CN106184454A - A kind of intelligent travel in high sky robot - Google Patents
A kind of intelligent travel in high sky robot Download PDFInfo
- Publication number
- CN106184454A CN106184454A CN201610788867.7A CN201610788867A CN106184454A CN 106184454 A CN106184454 A CN 106184454A CN 201610788867 A CN201610788867 A CN 201610788867A CN 106184454 A CN106184454 A CN 106184454A
- Authority
- CN
- China
- Prior art keywords
- driving means
- suction cup
- cup assembly
- guide rail
- walking mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent travel in high sky robot, including frame and controller, wiper mechanism, the first walking mechanism and the second walking mechanism being arranged on；Second walking mechanism is adsorbed on curtain wall, and the first walking mechanism departs from curtain wall, in frame relative movement thereof is carried out curtain wall；After frame moves to relevant position, the first walking mechanism is adsorbed onto on curtain wall, and then the second walking mechanism departs from curtain wall and moves.Walking structure of the present invention is simple, stable, safety is high.
Description
Technical field
The present invention relates to intelligent robot technology field, particularly to a kind of intelligent travel in high sky robot.
Background technology
Along with the modernization development in city, city occurs in that numerous skyscraper.Based on daylighting and consideration attractive in appearance, very
Multi-rise building all uses glass curtain wall, the most also brings the cleaning problem of glass curtain wall.Tradition manner of cleaning up is by cleaning
Personal height operation, this operating type is dangerous big, cleanup crew from falling from high altitude, dead accident happens occasionally.In order to
The problem solving glass curtain wall cleaning, starts occur that glass curtain wall cleaning machine device people substitutes manual work.
Robot, when operation, need to walk up and down movement along glass curtain wall.The walking of existing glass curtain wall cleaning machine device people
Structure is complicated, and fluctuation of service easily causes robot and falls or stuck, thus forms danger.
Summary of the invention
The defect existed for above prior art, the technical problem to be solved is to provide a kind of walking structure
Simply, the intelligent travel in high sky robot that stable, safety is high.
In order to solve above-mentioned technical problem, the intelligent travel in high sky robot of the present invention, including frame and be arranged at it
On controller, wiper mechanism, the first walking mechanism and the second walking mechanism；Described controller is in order to control described cleaning machine
Structure, the first walking mechanism and the second walking mechanism；Described first walking mechanism includes the first driving means, the first guide rail and first
Suction cup assembly, described first driving means and described first guide rail are fixed in described frame, described first Suction cup assembly and institute
The outfan stating the first driving means connects, and can be perpendicular to curtain wall direction along described first guide rail and move；Described second walking
Mechanism includes slide block, the second driving means, the second guide rail, the second Suction cup assembly and the 3rd driving means, and described slide block set is located at
On longitudinal guide pillar of frame, described 3rd driving means in order to drive described slide block to move on described longitudinal guide pillar, described
Two driving means and described second guide rail are fixed on described slide block, described second Suction cup assembly and described second driving means
Outfan connects, and can be perpendicular to curtain wall direction along described second guide rail and move.
For further mature technology scheme, present invention additionally comprises techniques below feature:
As improving further, described first walking mechanism quantity is two groups, is vertically arranged in up and down the two of described frame
End；Also including in described second walking mechanism that connecting plate, described connecting plate are fixed on described slide block, described second drives dress
Put, described second guide rail is fixed with described connecting plate and is connected；Described second driving means, the second guide rail and the second Suction cup assembly pair
Should arrange, its quantity is two groups, is horizontally set on the two ends, left and right of described connecting plate.
As improving further, described frame is additionally provided with two longitudinal rails, the corresponding described longitudinal direction of described connecting plate
The second slide block coordinated with it it is provided with on the position of guide rail.
As improving further, described first Suction cup assembly and described second Suction cup assembly are respectively provided with 4 suckers, described suction
The trapezoidal arrangement of dish.
As improving further, described first Suction cup assembly and described second Suction cup assembly are connected to vacuum generator,
It is both provided with relief valve on each sucker.
