CN108661303A - A kind of high-wall implement - Google Patents

A kind of high-wall implement Download PDF

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Publication number
CN108661303A
CN108661303A CN201810443844.1A CN201810443844A CN108661303A CN 108661303 A CN108661303 A CN 108661303A CN 201810443844 A CN201810443844 A CN 201810443844A CN 108661303 A CN108661303 A CN 108661303A
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CN
China
Prior art keywords
metope
rope
platform
operation unit
folding
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Granted
Application number
CN201810443844.1A
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Chinese (zh)
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CN108661303B (en
Inventor
李启光
郎需强
陈泰宇
彭宝营
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Beijing Information Science and Technology University
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Beijing Information Science and Technology University
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Priority to CN201810443844.1A priority Critical patent/CN108661303B/en
Publication of CN108661303A publication Critical patent/CN108661303A/en
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Publication of CN108661303B publication Critical patent/CN108661303B/en
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Classifications

    • 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
    • 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
    • E04G3/32—Hoisting devices; Safety devices
    • 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
    • E04G5/00—Component parts or accessories for scaffolds
    • E04G5/001—Safety or protective measures against falling down relating to scaffoldings

Abstract

The embodiment of the invention discloses a kind of high-wall implement, which includes：Mobile job platform and metope apparatus for work；Metope apparatus for work is used under the drive of mobile job platform the all-around mobile on metope, and carries out operation to metope at default anchor point；Mobile job platform moves between multiple anchor points of the metope apparatus for work on metope for driving, and when reaching each anchor point, itself is fixed between roof and ground by the drag rope being connect with roof and ground.By the example scheme, the stability and anti-interference ability of high-wall implement are improved, the safety during operation is improved.

Description

A kind of high-wall implement
Technical field
The present embodiments relate to high-wall implement designing technique, espespecially a kind of high-wall implement.
Background technology
A kind of solution of high-rise external wall surface operation at present is that one kind is arranged in roof to hang ship machine, and people, which is located at, to be hung in ship, Being lifted with rope control, which makes to hang ship, is moved to the position for needing operation, completes related work by manually, personal safety cannot get Ensure and with high costs.In addition, ship interference performance is weak for current hanging, for example, being that cannot work in the wind of level Four or more , and in view of the safety of staff, the run duration of the structure is shorter, and safety is still poor.
Another solution is absorption type high building exterior wall apparatus for work, but this device job area is only limitted to glass curtain wall Operation (as clean), operation can not be carried out to scraggly irregular exterior wall.
Invention content
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of high-wall implement, high-wall can be improved The stability of implement improves the anti-interference ability of equipment, improves the safety during operation.
In order to reach purpose of the embodiment of the present invention, an embodiment of the present invention provides a kind of high-wall implement, the equipment packets It includes：Mobile job platform and metope apparatus for work；
Metope apparatus for work is used under the drive of mobile job platform the all-around mobile on metope, and presetting Operation is carried out to metope at site；
Mobile job platform is moved for driving between multiple anchor points of the metope apparatus for work on metope, and to When up to each anchor point, itself is fixed between roof and ground by the drag rope being connect with roof and ground.
Optionally, mobile job platform includes：Platform body and platform draft gear；Wherein, platform draft gear includes： Drag rope；
Platform body for fixing metope apparatus for work, and is moved by itself and drives metope apparatus for work on metope It is mobile, realize the operation to metope；
Platform draft gear is made for making platform body be positioned on metope by the traction of drag rope, and in metope When industry device carries out operation for the current metope after positioning, platform body is made to be fixed between roof and ground；It is additionally operable to After determining that metope apparatus for work is completed to the Job Operations of current metope, computing platform ontology is moved to default from current anchor point Next anchor point during drag rope folding and unfolding length, and according to calculated folding and unfolding length control drag rope receipts It puts, so that platform body is moved on next anchor point.
Optionally, high-wall implement further includes the counter weight device for being set to roof；Drag rope includes：Multiple first ropes Rope and multiple second ropes；
First rope is used for connecting platform ontology and counter weight device, one end of platform body is fixed on roof, and For realizing positioning of the platform body on metope；
Second rope is used for connecting platform ontology and ground, the other end of platform body is fixed on ground, realizes Fixation to platform body.
Optionally, the platform draft gear further includes：First control device；
First control device is moved to during next anchor point from current anchor point for computing platform ontology and draws The folding and unfolding length of rope, and according to the folding and unfolding speed of calculated folding and unfolding length computation drag rope, control drag rope is with this Folding and unfolding speed and folding and unfolding length carry out folding and unfolding.
Optionally, mobile job platform further includes：Platform stance control device；
Platform stance control device, after in platform body by drag rope positioning in the air, when platform body The posture of platform body is adjusted when posture changes.
Optionally, metope apparatus for work includes control unit and the swing unit being connected respectively with control unit and operation Unit；
Control unit, for controlling swing unit and operation unit；
Swing unit is connected between mobile job platform and operation unit, for driving under the control of the control unit Operation unit all-around mobile on metope, and operation unit is made to be adapted with metope；
Operation unit, for carrying out metope operation and being adapted to the distance between operation unit and metope.
Optionally, swing unit includes：Swing rod and driving device；
Driving device is set on mobile job platform, and is connected with the second end of swing rod, the first end of swing rod and operation Unit is connected；
Driving device drives operation unit to be moved on metope for driving swing rod to move, and by swing rod；
Driving device is connected with control unit, for driving swing rod movement under the control of the control unit.
Optionally, swing unit further includes：Turn round module；Revolution module is set on swing unit close to operation unit Position, for making operation unit that there is comprehensive adjustable function under the support of swing unit by the rotation of own institutions, So that operation unit can be adapted with metope.
Optionally, operation unit includes：Detection module at a distance from being connected with control unit；
Apart from detection module, for detection operation unit at a distance from metope；
Control unit is additionally operable to when the distance value detected reaches preset first distance threshold, controls swing unit Movement velocity so that operation unit with preset safe speed close to metope.
Optionally, operation unit includes：Adaptation module and operation module at a distance from being connected respectively with control unit；
Apart from adaptation module, for after self-contact metope, being examined during operation unit continues close to metope Survey the compression distance of itself；
Control unit is additionally operable to when the compression distance detected reaches preset second distance threshold value, controls job ticket Member stops close to metope, and controls operation module and start metope work operations；
Wherein, apart from adaptation module by before compressing between metope at a distance from be equal to operation module by before compressing The distance between metope, and apart from adaptation module by compression distance be equal to operation module by compression distance.
Compared with prior art, the equipment of the embodiment of the present invention includes：Mobile job platform and metope apparatus for work；Metope Apparatus for work is used under the drive of mobile job platform the all-around mobile on metope, and at default anchor point to metope into Row operation；Mobile job platform moves between being used to drive multiple anchor points of the metope apparatus for work on metope, and reaches When each anchor point, itself is fixed between roof and ground by the drag rope being connect with roof and ground.Pass through The example scheme improves the stability and anti-interference ability of high-wall implement, improves the safety during operation.
The other feature and advantage of the embodiment of the present invention will illustrate in the following description, also, partly from explanation It becomes apparent in book, or is understood by implementing the embodiment of the present invention.The purpose of the embodiment of the present invention and other advantages It can realize and obtain by specifically noted structure in specification, claims and attached drawing.
Description of the drawings
Attached drawing is used for providing further understanding technical solution of the embodiment of the present invention, and one of constitution instruction Point, the technical solution together with embodiments herein for explaining the embodiment of the present invention is not constituted to the embodiment of the present invention The limitation of technical solution.
