CN113753147A - Overturn preventing device for profile steel self-climbing robot and overturn preventing method thereof - Google Patents
Overturn preventing device for profile steel self-climbing robot and overturn preventing method thereof Download PDFInfo
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- CN113753147A CN113753147A CN202111153586.1A CN202111153586A CN113753147A CN 113753147 A CN113753147 A CN 113753147A CN 202111153586 A CN202111153586 A CN 202111153586A CN 113753147 A CN113753147 A CN 113753147A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention relates to an overturn-preventing device and method for a profile steel self-climbing robot, wherein the device comprises the following components: the adjusting mechanisms are arranged on two opposite sides of the section steel, and the bottom of the adjusting mechanism can be positioned below the section steel or positioned on the outer side of the section steel through swing adjustment; the rolling wheel can be rotatably arranged on the adjusting mechanism, and can be positioned below the section steel along with the swinging adjustment of the adjusting mechanism so as to be adhered to the lower surface of the section steel for rolling or positioned outside the section steel along with the swinging adjustment of the adjusting mechanism. According to the invention, the adjusting mechanisms which can be clamped and sleeved on the section steel and the rolling wheels which can rotate freely are arranged on the robot, the walking of the robot can be matched through the free rotation of the rolling wheels, so that the walking of the robot is prevented from being hindered, and the pair of adjusting mechanisms can limit the walking of the robot, so that the robot has reliable overturn prevention capability, and the safety of the robot is ensured.
Description
Technical Field
The invention relates to the technical field of profile steel self-climbing robots, in particular to an anti-overturning device for a profile steel self-climbing robot and an anti-overturning method thereof.
Background
Compared with a concrete structure, the steel structure has the natural advantages of prefabricated building construction. At the present stage, the steel structure construction meets the assembly type requirement that the components are firstly produced in a factory and then transported to the site for assembly, the construction efficiency is improved, meanwhile, the manpower and material resources are saved, and the steel structure construction method has good automation, industrialization and intelligent development potentials. Although a large number of components and joints of the steel structure can be prefabricated in a factory, the splicing, joint connection and the like of the components still need to be finished manually on site, and the workload is large and the repeatability is high. Therefore, to the connection form characteristics of the steel structure, intelligent steel structure connection robot equipment is researched and developed to assist or even replace manual work to splice and connect steel members, construction efficiency is improved, construction quality is guaranteed, construction environment is improved, safety of workers is guaranteed, and the method is a key step for realizing steel structure overall process industrial production and installation and is significant.
The main connection modes of the steel structure include three types, namely, weld joint connection, bolt connection and rivet connection. The connection procedures are all performed at high altitude manually on construction sites, so that certain dangerousness is achieved, meanwhile, connection quality is different due to different workers, and the connection procedure is high in labor intensity and low in production efficiency. Therefore, a new type of self-walking robot suitable for use on the steel structure is needed, which bears the welding robot, the bolt connection robot or the automatic riveting tool, and realizes the required connection process of the steel structure. Because the width of the section steel is narrow, the walking robot is easy to overturn when walking on the section steel, so a solution for preventing overturn is urgently needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an anti-overturning device for a profile steel self-climbing robot and an anti-overturning method thereof, which solve the problem that the existing self-walking robot is easy to overturn when walking on profile steel.
The technical scheme for realizing the purpose is as follows:
the invention provides a overturn preventing device for a profile steel self-climbing robot, which comprises:
the adjusting mechanisms are arranged on two opposite sides of the section steel, and the bottom of the adjusting mechanism can be positioned below the section steel or positioned on the outer side of the section steel through swing adjustment; and
the rolling wheel is rotatably arranged on the adjusting mechanism, and can be positioned below the section steel along with the swinging adjustment of the adjusting mechanism so as to be adhered to the lower surface of the section steel for rolling or positioned on the outer side of the section steel along with the swinging adjustment of the adjusting mechanism.
