CN107364503A - Climb wall device and its method of creeping, sweeping robot, spray robot - Google Patents
Climb wall device and its method of creeping, sweeping robot, spray robot Download PDFInfo
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- CN107364503A CN107364503A CN201710582668.5A CN201710582668A CN107364503A CN 107364503 A CN107364503 A CN 107364503A CN 201710582668 A CN201710582668 A CN 201710582668A CN 107364503 A CN107364503 A CN 107364503A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 20
- 239000007921 spray Substances 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 219
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 241000252254 Catostomidae Species 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 238000004140 cleaning Methods 0.000 claims abstract description 14
- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 230000009194 climbing Effects 0.000 claims description 34
- 238000010521 absorption reaction Methods 0.000 claims description 16
- 230000008569 process Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- MFYFNUKUXIRYFV-JSGCOSHPSA-N Polygonone Natural products O=CC=1C(=O)C[C@H]2C(C)(C)CCC[C@@]2(C)C=1 MFYFNUKUXIRYFV-JSGCOSHPSA-N 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 3
- 239000002594 sorbent Substances 0.000 description 12
- 239000011521 glass Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
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- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 238000007592 spray painting technique Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- 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
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Abstract
The present invention provides one kind and climbs wall device, cleaning method, sweeping robot and spray robot, and it includes：Main body, controller, the first motor and the second motor in main body, slide two group of first sucking disc mechanism located at main body both sides, and slide the second sucking disc mechanism being located among main body, two group of first sucking disc mechanism is connected with the transmission of the first motor and the synchronous straight reciprocating motion under the first motor driven, second sucking disc mechanism is connected with the transmission of the second motor and the straight reciprocating motion under the second motor driven, and first sucking disc mechanism and the second sucking disc mechanism moving direction it is parallel, first sucking disc mechanism and the second sucking disc mechanism include lifting assembly and at least one sucker, each sucker is connected with vacuum generating part, all suckers are connected with lifting assembly, first motor, second motor and lifting assembly, vacuum generating part is connected with controller.The present invention is simple in construction, easily controllable, and overall be applicable climbs any occasion.
Description
Technical field
The present invention relates to wall device is climbed needed for work high above the ground, climb wall device more particularly to one kind and its method of creeping,
Sweeping robot, spray robot.
Background technology
At present, the climbing robot that wall device is widely used on cleaning high-rise building wall surface is climbed, it can be seen that with
Control and mechanical ＆ electrical technology development, this appearance that can substitute the wall surface cleaning robot worked by hand by people from it is heavy, danger
Freed in the high building cleaning of danger, reduce the cleaning cost of skyscraper, improve production efficiency, while also promote cleaning
The development of industry, bring suitable social benefit, economic benefit.It is near several but this is only an application field of climbing robot
Nian Lai, with extensive use and development of the miscellaneous robot in every field, climbing robot, which is used as, to hang down
The robot of operation is carried out on straight cliff, a kind of excellent spy of robot apparatus of high-altitude limit operation can be turned into it
Property, increasingly it is valued by people.Sum up, climbing robot mainly can apply to following field：
(1) can be applied to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall in building trade
Cleaning, cleaning glass window wall etc.；
(2) can be applied to carry fire-fighting equipment, transmission relief goods, progress height rescue work in fire department；
(3) can be used for carrying out nuclear waste storage tank the dangerous work such as visual inspection, thickness measuring and seam inspection in nuclear industry；
(4) petroleum chemical enterprise can be used for the inside and outside wall of vertical metal can or spherical tank checked or derusting by sandblasting,
Spray painting anti-corrosion；
(5) shipbuilding industry can be used for the inside and outside wall of spraying hull, the inside and outside wall of hull is checked, hull inside and outside wall it is clear
It is clean etc.；
(6) it can be applied to transport escape apparatus to high-altitude trapped personnel in rescue and relief work, transmit food water provisions etc.；
(7) in Aero-Space, repaired available for space probation, Aerospace Satellite etc..
As can be seen here, the application field of climbing robot relates generally to the people's livelihood, nuclear industry, shipbuilding industry etc., and at these
Highly important work is served as in field, raising, the life for improving the people and the condition of work of productivity can be promoted.
At present, the form of climbing robot has following several：
Wheel type magnetic adsorption wall climbing robot, it produces absorption affinity absorption by magnetic wheel in various macrostructures to wall
Thing, its stable, fast maximal rate of speed of walking are applicable variously-shaped wall, and do not damage the paint of wall up to 9m/min.
But its shortcoming is：Magnetic suck makes it be only applicable to permeability magnetic material wall, i.e., this principle has it to use limitation；Wheel type
The absorption affinity that walking manner makes maintenance certain is more difficult, and the diameter of wheel can be such that robot increases relative to the moment of torsion of wall, make
The stable type of robot operation and security accordingly reduce；The run trace of wheel is continuous, and this is unfavorable for robot leap
The uneven place of wall, robot is set to improve the smooth quality requirement of wall；
The single-stranded climbing robot of multi-sucker, mainly filled by walking and steering mechanism, adsorbing mechanism, sucker group guiding and lifting
Put and control system forms, walking mechanism imitates tank track structure, using mono-track pattern；Adsorbing mechanism is by installed in chain
13 groups of suckers and vacuum generator on bar etc. form.The shortcomings that climbing robot is complicated, and its reliability accordingly drops
It is low；The pattern of mono-track makes machine man-hour uneven by absorption affinity, and sucker is climbed by larger distortion power so as to reduce
The working life of wall robot.
