CN107724662B - Aloft work robot and using method thereof - Google Patents
Aloft work robot and using method thereof Download PDFInfo
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- CN107724662B CN107724662B CN201710743141.6A CN201710743141A CN107724662B CN 107724662 B CN107724662 B CN 107724662B CN 201710743141 A CN201710743141 A CN 201710743141A CN 107724662 B CN107724662 B CN 107724662B
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- 238000004891 communication Methods 0.000 claims description 12
- 238000003466 welding Methods 0.000 claims description 5
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- 230000000694 effects Effects 0.000 claims description 2
- 239000011521 glass Substances 0.000 description 10
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- 230000001174 ascending effect Effects 0.000 description 3
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G3/00—Scaffolds essentially supported by building constructions, e.g. adjustable in height
- E04G3/28—Mobile scaffolds; Scaffolds with mobile platforms
- E04G3/30—Mobile scaffolds; Scaffolds with mobile platforms suspended by flexible supporting elements, e.g. cables
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- Engineering & Computer Science (AREA)
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- Forklifts And Lifting Vehicles (AREA)
- Manipulator (AREA)
Abstract
The invention provides an aerial working robot and a use method thereof, wherein the aerial working robot comprises the following components: a rope, a climbing rope moving unit, a working unit and a control unit; the climbing rope moving unit is connected with the rope and the operation unit and used for moving along the rope so as to drive the operation unit to move; the control unit is electrically connected with the climbing rope moving unit and used for controlling the climbing rope moving unit to move along the rope. In the aerial working robot provided by the invention, the climbing rope moving unit connected with the working unit is used for realizing up-and-down movement, so that the requirement on the roof floor is reduced, and the aerial working robot can be conveniently and rapidly installed even if the floor is uneven and a crane cannot be installed.
Description
Technical Field
The invention relates to the technical field of aerial work, in particular to an aerial work robot and a using method thereof.
Background
In the field of dangerous working conditions, robots replace manual work, and the trend is irreversible, and in particular, robots are increasingly used for working in the future in high-altitude working occasions such as building glass curtain wall installation and cleaning, outer wall decoration, glass replacement, lamp decoration advertisement installation and the like. Taking curtain wall cleaning as an example, the current cleaning of the outer wall of a building mainly adopts a manual cleaning mode, including hanging spider people for cleaning or people standing on a high-altitude hanging basket for cleaning. The manual cleaning of the outer wall has a plurality of uncontrollable factors such as sudden wind, broken safety ropes, out-of-control hanging baskets and the like, the safety accidents occur frequently, and a plurality of related reports about the casualties of spiders each year are provided. Therefore, in the field of aloft work, substitution of the machine for manual work is not satisfactory.
One of the key technical points of the aerial working robot is the movement control of the robot on the outer wall of a building. At present, the glass curtain wall is mainly adsorbed by the suckers, and the suckers alternately move or the travelling wheels are used for moving operation. But this approach has at least the following problems:
1. the obstacle crossing effect is poor, because the sucker is always close to the wall, so that the robot can hardly pass through as long as the curtain wall has a protruding obstacle (such as an aluminum alloy beam and the like).
2. The robot is holding the glass all the way up, and can bring outward force to the glass, its power way is approximately equal to whole robot weight, if glass is broken by some means, probably causes the glass to drop.
3. The probability of unexpected suction of the suction cup is high, for example, too much glass dust, suction failure caused by gaps between glass and glass, and the machine can not provide suction pressure due to sudden power failure. In case of an accident that the safety rope cannot be adsorbed, even if the safety rope is protected, the safety rope can be locked, and the impact caused by falling down can bring about great potential safety hazard.
Another way is to erect a crane on the roof, with a hoist on the crane, hoist the robot via a fixed sheave and pull the robot up and down. The overhead working robot for high building adopts the mode of erecting the crane on the roof, which mainly has the problems that the crane is erected on the roof, the construction is difficult to be accepted by owners, and most of the roofs are not flat floors, and various objects such as water tanks, air conditioners, line pipelines, communication antennas and the like are generally arranged. In addition, in recent years, newly-built high-rise buildings basically have high building outer walls, generally 4-10 meters, for safety, and the difficulty in erecting a crane on the roof is greatly increased.
