CN114952940A

CN114952940A - Lifting track platform

Info

Publication number: CN114952940A
Application number: CN202210625310.7A
Authority: CN
Inventors: 沈荣富; 戈剑铭
Original assignee: Hefan Robot Technology Shanghai Co ltd
Current assignee: Hefan Robot Technology Shanghai Co ltd
Priority date: 2022-06-02
Filing date: 2022-06-02
Publication date: 2022-08-30

Abstract

The invention provides a lifting track platform, comprising: the lifting platform is arranged in a hollow structure in the rack, and a platform track is arranged on the lifting platform; the platform rail ascends to the upper layer rail on the upper part of the rail frame, descends to the lower layer rail on the lower part of the rail frame, and is suspended with a walking robot which realizes rail-changing butt joint with the upper layer guide rail or the lower layer guide rail after the platform rail is accurately aligned; have design structure compactness, it is accurate to the rail connection of lift track, and the steady nothing of motion is unusual, carries out elevating movement to track platform through wire rope hoisting device, accomplishes track platform and upper track or lower floor's orbital rail to rail connection, can be applied to occasions such as sewage treatment plant, regulation pond, city utility tunnel, subway, nuclear power station and bridge tunnel, by wide application in environment intelligent robot inspection detecting system, have certain engineering application and worth.

Description

Lifting track platform

Technical Field

The invention relates to the technical field of intelligent inspection robot tracks, in particular to a lifting track platform.

Background

In aeration tanks, biochemical tanks and water storage tanks in common processes of sewage treatment plants or in other harmful medium water treatment projects, detection of sewage and atmospheric process performance parameters and inspection of equipment operation conditions are increasingly required to be researched and developed by using an intelligent robot as a core and integrating aspects of robot technology, video detection technology, multi-sensor fusion technology, positioning technology, internet of things technology and the like.

The intelligent inspection robot system with comprehensive technical advancement can completely complete the procedures which cannot solve the following problems in manual inspection: 1) the underground environment space is closed; 2) dark, moist, water-logging, toxic gases; 3) manual inspection is time-consuming and labor-consuming; 4) the reliability is low; 5) there is a greater security risk.

The robot system is patrolled and examined to intelligence includes in addition to intelligent core technology: the intelligent robot system comprises a space track guiding technology, a lifting track platform, an opening and closing door, a charging dock and the like, generally, the intelligent robot needs to go in and out of a pool after going tracks of a straight track, a bent track and a slope track are needed for routing inspection along the track, and particularly, when the pool is deep or the covering soil on the top surface of the pool is deep, the intelligent robot needs to go in and out of the pool after a long climbing distance and time, so that in order to enable the intelligent robot to safely and conveniently and freely route inspection, the lifting track platform is a necessary key device of the whole intelligent robot system, the current accurate rail-to-rail technology of the lifting track is in a blank stage, the application of the lifting track platform is influenced, and defects exist.

In summary, in view of the deficiencies of the prior art, a lifting rail platform is particularly needed to solve the deficiencies of the prior art.

Disclosure of Invention

In order to ensure that the intelligent robot can safely, conveniently and freely patrol and improve the rail aligning technology with different heights, the invention aims to provide the lifting rail platform which is ingenious in structure, can complete rail aligning connection between the rail platform and an upper rail or a lower rail by lifting the rail platform through the steel wire rope winding device, and is excellent in practical performance.

The technical scheme adopted by the invention for solving the technical problem is as follows:

an elevating rail platform comprising: the lifting platform is arranged in a hollow structure in the rack, and a platform track is arranged on the lifting platform;

the platform rail ascends to the upper layer rail on the upper part of the rail frame, descends to the lower layer rail on the lower part of the rail frame, and is suspended with a walking robot which realizes rail-changing butt joint with the upper layer guide rail or the lower layer guide rail after the platform rail is accurately aligned;

the top of the frame is provided with a driving device for driving the platform rail to lift, the driving device comprises a steel wire rope reel, a steel wire rope led out from the steel wire rope reel is connected with the upper part of the lifting platform, and the lifting platform moves up and down by the traction of the steel wire rope;

guide rollers are mounted at two ends of the lifting platform, vertical guide rails are arranged at two sides of the rack, and the guide rollers are mounted inside the vertical guide rails; the guide roller of the lifting platform freely moves in the vertical guide rail in the lifting process.

Further, the upper layer track and the lower layer track are arranged in parallel.

Furthermore, the platform track, the upper layer track and the lower layer track are the same in model, the section of each track is of an inverted T-shaped structure, and the tracks are all made of stainless steel 316.

Further, drive arrangement includes braking type speed reducer, and braking type speed reducer connects the drive shaft of wire rope reel, and the both sides of drive shaft are provided with the bearing frame, are provided with the pressure rope roller that prevents wire rope grooving length dislocation on the wire rope reel.

