CN107811571A - It is a kind of to climb wall machine with propellerpiston angular adjustment apparatus - Google Patents
It is a kind of to climb wall machine with propellerpiston angular adjustment apparatus Download PDFInfo
- Publication number
- CN107811571A CN107811571A CN201710738973.9A CN201710738973A CN107811571A CN 107811571 A CN107811571 A CN 107811571A CN 201710738973 A CN201710738973 A CN 201710738973A CN 107811571 A CN107811571 A CN 107811571A
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- China
- Prior art keywords
- wall machine
- climb
- wall
- machine body
- propeller
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- Legal status (The legal status 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 status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
It is a kind of to climb wall machine with propeller Plane of rotation adjusting apparatus.The propellerpiston adjusting apparatus for climbing wall machine, which enables to climb wall machine, easily carries out lateral position adjustment.This climbs the work high above the ground that wall machine can replace being accomplished manually on wall, to avoid personal safety risk and reduce operating cost.
Description
Technical field
The present invention relates to mechanical electronic equipment.
Background technology
Known wall operation, such as curtain cleaning, the automation equipment of maturation there is no manually to be made in midair to substitute
Industry.And current known wall implement is, it is necessary to manually will hang in midair to fulfil assignment, this increases not only operation into
This, and cause human safety issues.
In order to realize the purpose for using automation equipment to replace manually realizing high-altitude wall operation, once there is technical staff grinding
System has made a large amount of effort in terms of climbing wall machine.Presently relevant known technology includes：Using hoist engine（Fix pinnacled motor
Driven equipment）Dragged by cable to climbing wall machine, moving up and down for wall machine is climbed in realization, i.e. lengthwise position controls；Using spiral shell
Wind-force caused by revolving oar, makes to climb wall machine and is stably attached on wall；Wheel is set on wall machine is climbed, it is smooth to climb wall machine with realization
Ground moves up and down.
However, except accurate lengthwise position controls, the control of accurate lateral attitude, and to climb wall machine essential
One function.For example, would ordinarily be encountered the external disturbances such as beam wind when climbing wall machine operation, need to keep in the presence of these interference
The stabilization of lateral attitude；When the operation for completing a certain specific region, it is necessary to when moving to the adjacent region in both sides, just need accurate
Lateral attitude movement.Therefore, for climb wall machine it is practical for, the control of accurate lateral attitude, be need to solve one
Individual important technical problem.
In order to realize lateral attitude control, it is necessary first to which solution is lateral dynamics problem.Driven by translating hoist engine
Climb wall machine to move horizontally, it is difficult to realize accurate movement, the pull rope that this is due to hoist engine and climbed between wall machine is longer, and pull rope is certainly
Rocking for body can cause to climb rocking for wall machine horizontal level.Another way is to set the surfaces of revolution to be hung down with metope on wall machine is climbed
Straight propeller, using the lateral thrust of the propeller, the transverse shifting for climbing wall machine is realized, but in practical application, due to this
Propeller from metope farther out, therefore to climb the contact point of wall machine and metope as fulcrum, thrust caused by the propeller have compared with
Big torque, the sideways overturning for climbing wall machine is easily caused, and cause to climb wall machine structure excessively complicated therefore and impracticable.
The content of the invention
In order to provide reliable lateral dynamics to climb the transverse shifting of wall machine, revolved the invention provides one kind with propeller
Turn face dip angle regulating device climbs wall machine, so as to the direction by adjusting propellerpiston, makes to climb the acquisition of wall machine laterally
Mobile power, carry out lateral attitude adjustment.
It is provided by the invention to climb wall machine, mainly include：
Climb wall machine body construction；
Installed in the propellerpiston dip angle regulating device climbed on wall machine body construction；
Multiple propeller driving devices on the propellerpiston dip angle regulating device；
Propeller on the propeller driving device；
Actuator and connection actuator and the traction attachment structure for climbing wall machine body construction.
Alternatively, the traction attachment structure can be pull rope or pull rope and other attachment structures（As hung
Hook）Combination.
Alternatively, it can be a tower structure to climb wall machine body.In the interior volume that the tower structure is surrounded
Arrange multiple propellers.This structure can provide protection while ensureing light for propeller.Further, it is also possible in frame
Fixed protection net on rack and panel construction, further to improve protection effect；Protective plate can be installed additional in side, to improve the jail of structure
Solidity.Tower structure can pass through related connection component by carbon fiber bar（Such as pipe clamp, carbon fiber board）Form.
Propeller driving device can be dish type external-rotor-type brushless direct current motor system or engine.
Wall machine is climbed by being arranged at eminence（Such as roof）The dragging up and down of actuator realize movement on vertical direction.
