CN106948593A - A kind of wheeled robot climbing frame - Google Patents
A kind of wheeled robot climbing frame Download PDFInfo
- Publication number
- CN106948593A CN106948593A CN201710114208.XA CN201710114208A CN106948593A CN 106948593 A CN106948593 A CN 106948593A CN 201710114208 A CN201710114208 A CN 201710114208A CN 106948593 A CN106948593 A CN 106948593A
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- China
- Prior art keywords
- climbing frame
- main body
- skid
- driving wheel
- frame main
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G2003/286—Mobile scaffolds; Scaffolds with mobile platforms mobile vertically
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
The present invention relates to a kind of wheeled robot climbing frame, the elevator shaft is enclosed and formed by metope or beam face, and at least include a metope, the full-automatic climbing frame includes the climbing frame main body being positioned in elevator shaft, ride upon construction platform in climbing frame main body and installed in climbing frame main body close to metope side driving wheel apparatus, the driving wheel apparatus include can active drive driving wheel and two ends connect driving wheel and climbing frame main body respectively hold out against drive device, the driving wheel presses in the presence of drive device is held out against on metope, then press with the climbing frame main body of driving wheel apparatus opposite side under reaction force on another side wall or beam face, by driving driving wheel the full-automatic climbing frame can be made to be moved up and down in elevator shaft.The climbing frame need not set built-in fitting, and overall process of climbing can realize that climbing frame automatically climbs without manual intervention, can save human cost, improve efficiency of construction.
Description
Technical field
The present invention relates to building field, climbed in particular to a kind of Full-automatic wheeled robot for elevator shaft
Frame.
Background technology
At present, the common practice one of construction is that, using support body construction, it utilizes steel pipe, fastener in elevator shaft of high-rise building
Derrick type frame body is built, support body, with being set up upwards layer by layer building the rise of floor, is the operating platform of workman above support body；
Two be using climbing frame construction, during climbing frame is constructed, the strong point of climbing frame be required for carrying out on building it is pre-buried, then
Connected, successively risen by making climbing frame and built-in fitting.The shortcoming of traditional support body Construction Mode be support body build, demolition expense when
Arduously, wellbore space is narrow and small, task difficulty is larger, and support body sets up work continuity not strong, low construction efficiency, and frame body safe is difficult
To control；Although climbing frame Construction Mode eliminates the dismounting process of scaffold, but each of which lifting power point has larger lotus
Load is acted on building, it is necessary to which artificial calculate repeatedly is strengthened, and needs set built-in fitting on wall, and surface of wall can be made
Into destruction.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of full automatic elevator shaft robot climbing frame, the climbing frame without
Built-in fitting need to be set on wall, workmen, material and equipment can be carried, one layer every liter is automatically stopped, and can realize and climb
Full-automatic climb function of the frame in elevator shaft.
The technical solution adopted by the present invention is：A kind of wheeled robot climbing frame is provided, in elevator shaft, the elevator
Pit shaft is enclosed and formed by metope or beam face, and at least includes a metope, and the full-automatic climbing frame includes being positioned over elevator shaft
Interior climbing frame main body, ride upon construction platform in climbing frame main body and installed in climbing frame main body close to metope side driving wheel
Device, the driving wheel apparatus include can active drive driving wheel and two ends connect the top of driving wheel and climbing frame main body respectively
Tight drive device, the driving wheel presses in the presence of drive device is held out against on metope, with driving wheel apparatus opposite side
Climbing frame main body then press under reaction force on another side wall or beam face, it is described full-automatic by driving driving wheel to make
Climbing frame is moved up and down in elevator shaft.
In climbing frame of the present invention, the full-automatic climbing frame also includes with the climbing frame main body close to beam face side phase
Resilient mechanical arm even, the first pedestal that the mechanical arm includes being connected with climbing frame main body, by rotating shaft and the first pedestal turn
The support arm and one end connection support arm, the other end of dynamic connection connect the rebounding mechanism of the first pedestal；The support arm can be with
The rotating shaft is axis rotation, and first pedestal, which is provided with, to be used to stop that the support arm continues the catch being turned out, institute
Support arm is stated to be turned out and be stopped at the catch under the support of the rebounding mechanism.
