CN209098089U - It is a kind of intelligence climbing robot go up and down praise mechanism - Google Patents
It is a kind of intelligence climbing robot go up and down praise mechanism Download PDFInfo
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- CN209098089U CN209098089U CN201820859189.3U CN201820859189U CN209098089U CN 209098089 U CN209098089 U CN 209098089U CN 201820859189 U CN201820859189 U CN 201820859189U CN 209098089 U CN209098089 U CN 209098089U
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- drive mechanism
- lift drive
- bearing base
- lifting
- bolster stake
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Abstract
The utility model relates to a kind of intelligent climbing robot liftings to praise mechanism, including positioning crossbeam, lift drive mechanism, pressure sensor, stroke sensor and control circuit, wherein lift drive mechanism at least two, be parallel to each other distribution between each lift drive mechanism, and lift drive mechanism axis and horizontal plane are distributed, it is connected with each other between two neighboring lift drive mechanism by least one positioning crossbeam, it positions crossbeam axis and lift drive mechanism axis is in 30 ° -90 ° angles, lift drive mechanism includes bearing base, elevating screw, go up and down silk braid, bolster stake, positioning sucker disk, worm mechanism and lifting motor.The utility model structure is simple, and production and maintenance cost are low, and installation, operation and maintenance are simple, structural reliability is good, versatility is good, greatly improves the stability and reliability of equipment operation, and can effectively prolong the service life and reduce use cost and labor intensity.
Description
Technical field
The utility model relates to a kind of lift drive mechanisms, and being exactly a kind of intelligent climbing robot is praised with going up and down
Mechanism.
Background technique
At present climbing robot in the process of running, wherein pass through lift drive mechanism realize the whole liter of robot fuselage
Drop, satisfaction carry out climbing operation to step etc. and need to be a kind of very common drive form, and usage amount is huge, currently this kind of
Robot device when carrying out climbing operation used lift drive mechanism be often by lifting hydraulic cylinder, pneumatic cylinder, silk
What bumper structure was realized, although can effectively meet the needs that robot is climbed, simultaneously, when with hydraulic cylinder, air pressure
When cylinder is as lift drive mechanism main body, often there is device structure complexity, from great and lifting operation operation efficiency
The defects of relatively low with control, and when using traditional screw structure as lift drive mechanism main body, although effectively overcoming
The defect of hydraulic cylinder, pneumatic cylinder, but often precision is high but bearing capacity, impact resistance are relatively weak for screw mechanism, therefore
Easily cause screw devices to damage in operation, in addition to this, currently no matter when using hydraulic cylinder, based on pneumatic cylinder or use
Lift drive mechanism based on screw structure, in the process of running, due to the traditional equipment structure that it is used, thus on the one hand
Driving force when causing lifting driving exports and keeps stability poor, and lacks effectively to driving force monitoring means, thus
Cause climb operation when vibration or shake it is larger, another aspect elevating mechanism and the adaptability of planar condition over the ground are poor, past
Past is direct rigid contact, and contact surface area is small, and the active force of contact surface is also relatively small, to easily cause machine human hair
The phenomenon that seriously affecting operation stability of raw sideslip, and it is directed to this problem, it currently there is no professional effective solution means, from
And current climbing robot technology is caused often only to rest on the engineering experiment stage, quick popularization and application are unable to get, because
This is directed to this problem, and there is an urgent need to develop a kind of completely new climbing robot lift drive mechanisms, to meet actual use
It needs.
Utility model content
It goes up and down in view of the shortcomings of the prior art, the utility model provides a kind of intelligent climbing robot and praises machine
Structure, the utility model structure is simple, and production and maintenance cost are low, and installation, operation and maintenance are simple, and structural reliability is good, general
Property it is good, on the one hand meet to robot integrally carry out lifting lifting job requirements while, have good bearing capacity and positioning
Ability, and bearing capacity output is stablized, and can effectively meet the needs that lifting driving operation is carried out to climbing robot, and prevent from breakking away
Phenomenon occurs, and improves the reliability and stability of climbing robot lift work, is on the other hand effectively raising control essence
While degree and external force resistance impact cause failure, the antiwear property and part replacement ability of equipment are separately effectively raised,
To greatly improve equipment operation stability and reliability, and can effectively prolong the service life and reduces use cost with
Labor intensity.
