CN110640715A - A delivery pile up neatly machine people for elevator detects - Google Patents
A delivery pile up neatly machine people for elevator detects Download PDFInfo
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- CN110640715A CN110640715A CN201910902677.7A CN201910902677A CN110640715A CN 110640715 A CN110640715 A CN 110640715A CN 201910902677 A CN201910902677 A CN 201910902677A CN 110640715 A CN110640715 A CN 110640715A
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- counterweight
- driving wheel
- robot
- stacking
- jaw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of elevator detection, in particular to a carrying palletizing robot for elevator detection, which comprises: the robot comprises a robot body and a plurality of matched balancing weights; the robot body comprises a walking mechanism and a balance weight adjusting mechanism; the travelling mechanism comprises a vehicle body chassis, travelling crawler mechanisms and hydraulic support rod mechanisms on two sides of the vehicle body chassis; the tail part of the chassis of the vehicle body is provided with two driven wheel connecting rods, and two sides of the driven wheel connecting rods are connected with a stay bar fixing platform; the walking crawler mechanism comprises a crawler, a driving wheel and an auxiliary driving wheel, wherein the driving wheel is arranged at the head of the chassis of the vehicle body, the auxiliary driving wheel is arranged at the tail part of a connecting rod of the auxiliary driving wheel, and a transmission shaft is arranged in the connecting rod of the auxiliary driving wheel and is used for transmitting the power of the driving wheel to the auxiliary driving wheel; the counterweight adjusting mechanism comprises a supporting plate, a stacking mechanism and a counterweight stacking mechanism. The invention can automatically load and adjust the balance weight, and lock the balance weight block in the adjusting process, thereby ensuring the safety of the operation process.
Description
Technical Field
The invention relates to the field of elevator detection, in particular to a carrying palletizing robot for elevator detection.
Background
In the process of detecting and testing the hoisting capacity of the elevator, the load of the elevator needs to be continuously increased until the load is 125 percent of the rated load value, namely the elevator needs to be respectively detected under the conditions of no load, 25 percent of rated load, 50 percent of rated load, 75 percent of rated load, 100 percent of rated load and 125 percent of rated load, the applied load is formed by overlapping standard weights, and each weight is different from 20 to 50 Kg. At present, the weights are manually carried into the elevator cage, and are manually carried out of the elevator cage after the detection is finished. Because the elevator is more, the intensity of labour of dimension guarantor and testing personnel is great, and causes bodily injury easily because tired or accident in the transport weight process. In addition, because the weight transport distance is far away, needs longer time, its work efficiency is lower. In addition, the path of weight transport is more complicated, has multiple circumstances such as level road, stair, slope, and ordinary carrier loader is difficult to pass through, and manual operation carrier loader causes the orbit skew easily even collides other objects. Therefore, in the process of detecting the traction capacity of the elevator at present, an efficient and intelligent elevator traction capacity detection weight carrying device is urgently needed, so that the labor intensity of maintenance and detection personnel is reduced, personal injury is avoided, and the working efficiency is improved. In summary, the development of the design and the manufacture of the carrying and stacking robot for elevator detection has important significance.
Disclosure of Invention
The invention aims to solve the problems in the background art and provides a carrying and stacking robot for elevator detection.
The technical purpose of the invention is realized by the following technical scheme:
a carrier palletizing robot for elevator inspection, comprising: the robot comprises a robot body and a plurality of matched balancing weights; the robot body comprises a walking mechanism and a balance weight adjusting mechanism; the travelling mechanism comprises a vehicle body chassis, travelling crawler mechanisms and hydraulic support rod mechanisms on two sides of the vehicle body chassis; the tail part of the chassis of the vehicle body is provided with two driven wheel connecting rods, and two sides of the driven wheel connecting rods are connected with a stay bar fixing platform; the walking crawler mechanism comprises a crawler, a driving wheel and an auxiliary driving wheel, wherein the driving wheel is arranged at the head of the chassis of the vehicle body, the auxiliary driving wheel is arranged at the tail part of a connecting rod of the auxiliary driving wheel, and a transmission shaft is arranged in the connecting rod of the auxiliary driving wheel and is used for transmitting the power of the driving wheel to the auxiliary driving wheel; the counterweight adjusting mechanism comprises a supporting plate, a stacking mechanism and a counterweight stacking mechanism.