According to the overturn preventing device, the adjusting mechanisms which can be clamped and sleeved on the section steel are arranged on the robot, the adjusting mechanisms are also connected with the rolling wheels which can rotate freely, the walking of the robot can be matched through the free rotation of the rolling wheels, so that the obstacle to the walking of the robot is avoided, and the adjusting mechanisms can limit the walking of the robot, so that the robot has reliable overturn preventing capability, and the safety of the robot is ensured. When the lower surface of shaped steel appears the obstacle, accessible swing adjusts this adjustment mechanism's position, and makes adjustment mechanism and the wheel that rolls avoid the obstacle, and after surmounting the obstacle, adjustment mechanism and the wheel return of rolling resume the function of preventing toppling.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the overturn preventing device further comprises a driving mechanism in driving connection with the adjusting mechanism, and the driving mechanism drives the adjusting mechanism to perform swing adjustment.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the driving mechanism comprises a driving motor arranged at the bottom of the robot, a transmission gear arranged on a motor shaft of the driving motor and a driving gear in transmission connection with the transmission gear;
the driving gear is rotatably arranged at the bottom of the robot and is connected with the adjusting mechanism;
the driving motor drives the transmission gear to rotate, and then drives the driving gear to rotate, so that the adjusting mechanism is driven to swing and adjust.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the driving mechanism comprises a driving air cylinder which is arranged at the bottom of the robot and corresponds to the adjusting mechanism, the driving air cylinder is connected with the adjusting mechanism, and the driving air cylinder is adjusted in a telescopic mode to drive the adjusting mechanism to swing and adjust.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the end part of the adjusting mechanism is provided with a mounting bracket and a fixed bracket movably and adjustably connected to the mounting bracket;
the rolling wheel is rotatably arranged on the fixed bracket;
when the rolling wheel is positioned below the section steel, the position of the fixed support is adjusted through movement, so that the rolling wheel is attached to the lower surface of the section steel.
The overturn preventing device for the profile steel self-climbing robot is further improved in that a supporting spring is connected between the mounting bracket and the fixing bracket in a supporting mode, and the supporting spring supports the fixing bracket to enable the rolling wheels to be tightly attached to the lower surface of the profile steel.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the mounting bracket comprises an electromagnet and a guide rod vertically arranged on the electromagnet;
the fixed support comprises a metal plate sleeved on the guide rod and a mounting plate vertically arranged on the metal plate, and the metal plate can move and be adjusted along the guide rod;
the rolling wheel is rotatably arranged on the mounting plate;
the electromagnet can generate magnetic adsorption force to adsorb the metal plate by electrifying the electromagnet, so that the metal plate moves downwards along the guide rod and further drives the rolling wheel to move towards the direction far away from the section steel.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the adjusting mechanism is provided with two pairs, one pair is arranged at the front part of the robot, and the other pair is arranged at the rear part of the robot.
The overturn preventing device for the profile steel self-climbing robot is further improved in that the adjusting mechanism comprises an inclined plate, a vertical plate connected with the inclined plate and a transverse plate connected with the vertical plate;
the inclined plate is arranged at the bottom of the robot in a swinging mode through a rotating shaft;
the rolling wheels are arranged on the transverse plate.
The invention also provides an overturn preventing method using the overturn preventing device for the profile steel self-climbing robot, which comprises the following steps of:
when the robot walks on the section steel, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheels are located below the section steel and attached to the lower surface of the section steel, and the robot is prevented from overturning by the adjusting mechanisms located on the two sides of the section steel;
when the rolling wheel meets an obstacle in the process of moving the lower surface of the section steel, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located on the outer side of the section steel, and when the rolling wheel crosses the obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located below the section steel.
Drawings
Fig. 1 is a sectional view of the overturn preventing device for the section steel self-climbing robot of the present invention in an overturn preventing limit state.
Fig. 2 is a partially enlarged view of the structure of fig. 1 at the location of the rolling wheels.
Fig. 3 is a sectional view of the overturn preventing device for the section steel self-climbing robot of the present invention in a state of avoiding obstacles.
Fig. 4 is a plan view of the overturn preventing device for the section steel self-climbing robot according to the present invention.
