CN106926253A - Multifunctional robot system and its application - Google Patents
Multifunctional robot system and its application Download PDFInfo
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- CN106926253A CN106926253A CN201710258949.5A CN201710258949A CN106926253A CN 106926253 A CN106926253 A CN 106926253A CN 201710258949 A CN201710258949 A CN 201710258949A CN 106926253 A CN106926253 A CN 106926253A
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- Prior art keywords
- robot
- supply station
- working face
- bridge plate
- access bridge
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The present invention relates to a kind of Multifunctional robot system and its application, including the supply station that can be moved alone respectively and some robot cells, supply station is provided with power generating system and supply station mobile device, robot cell is provided with robot driving device, work implement and robot mobile device, supply station is connected with each robot cell respectively by connection cables, connection cables include branch road power cable, and power generating system is respectively each robot cell and provides kinetic current by branch road power cable.Some robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, and the supply station follows some robot cells to move.The present invention sets single supply station, the performs device of robot is separated with its drive device and feedway, supply station constantly provides raw material and the energy to robot, reduces the weight and volume of robot side, extend its single working time, improve operating efficiency.
Description
Technical field
The invention belongs to robot application technology field, more particularly to a kind of multi-function robot system with work capacity
System and its application.
Background technology
With continuing to develop for modern science and technology technical merit, robot is widely used.Publication number
The Chinese invention patent of CN104802872A discloses a kind of climbing robot.Climbing robot E can be adsorbed in coarse exterior wall C
Moved on surface.Generally, climbing robot E is frequently used pipe or electric wire D to obtain lasting power supply from outside.Example
Such as, as shown in figure 1, climbing robot E is cleaned or during spraying operation on vertical plane, climbing robot E is apart from roof B's
Height is at 100 meters, then, following problems may be encountered for climbing robot E：
（1）If climbing robot E comes with water tank or coating case and control unit（For example：Control valve）If, climb wall machine
The weight of device people E can become to weigh very much, and huge Action of Gravity Field can cause climbing robot E to drop.
（2）If the raw material such as water tank or coating case supply A is placed on roof, the raw material such as water or paint is accomplished by leading to
Cross pipe D very long and be delivered to climbing robot E, the control that this has resulted in raw material quantity delivered is difficult.If the control of raw material
Part（Flow valve, pressure valve etc.）It is placed on the length of roof, pipe and cable（Such as 100 meters long）Will result in the serious time
Delayed, time lag can cause control failure, unstable problem.And, raw material flows through pipe very long and is delivered to climbs wall machine
During device people E, can be produced on long tube and be greatly lost along journey, and then the pressure at robot cell end and underfed can be caused
Situation occurs.If the control unit of raw material is arranged on climbing robot E, the weight of climbing robot E can be caused big again
Width increases, and this is very unfavorable to climbing robot E.
（3）If power supply A is placed on roof, kinetic current（Electric current etc.）It is accomplished by being conveyed by cable very long
To robot cell, the control that this has resulted in power is difficult.If the control unit of power（Transformer etc.）It is placed on roof, cable
The length of line（Such as 100 meters long）Will result in serious time lag, time lag can cause control failure, unstable ask
Topic.And, when power flows through cable very long and is delivered to robot cell, can be produced on cable long and be greatly lost along journey,
And then the situation about being short of power of climbing robot E can be caused to occur.If the control unit of power is arranged on wall-climbing device
On people E, the weight of climbing robot E can be caused to be significantly increased again, this is very unfavorable to climbing robot E.
（4）By taking Fig. 2 as an example, climbing robot E laterally moves to position B from position A, and cable D can also occur corresponding position
Put change.The weight of cable D can apply a horizontal drag force to robot cell.Also just say, when climbing robot E is moved not
Obtain and do not drive cable D simultaneously mobile.If cable D grows very much, the quality of cable D is just very heavy.To mobile wall-climbing device
For people E, cable D becomes very big inertia load, has a strong impact on the exercise performance of climbing robot E.Also, in order to support
Immesurable horizontal drag force is driven, the adsorbent equipment of climbing robot E is had to always work in the state of maximum adsorption power,
Energy consumption which results in adsorbent equipment is excessive.