Fig. 1 is the high-wall implement structural schematic diagram of the embodiment of the present invention；
Fig. 2 is the mobile job platform structural schematic diagram of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the moving coordinate system of the embodiment of the present invention；
Fig. 4 is the platform body initial position schematic diagram of the embodiment of the present invention；
Fig. 5 is the platform stance controling device structure diagram of the embodiment of the present invention；
Fig. 6 is attitude transducer position and the three dimensions schematic diagram of the embodiment of the present invention；
Fig. 7 is the metope apparatus for work schematic diagram of the embodiment of the present invention；
Fig. 8 is the swing unit structural schematic diagram of the embodiment of the present invention；
Fig. 9 is the articulated connection schematic diagram of the embodiment of the present invention；
Figure 10 is the revolution modular structure schematic diagram of the embodiment of the present invention；
Figure 11 is the operation unit structural schematic diagram of the embodiment of the present invention；
Figure 12 is the elastic device structural schematic diagram of the embodiment of the present invention.
Specific implementation mode
Understand in order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing pair The embodiment of the present invention is described in detail.It should be noted that in the absence of conflict, the embodiment in the application and reality Applying the feature in example mutually can arbitrarily combine.
In order to reach purpose of the embodiment of the present invention, an embodiment of the present invention provides a kind of high-wall implements, such as Fig. 1 institutes Show, which may include：Mobile job platform 1 and metope apparatus for work 2；
Metope apparatus for work 2 is used under the drive of mobile job platform the all-around mobile on metope 3, and default Operation is carried out to metope 3 at anchor point；
Mobile job platform 1 is moved for driving between multiple anchor points of the metope apparatus for work 2 on metope 3, and When reaching each anchor point, by the drag rope 121 being connect with roof and ground itself will be fixed on roof and ground it Between.
In embodiments of the present invention, the high-wall implement can include but is not limited to for metope cleaning, wall plaster, The metopes operations such as wall surface spraying, metope inspection.
In embodiments of the present invention, mobile job platform 1 is fixed between roof and ground by drag rope 121, Mobile job platform 1 can be made to materially increase anti-interference ability, which may include：Mobile job platform It is shaken caused by when 1 progress position movement, to being disturbed caused by mobile job platform 1 when metope apparatus for work 2 carries out operation, with And wind-force it is larger when caused by mobile job platform 1 shake.By the example scheme, any one of the above or more can be resisted Kind interference so that mobile job platform 1 keeps stablizing as possible, not will produce significantly swing or shakes, and makes mobile operation Platform 1 is maintained near anchor point as possible, and the significantly position of job platform 1 will not be moved caused by above-mentioned swing or shaking It moves, so as to keep the continuity to metope operation, will not move back and forth because of mobile job platform 1 and cause metope some districts Domain operation less than or some regions operation repeatedly.In addition, the example scheme can also increase the safety of work operations, keep away The draft gear for exempting to move job platform 1 caused by swing or shaking by a relatively large margin causes traction to fill since moment stress is excessive Fracture is set, to the danger for causing platform body to fall off.And it is based on above-mentioned advantage so that the high-wall operation of the embodiment of the present invention Equipment can under the wind-force of level Four or more can also normal operation, the time limit of operation has been expanded, because current high-wall is made Industry equipment all can not operation based on security consideration under level Four and the above wind-force.
In embodiments of the present invention, by the setting of drag rope, can also by be arranged on drag rope conduit and Cleaning solution, painting liquid, coating and power supply etc. are easily directed to from roof on mobile job platform 1 and metope by conducting wire On apparatus for work 2, convenient for sustainable outer for cleaning solution and power supply during operation, mobile job platform 1 is avoided in operational period Between be also loaded a large amount of heavy cleaning solutions, painting liquid, coating and working power, to alleviate the load of mobile job platform 1, The weight for reducing mobile job platform 1 increases the safety of operation.
Optionally, mobile job platform 1 may include：Platform body 11 and platform draft gear 12；Wherein, platform is drawn Device 12 may include：Drag rope 121；
Platform body 11 for fixing metope apparatus for work 2, and is moved by itself and drives metope apparatus for work in metope The operation to metope 3 is realized in upper movement；
Platform draft gear 12, for making platform body 11 be positioned on metope by the traction of drag rope 121, and When metope apparatus for work 2 carries out operation for the current metope after positioning, platform body 11 is made to be fixed between roof and ground； It is additionally operable to after determining that metope apparatus for work 2 is completed to the Job Operations of current metope 3, computing platform ontology 11 is from working as prelocalization Point is moved to the folding and unfolding length of drag rope 121 during preset next anchor point, and according to calculated folding and unfolding length The folding and unfolding for controlling drag rope 121, so that platform body 11 is moved on next anchor point.
In embodiments of the present invention, specific requirement is not done for the shape of platform body 11, and metope operation is filled It sets 2 specific implementation form to be not required, which can be oscillating rod type apparatus for work as shown in Figure 1, also may be used To be the apparatus for work being directly adsorbed on metope.
Optionally, high-wall implement further includes the counter weight device 4 for being set to roof；Drag rope 121 includes：Multiple One rope 1211 and multiple second ropes 1212；
First rope 1211 is used for connecting platform ontology 11 and counter weight device 4, one end of platform body 11 is fixed on On roof, and the positioning for realizing platform body on metope 3；
Second rope 1212 is used for connecting platform ontology 11 and ground, is fixed on ground by the other end of platform body 11 On face, the fixation to platform body is realized.
In embodiments of the present invention, the particular number of the first rope 1211 and the second rope 1212 is not limited, it can To be arranged accordingly according to different application scenarios or demand, for example, the first rope 1211 and the second rope 1212 To include 2, as shown in Figure 2.
In embodiments of the present invention, counter weight device 4 is set on roof, as shown in Figure 3.Wherein, the number of counter weight device 4 Can be corresponding with the quantity of the first rope 1211, the counter weight device of an entirety can also be used uniformly.
In embodiments of the present invention, the concrete form of the counter weight device 4 is not particularly limited, it can be according to different Application scenarios or demand self-defining.Optionally, which can be made of basic fixed position device and multiple counterweights.Its In, which determines a plurality of first rope 1211 (such as two) basic for being connect with the first rope 1211 The distance between anchor point in positioning device, so as to primarily determine platform body 11 on metope it is moveable horizontal away from From (for example, 1-3 meters).In specifically used, one or more counterweights can be added to respectively on basic fixed position device, to increase Add the balance weight of counter weight device, one or more can also be accumulated in basic fixed position at the position of movable weight counterbalance apparatus Counterweight removal on device.The example scheme is simple, is easily achieved, and can carrying out operation to wider metope When, movement of the ease of use personnel to counter weight device, so as to save labour and overall operation time.
Optionally, platform draft gear 12 can also include：Traction electric machine and the rope folding and unfolding dress being connected with traction electric machine It sets；It is provided with code-disc on rope draw off gear；
Traction electric machine, for being transported under control of the control means according to calculated folding and unfolding speed band running rope rope draw off gear Row；
Rope draw off gear, for carrying out folding and unfolding to drag rope in self-operating；
Code-disc, for being counted to the folding and unfolding length of drag rope during rope folding and unfolding.
In embodiments of the present invention, a set of traction electric machine, rope can be equipped with for every drag rope of setting Draw off gear and code-disc carry out folding and unfolding control to every drag rope respectively to facilitate.
Optionally, platform draft gear 12 can also include：122 (not shown) of first control device.
First control device 122 is moved to from current anchor point during next anchor point for computing platform ontology The folding and unfolding length of drag rope, and according to the folding and unfolding speed of calculated folding and unfolding length computation drag rope, control drag rope Folding and unfolding is carried out with the folding and unfolding speed and folding and unfolding length.
In embodiments of the present invention, first control device 122 can acquire the folding and unfolding length that each code-disc is counted in real time, And according to the folding and unfolding speed of the corresponding drag rope of folding and unfolding length computation.And first control device 122 can also be according to default Folding and unfolding speed of the algorithm between each rope carries out coordination control, so that cooperating between each folding and unfolding rope, to Traction platform body 11 is moved at corresponding anchor point.
In embodiments of the present invention, first control device 122 can be set on platform body, can also be set to platform Any position other than ontology；In addition, the special control that the first control device 122 can be platform draft gear 12 fills It sets, can also be realized by the control device of high-wall implement, can also be realized by the central control system of entire building.Herein Its specific installation position and realization method are not restricted, it can self-defining according to different needs.