Fig. 5 is a flowchart illustrating an overturn preventing method using the overturn preventing device for the section steel self-climbing robot according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides an anti-overturning device for a profile steel self-climbing robot and an anti-overturning method thereof, which provide an anti-overturning function for the robot, have obstacle-crossing capability when encountering obstacles, provide reliable anti-overturning capability for the robot, enable the robot to overturn and fall on profile steel with a certain inclination angle, and ensure the safety of the robot. The overturn preventing device comprises a pair of adjusting mechanisms and rolling wheels arranged on the adjusting mechanisms, wherein the adjusting mechanisms can be clamped and sleeved on the section steel, so that the adjusting mechanisms can prevent the robot from overturning and turning over when the robot walks, and the rolling wheels can roll along the lower surface of the section steel when the robot walks, so that no obstacle can be generated to the walking of the robot. The overturn preventing device for a profile steel self-climbing robot and the overturn preventing method thereof according to the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, a cross-sectional view of the overturn preventing device for the section steel self-climbing robot of the present invention in an overturn preventing limit state is shown. Referring to fig. 3, there is shown a sectional view of the overturn preventing device for the section steel self-climbing robot of the present invention in a state of avoiding obstacles. The overturn preventing device for the section steel self-climbing robot according to the present invention will be described with reference to fig. 1 and 3.
As shown in fig. 1 and 3, the overturn preventing device for the profile steel self-climbing robot of the present invention includes an adjusting mechanism 21 and rolling wheels 22, wherein the adjusting mechanism 21 is swingably mounted at the bottom of the robot 30, the adjusting mechanism 21 is provided at opposite sides of the profile steel 10, the bottom of the adjusting mechanism 21 can be positioned below the profile steel 10 or outside the profile steel 10 by swing adjustment, and when the adjusting mechanism 21 is positioned below the profile steel 10 by swing adjustment, the pair of adjusting mechanisms 21 are fitted onto the profile steel 10 to prevent the robot 30 from overturning. When the adjusting mechanism 21 is adjusted by swinging so that the bottom portion thereof is located outside the section steel 10, the state shown in fig. 3 can be referred to, and at this time, the adjusting mechanism 21 can be made to avoid an obstacle on the section steel 10, and when the robot 30 has traveled over the obstacle, the adjusting mechanism 21 can be adjusted by swinging to return to the state shown in fig. 1. The rolling wheel 22 is rotatably mounted on the adjusting mechanism 21, and the rolling wheel 22 can be positioned below the section steel 10 and further attached to the lower surface of the section steel 10 to roll along with the swinging adjustment of the adjusting mechanism 21 or positioned outside the section steel 10 along with the swinging adjustment of the adjusting mechanism 21.
The robot 30 is used to perform a connection operation of the section steel, and may perform a welding connection, a bolt connection, and a rivet connection. The robot 30 walks on the surface of the section steel 10, the adjusting mechanisms 21 of the invention are arranged at two sides of the bottom of the robot 30, the adjusting mechanisms 21 are adjusted through swinging to enable the bottom to be positioned below the section steel 10, the adjusting mechanisms 21 are clamped and sleeved on the section steel 10, the rolling wheels 22 arranged on the adjusting mechanisms 21 can be attached to the lower surface of the section steel 10 to roll, the robot 30 walks on the upper surface of the section steel 10, the adjusting mechanisms 21 and the rolling wheels 22 are matched to clamp the robot 30 on the section steel 10 to play a role in preventing overturning, and the free rolling of the rolling wheels 22 can not limit the walking of the robot 30. When the rolling wheel 22 and the bottom of the adjusting mechanism 21 are obstructed by other structures connected to the section steel 10, the adjusting mechanism 21 can swing to the outer side of the section steel 10 through swing adjustment, and then the adjusting mechanism 21 carries the rolling wheel 22 to avoid obstacles, and after the obstacles are crossed, the adjusting mechanism 21 can reset.
In one embodiment of the present invention, as shown in fig. 1, the anti-overturn device further includes a driving mechanism 23 in driving connection with the adjusting mechanism 21, and the adjusting mechanism 21 is driven by the driving mechanism 23 to perform swing adjustment. The driving mechanism 23 is installed at the bottom of the robot 30, and one driving mechanism 23 correspondingly drives one adjusting mechanism 21.
Preferably, the robot 30 has a chassis, and a traveling wheel is provided at the bottom of the chassis, and the robot 30 travels on the upper surface of the section steel 10 through the traveling wheel. Due to the arrangement of the travelling wheels, a certain distance is reserved between the chassis and the upper surface of the section steel 10, so that an installation space is provided for the driving mechanism 23 and the adjusting mechanism 21, and the driving mechanism 23 is located above the section steel 10.
