CN108724165A - A kind of cable constrained robot - Google Patents
A kind of cable constrained robot Download PDFInfo
- Publication number
- CN108724165A CN108724165A CN201810646202.1A CN201810646202A CN108724165A CN 108724165 A CN108724165 A CN 108724165A CN 201810646202 A CN201810646202 A CN 201810646202A CN 108724165 A CN108724165 A CN 108724165A
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- China
- Prior art keywords
- module
- cable
- vacuum cup
- sliding block
- cylinder
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of cable constrained robot, includes the double modular structures being made of the first module and the second module.Each module of double modular structures includes small cylinder, vacuum cup, guide rod, sliding block, holder and big cylinder.In the first module, when small cylinder operation, vacuum cup is put down to be adsorbed in wall surface, pushes sliding block to move on the guide bar by big cylinder again later；Simultaneously; in the second module; big cylinder contraction makes the second module travel forward; after the big cylinder moving of two modules; the small cylinder of second module starts to act; the vacuum cup of second module adsorbs and the vacuum cup of the first module lifts, by above-mentioned circulate operation, to be protected to the posture of robot.Compared with the prior art, the application constrains cable by installing this system on the external cable of working at height robot, makes cable that the possibility that it has an impact be greatly reduced, and enhances working efficiency, reduces construction risk.
Description
Technical field
The present invention relates to technical field of automation more particularly to a kind of cable constrained robots.
Background technology
In the prior art, with the raising of Building technology, skyscraper often uses entire glass curtain for beauty
Wall gradually substitutes traditional exterior wall.At the same time, in order to keep the cleaning of building curtain wall, periodic cleaning essential.
The cleaning equipment for being presently used for cleaning curtain wall is mostly constructed with being fixed on the pulled by cable of attic, in distance
The construction point of rope fixing points farther out, cleaning equipment are easy to generate shaking, cause deviation position, it is difficult to posture is remained operational,
Even also have the danger for colliding and falling.It is easily protected or lead for the equipment for carrying out glass curtain wall operation by rope
Messenger cable changes the problems such as operation posture under the influence of external environment, on the basis of not influencing cleaning equipment construction operation, such as
A kind of what effective cleaning robot of research and development is the relevant technologies in the industry to overcome drawbacks described above or deficiency in the prior art
Personnel need the project solved.
Invention content
For the drawbacks described above of the prior art, the present invention provides a kind of easy to operate, flexible operation and adaptability it is stronger
Cable constrained robot.
One side according to the present invention provides a kind of cable constrained robot, including by the first module and the second mould
Double modular structures that group is constituted, and bearing is arranged at respective sliding block and realizes that mutually rotation is simultaneously for the first module and the second module
It is bolted with axis pin, wherein each module of double modular structures includes small cylinder, vacuum cup, guide rod, sliding block, holder
With big cylinder,
In the first module, when small cylinder operation, vacuum cup is put down to be adsorbed in wall surface, later again by big cylinder
Sliding block is pushed to move on the guide bar；Meanwhile in the second module, big cylinder contraction makes the second module travel forward, when first
After module and the respective big cylinder moving of the second module, the small cylinder of the second module starts to act, the vacuum of the second module
Sucker falls on wall surface and adsorbs, and the vacuum cup of the first module is lifted from wall surface, by the above-mentioned of the first module and the second module
Circulate operation, to which posture when carrying out high-altitude cleaning operation to the cable constrained robot is protected.
In a specific embodiment, the cable of the cable constrained robot is arranged in the sliding block of first module.
In a specific embodiment, each module further includes fore-stock and after-poppet, and the fore-stock and the after-poppet connect
It connects double guide rods and constitutes a frame structure, wherein the small cylinder is fixed on the fore-stock, and the piston rod of the small cylinder is logical
It crosses steel cable to connect with each vacuum cup, ensures the synchronism of each vacuum cup action.
In a specific embodiment, the big cylinder is fixed on the after-poppet, piston rod and the sliding block phase of the big cylinder
Even, it is used as the power source of the cable constrained robot.
It is equipped with copper sheathing in the outside of a specific embodiment, the guide rod, and the sliding block is along the outer wall of the copper sheathing
Sliding.
