CN108312159A - Multifunctional robot system and its application - Google Patents
Multifunctional robot system and its application Download PDFInfo
- Publication number
- CN108312159A CN108312159A CN201810340486.1A CN201810340486A CN108312159A CN 108312159 A CN108312159 A CN 108312159A CN 201810340486 A CN201810340486 A CN 201810340486A CN 108312159 A CN108312159 A CN 108312159A
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- China
- Prior art keywords
- robot
- supply station
- working face
- bridge plate
- access bridge
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The present invention relates to a kind of Multifunctional robot system and its applications, including the supply station that can be moved alone respectively and several robot cells, supply station is provided with power generating system and supply station mobile device, robot cell is provided with robot driving device, work implement and robot mobile device, supply station is connect with each robot cell respectively by connection cables, connection cables include branch power cable, and power generating system is respectively that each robot cell provides kinetic current by branch power cable.Several robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, and the supply station follows several robot cells to move.Individual supply station is arranged in the present invention, the executive device of robot is detached with its driving device and feedway, supply station constantly provides raw material and the energy to robot, reduces the weight and volume of robot side, extend its single working time, improves working efficiency.
Description
Technical field
The invention belongs to robot application technology field, more particularly to a kind of multi-function robot system with work capacity
System and its application.
Background technology
With the continuous development of modern science and technology technical merit, robot is widely used.Publication number
The Chinese invention patent of CN104802872A discloses a kind of climbing robot.Climbing robot E can be adsorbed on coarse exterior wall C
It is moved on surface.In general, climbing robot E usually obtains lasting power supply using pipe or electric wire D from external.Example
Such as, as shown in Figure 1, climbing robot E is when carrying out cleaning or spraying operation on vertical plane, climbing robot E is apart from roof B's
Highly at 100 meters, then, following problems may be encountered by climbing robot E：
（1）If climbing robot E comes with water tank or coating case and control unit（Such as：Control valve）If, climb wall machine
The weight of device people E can become to weigh very much, and huge gravity can cause climbing robot E to fall.
（2）If the raw materials such as water tank or coating case supply A is placed on roof, the raw materials such as water or paint just need to lead to
It crosses very long pipe D and is delivered to climbing robot E, the control that this has resulted in raw material supply amount is difficult.If the control of raw material
Component（Flow valve, pressure valve etc.）It is placed on roof, the length of pipe and cable（Such as it is 100 meters long）It will result in the serious time
Lag, time lag can lead to control failure, unstable problem.It is delivered to moreover, raw material flows through very long pipe and climbs wall machine
When device people E, it can generate on long tube and be greatly lost along journey, and then the pressure and underfed at robot cell end can be caused
It happens.If the control unit of raw material is mounted on climbing robot E, and the weight of climbing robot E can be caused big
Width increases, this is very unfavorable to climbing robot E.
（3）If power supply A is placed on roof, kinetic current（Electric current etc.）With regard to needing to convey by very long cable
To robot cell, the control that this has resulted in power is difficult.If the control unit of power（Transformer etc.）It is placed on roof, cable
The length of line（Such as it is 100 meters long）It will result in serious time lag, time lag can lead to control failure, unstable ask
Topic.Moreover, power flows through very long cable when being delivered to robot cell, it can generate on long cable and be greatly lost along journey,
And then the case where being short of power of climbing robot E can be led to.If the control unit of power is mounted on wall-climbing device
On people E, and the weight of climbing robot E can be caused to be significantly increased, this is very unfavorable to climbing robot E.
（4）By taking Fig. 2 as an example, climbing robot E laterally moves to position B from position A, and corresponding position can also occur for cable D
Set change.The weight of cable D can apply robot cell one lateral drag force.Also it just says, when climbing robot E is moved not
It obtains and does not drive cable D while movement.If cable D is very long, the quality of cable D is just very heavy.To mobile wall-climbing device
For people E, cable D becomes very big inertia load, seriously affects the movenent performance of climbing robot E.Also, in order to support
Imperial immesurable lateral drag force, the adsorbent equipment of climbing robot E have to always work in the state of maximum adsorption power,
Which results in the energy consumption of adsorbent equipment is excessive.