To achieve the goals above, the utility model is achieved through the following technical solutions:
Mechanism is praised in a kind of intelligence climbing robot lifting, including positions crossbeam, lift drive mechanism, pressure sensing
Device, stroke sensor and control circuit, wherein lift drive mechanism at least two are parallel to each other between each lift drive mechanism point
Cloth, and lift drive mechanism axis and horizontal plane are distributed, it is fixed by least one between two neighboring lift drive mechanism
Position crossbeam is connected with each other, and positioning crossbeam axis and lift drive mechanism axis are in 30 ° -90 ° angles, and lift drive mechanism includes
Bearing base, goes up and down silk braid, bolster stake, positioning sucker disk, worm mechanism and lifting motor at elevating screw, and wherein bearing base is
Axial cross section is in " Jiong " font groove-like structure, and lifting silk braid and elevating screw are embedded in bearing base and coaxial with bearing base
Distribution, and go up and down silk braid and be coated on outside elevating screw and be intermeshed with elevating screw, lifting silk braid passes through worm mechanism and liter
It drops motor to be connected with each other, worm mechanism and lifting motor are installed in bearing base outer surface, elevating screw lower end surface and carrying
The connection of column upper surface, bolster stake upper surface are coaxially distributed in bearing base and with bearing base, and bolster stake and carrying base
It is slidably connected between seat by directive slide track, bolster stake lower end surface is located at outside bearing base and is connected with each other with positioning sucker disk, positioning
Sucker is coaxially distributed with bolster stake, and pressure sensor and stroke sensor quantity are consistent with lift drive mechanism quantity, and each
A pressure sensor and a stroke sensor are all provided on lift drive mechanism, wherein pressure sensor is embedded in bolster stake lower end
Face and bolster stake coaxially be distributeds and are embedded in positioning sucker disk, and stroke sensor is mounted on directive slide track, and with bolster stake appearance
Face is slidably connected, control circuit be mounted on positioning crossbeam on, and respectively with pressure sensor, stroke sensor and elevator drive machine
The lifting motor of structure is electrically connected.
Further, the positioning crossbeam is at least two-stage Telescopic rod structure, both ends respectively with lift drive mechanism
Between be hinged.
Further, the crossbeam that positions is any one in hydraulic telescopic rod, air pressure telescopic link, electric telescopic rod
Kind, and be electrically connected with control circuit.
Further, when the lift drive mechanism is three or three or more, each lift drive mechanism is with rectangle
Array or annular array Structural assignments.
Further, the bearing base upper surface sets manhole, and the manhole coaxially divides with bearing base
Cloth, manhole aperture are 1.1-1.8 times of elevating screw diameter.
Further, the control circuit be based on the automatic control circuit based on industrial single-chip microcontroller, and it is described
Control system separately sets at least one digital serial port communication module and at least one wireless data communication module.
The utility model structure is simple, and production and maintenance cost are low, and installation, operation and maintenance are simple, and structural reliability is good,
Versatility is good, on the one hand meet to robot integrally carry out lifting lifting job requirements while, have good bearing capacity and
Stationkeeping ability, and bearing capacity output is stablized, and can effectively meet the needs that lifting driving operation is carried out to climbing robot, and prevent
Sideslip phenomenon occurs, and improves the reliability and stability of climbing robot lift work, is on the other hand effectively raising control
While precision processed and external force resistance impact cause failure, the antiwear property and part replacement energy of equipment are separately effectively raised
Power, thus greatly improve equipment operation stability and reliability, and can effectively prolong the service life and reduce use at
Sheet and labor intensity.