In real work, climb wall machine body and be connected by pull rope with actuator, actuator is using pull rope to climbing wall machine
Body is dragged.
Alternatively, actuator can be the motor run device using motor as driving source.Motor run device
Motor system can be fixed on the fixed position of wall eminence, be connected by pull rope with climbing wall machine body.
Electronic governing system and positioner and slowing-down structure are provided with motor run device.Wherein electronic speed regulation
System can be by wire or the corresponding speed-regulating instruction signal of radio reception, and according to the command signal received to actuator
The size and Orientation of the speed of service adjusted in real time.Positioner is referred to the screens machinery knot on known winch
Structure is designed.The effect of positioner be prevent from climbing wall machine body fall and climb wall machine body it is fixed when stop electricity
The operating of motor in motivation actuator, to save electric energy and carry out electric motor temperature reduction.Slowing-down structure can be by a series of teeth
Wheel is formed, and its effect is that the output torque of motor is amplified.
In order that climbing wall machine can be attached on wall and can easily move, provided by the present invention climb on wall machine is set
Support wheel, positioned at climbing on wall machine, support wheel is connected by its rotating shaft with climbing wall machine body for the rotating shaft of support wheel.Simultaneously for reality
The adjustment of wall machine moving direction is now climbed, can be that support wheel sets transfer, transfer can be by motor and rotating shaft structure
Into.
Propeller system includes propeller and propeller driving device.The drive device of propeller, which is fixed on, climbs wall machine body
On.In real work, climb thrust caused by the propeller of wall machine and will climb wall machine body and push wall to, climb wall machine and pass through its support
The edge of wheel is against on wall, is stably adhered on wall and can easily be moved so that climbing wall machine body.
Motor run device is drawn by pull rope to climbing wall machine body, climbs wall machine body under the draw
Realization moves up and down.In addition, by horizontal movement motor actuator, moving horizontally for wall machine body is climbed in realization.For reality
Now stably move horizontally, motor run device can be fixed in the moving cart with guide rail.
It can steadily be dragged in order that climbing wall machine body, digital processing unit and corresponding sensor can be used to establish fortune
Autocontrol system, for the speed of service of the motor of controlled motor dragging system and the motor of support wheel transfer
And the operation of other motors.Used sensor can include：It is fixed on the accelerometer climbed on wall machine body（With
In measurement gravitational cue, judgement climbs whether wall machine body tilts）, turn meter or encoder（For determining the rotation of support wheel
Speed）.
In order to realize the small size lateral movement for climbing wall machine, propeller Plane of rotation angle regulator can be set.Angle
A kind of concrete methods of realizing of adjusting means is：By the drive device of propeller（Such as motor）Installed in cylinder（Or circle
Tubular）On support bar（Propeller is arranged in the drive device of propeller）.Support bar is arranged on vertical posture and climbs wall machine sheet
On body, specific mounting means is：The upper and lower ends of support bar are each passed through metal (upper and by bearing with climbing wall machine sheet
Body phase connects.Driving support bar is set to be arranged on around the motor of its own central axis, motor and climb wall machine sheet simultaneously
On body.Further, it is also possible to which only one end of support bar with climb wall machine body is connected through bearing and by bearing, the other end is with driving
Dynamic motor is connected, and motor is arranged on and climbed on wall machine body.Steady arm, bearing and drive where the drive device of propeller
Dynamic motor collectively forms propeller Plane of rotation angle regulator.The angle regulator can configure corresponding Electronic Control
System, for controlling motor therein, to realize the automation of propeller Plane of rotation angular adjustment.
Normal operating conditions is in climbing wall machine, that is, hangs up and seeks connections with when in wall plane, in order to be carried out to climbing wall machine
Lateral position adjusts, and the Plane of rotation of propeller can be carried out into angle tune by propeller Plane of rotation angle regulator
Section, make the normal vector of propeller Plane of rotation（The vector points to the velocity attitude of wind caused by propeller）, with vertical
While the nonzero component of wall plane, also there is nonzero component simultaneously parallel with horizontal plane and wall plane.The latter, i.e.,
The nonzero component of propeller Plane of rotation normal vector simultaneously parallel with horizontal plane and wall plane, wall machine is climbed for producing promotion
The lateral thrust of lateral movement.
In addition it is also possible to multiple propellers with certain tilt state are set.Normal operating conditions is in when climbing wall machine,
Hang up and seek connections with when in vertical wall plane, the normal vector of the Plane of rotation of these propellers（The vector points to spiral
The velocity attitude of wind caused by oar）, while with nonzero component perpendicular to wall plane, also have simultaneously with level
Face and the parallel nonzero component of wall plane.The latter, i.e. propeller Plane of rotation simultaneously parallel with horizontal plane and wall plane
The nonzero component of normal vector, the lateral thrust for climbing the lateral movement of wall machine is promoted for producing.Multiple propellers can be made to have not
Same incline direction, so as to adjust total lateral thrust by the relative rotation speed for adjusting different propellers.
