g. for transporting disabled persons
- B66B9/0807—Driving mechanisms
- B66B9/083—Pull cable, pull chain
Abstract
The invention discloses a kind of intelligent elevated system and methods with the cooperation of hydroelectric power plant's crusing robot.The system include control device, elevator platform and vertically between floor stair set track, the track, which is equipped with, can drive the mobile mechanism that elevator platform is moved along track, the control device includes controller and wireless communication module, and the controller is electrically connected respectively with mobile mechanism and wireless communication module.The present invention can realize walking of the crusing robot in different floor gaps so that crusing robot is capable of each floor of inspection hydroelectric power plant, and can be compatible with automatically moving for field personnel.
Description
Technical field
The present invention relates to jacking system technical fields more particularly to a kind of intelligence with the cooperation of hydroelectric power plant's crusing robot to rise
System and method drops.
Background technology
Hydropower Equipment type is various, and environment is special, needs timing inspection, if inspection is not in time, can there is equipment
Security risk constitutes a threat to the safe operation of hydroelectric power plant.With the development of science and technology, existing intelligent inspection robot is in water at present
Power plant carries out automatic detecting, and in order to adapt to the equipment routing inspection of hydroelectric power plant, robot needs to walk between different high levels, however at present
Wheeled robot can not be passed through in the corridor between high level.Therefore, it is necessary to a kind of intelligent elevated systems, realize crusing robot not
With the walking between high level.
Invention content
In order to solve the above technical problems, The present invention provides a kind of intelligent elevated with the cooperation of hydroelectric power plant's crusing robot
System and method can realize walking of the crusing robot in different floor gaps so that crusing robot being capable of inspection water power
Each floor of factory.
To solve the above-mentioned problems, the present invention is achieved by the following scheme：
A kind of intelligent elevated system of the and hydroelectric power plant crusing robot cooperation of the present invention, including control device, elevator platform and
The track that vertically stair are set between floor, the track, which is equipped with, can drive the moving machine that elevator platform is moved along track
Structure, the control device include controller and wireless communication module, the controller respectively with mobile mechanism and radio communication mold
Block is electrically connected.
In the technical program, vertically stair are set track between floor, and mobile mechanism can be under the control of the controller
Elevator platform is driven to be moved to the other end from track one end, realizes movement of the elevator platform between upper and lower floor.Work as survey monitor
When device people needs to go from lower floor to upper floor, crusing robot is wirelessly communicated with control device, by elevator platform calling under
Floor is moved on elevator platform later, and control device control elevator platform is moved to floor；When crusing robot need from
Upper floor to lower floor go when, crusing robot and control device wirelessly communicate, by elevator platform calling to upper floor, Zhi Houyi
It moves on elevator platform, control device control elevator platform is moved to lower floor.When people between upper and lower floor walk by stair,
Track also plays guardrail.
Preferably, the mobile mechanism is used to drive including setting steel wire rope in orbit and being arranged on track both ends
Active cabinet, the driven cabinet of dynamic steel wire rope orbital motion, the active cabinet are electrically connected with the controller.Active cabinet can be
Steel wire rope movement is dragged under the control of controller.
Preferably, being equipped with the position-limited wheel that can be rolled along track in the track, the elevator platform is fixed with position-limited wheel
Connection.Position-limited wheel can be rolled along track, and will not leave track so that elevator platform can be moved smoothly along track.
Preferably, the top of the rail is equipped with upper strata limit switch, the rail base is equipped with lower floor's limit switch, institute
Controller is stated to be electrically connected with upper strata limit switch and lower floor's limit switch respectively.Upper strata limit switch, lower floor's limit switch are used for
Whether detection elevator platform moves in place.
Preferably, the elevator platform is L-shaped, including bottom plate and the riser being arranged on the right side of bottom plate, before the bottom plate
The front driving mechanism of ramp rotation before side is equipped with preceding ramp and can drive, the floor rear are equipped with rear ramp and can drive
The rear drive mechanism of ramp rotation, the controller are electrically connected respectively with front driving mechanism and rear drive mechanism afterwards.Preceding driving machine
Ramp rotates upwardly and downwardly before structure can drive, and preceding ramp, which is pivotally lowered into, to be moved to elevator convenient for crusing robot when ground contacts and put down
Platform, preceding ramp, which is rotated up packing up, can prevent the crusing robot on elevator platform from falling out platform；After rear drive mechanism can drive
Ramp rotates upwardly and downwardly, and rear ramp is pivotally lowered into is moved to elevator platform, rear ramp when ground contacts convenient for crusing robot
Being rotated up packing up can prevent the crusing robot on elevator platform from falling out platform.
