CN105030169B - A kind of metope crawling device - Google Patents
A kind of metope crawling device Download PDFInfo
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- CN105030169B CN105030169B CN201510345751.1A CN201510345751A CN105030169B CN 105030169 B CN105030169 B CN 105030169B CN 201510345751 A CN201510345751 A CN 201510345751A CN 105030169 B CN105030169 B CN 105030169B
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- metope
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- crawling device
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- 230000009193 crawling Effects 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims 3
- 238000010168 coupling process Methods 0.000 claims 3
- 238000005859 coupling reaction Methods 0.000 claims 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 claims 1
- 238000007689 inspection Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 claims 1
- 239000002594 sorbent Substances 0.000 claims 1
- 241000252254 Catostomidae Species 0.000 abstract description 7
- 238000013461 design Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 6
- 230000001154 acute effect Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
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- 210000000621 bronchi Anatomy 0.000 description 2
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- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
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- 239000011449 brick Substances 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
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- 238000005406 washing Methods 0.000 description 1
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Abstract
The present invention enables crawling device to be adsorbed in plane metope using sucker.Have two groups of suckers to creep for device in metope: the bracket of this two groups of suckers is connected by axis with axle sleeve, and two stands can relatively rotate, when crawling device is adsorbed in metope, the axis vertical wall.The axis of two stands and axle sleeve can relatively move again in axis direction simultaneously, so that metope can be lifted off from metope respectively or put down close to metope by being adsorbed in this two groups of suckers of metope.In one of them sucker stand, and it can be considered two parts, referred to as frame body and frame leg, frame body is connected to another group of sucker, and frame leg connects each sucker of this group, and frame body and frame leg can relatively move in the vertical plane of axis.Crawling device is connected to the safety rope loosened, it is protected to creep, once crawling device falls off from metope, safety rope can hold entire crawling device at once, and be unlikely to fall.
Description
Technical field
The present invention relates to metope mechanically moving fields, more particularly, to a kind of metope mobile platform.
Background technique
Currently, modern city, there are many beautiful high building, but to carry out the metope operation outside high building, main as metope washing
Operating personnel is hung on into the mode in high-altitude into operation by the tools such as platform sling, hanging basket, such worker is dangerous, there is wound every year
Example is died, and is suspended from worker's operation in high-altitude, inefficiency, high labor cost.In addition, for building design drift
Bright, some high-altitude wall faces and level ground are simultaneously non-perpendicular, and in obtuse angle, acute angle, part at an acute angle therein is difficult by hanging basket
It reaches, is difficult to carry out outer wall operation, such as wash.Also not commercial product now, existing invention, patent, as application number
The steering can not be achieved in 201410671202.9, and application number 201320096470.3 is to be hovered by loop wheel machine, then consolidated by bracket
It is fixed, it cannot consolidate and be adsorbed in metope, although application number 201310135905.5 has sucker, there is sensor, oneself cannot lift
With put down sucker, it is mobile simply by loop wheel machine or motor, cannot work metope at an acute angle is tilted.Other are as application number
201210451244.2, application number 201210137133.4, application number 201120035363.0, ZL 200820155191.9 all
It is each has something to recommend him, but fail to that very good solution acute angle metope, high-altitude strong wind, exterior wall is uneven has barrier etc. real with exterior wall
Problem.