Preferably, the hydraulic brace mechanism comprises a hydraulic cylinder and a roller.
Preferably, the supporting plate comprises a stacking plate body at the head part and a discharging plate body at the tail part, the discharging plate body is provided with a balancing weight clamping opening, and the balancing weight stacking mechanism comprises a stacking baffle fixed on the stacking plate body, a positioning baffle arranged at the head part of the balancing weight clamping opening and a rotating baffle arranged at the tail opening part of the balancing weight clamping opening; the stacking baffle comprises two parts of baffles arranged at the head and the tail of the stacking plate body, and a counterweight stacking area is formed between the two parts of baffles; and a counterweight loading and unloading area is formed between the positioning baffle and the rotating baffle.
Preferably, telescopic positioning plates are arranged on two sides of the clamping opening of the balancing weight.
Preferably, the stacking mechanism comprises a support rod, a guide cross beam and a lifting clamping jaw mechanism.
Preferably, the lifting clamping jaw mechanism comprises a sliding motor, a lifting rod, a mechanical clamping jaw and a positioning sliding block; the positioning slide block is connected with the guide cross beam in a sliding manner; the lifting rod is connected with the positioning slide block in a sliding manner and is arranged perpendicular to the guide cross beam; the mechanical clamping jaw comprises two rotating jaw heads which are symmetrically arranged.
Preferably, the whole width of the carrying and stacking robot is less than or equal to 0.7m, the whole length of the carrying and stacking robot is less than or equal to 1.2m, and the whole height of the lifting clamping jaw mechanism after being placed at the lowest position is less than or equal to 2 m.
Preferably, the counterweight block body is a cuboid, positioning plate clamping grooves are formed in two sides of the counterweight block body, a claw clamping opening is formed in the top of the counterweight block body, a counterweight self-locking buckle ring is arranged above the counterweight block body, and a counterweight self-locking buckle groove is formed in the bottom of the counterweight block body; only two C-shaped sliding blocks which are symmetrically arranged are arranged in the balancing weight body, and a return spring is arranged between the two C-shaped sliding blocks; the top of the C-shaped sliding block is arranged in the jaw clamping opening, and the bottom of the C-shaped sliding block is arranged in the counterweight self-locking buckling groove.
In conclusion, the invention has the beneficial effects that:
the carrying and stacking robot for elevator detection has the advantages that the walking mechanism adopting the crawler structure can adapt to most terrains, and the robot can realize the function of going upstairs and downstairs by arranging the hydraulic stay bar mechanism, so that equipment can conveniently reach a target elevator.
The carrying and stacking robot for elevator detection can automatically load and adjust the counter weight, and lock the counter weight in the adjusting process, so that the safety of the operation process is guaranteed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of the traveling mechanism of the present invention.
Detailed Description
The following specific examples are given by way of illustration only and not by way of limitation, and it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made in the examples without inventive faculty, and yet still be protected by the scope of the claims.
The present invention will be described in detail below by way of examples with reference to the accompanying drawings.
Example 1:
as shown in fig. 1 to 2, a carrying palletizing robot for elevator detection includes: the robot comprises a robot body and a plurality of matched balancing weights 4; the robot body comprises a walking mechanism 1 and a balance weight adjusting mechanism 2; the travelling mechanism 1 comprises a vehicle body chassis 100, a travelling crawler mechanism 110 and a hydraulic support rod mechanism 120 which are arranged on two sides of the vehicle body chassis; the tail part of the vehicle body chassis 100 is provided with two driven wheel connecting rods 102, and two sides of the driven wheel connecting rods are connected with a stay bar fixing platform 103; the walking crawler mechanism 110 comprises a crawler 111, a driving wheel 112 and a secondary driving wheel 113, wherein the driving wheel 112 is arranged at the head of the vehicle body chassis 100, the secondary driving wheel 113 is arranged at the tail of the secondary driving wheel connecting rod 102, a transmission shaft is arranged in the secondary driving wheel connecting rod 102 and is used for transmitting the power of the driving wheel 112 to the secondary driving wheel 113, the driving wheel 112 is arranged at the head of the vehicle body chassis 100, and the driven wheel 113 is arranged at the tail of the driven wheel connecting rod 102; the weight adjusting mechanism 2 includes a pallet 200, a palletizing mechanism 210, and a weight stacking mechanism 220. The hydraulic brace mechanism 120 includes a hydraulic cylinder 121 and a roller 122.
