CN105030169A - Wall crawling device - Google Patents
Wall crawling device Download PDFInfo
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- CN105030169A CN105030169A CN201510345751.1A CN201510345751A CN105030169A CN 105030169 A CN105030169 A CN 105030169A CN 201510345751 A CN201510345751 A CN 201510345751A CN 105030169 A CN105030169 A CN 105030169A
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- sucker
- metope
- support
- crawling device
- suckers
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- 230000009193 crawling Effects 0.000 title claims abstract description 60
- 241000252254 Catostomidae Species 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000005406 washing Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000013519 translation Methods 0.000 description 7
- 230000014616 translation Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 230000005484 gravity Effects 0.000 description 5
- 230000001154 acute effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 210000000621 bronchi Anatomy 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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Abstract
The invention discloses a wall crawling device. The crawling device can be sucked on planar walls by the aid of suckers. The wall crawling device has the advantages that the wall crawling device can crawl on the walls by the aid of two groups of suckers; supports of the two groups of suckers are connected with shaft sleeves by shafts, the two supports can rotate relatively, and the shafts are perpendicular to the walls when the crawling device is sucked on the walls; the shafts and the shaft sleeves of the two supports also can move relatively in the axial directions, so that the two groups of suckers sucked on the walls can be respectively lifted from the walls to be separated from the walls or can be laid down to be close to the walls; one of the sucker supports can be divided into two portions, namely, a combination of support bodies and a combination of support legs, the support bodies are connected to the other group of suckers, the support legs are connected with the various suckers of the corresponding group, and the support bodies and the support legs can move relatively in perpendicular planes of the shafts; a relaxed safety rope is connected with the crawling device, and the crawling device can be protected by the safety rope when crawling on the walls, can be instantly pulled by the safety rope once the crawling device falls off from the walls and accordingly can be prevented from dropping.
Description
Technical field
The present invention relates to metope mechanically moving field, more specifically, relate to a kind of metope mobile platform.
Background technology
At present, modern city, beautiful high building is a lot, but the metope operation carried out outside high building, as metope washing, the mode mainly relying on the instrument such as boatswain chair, hanging basket operating personnel to be hung on high-altitude enters operation, such workman is dangerous, every year have injures and deaths example to occur, and be suspended from workman's operation in high-altitude, inefficiency, cost of labor are high.In addition, in order to building appearance design is beautiful, some high-altitude wall face and level ground are also non-perpendicular, in obtuse angle, acute angle, wherein be difficult to arrive by hanging basket in acute angle portion, be just difficult to carry out outer wall operation, as washing.There is no commercial product now yet, existing invention, patent, turn to as not realizing in application number 201410671202.9, application number 201320096470.3 is hovered by loop wheel machine, then fixed by support, firmly can not be adsorbed in metope, although application number 201310135905.5 has sucker, there is sensor, can not oneself lift and put down sucker, just by loop wheel machine or motor removing, can not to the acutangulate metope work of inclination.Other as application number 201210451244.2, application number 201210137133.4, application number 201120035363.0, ZL200820155191.9 is each has something to recommend him, but all not can solve acute angle metope, high-altitude strong wind, exterior wall is uneven and exterior wall has the realistic problems such as barrier.
Summary of the invention
The present invention is a kind of metope crawling device, comprises mechanical part and electronic control part, and mechanical part has sucker group and sucker pack support, and its sucker group makes crawling device be adsorbed in metope.For convenience of explanation, when crawling device positive direction is adsorbed in vertical wall, be provided with three-dimensional coordinate system, x-axis is parallel to metope and horizontal plane intersecting lens, and y-axis is perpendicular to horizontal plane, and z-axis is simultaneously perpendicular to x-axis and y-axis (being the horizontal line perpendicular to metope).Crawling device has two groups of suckers to creep at metope for device, the support of these two groups of suckers is connected with axle sleeve by axle, this axle and axle sleeve are parallel to z-axis, such two supports with the direction of z-axis for axis relatively rotates, and can change relative angle, thus realize wall-climbing machine device and can change its direction of creeping, for stating conveniently herein, be called " direction turns ", such as, in a kind of device for carrying out said in the accompanying drawings, the motion of Fig. 9 to Figure 10; And the above-mentioned axle of crawling device and axle sleeve again can in the relative movements of z-axis direction, thus these the two groups of suckers realizing being adsorbed in metope can alternately leave respectively or near and contact metope, be called " frame lifting ", the motion of such as Fig. 2 to Fig. 3, its mobile ultimate range is called " lifting journey ".Often organizing in sucker stand, can two parts regarded as again: a part is being connected to another group sucker, and be called " frame body ", another part is connected to each sucker of oneself sucker group, is called " frame leg "; The frame body of one of them support and frame leg in the relative movement of y-axis direction, can be called " frame translation ", the motion of such as Fig. 3 to Fig. 4; For stating conveniently, and claiming this support for " support A ", claiming another group sucker stand to be " support B ".In support A or support B, one of them support, its body and frame leg can relatively rotate again, the parallel x-axis of its pivot center, are called " height turns ".The rotation of such as Figure 11 to Figure 12.