（5）The cable D long for connecting climbing robot E and roof supply arrangement A is suspended on high-altitude.High-altitude exists acutely horizontal
Wind, beam wind applies active force on cable, causes cable to swing, also, the active force can be acted directly on by cable D and climb wall
On robot E, the horizontal drag force to climbing robot E is formed, call beam wind drag force in the following text.Also, the beam wind drag force with
The state of high-altitude beam wind changes, and is an active force for unstable, difficult prediction.If cable D is very long（Hundred meters or more
It is long）, the active force can become very big, have a strong impact on the stability of climbing robot E.
（6）During operation is implemented, it would be desirable to which the movement according to climbing robot E is come folding and unfolding cable D.Preferable feelings
Under condition, the folding and unfolding length and speed of cable D can be counted according to the relative position of the feed unit A of climbing robot E and roof B
Calculate.But, the connection cable D between climbing robot E and the feed unit A of roof is the flexible wire body that a two ends are fixed
Problem, cable D is also influenceed by factors such as gravity, beam wind active forces, and cable D is more long, influences more notable.Then, this is soft
Property wire body problem become very complicated, solve difficult, and then result in and be difficult to accurately control cable D's according to the movement of robot
Folding and unfolding length and speed.Cable D folding and unfoldings obtain it is incorrect if, will certainly come very serious to the moving belt of climbing robot E
Influence.
Understand, the improvement for climbing wall Work robot needs to overcome above-mentioned technical barrier.
The content of the invention
The technical problems to be solved by the invention are, there is provided a kind of Multifunctional robot system for possessing work capacity,
The Multifunctional robot system can solve the problem that the multiple technical barriers being previously mentioned in background technology.
The present invention is achieved in that a kind of robot system of offer, including mobile supply station and some robot lists
Unit, and drive the draw-gear of supply station movement, the supply station to be provided with power generating system；The supply station is by connecting
Wiring cable is connected with each robot cell respectively, and the connection cables include branch road power cable, the power generating system
Each robot cell is respectively by branch road power cable kinetic current is provided；The robot cell is provided with robotically-driven
Device, work implement, robot adsorbent equipment and robot mobile device, the robot driving device is by band motivation
Device people's mobile device causes that robot cell moves on working face, and some robot cells pass through robot adsorbent equipment
It is attached on working face and moves；Some robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, described
Supply station follows some robot cells to move.
Further, the supply station is additionally provided with supply station mobile device and supply station adsorbent equipment, the supply station
Adsorbent equipment makes supply station adsorb on working face, and the supply station mobile device comes in contact with working face so that supply station
Moved on working face.
Further, at least one block access bridge plate, at least a portion of the access bridge plate are additionally provided with the supply station
It is arranged on supply station with can receiving and launch；When the access bridge plate is in deployed condition, the access bridge plate at least side
While being placed on working face, come in contact with working face；The robot cell is from the side come in contact with working face
Move on access bridge plate, then moved on working face from the side of other or the same access bridge plate that come in contact with working face.
Further, recovery capsule is additionally provided with the supply station, the recovery capsule at least accommodates a robot list
Unit, the robot cell can move in recovery capsule from working face and be reclaimed, and be moved out to work from the recovery capsule
Make face.
Further, recovery capsule is provided with the access bridge plate, the recovery capsule at least accommodates a robot cell,
The side of access bridge plate at least one is placed on working face, is come in contact with working face, and the robot cell can be from work
Reclaimed in the recovery capsule that face moves to access bridge plate, and working face is moved out to from the recovery capsule of the access bridge plate.
Further, recovery capsule is additionally provided with the supply station, the recovery capsule at least accommodates a robot list
Unit, the robot cell can be moved in the recovery capsule of supply station by access bridge plate from working face and be reclaimed, and from institute
Working face is moved out in the recovery capsule for stating supply station.