In one embodiment, as shown in fig. 1, the driving mechanism 23 includes a driving motor 231 mounted at the bottom of the robot 30, a transmission gear 232 mounted on a motor shaft of the driving motor 231, and a driving gear 233 in transmission connection with the transmission gear 232, the driving gear 233 is rotatably mounted at the bottom of the robot 30 and connected with the adjusting mechanism 23, the driving gear 232 is driven by the driving motor 231 to rotate, and the driving gear 233 is further driven to rotate, so that the adjusting mechanism 21 is driven to perform swing adjustment.
Preferably, the adjusting mechanism 21 is swingably mounted at the bottom of the robot 30 through a swing shaft, a support is arranged at the bottom of the robot 30, the swing shaft is rotatably mounted on the support, the swing shaft can enable the bottom of the adjusting mechanism 21 to rotate around the axis of the swing shaft when rotating, the bottom of the adjusting mechanism 21 can rotate to the lower side of the section steel 10 and can also rotate to the outer side of the section steel 10, and swing adjustment of the adjusting mechanism is realized. The driving gear 233 is fixedly connected with the swing shaft, preferably, the driving gear 233 is sleeved on the swing shaft and fixedly connected with the swing shaft, the driving gear 233 is in transmission connection with the transmission gear 231 through the transmission chain 234, when the driving motor 231 rotates forwards, the motor shaft of the driving motor 231 rotates to drive the transmission gear 232 to rotate together, the transmission gear 232 drives the driving gear 233 to rotate through the transmission chain 234, the driving gear 233 drives the swing shaft to rotate, the rotation of the swing shaft drives the bottom of the adjusting mechanism 21 to rotate towards the lower side of the section steel 10, and therefore the bottom of the adjusting mechanism 21 is located below the section steel 10. When the driving motor 231 is rotated reversely, the driving motor 231 rotates the bottom of the adjusting mechanism 21 toward the outside of the section steel 10 through the motor shaft, the transmission gear 232, the transmission chain 234, the driving gear 233, and the swing shaft, so that the bottom of the adjusting mechanism 21 is located outside the section steel 10. In this way, the swing adjustment of the adjustment mechanism 21 is achieved.
In another embodiment, the driving mechanism 23 includes a driving cylinder installed at the bottom of the robot 30 and corresponding to the adjusting mechanism 21, and the driving cylinder is connected to the adjusting mechanism 21, and the adjusting mechanism 21 can be driven to perform swing adjustment through the telescopic adjustment of the driving cylinder. Specifically, the driving cylinder is installed at the bottom of the robot 30, the top of the adjusting mechanism 21 is rotatably installed at the bottom of the robot 30 through a swing shaft, the end of a cylinder rod of the driving cylinder is connected with the adjusting mechanism 21, when the cylinder rod extends outwards, the cylinder rod pushes the adjusting mechanism 21 outwards, so that the bottom of the adjusting mechanism 21 rotates outwards to the outer side of the section steel 10 through the swing shaft, when the cylinder rod retracts inwards, the cylinder rod pulls the adjusting mechanism 21 inwards, so that the bottom of the adjusting mechanism 21 rotates inwards to the lower side of the section steel 10 through the swing shaft, and thus, the swing adjustment of the adjusting mechanism 21 is realized.
In one embodiment of the present invention, as shown in fig. 1 and 2, the end of the adjusting mechanism 21 is provided with a mounting bracket 24 and a fixing bracket 25 movably and adjustably connected to the mounting bracket 24, and the rolling wheel 22 is rotatably mounted on the fixing bracket 25; when the rolling wheel 22 is positioned below the section steel 10, the position of the fixing bracket 25 is adjusted by moving so that the rolling wheel 22 is attached to the lower surface of the section steel 10.
Through the movement adjusting function of the fixed bracket 25, when the adjusting mechanism 21 swings outwards, a certain gap is formed between the rolling wheel 22 and the lower surface of the section steel 10 by the downward movement of the fixed bracket 25, so that the influence on the swing adjustment of the adjusting mechanism 21 caused by the friction between the rolling wheel 22 and the section steel 10 is avoided. The gap also ensures that the rolling wheels 22 do not touch and interfere with the edges of the section steel 10.
