CN106737814A - Exterior wall climbs building intelligent spider people - Google Patents
Exterior wall climbs building intelligent spider people Download PDFInfo
- Publication number
- CN106737814A CN106737814A CN201710155647.5A CN201710155647A CN106737814A CN 106737814 A CN106737814 A CN 106737814A CN 201710155647 A CN201710155647 A CN 201710155647A CN 106737814 A CN106737814 A CN 106737814A
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- Prior art keywords
- exterior wall
- leg
- main body
- motor
- building intelligent
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- 241000239290 Araneae Species 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 239000003463 adsorbent Substances 0.000 claims abstract description 23
- 238000001179 sorption measurement Methods 0.000 claims description 21
- 210000000707 wrist Anatomy 0.000 claims description 9
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000032258 transport Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000883990 Flabellum Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Robotics (AREA)
Abstract
Building equipment technical field is climbed the present invention relates to exterior wall, building intelligent spider people is climbed more particularly, to a kind of exterior wall.It includes main body, multiple leg mechanisms, multiple arm mechanisms, multiple adsorbent equipments, multiple manipulators and drive system；Multiple leg mechanisms are arranged on the side of main body, and multiple arm mechanisms are arranged on the opposite side of main body；Adsorbent equipment is arranged on the one end of leg mechanism away from main body, and manipulator is arranged on the one end of arm mechanism away from main body；Drive system is connected with leg mechanism, arm mechanism and manipulator respectively.The present invention realizes absorption and climbing on exterior wall by leg mechanism and adsorbent equipment, the holding function to goods is realized by arm mechanism and manipulator, leg mechanism, adsorbent equipment, arm mechanism and manipulator are driven by drive system again, realizing can be by cargo transport to upstairs by robot, avoid and manually climb, reduce manpower operation's intensity, it is ensured that the safety of operating personnel.
Description
Technical field
Building equipment technical field is climbed the present invention relates to exterior wall, building intelligent spider people is climbed more particularly, to a kind of exterior wall.
Background technology
The construction of country's external wall of high-rise building or rescue work, are used mostly and build the shape such as scaffold or lifting rope, hanging basket at present
Formula, this mode of operation is not only time-consuming, take a lot of work, high cost, efficiency are low, transmission and to transport material inconvenient, and operation
Danger, must at any time worry the safety of operating personnel.Further, since receiving region, environment, weather and high temperature or severe cold natural conditions
The many factors such as the influence of factor, construction or rescue qualification, health, mental status also to staff are related.
With the fast development of national economy, high-rise or high-rise building is more and more, and user's External Wall is constructed or rescued
There has also been higher level requirement.
Therefore, advocated energetically under innovative driving development strategy guide in country, solve how to replace artificial in time by thing
Material transports to the purpose at scene, is the task of top priority of prior art problem.
The content of the invention
Building intelligent spider people is climbed it is an object of the invention to provide a kind of exterior wall, to solve technology present in prior art
Problem.
The exterior wall that the present invention is provided climbs building intelligent spider people, including main body, multiple leg mechanisms, multiple arm mechanisms, many
Individual adsorbent equipment, multiple manipulators and drive system；
Multiple leg mechanisms are arranged on the side of the main body, and multiple arm mechanisms are arranged on the main body
Opposite side；
The adsorbent equipment is arranged on the one end of the leg mechanism away from the main body, and the manipulator is arranged on described
The one end of arm mechanism away from the main body；
The drive system is connected with the leg mechanism, the arm mechanism and the manipulator respectively.
Further, the drive system includes leg motor, shoulder motor, wrist motor and direction
Motor；
The leg motor is connected with the leg mechanism, for driving leg to take a step to move；
The shoulder motor is connected with the arm mechanism, for driving the arm to brandish；
The wrist motor is connected with the manipulator, for driving the manipulator to swing clamping object；
The direction drive motor is connected with the leg mechanism, and direction is strided forward for control the leg mechanism.