Further, the sidepiece in the recovery capsule is provided with stopping means, the position for limiting robot cell.
The present invention is achieved in that and provides a kind of application of Multifunctional robot system as the aforementioned, some machines
Device people unit application is wall surface cleaner device people, and the work implement application is metope clearing apparatus, some machines
The walking working face of people's unit is vertical or inclined building wall, and the draw-gear includes hoist engine, the hoist engine
Top of building is arranged on, the hoist engine follows some robot cells to move up and down by hanging cable traction supply station,
Some robot cells carry out washing and cleaning operation to building wall, and some robot cells are pasted by its adsorbent equipment
Metope walking is attached to, water source is set on the supply station, the connection cable includes branch road power cable and branch water pipe, institute
Supply station is stated by branch water pipe to each robot cell's supplying clean water.
Further, camera head and robot wireless distance finding signal are additionally provided with some robot cells
Stand, the image that the camera head shoots is transmitted into remote control system by wireless launcher, is set on the building
The radio positioner communicated with robot wireless signal station is equipped with, the radio positioner is also by remote control system control
System.
Compared with prior art, Multifunctional robot system of the invention and its application, set single supply station, by machine
The performs device of device people is separated with its drive device and feedway, and supply station constantly provides raw material and energy to robot
Source, reduces the weight and volume of robot side, extends its single working time, improves the stabilization of operating efficiency and robot cell
Property, controlling, can be with reducing energy consumption.
Brief description of the drawings
Fig. 1 is existing climbing robot operating diagram；
Fig. 2 moves front and rear view in position for the existing climbing robot of Fig. 1 on wall；
Fig. 3 is that the plane of the first embodiment, second embodiment and the 7th embodiment of Multifunctional robot system of the invention is shown
It is intended to；
Fig. 4 is the side view of cleaning robot in Fig. 3；
Fig. 5 is the use state floor map of the 3rd embodiment of Multifunctional robot system of the invention；
Fig. 6 is the use state floor map of the fourth embodiment of Multifunctional robot system of the invention；
Fig. 7 is the supply station use state generalized section of the 5th embodiment of Multifunctional robot system of the invention；
Fig. 8 is the schematic diagram that the supply station in Fig. 7 passes through raised barrier by access bridge plate；
Fig. 9 is the driving wheel of the supply station in Fig. 7 by the schematic diagram of raised barrier；
Figure 10 is the generalized section of the recovery capsule in Fig. 7；
Figure 11 is the use state floor map of the sixth embodiment of Multifunctional robot system of the invention.
Specific embodiment
In order that the technical problems to be solved by the invention, technical scheme and beneficial effect become more apparent, below tie
Drawings and Examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
It is used to explain the present invention, is not intended to limit the present invention.
Embodiment one：
Referring to shown in Fig. 3 and Fig. 4, the preferred embodiment of Multifunctional robot system of the present invention, including mobile supply
Stand 1 and some robot cells 2, and drives the draw-gear of supply station movement.The draw-gear drives supply station 1 to move
It is dynamic.Draw-gear draws supply station 1 by rope 7.The supply station 1 can only be led without active locomotivity by draw-gear
Draw mobile.
The supply station 1 is provided with power generating system.The robot cell 2 is provided with robot driving device, work
Make performs device, robot adsorbent equipment 4 and robot mobile device 13.The supply station 1 by connection cables 3 respectively with often
Individual robot cell 2 connects.The robot driving device causes robot cell 2 in work by band mobile robot mobile device
Make to be moved on face.The power generating system is respectively each robot cell 2 offer kinetic current by connecting cable 3.Power
Stream is including power supply, high-pressure air source, hydraulic power source and high-pressure water etc..The robot adsorbent equipment 4 allows robot cell 2 to adsorb
Moved on surface where it.
Some robot cells 2 can move and work on vertical, inclined surface, it is also possible in ceiling
Upper movement and work, the supply station 1 follow some robot cells to move.Some robot cells 2 are with described
Walked in the range of centered on supply station 1.For example, the work implement of some robot cells 2 can be video camera,
Implement shooting operation.Again for example, the work implement of some robot cells 2 can be sonic analyzer, implement to make
The flaw detection work on industry surface.