Therefore it is, it is necessary to a kind of simple in construction and the climbing robot for climbing various materials can be adsorbed.
The content of the invention
In view of the above the shortcomings that prior art, it is an object of the invention to provide one kind to climb wall device and its side of creeping
Method, sweeping robot, spray robot, for solving, climbing robot is complicated in the prior art is difficult in adapt to various materials
Climbing the problem of.
In order to achieve the above objects and other related objects, the present invention provides one kind and climbs wall device, and it includes：Main body, control
Device, the first motor and the second motor in main body, and two group of first sucking disc mechanism located at main body both sides is slided, and
The second sucking disc mechanism among main body is slided, two group of first sucking disc mechanism is connected with the transmission of the first motor and in the first electricity
Synchronous straight reciprocating motion under machine drives, second sucking disc mechanism are connected and under the second motor driven with the transmission of the second motor
Straight reciprocating motion, and the moving direction of the first sucking disc mechanism and the second sucking disc mechanism is parallel, the first sucking disc mechanism and second is inhaled
Disc mechanism includes lifting assembly and at least one sucker, and each sucker is connected with vacuum generating part, and each sucker
It is connected with the lifting assembly and is lifted under the driving of lifting assembly, first motor, the second motor and lifting assembly,
Vacuum generating part is connected with controller.
Preferably, the main body both sides and centre are respectively equipped with straight line guide member, first sucking disc mechanism and described
Second sucking disc mechanism is connected with corresponding straight line guide member respectively.
Preferably, the straight line guide member is line slideway.
Preferably, the main body is frame structure or flat board.
Preferably, the main body is flat board, and a plurality of parallel groove is provided with the bottom surface of flat board, and first sucking disc mechanism is slided
Dynamic to be located in the chute of both sides, second sucking disc mechanism, which slides, to be located in middle chute.
Preferably, the main body is provided with electric rotating machine, electric rotating machine and second sucking disc mechanism or main body transmission phase
Even, and the second sucking disc mechanism is driven to be rotated relative to main body.
Preferably, the lifting assembly is made up of multiple telescopic cylinders, telescopic cylinder one suction of corresponding connection
Disk.Further, each telescopic cylinder is slided in a support meanss, and the support meanss are fixedly linked with main body.
Preferably, the lifting assembly includes link and at least one lift cylinder cylinder being connected with link,
All suckers are connected by the link.Further, each sucker passes through buffer unit and the link phase
Even.
Preferably, first motor and second motor by synchronous belt mechanism respectively with first sucker machine
Structure corresponds to second sucking disc mechanism to be connected.
Preferably, second sucking disc mechanism includes three suckers being in triangular distribution.
Preferably, second sucking disc mechanism is polygon, and one group of sucker is set at each end angle of polygon.
Preferably, the center of gravity of the main body is also equipped with the safe arm for installing safety rope.
The present invention also provides a kind of method of creeping for climbing wall device, it is described climb wall and be set to climb wall device as described above,
Its method of creeping is：Under the control of the controller, first sucking disc mechanism and the second sucking disc mechanism alternating sorbent
In in the scope of operation, and it is straight under the driving of first motor and second motor to drive the bulk motion to realize respectively
OK.
Preferably, the main body is provided with electric rotating machine, electric rotating machine and second sucking disc mechanism or main body transmission phase
Even, when first sucking disc mechanism is lifted away from, and second sucking disc mechanism is in adsorbed state, the controller controls the rotation
Rotating motor acts, and the main body is rotated relative to second sucking disc mechanism and completes to turn to.
Preferably, it is described climb wall device straight trip when, at one in first sucking disc mechanism and the second sucking disc mechanism
Advance in adsorbed state driving main body, another is in and is lifted away from state；Under control system control, the sucker in the state that is lifted away from
Mechanism kinematic is located to its rectilinear path at the end points of body front end, and backward body rear direction motion, when the first sucker machine
Structure and the second sucking disc mechanism reach the motion and during both geo-stationaries at the same speed of relative main body, in being lifted away under the sucking disc mechanism of state
Fall and adsorb, the first sucking disc mechanism and the second sucking disc mechanism are advanced into adsorbed state and the synchronous driving main body；Same
In step driving main body traveling process, the first sucking disc mechanism and the second sucking disc mechanism complete absorption alternating.
The present invention also provides a kind of sweeping robot, and the sweeping robot includes climbing wall device as described above, and
The cleaning roller brush being placed in the main body.
Preferably, the main body is provided with the detection sensor of rim detection.
The present invention also provides a kind of spray robot, and the spray robot includes climbing wall device as described above, and
The spray body being placed in the main body.
As described above, the present invention climb wall device and its method of creeping, sweeping robot, spray robot, have it is following
Beneficial effect：The first sucking disc mechanism and the second sucking disc mechanism are set using being slided respectively among main body both sides and main body, passed through
The slip of two sucking disc mechanisms and alternating sorbent drive main body to advance under the driving of motor, and the straight of wall device is climbed so as to realize
OK；In addition, a sucking disc mechanism in the first sucking disc mechanism and the second sucking disc mechanism is in adsorbed state, before driving main body
Enter, under the control of the controller, another sucking disc mechanism is also adsorbed and transported with same speed to the end of its rectilinear path jointly
OK, two sucking disc mechanisms synchronously advanced by driving main body, and the first sucking disc mechanism and the are completed in its synchronously driving main body traveling process
The absorption alternating of two sucking disc mechanisms, is produced so as to eliminate the first sucking disc mechanism and the second sucking disc mechanism in alternating sorbent Renewal process
The problem of raw interim card.