Disclosure of Invention
In view of the above, the present invention is directed to an aerial working robot and a method for using the same, which solve the problem of complex installation of the existing aerial working robot and the problem of safety and balance of the aerial working robot.
In order to solve the above technical problems, the present invention provides an aerial working robot, comprising: a rope, a climbing rope moving unit, a working unit and a control unit;
the climbing rope moving unit is connected with the rope and the operation unit and used for moving along the rope so as to drive the operation unit to move;
the control unit is electrically connected with the climbing rope moving unit and used for controlling the climbing rope moving unit to move along the rope.
Optionally, the number of ropes is at least two, the number of the climbing rope moving units is at least two, and at least two ropes are connected with at least two climbing rope moving units.
Optionally, the device further comprises an angle detection unit, wherein the angle detection unit is used for detecting an inclination angle parameter of the aerial working robot, and the control unit is electrically connected with the angle detection unit to acquire the inclination angle parameter detected by the angle detection unit and control the moving speed of the rope climbing moving unit according to the inclination angle parameter detected by the angle detection unit.
Optionally, the number of ropes is two, the number of the climbing rope moving units is two, and the control unit controls the balance of the aerial working robot by controlling the moving speeds of the two climbing rope moving units.
Optionally, the climbing rope moving unit includes: the motor is connected with the crawling wheel, the guide wheel is located on one side of the crawling wheel, and the rope is wound on the circumferential surface of the crawling wheel through the guide wheel.
Optionally, the system further comprises a communication unit for receiving an external operation instruction to perform related high-altitude operation, and the control unit is electrically connected with the communication unit.
Optionally, the operation unit is any one of a cleaning component, a brushing component, a welding component, a gluing component or a mounting component.
In order to solve the above problems, another aspect of the present invention provides a method for using an aerial working robot, including:
fixing one end of the rope to a building roof, the remainder of the rope being suspended to the floor;
and arranging the climbing rope moving unit on the suspended rope to perform high-altitude operation.
Optionally, one end of the rope is fixed on a horizontally movable hanger on the building roof, and the hanger is moved, i.e. the horizontal movement of the high-altitude robot is realized.
In the aerial working robot provided by the invention, the climbing rope moving unit connected with the working unit is used for realizing up-and-down movement, so that the requirement on the roof floor is reduced, and the aerial working robot can be conveniently and rapidly installed even if the floor is uneven and a crane cannot be installed, and is convenient and simple to install; on the other hand, the aerial working robot is always pulled by the rope, and falling accidents can not occur as long as the rope is not broken. In the design scheme, the ropes are ensured to be thick enough, or a left rope and a right rope are adopted, so that the robot is safer and more reliable; on the other hand, the scheme of the invention comprises an angle detection unit and a control unit, wherein the angle detection and control unit is used for processing and calculating and controlling the running speeds of the rope climbing components on the left side and the right side, so that the problem of angle inclination in the ascending and descending process of the robot is solved.
In the use method of the aerial working robot, aerial working can be performed only by fixing the rope on the roof, and the aerial working robot is convenient and simple to install, and can be conveniently and rapidly installed even if the floor is uneven and a crane cannot be installed; in addition, the horizontal movement of the robot can be achieved by fixing one end of the rope to a horizontally movable hanger on the roof of the building.
Drawings
FIG. 1 is a schematic illustration of an aerial work robot working on a building in accordance with an embodiment of the present invention;
FIG. 2 is a schematic illustration of an aerial work robot suspended by two ropes in an embodiment of the present invention;
FIG. 3 is a schematic view illustrating a tilt-down left of an overhead working robot according to an embodiment of the present invention;
FIG. 4 is a schematic view illustrating a tilt-down-right of an overhead working robot according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a climbing rope moving unit in an embodiment of the invention.
In the figure: 10-rope; 20-a climbing rope moving unit; 21-an electric motor; 22-a crawling wheel; 23-a guide wheel; 30-a working unit; 40-a control unit; 50-an angle detection unit.
Detailed Description
The aerial working robot and the using method thereof according to the present invention are described in further detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the invention will become apparent from the claims and the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for convenience and clarity in aiding in the description of embodiments of the invention.
