Load carrying climbing robot

Abstract

The utility model relates to building machinery technical field discloses a kind of load climbing robot, including fuselage, first gripper, second gripper, inner guide rail, telescopic drive element and multiple outer guide blocks;Multiple outer guide blocks are used to be spaced apart on the building wall in vertical direction;Hook groove is set in the fuselage, and the fuselage is slidably buckled by hook groove and at least one outer guide block, and load part is equipped on the fuselage;First gripper is hingedly arranged in hook groove, and inner guide rail is slidably arranged in hook groove along the length direction of hook groove, and second gripper is hingedly arranged on inner guide rail;Telescopic drive element is arranged on the fuselage, and is connected with inner guide rail transmission, to drive the length direction sliding of inner guide rail relative to hook groove.The load climbing robot of the utility model can improve work efficiency, and can also reduce failure rate, with the advantages of strong reliability.

Description

Technical Field

[0001] This utility model relates to the field of construction machinery technology, and in particular to a load-bearing climbing robot. Background Technology

[0002] With the development of intelligent construction, aerial smart factories and building-building machines are emerging. However, the load-bearing climbing equipment of these machines is currently large and heavy, and requires on-site assembly, not yet forming an integrated machine. The installation and climbing process necessitates significant manual labor, resulting in high costs, high labor intensity, low efficiency, and poor safety. Utility Model Content

[0003] This invention proposes a load-bearing climbing robot to solve the technical problem of low working efficiency of existing load-bearing climbing equipment.

[0004] To solve the above-mentioned technical problems, this utility model proposes a load-bearing climbing robot, including a body, a first gripper, a second gripper, an inner guide rail, a telescopic drive element, and multiple outer guide blocks;

[0005] Multiple outer guide blocks are used to be spaced apart on the building wall in a vertical direction;

[0006] The machine body is provided with a hook groove, and the machine body is slidably connected to at least one of the outer guide blocks through the hook groove and a load-bearing part is provided on the machine body;

[0007] The first gripper is hinged in the hook groove, the inner guide rail is slidably disposed in the hook groove along the length direction of the hook groove, and the second gripper is hinged on the inner guide rail, with the second gripper located below the first gripper.

[0008] The telescopic drive element is mounted on the machine body and is connected to the inner guide rail for transmission, so as to drive the inner guide rail to slide relative to the length direction of the hook groove.

[0009] Optionally, the telescopic drive element is located within the hook groove.

[0010] Optionally, the outer guide block has slots on opposite sides, and the hook slot has blocks on opposite side walls. The blocks and corresponding slots cooperate to allow the body and the corresponding outer guide block to be slidably connected.

[0011] Optionally, one end of the first gripper is hinged to the bottom wall of the hook groove, and a first reset spring is provided between the first gripper and the bottom wall of the hook groove to drive the other end of the first gripper to rotate in a direction away from the bottom wall of the hook groove.

[0012] One end of the second gripper is hinged to the inner guide rail, and a second reset spring is provided between the second gripper and the inner guide rail to drive the other end of the second gripper to rotate away from the inner guide rail.

[0013] Optionally, the load-bearing climbing robot also includes a movable cover plate, one end of which is located at the top and / or bottom of the robot body, and the other end of which extends toward the building wall.

[0014] Optionally, the load-bearing climbing robot further includes a deformable filling block located at the other end of the movable cover plate.

[0015] Optionally, the load-bearing climbing robot further includes a cover plate reset mechanism, which is located at the top and / or bottom of the robot body. The cover plate reset mechanism is connected to the movable cover plate in a transmission manner to drive the movable cover plate to reset.

[0016] Optionally, the cover plate reset mechanism includes a first bracket, a second bracket, and a third reset spring. One end of the first bracket and one end of the second bracket are hinged together. The other end of the first bracket is connected to the top of the body. The other end of the second bracket is drivenly connected to the movable cover plate. The third reset spring is disposed between the first bracket and the second bracket to drive the other end of the first bracket to move away from the other end of the second bracket and drive the movable cover plate to move toward the building wall.

[0017] Optionally, the cover plate reset mechanism includes a spring telescopic cylinder and an inclined block, one end of the spring telescopic cylinder is connected to the movable cover plate, and the other end of the spring telescopic cylinder is connected to the inclined block.

[0018] Optionally, a weighing sensor is provided at the connection between the telescopic drive element and the inner guide rail, and a weighing sensor is provided on the first gripper and / or the second gripper respectively;

[0019] The first gripper and / or the second gripper are respectively equipped with a position sensor and a motion capture sensor.

