Wall-climbing robot suitable for elevator T-shaped guide rail

Abstract

The wall-climbing robot comprises a rack, two sets of moving mechanisms, an adsorption mechanism, a positioning mechanism and a buffer mechanism, the buffer mechanism comprises a guide rod, a spring and a supporting seat, the supporting seat is connected to the rack, a through hole is formed in the supporting seat, one end of the guide rod is connected with a mounting plate, and the other end of the guide rod is connected with the mounting plate. The spring is arranged on the outer side of the guide rod in a sleeving mode, the two ends of the spring are connected with the installation plate and the supporting base respectively, and therefore the relative movement between the installation plate and the supporting base is buffered through compression or stretching of the spring. The mounting plate and the rack are connected through the buffer mechanism, the mounting plate is pressed in the elevator guide rail direction through the positioning mechanism, when the wall-climbing robot crosses an obstacle on the guide rail and jolts, the guide rod slides in the axial direction of the through hole, and the mounting plate and the supporting seat jointly compress or stretch the spring for buffering; impact force is prevented from being directly transmitted to the mounting plate and carried detection equipment, and the moving stability of the robot is improved.

Description

Technical Field

[0001] This invention relates to the field of wall-climbing robots, and in particular to a wall-climbing robot suitable for elevator T-shaped guide rails. Background Technology

[0002] Elevator guide rails primarily serve to guide the elevator car and counterweight, and to withstand the impact forces from the elevator's motion system during braking. Currently, T-shaped guide rails are the most widely used type of elevator guide rail. Their T-shaped cross-section offers advantages such as good guiding performance, strong bending resistance, and convenient installation.

[0003] During elevator installation, the elevator's running track is composed of multiple rails spliced ​​together. The verticality of the guide rails is one of the important conditions for the safe operation of the elevator. Therefore, it is necessary to check the verticality error of the guide rails to ensure the normal operation of the elevator.

[0004] The verticality of elevator guide rails is mainly detected by manual and intelligent methods. Manual methods require inspectors to move up and down the shaft with tools such as steel rulers and guide gauges. Due to insufficient lighting and confined space, this can lead to inconvenience and inaccurate measurements. Intelligent methods use a wall-climbing robot equipped with a laser receiver target and visual sensors to crawl along the elevator guide rails. However, dirt, metal debris, and bolts connecting adjacent rails can hinder the robot's movement. When the robot traverses these protruding obstacles, it may experience bumps, tilting, and vibrations, interfering with the verticality assessment and affecting the accuracy of the results. Therefore, this invention provides a wall-climbing robot suitable for elevator T-shaped guide rails to address the shortcomings of existing technologies. Summary of the Invention

[0005] (1) Technical problems to be solved To address the technical problem that when a wall-climbing robot moves on an elevator T-shaped guide rail, it experiences bumps, tilts, and vibrations due to crossing obstacles on the guide rail, which interferes with the normal detection of the equipment it carries and thus affects the accuracy of the detection results, this invention provides a wall-climbing robot suitable for elevator T-shaped guide rails.

[0006] (2) Technical solution This invention is achieved using the following technical solution: A wall-climbing robot suitable for elevator T-shaped guide rails includes a frame, two sets of moving mechanisms, an adsorption mechanism, a positioning mechanism, and a buffer mechanism.

[0007] The adsorption mechanism is connected to the frame. The adsorption mechanism includes at least two gears. All gears are meshed with a track chain on their outer sides. Multiple permanent magnets are installed on the surface of the track chain to magnetically adsorb the wall-climbing robot onto the elevator guide rail. The positioning mechanism includes a mounting plate and a side magnetic wheel. The mounting plate is movably connected to the frame, and the side magnetic wheel is connected to the lower side of the mounting plate for adsorption with the side of the elevator guide rail, thus adsorbing the mounting plate onto the surface of the elevator guide rail. The buffer mechanism includes a guide rod, a spring, and a support base. The support base is connected to the frame and has a through hole. One end of the guide rod is connected to the mounting plate, and the other end of the guide rod passes through the through hole and can slide along the through hole. The spring is sleeved on the outside of the guide rod, and both ends of the spring are connected to the mounting plate and the support base respectively, so that the relative movement between the mounting plate and the support base can be buffered by the compression or stretching of the spring.

[0008] As a further improvement to the above solution, the positioning mechanism also includes a second motor and a top magnetic wheel. The second motor is mounted on the frame, and its output end is connected to the side magnetic wheel and drives it to rotate. The top magnetic wheel is connected to the mounting plate and is used to magnetically attract the elevator guide rail surface.

