Automatically lifting load-bearing device and curtain wall robot using the same

Abstract

The present invention discloses a load-bearing device that can be automatically lifted and lowered, including: a lever arm support plate, which is composed of two symmetrical pieces, the lever arm support plate is arc-shaped, and a lever arm support point is provided at the upper position of the middle part; a first driven double-row sprocket and a second driven double-row sprocket, which are respectively fixed at the upper and lower parts of the lever arm support plate; a side bracket, whose upper end is hinged at the lever arm support point, and whose lower part is used to hook the load; an active lifting wheel, which is installed at the axial position of the side bracket; an annular double-row chain, whose inner side is meshed with the first driven double-row sprocket and the second driven double-row sprocket, and whose outer side is meshed with the active sprocket; a support frame, which is arranged on the inner side of the annular double-row chain and fixed on the lever arm support plate; a servo assembly, which is connected to the active lifting wheel shaft; a lever arm guide assembly, which includes two guide plates and a plurality of transmission wheels; a rope body, one end of which is a fixed end, and the other end extends from the lower part of the side bracket. The present invention also discloses a curtain wall robot using the above-mentioned load-bearing device, which can realize automatic tensioning and withstand large torque.

Description

Technical Field

[0001] The invention relates to a load-bearing device, in particular to a load-bearing device capable of automatically lifting and lowering, and a curtain wall robot using the device. Background Art

[0002] When the curtain wall robot works at high altitude, in order to ensure safety, a safety rope needs to be installed on the robot body. The patent with publication number CN208769680U discloses a curtain wall robot and a multifunctional cable synchronous lifting control system, which realizes the synchronous lifting control of the curtain wall robot and the cable by installing a winch on the building and an encoder on the winch. In this solution, it is necessary to install winches, roof control boxes and other devices on the building in advance, which is cumbersome to operate when in use.

[0003] The patent with publication number CN101823677B discloses a self-lifting load-carrying device, in which a double-row sprocket is fixed to a bracket, and a double-row chain is tensioned by a chain tensioning device. When the chain is running, it is tensioned by a floating device. When the load is too heavy, the tensioning force may be insufficient. When the load is light or too heavy, slippage may occur and the tensioning effect is poor. Summary of the invention

[0004] The purpose of the present invention is to provide a load-bearing device that can be automatically raised and lowered, and a curtain wall robot using the load-bearing device that can be automatically raised and lowered, so as to achieve a better tensioning effect. To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The load-carrying device capable of automatic lifting comprises: a lever arm support plate, which is composed of two symmetrical pieces, the lever arm support plate is arc-shaped, and a lever arm support point is arranged at the upper part of the middle part; a first driven double-row sprocket and a second driven double-row sprocket are respectively fixed at the upper part and the lower part of the lever arm support plate; a side bracket, the upper end of which is hinged at the lever arm support point of the lever arm support plate, and the lower part of the side bracket is used for hooking the load; an active lifting wheel, which is installed at the axial center of the side bracket, and comprises two active sprockets and a wear-resistant rope interlayer arranged between the active sprockets; an annular double-row chain, the upper inner side of which meshes with the first driven double-row sprocket The inner side of the lower part is meshed with the second driven double-row sprocket, and the outer side of the middle part is meshed with the driving sprocket; a supporting frame is arranged on the inner side of the annular double-row chain and fixed on two lever arm support plates; a servo assembly is connected to the active lifting wheel shaft to drive the active lifting wheel to rotate; a lever arm guide assembly includes two symmetrical guide plates and a plurality of transmission wheels installed between the guide plates, one end of the two guide plates are respectively fixed to the two lever arm support plates, or the two guide plates and the two lever arm support plates are integrally formed; a rope body, one end of which is a fixed end, and the other end is connected from the transmission wheel to the circumference of the wear-resistant rope interlayer and extends from the bottom of the side bracket.

[0006] Furthermore, it also includes a shell, which is assembled from two symmetrical pieces. The shell is arranged outside the lever arm support plate, and the shell at least covers the outside of the annular double-row chain.

[0007] Preferably, the wear-resistant rope interlayer is a toothed wheel made of plastic material, and the rope body is in contact with the toothed wheel.

[0008] Preferably, a circular arc groove matching with the rope body is provided in the middle of the toothed edge of the toothed wheel.

[0009] Among them, the side bracket includes two symmetrically arranged side panels and a connecting bracket connecting the two side panels. The upper end of the side panel is provided with a protruding fixing hole for hinged installation on the lever arm support point, and the lower part of the connecting bracket is provided with a hook for hooking the load.

[0010] Preferably, a guide clip fixedly connected to the connecting bracket is arranged below the side bracket, and a guide groove for the rope body to extend out is arranged on the guide clip.