Brief description of the drawings
Fig. 1 is shown as the stereogram that the present invention climbs wall device.
Fig. 2 is shown as the top view that the present invention climbs wall device.
Fig. 3 is shown as the schematic diagram that sucker of the present invention is connected with telescopic cylinder.
Fig. 4 is shown as an implementation illustration of the lifting assembly of the present invention.
Fig. 5 is shown as the schematic diagram of the buffer unit of the present invention.
Fig. 6 is shown as the sectional view of the AA lines along Fig. 5.
Fig. 7 is shown as the stereogram of the sweeping robot of the present invention.
Fig. 8 is shown as the side view of the sweeping robot of the present invention.
Fig. 9 a-9g are shown as each state diagram in the cycle of taking a step for climbing wall device of the present invention.
Component label instructions
1 first motor
2 second motors
3 main bodys
4 line slideways
5 second sucking disc mechanisms
6 first sucking disc mechanisms
7 safe arms
8 detection sensors
9 cleaning roller brushes
10 telescopic cylinders
11 suckers
12 electric rotating machines
13 vertically to support
14 installing pipes
141 axis holes
15 keepers
16 slip caps
17 buffer springs
18 lift cylinders
19 links
Embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book understands other advantages and effect of the present invention easily.
Refer to Fig. 1 to Fig. 9 g.It should be clear that structure depicted in this specification institute accompanying drawing, ratio, size etc., are only used
To coordinate the content disclosed in specification, so that those skilled in the art understands and reads, being not limited to the present invention can
The qualifications of implementation, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where not influenceing the effect of present invention can be generated and the purpose that can reach, all should still fall in disclosed skill
In the range of art content can cover.Meanwhile in this specification it is cited as " on ", " under ", "left", "right", " centre " and
The term of " one " etc., understanding for narration is merely convenient to, and is not used to limit the enforceable scope of the present invention, its relativeness
It is altered or modified, in the case where changing technology contents without essence, when being also considered as the enforceable category of the present invention.
The present invention provides one kind and climbs wall device, as shown in figure 1, it includes：Main body 3, controller, in main body 3
One motor 1 and the second motor 2, two group of first sucking disc mechanism 6 located at main body both sides is slided, and slided among main body
Second sucking disc mechanism 5, two group of first sucking disc mechanism 6 is connected with the transmission of the first motor 1 and the synchronizing direct under the drive of the first motor 1
Line moves back and forth, and second sucking disc mechanism 5 is connected with the transmission of the second motor 2 and linear reciprocation is transported under the drive of the second motor 2
It is dynamic, and the first sucking disc mechanism 6 is parallel with the moving direction of the second sucking disc mechanism 5, the first sucking disc mechanism 6 and the structure of the second sucker machine 5
Include lifting assembly and at least one sucker 11, as shown in Figure 3, each sucker 11 (does not give figure with vacuum generating part
Show) it is connected, and each sucker 11 is connected with the lifting assembly and lifted under the driving of lifting assembly, first motor
1st, the second motor 2 and all lifting assemblies, vacuum generating part are connected with controller.The present invention is using in main body both sides and master
First sucking disc mechanism 6 and the second sucking disc mechanism 5 are set among body, pass through the slip and alternating sorbent realization of two sucking disc mechanisms
Climb the straight trip of wall device；The centre that second sucking disc mechanism 5 is placed in two group of first sucking disc mechanism 6 ensure that main body 3 in straight trip
Stability, it is loaded more other equipments.
As a specific embodiment of aforementioned body, as shown in Figure 1 to Figure 2, main body 3 is frame structure in the present embodiment,
It is made up of crossbeam and longeron, and is set for ease of the slip of the first sucking disc mechanism and the second sucking disc mechanism, and longeron at least has
Four to be arranged in parallel, two upper slide positioned at centre set the second sucking disc mechanism 5, and two upper each slips positioned at both sides are set
Put first sucking disc mechanism 6.
For ease of the slip of above-mentioned first sucking disc mechanism and the second sucking disc mechanism, the stable straight trip for climbing wall device is realized, this
Main body both sides and centre are respectively equipped with straight line guide member in embodiment, and the above-mentioned sucking disc mechanism 5 of first sucking disc mechanism 6 and second divides
It is not connected with corresponding straight line guide member.For ease of setting, the straight line guide member in the present embodiment is line slideway 4, is seen
Shown in Fig. 2, first sucking disc mechanism 6 is slided by sliding block and is located on the line slideway 4 of both sides, the second sucking disc mechanism 5
Slide and be located on middle line slideway.Above-mentioned straight line guide member can also be other straight members such as screw nut assembly
Or ball wire rod member etc., it need to only can guarantee that the first sucking disc mechanism 6 and the second sucking disc mechanism 5 are relatively main under the driving of respective motor
Body is for linear motion.In addition, the present embodiment can drive sliding block to be slided along line slideway 4 by the first motor 1 or the second motor 2
It is dynamic, can also by the transmission mechanisms such as synchronous belt mechanism, rack-and-pinion directly with the first sucking disc mechanism or the second sucking disc mechanism phase
Even, the first sucking disc mechanism 6, the linear slide of the second sucking disc mechanism 5 are realized, i.e. the first sucking disc mechanism 6 and the second sucking disc mechanism 5
It has a variety of ways of realization to linear slideable manner, as long as can reach it can slide along main body.