Further, a support spring 26 is supported and connected between the mounting bracket 24 and the fixing bracket 25, and the support spring 26 supports the fixing bracket 25 so that the rolling wheel 22 can be closely attached to the lower surface of the section steel 10. The support spring 26 exerts a certain support elastic force on the fixing bracket 25, so that the fixing bracket 25 moves upward, and the rolling wheel 22 can be closely attached to the lower surface of the section steel 10. Due to the arrangement of the supporting spring 26, when the lower surface of the section steel 10 is uneven, the rolling wheel 22 can be finely adjusted in a vertical floating manner through elastic deformation of the supporting spring, so that the rolling wheel 22 can be finely adjusted in an uneven manner through the lower surface of the section steel 10, and the passing performance of the rolling wheel is improved.
Still further, the mounting bracket 24 includes an electromagnet 241 and a guide rod 242 erected on the electromagnet 241; the fixing bracket 25 comprises a metal plate 251 sleeved on the guide rod 242 and a mounting plate 252 erected on the metal plate 251, wherein the metal plate 251 can move and adjust along the guide rod 242; when the electromagnet 241 is energized, the electromagnet 241 generates a magnetic attraction force to attract the metal plate 251, so that the metal plate 251 moves downward along the guide rod 242, and the rolling wheel 22 is moved in a direction away from the steel section 10. Preferably, the guide rods 242 are provided in plurality, and the guide rods 242 guide the adjustment of the up and down movement of the metal plate 251.
The supporting spring 26 is supported and connected between the electromagnet 241 and the metal plate 251. When the bottom of the adjusting mechanism 21 is positioned below the section steel 10 by the swing adjustment, the power supply to the electromagnet 241 is cut off, so that the electromagnet 241 loses the magnetic attraction force, the metal plate 251 moves upward by the supporting elastic force of the supporting spring 26, and the rolling wheel 22 is closely attached to the lower surface of the section steel 10. When the adjustment mechanism needs to be adjusted in a swinging manner, the electromagnet 241 is energized, so that the electromagnet 241 generates a magnetic attraction force to attract the metal plate 251, the metal plate 251 compresses the support spring 26, and the rolling wheels 22 are away from the lower surface of the section steel 10, at this time, the adjustment mechanism 21 can be adjusted in a swinging manner outward.
Preferably, the roller wheel 22 is rotatably mounted between a pair of mounting plates 252 by a shaft.
In another embodiment, a pushing cylinder is arranged between the mounting bracket 24 and the fixed bracket 25, and the fixed bracket 25 is driven to move and adjust through the telescopic adjustment of the pushing cylinder.
In one embodiment of the present invention, as shown in fig. 1 and 4, two pairs of the adjusting mechanisms 21 are provided, one pair of the adjusting mechanisms 21 is provided at the front of the robot 30, and the other pair of the adjusting mechanisms 21 is provided at the rear of the robot 30. After two pairs of adjusting mechanisms 21 are arranged, the robot 30 can be ensured to have a full-time overturn-preventing function, and when one pair of adjusting mechanisms 21 encounter obstacles and need to avoid the obstacles, the other pair of adjusting mechanisms 21 can be clamped on the section steel 10 to provide the overturn-preventing function. Ensuring that the robot 30 always has the function of preventing overturn when walking.
Further, as shown in fig. 1 and 3, the adjusting mechanism 21 includes an inclined plate 211, a vertical plate 212 connected to the inclined plate 211, and a lateral plate 213 connected to the vertical plate 212; the inclined plate 211 is provided so that the vertical plate 212 can be positioned outside the section steel 10, the lateral plate 213 can be partially extended below the section steel 10, and the rolling wheels 22 are mounted on the lateral portion 213.
Specifically, in providing the anti-toppling function, the lateral plate 213 is horizontal, and the mounting bracket 24 is mounted on the lateral plate 213. In the retracted state, the diagonal plate 211 is substantially horizontal, and the lateral plate 213 is rotated to be inclined.
The swing angle A of the adjusting mechanism 21 can be designed according to the size of the section steel and the installation position of the adjusting mechanism 21, and the swing angle A of the adjusting mechanism 21 can be controlled by the driving mechanism 23. Preferably, the pivot angle a is designed to be 30 ° to 45 °.