[0009] As a further improvement to the above solution, the wall-climbing robot also includes a moving mechanism, which is set in two sets. Each moving mechanism includes a drive shaft, a bevel gear set, a motor, and a moving wheel. One end of the drive shaft is connected to the frame, and the other end of the drive shaft is connected to the moving wheel. The bevel gear set is connected to the outside of the drive shaft. The motor is mounted on the frame, and the output end of the motor is connected to the bevel gear set and drives it to rotate. The bevel gear set is used to reduce the driving force provided by the motor and transmit it to the drive shaft.

[0010] As a further improvement to the above scheme, each set of moving mechanisms also includes a driven shaft, one end of which is connected to the frame, and the other end of which is connected to a second moving wheel, which is used to support the frame.

[0011] As a further improvement to the above scheme, both the drive shaft and the driven shaft are connected to a gear that is close to each other, thereby driving the track chain to rotate and move on the elevator guide rail.

[0012] As a further improvement to the above solution, the positioning mechanism also includes a top magnetic wheel, which is connected to the mounting plate for magnetic adsorption with the surface of the elevator guide rail.

[0013] As a further improvement to the above solution, the gear is rotatably connected to the frame.

[0014] As a further improvement to the above solution, multiple sets of buffer mechanisms are provided, all of which are connected to the outside of the frame.

[0015] As a further improvement to the above solution, the frame and the mounting plate are movably connected by limit bolts.

[0016] As a further improvement to the above scheme, both the drive shaft and the driven shaft are connected to the frame via bearings.

[0017] (3) Beneficial effects 1. This invention provides a wall-climbing robot suitable for elevator T-shaped guide rails. By setting a positioning mechanism and a buffer mechanism, the mounting plate for carrying the detection equipment is magnetically adsorbed onto the elevator T-shaped guide rail via side magnetic wheels and top magnetic wheels. At the same time, the mounting plate and the frame are movably connected by limit bolts, which can limit the movement range of the frame and prevent the frame from detaching from the mounting plate. When the wall-climbing robot experiences bumps due to crossing obstacles on the elevator guide rail, the frame and the adsorption mechanism will shift and vibrate accordingly. The frame drives the support base to shift together, changing the distance between the support base and the mounting plate. The guide rod slides in the through hole opened in the support base. The support base and the mounting plate jointly compress or stretch the spring. The spring absorbs the impact energy from the support base, preventing the impact energy from being directly transmitted to the mounting plate, ensuring the stability of the mounting plate and the detection equipment mounted on it, achieving a buffering effect, and improving the stability and safety of the wall-climbing robot during movement.

[0018] 2. The present invention provides a wall-climbing robot suitable for elevator T-shaped guide rails. By setting a moving mechanism and an adsorption mechanism, the wall-climbing robot can be provided with two movement modes: wheeled movement and tracked movement. The moving mechanism drives the first moving wheel, the gear to rotate, and the second moving wheel to move through a motor. When the first and second moving wheels rotate, they can move the wall-climbing robot on the ground. The rotation of the gear can cause the track chain, which is equipped with multiple permanent magnets, to adhere to the elevator guide rail for climbing. By using both wheeled and tracked movement modes, the application range of the wall-climbing robot can be expanded, enabling its rapid movement in multiple scenarios.

[0019] 3. The present invention provides a wall-climbing robot suitable for elevator T-shaped guide rails. In its moving mechanism, a motor drives a bevel gear set to rotate, which in turn drives the drive shaft to rotate, thereby realizing the rotation of the moving wheel. The above structure can increase the driving torque while reducing the lateral length of the wall-climbing robot, making the structure of the wall-climbing robot more compact. At the same time, both the drive shaft and the driven shaft are mounted on the frame through bearings, which can reduce transmission wear, increase the service life of the wall-climbing robot, and reduce maintenance costs. Attached Figure Description

[0020] Figure 1 This is a 3D structural diagram of a crawling robot; Figure 2 yes Figure 1 A three-dimensional structural diagram of the moving mechanism and the adsorption mechanism; Figure 3 yes Figure 1 A front view of China Mobile's headquarters; Figure 4 yes Figure 1 A three-dimensional structural diagram of the positioning mechanism.