[0011] Wherein, the servo assembly includes a motor and a coupling, one end of the coupling is connected to the motor, and the other end is connected to the active lifting wheel shaft.

[0012] Furthermore, assuming the mass of the load is a kg, the sum of the moments from all the transmission wheels to the lever arm support point is (0.8a~0.9a) kg.cm.

[0013] Preferably, there are two transmission wheels, which are staggered up and down, and the rope body is wound between the two transmission wheels.

[0014] The present invention also discloses a curtain wall robot, including a robot body, and an automatically liftable load-bearing device arranged above the robot body, wherein the automatically liftable load-bearing device is the above-mentioned structure, the lower part of the side bracket is hooked with the robot body, and the fixed end of the rope body is fixed above the building.

[0015] Due to the adoption of the above technical solution, the present invention has the following beneficial effects:

[0016] 1. The present invention sets the end of the side bracket to be hinged on the upper part of the arc-shaped lever arm support plate, and the servo assembly is fixed on the side bracket, so that when lifting weights, the lever arm support plate forms a fulcrum of a lever at the hinge, and the two ends of the lever arm support plate rotate under force according to the lever principle, and the annular double-row chain and the active lifting wheel are automatically pressed together, thereby achieving tensioning, with good tensioning effect and being able to withstand large torque. This patent adopts the lever principle, and amplifies the tensioning force of the annular double-row chain by changing the length of the lever arm and the angle of the direction of the combined force, ensuring the best tensioning force when loading different weights, achieving the overall lightweight of the equipment, the load lifting of lighter objects, and the overload tensioning of instantaneous falls, and due to the use of appropriate tensioning force, the wear of the rope itself by the device is greatly reduced, and the service life of the rope is greatly extended.

[0017] 2. A plastic toothed wheel is coaxially arranged in the middle of the active lifting wheel, so that the rope body contacts the toothed wheel, which can reduce the wear of the rope body.

[0018] 3. A guide clip is provided for the rope to pass through, which can prevent the rope from being misplaced and stuck on the circular double-row chain or the active lifting wheel, and ensure that when the lower part of the rope is dragged, it will not affect the force effect of the arm.

[0019] 4. The arm guide assembly can obtain an optimal angle force combination through theoretical calculations such as arm calculation and angle calculation as well as experimental tests, that is, the sum of the torques from the transmission wheel to the arm support point is (0.8a~0.9a)kg.cm (a is the mass of the load). If the torque is too large, the required motor power is high and the rope is worn to a large extent, while if the torque is too small, it is easy to slip. By limiting the sum of the torques, the tensioning effect is good under the same lever arm, it can withstand a large torque, and it is beneficial to increase the service life of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the first embodiment of the present invention (the rope body is hidden in the figure).

[0021] Figure 2 yes Figure 1 Schematic diagram of C-section view.

[0022] Figure 3 yes Figure 2 Schematic diagram of the left side.

[0023] Figure 4 yes Figure 1 Schematic diagram of the decomposition.

[0024] Figure 5 This is a schematic structural diagram of the first embodiment without the housing, servo assembly, annular double-row sprocket and supporting frame.

[0025] Figure 6 yes Figure 5 Schematic diagram of the integral molding of the middle guide plate and the two lever arm support plates.

[0026] Figure 7 yes Figure 5 Schematic diagram of the decomposition.

[0027] Figure 8 It is a structural schematic diagram of the first embodiment without the housing, servo assembly, and one side of the active lifting wheel.

[0028] Fig. 9 yes Figure 8 An enlarged schematic diagram of point B.

[0029] Fig.10 It is a schematic diagram of the rotation of the first embodiment when in use.

[0030] Fig.11 It is a schematic diagram of force analysis of each supporting point in the first embodiment.

[0031] Fig.12 It is a schematic diagram of the crawling state of the curtain wall robot in the second embodiment.

[0032] Main component symbols:

[0033] 1: Shell, 2: Lever arm support plate, 31:

[0034] First driven double-row sprocket,

[0035] 32: second driven double-row sprocket, 4: side bracket, 41: side plate, 42: connecting bracket, 43: hook, 44: guide clamp, 45: guide groove, 46: fixing hole, 5: active lifting wheel, 51: toothed wheel, 52: arc groove, 53: active sprocket, 6: annular double-row chain, 7: supporting frame, 8: servo assembly, 81: motor, 82: coupling, 9: force arm guide assembly, 91: guide plate, 92: transmission wheel, 10: rope body, 11: robot body. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Embodiment 1

[0038] like Figures 1 to 10 As shown, this embodiment discloses a load-bearing device that can be automatically lifted and lowered, including: a shell 1, a lever arm support plate 2, a first driven double-row sprocket 31, a second driven double-row sprocket 32, a side bracket 4, an active lifting wheel 5, a toothed wheel 51, an annular double-row chain 6, a support frame 7, a servo assembly 8, a lever arm guide assembly 9 and a rope body 10.

