CN101803895B - Moving and protecting device of wall surface washing robot for high-rise building - Google Patents
Moving and protecting device of wall surface washing robot for high-rise building Download PDFInfo
- Publication number
- CN101803895B CN101803895B CN2010101406777A CN201010140677A CN101803895B CN 101803895 B CN101803895 B CN 101803895B CN 2010101406777 A CN2010101406777 A CN 2010101406777A CN 201010140677 A CN201010140677 A CN 201010140677A CN 101803895 B CN101803895 B CN 101803895B
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- Prior art keywords
- horizontal
- vertical
- hoisting system
- reel
- elevator motor
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- 238000005406 washing Methods 0.000 title abstract description 9
- 238000004140 cleaning Methods 0.000 claims description 31
- 230000001681 protective effect Effects 0.000 claims description 15
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000003463 adsorbent Substances 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000004804 winding Methods 0.000 abstract 16
- 239000011521 glass Substances 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
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- Manipulator (AREA)
- Types And Forms Of Lifts (AREA)
Abstract
The invention relates to a moving and protecting device of a wall surface washing robot for a high-rise building, comprising a left horizontal winding system, a right horizontal winding system, a relay module and an operation module, wherein the left horizontal winding system and the right horizontal winding system are symmetrical and respectively comprise a horizontal winding drum, a horizontal winding motor, a horizontal fixed pulley and a horizontal flexible cable; the horizontal winding drums are connected with output shafts of the horizontal winding motors; one end of each horizontal flexible cable is fixedly connected to each horizontal winding drum by rounding each horizontal fixed pulley, while the other ends are fixedly connected to the relay module; the relay module is provided with a vertical winding system comprising a vertical winding motor, a vertical winding drum and a vertical flexible cable; the vertical winding drum is connected with the output shaft of the vertical winding motor; and one end of the vertical flexible cable is fixedly connected to the vertical winding drum, while the other end is fixedly connected to the operation module. The device has large motion space, and the horizontal winding systems can be arranged according to the size structure of a building; the device is safe and reliable and has strong adaptability, and ergodic motions can be realized on the wall surface; and the motion control is simple and convenient to realize.
Description
Technical field
The present invention relates to a kind of wall surface cleaning robot mechanism, specifically relate to moving and protective device of a kind of high-rise building wall surface cleaning robot.Belong to the Robotics field.
Technical background
Along with the modernization in city, produced numerous skyscrapers in the city.Based on daylighting and purpose attractive in appearance, many skyscrapers all are outer the decoration with the glass curtain wall, have therefore also brought the cleaning problem of curtain wall.The cleaning of high-lager building glass curtain wall is a heavy and dangerous job.At present, main both at home and abroad use hoistable platform or hanging basket carrying cleaner carry out the cleaning of glass wall.Not only expense is high in the cleaning that high-rise is carried out in manual work, efficient is low, and very dangerous.The street cleaner from fall from high altitude, dead accident happens occasionally.The curtain wall for high rise building cleaning robot will make the people from the high-altitude washing and cleaning operation of danger, free.
At present particularly the scrubbing machine people's of glass curtain wall research is many based on negative-pressure adsorption or vacuum adsorption principle for the outer surface of skyscraper.The most complex structure of such climbing robot, absorption reliability are poor; Development along with Robotics; Climbing robot is towards miniaturization; The direction of lightness develops, but existing climbing robot particularly all is difficult to reach the washing and cleaning operation requirement of actual application based on the wall-surface mobile robot of vacuum adsorption principle or negative-pressure adsorption principle to the adaptive capacity of wall and the reliability of absorption.
Summary of the invention
Be to solve the deficiency of prior art, the object of the present invention is to provide a kind of simple in structure, reliable operation, control is simple, in light weight, the wall adaptive capacity is strong is applied to moving and protective device of skyscraper cleaning robot.
