CN211590133U - Robot climbing frame structure - Google Patents

Abstract

The utility model relates to a robot climbing frame structure, which is characterized by comprising a lifting frame body, a wall-attached bracket, an anti-falling device, a driving device and a limiting guide assembly, wherein the lifting frame body is provided with a vertical guide rod, and the vertical guide rod is provided with a front vertical guide groove, a rear vertical guide groove and a plurality of limiting shafts; the anti-falling device comprises a limiting sleeve, a limiting ejector rod, a tension spring, an upper nut, a lower nut, a limiting ejector block and a hinge lug; the driving device comprises a positioning seat, a driving motor, a screw rod, a sliding block, a lifting rod and a driving cylinder; the limiting guide assembly comprises a front positioning rod, a front guide wheel, a front bolt, a rear positioning rod, a rear guide wheel and a rear bolt. The utility model discloses an overall structure is very reliable, and its operation is very convenient, can improve the ascending efficiency of lifting frame body, and can also play the dual effect of preventing weighing down, and its security and stability are very high.

Description

Robot climbing frame structure

Technical Field

The utility model relates to a architectural equipment field, especially a robot climbs a structure.

Background

At present, an attached lifting scaffold is mostly composed of an attached wall support, a lifting frame body, an anti-falling device, an anti-tilting device and an electric hoist. When the lifting frame body needs to do lifting movement, the lifting frame body is mostly lifted by the electric hoist. Because the electric hoist, the pulley and the traction rope need to be hung in the installation process of the electric hoist, the implementation is very inconvenient, and the ascending efficiency of the lifting frame body is easily influenced; and thus the safety is low. Therefore, it is necessary to design a robot climbing frame structure.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve the above-mentioned problem and not enough, provide a frame structure is climbed to robot, this frame structure is climbed to robot's overall structure is very reliable, and its operation is very convenient, can improve the ascending efficiency of lifting frame body, and can also play dual anti-falling effect, and its security is very high with stability.

The technical scheme of the utility model is realized like this:

a robot climbing frame structure is characterized by comprising a lifting frame body, a wall-attached support, an anti-falling device, a driving device and a limiting guide assembly, wherein a vertical guide rod is arranged on the left wall of the lifting frame body, a abdicating groove is formed in the left wall of the vertical guide rod and vertically extends, a plurality of limiting shafts which are vertically arranged side by side are arranged in the abdicating groove, the limiting shafts longitudinally extend, the distance between every two adjacent limiting shafts is equal, the front end and the rear end of each limiting shaft are respectively fixed on the front groove wall and the rear groove wall of the abdicating groove, and a front vertical guide groove and a rear vertical guide groove are respectively formed in the front surface and the rear surface of the vertical guide rod; the wall-attached support comprises a wall-attached plate frame, a horizontal plate frame, an upper inclined pull rod and a lower inclined pull rod, the wall-attached plate frame is vertically arranged, the left side edge of the horizontal plate frame is fixed on the middle part of the right surface of the wall-attached plate frame, two ends of the upper inclined pull rod are respectively fixed on the upper end of the wall-attached plate frame and the right end of the horizontal plate frame, two ends of the lower inclined pull rod are respectively fixed on the lower end of the wall-attached plate frame and the right end of the horizontal plate frame, and the horizontal plate frame is arranged on the left side of a vertical guide rod; the anti-falling device comprises a limiting sleeve, a limiting ejector rod, a tension spring, an upper nut, a lower nut, a limiting ejector block and a hinge lug, wherein the hinge lug and the limiting ejector block are fixed on the top surface of the horizontal plate frame in a left-right side-by-side mode, a limiting hole groove is formed in one end face of the limiting sleeve, the other end of the limiting sleeve is hinged to the hinge lug, one end of the limiting sleeve is located at the upper right side of the hinge lug and can swing up and down, two ends of the tension spring are respectively connected to the lower surface of the limiting sleeve and the top surface of the horizontal plate frame and can be in a stretching state, the limiting sleeve is pressed on the limiting ejector block under the action of tension of the tension spring, an external thread is formed in the circumferential surface of one end of the limiting ejector rod, the upper nut and the lower nut are in threaded connection on the external thread in an up-down side-by-side mode, one end of the limiting ejector, the lower nut is pressed on the end face of the limiting sleeve, the other end of the limiting ejector rod extends into the abdicating groove, and the other end of the limiting ejector rod is pressed on the bottom face of one limiting shaft; the driving device comprises a positioning seat, a driving motor, a screw rod, a sliding block, a lifting rod and a driving cylinder, wherein a guide cavity extending vertically is formed in the positioning seat, the positioning seat is arranged on the bottom surface of the horizontal plate frame, the driving motor is arranged on the positioning seat, the screw rod is vertically arranged on the positioning seat and is in driving connection with the driving motor, a transversely-penetrating limiting hole is formed in the sliding block, the sliding block can be vertically and slidably arranged in the guide cavity and is in threaded connection with the screw rod, the middle part of the lifting rod can be transversely and slidably arranged in the limiting hole, the right end of the lifting rod is arranged below one limiting shaft in a penetrating mode, a cylinder body of the driving cylinder is arranged on the sliding block and is transversely arranged, and a piston rod of the driving cylinder is connected to the left end of the lifting rod; spacing direction subassembly includes preceding locating lever, preceding leading directive wheel, preceding bolt, back locating lever, back leading wheel, rear bolt, preceding leading directive wheel can set up in one end of preceding locating lever with rotating, the other end of preceding locating lever passes through preceding bolt fastening on the antetheca of horizontal plate frame to make preceding leading directive wheel inlay with rotating in preceding vertical guide slot, still make the rotation center line of preceding leading directive wheel be longitudinal extension, back leading wheel can set up with rotating on one end of back locating lever, the other end of back locating lever passes through the back bolt fastening on the back wall of horizontal plate frame, and make back leading wheel inlay with rotating in back vertical guide slot, still make the rotation center line of back leading wheel be longitudinal extension.