（5）The long cable D of connection climbing robot E and roof supply arrangement A is suspended on high-altitude.High-altitude exists acutely horizontal
Wind, beam wind apply active force on cable, cause cable to swing, also, the active force can be acted directly on by cable D and climb wall
On robot E, the lateral drag force to climbing robot E is formed, calls beam wind drag force in the following text.Also, the beam wind drag force with
The state of high-altitude beam wind changes, and is the active force of a unstable, difficult prediction.If cable D is very long（Hundred meters or more
It is long）, which can become very big, seriously affect the stability of climbing robot E.
（6）During implementing operation, it would be desirable to according to the movement of climbing robot E come folding and unfolding cable D.Ideal feelings
Under condition, the folding and unfolding length and speed of cable D can be counted according to the relative position of the feed unit A of climbing robot E and roof B
It calculates.But the connection cable D between climbing robot E and the feed unit A of roof is the fixed flexible wire body in a both ends
Problem, cable D is also influenced by factors such as gravity, beam wind active forces, and cable D is longer, is influenced more notable.Then, this is soft
Property wire body problem become very complicated, solve difficult, and then result in and be difficult to the accurately movement according to robot to control cable D's
Folding and unfolding length and speed.Cable D folding and unfoldings obtain it is inappropriate if, the movement of climbing robot E will certainly be brought very serious
It influences.
It is found that the improvement for climbing wall Work robot needs to overcome above-mentioned technical barrier.
Invention content
Technical problem to be solved by the present invention lies in, a kind of Multifunctional robot system having work capacity is provided,
The Multifunctional robot system can solve the multiple technical barriers being previously mentioned in background technology.
The invention is realized in this way a kind of robot system is provided, including mobile supply station and several robot lists
Member, and the draft gear of supply station movement is driven, the supply station is provided with power generating system；The supply station passes through company
Wiring cable is connect with each robot cell respectively, and the connection cables include branch power cable, the power generating system
It is respectively that each robot cell provides kinetic current by branch power cable；The robot cell is provided with robotically-driven
Device, work implement, robot adsorbent equipment and robot mobile device, the robot driving device pass through band motivation
Device people's mobile device makes robot cell be moved on working face, and several robot cells pass through robot adsorbent equipment
It is attached on working face and moves；Several robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, described
Supply station follows several robot cells to move.
Further, the supply station is additionally provided with supply station mobile device and supply station adsorbent equipment, the supply station
Adsorbent equipment makes supply station be adsorbed on working face, and the supply station mobile device is in contact with working face so that supply station
It is moved on working face.
Further, at least one block of access bridge plate, at least part of the access bridge plate are additionally provided on the supply station
It can store and be arranged on supply station with being unfolded；When the access bridge plate is in unfolded state, the access bridge plate at least side
While being placed on working face, it is in contact with working face；The robot cell is from a side being in contact with working face
It is moved on access bridge plate, then is moved on working face from the side of other or the same access bridge plate that are in contact with working face.
Further, recovery capsule is additionally provided on the supply station, the recovery capsule at least accommodates a robot list
Member, the robot cell can be moved in recovery capsule from working face and recycle, and be moved out to work from the recovery capsule
Make face.
Further, recovery capsule is provided on the access bridge plate, the recovery capsule at least accommodates a robot cell,
At least one side of access bridge plate is placed on working face, is in contact with working face, and the robot cell can be from work
It is recycled in the recovery capsule that face is moved to access bridge plate, and working face is moved out to from the recovery capsule of the access bridge plate.
Further, recovery capsule is additionally provided on the supply station, the recovery capsule at least accommodates a robot list
Member, the robot cell can be moved in the recovery capsule of supply station by access bridge plate from working face and be recycled, and from institute
It states in the recovery capsule of supply station and is moved out to working face.
Further, the side of the recovery capsule is provided with limiting device, the position for limiting robot cell.