The supply station 1 is provided with power generating system.Power generating system is from below or top is by conveying cable 14
Obtain lasting kinetic current.In the example of Fig. 3, power generating system obtains lasting kinetic current by conveying cable 14 from below.
Power generating system can also self-powered source, such as battery etc., kinetic current is conveyed to machine from power source by connecting line 3
People's unit 2.
By taking reflectoscope as an example, work implement is exactly ultrasonic probe.Ultrasonic signal amplifies and storage treatment
Part is generally all heavier, and we can be placed on these heavier parts on supply station 1.Like this, robot list
The weight of unit 2 can just mitigate, so as to solve the problems, such as described in background technology（1）.
Again as a example by cleaning metope, work implement is exactly brush unit, and the device of rinse water is provided for cleaning metope
Referred to as raw material supplier（Raw material in this refer in particular to rinse water）.Raw material supplier generally comprises booster pump and control
The parts such as valve processed, therefore weight is very big.We can be arranged on work implement on robot cell 2, raw material supply
Device is arranged on supply station 1.Bye-pass comprising raw material in conveying cable 14, rinse water is transported to the original on supply station 1
Material feeding apparatus.Bye-pass of the connecting line 3 comprising raw material, rinse water flows through the bye-pass and is delivered to robot cell's 2
Work implement.Generally only more than ten meters long of connecting line 3.Raw material streams will not when being transmitted in more than ten meters long of connection cables
Cause obvious time lag and be lost along journey such that it is able to ensure being sufficiently fed and effectively controlling for raw material streams.Solve
Problem described in background technology（2）.
In the present embodiment, the power generating system of supply station 1 provides power by connection cables 3 to robot cell 2
Stream.Generally only more than ten meters long of connection cables 3.Kinetic current is not resulted in significantly when being transmitted in more than ten meters long of connection cables
Time lag and it is lost along journey such that it is able to ensure being sufficiently fed and effectively controlling for kinetic current.Solve institute in background technology
The problem stated（3）.
Also, robot cell 2 is when mobile, more than ten meters long of connecting line 3 need to be only driven, for robot cell 2,
This is a smaller inertia load, and the travelling performance of robot cell 2 can't be impacted, and solves background technology
Described in problem（4）.
Embodiment two：
Referring to shown in Fig. 3 and Fig. 4, used as a change case of embodiment one, the supply station 1 is additionally provided with supply station
Adsorbent equipment and supply station mobile device（Not shown in Fig. 3）.For work high above the ground, the rope 7 for hanging supply station 1 may be up to
Tens meters or even rice up to a hundred.There is violent beam wind in high-altitude, beam wind applies active force on rope 7, causes rope 7 to swing, and then
Supply station 1 is caused to swing.The supply station 1 of swing can pull robot cell 2 by connecting cable 3, have a strong impact on robot list
The stability of unit 2.The supply station mobile device includes multiple wheels.The supply station adsorbent equipment is attached to by supply station 1
On working face, so that producing contact and frictional force between the wheel and working face of supply station mobile device.Frictional force can gram
The beam wind drag force of rope 7 is taken, therefore, beam wind drag force is not transmitted on connection cable 3, is also not transmitted to machine
On people's unit 2, so as to eliminate the influence of immesurable beam wind drag force, it is ensured that the stability of robot cell 2.Eliminate
The influence of uncertain beam wind drag force, the adsorbent equipment 4 of robot cell 2 need not always work in maximum adsorption power
State, therefore, the energy consumption of adsorbent equipment 4 just diminishes.This is just solved the problems, such as described in background technology well（5）.
In the present embodiment, supply station adsorbent equipment is attached on working face by supply station 1, and beam wind drag force etc. becomes at random
The frictional force that the external force of change is supplied between station 1 and the scope of operation overcomes.Therefore, robot cell 2, supply station 1 and connection cable 3
The flexible wire body problem that the two ends that are constituted are fixed becomes simple, and robot cell 2 can be with the length range of connection cable 3
Move freely.This is just solved the problems, such as described in background technology well（6）.