[0021] The diagram is marked as follows: 1. Frame; 2. Moving mechanism; 21. Drive shaft; 22. Bevel gear set; 23. Motor 1; 24. Moving wheel 1; 25. Driven shaft; 26. Moving wheel 2; 3. Adsorption mechanism; 31. Gear; 32. Track chain; 33. Permanent magnet; 4. Positioning mechanism; 41. Mounting plate; 42. Motor 2; 43. Side magnetic wheel; 45. Top magnetic wheel; 5. Buffer mechanism; 51. Guide rod; 52. Spring; 53. Support base; 54. Through hole; 6. Limit bolt; 7. Detection equipment; 8. Bearing. Detailed Implementation

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] Please see Figure 1 This embodiment provides a wall-climbing robot suitable for elevator T-shaped guide rails, which includes a frame 1, a moving mechanism 2, an adsorption mechanism 3, a positioning mechanism 4, and a buffer mechanism 5.

[0026] See Figure 2 and Figure 3The moving mechanism 2 includes a drive shaft 21, a bevel gear set 22, a motor 23, and a moving wheel 24. One end of the drive shaft 21 is rotatably connected to the frame 1 via a bearing 8, which is used to fix the drive shaft 21 and reduce wear during rotation. The other end of the drive shaft 21 is connected to the moving wheel 24. The bevel gear set 22 is connected to the outside of the drive shaft 21. The motor 23 is mounted on the frame 1, and the output end of the motor 23 is fixedly connected to the bevel gear set 22 via a coupling.

[0027] Motor 123 is the power source for the wall-climbing robot. Specifically, an MG513P30_12V DC motor can be selected, which has good starting and speed regulation performance, as well as good torque characteristics, and can provide a stable and reliable power source for the wall-climbing robot.

[0028] In this embodiment, after the motor 23 is started, its driving torque is reduced and transmitted to the drive shaft 21 through the bevel gear set 22, which in turn drives the moving wheel 24 installed at one end of the drive shaft 21 to rotate. When the two moving wheels 24 rotate at the same time, the wall-climbing robot can be driven to move on the ground.

[0029] The bevel gear set 22 can change the direction of force transmission, so that the motor 23 can be mounted on the frame 1 at a position perpendicular to the moving wheel 24. The driving force provided by the motor 23 is transmitted to the drive shaft 21 and the moving wheel 24 through the bevel gear set 22, which reduces the lateral length of the wall-climbing robot and makes the structure of the wall-climbing robot more compact.

[0030] Because the wall-climbing robot is supported and driven by only two moving wheels 24, the overall stability of the wall-climbing robot is poor and its load-bearing capacity is limited, making it difficult to move stably when carrying the detection equipment 7. The moving mechanism 2 also includes a driven shaft 25 and two moving wheels 26. One end of the driven shaft 25 is connected to the frame 1, and the other end of the driven shaft 25 is connected to the two moving wheels 26. While the two moving wheels 24 drive the wall-climbing robot to move, the two moving wheels 26 will passively rotate in the direction of movement of the wall-climbing robot. The two moving wheels 26 play the role of supporting and assisting movement.

[0031] See Figure 1 The adsorption mechanism 3 is connected to the frame 1. The adsorption mechanism 3 includes at least two gears 31. All gears 31 are meshed with a track chain 32 on their outer sides. Multiple permanent magnets 33 are installed on the surface of the track chain 32. Since the main material of the elevator T-shaped guide rail is Q235 steel, which has good magnetic permeability, the wall-climbing robot can be magnetically adsorbed onto the elevator guide rail surface through multiple permanent magnets 33.

[0032] Both the drive shaft 21 and the driven shaft 25 are connected to a gear 31 that is close to each other, which can drive the track chain 32 to rotate and move on the elevator guide rail. At the same time, both the drive shaft 21 and the driven shaft 25 are rotatably connected to the frame 1 through the bearing 8, which can reduce transmission wear, increase the service life of the wall-climbing robot, and reduce maintenance costs.

[0033] When motor 23 drives drive shaft 21 to rotate, drive shaft 21 will drive gear 31 connected to it to rotate, thereby realizing the rotation of track chain 32. The adsorption mechanism 3 adopts gear chain transmission, which can avoid elastic slippage or slippage. It has the advantages of accurate average transmission ratio, strong overload capacity, and suitability for harsh environments such as humid or polluted environments.

[0034] The driven shaft 25, which is connected to the gear 31, will also rotate under the drive of the gear 31, thereby providing power for the rotation of the second moving wheel 26 and assisting the movement of the entire wall-climbing robot.