As improving further, also include sucker vacuum level detector, in order to detect the vacuum of described sucker.
As improving further, described first driving means, the second driving means and the 3rd driving means are servomotor.
As improving further, described frame being additionally provided with balanced controls, it includes the row being fixed in described frame
Walk path detector, balance guide rail and be slidably disposed in the balancing weight on described balance guide rail.
Compared with prior art, the beneficial effects of the present invention is: when the first Suction cup assembly absorption is on curtain wall, second inhales
Dish assembly leaves curtain wall, and slide block moves on longitudinal guide pillar, drives the second Suction cup assembly to adsorb on curtain wall after moving, and first
Suction cup assembly departs from curtain wall, and longitudinal rail opposing slider moves, thus drives machine frame movement, it is achieved robot ambulation, walking knot
Structure is simple；The trapezoidal setting of sucker, can be prevented effectively from sucker and fully fall on glass curtain wall glue-line, and set simultaneously in walking process
Put sucker vacuum level detector so that adsorb safer, it is to avoid surprisingly fall；Set up walking path detector, robot ambulation
By regulating the position of balancing weight, direction of travel can be adjusted during the deviation of direction.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention intelligent travel in high sky robot.
Fig. 2 is another angled arrangement schematic diagram of the present invention intelligent travel in high sky robot.
Fig. 3 is the structural representation of the frame shown in Fig. 1.
Detailed description of the invention
In order to be illustrated more clearly that technical scheme, it is briefly described below in conjunction with drawings and Examples,
It should be evident that the accompanying drawing in describing below merely relates to some embodiments of the present invention, not limitation of the present invention.
Referring to shown in Fig. 1 to Fig. 3, the present invention intelligent travel in high sky robot, including frame 10 be arranged on
Controller 20, wiper mechanism, the first walking mechanism and the second walking mechanism.Frame 10 is " II " font, and it the most laterally props up
Frame, in order to install wiper mechanism, is fixed with installing plate 13 between two longitudinal carriers, controller 20 is arranged on installing plate 13, frame
Longitudinal guide pillar 14 it is additionally provided with in the middle part of in the of 10.
First walking mechanism is two groups, and vertically distribution is arranged on the two ends up and down of frame 10, and it includes the first driving means
41, the first guide rail 42 and the first Suction cup assembly 43, the first driving means 41 and the first guide rail 42 be fixed in frame 10, and first inhales
Dish assembly 43 is connected with the outfan of the first driving means 41, and can be perpendicular to curtain wall direction along the first guide rail 42 and move.Second
Walking mechanism includes that slide block 51, connecting plate the 52, second driving means the 53, second guide rail the 54, second Suction cup assembly 55 and the 3rd drive
Dynamic device, slide block 51 is set on longitudinal guide pillar 14 of frame, and the 3rd driving means is in order to drive slide block 51 at longitudinal guide pillar 14
On relative movement.Connecting plate 52 is fixing with slide block 51 to be connected, second driving means the 53, second guide rail the 54, second Suction cup assembly
55 to be correspondingly arranged be two groups, and horizontal distribution is arranged on the two ends, left and right of connecting plate 52, the second driving means 53 and the second guide rail 54
Being fixed on connecting plate 52, the second Suction cup assembly 55 is connected with the outfan of the second driving means 53, and can be along the second guide rail 54
It is perpendicular to curtain wall direction move.In order to improve stability further, the longitudinal carrier of frame 10 is provided with two longitudinal rails
12, the position of connecting plate 52 back side correspondence longitudinal rail 12 connects and has the second slide block 521, slide block 51 moves on longitudinal guide pillar 14
Time dynamic, the second slide block 521 synchronizes to move along longitudinal rail 12.