Summary of the invention
The present invention is a kind of metope crawling device, including mechanical part and electronic control part, mechanical part have sucker group
With sucker pack support, sucker group enables crawling device to be adsorbed in metope.For convenience of explanation, when crawling device positive direction is adsorbed in
When vertical wall, it is equipped 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 (as perpendicular to the horizontal line of metope).Crawling device has two groups of suckers to creep for device in metope,
The bracket of this two groups of suckers is connected by axis with axle sleeve, and the axis and axle sleeve are parallel to z-axis, and two such bracket can be with the side of z-axis
It is relatively rotated to for axis, and changes relative angle, to realize that its direction of creeping can be changed in wall-climbing machine device, for statement side herein
Just, referred to as " direction turns ", such as in a kind of implementing device in the accompanying drawings, the movement of Fig. 9 to Figure 10；And crawling device is upper
Stating axis and axle sleeve can relatively move again in z-axis direction, to realize that this two groups of suckers for being adsorbed in metope can alternately leave respectively
Or close and contact metope, referred to as " frame lifting ", such as the movement of Fig. 2 to Fig. 3, mobile maximum distance are known as " lifting
Journey ".In every group of sucker stand, and can regard two parts as: a part is connected to another group of sucker, referred to as " frame body ", another portion
Divide each sucker for being connected to oneself sucker group, referred to as " frame leg "；The frame body and frame leg of one of bracket can be opposite in y-axis direction
It is mobile, referred to as " frame translation ", such as the movement of Fig. 3 to Fig. 4；It is convenient for statement, and the bracket is referred to as " bracket A ", claims another group
Sucker stand is " bracket B ".In bracket A or bracket B, one of bracket, body and frame leg can relatively rotate again, turn
The parallel x-axis of shaft line, referred to as " height turns ".Such as the rotation of Figure 11 to Figure 12.
A kind of crawling process:
1) when bracket B adsorbs metope, bracket A can be gone up and down by frame and be lifted and far from metope；
2) is translated by frame, moves the sucker of bracket A along metope, can also turn to change moving direction by direction, or logical
The inclination angle for just transferring adjustment bracket A and metope is crossed, with avoiding obstacles；
3) approaches bracket A by frame lifting and adsorbs metope, and the step for completing bracket A is creeped；
4) bracket B can be gone up and down by frame lifts simultaneously separate metope,
5) is translated by frame, moves the sucker of bracket B along metope direction, can also turn to change moving direction by direction,
Or the inclination angle by just transferring adjustment bracket B and metope, with avoiding obstacles；
6) can be gone up and down by frame approaches bracket B and adsorbs metope, and the step for completing bracket B is creeped；
One step of each completion of bracket A and bracket B, so that the step for completing crawling device is creeped.In the reality of crawling device
In crawling process, each movement can be independent, the precedence that do not fix, to realize different purposes ring different with adaptation
The metope in border.
How more complex present wall face structure is, there is the frame of glass window, has ornamental strip, has brick face and glass to mix
It is required to Deng, crawling device across some barriers, the biggest obstacle object height that crawling device design can cross over is known as " HBarrier”。
When bracket A and bracket B absorption metope, bracket has a distance apart from metope, each bracket frame body lowest point and metope
Distance is bracket clear height, referred to as " HBranch".The H of A, B bracket of crawling deviceBranchIt all needs to be more than or equal to HBarrier, and it is big to go up and down Cheng Bixu
In equal to 2 times of HBarrier。
The H of crawling deviceBarrierFor the important performance indexes of crawling device, HBarrierBigger, the ability of leaping over obstacles is better, but HBarrier
It is bigger, the H of two standsBranchBigger with regard to needing, when crawling device is adsorbed in metope, center of gravity and shape geometric center need to be further away from walls
The torque that face, its own gravity or high-altitude wind effect generate is also bigger, so that easier fall.And in HBarrierOne timing, bracket A
With the H of bracket BBranchIt requires to be more than or equal to HBarrier, the H of bracket A and bracket BBranchIf design is different, HBranchBig bracket, center of gravity
Further from metope, and cause the total centre of gravity of crawling device far from metope, so designing the H of bracket A and bracket B as far as possibleBranchIt is identical, it climbs
The center of gravity that luggage is set will not be because of the H of bracket A and bracket BBranchDifference and farther away from metope, so as in operation process, as far as possible
Crawling device is reduced because high-altitude strong wind and self gravity bring influence, to keep crawling device that there can be preferable leaping over obstacles
Ability.
All of above movement can be driven by the electronic control part of crawling device and corresponding driving device (such as motor, cylinder)
Dynamic to complete, total low-pressure air pipe that the low pressure of sucker can be connected to crawling device by its bronchus obtains, the opening of low pressure
It with closing is completed by electronic control part, total low-pressure air pipe of crawling device is connected to external low pressure pump, crawling device
Power supply and manual command pass through external cable provide.When work, crawling device is connected with the safety rope that pine is hung, and protects oneself
Absorption metope is creeped, once crawling device falls off from metope, safety rope can hold entire crawling device at once, and crawling device is unlikely
In falling ground.