Detailed description of the invention
It is described in detail the utility model with reference to the accompanying drawings and detailed description.
FIG. 1 is a schematic structural view of the utility model；
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Mechanism, including positioning crossbeam 1, elevator drive machine are praised in a kind of intelligent climbing robot lifting as described in Figure 1
Structure 2, pressure sensor 3, stroke sensor 4 and control circuit 5, wherein lift drive mechanism 2 at least two, each elevator drive machine
Be parallel to each other distribution between structure 2, and 2 axis of lift drive mechanism and horizontal plane are distributed, two neighboring lift drive mechanism 2 it
Between by least one positioning crossbeam 1 be connected with each other, positioning 1 axis of crossbeam and 2 axis of lift drive mechanism in 30 ° -90 ° folder
Angle.
In the present embodiment, the lift drive mechanism 2 includes bearing base 21, elevating screw 22, lifting silk braid 23, holds
Column 24, positioning sucker disk 25, worm mechanism 26 and lifting motor 27 are carried, it is in " Jiong " font slot that wherein bearing base 21, which is axial cross section,
Shape structure, go up and down silk braid 23 and elevating screw 22 in bearing base 21 and with the coaxial distribution of bearing base 21, and lifting
Silk braid 23 is coated on outside elevating screw 22 and is intermeshed with elevating screw 22, and lifting silk braid 23 is by worm mechanism 26 and goes up and down
Motor 27 is connected with each other, and worm mechanism 26 and lifting motor 27 are installed in 21 outer surface of bearing base, 22 lower end of elevating screw
Face is connect with 24 upper surface of bolster stake, 24 upper surface of bolster stake in the bearing base 21 and with the coaxial distribution of bearing base 21,
And be slidably connected between bolster stake 24 and bearing base 21 by directive slide track 28,24 lower end surface of bolster stake is located at outside bearing base 21
And it is connected with each other with positioning sucker disk 25, positioning sucker disk 25 and the coaxial distribution of bolster stake 24, pressure sensor 3 and stroke sensor 4
Quantity is consistent with 2 quantity of lift drive mechanism, and a pressure sensor 3 and a row are all provided on each lift drive mechanism 2
Journey sensor 4, wherein pressure sensor 3 is embedded in 24 lower end surface of bolster stake with the coaxial distribution of bolster stake 24 and embedded in positioning sucker disk 25
Interior, stroke sensor 4 is mounted on directive slide track 28, and is slidably connected with 24 outer surface of bolster stake, and control circuit 5 is mounted on fixed
On the crossbeam 1 of position, and it is electrically connected respectively with the lifting motor 27 of pressure sensor 3, stroke sensor 4 and lift drive mechanism.
In the present embodiment, the positioning crossbeam 1 is at least two-stage Telescopic rod structure, both ends respectively with elevator drive machine
It is hinged between structure.
In the present embodiment, the crossbeam 1 that positions is any in hydraulic telescopic rod, air pressure telescopic link, electric telescopic rod
One kind, and be electrically connected with control circuit 5.
In the present embodiment, the lift drive mechanism 2 be three or three or more when, each lift drive mechanism 2 with
Rectangular array or annular array Structural assignments.
In the present embodiment, 21 upper surface of bearing base sets manhole 29, and the manhole 29 and carrying base
The coaxially distribution of seat 21,29 aperture of manhole are 1.1-1.8 times of 22 diameter of elevating screw.
In the present embodiment, the control circuit 5 be based on the automatic control circuit based on industrial single-chip microcontroller, and it is described
Control system separately set at least one digital serial port communication module and at least one wireless data communication module.
The utility model in specific implementation, first according to the needs of use, determines the specifically used number of lift drive mechanism
Then amount and distributed architecture position are attached positioning to each lift drive mechanism by positioning crossbeam, and pass completing pressure
It after sensor, stroke sensor and control circuit assembling, is installed at the specified operating position of climbing robot together, while will control
It is attached between the control circuit of circuit and climbing robot processed, the assembly positioning of the utility model can be completed.
