CN108995729A - A kind of absorption running gear suitable for moist high-altitude curtain wall - Google Patents
A kind of absorption running gear suitable for moist high-altitude curtain wall Download PDFInfo
- Publication number
- CN108995729A CN108995729A CN201711182473.8A CN201711182473A CN108995729A CN 108995729 A CN108995729 A CN 108995729A CN 201711182473 A CN201711182473 A CN 201711182473A CN 108995729 A CN108995729 A CN 108995729A
- Authority
- CN
- China
- Prior art keywords
- main frame
- frame plate
- curtain wall
- running gear
- foam sponge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010521 absorption reaction Methods 0.000 title claims abstract description 18
- 239000011521 glass Substances 0.000 claims abstract description 31
- 239000006260 foam Substances 0.000 claims abstract description 18
- 230000002745 absorbent Effects 0.000 claims abstract description 9
- 239000002250 absorbent Substances 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 9
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 229920002943 EPDM rubber Polymers 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 239000004411 aluminium Substances 0.000 claims description 3
- 229920003225 polyurethane elastomer Polymers 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 8
- 206010037660 Pyrexia Diseases 0.000 abstract description 3
- 238000005119 centrifugation Methods 0.000 abstract description 3
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000004458 analytical method Methods 0.000 description 6
- 238000005253 cladding Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Load-Bearing And Curtain Walls (AREA)
Abstract
The present invention provides a kind of absorption running gear suitable for moist high-altitude curtain wall, including main frame plate, and the absorbent module being mounted in main frame plate, walk component and control assembly；Absorbent module includes the high-power centrifugal pump being fixedly connected by fixed plate with main frame plate, and the foam sponge being fixed on the inside of main frame plate, foam sponge and glass curtain wall seal to form negative pressure cavity；Walking component includes four Athey wheels for being mounted on main frame plate two sides and the power device for driving Athey wheel；The power device and centrifugal pump of control assembly and driving Athey wheel communicate to connect, and structure is simple, and securely and reliably, maintenance cost is low, and work limit condition is few, will not impact to effect of adsorbing and walk.And by the adjusting to centrifugation revolution speed, the vacuum degree that can be walked in adjusting negative pressure region according to plane of travel roughness and upwardly or downwardly so that negative pressure had not only been able to satisfy the needs in vertical walls walking, but also can make energy consumption and fever stable in floor level.
Description
Technical field
The present invention relates to the absorption of glass curtain wall walking fields, moisten and more particularly to smooth with gully curtain wall neck
Domain more particularly to a kind of absorption running gear suitable for moist high-altitude curtain wall.
Background technique
Cladding glass is the essential structure of modern architecture, is house lighting, ventilation and the lightweight with landscaping effect
Glass.
Cladding glass is easy to not only influence indoor lighting, more in one layer of dust of adsorption in use for some time
The aesthetic effect for influencing high building, so needing periodic cleaning.It is artificial clear but due to glass curtain wall light weight, and on high building
It washes needs to hang down working rope and safety rope and wash bowl from roof, such method not only inefficiency, but also is easy to send out
It is raw dangerous, and work limit condition is relatively more.
In production and life, many building structure are in order to pursue aesthetic rather than use simple vertical structure,
Some is designed to inclined, and some is designed to curved surface, and glass is reached when worker being caused to clean, and chooses greatly very much to work belt
War.
Common Climbing Robot is all skidded under the curtain wall for having water, and working efficiency is influenced.
Traditional artificial wiping window scheme reliability is not high, is influenced by extraneous factor bigger, needs to design a kind of new knot
Structure.
Summary of the invention
The present invention provides a kind of absorption running gears suitable for moist high-altitude curtain wall, especially when glass curtain wall surface
Absorption walking effect is good when moist, and is suitable for groove curtain wall of the length and width no more than 5mm and walks.Apparatus of the present invention structure is simple,
Securely and reliably, maintenance cost is low, and work limit condition is few, will not be right when walkway surface raised or pit below there are 1cm
Absorption and walking effect impact.And by centrifugation revolution speed adjusting, can according to plane of travel roughness and upwards
Or walking adjusts the vacuum degree in negative pressure region downwards, so that negative pressure had not only been able to satisfy the needs walked in vertical walls, but also energy
So that energy consumption and fever are stablized in floor level.
In order to solve the above technical problems, the embodiment of the present application provides a kind of absorption walking suitable for moist high-altitude curtain wall
Device, including main frame plate, and the absorbent module being mounted in main frame plate, walk component and control assembly；
The absorbent module includes the high-power centrifugal pump being fixedly connected by fixed plate with main frame plate, is fixed on body frame
Foam sponge on the inside of plate, foam sponge and glass curtain wall seal to form negative pressure cavity；
The walking component includes the power dress for being mounted on four Athey wheels of main frame plate two sides and driving Athey wheel
It sets；
The power device and centrifugal pump of the control assembly and driving Athey wheel communicate to connect.