Detailed description of the invention
Attached drawing is a certain implementation schematic diagram of the invention.
Fig. 1 is a kind of implementing device three-view diagram.
Fig. 2 to Figure 12 is the schematic diagram of various forms of the implementing device in crawling process.
Specific embodiment
The following are a kind of implementing devices in conjunction with attached drawing, and present invention is further described in detail.
In Fig. 1 to Figure 12, comprising:
1. exterior wall 1
2. bracket A frame leg 2
3. bracket A frame body 3
4. bracket B4
5. axis 5
6. axle sleeve 6
7. can be rotated crossbeam 7
8. safety rope 8
91. sucker 91
92. sucker 92
93. sucker 93
94. sucker 94
95. sucker 95
96. sucker 96
97. sucker 97
In the various figures, exterior wall 1 is the exterior wall of crawling device absorption, and bracket A frame leg 2 and bracket A frame body 3 form bracket A, branch
Frame A frame leg 2 and frame body 3 can frame translation, moving direction is y-axis；The frame body part of bracket A and bracket B has a clear height away from metope,
To keep crawling device to have obstacle crossing ability；Design has axis 5 on bracket B4, and design has axle sleeve 6, axis 5 on the frame body 3 of bracket A
It is axis connection with axle sleeve 6, the circumference of axle sleeve 6, there are gap, both ends circumference closure, in this way, axis 5 and axle sleeve 6 can be in z in middle section
Axis direction relative translation forms frame lifting, and can relatively rotate by axle center of z-axis direction, forms direction and turns；On bracket A frame body 3
Design has rotatable crossbeam 7, can relatively rotate with axle sleeve 6 by axis of x-axis direction, make the axle sleeve 6 and its bracket A on bracket A
Frame leg 2 can relatively rotate, and form height and turn；Crawling device is equipped with safety rope 8, and complete 8 other ends of restricting are connected to roof, usually
The and then crawling device of slightly surplus can be held at once when crawling device falls off from metope, to protect it to fall ground
Face, and it is adjustable its length and position, crawling device return original is fallen into place.Sucker 91 to 97 can be internal lower than standard by it
The air pressure of atmospheric pressure is adsorbed in metope, wherein 91,92,93,94 are installed on bracket A formation sucker group A, 95,96,97 are installed on branch
Frame B4 forms sucker group B, and each sucker has its corresponding low pressure branch pipe to be connected to the total air pipe of crawling device, and has air valve
Switch, controls whether it from gas main obtains low pressure, and threshold switch is all completed by electronic control part, bronchus length there are
Surplus is moved with all parts for guaranteeing crawling device, and the general pipeline that calms the anger of crawling device is connected to the low pressure pump of roof.It creeps
The power supply of device and manual command are provided by being connected to the external cable of roof；Operator issues instructions in roof and creeps
The electronic control part of device, electronic control part drive each corresponding motor and control again by Command Resolution at specific movement
The low air pressure switch of sucker processed works by crawling device, and the driving motor of external cable and each movement (turns except height is depicted
Driving motor 10), do not marked in figure there are also electronic control part.
When crawling device receives instruction of creeping, electronic controller controls corresponding motor, complete a step creep generally have with
Lower movement:
1. two groups of suckers of crawling device can be adsorbed in metope, such as Fig. 2 simultaneously；
2. bracket A leaves metope, such as Fig. 2 to Fig. 3 by frame lifting；
3. bracket A frame leg 2 is translated towards Forward by frame and moves a step, such as Fig. 3 to Fig. 4；
4. bracket A is gone up and down by frame close to metope, sucker group is adsorbed in metope, such as Fig. 4 to Fig. 5；
5. bracket B4 leaves metope, such as Fig. 5 to Fig. 6 by frame lifting；
6. bracket B4 is translated towards Forward by frame and moves a step, such as Fig. 6 to Fig. 7；
7. bracket B4 is gone up and down by frame close to metope, sucker group is adsorbed in metope, such as Fig. 7 to Fig. 8.
