CN210559120U - Guide rail climbing robot movement unit capable of automatically adapting to guide rail deviation - Google Patents
Guide rail climbing robot movement unit capable of automatically adapting to guide rail deviation Download PDFInfo
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- CN210559120U CN210559120U CN201920931835.7U CN201920931835U CN210559120U CN 210559120 U CN210559120 U CN 210559120U CN 201920931835 U CN201920931835 U CN 201920931835U CN 210559120 U CN210559120 U CN 210559120U
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Abstract
The utility model discloses a can adapt to guide rail climbing robot motion unit of guide rail deviation automatically, include: a housing; a first guide wheel; the movable seat is provided with a second guide wheel; a hold-down mechanism; at least one set of drive mechanisms; and a gap for the movable seat to swing relative to the shell is reserved between the inner wall of the cavity in the shell and the movable seat. Therefore, the sliding seat is under hold-down mechanism's impetus, can make the second guide pulley hug closely the surface of guide rail, and then make the second guide pulley roll or gliding in-process along the surface of guide rail, this second guide pulley can follow the surface deflection of guide rail and the synchronous swing deflects, thereby guarantee the surface that the guide rail can be hugged closely to the second guide pulley very big degree, with effective area of contact between assurance second guide pulley and the guide rail, the guide pulley that has realized the motion unit of guide rail climbing robot can adapt to the deflection on guide rail surface automatically, improved the utility model discloses a guide rail climbing robot motion unit's the guide pulley and the contact effect of guide rail.
Description
Technical Field
The utility model relates to a guide rail climbing robot field, especially can adapt to the guide rail climbing robot motion unit of guide rail deviation automatically.
Background
At present, the height of the existing building is continuously increased along with the continuous progress of the technology, greening and cleaning of the outer wall of the building, or transporting materials to the top of the building, or when a fire disaster occurs and personnel need to escape in an emergency, the increasingly tall building is urgent to solve the problems.
Therefore, in order to solve the above problems, people have made various lifting devices, one of which is to arrange a portal frame at the top of the building, the portal frame is provided with a pulley, the pulley is movably provided with a steel wire lifting rope, the free end of the steel wire lifting rope is connected with a bearing platform for loading articles or temporarily carrying passengers, and the bearing platform is driven to lift by the steel wire lifting rope, so as to realize the lifting of the articles or the lifting of the passengers.
Although the lifting device can lift articles or people, the lifting device pulls the bearing platform to lift through the steel wire lifting rope, and the steel wire lifting rope is relatively soft and is easy to shake in the high altitude, so that the lifting device is inconvenient for high altitude operation.
Therefore, another lifting device has been proposed, which is a rail climbing robot, and includes a vertical rail installed in a vertical direction, a lifting mechanism movably installed on the vertical rail and capable of moving up and down along the vertical rail, and the lifting mechanism clamps the vertical rail via a guide wheel and moves up and down along the vertical rail.
Because the length of the vertical guide rail is too long, both ends of the vertical guide rail are easy to deflect to a certain extent in the manufacturing process or the actual use process of the vertical guide rail, namely the surfaces of the vertical guide rail are not in the same horizontal plane at both ends, so that the guide wheel of the guide rail climbing robot can not be tightly attached to the surface of the vertical guide rail in the walking process, the contact area between the guide rail and the vertical guide rail is reduced, the friction force between the guide rail and the vertical guide rail is reduced, the technical problem that the guide rail climbing robot can not climb upwards due to the reduction of the friction force exists in the climbing process along the vertical guide rail, and in severe cases, the guide rail climbing robots can also slide off the vertical guide rail at a high speed due to the insufficient friction force between the guide wheel and the vertical guide rail, and certain potential safety hazards exist.
SUMMERY OF THE UTILITY MODEL
Because current guide rail climbing robot still exists the place of treating the improvement, the utility model aims to provide a can improve the guide rail climbing robot motion unit of the contact effect of guide pulley and guide rail.