Preferably, a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot is further included and is arranged on upstairs
The upper layer calling button of layer and the lower floor's call button for being arranged on lower floor, the elevator platform are equipped with control button, institute
Controller is stated to be electrically connected with upper layer calling button, lower floor's call button and control button respectively.Pressing upper layer calling button can incite somebody to action
Elevator platform calls supreme floor, and elevator platform can be called to lower floor by pressing lower floor's call button, and people can be by operation
Layer call button and lower floor's call button calling elevator platform, key control elevator platform uplink and downlink is pressed by operation and control.
Preferably, the control device further includes emergency stop button, the emergency stop button is electrically connected with controller
It connects.Press emergency stop button, elevator platform stop motion.
A kind of intelligent elevated method with the cooperation of hydroelectric power plant's crusing robot of the present invention, for above-mentioned one kind and water power
The intelligent elevated system of factory's crusing robot cooperation, includes the following steps：
When crusing robot needs upward floor movement, crusing robot and control device wireless communication calls elevator platform, control
Device control mobile mechanism processed drives elevator platform to be moved to lower floor along track, and preceding ramp and rear ramp is controlled all to rotate down
It is contacted as ground, crusing robot is moved on elevator platform；After crusing robot is moved on elevator platform, survey monitor
Device human hair, which is sent, moves to bit instruction to control device, and control device controls preceding ramp and rear ramp to be all rotated up packing up, and controls
Mobile mechanism drives elevator platform to be moved to upper floor along track；After elevator platform reaches upper floor, before control device control
Ramp is rotated down to be contacted as ground, and crusing robot leaves elevator platform；
When crusing robot needs downward floor movement, crusing robot and control device wireless communication calls elevator platform, control
Device control mobile mechanism processed drives elevator platform to be moved to upper floor along track, and ramp is swung down to before control connects in ground
It touches, crusing robot is moved on elevator platform；After crusing robot is moved on elevator platform, crusing robot sends fortune
Bit instruction is moved to control device, ramp is rotated up packing up before control device control, and control mobile mechanism drives elevator platform
Lower floor is moved to along track；After elevator platform reaches lower floor, control device controls preceding ramp and rear ramp all to turn downwards
Dynamic to be contacted as ground, crusing robot leaves elevator platform.
The beneficial effects of the invention are as follows：It can realize walking of the crusing robot in different floor gaps so that inspection machine
People is capable of each floor of inspection hydroelectric power plant, and can be compatible with automatically moving for field personnel.
Description of the drawings
Fig. 1 is a kind of structure diagram of the present invention；
Fig. 2 is a kind of circuit theory connection block diagram of the present invention；
Fig. 3 is the structure diagram of elevator platform；
Fig. 4 is the front view of elevator platform.
In figure：1st, elevator platform, 2, track, 3, controller, 4, wireless communication module, 5, active cabinet, 6, driven cabinet,
7th, upper strata limit switch, 8, lower floor's limit switch, 9, bottom plate, 10, riser, 11, preceding ramp, 12, rear ramp, 13, preceding driving machine
Structure, 14, rear drive mechanism, 15, upper layer calling button, 16, lower floor's call button, 17, control button, 18, urgent scram button.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment：A kind of intelligent elevated system of the and hydroelectric power plant crusing robot cooperation of the present embodiment, as shown in Figure 1, Figure 2 institute
Show, the track 2 that including control device, elevator platform 1 and vertically stair are set between floor, track 2, which is equipped with, can drive electricity
The mobile mechanism that terraced platform 1 is moved along track 2, mobile mechanism include the steel wire rope being arranged in track 2 and are arranged on track 2
Both ends are equipped with what can be rolled along track 2 for driving active cabinet 5, the driven cabinet 6 that steel wire rope is moved along track 2 in track 2
Position-limited wheel, elevator platform 1 are fixedly connected with position-limited wheel, and control device includes controller 3 and wireless communication module 4,2 top of track
Equipped with upper strata limit switch 7,2 bottom of track is equipped with lower floor's limit switch 8, controller 3 respectively with active cabinet 5, wireless communication
Module 4, upper strata limit switch 7 and lower floor's limit switch 8 are electrically connected.
Active cabinet can drag steel wire rope movement under the control of the controller.Position-limited wheel can be rolled along track, and will not be from
Open track so that elevator platform can be moved smoothly along track.Upper strata limit switch, lower floor's limit switch are used to detect electricity
Whether terraced platform moves in place.