The supporting plate 200 comprises a stacking plate body 201 at the head part and a discharging plate body 202 at the tail part, the discharging plate body 202 is provided with a balancing weight clamping opening 203, and the balancing weight stacking mechanism 220 comprises a stacking baffle 221 fixed on the stacking plate body 201, a positioning baffle 222 arranged at the head part of the balancing weight clamping opening 203 and a rotating baffle 223 arranged at the tail opening part of the balancing weight clamping opening 203; the stacking baffles 221 comprise two-part baffles disposed at the head and tail of the stacking plate 201, forming a counterweight stacking area 224 therebetween; the positioning flap 222 and the rotating flap 223 form a weight attaching and detaching area 225 therebetween. The two sides of the counterweight block clamping opening 203 are provided with telescopic positioning plates 204.
The palletizing mechanism 210 includes a support bar 211, a guide beam 212, and a lifting jaw mechanism 213. The lifting clamping jaw mechanism 213 comprises a sliding motor 2131, a lifting motor 2132, a lifting rod 2133, a mechanical clamping jaw 2134 and a positioning sliding block 2135; the positioning sliding block 2135 is connected with the guide beam 212 in a sliding manner; the lifting rod 2133 is connected with the positioning slide block 2135 in a sliding way and is arranged perpendicular to the guide cross beam 212; the mechanical jaw 2134 includes two symmetrically disposed rotating jaw heads 21341.
The whole width of the carrying palletizing robot is less than or equal to 0.7m, the whole length of the carrying palletizing robot is less than or equal to 1.2m, and the whole height of the lifting clamping jaw mechanism 213 after being placed to the lowest position is less than or equal to 2 m.
The counterweight block 4 body is a cuboid, positioning plate clamping grooves 41 are arranged on two sides of the counterweight block 4 body, a claw head clamping opening 42 is arranged at the top of the counterweight block 4 body, a counterweight self-locking buckle ring 43 is arranged above the counterweight block, and a counterweight self-locking buckle groove 44 is arranged at the bottom of the counterweight block; only two C-shaped sliding blocks 401 which are symmetrically arranged are arranged in the balancing weight 4 body, and a return spring 402 is arranged between the two C-shaped sliding blocks 401; the top of the C-shaped sliding block 401 is arranged in the claw head clamping opening 42, and the bottom of the C-shaped sliding block 401 is arranged in the counterweight self-locking buckle groove 44.
The process for detecting the traction force of the robot on the elevator comprises the following steps:
firstly, the detection robot integrally moves in place: the detection robot carries all the balancing weights 4 to convey the balancing weights 4 and the self to-be-detected elevator through the traveling mechanism 1, and the conveying process comprises the following processes:
s1, walking on flat ground: the hydraulic stay bar mechanism 120 is in a folded state and moves on the flat ground by means of the walking crawler belt mechanism 110;
s2, corridor ascending:
1. when the robot approaches the bottom of the stairs, the head of the robot is aligned with the stairs, the swinging crawler 120 is rotated, so that the head of the robot body is tilted, and when the top of the vehicle body chassis 100 is higher than the required climbing steps, the swinging crawler 120 is stopped rotating;
2. after the rotation of the robot is stopped, the walking crawler 110 and the hydraulic support rod mechanism 120 obliquely support the vehicle body chassis 100 at the position of the stairs, and the walking crawler 110 is started to climb up the stairs;
secondly, detecting the balance weight of the robot and adjusting:
t1, weight transfer: transferring and stacking the clump weight 4 between the weight stacking area 224 and the weight loading and unloading area 225 of the weight stacking mechanism 220 by the palletizing mechanism 210;
t2, getting on the vehicle by the counterweight:
1. plate body clamping: when no balancing weight 4 is arranged at the position of the balancing weight clamping opening 203, the rotating baffle 223 is rotated to open the rotating baffle plate 223, so that the balancing weight clamping opening 203 is in an open state, the opening position of the balancing weight clamping opening 203 is aligned to the balancing weight 4, the positioning plate clamping grooves 41 on two sides of the balancing weight 4 face the position of the telescopic positioning plate 204, the traveling mechanism 1 is started to enable the balancing weight 4 to enter the balancing weight clamping opening 203, the rotating baffle 223 is rotated to close, and meanwhile, the telescopic positioning plate 204 is stretched out to be clamped into the positioning plate clamping grooves 41 to complete the;
2. grabbing by a clamping jaw: the mechanical clamping jaw 2134 extends into the jaw head clamping opening 42 at the top of the counterweight block 4, and after the counterweight block 4 is clamped, the counterweight block 4 is placed into the counterweight stacking area 224 and the counterweight loading and unloading area 225 through the lifting clamping jaw mechanism 213;
t3, getting off the vehicle through counterweight: firstly, placing a balancing weight 4 at a balancing weight loading and unloading area 225, then rotating an opening rotary baffle 223 to open a balancing weight clamping opening 203, simultaneously retracting a telescopic positioning plate 204, and finally starting a travelling mechanism 1 to leave the balancing weight 4 to complete the separation of the balancing weight 4 and a robot body;
thirdly, the elevator detects the traction force, and the detection robot carries different numbers of balancing weights 4 to enter the elevator by the method, so that the traction force detection under different loads of the elevator is realized.
In the t1 counterweight transfer step, the positioning sliding blocks 2135 of the lifting clamping jaw mechanism 213 are respectively provided with sliding positioning points at corresponding positions above the counterweight stacking area 224 and the counterweight loading and unloading area 225, so that when the positioning sliding blocks 2135 slide to the sliding positioning points, the connection line between the mechanical clamping jaw 2134 and the jaw clamping opening 42 is collinear with the lifting path of the lifting rod 2133.
In the step of t1 counterweight transfer, a plurality of counterweight blocks 4 are stacked up and down according to actual needs, the stacking mode is that the C-shaped sliding block 401 in the counterweight block 4 body is pressed by the rotating claw head 21341, at this time, the bottom of the C-shaped sliding block 401 in the counterweight self-locking groove 44 at the bottom of the counterweight block 4 retracts inwards, at this time, the counterweight block 4 is placed at the top of the counterweight block 4 below the counterweight block 4, then the rotating claw head 21341 is loosened, and the bottom of the C-shaped sliding block 401 reset by the upper counterweight block 4 is clamped in the counterweight self-locking buckle ring 43 of the lower counterweight block 4, so that the locking of the upper counterweight block 4 and the; otherwise, the unlocking of the upper and lower balancing weights 4 can be completed.
Claims (8)
1. A carry palletizing robot for elevator detection, comprising: the robot comprises a robot body and a plurality of matched balancing weights (4); the robot body comprises a walking mechanism (1) and a balance weight adjusting mechanism (2); the travelling mechanism (1) comprises a vehicle body chassis (100), travelling crawler mechanisms (110) and hydraulic support rod mechanisms (120) which are arranged on two sides of the vehicle body chassis; the tail part of the vehicle body chassis (100) is provided with two driven wheel connecting rods (102), and two sides of the driven wheel connecting rods are connected with a stay bar fixing platform (103); the walking crawler mechanism (110) comprises a crawler (111), a driving wheel (112) and an auxiliary driving wheel (113), wherein the driving wheel (112) is arranged at the head of the vehicle body chassis (100), the auxiliary driving wheel (113) is arranged at the tail of the auxiliary driving wheel connecting rod (102), and a transmission shaft is arranged in the auxiliary driving wheel connecting rod (102) and is used for transmitting the power of the driving wheel (112) to the auxiliary driving wheel (113); the counterweight adjusting mechanism (2) comprises a supporting plate (200), a stacking mechanism (210) and a counterweight stacking mechanism (220).
2. A pallet truck robot for elevator detection as claimed in claim 1, characterised in that the hydraulic brace mechanism (120) comprises a hydraulic cylinder (121) and a roller (122).