Preferably, the guide cavity is arranged inside the positioning seat, the guide cavity penetrates through the left surface and the right surface of the positioning seat, a front limiting guide groove and a rear limiting guide groove which extend vertically are respectively formed in the front cavity wall and the rear cavity wall of the guide cavity, a front limiting convex part and a rear limiting convex part are respectively arranged on the front surface and the rear surface of the sliding block, the front limiting convex part and the rear limiting convex part are respectively embedded in the front limiting guide groove and the rear limiting guide groove in a sliding mode, a vertically-penetrating threaded hole is formed in the middle of the top surface of the sliding block, the threaded hole penetrates through the limiting hole, a vertically-penetrating waist-shaped hole is formed in the middle of the lifting rod, the length direction of the radial section of the waist-shaped hole extends transversely, the waist-shaped hole is located in the limiting hole, and the screw rod is in threaded connection with the threaded hole and penetrates through the waist.

Preferably, a groove is formed in the top face of the right end of the lifting rod, and the bottom of the limiting shaft is arranged in the groove.

Preferably, the top surface of the limiting top block is provided with a first limiting clamping groove, and the limiting sleeve is movably embedded in the first limiting clamping groove.

Preferably, a second limiting clamping groove is formed in the end face of the other end of the limiting ejector rod, and the second limiting clamping groove is movably clamped on the limiting shaft.

Preferably, be equipped with first bulge loop portion on the pore wall of spacing hole groove, be equipped with second bulge loop portion on the one end circumferential surface of spacing ejector pin to make second bulge loop portion be located the below of external screw thread, still make second bulge loop portion be located the inboard of first bulge loop portion.

Preferably, the front and rear surfaces of the horizontal plate frame are respectively provided with a front limiting groove and a rear limiting groove, the front limiting groove and the rear limiting groove transversely extend to the right surface of the horizontal plate frame, the other end of the front positioning rod is embedded in the front limiting groove and vertically penetrates through the horizontal plate frame and the front positioning rod by two front bolts for locking, the other end of the rear positioning rod is embedded in the rear limiting groove and vertically penetrates through the horizontal plate frame and the rear positioning rod by two rear bolts for locking.