[0035] The mobile mechanism 2 can drive the wall-climbing robot to move on the ground, and the adsorption mechanism 3 can allow the track chain 32, which is equipped with multiple permanent magnets 33, to adhere to the elevator guide rail for climbing. By providing two modes of movement, namely wheeled movement and tracked movement, the application range of the wall-climbing robot can be expanded, and its rapid movement in multiple scenarios can be realized.

[0036] See Figure 4 The positioning mechanism 4 is movably connected to the upper side of the frame 1. The positioning mechanism 4 includes a mounting plate 41, a motor 42, and a side magnetic wheel 43.

[0037] Mounting plate 41 is located on the upper side of frame 1. Mounting plate 41 and frame 1 are movably connected by limiting bolt 6. Side magnetic wheel 43 is connected to the lower side of mounting plate 41 for magnetic adsorption with the side of elevator T-shaped guide rail. Motor 2 42 is mounted on mounting plate 41. The output end of motor 2 42 is fixedly connected to side magnetic wheel 43 through coupling. Motor 2 drives side magnetic wheel 43 to rotate and move on the side of elevator T-shaped guide rail.

[0038] Mounting plate 41 is used to mount relevant equipment for detecting the verticality of elevator guide rails, such as laser receiving targets and vision inspection modules. To ensure the accuracy and completeness of the detection results, it is necessary to ensure that the wall-climbing robot can move smoothly on the elevator guide rails.

[0039] The positioning mechanism 4 also includes a top magnetic wheel 45, which is rotatably connected to the mounting plate 41 and is used to magnetically adhere to the top surface of the elevator T-shaped guide rail.

[0040] When the wall-climbing robot is adsorbed onto the elevator T-shaped guide rail via the adsorption mechanism 3, the side magnetic wheel 43 simultaneously magnetically adsorbs onto the side of the elevator T-shaped guide rail and rotates under the drive of motor 42, synergistically enhancing the wall-climbing robot's mobility and adsorption capabilities. During the process of multiple permanent magnets 33 alternately adsorbing onto the elevator guide rail, due to the influence of the chain pitch in the track chain 32, there may be a decrease in the number of permanent magnets 33 adsorbed onto the elevator guide rail and a sudden drop in the adsorption force of the adsorption mechanism 3. The side magnetic wheel 43 and the top magnetic wheel 45 can provide additional adsorption force for the wall-climbing robot, improving its adsorption stability.

[0041] The side magnetic wheel 43 is attached to the side of the elevator T-shaped guide rail, which can limit the lateral displacement of the wall-climbing robot. The top magnetic wheel 45 is attached to the top surface of the elevator T-shaped guide rail, which can also limit the movement of the wall-climbing robot. The combined restriction of the side magnetic wheel 43 and the top magnetic wheel 45 in the displacement direction can keep the wall-climbing robot moving along the direction of the elevator T-shaped guide rail, preventing it from deviating.

[0042] See Figure 2 and Figure 4 The buffer mechanism 5 includes multiple sets, each set connected to the mounting plate 41 and the frame 1. Each set of buffer mechanisms 5 includes a guide rod 51, a spring 52, and a support base 53. The support base 53 is fixed to the frame 1. A through hole 54 is provided in the middle of the support base 53 for the guide rod 51 to pass through. The through hole 54 is adapted to the shape of the guide rod 51, allowing the guide rod 51 to pass through the through hole 54 and slide along the axis of the through hole 54. One end of the guide rod 51 is connected to the mounting plate 41, and the other end passes through the through hole 54 and can slide along the through hole 54. The spring 52 is sleeved on the outside of the guide rod 51, and both ends of the spring 52 are connected to the mounting plate 41 and the support base 53 respectively, so that the relative movement between the mounting plate 41 and the support base 53 can be buffered by the compression or stretching of the spring 52.

[0043] When the climbing robot is working, the mounting plate 41 is attracted to the elevator T-shaped guide rail by the side magnetic wheel 43. At the same time, the spring 52, which has been pre-compressed, can provide a continuous force to press the mounting plate 41 towards the elevator guide rail. This can keep the distance between the mounting plate 41 and the elevator T-shaped guide rail fixed during the movement of the climbing robot, and ensure that the detection equipment 7 moves smoothly without deviation.

[0044] During the continuous operation of the elevator, there will be many obstacles on the elevator guide rail, such as dust particles generated during construction, dust from the outside air, lubricating oil applied during routine maintenance of the guide rail, metal shavings and other debris, as well as structural protrusions such as bolts used to connect and fix adjacent guide rails, pits or metal extrusion bulges generated during the installation and maintenance of the guide rails, all of which will affect the movement of the wall-climbing robot.

[0045] The wall-climbing robot, equipped with the detection device 7, moves and performs inspections on the elevator T-shaped guide rail. When the robot crosses obstacles on the rail, the adsorption mechanism 3 and the frame 1 experience bumps, displacement, and vibration. The mounting plate 41 and the frame 1 are connected by a limiting bolt 6. When the frame 1 shifts, the limiting bolt 6 restricts its movement range, preventing it from detaching from the mounting plate 41. The shifting of the frame 1 also moves the connected support base 53, changing the distance between it and the mounting plate 41. The guide rod 51 slides in the through hole 54 due to the shift of the support base 53. The shifting of the support base 53 compresses or stretches the spring 52, which absorbs the impact energy from the support base 53, preventing it from being directly transmitted to the mounting plate 41 and the detection device 7. This allows the mounting plate 41 and the detection device 7 to continue moving smoothly with the wall-climbing robot and performing inspections, unaffected by obstacles.

[0046] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A wall-climbing robot suitable for elevator T-shaped guide rails, characterized in that, include: Rack (1); The adsorption mechanism (3) is connected to the frame (1). The adsorption mechanism (3) includes at least two gears (31). All gears (31) are meshed with a track chain (32) on their outer sides. Multiple permanent magnets (33) are installed on the surface of the track chain (32) to magnetically adsorb the wall-climbing robot onto the elevator guide rail. The positioning mechanism (4) includes a mounting plate (41) and a side magnetic wheel (43). The mounting plate (41) is movably connected to the frame (1), and the side magnetic wheel (43) is connected to the lower side of the mounting plate (41) for adsorbing with the side of the elevator guide rail, so as to adsorb the mounting plate (41) onto the surface of the elevator guide rail. The buffer mechanism (5) includes a guide rod (51), a spring (52), and a support seat (53). The support seat (53) is connected to the frame (1). A through hole (54) is provided on the support seat (53). One end of the guide rod (51) is connected to the mounting plate (41), and the other end of the guide rod (51) passes through the through hole (54) and can slide along the through hole (54). The spring (52) is sleeved on the outside of the guide rod (51). Both ends of the spring (52) are connected to the mounting plate (41) and the support seat (53) respectively, so that the relative movement between the mounting plate (41) and the support seat (53) is buffered by the compression or stretching of the spring (52).

2. The wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, The positioning mechanism (4) also includes a second motor (42) and a top magnetic wheel (45). The second motor (42) is mounted on the frame (1). The output end of the second motor (42) is connected to the side magnetic wheel (43) and drives it to rotate. The top magnetic wheel (45) is connected to the mounting plate (41) and is used to magnetically adsorb onto the surface of the elevator guide rail.

3. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, The wall-climbing robot also includes a moving mechanism (2), which is set in two sets. Each moving mechanism (2) includes a drive shaft (21), a bevel gear set (22), a motor (23), and a moving wheel (24). One end of the drive shaft (21) is connected to the frame (1), and the other end of the drive shaft (21) is connected to the moving wheel (24). The bevel gear set (22) is connected to the outside of the drive shaft (21). The motor (23) is mounted on the frame (1). The output end of the motor (23) is connected to the bevel gear set (22) and drives it to rotate. The bevel gear set (22) is used to reduce the driving force provided by the motor (23) and transmit it to the drive shaft (21).

4. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 3, characterized in that, Each set of moving mechanisms (2) also includes a driven shaft (25), one end of which is connected to the frame (1), and the other end of which is connected to a second moving wheel (26), which is used to support the frame (1).

5. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 3, characterized in that, Both the drive shaft (21) and the driven shaft (25) are connected to a gear (31) that is close to each other, thereby driving the track chain (32) to rotate and move on the elevator guide rail.

6. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, The positioning mechanism (4) also includes a top magnetic wheel (45), which is connected to the mounting plate (41) for magnetic adsorption with the surface of the elevator guide rail.

7. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, The gear (31) is rotatably connected to the frame (1).

8. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, Multiple sets of buffer mechanisms (5) are provided, all of which are connected to the outside of the frame (1).

9. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 1, characterized in that, The wall-climbing robot also includes a limit bolt (6), and the frame (1) and the mounting plate (41) are movably connected by the limit bolt (6).

10. A wall-climbing robot suitable for elevator T-shaped guide rails according to claim 4, characterized in that, The wall-climbing robot also includes bearings (8), and the drive shaft (21) and driven shaft (25) are all connected to the frame (1) via bearings (8).

Images