High-altitude work platform and high-altitude work robot equipped therewith

Abstract

The present invention provides an elevated work platform and an elevated work robot equipped with it, which can simplify the overall structure and reduce the total weight. [Solution] The elevated work platform includes a work body that provides a workspace for a worker; a plurality of multi-stage linear actuators configured to be extendable to raise and lower the work body to a predetermined height; and a controller that controls the operation of the multi-stage linear actuators. The spacing between the plurality of multi-stage linear actuators is arranged to increase towards the bottom, and as the plurality of multi-stage linear actuators are extended, the spacing between the lower ends of the plurality of multi-stage linear actuators becomes larger.

Description

Technical Field

[0001] The present invention relates to an elevated work platform and an elevated work robot equipped with the same.

Background Art

[0002] Generally, an elevated work platform is used as an important piece of equipment at various industrial sites where work needs to be done at heights. Representative examples include construction sites, warehouse management, equipment maintenance, installation of electrical and communication facilities, etc., and it plays an important role in ensuring the accessibility and safety of workers in such work environments.

[0003] Such an elevated work platform is mainly configured to be able to move up and down in the vertical direction by using mechanisms such as hydraulic and screw types, is configured in a platform form so that workers can work safely, and is also mounted on wheels, tracks, or vehicles and configured to be movable.

[0004] On the other hand, the most commonly used hydraulic type among elevated work platforms is a method of lifting the platform using a hydraulic cylinder, which can support a large weight and enable stable operation, but has problems related to maintenance such as oil leakage and damage to hydraulic hoses.

[0005] Also, the screw type is a method of lifting the platform using a screw jack, which has a simple structure and enables precise control at heights, but has problems such as slow speed, large weight of the device, and vulnerability to wear, making it difficult to use and handle.

[0006] Furthermore, conventional elevated work platforms may sway or become unstable when the floor surface is not flat or in a windy environment, and also, mobile elevated work platforms with wheels have problems in maintaining stability on inclined surfaces and uneven terrain.

[0007] Furthermore, telescopic masts are widely used in industrial settings for applications such as transmitting and receiving antennas, observation cameras, lighting, and elevated work platforms, where short lengths are required for storage and long lengths are required for use.

[0008] However, conventional pneumatic or hydraulic telescopic masts are expensive, heavy, and prone to frequent seal packing failures. Furthermore, telescopic masts using electric motors and internal tendon structures have a complex internal structure, requiring significant power during extension because the internal links move simultaneously, and generating thrust limited to the allowable tension of the tendons, which have lower load-bearing capacity than the robust links.

[0009] Furthermore, an electrically powered multi-stage linear actuator has been proposed that incorporates a screw on the outer surface of the link to achieve precise and high-thrust extension and retraction functions. However, this also suffers from high manufacturing costs and heavy weight.

[0010] An example of a telescopic mast, which has a simple shape and is relatively easy to manufacture, is an automatic antenna for automobiles. In this type, a retractable steel wire or flexible rack is used as the main component to drive the raising and lowering of the antenna. However, due to their flexibility, the steel wire or flexible rack is prone to bending within the cylinder, reducing linearity, making precise control of the raising and lowering position difficult, and resulting in a small thrust. [Overview of the project] [Problems that the invention aims to solve]

[0011] The embodiments of the present invention were invented against the background described above, and aim to provide a high-altitude work platform and a high-altitude work robot equipped therewith, which can simplify the overall structure and reduce the total weight.

[0012] Furthermore, the objective is to provide a high-altitude work platform and a high-altitude work robot equipped with it, where the area of ​​ground support increases as the height increases.

[0013] Furthermore, the objective is to provide an elevated work platform that can maintain stability on uneven ground via multiple support legs of varying height, and an elevated work robot equipped with the same.

[0014] Furthermore, by using a block-type chain, the objective is to provide a high-altitude work platform and a high-altitude work robot equipped with it, which have a simpler structure, allow for easier determination of the lifting position, and have improved thrust. [Means for solving the problem]

[0015] A work platform at height according to one aspect of the present invention includes a work body that provides a workspace for a worker; a plurality of multi-stage linear actuators configured to be extendable to raise and lower the work body to a predetermined height; and a controller that controls the operation of the multi-stage linear actuators, wherein the spacing between the plurality of multi-stage linear actuators is arranged to increase towards the bottom, and as the plurality of multi-stage linear actuators are extended, the spacing between the lower ends of the plurality of multi-stage linear actuators becomes larger.

[0016] A robotic work platform according to another aspect of the present invention includes a robotic arm; a horizontal rail for moving the robotic arm in one direction; a work platform on which the horizontal rail sits, the work platform including a work body that provides a workspace for an operator; a plurality of multistage linear actuators configured to be extendable to raise and lower the work body to a predetermined height; and a controller for controlling the operation of the multistage linear actuators, wherein the spacing between the plurality of multistage linear actuators increases towards the bottom. [Effects of the Invention]

[0017] According to an embodiment of the present invention, by simplifying the overall structure, there is an effect of reducing the total weight, making it easier to use and handle.

[0018] Also, according to an embodiment of the present invention, as the height increases, the area of the ground to be supported becomes wider, ensuring safety even when the working position is high, and having an effect of preventing falling in advance.