Further, the adsorbent equipment is exhausting suction tray.
Further, the suction tray is the cylinder of hollow setting；
Impeller vrille system is provided with the exhausting suction tray；
The opposite end of the cylinder is provided with opening, respectively adsorption orifice and exhaust outlet；
The vrille system can carry out air-breathing by the adsorption orifice, then by the exhaust outlet by the absorption
Gas discharge in disk, to realize entering vacuum adsorbed when the adsorption orifice is attached on exterior wall, is sprayed when not being attached on exterior wall
Gas flies.
Further, the impeller vrille system includes flight motor, rotating shaft and multiple impellers；
The flight motor is fixedly installed in the suction tray, and is connected with the rotating shaft, can drive the rotating shaft
Rotate；
The impeller is uniformly arranged in the rotating shaft centered on the rotating shaft, can be by the rotational band of the rotating shaft
Dynamic air is from the side of the impeller to opposite side.
Further, touch sensor is provided with the suction tray, the adsorption strength for testing the suction tray.
Further, it is provided with controller in the main body；
The controller is connected with the drive system, for different parts to be driven with coordination.
Further, exterior wall climbs building intelligent spider people also includes remote control；
The remote control is connected with the controller, for realizing commanding behind the scenes drive system.
Further, power module is provided with the main body, for being provided to the controller and the drive system
Electric power.
Further, dismountable Decorative Cover is provided with the main body, for the controller and the drivetrain
The maintenance and protection of system.
The exterior wall that the present invention is provided climbs building intelligent spider people, and the suction on exterior wall is realized by leg mechanism and adsorbent equipment
Climbing is echoed, the holding function to goods is realized by arm mechanism and manipulator, then by drive system to leg mechanism, suction
Adsorption device, arm mechanism and manipulator are driven, and realizing can be by cargo transport to upstairs by robot, it is to avoid artificial
Climb, reduce manpower operation's intensity, it is ensured that the safety of operating personnel.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the dimensional structure diagram that exterior wall provided in an embodiment of the present invention climbs building intelligent spider people；
Fig. 2 is the dimensional structure diagram at another visual angle that exterior wall provided in an embodiment of the present invention climbs building intelligent spider people；
Fig. 3 is the dimensional structure diagram at another visual angle that exterior wall provided in an embodiment of the present invention climbs building intelligent spider people；
Fig. 4 is the control structure schematic diagram that exterior wall provided in an embodiment of the present invention climbs building intelligent spider people's controller.
Reference：
1：Manipulator；2：Wrist motor；3：Arm mechanism；4：Shoulder motor；5：Leg motor；6：Leg
Portion mechanism；7：Suction tray；8：Direction drive motor；9：Controller；10：Flight motor；11：Impeller；12：Rotating shaft；13：Decoration
Cover.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.
Additionally, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that indicating or implying phase
To importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As shown in accompanying drawing 1-4, building intelligent spider people, including main body, multiple legs machine are climbed the invention provides a kind of exterior wall
Structure 6, multiple arm mechanisms 3, multiple adsorbent equipments, multiple manipulators 1 and drive system；Multiple leg mechanisms 6 are arranged on main body
Side, multiple arm mechanisms 3 are arranged on the opposite side of main body；Adsorbent equipment is arranged on the one end of leg mechanism 6 away from main body,
Manipulator 1 is arranged on the one end of arm mechanism 3 away from main body；Drive system respectively with leg mechanism 6, arm mechanism 3 and machinery
Hand 1 is connected.
When in use, by adsorbent equipment, realize by whole spider-man absorption on the metope of exterior wall, by drive system
Drive leg mechanism 6 to realize that spider-man takes a step on exterior wall, drive arm mechanism 3 and manipulator 1 to realize by drive system right
The clamping of goods, and then goods is served building by realization by the exterior wall of building body.It is convenient to use efficient, and manpower is not needed,
Ensure that the security of cargo transport.
