CN100372659C - Primary-secondary type robot of accreting on wall - Google Patents
Primary-secondary type robot of accreting on wall Download PDFInfo
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- CN100372659C CN100372659C CNB031144438A CN03114443A CN100372659C CN 100372659 C CN100372659 C CN 100372659C CN B031144438 A CNB031144438 A CN B031144438A CN 03114443 A CN03114443 A CN 03114443A CN 100372659 C CN100372659 C CN 100372659C
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Abstract
The present invention relates to a primary-secondary type wall-attached robot which comprises a pulling and speeling mechanism, a manipulator, a base which supports a balancing arm, and a main controller for a primary platform, wherein the main controller comprises a controller and a signal transceiver, the primary platform comprises a platform body and the balancing arm comprises a main arm, one end of which is connected with a pickaback plane of the wall-attached robot through the base. The pickaback plane of the wall-attached robot comprises a pickaback plane controller which is fixed on the body of the pickaback plane, an operation device and a track unit for adsorbing and rooting, wherein the body of the pickaback plane and the base are connected through a base, and the track unit for adsorbing and rooting is a wall-attached robot. The present invention has the advantages of agility and flexibility and keeps the whole system static and stable all the time when operating on the complicated facade.
Description
Technical field
The present invention relates to a kind of robot device who adapts to complicated facade operation, relate in particular to the attached wall Work robot of a kind of primary-secondary type.
Background technology
Existing high-altitude facade Work robot is as " the attached wall of the single sucking disc robot " of domestic certain university's design, designed " safety locking motion " of domestic another university's robot research, number of patent application: CN00 2 05833.2; Other has Related product " wiping robot ", and number of patent application: CN 00 2 01085 all is attached wall robots of autonomous walking. and it is when complicated facade operation, and the major defect of existence has two: one, quiet instability, the 2nd, quick, flexibility is relatively poor.The attached wall robot of autonomous walking exists defective or not enough reason as follows when the facade operation:
1. robot will partly or entirely bear own wt, and this is autonomous walking in facade for robot, and deadweight must be produced enough frictional force and bear by the absorption affinity of self.For avoiding that robot is produced " crossing the location ", this robotlike's safety rope generally should be in the servo-actuated relaxed state, robot body lose absorption affinity as situations such as outage, vacuum cup inefficacies under, must commentaries on classics be born by lax safety rope by the deadweight that facade frictional force is born, this process causes system quiet instability to occur;
2. during the upper and lower walking of robot, because the gravity effect is opposite fully, so kinetic characteristic is seriously asymmetric, absorption affinity is required high, agility is relatively poor;
3. for overcoming obstacles and being beneficial to the extension safety rope, therefore the body center of gravity will can opposite produce very big moment of flexure away from facade, dumb during robot ambulation;
4. robot is difficult to cross big obstacle, such as the obstacle waviness greater than the absorption pin height that can lift.If robot body is in depression or the bigger place of projection, in case because of its unstability, the deadweight part can feed through to security system, unstability occurs and will produce significantly vibration, and be difficult to return to ADSORPTION STATE at once.
Number of patent application is the building-cleaning machine of CN 99 1 07420.3 and CN 99 211741.0, and number of patent application is the automatic cleaning machine for external wall of CN 99 2 52601.9, though it can guarantee static stability, but whole system is too huge, when body and scope of operation generation relative motion, kinematic relation complexity, control are difficult to accomplish agility, accurate.Complicated facade job requirements body can have significantly in the horizontal direction perpendicular to facade that size prolongs, and when being in this kind prolongation state, the accuracy during the said system operation and dynamic stability is more difficult guarantees.
Also have to form a big stabilized platform near facade or on facade, stretch out long-armedly from platform, it is similar to the people and stands in hand-held long handle tool operation in the gondola.This type systematic is also huger, and platform need be taken root securely in facade, and when platform was far away apart from facade, platform rocks can be to the very big influence of a generation of taking root.And to will become displacement or the power of front end to long-armed driving based on platform with respect to facade, because of mechanical factors such as therebetween decelerator, long-armed, large rotating inertia, gap, rigidity too much, similarly come its end points is controlled in the fulcrum place of the lever application of force, the displacement of front end or the precision of power and kinematic dexterity are very poor.
