CN107724662A - Work high above the ground robot and its application method - Google Patents

Work high above the ground robot and its application method Download PDF

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Publication number
CN107724662A
CN107724662A CN201710743141.6A CN201710743141A CN107724662A CN 107724662 A CN107724662 A CN 107724662A CN 201710743141 A CN201710743141 A CN 201710743141A CN 107724662 A CN107724662 A CN 107724662A
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CN
China
Prior art keywords
rope
unit
work
robot
ground
Prior art date
Application number
CN201710743141.6A
Other languages
Chinese (zh)
Inventor
黄锦波
黄耀光
戚颉
Original Assignee
上海霄卓机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海霄卓机器人有限公司 filed Critical 上海霄卓机器人有限公司
Priority to CN201710743141.6A priority Critical patent/CN107724662A/en
Publication of CN107724662A publication Critical patent/CN107724662A/en

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G3/00Scaffolds essentially supported by building constructions, e.g. adjustable in height
    • E04G3/28Mobile scaffolds; Scaffolds with mobile platforms
    • E04G3/30Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables

Abstract

The invention provides a kind of work high above the ground robot and its application method, the work high above the ground robot includes:Rope, rope climbing mobile unit, operation unit and control unit;The rope climbing mobile unit is connected with the rope, and is connected with the operation unit, for being moved along the rope, to drive the operation unit to move;Described control unit electrically connects with the rope climbing mobile unit, for controlling the rope climbing mobile unit to be moved along the rope.In work high above the ground robot provided by the invention, moved up and down by the rope climbing mobile unit being connected with operation unit to realize, reduce the requirement to roof flooring, even if flooring out-of-flatness can not install loop wheel machine, also can quickly and easily be installed, it is easy for installation simple.

Description

Work high above the ground robot and its application method

Technical field

The present invention relates to work high above the ground technical field, more particularly to a kind of work high above the ground robot and its application method.

Background technology

In the dangerous field of operating mode, it is manually an irreversible trend that robot, which substitutes, particularly in building glass The work high above the ground occasions such as curtain wall installation cleaning, exterior wall finishing, glass replacing, Advertisement with decorative lamp installation, it is following by more and more uses Robot carries out operation.By taking curtain cleaning as an example, the cleaning of current external wall is main or by the way of manually cleaning, Cleaned including hanging spider-man's cleaning or people station on the hanging basket of high-altitude.It is artificial to carry out outside Wall Cleaning, blow suddenly, safety rope Fracture, hanging basket is out of control etc., and uncontrollable factor is more, and security incident occurs frequent, has unexpected body much occurs on spider-man every year The relevant report died.Therefore, in field of aerial work, machine substitutes artificial very urgent.

One of key technology point of work high above the ground robot is mobile control of the robot in building exposed wall.At present, Mainly by sucker suction to glass curtain wall, sucker alternating movement or operation is moved using road wheel.But Problems with least be present in this mode:

1st, obstacle detouring effect is bad because sucker will press close to wall always, as long as cause curtain wall have prominent barrier (such as Aluminum alloy cross beam etc.), robot is difficult to more pass by.

2nd, robot holds glass always, and outside power can be carried out to glass tape, and its power is approximately equal to whole robot weight, If glass a little ruptures originally, it is likely that cause glass to come off.

3rd, unexpected probability occurs for sucker suction larger, such as glass dust is too many, has gap to lead between glass and glass Absorption is caused not live, power-off suddenly causes machine can not provide adsorptive pressure.Just in case there is the accident of absorption incessantly, even if there is safety Rope protection, the impact caused by its safety rope pins front lower pendant also bring along very big potential safety hazard.

Other mode is to set up loop wheel machine in roof, has hoist engine on loop wheel machine, hoist engine plays machine by fixed pulley People, and draw moving up and down for robot.By the way of roof sets up loop wheel machine, it is primarily present for high building work high above the ground robot The problem of be to set up loop wheel machine in roof, relatively difficult, the more difficult receiving of owner of constructing, and most of roof is not smooth Flooring, typically have the various objects such as water tank, air-conditioning, cable tubing, communication antenna.In addition, high building newly-built in recent years is big Tall building, it is high that attic exterior wall can be made in order to which security consideration is substantially all, typically 4-10 rice, significantly increased in roof frame If the difficulty of loop wheel machine.