Each first Suction cup assembly 43 and the second Suction cup assembly 55 all include 4 suckers 70, the trapezoidal distribution of sucker 70, this
The distribution of sample can efficiently reduce multiple sucker and simultaneously fall in the situation on glass curtain wall glue-line, and robot is on glass curtain wall
Absorbability good.The distribution of sucker 70 is adjusted also dependent on different glass curtain wall situations.Level between each sucker 70
Spacing should be generally located on more than 2cm more than the width of glue-line.First Suction cup assembly 43 and the second Suction cup assembly 55 are all with true
Empty generator connects, and each sucker is separately provided with relief valve, does not affect other suckers when indivedual suckers fall on glue-line.Also
Sucker vacuum level detector can be set up, detect each Suction cup assembly has the sucker vacuum of more than 3 not under extreme condition
When meeting, robot readjusts the drop point of sucker group, it is ensured that robot can adsorb safely on glass curtain wall.Due to different glass
Being difficult to avoid that between glass and there is difference in height, each Suction cup assembly individually controls, can be high according to the glass in sucker drop point site
Degree is finely adjusted so that each Suction cup assembly can be fitted with glass curtain wall compression well, thus is that robot is at high-altitude curtain
Walking on wall provides safeguard.
Wiper mechanism includes four-drive device 31, push pedal 32, scraper plate mounting bracket 33 and the scraper plate 34 being sequentially connected with.Machine
Being provided with cross slide way 11 on the horizontal support of frame 10, four-drive device mounting seat 112 is connected with side stand 111, adjusts side
Support 111 drives four-drive device mounting seat 112 to move on cross slide way 11, can be according to the length of actually used scraper plate 34
Degree adjusts the position of four-drive device mounting seat 112, it is ensured that scraper plate reliablely and stablely works.Four-drive device 31 is fixed on
In four-drive device mounting seat 112, being provided with buffer spring between push pedal 31 and scraper plate mounting bracket 33, scraper plate 34 is installed
In described scraper plate mounting bracket 33.Owing to glass curtain wall different glass can not definitely be positioned on same perpendicular, when
Four-drive device 31 drives scraper plate to compress curtain wall, and buffer spring compresses, and is suitable for certain range of error so that scraper plate is preferably
It is fitted on curtain wall.
Being additionally provided with balanced controls in frame 10, it includes that the walking path detector being fixed in frame 10, balance are led
Rail 61 and be slidably disposed in balance guide rail 61 on balancing weight 62.It is preferred that balancing weight 62 may be configured as two pieces, join for two pieces
The big I of pouring weight differs.When walking path detector detects that robot ambulation route deviates, balancing weight 62 can be controlled and exist
Move on balance guide rail 61, and then adjust the balance of robot, it is achieved correct machine People's Bank of China and walk the purpose of route.
The work process of the present invention intelligent travel in high sky robot is: the second Suction cup assembly 55 adsorbs on curtain wall,
One Suction cup assembly 43 departs from curtain wall, and controller 20 controls the 3rd driving means, drives and slides between longitudinal guide pillar 14 and slide block 51,
Frame 10 entirety is driven to move down；Meanwhile, glass curtain wall is carried out by wiper mechanism；Frame 10 moves down into relevant position, and first
Suction cup assembly 43 is adsorbed onto on curtain wall, and the second Suction cup assembly 55 departs from curtain wall, and slide block 51 slides down on longitudinal guide pillar 14
Behind relevant position, again adsorb on curtain wall.
The foregoing is only inventive embodiment, it is not limited to the scope of patent protection of the present invention.Any it is familiar with
Alike those skilled in the art, without departing from spirit and scope of the invention, the change made and the equivalence replacement of retouching, be still the present invention
Scope of patent protection in.
Claims (8)
1. an intelligent travel in high sky robot, it is characterised in that: include frame and the controller being arranged on, cleaning machine
Structure, the first walking mechanism and the second walking mechanism；Described controller is in order to control described wiper mechanism, the first walking mechanism and
Two walking mechanisms；Described first walking mechanism includes the first driving means, the first guide rail and the first Suction cup assembly, and described first drives
Dynamic device and described first guide rail are fixed in described frame, described first Suction cup assembly and the output of described first driving means
End connects, and can be perpendicular to curtain wall direction along described first guide rail and move；Described second walking mechanism includes slide block, the second driving
Device, the second guide rail, the second Suction cup assembly and the 3rd driving means, described slide block set is located on longitudinal guide pillar of frame, described
3rd driving means is in order to drive described slide block to move on described longitudinal guide pillar, and described second driving means and described second is led
Rail is fixed on described slide block, and described second Suction cup assembly is connected with the outfan of described second driving means, and can be along described
Second guide rail is perpendicular to curtain wall direction and moves.