A kind of crawling process:
1). when support B adsorbs metope, support A to lift and away from metope by frame lifting;
2). by frame translation, the sucker of support A is moved along metope, also turns change moving direction by direction, or transfer the inclination angle of adjusting pole A and metope by height, with avoiding obstacles;
3). make support A close by frame lifting and adsorb metope, the step completing support A is creeped;
4). support B to lift and away from metope by frame lifting,
5). by frame translation, the sucker of support B is moved along metope direction, also turns change moving direction by direction, or transfer the inclination angle of adjusting pole B and metope by height, with avoiding obstacles;
6). make support B close by frame lifting and adsorb metope, the step completing support B is creeped;
Support A and support B respectively completes a step, thus the step completing crawling device is creeped.In the actual crawling process of crawling device, each action can be independent, do not have fixing precedence, to realize the metope of different objects and adaptation varying environment.
Present wall face structure is much more complicated, has the frame of glass window, have ornamental strip, have brick face and glass to mix etc., crawling device need can cross over some barriers, the biggest obstacle object height degree that crawling device design can be crossed over is called " H
barrier".When support A and support B adsorbs metope, its support distance metope has a segment distance, and the distance of each support frame body lowest part and metope is support clear height, is called " H
?".The H of A, B support of crawling device
?all need to be more than or equal to H
barrier, and lifting Cheng Bixu is more than or equal to 2 times of H
barrier.
The H of crawling device
barrierfor the important performance indexes of crawling device, H
barrierlarger, the ability of leaping over obstacles is better, but H
barrierlarger, the H of two stands
?just need larger, when crawling device is adsorbed in metope, its center of gravity and profile geometric center need more away from metopes, and the moment that himself gravity or high-altitude wind effect produce is also larger, thus more easily drops.And at H
barrierone timing, the H of support A and support B
?all need to be more than or equal to H
barrier, the H of support A and support B
?if design different, then H
?large support, its center of gravity further from metope, and causes the total centre of gravity of crawling device away from metope, so design the H of support A and support B as far as possible
?identical, the center of gravity of crawling device can not because of the H of support A and support B
?difference and more away from metope, so that in operation process, reduce the impact that crawling device brings because of high-altitude strong wind and self gravitation, with the ability keeping crawling device can have good leaping over obstacles as far as possible.
Above everything can have been driven by the electronic control part of crawling device and corresponding drive unit (as motor, cylinder), total low pressure gas pipe that the low pressure of sucker is connected to crawling device by its bronchus obtains, the opening and closing of its low pressure are all completed by electronic control part, total low pressure gas pipe of crawling device is connected to external low pressure pump, and power supply and the manual command of crawling device are provided by external cable.During work, crawling device is connected with the safety rope that pine is hung, and protect oneself absorption metope to creep, once crawling device comes off from metope, safety rope can hold whole crawling device at once, and crawling device is unlikely to ground of dropping.
Accompanying drawing explanation
Accompanying drawing is a certain device for carrying out said schematic diagram of the present invention.
Fig. 1 is a kind of device for carrying out said three-view diagram.
Fig. 2 to Figure 12 is the schematic diagram of the various forms of this device for carrying out said in crawling process.
Detailed description of the invention
Be below a kind of device for carrying out said by reference to the accompanying drawings, the present invention is described in further detail.