The invention is realized in this way providing a kind of application of Multifunctional robot system as the aforementioned, several machines
Device people's unit application is wall surface cleaner device people, and it is metope clearing apparatus, several machines that the work implement, which is applied,
The walking working face of people's unit is vertical or inclined building wall, and the draft gear includes hoist engine, the hoist engine
In top of building, the hoist engine follows several robot cells to move up and down by hanging cable traction supply station for setting,
Several robot cells carry out washing and cleaning operation to building wall, and several robot cells are pasted by its adsorbent equipment
It is attached to metope walking, water source is set on the supply station, and the connection cable includes branch power cable and branch water pipe, institute
Supply station is stated by branch water pipe to each robot cell's supplying clean water.
Further, photographic device and robot wireless distance finding signal are additionally provided on several robot cells
It stands, the image of the photographic device shooting is emitted to remote control system by wireless launcher, is set on the building
It is equipped with the radio positioner communicated with robot wireless signal station, the radio positioner is also by remote control system control
System.
Compared with prior art, individual supply station is arranged in Multifunctional robot system of the invention and its application, by machine
The executive device of device people is detached with its driving device and feedway, and supply station constantly provides raw material and energy to robot
Source reduces the weight and volume of robot side, extends its single working time, improves the stabilization of working efficiency and robot cell
Property, controlling, can also reduce energy consumption.
Description of the drawings
Fig. 1 is existing climbing robot operating diagram；
The existing climbing robot that Fig. 2 is Fig. 1 movement front and back status diagram in position on wall；
Fig. 3 shows for the plane of the first embodiment of the Multifunctional robot system of the present invention, second embodiment and the 7th embodiment
It is intended to；
Fig. 4 is the side view of cleaning robot in Fig. 3；
Fig. 5 is the use state floor map of the 3rd embodiment of the Multifunctional robot system of the present invention；
Fig. 6 is the use state floor map of the fourth embodiment of the Multifunctional robot system of the present invention；
Fig. 7 is the supply station use state diagrammatic cross-section of the 5th embodiment of the Multifunctional robot system of the present invention；
Fig. 8 is that the supply station in Fig. 7 passes through the schematic diagram of raised barrier by access bridge plate；
Fig. 9 is the schematic diagram that the driving wheel of the supply station in Fig. 7 passes through raised barrier；
Figure 10 is the diagrammatic cross-section of the recovery capsule in Fig. 7；
Figure 11 is the use state floor map of the sixth embodiment of the Multifunctional robot system of the present invention；
Figure 12 is the use state floor map of the 8th embodiment of the Multifunctional robot system of the present invention.
Specific implementation mode
In order to make technical problems, technical solutions and advantages to be solved be more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
Embodiment one：
Shown in Fig. 3 and Fig. 4, the preferred embodiment of Multifunctional robot system of the present invention, including mobile supply
Stand 1 and several robot cells 2, and drives the draft gear of supply station movement.The draft gear drives supply station 1 to move
It is dynamic.Draft gear draws supply station 1 by rope 7.The supply station 1 can only be led without active locomotivity by draft gear
Draw mobile.
The supply station 1 is provided with power generating system.The robot cell 2 is provided with robot driving device, work
Make executive device, robot adsorbent equipment 4 and robot mobile device 13.The supply station 1 by connection cables 3 respectively with often
A robot cell 2 connects.The robot driving device makes robot cell 2 in work by band mobile robot mobile device
Make to move on face.The power generating system is respectively that each robot cell 2 provides kinetic current by connecting cable 3.Power
Stream includes power supply, high-pressure air source, hydraulic power source and high-pressure water etc..The robot adsorbent equipment 4 allows robot cell 2 to be adsorbed on
It is moved on surface where it.
Several robot cells 2 can move and work on vertical, inclined surface, can also be in ceiling
Upper movement and work, the supply station 1 follow several robot cells to move.Several robot cells 2 are with described
It walks in the range of centered on supply station 1.For example, the work implement of several robot cells 2 can be video camera,
Implement shooting operation.In another example the work implement of several robot cells 2 can be sonic analyzer, implement to make
The flaw detection work on industry surface.