Furthermore, the steel wire rope above the lifting platform is abutted against a locking rope roller swinging through the cantilever, the locking rope roller immediately swings downwards at an angle when the steel wire rope is loosened due to the running blockage of the lifting platform, and a touch rope loosening sensor for sending a fault shutdown instruction is arranged on the side edge of the locking rope roller.

Furthermore, the guide roller, the rope pressing roller and the anti-loosening rope roller are all made of cast nylon.

Further, the top of frame is provided with rain-proof cover.

Furthermore, the four sides of the frame are covered with a sealing panel, and the sealing panel is provided with a hole penetrating through the rail and passing through the walking robot.

Furthermore, the side of upper guide rail is provided with the last spacing inductor that the platform track just in time was counterpointed with the upper guide rail accuracy, and the side of lower floor's guide rail is provided with the lower spacing inductor that the platform track just in time was counterpointed with the lower floor's guide rail accuracy.

Furthermore, an upper final limit inductor of the trigger limit position of the lifting platform is arranged above the rack, and a lower final limit inductor of the trigger limit position of the lifting platform is arranged below the rack.

The invention has the advantages that: simple structure, it is compact to have a project organization, it is accurate to the rail coupling to go up and down orbital, and move steadily and do not have unusually, installation convenient operation, carry out elevating movement to the track platform through wire rope hoisting device, accomplish track platform and upper track or lower floor's orbital rail coupling, can be applied to sewage treatment plant, regulation pond, city utility tunnel, subway, nuclear power station and occasions such as bridge tunnel, by wide application in environment intelligent robot inspection detecting system, certain engineering using value has, practicality is excellent.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a side view of the present invention;

100-frame, 110-walking robot, 120-lifting platform, 130-steel wire rope, 140-anti-loose rope roller, 150-rope pressing roller, 160-braking reducer, 170-steel wire rope reel, 180-vertical guide rail, 190-driving shaft, 200-bearing seat, 210-loose rope sensor, 220-guide roller, 230-platform track, 240-lower layer track, 250-upper layer track, 280-upper final limit sensor, 290-upper limit sensor, 300-lower limit sensor, 310-lower final limit sensor.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easy to understand, the invention is further described with reference to the figures and the specific embodiments.

The treatment object in this embodiment is a large biochemical pond of a sewage treatment plant, but the scope of the present invention is not limited to this example. The position and the size of a mounting space of a lifting track platform are determined according to the track trend monitoring points and the requirement of entering the upper layer position outside the pool from the lower layer in the pool. Simultaneously patrolling and examining the complete equipment of the supporting lift track platform of robot business turn over entrance to a cave size design according to intelligence, this embodiment is used for the robot to provide the accurate rail device of going up and down safely in the lift shaft business turn over, and lift track platform installs in the civil engineering lift shaft, and the four sides of lift track platform frame covers there is sealed panel. The panel is provided with corresponding walking robots and channels for entering and exiting the tracks, so that the entering and exiting operation safety is ensured.

As shown in fig. 1 and 2, a lifting rail platform is composed of a frame 100, a walking robot 110, a lifting platform 120, a steel wire rope 130, an anti-loosening rope roller 140, a rope pressing roller 150, a braking speed reducer 160, a steel wire rope reel 170, a vertical guide rail 180, a driving shaft 190, a bearing seat 200, a rope loosening sensor 210, a guide roller 220, a platform rail 230, a lower guide rail 240, an upper guide rail 250, an upper final limit sensor 280, an upper limit sensor 290, a lower limit sensor 300, and a lower final limit sensor 310.

When the brake type speed reducer is electrified, the armature iron in the brake motor is electromagnetically attracted, so that the brake disc is in a rotatable state, and the brake motor freely rotates. When the brake motor is powered off, the electromagnet is powered off, and the armature is immediately propped by the spring, so that the brake disc and the rear end cover of the motor are pressed together to stop rotating. When the power supply is switched on, the motor driving torque changes speed through the internal speed reducing device to achieve the output rated rotating speed.

The brake type reducer 160 drives the wire rope reel 170, and lifts the lifting platform 120 along the vertical guide rail 180 through the wire rope 130 on the wire rope reel. The walking robot 110 is arranged on the platform rail 230 on the lifting platform 120, and the platform rail 230 on the lifting platform can be accurately aligned with the upper layer guide rail 250 and the lower layer guide rail 240 in the lifting movement, so that the walking robot 110 can realize lifting and aligning walking between the lower layer guide rail 240 and the upper layer guide rail 250.

The specific working process is as follows: the elevating platform is a platform rail 230 used for the walking robot 110 to perform orbital transfer docking with the upper layer guide rail 250 or the lower layer guide rail 240 during the patrol.

The entire drive unit is mounted on the top of the frame 100 and is disposed in a rain shield, wherein the brake-type reducer 160, the wire rope drum 170, the drive shaft 190 and the rope-pressing roller 150 are supported by the bearing housing 200.