In one embodiment of the present invention, the section steel 10 may be an i-section steel, an H-section steel, or a T-section steel. In the example shown in fig. 1, the section steel 10 is an i-beam including a web 11 and upper and lower flange plates 12 and 13 vertically connected to the top and bottom of the web 11. The robot 30 is disposed on the upper flange 12, the robot 30 travels on the upper surface of the upper flange 12, the adjusting mechanisms 21 are disposed on opposite sides of the upper flange 12, and the rolling wheels 22 are attached to the lower surface of the upper flange 12 and can freely roll along the lower surface of the upper flange 12 in an overturn prevention state.
The invention also provides an overturn preventing method using the overturn preventing device for the section steel self-climbing robot, and the overturn preventing method is explained below.
As shown in fig. 5, the overturn preventing method of the present invention comprises the following steps:
step S101 is executed, when the robot walks on the section steel, the adjusting mechanism is swung to enable the rolling wheels to be located below the section steel and to be attached to the lower surface of the section steel, and the adjusting mechanisms located on the two sides of the section steel are used for preventing the robot from overturning; then, step S102 is executed;
and step S102, when the rolling wheel meets an obstacle in the process of moving the lower surface of the section steel, swinging the adjusting mechanism to enable the rolling wheel to be positioned on the outer side of the section steel, and when the rolling wheel passes through the obstacle, swinging the adjusting mechanism to enable the rolling wheel to be positioned below the section steel.
In one embodiment of the present invention, a sensor is installed beside the rolling wheel 22, and the sensor detects whether there is an obstacle in front of the rolling wheel 22, and when the obstacle is detected, the adjusting mechanism 21 is adjusted to swing so that the bottom of the adjusting mechanism 21 and the rolling wheel 22 are located outside the section steel 10.
After the bottom of the adjusting mechanism 21 and the rolling wheel 22 are adjusted to the outside of the section steel 10 by swinging, the timer is started, and when the set time length is reached, the bottom of the adjusting mechanism and the rolling wheel 22 are adjusted to the lower part of the section steel 10 by swinging. Preferably, the set time period is 2s to 5 s.
Further, the robot is provided with a control module, the swing adjustment of the adjusting mechanism 21 is controlled by the control module, the adjusting mechanism 21 is preferably provided with two pairs, one pair is arranged at the front part of the robot, the other pair is arranged at the rear part of the robot, when the robot walks and encounters an obstacle in the front, the control module controls the adjusting mechanism 21 in the front part to swing and adjust to be positioned at the outer side of the section steel 10 (namely to avoid the obstacle), and the adjusting mechanism 21 in the rear part is in an anti-overturn state (namely the adjusting mechanism and the rolling wheels are positioned below the section steel). After the front pair of adjustment mechanisms 21 cross the obstacle, the front pair of adjustment mechanisms 21 are controlled to return to the overturn prevention state, and then the rear pair of adjustment mechanisms 21 meet the obstacle, at this time, the rear pair of adjustment mechanisms are controlled to avoid the obstacle, and after the rear pair of adjustment mechanisms cross the obstacle, the rear pair of adjustment mechanisms are controlled to return to the overturn prevention state.
Still further, the rolling wheel 22 is mounted on the section steel 10 through a mounting bracket 24 and a fixing bracket 25, the mounting bracket 24 is provided with an electromagnet 241, the fixing bracket 25 is provided with a metal plate 251, a support spring 26 is supported and connected between the metal plate 251 and the electromagnet 241, and when the adjustment mechanism 21 is pivotally adjusted, the control module controls the electromagnet 241 to be electrified, the electromagnet 241 generates magnetic adsorption force to adsorb the metal plate 251, so that the rolling wheel 22 moves downward away from the lower surface of the section steel 10, at which time the adjusting mechanism 21 is rotatably adjusted outward, after the adjusting mechanism 21 and the rolling wheel 22 pass through the obstacle, the bottom of the adjusting mechanism 21 and the rolling wheel 22 are rotated back to the lower part of the section steel 10, then the electromagnet 241 is controlled to be powered off, the magnetic adsorption force of the electromagnet 241 disappears, and the rolling wheel 22 moves upwards under the action of the supporting spring 26 and is tightly attached to the corresponding lower surface of the section steel 10.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (10)
1. The utility model provides a shaped steel is from preventing overtum equipment that climbing formula robot used which characterized in that includes:
the adjusting mechanisms are arranged on two opposite sides of the section steel, and the bottom of the adjusting mechanism can be positioned below the section steel or positioned on the outer side of the section steel through swing adjustment; and
the rolling wheel is rotatably arranged on the adjusting mechanism, and can be positioned below the section steel along with the swinging adjustment of the adjusting mechanism so as to be adhered to the lower surface of the section steel for rolling or positioned on the outer side of the section steel along with the swinging adjustment of the adjusting mechanism.