When carrying out specific lift work or being adjusted to robot local height, installation is directly driven by control circuit
Lift drive mechanism in climbing robot corresponding position is run, and is realized and is carried out whole or part lifting manipulation to robot
Operation.
In lift drive mechanism operation, driving lifting motor operation first is driven by lifting motor by worm mechanism
Silk braid rotating operation is gone up and down, and is run by lifting silk braid driving elevating screw along bearing base axis direction, when needing to rise
Gao Shi, elevating screw are run down along bearing base axis direction, and driving bolster stake is stretched out out of bearing base, and makes bolster stake
Contacted between the positioning sucker disk of end and ground level, contact while, on the one hand by positioning sucker disk enhance bolster stake and
On the other hand position stability between ground level detects the lifting driving force that current bolster stake is carried by pressure sensor and joins
Number then illustrates that bolster stake and ground contact stabilization are insufficient when carrying driving force is too small, is not easy to carry out lift work, works as carrying
Then illustrate that the carrying driving force of current bolster stake is excessive when power is excessive, easily leads to elevating screw, lifting silk braid because driving force is excessive
And damage phenomenon occurs, in addition to this, when multiple lift drive mechanisms are run simultaneously, by pressure sensor respectively to each liter
Drop driving mechanism pressure detected, can effectively or lift work in climbing robot distribution of force unevenness situation, be convenient for and
When adjust operating status, avoid break away etc. accidents occur.It is another to be passed by stroke while bolster stake is stretched out from bearing base
Sensor detects the stretching stroke of each bolster stake, thus when on the one hand realizing auxiliary pressure sensor to climbing robot lift work
On the other hand the mesh that effective monitoring is carried out to hoisting machine people's lift work stroke is realized in the effect that stress condition is detected
, thus effectively improve climbing robot lifting operational process in, driving force output and keep regulation operation stability and
Reliability, and the precision to the control of climbing robot lift work is improved simultaneously.
Simultaneously, in the process of running, bolster stake, positioning sucker disk are direct carrying stress members, can be according to using
It carries out that replacement is adjusted flexibly, to effectively prevent the fine structures parts such as elevating screw, lifting silk braid impaired, thus greatly
The fault-resistant and antiwear property improved in operational process, realize and improving the same of equipment operation stability and failure discharge rate
When, reduce the cost and labor intensity of use and upkeep operation.
The utility model structure is simple, and production and maintenance cost are low, and installation, operation and maintenance are simple, and structural reliability is good,
Versatility is good, on the one hand meet to robot integrally carry out lifting lifting job requirements while, have good bearing capacity and
Stationkeeping ability, and bearing capacity output is stablized, and can effectively meet the needs that lifting driving operation is carried out to climbing robot, and prevent
Sideslip phenomenon occurs, and improves the reliability and stability of climbing robot lift work, is on the other hand effectively raising control
While precision processed and external force resistance impact cause failure, the antiwear property and part replacement energy of equipment are separately effectively raised
Power, thus greatly improve equipment operation stability and reliability, and can effectively prolong the service life and reduce use at
Sheet and labor intensity.
It should be understood by those skilled in the art that the present utility model is not limited to the above embodiments.Above-described embodiment and
Only illustrate the principles of the present invention described in specification.On the premise of not departing from the spirit and scope of the utility model,
The utility model also has various changes and improvements.These changes and improvements both fall within the scope of the claimed invention
It is interior.The protection scope of the present invention is defined by the appended claims and their equivalents.