Two sides of frame are provided with vertical guide rail, and this lift platform erection joint has guide roller 220, platform track 230 to and hang a walking robot 110, and guide roller installs inside vertical guide rail, and accessible wire rope 130 is drawn by wire rope reel 170 in operation and moves from top to bottom, can ensure the motion precision, reduces frictional resistance, avoids the card to hinder the phenomenon.

The input of the motor power of the braking type speed reducer 160 drives the wire rope reel 170 and drives the wire rope 130 to lift and move the guide roller 220 on the lifting platform 120 in the vertical guide rail 180. The steel wire reel 170 is provided with a rope pressing roller 150 for preventing the steel wire from dislocation, the towed steel wire 130 is provided with an anti-loosening roller 140, and when the steel wire 130 is loosened during lifting operation, a rope loosening sensor 210 arranged on the frame 100 triggers the action to prompt the braking type speed reducer 160 to brake and stop immediately.

An upper limit sensor 290, a lower limit sensor 300, an upper final limit sensor 280 and a lower final limit sensor 310 are arranged on the frame, when the lifting platform 120 is separated from the lower guide rail 240 in a rail-aligned state and is lifted to an upper limit position to trigger the upper limit sensor 290, the brake type speed reducer 160 is stopped, the platform rail 230 on the lifting platform 120 and the upper guide rail 250 are just in a rail-aligned state, and the walking robot 110 can run to the upper guide rail 250; on the contrary, when the lifting platform 120 is separated from the upper guide rail 250 in the aligned state, and the lifting platform 120 is lowered to the lower limit position to trigger the lower limit sensor 300, the brake type reducer 160 is stopped, the platform rail 230 on the lifting platform 120 and the lower guide rail 240 are just in the aligned state, and the walking robot 110 can move to the lower guide rail 240.

The lifting platform device is provided with final limit protection, and when the lifting platform 120 exceeds the upper limit sensor 290 and the lower limit sensor 300, namely when the lifting platform 120 is lifted to the upper limit position to trigger the upper limit sensor 280, or when the lifting platform 120 is lowered to the lower limit position to trigger the lower limit sensor 310, the brake type speed reducer 160 is immediately stopped.

And the rope pressing roller, the anti-loosening rope roller and the guide roller are all made of cast nylon, so that friction can be reduced, and the service life can be prolonged.

The invention has the advantages of compact design structure, accurate rail-to-rail connection of the lifting rails, stable movement without abnormity, convenient installation and operation, good rail-to-rail automatic effect and the like, can be widely applied to an environment intelligent robot inspection detection system, and has certain engineering application value.

The above embodiments are merely illustrative of the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the content of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.

Claims

1. A lifting rail platform, its characterized in that:

the method comprises the following steps: the lifting platform is arranged in a hollow structure in the rack, and a platform rail is arranged on the lifting platform;

2. An elevating track platform as claimed in claim 1 wherein said upper and lower tracks are arranged in parallel.

3. The lifting rail platform as claimed in claim 1, wherein the platform rail, the upper rail and the lower rail are of the same type, the cross-sectional shape of the rails is an inverted T-shaped structure, and the rails are made of stainless steel 316.

4. The lifting rail platform as claimed in claim 1, wherein the driving device comprises a brake-type reducer connected to a driving shaft of the wire rope reel, the driving shaft is provided with bearing seats at both sides thereof, and the wire rope reel is provided with rope-pressing rollers for preventing the length of the wire rope groove from being misaligned.

5. The lift rail platform of claim 1, wherein the wire rope above the lift platform abuts against a locking rope roller that swings via the cantilever, the locking rope roller swings downward at an angle immediately when the wire rope is loosened due to the operation of the lift platform being jammed, and a touch rope-loosening sensor that gives a command for a malfunction is provided at a side of the locking rope roller.

6. An elevating track platform as claimed in claim 1, 4 or 5 wherein the guide rollers, rope pressing rollers and anti-loosening rope rollers are made of cast nylon.

7. The lifting rail platform as claimed in claim 1, wherein a rain shield is provided on top of the frame.

8. The lift rail platform of claim 1, wherein the frame is covered with a sealing panel on four sides, the sealing panel having an opening through the rail to pass through the walking robot.

9. The lifting rail platform as claimed in claim 1, wherein the upper side of the upper guide rail is provided with an upper limit sensor for accurately aligning the platform rail with the upper guide rail, and the lower side of the lower guide rail is provided with a lower limit sensor for accurately aligning the platform rail with the lower guide rail.

10. The lifting rail platform as claimed in claim 1, wherein an upper final limit sensor of the triggering limit position of the lifting platform is disposed above the frame, and a lower final limit sensor of the triggering limit position of the lifting platform is disposed below the frame.