[0019] Also, according to an embodiment of the present invention, it is possible to maintain stability on irregular ground through a plurality of support legs with variable heights, and there is an effect of being able to perform high-altitude work on various terrains.

[0020] Also, according to an embodiment of the present invention, it is possible to provide a high-altitude work robot with improved thrust, strong fixing force, and resistance to vertical load and bending load.

[0021] Also, according to an embodiment of the present invention, it is possible to provide a high-altitude work robot that can be remotely operated and applied to various uses that require a large telescopic length.

Brief Description of the Drawings

[0022] [Figure 1] It is a perspective view showing a high-altitude work robot according to an embodiment of the present invention. [Figure 2] It is a front operation view showing the operation of the high-altitude work robot according to FIG. 1. [Figure 3] It is a front operation view showing the operation of the high-altitude work robot according to FIG. 1. <0000 extraordinariy high altitude work robot according to an embodiment of the present invention. It is a perspective view showing a high-altitude work platform according to an embodiment of the present invention. [Figure 5] It is a front view showing the high-altitude work platform according to FIG. 4. [Figure 6] It is an exploded perspective view showing the high-altitude work platform according to FIG. 4. [Figure 7] It is an operation perspective view showing the high-altitude work platform rising according to FIG. 4. [Figure 8] It is an exploded perspective view showing the working body part according to FIG. 4. [Figure 9] It is a front view showing a high-altitude work robot equipped with a counterbalance. [Figure 10] It is a perspective view showing another embodiment of the present invention. [Figure 11] It is a perspective view showing a multi-stage linear actuator according to FIG. 4. [Figure 12] It is a cross-sectional view showing the inside of the multi-stage linear actuator of FIG. 11. <( [Figure 13] It is a cross-sectional view showing the extended state of the multi-stage linear actuator of FIG. 11. [Figure 14] It is a schematic view showing the inside of the operating body of the multi-stage linear actuator. [Figure 15] It is a schematic view showing the state where the inside of the operating body, the block chain, and the telescopic leg are connected. [Figure 16] It is a schematic view showing an enlarged view of the connection between the telescopic leg and the fixed rod of FIG. 15. [Figure 17] It is a schematic view showing a block chain according to an embodiment of the present invention. [Figure 18] It is a schematic view showing the state of the telescopic leg and the block chain according to an embodiment of the present invention. [Figure 19] It is a schematic view showing a guide groove of a block chain according to an embodiment of the present invention. [Figure 20] It is a schematic view showing the inside of the operating body according to another embodiment of the present invention.

Mode for Carrying Out the Invention

[0023] Hereinafter, specific embodiments for realizing the technical idea of the present invention will be described in detail with reference to the drawings.

[0024] In the description of the present invention, when it is determined that a specific description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted

[0025] Furthermore, when it is mentioned that one component is "connected," "supported," or "transmitted" to another component, it should be understood that while it may be directly connected to, supported, or transmitted to the other component, other components may also exist in between.

[0026] The terms used herein are used solely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0027] In this specification, terms such as "top," "bottom," and "side" are explained with reference to the illustrations in the drawings, and it should be made clear in advance that they may be represented differently if the orientation of the object changes. For the same reason, some components in the attached drawings are exaggerated, omitted, or shown schematically, and the size of each component does not fully reflect the actual size.

[0028] Furthermore, while terms including ordinal numbers such as "first," "second," etc., can be used to describe various components, the corresponding components are not limited by such terms. These terms are used solely for the purpose of distinguishing one component from another.

[0029] As used herein, "includes" embodies a particular characteristic, domain, integer, stage, operation, element and / or component, and does not exclude the presence or addition of other particular characteristics, domains, integers, stages, operations, elements, components and / or groups.

[0030] The following describes the specific configuration of a high-altitude work platform and a high-altitude work robot equipped therewith according to one embodiment of the present invention, with reference to the drawings.

[0031] Referring to Figures 1 to 3, an aerial work robot 1 according to one embodiment of the present invention is a robot that works at a predetermined height. The aerial work robot 1 can be raised and lowered in height to work at a specific height. The aerial work robot 1 can perform tasks automatically via a program. Such an aerial work robot 1 includes a robot arm 10, a horizontal rail 20, a counter mass 30, and an aerial work platform 40.

[0032] The robotic arm 10 is a mechanically constructed device that operates like a human arm. The robotic arm 10 may consist of joints (not shown) that fold at multiple points, links (not shown) connected to the joints, and effectors (not shown) provided at the ends of the links to suit the task to be performed. For example, the effectors (not shown) may be provided as tools necessary for the task, such as a gripper, welding machine, drill, or camera. The robotic arm 10 may be seated and slide on a horizontal rail 20 and may be connected to a screw rod (not shown) to transmit movement force. The robotic arm 10 may be equipped with motors and actuators to operate in three dimensions. The robotic arm 10 may be further provided with position sensors, force sensors, and a vision system to sense position, velocity, force, etc., and provide feedback to enable precise operation.

[0033] The horizontal rail 20 is a device that provides a movement path for the robot arm 10. The horizontal rail 20 can be positioned below the robot arm 10. The horizontal rail 20 may include a horizontally extending rail (not shown) and rail members (not shown) that slide along the rail.

