CN111365596A

CN111365596A - Non-derailing lift truck and track lifter

Info

Publication number: CN111365596A
Application number: CN202010189488.2A
Authority: CN
Inventors: 王友林; 宋安福; 宋晓禹
Original assignee: Beijing Clementine Technology Co ltd
Current assignee: Beijing Clementine Technology Co ltd
Priority date: 2020-03-18
Filing date: 2020-03-18
Publication date: 2020-07-03

Abstract

The invention relates to a non-derailing lift truck and a track lifter, relates to the technical field of robots, and is used for ensuring the stability and safety of the operation of a robot. The non-derailing lift truck comprises a truck body and wheels arranged below the truck body, wherein the wheels comprise at least one first wheel and at least one second wheel. Because the inner side of the wheel rim of the first wheel is contacted with the inner side surface of the guide rail, the inner side of the wheel rim of the second wheel is contacted with the outer side surface of the guide rail, and the supporting surface of the first wheel and the supporting surface of the second wheel are both contacted with the supporting surface of the track. Therefore, the first wheel and the second wheel cannot be separated from the guide rail, and the derailing prevention function of the derailing-prevention lifting vehicle is realized.

Description

Non-derailing lift truck and track lifter

Technical Field

The invention relates to the technical field of robots, in particular to a non-derailing lift truck and a track lifter.

Background

At present, a vertical moving type track robot is a development branch of a robot for detecting and maintaining a high-rise building, a model of the robot is not formed at present, the application cases are very little, and some robots for detecting and maintaining the high-rise building are urgently needed. When the inspection and maintenance robot is mounted on the lift car, inspection and maintenance of a high-rise building can be performed by vertical movement of the lift car on the guide rail. Therefore, how to ensure that the lift truck safely runs on the guide rail without leaving the rail is a precondition for improving the stable running of the robot.

Disclosure of Invention

The invention provides a non-derailing lift truck and a track lifter, which are used for ensuring the stability and the safety of the operation of a robot.

According to a first aspect of the invention, the invention provides a derailing lift truck, which comprises a truck body and wheels arranged below the truck body, wherein the wheels are used for walking on a guide rail, the wheels comprise at least one first wheel and at least one second wheel, and the first wheel and the second wheel are oppositely arranged relative to the advancing direction of the truck body;

the inner side of the wheel rim of the first wheel is in contact with the inner side face of the guide rail, the inner side of the wheel rim of the second wheel is in contact with the outer side face of the guide rail, and the supporting faces of the first wheel and the second wheel are in contact with the supporting face of the track.

In one embodiment, the number of the first wheels and the number of the second wheels are two, the two first wheels are arranged at intervals in the advancing direction of the vehicle body, the two second wheels are arranged at intervals in the advancing direction of the vehicle body, and the distance between the two first wheels is equal to the distance between the two second wheels.

In one embodiment, one side of the lower part of the vehicle body is provided with a first bracket, and the other side of the lower part of the vehicle body is provided with a second bracket;

the first wheel is connected with the first bracket through a first wheel shaft; the second wheel is connected with the second bracket through a second wheel shaft.

In one embodiment, a limiting rotary bearing is arranged on the outer side of the first wheel and the outer side of the second wheel, the first wheel shaft is rotatably connected with the first support through the limiting rotary bearing, and the second wheel shaft is rotatably connected with the second support through the limiting rotary bearing.

In one embodiment, a rotary bearing is further disposed on the inner side of the first wheel, and the first wheel shaft is connected to the first bracket after passing through the limit rotary bearing, the first wheel and the rotary bearing in sequence.

In one embodiment, a traction rope clamp is further arranged at the lower middle position of the vehicle body.

According to a second aspect of the invention, the invention provides a rail elevator, which comprises the non-derailing lift car, a guide rail bracket and a guide rail arranged on the guide rail bracket, wherein wheels of the non-derailing lift car are arranged on the guide rail.

In one embodiment, the traction rope device further comprises a driving pulley, a driven pulley and a traction rope connecting the driving pulley and the driven pulley, wherein the traction rope passes through a traction rope clamp below the vehicle body.

Compared with the prior art, the invention has the advantages that: because the inner side of the wheel rim of the first wheel is contacted with the inner side surface of the guide rail, the inner side of the wheel rim of the second wheel is contacted with the outer side surface of the guide rail, and the supporting surface of the first wheel and the supporting surface of the second wheel are both contacted with the supporting surface of the track. Therefore, the first wheel and the second wheel cannot be separated from the guide rail, and the derailing prevention function of the derailing-prevention lifting vehicle is realized.

Drawings

The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.

Fig. 1 is a schematic structural view of a rail elevator in an embodiment of the present invention;

fig. 2 is a cross-sectional view at a-a of fig. 1.

Reference numerals:

1-a driving pulley; 2-a rail bracket; 3-a bolt; 4-a nut; 5-a guide rail; 6-derailing-free lifting vehicle; 7-a driven pulley; 8-a hauling rope;

601-a vehicle body; 604, 61-wheel; 602-a first support; 603-a slew bearing; 604a,604 b-a first wheel; 605-a first wheel axle; 606,612-limit swivel bearing; 607-a leash gripper; 608-a second wheel; 609-a second stent; 610-a second wheel axle; 611a,611 b-a second wheel.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1 and 2, according to a first aspect of the present invention, there is provided a derailing-free lift truck 6 for carrying a robot to perform works such as inspection, maintenance, and the like for a tall building. The derailment lift truck 6 includes a truck body 601 and a wheel 604,611 disposed below the truck body 601, the wheel 604,611 is configured to travel on the rail 5, the wheel 604,611 includes at least one first wheel 604 and at least one second wheel 611, and the first wheel 604 and the second wheel 611 are disposed opposite to each other with respect to a forward direction of the truck body 601.

Wherein the rim inner side a1 of the first wheel 604 is in contact with the inner side of the rail 5, the rim inner side B1 of the second wheel 611 is in contact with the outer side of the rail 5, and the support surface a2 of the first wheel 604 and the support surface B2 of the second wheel are both in contact with the support surface of the rail 5. That is, on the same rail 5, the first wheel 604 and the second wheel 611 have the wheel rims that are in contact with the inner and outer sides of the rail 5, respectively, and the support surfaces thereof are in contact with the support surfaces of the rail 5, respectively, so that the first wheel 604 and the second wheel 611 cannot be separated from the rail 5, thereby realizing the derailing prevention function of the derailing prevention lift truck 6.

Further, as shown in fig. 2, first wheels 604 are two in number,

first wheels

604a and 604b, respectively. The second wheels 611 are two in number, and are the

second wheels

611a and 611b, respectively.

First wheels

604a and 604b are disposed at intervals in the advancing direction of body 601,

second wheels

611a and 611b are disposed at intervals in the advancing direction of body 601, and the interval between

first wheels

604a and 604b is equal to the interval between

second wheels

611a and 611 b. That is, the first wheel 604a corresponds to the second wheel 611a, and the second wheel 604b corresponds to the second wheel 611b, so that the front and rear, left and right directions (or directions) of the derailing lift truck 6 are limited, and the wheels cannot be separated from the guide rail 5, thereby further ensuring the derailing function of the derailing lift truck 6.

Further, a first bracket 602 is provided on one side and a second bracket 609 is provided on the other side below the vehicle body 601. First wheel 604 and second wheel 611 are coupled to first support 602 and second support 609, respectively. The first wheel 604a and the second wheel 611a will be described as an example.