For achieving the above object, the present invention realizes through following technical scheme:
A kind of high-rise building wall surface cleaning robot moves and protective device; It is characterized in that comprising left horizontal hoisting system, right horizontal hoisting system, trunk module and operation module; Horizontal hoisting system in a described left side and right horizontal hoisting system symmetry; Comprise horizontal reel, horizontal elevator motor, horizontal fixed pulley and the level rope that softens respectively; Horizontal reel is connected with the output shaft of horizontal elevator motor, and an end of the gentle rope of level is walked around horizontal fixed pulley and is connected on the horizontal reel, and the other end is connected on the trunk module; Vertical hoisting system is housed on the described trunk module; Described vertical hoisting system comprises vertical elevator motor, vertical reel and vertically gentle rope; Vertically reel is connected with the output shaft of vertical elevator motor, and vertically an end of gentle rope is connected on the vertical reel, and the other end is connected on the operation module.
Aforesaid high-rise building wall surface cleaning robot moves and protective device; It is characterized in that described vertical hoisting system comprises a left side vertically hoisting system and the vertical hoisting system in the right side, a left side vertically hoisting system is identical with right vertical hoisting system structure, symmetric arrangement; Comprise vertical elevator motor, vertical reel and vertically gentle rope respectively; Vertically reel is connected with the output shaft of vertical elevator motor, and vertically an end of gentle rope is connected on the vertical reel, and the other end is connected on the operation module.
Aforesaid high-rise building wall surface cleaning robot moves and protective device, the adsorption system that it is characterized in that cleaning mechanism is housed on the described operation module He be used to increase cleaning action power.
Aforesaid high-rise building wall surface cleaning robot moves and protective device, it is characterized in that at the back side of described trunk module adsorbent equipment being installed.
The present invention has following advantage:
1, space is big: the present invention can install horizontal roll according to the dimensional structure of building and raise system in application process, can obtain bigger space.
2, safe and reliable: the present invention is in application process; Wall washing and cleaning operation module is installed on the skin through horizontal hoisting system and vertical hoisting system; Wiper mechanism accidental fall phenomenon can not appear; Robot can adapt to multiple wall environment in the wall cleaning process, application is more extensive.
3, control simply: the present invention moves in the traversal of wall through moving horizontally with the independent design realization operation module of vertical mobile system, and motion control is simple, is convenient to realization.
Description of drawings
Fig. 1 moves the structural representation with protective device for the clear robot of high-rise building wall surface of the present invention;
Fig. 2 moves the side structure sketch map with protective device for the clear robot of high-rise building wall surface of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing and specific embodiment the present invention is done concrete introduction.
Fig. 1 moves the structural representation with protective device for the clear robot of high-rise building wall surface of the present invention;
Fig. 2 moves the side structure sketch map with protective device for the clear robot of high-rise building wall surface of the present invention.
As shown in the figure; High-rise building wall surface mobile robot of the present invention moves and protective device; Comprise left horizontal hoisting system 20, right horizontal hoisting system 30, trunk module 40 and operation module 15, wherein: horizontal hoisting system 20 and right horizontal hoisting system 30 symmetries, left horizontal hoisting system 20 can be fixed on the building; Comprise left horizontal reel 1, left horizontal elevator motor 2, left horizontal fixed pulley 3 and the gentle rope 4 of left level; The horizontal reel 1 in a left side is connected with the output shaft of left horizontal elevator motor 2, and an end of the gentle rope 4 of left level is fixed on the trunk module 40, and an other end of the gentle rope 4 of left level is walked around left horizontal fixed pulley 3 and is wrapped on the left horizontal reel 1; Right horizontal hoisting system 30 also is fixed on the building; Comprise right horizontal reel 8, right horizontal elevator motor 7, right horizontal fixed pulley 6 and the gentle rope 5 of right level; Right horizontal reel 8 is connected with the output shaft of right horizontal elevator motor 7; One end of the gentle rope 5 of right level is fixed on the trunk module 40, and an other end of the gentle rope 5 of right level is walked around right horizontal fixed pulley 6 and is wrapped on the right horizontal reel 8.