The utility model discloses a solve its technical problem and the technical scheme who adopts is:
guide rail climbing robot motion unit that can adapt to guide rail deviation automatically includes:
the device comprises a shell, a shell and a cover, wherein a containing cavity is arranged inside the shell;
more than one first guide wheel arranged on the shell
The movable seat is movably arranged in the cavity in the shell and can move relative to the shell, more than one second guide wheel is arranged on the movable seat, the second guide wheel is positioned on one side of the first guide wheel, and a space for the guide rail to pass through is reserved between the first guide wheel and the second guide wheel;
the pressing mechanism is arranged on the shell and can be in contact with the movable seat and drive the movable seat to move close to the first guide wheel;
the driving mechanism is arranged on the shell and can be connected with the first guide wheel and/or the second guide wheel, and the driving mechanism can drive the first guide wheel and/or the second guide wheel to rotate;
and a gap for the movable seat to swing relative to the shell is reserved between the inner wall of the cavity in the shell and the movable seat.
As an improvement of the above technical solution, the pressing mechanism includes more than one compression spring, one end of the compression spring is abutted against the housing, and the other end is connected with the movable seat.
As a further improvement of the above technical solution, the pressing mechanism further includes more than one adjusting bolt, the adjusting bolt is threadedly mounted on the housing, and the adjusting bolt can extend into the cavity or withdraw from the cavity; one end of the compression spring is abutted against the adjusting bolt, and the other end of the compression spring is abutted against the movable seat.
Preferably, the compression spring with the one end that the sliding seat butt is provided with the top pearl, the sliding seat orientation be provided with on compression spring's a side with top pearl mating reaction's cambered surface.
Furthermore, the shell is also at least provided with a group of connecting mechanisms used for being connected with the movable seat, and each connecting mechanism comprises a connecting rod; one end of the connecting rod is connected with the shell, the other end of the connecting rod is connected with a universal joint, and the universal joint is connected with the movable seat.
Still further, the quantity of coupling mechanism is two sets ofly, two sets of coupling mechanism set up respectively in hold-down mechanism's both sides.
Preferably, the driving mechanism comprises a motor, and an output shaft of the motor is connected with the first guide wheel or the second guide wheel. And the first guide wheel and/or the second guide wheel are/is also connected with a clutch capable of locking the rotation of the first guide wheel and/or the second guide wheel when the power is off.
Furthermore, more than one group of guide mechanisms are arranged between the shell and the movable seat; the guide mechanism comprises a sliding groove and a sliding block which are matched with each other for guiding;
one of the sliding groove and the sliding block is arranged on the side wall of the cavity in the shell, and the other sliding groove and the sliding block are arranged on the movable seat; and the width of the sliding groove is greater than that of the sliding block.
Still further, the quantity of guiding mechanism is two sets ofly, and two sets of guiding mechanism set up respectively in hold-down mechanism's both sides.
The utility model has the advantages that: because the moving unit of the guide rail climbing robot of the utility model leaves a gap between the inner wall of the containing cavity of the shell and the movable seat for the movable seat to swing relative to the shell, and the second guide wheel is arranged on the movable seat, and the shell is provided with the pressing mechanism for driving the movable seat to move close to the first guide wheel, the movable seat can lead the second guide wheel to be clung to the surface of the guide rail under the pushing action of the pressing mechanism, thereby leading the second guide wheel to roll or slide along the surface of the guide rail, leading the second guide wheel to swing and deflect synchronously along with the surface deflection of the guide rail, greatly ensuring that the second guide wheel can be clung to the surface of the guide rail, ensuring the effective contact area between the second guide wheel and the guide rail, realizing that the guide wheel of the moving unit of the guide rail climbing robot can automatically adapt to the deflection of the surface of the guide rail, improved the utility model discloses a guide pulley of guide rail climbing robot motion unit and the contact effect of guide rail.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of a preferred embodiment of the present invention in conjunction with a guide rail;
fig. 2 is a schematic view of an appearance structure of a preferred embodiment of the present invention;
FIG. 3 is an exploded view of a preferred embodiment of the present invention;
fig. 4 is a schematic view of the internal structure of a preferred embodiment of the present invention with one of the side panels removed;
fig. 5 is an exploded view of a portion of the movable seat and the pressing mechanism separated from each other according to a preferred embodiment of the present invention.
