A palletizing robot for elevator detection

Abstract

The present invention relates to the field of elevator detection, and particularly relates to a palletizing robot for elevator detection, comprising: a robot body and a number of supporting counterweights; the robot body includes a traveling mechanism and a counterweight adjustment mechanism; the traveling mechanism includes a vehicle body chassis, traveling track mechanisms and hydraulic strut mechanisms on both sides thereof; two driven wheel connecting rods are arranged at the tail of the vehicle body chassis, and strut fixing platforms connected to both sides thereof; the traveling track mechanism includes tracks, a driving wheel and a sub-driving wheel, the driving wheel is arranged at the head of the vehicle body chassis, the sub-driving wheel is arranged at the tail of the sub-driving wheel connecting rod, and a transmission shaft is arranged inside the sub-driving wheel connecting rod for transmitting the power of the driving wheel to the sub-driving wheel; the counterweight adjustment mechanism includes a pallet, a palletizing mechanism and a counterweight stacking mechanism. The present invention can automatically load and adjust the counterweight, and lock the counterweight blocks during the adjustment process, ensuring the safety of the operation process.

Description

Technical Field

[0001] The present invention relates to the field of elevator detection, and particularly to a palletizing robot for elevator detection. Background Art

[0002] During the elevator traction capacity detection and test process, it is necessary to continuously increase the load of the elevator until 125% of the rated load value, that is, the elevator should conduct traction capacity detection at no-load, 25%, 50%, 75%, 100%, and 125% of the rated load respectively. The applied load is composed of stacked standard weights, and each weight ranges from 20 - 50 Kg. Currently, these weights are all manually carried into the elevator car and then manually carried out of the elevator car after the detection is completed. Due to the large number of elevators, the labor intensity of maintenance and detection personnel is relatively high, and personal injuries are likely to occur due to fatigue or accidents during the process of carrying weights. In addition, due to the long distance of weight transportation, it takes a long time and the work efficiency is low. Moreover, the transportation path of the weights is relatively complex, including flat roads, stairs, slopes and other situations. Ordinary carrier vehicles are difficult to pass through, and manual operation of the carrier vehicle is likely to cause trajectory deviation and even collision with other objects. Therefore, during the current elevator traction capacity detection process, there is an urgent need for an efficient and intelligent elevator traction capacity detection weight carrying device to reduce the labor intensity of maintenance and detection personnel, avoid personal injuries, and improve work efficiency. In summary, the design and manufacture of a palletizing robot for elevator detection is of great significance. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems in the background art and provide a palletizing robot for elevator detection.

[0004] The above technical purpose of the present invention is achieved through the following technical solutions:

[0005] A palletizing robot for elevator detection includes: a robot body and a number of supporting counterweights; the robot body includes a traveling mechanism and a counterweight adjustment mechanism; the traveling mechanism includes a vehicle chassis, traveling track mechanisms and hydraulic strut mechanisms on both sides thereof; two sub-drive wheel connecting rods are arranged at the tail of the vehicle chassis, and strut fixing platforms are connected to both sides thereof; the traveling track mechanism includes tracks, drive wheels and sub-drive wheels. The drive wheels are arranged at the head of the vehicle chassis, and the sub-drive wheels are arranged at the tails of the sub-drive wheel connecting rods. A transmission shaft is arranged inside the sub-drive wheel connecting rods for transmitting the power of the drive wheels to the sub-drive wheels; the counterweight adjustment mechanism includes a pallet, a palletizing mechanism and a counterweight stacking mechanism.

[0006] Preferably, the hydraulic strut mechanism includes a hydraulic cylinder and rollers.

[0007] Preferably, the pallet includes a stacking plate body at the head and a discharging plate body at the tail. The discharging plate body is provided with a counterweight clamping opening. The counterweight stacking mechanism includes a stacking baffle fixed on the stacking plate body, a positioning baffle arranged at the head of the counterweight clamping opening, and a rotating baffle arranged at the tail opening of the counterweight clamping opening. The stacking baffle includes two parts of baffles arranged at the head and tail of the stacking plate body, and a counterweight stacking area is formed between the two parts of baffles. A counterweight loading and unloading area is formed between the positioning baffle and the rotating baffle.

[0008] Preferably, telescopic positioning plates are arranged on both sides of the counterweight clamping opening.

[0009] Preferably, the palletizing mechanism includes a support rod, a guiding cross beam, and a lifting gripper mechanism.