3. The carrying palletizing robot for elevator detection according to claim 2, wherein the pallet (200) comprises a stacking plate body (201) at the head part and a discharging plate body (202) at the tail part, the discharging plate body (202) is provided with a counterweight clamping opening (203), and the counterweight stacking mechanism (220) comprises a stacking baffle (221) fixed on the stacking plate body (201), a positioning baffle (222) arranged at the head part of the counterweight clamping opening (203), and a rotating baffle (223) arranged at the tail opening part of the counterweight clamping opening (203); the stacking baffle (221) comprises two parts of baffles arranged at the head and the tail of the stacking plate body (201), and a counterweight stacking area (224) is formed between the two parts of baffles; and a counterweight loading and unloading area (225) is formed between the positioning baffle (222) and the rotating baffle (223).
4. A carrying palletizing robot for elevator detection according to claim 3, characterized in that telescopic positioning plates (204) are arranged at two sides of the counterweight clamping opening (203).
5. A pallet truck robot for elevator detection as claimed in claim 1, characterised in that the pallet mechanism (210) comprises a support bar (211), a guide beam (212) and a lifting jaw mechanism (213).
6. A robot palletizer launch for elevator detection according to claim 6, characterized in that said lifting jaw mechanism (213) comprises a sliding motor (2131), a lifting motor (2132), a lifting rod (2133), a mechanical jaw (2134) and a positioning slider (2135); the positioning sliding block (2135) is connected with the guide cross beam (212) in a sliding manner; the lifting rod (2133) is connected with the positioning sliding block (2135) in a sliding manner and is arranged perpendicular to the guide cross beam (212); the mechanical clamping jaw (2134) comprises two symmetrically arranged rotating jaw heads (21341).
7. A pallet robot as claimed in claim 1, characterised in that the pallet robot has an overall width of 0.7m or less, an overall length of 1.2m or less and an overall height of 2m or less after the lifting jaw mechanism (213) has been lowered to the lowest position.
8. The carrying and stacking robot for elevator detection as claimed in claim 4, wherein the counterweight block (4) body is a cuboid, positioning plate slots (41) are arranged on two sides of the counterweight block body, a jaw clamping opening (42) is arranged on the top of the counterweight block body, a counterweight self-locking buckle ring (43) is arranged above the counterweight block body, and a counterweight self-locking buckle slot (44) is arranged on the bottom of the counterweight block body; only two C-shaped sliding blocks (401) which are symmetrically arranged are arranged in the balancing weight block (4), and a return spring (402) is arranged between the two C-shaped sliding blocks (401); the top of the C-shaped sliding block (401) is arranged in the jaw head clamping opening (42), and the bottom of the C-shaped sliding block (401) is arranged in the counterweight self-locking buckle groove (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902677.7A CN110640715A (en) | 2019-09-24 | 2019-09-24 | A delivery pile up neatly machine people for elevator detects |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910902677.7A CN110640715A (en) | 2019-09-24 | 2019-09-24 | A delivery pile up neatly machine people for elevator detects |
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| Publication Number | Publication Date |
|---|---|
| CN110640715A true CN110640715A (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910902677.7A Pending CN110640715A (en) | 2019-09-24 | 2019-09-24 | A delivery pile up neatly machine people for elevator detects |
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| Country | Link |
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| CN (1) | CN110640715A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111136673A (en) * | 2020-01-13 | 2020-05-12 | 郑肖 | Stacking manipulator structure for industrial carrying |
| CN112744655A (en) * | 2020-12-29 | 2021-05-04 | 南京奔卓网络科技有限公司 | Vertical elevator safety device detection robot |
-
2019
- 2019-09-24 CN CN201910902677.7A patent/CN110640715A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111136673A (en) * | 2020-01-13 | 2020-05-12 | 郑肖 | Stacking manipulator structure for industrial carrying |
| CN111136673B (en) * | 2020-01-13 | 2021-08-24 | 宁波工程学院 | Stacking manipulator structure for industrial carrying |
| CN112744655A (en) * | 2020-12-29 | 2021-05-04 | 南京奔卓网络科技有限公司 | Vertical elevator safety device detection robot |
| CN112744655B (en) * | 2020-12-29 | 2022-12-16 | 辽宁三洋电梯制造有限公司 | Vertical elevator safety device detection robot |
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