In the present embodiment, leg mechanism 6 is identical with the quantity of adsorbent equipment, the quantity phase of arm mechanism 3 and manipulator 1
Together.
In the present embodiment, leg mechanism 6, adsorbent equipment, arm mechanism 3 and manipulator 1 are disposed as four.Need to refer to
Go out, it is not limited solely to four, its can also be it is less such as three, two, or more, such as six,
Eight etc., that is to say, that it can realize stepping on wall face so long as not one by the exchange support of leg mechanism 6
Enter.
It is preferred embodiment that drive system includes leg motor 5, shoulder motor 4, wrist motor
2 and direction drive motor 8；Leg motor 5 is connected with leg mechanism 6, for driving leg to take a step to move；Shoulder drives electricity
Machine 4 is connected with arm mechanism 3, for driving arm to brandish；Wrist motor 2 is connected with manipulator 1, for driving manipulator
1 swings clamping object；Direction drive motor 8 is connected with leg mechanism 6, and direction is strided forward for control leg mechanism 6.
In the present embodiment, drive system is made up of multiple motors, and it is separately positioned on leg mechanism 6, the and of arm mechanism 3
In main body.Leg motor 5 is arranged on leg mechanism 6, can control the amplitude of fluctuation and frequency of leg mechanism 6, direction
Motor 8 is arranged in main body, and the swaying direction of leg mechanism 6, shoulder motor 4 can be controlled to be arranged on arm mechanism
Between 3 and main body, the amplitude of brandishing of arm can be controlled, wrist motor 2 is arranged between arm mechanism 3 and manipulator 1,
It is capable of the amplitude of fluctuation of control machinery hand 1.
When in use, spider-man is adsorbed on the wall face of wall by adsorbent equipment, is distinguished by leg motor 5
Multiple leg mechanisms 6 are driven to take a step to act.In the present embodiment, leg mechanism 6 is set to four, when being taken a step, its
First carry out it is left front and right after leg mechanism 6, stride forward again afterwards before the right side and left back leg mechanism 6, it is such to stride forward mode, energy
Stationarity of the spider-man during traveling, and its adsorption strength to metope are enough fully ensured that.Similarly, when its leg machine
When structure 6 is more, it can intersect to stride forward, i.e., be spaced when the leg mechanism 6 of the same side is strided forward and strided forward, not the leg machine of homonymy
Structure 6, with row it is different when stride forward, so so can fully ensure that advance stability and traveling when adsorption strength.
In the present embodiment, direction drive motor 8 is connected with leg mechanism 6 by transmission mechanism, can be driven by direction
The rotation of dynamic motor 8, in the presence of transmission mechanism, adjust leg mechanism 6 strides forward direction so that the action of spider-man is more
Flexibly.
Can be by gear drive, Bevel Gear Transmission and rack-and-pinion during the set-up mode of transmission mechanism has a lot
The modes such as linkage, planetary gearsets, or other modes, such as belt transmission, chain drive mode, that is to say, that its
As long as the rotation of direction drive motor 8 can be passed into leg mechanism 6 by transmission mechanism so that leg mechanism 6 changes it
Direct of travel.
In the present embodiment, shoulder motor 4 and wrist motor 2 control arm mechanism 3 and manipulator 1 respectively,
Enable to arm mechanism 3 and manipulator 1 to be brandished, can be realized to goods by two arm mechanisms 3 and manipulator 1
Clamping.
It is preferred embodiment that adsorbent equipment is exhausting suction tray 7.
Exhausting suction tray 7, as the term suggests being adsorbed by way of exhausting, will carry out taking out true in suction tray 7
Sky, is adsorbed by vacuum.
