CN101744590A - A kind of suspension apparatus and curtain cleaning robot thereof - Google Patents
A kind of suspension apparatus and curtain cleaning robot thereof Download PDFInfo
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- CN101744590A CN101744590A CN201010005129A CN201010005129A CN101744590A CN 101744590 A CN101744590 A CN 101744590A CN 201010005129 A CN201010005129 A CN 201010005129A CN 201010005129 A CN201010005129 A CN 201010005129A CN 101744590 A CN101744590 A CN 101744590A
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- stay cord
- main part
- control module
- wire spool
- suspension apparatus
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Abstract
The invention provides a kind of suspension apparatus and curtain cleaning robot thereof, suspension apparatus comprises: main part (300), one end is coupled in first stay cord (210) of described main part (300), one end is coupled in second stay cord (220) of described main part (300), the first stay cord control module of first stay cord (210) length that is used to adjust, the second stay cord control module of second stay cord (220) length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, with the long central control unit of rope that changes described first stay cord (210) and second stay cord (220) respectively.
Description
Technical field
The present invention relates to a kind of suspension apparatus and curtain cleaning robot thereof.
Background technology
As shown in Figure 1, existing curtain cleaning robot generally all adopts the mode of suspention to carry out operation.Existing suspension apparatus generally all adopts the mode of single line suspention to carry out work, promptly controls the upright position that is suspended thing by the length of lifting rope, and changes the horizontal level that is suspended thing by the horizontal level that changes the top arm.
Because suspention is dangerous operation, because arm needs frequent motion, then the installation requirement to arm is very high, and cost and installation difficulty are all higher.
Summary of the invention
In view of this, technical problem to be solved by this invention provides a kind of simple installation, the suspension apparatus and the curtain cleaning robot thereof that can not need movable arm to move arbitrarily in vertical plane.
The objective of the invention is to be achieved through the following technical solutions:
A kind of suspension apparatus, comprise: the second stay cord control module of the first stay cord control module of first pulling rope length that main part, an end be coupled in first stay cord of described main part, second stay cord that an end is coupled in described main part, be used to adjust, second pulling rope length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change the long central control unit of described first stay cord and the second stay cord rope respectively.
When above-mentioned suspension apparatus suspention is installed on the moving region that it will be worked, for example the curtain wall of building the time, then, this suspension apparatus comprises: first stiff end and second stiff end that are fixedly installed on its top, moving region respectively, main part, two ends are coupled in first stay cord of described first stiff end and main part respectively, two ends are coupled in second stay cord of described second stiff end and main part respectively, the first stay cord control module of first pulling rope length that is used to adjust, the second stay cord control module of second pulling rope length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, with the long central control unit of rope that changes described first stay cord and second stay cord respectively.
Wherein, when described suspension apparatus suspention is installed on the moving region that it will be worked, for example the curtain wall of building the time, from can clearly knowing geometrically, respectively in the determined moving region of the vertical line by first stiff end and second stiff end, there is a functional relation one to one the position of the main part that is suspended with the length of first stay cord and second stay cord.As long as determine the length of first stay cord and second stay cord respectively, just can determine the position of main part like this.
Like this, adopt technique scheme like this,, just can easily control the position and the movement locus thereof of main part by adopting the central control unit of computer technology.
Adopt technique scheme, do not need to install transportable arm, just can realize being suspended the action of thing easily.Install easylier, cost also can be lower.
Preferably, described central control unit comprises: the main part position module that is used to measure described main part position, be used to measure the first position fixed ends module of described first position fixed ends, and, be used to measure the second position fixed ends module of described second position fixed ends.
Further adopt abovementioned technology,, can know that the rope of first stay cord and second stay cord is long, be convenient to control as long as determine the position of main part, first stiff end and second stiff end respectively.
Preferably, the described first stay cord control module comprises: be arranged on first wire spool on the described main part and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described first stiff end, and its other end is around in described first wire spool.
Further adopt abovementioned technology, can control the length of first stay cord easily.Wherein, motor can be selected the stepper motor of its rotation amplitude more easy to control.
In the corresponding another kind of preference, the described first stay cord control module comprises: be arranged on first wire spool on described first stiff end and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described main part, and its other end is around in described first wire spool.
Preferably, the described second stay cord control module comprises: be arranged on second wire spool (920) on the described main part and be used to drive second motor that described second wire spool rotates; Described second stay cord, one end is fixed in described second stiff end, and its other end is around in described second wire spool.
Further adopt abovementioned technology, can control the length of second stay cord easily.Wherein, motor can be selected the stepper motor of its rotation amplitude more easy to control.
In the corresponding another kind of preference, the described second stay cord control module comprises: be arranged on second wire spool on described second stiff end and be used to drive second motor that described second wire spool rotates; Described second stay cord, one end is fixed in described main part, and its other end is around in described second wire spool.
Preferably, described suspension apparatus also comprises: be arranged on the described main part natural measurement of tilt unit that is connected with described central control unit.
Further adopt abovementioned technology, can conveniently control the attitude of main part.In fact, not only the position of main part and first stay cord and second stay cord have relation, and its attitude as gradient, also has relation with first stay cord and second stay cord.
Preferably, described suspension apparatus also comprises: be movably connected on the sucker of described main part, and, be movably connected on described main part, and can with the support of the movement locus horizontal movement of described sucker.
Further adopt abovementioned technology,, can be attached at easily or leave, be convenient to operation in curtain wall as the curtain wall operation time.
The present invention also provides a kind of curtain cleaning robot that adopts described suspension apparatus, comprising: be arranged on the cleaning device on the described main part.
The invention has the advantages that compared with prior art simple installation can not need movable arm to move arbitrarily in vertical plane.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of curtain cleaning robot of prior art;
Fig. 2 is the structural representation of a kind of embodiment of curtain cleaning robot of the present invention;
Fig. 3 is the part-structure side view of a kind of embodiment of curtain cleaning robot of the present invention;
Fig. 4 is the part-structure side view of a kind of embodiment of curtain cleaning robot of the present invention.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing and preferred embodiment.
As shown in Figure 2, be a kind of curtain cleaning robot that adopts suspension apparatus, it is suspended on the glass curtain wall 500.
Wherein, suspension apparatus comprises: first stiff end 110 and second stiff end 120 that are fixedly installed on its top, moving region respectively, main part 300, two ends are coupled in first stay cord 210 of described first stiff end 110 and main part 300 respectively, two ends are coupled in second stay cord 220 of described second stiff end 120 and main part 300 respectively, the first stay cord control module of first stay cord, 210 length that are used to adjust, the second stay cord control module of second pulling rope length 220 that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change described first stay cord 210 and the long central control unit of second stay cord, 220 ropes respectively.
Wherein, described central control unit comprises: the main part position module that is used to measure described main part 300 positions, be used to measure the first position fixed ends module of described first stiff end 110 positions, and, be used to measure the second position fixed ends module of described second stiff end 120 positions.
The described first stay cord control module comprises: be arranged on first wire spool 910 on the described main part 300 and be used to drive first motor 911 that described first wire spool 910 rotates.Described first stay cord, 210 1 ends are fixed in described first stiff end 110, and its other end is around in described first wire spool 910.
Stating the second stay cord control module comprises: be arranged on second wire spool 920 on the described main part 300 and be used to drive second motor 922 that described second wire spool 920 rotates; Described second stay cord, 220 1 ends are fixed in described second stiff end 120, and its other end is around in described second wire spool 920.
Described main part 300 is provided with cleaning device, and described cleaning device comprises: air compressor machine 310, high-pressure pump 320, water tank 330, oil pressure pump 340, supersonic generator 350 and water pump 360.
As shown in Figure 3 and Figure 4, on glass curtain wall 500, often be provided with the barrier 510 that is used to block water.For avoiding barrier 510, when suspention was moved, suspension apparatus must keep certain distances with glass curtain wall 500 in the suspention process, but washing and cleaning operation the time, with regard to the glass curtain wall of pressing close to that must be stable.
For this reason, suspension apparatus also comprises: be movably connected on the sucker 810 of described main part 300, and, be movably connected on described main part 300, and can with the support 820 of the movement locus horizontal movement of described sucker 810.
Above content be in conjunction with concrete preferred implementation to further describing that the present invention did, can not assert that concrete enforcement of the present invention is confined to these explanations.For the general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, can also make some simple deduction or replace, all should be considered as belonging to protection scope of the present invention.
Claims (10)
1. suspension apparatus, it is characterized in that, comprise: main part (300), one end is coupled in first stay cord (210) of described main part (300), one end is coupled in second stay cord (220) of described main part (300), the first stay cord control module of first stay cord (210) length that is used to adjust, the second stay cord control module of second stay cord (220) length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, with the long central control unit of rope that changes described first stay cord (210) and second stay cord (220) respectively.
2. suspension apparatus, it is characterized in that, comprise: first stiff end (110) and second stiff end (120) that are fixedly installed on its top, moving region respectively, main part (300), two ends are coupled in first stay cord (210) of described first stiff end (110) and main part (300) respectively, two ends are coupled in second stay cord (220) of described second stiff end (120) and main part (300) respectively, the first stay cord control module of first stay cord (210) length that is used to adjust, the second stay cord control module of second pulling rope length (220) that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change the long central control unit of described first stay cord (210) and second stay cord (220) rope respectively.
3. suspension apparatus as claimed in claim 2, it is characterized in that, described central control unit comprises: the main part position module that is used to measure described main part (300) position, be used to measure the first position fixed ends module of described first stiff end (110) position, and, be used to measure the second position fixed ends module of described second stiff end (120) position.
4. as claim 2 or 3 described suspension apparatus, it is characterized in that, the described first stay cord control module comprises: be arranged on first wire spool (910) on the described main part (300) and be used to drive first motor (911) that described first wire spool (910) rotates; Described first stay cord (210) one ends are fixed in described first stiff end (110), and its other end is around in described first wire spool (910).
5. as claim 2 or 3 described suspension apparatus, it is characterized in that the described first stay cord control module comprises: be arranged on first wire spool on described first stiff end (110) and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described main part (300), and its other end is around in described first wire spool.
6. as claim 2 or 3 described suspension apparatus, it is characterized in that, the described second stay cord control module comprises: be arranged on second wire spool (920) on the described main part (300) and be used to drive second motor (922) that described second wire spool (920) rotates; Described second stay cord (220) one ends are fixed in described second stiff end (120), and its other end is around in described second wire spool (920).
7. as claim 2 or 3 described suspension apparatus, it is characterized in that the described second stay cord control module comprises: be arranged on second wire spool on described second stiff end (120) and be used to drive second motor that described second wire spool rotates; Described second stay cord (220) one ends are fixed in described main part (300), and its other end is around in described second wire spool.
8. as claim 2 or 3 described suspension apparatus, it is characterized in that, also comprise: be arranged on the described main part (300) the natural measurement of tilt unit that is connected with described central control unit.
9. as claim 2 or 3 described suspension apparatus, it is characterized in that, also comprise: be movably connected on the sucker (810) of described main part (300), and, be movably connected on described main part (300), and can with the support (820) of the movement locus horizontal movement of described sucker (810).
10. a curtain cleaning robot that adopts suspension apparatus as claimed in claim 1 or 2 is characterized in that, comprising: be arranged on the cleaning device on the described main part (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010005129A CN101744590A (en) | 2010-01-14 | 2010-01-14 | A kind of suspension apparatus and curtain cleaning robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010005129A CN101744590A (en) | 2010-01-14 | 2010-01-14 | A kind of suspension apparatus and curtain cleaning robot thereof |
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| Publication Number | Publication Date |
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| CN101744590A true CN101744590A (en) | 2010-06-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010005129A Pending CN101744590A (en) | 2010-01-14 | 2010-01-14 | A kind of suspension apparatus and curtain cleaning robot thereof |
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| CN (1) | CN101744590A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106733875A (en) * | 2016-12-21 | 2017-05-31 | 宁波介量机器人技术有限公司 | Wall cleaning robot agent structure is climbed by a kind of transformer station |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
| CN110141152A (en) * | 2019-05-30 | 2019-08-20 | 郭嘉辉 | A kind of swing type windowpane clean robot |
| CN110338697A (en) * | 2019-07-18 | 2019-10-18 | 郭嘉辉 | A kind of two-wire driving swing type windowpane clean robot |
| CN111216819A (en) * | 2020-02-18 | 2020-06-02 | 杭州孚亚科技有限公司 | Climbing machine and moving method thereof |
| CN114788656A (en) * | 2020-06-18 | 2022-07-26 | 苏州左右品牌管理有限公司 | High-altitude cleaning equipment |
-
2010
- 2010-01-14 CN CN201010005129A patent/CN101744590A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106733875A (en) * | 2016-12-21 | 2017-05-31 | 宁波介量机器人技术有限公司 | Wall cleaning robot agent structure is climbed by a kind of transformer station |
| CN106733875B (en) * | 2016-12-21 | 2019-05-17 | 宁波介量机器人技术有限公司 | Wall cleaning robot main structure is climbed by a kind of substation |
| CN108643599A (en) * | 2018-05-25 | 2018-10-12 | 杭州电子科技大学 | Topological three-dimensional suspended structure glass-wall cleaning robot system and motion control method |
| CN108643599B (en) * | 2018-05-25 | 2020-11-06 | 杭州电子科技大学 | Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method |
| CN110141152A (en) * | 2019-05-30 | 2019-08-20 | 郭嘉辉 | A kind of swing type windowpane clean robot |
| CN110338697A (en) * | 2019-07-18 | 2019-10-18 | 郭嘉辉 | A kind of two-wire driving swing type windowpane clean robot |
| CN111216819A (en) * | 2020-02-18 | 2020-06-02 | 杭州孚亚科技有限公司 | Climbing machine and moving method thereof |
| CN111216819B (en) * | 2020-02-18 | 2023-12-22 | 浙江大学 | Climbing machine and moving method thereof |
| CN114788656A (en) * | 2020-06-18 | 2022-07-26 | 苏州左右品牌管理有限公司 | High-altitude cleaning equipment |
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| Date | Code | Title | Description |
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| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20100623 |