The utility model has the advantages that: through articulating limiting sleeve, just so can satisfy the needs of swing limiting sleeve to just can satisfy the needs of the spacing ejector pin of swing, and then just can satisfy the spacing needs of activity, this just can make this robot climb a structure and realize automatic limiting displacement. Through the setting of spacing kicking block to make spacing sleeve push down on spacing kicking block under the tensile force effect of extension spring, this can play fine limiting displacement to spacing sleeve through spacing kicking block, thereby just can play fine limiting displacement to spacing ejector pin, and then just can improve the reliability of spacing ejector pin installation location, with guarantee that spacing ejector pin can be accurate, reliably jack-up the lifting support body, this helps improving the reliability that the robot climbed the structure. Through the pulling force of extension spring, can make spacing ejector pin realize automatic re-setting, this helps improving the reliability of spacing ejector pin roof pressure effect. Because the limiting ejector rod is movably inserted in the limiting hole groove, and the upper nut and the lower nut are screwed on the limiting ejector rod, the extending amount of the limiting ejector rod can be adjusted by rotating the upper nut and the lower nut, so that the end part of the limiting ejector rod can be conveniently moved away from the limiting shaft during disassembly, and the convenience for disassembling the wall-attached support is improved. Through the setting of last nut and lower nut, help improving the accuracy of spacing ejector pin location to avoid the position of spacing ejector pin to change, this helps improving the reliability that the robot climbed the structure. Because the driving device comprises the positioning seat, the driving motor, the screw rod, the sliding block, the lifting rod and the driving cylinder, the screw rod can be driven by the driving motor through the reasonable assembly, and the sliding block can vertically reciprocate on the positioning seat when the screw rod rotates; because the lifting rod is arranged on the sliding block, the lifting rod can do vertical reciprocating motion; because the right-hand member of lifter is located the below of one of them spacing axle, when the lifter rebound like this, just can make the automatic rebound of lifting frame body like this to the spacing axle of top, and this convenience and efficiency that helps improving lifting frame body and promote. The driving device can be installed and positioned together with the wall support, the operation difficulty is lower, the lifting efficiency of the lifting frame body is improved, and the robot climbing frame structure is very convenient to use. Because the anti-falling device is arranged above the driving device, the limiting mandril on the anti-falling device can automatically act on the limiting shaft; therefore, in the lifting process of the lifting frame body, the limiting mandril can be jacked open through the limiting shaft so as to meet the normal lifting requirement of the lifting frame body; in the ascending process of the lifting frame body, the lifting rod is always positioned below the limiting shaft, so that the lifting frame body can be prevented from dropping and can be lifted; in the descending process of the lifting rod, the limiting mandril can be propped against the corresponding limiting shaft, so that the effect of preventing the lifting frame body from falling down can be achieved; therefore, the reliability and the safety of the robot climbing frame structure are very high; in the process of not lifting, the driving device and the anti-falling device can play double anti-falling effects, so that the robot climbing frame structure has high safety and stability. The limit and guide requirements on the lifting frame body can be met through the arrangement of the limit guide assembly; the whole structure of the limiting guide assembly is very simple, and the limiting guide assembly can play a good limiting role, so that the reliability of the robot climbing frame structure is improved; spacing direction subassembly is through the bolt fastening in addition, can satisfy the needs of dismantling like this to can be convenient for shift and attach the wall support, this helps improving the convenience that the robot climbed the use of a structure. The whole structure of the lifting frame body is very simple and reliable, the robot climbing frame structure can not only have a reliable structure, but also be convenient for the robot climbing frame structure to manufacture. The integral structure of the wall-attached support is very simple and reliable, so that the robot climbing frame structure can have a reliable structure, and the robot climbing frame structure can be conveniently manufactured.

Drawings

Fig. 1 is a schematic structural view of the main view direction in the assembled state of the present invention.

Fig. 2 is a schematic sectional view of the assembled state of the present invention.

Fig. 3 is a schematic view of a part of the structure in the top view direction in the assembled state of the present invention.

Fig. 4 is a schematic structural view of the overlooking direction of the middle vertical guide rod of the present invention.

Fig. 5 is a schematic structural view of the main viewing direction of the middle wall-attached support of the present invention.

Fig. 6 is a schematic structural view of the right-side view of the reclaimed water pallet of the present invention.

Fig. 7 is a schematic structural view of the front view direction of the middle driving device of the present invention.

Fig. 8 is a schematic structural diagram of the left-side view direction of the middle driving device of the present invention.

Fig. 9 is a schematic structural view of the driving device in the top view direction of the present invention.

Fig. 10 is a schematic view of an assembly structure of the middle slide block and the lifting rod of the present invention.

Fig. 11 is a schematic structural view of the overlooking direction of the positioning seat of the present invention.

Fig. 12 is a schematic structural view of the front view direction of the middle anti-falling device of the present invention.

Fig. 13 is a schematic view of a part of the structure of the middle anti-falling device of the present invention.

Fig. 14 is a schematic structural view of the downward direction of the middle limit guide assembly according to the present invention.

Detailed Description

It should be noted that all the directional indicators (such as left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

