CN109384127A - A kind of suspension type flexible elevator - Google Patents
A kind of suspension type flexible elevator Download PDFInfo
- Publication number
- CN109384127A CN109384127A CN201710663759.1A CN201710663759A CN109384127A CN 109384127 A CN109384127 A CN 109384127A CN 201710663759 A CN201710663759 A CN 201710663759A CN 109384127 A CN109384127 A CN 109384127A
- Authority
- CN
- China
- Prior art keywords
- slideway
- controller
- gear
- machine
- mechanical arm
- 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
- B66B9/0861—Hanging lifts, e.g. rope suspended seat or platform
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3476—Load weighing or car passenger counting devices
- B66B1/3484—Load weighing or car passenger counting devices using load cells
-
- 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
-
- 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
- B66B9/0846—Guide rail
-
- 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
Abstract
The present invention relates to a kind of suspension type flexible elevators, it include: slideway, rack gear, main drive gear, step gear group auxiliary pulley group, worm and gear gearbox, handrail, pedal, characterized by further comprising: controller, mechanical arm, servo speed changing climbing all-in-one machine, infrared internal loopback position sensor, gravity sensor, X-type support frame, it can above be gone downstairs with manned, loading object, carrying single rack can also carry on the elderly's scooter and special cycle for disabled people downstairs, it solves the problems, such as that present storied building elevator involves great expense and is difficult to transformation increase elevator with old worker-house, belong to a kind of Intelligent Service manipulator and elevators field.
Description
Technical field
The present invention relates to a kind of Intelligent Service manipulator field and elevators fields.
Background technique
In elevators field in terms of the major class point, can be divided into three categories the first at present is vertical lift elevator, second
Be escalator, be known as by expert the third elevator Chinese invention be segmented relay elevator, along corridor by the one of wall
Side moves up and down.The invention of the third elevator alleviates the problem of old-fashioned public housing dress elevator hardly possible.It is old-fashioned in order to further alleviate
Public housing fills the problem of elevator hardly possible, it is contemplated that being helped on people using puma manipulator technology downstairs, manipulator is in industrial system
Utilization it is very universal, service manipulator start late at home, really with manipulator help people on downstairs in elevator
Field is not seen also.It is found through patent retrieval, China Patent No. 20151004276.4, the applying date is on 2 8th, 2015, specially
A kind of entitled rail mounted stairway elevator of benefit, which disclose a kind of dedicated stair activities of the rail mounted installed on corridor to set
It is standby.Equipment includes: track, main U-shaped wheel group, the U-shaped wheel group of auxiliary, tooth road, worm and gear gearbox, motor, seat, safety tongs etc.
Component composition.The shortcoming of the structure has: complicated in mechanical structure installation is inconvenient, holds up and hangs over such as driven plate trolley
It is moved on the track of wall side installation along corridor, moreover the project is known as what the third elevator Chinese invented with by expert
Make segmented relay elevator identical.Price is also more expensive.
Summary of the invention
The present invention relates to a kind of suspension type flexible elevators, comprising: slideway, tooth road, main drive gear, step gear group, auxiliary
Help pulley blocks, worm and gear gearbox, controller, handrail, pedal, it is characterised in that further include: mechanical arm, servo speed changing are climbed
Slope all-in-one machine, infrared internal loopback position sensor, gravity sensor, X-type support frame；The slideway is square metal tube production
It forms, the downward side of metal tube is provided with a parallel slot, and metal tube is steel, and tube wall is thicker to be unlikely to deform, and thickness is at least
For 5mm, the interior at least one tooth road that is equipped with of slideway is moved for step gear along slideway stepping；The mechanical arm includes: big
Arm, telescopic small arm, palm, dedicated steering engine, the dedicated steering engine of manipulator joint are follow-on, are exactly that original gear is become
Speed transmission is improved to worm and gear gear, and the modified steering engine is that security needs have power failure position lock function,
It is to aid in the dedicated steering engine of people's stair activity mechanical arm；The telescopic small arm is the machinery conventional by electric telescopic rod substitution
Arm can be applicable in the different occasion of corridor height in this way；The servo speed changing climbing all-in-one machine includes: servo motor, anti-skidding snail
Worm and gear gearbox, main drive gear, climbing step gear group, auxiliary pulley group, the pedestal for hanging mechanical arm, all-in-one machine knot