Detailed Description
Referring to fig. 1, 2 and 3, a preferred embodiment of the motion unit of the rail climbing robot of the present invention includes a housing 10, wherein a cavity with an opening is provided inside the housing 10; more than one first guide wheel 11 is arranged on the housing 10, here, the number of the first guide wheels 11 may be one, two, three or more, in this embodiment, the number of the first guide wheels 11 is multiple, and the multiple first guide wheels 11 are arranged on the housing 10 and located at one side of the opening of the cavity; a movable seat 12 capable of moving relative to the housing 10 is movably mounted in the cavity inside the housing 10, the movable seat 12 is provided with more than one second guide wheel 120, the second guide wheel 120 is located at one side of the first guide wheel 11, and a space for a guide rail to pass through is reserved between the first guide wheel 11 and the second guide wheel 120; here, the number of the second guide wheels 120 may be one, two, three or more, in this embodiment, the number of the second guide wheels 120 is two, and the two second guide wheels 120 are both installed on the movable base 12 and located at one side of all the first guide wheels 11; a pressing mechanism is arranged on the shell 10, and can be in contact with the movable seat 12 and drive the movable seat 12 to move close to the first guide wheel 11; at least one set of driving mechanism 14 is disposed on the housing 10, the driving mechanism 14 can be connected to the first guide wheel 11 and/or the second guide wheel 120, and the driving mechanism 14 can drive the first guide wheel 11 and/or the second guide wheel 120 to rotate; a gap for the movable seat 12 to swing relative to the housing 10 is left between the inner wall of the cavity in the housing 10 and the movable seat 12. That is, the space between the two side walls of the cavities respectively located at the two sides of the movable seat 12 is greater than the width of the movable seat 12, where the width of the movable seat 12 refers to the dimension of the movable seat 12 perpendicular to the moving direction of the movable seat moving close to the first guide wheel 11.
In this embodiment, the movable seat 12 can move the second guide wheel 120 along the direction toward the first guide wheel 11 under the pushing action of the pressing mechanism, and the movable seat 12 can also swing at a certain angle to deflect the direction toward the first guide wheel 11.
Because a gap for the movable base 12 to swing relative to the housing 10 is left between the inner wall of the cavity of the housing 10 and the movable base 12 of the guide rail climbing robot motion unit, the second guide wheel 120 is mounted on the movable base 12, and meanwhile, a pressing mechanism for driving the movable base 12 to move close to the first guide wheel 11 is arranged on the housing 10, the movable base 12 can enable the second guide wheel 120 to cling to the surface of the guide rail 17 under the pushing action of the pressing mechanism, so that in the process that the second guide wheel 120 rolls or slides along the surface of the guide rail 17, the second guide wheel 120 can swing and deflect synchronously along with the surface deflection of the guide rail 17, thereby ensuring that the second guide wheel 120 can cling to the surface of the guide rail 17 to the greatest extent, ensuring the effective contact area between the second guide wheel 120 and the guide rail 17, realizing that the guide wheel of the guide rail climbing robot motion unit can automatically adapt to the deflection of the surface of the guide rail, and improving the guide wheel and guide wheel of the guide rail climbing robot motion The effect of contact between the rails.
Referring to fig. 4 and 5, in order to make the pressing mechanism apply a force to the movable seat 12 better, the pressing mechanism includes more than one compression spring 13, one end of the compression spring 13 abuts against the housing 10, and the other end is connected to the movable seat 12. Can promote the sliding seat 12 through this compression spring 13 and drive second guide pulley 120 and move and be close to first guide pulley 11 both can simplify the structure of guide rail climbing robot motion unit, can guarantee again simultaneously that hold-down mechanism can last the application of force on sliding seat 12, and then guarantee that first guide pulley 11 and second guide pulley 120 can last the tight guide rail 17 of clamp to guarantee that the frictional force between guide rail climbing robot motion unit and the guide rail 17 is continuous effective.