In embodiments of the present invention, first control device 122 can pass through wired control mode or wireless control mode control The drive system of traction electric machine processed realizes synchronism stability folding and unfolding line traffic control.
In embodiments of the present invention, with the first rope 1211 and the second rope 1212 it is below 2, counter weight device 2 Carry out the specific embodiment scheme that the present invention will be described in detail for when a：
Optionally, as shown in figure 3, counter weight device 4 may include the first counter weight device 41 and the second counter weight device 42；First Rope 1211 includes the first sub- sub- rope 1211-2 of rope 1211-1 and second；Wherein, the first sub- rope 1211-1 matches with first Refitting sets 41 and is connected, and the second sub- rope 1211-2 is connected with the second counter weight device 42；
Second rope 1212 includes the sub- sub- rope 1212-2 of rope 1212-1 and the 4th of third；Wherein, the sub- rope of third 1212-1 is connected with the first fixed point on ground, and the 4th sub- rope 1212-2 is connected with the second fixed point on ground；
First control device 122 is additionally operable to the first folding and unfolding length L1 and first by controlling the first sub- rope 1211-1 Folding and unfolding speed V1, the second folding and unfolding length L2 of the second sub- rope 1211-2 and the second folding and unfolding speed V2, the sub- rope 1212-1 of third The sub- rope 1212-2 of third folding and unfolding length L3 and third folding and unfolding speed V3 and the 4th the 4th folding and unfolding length L4 and the 4th receive Put the movement of speed V4 control platform ontologies.
In embodiments of the present invention, the first sub- rope 1211-1, the second sub- rope 1211-2, the sub- rope 1212-1 of third and The schematic diagram of 4th sub- rope 1212-2 and corresponding folding and unfolding length L1, L2, L3, L4 schematic diagram are as shown in Figure 3.
Optionally, it is used to guide the first of the first sub- rope 1211-1 to determine in the first fixed point M and the first counter weight device 41 The center of pulley 411 is located on same vertical line, is used to guide the second sub- rope in the second fixed point N and the second counter weight device 42 The center of the second fixed pulley 421 of 1211-2 is located on same vertical line.
In embodiments of the present invention, it can be provided with first support bar (not shown) on the first counter weight device 41, this first One end of supporting rod is set on first basic fixed position device corresponding with the first counter weight device 41, and first is provided on the other end Fixed pulley 411, first fixed pulley 411 are used to guide the lead of the first sub- rope 1211-1, make the first sub- rope 1211- 1 is changed to the tractive force of horizontal direction by the tractive force of vertical direction.Similarly, second can be provided on the second counter weight device 42 One end of strut (not shown), the second support bar is set to second basic fixed position device corresponding with the second counter weight device 42 On, the second fixed pulley 421 is provided on the other end, which is used to guide the traction of the second sub- rope 1211-2 Direction makes the second sub- rope 1211-2 be changed to the tractive force of horizontal direction by the tractive force of vertical direction.
In embodiments of the present invention, in the ideal situation, that is, it waits for that the metope of operation is vertical, not there are no inclination conditions, In order to enable 11 place plane of platform body, or the plane that whole drag ropes are formed are parallel with metope 3, need third sub The fixed points of the sub- rope 1212-2 of rope 1212-1 and the 4th on the ground, i.e. the first fixed point M and the second fixed point N, respectively With the center of the first fixed pulley 411 and the center of the second fixed pulley 421 on same vertical line, so that metope operation fills It sets 2 and is smoothed out metope operation, it will not be not parallel because of platform body 11 and metope so that metope apparatus for work 2 and metope distance When and farther out, when and it is relatively close, influence accurately controlling to metope apparatus for work 2.
In embodiments of the present invention, code-disc above-mentioned can be set to center and the second fixed pulley of the first fixed pulley 411 At 421 center, it is respectively used to the folding and unfolding of the sub- rope 1211-2 of folding and unfolding length L1 and second of the first sub- rope 1211-1 of metering Length L2.
In embodiments of the present invention, torque work may be used in the ground mechanism that the first fixed point M and the second fixed point N go out Pattern while keeping the sub- rope 1212-1 of the third of lower part and the 4th sub- rope 1212-2 stable tensions, realizes third sub- rope The draw-in and draw-off function of the sub- rope 1212-2 of rope 1212-1 and the 4th.
Optionally, when the first fixed pulley for guiding the described first sub- rope in the first fixed point and the first counter weight device Center be located on same vertical line, and for guide the second of the second sub- rope the fixed cunning in the second fixed point and the second counter weight device When the center of wheel is located on same vertical line：First control device 122 can be also used for the first fixed point M, the first fixed pulley The rectangular area that 411 center, the center of the second fixed pulley 421 and the second fixed point N are determined is as job area, and in square Shape establishes moving coordinate system in region；
Wherein, the origin of moving coordinate system is the center of the first fixed pulley 411；The X-axis positive direction of moving coordinate system be from It is directed toward the direction at the center of the second fixed pulley 421 in the center of first fixed pulley 411；The Y-axis positive direction of moving coordinate system is from the It is directed toward the direction of the first fixed point M in the center of one fixed pulley 411；The Y-axis positive direction of moving coordinate system is according to X-axis positive direction, Y The direction that axis positive direction and the right-hand rule are determined.
Optionally, when the center of the first fixed point and the first fixed pulley is not located on same vertical line and/or the second fixed point When being not located on same vertical line with the center of the second fixed pulley：
First control device can be also used for first between the first fixed point and the center of the first fixed pulley correspondingly Line is projected on the first vertical line where the center of the first fixed pulley and obtains the first projection line, and/or by the second fixed point The second line between the center of the second fixed pulley is projected on the second vertical line where the center of the second fixed pulley and obtains Second projection line；And by between the center of the first fixed pulley and the center of the second fixed pulley third line, the first projection line, The second rectangular area of two projection lines and the first vertical line and the second vertical line and the intersection point on ground determined as job area, And the second moving coordinate system is established in the second rectangular area；
Wherein, the origin of the second moving coordinate system is the center of the first fixed pulley；The X-axis positive direction of second moving coordinate system For from the center of the first fixed pulley be directed toward the second fixed pulley center direction；The Y-axis positive direction of second moving coordinate system be from The direction on ground is directed toward along the first vertical line in the center of first fixed pulley；The Y-axis positive direction of second moving coordinate system be according to X-axis just The direction that direction, Y-axis positive direction and the right-hand rule are determined.
In embodiments of the present invention, in the ideal situation, that is, it waits for that the metope of operation is vertical, not there are no inclination conditions When, if construction personnel fails when fixing the first fixed point M and the second fixed point N so that the first fixed point M and second is fixed Point N is on the vertical plane at the center at the center and the second fixed pulley by the first fixed pulley, then can pass through projection Mode projects to above-mentioned the first line and the second line on the vertical plane, and carries out relevant unwrapping wire length and unwrapping wire speed Degree calculates.
In embodiments of the present invention, under nonideality, that is, wait for that the metope of operation is not vertical, there are inclination conditions When, similar processing method may be used, be no longer only with fixed by the center of the first fixed pulley and second in projection It is projected based on the vertical plane at the center of pulley, but with by the center and the second fixed pulley of the first fixed pulley The heart, and be parallel to tilt metope plane (can mark as plane) based on projected.That is, the first fixed point and/or When two fixed points are not in the S planes, the line at the center of the first fixed point and the first fixed pulley can be projected to the S planes Relevant unwrapping wire length is inside carried out again and payingoff speed calculates.Optionally, first control device 122 are additionally operable to carrying out operation Before, platform body is located on preset initial alignment point according to preset initial alignment relational expression；
Optionally, which may include：At first fixed point M；Initial alignment relational expression includes：
Wherein, H is the height of high-wall, and L is the horizontal distance of the first fixed pulley 411 and the second fixed pulley 421, H0 first Fixed pulley and second fixed pulley are higher by the distance on roof, and 2a is the length of platform body, and 2b is the height of platform body.It should Length refers to the vertical range between two sides vertical with metope on platform body；This highly refer on platform body with wall Vertical range between the vertical upper and lower surface in face.