Example 1
Referring to fig. 1 to 4, the present embodiment provides an aerial working robot for completing aerial working, specifically, the aerial working robot includes: rope 10, climbing rope moving unit 20, working unit 30, and control unit 40; the climbing rope moving unit 20 is connected with the rope 10 and the operation unit 30, and the climbing rope moving unit 20 can move up and down along the rope 10 to drive the operation unit 30 to move up and down; the control unit 40 is electrically connected to the climbing rope moving unit 20 for controlling the climbing rope moving unit 20 to move up and down along the rope 10.
The rope 10 may be a conventional overhead rope such as a wire rope, polypropylene, polyester or nylon rope, and the rope 10 is attached to a solid structure or object at the roof and then turned over the outer wall of the roof to hang down from the roof to the floor. The climbing rope moving unit 20 has a function of being able to move up and down along the rope 10, thereby achieving the purpose of pulling the aerial working robot to move on the outer wall. In the course of the work, one end of the rope 10 is fixed to the building roof, the other end of the rope 10 is hung to the floor, the climbing rope moving unit 20 is provided on the rope 10 hung between the roof and the floor, and the control unit 40 controls the climbing rope moving unit 20 to move up and down along the rope 10.
The working unit 30 is a part for working by an overhead working robot, and for example, in the case of an outer wall cleaning robot, the working unit 30 is a cleaning part of the robot; for the high-altitude welding machine robot, the operation unit 30 is a welding part of the robot; for the high-altitude rescue robot, the operation unit 30 is a rescue component of the robot, and in turn, the operation unit 30 may be a painting component, a gluing component or an installation component.
Further, the number of ropes 10 is at least two, the number of climbing rope moving units 20 is at least two, and the connection mode of at least two climbing rope moving units 20 and at least two ropes 10 can be, but is not limited to, that each climbing rope moving unit 20 is connected with at least one rope 10; preferably, the number of the climbing rope moving units 20 is equal to the number of the ropes 10, and each climbing rope moving unit 20 is correspondingly connected with one rope 10. By using at least two climbing rope moving units 20 and ropes 10, on one hand, safety is enhanced through backup, even if one rope 10 is broken or one climbing rope moving unit 20 is broken, the robot can not fall down, on the other hand, the two or more climbing rope moving units 20 can be convenient for adjusting the balance degree of the robot, and the problem that the robot can not incline left and right in the running process is solved.
In order to facilitate understanding of the balance state of the robot, the aerial working robot provided in this embodiment further includes an angle detection unit 50 for detecting an inclination angle parameter of the aerial working robot, and the control unit 40 is electrically connected to the angle detection unit 50 to obtain the inclination angle parameter detected by the angle detection unit 50, and to control the movement speed of each climbing rope moving unit 20 according to the inclination angle parameter detected by the angle detection unit 50.
The angle detection unit 50 is typically an angle sensor placed on the robot main control board or the control board of the climbing rope moving unit. The control unit 40 acquires the data of the angle detection unit 50, and controls the rope climbing member in the rope climbing movement unit 20 to perform corresponding actions through calculation. Referring to fig. 2, in this embodiment, the number of ropes 10 is two, the number of the climbing rope moving units 20 is two, each climbing rope moving unit 20 is correspondingly connected with one rope 10, and the control unit 40 controls the balance of the aerial working robot by controlling the moving speeds of the two climbing rope moving units 20. For example, when the robot ascends, the angle sensor detects that the robot tilts downwards left (as shown in fig. 3), which indicates that the right climbing rope moving unit 20 runs fast, the left climbing rope moving unit 20 runs slowly, at this time, the control unit 40 controls the left climbing rope moving unit 20 to work fast, and the right climbing rope moving unit 20 to work slow; when the angle sensor detects that the robot tilts downwards right (as shown in fig. 4) in the ascending process, the control unit 40 controls the right climbing rope moving unit 20 to work faster and the left climbing rope moving unit 20 to work slower; thus, the robot can keep balance all the time; similarly, in the descending process, the angle sensor detects that the robot tilts downwards left (as shown in fig. 3), which means that the right climbing rope moving unit 20 runs slowly, the left climbing rope moving unit 20 runs fast, at this time, the control unit 10 controls the left climbing rope moving unit 20 to work slowly, and the right climbing rope moving unit 20 works fast; the robot is detected to incline downwards to the right by the angle sensor in the descending process (as shown in fig. 4), which indicates that the right climbing rope moving unit 20 is fast to operate, the left climbing rope moving unit 20 is slow to operate, at this time, the control unit 40 controls the left climbing rope moving unit 20 to operate faster, and the right climbing rope moving unit 20 to operate slower.