Consider that from security standpoint the attached wall machine of existing autonomous walking can't break away from safety rope per capita fully.Attached wall robot front end is its basic demand of finishing the high-quality operation with respect to the quick flexible motion of the scope of operation, for the complex job face, then more requires it to possess autonomous locomotor activity.If robot is not influenced by deadweight can, agility arrives a certain zone neatly, and can adhere to reliably, just the special technique problem of facade Work robot can be changed into the problem of the common Work robot in ground.
Summary of the invention
The objective of the invention is to avoid above-mentioned weak point of the prior art, and a kind of static-stability, agility are provided, are used for the attached wall of the primary-secondary type robot of complicated facade operation flexibly.
Purpose of the present invention can reach by following measure:
The attached wall of a kind of primary-secondary type robot comprises traction climbing mechanism 8 and operator 11, and its special character is: it also comprises female platform, counter-jib 2 and attached wall robot handset 6; Described female platform comprises stage body 10, and it also comprises the bearing 7 of balance support arm 2 and contains controller and female platform master controller 9 of signal transceiver; Described counter-jib 2 comprises principal arm 3, and an end of this principal arm 3 links by bearing 5 and attached wall robot handset 6; Described attached wall robot handset 6 comprises handset controller 23, apparatus for work 25 and the absorption of being fixed on the handset body 27 running gear 26 of taking root, and described handset body 27 links with bearing 5 by connecting bearing 24; Take root running gear 26 of described absorption is attached wall robot.
Above-mentioned bearing 5,7 is good to adopt principal and subordinate's two degrees of freedom bearing, this principal and subordinate's two degrees of freedom bearing can comprise main bearing 14, be fixed with main bearing speed-reducing clutch 13 and secondary turntable base 15 on the described main bearing 14, main bearing drive motors 12 is connected with secondary turntable base 15 by main bearing speed-reducing clutch 13; Be fixed with secondary bearing speed-reducing clutch 17 and secondary bearing output shaft 16 on the described secondary turntable base 15, described secondary bearing drive motors 18 is connected with secondary bearing output shaft 16 by secondary bearing speed-reducing clutch 17.
Above-mentioned bearing 5 is to be fixedly connected as good by principal and subordinate's telescopic joint 4 and principal arm 3; Described principal and subordinate's telescopic joint 4 comprises that son joint 19 and the mother who is slidingly matched with it save 22, and telescopic drive motor 21 is fixed on female joint 22 by flexible speed-reducing clutch 20, and telescopic drive motor 21 is connected with son joint 19 by flexible speed-reducing clutch 20.
The other end of above-mentioned principal arm 3 can be provided with counterweight 1.
Above-mentioned counterweight 1 is that the weight or the arm of force are good to adopt adjustable counterweight.
Above-mentioned attached wall robot handset 6 can be list machine, Shuangzi machine or many handsets.
Above-mentioned traction climbing mechanism 8 can be the follower of one dimension or two dimension, and described attached wall robot handset 6 can be the attached wall robot handset of one dimension or two dimensional motion.
Above-mentioned female platform master controller 9 also can comprise video camera, and described stage body 10 can be the stage body that contains power supply, air feed, water supply and return system.
Above-mentioned apparatus for work 25 can be checkout gear, cleaning device or spray equipment etc.; Described main bearing drive motors 12, secondary bearing drive motors 18 and telescopic drive motor 21 can be stepper motor or servo drive etc.
The above-mentioned absorption running gear 26 of taking root can be wheeled driving the single sucking disc robot, track drive the single sucking disc robot, track drive multi-sucker robot, multi-sucker step-by-step movement walking robot or magnetic absorption robot etc.