As shown in fig. 1, the utility model provides a robot climbing frame structure, including lifting frame body 1, attach wall support 2, anti-falling device 3, drive arrangement 4, spacing direction subassembly 5, wherein, as shown in fig. 1 to 4, be equipped with vertical guide arm 11 on the left wall of lifting frame body 1, set up the groove of stepping down 12 on the left wall of vertical guide arm 11, and make the groove of stepping down 12 be vertical extension, be equipped with a plurality of spacing axles 13 that are vertical side by side arrangement in the groove of stepping down 12, and make each spacing axle 13 all be longitudinal extension, still make the interval between each two adjacent spacing axles 13 equal, and make the front and back both ends of each spacing axle 13 fix respectively on the front and back cell wall of the groove of stepping down 12, set up preceding vertical guide slot 14, back vertical guide slot 15 on the front and back surface of vertical guide arm 11 respectively; as shown in fig. 1 to 3 and 5, the wall-attached support 2 includes a wall-attached plate frame 21, a horizontal plate frame 22, an upper diagonal draw bar 23 and a lower diagonal draw bar 24, the wall-attached plate frame 21 is vertically arranged, the left side of the horizontal plate frame 22 is fixed on the middle of the right surface of the wall-attached plate frame 21, two ends of the upper diagonal draw bar 23 are respectively fixed on the upper end of the wall-attached plate frame 21 and the right end of the horizontal plate frame 22, two ends of the lower diagonal draw bar 24 are respectively fixed on the lower end of the wall-attached plate frame 21 and the right end of the horizontal plate frame 22, and the water plate frame 22 is arranged on the left side of the vertical guide rod 11; as shown in fig. 1, 2, 12 and 13, the anti-falling device 3 includes a limiting sleeve 31, a limiting ejector rod 32, a tension spring 33, an upper nut 34, a lower nut 35, a limiting ejector block 36 and a hinge lug 37, the hinge lug 37 and the limiting ejector block 36 are fixed on the top surface of the horizontal plate frame 22 side by side from left to right, a limiting hole slot 311 is formed on an end surface of one end of the limiting sleeve 31, the other end of the limiting sleeve 31 is hinged on the hinge lug 37, one end of the limiting sleeve 31 is located at the upper right of the hinge lug 37, one end of the limiting sleeve 31 can swing up and down, two ends of the tension spring 33 are respectively connected to the lower surface of the limiting sleeve 31 and the top surface of the horizontal plate frame 22, the tension spring 33 is in a stretching state, the limiting sleeve 31 is pressed on the limiting ejector block 36 under the pulling force of the tension spring 33, an external thread 321 is formed on the circumferential surface of one end of the limiting ejector rod, the upper nut 34 and the lower nut 35 are screwed on the external thread 321 in an up-down parallel manner, one end of the limiting ejector rod 32 can be telescopically inserted into the limiting hole slot 311, the lower nut 35 is pressed on the end surface of the limiting sleeve 31, the other end of the limiting ejector rod 32 extends into the abdicating slot 12, and the other end of the limiting ejector rod 32 is pressed on the bottom surface of one limiting shaft 13; as shown in fig. 1, 2, 7 to 9, the driving device 4 includes a positioning seat 41, a driving motor 42, a screw rod 43, a sliding block 44, a lifting rod 45, and a driving cylinder 46, wherein the positioning seat 41 is provided with a vertically extending guide cavity 411, the positioning seat 41 is provided on the bottom surface of the horizontal plate frame 22, the driving motor 42 is provided on the positioning seat 41, the screw rod 43 is vertically provided on the positioning seat 41, and the screw rod 43 is in driving connection with the driving motor 42, the sliding block 44 is provided with a transversely penetrating limiting hole 441, the sliding block 44 is vertically slidably disposed in the guide cavity 411, and the sliding block 44 is in threaded connection with the screw rod 43, the middle of the lifting rod 45 is transversely slidably disposed in the limiting hole 441, and the right end of the lifting rod 45 is disposed below one of the limiting shafts 13, the cylinder body of the driving cylinder 46 is provided on the sliding block 44, the driving cylinder 46 is transversely arranged, and a piston rod of the driving cylinder 46 is connected to the left end of the lifting rod 45; as shown in fig. 1 to 3 and 14, the limit guide assembly 5 includes a front positioning rod 51, a front guide wheel 52, a front bolt 53, a rear positioning rod 54, a rear guide wheel 55, and a rear bolt 56, wherein the front guide wheel 52 is rotatably disposed at one end of the front positioning rod 51, the other end of the front positioning rod 51 is fixed to the front wall of the horizontal plate frame 22 by the front bolt 53, the front guide wheel 52 is rotatably embedded in the front vertical guide groove 14, the rotation center line of the front guide wheel 52 extends in the longitudinal direction, the rear guide wheel 55 is rotatably disposed at one end of the rear positioning rod 54, the other end of the rear positioning rod 54 is