The content of the invention

In view of this, it is existing to solve it is an object of the invention to provide a kind of work high above the ground robot and its application method The safety and equilibrium problem of the problem of complicated and work high above the ground robot are installed by some work high above the ground robots.

In order to solve the above technical problems, the present invention provides a kind of work high above the ground robot, including:Rope, rope climbing movement are single Member, operation unit and control unit;

The rope climbing mobile unit is connected with the rope, and is connected with the operation unit, for being moved along the rope It is dynamic, to drive the operation unit to move;

Described control unit electrically connects with the rope climbing mobile unit, for controlling the rope climbing mobile unit along the rope Suo Yidong.

Optionally, the quantity of the rope is at least two, and the quantity of the rope climbing mobile unit is at least two, at least Two ropes are connected with least two rope climbing mobile units.

Optionally, in addition to angle detection unit, for detecting the angle of inclination parameter of the work high above the ground robot, institute Control unit is stated to electrically connect with the angle detection unit, to obtain the angle of inclination parameter of the angle detection unit detection, And according to the angle detection unit detect angle of inclination state modulator described in rope climbing mobile unit translational speed.

Optionally, the quantity of the rope is two, and the quantity of the rope climbing mobile unit is two, described control unit By controlling the translational speed of two rope climbing mobile units, to control the balance of the work high above the ground robot.

Optionally, the rope climbing mobile unit includes:Motor, crawling wheel and guide wheel, the motor and the crawling wheel Connection, the guide wheel are located at the crawling wheel side, and the rope is wound in the periphery of the crawling wheel by the guide wheel On.

Optionally, in addition to communication unit, related work high above the ground, the control are carried out for receiving peripheral operation instruction Unit electrically connects with the communication unit.

Optionally, the operation unit is cleaning part, paints part, welding assembly, gluing part or installing component In any one.

In order to solve the above problems, another aspect of the present invention provides a kind of application method of work high above the ground robot, including Following steps:

One end of the rope is fixed on building roof, the remainder of the rope is hung to bottom of the building;

The rope climbing mobile unit is arranged on the rope of suspension, carries out work high above the ground.

Optionally, on horizontally movable suspension bracket one end of the rope being fixed on building roof, move The suspension bracket is moved, that is, realizes moving horizontally for high-altitude robot.

In work high above the ground robot provided by the invention, realized by the rope climbing mobile unit being connected with operation unit Move up and down, reduce the requirement to roof flooring, even if flooring out-of-flatness can not install loop wheel machine, also can quickly and easily carry out Installation, it is easy for installation simple;On the other hand, work high above the ground robot of the invention is always by cable traction, as long as rope Rope is not broken, accident of falling would not occurs.In design, it is ensured that rope is thick enough, or using two ropes in left and right Mode, robot can be allowed more safe and reliable;On the other hand, the solution of the present invention includes angle detection unit and control is single Member, detected by angle, control unit carries out processing computing, the speed of service of the rope climbing part of control the right and left, Jin Erbao The problem of being not in angle tilt in card robot ascending and descending process.

In the application method of work high above the ground robot provided by the invention, it is only necessary to can carry out height in roof stationary rope Idle job, it is easy for installation simple, even if flooring out-of-flatness can not install loop wheel machine, also can quickly and easily be installed;It is in addition, logical Cross on the horizontally movable suspension bracket that one end of rope is fixed on building roof, it is possible to achieve the level of robot It is mobile.

Brief description of the drawings

Fig. 1 is the schematic diagram of one embodiment of the invention high and medium Work robot operation on building;

Fig. 2 is the schematic diagram that one embodiment of the invention high and medium Work robot is played by two ropes;

Fig. 3 is one embodiment of the invention high and medium Work robot inclined schematic diagram to left down;

Fig. 4 is one embodiment of the invention high and medium Work robot inclined schematic diagram under to the right;

Fig. 5 is the schematic diagram of rope climbing mobile unit in one embodiment of the invention.

In figure:10- ropes;20- rope climbing mobile units;21- motors;22- crawling wheels;23- guide wheels;30- operation units; 40- control units;50- angle detection units.

Embodiment

Work high above the ground robot proposed by the present invention and its application method are made below in conjunction with the drawings and specific embodiments into One step describes in detail.According to claims and following explanation, advantages and features of the invention will become apparent from.It should be noted that Accompanying drawing uses using very simplified form and non-accurately ratio, only of the invention conveniently, lucidly to aid in illustrating The purpose of embodiment.