Vertically stair are set track between floor, and mobile mechanism can drive elevator platform from rail under the control of the controller
Road one end is moved to the other end, realizes movement of the elevator platform between upper and lower floor.When crusing robot is needed from lower floor
When being gone to upper floor, crusing robot is wirelessly communicated with control device, and elevator platform is called to lower floor, is moved to electricity later
On terraced platform, control device control elevator platform is moved to floor；When crusing robot needs to go from upper floor to lower floor
When, crusing robot is wirelessly communicated with control device, and elevator platform calling to upper floor is moved on elevator platform later,
Control device control elevator platform is moved to lower floor.When people between upper and lower floor walk by stair, track also plays guardrail work
With.
As shown in Figure 3, Figure 4, elevator platform 1 is L-shaped, including bottom plate 9 and the riser 10 being arranged on the right side of bottom plate 9, bottom plate 9
The front driving mechanism 13 that front side is equipped with preceding ramp 11 and ramp 11 rotates before can driving, 9 rear side of bottom plate be equipped with rear ramp 12 with
And the rear drive mechanism 14 that ramp 12 rotates after can driving, controller 3 are electric with front driving mechanism 13 and rear drive mechanism 14 respectively
Connection.Ramp rotates upwardly and downwardly before front driving mechanism can drive, and preceding ramp is pivotally lowered into is convenient for inspection machine when ground contacts
People is moved to elevator platform, and preceding ramp, which is rotated up packing up, can prevent the crusing robot on elevator platform from falling out platform；Rear-guard
Ramp rotates upwardly and downwardly after motivation structure can drive, and rear ramp is pivotally lowered into is moved to electricity when ground contacts convenient for crusing robot
Terraced platform, rear ramp, which is rotated up packing up, can prevent the crusing robot on elevator platform from falling out platform.
Intelligent elevated system further includes the upper layer calling button 15 for being arranged on floor and the lower floor for being arranged on lower floor
Call button 16, elevator platform 1 be equipped with control button 17, controller 3 respectively with upper layer calling button 15, lower floor's call button
16 and control button 17 be electrically connected.Elevator platform can be called on supreme floor by pressing upper layer calling button, press lower floor calling by
Button can call elevator platform to lower floor, and people can call elevator to put down by operating upper layer calling button and lower floor's call button
Platform presses key control elevator platform uplink and downlink by operation and control.
Control device further includes emergency stop button 18, and emergency stop button 18 is electrically connected with controller 3.It presses and promptly stops
Only button, elevator platform stop motion.
A kind of intelligent elevated method with the cooperation of hydroelectric power plant's crusing robot of the present embodiment, for above-mentioned one kind and water
The intelligent elevated system of power plant's crusing robot cooperation, includes the following steps：
Crusing robot is when needing upward floor to move after lower floor inspection, crusing robot and control device channel radio
Letter calling elevator platform, control device control mobile mechanism drive elevator platform to be moved to lower floor, ramp before control along track
It all rotates down with rear ramp and is contacted as ground, crusing robot is moved on elevator platform；When crusing robot is moved to
After on elevator platform, crusing robot transmission moves to bit instruction to control device, and control device controls preceding ramp and rear ramp
It is all rotated up packing up, control mobile mechanism drives elevator platform to be moved to upper floor along track；When elevator platform reaches upstairs
Ramp is swung down to after layer, before control device control contacts in ground, and crusing robot leaves elevator platform；
Crusing robot is when needing downward floor to move after upper floor inspection, crusing robot and control device channel radio
Letter calling elevator platform, control device control mobile mechanism drive elevator platform to be moved to upper floor, ramp before control along track
It rotates down and is contacted as ground, crusing robot is moved on elevator platform；When crusing robot is moved on elevator platform
Afterwards, crusing robot transmission moves to bit instruction to control device, and ramp is rotated up packing up before control device control, and control moves
Motivation structure drives elevator platform to be moved to lower floor along track；After elevator platform reaches lower floor, control device control scarp slope
Plate and rear ramp are all rotated down to be contacted as ground, and crusing robot leaves elevator platform.
Claims (8)
1. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot, which is characterized in that put down including control device, elevator
Platform（1）The track that vertically stair are set between floor（2）, the track（2）Elevator platform can be driven by being equipped with（1）Along rail
Road（2）Mobile mobile mechanism, the control device include controller（3）And wireless communication module（4）, the controller（3）
Respectively with mobile mechanism and wireless communication module（4）Electrical connection.
2. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claim 1, which is characterized in that
The mobile mechanism includes being arranged on track（2）Interior steel wire rope and it is arranged on track（2）Both ends are used to drive steel wire rope edge
Track（2）The active cabinet of movement（5）, driven cabinet（6）, the active cabinet（5）With controller（3）Electrical connection.
3. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claim 2, which is characterized in that
The track（2）Interior be equipped with can be along track（2）The position-limited wheel of rolling, the elevator platform（1）It is fixedly connected with position-limited wheel.
4. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claims 1 or 2 or 3, special
Sign is, the track（2）Top is equipped with upper strata limit switch（7）, the track（2）Bottom is equipped with lower floor's limit switch（8）,
The controller（3）Respectively with upper strata limit switch（7）With lower floor's limit switch（8）Electrical connection.
5. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claims 1 or 2 or 3, special
Sign is, the elevator platform（1）It is L-shaped, including bottom plate（9）Be arranged on bottom plate（9）The riser on right side（10）, the bottom plate
（9）Front side is equipped with preceding ramp（11）And preceding ramp can be driven（11）The front driving mechanism of rotation（13）, the bottom plate（9）Rear side
Equipped with rear ramp（12）And ramp after can driving（12）The rear drive mechanism of rotation（14）, the controller（3）Respectively with it is preceding
Driving mechanism（13）And rear drive mechanism（14）Electrical connection.
6. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claims 1 or 2 or 3, special
Sign is, further includes the upper layer calling button for being arranged on floor（15）And it is arranged on lower floor's call button of lower floor
（16）, the elevator platform（1）It is equipped with control button（17）, the controller（3）Respectively with upper layer calling button（15）, under
Layer call button（16）And control button（17）Electrical connection.
7. a kind of intelligent elevated system with the cooperation of hydroelectric power plant's crusing robot according to claims 1 or 2 or 3, special
Sign is that the control device further includes emergency stop button（18）, the emergency stop button（18）With controller（3）It is electrically connected
It connects.
8. a kind of intelligent elevated method with the cooperation of hydroelectric power plant's crusing robot, for one kind and water power described in claim 5
The intelligent elevated system of factory's crusing robot cooperation, which is characterized in that include the following steps：
When crusing robot needs upward floor movement, crusing robot and control device wireless communication calls elevator platform, control
Device control mobile mechanism processed drives elevator platform to be moved to lower floor along track, and preceding ramp and rear ramp is controlled all to rotate down
It is contacted as ground, crusing robot is moved on elevator platform；After crusing robot is moved on elevator platform, survey monitor
Device human hair, which is sent, moves to bit instruction to control device, and control device controls preceding ramp and rear ramp to be all rotated up packing up, and controls
Mobile mechanism drives elevator platform to be moved to upper floor along track；After elevator platform reaches upper floor, before control device control
Ramp is rotated down to be contacted as ground, and crusing robot leaves elevator platform；
When crusing robot needs downward floor movement, crusing robot and control device wireless communication calls elevator platform, control
Device control mobile mechanism processed drives elevator platform to be moved to upper floor along track, and ramp is swung down to before control connects in ground
It touches, crusing robot is moved on elevator platform；After crusing robot is moved on elevator platform, crusing robot sends fortune
Bit instruction is moved to control device, ramp is rotated up packing up before control device control, and control mobile mechanism drives elevator platform
Lower floor is moved to along track；After elevator platform reaches lower floor, control device controls preceding ramp and rear ramp all to turn downwards
Dynamic to be contacted as ground, crusing robot leaves elevator platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711286306.8A CN108147234A (en) | 2017-12-07 | 2017-12-07 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711286306.8A CN108147234A (en) | 2017-12-07 | 2017-12-07 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147234A true CN108147234A (en) | 2018-06-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711286306.8A Pending CN108147234A (en) | 2017-12-07 | 2017-12-07 | A kind of intelligent elevated system and method with the cooperation of hydroelectric power plant's crusing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108147234A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002373A (en) * | 2019-03-15 | 2019-07-12 | 山东鲁能智能技术有限公司 | Intelligent Mobile Robot indoor and outdoor automatic transmission system and control method |
| CN110253534A (en) * | 2019-06-05 | 2019-09-20 | 大连沃隆峰英鸿纳米科技有限公司 | A kind of nanofiber production device of going downstairs in inspection robot |
| CN113050637A (en) * | 2021-03-16 | 2021-06-29 | 杭州安森智能信息技术有限公司 | Task inspection method based on robot ladder control system |
| CN114260925A (en) * | 2022-03-03 | 2022-04-01 | 北京云迹科技股份有限公司 | Conveying method and device of mobile robot |
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| CN114260925B (en) * | 2022-03-03 | 2022-05-31 | 北京云迹科技股份有限公司 | Conveying method and device of mobile robot |
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Application publication date: 20180612 |