In climbing frame of the present invention, the rebounding mechanism include the piston rod being connected with support arm by support and
Cylinder block of the slip cap on the outside of piston rod, one end that the piston rod is located in cylinder block is provided with piston, piston and cylinder
Blind end one air cavity of formation of body, is provided with air damping adjuster, in the closing of piston and cylinder block in the blind end of cylinder block
The spring being pressed on constantly on piston and cylinder block blind end is additionally provided between end.
In climbing frame of the present invention, the full-automatic climbing frame also includes with the climbing frame main body close to metope side phase
Guide wheel device even, the guide wheel device includes directive wheel and two ends and connects holding out against for directive wheel and climbing frame main body respectively
Buffer unit, directive wheel presses on metope in the presence of buffer unit is held out against, with climbing for guide wheel device opposite side
Frame body presses under the reaction force that above-mentioned metope is given on another side wall or beam face；The directive wheel can be in climbing frame
Moved up and down under the drive of main body and the full-automatic climbing frame is stable to be moved by keeping linear motion to make.
In climbing frame of the present invention, slided with the climbing frame main body of the guide wheel device opposite side provided with second
Sled, the first skid is provided with the climbing frame main body of the driving wheel apparatus opposite side, and first skid and described second are slided
The prying body two ends of sled are equipped with the inclined plane for guiding.
In climbing frame of the present invention, roller is housed, in when institute of climbing on first skid and second skid
Roller is stated with elevator shaft inwall by rolling friction to be connected.
In climbing frame of the present invention, the roller driving direction of the motor pair roller and is climbed built with motor
The direction of climbing of frame is consistent.
In climbing frame of the present invention, it is equipped with first skid and second skid on roller, the roller
Equipped with crawler belt, when climbing, the crawler belt is connected with elevator shaft inwall by rolling friction.
In climbing frame of the present invention, pass through buffering between first skid and second skid and climbing frame main body
Hold-down gear be connected, it is described buffering hold-down gear include be connected with climbing frame main body sliding sleeve, in the sliding sleeve and with institute
State the first skid or the connected sliding part of second skid, be connected with the sliding part, for promoting the driving of sliding part to fill
Put and for controlling the controller of drive device, be equiped between the drive device and the sliding part for measuring institute
The pressure sensor of the first skid or second skid to elevator shaft inwall thrust size is stated, the pressure sensor is electrically connected
It is connected to the controller.
In climbing frame of the present invention, when the pressure sensor detects pressure more than or less than setting value, institute
Controller is stated to send instruction control drive device ejection or inside contract work；Set when the pressure sensor detects pressure and returned to
During definite value, the controller sends instruction control drive device and is stopped.
In climbing frame of the present invention, the drive device is electric pushrod or hydraulic means.
In climbing frame of the present invention, the climbing frame main body is provided with multiple mechanical arms positioned at different height.
In climbing frame of the present invention, the rebounding mechanism include the piston rod being connected with support arm by support and
Cylinder block of the slip cap on the outside of piston rod, one end that the piston rod is located in cylinder block is provided with piston, piston and cylinder
Blind end one air cavity of formation of body, is provided with air damping adjuster, in the closing of piston and cylinder block in the blind end of cylinder block
The spring being pressed on constantly on piston and cylinder block blind end is additionally provided between end.
In climbing frame of the present invention, the climbing frame main body is provided with multiple mechanical arms positioned at different height.
In climbing frame of the present invention, the full-automatic climbing frame also includes with the climbing frame main body close to metope side phase
Guide wheel device even, the guide wheel device includes directive wheel and two ends and connects holding out against for directive wheel and climbing frame main body respectively
Buffer unit, directive wheel presses on metope in the presence of buffer unit is held out against, with climbing for guide wheel device opposite side
Frame body presses under the reaction force that above-mentioned metope is given on another side wall or beam face；The directive wheel can be in climbing frame
Moved up and down under the drive of main body and the full-automatic climbing frame is stable to be moved by keeping linear motion to make.
In climbing frame of the present invention, slided with the climbing frame main body of the guide wheel device opposite side provided with second
Sled, the first skid is provided with the climbing frame main body of the driving wheel apparatus opposite side, and first skid and described second are slided
The prying body two ends of sled are equipped with the inclined plane for guiding.
In climbing frame of the present invention, roller is housed, in when institute of climbing on first skid and second skid
Roller is stated with elevator shaft inwall by rolling friction to be connected.
In climbing frame of the present invention, the roller driving direction of the motor pair roller and is climbed built with motor
The direction of climbing of frame is consistent.