The supply station 1 is provided with power generating system.Power generating system is from below or top is by conveying cable 14
Obtain lasting kinetic current.In the example of Fig. 3, power generating system obtains lasting kinetic current by conveying cable 14 from below.
Power generating system can also self-powered source, such as accumulator etc., kinetic current is conveyed to machine from power source by connecting line 3
People's unit 2.
By taking reflectoscope as an example, work implement is exactly ultrasonic probe.Ultrasonic signal amplifies to be handled with storage
Usually all than heavier, we can be placed on these on supply station 1 than relatively heavy component component.In this case, robot list
The weight of member 2 can mitigate, to solve the problems, such as described in background technology（1）.
Again for cleaning metope, work implement is exactly brush unit, and the device of ejected wash water is provided for cleaning metope
Referred to as raw material supplier（Raw material in this refer in particular to ejected wash water）.Raw material supplier generally comprises booster pump and control
The components such as valve processed, therefore weight is very big.We can be mounted on work implement on robot cell 2, raw material supply
Device is mounted on supply station 1.Include the bye-pass of raw material in conveying cable 14, ejected wash water is transported to the original on supply station 1
Material feeding apparatus.Connecting line 3 includes the bye-pass of raw material, and ejected wash water flows through the bye-pass and is delivered to robot cell's 2
Work implement.Connecting line 3 is meter long usually only more than ten.Raw material streams will not when being transmitted in more than ten meters long of connection cables
It causes apparent time lag and is lost along journey, so as to ensure being sufficiently fed and effectively controlling for raw material streams.It solves
The problem of described in background technology（2）.
In the present embodiment, the power generating system of supply station 1 provides power by connection cables 3 to robot cell 2
Stream.Connection cables 3 are meter long usually only more than ten.Kinetic current will not cause significantly when being transmitted in more than ten meters long of connection cables
It time lag and is lost along journey, so as to ensure being sufficiently fed and effectively controlling for kinetic current.Solves institute in background technology
The problem of stating（3）.
Also, robot cell 2 is when moving, need to only drive more than ten meters long of connecting line 3, for robot cell 2,
This is a smaller inertia load, can't be impacted to the travelling performance of robot cell 2, solve background technology
Described in the problem of（4）.
Embodiment two：
Shown in Fig. 3 and Fig. 4, as a change case of embodiment one, the supply station 1 is additionally provided with supply station
Adsorbent equipment and supply station mobile device（It is not shown in Fig. 3）.For working at height, the rope 7 of hanging supply station 1 may be up to
Tens meters or even rice up to a hundred.There are violent beam wind, beam wind applies active force on rope 7, causes rope 7 to swing, in turn in high-altitude
Supply station 1 is caused to swing.The supply station 1 of swing can pull robot cell 2 by connecting cable 3, seriously affect robot list
The stability of member 2.The supply station mobile device includes multiple wheels.The supply station adsorbent equipment is attached to by supply station 1
On working face, contact and frictional force are generated between the wheel and working face to make supply station mobile device.Frictional force can gram
The beam wind drag force of rope 7 is taken, therefore, beam wind drag force is not transmitted on connection cable 3, is also not transmitted to machine
On people's unit 2, to eliminate the influence of immesurable beam wind drag force, it is ensured that the stability of robot cell 2.It eliminates
The adsorbent equipment 4 of the influence of uncertain beam wind drag force, robot cell 2 need not always work in maximum adsorption power
State, therefore, the energy consumption of adsorbent equipment 4 just become smaller.The problem of this has just been well solved described in background technology（5）.
In the present embodiment, supply station adsorbent equipment is attached to by supply station 1 on working face, and beam wind drag force etc. becomes at random
The frictional force that the external force of change is supplied between station 1 and work surface overcomes.Therefore, robot cell 2, supply station 1 and connection cable 3
The fixed flexible wire body problem in the both ends that are formed becomes simple, and robot cell 2 can be in the length range of connection cable 3
It moves freely.The problem of this has just been well solved described in background technology（6）.