[0034] The counter mass 30 is provided to maintain weight balance when the robot arm 10 moves. The counter mass 30 is positioned on the same horizontal line as the robot arm 10, but may move in the opposite direction to the direction of movement of the robot arm 10. The counter mass 30 can be seated on the horizontal rail 20. The counter mass 30 is seated on the horizontal rail 20 and slides, and is connected to a screw rod (not shown), which can transmit a moving force in the opposite direction to that of the robot arm 10. Here, the screw rod (not shown) may have left-hand and right-hand threads on both sides with respect to the center.

[0035] Referring to Figures 4 to 9, the elevated work platform 40 can be configured to have a horizontal rail 20 seated on top, allowing the robot arm 10 to move in one direction or be raised to a predetermined height. Such an elevated work platform 40 includes a work body 100, a multi-stage linear actuator 200, a controller 300, and a counterbalance 260.

[0036] The work unit 100 can provide a space where workers can work. The work unit 100 can be positioned on top of the elevated work platform 40. A multi-stage linear actuator 200, described later, can be connected to the outside of the work unit 100 so as to be able to move up and down. The work unit 100 includes a main scaffold 110, a support base 120, and a safety handrail 130.

[0037] The main scaffolding 110 can provide a floor surface on which workers can stand. The main scaffolding 110 can be positioned at the lower end of the work unit 100. For example, the main scaffolding 110 can be provided as a circular plate. The main scaffolding 110 may have a larger surface area than the surface area of ​​the safety handrail 130, which will be described later.

[0038] The support base 120 can connect the safety handrail 130 and the main scaffolding 110. The support base 120 extends from the main scaffolding 110 to the outside of the safety handrail 130 and may be provided in multiple units. The support base 120 may be provided in the form of a plate bar. The support base 120 may include bolt holes (not shown) or seating rings (not shown) to which a multi-stage linear actuator 200 can be connected.

[0039] A safety railing 130 may be provided to shield the worker from the outside and prevent falls. The safety railing 130 is connected to the upper end of the support base 120 and may be spaced a predetermined height apart from the main scaffolding 110. The safety railing 130 includes a railing member 131, a railing door 132, and a railing seat 133.

[0040] The handrail member 131 accommodates a worker inside. The handrail member 131 may be positioned at the upper end of the safety handrail 130. The handrail member 131 may be open at the top and bottom to accommodate a worker inside. The handrail member 131 may extend to surround a worker when the worker is positioned on the main scaffolding 110. The handrail member 131 may be divided into an upper member and a lower member. As an example, the handrail member 131 may be provided such that the upper and lower members are positioned at heights corresponding to the worker's chest and waist, respectively. The handrail member 131 may be provided in a plurality of ring shapes.

[0041] The handrail door 132 opens and closes one side of the handrail member 131. The handrail door 132 can rotate open and close one side of the handrail member 131 to allow a worker to enter and exit the inside of the handrail member 131. The handrail door 132 may include a door body (not shown) with one side of the handrail member 131 cut off, and a door hinge (not shown) that connects the door body (not shown) and the handrail member 131 so as to rotate.

[0042] The handrail seat 133 is provided so that workers can sit while working. The handrail seat 133 may be located inside the handrail member 131. The handrail seat 133 may have a plate shape, and its specific form may be a semicircular plate shape, but is not limited thereto. The handrail seat 133 may be supported at the lower inside of the handrail member 131.

[0043] The multi-stage linear actuator 200 can raise and lower the work unit 100 to a predetermined height. Multiple multi-stage linear actuators 200 may be arranged outside the work unit 100. Such a multi-stage linear actuator 200 includes a working body 210, a blockchain 220, a chain drive unit 230, telescopic legs 240, drive wheels 250, and a counterbalance 260. The spacing between multiple multi-stage linear actuators 200 may be wider at the bottom than at the top. The multiple multi-stage linear actuators 200 are arranged such that the spacing between them increases towards the bottom.

[0044] The operating body 210 may be provided to house the blockchain 220 and support the telescopic legs 240. The operating body 210 may be located at the upper end of a multi-stage linear actuator 200. The operating body 210 may be connected to the upper end of a support base 120. Such an operating body 210 includes a case 211, a chain housing 212, and a chain discharge channel 213.

[0045] Case 211 houses the blockchain 220 and allows it to be inserted and removed in one direction. Case 211 can be attached to one side of the working body 100. Case 211 may be provided as the external form of the working body 210. Case 211 may have a cover (not shown) on one side that seals or opens the interior.

[0046] The chain housing section 212 houses the blockchain 220. The chain housing section 212 may be located inside the case 211. The chain housing section 212 may be formed to a predetermined depth and area. The corners of the chain housing section 212 may be rounded so that the blockchain 220 can be wound around inside the chain housing section 212 when it is moved. The chain housing section 212 may have an axis (not shown) inside to which the ends of the blockchain 220 are fixed.

[0047] The chain discharge channel 213 provides a passage for discharging the blockchain 220 housed in the chain housing 212 to the outside or drawing it in. The chain discharge channel 213 may extend from the chain housing 212 to the outer surface of the case 211. The chain discharge channel 213 may be provided with an internal area equal to or larger than the cross-sectional area of ​​the blockchain 220.