In order to realize continuous work, the power supply mode of the auxiliary device provided by the present invention climbed on wall machine body is：Adopt
With long wire from fixed position power taking.Therefore, electric power controller is set on wall machine is climbed.Electric power controller has input
End and output end, electric energy inputs from its input, by certain processing（As exchange turns direct current, decompression）Afterwards, it is defeated from output end
Go out the voltage for the auxiliary device for being suitable for climbing on wall machine body.In order that the output voltage stabilization of electric power controller, power supply pipe
The input or output end for managing device can set filter circuit.
In order to realize specific job task, provided by the present invention climb can set specific power tool on wall machine,
Power tool can be wiper and wiper（For cleaning the windows）Or spray gun（For spraying operation）, can also
It is giant（For cleaning）., can be in power tool and ground when power tool is spray gun or hydraulic giant（Or other are fixed
Position, such as roof）Between connect liquid transfer tube, for supplying required liquid., can be with when power tool contains sprinkler
Anti-splash device and captation are set.Wherein anti-splash device can be high pressure air pressure gun, and the splashing of water is stopped by high-pressure blast, prevent
It can also be baffle plate to splash device；Captation is used to collect sewage.Captation can be the sponge block that lower section carries protrusion,
During practical application, by making sponge block be contacted with wall, sewage is absorbed, and protrusion of the sewage along lower section is flowed to specifically
In container.Captation can also be the rigid mechanical part that can be fully contacted with wall.
For the ease of the switching of power tool, two groups of propellers can be set, and specific support wheel is set, the specific branch
Support is taken turns and the relative position relation of this two groups of propellers is：When climb wall machine it is in running order when, one of which propeller is located at
Higher than the position of particular support wheel, another group of propeller is located at the position less than particular support wheel.Set in the top for climbing wall machine
Wiper in the horizontal direction, climbing setting electric rolling formula column wiper below wall machine.By adjusting two groups of spirals up and down
The relative rotation speed of oar, you can the posture of wall machine is climbed in adjustment, so that power tool contacts or left wall.
When power tool includes liquid injection apparatus, electromagnetic valve can be set on wall machine is climbed, for controlling liquid
The injection of body.
For the ease of the remote control in operation process, provided by the present invention climb on wall machine can install camera and wireless
Figure passes, and so as to carry out remote real-time monitoring to operation process, and carries out Remote to climbing wall machine by remote earth station.
In order to realize flexible operation, provided by the present invention climb on wall machine body can install mechanical arm, and by operation work
Tool is fixed on the robotic arm.In order to reduce weight, mechanical arm can be made of carbon fibre material.It can also be fixed on mechanical arm
Camera.
Above description is only schematical, for example, the division of the unit, only a kind of division of logic function is real
Border can have an other dividing mode when realizing, such as multiple units or component can combine or be desirably integrated into another and be
System, or some features can be ignored, or not perform.It is another, shown or discussed mutual coupling or direct-coupling
Or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit, can be it is electrical, machinery or
Other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in the present invention can be integrated in a processing unit or unit
Individually be physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated unit can both be adopted
Realized, can also be realized in the form of SFU software functional unit with the form of hardware.
The beneficial effects of the invention are as follows：Propose it is a kind of climb wall machine with propeller Plane of rotation adjusting apparatus, this is climbed
The propellerpiston adjusting apparatus of wall machine, which enables to climb wall machine, easily carries out lateral position adjustment.This is climbed wall machine and can replaced
The work high above the ground being accomplished manually on wall, to avoid personal safety risk and reduce operating cost.
Brief description of the drawings
Fig. 1 is the front view provided by the present invention for climbing wall machine（Sight is in the horizontal direction）.
Fig. 2 is the attached view provided by the present invention for climbing wall machine（Sight is vertically downwards.For sake of simplicity, only give
Part in Fig. 1 in dotted line frame）.
In figure, 1. climb the outer framework of wall machine, 2. support bars（Including support bar 2.1,2.2）, 3. propellers（Including spiral
Oar 3.1-3.4）, 4. propeller motors（Including motor 4.1-4.4）, 5. support wheels（Including support wheel 5.1,
5.2）, 6. support wheel transfers（Including transfer 6.1,6.2）, 7. propellerpiston regulation motors, 8. stiff shafts, 9.
Bearing（Including bearing 9.1,9.2）, 10. pull ropes, 11. wheels, 12. dragging motors, 13. wipers, 14. wipers, 15.
Rigid rod, 16. connectors, 17. walls.