Embodiment one

Refering to Fig. 1~Fig. 4, the present embodiment provides a kind of work high above the ground robot, for completing work high above the ground, specifically, The work high above the ground robot includes:Rope 10, rope climbing mobile unit 20, operation unit 30 and control unit 40;Wherein, climb Rope mobile unit 20 is connected with rope 10, and is connected with operation unit 30, and rope climbing mobile unit 20 can move up and down along rope 10, To drive operation unit 30 to move up and down;Control unit 40 electrically connects with rope climbing mobile unit 20, for controlling rope climbing movement single Member 20 moves up and down along rope 10.

Rope 10 can be the conventional work high above the ground rope such as steel wire rope, polypropylene fibre, terylene or nylon rope, and the rope 10 is in building Top is connected on firm structure or object, is then climbed over roof exterior wall and is hung down into bottom of the building always from roof.Rope climbing movement is single Member 20, its function is can be moved up and down along rope 10, so as to realize the mesh for drawing work high above the ground robot and being moved in exterior wall 's.During operation, one end of rope 10 is fixed on building roof, and the other end of rope 10, which hangs down to bottom of the building, rope climbing, to be moved Moving cell 20 is arranged on the rope 10 being suspended between roof and bottom of the building, and control unit 40 controls rope climbing mobile unit 20 along rope Rope 10 moves up and down.

Wherein, operation unit 30 refers to that work high above the ground robot carries out the part of operation, such as outside Wall Cleaning machine People, its operation unit 30 are the cleaning parts of robot;For high-altitude welding machine robot, its operation unit 30 is exactly robot Welding assembly;For height rescue robot, its operation unit 30 is exactly the rescue part of robot, successively, operation unit 30 Can also be to paint part, gluing part or installing component.

Further, the quantity of rope 10 is at least two, and the quantity of rope climbing mobile unit 20 is at least two, at least two The connected mode of the rope 10 of rope climbing mobile unit 20 and at least two can be but not limited to each rope climbing mobile unit 20 at least Connect a rope 10;Preferably, the quantity of rope climbing mobile unit 20 is equal with the quantity of rope 10, each rope climbing mobile unit 20 One rope 10 of corresponding connection.On the one hand it is that peace is enhanced by backup using at least two rope climbing mobile units 20 and rope 10 Quan Xing, even if a rope 10 is broken or a rope climbing mobile unit 20 breaks down, falling accident will not also occur for robot, separately The two or more rope climbing mobile unit 20 of outer one side, it can be easy to adjust the degree of balance of robot, it is ensured that robot was run Be not in the problem of tilting in journey.

For the ease of understanding the poised state of robot, also include angle in the work high above the ground robot that the present embodiment provides Detection unit 50 is spent, for detecting the angle of inclination parameter of work high above the ground robot, control unit 40 and angle detection unit 50 Electrical connection, to obtain the angle of inclination parameter of the detection of angle detection unit 50, and detected according to the angle detection unit 50 The translational speed of each rope climbing mobile unit 20 of angle of inclination state modulator.

The angle detection unit 50 is as a rule located in robot master control borad or rope climbing mobile unit control panel Angular transducer.Control unit 40 obtains the data of angle detection unit 50, by computing, controls in rope climbing mobile unit 20 The rope climbing part in face carries out corresponding actions.Refering to Fig. 2, in the present embodiment, the quantity of rope 10 is two, the rope climbing movement The quantity of unit 20 is two, and one rope 10 of each corresponding connection of the rope climbing mobile unit 20, control unit 40 passes through control The translational speed of two rope climbing mobile units 20, to control the balance of the work high above the ground robot.Such as robot is rising During, angular transducer detect robot turn left it is lower tilt (as shown in Figure 3), illustrate on the right of rope climbing mobile unit 20 Run fast, the rope climbing mobile unit 20 on the left side is run slowly, and now control unit 40 controls the rope climbing mobile unit 20 on the left side Work quicker, the rope climbing mobile unit 20 on the right works slowly;When angular transducer detects robot in uphill process Turn right and lower tilt (as shown in Figure 4), then the rope climbing mobile unit 20 on the right of the control of control unit 40 works quicker, the left side Rope climbing mobile unit 20 work slowly;So robot can just keep balancing always;Similarly, during decline, angle Sensor detect robot turn left it is lower tilt (as shown in Figure 3), illustrate that the rope climbing mobile unit 20 on the right is run slowly, a left side The rope climbing mobile unit 20 on side is run soon, and now control unit 10 controls the rope climbing mobile unit 20 on the left side to work slowly, The rope climbing mobile unit 20 on the right works quicker;During decline angular transducer detect robot turn right it is lower tilt (as shown in Figure 4), illustrating that the rope climbing mobile unit 20 on the right is run soon, the rope climbing mobile unit 20 on the left side is run slowly, this When control unit 40 to control the rope climbing mobile unit 20 on the left side to work quicker, the rope climbing mobile unit 20 on the right works slow one Point.