Referring to fig. 5, the climbing rope moving unit 20 specifically includes: the crawler belt comprises a motor 21, a crawler wheel 22 and guide wheels 23, wherein the motor 21 is connected with the crawler wheel 22, the two guide wheels 23 are positioned on one side of the crawler wheel 22, and the rope 10 is wound on the circumferential surface of the crawler wheel 22 through the guide wheels 23. Further, the motor 21 is provided with a speed reducer, and the crawling wheel 22 is connected with an output shaft of the speed reducer.
The motor 21 has a power-down self-locking function or the speed reducer uses a worm gear which is a speed reducer with a self-locking structure. In operation, the rope 10 is tightly wound around the circumference of the grooved crawling wheel 22 by means of the guide wheel 23. The grooved crawling wheel 22 has enough friction with the rope 10 to ensure that the rope 10 cannot slip on the crawling wheel 22, and specifically, grooves or protrusions can be arranged on the circumferential surface of the crawling wheel 22 to increase friction, if slipping occurs, the rope 10 can be wound for a plurality of times, or a plurality of crawling wheels 22 are added, or the circumference of the crawling wheels 22 is increased to avoid slipping. When the motor 21 rotates, the motor 10 drives the climbing wheel 22 through the speed reducer, so that the up-and-down movement of the climbing rope moving unit 20 can be realized (equivalent to the rope being a road, the friction wheel being a wheel, the wheel rotating, the automobile being movable, the friction wheel rotating, the climbing rope moving unit being movable).
Further, in order to facilitate remote control of the aerial working robot, a communication unit (not shown in the figure) is further included in the aerial working robot provided in the present embodiment, and is configured to receive an external operation instruction to perform a relevant aerial working, and the control unit 40 is electrically connected to the communication unit. The communication unit exchanges information with the remote operation end, and the command transmitted by the remote operation end is received by the communication unit and transmitted to the operation unit 30 for relevant high-altitude operation or transmitted to the control unit 40 for controlling the crawling speed. Specifically, the communication unit may be a GPRS communication circuit or a bluetooth communication circuit.
Example two
Based on the first embodiment, the present embodiment provides a method for using an aerial working robot, including the following steps:
fixing one end of the rope 10 to the building roof, the remainder of the rope 10 being suspended to the floor;
the climbing rope moving unit 20 is installed on a hanging rope to perform an overhead operation.
Further, in order to realize the horizontal movement of the overhead working robot, one end of the rope 10 may be fixed to a horizontally movable hanger on the roof of the building, and the hanger is moved, i.e., the horizontal movement of the overhead working robot is realized, so that the overhead working robot can conveniently move up and down, and also can rapidly move horizontally.
In summary, in the aerial working robot provided by the invention, the climbing rope moving unit connected with the working unit is used for realizing up-and-down movement, so that the requirement on the roof floor is reduced, the crane can be conveniently and rapidly installed even if the floor is uneven, and the installation is convenient and simple; on the other hand, the aerial working robot is always pulled by the rope, and falling accidents can not occur as long as the rope is not broken. In the design scheme, the ropes are ensured to be thick enough, or a left rope and a right rope are adopted, so that the robot is safer and more reliable; on the other hand, the scheme of the invention comprises an angle detection unit and a control unit, wherein the angle detection and control unit is used for processing and calculating and controlling the running speeds of the rope climbing components on the left side and the right side, so that the problem of angle inclination in the ascending and descending process of the robot is solved.
In the use method of the aerial working robot, aerial working can be performed only by fixing the rope on the roof, and the aerial working robot is convenient and simple to install, and can be conveniently and rapidly installed even if the floor is uneven and a crane cannot be installed; in addition, the horizontal movement of the robot can be achieved by fixing one end of the rope to a horizontally movable hanger on the roof of the building.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, the description is relatively simple because of corresponding to the method disclosed in the embodiment, and the relevant points refer to the description of the method section.
The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.