Embodiment
As shown in Figure 1, the outer framework of wall machine is being climbed（1）Inside it is provided with four propellers（3）, propeller（3）It is arranged on
Propeller motor（4）On, propeller motor（4）Installed in support bar（2.1,2.2）On.Support bar（2.1,2.2）
Lower end pass through bearing respectively（18.1 18.2）With outer framework（1）It is connected.Support bar（2.1,2.2）Upper end respectively with spiral shell
Revolve oar surfaces of revolution regulation motor（7.1,7.2）It is coaxial to be connected.In propellerpiston regulation motor（7.1,7.2）Driving under,
Support bar（2.1,2.2）Rotated around its central axis, drive propeller mounted thereto（3）With propeller motor（4）
Rotate, so as to complete propeller（3）The regulation of Plane of rotation.Therefore, support bar（2）, propellerpiston regulation motor（7）With
Bearing（18）Collectively form propellerpiston adjusting means.In outer framework（1）Above and below be respectively arranged with wiper
（13）And wiper（14）.In outer framework（1）Middle part horizontal stiff shaft is set（8）, stiff shaft（8）Pass through bearing
（9）With outer framework（1）It is connected.Adjust each propeller（3）Relative rotation speed, you can make outer framework（1）Around stiff shaft（8）（It is real
Border is with support wheel（5）With wall（17）Contact point be fulcrum）Rotate, pose adjustment is realized, so as to control wiper
（13）And wiper（14）Leave or close to wall（17）.Stiff shaft（8）Pass through connector（16）And rigid rod（15）With leading
Messenger（10）It is connected.Wherein connector（16）Can be flexible strand or rigid rod.
As shown in Figure 2, regulation motor is passed through（7）Driving effect, propeller can be adjusted（3）Plane of rotation angle
Degree, so as to produce lateral thrust, to realize the small size lateral adjustments for climbing wall machine integral position.
Climb one kind provided by the present invention wall machine system above to be described in detail, for the general technology of this area
Personnel, according to the thought of the embodiment of the present invention, in specific embodiments and applications there will be changes, this specification
Content should not be construed as limiting the invention.Above-mentioned described embodiment is only the embodiment of a present invention part, and
The embodiment being not all of.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work
Under the premise of the every other embodiment that is obtained, should all belong to the scope of protection of the invention.
Claims (9)
1. one kind climbs wall machine, it is characterized in that, mainly include：
Climb wall machine body construction；
Actuator and connection actuator and the traction attachment structure for climbing wall machine body；
Installed in the propellerpiston angle regulator climbed on wall machine body construction；
Propeller motor on the propellerpiston angle regulator；
Propeller on the propeller motor.
2. wall machine is climbed according to claim 1, it is characterized in that：The actuator is motor-driven electronic actuator,
The device has electronic governing system, and electronic governing system possesses the work(of the size and Orientation of real-time regulation motor velocity of rotation
Energy.
3. wall machine is climbed according to claim 1, it is characterized in that：The wall machine body construction of climbing includes a frame structure, institute
Some propellers are located in the space that the frame structure is surrounded.
4. wall machine is climbed according to claim 2, it is characterized in that：The actuator for climbing wall machine has brake gear.
5. wall machine is climbed according to claim 2, it is characterized in that：Climb on wall machine body and be provided with wiper and shower nozzle.
6. wall machine is climbed according to claim 2, it is characterized in that：Climb on wall machine body and be provided with accelerometer.
7. wall machine is climbed according to claim 2, it is characterized in that：Climb on wall machine body and be provided with camera.
8. wall machine is climbed according to claim 2, it is characterized in that：Climb on wall machine body and be provided with mechanical arm.
9. wall machine is climbed according to claim 2, it is characterized in that：Climb on wall machine body and be provided with magnetic valve.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016108135595 | 2016-09-11 | ||
| CN201610813559 | 2016-09-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107811571A true CN107811571A (en) | 2018-03-20 |
Family
ID=61601160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710738973.9A Pending CN107811571A (en) | 2016-09-11 | 2017-08-25 | It is a kind of to climb wall machine with propellerpiston angular adjustment apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107811571A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140537A (en) * | 2023-10-30 | 2023-12-01 | 中国标准化研究院 | Mechanical arm control system and method for sweeping robot |
-
2017
- 2017-08-25 CN CN201710738973.9A patent/CN107811571A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117140537A (en) * | 2023-10-30 | 2023-12-01 | 中国标准化研究院 | Mechanical arm control system and method for sweeping robot |
| CN117140537B (en) * | 2023-10-30 | 2024-01-16 | 中国标准化研究院 | Mechanical arm control system and method for sweeping robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180320 |
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| WD01 | Invention patent application deemed withdrawn after publication |