It is preferred embodiment that suction tray 7 is the cylinder of hollow setting；The spiral shell of impeller 11 is provided with exhausting suction tray 7
Rotation flight system；The opposite end of cylinder is provided with opening, respectively adsorption orifice and exhaust outlet；Vrille system can lead to
Crossing adsorption orifice carries out air-breathing, then is discharged the gas in suction tray 7 by exhaust outlet, to realize entering when adsorption orifice is attached on exterior wall
It is vacuum adsorbed, jet flight is carried out when not being attached on exterior wall.
In the present embodiment, suction tray 7 is the hollow cylinder of both ends open, and one end open is big, and another end opening is small.Opening
Big one end is adsorption orifice, and the small one end that is open is exhaust outlet.
Vrille system is provided with the cavity of suction tray 7, by the operating of vrille system, in suction tray 7
Adsorption orifice be attached to when on wall face, the gas in suction tray 7 can be discharged from exhaust outlet so that form negative in suction tray 7
Pressure, and then suction tray 7 is adsorbed on wall face, realize the function of adsorbing spider-man.
It is pointed out that in the present embodiment, adsorbent equipment is exhausting suction tray 7, and it is adsorbed using vacuumizing,
But the set-up mode of adsorbent equipment is not limited solely to a kind of this mode, can also be other suction types, such as extrude true
Suction is attached etc., that is to say, that as long as it can be adsorbed on wall face spider-man by adsorbent equipment.
In the present embodiment, the vrille system of impeller 11 includes flight motor 10, rotating shaft 12 and multiple impellers 11；Flight
Motor 10 is fixedly installed in suction tray 7, and is connected with rotating shaft 12, and rotating shaft 12 can be driven to rotate；Impeller 11 is with rotating shaft 12
Center is uniformly arranged in rotating shaft 12, can drive air from the side of impeller 11 to opposite side by the rotation of rotating shaft 12.
Flight motor 10 is fixedly installed in suction tray 7, and its motor shaft is connected with the fixing coaxial of rotating shaft 12, can be in motor
In the case that axle is rotated, drive rotating shaft 12 to rotate, be further driven to be fixedly installed on the multiple impellers 11 in rotating shaft 12 and rotate.
In the present embodiment, the set-up mode of impeller 11 and the flabellum of fan are same or similar, and then can realize to inhaling
The function of the exhaust gas inside of attached disk 7.
By the vrille system of impeller 11, additionally it is possible to realize the airflight of spider-man, i.e., when suction tray 7 is not attached to
When on wall face, open flight motor 10 so that suction tray 7 be open larger one end gas by after suction tray 7, in opening
Less one end discharge, and then cause that suction tray 7 forms a reverse reaction power, when the exhaust of all of suction tray 7
When direction is consistent, it can utilize the jet-propelled structure of suction tray 7 to realize the flight of spider-man.
It is pointed out that in the present embodiment, during during suction tray 7 flies, it is necessary to change of flight direction, passing through
Direction drive motor 8 or leg motor 5 are adjusted come the discharge directions of the exhaust outlet to suction tray 7, operation letter
List is easily and effectively.
In the present embodiment, touch sensor is provided with suction tray 7, the adsorption strength for testing suction tray 7.
Touch sensor is set by suction tray 7, is capable of the adsorption strength of monitor in real time suction tray 7, Jin Ertong
The observation to adsorption strength is crossed, whether the goods that can be accurately judged to spider-man's carrying can smoothly be sent to eminence.
In the present embodiment, touch sensor can be provided in the pressure sensor inside suction tray 7, i.e., to absorption
The pressure of the negative pressure in the cavity of disk 7 is monitored, when pressure becomes hour, the reduction of its adsorption strength；It can also be TEMP
Device, i.e., be monitored to the temperature in the cavity of suction tray 7, when the temperature increases, the reduction of its adsorption strength.
In the present embodiment, body interior is provided with controller 9；Controller 9 is connected with drive system, for difference
Position is driven coordination.