For convenience of the above-mentioned rotation for climbing wall device, auto-steering is realized, main body 3 is provided with electric rotating machine in the present embodiment
12, as shown in Figure 1, electric rotating machine 12 is connected with second sucking disc mechanism 5 or with the transmission of main body 3, and drives the second sucker machine
Structure 5 rotates relative to main body 12.For ease of realizing the straight trip of the second sucking disc mechanism and rotation, in the present embodiment by electric rotating machine 12 with
Line slideway, which slides, to be connected, and then the second sucking disc mechanism 5 is connected with the electric machine shaft driving of electric rotating machine again；And electric rotating machine 12
Setting can also be other forms, as electric rotating machine is fixed on the second sucking disc mechanism, the motor shaft and main body of electric rotating machine
It is connected, only needs to realize that the second sucking disc mechanism 5 rotates relative to main body 3, and do not influence the second sucking disc mechanism 5 straight trip of itself i.e.
Can.In addition, the present invention climb wall device its rotate implementation be not limited in main body set electric rotating machine mode, it also may be used
To be realized by other revolving parts.
For ease of the stable rotation commutation of main body, the second sucking disc mechanism 5 in the present embodiment includes what is be in triangular distribution
Three suckers 11, Triangle-Profile ensure that the overall stability of the second sucking disc mechanism, be easy to drive of the main body in electric rotating machine 12
It is dynamic lower relative to the stable rotation of the second sucking disc mechanism.In addition, for the stability of increase absorption, above-mentioned second sucking disc mechanism 5 can also
For for polygon, as shown in Fig. 1 to Fig. 2, provided in figure for eight deformations, one group of sucker is set at each end angle of polygon
11, its absorption affinity of sucker increasing number increases, and realizes whole stabilized walking and the commutation for climbing wall device.If climb the use of wall device
Environment is preferable, such as adsorbs smooth glass surface, then above-mentioned second sucking disc mechanism 5 can also be a big sucker, only need its energy
Ensure absorption.The second sucking disc mechanism in the present embodiment can be according to climbing wall device institute's use environment and own vol weight
Etc. factor, design its own spatial form and required sucker quantity.
It is able to can also contain multiple above-mentioned first sucking disc mechanism 6 containing only a sucker 11, only need all suckers 11 straight
Line, which is arranged side by side, to be formed one in line, is connected to be slided with main body 3.The He of the first sucking disc mechanism 6 that the present invention passes through both sides
The middle alternating sorbent of the second sucking disc mechanism 5, coordinating the slip of two sucking disc mechanisms, moving forward and backward for wall device is climbed in realization,
Can also be realized by the rotation of electric rotating machine 12 and climb the pivot stud of wall device, also can directly by operating personnel's manual steering,
Its is simple in construction, easily controllable, and overall be applicable climbs any occasion.
As an embodiment of above-mentioned lifting assembly, lifting assembly is made up of multiple telescopic cylinders 10 in the present embodiment, is seen
Shown in Fig. 3, one sucker 11 of corresponding connection of telescopic cylinder 10.Each above-mentioned sucker 11 uses independent telescopic cylinder 10
Driving, adsorbing plane can be made up not when climbing wall device walking traverse obstacle by the flexible stroke of local telescopic cylinder 10
Foot, it has across high 40mm, the ability of wide 40mm obstacles.Above-mentioned lifting assembly can also be lifting motor or hydraulic cylinder
Deng, or the wedge sliding equipment of lifting can be realized etc., its need can realize the lifting of sucker, complete the absorption and lift of sucker
From.For ease of consolidating the lifting of each sucker in the present embodiment, as shown in Figure 3, each telescopic cylinder 10, which slides, is located at one
In the support meanss being connected with main body 3, the support meanss have vertically to support 13, and telescopic cylinder 10, which slides, to be located at vertically to branch
On frame 13.
As another embodiment of above-mentioned lifting assembly, as shown in Figure 4, lifting assembly includes link 19 in the present embodiment
And at least one lift cylinder 18 being connected with link 19, the link 19 are connected with all suckers 11.The present embodiment
In to save the use of cylinder, in the first sucking disc mechanism and the second sucking disc mechanism respectively pass through link 19 and all suckers 11
It is fixedly linked, then drives the lifting of link 19 to realize the suctorial lifting of institute by lift cylinder 18, and better assure that
The uniformity of all suckers liftings.