fixed to the rear wall of the horizontal plate frame 22 by the rear bolt 56, the rear guide wheel 55 is rotatably embedded in the rear vertical guide groove 15, and the rotation center line of the rear guide wheel 55 extends in the longitudinal direction. Through articulating limiting sleeve 31, just so can satisfy the needs of swing limiting sleeve 31 to just can satisfy the needs of the spacing ejector pin 32 of swing, and then just can satisfy the spacing needs of activity, this just can make this robot climb a structure and realize automatic limiting displacement. Through the setting of spacing kicking block 36 to make spacing sleeve 31 push down on spacing kicking block 36 at the pulling force effect of extension spring 33, this can play fine limiting displacement to spacing sleeve 31 through spacing kicking block 36, thereby just can play fine limiting displacement to spacing ejector pin 32, and then just can improve the reliability of spacing ejector pin 32 installation and location, in order to guarantee that spacing ejector pin 32 can be accurate, reliably roof pressure and hold lifting frame body 1, this reliability that helps improving the robot and climbs the frame structure. Through the pulling force of the tension spring 33, the limit ejector rod 32 can realize automatic reset, which is helpful for improving the reliability of the jacking action of the limit ejector rod 32. Because the limiting ejector rod 32 is movably inserted in the limiting hole slot 311, and the upper nut 34 and the lower nut 35 are screwed on the limiting ejector rod 32, the extending amount of the limiting ejector rod 32 can be adjusted by rotating the upper nut 34 and the lower nut 35, so that the end part of the limiting ejector rod 32 can be conveniently moved away from the limiting shaft 13 during disassembly, and the convenience for disassembling the wall-attached support 2 is improved. Through the setting of upper nut 34 and lower nut 35, help improving the accuracy that spacing ejector pin 32 was fixed a position to avoid the position of spacing ejector pin 32 to change, this helps improving the reliability of robot climbing frame structure. Because the driving device 4 comprises the positioning seat 41, the driving motor 42, the screw rod 43, the sliding block 44, the lifting rod 45 and the driving cylinder 46, through the reasonable assembly, the screw rod 43 can be driven by the driving motor 42, and when the screw rod 43 rotates, the sliding block 44 can vertically reciprocate on the positioning seat 41; since the lift lever 45 is provided on the slide block 44, this enables the lift lever 45 to make vertical reciprocating motion; because the right-hand member of lifter 45 is located the below of one of them spacing axle 13, when lifter 45 moves upwards like this, just can upwards push up spacing axle 13, just so can make the automatic rebound of lifting frame body 1, and this convenience and the efficiency that helps improving lifting frame body 1 and promote. This drive arrangement 4 can accompany wall support 2 and install the location together, and the degree of difficulty of its operation is lower, and this helps improving the lifting efficiency of lifting frame body 1, and the use of this robot climbing frame structure is very convenient. Because the anti-falling device 3 is arranged above the driving device 4, the limit mandril 32 on the anti-falling device 3 can automatically act on the limit shaft 13; therefore, in the lifting process of the lifting frame body 1, the limiting mandril 32 can be jacked open through the limiting shaft 13 so as to meet the normal lifting requirement of the lifting frame body 1; in the ascending process of the lifting frame body 1, the lifting rod 45 is always positioned below the limiting shaft 13, so that the lifting frame body 1 can be prevented from dropping, and the lifting frame body 1 can be lifted; in the descending process of the lifting rod 45, the limiting mandril 32 can be propped against the corresponding limiting shaft 13, so that the lifting frame body 1 can be prevented from falling; therefore, the reliability and the safety of the robot climbing frame structure are very high; in the process of not lifting, the driving device 4 and the anti-falling device 3 can play a dual anti-falling role, so that the robot climbing frame structure has high safety and stability. The limit and guide requirements on the lifting frame body 1 can be met by arranging the limit guide assembly 5; the whole structure of the limiting guide assembly 5 is very simple, and a good limiting effect can be achieved, so that the reliability of the robot climbing frame structure is improved; the limiting guide assembly 5 is fixed through the bolts, so that the requirement for disassembly can be met, the wall-attached support 2 can be conveniently transferred, and the convenience in use of the robot climbing frame structure is improved. The whole structure of the lifting frame body 1 is very simple and reliable, and the robot climbing frame structure can not only have a reliable structure, but also be convenient to manufacture. The whole structure of the wall-attached support 2 is very simple and reliable, so that the robot climbing frame structure has a reliable structure, and the robot climbing frame structure can be conveniently manufactured.