Refering to Fig. 5, the rope climbing mobile unit 20 specifically includes:Motor 21, crawling wheel 22 and guide wheel 23, motor 21 with Crawling wheel 22 connects, and two guide wheels 23 are located at the side of crawling wheel 22, and the rope 10 winds described creep by the guide wheel 23 On the periphery of wheel 22.Further, the motor 21 is provided with reductor, the output axis connection of crawling wheel 22 and reductor.

Wherein motor 21 uses this reductor with self-locking structure of worm and gear with power down auto-lock function or reductor. During work, rope 10 is tightly wound around on the circumference of crawling wheel 22 of trough of belt by guide wheel 23.Trough of belt crawling wheel 22 will be with rope Rope 10 has enough frictional force to ensure that rope 10 will not skid on crawling wheel 22, specifically can be in the periphery of crawling wheel 22 Upper setting groove is raised with increasing friction force, and if there is skidding, several circles, or addition can also be wound using rope more than 10 Multiple crawling wheels 22, or the method for increase crawling wheel 22 girth avoid skidding.When motor 21 rotates, motor 10 is by subtracting Fast machine drives crawling wheel 22, and can be achieved with moving up and down for rope climbing mobile unit 20 (is road equivalent to rope, friction pulley is car Wheel, one turn of wheel, automobile can move, and friction pulley rotates, and rope climbing mobile unit can just move).

Further, for the ease of the remote control of work high above the ground robot, in the work high above the ground machine that the present embodiment provides Also include communication unit (not shown) in people, carry out related work high above the ground for receiving peripheral operation instruction, control is single Member 40 electrically connects with communication unit.Communication unit and remote operation end carry out information exchange, the instruction that remote operation end is passed on by Communication unit receives, and is communicated to operation unit 30 and carries out related work high above the ground, or is communicated to control unit 40 and is climbed with controlling Scanning frequency degree.Specifically, communication unit can be GPRS communicating circuits or bluetooth communication circuit etc..

Embodiment two

Based on embodiment one, the present embodiment provides a kind of application method of work high above the ground robot, comprises the following steps:

One end of the rope 10 is fixed on building roof, the remainder of the rope 10 is hung to bottom of the building;

The rope climbing mobile unit 20 is arranged on the rope of suspension, carries out work high above the ground.

Further, in order to realize moving horizontally for work high above the ground robot, one end of the rope 10 can be fixed on and built Build on a horizontally movable suspension bracket on thing roof, the mobile suspension bracket, that is, realize moving horizontally for high-altitude robot, so High-altitude Mobile working machine people not only can easily move up and down, and can also quickly move horizontally.

In summary, in work high above the ground robot provided by the invention, moved by the rope climbing being connected with operation unit Unit moves up and down to realize, reduces the requirement to roof flooring, even if flooring out-of-flatness can not install loop wheel machine, can also facilitate Rapidly installed, it is easy for installation simple;On the other hand, work high above the ground robot of the invention is always by cable traction , as long as rope is not broken, accident of falling would not occur.In design, it is ensured that rope is thick enough, or using left and right The mode of two ropes, robot can be allowed more safe and reliable;On the other hand, the solution of the present invention includes angle detection unit And control unit, detected by angle, control unit carries out processing computing, the operation speed of the rope climbing part of control the right and left Degree, and then ensure in robot ascending and descending process the problem of being not in angle tilt.

In the application method of work high above the ground robot provided by the invention, it is only necessary to can carry out height in roof stationary rope Idle job, it is easy for installation simple, even if flooring out-of-flatness can not install loop wheel machine, also can quickly and easily be installed;It is in addition, logical Cross on the horizontally movable suspension bracket that one end of rope is fixed on building roof, it is possible to achieve the level of robot It is mobile.

Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment For, due to corresponding to the method disclosed in Example, so description is fairly simple, related part is referring to method part illustration .

Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims Scope.