[0010] Preferably, the lifting gripper mechanism includes a sliding motor, a lifting motor, a lifting rod, a mechanical gripper, and a positioning slider. The positioning slider is slidably connected to the guiding cross beam. The lifting rod is slidably connected to the positioning slider and is perpendicular to the guiding cross beam. The mechanical gripper includes two symmetrically arranged rotating claw heads.

[0011] Preferably, the overall width of the transport and palletizing robot is less than or equal to 0.7 m, the overall length is less than or equal to 1.2 m, and the overall height after the lifting gripper mechanism is placed at the lowest position is less than or equal to 2 m.

[0012] Preferably, the counterweight body is a cuboid. Positioning plate slots are arranged on both sides of the body. A claw head clamping opening is arranged at the top of the body. A counterweight self-locking buckle ring is arranged above the body. A counterweight self-locking buckle groove is arranged at the bottom of the body. Only two symmetrically arranged C-shaped sliders are arranged inside the counterweight body. A return spring is arranged between the two C-shaped sliders. The top of the C-shaped slider is arranged in the claw head clamping opening, and the bottom of the C-shaped slider is arranged in the counterweight self-locking buckle groove.

[0013] In summary, the beneficial effects of the present invention are as follows:

[0014] For the transport and palletizing robot for elevator detection provided by the present invention, the walking mechanism with a crawler structure can adapt to most terrains. And by setting a hydraulic strut mechanism, the robot can realize the function of going up and down stairs, facilitating the equipment to reach the target elevator.

[0015] For the transport and palletizing robot for elevator detection provided by the present invention, it can automatically load and adjust the counterweight and lock the counterweight block during the adjustment process, ensuring the safety of the operation process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present invention;

[0017] Figure 2 It is a schematic structural diagram of the walking mechanism of the present invention. Specific embodiments

[0018] The following specific embodiments are only explanations of the present invention and do not limit the present invention. Those skilled in the art can make modifications without creative contributions to this embodiment after reading this specification, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0019] The present invention will be described in detail below with reference to the accompanying drawings by way of examples. Embodiment

[0020] According to Figures 1 to 2 As shown, a palletizing robot for elevator detection includes: a robot body and a number of supporting counterweight blocks 4; the robot body includes a walking mechanism 1 and a counterweight adjustment mechanism 2; the walking mechanism 1 includes a vehicle chassis 100, walking track mechanisms 110 on both sides thereof, and a hydraulic strut mechanism 120; two auxiliary drive wheel connecting rods 102 are provided at the tail of the vehicle chassis 100, and strut fixing platforms 103 are connected to both sides thereof; the walking track mechanism 110 includes tracks 111, drive wheels 112, and auxiliary drive wheels 113. The drive wheels 112 are arranged at the head of the vehicle chassis 100, and the auxiliary drive wheels 113 are arranged at the tails of the auxiliary drive wheel connecting rods 102. A transmission shaft is arranged in the auxiliary drive wheel connecting rods 102 for transmitting the power of the drive wheels 112 to the auxiliary drive wheels 113. The drive wheels 112 are arranged at the head of the vehicle chassis 100, and the driven wheels 113 are arranged at the tails of the auxiliary drive wheel connecting rods 102; the counterweight adjustment mechanism 2 includes a pallet 200, a palletizing mechanism 210, and a counterweight stacking mechanism 220. The hydraulic strut mechanism 120 includes a hydraulic cylinder 121 and rollers 122.

[0021] The pallet 200 includes a stacking plate body 201 at the head and a discharging plate body 202 at the tail. The discharging plate body 202 is provided with counterweight block clamping openings 203. The counterweight stacking mechanism 220 includes a stacking baffle 221 fixed on the stacking plate body 201, a positioning baffle 222 arranged at the head of the counterweight block clamping openings 203, and a rotating baffle 223 arranged at the opening at the tail of the counterweight block clamping openings 203; the stacking baffle 221 includes two parts of baffles arranged at the head and tail of the stacking plate body 201, and a counterweight stacking area 224 is formed between the two parts of baffles; a counterweight loading and unloading area 225 is formed between the positioning baffle 222 and the rotating baffle 223. Telescopic positioning plates 204 are arranged on both sides of the counterweight block clamping openings 203.