The wall-attached plate frame 21 and the horizontal plate frame 22 can be fixed together by welding or locked together by bolts.

The upper diagonal draw bar 23, the wall-attached plate frame 21 and the horizontal plate frame 22 can be fixed together in a welding mode or locked together through bolts.

As shown in fig. 1 to 3, two or more upper diagonal members 23 may be provided in the actual manufacturing process.

The lower diagonal tie 24, the wall-attached plate frame 21 and the horizontal plate frame 22 can be fixed together in a welding mode or locked together through bolts.

In the actual manufacturing process, two or more lower diagonal tension rods 24 may be provided.

The hinge lugs 37 and the horizontal plate frame 22 and the limit top blocks 36 and the horizontal plate frame 22 can be fixed together in a welding mode or locked together through bolts.

The two ends of the tension spring 33 can be installed in a hanging mode. When the hanging installation mode is adopted, hanging lugs for hanging the tension spring 33 need to be respectively formed on the top surface of the horizontal plate frame 22 and the limiting sleeve 31.

The positioning seat 41 and the horizontal plate frame 22 can be fixed together by welding or locked together by bolts.

In the actual manufacturing process, the screw 43 and the driving motor 42 can be in driving connection in two ways: first, as shown in fig. 8 and 9, the toothed belt 10 is in driving connection with the toothed belt wheel 20, wherein the toothed belt wheel 20 is sleeved on both the screw 43 and the power output shaft of the driving motor 42, so that the toothed belt 10 is wound on the two toothed belt wheels 20 respectively. And secondly, the driving connection is realized by a chain and a chain wheel, wherein the chain wheels are sleeved on the power output shafts of the screw rod 43 and the driving motor 42, so that the chains are wound on the two chain wheels respectively. The two driving connection modes are very reliable, the slipping condition cannot occur, and the power can be accurately and stably transmitted to the screw rod 43, so that the reliability of the driving device 4 is improved.

In the working process of the driving device 4, firstly, the sliding block 44 is moved upwards by the driving motor 42, so that the lifting frame body 1 is moved upwards by the lifting action of the lifting rod 45, when one or more limiting shafts 13 positioned below the other end of the limiting mandril 32 are moved to the upper part of the limiting mandril 32, the driving motor 42 is rotated reversely, so that the lifting rod 45 is lowered by a certain height, and the limiting shafts 13 above the limiting mandril 32 can be tightly pressed on the limiting mandril 32; then, the lift lever 45 is moved leftward by driving the cylinder 46, and the right end of the lift lever 45 is moved away from below the stopper shaft 13; then, the lifting rod 45 is continuously lowered through the driving motor 42, and the downward moving distance of the lifting rod 45 is greater than N times of the distance between two adjacent limiting shafts 13, wherein N is greater than or equal to 1; then, the lifting rod 45 is moved rightwards by driving the air cylinder 46, and the right end of the lifting rod 45 is moved to the lower part of the corresponding limit shaft 13; so far this robot climbs a structure and just can get into next promotion state, just so reciprocal constantly promotes lifting frame body 1.

As shown in fig. 7 to 11, the guide cavity 411 is opened inside the positioning seat 41, and the guide cavity 411 penetrates the left and right surfaces of the positioning seat 41, the front and rear cavity walls of the guide cavity 411 are respectively opened with a front limit guide groove 412 and a rear limit guide groove 413 which extend vertically, the front and rear surfaces of the sliding block 44 are respectively provided with a front limit convex part 442 and a rear limit convex part 443 which are respectively fitted on the front limit guide groove 412 and the rear limit guide groove 413 in a sliding manner, the top surface of the sliding block 44 is opened with a threaded hole 444 which penetrates vertically and the threaded hole 444 penetrates the limit hole 441 at the middle part, the lifting rod 45 is opened with a waist-shaped hole 451 which penetrates vertically and the length direction of the radial cross section of the waist-shaped hole 451 extends horizontally and the waist-shaped hole 451 is positioned in the limit hole 441, the screw rod 43 is screwed with the threaded hole 444, and the screw 43 is passed through the waist-shaped hole 451. Through such structural design, the accuracy and the stability of the installation and the positioning of the sliding block 44 can be further improved, thereby being beneficial to improving the accuracy and the stability of the movement of the sliding block 44. By positioning the waist-shaped hole 451 in the limit hole 441, the lower part of the lifting rod 45 can be protected by the limit function of the limit hole 441, and the structural design is very ingenious, which can help to improve the reliability of the driving device 4.

The upper and lower ends of the screw rod 43 are rotatably embedded on the upper and lower chamber walls of the guide chamber 411.

As shown in fig. 2 and 7, a groove 452 is formed on the top surface of the right end of the lifting rod 45, and the bottom of the limiting shaft 13 is disposed in the groove 452. Through seting up of recess 452 to make the bottom of spacing axle 13 arrange the recess 452 in, can improve the stability of contact between lifter 45 and the spacing axle 13 like this, thereby help improving the stability that the lifting frame body 1 promoted, avoid appearing skidding, vibrations.

As shown in fig. 1 to fig. 3, a first limiting slot 361 is formed on the top surface of the limiting top block 36, and the limiting sleeve 31 is movably embedded in the first limiting slot 361. Through seting up of first spacing draw-in groove 361, can carry out fine limiting displacement to spacing sleeve 31 to at the vibrations in-process, avoid spacing sleeve 31 swing back and forth, this can further improve the reliability that the robot climbed the structure.

As shown in fig. 2, 12 and 13, a second limiting engaging groove 322 is disposed on the other end surface of the limiting ejector rod 32, and the second limiting engaging groove 322 is movably engaged with the limiting shaft 13. Through the setting of the second limit slot 322, the accuracy and the reliability of the cooperation of the limit mandril 32 and the limit shaft 13 can be further improved, so that the safety of the robot climbing frame structure can be further improved.

As shown in fig. 12 and 13, a first protruding ring portion 301 is disposed on the hole wall of the limiting hole 311, a second protruding ring portion 302 is disposed on the circumferential surface of one end of the limiting ejector rod 32, the second protruding ring portion 302 is located below the external thread 321, and the second protruding ring portion 302 is located inside the first protruding ring portion 301. Through such structural design, can play better limiting displacement to help improving the reliability of spacing ejector pin 32 installation location.