In Fig. 1 to Figure 12, comprising:
1. exterior wall 1
2. support A frame leg 2
3. support A frame body 3
4. support B4
5. axle 5
6. axle sleeve 6
7. rotatable crossbeam 7
8. safety rope 8
91. suckers 91
92. suckers 92
93. suckers 93
94. suckers 94
95. suckers 95
96. suckers 96
97. suckers 97
In the various figures, the exterior wall that exterior wall 1 adsorbs for crawling device, support A frame leg 2 and support A frame body 3 form support A, and support A frame leg 2 and frame body 3 can frame translations, and moving direction is y-axis; The frame body part of support A and support B all has a clear height apart from metope, has obstacle crossing ability to keep crawling device; Support B4 is designed with axle 5, the frame body 3 of support A is designed with axle sleeve 6, axle 5 with axle sleeve 6 for axle is connected, the circumference of axle sleeve 6, mid portion has space, two ends circumference closes, like this, axle 5 and axle sleeve 6 in the relative translation of z-axis direction, can form frame lifting, can z-axis direction be that axle center relatively rotates again, form direction and turn; Support A frame body 3 is designed with rotatable crossbeam 7, can relatively rotates for axis with x-axis direction with axle sleeve 6, the axle sleeve 6 on support A and its support A frame leg 2 can be relatively rotated, form height and turn; Crawling device is provided with safety rope 8, and full rope 8 other ends are connected to roof, at ordinary times the and then crawling device of slightly surplus; when crawling device comes off from metope, can hold at once, to protect its ground of can not dropping; and its length and location can be regulated, crawling device is returned to the former place that drops.Sucker 91 to 97 is adsorbed in metope by its inside lower than the air pressure of standard atmospheric pressure, wherein 91,92,93,94 be installed on support A formation sucker group A, 95,96,97 support B4 formation sucker group B is installed on, each sucker all has the low pressure arm of its correspondence to be connected to the total air pipe of crawling device, and have air valve switch, control it and whether obtain low pressure from gas main, threshold switch is all completed by electronic control part, its bronchus length leaves surplus to ensure all parts motion of crawling device, and the house steward that calms the anger of crawling device is connected to the low pressure pump of roof.The power supply of crawling device and manual command are provided by the external cable being connected to roof; Operating personnel issue instructions to the electronic control part of crawling device at roof, Command Resolution is become concrete action by electronic control part again, drive each corresponding motor and control the low air pressure switch of sucker by crawling device work, the drive motors (turning drive motors 10 except depicting height) of external cable and each motion, in addition electronic control part do not mark in the drawings.
When crawling device receives instruction of creeping, electronic controller controls corresponding motor, completes a step and creeps and generally have following action:
1. two groups of suckers of crawling device can be adsorbed in metope, such as Fig. 2 simultaneously;
2. support A leaves metope, such as Fig. 2 to Fig. 3 by frame lifting;
3. support A frame leg 2 moves forward a step by frame translation, such as Fig. 3 to Fig. 4;
4. support A is by frame lifting near metope, and its sucker group is adsorbed in metope, such as Fig. 4 to Fig. 5;
5. support B4 leaves metope, such as Fig. 5 to Fig. 6 by frame lifting;
6. support B4 moves forward a step by frame translation, such as Fig. 6 to Fig. 7;
7. support B4 is by frame lifting near metope, and its sucker group is adsorbed in metope, such as Fig. 7 to Fig. 8.
By above 7 steps, the step completing crawling device is creeped, in actual crawling process.In the process of each step after having a pack support to leave metope, can also turn by travel direction, the motion of such as Fig. 9 to Figure 10, change the direction of creeping of crawling device, constantly to revise running route, also transfer the inclination angle that support and metope are lifted in adjustment, with when on-plane surface metope is creeped by height, energy is avoiding obstacles smoothly, the motion of such as Figure 11 to Figure 12.And according to metope concrete condition, each action above is all free, independent, does not have strict precedence.Constantly utilize the combination of above action can realize crawling device freely creeping at metope, and because rack leg has certain height, so certain altitude barrier can be crossed in crawling process, and adapt to certain rugged metope, the metope of differing tilt angles can be adapted to.
Although the present invention is described by an above-mentioned embodiment, this embodiment is not used for limiting claim of the present invention.If those skilled in the art, in the scope of spirit of the present invention, make various distortion or improvement, all within protection scope of the present invention.What therefore the scope of the present invention should define with the claims of the application is as the criterion.