To adapt to the adsorption plane of out-of-flatness in the present embodiment, each sucker passes through a buffer unit and the above-mentioned phase of link 19
Even, as shown in Fig. 5 and Fig. 6, the buffer unit includes hollow installing pipe 14, the slip being set in installing pipe in the present embodiment
Cover 16 and be placed in the top of slip cap 16 and the keeper 15 being fixedly linked with link 19, and be set in installing pipe and limit
Buffer spring 17 of the position below slip cap.Sucker 11 and installing pipe 14 are fixedly linked in the present embodiment, the axle in installing pipe
Hole 141 is used as vacuum suction passage, and installing pipe top is connected with the vacuum tube in vacuum generating part, can realize sucker 11
Aspiration vacuum；In addition, when climbing wall device and being in the adsorption plane of out-of-flatness, each sucker can be adjusted adaptively by buffer unit
It is whole, it is ensured that each sucker suction is firm., should if sucker 11 falls plane herein and adsorbs place higher than other suckers during absorption
Buffer spring 17 in buffer unit corresponding to sucker is acted on by link 19 to be compressed, and causes sucker 11 relative with link 19
Distance Shortened, to adapt to high plane, when being lifted away from, buffer spring 17, which resets, returns back to the distance between link 19 and sucker 11
Reset condition, reset condition are that sucker is lifted away from and the distance in the case of deadweight between sucker and link.Above-mentioned buffer unit its
It can also be that other have vertical fine-tuning adjustment structure, realize the regulation of different burnishing surfaces.
To increase the above-mentioned security climbed wall device and climb wall, the present embodiment is also equipped with using in the center of gravity of aforementioned body 3
In installing safety rope safe arm 7, as shown in Figure 7.Safety cable is installed on safe arm 7, is led to when high-altitude is climbed
Crossing safety cable protects the accident for climbing wall device to come off.Safety cable in the present invention can be arranged on by the form of automatic deploying and retracting
On safe arm 7, and detect by obliquity sensor on safe arm 7 the relaxation degree of safety cable, in real time with
Enter the folding and unfolding of safety cable, the labor intensity of user is reduced with this.
As the another specific embodiment of aforementioned body, the main body in the present embodiment can be plate-like piece, for ease of first
The slip of sucking disc mechanism and the second sucking disc mechanism is set, and can set a plurality of parallel chute in the bottom surface of plate-like piece, first is inhaled
Disc mechanism and the second sucking disc mechanism slide in corresponding chute respectively.That is, when main body is plate-like piece, this reality
The linear motion of the first sucking disc mechanism and the second sucking disc mechanism can be ensured in the form of chute by applying example.It can also be in main body
The straight line guide member in above-described embodiment is installed in bottom surface, and the first sucking disc mechanism and are realized by the setting of straight line guide member
The linear motion of two sucking disc mechanisms, is not described in detail here.
The present invention also provides a kind of method of creeping for climbing wall device, it is described climb wall and be set to climb wall device as described above,
Its method of creeping is：Under the control of the controller, above-mentioned first sucking disc mechanism 6 and the alternating sorbent of the second sucking disc mechanism 5 in
In the scope of operation, and the motion of main body 3 is driven to realize under the driving of first motor 1 and second motor 2 respectively
Straight trip.Realized and kept straight on the middle alternating sorbent of the second sucking disc mechanism 5 by the first sucking disc mechanism 6 of both sides in the present invention, and
Maintain the stability of main body traveling.
Turned to for ease of the wall device of climbing of the present embodiment, aforementioned body 3 is provided with electric rotating machine 12, electric rotating machine 12 and institute
State the second sucking disc mechanism 5 or the transmission of main body 3 is connected, the method for creeping of the present embodiment also includes：When first sucking disc mechanism 6 is lifted
From when second sucking disc mechanism 5 is in adsorbed state, the controller controls the electric rotating machine 12 to act, and makes the master
Body 3 rotates relative to second sucking disc mechanism 5 to be completed to turn to.
To realize the stable and smooth operation for climbing wall device, the interim card problem during two sucking disc mechanism alternating sorbents is eliminated,
It is described climb wall device straight trip when, one in the sucking disc mechanism 5 of the first sucking disc mechanism 6 and second is in adsorbed state, separately
One in being lifted away from state, and under the control of the controller, the sucking disc mechanism in the state that is lifted away from moves to its rectilinear path position
At the end points of body front end, and backward body rear direction motion；When the first sucking disc mechanism 6 and the second sucking disc mechanism 5 reach
When being moved at the same speed with respect to main body 3, the sucking disc mechanism in the state that is lifted away from falls and adsorbed, and the first sucking disc mechanism 6 and second is inhaled
Disc mechanism 5 is into adsorbed state and the driving synchronization marching of main body 3；In synchronously the traveling process of main body 3 is driven, the first sucker
The sucking disc mechanism 7 of mechanism 6 and second completes absorption alternating.From the process of above-mentioned two sucking disc mechanism alternating sorbent, at two
During sucking disc mechanism alternating sorbent, i.e., in current step, the sucking disc mechanism in adsorbed state becomes to be lifted away from state, in being lifted away from state
Sucking disc mechanism become adsorbed state, with this enter in next step, this process is to drive main body row jointly in two sucking disc mechanisms
Realized during entering, therefore the traveling of main body is without Caton phenomenon.