The first wheel 604a is coupled to the first frame 602 by a first wheel axle 605. Specifically, a limit rotary bearing 606 is disposed on an outer side of the first wheel 604a, and the first wheel axle 605 is rotatably connected to the first frame 602 through the limit rotary bearing 606. The inner side of the first wheel 604a is further provided with a rotary bearing 603, and the first wheel shaft 605 is connected with the first bracket 602 after sequentially passing through a limiting rotary bearing 606, the first wheel 604a and the rotary bearing 603.

That is, the pivoting bearing 603 and the limit pivoting bearing 606 are respectively disposed at both ends of the first wheel axle 605, so that both ends of the first wheel axle 605 can be rotatably connected to the first bracket 602.

The first wheel 604b is disposed in the same manner as the first wheel 604a, and will not be described herein.

A second wheel 611a is connected to a second support 609 by a second wheel axle 610. The second wheel 611a is provided with a limit rotary bearing 612 on the outer side, and the second wheel 611a is rotatably connected to the second support 609 through the limit rotary bearing 612.

Further, a hauling cable gripper 607 is arranged at the lower middle position of the vehicle body 601 and is used for gripping the hauling cable 8 so as to provide power for advancing the vehicle body 601.

The detection robot can be carried above the vehicle body 601, and can vertically move on the guide rail 5 along with the vehicle body 601 so as to perform operations such as detection, maintenance and the like on a tall building.

According to a second aspect of the present invention, the present invention provides a track elevator, including the above-mentioned derailing prevention lift truck 6, further including a rail support 2 and a rail 5 provided on the rail support 2, wherein a wheel 604,611 of the derailing prevention lift truck 6 is provided on the rail 5.

The guide rail 5 is fixed to the rail bracket 2 by fixing members such as bolts 3 and nuts 4.

In addition, the track elevator provided by the invention further comprises a driving pulley 1, a driven pulley 7 and a traction rope 8 for connecting the driving pulley 1 and the driven pulley 7, wherein the traction rope 8 passes through a traction rope clamp 607 below the car body 601. Generally, the driving pulley 1 is disposed below the driven pulley 7, and the derailing prevention cage 6 can vertically move on the guide rail 5 and cannot be separated from the guide rail 5 by the traction action of the traction rope 8.

While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims

1. A derailment-free lift car comprises a car body and wheels arranged below the car body, wherein the wheels are used for walking on a guide rail, the wheels comprise at least one first wheel and at least one second wheel, and the first wheel and the second wheel are oppositely arranged relative to the advancing direction of the car body;

2. The derailment-free lift truck of claim 1, wherein the number of the first wheels and the second wheels is two, the two first wheels are spaced apart in a forward direction of the truck body, the two second wheels are spaced apart in the forward direction of the truck body, and a spacing between the two first wheels is equal to a spacing between the two second wheels.

3. The derailment-free lifting car according to claim 1 or 2, wherein a first bracket is provided on one side of the lower part of the car body, and a second bracket is provided on the other side of the lower part of the car body;

4. The derailment lift truck of claim 3, wherein a limit slew bearing is disposed on each of an outer side of the first wheel and an outer side of the second wheel, the first wheel axle being rotationally coupled to the first bracket via the limit slew bearing, and the second wheel axle being rotationally coupled to the second bracket via the limit slew bearing.

5. The derailment prevention lift truck of claim 4, wherein a pivot bearing is further disposed on an inner side of the first wheel, and the first wheel shaft is connected to the first bracket after passing through the limit pivot bearing, the first wheel and the pivot bearing in sequence.

6. The derailment-free lift truck according to claim 1 or 2, wherein a traction rope holder is further provided at a lower middle position of the truck body.

7. A track elevator comprising the derailment prevention lift car of any of claims 1-6, further comprising a rail bracket and a rail disposed on the rail bracket, the wheels of the derailment prevention lift car being disposed on the rail.

8. The rail elevator of claim 7, further comprising a drive pulley, a driven pulley, and a pull-cord connecting the drive and driven pulleys, the pull-cord passing through a pull-cord holder below the car body.