In climbing frame of the present invention, it is equipped with first skid and second skid on roller, the roller
Equipped with crawler belt, when climbing, the crawler belt is connected with elevator shaft inwall by rolling friction.
In climbing frame of the present invention, pass through buffering between first skid and second skid and climbing frame main body
Hold-down gear be connected, it is described buffering hold-down gear include be connected with climbing frame main body sliding sleeve, in the sliding sleeve and with institute
State the first skid or the connected sliding part of second skid, be connected with the sliding part, for promoting the driving of sliding part to fill
Put and for controlling the controller of drive device, be equiped between the drive device and the sliding part for measuring institute
The pressure sensor of the first skid or second skid to elevator shaft inwall thrust size is stated, the pressure sensor is electrically connected
It is connected to the controller.
In climbing frame of the present invention, the drive device is electric pushrod or hydraulic means.
In climbing frame of the present invention, when the pressure sensor detects pressure more than or less than setting value, institute
State controller send instruction control drive device start to eject or inside contract work；Recover when the pressure sensor detects pressure
During to setting value, the controller sends instruction control drive device and is stopped.
The full-automatic climbing frame that the present invention is provided realizes climbing frame climbing in elevator shaft by driving wheel, eliminates support body
The step of building, remove, at the same be not required to set built-in fitting and connect built-in fitting, it is ensured that wall it is complete, accelerate construction effect
Rate；Simultaneously provided with directive wheel and skid, guide effect can be played, skid is kept stability on the move, prevents that it from rocking
Or deviate route；Falling for climbing frame can effectively be prevented by support arm, the security of climbing frame is considerably increased, and in the upper of climbing frame
During rising, support arm can rotate contraction and resilience automatically, without manual intervention, can realize that the full-automatic of climbing frame is climbed, can add
Fast efficiency of construction.
Brief description of the drawings
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing：
Fig. 1 is the structural representation of the embodiment of the present invention one；
Fig. 2 is a certain partial enlargement structural representation of the embodiment of the present invention one；
Fig. 3 is another partial enlargement structural representation of the embodiment of the present invention one；
Fig. 4 is the structural representation of buffering hold-down gear in the embodiment of the present invention one；
Fig. 5 is the structural representation of the embodiment of the present invention two；
Fig. 6 is the structural representation of skid roller in the embodiment of the present invention three；
Fig. 7 is the structural representation of skid crawler belt in the embodiment of the present invention three.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in figure 1, full-automatic climbing frame provided in an embodiment of the present invention can be used for single elevator shaft or it is multiple side by side
Elevator shaft in, single elevator shaft is enclosed by four sides wall or beam body and formed, and the present embodiment requires single elevator shaft four
At least include a face wall in face.The full-automatic climbing frame include be positioned in elevator shaft climbing frame main body 1, ride upon climbing frame master
Construction platform 11 on body 1 and the driving wheel apparatus 4 in climbing frame main body 1.Elevator shaft in the present embodiment is two
Individual elevator in parallel, single elevator shaft by the first adjacent wall of two sides, the second wall first beam body adjacent with two sides,
Second girder construction, which is enclosed, to be formed, and the first wall and the first beam body, the second wall and the second beam body are in opposite side.It is positioned over
Climbing frame main body 1 in single elevator shaft is made using Steel material, and it includes four vertical links and four fixed respectively connect
Connect the transverse link of adjacent vertical link two-by-two, the length of vertical link be more than between the neighbouring crossbeam of pit shaft beam body away from
From.The monnolithic case size of climbing frame main body 1 matches with the elevator shaft for needing to construct, and the transverse link after fixing is in same flat
On face, construction platform 11 is to ride upon in the plane of transverse link composition；Construction platform 11 be main construction operation platform and
Material platform is carried, workman is available in constructing operation above, stacked items etc..To meet construction needs, transverse link and construction
Platform 11 should be at least provided with one layer；In the present embodiment, the transverse link and construction platform 11 set up are upper provided with two layers, every layer altogether
Distance is separated by a story height setting between lower, and the length relative set of vertical link is two sections of crossbeams adjacent more than beam body
Length；The present embodiment is set to carry out constructing operation in two aspects simultaneously with this, while the transverse link for passing through two aspects
Fixation can make climbing frame main body 1 overall more firmly solid.