Embodiment three：
Fig. 5 is a change case of embodiment two.The supply station 1 is additionally provided with supply station mobile device and supply station absorption dress
It sets（It is not shown in figure）.The supply station mobile device includes multiple wheels.One piece of access bridge is additionally provided on the supply station 1
At least part of plate 15, the access bridge plate 15 can store and be arranged on supply station 1 with being unfolded；When the access bridge plate 15 is in
When unfolded state, 15 at least a side of the access bridge plate is placed on working face, and the robot cell 2 moves from the side
Access bridge plate 15 is removed onto access bridge plate 15, and from other sides.One block of access bridge plate 15 is provided on the supply station 1 of Fig. 5.Access bridge plate
15 a side is mounted on supply station 1, and is rotated using the side as axis, so as to store and be unfolded.When access bridge plate
15 be in unfolded state when, multiple contact aside metopes 5 of access bridge plate 15.Robot cell 2 is from a side of access bridge plate 15
It is moved on access bridge plate 15, and access bridge plate 15, mobile route as shown in broken line in fig. 5 is removed from another side.Machine
After people's unit 2 crosses groove F, access bridge plate 15 rotates certain angle and is in receiving state, and metope is left in the side of access bridge plate 15
5, avoiding supply station 1, the side of access bridge plate 15 and metope 5 generate friction when moving.
The embodiment is such as interior on many high buildings suitable for having the occasion of deep and wide groove F or offset on working face
Sunken modification slot.Because in working face there are groove or offset, occur working face it is discontinuous when, embodiment one and embodiment two
Robot cell 2 be that can not cross groove F or offset, so as to cause can not operation.And the present embodiment passes through access bridge plate 15
Robot cell 2 can be moved on groove F or the working face of offset another side by bridging effect, realize the company of robot cell 2
Continuous operation.
Example IV：
It please refers to shown in Fig. 6, a change case as embodiment three.Three blocks of access bridge plates are provided on the supply station 1 of Fig. 6 altogether
15.A side of access bridge plate 15 is mounted on supply station 1, and is rotated using the side as axis, so as to store and be unfolded.
When access bridge plate 15 is in unfolded state, another contact aside metope 5 of access bridge plate 15.Robot cell 2 is moved to one piece and draws
On bridge plate 15, and removed from another block access bridge plate, the mobile route as shown in the dotted line in Fig. 6.Robot cell 2 crosses ditch
After slot F, access bridge plate 15 rotates certain angle and is in receiving state, and the side of access bridge plate 15 leaves metope 5, avoids supply station 1
The side of access bridge plate 15 and metope 5 generate friction when moving.
The present embodiment is acted on by the bridging of access bridge plate 15 by robot cell 2 is moved to groove F or offset another side
Working face on, realize that robot cell 2 works continuously.
Embodiment five：
It please refers to shown in Fig. 7, another the change case as embodiment two.Fig. 7 is supplied with the sectional view at station 1.The supply
It stands and 1 is provided with supply station mobile device and supply station adsorbent equipment.The supply station mobile device includes multiple wheels 17.It is described
Recovery capsule 16 is additionally provided on supply station 1, the recovery capsule 16 at least accommodates a robot cell 2, the robot cell 2
It can be moved to from working face 5 in recovery capsule 16 and carry out recycling or being moved out to from recovery capsule 16 working face 5.In the recycling
The outside portion in cabin 16 is provided with access bridge plate 15, and the access bridge plate 15 can be stored or be unfolded.When in the expanded state, access bridge plate 15
At least one side be placed on working face 5, be in contact with working face 5.The robot cell 2 is moved by access bridge plate 15
It moves in recovery capsule 16.If recovery capsule 16 is placed very close to working face, it is possible to not need access bridge plate 15, machine
People's unit 2 can directly enter recovery capsule 16.