[0048] The blockchain 220 may be configured to transmit the driving force necessary for the extension and retraction of the telescopic leg 240. The blockchain 220 may be formed from a plurality of blocks connected to rotate in one direction. The blockchain 220 may have grooves (not shown) on one surface into which the teeth of the drive sprocket 231, described later, can be fitted. The blockchain 220 can be configured to rotate in one direction and not in the other direction.

[0049] The chain drive unit 230 can provide driving force to move the blockchain 220. The chain drive unit 230 can generate driving force to move the blockchain 220. Such a chain drive unit 230 includes a drive sprocket 231 and a chain motor 232.

[0050] The drive sprocket 231 can mesh with one side of the chain chain 220 to transmit rotational force. The drive sprocket 231 may be arranged in a gear shape with multiple teeth protruding radially. The drive sprocket 231 may be positioned on one side of the chain discharge passage 213. The drive sprocket 231 can rotate in connection with the motor shaft of the chain motor 232.

[0051] The chain motor 232 rotates the drive sprocket 231. The chain motor 232 can be located outside the case 211. The chain motor 232 may also be connected to the drive sprocket 231 by passing through the case 211. The chain motor 232 may be provided as a stepping motor.

[0052] The telescopic leg 240 is extendable in length. The telescopic leg 240 may be positioned at the lower end of the operating body 210. When extended, the telescopic leg 240 is extendable and retractable downwards relative to the operating body 210. The telescopic leg 240 includes a plurality of telescopic members, the plurality of telescopic members 241, 242, 243, 244 which are slidable relative to each other. For example, such telescopic members 241, 242, 243, 244 may be provided in the form of a plurality of pipes with different diameters relative to each other. The telescopic leg 240 may be configured to extend in length when the blockchain 220 is ejected from the operating body 210 and to contract in length when the blockchain 220 is retracted into the operating body 210. The telescopic leg 240 may be positioned on the operating body 210 so as to be inclined at an angle of 10° to 45° with respect to a vertical imaginary line. These multiple expandable members 241, 242, 243, and 244 include a first expandable member 241, intermediate expandable members (second expandable member 242, third expandable member 243), and a fourth expandable member 244.

[0053] The first telescopic member 241 is connected to one side of the operating body 210. The first telescopic member 241 can communicate with the chain discharge channel 213 so that the blockchain 220 housed inside the operating body 210 is first inserted. The first telescopic member 241 may be formed with a maximum diameter and inner diameter so as to form the outermost surface of the telescopic leg 240. The first telescopic member 241 is connected to the second telescopic member 242 of the intermediate telescopic members inserted inside, and a stopper step (not shown) with a decreasing inner diameter may be provided so that the second telescopic member 242 is stopped in a predetermined position.

[0054] The intermediate expandable member is inserted into the first expandable member 241. The intermediate expandable member has an outer diameter smaller than the inner diameter of the first expandable member 241. Multiple intermediate expandable members may be provided. The intermediate expandable member may be provided with a stopper step (not shown) that reduces the inner diameter so that the fourth expandable member 244 inserted inside it is stopped at a predetermined position.

[0055] The fourth telescopic member 244 can be connected to the blockchain 220 to provide a driving force for extension and retraction. The fourth telescopic member 244 can be positioned at the innermost part of the telescopic leg 240. The fourth telescopic member 244 can have a drive wheel 250 connected to its lower end. The blockchain 220 may not be inserted inside the fourth telescopic member 244, but may be connected to one end of the fourth telescopic member 244.

[0056] The drive wheel 250 moves the multi-stage linear actuator 200 in one direction. The drive wheel 250 can rotate the work body 100 in one direction. For example, the drive wheel 250 can be provided as a manual wheel, an electric wheel, a caster (rotating wheel), a general wheel, a special wheel (front wheel), a two-degree-of-freedom wheel, etc.

[0057] A counterbalance 260 may be provided to maintain balance according to the weight of the worker. The counterbalance 260 may be positioned on any of the multiple multi-stage linear actuators 200. The counterbalance 260 may have multiple wheels (not shown) on its underside. The counterbalance 260 may be positioned at the lower end of the multi-stage linear actuator 200. The counterbalance 260 may be positioned to deflect the work body 100 from one direction to the other.

[0058] The controller 300 can control the drive of the motors and actuators of the robot arm 10. The controller 300 can control the chain motor 232 so that the extension and retraction height of the multi-stage linear actuator 200 is variable. The controller 300 can control the motor (not shown) provided on the drive wheel 250 so that the drive wheel 250 is driven.

[0059] Such a controller 300 can be implemented by an arithmetic unit including a microprocessor, and the implementation method is obvious to those skilled in the art, so further detailed explanation is omitted.

[0060] The following describes the operation and effects of a high-altitude work platform having the configuration described above and a high-altitude work robot equipped with it, with reference to the drawings.

[0061] Referring to Figures 1 to 3, in one embodiment of the present invention, the high-altitude work robot 1 is provided with a robot arm 10 on the upper part of a height-adjustable high-altitude work platform 40, thereby enabling the robot arm 10 to be raised and lowered at a predetermined height, making high-altitude work easier.