Embodiment three：
Fig. 5 is a change case of embodiment two.The supply station 1 is additionally provided with supply station mobile device and supply station absorption dress
Put（Not shown in figure）.The supply station mobile device includes multiple wheels.One piece of access bridge is additionally provided with the supply station 1
Plate 15, at least a portion of the access bridge plate 15 can be received and is arranged on supply station 1 with launching；When the access bridge plate 15 is in
During deployed condition, a access bridge plate 15 at least side is placed on working face, and the robot cell 2 moves from the side
Onto access bridge plate 15, and access bridge plate 15 is removed from other sides.One block of access bridge plate 15 is provided with the supply station 1 of Fig. 5.Access bridge plate
15 side is arranged on supply station 1, and is rotated by axis of the side, such that it is able to receiving and launching.When access bridge plate
15 in deployed condition when, multiple contact aside metopes 5 of access bridge plate 15.Robot cell 2 is from a side of access bridge plate 15
It is moved on access bridge plate 15, and access bridge plate 15, mobile route as shown in broken line in fig. 5 is removed from another side.Machine
After people's unit 2 crosses groove F, access bridge plate 15 rotates certain angle and is in receiving state, and metope is left in the side of access bridge plate 15
5, it is to avoid supply station 1 side of access bridge plate 15 and metope 5 when mobile produce friction.
The embodiment is applied on working face the occasion for having deep and wide groove F or offset, such as interior on many high buildings
Sunken modification groove.Because there is groove or offset in working face, occur working face it is discontinuous when, embodiment one and embodiment two
Robot cell 2 be that cannot cross groove F or offset, so as to lead to not operation.And the present embodiment is by access bridge plate 15
Bridging effect can be moved on the working face of groove F or offset another side robot cell 2, realize the company of robot cell 2
Continuous operation.
Example IV：
Refer to shown in Fig. 6, as a change case of embodiment three.Three blocks of access bridge plates are provided with the supply station 1 of Fig. 6 altogether
15.One side of access bridge plate 15 is arranged on supply station 1, and is rotated by axis of the side, such that it is able to receiving and launching.
When access bridge plate 15 is in deployed condition, another contact aside metope 5 of access bridge plate 15.Robot cell 2 is moved to one piece and draws
On bridge plate 15, and removed from another block access bridge plate, the mobile route as shown in the dotted line in Fig. 6.Robot cell 2 crosses ditch
After groove F, access bridge plate 15 rotates certain angle and is in receiving state, and metope 5 is left in the side of access bridge plate 15, it is to avoid supply station 1
The side of access bridge plate 15 and metope 5 produce friction when mobile.
The present embodiment is acted on by the bridging of access bridge plate 15 and robot cell 2 is moved into groove F or offset another side
Working face on, realize working continuously for robot cell 2.
Embodiment five：
Refer to shown in Fig. 7, as another change case of embodiment two.Fig. 7 is supplied with the profile at station 1.The supply
Stand and 1 be provided with supply station mobile device and supply station adsorbent equipment.The supply station mobile device includes multiple wheels 17.It is described
Recovery capsule 16 is additionally provided with supply station 1, the recovery capsule 16 at least accommodates a robot cell 2, the robot cell 2
Can be moved to from working face 5 and working face 5 is reclaimed or be moved out to from recovery capsule 16 in recovery capsule 16.In the recovery
The outside portion in cabin 16 is provided with access bridge plate 15, and the access bridge plate 15 can be received or launched.When in the expanded state, access bridge plate 15
At least one side be placed on working face 5, come in contact with working face 5.The robot cell 2 is moved by access bridge plate 15
Move in recovery capsule 16.If recovery capsule 16 is placed very close to working face, then, it may not be necessary to access bridge plate 15, machine
People's unit 2 directly can just enter recovery capsule 16.
The embodiment is applicable not only on working face the occasion of the groove F for having deep and wide, is also applied for having convex on working face
Play the occasion of G.The operation principle of the specific obstacle detouring of the present embodiment is as follows：
The access bridge plate 15 of recovery capsule 16 is in deployed condition, a contact aside working surface of access bridge plate 15.Robot cell 2
The recovery capsule 16 of supply station 1 is moved to by access bridge plate 15.Then, access bridge plate 15 is packed up in receiving state.With robot
The supply station 1 of unit 2 completes to cross the obstacle such as groove F or projection G by draw-gear and supply station mobile device.Work as projection
When the height of G barriers is less than 17 radius of wheel of supply station mobile device, wheel 17 can be without the driven pulley for driving.When convex
When playing the radius of the wheel 17 that G barriers are higher than supply station mobile device, wheel 17 must be the driving wheel for having driving.Driving wheel
Frictional force can be produced and raised G between to help supply station 1 to cross raised G barriers, as shown in Figure 9.Supply station 1 gets over excess convexity
Rise after G barriers, access bridge plate 15 launches again, robot cell 2 is moved to working surface and continues to implement operation.
Bridging scheme described in embodiment three and four can only help robot cell 2 by recessed trench F obstacles, and for
Two kinds of following situations are then invalid.（1）When groove F is very wide（For example, 5 meters of grooves wide）, bridging scheme needs
At least 5 meters access bridge plates 15 long, it is obvious that 5 meters long of access bridge plate 15 is too big for supply station 1, and confession can be significantly increased
To the size and weight at station 1；（2）When robot system will by raised G barriers very high when, as shown in figure 8, bridging scheme
Access bridge plate 15 can by raised G barriers jack-up, causing the side of access bridge plate 15 cannot contact working surface, then, robot
Unit 2 also cannot just be moveable into and out access bridge plate 15.Scheme described in the present embodiment can very well solve above two problem.
Additionally, controllable stopping means can also be set on recovery capsule 16（It is not drawn into figure）.When robot cell 2 enters
After recovery capsule 16, spacing unit in unlocking makes robot cell 2 be limited in recovery capsule.So, moved in supply station 1
During, robot cell 2 would not drop out from recovery capsule 16, it is ensured that the safety of robot cell 2.For example, limit
Position device can be by one ejector pin of solenoid actuated, electricity pin stretch out realize it is spacing.As shown in Figure 10.
Embodiment six：
Embodiment shown in Figure 11 is a variation of embodiment five.Figure 11 is supplied with the top plan view at station 1.Recovery capsule 16
It is arranged on access bridge plate 15.During recycling machine people's unit 2, access bridge plate 15 and recovery capsule 16 launch together, one end of access bridge plate 15
Contact working surface.
Embodiment seven：
Referring to Fig. 3 and Fig. 4, as one of the invention special application, by applying for foregoing robot system
Building wall cleaning applications.The application of some robot cells 2 is wall surface cleaner device people, the work implement application
It is metope clearing apparatus, the walking working face of some robot cells 2 is vertical or inclined building wall 5, described
Draw-gear includes hoist engine 6.In the present embodiment, the walkway surface of the supply station 1 and some robot cells 2 is building
Thing metope 5.The top of building B is provided with hoist engine 6, the hoist engine 6 draws the edge of supply station 1 by hanging rope 7
Metope is moved up and down.Some robot cells 2 carry out washing and cleaning operation for wall surface cleaner device people to building wall, in institute
State setting clearing apparatus 8 on wall surface cleaner device people.Some robot cells 2 are attached to metope 5 by its adsorbent equipment 4
Walking.In the supply station 1, water source supply is set（Not shown in figure）.Water source supply can be one and be arranged on supply station 1
Water tank and pressure pump, pressure pump is by the water pressurized delivered of water tank to robot cell 2.Water source supply can also be passed through
Raw material transfer pipeline is from outside（Such as roof）Persistent pressure water source is obtained, water source is by the raw material transfer on supply station 1
Pipeline transport is to robot cell 2.The connection cable 3 includes branch road power cable and branch water pipe, and the supply station 1 passes through
Branch water pipe gives each supplying clean water of robot cell 2.