As shown in fig. 2, 3 and 6, the front and rear surfaces of the horizontal plate frame 22 are respectively provided with a front limiting groove 221 and a rear limiting groove 222, the front limiting groove 221 and the rear limiting groove 222 both extend transversely to the right surface of the horizontal plate frame 22, the other end of the front positioning rod 51 is embedded in the front limiting groove 221 and vertically penetrates through the horizontal plate frame 22 and the front positioning rod 51 by two front bolts 53 for locking, the other end of the rear positioning rod 54 is embedded in the rear limiting groove 222 and vertically penetrates through the horizontal plate frame 22 and the rear positioning rod 54 by two rear bolts 56 for locking. Through the opening of the front limiting groove 221 and the rear limiting groove 222, the front positioning rod 51 and the rear positioning rod 54 are respectively embedded in the front limiting groove 221 and the rear limiting groove 222, so that the front positioning rod 51 and the rear positioning rod 54 can be well limited, and the accuracy and the convenience of installation and positioning of the front positioning rod 51 and the rear positioning rod 54 can be improved; the front positioning rod 51 is locked by the two front bolts 53, so that the reliability of installation and positioning of the front positioning rod 51 can be further improved; the reliability of the mounting and positioning of the rear positioning rod 54 can be further improved by locking the rear positioning rod 54 with the two rear bolts 56.

In the above-mentioned structure of fixing connection by bolts, in order to lock the bolts, lugs for the bolts to pass through may be provided on the corresponding members, so that the need of locking the bolts can be satisfied.

All components in the robot climbing frame structure can be made of steel, so that the safety of the robot climbing frame structure is improved.

The above-mentioned embodiment is the preferred embodiment of the present invention, all with the similar structure of the present invention and the equivalent changes made all should belong to the protection category of the present invention.

Claims (7)

1. The utility model provides a frame structure is climbed to robot which characterized in that: comprises a lifting frame body (1), a wall-attached bracket (2), an anti-falling device (3), a driving device (4) and a limiting guide component (5), wherein

A vertical guide rod (11) is arranged on the left wall of the lifting frame body (1), a yielding groove (12) is formed in the left wall of the vertical guide rod (11), the yielding groove (12) extends vertically, a plurality of limiting shafts (13) which are arranged side by side in the vertical direction are arranged in the yielding groove (12), each limiting shaft (13) extends longitudinally, the distance between every two adjacent limiting shafts (13) is equal, the front end and the rear end of each limiting shaft (13) are fixed on the front groove wall and the rear groove wall of the yielding groove (12) respectively, and a front vertical guide groove (14) and a rear vertical guide groove (15) are formed in the front surface and the rear surface of the vertical guide rod (11) respectively;

the wall attaching support (2) comprises a wall attaching plate frame (21), a horizontal plate frame (22), an upper inclined pull rod (23) and a lower inclined pull rod (24), the wall attaching plate frame (21) is vertically arranged, the left side edge of the horizontal plate frame (22) is fixed to the middle of the right surface of the wall attaching plate frame (21), two ends of the upper inclined pull rod (23) are respectively fixed to the upper end of the wall attaching plate frame (21) and the right end of the horizontal plate frame (22), two ends of the lower inclined pull rod (24) are respectively fixed to the lower end of the wall attaching plate frame (21) and the right end of the horizontal plate frame (22), and the horizontal plate frame (22) is arranged on the left side of a vertical guide rod (11);

the anti-falling device (3) comprises a limiting sleeve (31), a limiting ejector rod (32), a tension spring (33), an upper nut (34), a lower nut (35), a limiting ejector block (36) and a hinged lug (37), the hinged lug (37) and the limiting ejector block (36) are fixed on the top surface of the horizontal plate frame (22) side by side, a limiting hole groove (311) is formed in the end face of one end of the limiting sleeve (31), the other end of the limiting sleeve (31) is hinged to the hinged lug (37), one end of the limiting sleeve (31) is located above the right of the hinged lug (37), one end of the limiting sleeve (31) can swing up and down, two ends of the tension spring (33) are connected to the lower surface of the limiting sleeve (31) and the top surface of the horizontal plate frame (22) respectively, the tension spring (33) is in a stretching state, and the tension spring (33) is under the action of tension force of the tension spring (33), pressing a limiting sleeve (31) on a limiting top block (36), wherein an external thread (321) is formed on the circumferential surface of one end of a limiting top rod (32), an upper nut (34) and a lower nut (35) are screwed on the external thread (321) side by side up and down, one end of the limiting top rod (32) can be telescopically inserted into a limiting hole groove (311), the lower nut (35) is pressed on the end surface of the limiting sleeve (31), the other end of the limiting top rod (32) extends into a yielding groove (12), and the other end of the limiting top rod (32) is pressed on the bottom surface of one limiting shaft (13);