Succinct small in size convenient for installation and maintenance, the connection type of structure are as follows: slideway suspension is fixed on X-type support frame, and bracket support is placed on
Stair two sides or other methods are fixed on the top of corridor, due to using X-type support frame structure exquisiteness firm, do not have to
Add the fastening of the devices such as any bolt in original corridor, as long as being placed on stair, does not destroy the structure of corridor, institute
Also just to solve dress elevator or install other elevators, the problem problem of various examination and approval procedures is needed；Servo speed changing climbing one
Other than the pedestal of suspension mechanical arm stretches out the opening of the downward side of slideway, other parts are all embedding to be hung in slideway body machine, is watched
Taking speed change climbing all-in-one machine, stepping is mobile on the tooth road of slideway, drives again by dynamic auxiliary by driving gear and step gear group
Wheel group synchronous slide on slideway, and drive servo speed changing to climb all-in-one machine along the slope at the top of corridor by controller
Same slope is moved, and the pedestal of the suspension mechanical arm of the top of manipulator large arm and servo speed changing climbing all-in-one machine connects
It connects, the other end of large arm and the upper end of telescopic small arm connect, and the other end of telescopic small arm is connect with palm wrist-joint, each
Joint position is fitted with dedicated steering engine, and the orderly execution of manipulator helps movement needed for people's stair activity under program.
A kind of suspension type flexible elevator, which is characterized in that being also equipped on the two sides of the machinery hand arm can be with
Adjust the handrail of angle.
A kind of suspension type flexible elevator, which is characterized in that the controller is by output end subgroup H, I, J, K by leading
Line be separately connected servo speed changing climbing all-in-one machine and mechanical arm on three steering engines, the end H connect servo speed changing climbing all-in-one machine,
The end I connects large arm steering engine, the end J connects forearm steering engine, K palm steering engine, all passes through process control servo speed changing climbing all-in-one machine tooth
The dedicated steering engine coordination in each joint of wheel speed and direction change and mechanical arm.
A kind of suspension type flexible elevator, which is characterized in that the infrared internal loopback position sensor is mounted on cunning
It is fixed to play stair activity for detecting stair activity signal in place by wire connection controller input terminal subgroup B for the both ends in road
Position control.
A kind of suspension type flexible elevator, which is characterized in that the people's pedal that can stand is equipped on the palm.
A kind of suspension type flexible elevator, which is characterized in that the gravity sensor is mounted in pedal, is connected by conducting wire
Controller input terminal subgroup A is met, it is in place either with or without people on the pedal for detecting identification palm.
A kind of suspension type flexible elevator, which is characterized in that when without using when hand by retracting order button or slightly
, the SCM program in controller can control mechanical arm and automatically retract at the top of ceiling in a moment, be not take up limited corridor
Space.
The controller by detection signal input part subgroup A, B, C, D, F, G, single-chip microcontroller, relay extension output circuit,
Output end subgroup H, I, J, K composition, effect first is that on inspecting manipuator arm stair activity in place signal and pedal either with or without people
Signal is handled, second is that according to the processing result output driving energy to climbing all-in-one machine go upstairs as required stepping or downstairs
Mobile, output action is instructed to each dedicated steering engine, makes mechanical arm coordination as required.
Beneficial effect
Advantages of the present invention:
1. novel in design, simple for structure, material purchases manufacture easy for installation, practical easy popularization.2. from technological layer and at
Present aspect solves the problems, such as that old-fashioned public housing dress elevator is difficult.3. the power source of executing agency's climbing all-in-one machine, mechanical arm is all
24V low-voltage power supply is safe and reliable.
Effect: it asks someone above to go downstairs, bracket chair, support cargo, ask single rack that the elderly's scooter and disabled person can also be ask dedicated
Vehicle.When without using when hand can automatically retract at the top of ceiling by order button or wait a moment is retracted, be not take up limited
Stairway spaces, can be described as the 4th kind of elevator, because moving up and down traveling along ceiling also referred to as high ladder.Cost performance
Height, only 5000 yuans or so of every layer of manufacturing expense.
Detailed description of the invention
A kind of suspension type flexible elevator schematic diagram of Fig. 1.