The present invention compared with prior art has following advantage:
1. the present invention bears total system deadweight all the time with traction or climbing rope, during each handset operation since its deadweight be balanced substantially, lockable in addition bearing, preceding end bearing and telescopic joint, can keep total system all the time when complicated facade operation is static-stability;
Handset when operation since its deadweight be balanced substantially, so upper and lower to the characteristic basically identical, can opposite not produce very big bending moment, the precision of motion and agility raising have reduced the take root requirement of device of absorption;
Since on the counter-jib not only can be initiatively but also bearing that can be driven, preceding end bearing and telescopic joint, can eliminate the deadweight influence, very neatly handset is adjusted to different attitudes, can many handsets be coordinated to take root, be adapted to the scope of operations such as complicated concave, convex facade, cylinder, sphere, inclined-plane;
4. front end agility of the present invention, accurate, the paleocinetic difficulty of handset is low, and initiatively obstacle detouring also can be adjusted obstacle detouring by counter-jib;
5. when female platform fixedly the time, the variation by counter-jib can make handset cover bigger operating area, and whole system need not to move constantly in the operation process.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation of principal and subordinate's two degrees of freedom bearing of the present invention;
Fig. 3 is the structural representation of principal and subordinate's telescopic joint of the present invention;
Fig. 4 is a handset structural representation of the present invention;
Fig. 5 is the schematic diagram of Shuangzi machine of the present invention or the operation of many handsets;
Fig. 6 is the schematic diagram of obstacle detouring operation of the present invention.
Drawing reference numeral explanation: 1-counterweight, 2-counter-jib, 3-principal arm, 4-principal and subordinate telescopic joint, 5-principal and subordinate bearing, the attached wall of 6-robot handset, 7-principal and subordinate bearing, 8-draws climbing mechanism, the female platform master controller of 9-, the 10-stage body, 11-operator, 12-master's bearing drive motors, 13-master's bearing speed-reducing clutch, 14-master's bearing, the secondary turntable base of 15-, the secondary bearing output shaft of 16-, the secondary bearing speed-reducing clutch of 17-, the secondary bearing drive motors of 18-, 19-joint, the 20-speed-reducing clutch that stretches, 21-telescopic drive motor, the female joint of 22-, 23-handset controller, 24-connects bearing, 25-apparatus for work, 26-adsorbs the running gear of taking root, 27-handset body.
The specific embodiment
Referring to Fig. 1, the present invention is mainly by female platform; Traction climbing mechanism 8; Counter-jib 2; The attached wall of two dimensional motion robot handset and operator 11 5 most of formations.
Traction climbing mechanism 8 can adopt the follower of one dimension or two dimension, as: the top of building mobile unit or the patent No. are a kind of climbing positioner of CN 01 2 46938, or the motion of other high-lift operation hanging cradles.The stage body 10 of female platform comprises power supply, air feed, water supply and return system etc.; Female platform also comprises principal and subordinate's two degrees of freedom bearing 7 and contains female platform master controller 9 etc. of controller, video camera, radio transceiver.But traction climbing mechanism 8 makes female platform servo-actuated, makes it be parallel to the two dimensional surface operation of operation facade, and system's operation can be guaranteed in the water, electricity, gas source of its carrying; 7 the motions of principal and subordinate's two degrees of freedom bearing in order to balance support arm 2; Female platform master controller 9 is used to control the motion of female platform and coordinates the motion of attached wall robot handset 6, the signal transceiver of female platform master controller 9 receives signal, the transmission running status of operator 11, the operation of the video camera monitoring system of female platform master controller 9.Counter-jib 2 partly is made of counterweight 1, front end principal and subordinate two degrees of freedom bearing 5, principal arm 3, principal and subordinate's telescopic joint 4 etc.Counterweight 1 is good to adopt the adjustable counter balance that can change the weight or the arm of force.Counterweight 1 is in order to the weight of the attached wall of balance robot handset 6; The front end principal and subordinate two degrees of freedom bearing 5 of counter-jib 2 is in order to connect attached wall robot handset 6 and its attitude of adjustment; Principal and subordinate's telescopic joint 4 is in order to adjust counter-jib 2, makes it adapt to spacing between female platform and the facade; Counter-jib 2 is installed on principal and subordinate's two degrees of freedom bearing 7, and the track that can guarantee its front end is at globoid space motion.
