CN-121986064-A - Lifting device

CN121986064ACN 121986064 ACN121986064 ACN 121986064ACN-121986064-A

Abstract

The lifting device comprises a machine body, more than two driving wheels, a self-energizing link and an angle linkage mechanism, wherein the more than two driving wheels are arranged in a mode of sandwiching a linear long object which is perpendicular to a horizontal plane at the same height, the self-energizing link is provided with a first end which is rotatably connected with the machine body and a second end which supports the driving wheels to be rotatable, when the more than two driving wheels hold the long object, the self-energizing link is arranged at an angle of less than 45 degrees relative to the horizontal plane, and the angle linkage mechanism of the self-energizing link links the plurality of self-energizing links so that the angles of the plurality of self-energizing links are equal.

Inventors

SUGAHARA YUSUKE
TAKEDA YUKIO
Asaka Taku
MATSUMOTO TAKESHI
Middle pool is auxiliary greatly

Assignees

三菱电机株式会社

Dates

Publication Date: 20260505
Application Date: 20231010

Claims (12)

1. A lifting device, wherein the lifting device comprises: a body; Two or more driving wheels disposed so as to sandwich a linear long object provided perpendicularly to the horizontal plane at the same height; A self-energizing link having a first end rotatably connected to the machine body and a second end rotatably supporting the driving wheels, the self-energizing link being disposed at an angle of 45 degrees or less with respect to a horizontal plane when the two or more driving wheels hold the long object, and And an angle linkage mechanism for the self-energizing links, wherein the angle linkage mechanism links the plurality of self-energizing links so that the angles of the plurality of self-energizing links are equal.
2. The lifting device according to claim 1, wherein, The lifting device is used as an elevator installation robot.
3. Lifting device according to claim 1 or 2, wherein, The lifting device is provided with a strip object alignment mechanism, and the strip object alignment mechanism is provided with: a slot provided in the body and having a size for the passage of the strip, and And the long strip body pressing part enables the long strip object to move to a specific position in the groove.
4. A lifting device according to claim 3, wherein, The lifting device has a mechanism for linking the operation of the angle linkage mechanism of the self-energizing link and the operation of the long object alignment mechanism.
5. The lifting device according to any one of claims 1 to 4, wherein, The angle linkage mechanism of the self-energizing connecting rod comprises: a moving part that is movable in a direction perpendicular to a horizontal plane; A handle fixed relative to the moving part; an angle linkage link having one end rotatably connected to the moving part and the other end rotatably connected to the self-energizing link, and And an elastic body that generates a force that pushes up the moving portion vertically upward.
6. The lifting device according to any one of claims 1 to 4, wherein, The angle linkage mechanism of the self-energizing link has a sector gear which is provided to the self-energizing link and is fixed in a state in which the teeth of the gears are engaged with each other.
7. A lifting device according to claim 3, wherein, The long object alignment mechanism comprises: A V-shaped groove disposed at an innermost portion of the V-shaped groove, the V-shaped groove being in contact with the elongated object in a state of contact with the driving wheel; a rod-shaped member rotatably mounted to the body, and And the long body pressing part is arranged right above or right below the V-shaped groove and is fixed on the rod-shaped member.
8. A lifting device according to claim 3, wherein, The strip alignment mechanism is provided with; a V-shaped groove disposed at an innermost portion of the elongated object in contact with the driving wheel, and The magnet is arranged right above or right below the V-shaped groove, The magnet is slidable between a position in contact with the elongated object and a position separated from the elongated object.
9. A lifting device according to claim 3, wherein, The long object alignment mechanism comprises: c-shaped fixing plate; a C-shaped rotating plate provided with a plurality of slits, and A plurality of blades disposed between the fixed plate and the rotating plate, the rotating shafts of the plurality of blades being fixed to the fixed plate and provided with protrusions inserted into the slits of the rotating plate, The strip-shaped object alignment mechanism is fixed on the machine body in a mode that the center of the fixing plate is consistent with the position of the strip-shaped object.
10. The lifting device according to claim 7, wherein, The lifting device is provided with a mechanism for linking the action of the angle linkage mechanism of the self-energizing connecting rod and the action of the strip alignment mechanism, The mechanism for performing the interlocking includes a protruding portion provided on the self-energizing link and a cylindrical cam provided on the rod-shaped member and driven by the protruding portion.
11. The lifting device according to any one of claims 1 to 10, wherein, The lifting device is provided with: two or more driven wheels disposed so as to sandwich the long article at the same height above or below the driving wheel; A self-energizing link for a driven wheel, the self-energizing link for a driven wheel having a first end rotatably connected to the machine body and a second end rotatably supporting the driving wheel, the self-energizing link for a driven wheel being disposed obliquely at an angle of 45 degrees or less with respect to a horizontal plane when the two or more driven wheels hold the long object, and A link connecting the self-energizing link and the driven wheel self-energizing link arranged vertically, The self-energizing links and the driven wheel are linked so that the angles of the self-energizing links are equal.
12. The lifting device according to any one of claims 1 to 11, wherein, A working unit provided with a sensor or device corresponding to a work is fixed to an upper side of the machine body or a lower side of the machine body.