Claims (7)
1. An aerial working robot, comprising: a rope, a climbing rope moving unit, a working unit and a control unit;
the climbing rope moving unit is connected with the rope and the operation unit and used for moving along the rope so as to drive the operation unit to move;
the control unit is electrically connected with the climbing rope moving unit and used for controlling the climbing rope moving unit to move along the rope;
the number of the ropes is at least two, the number of the climbing rope moving units is at least two, and at least two ropes are connected with at least two climbing rope moving units;
the aerial working robot further comprises an angle detection unit, wherein the angle detection unit is used for detecting the inclination angle parameter of the aerial working robot, and the control unit is electrically connected with the angle detection unit to acquire the inclination angle parameter detected by the angle detection unit and control the moving speed of the rope climbing moving unit according to the inclination angle parameter detected by the angle detection unit;
the climbing rope moving unit comprises a motor, a crawling wheel and a guide wheel, wherein the motor is connected with the crawling wheel, the guide wheel is positioned on one side of the crawling wheel, and the rope is wound on the circumferential surface of the crawling wheel through the guide wheel.
2. The aerial work robot of claim 1 wherein the number of ropes is two and the number of rope climbing movement units is two, the control unit controlling the balance of the aerial work robot by controlling the movement speeds of the two rope climbing movement units.
3. The aerial work robot of claim 1, further comprising a communication unit for receiving an external operation command to perform a related aerial work, wherein the control unit is electrically connected to the communication unit.
4. The aerial work robot of claim 1, wherein the work unit is any one of a cleaning component, a painting component, a welding component, a gluing component, or a mounting component.
5. The aerial work robot of claim 1, wherein the work unit is any one of a cleaning component, a painting component, a welding component, a gluing component, or a mounting component.
6. A method of using the aerial work robot of any of claims 1 to 5, comprising the steps of:
fixing one end of the rope to a building roof, the remainder of the rope being suspended to the floor;
and arranging the climbing rope moving unit on the suspended rope to perform high-altitude operation.
7. A method of using an overhead working robot according to claim 6, wherein one end of the rope is fixed to a horizontally movable hanger on the roof of the building, and the hanger is moved to effect horizontal movement of the overhead working robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710743141.6A CN107724662B (en) | 2017-08-25 | 2017-08-25 | Aloft work robot and using method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710743141.6A CN107724662B (en) | 2017-08-25 | 2017-08-25 | Aloft work robot and using method thereof |
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| CN107724662A CN107724662A (en) | 2018-02-23 |
| CN107724662B true CN107724662B (en) | 2024-04-09 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108590152B (en) * | 2018-05-10 | 2020-08-28 | 北京信息科技大学 | Movable operation platform in high-wall operation equipment |
| CN108661303B (en) * | 2018-05-10 | 2020-10-09 | 北京信息科技大学 | High wall operation equipment |
| CN110680225A (en) * | 2018-07-04 | 2020-01-14 | 科沃斯机器人股份有限公司 | Cleaning robot and anti-falling method thereof |
| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| CN110328658B (en) * | 2019-07-15 | 2021-09-24 | 上海霄卓机器人有限公司 | Modular assembled high-altitude operation robot system |
| CN110514297B (en) * | 2019-09-19 | 2021-10-22 | 深圳市华保科技有限公司 | High altitude noise detecting instrument |
| CN112873180A (en) * | 2021-01-22 | 2021-06-01 | 佛山(华南)新材料研究院 | High-altitude operation suspension device and robot |
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| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN104905738A (en) * | 2015-05-22 | 2015-09-16 | 芜湖特源鑫复合材料科技有限公司 | Reciprocating-type high-altitude glass cleaning robot |
| CN106214052A (en) * | 2016-07-28 | 2016-12-14 | 河北工程大学 | Curtain cleaning sky vehicle control |
| CN106963283A (en) * | 2017-05-24 | 2017-07-21 | 中科新松有限公司 | It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method |
| CN207144451U (en) * | 2017-08-25 | 2018-03-27 | 上海霄卓机器人有限公司 | Work high above the ground robot |
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| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN104905738A (en) * | 2015-05-22 | 2015-09-16 | 芜湖特源鑫复合材料科技有限公司 | Reciprocating-type high-altitude glass cleaning robot |
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