Intelligent travel in high sky robot the most according to claim 1, it is characterised in that: described first walking mechanism quantity
It is two groups, is vertically arranged in the two ends up and down of described frame；Described second walking mechanism also includes connecting plate, described connecting plate
Being fixed on described slide block, described second driving means, described second guide rail are fixing with described connecting plate to be connected；Described second drives
Dynamic device, the second guide rail and the second Suction cup assembly are correspondingly arranged, and its quantity is two groups, is horizontally set on the left and right of described connecting plate
Two ends.
Intelligent travel in high sky robot the most according to claim 2, it is characterised in that: it is additionally provided with two in described frame
Bar longitudinal rail, the position of the corresponding described longitudinal rail of described connecting plate is provided with the second slide block coordinated with it.
Intelligent travel in high sky robot the most according to claim 2, it is characterised in that: described first Suction cup assembly and institute
State the second Suction cup assembly and be respectively provided with 4 suckers, the trapezoidal arrangement of described sucker.
Intelligent travel in high sky robot the most according to claim 4, it is characterised in that: described first Suction cup assembly and institute
State the second Suction cup assembly and be connected to vacuum generator, each sucker is both provided with relief valve.
Intelligent travel in high sky robot the most according to claim 5, it is characterised in that: also include the inspection of sucker vacuum
Survey device, in order to detect the vacuum of described sucker.
Intelligent travel in high sky robot the most according to claim 6, it is characterised in that: described first driving means,
Two driving means and the 3rd driving means are servomotor.
Intelligent travel in high sky robot the most according to claim 2, it is characterised in that: it is additionally provided with flat in described frame
Weighing apparatus mechanism, it includes the walking path detector being fixed in described frame, balances guide rail and be slidably disposed in described flat
Balancing weight on weighing apparatus guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788867.7A CN106184454B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligent travel in high sky robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610788867.7A CN106184454B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligent travel in high sky robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106184454A true CN106184454A (en) | 2016-12-07 |
| CN106184454B CN106184454B (en) | 2018-11-13 |
Family
ID=58087583
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788867.7A Active CN106184454B (en) | 2016-08-31 | 2016-08-31 | A kind of intelligent travel in high sky robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106184454B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107149443A (en) * | 2017-06-29 | 2017-09-12 | 厦门华蔚物联网科技有限公司 | It is a kind of to cross the slidingtype sucker of bank and its curtain cleaning robot of application |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN108888167A (en) * | 2018-09-04 | 2018-11-27 | 蔡鹏翔 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
| CN110316272A (en) * | 2019-07-09 | 2019-10-11 | 苏州康鸿智能装备股份有限公司 | A kind of vacuum cap type running gear for vertical crawling robot |
| CN114910479A (en) * | 2022-07-13 | 2022-08-16 | 江苏恒尚节能科技股份有限公司 | Existing building glass curtain wall detecting system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03104785A (en) * | 1989-09-19 | 1991-05-01 | Ishikawajima Kensa Keisoku Kk | Suck running vehicle |
| JP2646008B2 (en) * | 1988-07-15 | 1997-08-25 | 日本ビソー株式会社 | Wall work robot |
| CN202054157U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Milk bag gripping device with improved structure |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN104029205A (en) * | 2014-06-06 | 2014-09-10 | 上海瑞猫自动化控制技术有限公司 | System for adjusting torque required by robot driving device |