Of course, the pressing mechanism may be replaced by other structures, for example, the pressing mechanism is an air cylinder or a hydraulic cylinder, and the air cylinder or the hydraulic cylinder pushes the movable seat 12 and the second guide wheel 120 to move synchronously close to the first guide wheel 11. Or, the pressing mechanism can be replaced by a structure that a motor is matched with the screw rod mechanism, and the pressing mechanism can be specifically determined according to actual needs.
Further preferably, the pressing mechanism further includes more than one adjusting bolt 130, the adjusting bolt 130 is threadedly mounted on the housing 10, and the adjusting bolt 130 can extend into the cavity or withdraw from the cavity; one end of the compression spring 13 abuts against the adjusting bolt 130, and the other end abuts against the movable seat 12. By adopting the structure, a user can rotate the adjusting bolt 130 forward or backward by screwing the adjusting bolt 130, so that the adjusting bolt 130 is screwed into the accommodating cavity or withdrawn from the accommodating cavity, the elastic deformation quantity of the compression spring 13 extruded by the adjusting bolt 130 is changed, the extrusion force of the compression spring 13 on the movable seat 12 is adjusted, and the structure is simple and the operation is convenient.
Here, the number of the adjusting bolts 130 may correspond to the number of the compression springs 13 one by one, or only one adjusting bolt 130 is provided, and a plurality of compression springs 13 are paired with one adjusting bolt 130 at the same time, in this case, an abutting plate (not shown in the figure) needs to be provided at one end of the adjusting bolt 130, and a plurality of compression springs 13 can abut against the abutting plate at the same time, so that the effect of pressing the compression springs 13 can be achieved. In this embodiment, the number of the compression springs 13 is two, and correspondingly, the number of the adjustment bolts 130 is also two, and the two compression springs 13 and the two adjustment bolts 130 are used in a one-to-one correspondence manner, so that a user can rotate a certain adjustment bolt 130 alone to achieve the effect of adjusting the squeezing force of the corresponding compression spring 13.
Referring to fig. 3, 4 and 5, in order to facilitate the movable seat 12 to better rotate relative to the housing 10, here, preferably, an end of the compression spring 13 abutting against the movable seat 12 is provided with a top ball 131, and a side of the movable seat 12 facing the compression spring 13 is provided with an arc surface 121 cooperating with the top ball 131. Therefore, even if the movable seat 12 slightly swings relative to the housing 10, the cooperation of the arc surface 121 and the ejector bead 131 can still ensure that the pressing mechanism continuously applies force to the movable seat 12, so that the movable seat 12 can drive the second guide wheel 120 to cooperate with the first guide wheel 11 to clamp the guide rail 17, and meanwhile, the cooperation of the arc surface 121 and the ejector bead 131 can greatly reduce the resistance applied when the movable seat 12 rotates relative to the housing 10, so that the second guide wheel 120 can be more smoothly attached to the surface of the guide rail 17 for deflection.
In order to prevent the movable seat 12 from falling off the housing 10 and enable the movable seat 12 to swing relative to the housing 10, at least one set of connection mechanisms for connecting with the movable seat 12 is further disposed on the housing 10, and the connection mechanisms include a connection rod 15; one end of the connecting rod 15 is connected with the shell 10, the other end of the connecting rod 15 is connected with a universal joint 150, and the universal joint 150 is connected with the movable seat 12. By using the universal joint 150 to connect with the movable seat 12, the movable seat 12 can be firmly and reliably connected with the housing 10, and the movable seat 12 can swing relative to the housing 10. Preferably, the number of the connecting mechanisms is two, and the two groups of connecting mechanisms are respectively arranged on two sides of the pressing mechanism. By adopting two sets of connecting mechanisms to connect the movable seat 12 and the housing 10 together, the movable seat 12 and the housing 10 can be connected more firmly and reliably.