There is beginning and end in the first sucking disc mechanism and the second sucking disc mechanism line correspondence stroke in the present embodiment, see figure
Shown in 9a-9g, for ease of description, it is fore-and-aft direction to climb the current direct of travel of wall device, and the front end B of main body is each adsorbing mechanism
Starting point, the rear end A of main body are the terminal of each adsorbing mechanism.It is described climb wall device straight trip when, it is under the control of the controller, described
One in first sucking disc mechanism 6 and the second sucking disc mechanism 5 is in adsorbed state, and another is in and is lifted away from state, i.e. Fig. 9 a institutes
When the first sucking disc mechanism 6 shown is run to the front end B of main body, the first sucking disc mechanism 6 all suckers under the driving of lifting assembly
Decline, and hold plane, the motion of the first motor 1 makes main body 3 be relatively moved with the first sucking disc mechanism 6, so as to drive main body 3 to
Preceding movement.Now the second sucking disc mechanism 5 is quickly returning to the starting point i.e. main body of its line correspondence stroke under the driving of the second motor 2
Front end B at await orders, as shown in Fig. 9 b.In the first sucking disc mechanism 6 drives the movement forward of main body 3, as shown in Fig. 9 c, i.e.,
First sucking disc mechanism 6 close to main body rear end A during, the second sucking disc mechanism 5 also begins to phase under control of the control system
Moved for main body 3 to the terminal of its line correspondence stroke to the rear end A directions of main body；When the second sucking disc mechanism 5 reach with
The speed of service of first sucking disc mechanism 6 is identical and when keeping relative static conditions with the first sucking disc mechanism 6, in the second sucking disc mechanism 5
All suckers fall, as shown in Fig. 9 d, now the first sucking disc mechanism 6 and the second sucking disc mechanism 5 are in adsorbed state simultaneously, and
Driven respectively by the first motor 1 and the second motor 2 while drive main body 3 to move forward with identical speed.In two sucking disc mechanisms
In common driving main body movement forward, for example, the first sucking disc mechanism 6 soon close to the rear end A of main body when, the first sucking disc mechanism 6
In all suckers lift, and the first motor movement make the first sucking disc mechanism 6 return quickly to its line correspondence stroke rise
Point, as shown in Fig. 9 e, i.e., the first sucking disc mechanism 6 is back to the front end B of main body, now by the second sucking disc mechanism 5 in the second motor 2
Driving under individually drive main body 3 continue to move along, now complete first take a step.When the second sucking disc mechanism 5 drives main body 3
Advance, i.e. the second sucking disc mechanism 5 is into the motion process rear end A of main body at, first sucking disc mechanism 6 and from starting point (i.e. main body
At the B of front end) start terminal (i.e. at the rear end A of the main body) movement to its rectilinear path relative to main body 3, as shown in Fig. 9 f；When
When first sucking disc mechanism 6 reaches identical with the relative moving speed of the second sucking disc mechanism 5, all suckers in the first sucking disc mechanism 6
Fall, now the second sucking disc mechanism 5 and the first sucking disc mechanism 6 are in adsorbed state simultaneously again, as shown in Fig. 9 g, respectively second
Main body 3 is driven to move forward jointly with identical speed simultaneously under the driving of the motor 1 of motor 2 and first.It is total in two sucking disc mechanisms
With driving bulk motion during, such as the second sucking disc mechanism 5 close to its line correspondence stroke terminal (i.e. close to main body
At the A of rear end) when, the lifting assembly on the second sucking disc mechanism 5 lifts sucker, and it is corresponding that the second sucking disc mechanism 5 returns quickly to its again
The starting point of rectilinear path is awaited orders, and now individually drives main body 3 to continue under the driving of the first motor 1 by the first sucking disc mechanism 6
Move forward, now complete second course of a step, that is, complete one and completely take a step the cycle.It is so alternately reciprocal.So exist
During two groups of sucking disc mechanism alternating sorbents, the time for the absorption that pauses is offset in two sucking disc mechanism synchronous drive main bodys
During motion, so as to make whole walking process it is smooth it is smooth, without interim card, reduce on influenceing and hindering caused by operation surface
Evil.
As shown in Fig. 7 to Fig. 8, the present invention also provides a kind of sweeping robot, and sweeping robot includes climbing as described above
Wall device, and the cleaning roller brush 9 being placed in main body 3.Climbed by climbing wall device along glass curtain wall, the cleaning during climbing
Roller brush 9 realizes the cleaning to glass curtain wall.
To ensure the safe handling of sweeping robot, the detection for being provided with rim detection in the present embodiment in main body 3 passes
Sensor 8, the positional information of sweeping robot can be obtained using detection sensor, judge whether sweeping robot is run to glass curtain
The edge of wall, it is ensured that the safety of sweeping robot, avoid dropping.
The present invention's climbs wall device and can also load spray body thereon, forms spray robot, for paint spraying, or
The spraying operation of the liquid such as watering.
In summary, it is of the invention to climb wall device and its method of creeping, sweeping robot, spray robot, using in master
First sucking disc mechanism and the second sucking disc mechanism are set among body both sides and main body, slip and alternating by two sucking disc mechanisms
The straight trip for climbing wall device is realized in absorption, and by controlling the method for operation of two sucking disc mechanisms, when both alternating sorbents can be achieved
Operation without interim card.So the present invention effectively overcomes various shortcoming of the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, not for the limitation present invention.It is any ripe
Know the personage of this technology all can carry out modifications and changes under the spirit and scope without prejudice to the present invention to above-described embodiment.Cause
This, those of ordinary skill in the art is complete without departing from disclosed spirit and institute under technological thought such as
Into all equivalent modifications or change, should by the present invention claim be covered.