[0020] Optionally, the load-bearing climbing robot further includes a stroke sensor, and the telescopic drive element includes a fixed end and a telescopic end. The fixed end is mounted on the body, and the telescopic end is connected to the inner guide rail to drive the inner guide rail to slide relative to the length direction of the hook groove.

[0021] One end of the travel sensor is connected to the fixed end, and the other end of the travel sensor is connected to the telescopic end.

[0022] Optionally, the hinge end of the first gripper is provided with a first hinge shaft, and the first gripper is hinged to the bottom wall of the hook groove through the first hinge shaft. A first leaf spring is provided on the bottom wall, and the top of the first hinge shaft is in contact with the first leaf spring.

[0023] The second gripper has a second hinge shaft at its hinge end. The second gripper is hinged to the inner guide rail via the second hinge shaft. The inner guide rail has a second leaf spring. The top of the second hinge shaft is in contact with the second leaf spring.

[0024] Compared with existing technologies, in this utility model of a load-bearing climbing robot, the outer guide block is pre-connected and installed on the outer surface of the building wall by bolts or other means, and the outer guide block is set vertically. The robot body is slidably connected to the outer guide block vertically by hooks and grooves, so that the robot body and the outer guide block will not detach from each other, preventing the robot body from falling off the building wall. The first gripper is equivalent to the upper limb of a human body, and the second gripper is equivalent to the lower limb of a human body. When the first gripper grabs the A outer guide block, it retracts through the telescopic drive element to drive the inner guide rail to move upward, thereby driving the second gripper to move upward. When the second gripper rises to a certain height, it can grab the B outer guide block located below the A outer guide block. At this time, the telescopic drive element extends, and since the second gripper is now grabbing the other outer guide block, the robot body can move upward relative to the inner guide rail, thereby causing the first gripper to move up and grab the C outer guide block located above the A outer guide block. By repeating the above steps, it can continuously climb upward along the building wall. The load-bearing part of the robot body can be used for carrying weight. The load-bearing climbing robot of this invention does not require on-site assembly with auxiliary tools, and can achieve integrated operation. Therefore, it can improve work efficiency, reduce failure rate, and has the advantages of high reliability. Attached Figure Description

[0025] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0026] Figure 1 This is a diagram showing the connection relationship between the load-bearing climbing robot and the building wall in one embodiment of this utility model;

[0027] Figure 2 This is a structural schematic diagram of a load-bearing climbing robot according to one embodiment of the present invention;

[0028] Figure 3 This is a diagram showing the connection relationship between the outer guide block, the hook groove, and the building wall in one embodiment of the present invention;

[0029] Figure 4This is a diagram showing the connection relationship between the outer guide block, the first gripper, the body, and the first reset spring in one embodiment of the present invention.

[0030] Figure 5 This is a diagram showing the connection relationship between the load-bearing climbing robot and the building wall in another embodiment of this utility model;

[0031] Figure 6 This is a diagram showing the connection relationship between the cover plate reset mechanism and the movable cover plate in another embodiment of the present invention;

[0032] Figure 7 This is a diagram showing the connection relationship between the first gripper, the first leaf spring, and the first hinge shaft in one embodiment of the present invention. Detailed Implementation

[0033] To facilitate understanding of this utility model, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only.

[0034] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0035] Furthermore, the terms "first," "second," "third," etc., used in the specification and claims are only for the purpose of distinguishing the description of the same technical features and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated, nor necessarily the order of description or chronological sequence. Where appropriate, the terms are interchangeable. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0036] Similarly, the terms "fixed" and "connected" are used in the specification and claims and should not be construed as limited to a direct connection. Therefore, the expression "device A is connected to device B" should not be limited to device A being directly connected to device B in a device or system; it means that there is a path between device A and device B, which can be a path that includes other devices or tools.

[0037] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0038] Please refer to Figures 1 to 3 The present invention provides a load-bearing climbing robot 100, comprising a body 10, a first gripper 20, a second gripper 30, an inner guide rail 40, a telescopic drive element 50, and multiple outer guide blocks 60.

[0039] Multiple outer guide blocks 60 are used to be spaced apart on the building wall 101 in a vertical direction;

[0040] The body 10 is provided with a hook groove 12, and the body 10 is slidably connected to at least one of the outer guide blocks 60 through the hook groove 12. The body 10 is provided with a load-bearing part.

[0041] The first gripper 20 is hinged in the hook groove 12, the inner guide rail 40 is slidably disposed in the hook groove 12 along the length direction of the hook groove 12, and the second gripper 30 is hinged on the inner guide rail 40, and the second gripper 30 is located below the first gripper 20.