The embodiment is applicable not only to the occasion for the groove F for having deep and wide on working face, is also applied for having on working face convex
Play the occasion of G.The operation principle of the specific obstacle detouring of the present embodiment is as follows：
The access bridge plate 15 of recovery capsule 16 is in unfolded state, a contact aside working surface of access bridge plate 15.Robot cell 2
The recovery capsule 16 of supply station 1 is moved to by access bridge plate 15.Then, access bridge plate 15 is packed up in receiving state.With robot
The supply station 1 of unit 2 crosses the obstacles such as groove F or protrusion G by draft gear and the completion of supply station mobile device.Work as protrusion
When the height of G barriers is less than 17 radius of wheel of supply station mobile device, wheel 17 can be the driven wheel of no driving.When convex
When playing radius of the G barriers higher than the wheel 17 of supply station mobile device, wheel 17 must be the driving wheel for having driving.Driving wheel
Frictional force can be generated between raised G to help supply station 1 to cross raised G barriers, as shown in Figure 9.Supply station 1 gets over excess convexity
After playing G barriers, access bridge plate 15 is unfolded again, and robot cell 2 is moved to working surface and continues to implement operation.
Bridging scheme described in embodiment three and four can only help robot cell 2 by recessed trench F obstacles, and for
Two kinds of following situations are then invalid.（1）When groove F is very wide（For example, 5 meters of wide grooves）, bridging scheme needs
At least 5 meters long access bridge plates 15, it is obvious that 5 meters long of access bridge plate 15 is too big for supply station 1, and confession can be significantly increased
To the size and weight at station 1；（2）When robot system will be by very high raised G barriers, as shown in figure 8, bridging scheme
Access bridge plate 15 can by raised G barriers jack up, cause the side of access bridge plate 15 that can not contact working surface, then, robot
Unit 2 also can not just be moveable into and out access bridge plate 15.Scheme described in the present embodiment can solve above two problem very well.
In addition, controllable limiting device 18 can also be arranged on recovery capsule 16.When robot cell 2 enters recovery capsule 16
Afterwards, spacing unit in unlocking 18 make robot cell 2 be limited in recovery capsule 16.So, the mistake moved in supply station 1
Cheng Zhong, robot cell 2 would not fall from recovery capsule 16, it is ensured that the safety of robot cell 2.For example, limit dress
It can drive an ejector pin 20 by electromagnet 19 to set 18, and ejector pin 20, which stretches out, realizes limit.As shown in Figure 10.
Embodiment six：
Embodiment shown in Figure 11 is a variation of embodiment five.Figure 11 is supplied with the top plan view at station 1.Recovery capsule 16
It is arranged on access bridge plate 15.When recycling machine people's unit 2, access bridge plate 15 and recovery capsule 16 are unfolded together, one end of access bridge plate 15
Contact working surface.
Embodiment seven：
Referring to Fig. 3 and Fig. 4, a special application as the present invention, by applying for robot system above-mentioned
Building wall cleaning applications.The application of several robot cells 2 is wall surface cleaner device people, the work implement application
Walking working face for metope clearing apparatus, several robot cells 2 is vertical or inclined building wall 5, described
Draft gear includes hoist engine 6.In the present embodiment, the supply station 1 and the walkway surface of several robot cells 2 are building
Object metope 5.The top of building B is provided with hoist engine 6, the hoist engine 6 draws 1 edge of supply station by hanging rope 7
Metope moves up and down.Several robot cells 2 are that wall surface cleaner device people carries out washing and cleaning operation to building wall, in institute
State setting clearing apparatus 8 on wall surface cleaner device people.Several robot cells 2 are attached to metope 5 by its adsorbent equipment 4
Walking.In the supply station 1, water source supply is set（It is not shown in figure）.Water source supply can be one and be arranged on supply station 1
Water tank and pressure pump, pressure pump is by the water pressurized delivered of water tank to robot cell 2.Water source supply can also be to pass through
Raw material transfer pipeline is from outside（Such as roof）Persistent pressure water source is obtained, water source passes through the raw material transfer on supply station 1
Pipeline transport is to robot cell 2.The connection cable 3 includes branch power cable and branch water pipe, and the supply station 1 passes through
Branch water pipe gives 2 supplying clean water of each robot cell.