Control by controller 9 to drive system, can realize coordinating the motor of diverse location control,
I.e. can be while control direction motor 8 and leg motor 5, realize being carried out during taking a step the tune of direct of travel
It is whole so that the action of whole spider-man is more coordinated, and the operating efficiency for being also is effectively improved.
In the present embodiment, exterior wall climbs building intelligent spider people also includes remote control；Remote control is connected with controller 9, is used for
Realization is commanded behind the scenes to drive system.
That is, being operated downstairs by remote control, traveling side during building transport goods can be climbed to spider-man
Manual control is carried out to, gait of march etc., and then during building is climbed, unexpected situation occur can be adjusted in time, protect
The security of cargo transport is demonstrate,proved.
It is preferred embodiment that power module is provided with main body, for providing electricity to controller 9 and drive system
Power.
In the present embodiment, power module is battery, and it can be battery, or lithium battery etc..Use battery
As power module, spider-man is enabled to advance more convenient.
It is pointed out that power module can be battery, but it is not limited solely to battery, and I can also utilize its
Civil power is used as power module, as long as it can enter to each motor in the controller 9 and drive system on spider-man
Row power supply.
It is preferred embodiment that dismountable Decorative Cover 13 is provided with main body, for controller 9 and drive system
Maintenance and protection.
In the present embodiment, dismountable Decorative Cover 13 is also provided with main body, by the setting of Decorative Cover 13, can be
When spider-man's normal work, the protection to controller 9 and direction drive motor 8 is realized, improve the use longevity of spider-man
Life.When the controller 9 or direction drive motor 8 of spider-man break down, can by pulling down Decorative Cover 13 to controller 9 or
Direction drive motor 8 is safeguarded and changed, to ensure that spider-man can continue to operation.
The exterior wall that the present invention is provided climbs building intelligent spider people, is realized on exterior wall by leg mechanism 6 and adsorbent equipment
Absorption and climbing, the holding function to goods is realized by arm mechanism 3 and manipulator 1, then by drive system to leg machine
Structure 6, adsorbent equipment, arm mechanism 3 and manipulator 1 are driven, and realize to be kept away by cargo transport to upstairs by robot
Exempt from manually to climb, reduced manpower operation's intensity, it is ensured that the safety of operating personnel.Whole device layout of the invention is closed
Manage, the coordination chain of rings is strong, can be effectively accomplished the beneficial effect that building transport goods is manually climbed in machine replacement.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a kind of exterior wall climbs building intelligent spider people, it is characterised in that including main body, multiple leg mechanism, multiple arm mechanisms, many
Individual adsorbent equipment, multiple manipulators and drive system；
Multiple leg mechanisms are arranged on the side of the main body, and multiple arm mechanisms are arranged on the another of the main body
Side；
The adsorbent equipment is arranged on the one end of the leg mechanism away from the main body, and the manipulator is arranged on the arm
The one end of mechanism away from the main body；
The drive system is connected with the leg mechanism, the arm mechanism and the manipulator respectively.
2. exterior wall according to claim 1 climbs building intelligent spider people, it is characterised in that the drive system is driven including leg
Dynamic motor, shoulder motor, wrist motor and direction drive motor；
The leg motor is connected with the leg mechanism, for driving leg to take a step to move；
The shoulder motor is connected with the arm mechanism, for driving the arm to brandish；
The wrist motor is connected with the manipulator, for driving the manipulator to swing clamping object；
The direction drive motor is connected with the leg mechanism, and direction is strided forward for control the leg mechanism.
3. exterior wall according to claim 1 climbs building intelligent spider people, it is characterised in that the adsorbent equipment is adsorbed for exhausting
Disk.
4. exterior wall according to claim 3 climbs building intelligent spider people, it is characterised in that the suction tray is hollow setting
Cylinder；
Impeller vrille system is provided with the exhausting suction tray；
The opposite end of the cylinder is provided with opening, respectively adsorption orifice and exhaust outlet；
The vrille system can carry out air-breathing by the adsorption orifice, then by the exhaust outlet by the suction tray
Gas discharge, to realize entering vacuum adsorbed when the adsorption orifice is attached on exterior wall, carried out when not being attached on exterior wall jet fly
OK.