[0062] In this case, by providing a horizontal rail 20 at the lower part of the robot arm 10 that allows the robot arm 10 to slide horizontally, the robot arm 10 can be moved in one direction to expand the working radius for work at heights.

[0063] Furthermore, by providing a counter mass 30 on the horizontal rail 20 that moves in the opposite direction when the robot arm 10 moves, when the robot arm 10 moves in one direction, the counter mass 30 can be moved in the opposite direction to maintain the overall weight balance of the high-altitude work robot 1.

[0064] Referring to Figures 4 to 7, the multi-stage linear actuator 200, which is configured to be extendable to raise and lower the work unit 100 to a predetermined height, has a lower spacing L2 that is wider than the upper spacing L1. This increases the spacing that supports the ground even when the height is increased, thus preventing the elevated work platform 40 from tipping over.

[0065] Referring to Figure 8, the work unit 100 supports the safety handrail 130, which is installed at a predetermined height, via a plurality of support bases 120 extending from the main scaffolding 110. In this case, the surface area of ​​the main scaffolding 110 is larger than the surface area of ​​the safety handrail 130, making it possible to mount a plurality of multi-stage linear actuators 200 at a predetermined angle.

[0066] On the other hand, the safety handrail 130 is provided with a handrail door 132 that opens and closes on one side of the handrail member 131, allowing workers to easily enter and exit the inside of the handrail member 131. In addition, by providing a handrail seat 133 on the inside of the handrail member 131, workers can take breaks or sit down before working, thereby improving work efficiency.

[0067] On the other hand, in addition to the above configuration, an extended scaffold 140 and an extended handrail 150 according to a second embodiment of the present invention may also be provided. Other embodiments of the present invention will be described below with reference to Figure 10. In describing the second embodiment, the differences from the above-described embodiment will be the main focus, and similar descriptions will be based on the above-described embodiment.

[0068] Referring to Figure 10, the extension scaffolding 140 can extend the working space of the main scaffolding 110 where workers can stand. The extension scaffolding 140 can extend horizontally from the main scaffolding 110. The extension scaffolding 140 may be provided so as to be able to rotate on the main scaffolding 110 around a center of rotation. The extension scaffolding 140 may be supported by the main scaffolding 110. The extension scaffolding 140 can be placed in an unextended or extended state by rotating in one direction. In the unextended state, the extension scaffolding 140 is oriented offset from the main scaffolding 110 and positioned inside the main scaffolding 110 when viewed from above. In the extended state, the extension scaffolding 140 can be oriented alongside the main scaffolding 110 and extend outside the main scaffolding 110 when viewed from above. That is, the extension scaffolding 140 is horizontally aligned with the main scaffolding 110 and protrudes outward from the main scaffolding 110 when viewed from above. The extended scaffolding 140 includes an extended plate 141 and an extended hinge 142.

[0069] The extension plate 141 expands the space of the main scaffolding 110. The extension plate 141 can be, but is not limited to, positioned on top of the main scaffolding 110. The extension plate 141 can be made of a flat plate. The extension plate 141 may be positioned to extend in the opposite direction from the counterbalance 260.

[0070] The extension hinge 142 connects the extension plate 141 and the main scaffolding 110, and may be provided to allow the extension plate 141 to be extended or folded in one direction. Part of the extension hinge 142 is connected to the extension plate 141, and the other part is connected to the main scaffolding 110.

[0071] The extension handrail 150 extends from the safety handrail 130 and can extend the workspace where workers can work safely. The extension handrail 150 can extend horizontally from the safety handrail 130. The extension handrail 150 can be positioned opposite to the counterbalance 260. The extension handrail 150 includes an extension side wall 151 and an extension door 152.

[0072] The extension side wall 151 projects horizontally from the handrail member 131. Multiple extension side walls 151 can extend parallel to each other on both sides. The extension side wall 151 may be provided in the form of a vertically erected plate.

[0073] The extension door 152 can be positioned between the ends of the extension side wall 151. The extension door 152 can be selectively rotated to open and close for workers to enter and exit. The extension door 152 may be hinged to be rotatably connected to the extension side wall 151.

[0074] Referring to Figure 10, the extended scaffolding 140 is provided with an extended plate 141 that extends in one direction, and the extended handrail 150 is provided with an extended side wall 151 that protrudes from one side of the handrail member 131, allowing workers to move to work positions where they cannot work using the safety handrail 130. This significantly expands the range of work that can be performed.

[0075] The multi-stage linear actuator 200 will be described below with reference to Figures 9 to 20.

[0076] The multi-stage linear actuator 200 can be easily extended by the blockchain 220, which is ejected or retracted from inside the operating body 210, pushing or pulling the telescopic extension legs 240. When multiple multi-stage linear actuators 200 extend downward, specifically when their length increases, the distance between their lower ends becomes wider, allowing them to maintain greater stability when ascending to higher points.

[0077] At this time, by providing a chain drive unit 230 that includes a drive sprocket 231 that rotates after being fitted to one side of the blockchain 220, and a chain motor 232 that rotates it, the blockchain 220 can be moved in one direction.

[0078] On the other hand, the operating unit 210 is provided with a chain storage section 212 inside the case 211 in which the blockchain 220 is housed, and a chain discharge channel 213 for discharging the blockchain 220 to the outside. By winding the blockchain 220 into the chain storage section 212, the overall volume of the operating unit 210 can be reduced.

[0079] Furthermore, by providing drive wheels 250 at the lower end of the telescopic legs 240, the multi-stage linear actuator 200 can move the work unit 100 in one direction or rotate it in a predetermined direction.

[0080] Referring to Figure 9, the multi-stage linear actuator 200, when a worker is working on one side of the work unit 100, provides a counterbalance 260 in the opposite direction, thereby maintaining the overall weight balance of the elevated work platform 40 and preventing tipping and falling accidents.

[0081] The multi-stage linear actuator 200 may include an operating body 210, telescopic legs 240, a blockchain 220, and a drive sprocket 231.

[0082] The operating unit 210 may include a predetermined internal space.

[0083] The telescopic legs 240 may include multiple telescopic legs 241, 242, 243, and 244, and may be connected to the operating body 210. Specifically, the telescopic legs 240 can overlap each other, and the outermost telescopic legs 241 are connected to the operating body 210, and can be extended by the supplied power to increase their overall length.

[0084] The blockchain 220 is wound and provided within the internal space of the operating body 210, and one end can be connected to one end of the innermost telescopic leg 241 among the multiple telescopic legs 241, 242, 243, and 244.

[0085] The drive sprocket 231 may be located within the internal space of the operating body 210, and more specifically, it is desirable that it be located in a position that engages with the blockchain 220.

[0086] Here, "internal space" can refer to an internal space distinct from the space in which the blockchain 220 is installed. The drive sprocket 231 rotates, transmitting the rotational force of the shaft to the blockchain 220, causing the blockchain 220 to move up or down. In response, the telescopic legs 240 connected to one end of the blockchain 220 can raise or lower some or all of the multiple telescopic legs 240.

[0087] Specifically, assuming there are four sets of multiple telescopic legs 241, 242, 243, and 244, and assuming the link furthest from the operating body 210 is the fourth telescopic member 244, as shown in Figure 13, the drive force supplied to the drive sprocket 231 from the outside causes the drive sprocket 231 to rotate. This rotational force causes the blockchain 220, which is wound around the internal space of the operating body 210, to unwind, extending the second to fourth telescopic members 242, 243, and 244, thereby extending the overall length of the multi-stage linear actuator 200. In other words, the overall length of the multi-stage linear actuator 200 can be adjusted by controlling the amount of rotation of the drive sprocket 231 via an external control means or a drive means provided on the multi-stage linear actuator 200. Furthermore, the total extended length, i.e., the height, of the multi-stage linear actuator 200 can be easily determined by the amount of rotation of the drive sprocket 231.

[0088] Looking again at Figure 14, as shown in Figure 14, the multi-stage linear actuator 200 may further include a chain motor 232.

[0089] The chain motor 232 may be coupled to the operating body 210 and can share an axis with the drive sprocket 231 to provide driving force to the drive sprocket 231, and may specifically be a motor including a brake.

[0090] As shown in Figures 15-16, the multi-stage linear actuator 200 may further include a fixed rod 238.

[0091] The fixing rod 238 can be inserted into and connected to the fourth telescopic member 244 at one end, and can be fixed with a general screw when fixed, but the present invention proposes a method including the following configuration.

[0092] Specifically, the fourth expandable member 244 may include a hole (not shown) of a predetermined size formed at one end in its extending direction.

[0093] Furthermore, the fixing rod 238 may include fixing jaws 238P formed at the other end and at a predetermined distance from the other end in opposing directions.

[0094] Furthermore, the multi-stage linear actuator 200 may further include a sliding block 238S having a projection that engages with the fixed jaw 238P through a hole.

[0095] In other words, a sliding block 238S can be inserted into one end of the fourth telescopic member 244 to facilitate sliding with the third telescopic member 243 while reducing play. At this time, the other end of the fixing rod 238 and the fixing jaws 238P formed in opposing directions at a predetermined distance from the other end catch on the protrusions formed on the inner surface of the sliding block 238S, preventing it from being inserted further into the fourth telescopic member 244 without slipping out downwards.

[0096] First, the blockchain 220 is formed to bend well in one direction and can be wound up and stored on the operating body 210 as shown in Figure 14, but does not bend well in other directions, so that when driven by the drive sprocket 231, it can effectively push out the multiple telescopic legs 240. A typical blockchain 220 has some play in the direction in which it does not bend well, thus providing a margin of safety. However, it is desirable that the blockchain 220 of the present invention has no play when the blockchain 220 is extended in a straight line in the direction in which it does not bend well. Specifically, the blockchain 220 can include multiple integrally formed blocks, and in this case, it is desirable that the play between blocks on the other side (other direction) of the blockchain 220 is smaller than the play between blocks on one side of the blockchain 220. This minimizes backlash errors due to bending during contraction or extension.

[0097] Furthermore, as shown in Figure 18, the blockchain 220 according to the present invention preferably includes the same thickness on the bending side relative to its total length, but also includes a width corresponding to the thickness of the telescopic legs 241, 242, 243, and 244 at the stage where the blockchain 220 moves and is located. Here, since the multiple telescopic legs 241, 242, 243, and 244 must be able to be inserted into and housed together, it is natural that the links in stages closer to the operating body 210 have larger diameters. This prevents the blockchain 220 from bending inside the telescopic legs 240, and at the same time has the effect of resisting external forces and bending that the telescopic legs 240 receive from the outside.