See Fig. 2, the function of principal and subordinate's two degrees of freedom bearing 7 and principal and subordinate's two degrees of freedom bearing 5 is realized by devices such as main bearing drive motors 12, main bearing speed-reducing clutch 13, main bearing 14, secondary turntable base 15, secondary bearing output shaft 16, secondary bearing speed-reducing clutch 17, secondary bearing drive motors 18.When certain single-degree-of-freedom had the initiative, its output was to be driven by main bearing speed-reducing clutch 13 or secondary bearing speed-reducing clutch 17 by main bearing drive motors 12 or secondary bearing drive motors 18; Be in when driven, clutch separation, output is driven by the attached wall robot handset 6 of counter-jib 2 front ends that link with it.
See Fig. 3, the function of principal and subordinate's telescopic joint 4 is realized by devices such as son joint 19, flexible speed-reducing clutch 20, telescopic drive motor 21, female joints 22.When having the initiative, the flexible of its son joint 19 is to be driven by flexible speed-reducing clutch 20 by telescopic drive motor 21; Be in when driven, flexible speed-reducing clutch 20 separates, and son joint 19 flexible is that the attached wall robot handset 6 by counter-jib 2 front ends drives.The drive motors of principal and subordinate's two degrees of freedom bearing 7, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4 both can be used stepper motor, also can use other servo drive.
See Fig. 4, attached wall robot handset 6 by handset controller 23, connect take root running gear 26, handset body 27 etc. of bearing 24, apparatus for work 25, absorption and partly constitute.Attached wall robot handset 6 links by the front end principal and subordinate two degrees of freedom bearings 5 that connect bearing 24 and counter-jib 2; The absorption absorption of running gear 26 device of taking root of taking root only produces the attached wall power that is used for operation but not supports gravity, and its running gear drives attached wall robot handset 6 and moves on facade; Apparatus for work 25 can be finished tasks such as detection, cleaning, spraying; Handset controller 23 is finished the control of handset and is got in touch with female platform master controller 9.Attached wall robot handset 6 also can adopt attached wall robot such as existing wheeled driving the single sucking disc robot, track drive the single sucking disc robot, track drive multi-sucker robot, multi-sucker step-by-step movement walking robot, magnetic absorption robot.
Referring to Fig. 5, after system's operation beginning, roughly run to the operation area by female platform, adjust the principal and subordinate's two degrees of freedom bearing 7 on female platform then, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4 on the counter-jib 2, in the active movement mode each attached wall robot handset 6 being beneficial to adsorb the attitude of taking root delivers on the facade singly, when the take root absorption of running gear 26 of the absorption of handset is taken root device effectively after the work, principal and subordinate's two degrees of freedom bearing 7 of female platform, front end principal and subordinate two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4 of counter-jib 2 all become driven state, attached wall robot handset 6 becomes initiatively operation, and the conversion of master slave mode is finished by each clutch.The attached wall of female platform of system and each robot handset 6 is autokinetic movement discriminably all, when the last attached wall of attached wall robot handset 6, female platform belongs to active movement, after the 6 attached walls motions of attached wall robot handset, the movement instruction of female platform will determine that its principle is according to the movement position of a plurality of handsets: promptly handset will be in and not influence the handset motion in the dynamic balance again." rigid attachment " form promptly between handset and the female platform, again " the flexible connection " form.When principal and subordinate's two degrees of freedom bearing 7, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4 for attitude initiatively and be rigid attachment when locking, with number of patent application be that 99 2 52601.9 automatic cleaning machine for external wall scheme is equal to, the motion of the relative facade of its front end will be blunt in coarse; When principal and subordinate's two degrees of freedom bearing 7, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4 for being " flexibly jointed chain " when dynamic, the precision of handset and agility height.So system handset and female platform when operation should present " flexibly jointed chain ",, can adopt Shuangzi machine or many handsets for anti-locking system occurs unstablely on the plane that is parallel to facade.Adjust counter-jib 2 and can make system produce the heavy component that points to facade, under the situation of heavy component and the redundant absorption of handset, keep system's static stability.Principal and subordinate's motion mode of principal and subordinate's two degrees of freedom bearing 7, two degrees of freedom bearing 5 and more than 4 link of principal and subordinate's telescopic joint combines with the motion of attached wall robot handset 6, and the remaining that can constitute obstacle detouring or break away from the barrier motion guarantees.Such as when attached wall robot handset 6 is not moved or lost efficacy, its movement locus can be finished by the compound motion of principal and subordinate's two degrees of freedom bearing 7, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4; Equally, certain single-degree-of-freedom of principal and subordinate's two degrees of freedom bearing 7 does not move or when losing efficacy, and its motion can be finished by the compound motion of attached wall robot handset 6, principal and subordinate's two degrees of freedom bearing 5 and principal and subordinate's telescopic joint 4.If with female platform the attached wall of a certain front end robot handset 6 is driven, power is controlled and is taken root and is difficult to solve, and can lock other counter-jibs 2.If the bearing 7 of double freedom or bearing 5 are locked one degree of freedom selectively or only adopt the bearing 7 or the bearing 5 of single-degree-of-freedom, make counter-jib 2 all have only a rotational freedom with respect to counter-jib 2, just can improve the running orbit precision of handset effectively with respect to female platform, handset.When each handset motion, the controller of female platform carries out moving direction, the speed of integrated treatment, judgement handset to these handset motor messages, from the mutual interference between each handset, the scope of operation is overlapping, aspects such as anti-system overturns, anti-system architecture vibration are considered, to make qualification action or self servo-actuated to handset.
Fig. 6 illustrates the situation of system's obstacle detouring operation.When a certain handset was wanted obstacle detouring, female platform can lock all the other handsets and counter-jib 2 earlier, and the counter-jib 2 that is beneficial to the obstacle detouring handset is adjusted; The free state of the handset of this system when unpowered is near balance, head has the small pressure effect that is right against facade, during the handset action, as long as less absorption affinity, power when mobile accurately acts on facade rather than female platform, deadweight is little to the influence of the motion generation of handset, is adapted to the less complicated wall of burnishing surface.
Claims (10)
1. the attached wall of a primary-secondary type robot comprises traction climbing mechanism (8) and operator (11), and it is characterized in that: it also comprises female platform, counter-jib (2) and attached wall robot handset (6); Described female platform comprises stage body (10), and described female platform also comprises the bearing (7) of balance support arm (2) and contains controller and female platform master controller (9) of signal transceiver; Described counter-jib (2) comprises principal arm (3), and an end of this principal arm (3) links by bearing (5) and attached wall robot handset (6); Described attached wall robot handset (6) comprises handset controller (23), the apparatus for work (25) that is fixed on the handset body (27) and adsorbs the running gear (26) of taking root that described handset body (27) links with bearing (5) by connecting bearing (24); The described absorption running gear (26) of taking root is attached wall robot.
2. the attached wall of primary-secondary type as claimed in claim 1 robot, it is characterized in that: described bearing (5), (7) are principal and subordinate's two degrees of freedom bearing, this principal and subordinate's two degrees of freedom bearing comprises main bearing (14), be fixed with main bearing speed-reducing clutch (13) and secondary turntable base (15) on the described main bearing (14), main bearing drive motors (12) is connected with secondary turntable base (15) by main bearing speed-reducing clutch (13); Be fixed with secondary bearing speed-reducing clutch (17) and secondary bearing output shaft (16) on the described secondary turntable base (15), described secondary bearing drive motors (18) is connected with secondary bearing output shaft (16) by secondary bearing speed-reducing clutch (17).
3. the attached wall of primary-secondary type as claimed in claim 1 or 2 robot is characterized in that: described bearing (5) is fixedlyed connected with principal arm (3) by principal and subordinate's telescopic joint (4); Mother's joint (22) that described principal and subordinate's telescopic joint (4) comprises son joint (19) and is slidingly matched with it, telescopic drive motor (21) is fixed on female joint (22) by flexible speed-reducing clutch (20), and telescopic drive motor (21) is connected with son joint (19) by flexible speed-reducing clutch (20).
4. the attached wall of primary-secondary type as claimed in claim 3 robot, it is characterized in that: the other end of described principal arm (3) is provided with counterweight (1).
5. the attached wall of primary-secondary type as claimed in claim 4 robot is characterized in that: described counterweight (1) is weight or the adjustable adjustable counterweight of the arm of force.
6. the attached wall of primary-secondary type as claimed in claim 4 robot is characterized in that: described attached wall robot handset (6) is Shuangzi machine or many handsets.
7. the attached wall of primary-secondary type as claimed in claim 6 robot is characterized in that: described traction climbing mechanism (8) is the follower of one dimension or two dimension, and described attached wall robot handset (6) is the attached wall robot handset of one dimension or two dimensional motion.
8. the attached wall of primary-secondary type as claimed in claim 7 robot, it is characterized in that: described female platform master controller (9) comprises video camera, described stage body (10) is the stage body that contains power supply, air feed, water supply and return system.
9. the attached wall of primary-secondary type as claimed in claim 8 robot is characterized in that: described apparatus for work (25) is checkout gear, cleaning device or spray equipment; Described main bearing drive motors (12), secondary bearing drive motors (18) and telescopic drive motor (21) are stepper motor or servo drive.
10. the attached wall of primary-secondary type as claimed in claim 9 robot is characterized in that: the described absorption running gear (26) of taking root is wheeled driving the single sucking disc robot, track drive the single sucking disc robot, track drive multi-sucker robot, multi-sucker step-by-step movement walking robot or magnetic absorption robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031144438A CN100372659C (en) | 2003-01-21 | 2003-01-21 | Primary-secondary type robot of accreting on wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031144438A CN100372659C (en) | 2003-01-21 | 2003-01-21 | Primary-secondary type robot of accreting on wall |
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| Publication Number | Publication Date |
|---|---|
| CN1519087A CN1519087A (en) | 2004-08-11 |
| CN100372659C true CN100372659C (en) | 2008-03-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB031144438A Expired - Fee Related CN100372659C (en) | 2003-01-21 | 2003-01-21 | Primary-secondary type robot of accreting on wall |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109267757A (en) * | 2018-06-15 | 2019-01-25 | 汤瑞平 | A kind of glass curtain wall cleaning equipment |
| CN109267758A (en) * | 2018-06-15 | 2019-01-25 | 汤瑞平 | A kind of three brush glass curtain wall cleaning equipments |
| CN109269594A (en) * | 2018-10-24 | 2019-01-25 | 王淑娟 | It is easily assembled easy maintenance type ultrasonic radar water-level gauge mounting bracket |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256953A (en) * | 1995-03-22 | 1996-10-08 | Ohbayashi Corp | Outer wall cleaning robot |
| JPH0975265A (en) * | 1995-09-12 | 1997-03-25 | Mitsui Eng & Shipbuild Co Ltd | Building wall surface cleaning robot |
| CN2499491Y (en) * | 2001-08-17 | 2002-07-10 | 西安恒生科技股份有限公司 | Positioning device for climbing |
| CN2598711Y (en) * | 2003-01-21 | 2004-01-14 | 西安恒生科技股份有限公司 | Composite type wall attaching robot |
-
2003
- 2003-01-21 CN CNB031144438A patent/CN100372659C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256953A (en) * | 1995-03-22 | 1996-10-08 | Ohbayashi Corp | Outer wall cleaning robot |
| JPH0975265A (en) * | 1995-09-12 | 1997-03-25 | Mitsui Eng & Shipbuild Co Ltd | Building wall surface cleaning robot |
| CN2499491Y (en) * | 2001-08-17 | 2002-07-10 | 西安恒生科技股份有限公司 | Positioning device for climbing |
| CN2598711Y (en) * | 2003-01-21 | 2004-01-14 | 西安恒生科技股份有限公司 | Composite type wall attaching robot |
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| CN1519087A (en) | 2004-08-11 |
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