As depicted in figs. 1 and 2, in the present embodiment, provided with driving below the transverse link of side corresponding with the first wall
Wheel apparatus 4, driving wheel apparatus 4 include by the driving wheel 41 of electric device active drive, be fixedly connected with climbing frame main body 1 the
Two pedestals 42, two ends connect respectively the pedestal 42 of driving wheel 41 and second hold out against drive device 43 and driving driving wheel 41 rotate
Drive mechanism.The wheel face of driving wheel 41 is made using the material that coefficient of friction is larger between wall, and it is holding out against drive device
Press under 43 horizontal pushing pressure active force on wall and surface, at the same time, wall can give 41 1 reaction forces of driving wheel,
This reaction force by driving wheel 41, hold out against drive device 43 and be delivered in climbing frame main body 1, make the climbing frame master of the first beam body side
Body 1 is also close in the first beam body under the reaction force of wall；Now, by the frictional force of driving wheel 41 and wall and surface,
Climbing frame main body 1 and construction platform 11 are supported on electricity under the collective effect of frictional force between the beam body of climbing frame main body 1 and first
In stair shaft cylinder.Because climbing frame is overall and metope does not have the fulcrum or attachment means of any fixation, when needing to move climbing frame, start
Drive device drives driving wheel 41 to rotate, when upward driving force is more than rubbing between driving wheel 41 and climbing frame main body 1 and wall
During the gravity of wiping power and climbing frame entirety, you can realize that driving wheel 41 drives climbing frame main body 1 and the grade of construction platform 11 upward together
It is mobile, the step of support body is built, removed is eliminated, while being not required to set built-in fitting and connection built-in fitting, it is ensured that wall it is complete
It is whole, accelerate efficiency of construction.In order that climbing frame main body 1 is more easily moved and keeps stable state, the present embodiment on the move
In the opposite side provided with driving wheel 41, i.e., the first skid 6 is equiped with the climbing frame main body 1 of the first beam body side, first slides
Sled 6 includes the prying body of at least more than one, and the length of prying body is slightly larger than the length of vertical link and is connected to climbing frame main body 1 vertically
On, two ends are provided with the inclined-plane of wellbore centre；The first skid 6 in the present embodiment is altogether provided with two prying bodies, two prying bodies point
Both sides vertical link is not fixedly connected on or is separated at a certain distance, be fixedly linked with transverse link.Due to setting for the first skid 6
Put, further enhance the stability of climbing frame main body 1, due to the planarization and balance of skid, driving wheel 41 is easier to band
Dynamic climbing frame main body 1 is moved, while the inclined-plane at prying body two ends also functions to guide effect, skid is kept stability on the move,
Prevent that it from rocking or deviateing route.
As shown in figures 1 and 3, in order that the present embodiment is more consolidated and safety in work progress, the present embodiment also exists
Mechanical arm 3 is installed with below the transverse link of the first beam body side, as illustrated, mechanical arm 3 is included with laterally connecting
The first pedestal 31 that bar or vertical link are fixedly linked, the support arm 32 and one being connected rotated with the first pedestal 31 by rotating shaft
End is connected with support arm 32, the rebounding mechanism 33 that the other end is connected with the first pedestal 31, in the first pedestal 31 towards the one of beam body
Side is additionally provided with the catch 34 for preventing support arm 32 from continuing up rotation when support arm 32 turns to 34 position of catch, and catch 34 will
Arm body blocks the space for making it not be rotated further so as to prevent it from continuing up rotation.Rebounding mechanism 33 include by support with
The cylinder block of the connected piston rod of support arm 32 and slip cap on the outside of piston rod, piston rod is located at one end in cylinder block
Provided with piston, blind end one air cavity of formation of piston and cylinder block is provided with air damping adjuster in the blind end of cylinder block,
The spring being pressed on constantly on the blind end of piston and cylinder block is additionally provided between piston and the blind end of cylinder block.Original state
Under rebounding mechanism 33 cylinder block is pushed in the presence of spring force close to the one of opening for elongation state, i.e. piston
End, meanwhile, support arm 32 turns to the position of catch and stopping under the support of piston rod, now, the free end of support arm 32
Beam body upper surface can be supported in just；When climbing frame is integrally moved up, support arm 32 can encounter upper level in moving process
Crossbeam, and down rotate up under the pushing of crossbeam it is overall bypass crossbeam and move up, now, piston rod is sealed to cylinder block
Closed end is moved, and piston push the spring is compressed it, forms air cavity between piston and cylinder block blind end, adjusted by air damping
The size of device adjustable air damping force is saved so as to adjust the velocity of rotation of support arm 32, after climbing frame rises one layer, support arm
32 will be disengaged from the extruding of beam body, and piston and piston rod are under the promotion of spring and the regulation of air damping to cylinder block openend
It is slow mobile, while driving support arm 32 to be rotated upwardly into catch position, now control driving wheel 41 to move down certain distance
The free end of support arm 32 is set to be supported on crossbeam.It can effectively prevent the resilience of support arm 32 too fast by air damping adjuster
Cause to collide and damage the part of mechanical arm 3.By the way that mechanical arm 3 is supported on into beam surface upper, it is ensured that when climbing frame is constructed
Steadiness, simultaneously because mechanical arm 3 is ridden upon in beam body, can form skewed horizontal load between the climbing frame main body 1 of opposite side, can have
Effect prevents falling for climbing frame, considerably increases the security of climbing frame, and in the uphill process of climbing frame, mechanical arm 3 can turn automatically
It is dynamic to shrink and resilience, without manual intervention, workman's construction is facilitated, efficiency of construction is accelerated.