5. exterior wall according to claim 4 climbs building intelligent spider people, it is characterised in that the impeller vrille system bag
Include flight motor, rotating shaft and multiple impellers；
The flight motor is fixedly installed in the suction tray, and is connected with the rotating shaft, can drive the axis of rotation；
The impeller is uniformly arranged in the rotating shaft centered on the rotating shaft, can be driven by the rotation of the rotating shaft empty
Gas is from the side of the impeller to opposite side.
6. exterior wall according to claim 3 climbs building intelligent spider people, it is characterised in that contact is provided with the suction tray
Formula sensor, the adsorption strength for testing the suction tray.
7. exterior wall according to claim 6 climbs building intelligent spider people, it is characterised in that control is provided with the main body
Device；
The controller is connected with the drive system, for different parts to be driven with coordination.
8. exterior wall according to claim 7 climbs building intelligent spider people, it is characterised in that also including remote control；
The remote control is connected with the controller, for realizing commanding behind the scenes drive system.
9. exterior wall according to claim 7 climbs building intelligent spider people, it is characterised in that power supply mould is provided with the main body
Block, for providing electric power to the controller and the drive system.
10. exterior wall according to claim 7 climbs building intelligent spider people, it is characterised in that be provided with the main body removable
The Decorative Cover unloaded, for maintenance and protection to the controller and the drive system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155647.5A CN106737814B (en) | 2017-03-16 | 2017-03-16 | Exterior wall climbs building intelligent spider people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710155647.5A CN106737814B (en) | 2017-03-16 | 2017-03-16 | Exterior wall climbs building intelligent spider people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737814A true CN106737814A (en) | 2017-05-31 |
| CN106737814B CN106737814B (en) | 2017-11-14 |
Family
ID=58966107
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710155647.5A Active CN106737814B (en) | 2017-03-16 | 2017-03-16 | Exterior wall climbs building intelligent spider people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108909866A (en) * | 2018-07-26 | 2018-11-30 | 佛山市高明曦逻科技有限公司 | The escape soft robot walked on wall can be attached to |
| CN111216826A (en) * | 2020-01-14 | 2020-06-02 | 华南理工大学广州学院 | Ball moving balance robot system |
| CN111232074A (en) * | 2020-01-14 | 2020-06-05 | 华南理工大学广州学院 | Ball moving balance robot with real-time monitoring function |
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| JP2006326712A (en) * | 2005-05-24 | 2006-12-07 | Stella Giken Kk | Endless track system wall traveling robot having crossing-over mechanism |
| CN101367413A (en) * | 2007-08-17 | 2009-02-18 | 高汉光 | Multifunctional robot for climbing wall |
| CN102390528A (en) * | 2011-10-21 | 2012-03-28 | 南京理工大学 | Air flight and omnibearing adsorption micro-robot |
| CN105460099A (en) * | 2015-12-21 | 2016-04-06 | 西安交通大学 | Multifunctional six-legged climbing robot |
| CN106275122A (en) * | 2016-08-29 | 2017-01-04 | 辽宁工程技术大学 | A kind of sucked type Climbing Robot |
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| CN108909866A (en) * | 2018-07-26 | 2018-11-30 | 佛山市高明曦逻科技有限公司 | The escape soft robot walked on wall can be attached to |
| CN111216826A (en) * | 2020-01-14 | 2020-06-02 | 华南理工大学广州学院 | Ball moving balance robot system |
| CN111232074A (en) * | 2020-01-14 | 2020-06-05 | 华南理工大学广州学院 | Ball moving balance robot with real-time monitoring function |
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| CN106737814B (en) | 2017-11-14 |
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