[0042] The telescopic drive element 50 is disposed on the body 10 and is connected to the inner guide rail 40 for transmission, so as to drive the inner guide rail 40 to slide relative to the length direction of the hook groove 12.

[0043] In this embodiment, the outer guide block 60 is pre-connected and installed on the outer surface of the building wall 101 by bolts or other means, and the outer guide block 60 is arranged vertically. The body 10 is slidably connected to the outer guide block 60 in the vertical direction through the hook groove 12, so that the body 10 and the outer guide block 60 will not detach from each other, and the body 10 will not fall off the building wall 101. The first gripper 20 is equivalent to the forelimb of a cheetah, and the second gripper 30 is equivalent to the hindlimb of a cheetah. When the first gripper 20 grabs the A outer guide block 60, the telescopic drive element 50 retracts to drive the inner guide rail 40 to move upward, thereby driving the second gripper 30 to move upward. When the second gripper 30 rises to a certain height, the second gripper 30 can grab the B outer guide block 60 located below the A outer guide block 60. At this time, the telescopic drive element 50 extends, and since the second gripper 30 now grasps the other outer guide block 60, the machine body 10 can move upward relative to the inner guide rail 40, thereby causing the first gripper 20 to move upward and grasp the outer guide block 60 C located above the outer guide block 60 A. By repeating the above steps, it is possible to continuously climb upward along the building wall 101. The load-bearing part of the machine body 10 can be used for load-bearing.

[0044] The load-bearing climbing robot 100 in this embodiment does not require on-site assembly using auxiliary tools, enabling integrated operation. Therefore, it can improve work efficiency, reduce failure rate, and has the advantages of high reliability.

[0045] In some specific embodiments, when the worker is mounted on the body 10, the worker can directly drive the telescopic drive element 50 via a switch or the like. When the worker is not mounted on the body 10, the worker can control the telescopic drive element 50 via a controller, which can be a wired or wireless controller. A sliding groove is provided on the bottom wall of the hook groove 12 to allow the inner guide rail 40 to slide within the hook groove 12 along its length. The number of first grippers 20 and second grippers 30 can each be multiple.

[0046] In some other embodiments, the second gripper 30 and the first gripper 20 are staggered in the horizontal direction, and a plurality of first grippers 20 are distributed at intervals in the vertical direction on the fuselage 10, and a plurality of second grippers 30 are distributed at intervals in the vertical direction on the inner guide rail 40.

[0047] In one embodiment, the telescopic drive element 50 is located within the hook groove 12. This arrangement protects the telescopic drive element 50.

[0048] In one embodiment, the outer guide block 60 has slots 62 on opposite sides, and the hook groove 12 has blocks 122 on opposite side walls. The blocks 122 and the corresponding slots 62 cooperate to allow the body 10 and the corresponding outer guide block 60 to be slidably and snapped together. The cooperation between the blocks 122 and the slots 62 ensures that the body 10 will not detach from the outer guide block 60.

[0049] Please refer to the above as well. Figure 4 and Figure 5 In one embodiment, one end of the first gripper 20 is hinged to the bottom wall of the hook groove 12, and a first reset spring 22 is provided between the first gripper 20 and the bottom wall of the hook groove 12 to drive the other end of the first gripper 20 to rotate away from the bottom wall of the hook groove 12.

[0050] One end of the second gripper 30 is hinged to the inner guide rail 40. A second reset spring is provided between the second gripper 30 and the inner guide rail 40 to drive the other end of the second gripper 30 to rotate away from the inner guide rail 40. By providing the first reset spring 22, the first gripper 20 can open smoothly after passing over the outer guide block 60 (this example is for ease of explanation and understanding; the number of outer guide blocks 60 can be ten, twenty, etc.), so that the first gripper 20 can smoothly grasp the outer guide block 60.

[0051] By setting a second reset spring, the second gripper 30 can smoothly open after passing over the outer guide block 60 B (this example is for ease of explanation and understanding; the number of outer guide blocks 60 can be ten, twenty, etc.), so that the second gripper 30 can smoothly grasp the outer guide block 60 B. The structure of the second reset spring is the same as or similar to that of the first reset spring 22.

[0052] In one embodiment, the load-bearing climbing robot 100 further includes a movable cover plate 70, one end of which is located at the top and / or bottom of the body 10, and the other end of which extends toward the building wall 101.