In embodiments of the present invention, as shown in figure 4, manual type can be first passed through by platform in advance before carrying out operation Ontology 11 is moved to the lower section of the positive O of origin, carries out retractable cable by manual mode, and (the first son is restricted by upper and lower four roots rope Rope 1211-1, the second sub- rope 1211-2, third sub- rope 1212-1 and the 4th sub- rope 1212-2) it is connect with platform body 11 It is good, and tighten four root ropes by the maximum tension of setting.The unwrapping wire length L1 of first sub- rope 1211-1, the second son at this time The unwrapping wire of the sub- rope 1212-2 of unwrapping wire length L3 and the 4th of the sub- rope 1212-1 of the unwrapping wire length L2 of rope 1211-2, third is long Degree L4 can be demarcated as respectively：
Optionally, first control device computing platform ontology 11 is moved to from current anchor point during next anchor point The folding and unfolding length of drag rope may include：
It is calculated separately out to be moved to from initial alignment point according to preset first relational expression and the second relational expression and works as prelocalization First group of folding and unfolding length when point and second group of folding and unfolding length when being moved to next anchor point from initial alignment point；Wherein, First group of folding and unfolding length and second group of folding and unfolding length include：First folding and unfolding length L1, the second folding and unfolding length L2, third folding and unfolding are long Spend L3 and the 4th folding and unfolding length L4；
Corresponding length value in first group of folding and unfolding length is subtracted using the length value in second group of folding and unfolding length and obtains first Difference △ L1 of folding and unfolding length, difference △ L2 of the second folding and unfolding length, the difference △ L3 of third folding and unfolding length and the 4th folding and unfolding are long The difference △ L4 of degree, as platform body from current anchor point be moved to next anchor point during drag rope folding and unfolding it is long Degree.
In embodiments of the present invention, the first fixed pulley 411, the second fixed pulley 421, the first fixed point M and second are completed After code-disc unwrapping wire calibrating length at fixed point N, any point in the job area predefined out, if platform body 11 Coordinate be (x, y), then the unwrapping wire length L2 of the unwrapping wire length L1 of the first counter weight device 41 and the second counter weight device 42 can be under State the determination of the first relational expression：
In embodiments of the present invention, the unwrapping wire length L4 of the unwrapping wire length L3 of the first fixed point M and the second fixed point N can be by Following second relational expressions determine：
Wherein, x is the arbitrary abscissa in moving coordinate system, and y is the arbitrary ordinate in moving coordinate system.
Optionally, first control device can be with according to the folding and unfolding speed of drag rope described in calculated folding and unfolding length computation Including：
According to the first run time t1 between preset two adjacent positioneds point, the first sub- rope movement is calculated separately out When required First Speed, the second sub- rope move the difference △ L2 of the second folding and unfolding length when the difference △ L1 of the first folding and unfolding length Required third speed and the 4th son when the difference △ L3 of the sub- rope movement third folding and unfolding length of required second speed, third Rope moves fourth speed required when the difference △ L4 of the 4th folding and unfolding length；Respectively by First Speed, second speed, third speed Degree and folding and unfolding speed of the fourth speed as the first sub- rope, the second sub- rope, third sub- rope and the 4th sub- rope；Alternatively,
According to the fixation folding and unfolding speed of the pre-set first sub- rope, calculate when the folding and unfolding length of the first sub- rope is Second run time t2 of the first sub- rope when the difference △ L1 of the first folding and unfolding length；It is calculated separately according to the second run time t2 Go out the folding and unfolding speed of the second sub- rope when the folding and unfolding length of the second sub- rope is the difference △ L2 of the second folding and unfolding length, work as third The folding and unfolding speed of the sub- rope of third when the folding and unfolding length of sub- rope is the difference △ L3 of third folding and unfolding length, and when the 4th son is restricted The folding and unfolding speed of 4th sub- rope when the folding and unfolding length of rope is the difference △ L4 of the 4th folding and unfolding length.
In embodiments of the present invention, including but not limited to above-mentioned folding and unfolding length and folding and unfolding speed calculation method, it is any The method or algorithm of the folding and unfolding length and folding and unfolding speed can be obtained within the protection domain of the embodiment of the present invention.
Optionally, mobile job platform 1 can also include：Platform stance control device 13；
Platform stance control device 13, for after platform body 11 is positioned in the air by drag rope 121, working as platform The posture of platform body 11 is adjusted when the posture of ontology 11 changes.
In embodiments of the present invention, platform stance control device 13 is so that platform body 11 generates swing or rolling because of interference It is dynamic, to cause the posture of of platform body 11 itself to change, and when influencing the work of metope apparatus for work 2 in turn (for example, Platform body 11 generate it is crooked so that metope apparatus for work 2 is crooked, be unable to normal operation or metope apparatus for work 2 away from It is too close or too far from metope, so that metope apparatus for work 2 is unable to normal operation), it can be automatically to platform body 11 Posture is readjusted, it is made to automatically restore under preset normal attitude, so that metope apparatus for work 2 restores normal Work.
In embodiments of the present invention, when platform body 11 is cuboid or square, which may include：It is flat The one side opposite with metope be parallel with the metope on playscript with stage directions body 11 and the center of gravity of platform body 11 and current anchor point it is opposite Position is maintained at interior default error or metope apparatus for work 2 and the tie point of platform body and the relative position of current anchor point It is maintained in default error.
Optionally, as shown in Figure 5, Figure 6, platform stance control device 13 is set on platform body 11, including：Second control 131 (not shown) of device, attitude transducer 132 and device for adjusting posture 133 processed；
Attitude transducer 132 is used for the attitudes vibration of detection platform ontology 11 in three dimensions；The wherein attitudes vibration Including：Swing around space X axis, the swing around space Y axis and the swing around space Z axis；
Second controller 131, for according to the different attitudes vibrations and preset control algolithm detected, controlling posture Adjusting apparatus 133 executes corresponding adjustment action；
Device for adjusting posture 133, for driving drag rope 121 to move, to realize the pose adjustment to platform body 11. Specifically, drive drag rope 121, which moves, may include：Drive one end that drag rope is connected with platform body in platform body Upper surface or lower surface on carry out parallel motion.
In embodiments of the present invention, second control device 131 can be set on platform body, can also be set to platform Any position other than ontology；In addition, the second control device 131 can be the control for being exclusively used in platform stance control device 13 Device processed can also use the same controller with first control device 122, can also pass through the same of entire high-wall implement Control device is realized, can also be realized by the central control system of entire building.Herein for its specific installation position and realization side Formula is not restricted, can self-defining according to different needs.
In embodiments of the present invention, second control device 131 can pass through wired control mode or wireless control mode control Device for adjusting posture 133 processed is not limited its specific communication mode.
In embodiments of the present invention, attitude transducer 132 could be provided as one or more, and for its specific setting Position is not limited, for example, could be provided as on the upper surface of platform body 11 or be set to inside platform body.In addition, right It is not also limited in the specific type selecting of attitude transducer 132, can according to different needs or application scenarios self-defining, example Such as, 10 axis attitude transducers of HWT901B can be selected.
Optionally, device for adjusting posture 133 can include but is not limited to：Motor, transmission mechanism, rope set and sliding dress It sets；
Motor is connect with transmission mechanism, for driving transmission mechanism to rotate；
Rope set includes both ends, and one end is set on the carriage, and the other end is set on transmission mechanism；Rope set It for fixed traction rope, drives drag rope to be moved when transmission mechanism being made to move, realizes trimming moment adjustment；
Carriage is fixed on platform body, and is arranged in parallel with transmission mechanism.
In embodiments of the present invention, the specific implementation of transmission mechanism is not limited, it is any to realize position Mobile or transmission mechanism is within the protection domain of the embodiment of the present invention.Optionally, which may include but not It is limited to：The combination of synchronous belt and belt wheel, the combination of leading screw and nut and track-type facilities.
In embodiments of the present invention, the specific implementation of carriage is not also limited, which can be with Including but not limited to：Slide bar or sliding rail.
In embodiments of the present invention, can when combination of the transmission mechanism for synchronous belt and belt wheel for illustrate the present invention The detailed operation principle of the device for adjusting posture 133 of embodiment.
Optionally, device for adjusting posture 133 can include but is not limited to：Motor 1331, synchronous belt 1332, belt wheel 1333, Rope set 1334 and carriage 1335；
Motor 1331 is connect with belt wheel 1333, is rotated for band movable belt pulley 1333；
Synchronous belt 1332 is set on belt wheel 1333, is moved for the rotation with belt wheel 1333；
Rope set 1334 includes both ends, and one end is set on carriage 1335, and the other end is set on synchronous belt 1332； Rope set 1334 is used for fixed traction rope 121, drives drag rope 121 to be moved when synchronous belt 1332 being made to move；Rope Set 1334 direct can not be contacted with carriage 1335, but be contacted with carriage 1335 by ball, in this way can be effective It avoids the fracture of 1334 connection end of rope set and reduces force of sliding friction；
Carriage 1335 is fixed on platform body 11, and is arranged in parallel with synchronous belt 1332.
In embodiments of the present invention, can device for adjusting posture be arranged according to the item number of used drag rope respectively 133 tricks, i.e. every drag rope correspond to a set of device for adjusting posture 133 respectively.According to the above embodiments, work as traction rope When rope includes the first sub- rope 1211-1, the second sub- rope 1211-2, third sub- rope 1212-1 and the 4th sub- rope 1212-2, Can be respectively that this four sub- ropes are equipped with a set of device for adjusting posture 133 above, with sub to first by device for adjusting posture 133 The sub- rope 1211-2 of rope 1211-1 and second are adjusted and/or right in the position of the tie point of 11 upper surface of platform body The position of tie points of the sub- sub- rope 1212-2 of rope 1212-1 and the 4th of third in 11 lower surface of platform body is adjusted, from And it realizes and the posture of platform body 11 is finely adjusted.Specifically, the first sub- rope 1211-1, the second sub- rope 1211-2, The three sub- sub- rope 1212-2 of rope 1212-1 and the 4th can correspond to the first device for adjusting posture 133-1, the second posture tune respectively Engagement positions 133-2, third device for adjusting posture 133-3 and the 4th device for adjusting posture 133-4.
In embodiments of the present invention, the first device for adjusting posture 133-1, the second posture tune can be set in the specific implementation It is any one or more in engagement positions 133-2, third device for adjusting posture 133-3 and the 4th device for adjusting posture 133-4.Example Such as, the first device for adjusting posture 133-1 and the second device for adjusting posture 133-2 can be only set, third appearance can also be only set State adjusting apparatus 133-3 and the 4th device for adjusting posture 133-4 or four device for adjusting posture are configured.
In embodiments of the present invention, as shown in figure 5, may include in the first device for adjusting posture 133-1：Motor 1331- 1, synchronous belt 1332-1, belt wheel 1333-1, rope cover 1334-1 and carriage 1335-1；Second device for adjusting posture 133-2 In may include：Motor 1331-2, synchronous belt 1332-2, belt wheel 1333-2, rope cover 1334-2 and carriage 1335-2.The Three device for adjusting posture 133-3 and the 4th device for adjusting posture 133-4 are located at the lower surface of platform body, structure and the first appearance State adjusting apparatus 133-1 and the second device for adjusting posture 133-2 are identical, are being not shown in figure.
In embodiments of the present invention, every synchronous belt 132 can independently drive, and drive rope set 1334 respectively mating 1335 upper edge space Y axis direction of carriage movement, realize around space X axis and space Z axis rotating force arm size and Orientation Adjustment.And by the first sub- rope 1211-1, the second sub- rope 1211-2, of the sub- rope 1212-1 of third and/or the 4th The folding and unfolding length and/or tension of rope 1212-2 is finely adjusted, and the rotating force arm size and Orientation around space Y axis may be implemented Adjustment.Attitude transducer 132 is used for the attitudes vibration of detection platform ontology 11 in three dimensions；The wherein attitudes vibration packet It includes：Swing around space X axis, the swing around space Y axis and the swing around space Z axis；
In embodiments of the present invention, second controller 131 is according to the different attitudes vibration detected and preset control Algorithm, control device for adjusting posture 133 execute corresponding adjustment action and may include：
When attitude transducer 132 detects swing of the platform body 11 around space X axis, keeping turning round around space Z axis Torque stablize while, control device for adjusting posture 133 in rope set 1334 along the negative direction of space Y axis direction or Y-axis into Line position sets adjustment so that pulling force on the first sub- sub- rope 1211-2 of rope 1211-1 and second and the sub- rope 1212-1 of third and The resultant force of pulling force on 4th sub- rope 1212-2 forms size and direction around the flywheel moment of space X axis, realizes with smaller Rope tension realizes the pose adjustment of X-axis rotation direction；Wherein, the first sub- sub- rope 1211-2 of rope 1211-1 and second can be with phase Same control mode is carried out while being adjusted, and the sub- sub- rope 1212-2 of rope 1212-1 and the 4th of third can be with identical controlling party Formula is carried out while being adjusted；And the adjusting direction of the first sub- sub- rope 1211-2 of rope 1211-1 and second and the sub- rope of third The adjusting direction of the sub- rope 1212-2 of 1212-1 and the 4th is opposite；
When attitude transducer 132 detects swing of the platform body 11 around space Z axis, make according to the metope obtained is measured Industry device 2 carries out the size of the cleaning contact generated when metope operation, same keeping stablizing around space X axis flywheel moment When, the rope set 1334 controlled in device for adjusting posture 133 carries out position adjustment along the negative direction of space Y axis direction or Y-axis, makes The first sub- rope 1211-1 and pulling force on the sub- rope 1212-1 of third and the second sub- rope 1211-2 and the 4th sub- rope The resultant force of pulling force on 1212-2 forms size and direction around the flywheel moment of space Z axis, realizes with real compared with marline rope tensility The pose adjustment of existing Z axis rotation direction；Wherein, the first sub- rope 1211-1 and the sub- rope 1212-1 of third can be with identical controlling parties Formula is carried out while being adjusted, and the second sub- sub- rope 1212-2 of rope 1211-2 and the 4th can be carried out simultaneously with identical control mode It adjusts；And the adjusting direction of the first sub- rope 1211-1 and the sub- rope 1212-1 of third and the second sub- rope 1211-2 and the 4th The adjusting direction of sub- rope 1212-2 is opposite；
When attitude transducer 132 detects swing of the platform body 11 around space Y axis, the direction of pivot angle and big is detected It is small, and the first sub- rope 1211-1, the second sub- rope 1211-2, the sub- rope of third are adjusted according to the direction of the pivot angle and size The folding and unfolding length and/or tension of arbitrary one or more sub- rope in the sub- rope 1212-2 of 1212-1 and the 4th, to provide around The pose adjustment of space Y axis rotation direction is realized in space Y shaft balancing torque.
In embodiments of the present invention, through the above scheme, after platform body 11 can be made to reach predetermined operation position, by The many factors such as disturbance are generated when being worked by the flexible swing arm of wind-force, frictional force, contact and metope apparatus for work 2 Influence and cause dynamic tilting moment act on, when platform body 11 being caused to swing, control platform ontology is restored to as early as possible Ideal space posture, to ensure preferable operation effectiveness.
Optionally, as shown in fig. 7, metope apparatus for work 2 may include control unit 21 and respectively with control unit 21 Connected swing unit 22 and operation unit 23；
Control unit 21, for controlling swing unit 22 and operation unit 23；
Swing unit 22 is connected between mobile job platform 1 and operation unit 23, for the control in control unit 21 Lower band moves the all-around mobile on metope 3 of operation unit 23, and operation unit 23 is made to be adapted with metope 3；
Operation unit 23, for carrying out metope operation and being adapted to the distance between operation unit 23 and metope 3.
In embodiments of the present invention, control unit 21 can be set to mobile job platform 1, swing unit 22 or job ticket In member 23, any position other than mobile job platform 1, swing unit 22 and operation unit 23 can also be set to；In addition, The control unit 21 can be exclusively used in the control unit of metope apparatus for work 2, can also pass through entire high-wall implement Control device is realized, can also be realized by the central control system of entire building.Herein for its specific installation position and realization side Formula is not restricted, can self-defining according to different needs.
In embodiments of the present invention, control unit 21 can be by controlling chip, programmable logic controller (PLC) PLC and dividing The arbitrary control program such as cloth control system DCS is realized, specific control method is not limited.
Optionally, swing unit 22 includes：Swing rod 222 and driving device；
Driving device is set on mobile job platform, and is connected with the second end of swing rod, the first end of swing rod and operation Unit 23 is connected；
Driving device drives operation unit to be moved on metope for driving swing rod to move, and by swing rod；
Driving device is connected with control unit, for driving swing rod movement under the control of the control unit.
In embodiments of the present invention, which can include but is not limited to：Electric putter type of drive and gear driving Mode.Below by by taking electric putter type of drive as an example come illustrate the application swing unit 22 specific implementation.Wherein, should When driving device is realized by electric putter type of drive, which may include：Electric putter 223 and drive module 224.
Optionally, as shown in figure 8, swing unit 22 includes：Swing rod 222, electric putter 223 and drive module 224 (are not shown Go out)；
The first end of swing rod 222 is connected with operation unit 23, and the second end of swing rod 222 is connected with mobile job platform 1；
The first end of electric putter 223 is connected with swing rod 222, and the close pendulum of link position of electric putter 223 and swing rod 222 The second end of bar 222；
The second end of electric putter 223 is connected with drive module 224, and is moved under the driving of drive module 224, so that electric The first end synchronizing moving of push rod 223 carrys out the movement with driven fork 222, and drives operation unit to be moved up in metope by swing rod 222 It is dynamic；
Drive module is connected with 224 control units 21, for driving electric putter 223 under the control of control unit 21.
In embodiments of the present invention, drive module 224 can be set to inside mobile job platform 1, be not shown in figure.
In embodiments of the present invention, the type selecting of electric putter 223 and drive module 224 is not limited, and for Swing rod 222 and the concrete shape of electric putter 223, material and size are not restricted, can be according to specifically with voluntarily fixed with scene Justice.Optionally, in order to enable swing rod 222 and electric putter 223 have enough dynamics can support operation unit 23 on metope 3 from By moving, metal material can be selected.
In embodiments of the present invention, it in order to meet moving freely for electric putter 223, can be set on mobile job platform 1 A hollow position is set, space is provided for the movement of electric putter 223.
Optionally, as shown in figure 3, second end and the shifting of the connection and swing rod 122 between electric putter 123 and swing rod 122 Connection between dynamic job platform 2 can be realized by articulated manner.
In embodiments of the present invention, as in Fig. 9 the part dotted line a and the parts dotted line b shown in, be that two kinds of hinge connections are implemented Example, when electric putter 223 is swung in perpendicular, drives the swing rod 222 to be swung in perpendicular.In other embodiments In, it may be replaced by：The parts dotted line a are attached using hinge-type hinge, and the parts dotted line b are attached using spherical hinge； Or it could alternatively be：The parts dotted line b are attached using hinge-type hinge, and the parts dotted line a are attached using spherical hinge；Or it can To replace with：The parts dotted line a and the parts dotted line b are all made of hinge-type hinge and are attached；Or it could alternatively be：The parts dotted line a Spherical hinge is all made of with the part dotted line b to be attached, but the program is due to excessively flexibly not easy to control, it can be according to answering accordingly Determine whether to use the program with scene, and spherical hinge and the combined mode of other hinge formats may be used and connected It connects, to utilize the flexibility of spherical hinge, and is unlikely to uncontrollable.
In embodiments of the present invention, when not operation, swing rod 222 can drive operation unit 23 to withdraw close to mobile operation horizontal Platform 1 makes operation unit 23 be in plumbness.When work, drive module 224 drives electric putter 223 to swing so that electric putter The hinge joint that the hinge joint of 223 parts driving dotted line b is rotated with driven fork 222 around the parts dotted line a is swung, so that pendulum Bar 222 drives operation unit 23 to be moved on metope 3.
Optionally, as shown in figure 8, swing unit 22 can also include：Turn round module 221；Revolution module 221 is set to pendulum Close to the position of operation unit 23 on moving cell 22, for making operation unit 23 in swing unit by the rotation of own institutions Support is lower to have comprehensive adjustable function, so that operation unit 23 can be adapted with metope 3.
Optionally, revolution module 221 can be set at the second end of swing rod 222, for connecting swing rod 222 and job ticket Member 23；
As shown in Figure 10, revolution module 221 may include：First rotating shaft 221-1, the second shaft 221-2, first structure part 221-3 and the second structural member 221-4；Wherein, the first end of first structure part 221-3 is connected to pendulum by first rotating shaft 221-1 In the second end of bar 222, the second end of first structure part 221-3 is connected to the second structural member 221-4 by the second shaft 221-2 On, the second structural member 221-4 is fixed on operation unit 23, and fixed point is located at horizontal plane where the center of gravity of operation unit 23 More than；
First structure part 221-3 can be rotating around first rotating shaft 221-1 and the second shaft 221-2 rotations, first rotating shaft 221-1 and the second shaft 221-2 are vertical, and the second shaft 221-2 is parallel with horizontal plane when operation unit 23 is horizontally arranged.
In embodiments of the present invention, the first end of first structure part 221-3 is connected to swing rod by first rotating shaft 221-1 In 222 second end, and first rotating shaft 221-1 and horizontal plane when operation unit 23 is horizontally arranged.The program makes Operation unit 23 during cleaning when encountering metope turning, can be by first structure part 221-3 around first rotating shaft 221-1 The orientation transformation in the horizontal direction of operation unit 23 is realized in rotation, so that operation unit 23 can be from the first metope level It is moved to and is cleaned with the second metope of first metope at an angle, expanded cleanable range.
In embodiments of the present invention, the second end of first structure part 221-3 is connected to the second knot by the second shaft 221-2 On component 221-4, and the second shaft 221-2 is parallel with horizontal plane when operation unit 23 is horizontally arranged.The program to put Bar 222 carries out in swing process in the vertical direction, and operation unit 23 can remain unchanged direction, so that job ticket The work surface of member 23 towards metope, is conducive to the implementation of work operations always.And during being cleaned in the vertical direction, such as The appearance of fruit metope is uneven, for example, when metope protrudes above balcony, it can be by first structure part 221-3 around the second shaft The orientation transformation on the vertical direction of swing rod 222 is realized in 221-2 rotations, so that only by adjusting the angle of swing rod 222 Degree can avoid interference of the balcony to operation unit 23, make operation unit 23 during cleaning not by the rough shadow of metope It rings, and inclined-plane and curved wall can be adapted to, improve sweeping efficiency, having expanded can operating environment.
In embodiments of the present invention, fixed points of the second structural member 221-4 on operation unit 23 is located at operation unit 23 Center of gravity where above the horizontal plane, with ensure it is arbitrary in the case of operation unit 23 can remain the state of vertical, further So that the work surface of operation unit 23 is conducive to the implementation of work operations always towards metope.
In embodiments of the present invention, it is not restricted for turning round concrete shape, size, the material etc. of module 221, it can be with According to different application scenarios or demand self-defining.
Optionally, as shown in figure 11, operation unit 23 may include：Detection module at a distance from being connected with control unit 21 231；
Apart from detection module 231, for detection operation unit 23 at a distance from metope 3, and the distance value detected is real When be transferred to control unit 21；
Control unit 21 is additionally operable to when the distance value detected reaches preset first distance threshold, and control swings single The movement velocity of member 22 so that operation unit 23 with preset safe speed close to metope 3.
In embodiments of the present invention, in order to realize that accurate, stability contorting to operation unit 23, operation unit 23 can be set It sets apart from detection module 231, it, can be by apart from detection module 231 with during controlling operation unit 23 close to metope 3 The distance between real-time detection operation unit 23 and metope 3, and the distance detected is sentenced in real time by control unit 21 It is disconnected, when the distance between operation unit 23 and metope 3 reach preset value (the first i.e. above-mentioned distance threshold), control driving mould Block 224 reduces the actuating speed to electric putter 223, reduces swing speed to control swing rod 222, correspondingly reduces operation unit 23 close to metope speed, avoid operation unit 23 and metope 3 apart from it is closer when, because speed too soon caused by operation unit 23 or Entirely high-wall implement is unstable, so that operation unit 23 collides with metope, causes equipment damage.
In embodiments of the present invention, which can be according to different application scenarios self-definings, for it Concrete numerical value is not limited.
Optionally, it can include but is not limited to apart from detection module 231：One or more sonacs, laser displacement Sensor and infrared distance sensor；Or the arbitrary combination of above-mentioned various sensors.In specific implementation, specific for its Type selecting is not limited, and any sensor that can realize the detection of the distance between operation unit 23 and metope 3 is of the invention real It applies within the protection domain of example.
In embodiments of the present invention, as shown in figure 11, this can be set to the outer of operation unit 23 apart from detection module 231 On frame, on the periphery of groove profile outline border 234 described as follows.
Optionally, as shown in figure 11, operation unit 23 can also include：It is adapted at a distance from being connected respectively with control unit 21 Module 232 and operation module 233；
Apart from adaptation module 232, for after self-contact metope, continuing the mistake close to metope 3 in operation unit 23 The compression distance of itself is detected in journey, and by the compression distance real-time Transmission detected to control unit 21；
Control unit 21 is additionally operable to when the compression distance detected reaches preset second distance threshold value, controls operation Unit 23 stops close to metope 3, and controls operation module 233 and start metope work operations；
Wherein, apart from adaptation module 232 by before compressing between metope 3 at a distance from be equal to operation module 233 in quilt The distance between with metope 3 before compression, and apart from the quilt for being equal to operation module 233 by compression distance of adaptation module 232 Compression distance.
In embodiments of the present invention, to ensure operation effectiveness, the contact for having certain between operation module 233 and metope 3 is needed Therefore pressure can further control operation unit 23 after operation module 233 is contacted with metope 3 and be moved to 3 direction of metope It is dynamic, to obtain the contact, but in order to avoid the distance between operation module 233 and metope 3 are excessive, so that the contact Pressure is excessive, causes frictional force excessive between operation module 233 and metope, reduces operating efficiency and operation effectiveness instead, can With setting apart from adaptation module 232, in further compression of the control operation unit 23 into 3 direction moving process of metope to itself Distance (i.e. further movement of distance) is detected, and is sentenced in real time to the compression distance detected by control unit 21 Disconnected, when the compression distance reaches preset second distance threshold value, control operation unit 23 stops close to metope 3, and controls work Industry module 233 starts metope work operations；So that keeping preferred compression distance (i.e. the between operation module 233 and metope 3 Two distance thresholds), and make reach suitable contact between operation module 233 and metope 3, to ensure operating efficiency and Operation effectiveness.
In embodiments of the present invention, which can be previously according to the material combination practical application of operation module Scene is calculated, and obtains a preferable numerical value, its concrete numerical value is not limited herein.
In embodiments of the present invention, in order to enable the compression distance and operation module 233 that are detected apart from adaptation module 232 Compression distance be consistent, need by before compressing, apart from being protected by compression end for adaptation module 232 and operation module 233 It holds on the same perpendicular；It, can and in order to enable after completing compression apart from adaptation module 232 work operations will not be interfered It is hidden with command range adaptation module 232, or to continue by compression certain distance apart from adaptation module 232, so that No longer contacted with metope 3 apart from adaptation module 232, in operation, operation unit 23 when being moved on metope will not to away from It causes to wear from adaptation module 232.
Optionally, may include one or more distance element displacement sensors apart from adaptation module 232.
In embodiments of the present invention, the specific type selecting apart from adaptation module 232 is not limited, it is any to realize work The sensor of compression distance detection between industry unit 23 and metope 3 is within the protection domain of the embodiment of the present invention.
Optionally, as shown in figure 11, operation unit 23 can also include：Groove profile outline border 234；The opening of groove profile outline border 234 Direction and metope 3 it is opposite；It is located in groove profile outline border 234 apart from adaptation module 232 and operation module 233, and protrudes from groove profile The opening of outline border 234；
Be provided with one or more elastic devices 235 on the medial surface opposite with being open in groove profile outline border 234, for away from It when contacting and being compressed with metope 3 from adaptation module 232 and operation module 233, itself synchronizes and is compressed, to be adapted to mould for distance Block 232 and operation module 233 provide compressible amount to count the compression distance, and provide and delay when operation unit 23 is unstable Punching.
In embodiments of the present invention, the shape, size and material of groove profile outline border 234 are not restricted, it can basis Different application scenarios self-definings.For example, its shape may include rectangle, semicircle etc.；Its material can be metal, avoid It is damaged easily when collision, to improve protective value；Can also be corrosion resistance the wooden or higher plastics of drop resistant intensity, with compared with The weight of of small operation unit 23 itself.
In embodiments of the present invention, which can be one or more springs or cavernous body, specific for its Form is not limited.As shown in figure 12, embodiment schematic diagram when be elastic device 235 being spring.
In embodiments of the present invention, operation module 233 can be for cleaning, painting, spray, inspection etc. any one or A kind of specific implementation structure of operation module 233 is described in detail in the operation module of several work by taking washing and cleaning operation as an example below.
Optionally, operation module 233 can include but is not limited to：The sprinkler head 2331 that sets gradually from top to bottom, on scrape Piece 2332, brush roll 2333 and lower scraping blade 2334；
Sprinkler head 2331 is connected with the apparatus for placing of cleaning solution, for spraying cleaning solution on metope；
Brush roll 2333, for being scrubbed to the spot on metope；
Upper scraping blade 2332 and lower scraping blade 2334, for struck off in operation unit moving process cleaning solution on metope and Spot.
In embodiments of the present invention, above structure is only a specific embodiment of the operation module 233 as cleaning module, Not as the concrete restriction to operation module 233.And in other embodiments, which can also only scrape including one Piece, or scraping blade is replaced with into water imbibition towel.In specific implementation, the concrete structure of cleaning module is not limited, is appointed What can realize the structure to metope operation within the protection domain of the embodiment of the present invention.
In embodiments of the present invention, it should be further noted that it is above-mentioned apart from adaptation module 232 and operation module 233 be maintained at by compression end on the same perpendicular refers mainly to be maintained at same apart from adaptation module 232 and brush roll 2333 On one perpendicular, and upon compression so that upper scraping blade 2332 and lower scraping blade 2334 are just in close contact with metope 3, spray Spilling first 2331 can still maintain a certain distance with metope 3, can effectively spray cleaning solution.
Compared with prior art, the equipment of the embodiment of the present invention includes：Mobile job platform and metope apparatus for work；Metope Apparatus for work is used under the drive of mobile job platform the all-around mobile on metope, and at default anchor point to metope into Row operation；Mobile job platform moves between being used to drive multiple anchor points of the metope apparatus for work on metope, and reaches When each anchor point, itself is fixed between roof and ground by the drag rope being connect with roof and ground.Pass through The example scheme improves the stability and anti-interference ability of high-wall implement, improves the safety during operation.
It will appreciated by the skilled person that whole or certain steps in method disclosed hereinabove, system, dress Function module/unit in setting may be implemented as software, firmware, hardware and its combination appropriate.In hardware embodiment, Division between the function module/unit referred in the above description not necessarily corresponds to the division of physical assemblies；For example, one Physical assemblies can have multiple functions or a function or step that can be executed by several physical assemblies cooperations.Certain groups Part or all components may be implemented as by processor, such as the software that digital signal processor or microprocessor execute, or by It is embodied as hardware, or is implemented as integrated circuit, such as application-specific integrated circuit.Such software can be distributed in computer-readable On medium, computer-readable medium may include computer storage media (or non-transitory medium) and communication media (or temporarily Property medium).As known to a person of ordinary skill in the art, term computer storage medium is included in for storing information (such as Computer-readable instruction, data structure, program module or other data) any method or technique in the volatibility implemented and non- Volatibility, removable and nonremovable medium.Computer storage media include but not limited to RAM, ROM, EEPROM, flash memory or its His memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder, tape, disk storage or other Magnetic memory apparatus or any other medium that can be used for storing desired information and can be accessed by a computer.This Outside, known to a person of ordinary skill in the art to be, communication media generally comprises computer-readable instruction, data structure, program mould Other data in the modulated data signal of block or such as carrier wave or other transmission mechanisms etc, and may include any information Delivery media.