Photographic device 9 and robot wireless distance finding signal station 10 are additionally provided on several robot cells 2.It is described
The image that photographic device 9 is shot is emitted to remote control system by wireless launcher, and image is supervised for assist operators
Control and manipulation.Several radio positioners with 10 communication of robot wireless distance finding signal station are provided on the building
11, the position for obtaining robot cell.
Embodiment eight：
Robot cell 2 is accommodated into supply station 1 in embodiment five and embodiment six, makes robot cell 2 and supply station `1
As an entirety.But the design scheme of recovery capsule and access bridge plate makes the structure of supply station become complicated, weight increase.This
Embodiment proposes a kind of deformation scheme.Specific implementation mode is：Phase is respectively set on supply station 1 and several robot cells 2
The attachment device 21 that mutually can be connected and disengage.The attachment device 21 includes that rotary hook is arranged on the supply station 1
Son 22, and the hook circle 23 for being connected with each other and disengaging with hook 22 is set on the robot cell 2.Attachment device 21 can be with
Supply station 1 and robot cell 2 is set to be connected with each other and disengage.It is the schematic diagram of the embodiment as shown in figure 12.On supply station 1
Rotary hook 22 is set, hook circle 23 is set on robot cell 2.When robot cell 2 is close to supply station 1, hook
Son 22 rotates and catches on hook circle 23, completes the interconnection of robot cell 2 and supply station 1.When in the state of interconnection, supply
Power or generation can also be completely lost to station 1 in robot cell 2 with robot cell 2 by the groove of recess
Ensure that robot cell 2 does not fall out in the case of failure.Various design schemes can be had by being connected with each other device, then for example：Hook
Son is arranged on robot cell, and hook circle is arranged on supply station, for another example phase is respectively set on supply station and robot cell
The magnetic absorption component mutually adsorbed, mutual connection is realized by magnetic absorption.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (11)
1. a kind of Multifunctional robot system, which is characterized in that including mobile supply station and several robot cells and band
The draft gear of dynamic supply station movement, the supply station are provided with power generating system；The supply station passes through connection cables point
It is not connect with each robot cell, the connection cables include branch power cable, and the power generating system passes through branch
Power cable is respectively that each robot cell provides kinetic current；The robot cell is provided with robot driving device, work
Make executive device, robot adsorbent equipment and robot mobile device, the robot driving device is moved by band mobile robot
Dynamic device makes robot cell be moved on working face, and several robot cells are attached to by robot adsorbent equipment
It is moved on working face；Several robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, the supply station
Several robot cells are followed to move.
2. Multifunctional robot system as described in claim 1, which is characterized in that the supply station is additionally provided with supply station shifting
Dynamic device and supply station adsorbent equipment, the supply station adsorbent equipment make supply station be adsorbed on working face, and the supply station moves
Dynamic device is in contact with working face so that supply station moves on working face.
3. Multifunctional robot system as claimed in claim 2, which is characterized in that be additionally provided at least on the supply station
At least part of one block of access bridge plate, the access bridge plate can store and be arranged on supply station with being unfolded；At the access bridge plate
When unfolded state, described access bridge plate at least a side is placed on working face, is in contact with working face；The robot
Unit is moved to from a side being in contact with working face on access bridge plate, then from be in contact with working face other or
The side of same access bridge plate is moved on working face.
4. Multifunctional robot system as claimed in claim 2, which is characterized in that be additionally provided with recycling on the supply station
Cabin, the recovery capsule at least accommodate a robot cell, and the robot cell can be moved to from working face in recovery capsule
It is recycled, and working face is moved out to from the recovery capsule.
5. Multifunctional robot system as claimed in claim 3, which is characterized in that be provided with recycling on the access bridge plate
Cabin, the recovery capsule at least accommodate a robot cell, and at least one side of access bridge plate is placed on working face, with work
It is in contact as face, the robot cell can be moved in the recovery capsule of access bridge plate from working face and recycle, and from institute
It states in the recovery capsule of access bridge plate and is moved out to working face.