Fig. 2 mechanical arm schematic diagram.
Fig. 3 climbing all-in-one machine schematic diagram.
Fig. 4 slideway schematic diagram.
Fig. 5 X-type support frame configuration schematic diagram.
Fig. 6 prepares manned schematic diagram.
Fig. 7 controller electrical principle block diagram.
The manned displaying schematic diagram of Fig. 8.
Specific embodiment
Illustrate to illustrate a kind of specific embodiment: suspension type flexible elevator, comprising: slideway 1, tooth road with reference to the accompanying drawing
24, worm and gear gearbox 17, main drive gear 18, step gear group 19, controller 28, handrail 6, are stepped at auxiliary pulley group 20
Plate 8, it is characterised in that further include: mechanical arm 3, servo speed changing climbing all-in-one machine 2, infrared internal loopback position sensor 10,
Gravity sensor 11, X-type support frame 25；Servo speed changing climbing all-in-one machine 2 includes: power 120W servo motor 16, anti-skidding
Worm and gear gearbox 17, main drive gear 18, climbing step gear group 19, auxiliary pulley group 20, the base for hanging mechanical arm
Seat 21, the slideway 1 is made for square metal tube, and metal tube is steel, and tube wall is thicker to be unlikely to deform, with a thickness of 10mm,
The downward one side middle position of metal tube open one slot for hang mechanical arm pedestal 21 stretch out, slideway 1 be provided with to
The road Shao Yitiaochi 24 is moved for step gear group 19 along the slideway with slope same slope at the top of corridor；The mechanical arm 3
Include: large arm 4, telescopic small arm 5, palm 7, power 80W dedicated steering engine 9；The telescopic small arm 5 is stretched by power 60W is electronic
The conventional mechanical arm of contracting bar substitution can be applicable in the different occasion of corridor height in this way；All-in-one machine structure succinctly installation small in size
It is easy to maintain, connection type are as follows: the suspension of slideway 1 is fixed on 25 top of X-type support frame, and bracket 25 is supported on 27 two sides of stair,
Due to firm using X-type supporting structure exquisiteness, without adding the devices such as any bolt to fasten in original corridor, as long as being placed on building
On ladder 27 can, do not destroy the structure of corridor, servo speed changing all-in-one machine 2 of climbing passes through driving gear 18 and step gear group
19 stepping is mobile on the fixation tooth road 24 of slideway 1, drives passive auxiliary wheel group 20 synchronous slide on slideway 1 again, and leads to
Crossing controller 28 drives servo speed changing climbing all-in-one machine 2 to be moved along at the top of corridor 26 slope, plays and helps people or more
The top of the effect of stair, manipulator large arm 4 is connect with the pedestal 21 of the suspension mechanical arm of servo speed changing climbing all-in-one machine 2,
The other end of large arm 4 is connect with the upper end of telescopic small arm 5, and the other end of telescopic small arm 5 is connect with 7 wrist-joint of palm, often
A joint position is fitted with dedicated steering engine 9, and the orderly execution of manipulator helps to move needed for people's stair activity under program
Make.
A kind of suspension type flexible elevator, which is characterized in that being also equipped on the two sides of the machinery hand arm 5 can be with
Adjust the handrail 6 of angle.
A kind of suspension type flexible elevator, which is characterized in that the controller 28 by output end subgroup H, I, J, K by
Conducting wire is separately connected the dedicated steering engine 9 of servo speed changing climbing all-in-one machine 2 and mechanical arm 3, and the end H connects servo speed changing climbing one
Machine, the end I connection large arm steering engine, the end J connect forearm steering engine, K palm steering engine, pass through process control servo speed changing climbing all-in-one machine tooth
The coordination of the dedicated steering engine 9 of wheel speed and direction change and each joint of mechanical arm 3.
A kind of suspension type flexible elevator, which is characterized in that the infrared internal loopback position sensor 10 is mounted on
The both ends of slideway 1 are played up and down by the input terminal subgroup B of wire connection controller 28 for detecting stair activity signal in place
Stair location control.
A kind of suspension type flexible elevator, which is characterized in that the pedal 8 for the people that can stand is equipped on the palm 7.