[0022] The palletizing mechanism 210 includes a support rod 211, a guiding cross beam 212, and a lifting jaw mechanism 213. The lifting jaw mechanism 213 includes a sliding motor 2131, a lifting motor 2132, a lifting rod 2133, a mechanical jaw 2134, and a positioning slider 2135; the positioning slider 2135 is slidably connected to the guiding cross beam 212; the lifting rod 2133 is slidably connected to the positioning slider 2135 and is perpendicularly arranged with respect to the guiding cross beam 212; the mechanical jaw 2134 includes two symmetrically arranged rotating jaw heads 21341.

[0023] The overall width of the transporting and palletizing robot is less than or equal to 0.7 m, the overall length is less than or equal to 1.2 m, and the overall height after the lifting jaw mechanism 213 is placed at the lowest position is less than or equal to 2 m.

[0024] The main body of the counterweight block 4 is a cuboid, with positioning plate slots 41 provided on both sides of its main body, a jaw head clamping opening 42 provided on the top of its main body, a counterweight self-locking buckle ring 43 provided above its main body, and a counterweight self-locking buckle groove 44 provided at the bottom of its main body; only two symmetrically arranged C-shaped sliders 401 are provided inside the main body of the counterweight block 4, and a return spring 402 is provided between the two C-shaped sliders 401; the top of the C-shaped slider 401 is arranged in the jaw head clamping opening 232, and the bottom of the C-shaped slider 401 is arranged in the counterweight self-locking buckle groove 44.

[0025] The process of detecting the traction force of the elevator using the above robot includes the following aspects:

[0026] First, detect that the robot moves into place as a whole: Detect that the robot carrying all the counterweight blocks 4 transports itself and the counterweight blocks 4 to the elevator to be tested through its traveling mechanism 1. The transportation process includes the following processes:

[0027] s1. Walking on flat ground: The hydraulic strut mechanism 120 is in a retracted state, and it moves on flat ground relying on the traveling track mechanism 110.

[0028] s2. Going upstairs in the corridor:

[0029] 1. When the robot approaches the bottom of the stairs, align its head with the stairs and rotate the swinging track mechanism 120 to make the head of the robot body tilt up. When the top of the vehicle chassis 100 is higher than the required crawling step, stop rotating the swinging track mechanism 120;

[0030] 2. After the robot stops rotating, the traveling track mechanism 110 and the hydraulic strut mechanism 120 tilt the vehicle chassis 100 on the stairs and start the traveling track mechanism 110 to climb the stairs;

[0031] Second, detect the counterweight adjustment of the robot:

[0032] t1. Counterweight transfer: Transfer and stack the counterweight blocks 4 between the counterweight stacking area 224 and the counterweight loading and unloading area 225 of the counterweight stacking mechanism 220 through the palletizing mechanism 210;

[0033] t2. Loading the counterweight onto the vehicle:

[0034] 1. Clamping the plate body: When there is no counterweight block 4 at the counterweight block clamp 203, rotate and open the rotating baffle 223 to make the counterweight block clamp 203 in an open state. Align the opening position of the counterweight block clamp 203 with the counterweight block 4, and the positioning plate slots 41 on both sides of the counterweight block 4 face the position of the telescopic positioning plate 204. Start the walking mechanism 1 to make the counterweight block 4 enter the counterweight block clamp 203, rotate and close the rotating baffle 223, and at the same time extend the telescopic positioning plate 204 and snap it into the positioning plate slot 41 to complete the fixation of the counterweight block 4 and the robot;

[0035] 2. Gripping with the gripper: Extend the mechanical gripper 2134 into the claw head clamp 42 at the top of the counterweight block 4. After gripping the counterweight block 4, place the counterweight block 4 into the counterweight stacking area 224 and the counterweight loading and unloading area 225 through the lifting gripper mechanism 213;

[0036] t3. Unloading the counterweight from the vehicle: First, place the counterweight block 4 at the counterweight loading and unloading area 225, then rotate and open the rotating baffle 223 to open the counterweight block clamp 203, and at the same time retract the telescopic positioning plate 204. Finally, start the walking mechanism 1 to leave the counterweight block 4 to complete the separation of the counterweight block 4 and the robot body;

[0037] Third, elevator traction force detection. The detection robot enters the elevator with different numbers of counterweight blocks 4 through the above method, so as to realize the traction force detection of the elevator under different loads.

[0038] In the t1 counterweight transfer step, the positioning sliders 2135 of the lifting gripper mechanism 213 are respectively provided with sliding positioning points at the corresponding positions above the counterweight stacking area 224 and the counterweight loading and unloading area 225, so that when the positioning slider 2135 slides to this sliding positioning point, the connection line between the mechanical gripper 2134 and the claw head clamp 42 is collinear with the lifting path of the lifting rod 2133.