Camera head 9 and robot wireless distance finding signal station 10 are additionally provided with some robot cells 2.It is described
The image that camera head 9 shoots is transmitted into remote control system by wireless launcher, and image is supervised for assist operators
Control and manipulation.The some radio positioners with the communication of robot wireless distance finding signal station 10 are provided with the building
11, the position for obtaining robot cell.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of Multifunctional robot system, it is characterised in that including mobile supply station and some robot cells, and band
The draw-gear of dynamic supply station movement, the supply station is provided with power generating system；The supply station is by connection cables point
It is not connected with each robot cell, the connection cables include branch road power cable, the power generating system passes through branch road
Power cable is respectively each robot cell and provides kinetic current；The robot cell is provided with robot driving device, work
Make performs device, robot adsorbent equipment and robot mobile device, the robot driving device is moved by band mobile robot
Dynamic device causes that robot cell moves on working face, and some robot cells are attached to by robot adsorbent equipment
Moved on working face；Some robot cells move on horizontal plane or inclined-plane or vertical plane or top surface, the supply station
Some robot cells are followed to move.
2. Multifunctional robot system as claimed in claim 1, it is characterised in that the supply station is additionally provided with supply station shifting
Dynamic device and supply station adsorbent equipment, the supply station adsorbent equipment make supply station adsorb on working face, and the supply station is moved
Dynamic device is come in contact with working face so that supply station is moved on working face.
3. Multifunctional robot system as claimed in claim 2, it is characterised in that be additionally provided with least on the supply station
One block of access bridge plate, at least a portion of the access bridge plate can be received and is arranged on supply station with launching；At the access bridge plate
When deployed condition, a access bridge plate at least side is placed on working face, is come in contact with working face；The robot
Unit is moved on access bridge plate from the side come in contact with working face, then from come in contact with working face other or
The side of same access bridge plate is moved on working face.
4. Multifunctional robot system as claimed in claim 2, it is characterised in that recovery is additionally provided with the supply station
Cabin, the recovery capsule at least accommodates a robot cell, and the robot cell can be moved in recovery capsule from working face
Reclaimed, and working face is moved out to from the recovery capsule.
5. Multifunctional robot system as claimed in claim 3, it is characterised in that be provided with recovery on the access bridge plate
Cabin, the recovery capsule at least accommodates a robot cell, and the side of access bridge plate at least one is placed on working face, with work
Come in contact as face, the robot cell can be reclaimed from the recovery capsule that working face moves to access bridge plate, and from institute
Working face is moved out in the recovery capsule for stating access bridge plate.
6. Multifunctional robot system as claimed in claim 3, it is characterised in that recovery is additionally provided with the supply station
Cabin, the recovery capsule at least accommodates a robot cell, and the robot cell can be moved from working face by access bridge plate
Reclaimed in the recovery capsule of supply station, and working face is moved out to from the recovery capsule of the supply station.
7. the Multifunctional robot system as described in claim 4 or 5 or 6, it is characterised in that set in the sidepiece of the recovery capsule
Stopping means is equipped with, the position for limiting robot cell.
8. a kind of application of Multifunctional robot system as described in any one in claim 1 to 6, it is characterised in that institute
Some robot cells are stated using being wall surface cleaner device people, the work implement application is metope clearing apparatus, described
The walking working face of some robot cells is vertical or inclined building wall, and the draw-gear includes hoist engine, institute
State hoist engine and be arranged on top of building, the hoist engine is followed on some robot cells by hanging cable traction supply station
Lower movement, some robot cells carry out washing and cleaning operation to building wall, and some robot cells are inhaled by it
Adsorption device is attached to metope walking, and water source is set on the supply station, and the connection cables include branch road power cable and branch
Road water pipe, the supply station gives each robot cell's supplying clean water by branch water pipe.