[0053] The movable cover 70 can cover the body 10 and protect the hook groove 12, preventing foreign objects from entering the hook groove 12, thus preventing foreign objects from getting stuck in the inner guide rail 40, telescopic drive element 50, first gripper 20 and second gripper 30 and other structures.

[0054] In one embodiment, the load-bearing climbing robot 100 further includes a deformable filling block 80, which is disposed at the other end of the movable cover plate 70. The deformable filling block 80 can fill the gap between the movable cover plate 70 and the building wall 101, further preventing foreign objects from falling into the hook groove 12.

[0055] In one embodiment, the load-bearing climbing robot 100 further includes a cover plate reset mechanism 90, which is disposed at the top and / or bottom of the robot body 10. The cover plate reset mechanism 90 is connected to the movable cover plate 70 in a transmission manner to drive the movable cover plate 70 to move toward the building wall 101.

[0056] By providing a cover plate reset mechanism 90, the movable cover plate 70 can be easily adjusted, and one end of the movable cover plate 70 can be promptly attached to the surface of the building wall 101. The cover plate reset mechanism 90 can be located at either the top or bottom of the machine body 10, or both the top and bottom of the machine body 10. By completely sealing the top and bottom of the machine body 10, rodents and other predators can be prevented from entering the machine body when it is not in use.

[0057] In one embodiment, the cover plate reset mechanism 90 includes a first bracket 92, a second bracket 94, and a third reset spring 96. One end of the first bracket 92 and one end of the second bracket 94 are hinged together, and the other end of the first bracket 92 is connected to the top of the body 10. The other end of the second bracket 94 is kinetically connected to the movable cover plate 70. The third reset spring 96 is disposed between the first bracket 92 and the second bracket 94 to drive the other end of the first bracket 92 to move away from the other end of the second bracket 94, and to drive the movable cover plate 70 to move toward the building wall 101. With the above structure, the structure is simple, the manufacturing cost is low, and the reset effect is good.

[0058] In one embodiment, a weighing sensor is provided at the connection between the telescopic drive element 50 and the inner guide rail 40, and a weighing sensor is provided on the first gripper 20 and / or the second gripper 30 respectively;

[0059] The first gripper 20 and / or the second gripper 30 are respectively equipped with a position sensor and a motion capture sensor. The load cell can be one of the following: a pin-type load cell, a through-shaft load cell, a tension sensor, or a pressure sensor. The position sensor can be a proximity switch.

[0060] In one embodiment, the load-bearing climbing robot 100 further includes a stroke sensor, and the telescopic drive element 50 includes a fixed end and a telescopic end. The fixed end is mounted on the body 10, and the telescopic end is connected to the inner guide rail 40 to drive the inner guide rail 40 to slide relative to the length direction of the hook groove 12.

[0061] One end of the travel sensor is connected to the fixed end, and the other end is connected to the telescopic end. The travel sensor can be a rope displacement sensor.

[0062] like Figure 6 As shown, in one embodiment, the cover plate reset mechanism 90 includes a spring telescopic cylinder 91 and an inclined block 93. One end of the spring telescopic cylinder 91 is connected to the movable cover plate 70, and the other end of the spring telescopic cylinder 91 is connected to the inclined block 93.

[0063] In this embodiment, the spring telescopic cylinder 91 generates an elastic thrust. When the inclined block 93 needs to cross the outer guide block 60, the outer guide block 60 can compress the inclined block 93. After the inclined block 93 crosses the outer guide block 60, under the action of the spring telescopic cylinder 91, the inclined block 93 can automatically adhere to the building wall 101. This allows the movable cover plate 70 to approach or adhere to the building wall 101, achieving a sealing function.

[0064] like Figure 7As shown, in one embodiment, the hinge end of the first gripper 20 is provided with a first hinge shaft 24, and the first gripper 20 is hinged to the bottom wall of the hook groove 12 through the first hinge shaft 24. A first leaf spring 26 is provided on the bottom wall, and the top of the first hinge shaft 24 is in contact with the first leaf spring 26.

[0065] The second gripper 30 has a second hinge shaft at its hinge end. The second gripper 30 is hinged to the inner guide rail via the second hinge shaft. The inner guide rail has a second leaf spring. The top of the second hinge shaft is in contact with the second leaf spring.