Claims (10)

1. a kind of high-wall implement, which is characterized in that the equipment includes：Mobile job platform and metope apparatus for work；
The metope apparatus for work is used under the drive of the mobile job platform all-around mobile on metope, and pre- It sets and operation is carried out to metope at site；
The mobile job platform is moved for driving between multiple anchor points of the metope apparatus for work on the metope It is dynamic, and when reaching each anchor point, the roof itself will be fixed on by the drag rope being connect with roof and ground Between ground.
2. high-wall implement according to claim 1, which is characterized in that the mobile job platform includes：Platform sheet Body and platform draft gear；Wherein, the platform draft gear includes：The drag rope；
The platform body drives the metope apparatus for work for fixing the metope apparatus for work, and by itself movement It is moved on metope, realizes the operation to the metope；
The platform draft gear, for keeping the platform body fixed on the metope by the traction of the drag rope Position, and when the metope apparatus for work carries out operation for the current metope after positioning, the platform body is made to be fixed on room Between top and ground；It is additionally operable to after determining that the metope apparatus for work is completed to the Job Operations of the current metope, calculates The platform body is moved to the folding and unfolding length of the drag rope during preset next anchor point from current anchor point, And the folding and unfolding of the drag rope is controlled according to the calculated folding and unfolding length so that the platform body be moved to it is described under On one anchor point.
3. high-wall implement according to claim 2, which is characterized in that the high-wall implement further includes being set to The counter weight device on roof；The drag rope includes：Multiple first ropes and multiple second ropes；
First rope consolidates one end of the platform body for connecting the platform body and the counter weight device Due to the positioning on roof, and for realizing the platform body on the metope；
The other end of the platform body is fixed on ground by second rope for connecting the platform body and ground On face, the fixation to the platform body is realized.
4. high-wall implement according to claim 2, which is characterized in that the platform draft gear further includes：First Control device；
The first control device is moved to next positioning for calculating the platform body from the current anchor point The folding and unfolding length of drag rope described in point process, and according to the receipts of drag rope described in the calculated folding and unfolding length computation Speed is put, the drag rope is controlled and folding and unfolding is carried out with the folding and unfolding speed and the folding and unfolding length.
5. high-wall implement according to claim 2, which is characterized in that the mobile job platform further includes：Platform Attitude-control device；
The platform stance control device, for after the platform body is positioned in the air by the drag rope, working as institute It states when the posture of platform body changes and the posture of the platform body is adjusted.
6. high-wall implement according to claim 1, which is characterized in that the metope apparatus for work includes control unit And the swing unit and operation unit being connected respectively with described control unit；
Described control unit, for controlling the swing unit and the operation unit；
The swing unit is connected between the mobile job platform and the operation unit, in described control unit Control under drive operation unit all-around mobile on metope, and the operation unit is made to be adapted with the metope；
The operation unit, for carrying out metope operation and being fitted to the distance between the operation unit and the metope Match.
7. high-wall implement according to claim 6, which is characterized in that the swing unit includes：Swing rod and driving Device；
The driving device is set on the mobile job platform, and is connected with the second end of the swing rod, the swing rod First end is connected with the operation unit；
The driving device drives the operation unit on the metope for driving the swing rod to move, and by the swing rod It is mobile；
The driving device is connected with described control unit, for driving the swing rod to move under the control of described control unit It is dynamic.
8. high-wall implement according to claim 6, which is characterized in that the swing unit further includes：Turn round module； The revolution module is set to the position on the swing unit close to the operation unit, for the rotation by own institutions Make the operation unit that there is comprehensive adjustable function under the support of the swing unit, so that the operation unit can It is adapted with metope.
9. high-wall implement according to claim 6, which is characterized in that the operation unit includes：With the control Unit be connected apart from detection module；
It is described apart from detection module, for detecting the operation unit at a distance from the metope；
Described control unit is additionally operable to when the distance value detected reaches preset first distance threshold, described in control The movement velocity of swing unit so that the operation unit with preset safe speed close to the metope.
10. high-wall implement according to claim 6, which is characterized in that the operation unit includes：Respectively with it is described Control unit be connected apart from adaptation module and operation module；
It is described to be used for after the metope described in self-contact apart from adaptation module, continue close to the wall in the operation unit The compression distance of itself is detected during face；
Described control unit is additionally operable to when the compression distance detected reaches preset second distance threshold value, controls institute It states operation unit to stop close to the metope, and controls the operation module and start metope work operations；
Wherein, it is described apart from adaptation module by before compressing between the metope at a distance from be equal to the operation module in quilt The distance between with the metope before compression, and described the operation module is equal to by compression distance apart from adaptation module By compression distance.
CN201810443844.1A 2018-05-10 2018-05-10 High wall operation equipment Expired - Fee Related CN108661303B (en)

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CN109363569A (en) * 2018-12-17 2019-02-22 深圳截明电子科技有限公司 Automatic cleaner for wall surface
CN109537923A (en) * 2019-01-15 2019-03-29 北京史河科技有限公司 Apparatus for work
CN110173124A (en) * 2019-05-24 2019-08-27 北京史河科技有限公司 Apparatus for work
CN110201846A (en) * 2019-07-04 2019-09-06 十堰科威机电装备股份有限公司 A kind of tire assembly pastes self-lubricate machine
CN115008280A (en) * 2022-04-15 2022-09-06 浙江东核电力设备工程有限公司 Outer wall surface polishing tool for cement painting of nuclear power plant
CN117449575A (en) * 2023-12-21 2024-01-26 山西一建集团有限公司 Hanging basket for constructional engineering
CN110201846B (en) * 2019-07-04 2024-05-03 湖北科威机电装备股份有限公司 Automatic lubrication machine for tire assembly paste

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CN107724662A (en) * 2017-08-25 2018-02-23 上海霄卓机器人有限公司 Work high above the ground robot and its application method
CN107829555A (en) * 2017-10-14 2018-03-23 长沙万工机器人科技有限公司 A kind of Intelligent outer wall nacelle construction robot system

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CN104790645A (en) * 2015-03-26 2015-07-22 安徽省东润物业管理有限公司 Self-balancing basket
CN205637541U (en) * 2016-05-29 2016-10-12 林华铨 Balanced automatic hanging flower basket
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Publication number Priority date Publication date Assignee Title
CN109363569A (en) * 2018-12-17 2019-02-22 深圳截明电子科技有限公司 Automatic cleaner for wall surface
CN109537923A (en) * 2019-01-15 2019-03-29 北京史河科技有限公司 Apparatus for work
CN110173124A (en) * 2019-05-24 2019-08-27 北京史河科技有限公司 Apparatus for work
CN110201846A (en) * 2019-07-04 2019-09-06 十堰科威机电装备股份有限公司 A kind of tire assembly pastes self-lubricate machine
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CN115008280A (en) * 2022-04-15 2022-09-06 浙江东核电力设备工程有限公司 Outer wall surface polishing tool for cement painting of nuclear power plant
CN115008280B (en) * 2022-04-15 2023-09-22 浙江东核电力设备工程有限公司 Outer wall surface polishing tool for cement painting of nuclear power plant
CN117449575A (en) * 2023-12-21 2024-01-26 山西一建集团有限公司 Hanging basket for constructional engineering
CN117449575B (en) * 2023-12-21 2024-03-19 山西一建集团有限公司 Hanging basket for constructional engineering

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