By above 7 step, the step for completing crawling device is creeped, in practical crawling process.When have a pack support from
During each step after opening metope, direction can also be carried out and turned, such as the movement of Fig. 9 to Figure 10, to change crawling device
Direction of creeping the inclination angle of bracket and metope can also be lifted by just transferring adjustment, non-constantly to correct running route
When plane metope is creeped, the smooth avoiding obstacles of energy, such as the movement of Figure 11 to Figure 12.It is above and according to metope concrete condition
Each movement is free, independent, without stringent precedence.Crawling device constantly may be implemented using the combination acted above
In freely creeping for metope, and because rack leg has certain height, certain altitude barrier can be crossed in crawling process
Hinder object, and adapt to certain rugged metope, can adapt to the metope of differing tilt angles.
Although the present invention is described by said one embodiment, the embodiment is not for the purpose of limiting the invention
Claim.If those skilled in the art in the range of spirit of the invention, make various modifications or improvement, of the invention
Within protection scope.Therefore the scope of the present invention should be defined with claims hereof protection scope is
It is quasi-.
Claims (4)
1. a kind of metope crawling device, including sucker, bracket, axis and axle sleeve, interambulacrum are connected by bracket, sucker is formed
Group；The device includes two sucker groups, and two sucker groups simultaneously or alternating sorbent metope, realize that it creeps in metope；This two
It include the axis in a sucker group in a sucker group, another sucker group includes the axle sleeve, and two sucker groups are logical
It crosses the axis to be connected with axle sleeve, has opening on axle sleeve, in the sucker group where axis, between axis and sucker, there is coupling part
Across the opening；Axis and axle sleeve can be relatively rotated by rotation axis of the axis, so that can conversion direction in the device operational process；Axis
It can also be along the axial relative movement of the axis, so that two sucker groups can simultaneously or alternately inhale in the device operational process with axle sleeve
Attached wall face.
2. the metope crawling device based on claim 1, there is opening on the jacket wall of the axle sleeve, in the sucker group where axis,
The coupling part of axis and sucker passes through the opening, and the coupling part can be mobile in opening, to not influence two sucker groups
Relative rotation and axial movement.
3. the metope crawling device based on claim 1, which can be in the axis perpendicular to axis described in claim 1
To rotation, realize that another sucker can be adjusted by the rotation between another sucker group and metope when a sucker group adsorbs metope
Angle.
4. the device is for metope cleaning, kinds of goods based on the metope crawling device of claims 1 to 3 any one claim
Transport, metope maintenance or metope inspection.
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 |
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| 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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| CN105030169A CN105030169A (en) | 2015-11-11 |
| CN105030169B true CN105030169B (en) | 2019-01-22 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN105496292B (en) * | 2016-01-30 | 2018-07-13 | 广东中幕建设工程有限公司 | 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 |
| 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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| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN104352199A (en) * | 2014-11-21 | 2015-02-18 | 河北科技大学 | Glass curtain wall cleaning machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS6436588A (en) * | 1987-07-31 | 1989-02-07 | Yokohama Rubber Co Ltd | Walking machine for wall surface washing |
| CN2243261Y (en) * | 1995-06-28 | 1996-12-25 | 王镇虎 | Automatic self-sucking window cleaner |
| JP2012165856A (en) * | 2011-02-14 | 2012-09-06 | Kazuo Yuda | Window glass cleaner |
| CN203153652U (en) * | 2013-04-10 | 2013-08-28 | 丽水学院 | Wall-climbing mechanism of high-rise glass cleaning robot and PLC control system |
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- 2015-06-19 CN CN201510345751.1A patent/CN105030169B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN104352199A (en) * | 2014-11-21 | 2015-02-18 | 河北科技大学 | Glass curtain wall cleaning machine |
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| CN105030169A (en) | 2015-11-11 |
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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 |
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