阅读说明：本技术 一种自行走高空作业防护机器人 (Self-walking overhead working protection robot ) 是由 周振东 阳平 袁登浩 张宇豪 李乐乐 何雪浤 谢里阳 刘柏峰 刘薇 于 2020-12-07 设计创作，主要内容包括：本发明公开了一种自行走高空作业防护机器人,其包括底盘、伸缩臂和升降油缸,底盘的两侧分别安装有履带或者是行走轮,底盘上设置有伸缩臂支撑架和升降油缸支架,升降油缸支架的一端与底盘的顶部铰接,升降油缸支架的另一端与伸缩臂铰接,伸缩臂支撑架的底部固定在底盘上,伸缩臂支撑架的顶部与伸缩臂铰接,所述升降油缸的活塞杆的上端与伸缩臂铰接,升降油缸的下端与升降油缸支架的下端铰接,伸缩臂的顶部设置有飞臂,飞臂上设置有吊环或挂孔。本发明的自行走高空作业防护机器人在飞臂上提供安全绳的连接位置,可以通过伸缩臂的伸缩来调节作业高度,通过履带或者行走轮的运动来调节整车的位置,以适应作业,增加了高空作业安全性。(The invention discloses a self-walking overhead working protection robot which comprises a chassis, a telescopic arm and a lifting oil cylinder, wherein two sides of the chassis are respectively provided with a crawler belt or a walking wheel, the chassis is provided with a telescopic arm support frame and a lifting oil cylinder support frame, one end of the lifting oil cylinder support frame is hinged with the top of the chassis, the other end of the lifting oil cylinder support frame is hinged with the telescopic arm, the bottom of the telescopic arm support frame is fixed on the chassis, the top of the telescopic arm support frame is hinged with the telescopic arm, the upper end of a piston rod of the lifting oil cylinder is hinged with the telescopic arm, the lower end of the lifting oil cylinder is hinged with the lower end of the lifting oil cylinder support frame, the top of the telescopic arm is provided with a flying. The self-walking overhead working protection robot provided by the invention has the advantages that the connecting position of the safety rope is provided on the fly jib, the working height can be adjusted through the stretching of the telescopic jib, the position of the whole robot is adjusted through the movement of the crawler belt or the walking wheels, the self-walking overhead working protection robot adapts to the operation, and the overhead working safety is improved.)

1. The utility model provides a from walking high altitude construction protection robot, includes chassis, flexible arm and lift cylinder, the landing leg hydro-cylinder is installed to the bottom on chassis, a serial communication port, be provided with flexible arm support frame and lift cylinder support on the chassis, lift cylinder support's one end with the top on chassis is articulated, lift cylinder support's the other end with flexible arm is articulated, the bottom of flexible arm support frame is fixed on the chassis, the top of flexible arm support frame with flexible arm is articulated, lift cylinder's the upper end of piston rod is articulated with flexible arm, lift cylinder's lower extreme with lift cylinder support's lower extreme is articulated, the top of flexible arm is provided with the flying arm, the flying arm side direction stretches out outside the flexible arm, be provided with rings or hanging hole on the flying arm.

2. A self-propelled aerial work protection robot as claimed in claim 1 wherein the leg cylinders are hydraulic cylinders, the leg cylinders are vertically mounted on the chassis, and piston rods of the leg cylinders can be supported on the ground.

3. The self-walking overhead working protection robot as claimed in claim 2, wherein a landing leg oil cylinder barrel sealing plate is arranged on the chassis, the landing leg oil cylinder is mounted on the landing leg oil cylinder barrel sealing plate, and a support leg is arranged at the lower end of a piston rod of the landing leg oil cylinder.