A kind of suspension type flexible elevator, which is characterized in that the gravity sensor 11 is mounted in pedal 8, by leading
Line connects the input terminal subgroup A of controller 28, in place either with or without people on the pedal 8 for detecting identification palm 7.
The dedicated steering engine of manipulator joint be it is follow-on, exactly original gear shift transmission be improved to worm and gear
Gear, the modified steering engine are that security needs have power failure position lock function, and it is mechanical to be to aid in people's stair activity
The dedicated steering engine of arm.
The controller 28 exports electricity by detection signal input part subgroup A, B, C, D, F, G, single-chip microcontroller, relay extension
Road, output end subgroup H, I, J, K composition, act on first is that having not on inspecting manipuator arm stair activity in place signal and pedal 8
Someone's signal is handled, second is that according to program or instruction output signal to climbing all-in-one machine 2 go upstairs as required stepping or
Downstairs move, equally also can output action instruct to the dedicated steering engine 9 on each mechanical arm 3, coordinate mechanical arm 3 as required
Movement.
In conjunction with attached drawing 8, under the control of controller 28, when someone wants the used time, as long as needed by order button 12 upstairs
Perhaps downstairs 13 command signal of order button is connected to C the D terminal group of controller 28 by conducting wire, by controller
SCM program processing, processing result is instructed by output end subgroup H, I, J, K output action gives each executing agency dedicated steering engine 9,
Make the coordination as required of mechanical arm 3, mechanical arm 3 can then prepare according to movement the step of procedure stipulation to suitable position
It helps on people downstairs, when people in need of help sets foot on pedal 8, gravity sensor 11 is housed, when weight is greater than 10 kilograms on pedal
When sensor sensing be input to single-chip microcontroller to signal and handled, servo climbing all-in-one machine 2 will according to press in advance upstairs or
Person goes downstairs the instruction execution movement of button, and when movement is executed in place, infrared proximity inductive pick-up 10 is believed when close to distance 2.5cm
The single-chip microcontroller processing of number input controller 28, servo are climbed 2 stopping of all-in-one machine movement, and gravity sensor 11 is on detecting pedal
Weight is less than 1 kilogram and continuously passing through can be such that mechanical arm 3 automatically retracts at the top of ceiling after five minutes, when nobody makes
Used time, hand press retract button 14, and mechanical arm 3 can also automatically retract at the top of ceiling, are not take up limited stairway spaces.When
In case of emergency, 15 device systems of scram button are pressed and then rest on maintenance state.
Case study on implementation of the invention, is not intended to limit the invention in any way, all according to the technical essence of the invention to above
The case of implementation makees any simple modification, change and the variation of equivalent structure, belongs to the protection of technical solution of the present invention
In range.
Claims (5)
1. a kind of suspension type flexible elevator, comprising: slideway (1), tooth road (24), main drive gear (18), step gear group (19)
Auxiliary pulley group (20), worm and gear gearbox (17), handrail (6), pedal (8), it is characterised in that further include: controller
(28), mechanical arm (3), servo speed changing climbing all-in-one machine (2), infrared internal loopback position sensor (10), gravity sensor
(11), X-type support frame (25)；The slideway (1) is square metal tube, and metal tube is slotted on one side, and at least one is equipped in slideway (1)
The road Tiao Chi (24)；The controller (28) is by detection signal input part subgroup, single-chip microcontroller, relay extension output circuit and output end
Subgroup composition, controller (28) output terminal group are separately connected 3 in servo speed changing climbing all-in-one machine (2) and mechanical arm (3)
A steering engine, controller (28) input electric terminal group are separately connected infrared internal loopback position sensor and gravity sensor (11)；
The mechanical arm (3) includes: large arm (4), telescopic small arm (5), palm (7) and dedicated steering engine (9), dedicated steering engine (9) be containing
There is the steering engine of drive structure of gear worm, the telescopic small arm (5) is electric telescopic rod；The servo speed changing climbing all-in-one machine packet
It includes: servo motor (16), anti-skidding worm and gear gearbox (17), main drive gear (18), climbing step gear group (19), auxiliary
Pulley blocks (20), the pedestal (21) for hanging mechanical arm, connection type are as follows: slideway (1) suspension is fixed on X-type support frame (25)
Top, X-type support frame are supported on stair (27) two sides, and servo speed changing climbs all-in-one machine (2) setting in slideway, and servo speed changing is climbed
Other than the slot that the pedestal (21) of suspension mechanical arm stretches out below slideway, other parts are all embedding to be hung in slideway slope all-in-one machine 2,
Power is transmitted by transmission gear (18) to move on the tooth road of slideway to step gear group (19), then drives auxiliary pulley group
(20) synchronous slide on slideway, and by controller (28) drive servo speed changing climbing all-in-one machine (2) along slideway (1) into
Row movement, the pedestal (21) on the top of the large arm (4) of mechanical arm (3) and servo speed changing climbing all-in-one machine (2) suspension manipulator
Connection, the other end of large arm are connect with the upper end of telescopic small arm (5), the other end of telescopic small arm (5) and palm (7) wrist joint portion
Position is flexibly connected, and each joint position is fitted with dedicated steering engine (9), infrared internal loopback position sensor (10) installation
At the both ends of slideway, by wire connection controller (28) input terminal subgroup B, the gravity sensor (11) is mounted on pedal (8)
It is interior, controller (28) input terminal subgroup A is connected to by conducting wire.