[0066] In this embodiment, the first leaf spring 26 and the second leaf spring can be either an Ω-shaped leaf spring or a U-shaped leaf spring. When the first gripper 20, which is equipped with a cooperative load-bearing device at the top, bears a large load, the first leaf spring 26 at that location will undergo elastic deformation. At this time, the entire machine body 10 will automatically sink, automatically distributing the load to the other first grippers 20, thus achieving a cooperative load-bearing effect. The structure and function of the second hinge shaft and the second leaf spring for the second gripper 30 are the same as described above, and will not be repeated here.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it; under the concept of this utility model, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this utility model as described above, which are not provided in detail for the sake of brevity; although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in each of the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of each embodiment of this utility model.

Claims

1. A load-bearing climbing robot, characterized in that, It includes the fuselage, first gripper, second gripper, inner guide rail, telescopic drive element, and multiple outer guide blocks; Multiple outer guide blocks are used to be spaced apart on the building wall in a vertical direction; The machine body is provided with a hook groove, and the machine body is slidably connected to at least one of the outer guide blocks through the hook groove and a load-bearing part is provided on the machine body; The first gripper is hinged in the hook groove, the inner guide rail is slidably disposed in the hook groove along the length direction of the hook groove, and the second gripper is hinged on the inner guide rail; The telescopic drive element is mounted on the machine body and is connected to the inner guide rail for transmission, so as to drive the inner guide rail to slide relative to the length direction of the hook groove.

2. The load-bearing climbing robot according to claim 1, characterized in that, The telescopic drive element is located within the hook groove.

3. The load-bearing climbing robot according to claim 1, characterized in that, The outer guide block has slots on its opposite sides, and the hook slot has blocks on its opposite side walls. The blocks and the corresponding slots cooperate to make the body and the corresponding outer guide block slidably connected.

4. The load-bearing climbing robot according to claim 1, characterized in that, One end of the first gripper is hinged to the bottom wall of the hook groove, and a first reset spring is provided between the first gripper and the bottom wall of the hook groove to drive the other end of the first gripper to rotate away from the bottom wall of the hook groove. One end of the second gripper is hinged to the inner guide rail, and a second reset spring is provided between the second gripper and the inner guide rail to drive the other end of the second gripper to rotate away from the inner guide rail.

5. The load-bearing climbing robot according to claim 1, characterized in that, It also includes a movable cover plate, one end of which is located at the top and / or bottom of the machine body, and the other end of which extends toward the building wall.

6. The load-bearing climbing robot according to claim 5, characterized in that, It also includes a deformable filler block, which is located at the other end of the movable cover plate.

7. The load-bearing climbing robot according to claim 5, characterized in that, It also includes a cover plate reset mechanism, which is located at the top and / or bottom of the machine body. The cover plate reset mechanism is connected to the movable cover plate in a transmission manner to drive the movable cover plate to reset.

8. The load-bearing climbing robot according to claim 7, characterized in that, The cover plate reset mechanism includes a first bracket, a second bracket, and a third reset spring. One end of the first bracket and one end of the second bracket are hinged together. The other end of the first bracket is connected to the top of the body. The other end of the second bracket is driven to the movable cover plate. The third reset spring is located between the first bracket and the second bracket to drive the other end of the first bracket to move away from the other end of the second bracket and drive the movable cover plate to move toward the building wall.

9. The load-bearing climbing robot according to claim 7, characterized in that, The cover plate reset mechanism includes a spring telescopic cylinder and an inclined block. One end of the spring telescopic cylinder is connected to the movable cover plate, and the other end of the spring telescopic cylinder is connected to the inclined block.

10. The load-bearing climbing robot according to claim 1, characterized in that, A weighing sensor is provided at the connection between the telescopic drive element and the inner guide rail, and a weighing sensor is provided on the first gripper and / or the second gripper respectively. The first gripper and / or the second gripper are respectively equipped with a position sensor and a motion capture sensor.

11. The load-bearing climbing robot according to claim 1, characterized in that, It also includes a stroke sensor. The telescopic drive element includes a fixed end and a telescopic end. The fixed end is mounted on the machine body, and the telescopic end is connected to the inner guide rail to drive the inner guide rail to slide relative to the length direction of the hook groove. One end of the travel sensor is connected to the fixed end, and the other end of the travel sensor is connected to the telescopic end.

12. The load-bearing climbing robot according to claim 4, characterized in that, The first gripper has a first hinge shaft at its hinge end. The first gripper is hinged to the bottom wall of the hook groove via the first hinge shaft. A first leaf spring is provided on the bottom wall. The top of the first hinge shaft is in contact with the first leaf spring. The second gripper has a second hinge shaft at its hinge end. The second gripper is hinged to the inner guide rail via the second hinge shaft. The inner guide rail has a second leaf spring. The top of the second hinge shaft is in contact with the second leaf spring.

Images