Vertical hoisting system is housed on the trunk module 40, and in order to keep the balance of operation module 15, vertically hoisting system preferably comprises two covers, and symmetric arrangement forms a left side vertically hoisting system and right vertically hoisting system.A left side vertically hoisting system comprises a left side vertically elevator motor 10, the vertically gentle rope 9 of a left vertically reel 11 and a left side; One end of the vertically gentle rope 9 in a left side is fixed on the operation module 15; An other end of the vertically gentle rope 9 in a left side is wrapped on the left vertically reel 11, and a left side vertically reel 11 is connected with the output shaft of the vertical elevator motor 10 in a left side; Right vertically hoisting system comprises right vertically elevator motor 13, right vertically reel 14 and right vertically gentle rope 12; One end of right vertically gentle rope 12 is fixed on the operation module 15; An other end of the vertically gentle rope 12 in a left side is wrapped on the right vertically reel 14, and right vertically reel 14 is connected with the right vertically output shaft of elevator motor 13.
Wherein left hoisting system 20, right hoisting system 30 are used to realize operation module 15 moving in the building horizontal direction; Trunk module 40 is used to realize moving of operation module 15 in the vertical directions; Operation module 15 carries absorption, cleaning mechanism, is used to be implemented in the washing and cleaning operation on the wall.
Wherein, Left and right hoisting system can be fixed on building to be cleaned top near the both sides of cleaning wall; One end of the gentle rope of left and right level is fixed on the trunk module; An other end is walked around respectively on the left and right horizontal reel that left and right horizontal fixed pulley is fixed on left and right hoisting system; The length of the gentle rope of left and right level can be controlled through the rotation of adjusting left and right horizontal elevator motor, the movement velocity that trunk module moves horizontally along wall and the purpose of position can be realized controlling through the length of adjusting the gentle rope of 2 levels.
The vertical hoisting system of 2 groups of trunk module mechanism is identical, vertically being symmetric arrangement on the mobile system, has improved the balance of trunk module.Can control the length of left and right vertically gentle rope through the rotational angle of the left and right vertical elevator motor on the adjustment trunk module; Through control 2 vertically the length of gentle ropes can realize adjusting the vertical motion speed of operation module on wall and the purpose of position, and can adjust the inclination angle of operation module through the difference of 2 vertically gentle Suo Changdu of control.
Operation principle of the present invention is: the rotation through the horizontal elevator motor in a left side 2, right horizontal elevator motor 7 drives left horizontal reel 1 respectively and right horizontal reel 8 rotates; Realization is to the extension and contraction control of the gentle rope 4 of left level, the gentle rope 5 of right level, thus the horizontal level of adjustment trunk module 40; Vertically reel 11 and right vertically elevator motor 13, right vertically reel 14 controls stretching of vertically gentle rope 9 in a left side and right vertically gentle rope 12 respectively through the vertical elevator motor in a left side 10, a left side; Realization is to the control of operation module 15 vertical motions, thereby fulfils assignment the traversal of module 15 at level, vertical direction.On the operation module 15 washing and cleaning operation instrument and adsorption system can be installed, adsorption system is used for this module is pressed to wall, the active force that provides washing and cleaning operation to need.The present invention has characteristics such as space is big, control is simple, reliable operation.
The foregoing description does not limit the present invention in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in protection scope of the present invention.
Claims (3)
1. high-rise building wall surface cleaning robot moves and protective device; It is characterized in that comprising left horizontal hoisting system, right horizontal hoisting system, trunk module and operation module; Horizontal hoisting system in a described left side and right horizontal hoisting system symmetry; Comprise horizontal reel, horizontal elevator motor, horizontal fixed pulley and the level rope that softens respectively; Horizontal reel is connected with the output shaft of horizontal elevator motor, and an end of the gentle rope of level is walked around horizontal fixed pulley and is connected on the horizontal reel, and the other end is connected on the trunk module; Vertical hoisting system is housed on the described trunk module; Described vertical hoisting system comprises vertical elevator motor, vertical reel and vertically gentle rope; Vertically reel is connected with the output shaft of vertical elevator motor, and vertically an end of gentle rope is connected on the vertical reel, and the other end is connected on the operation module; Described vertical hoisting system comprises a left side vertically hoisting system and right vertically hoisting system; A left side vertically hoisting system is identical with right vertical hoisting system structure; Symmetric arrangement comprises vertical elevator motor, vertical reel and vertically gentle rope respectively, and vertically reel is connected with the output shaft of vertical elevator motor; One end of vertically gentle rope is connected on the vertical reel, and the other end is connected on the operation module.