[0039] In the t1 counterweight transfer step, according to actual needs, multiple counterweight blocks 4 are stacked up and down. The stacking method is that the rotating claw head 21341 presses the C-shaped slider 401 inside the body of the counterweight block 4. At this time, the bottom of the C-shaped slider 401 in the counterweight self-locking buckle groove 44 at the bottom of the counterweight block 4 retracts inward. At this time, the counterweight block 4 is placed on the top of the counterweight block 4 below it, and then the rotating claw head 21341 is released. The bottom of the C-shaped slider 401 of the upper counterweight block 4 that returns to its original position will snap into the counterweight self-locking buckle ring 43 of the lower counterweight block 4, thus completing the locking of the upper and lower counterweight blocks 4. On the contrary, the unlocking of the upper and lower counterweight blocks 4 can be completed.

Claims

1. A palletizing robot for elevator detection, characterized in that Comprising: A robot body and a number of supporting counterweight blocks (4); the robot body includes a traveling mechanism (1) and a counterweight adjustment mechanism (2); the traveling mechanism (1) includes a vehicle chassis (100), traveling track mechanisms (110) on both sides thereof, and a hydraulic strut mechanism (120); two auxiliary drive wheel connecting rods (102) are provided at the tail of the vehicle chassis (100), and strut fixing platforms (103) are connected to both sides thereof; the traveling track mechanism (110) includes a track (111), a drive wheel (112), and an auxiliary drive wheel (113), the drive wheel (112) is provided at the head of the vehicle chassis (100), the auxiliary drive wheel (113) is provided at the tail of the auxiliary drive wheel connecting rod (102), and a transmission shaft is provided in the auxiliary drive wheel connecting rod (102) for transmitting the power of the drive wheel (112) to the auxiliary drive wheel (113); the counterweight adjustment mechanism (2) includes a pallet (200), a palletizing mechanism (210), and a counterweight stacking mechanism (220). The pallet (200) includes a stacking plate body (201) at the head and a discharging plate body (202) at the tail, a counterweight block clamping opening (203) is provided on the discharging plate body (202), the counterweight stacking mechanism (220) includes a stacking baffle (221) fixed on the stacking plate body (201), a positioning baffle (222) provided at the head of the counterweight block clamping opening (203), and a rotating baffle (223) provided at the opening at the tail of the counterweight block clamping opening (203); the stacking baffle (221) includes two parts of baffles provided at the head and the tail of the stacking plate body (201), and a counterweight stacking area (224) is formed between the two parts of baffles; a counterweight loading and unloading area (225) is formed between the positioning baffle (222) and the rotating baffle (223); telescopic positioning plates (204) are provided on both sides of the counterweight block clamping opening (203); the palletizing mechanism (210) includes a support rod (211), a guiding cross beam (212), and a lifting jaw mechanism (213). The counterweight block (4) body is a cuboid, positioning plate slots (41) are provided on both sides of the body, a claw head clamping opening (42) is provided on the top of the body, a counterweight self-locking buckle ring (43) is provided above the body, and a counterweight self-locking buckle groove (44) is provided at the bottom of the body; two symmetrically arranged C-shaped sliders (401) are provided inside the counterweight block (4) body, and a return spring (402) is provided between the two C-shaped sliders (401); the top of the C-shaped slider (401) is arranged in the claw head clamping opening (42), and the bottom of the C-shaped slider (401) is arranged in the counterweight self-locking buckle groove (44).

2. The palletizing robot for elevator detection according to claim 1, characterized in that The hydraulic strut mechanism (120) includes a hydraulic cylinder (121) and a roller (122).

3. The palletizing robot for elevator detection according to claim 1, wherein, The lifting gripper mechanism (213) includes a sliding motor (2131), a lifting motor (2132), a lifting rod (2133), a mechanical gripper (2134), and a positioning slider (2135); the positioning slider (2135) is slidably connected to the guiding cross beam (212); the lifting rod (2133) is slidably connected to the positioning slider (2135) and is perpendicularly arranged to the guiding cross beam (212); the mechanical gripper (2134) includes two symmetrically arranged rotating claw heads (21341).

4. A palletizing robot for elevator detection according to claim 1, characterized in that, The overall width of the transport and palletizing robot is less than or equal to 0.7 m, the overall length is less than or equal to 1.2 m, and the overall height after the lifting gripper mechanism (213) is placed at the lowest position is less than or equal to 2 m.

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