As depicted in figs. 1 and 2, in order to lift the resistance during stability and reduction of the climbing frame in moving process are climbed
Power, close to the second metope side transverse link below be provided with guide wheel device 5, guide wheel device 5 include directive wheel 51, with
What the 3rd pedestal 52 that climbing frame main body 1 is fixedly connected, two ends connected the pedestal 52 of directive wheel 51 and the 3rd respectively holds out against buffer unit
53, directive wheel 51 is pressed on wall and surface under the horizontal pushing pressure active force for holding out against buffer unit 53, the moving rail of directive wheel
Mark is straight up, it has the performance for keeping climbing frame integrally only to do linear running.With the corresponding opposite side of guide wheel device 5
Climbing frame main body 1, i.e., close to the second beam body side climbing frame main body be provided with second skid 7 similar with the first skid 6, drive
Under driving wheel device 4, guide wheel device 5, the first skid 6, the collective effect of the second skid 7, climbing frame is in elevator shaft four direction
All there is the strong point or supporting surface, climbing frame is supported on by firm in elevator shaft, and because the first skid 6, second is slided
The easy mobility of sled 7 and guide effect make climbing frame integrally be easily moved, and improve the climbing performance of climbing frame.The He of first skid 6
It is connected between second skid 7 and climbing frame main body 1 by buffering hold-down gear, as shown in figure 4, buffering hold-down gear includes and climbing frame
The connected sliding sleeve 12 of main body 1, the sliding part 56 being connected in sliding sleeve 12 and with the first skid 6 or the second skid 7 and with
Sliding part 56 is connected, the drive device 54 for promoting sliding part 56 and the controller for controlling drive device 54, is driving
It is dynamic be equiped between device 54 and sliding part 56 it is big to elevator shaft inwall thrust for measuring the first skid 6 or the second skid 7
Small pressure sensor, pressure sensor is electrically connected to controller.In the present embodiment, drive device 54 is electric pushrod or hydraulic pressure
Device.When pressure sensor detects pressure more than or less than setting value, controller sends instruction control drive device and started
Eject or inside contract work；When pressure sensor, which detects pressure, returns to setting value, controller sends instruction control driving dress
Put and be stopped, so that the first skid 6 or the second skid 7 are always consistent to elevator shaft inwall thrust.
Specifically, full-automatic climbing frame provided in an embodiment of the present invention is in Construction State, driving wheel apparatus 4, directive wheel dress
The 5, first skid 6, the second skid 7 is put respectively under the horizontal applied force for holding out against drive device 43 and holding out against buffer unit 53 to be close to
Whole climbing frame is supported in elevator shaft in wall or beam body, and by frictional force each between wall or beam body, this
When mechanical arm 3 in support arm 32 in opened condition and be supported on beam body.Full-automatic climbing frame drives wheel apparatus when climbing
Driving wheel 41 in 4 is rotated, and drives whole climbing frame integrally to move up, and support arm 32 departs from beam body and synchronously risen, but support arm 32
Keep constant in the presence of rebounding mechanism 33 with the angle of vertical direction, when encountering a upper crossbeam in the uphill process of support arm 32
When, support arm 32 and rebounding mechanism 33 are pressurized, and rebounding mechanism 33 is shunk support arm 32 simultaneously and turned round inwards centered on rotating shaft, together
When climbing frame integrally continue rise, when support arm 32 rise height exceed this beam when, the support arm 32 of compression is in rebounding mechanism
Under 33 active force, support arm 32 is resetted, driving wheel 41 stops driving, the free end of support arm 32 is pressed onto the upper flat of this beam
Face, so far completes the circulation of climbing of a climbing frame.It is that can be achieved to realize automatically climbing for climbing frame to repeat said process, entirely
Process can save human cost without manually building and dismantling accessory, improve efficiency of construction.