4. The self-propelled aerial work protection robot of claim 3, wherein the telescopic arm comprises a first arm section, a second arm section, a third arm section and a fourth arm section, the first arm section, the second arm section, the third arm section and the fourth arm section are all tubular, the first arm section, the second arm section, the third arm section and the fourth arm section are sequentially and linearly arranged together, the first arm section is hinged with the top of the telescopic arm support frame through a pin shaft, the other end of the lifting cylinder support is hinged with the first arm section, the upper end of the lifting cylinder is hinged with the first arm section, one end of the second arm section extends into the first arm section, one end of the third arm section extends into the second arm section from the other end of the second arm section, one end of the fourth arm section extends into the third arm section from the other end of the third arm section, and the fly arm is arranged at the other end of the fourth arm section, the first knuckle arm is provided with a telescopic arm oil cylinder, one end of the second knuckle arm, which is close to the third knuckle arm, is provided with a connecting block, the outer end of a piston rod of the telescopic arm oil cylinder is fixed on the connecting block, one end of the second knuckle arm, which is close to the first knuckle arm, is provided with a second knuckle arm lower chain wheel, one end of the second knuckle arm, which is close to the third knuckle arm, is provided with a second knuckle arm upper chain wheel, one end of the third knuckle arm, which is close to the second knuckle arm, is provided with a third knuckle arm lower chain wheel, one end of the third knuckle arm, which is close to the fourth knuckle arm, is provided with a third knuckle arm upper chain wheel, the second knuckle arm upper chain wheel is wound with a first chain, one end of the first chain is fixed on the end of the first knuckle arm, which is close to the second knuckle arm, the other end of the first chain is fixed on the end of the third knuckle arm, which is close to the second knuckle arm, the second chain is wound with a second chain, one end of the second knuckle arm is fixed on the first, the other end of second chain is fixed and is served at second festival arm one near third festival arm, and it has the fourth chain to wind on the sprocket under the third festival arm, and the one end of fourth chain is fixed second festival arm is close to one of first festival arm and serves, and the other end of fourth chain is fixed fourth festival arm is close to one of third festival arm and serves, and it has the third chain to wind on the sprocket on the third festival arm, and the one end of third chain is fixed and is served at second festival arm one near third festival arm, and the other end of third chain is fixed and is served at fourth festival arm one near third festival arm.

5. The self-walking aerial work protective robot according to claim 4, wherein an installation shaft is axially arranged at the outer end of the fourth arm, a fly arm installation seat is installed on the installation shaft, and the fly arm is installed on the fly arm installation seat.

6. The self-propelled overhead working protection robot according to claim 5, wherein the number of the flying arms is two, one end of each of the two flying arms is mounted on the flying arm mounting base, and the other end of each of the two flying arms is a free end.

7. The self-walking overhead working protection robot as claimed in claim 4, wherein a fixed block is arranged on the first section arm near the second section arm, the fixed block is a nylon block made of nylon, and the upper end of the telescopic arm oil cylinder is fixed on the fixed block.

8. The self-propelled aerial work protective robot of claim 1, wherein the fly jib is a segmented structure, the fly jib comprising at least two sections of rods or tubes connected together end to end.

9. A self-propelled aerial work protection robot as claimed in claim 1 or 4 wherein crawler supports are mounted on each side of the chassis, and a crawler is mounted on each crawler support.

10. A self-propelled aerial work protection robot as claimed in claim 1 or 4 wherein two road wheels are mounted on each side of the chassis.

Technical Field

The invention relates to a self-walking overhead working protection robot, and belongs to the field of overhead working safety protection equipment.

Background

In the high-altitude operation, the installation and construction of heavy objects are often involved, the construction of the heavy objects is difficult if the heavy objects are constructed by manpower, the construction efficiency is low, and great potential safety hazards exist, so that the construction machine, such as an operation vehicle with the lifting and hoisting functions, is generally adopted to lift the operators to the high place for construction operation. But traditional aerial working platform operation scope has certain limitation, when needs are under construction to spacious roof, constructor can't be under construction on the platform, need walk out the platform and construct to the roof, because protective device, the safety rope does not have the department and hangs, makes constructor be in extremely dangerous environment, and personal safety can't obtain effectual guarantee.

Disclosure of Invention

The invention mainly solves the technical problem of providing a self-walking overhead working protection robot, wherein the self-walking overhead working protection robot is provided with a connecting position of a safety rope on a flying arm, the working height can be adjusted through the stretching of a telescopic arm, and the position of the whole protection robot is adjusted through the movement of a crawler belt or a travelling wheel so as to adapt to the operation and increase the overhead working safety.

In order to solve the technical problems, the invention adopts the technical scheme that: the utility model provides a from walking high altitude construction protection robot, it includes chassis, flexible arm and lift cylinder, the landing leg hydro-cylinder is installed to the bottom on chassis, be provided with flexible arm support frame and lift cylinder support on the chassis, lift cylinder support's one end with the top on chassis is articulated, lift cylinder support's the other end with flexible arm is articulated, the bottom of flexible arm support frame is fixed on the chassis, the top of flexible arm support frame with flexible arm is articulated, lift cylinder's the upper end of piston rod is articulated with flexible arm, lift cylinder's lower extreme with lift cylinder support's lower extreme is articulated, the top of flexible arm is provided with the fly jib, the fly jib side direction stretches out outside the flexible arm, be provided with rings or hanging hole on the fly jib.

In a preferred embodiment of the invention, the support oil cylinder is a hydraulic oil cylinder, the support oil cylinder is vertically arranged on the chassis, and a piston rod of the support oil cylinder can be supported on the ground.

In a preferred embodiment of the present invention, a leg oil cylinder sealing plate is disposed on the chassis, the leg oil cylinder is mounted on the leg oil cylinder sealing plate, and a support foot is disposed at a lower end of a piston rod of the leg oil cylinder.

In a preferred embodiment of the invention, the telescopic arm comprises a first knuckle arm, a second knuckle arm, a third knuckle arm and a fourth knuckle arm, the first knuckle arm, the second knuckle arm, the third knuckle arm and the fourth knuckle arm are all tubular, the first knuckle arm, the second knuckle arm, the third knuckle arm and the fourth knuckle arm are sequentially and linearly installed together, the first knuckle arm is hinged with the top of a telescopic arm support frame through a pin shaft, the other end of the lifting oil cylinder support frame is hinged with the first knuckle arm, the upper end of the lifting oil cylinder is hinged with the first knuckle arm, one end of the second knuckle arm extends into the first knuckle arm, one end of the third knuckle arm extends into the second knuckle arm from the other end of the second knuckle arm, one end of the fourth knuckle arm extends into the third knuckle arm from the other end of the third knuckle arm, the fly arm is arranged at the other end of the fourth knuckle arm, a telescopic arm oil cylinder is arranged on the first knuckle arm, and a connecting block is arranged at one end of the second section arm close to the third section arm, and the outer end of a piston rod of the telescopic arm oil cylinder is fixed on the connecting block. The telescopic boom is characterized in that a fixing block is arranged on the first boom section close to the second boom section, the fixing block is a nylon block made of nylon, the upper end of the telescopic boom oil cylinder is fixed on the fixing block, and the fixing block supports the telescopic boom oil cylinder. A second knuckle arm lower chain wheel is arranged at one end, close to the first knuckle arm, of the second knuckle arm, a second knuckle arm upper chain wheel is arranged at one end, close to the third knuckle arm, of the second knuckle arm, a third knuckle arm lower chain wheel is arranged at one end, close to the second knuckle arm, of the second knuckle arm, a third knuckle arm upper chain wheel is arranged at one end, close to the fourth knuckle arm, of the third knuckle arm, a first chain is wound on the second knuckle arm upper chain wheel, one end of the first chain is fixed at one end, close to the second knuckle arm, of the first knuckle arm, the other end of the first chain is fixed at one end, close to the second knuckle arm, of the third knuckle arm, a second chain is wound on the second knuckle arm lower chain wheel, one end of the second chain is fixed at one end, close to the second knuckle arm, of the first knuckle arm, the other end of the second chain is fixed at one end, close to the third knuckle arm, of the second knuckle arm, and a fourth chain is wound on the third knuckle arm lower chain wheel, one end of a fourth chain is fixed at one end, close to the first knuckle arm, of the second knuckle arm, the other end of the fourth chain is fixed at one end, close to the third knuckle arm, of the fourth knuckle arm, the third chain is wound on the chain wheel on the third knuckle arm, one end of the third chain is fixed at one end, close to the third knuckle arm, of the second knuckle arm, and the other end of the third chain is fixed at one end, close to the third knuckle arm, of the fourth knuckle arm.

In a preferred embodiment of the invention, a battery is disposed on the chassis.

In a preferred embodiment of the present invention, an outer end of the fourth arm is axially provided with a mounting shaft, a fly arm mounting seat is mounted on the mounting shaft, and the fly arm is mounted on the fly arm mounting seat.

In a preferred embodiment of the present invention, the number of the flying arms is two, one end of each of the two flying arms is mounted on the flying arm mounting base, and the other end of each of the two flying arms is a free end.

Preferably, the fly jib is of a sectional type structure, the fly jib at least comprises two sections of rod bodies or pipe bodies, and the two sections of rod bodies or pipe bodies are connected together in an end-to-end manner.

Preferably, the hanging ring or the hanging hole is arranged at the outer end of the fly arm.

Preferably, crawler supports are respectively installed on two sides of the chassis, and a crawler is installed on each crawler support.

Preferably, two traveling wheels are respectively installed on two sides of the chassis.

The invention has the beneficial effects that: the self-walking overhead working protection robot provides the connecting position of the safety rope on the fly jib, the fly jib can be designed to be rotatable, the fly jib rotates along with the position change of an operator, the working height can be adjusted through the stretching of the telescopic jib, and the position of the whole protection robot is adjusted through the movement of the crawler belt or the walking wheel so as to adapt to the operation and increase the overhead working safety.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:

fig. 1 is a schematic structural view of the self-propelled overhead working protection robot of the present invention when not deployed for work.

FIG. 2 is a schematic top view of the self-propelled aerial work protective robot of the present invention;

FIG. 3 is a schematic structural view of the self-propelled overhead working protection robot of the present invention during deployment;

fig. 4, 5, 6 and 7 are partial enlarged views of fig. 2;

FIG. 8 is a schematic structural view of a telescopic boom of the self-propelled overhead working protection robot of the present invention;

fig. 9 is a schematic structural view of a self-walking aerial working protection robot with walking wheels in an embodiment of the invention.

The reference numbers illustrate: 1. a support oil cylinder, 2, a chassis, 3, a telescopic arm, 4, a fly arm, 5, a pin shaft, 6, a battery, 7, a track, 8, a track support, 9, a support foot, 10, a telescopic arm support frame, 11, an oil tank, 12, an installation shaft, 13, a piston rod of the support oil cylinder, 14, a piston rod of the telescopic oil cylinder, 15, a telescopic arm oil cylinder, 16, a lifting oil cylinder support, 17, a support oil cylinder sealing plate, 18, a motor, 19, a piston rod of the lifting oil cylinder, 20, a lifting oil cylinder, 21, an alternating current-direct current electric control box, 22, a fixed block, 23, a first section arm, 24, a second section arm, 25, a third section arm, 26, a fourth section arm, 27, a fly arm installation seat, 28, a third section arm upper chain wheel, 29, a third chain, 30, a fourth chain, 31, a third section arm lower chain wheel, 32, a second section arm upper chain wheel, 33, a first chain, 34, a second chain, 35, a second section arm lower chain wheel, 36. a hanging ring or a hanging hole 37, a connecting block 38 and a road wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 8, an embodiment of the present invention includes: the utility model provides a from walking high altitude construction protection robot, its includes chassis 2, flexible arm 3 and lift cylinder 20, landing leg hydro-cylinder 1 is installed to the bottom of chassis 2, crawler support 8 is installed respectively to the both sides of chassis 2, install track 7 on the crawler support 8. Be provided with flexible arm support frame 10 and lift cylinder support 16 on the chassis 2, lift cylinder support 16's one end with chassis 2's top is articulated, lift cylinder support 16's the other end with flexible arm 3 is articulated, the bottom of flexible arm support frame 10 is fixed on chassis 2, the top of flexible arm support frame 10 with flexible arm 3 is articulated, lift cylinder's piston rod 19's upper end is articulated with flexible arm 3, lift cylinder 20's lower extreme with lift cylinder support 16's lower extreme is articulated, the top of flexible arm 3 is provided with flying arm 4, flying arm 4 side direction stretches out outside flexible arm 3, be provided with rings or hanging hole 36 on the flying arm 4.

As shown in fig. 9, two traveling wheels 38 are respectively mounted on two sides of the chassis 2, and the traveling wheels 38 replace the crawler belts 7, so that the self-propelled overhead working protection robot can also travel.

Preferably, the supporting leg oil cylinder 1 is a hydraulic oil cylinder, the supporting leg oil cylinder 1 is vertically installed on the chassis 2, and a piston rod 13 of the supporting leg oil cylinder can be supported on the ground.

Preferably, a landing leg oil cylinder barrel sealing plate 17 is arranged on the chassis 2, the landing leg oil cylinder 1 is arranged on the landing leg oil cylinder barrel sealing plate 17, and a supporting leg 9 is arranged at the lower end of a piston rod 13 of the landing leg oil cylinder. The supporting feet 9 can be supported on the ground, and the piston rods 13 of the supporting foot oil cylinders can be extended out to adjust the height and the smoothness of the chassis 2.

Preferably, the telescopic arm 3 includes a first arm section 23, a second arm section 24, a third arm section 25 and a fourth arm section 26, the first arm section 23, the second arm section 24, the third arm section 25 and the fourth arm section 26 are all tubular and are generally made of square tubes, the first arm section 23, the second arm section 24, the third arm section 25 and the fourth arm section 26 are sequentially and linearly installed together, the first arm section 23 is hinged to the top of the telescopic arm support frame 10 through a pin shaft (not shown in the figure), the other end of the lift cylinder support frame 16 is hinged to the first arm section 23, the upper end of the lift cylinder 20 is hinged to the first arm section 23, one end of the second arm section 24 extends into the first arm section 23, one end of the third arm section 25 extends into the second arm section 24 from the other end of the second arm section 24, one end of the fourth arm section 26 extends into the third arm section 25 from the other end of the third arm section 25, the fly arm 4 is provided on the other end of the fourth knuckle arm 26. The first knuckle arm 23 is provided with a telescopic arm oil cylinder 15, one end of the second knuckle arm 24 close to the third knuckle arm 25 is provided with a connecting block 37, and the outer end of a piston rod 14 of the telescopic arm oil cylinder is fixed on the connecting block 37. Be provided with fixed block 22 near second festival arm 24 department on the first festival arm 23, fixed block 22 is the nylon piece of nylon material, the upper end of flexible arm hydro-cylinder 15 is fixed on fixed block 22, and fixed block 22 plays the supporting role to flexible arm hydro-cylinder 15.

A second knuckle arm lower chain wheel 35 is arranged at one end of the second knuckle arm 24 close to the first knuckle arm 23, a second knuckle arm upper chain wheel 32 is arranged at one end of the second knuckle arm 24 close to the third knuckle arm 25, a third knuckle arm lower chain wheel 31 is arranged at one end of the third knuckle arm 25 close to the second knuckle arm 24, a third knuckle arm upper chain wheel 28 is arranged at one end of the third knuckle arm 25 close to the fourth knuckle arm 26, a first chain 33 is wound on the second knuckle arm upper chain wheel 32, one end of the first chain 33 is fixed at the end of the first knuckle arm 23 close to the second knuckle arm 25, the other end of the first chain 33 is fixed at the end of the third knuckle arm 25 close to the second knuckle arm 24, a second chain 34 is wound on the second knuckle arm lower chain wheel 35, one end of the second chain 34 is fixed at the end of the first knuckle arm 23 close to the second knuckle arm 24, and the other end of the second chain 34 is fixed at one end of the second knuckle arm 24 close to the third knuckle arm 25, a fourth chain 30 is wound on the lower chain wheel 31 of the third knuckle arm, one end of the fourth chain 30 is fixed to one end, close to the first knuckle arm 23, of the second knuckle arm 24, the other end of the fourth chain 30 is fixed to one end, close to the third knuckle arm 25, of the fourth knuckle arm 26, a third chain 29 is wound on the upper chain wheel 28 of the third knuckle arm, one end of the third chain 29 is fixed to one end, close to the third knuckle arm 25, of the second knuckle arm 24, and the other end of the third chain 29 is fixed to one end, close to the third knuckle arm 25, of the fourth knuckle arm 26.

Preferably, the chassis 2 is provided with a battery 6 and an oil tank 11, and is also provided with an alternating current-to-direct current electric cabinet 21 and a motor 18 for driving the crawler belt 7 or the travelling wheels 38 to work. The battery 6 can supply power to the motor 18 and to other motors (not shown) that drive the movement of several sprockets. The caterpillar tracks 7 may also be driven by fuel combustion in the fuel tank 11.

Preferably, an installation shaft 12 is axially arranged at an outer end of the fourth joint arm 26, a fly arm installation seat 27 is installed on the installation shaft 12, and the fly arm 4 is installed on the fly arm installation seat 27.

Preferably, the number of the flying arms 4 is two, one end of each of the two flying arms 4 is respectively installed on the flying arm installation base 27, and the other end of each of the two flying arms 4 is a free end.

Preferably, the fly jib 4 is a segmented structure, and the fly jib 4 at least comprises two rod bodies or pipe bodies (not shown in the figure) which are connected end to end.

Preferably, the hanging ring or hanging hole 9 is arranged at the outer end of the fly arm 4.

The working process of the protection robot is as follows: when the robot is not unfolded for operation, as shown in figure 1, when the robot needs to operate, the robot moves to an operation position by self-walking through the crawler belt 7 or the walking wheels 38, a power system is electrically driven, a rubber crawler belt can be adopted, the damage to the road surface is small, the climbing capability is strong, and the suitable operation environment diversity is achieved; after the protection robot is stable, a piston rod 19 of the lifting oil cylinder extends out, and the angle of the telescopic arm 3 is adjusted to be in a vertical state; then the height of the telescopic arm 3 is adjusted, the piston rod 14 of the telescopic oil cylinder extends out to push the second knuckle arm 24 to ascend, and the second knuckle arm 24 ascends to push the third knuckle arm 25 to ascend through the first chain 33; similarly, the fourth arm 26 is lifted by pushing the third chain 29 by lifting the third arm 25; the height of the telescopic arm 3 is adjusted to suit the work according to the position of the worker. The operating personnel is connected with one end of the safety rope and the other end of the safety rope is fixed on the hanging ring or the hanging hole 36, so that safe operation can be realized, and when an accident occurs, for example, the operating personnel steps on the air and the body is hung in the air, the operating personnel can be well protected, and the dangerous situations such as falling can not occur. After the operation is finished, the piston rod 14 of the telescopic oil cylinder falls back to drive the second knuckle arm 24 to descend, one end of the fourth chain 30 is fixed at the top of the first knuckle arm, the other end of the fourth chain bypasses the second knuckle arm lower chain wheel 35 to be connected with the bottom of the third knuckle arm 25, and the descending of the second knuckle arm lower chain wheel 35 drives the third knuckle arm 25 connected with the second chain 34 to descend; similarly, the fourth arm section 26 is driven by the third arm section 25 to fall back, and finally the telescopic arm 3 is contracted.

The fly jib 4 can be designed to be rotatable, and the fly jib mounting seat 27 can rotate around the mounting shaft 12 to rotate along with the position change of the operator, so that the operation of the operator is more convenient.

The self-walking overhead working protection robot provided by the invention provides a connecting position of the safety rope on the fly jib, one end of the safety rope on an operator can be hung on the fly jib, the working height can be adjusted by stretching of the telescopic jib, and the position of the whole protection robot is adjusted by the movement of the crawler belt or the walking wheel so as to adapt to the working requirement and increase the safety of overhead working.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.