Claims (20)
1. one kind climbs wall device, it is characterised in that including：Main body, controller, the first motor in main body and the second electricity
Machine, and two group of first sucking disc mechanism located at main body both sides is slided, second sucking disc mechanism of the slip among main body, two groups
First sucking disc mechanism is connected with the transmission of the first motor and the synchronous straight reciprocating motion under the first motor driven, and described second inhales
Disc mechanism is connected with the transmission of the second motor and the straight reciprocating motion under the second motor driven, and the first sucking disc mechanism and second is inhaled
The moving direction of disc mechanism is parallel, and the first sucking disc mechanism and the second sucking disc mechanism include lifting assembly and at least one suction
Disk, each sucker are connected with vacuum generating part, and each sucker is connected and in lifting assembly with the lifting assembly
Driving is lower to be lifted, and first motor, the second motor and lifting assembly, vacuum generating part are connected with controller.
2. according to claim 1 climb wall device, it is characterised in that：The main body both sides and centre are respectively equipped with straight line and drawn
Part is led, first sucking disc mechanism and second sucking disc mechanism are connected with corresponding straight line guide member respectively.
3. according to claim 2 climb wall device, it is characterised in that：The straight line guide member is line slideway.
4. according to claim 1 climb wall device, it is characterised in that：The main body is frame structure or flat board.
5. according to claim 1 climb wall device, it is characterised in that：The main body is flat board, is provided with the bottom surface of flat board
A plurality of parallel groove, first sucking disc mechanism, which slides, to be located in the chute of both sides, and second sucking disc mechanism is slided and set
In in the chute positioned at centre.
6. according to claim 1 climb wall device, it is characterised in that：The main body is provided with electric rotating machine, electric rotating machine
It is connected with second sucking disc mechanism or main body transmission, the second sucking disc mechanism of driving rotates relative to main body.
7. according to claim 1 climb wall device, it is characterised in that：The lifting assembly is made up of multiple telescopic cylinders,
One telescopic cylinder one sucker of corresponding connection.
8. according to claim 7 climb wall device, it is characterised in that：Each telescopic cylinder slides to be filled located at a support
In putting, the support meanss are fixedly linked with main body.
9. according to claim 1 climb wall device, it is characterised in that：The lifting assembly includes link and with being connected
All suckers are connected by the connected at least one lift cylinder of frame, the link.
10. according to claim 9 climb wall device, it is characterised in that：Each sucker by buffer unit with it is described
Link is connected.
11. according to claim 1 climb wall device, it is characterised in that：First motor and second motor are logical
It is corresponding with first sucking disc mechanism and second sucking disc mechanism connected respectively to cross synchronous belt mechanism.
12. according to claim 1 climb wall device, it is characterised in that：Second sucking disc mechanism is included into triangle point
Three suckers of cloth.
13. according to claim 1 climb wall device, it is characterised in that：Second sucking disc mechanism is polygon, polygon
One group of sucker is set at each end angle of shape.
14. according to claim 1 climb wall device, it is characterised in that：The center of gravity of the main body is also equipped with being used to fill
If the safe arm of safety rope.
A kind of 15. method of creeping for climbing wall device, it is characterised in that：It is described climb wall and be set to described in claim 1 climb wall
Put, its method of creeping is：Under the control of the controller, first sucking disc mechanism and second sucking disc mechanism are alternately inhaled
Invest in the scope of operation, and drive the bulk motion to realize under the driving of first motor and second motor respectively
Straight trip.
16. the method for creeping according to claim 15 for climbing wall device, it is characterised in that：The main body is provided with electric rotating
Machine, electric rotating machine are connected with second sucking disc mechanism or main body transmission, and when first sucking disc mechanism is lifted away from, described second inhales
When disc mechanism is in adsorbed state, the controller controls the electric rotating machine action, inhales the main body relatively described second
Disc mechanism rotation is completed to turn to.
17. the method for creeping according to claim 15 for climbing wall device, it is characterised in that：Wall device straight trip is climbed described
When, one in first sucking disc mechanism and the second sucking disc mechanism is advanced in adsorbed state driving main body, and another is in
It is lifted away from state；Under control system control, the sucking disc mechanism in the state that is lifted away from moves to its rectilinear path and is located at body front end
End points at, and backward body rear direction motion, when the first sucking disc mechanism and the second sucking disc mechanism, to reach relative main body synchronized
During motion, the sucking disc mechanism in the state that is lifted away from falls and adsorbed, and the first sucking disc mechanism and the second sucking disc mechanism are into absorption
State and the synchronous driving main body traveling；In synchronously main body traveling process is driven, the first sucking disc mechanism and the second sucker machine
Structure completes absorption alternating.
A kind of 18. sweeping robot, it is characterised in that：The sweeping robot is included as claim 1 to claim 14 is appointed
Wall device is climbed described in one, and the cleaning roller brush being placed in the main body.
19. sweeping robot according to claim 18, it is characterised in that：The main body is provided with the inspection of rim detection
Survey sensor.
20. a kind of spray robot, it is characterised in that the spray robot is included as claim 1 to claim 14 is appointed
Wall device is climbed described in one, and the spray body being placed in the main body.