Referring to fig. 1 and 2, in order to make the structure of the motion unit of the rail climbing robot simpler while ensuring that the driving mechanism can effectively drive the first guide wheel 11 or the second guide wheel 120 to rotate, it is preferable that the driving mechanism 14 includes a motor, and an output shaft of the motor is connected with the first guide wheel 11 or the second guide wheel 120. By adopting the structure, the rotation of the first guide wheel 11 or the second guide wheel 120 can be continuously and effectively realized. Of course, the driving mechanism 14 may be a rotary cylinder or a rack-and-pinion to drive the first guide wheel 11 or the second guide wheel 120 to rotate, and the specific requirement may be determined according to the actual requirement.
Referring to fig. 4 and 5, in order to enable the first guide wheel 11 and the second guide wheel 120 to clamp the guide rail 17 and prevent the guide rail climbing robot moving unit from accidentally slipping off the guide rail 17 when the power of the guide rail climbing robot moving unit is lost in the power outage, a clutch 16 capable of locking the rotation of the first guide wheel 11 and/or the second guide wheel 120 in the power outage is further connected to the first guide wheel 11 and/or the second guide wheel 120. When the clutch 16 is powered off, the clutch 16 can lock the first guide wheel 11 and/or the second guide wheel 120, that is, when the clutch 16 is powered off, the clutch 16 can automatically lock and lock, so that the first guide wheel 11 and/or the second guide wheel 120 cannot rotate relative to the guide rail 17, and thus the guide rail climbing robot moving unit can clamp the guide rail 17 without moving downwards when the power is off, and the safety of a user is ensured. In the present embodiment, the clutch 16 is an electromagnetic clutch, and preferably, an electromagnetic clutch manufactured by Wuchen Automation technology, Inc., model number DHM4-5, which is a conventional technology and will not be described herein.
Referring to fig. 3, 4 and 5, in order to enable the movable seat 12 to better move close to the first guide wheel 11, in the present embodiment, more than one set of guide mechanisms are arranged between the housing 10 and the movable seat 12; the guide mechanism comprises a sliding groove 181 and a sliding block 182 which are matched with each other for guiding; one of the sliding groove 181 and the sliding block 182 is disposed on the side wall of the cavity inside the housing 10, and the other is disposed on the movable seat 12; the sliding groove 181 is disposed on the side wall of the cavity inside the casing 10, the sliding block 182 is disposed on the movable seat 12, and if the sliding groove 181 is disposed on the movable seat 12, the sliding block 182 is disposed on the side wall of the cavity inside the casing 10. Here, in order to facilitate the production of the housing 10 and the movable seat 12, preferably, the sliding groove 181 is disposed on a side wall of the inner cavity of the housing 10, and the sliding block 182 is disposed on the movable seat 12; the width of the sliding groove 181 is greater than the width of the sliding block 182. Here, the width of the slide block 182 refers to a dimension of the slide block 182 perpendicular to a direction in which the slide block moves closer to the first guide wheel 11.
In order to enable the movable seat 12 to move relative to the housing 10 better, the number of the guide mechanisms is two, two sets of guide mechanisms are respectively arranged on two sides of the pressing mechanism, and the two sets of guide mechanisms are used for guiding, so that the movable seat 12 can move more smoothly.
The above is only the preferred embodiment of the present invention, as long as the technical solution of the purpose of the present invention is realized by the substantially same means, all belong to the protection scope of the present invention.