[0098] Furthermore, as shown in Figure 19, the multiple telescopic legs 241, 242, 243, and 244 according to the present invention may each include a guide groove 240G on its inner circumferential surface, which is a groove for moving the blockchain 220.

[0099] Specifically, if the thickness of the telescopic legs 240 exceeds a predetermined standard, guide grooves 240G are formed on the inner surface of the telescopic legs 240, which reduces relative rotation due to play in each telescopic leg 240, and has the effect of preventing the blockchain 220 from jamming due to the relative rotation of the telescopic legs 240.

[0100] Figure 20 is a schematic diagram showing the interior of a housing according to a different embodiment from Figure 14 of the present invention.

[0101] As shown in Figure 20, the operating body 210 may further include a fixed part 210F, and the multi-stage linear actuator 200 may further include a spiral spring 270.

[0102] The fixed portion 210F may be provided in the internal space of the operating body 210 where the blockchain 220 is wound, and it is preferable that it be provided in the center.

[0103] The spiral spring 270 can be fixed at one end to the fixing part 210F and at the other end to the other end of the blockchain 220.

[0104] As a result, as mentioned above, the blockchain 220 bends well in one direction but not well in the other direction, and when the multiple telescopic legs 241, 242, 243, and 244 are contracted, the spiral spring 270 can act as a guide if the blockchain 220 does not properly wrap around the operating body 210.

[0105] As the length of the multi-stage linear actuator 200 increases, the number of blocks in the blockchain 220 increases, and in situations where the spiral spring 270 is not sufficient to wind them up, a winding motor (not shown) can be fixed to the fixed part 210F to wind up or unwind the blockchain 220.

[0106] On the other hand, as shown in Figure 20, the multi-stage linear actuator 200 may further include a bearing 280.

[0107] The bearing 280 is provided in the internal space of the operating body 210 and can be positioned around the blockchain 220 in a location corresponding to the drive sprocket 231. This has the effect of closely fitting to the blockchain 220, fixing the blockchain 220 without causing it to wobble, and allowing the blockchain 220 to move smoothly.

[0108] Returning to Figure 14, according to another embodiment of the present invention, the multi-stage linear actuator 200 may further include a handle fixing portion 214.

[0109] The handle fixing portion 214 may be formed on the operating body 210. In this case, if the side of the operating body 210 on which the telescopic legs 240 are provided is considered one side, the handle fixing portion 214 can be formed on the opposite side. The direction in which the handle fixing portion 214 is formed is not limited to this, but it is more desirable that it be formed on the opposite side from the telescopic legs 240 and sharing the same axis, as this allows for better lifting and stability of the weight of the telescopic legs 240 and the blockchain 220. Furthermore, it is desirable that the handle fixing portion 214 be formed to include a predetermined space inside the operating body 210. This can also be formed on the outside of the operating body 210, but it is desirable that a predetermined space be formed inside to allow for more stable connection with other devices coupled to the handle fixing portion 214 and to support the weight more effectively.

[0110] Furthermore, looking again at Figure 14, in other embodiments of the present invention, the present invention may further include a handle 216.

[0111] The handle 216 can be fitted into the handle fixing portion 214. At this time, the handle 216 has a predetermined length, and a portion of its total length can be inserted into the internal space of the handle fixing portion 214 and fitted into it.

[0112] Furthermore, as shown in Figure 14, the multi-stage linear actuator system according to the present invention may include a multi-stage linear actuator 200 and a control device 300 that have the features described above.

[0113] The control device 300 is connected to the multi-stage linear actuator 200 and can control the position of the telescopic legs 240 included in the multi-stage linear actuator 200 in real time.

[0114] Furthermore, a button portion 215 can be included on one side of the handle fixing portion 214.

[0115] When the button 215 is activated by the user, the button 215 can give the control device 300 a command to move the telescopic leg 240 up and down, allowing the position of the telescopic leg 240 to be controlled in real time.

[0116] Specifically, the control device 300 is connected to the drive sprocket 231 of the multi-stage linear actuator 200, and the position of the telescopic leg 240 can be controlled in real time by controlling the rotation of the drive sprocket 231.

[0117] Although embodiments of the present invention have been described above as specific examples, these are merely examples, and the present invention is not limited thereto, but should be interpreted as having the broadest scope in accordance with the technical idea disclosed herein. Those skilled in the art can combine / substitute the disclosed embodiments to carry out patterns of shapes not specified, and this does not depart from the scope of the present invention. Furthermore, it is clear that those skilled in the art can easily modify or transform the embodiments disclosed herein, and such modifications or transformations also fall within the scope of the present invention.

Claims

1. A work unit that provides a workspace for the worker; Multiple multi-stage linear actuators configured to be extendable so as to raise and lower the work body to a predetermined height; and Includes a controller that controls the operation of the multi-stage linear actuator, The spacing between the multiple multi-stage linear actuators is arranged so that it increases as you go down. As the multiple multi-stage linear actuators extend, the distance between the lower ends of the multiple multi-stage linear actuators becomes larger. A work platform at height.