Embodiment two
As shown in figure 5, due to during practice of construction usually can some nonstandard floors, make construction to adapt to nonstandard floor
Can be normally carried out, the present embodiment in climbing frame main body 1 be provided with multiple support arms 32 positioned at different height, with this solve due to
Nonstandard floor floor height difference causes that construction platform is corresponding with floor and the problem of support arm 32 can not be supported on beam.Embodiment two
Other parts are identical with embodiment one.
Embodiment three
As shown in fig. 6, embodiment three is compared with embodiment one, difference is：Roller 62 is housed on skid 6, climbed
Roller 62 is connected with elevator shaft inwall by rolling friction when rising.The motor that roller 62 is rotated built with driving roller 62, electricity
The driving direction of machine pair roller 62 is consistent with the direction of climbing of climbing frame.Set by this, entered the power that climbs of climbing frame
The raising of one step, while power reasonable layout is in climbing frame surrounding, enables the process of climbing of climbing frame more stable.As shown in fig. 7, in rolling
Crawler belt 63 is also equiped with wheel 62, crawler belt 63 is connected with elevator shaft inwall by rolling friction when climbing, and passes through crawler belt 63
Skid 6 can be made more to adapt to rough metope or beam face, the steadiness that whole climbing frame climbs is lifted.The other parts of embodiment three
It is identical with embodiment one.
In other embodiments, climbing frame can set diversified forms according to the different of elevator shaft, but should at least in one
One group of driving wheel apparatus 4 is set in the climbing frame main body 1 of face wall body correspondence side, other metopes or beam face can optionally set one
Or multiple driving wheel apparatus 4, guide wheel device 5 or skid, its concrete principle and principle be similar to the above embodiments, herein will not
Repeat again.
Embodiments of the invention are described above in association with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (12)
1. a kind of wheeled robot climbing frame, in elevator shaft, the elevator shaft to be enclosed and formed by metope or beam face, and extremely
Include metope less, it is characterised in that climbing frame main body (1) that the full-automatic climbing frame includes being positioned in elevator shaft, take
The construction platform (11) being located in climbing frame main body (1) and the driving wheel apparatus installed in the close metope side of climbing frame main body (1)
(4), it is described driving wheel apparatus (4) include can active drive driving wheel (41) and two ends connect driving wheel (41) respectively and climb
Frame body (1) holds out against drive device (43), and the driving wheel (41) presses in wall in the presence of drive device (43) is held out against
On face, then press with the climbing frame main body (1) of driving wheel apparatus (4) opposite side under reaction force in another side wall or beam face
On, by driving driving wheel (41) the full-automatic climbing frame can be made to be moved up and down in elevator shaft.
2. climbing frame as claimed in claim 1, it is characterised in that the full-automatic climbing frame also includes and the climbing frame main body (1)
The resilient mechanical arm (3) being connected close to beam face side, the mechanical arm (3) includes the first base being connected with climbing frame main body (1)
Seat (31), rotate by rotating shaft and the first pedestal (31) support arm (32) being connected and one end connection support arm (32), it is another
The rebounding mechanism (33) of end the first pedestal of connection (31)；The support arm (32) can the rotating shaft be axis rotation, described the
One pedestal (31), which is provided with, to be used to stop that the support arm (32) continues the catch (34) being turned out, and the support arm (32) exists
It is turned out under the support of the rebounding mechanism (33) and is stopped at the catch (34) place.
3. climbing frame as claimed in claim 2, it is characterised in that the rebounding mechanism (33) includes passing through support and support arm
(32) cylinder block of connected piston rod and slip cap on the outside of piston rod, the piston rod is located at one end in cylinder block
Provided with piston, blind end one air cavity of formation of piston and cylinder block is provided with air damping adjuster in the blind end of cylinder block,
The spring being pressed on constantly on piston and cylinder block blind end is additionally provided between piston and the blind end of cylinder block.