[0039] The lever arm support plate 2 is composed of two symmetrical pieces. The lever arm support plate 2 is arc-shaped. A lever arm support point A is provided at the upper middle portion of the lever arm support plate. Figure 1 , 7 The housing 1 is composed of two symmetrical pieces, and the housing 1 is arranged outside the lever arm support plate 2. The housing 1 covers the outer side of the annular double-row chain 6.

[0040] Combination Figure 2 As shown, the first driven double-row sprocket 31 and the second driven double-row sprocket 32 ​​are fixed above and below the two groups of lever arm support plates 2, respectively.

[0041] Combination Figure 7 As shown, the side bracket 4 includes two symmetrically arranged side panels 41 and a connecting bracket 42 connecting the two side panels 41. A hook 43 for hooking a load is arranged at the lower part of the connecting bracket 42. A protruding fixing hole 46 is arranged at the upper end of the side panel 41 for hinged installation at the lever support point A. Figure 8 As shown, a guide clamp 44 fixed to the connecting bracket 42 is provided below the side bracket 4, and a guide groove 45 for the rope body 10 to extend is provided on the guide clamp 44.

[0042] The active lifting wheel 5 is installed at the axis position of the side plate 41. The active lifting wheel 5 includes two active sprockets 53 and a wear-resistant rope sandwich disposed between the active sprockets 53. In this embodiment, the wear-resistant rope sandwich is a toothed wheel 51, and the material of the toothed wheel 51 is plastic, such as: POM material, nylon, etc. A circular arc groove 52 is provided in the middle of the toothed edge of the toothed wheel 51, and the rope body 10 is embedded in the circular arc groove 52 of the toothed wheel 51, such as Figure 7 shown.

[0043] The upper inner side of the annular double-row chain 6 meshes with the first driven double-row sprocket 31 , the lower inner side thereof meshes with the second driven double-row sprocket 32 ​​, and the middle outer side thereof meshes with the driving sprocket 53 .

[0044] The support frame 7 is arranged inside the annular double-row chain 6 and fixed on two lever arm support plates 2. The support frame 7 plays the role of supporting the annular double-row chain 6.

[0045] The servo assembly 8 includes a motor 81 and a coupling 82, one end of the coupling 82 is connected to the motor 81, and the other end is connected to the active lifting wheel 5. The motor 81 drives the active lifting wheel 5 to rotate. After the active lifting wheel 5 rotates, the annular double-row chain 6 is driven to rotate, and the annular double-row chain 6 drives the first driven double-row sprocket 31 and the second driven double-row sprocket 32 ​​to rotate.

[0046] The lever arm guide assembly 9 includes two symmetrical guide plates 91 and two transmission wheels 92 installed between the guide plates 91. One end of the two guide plates 91 is fixedly connected to the two lever arm support plates 2, or as shown in FIG. Figure 6 As shown, one end of the two guide plates 91 is directly integrated with the two lever arm support plates 2. Two transmission wheels 92 are provided, and the two transmission wheels 92 are staggered up and down. The positions of the two transmission wheels are based on theoretical calculations such as arm calculation and angle calculation and experimental tests to obtain an optimal angle force combination. The positions of the two transmission wheels of the present application are set as follows Fig.10 shown.

[0047] One end of the rope body 10 is a fixed end, and the other end is connected to the arc groove 52 of the toothed wheel 51 from between the two transmission wheels 92, and then extends out from the guide groove 45 of the guide clamp 44 below the side bracket 4.

[0048] like Fig.10 As shown, when the present invention is used, the lever arm support plate 2 uses the lever arm support point A as the fulcrum of the lever, and the two ends of the lever arm support plate 2 rotate under the force according to the lever principle, and the lower end of the lever arm support plate 2 rotates toward the active lifting wheel 5, so that the annular double-row chain 6 automatically presses the rope body 10, thereby realizing automatic tensioning.

[0049] Assuming the mass of the load is a kg, the sum of the moments from the two transmission wheels to the lever arm support point should be (0.8a~0.9a) kg.cm. Fig.11 As shown, assuming that the mass of the load object is 100 kg, the torque of the load-bearing device can be calculated by setting a better angle for the two transmission wheels. In this embodiment, the torque is calculated by the following formula:

[0050] F 合1 =2FCOS36°=160kgf, F 合2 =2FCOS68°=148kgf;

[0051] T1=F 合1 Sin18°×1.5=72kg.cm,T2=F 合2 Sin3°×1.6=11.84kg.cm;

[0052] Then the torque T=T1+T2=83.84kg.cm.