6. Multifunctional robot system as claimed in claim 3, which is characterized in that be additionally provided with recycling on the supply station
Cabin, the recovery capsule at least accommodate a robot cell, and the robot cell can move from working face by access bridge plate
It is recycled in the recovery capsule of supply station, and working face is moved out to from the recovery capsule of the supply station.
7. the Multifunctional robot system as described in claim 4 or 5 or 6, which is characterized in that set in the side of the recovery capsule
It is equipped with limiting device, the position for limiting robot cell.
8. a kind of application of Multifunctional robot system as described in any one of claim 1 to 6, which is characterized in that institute
It is wall surface cleaner device people to state several robot cells and apply, and it is metope clearing apparatus that the work implement, which is applied, described
The walking working face of several robot cells is vertical or inclined building wall, and the draft gear includes hoist engine, institute
Hoist engine setting is stated in top of building, the hoist engine is followed by hanging cable traction supply station on several robot cells
Lower movement, several robot cells carry out washing and cleaning operation to building wall, and several robot cells are inhaled by it
Adsorption device is attached to metope walking, water source is arranged on the supply station, the connection cables include branch power cable and branch
Road water pipe, the supply station give each robot cell's supplying clean water by branch water pipe.
9. the application of Multifunctional robot system as claimed in claim 8, which is characterized in that in several robot cells
On be additionally provided with photographic device and robot wireless distance finding signal station, the image of the photographic device shooting is filled by wireless transmission
It sets and is emitted to remote control system, the wireless location communicated with robot wireless signal station is provided on the building and is filled
It sets, the radio positioner is also controlled by remote control system.
10. Multifunctional robot system as described in claim 1, which is characterized in that in the supply station and several robots
The attachment device that mutually can be connected and disengage is respectively set on unit.
11. Multifunctional robot system as claimed in claim 10, which is characterized in that the attachment device includes being arranged in institute
It states and hook is set on supply station, and the hook circle for being connected with each other and disengaging with hook is set on the robot cell；
Alternatively, the attachment device includes being arranged on the supply station that hook circle is arranged, and it is arranged in the robot cell
The hook that upper and hook is connected with each other and disengages；
Alternatively, the attachment device includes being separately positioned on the magnetic absorption portion mutually adsorbed on supply station and robot cell
Part.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710258949.5A CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
| CN2017102589495 | 2017-04-19 |
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| CN108312159A true CN108312159A (en) | 2018-07-24 |
| CN108312159B CN108312159B (en) | 2023-06-09 |
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| CN201710258949.5A Pending CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
| CN201810340486.1A Active CN108312159B (en) | 2017-04-19 | 2018-04-17 | Multifunctional robot system and application thereof |
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| CN201710258949.5A Pending CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
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| JP (1) | JP6564903B2 (en) |
| CN (2) | CN106926253A (en) |
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| CN109176450A (en) * | 2018-10-12 | 2019-01-11 | 清华四川能源互联网研究院 | Master-slave robotic system |
| CN114089763A (en) * | 2021-11-19 | 2022-02-25 | 江苏科技大学 | Multi-underwater robot formation and collision avoidance control method for submarine optical cable laying |
| CN114524027A (en) * | 2022-01-02 | 2022-05-24 | 浙江大学 | Rope moving machine and multi-machine moving system |
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| KR102208039B1 (en) * | 2018-12-26 | 2021-01-26 | 한국기술교육대학교 산학협력단 | Intelligent solar panel cleaning robot surface module |
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| KR102315251B1 (en) * | 2019-11-04 | 2021-10-19 | 한국기술교육대학교 산학협력단 | Interlayer noise reduction using the interlayer noise canceller |
| CN112093741A (en) * | 2020-09-23 | 2020-12-18 | 浙江大学 | Inclined plane mobile machine and multi-robot system and using method thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6564903B2 (en) | 2019-08-21 |
| CN106926253A (en) | 2017-07-07 |
| JP2018177215A (en) | 2018-11-15 |
| CN108312159B (en) | 2023-06-09 |
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