Claims (10)
1. Guide rail climbing robot motion unit that can adapt to the guide rail deviation automatically, its characterized in that includes:
the device comprises a shell (10), wherein a containing cavity is arranged inside the shell (10);
one or more first guide wheels (11), wherein the first guide wheels (11) are arranged on the shell (10);
the movable seat (12) is movably arranged in the cavity inside the shell (10), the movable seat (12) can move relative to the shell (10), more than one second guide wheel (120) is arranged on the movable seat (12), the second guide wheel (120) is positioned on one side of the first guide wheel (11), and a space for a guide rail to pass through is reserved between the first guide wheel (11) and the second guide wheel (120);
the pressing mechanism is arranged on the shell (10) and can be in contact with the movable seat (12) and drive the movable seat (12) to move close to the first guide wheel (11);
at least one set of driving mechanism (14), wherein the driving mechanism (14) is arranged on the housing (10), the driving mechanism (14) can be connected with the first guide wheel (11) and/or the second guide wheel (120), and the driving mechanism (14) can drive the first guide wheel (11) and/or the second guide wheel (120) to rotate;
a gap for enabling the movable seat (12) to swing relative to the shell (10) is reserved between the inner wall of the containing cavity in the shell (10) and the movable seat (12).
2. The rail climbing robot motion unit capable of automatically adapting to rail deviation according to claim 1, characterized in that:
the pressing mechanism comprises more than one compression spring (13), one end of each compression spring (13) is abutted to the shell (10), and the other end of each compression spring is connected with the movable seat (12).
3. The rail climbing robot motion unit capable of automatically adapting to rail deviation according to claim 2, characterized in that:
the pressing mechanism further comprises more than one adjusting bolt (130), the adjusting bolt (130) is installed on the shell (10) in a threaded mode, and the adjusting bolt (130) can extend into the cavity or withdraw from the cavity;
one end of the compression spring (13) is abutted against the adjusting bolt (130), and the other end of the compression spring is abutted against the movable seat (12).
4. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 2 or 3, characterized in that:
one end of the compression spring (13) which is abutted against the movable seat (12) is provided with a top bead (131),
one side of the movable seat (12) facing the compression spring (13) is provided with an arc surface (121) which is matched with the top bead (131).
5. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 1,
the shell (10) is also at least provided with a group of connecting mechanisms used for being connected with the movable seat (12), and each connecting mechanism comprises a connecting rod (15);
one end of the connecting rod (15) is connected with the shell (10), the other end of the connecting rod (15) is connected with a universal joint (150), and the universal joint (150) is connected with the movable seat (12).
6. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 5,
the number of the connecting mechanisms is two, and the two groups of connecting mechanisms are respectively arranged on two sides of the pressing mechanism.
7. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 1,
the driving mechanism (14) comprises a motor, and an output shaft of the motor is connected with the first guide wheel (11) or the second guide wheel (120).
8. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 1,
the first guide wheel (11) and/or the second guide wheel (120) are/is also connected with a clutch (16) capable of locking the rotation of the first guide wheel and/or the second guide wheel when the power is off.
9. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 1,
more than one group of guide mechanisms are arranged between the shell (10) and the movable seat (12);
the guide mechanism comprises a sliding groove (181) and a sliding block (182) which are matched and guided with each other;
one of the sliding groove (181) and the sliding block (182) is arranged on the side wall of the cavity in the shell (10), and the other is arranged on the movable seat (12);
wherein the width of the sliding groove (181) is larger than the width of the sliding block (182).
10. The rail climbing robot movement unit capable of automatically adapting to rail deviation according to claim 9,
the number of the guide mechanisms is two, and the two groups of guide mechanisms are respectively arranged on two sides of the pressing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920931835.7U CN210559120U (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot movement unit capable of automatically adapting to guide rail deviation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920931835.7U CN210559120U (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot movement unit capable of automatically adapting to guide rail deviation |
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| CN210559120U true CN210559120U (en) | 2020-05-19 |
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| CN201920931835.7U Active CN210559120U (en) | 2019-06-20 | 2019-06-20 | Guide rail climbing robot movement unit capable of automatically adapting to guide rail deviation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255431A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | It is a kind of can adaptive guide rail deviation guide rail climbing robot moving cell |
-
2019
- 2019-06-20 CN CN201920931835.7U patent/CN210559120U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255431A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | It is a kind of can adaptive guide rail deviation guide rail climbing robot moving cell |
| CN110255431B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot motion unit capable of adapting to guide rail deviation |
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