2. a kind of suspension type flexible elevator according to claim 1, which is characterized in that also installed on the mechanical arm (3)
There are handrail (6).
3. a kind of suspension type flexible elevator according to claim 1, which is characterized in that be equipped with pedal on the palm (7)
(8).
4. a kind of suspension type flexible elevator according to claim 1, which is characterized in that the making material of the slideway (1) is
Steel, thickness at least 5mm.
5. a kind of suspension type flexible elevator according to claim 1, which is characterized in that the program of the controller (28) is arranged
To detect the weight on pedal (8) when gravity sensor (11) less than 1 kilogram and continuously passing through control tool arm after five minutes
(3) it automatically retracts at the top of ceiling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710663759.1A CN109384127A (en) | 2017-08-06 | 2017-08-06 | A kind of suspension type flexible elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710663759.1A CN109384127A (en) | 2017-08-06 | 2017-08-06 | A kind of suspension type flexible elevator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109384127A true CN109384127A (en) | 2019-02-26 |
Family
ID=65412602
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710663759.1A Pending CN109384127A (en) | 2017-08-06 | 2017-08-06 | A kind of suspension type flexible elevator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109384127A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104704A (en) * | 2021-04-08 | 2021-07-13 | 河南科技大学 | Elevator for additional installation in existing building |
| CN114408706A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Intelligent operation control system and control method for corridor track elevator |
| CN114408707A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Hoisting track elevator and operation method thereof |
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| JP2004051369A (en) * | 2002-07-17 | 2004-02-19 | Kazuo Sekine | Ring-type stair climbing assistance machine facilitating climbing stairs |
| GB2431145A (en) * | 2005-10-13 | 2007-04-18 | July Strupinsky | Stair lift |
| CN104512789A (en) * | 2015-01-28 | 2015-04-15 | 赵军 | Rail-mounted stairway lift |
| CN106915682A (en) * | 2017-05-05 | 2017-07-04 | 南京康尼机电股份有限公司 | A kind of carrying dolly for intelligent passageway mobile device |
-
2017
- 2017-08-06 CN CN201710663759.1A patent/CN109384127A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004051369A (en) * | 2002-07-17 | 2004-02-19 | Kazuo Sekine | Ring-type stair climbing assistance machine facilitating climbing stairs |
| GB2431145A (en) * | 2005-10-13 | 2007-04-18 | July Strupinsky | Stair lift |
| CN104512789A (en) * | 2015-01-28 | 2015-04-15 | 赵军 | Rail-mounted stairway lift |
| CN106915682A (en) * | 2017-05-05 | 2017-07-04 | 南京康尼机电股份有限公司 | A kind of carrying dolly for intelligent passageway mobile device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113104704A (en) * | 2021-04-08 | 2021-07-13 | 河南科技大学 | Elevator for additional installation in existing building |
| CN114408706A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Intelligent operation control system and control method for corridor track elevator |
| CN114408707A (en) * | 2022-01-27 | 2022-04-29 | 南京冠大机电有限公司 | Hoisting track elevator and operation method thereof |
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Application publication date: 20190226 |