the driving device (4) comprises a positioning seat (41), a driving motor (42), a screw rod (43), a sliding block (44), a lifting rod (45) and a driving cylinder (46), wherein a guide cavity (411) which extends vertically is formed in the positioning seat (41), the positioning seat (41) is arranged on the bottom surface of the horizontal plate frame (22), the driving motor (42) is arranged on the positioning seat (41), the screw rod (43) is vertically arranged on the positioning seat (41) and is in driving connection with the driving motor (42), a transversely penetrating limiting hole (441) is formed in the sliding block (44), the sliding block (44) can be vertically arranged in the guide cavity (411) in a sliding manner and is in threaded connection with the screw rod (43), the middle part of the lifting rod (45) can be transversely arranged in the limiting hole (441) in a sliding manner, the right end of the lifting rod (45) is arranged below one limiting shaft (13) in a penetrating mode, the cylinder body of the driving cylinder (46) is arranged on the sliding block (44), the driving cylinder (46) is transversely arranged, and the piston rod of the driving cylinder (46) is connected to the left end of the lifting rod (45);

the limiting and guiding assembly (5) comprises a front positioning rod (51), a front guide wheel (52), a front bolt (53), a rear positioning rod (54), a rear guide wheel (55) and a rear bolt (56), wherein the front guide wheel (52) is rotatably arranged at one end of the front positioning rod (51), the other end of the front positioning rod (51) is fixed on the front wall of the horizontal plate frame (22) through the front bolt (53), the front guide wheel (52) is rotatably embedded in the front vertical guide groove (14), the rotating center line of the front guide wheel (52) longitudinally extends, the rear guide wheel (55) is rotatably arranged at one end of the rear positioning rod (54), the other end of the rear positioning rod (54) is fixed on the rear wall of the horizontal plate frame (22) through the rear bolt (56), and the rear guide wheel (55) is rotatably embedded in the rear vertical guide groove (15), the center line of rotation of the rear guide wheel (55) is also made to extend in the longitudinal direction.

2. The robot climbing frame structure according to claim 1, wherein: the guide cavity (411) is arranged inside the positioning seat (41), the guide cavity (411) penetrates through the left surface and the right surface of the positioning seat (41), the front cavity wall and the rear cavity wall of the guide cavity (411) are respectively provided with a front limiting guide groove (412) and a rear limiting guide groove (413) which extend vertically, the front surface and the rear surface of the sliding block (44) are respectively provided with a front limiting convex part (442) and a rear limiting convex part (443), the front limiting convex part (442) and the rear limiting convex part (443) are respectively embedded on the front limiting guide groove (412) and the rear limiting guide groove (413) in a sliding mode, the middle of the top surface of the sliding block (44) is provided with a threaded hole (444) which penetrates vertically, the threaded hole (444) penetrates through the limiting hole (441), the middle of the lifting rod (45) is provided with a waist-shaped hole (451) which penetrates vertically, and the length direction of the radial section of the waist-shaped hole (451) extends horizontally, and a waist-shaped hole (451) is also positioned in the limiting hole (441), the screw rod (43) is in threaded connection with the threaded hole (444), and the screw rod (43) penetrates through the waist-shaped hole (451).

3. A robot climbing structure according to claim 1 or 2, characterized in that: a groove (452) is formed in the top face of the right end of the lifting rod (45), and the bottom of the limiting shaft (13) is placed in the groove (452).

4. The robot climbing frame structure according to claim 1, wherein: a first limiting clamping groove (361) is formed in the top face of the limiting top block (36), and the limiting sleeve (31) is movably embedded in the first limiting clamping groove (361).

5. The robot climbing frame structure according to claim 1, wherein: and a second limiting clamping groove (322) is formed in the end face of the other end of the limiting ejector rod (32), and the second limiting clamping groove (322) is movably clamped on the limiting shaft (13).

6. The robot climbing frame structure according to claim 1, wherein: be equipped with first protruding ring portion (301) on the pore wall of spacing hole groove (311), be equipped with second protruding ring portion (302) on the one end circumferential surface of spacing ejector pin (32) to make second protruding ring portion (302) be located the below of external screw thread (321), still make second protruding ring portion (302) be located the inboard of first protruding ring portion (301).

7. The robot climbing frame structure according to claim 1, wherein: the front and back surfaces of the water plate rack (22) are respectively provided with a front limiting groove (221) and a back limiting groove (222), the front limiting groove (221) and the back limiting groove (222) transversely extend to the right surface of the water plate rack (22), the other end of the front positioning rod (51) is embedded in the front limiting groove (221) and vertically penetrates through the water plate rack (22) and the front positioning rod (51) by two front bolts (53) to be locked, the other end of the back positioning rod (54) is embedded in the back limiting groove (222) and vertically penetrates through the water plate rack (22) and the back positioning rod (54) by two back bolts (56) to be locked.

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