| CN104590416A (en) * | 2014-12-12 | 2015-05-06 | 华南理工大学 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
| CN206107386U (en) * | 2016-08-31 | 2017-04-19 | 厦门华蔚物联网科技有限公司 | Intelligent high altitude walking robot |
-
2016
- 2016-08-31 CN CN201610788867.7A patent/CN106184454B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2646008B2 (en) * | 1988-07-15 | 1997-08-25 | 日本ビソー株式会社 | Wall work robot |
| JPH03104785A (en) * | 1989-09-19 | 1991-05-01 | Ishikawajima Kensa Keisoku Kk | Suck running vehicle |
| CN202054157U (en) * | 2011-04-13 | 2011-11-30 | 苏州澳昆智能机器人技术有限公司 | Milk bag gripping device with improved structure |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN104029205A (en) * | 2014-06-06 | 2014-09-10 | 上海瑞猫自动化控制技术有限公司 | System for adjusting torque required by robot driving device |
| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN104590416A (en) * | 2014-12-12 | 2015-05-06 | 华南理工大学 | Vacuum negative pressure adsorption system and method for multi-legged wall climbing robot |
| CN206107386U (en) * | 2016-08-31 | 2017-04-19 | 厦门华蔚物联网科技有限公司 | Intelligent high altitude walking robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107149443A (en) * | 2017-06-29 | 2017-09-12 | 厦门华蔚物联网科技有限公司 | It is a kind of to cross the slidingtype sucker of bank and its curtain cleaning robot of application |
| CN107149443B (en) * | 2017-06-29 | 2023-12-26 | 厦门华蔚物联网科技有限公司 | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN108888167A (en) * | 2018-09-04 | 2018-11-27 | 蔡鹏翔 | A kind of high-altitude cleaning unmanned plane and the method using high-altitude cleaning unmanned plane progress building high-altitude cleaning |
| CN108888167B (en) * | 2018-09-04 | 2024-07-09 | 蔡鹏翔 | High-altitude cleaning unmanned aerial vehicle and method for cleaning building high altitude by using same |
| CN110316272A (en) * | 2019-07-09 | 2019-10-11 | 苏州康鸿智能装备股份有限公司 | A kind of vacuum cap type running gear for vertical crawling robot |
| CN114910479A (en) * | 2022-07-13 | 2022-08-16 | 江苏恒尚节能科技股份有限公司 | Existing building glass curtain wall detecting system |
| CN114910479B (en) * | 2022-07-13 | 2022-09-23 | 江苏恒尚节能科技股份有限公司 | Existing building glass curtain wall detecting system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106184454B (en) | 2018-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106184454A (en) | A kind of intelligent travel in high sky robot | |
| CN105436330B (en) | Positioning and riveting pressing mechanism | |
| CN101966067A (en) | Automatic balancing and lifting system for building outer wall cleaning and control method thereof | |
| CN206107386U (en) | Intelligent high altitude walking robot | |
| CN202829219U (en) | Lift car gravity center dynamic automatic balance device | |
| CN211109447U (en) | Transmission device | |
| CN104330354A (en) | Precise coating griding device | |
| CN206303858U (en) | A kind of anti-dropout curtain wall robot | |
| CN106166051A (en) | A kind of intelligence straight line moving robot | |
| CN110980482A (en) | Simple and easy type elevator car focus adjusting device | |
| CN206203294U (en) | A kind of quick positioning formula automatic conveyor | |
| CN206303859U (en) | A kind of intelligent straight line moving robot | |
| CN104960882B (en) | The automatic upper and lower pieces device of paint line oil cylinder | |
| CN211393489U (en) | Simple and easy type elevator car focus adjusting device | |
| CN115196501A (en) | Bridge beam assembling and hoisting equipment | |
| CN113638316A (en) | Large-span multichannel monorail transit track beam bridge | |
| CN211282416U (en) | Roller way type elevator | |
| CN218708357U (en) | Elevator leveling adjusting device | |
| CN209112921U (en) | A kind of material transmission system | |
| CN209503273U (en) | A kind of staircase and girder gantry tooling | |
| CN110282444A (en) | A kind of vertical dropping mechanism | |
| CN110775517A (en) | Roller way type elevator | |
| CN205445006U (en) | Lifting stage device | |
| CN219100549U (en) | Stair railing pole setting | |
| CN219489465U (en) | Height-adjustable material conveying lifting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |