CN108324198A - A kind of metope crawling device - Google Patents
A kind of metope crawling device Download PDFInfo
- Publication number
- CN108324198A CN108324198A CN201810002056.9A CN201810002056A CN108324198A CN 108324198 A CN108324198 A CN 108324198A CN 201810002056 A CN201810002056 A CN 201810002056A CN 108324198 A CN108324198 A CN 108324198A
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- Prior art keywords
- metope
- sucker
- crawling device
- holder
- crawling
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- 230000009193 crawling Effects 0.000 title claims abstract description 44
- 241000252254 Catostomidae Species 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000005406 washing Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000001154 acute effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002594 sorbent Substances 0.000 description 1
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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention enables crawling device to be adsorbed in plane metope using sucker.There are two groups of suckers to creep in metope for device：The holder of this two groups of suckers is connected by axis with axle sleeve, and two stands can relatively rotate, when crawling device is adsorbed in metope, the axis vertical wall.Two stands and the sucker above it can be movable relatively simultaneously, this two groups of suckers to be adsorbed in metope can be lifted off metope from metope respectively or put down close to metope.In one of which sucker stand, and it can be considered two parts, referred to as frame body and frame leg, frame body is connected to another group of sucker, and frame leg connects each sucker of this group, and frame body and frame leg can relatively move in the vertical plane of axis.Crawling device is connected to the safety rope loosened, it is protected to creep, once crawling device falls off from metope, safety rope can hold entire crawling device at once, and be unlikely to fall.
Description
Technical field
The present invention relates to metope mechanically moving fields, more particularly, to a kind of metope mobile platform.
Background technology
Currently, modern city, there are many beautiful high building, but to carry out the metope operation outside high building, main as metope washing
To rely on the tools such as platform sling, hanging basket that operating personnel is hung on the mode in high-altitude into operation, such worker is dangerous, there is wound every year
Example is died, and is suspended from worker's operation in high-altitude, inefficiency, high labor cost.In addition, in order to which building appearance design is floated
Bright, some high-altitude wall faces and level ground are simultaneously non-perpendicular, and in obtuse angle, acute angle, part at an acute angle therein is difficult by hanging basket
It reaches, is difficult to carry out outer wall operation, such as wash.Also not commercial product now, existing invention, patent, as application number
The steering can not be achieved in 201410671202.9, and application number 201320096470.3 is to be hovered by loop wheel machine, then consolidated by holder
It is fixed, it cannot consolidate and be adsorbed in metope, although application number 201310135905.5 has sucker, there is sensor, oneself cannot be lifted
With put down sucker, move, cannot work tilting metope at an acute angle simply by loop wheel machine or motor.Other are as application number
201210451244.2, application number 201210137133.4, application number 201120035363.0, ZL 200820155191.9 all
It is each has something to recommend him, but fail to solve that acute angle metope, high-altitude strong wind, exterior wall is uneven has barrier etc. real with exterior wall well
Problem, and the patent of application number 201510345751.1 is to realize sucker group alternating sorbent and is by two branch far from metope
Frame itself is completed in the relative motion of metope vertical direction, such that crawling device is when metope is walked, whole device
One high and one low movement, to the risk for increasing windage and falling due to gravity.
Invention content
The present invention is a kind of metope crawling device, has sucker group and sucker pack support, sucker group that crawling device is enable to inhale
Metope is invested, the sucker quantity on each holder is not limited to quantity in schematic diagram.For convenience of explanation, when crawling device positive direction is inhaled
When investing vertical wall, be equipped with three-dimensional coordinate system, such as Fig. 1, x-axis is parallel to metope and horizontal plane intersecting lens, y-axis perpendicular to x-axis,
It is parallel to metope；Z-axis is both perpendicular to x-axis and y-axis (being perpendicular to metope).Crawling device has two groups of suckers to exist for device
Metope is creeped, and the holder of this two groups of suckers is connected by axis with axle sleeve, and the axis and axle sleeve are parallel to z-axis, two such holder energy
It is relatively rotated by axis of the direction of z-axis, and changes relative angle, to realize that its direction of creeping can be changed in wall-climbing machine device, be
Statement is convenient herein, referred to as " direction turns ", such as in a kind of implementation in the accompanying drawings, the movement of Figure 10 to Figure 11；And
Sucker energy opposite brackets on the above-mentioned two holder of crawling device move in z-axis direction, to which realization is adsorbed in this of metope
Two groups of suckers can alternately leave respectively or close and contact metope, referred to as " sucker lifting ", such as Fig. 2 to Fig. 3 or Fig. 5 to Fig. 6
Movement, mobile distance is known as " lifting journey ".In every group of sucker stand, and two parts can be regarded as：Part connection
To another group of sucker, referred to as " frame body ", another part is connected to each sucker of oneself sucker group, referred to as " frame leg "；One of them
The frame body and frame leg of holder can relatively move in y-axis direction, referred to as " frame translation ", for example, Fig. 3 to Fig. 4 movement；For statement side
Just, and the holder is referred to as " holder A ", and another group of sucker stand is referred to as " holder B ".In holder A or holder B, one of branch
Frame, body and frame leg can relatively rotate again, the parallel x-axis of pivot center, referred to as " height turns ".Such as turn of Figure 19 to Figure 20
It is dynamic.
A kind of crawling process：
1) when holder B adsorbs metope, holder A can be lifted by sucker and be lifted sucker and far from metope, such as Fig. 3；
2) is translated by frame, so that the sucker of holder A is moved along metope, such as Fig. 3 to Fig. 4；Also it can turn to change by direction and move
Dynamic direction, such as Figure 10 to Figure 11；Or the inclination angle by just transferring adjustment holder A and metope, it is arrived with avoiding obstacles, such as Figure 19
Figure 20；
3) makes holder A approach and adsorbs metope by sucker lifting, and the step for completing holder A is creeped, such as Fig. 4 to Fig. 5；
4) holders B can be lifted by sucker and be lifted sucker and far from metope, such as Fig. 5 to Fig. 6；
5) is translated by frame, so that the sucker of holder B is moved along metope direction, such as Fig. 6 to Fig. 7；Also can turn to change by direction
Become moving direction, such as Figure 10 to Figure 11；Or the inclination angle by just transferring adjustment holder B and metope is such as schemed with avoiding obstacles
19 arrive Figure 20；
6) can be lifted by sucker makes holder B approach and adsorbs metope, and the step for completing holder B is creeped, such as Fig. 7 to figure
8；
One step of each completion of holder A and holder B, the step to complete crawling device are creeped.In the reality of crawling device
In crawling process, each action can be independent, without fixed precedence, to realize different purposes ring different with adaptation
The metope in border.
How more complex present wall face structure is, there is the frame of glass window, has ornamental strip, has brick face and glass to mix
It is required to cross over some barriers Deng, crawling device, the design can so that crawling device is close to metope, so as in operation
Cheng Zhong reduces the influence that crawling device is brought by high-altitude strong wind and its own gravity to the greatest extent, to keep crawling device that can have preferably
The ability of leaping over obstacles.
All of above action can be by the electronic control part of crawling device and corresponding driving device (such as motor, cylinder)
Driving is completed, and the low pressure of sucker can be realized by electronic control part to be controlled.When work, crawling device can be connected with loose extension
The safety rope protects oneself absorption metope to creep, once crawling device falls off from metope, safety rope can be held and entirely climb at once
Luggage is set, and crawling device is unlikely to fall ground.
Description of the drawings
Attached drawing is a certain implementation schematic diagram of the present invention.
Fig. 1 is a kind of implementation three-view diagram.
Fig. 2 to Figure 20 is the schematic diagram of various forms of the implementation in crawling process.
Specific implementation mode
It is a kind of implementation in conjunction with attached drawing below, present invention is further described in detail.
In Fig. 1 to Figure 12, including：
1. exterior wall 1
2. rack leg 2
3. holder A framves body 3
4. holder B4
5. axis 5
6. axle sleeve 6
7. rotatable crossbeam 7
8. holder A sliding rails 8
91. sucker 91
92. sucker 92
93. sucker 93
94. sucker 94
95. sucker 95
96. sucker 96
97. sucker 97
In the various figures, exterior wall 1 is the exterior wall of crawling device absorption, and holder A sliding rails 8 and holder A framves body 3 form holder A, branch
Frame A sliding rails 8 with respect to frame body 3 can frame translation, moving direction is y-axis.
All rack legs 2 can form sucker liter with opposite brackets A framves body 3 or holder B4 in the relative translation of z-axis direction
Drop；Holder A framves body 3 can be relatively rotated relative to holder B4 by axle center of z-axis direction again, is formed direction and is turned.
It is designed with rotatable crossbeam 7 on holder A framves body 3, can be relatively rotated by axis of x-axis direction with axle sleeve 6, make holder
A framves body 3 and holder B4 are relatively rotated, and are formed height and are turned.
Crawling device is equipped with safety rope, and the safety rope other end is connected to roof, when crawling device falls off from metope, energy
It holds at once, to protect it from that ground can be fallen.Sucker 91 to 97 can be adsorbed by its internal air pressure less than standard atmospheric pressure
In metope, wherein 91,92,93,94 are installed on holder A formation sucker groups A, 95,96,97, which are installed on holder B4, forms sucker group B,
Each sucker has control section to control its air pressure.The power supply of crawling device and manual command can be by being connected to the external of roof
Cable provides；Operating personnel issue instructions to the electronic control part of crawling device in roof..
When crawling device receives instruction of creeping, electronic controller controls corresponding driving device, completes a step and creeps generally
There is following action：
1. two groups of suckers of crawling device can be adsorbed in metope, such as Fig. 2 simultaneously；
2. sucker 91,92,93 and 94 leaves metope, such as Fig. 2 to Fig. 3 by sucker lifting；
3. holder A sliding rails 8 are translated towards Forward by frame and move a step, such as Fig. 3 to Fig. 4；
4. sucker 91,92,93 and 94 is lifted by sucker close to metope, sucker group is adsorbed in metope, such as Fig. 4 is to scheming
5；
5. the sucker 95,96,97 on holder B4 leaves metope, such as Fig. 5 to Fig. 6 by sucker lifting；
6. holder B4 is translated towards Forward by frame and moves a step, such as Fig. 6 to Fig. 7；
7. the sucker 95,96,97 on holder B4 is lifted by sucker close to metope, sucker group is adsorbed in metope, such as
Fig. 7 to Fig. 8.
By above 7 step, the step for completing crawling device is creeped, in practical crawling process.When have a pack support from
It, can also be into the movement of line direction turn, such as Fig. 9 to Figure 10, to change crawling device during opening each step after metope
Direction of creeping also the inclination angle of holder and metope can be lifted by just transferring adjustment, constantly to correct running route with non-
When plane metope is creeped, can smooth avoiding obstacles, such as Figure 11 to Figure 12 movement.It is above and according to metope concrete condition
Each action is free, independent, without stringent precedence.Crawling device constantly may be implemented using the combination acted above
In freely creeping for metope, and because rack leg has certain height, certain altitude barrier can be crossed in crawling process
Hinder object, and adapt to certain rugged metope, can adapt to the metope of differing tilt angles.
Although the present invention is described by said one embodiment, the embodiment is not for the purpose of limiting the invention
Claim.If those skilled in the art in the range of the spirit of the present invention, make various modifications or improvement, the present invention's
Within protection domain.Therefore the scope of the present invention should be defined with claims hereof protection domain is
It is accurate.
Claims (7)
1. a kind of metope crawling device has two groups of suckers to creep in metope for it, when the metope crawling device is adsorbed in metope
When, the holder relative motion connected to it of sucker energy keeps sucker separate or close to metope；Two groups of suckers opposite can also turn
Dynamic, rotation axis is vertical or is approximately perpendicular to metope, and the crawling device is enable to change direction；Two groups of suckers can also be along metope side
To relative translation, the crawling device is enable to be translated in metope.
2. the metope crawling device based on claim 1；Two sucker groups can relatively rotate, when the metope crawling device is adsorbed in wall
When face, rotation axis is parallel to metope.
3. a kind of equipment for washing external wall, which has used feature described in claim 1.
4. a kind of exterior wall transport device, the device have used feature described in claim 1.
5. a kind of exterior wall maintenance device, the device have used feature described in claim 1.
6. a kind of exterior wall check device, the device have used feature described in claim 1.
7. a kind of exterior wall checking device, the device have used feature described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810002056.9A CN108324198A (en) | 2018-01-02 | 2018-01-02 | A kind of metope crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810002056.9A CN108324198A (en) | 2018-01-02 | 2018-01-02 | A kind of metope crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108324198A true CN108324198A (en) | 2018-07-27 |
Family
ID=62923877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810002056.9A Pending CN108324198A (en) | 2018-01-02 | 2018-01-02 | A kind of metope crawling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108324198A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771682A (en) * | 2022-05-18 | 2022-07-22 | 无锡贝斯特精机股份有限公司 | Self-adaptive posture-adaptive sucker and eight-foot walking robot |
| CN116605326A (en) * | 2023-05-16 | 2023-08-18 | 南通唐人电子科技有限公司 | Wall climbing robot controlled by cable mechanism and control method thereof |
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| JP2012211668A (en) * | 2011-03-31 | 2012-11-01 | Miraikikai Inc | Suction cup mechanism for wall surface moving machine |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN104983369A (en) * | 2015-06-15 | 2015-10-21 | 福建工程学院 | Building outer facade washing robot system and using method thereof |
| CN105030169A (en) * | 2015-06-19 | 2015-11-11 | 刘禄军 | Wall crawling device |
| CN205107541U (en) * | 2015-09-07 | 2016-03-30 | 宿迁淮海科技服务有限公司 | Facade cleaner |
| CN107468182A (en) * | 2017-09-29 | 2017-12-15 | 成都意町工业产品设计有限公司 | A kind of base apparatus of cleaner for glass curtain wall cleaning systems |
-
2018
- 2018-01-02 CN CN201810002056.9A patent/CN108324198A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012211668A (en) * | 2011-03-31 | 2012-11-01 | Miraikikai Inc | Suction cup mechanism for wall surface moving machine |
| CN103637742A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Glass-climbing robot |
| CN104983369A (en) * | 2015-06-15 | 2015-10-21 | 福建工程学院 | Building outer facade washing robot system and using method thereof |
| CN105030169A (en) * | 2015-06-19 | 2015-11-11 | 刘禄军 | Wall crawling device |
| CN205107541U (en) * | 2015-09-07 | 2016-03-30 | 宿迁淮海科技服务有限公司 | Facade cleaner |
| CN107468182A (en) * | 2017-09-29 | 2017-12-15 | 成都意町工业产品设计有限公司 | A kind of base apparatus of cleaner for glass curtain wall cleaning systems |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771682A (en) * | 2022-05-18 | 2022-07-22 | 无锡贝斯特精机股份有限公司 | Self-adaptive posture-adaptive sucker and eight-foot walking robot |
| CN116605326A (en) * | 2023-05-16 | 2023-08-18 | 南通唐人电子科技有限公司 | Wall climbing robot controlled by cable mechanism and control method thereof |
| CN116605326B (en) * | 2023-05-16 | 2023-11-07 | 南通唐人电子科技有限公司 | Control method of wall climbing robot controlled by cable mechanism |
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Effective date of registration: 20201218 Address after: Room 1164, building A2, 216 puliu North Road, Getang street, Jiangbei new district, Nanjing, Jiangsu Province Applicant after: Jiangsu yuanfen Technology Co.,Ltd. Address before: 210000 2-27-1, No.2, Jiangjun Avenue, Jiangning District, Nanjing City, Jiangsu Province Applicant before: Liu Lujun |
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Application publication date: 20180727 |