2. high-rise building wall surface cleaning robot according to claim 1 moves and protective device, the adsorption system that it is characterized in that cleaning mechanism is housed on the described operation module He be used to increase cleaning action power.
3. high-rise building wall surface cleaning robot according to claim 1 moves and protective device, it is characterized in that at the back side of described trunk module adsorbent equipment being installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101406777A CN101803895B (en) | 2010-04-06 | 2010-04-06 | Moving and protecting device of wall surface washing robot for high-rise building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101406777A CN101803895B (en) | 2010-04-06 | 2010-04-06 | Moving and protecting device of wall surface washing robot for high-rise building |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101803895A CN101803895A (en) | 2010-08-18 |
| CN101803895B true CN101803895B (en) | 2012-05-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101406777A Expired - Fee Related CN101803895B (en) | 2010-04-06 | 2010-04-06 | Moving and protecting device of wall surface washing robot for high-rise building |
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| Country | Link |
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| CN (1) | CN101803895B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102358586B (en) * | 2011-10-28 | 2013-12-25 | 株洲市赛富自动门有限责任公司 | Lifting device |
| 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 |
| CN107116532B (en) * | 2017-03-22 | 2024-01-19 | 广东电网有限责任公司电力科学研究院 | Rope parallel robot with primary-secondary configuration |
| CN110448238A (en) * | 2019-08-09 | 2019-11-15 | 西安理工大学 | There are two types of the high-altitude wall cleaning devices of operating mode for tool |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000169083A (en) * | 1998-12-04 | 2000-06-20 | Bill Daiko:Kk | Wall face work robot |
| FR2863855A1 (en) * | 2003-12-18 | 2005-06-24 | Daforib | Building wall maintenance device, has connecting unit arranged between operating and maintenance modules, and permitting movement of maintenance module on part of surface of wall, and securing unit placing device at level of wall |
| CN1875862A (en) * | 2005-06-08 | 2006-12-13 | 庾顺禧 | A controllable device for automatically cleaning outside wall of high-rise building |
| CN201094600Y (en) * | 2007-09-19 | 2008-08-06 | 周云培 | Remote-controlling building exposed wall purification multifunctional operating system |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN201701161U (en) * | 2010-04-06 | 2011-01-12 | 昆山市工业技术研究院有限责任公司 | High-rise building wall surface cleaning robot moving and protecting device |
-
2010
- 2010-04-06 CN CN2010101406777A patent/CN101803895B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000169083A (en) * | 1998-12-04 | 2000-06-20 | Bill Daiko:Kk | Wall face work robot |
| FR2863855A1 (en) * | 2003-12-18 | 2005-06-24 | Daforib | Building wall maintenance device, has connecting unit arranged between operating and maintenance modules, and permitting movement of maintenance module on part of surface of wall, and securing unit placing device at level of wall |
| CN1875862A (en) * | 2005-06-08 | 2006-12-13 | 庾顺禧 | A controllable device for automatically cleaning outside wall of high-rise building |
| CN201094600Y (en) * | 2007-09-19 | 2008-08-06 | 周云培 | Remote-controlling building exposed wall purification multifunctional operating system |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN201701161U (en) * | 2010-04-06 | 2011-01-12 | 昆山市工业技术研究院有限责任公司 | High-rise building wall surface cleaning robot moving and protecting device |
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| Publication number | Publication date |
|---|---|
| CN101803895A (en) | 2010-08-18 |
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Granted publication date: 20120523 |
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