9. the application of Multifunctional robot system as claimed in claim 8, it is characterised in that in some robot cells
On be additionally provided with camera head and robot wireless distance finding signal station, the image that the camera head shoots is filled by wireless transmission
Put and be transmitted into remote control system, the wireless location communicated with robot wireless signal station is provided with the building and is filled
Put, the radio positioner is also by remote control system control.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258949.5A CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
| JP2018074629A JP6564903B2 (en) | 2017-04-19 | 2018-04-09 | Working robot system |
| CN201810340486.1A CN108312159B (en) | 2017-04-19 | 2018-04-17 | Multifunctional robot system and application thereof |
| EP18168167.7A EP3392124B1 (en) | 2017-04-19 | 2018-04-19 | Multifunctional robot system and method |
| US15/957,205 US10829170B2 (en) | 2017-04-19 | 2018-04-19 | Multifunctional robot system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258949.5A CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
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| CN106926253A true CN106926253A (en) | 2017-07-07 |
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| CN201710258949.5A Pending CN106926253A (en) | 2017-04-19 | 2017-04-19 | Multifunctional robot system and its application |
| CN201810340486.1A Active CN108312159B (en) | 2017-04-19 | 2018-04-17 | Multifunctional robot system and application thereof |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810340486.1A Active CN108312159B (en) | 2017-04-19 | 2018-04-17 | Multifunctional robot system and application thereof |
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| JP (1) | JP6564903B2 (en) |
| CN (2) | CN106926253A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2019034306A (en) * | 2017-08-21 | 2019-03-07 | 浙江大学Ｚｈｅｊｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ | Device for work on inclined plane and cleaning method therefor when applying same to solar power generation plant |
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| CN114089763A (en) * | 2021-11-19 | 2022-02-25 | 江苏科技大学 | Multi-underwater robot formation and collision avoidance control method for submarine optical cable laying |
| CN114382299A (en) * | 2022-03-02 | 2022-04-22 | 广东博智林机器人有限公司 | Outer wall construction equipment |
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| CN109176450B (en) * | 2018-10-12 | 2020-04-28 | 清华四川能源互联网研究院 | Master-slave robot system |
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| KR102315251B1 (en) * | 2019-11-04 | 2021-10-19 | 한국기술교육대학교 산학협력단 | Interlayer noise reduction using the interlayer noise canceller |
| CN112093741A (en) * | 2020-09-23 | 2020-12-18 | 浙江大学 | Inclined plane mobile machine and multi-robot system and using method thereof |
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| JPH08335112A (en) * | 1995-06-08 | 1996-12-17 | Minolta Co Ltd | Mobile working robot system |
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| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
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- 2018-04-09 JP JP2018074629A patent/JP6564903B2/en active Active
- 2018-04-17 CN CN201810340486.1A patent/CN108312159B/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2019034306A (en) * | 2017-08-21 | 2019-03-07 | 浙江大学Ｚｈｅｊｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ | Device for work on inclined plane and cleaning method therefor when applying same to solar power generation plant |
| EP3446951B1 (en) * | 2017-08-21 | 2022-01-05 | Zhejiang University | Working device on inclined surface and cleaning method applied in solar power station |
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| CN114089763A (en) * | 2021-11-19 | 2022-02-25 | 江苏科技大学 | Multi-underwater robot formation and collision avoidance control method for submarine optical cable laying |
| CN114089763B (en) * | 2021-11-19 | 2024-03-08 | 江苏科技大学 | Multi-underwater robot formation and collision prevention control method for submarine optical cable laying |
| CN114382299A (en) * | 2022-03-02 | 2022-04-22 | 广东博智林机器人有限公司 | Outer wall construction equipment |
| WO2023165061A1 (en) * | 2022-03-02 | 2023-09-07 | 广东博智林机器人有限公司 | External wall construction device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6564903B2 (en) | 2019-08-21 |
| JP2018177215A (en) | 2018-11-15 |
| CN108312159A (en) | 2018-07-24 |
| CN108312159B (en) | 2023-06-09 |
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