Claims (8)
1. an exterior wall crawling device, has mechanical part and electronic control part; Mechanical part has sucker group, and wherein sucker can be adsorbed in metope, and crawling device has two groups of suckers to creep at metope for it: this two suckers pack support is connected with axle sleeve by axle, can relatively rotate; Two sucker pack supports also can along the direction relative motion of this axle; A sucker pack support wherein, itself and another sucker pack support connected component, and itself and oneself each sucker connected component, these two parts can be vertical or close to vertical direction relative motion of above-mentioned axle.
2., based on the device of claim 1, two described sucker pack supports, when two groups of suckers are adsorbed in plane metope simultaneously, two stands is apart from the free height of metope, and the scope of these two free height ratios is between 0.5 to 2.
3. based on the device of claim 1, in two sucker groups according to claim 1, a wherein sucker pack support, itself and another sucker pack support connected component, with itself and oneself each sucker group connected component, these two parts can relatively rotate, and its turning cylinder is vertical or near perpendicular to two stands connecting axle described in claim 1.
4. an equipment for washing external wall, this device employs feature according to claim 1.
5. an exterior wall conveying arrangement, this device employs feature according to claim 1.
6. an exterior wall attending device, this device employs feature according to claim 1.
7. an exterior wall testing fixture, this device employs feature according to claim 1.
8. exterior wall is creeped and is checked a device, and this device employs feature according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510345751.1A CN105030169B (en) | 2015-06-19 | 2015-06-19 | A kind of metope crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510345751.1A CN105030169B (en) | 2015-06-19 | 2015-06-19 | A kind of metope crawling device |
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| Publication Number | Publication Date |
|---|---|
| CN105030169A true CN105030169A (en) | 2015-11-11 |
| CN105030169B CN105030169B (en) | 2019-01-22 |
Family
ID=54437579
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510345751.1A Active CN105030169B (en) | 2015-06-19 | 2015-06-19 | A kind of metope crawling device |
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| CN (1) | CN105030169B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| WO2018028707A1 (en) * | 2015-11-08 | 2018-02-15 | 柯干兴 | Wall cleaning machine |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
| CN108324198A (en) * | 2018-01-02 | 2018-07-27 | 刘禄军 | A kind of metope crawling device |
| CN108622224A (en) * | 2018-04-29 | 2018-10-09 | 刘禄军 | A kind of metope crawling device |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN110409787A (en) * | 2019-07-26 | 2019-11-05 | 广东博智林机器人有限公司 | Hanging basket |
| CN110934529A (en) * | 2019-12-24 | 2020-03-31 | 蒋益平 | Intelligent curtain wall glass cleaning device for intelligent building |
| CN113738078A (en) * | 2021-09-16 | 2021-12-03 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
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| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018028707A1 (en) * | 2015-11-08 | 2018-02-15 | 柯干兴 | Wall cleaning machine |
| CN108158483A (en) * | 2016-01-30 | 2018-06-15 | 李沁心 | A kind of cleaning equipment of glass curtain wall |
| CN106976490A (en) * | 2017-04-05 | 2017-07-25 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN109748211A (en) * | 2017-11-02 | 2019-05-14 | 上海阿发渔具厂 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
| CN108324198A (en) * | 2018-01-02 | 2018-07-27 | 刘禄军 | A kind of metope crawling device |
| CN108622224A (en) * | 2018-04-29 | 2018-10-09 | 刘禄军 | A kind of metope crawling device |
| CN110409787A (en) * | 2019-07-26 | 2019-11-05 | 广东博智林机器人有限公司 | Hanging basket |
| CN110934529A (en) * | 2019-12-24 | 2020-03-31 | 蒋益平 | Intelligent curtain wall glass cleaning device for intelligent building |
| CN110934529B (en) * | 2019-12-24 | 2021-07-30 | 苏州维斯勒姆智能科技有限公司 | Intelligent curtain wall glass cleaning device for intelligent building |
| CN113738078A (en) * | 2021-09-16 | 2021-12-03 | 湖南康瑞涂料科技有限公司 | Four-pile positioning sucker type wall climbing and tiling robot and working method thereof |
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| Publication number | Publication date |
|---|---|
| CN105030169B (en) | 2019-01-22 |
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Effective date of registration: 20201221 Address after: Room 1164, building A2, 216 puliu North Road, Getang street, Jiangbei new district, Nanjing, Jiangsu Province Patentee after: Jiangsu yuanfen Technology Co.,Ltd. Address before: 211006 2-27-1, No.2, Jiangjun Avenue, Jiangning District, Nanjing City, Jiangsu Province Patentee before: Liu Lujun |