4. climbing frame as claimed in claim 1, it is characterised in that the full-automatic climbing frame also includes and the climbing frame main body (1)
The guide wheel device (5) being connected close to metope side, the guide wheel device (5) includes directive wheel (51) and two ends connect respectively
Connect directive wheel (51) and climbing frame main body (1) holds out against buffer unit (53), and directive wheel (51) is holding out against the work of buffer unit (53)
Press under on metope, the reaction given with the climbing frame main body (1) of guide wheel device (5) opposite side in above-mentioned metope
Press under power on another side wall or beam face；The directive wheel (51) can move up and down under the drive of climbing frame main body (1)
And the full-automatic climbing frame is stable to be moved by keeping linear motion to make.
5. climbing frame as claimed in claim 4, it is characterised in that the climbing frame main body with the guide wheel device (5) opposite side
(1) the second skid (7) is provided with, the first skid is provided with the climbing frame main body (1) of described driving wheel apparatus (4) opposite side
(6), the prying body two ends of first skid (6) and second skid (7) are equipped with the inclined plane for guiding.
6. climbing frame as claimed in claim 5, it is characterised in that be equipped with first skid (6) and second skid (7)
Roller (62), when climbing, the roller (62) is connected with elevator shaft inwall by rolling friction.
7. climbing frame as claimed in claim 6, it is characterised in that the roller (62) is built with motor, the motor pair roller
(62) driving direction is consistent with the direction of climbing of climbing frame.
8. climbing frame as claimed in claim 5, it is characterised in that be equipped with first skid (6) and second skid (7)
Crawler belt (63) is housed, crawler belt and the elevator shaft inwall rubs by rolling when climbing on roller (62), the roller (62)
Wipe and be connected.
9. climbing frame as claimed in claim 5, it is characterised in that first skid (6) and second skid (7) and climbing frame
It is connected between main body (1) by buffering hold-down gear, the buffering hold-down gear includes the sliding sleeve being connected with climbing frame main body (1)
(12), the sliding part being connected in the sliding sleeve (12) and with first skid (6) or second skid (7)
(56), be connected with the sliding part (56), the drive device (54) for promoting sliding part (56) and for control driving dress
The controller of (54) is put, is equiped with and is slided for measuring described first between the drive device (54) and the sliding part (56)
Prize the pressure sensor of (6) or second skid (7) to elevator shaft inwall thrust size, the pressure sensor electrical connection
In the controller.
10. climbing frame as claimed in claim 9, it is characterised in that be more than or less than when the pressure sensor detects pressure
During setting value, the controller sends instruction control drive device (54) ejection or inside contracts work；When pressure sensor inspection
When measuring pressure and returning to setting value, the controller sends instruction control drive device (54) and is stopped.
11. climbing frame as claimed in claim 9, it is characterised in that the drive device (54) is electric pushrod or hydraulic means.
12. climbing frame as claimed in claim 2, it is characterised in that the climbing frame main body (1) is located at different height provided with multiple
Mechanical arm (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710114208.XA CN106948593B (en) | 2017-02-28 | 2017-02-28 | Wheeled robot climbs frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710114208.XA CN106948593B (en) | 2017-02-28 | 2017-02-28 | Wheeled robot climbs frame |
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| Publication Number | Publication Date |
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| CN106948593A true CN106948593A (en) | 2017-07-14 |
| CN106948593B CN106948593B (en) | 2019-12-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710114208.XA Active CN106948593B (en) | 2017-02-28 | 2017-02-28 | Wheeled robot climbs frame |
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| CN (1) | CN106948593B (en) |
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| CN111345635A (en) * | 2018-12-20 | 2020-06-30 | 北京京东尚科信息技术有限公司 | Exercise device |
| CN113482312A (en) * | 2021-07-01 | 2021-10-08 | 广西建工集团控股有限公司 | Guide type double-layer structure elevator shaft operating platform and construction method based on platform |
| CN113565311A (en) * | 2021-08-09 | 2021-10-29 | 中建三局集团有限公司 | Detachable steel structure scaffold for elevator shaft |
| CN114278072A (en) * | 2021-12-23 | 2022-04-05 | 通州建总集团有限公司 | Construction work platform for building engineering |
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| CN106948593B (en) | 2019-12-27 |
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