2. The overturn preventing device for the section steel self-climbing robot according to claim 1, further comprising a driving mechanism drivingly connected to the adjusting mechanism, wherein the adjusting mechanism is driven by the driving mechanism to perform swing adjustment.
3. The overturn preventing device for the section steel self-climbing robot as claimed in claim 2, wherein the driving mechanism comprises a driving motor mounted at the bottom of the robot, a transmission gear mounted on a motor shaft of the driving motor, and a driving gear in transmission connection with the transmission gear;
the driving gear is rotatably arranged at the bottom of the robot and is connected with the adjusting mechanism;
the driving motor drives the transmission gear to rotate, and then drives the driving gear to rotate, so that the adjusting mechanism is driven to swing and adjust.
4. The overturn preventing device for the section steel self-climbing robot as claimed in claim 2, wherein the driving mechanism comprises a driving cylinder mounted at the bottom of the robot and corresponding to the adjusting mechanism, the driving cylinder is connected with the adjusting mechanism, and the driving cylinder can drive the adjusting mechanism to perform swing adjustment by telescopic adjustment.
5. The roll-over preventing device for the section steel self-climbing robot according to claim 1, wherein the adjusting mechanism is provided at an end thereof with a mounting bracket and a fixing bracket movably adjustably coupled to the mounting bracket;
the rolling wheel is rotatably arranged on the fixed bracket;
when the rolling wheel is positioned below the section steel, the position of the fixed support is adjusted through movement, so that the rolling wheel is attached to the lower surface of the section steel.
6. The overturn preventing apparatus for a section steel self-climbing robot according to claim 5, wherein a support spring is coupled between the mounting bracket and the fixing bracket, and the fixing bracket is supported by the support spring such that the rolling wheels can be closely attached to the lower surface of the section steel.
7. The overturn preventing device for a section steel self-climbing robot according to claim 5, wherein the mounting bracket comprises an electromagnet and a guide rod standing on the electromagnet;
the fixed support comprises a metal plate sleeved on the guide rod and a mounting plate vertically arranged on the metal plate, and the metal plate can move and be adjusted along the guide rod;
the rolling wheel is rotatably arranged on the mounting plate;
the electromagnet can generate magnetic adsorption force to adsorb the metal plate by electrifying the electromagnet, so that the metal plate moves downwards along the guide rod and further drives the rolling wheel to move towards the direction far away from the section steel.
8. The roll-over preventing device for the section steel self-climbing robot according to claim 1, wherein the adjusting mechanism is provided with two pairs, one pair being provided at a front portion of the robot and the other pair being provided at a rear portion of the robot.
9. The overturn preventing device for the section steel self-climbing robot of claim 1, wherein the adjusting mechanism comprises an inclined plate, a vertical plate connected with the inclined plate, and a transverse plate connected with the vertical plate;
the inclined plate is arranged at the bottom of the robot in a swinging mode through a rotating shaft;
the rolling wheels are arranged on the transverse plate.
10. An overturn prevention method using the overturn prevention device for the section steel self-climbing robot of claim 1, characterized by comprising the steps of:
when the robot walks on the section steel, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheels are located below the section steel and attached to the lower surface of the section steel, and the robot is prevented from overturning by the adjusting mechanisms located on the two sides of the section steel;
when the rolling wheel meets an obstacle in the process of moving the lower surface of the section steel, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located on the outer side of the section steel, and when the rolling wheel crosses the obstacle, the adjusting mechanism is adjusted in a swinging mode so that the rolling wheel is located below the section steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153586.1A CN113753147B (en) | 2021-09-29 | 2021-09-29 | Overturn preventing device for profile steel self-climbing robot and overturn preventing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111153586.1A CN113753147B (en) | 2021-09-29 | 2021-09-29 | Overturn preventing device for profile steel self-climbing robot and overturn preventing method thereof |
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| CN113753147A true CN113753147A (en) | 2021-12-07 |
| CN113753147B CN113753147B (en) | 2022-12-09 |
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