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| CN201710582668.5A CN107364503A (en) | 2017-07-17 | 2017-07-17 | Climb wall device and its method of creeping, sweeping robot, spray robot |
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| CN201710582668.5A CN107364503A (en) | 2017-07-17 | 2017-07-17 | Climb wall device and its method of creeping, sweeping robot, spray robot |
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| CN201710582668.5A Pending CN107364503A (en) | 2017-07-17 | 2017-07-17 | Climb wall device and its method of creeping, sweeping robot, spray robot |
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| CN108177703A (en) * | 2018-02-10 | 2018-06-19 | 西安建筑科技大学 | It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN108622224A (en) * | 2018-04-29 | 2018-10-09 | 刘禄军 | A kind of metope crawling device |
| CN108908348A (en) * | 2018-09-17 | 2018-11-30 | 国网福建省电力有限公司 | The intelligent climbing robot of shaft tower inspection |
| CN108994859A (en) * | 2018-09-03 | 2018-12-14 | 延安大学 | One kind being used for the rotatable crawling device of glass wall |
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
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| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN109307447A (en) * | 2018-09-14 | 2019-02-05 | 江苏常丰节能科技有限公司 | A kind of climbing robot climbs wall method and condenser cleaning equipment |
| CN109305241A (en) * | 2018-10-15 | 2019-02-05 | 刘雅琴 | It is a be freely rotated climb wall mobile device |
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| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN110367868A (en) * | 2019-07-09 | 2019-10-25 | 苏州康鸿智能装备股份有限公司 | A kind of climbing robot and obstacle detouring control method with barrier getting over mechanism |
| CN111483528A (en) * | 2019-01-28 | 2020-08-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
| CN113287989A (en) * | 2021-07-07 | 2021-08-24 | 北京工业职业技术学院 | Glass curtain wall cleaning robot and cleaning gait planning method thereof |
| CN115571307A (en) * | 2022-10-12 | 2023-01-06 | 华能盐城大丰新能源发电有限责任公司 | Control structure and control method for underwater robot to adsorb wall surface |
| CN117864267A (en) * | 2024-03-08 | 2024-04-12 | 西安热工研究院有限公司 | Water-cooled wall pipe climbing mechanism |
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| CN108177703A (en) * | 2018-02-10 | 2018-06-19 | 西安建筑科技大学 | It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method |
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN108284888B (en) * | 2018-03-27 | 2024-03-22 | 上海识质电力科技有限公司 | Fan tower robot |
| CN108284888A (en) * | 2018-03-27 | 2018-07-17 | 伍伟 | Blower fan tower barrel robot |
| CN108622224A (en) * | 2018-04-29 | 2018-10-09 | 刘禄军 | A kind of metope crawling device |
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
| CN108994859A (en) * | 2018-09-03 | 2018-12-14 | 延安大学 | One kind being used for the rotatable crawling device of glass wall |
| CN109307447B (en) * | 2018-09-14 | 2020-08-04 | 江苏常丰节能科技有限公司 | Wall climbing robot, wall climbing method and condenser cleaning device |
| CN109307447A (en) * | 2018-09-14 | 2019-02-05 | 江苏常丰节能科技有限公司 | A kind of climbing robot climbs wall method and condenser cleaning equipment |
| CN108908348A (en) * | 2018-09-17 | 2018-11-30 | 国网福建省电力有限公司 | The intelligent climbing robot of shaft tower inspection |
| CN108908348B (en) * | 2018-09-17 | 2021-11-23 | 国网福建省电力有限公司 | Intelligent crawling robot for tower patrol |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN109305241A (en) * | 2018-10-15 | 2019-02-05 | 刘雅琴 | It is a be freely rotated climb wall mobile device |
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN111483528B (en) * | 2019-01-28 | 2022-11-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN111483528A (en) * | 2019-01-28 | 2020-08-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN110201920B (en) * | 2019-07-09 | 2020-06-23 | 南京林业大学 | Portable cleaning device and cleaning method for outdoor media advertising screen |
| CN110367868A (en) * | 2019-07-09 | 2019-10-25 | 苏州康鸿智能装备股份有限公司 | A kind of climbing robot and obstacle detouring control method with barrier getting over mechanism |
| CN110201920A (en) * | 2019-07-09 | 2019-09-06 | 南京林业大学 | A kind of outdoor media advertisement screen portable cleaning plant and its method for cleaning |
| CN110341827B (en) * | 2019-07-22 | 2022-03-29 | 上海神谷电子科技有限公司 | Anti-falling wall climbing robot and walking method thereof |
| CN110341827A (en) * | 2019-07-22 | 2019-10-18 | 上海神谷电子科技有限公司 | Dropproof Climbing Robot and its traveling method |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
| CN112009589B (en) * | 2020-09-17 | 2021-11-30 | 深圳纵横电子有限公司 | Walking device and using method thereof |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
| CN113287989A (en) * | 2021-07-07 | 2021-08-24 | 北京工业职业技术学院 | Glass curtain wall cleaning robot and cleaning gait planning method thereof |
| CN115571307A (en) * | 2022-10-12 | 2023-01-06 | 华能盐城大丰新能源发电有限责任公司 | Control structure and control method for underwater robot to adsorb wall surface |
| CN115571307B (en) * | 2022-10-12 | 2023-10-13 | 华能盐城大丰新能源发电有限责任公司 | Control structure and control method for adsorption wall surface of underwater robot |
| CN117864267A (en) * | 2024-03-08 | 2024-04-12 | 西安热工研究院有限公司 | Water-cooled wall pipe climbing mechanism |
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