Description

Lifting device Technical Field The present disclosure relates to a lifting device. Background The current state of the installation work of an elevator is performed by manual work, and automation using a robot or the like is desired in order to reduce the load of an operator. The hoistway of the elevator is a long space, and it is required to perform work while moving up and down. Therefore, a function of moving up and down a rope or the like provided in a hoistway is required. In addition, in the installation of the elevator, since the hard wire is initially provided between the top and the lowermost portion as the positioning in the horizontal direction, it is not necessary to provide a separate rope for moving the robot as long as the robot can travel on the hard wire. Patent document 1 discloses a device for traveling on a vertically arranged rope. Prior art literature Patent literature Patent document 1 Chinese patent application publication No. 109969279 Disclosure of Invention Problems to be solved by the invention Patent document 1 discloses a device that can travel by itself on a vertically installed rope, although not for elevator installation. Two sets of wheels are arranged vertically so as to sandwich the rope from three directions at the same height, and a total of 6 wheels are used to travel on the rope. When the device is attached to the rope, a part of the frame is removed and the rope is inserted from the lateral direction, and a part of the frame is closed. Further, since the wheel is pressed against the rope, it is necessary to adjust the length of the shaft for fixing the wheel to the frame by using nuts. Thus, the installation of the device is labor-intensive. The present disclosure has been made to solve the above-described problems. The present disclosure is directed to a lifting device capable of easily gripping a plurality of driving wheels of a lifting device capable of traveling on a vertically arranged linear long object to the long object. Means for solving the problems The lifting device comprises a machine body, more than two driving wheels, a self-energizing link and an angle linkage mechanism, wherein the more than two driving wheels are arranged in a mode of sandwiching a linear long object which is perpendicular to a horizontal plane at the same height, the self-energizing link is provided with a first end which is rotatably connected with the machine body and a second end which supports the driving wheels to be rotatable, when the more than two driving wheels hold the long object, the self-energizing link is arranged at an angle of less than 45 degrees relative to the horizontal plane, and the angle linkage mechanism of the self-energizing link links the plurality of self-energizing links so that the angles of the plurality of self-energizing links are equal. Effects of the invention According to the present disclosure, a lifting device can be provided in which a plurality of driving wheels of a lifting device capable of traveling on a vertically arranged linear long object can be easily gripped to the long object. Drawings Fig. 1 is a diagram showing a hoistway condition at the time of elevator installation using the elevator installation robot of embodiment 1. Fig. 2 is a front view of the robot for mounting an elevator in a state of holding a hard wire. Fig. 3 is a plan view of the elevator installation robot in a state of holding a hard wire. Fig. 4 is a front view of the elevator installation robot in a state of being separated from the hard wire. Fig. 5 is a plan view of the elevator installation robot in a state of being separated from the hard wire. Fig. 6 is a diagram showing an angle linkage mechanism of a self-energizing link using gears. Fig. 7 is a diagram showing an angle linkage mechanism of a self-energizing link using gears. Fig. 8 is a diagram showing a modification of the angle linkage mechanism of the self-energizing link using gears. Fig. 9 is a view showing a hard wire alignment mechanism. Fig. 10 is a plan view showing the relationship between the hard wire and the driving wheel in the case where the driving wheel is three wheels. Fig. 11 is a diagram showing a mechanism for interlocking the pressing of the handle with the alignment of the hard wire. Fig. 12 is a diagram showing the shape of the cylindrical cam. Fig. 13 is a front view of an elevator installation robot in a hard wire grip state according to embodiment 2. Fig. 14 is a perspective view showing an example of use of the elevator installation robot according to embodiment 3. Fig. 15 is a view showing a hard wire alignment mechanism different from that of fig. 9. Fig. 16 is a view showing still another hard wire alignment mechanism. Detailed Description Hereinafter, embodiments will be described with reference to the drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals, and description thereof is simplified or omitted. Furthermore, in t