Claims (10)

  1. A kind of 1. work high above the ground robot, it is characterised in that including:Rope, rope climbing mobile unit, operation unit and control are single Member;
    The rope climbing mobile unit is connected with the rope, and is connected with the operation unit, for being moved along the rope, with The operation unit is driven to move;
    Described control unit electrically connects with the rope climbing mobile unit, for controlling the rope climbing mobile unit to be moved along the rope It is dynamic.
  2. 2. work high above the ground robot as claimed in claim 1, it is characterised in that the quantity of the rope is at least two, institute The quantity for stating rope climbing mobile unit is at least two, and at least two ropes and at least two rope climbing mobile units connect Connect.
  3. 3. work high above the ground robot as claimed in claim 1 or 2, it is characterised in that also including angle detection unit, for examining The angle of inclination parameter of the work high above the ground robot is surveyed, described control unit electrically connects with the angle detection unit, to obtain Take the angle of inclination parameter of the angle detection unit detection, and the angle of inclination parameter detected according to the angle detection unit Control the translational speed of the rope climbing mobile unit.
  4. 4. work high above the ground robot as claimed in claim 3, it is characterised in that the quantity of the rope is two, described to climb Restrict mobile unit quantity be two, described control unit by control two rope climbing mobile units translational speed, with Control the balance of the work high above the ground robot.
  5. 5. work high above the ground robot as claimed in claim 1, it is characterised in that the rope climbing mobile unit includes:Motor, climb Road wheel and guide wheel, the motor are connected with the crawling wheel, and the guide wheel is located at the crawling wheel side, and the rope passes through The guide wheel is wound on the periphery of the crawling wheel.
  6. 6. the work high above the ground robot as described in claim 1 or 2 or 5, it is characterised in that also including communication unit, for connecing Receive peripheral operation instruction and carry out related work high above the ground, described control unit electrically connects with the communication unit.
  7. 7. the work high above the ground robot as described in claim 1 or 2 or 5, it is characterised in that the operation unit is cleaning part Part, paint any one in part, welding assembly, gluing part or installing component.
  8. 8. work high above the ground robot as claimed in claim 3, it is characterised in that the operation unit is cleaning part, painted Any one in part, welding assembly, gluing part or installing component.
  9. A kind of 9. application method of work high above the ground robot as described in claim 1~8 any one, it is characterised in that bag Include following steps:
    One end of the rope is fixed on building roof, the remainder of the rope is hung to bottom of the building;
    The rope climbing mobile unit is arranged on the rope of suspension, carries out work high above the ground.
  10. 10. the application method of work high above the ground robot as claimed in claim 9, it is characterised in that by one end of the rope It is fixed on a horizontally movable suspension bracket on building roof, the mobile suspension bracket, that is, realizes the level of high-altitude robot It is mobile.
CN201710743141.6A 2017-08-25 2017-08-25 Work high above the ground robot and its application method CN107724662A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710743141.6A CN107724662A (en) 2017-08-25 2017-08-25 Work high above the ground robot and its application method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710743141.6A CN107724662A (en) 2017-08-25 2017-08-25 Work high above the ground robot and its application method

Publications (1)

Publication Number Publication Date
CN107724662A true CN107724662A (en) 2018-02-23

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Application Number Title Priority Date Filing Date
CN201710743141.6A CN107724662A (en) 2017-08-25 2017-08-25 Work high above the ground robot and its application method

Country Status (1)

Country Link
CN (1) CN107724662A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108590152A (en) * 2018-05-10 2018-09-28 北京信息科技大学 A kind of mobile job platform in high-wall implement
CN108661303A (en) * 2018-05-10 2018-10-16 北京信息科技大学 A kind of high-wall implement
CN110328658A (en) * 2019-07-15 2019-10-15 上海霄卓机器人有限公司 The high altitude operation robot system of modularization assemble
WO2020057184A1 (en) * 2018-09-18 2020-03-26 上海霄卓机器人有限公司 Aloft working robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108590152A (en) * 2018-05-10 2018-09-28 北京信息科技大学 A kind of mobile job platform in high-wall implement
CN108661303A (en) * 2018-05-10 2018-10-16 北京信息科技大学 A kind of high-wall implement
WO2020057184A1 (en) * 2018-09-18 2020-03-26 上海霄卓机器人有限公司 Aloft working robot
CN110328658A (en) * 2019-07-15 2019-10-15 上海霄卓机器人有限公司 The high altitude operation robot system of modularization assemble

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