In a specific embodiment, the vacuum cup further includes buffering strut, is connected to force snesor and is fixed on described
Holder, for monitoring whether the vacuum cup has precompressed to absorption wall surface.
Cable constrained robot using the present invention comprising the bimodulus group knot being made of the first module and the second module
Structure, and bearing is arranged at respective sliding block and realizes mutually rotation and is bolted with axis pin, bimodulus for the first module and the second module
Each module of group structure includes small cylinder, vacuum cup, guide rod, sliding block, holder and big cylinder.In the first module, when
When small cylinder operation, vacuum cup is put down to be adsorbed in wall surface, pushes sliding block to move on the guide bar by big cylinder again later；
Meanwhile in the second module, big cylinder contraction makes the second module travel forward, when the first module and the respective air of the second module
After cylinder moves, the small cylinder of the second module starts to act, and the vacuum cup of the second module falls on wall surface and adsorbs, the first mould
The vacuum cup of group is lifted from wall surface, by the above-mentioned circulate operation of the first module and the second module, to robot high-altitude
Posture when washing and cleaning operation is protected.Compared with the prior art, the application passes through the external cable in working at height robot
Upper this system of installation constrains cable, makes cable that the possibility that it has an impact be greatly reduced, to enhance working at height
Machine task efficiency reduces the danger of construction.
Description of the drawings
Reader is after the specific implementation mode for having read the present invention with reference to attached drawing, it will more clearly understands the present invention's
Various aspects.Wherein,
Fig. 1 shows the overall architecture schematic diagram of the cable constrained robot of the application；
Fig. 2 shows the structural schematic diagrams of the single module of double modular structures in the cable constrained robot of Fig. 1；And
Fig. 3 shows that two single modules of Fig. 2 are connected to each other and constitutes the status diagram of double modular structures.
Numeral mark：
1 first module
2 second modules
3 bearings
4 axis pins
The small cylinders of 1-1
1-2 vacuum cups
1-3 guide rods
1-4 sliding blocks
1-5 copper sheathings
1-6 holders
The big cylinders of 1-7
Specific implementation mode
In order to keep techniques disclosed in this application content more detailed with it is complete, can refer to attached drawing and the present invention it is following
Various specific embodiments, identical label represents same or analogous component in attached drawing.However, those skilled in the art
It should be appreciated that embodiment provided hereinafter is not to be used for limiting the range that the present invention is covered.In addition, attached drawing is used only for
It is schematically illustrated, and is drawn not according to its full size.
With reference to the accompanying drawings, the specific implementation mode of various aspects of the present invention is described in further detail.
Fig. 1 shows the overall architecture schematic diagram of the cable constrained robot of the application.Fig. 2 shows the cables of Fig. 1 to constrain machine
The structural schematic diagram of the single module of double modular structures in device people.Fig. 3 shows that two single modules of Fig. 2 are connected to each other composition
Status diagram Fig. 1 of double modular structures shows the overall architecture schematic diagram of the present invention.
Referring to Fig.1~Fig. 3, in this embodiment, cable constrained robot include by 2 structure of the first module 1 and the second module
At double modular structures, and the first module 1 and the second module 2 be arranged at respective sliding block bearing 3 realize mutually rotation simultaneously
It is bolted with axis pin 4.Wherein, each module of double modular structures includes small cylinder 1-1, vacuum cup 1-2, guide rod 1-3, sliding block
1-4, holder 1-6 and big cylinder 1-7.
Cable constrained robot is in start, first, in the first module 1, when small cylinder 1-1 works, puts down true
Suction disk 1-2 pushes sliding block 1-4 to be moved on guide rod 1-3 by big cylinder 1-7 again later to be adsorbed in wall surface.Preferably,
The cable of cable constrained robot is arranged in the sliding block 1-4 of the first module 1.Meanwhile in the second module 2, big cylinder contraction makes
Second module 2 travels forward, after 2 respective big cylinder moving of the first module 1 and the second module, the second module 2 it is small
Cylinder starts to act, and the vacuum cup of the second module 2 falls on wall surface and adsorbs, and the vacuum cup of the first module 1 is lifted from wall surface,
By the above-mentioned circulate operation of the first module and the second module, when to cable constrained robot progress high-altitude cleaning operation
Posture is protected.Thus, through the flexible connection between two modules, the track adapted in working at height robot operational process becomes
Change or external environment changes the influence for bringing cable, enhances itself absorption and guidance capability.
In a specific embodiment, each module further includes fore-stock and after-poppet.Fore-stock connects double guiding with after-poppet
Bar constitutes a frame structure.Wherein, small cylinder 1-1 is fixed on fore-stock, the piston rod of small cylinder 1-1 by steel cable with it is each true
The 1-2 series connection of suction disk ensures the synchronism of each vacuum cup action.Big cylinder 1-7 is fixed on after-poppet, big cylinder 1-7's
Piston rod is connected with sliding block 1-4, is used as the power source of cable constrained robot.
In one embodiment, the outside of guide rod 1-3 is equipped with copper sheathing 1-5, and sliding block 1-4 is along the outer of copper sheathing 1-5
Wall slides.
In addition, vacuum cup 1-2 may also include buffering strut, it is connected to force snesor and is fixed on holder 1-6, for supervising
Survey whether vacuum cup 1-2 has precompressed to absorption wall surface.For example, the buffering strut of vacuum cup 1-2 be connected to force snesor it
Afterwards, it then is fixed on holder 1-6.When small cylinder 1-1 works, vacuum cup 1-2 is put down, it is made to be attached on wall surface, such as
Fruit force snesor feedback has generated precompression, then vacuum pump work so that be adsorbed in wall surface securely by vacuum cup.
Cable constrained robot using the present invention comprising the bimodulus group knot being made of the first module and the second module
Structure, and bearing is arranged at respective sliding block and realizes mutually rotation and is bolted with axis pin, bimodulus for the first module and the second module
Each module of group structure includes small cylinder, vacuum cup, guide rod, sliding block, holder and big cylinder.In the first module, when
When small cylinder operation, vacuum cup is put down to be adsorbed in wall surface, pushes sliding block to move on the guide bar by big cylinder again later；
Meanwhile in the second module, big cylinder contraction makes the second module travel forward, when the first module and the respective air of the second module
After cylinder moves, the small cylinder of the second module starts to act, and the vacuum cup of the second module falls on wall surface and adsorbs, the first mould
The vacuum cup of group is lifted from wall surface, by the above-mentioned circulate operation of the first module and the second module, to robot high-altitude
Posture when washing and cleaning operation is protected.Compared with the prior art, the application passes through the external cable in working at height robot
Upper this system of installation constrains cable, makes cable that the possibility that it has an impact be greatly reduced, to enhance working at height
Machine task efficiency reduces the danger of construction.
Above, the specific implementation mode of the present invention is described with reference to the accompanying drawings.But those skilled in the art
It is understood that without departing from the spirit and scope of the present invention, can also make to the specific implementation mode of the present invention each
Kind change and replacement.These changes and replacement are all fallen in claims of the present invention limited range.
Claims (6)
1. a kind of cable constrained robot, which is characterized in that the cable constrained robot includes by the first module and the second mould
Double modular structures that group is constituted, and bearing is arranged at respective sliding block and realizes that mutually rotation is simultaneously for the first module and the second module
It is bolted with axis pin, wherein each module of double modular structures includes small cylinder, vacuum cup, guide rod, sliding block, holder
With big cylinder,
In the first module, when small cylinder operation, vacuum cup is put down to be adsorbed in wall surface, is pushed again by big cylinder later
Sliding block moves on the guide bar；Meanwhile in the second module, big cylinder contraction makes the second module travel forward, when the first module
After the respective big cylinder moving of the second module, the small cylinder of the second module starts to act, the vacuum cup of the second module
It falls on wall surface and adsorbs, the vacuum cup of the first module is lifted from wall surface, by the above-mentioned cycle of the first module and the second module
Operation, to which posture when carrying out high-altitude cleaning operation to the cable constrained robot is protected.
2. cable constrained robot according to claim 1, which is characterized in that the cable of the cable constrained robot is worn
Set on the sliding block of first module.
3. cable constrained robot according to claim 1, which is characterized in that each module further includes fore-stock and rear branch
Frame, the fore-stock and the after-poppet connect double guide rods and constitute a frame structure, wherein the small cylinder is fixed on described
The piston rod of fore-stock, the small cylinder is connected by steel cable with each vacuum cup, ensures the same of each vacuum cup action
Step property.
4. cable constrained robot according to claim 3, which is characterized in that the big cylinder is fixed on the rear branch
The piston rod of frame, the big cylinder is connected with sliding block, is used as the power source of the cable constrained robot.
5. cable constrained robot according to claim 1, which is characterized in that the outside of the guide rod is equipped with copper sheathing,
And the sliding block is slided along the outer wall of the copper sheathing.
6. cable constrained robot according to claim 1, which is characterized in that the vacuum cup further includes buffering branch
Bar is connected to force snesor and is fixed on the holder, for monitoring whether the vacuum cup has precompressed to absorption wall surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810646202.1A CN108724165B (en) | 2018-06-21 | 2018-06-21 | Rope constraint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810646202.1A CN108724165B (en) | 2018-06-21 | 2018-06-21 | Rope constraint robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108724165A true CN108724165A (en) | 2018-11-02 |
| CN108724165B CN108724165B (en) | 2022-04-19 |
Family
ID=63930295
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810646202.1A Active CN108724165B (en) | 2018-06-21 | 2018-06-21 | Rope constraint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108724165B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256953A (en) * | 1995-03-22 | 1996-10-08 | Ohbayashi Corp | Outer wall cleaning robot |
| EP0870461A1 (en) * | 1997-04-11 | 1998-10-14 | Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. | Drive system to move a robot or vehicle on flat, sloping or curved surfaces, in particular on a glass structure |
| CN101822512A (en) * | 2010-04-06 | 2010-09-08 | 昆山市工业技术研究院有限责任公司 | Mobile mechanism of high-rise building wall surface cleaning robot |
| CN203255280U (en) * | 2013-04-25 | 2013-10-30 | 浙江农林大学 | Wall-climbing robot with multiple sucking discs |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN107553148A (en) * | 2017-10-11 | 2018-01-09 | 温州职业技术学院 | The mobile intelligent flexible manufacturing production line of multirobot collaboration |
| CN107617878A (en) * | 2017-10-11 | 2018-01-23 | 温州职业技术学院 | Industrial robot aids in smart mobile phone assembly system |
| CN107717442A (en) * | 2017-10-11 | 2018-02-23 | 温州职业技术学院 | The multirobot work compound streamline of machine vision auxiliary |
| CN107825132A (en) * | 2017-10-11 | 2018-03-23 | 温州职业技术学院 | Robot streamline for the intelligent production of electronic product |
-
2018
- 2018-06-21 CN CN201810646202.1A patent/CN108724165B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08256953A (en) * | 1995-03-22 | 1996-10-08 | Ohbayashi Corp | Outer wall cleaning robot |
| EP0870461A1 (en) * | 1997-04-11 | 1998-10-14 | Fraunhofer-Gesellschaft Zur Förderung Der Angewandten Forschung E.V. | Drive system to move a robot or vehicle on flat, sloping or curved surfaces, in particular on a glass structure |
| CN101822512A (en) * | 2010-04-06 | 2010-09-08 | 昆山市工业技术研究院有限责任公司 | Mobile mechanism of high-rise building wall surface cleaning robot |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN203255280U (en) * | 2013-04-25 | 2013-10-30 | 浙江农林大学 | Wall-climbing robot with multiple sucking discs |
| CN107553148A (en) * | 2017-10-11 | 2018-01-09 | 温州职业技术学院 | The mobile intelligent flexible manufacturing production line of multirobot collaboration |
| CN107617878A (en) * | 2017-10-11 | 2018-01-23 | 温州职业技术学院 | Industrial robot aids in smart mobile phone assembly system |
| CN107717442A (en) * | 2017-10-11 | 2018-02-23 | 温州职业技术学院 | The multirobot work compound streamline of machine vision auxiliary |
| CN107825132A (en) * | 2017-10-11 | 2018-03-23 | 温州职业技术学院 | Robot streamline for the intelligent production of electronic product |
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| Publication number | Publication date |
|---|---|
| CN108724165B (en) | 2022-04-19 |
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