2. The aforementioned work unit is Main scaffolding; Multiple support structures extending from the main scaffolding; and Includes a safety handrail connected to the support base to prevent the worker from falling, The surface area of ​​the main scaffolding is larger than the surface area of ​​the safety handrail. The elevated work platform according to claim 1.

3. The aforementioned safety handrail is A handrail member with open top and bottom sections; A handrail door that rotates and opens / closes one side of the handrail member in one direction; and Includes a handrail seat positioned inside the handrail member so that a worker can sit, The elevated work platform according to claim 2.

4. The aforementioned work unit is Further including an extension scaffold that is rotatably connected to the main scaffold and expands the worker's workspace, The elevated work platform according to claim 2.

5. The aforementioned extended scaffolding is Rotating to either an extended state where it is positioned horizontally with the main scaffolding, or an unextended state where it is separated from the extended state, In the unextended state, it is oriented offset from the main scaffolding and positioned so that, when viewed from above, it is located inside the main scaffolding. In the extended state, when viewed from the vertical direction, the following protrudes outward from the main scaffolding: The elevated work platform according to claim 4.

6. The work unit further includes an extension handrail that extends horizontally from the safety handrail so as to expand the work space. The aforementioned extended handrail is The system includes a plurality of extension side walls projecting horizontally from the handrail member, and an extension door positioned between the ends of the plurality of extension side walls and configured to open and close selectively. The elevated work platform according to claim 3.

7. The aforementioned multi-stage linear actuator is Operating body including a predetermined internal space; Multiple telescopic legs connected to the aforementioned operating body; A blockchain, wound around the internal space of the operating body, with one end connected to one end of the innermost telescopic leg among the plurality of telescopic legs; and A drive sprocket is provided in the internal space of the operating body, positioned to engage with the blockchain, and transmits the rotational force of the shaft to the blockchain; The drive sprocket controls the movement of the blockchain, which is wound around the internal space of the operating body and provided therein, by a driving force supplied from the outside. The elevated work platform according to claim 1.

8. The aforementioned blockchain includes multiple blocks formed as a single unit, The gap between blocks on one side of the blockchain is smaller than the gap between blocks on one side of the blockchain, and when extended in a straight line, the smaller gap is below a predetermined standard, thus maintaining the straight line. The elevated work platform according to claim 7.

9. The multiple telescopic legs have larger diameters the closer they are to the operating body. The aforementioned blockchain is The thickness is the same as the total length, and the width is the same as the diameter of each of the plurality of telescopic legs on which the blockchain is located. The elevated work platform according to claim 7.

10. The aforementioned multiple telescopic legs are Each of these grooves further includes a guide groove on its inner surface, which is a groove for moving the blockchain; The elevated work platform according to claim 9.

11. A bearing provided inside the operating body and positioned in a location corresponding to the drive sprocket with respect to the blockchain; further including The elevated work platform according to claim 7.

12. A fixed part provided in the center of the internal space of the operating body in which the blockchain is provided; and A spiral spring having one end fixed to the aforementioned fixed part and the other end fixed to the other end of the blockchain; further comprising The elevated work platform according to claim 7.

13. An axis located at the center of the internal space of the operating body in which the blockchain is provided; and A winding motor that generates a rotational force for winding up and unwinding the blockchain, the winding motor having a rotating shaft fixed to the aforementioned shaft and a main body fixed to the aforementioned operating body; further comprising The elevated work platform according to claim 7.

14. A fixing rod inserted into and connected to one end of the innermost telescopic leg; further comprising The elevated work platform according to claim 7.

15. The innermost extendable leg includes a predetermined hole formed at one end; The fixing rod includes a fixing jaw formed at a predetermined position at the other end and in a direction opposite to each other from the other end; The multi-stage linear actuator further includes a sliding block having protrusions and recesses formed on its inner surface, each of which is inserted and coupled to the hole and the fixed jaw; The elevated work platform according to claim 14.

16. The operating body further includes a handle fixing portion formed on the opposite side of the axis to which the telescopic legs are connected; The handle fixing portion is formed in a predetermined space inside the operating body. The elevated work platform according to claim 7.

17. A handle fitted to the handle fixing portion; further including, The elevated work platform according to claim 16.

18. The aforementioned multi-stage linear actuator is The lower ends of the plurality of telescopic legs are further provided with drive wheels that move the work body in one direction. The elevated work platform according to claim 7.

19. The aforementioned multi-stage linear actuator is When work is performed on the main body of the workpiece in one direction, the system further includes a counterbalance positioned in the opposite direction to the work position in order to maintain weight balance. The elevated work platform according to claim 1.

20. Robot arm; A horizontal rail for moving the robot arm in one direction; The platform includes a work platform on which the horizontal rail is seated, The aforementioned elevated work platform is A work unit that provides a workspace for the worker; Multiple multi-stage linear actuators configured to be extendable so as to raise and lower the work body to a predetermined height; and Includes a controller that controls the operation of the multi-stage linear actuator, The spacing between the multiple multi-stage linear actuators is arranged so that it increases as you go down. High-altitude work robot.

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