Claims (5)
1. mechanism is praised in a kind of intelligence climbing robot lifting, it is characterised in that: the intelligent climbing robot lifting
It praises mechanism and includes positioning crossbeam, lift drive mechanism, pressure sensor, stroke sensor and control circuit, wherein described
Lift drive mechanism at least two, be parallel to each other between each lift drive mechanism distribution, and lift drive mechanism axis and horizontal plane
Vertical distribution is connected with each other between two neighboring lift drive mechanism, the positioning crossbeam by least one positioning crossbeam
Axis and lift drive mechanism axis are in 30 ° -90 ° angles, the lift drive mechanism include bearing base, elevating screw,
Silk braid, bolster stake, positioning sucker disk, worm mechanism and lifting motor are gone up and down, wherein it is in " Jiong " that the bearing base, which is axial cross section,
Font groove-like structure, the lifting silk braid and elevating screw are embedded in bearing base and are coaxially distributed with bearing base, and
It is outer and be intermeshed with elevating screw that the lifting silk braid is coated on elevating screw, the lifting silk braid by worm mechanism and
Lifting motor is connected with each other, and the worm mechanism and lifting motor are installed in bearing base outer surface, the lifting silk
Bar lower end surface is connect with bolster stake upper surface, and the bolster stake upper surface is coaxially divided in bearing base and with bearing base
Cloth, and be slidably connected between bolster stake and bearing base by directive slide track, the bolster stake lower end surface is located at outside bearing base
And be connected with each other with positioning sucker disk, the positioning sucker disk is coaxially distributed with bolster stake, and the pressure sensor and stroke pass
Sensor quantity is consistent with lift drive mechanism quantity, and a pressure sensor and a row are all provided on each lift drive mechanism
Journey sensor, wherein the pressure sensor is coaxially distributed embedded in bolster stake lower end surface and bolster stake and embedded in positioning sucker disk
Interior, the stroke sensor is mounted on directive slide track, and is slidably connected with carrying outer surface of column, the control circuit peace
It is electrically connected on positioning crossbeam, and respectively with the lifting motor of pressure sensor, stroke sensor and lift drive mechanism.
2. mechanism is praised in a kind of intelligent climbing robot lifting according to claim 1, it is characterised in that: described determines
Position crossbeam is that at least two-stage Telescopic rod structure, both ends are hinged between lift drive mechanism respectively.
3. mechanism is praised in a kind of intelligent climbing robot lifting according to claim 1 or 2, it is characterised in that: described
Positioning crossbeam be hydraulic telescopic rod, air pressure telescopic link, any one in electric telescopic rod, and electrically connect with control circuit
It connects.
4. mechanism is praised in a kind of intelligent climbing robot lifting according to claim 1, it is characterised in that: the liter
When drop driving mechanism is three or three or more, each lift drive mechanism is with rectangular array or annular array Structural assignments.
5. being gone up and down according to a kind of intelligent climbing robot described in claim 1 and praising mechanism, it is characterised in that: the carrying
Pedestal upper surface sets manhole, and the manhole is coaxially distributed with bearing base, and manhole aperture is elevating screw diameter
1.1-1.8 times.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820859189.3U CN209098089U (en) | 2018-06-04 | 2018-06-04 | It is a kind of intelligence climbing robot go up and down praise mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820859189.3U CN209098089U (en) | 2018-06-04 | 2018-06-04 | It is a kind of intelligence climbing robot go up and down praise mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209098089U true CN209098089U (en) | 2019-07-12 |
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ID=67149290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820859189.3U Expired - Fee Related CN209098089U (en) | 2018-06-04 | 2018-06-04 | It is a kind of intelligence climbing robot go up and down praise mechanism |
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| Country | Link |
|---|---|
| CN (1) | CN209098089U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817672A (en) * | 2023-02-16 | 2023-03-21 | 浙江丞士机器人有限公司 | Stair climbing robot control system |
-
2018
- 2018-06-04 CN CN201820859189.3U patent/CN209098089U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115817672A (en) * | 2023-02-16 | 2023-03-21 | 浙江丞士机器人有限公司 | Stair climbing robot control system |
| CN115817672B (en) * | 2023-02-16 | 2023-05-16 | 浙江丞士机器人有限公司 | Stair climbing robot control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190712 Termination date: 20200604 |