[0053] That is, the sum of the moments is within the above range. It can be seen that the structure of the present invention can withstand a larger moment.

[0054] Embodiment 2

[0055] This embodiment discloses a curtain wall robot, including a robot body 11 and an automatically liftable load-bearing device arranged above the robot body 11. The automatically liftable load-bearing device has the structure of the first embodiment.

[0056] like Fig.12As shown, the robot body 11 is hooked at the lower part of the side bracket 4, and the fixed end of the rope body 10 is fixed above the building. In the initial state, the robot body 11 is located at the bottom of the curtain wall, and at this time, the free end of the rope body is shorter. The robot body 11 crawls upward, and the automatically lifting load-bearing device moves upward synchronously, and at this time the free end of the rope body 10 below gradually becomes longer. When the robot body 11 crawls normally, the automatically lifting load-bearing device moves up and down synchronously. If the robot body 11 fails and cannot absorb the curtain wall, the load-bearing device hooks and suspends the robot body 11 to prevent the robot body 11 from falling and ensure safety.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A load-carrying device capable of automatically lifting and lowering, characterized in that: include: The lever arm support plate is composed of two symmetrical pieces. The lever arm support plate is arc-shaped, and a lever arm support point is arranged at the upper part of the middle part. The first driven double-row sprocket and the second driven double-row sprocket are respectively fixed above and below the lever arm support plate; A side bracket, the upper end of which is hinged to the lever arm support point of the lever arm support plate, and the lower part of the side bracket is used for hooking the load; The active lifting wheel is installed at the axis position of the side bracket, and includes two active sprockets and a wear-resistant rope interlayer arranged between the active sprockets; The annular double-row chain has an upper inner side meshed with the first driven double-row sprocket, a lower inner side meshed with the second driven double-row sprocket, and a middle outer side meshed with the driving sprocket; A supporting frame is arranged inside the annular double-row chain and fixed on two lever arm supporting plates; A servo assembly is connected to the active lifting wheel shaft to drive the active lifting wheel to rotate; The lever arm guide assembly comprises two symmetrical guide plates and a plurality of transmission wheels installed between the guide plates, wherein one end of the two guide plates is respectively fixedly connected to the two lever arm support plates, or the two guide plates and the two lever arm support plates are integrally formed; The rope body has one end as a fixed end and the other end is connected from the transmission wheel to the circumference of the wear-resistant rope interlayer and extends from under the side bracket.

2. The automatically lifting load-carrying device according to claim 1, characterized in that: It also includes a shell, which is assembled from two symmetrical pieces. The shell is arranged outside the lever arm support plate, and the shell at least covers the outside of the annular double-row chain.

3. The automatically lifting load-carrying device according to claim 1 or 2, characterized in that: The wear-resistant rope interlayer is a toothed wheel made of plastic material, and the rope body is in contact with the toothed wheel.

4. The automatically lifting load-carrying device according to claim 3, characterized in that: A circular arc groove matching with the rope body is arranged in the middle of the toothed edge of the toothed wheel.

5. The automatically lifting load-carrying device according to claim 1, characterized in that: The side bracket includes two symmetrically arranged side panels and a connecting bracket connecting the two side panels. The upper end of the side panel is provided with a protruding fixing hole for hinged installation on the lever arm support point, and the lower part of the connecting bracket is provided with a hook for hooking the load.

6. The automatically lifting load-carrying device according to claim 1, characterized in that: A guide clip fixedly connected to the connecting bracket is arranged below the side bracket, and a guide groove for the rope body to extend out is arranged on the guide clip.

7. The automatically lifting load-carrying device according to claim 1, characterized in that: The servo assembly comprises a motor and a coupling, one end of the coupling is connected to the motor, and the other end is connected to the active lifting wheel shaft.

8. The automatically lifting load-carrying device according to claim 1, characterized in that: Assuming the mass of the load is a kg, the sum of the moments from all transmission wheels to the lever arm support point is 0.8a kg.cm to 0.9a kg.cm.

9. The automatically ascending and descending load-carrying device according to claim 8, characterized in that: There are two transmission wheels, which are staggered up and down, and the rope body is wound between the two transmission wheels.

10. A curtain wall robot, characterized in that: It comprises a robot body, an automatically liftable load-carrying device as claimed in any one of claims 1 to 9 arranged above the robot body, the robot body is hooked on the lower part of the side bracket, and the fixed end of the rope is fixed above the building.

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