As a preferred technical solution of the invention, the foam sponge is fixed on body frame after forming by pressing mold
The inside of plate, and its cross sectional shape be rectangle, thickness thick 2-3mm at a distance from glass contact face to main frame plate than Athey wheel,
Foam sponge posts one layer of pvc coating.
As a preferred technical solution of the invention, the centrifugal pump passes through hole and negative pressure cavity above main frame plate
It communicates.
As a preferred technical solution of the invention, the material of the main frame plate is aluminium.
As a preferred technical solution of the invention, the material of the foam sponge is ethylene propylene diene rubber.
As a preferred technical solution of the invention, the crawler belt material of the Athey wheel is polyurethane rubber.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
Especially when glass curtain wall surface moisture, absorption walking effect is good, and is suitable for the groove that length and width are no more than 5mm
Curtain wall walking.Apparatus of the present invention structure is simple, and securely and reliably, maintenance cost is low, and work limit condition is few, when walkway surface exists
When 1cm protrusion below or pit, effect of adsorbing and walk will not be impacted.And by centrifugation revolution speed adjusting,
The vacuum degree that can be walked in adjusting negative pressure region according to plane of travel roughness and upwardly or downwardly, so that negative pressure can expire
The needs that foot is walked in vertical walls, and energy consumption and fever can be made to stablize in floor level.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the cross-sectional view of Fig. 1 of the present invention.
In figure, 1, centrifugal pump, 2, main frame plate, 3, pvc coating, 4, foam sponge, 5, Athey wheel, 6, fixed plate, 7,
Negative pressure cavity.
Specific embodiment
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
As Figure 1-Figure 2, a kind of absorption running gear suitable for moist high-altitude curtain wall described in the present embodiment, including
Main frame plate 2, and the absorbent module being mounted in main frame plate 2, walk component and control assembly；
The absorbent module includes the high-power centrifugal pump 1 being fixedly connected by fixed plate 6 with main frame plate 2, is fixed on
The foam sponge 4 of 2 inside of main frame plate, foam sponge 4 and glass curtain wall seal to form negative pressure cavity 7；
The walking component includes four Athey wheels 5 for being mounted on 2 two sides of main frame plate and the power for driving Athey wheel 5
Device；
The power device and centrifugal pump 1 of the control assembly and driving Athey wheel 5 communicate to connect.
Wherein, in the present embodiment, the foam sponge 4 is fixed on the inside of main frame plate 2 after forming by pressing mold, and
Its cross sectional shape is rectangle, the thickness thick 2-3mm at a distance from glass contact face to main frame plate 2, foam sponge 4 than Athey wheel 2
Post one layer of pvc coating 3.
Wherein, in the present embodiment, the centrifugal pump 1 is communicated by the hole above main frame plate 2 with negative pressure cavity 7.
Wherein, in the present embodiment, the material of the main frame plate 2 is aluminium.
Wherein, in the present embodiment, the material of the foam sponge 4 is ethylene propylene diene rubber.
Wherein, in the present embodiment, the crawler belt material of the Athey wheel 5 is polyurethane rubber.
Mechanism is analyzed vertically when static:
Machine own wt G, upward frictional force f0 of the glass to machine；By the second mechanics law of newton, it is known that this two power
It is equal in magnitude, it is contrary.
To mechanism horizontal analysis when static:
Due to negative pressure, atmosphere the pressure F0 to machine, holding power N0 of the glass to machine.By Newton's second law, it is known that
This two power is equal in magnitude, contrary.
Force analysis on the critical point vertical direction that will be moved upwards to machine:
Machine self gravity G (direction is downward), maximum static friction force f1 (direction is downward), the glass friction upward to wheel
Power F2 (direction is upward).
Force analysis in the critical point horizontal direction that will be moved upwards to machine:
Due to negative pressure, atmosphere the pressure F3 to machine, holding power N2 of the glass to machine.
The mechanical condition that machine can move upwards:
F2 > G+f1；
F2=μ 0*N2；
F1=μ 1*N2；
Therefore the condition that machine can be obtained can rise is 0 > G/N2+ μ 1 of μ.
In the present solution, μ 0 between 0.7-0.8.μ 1 is 0 between 0.4-0.5.And the value of G/N2 is controllable, actually this
A value very little.
Force analysis on the critical point vertical direction that will be moved downward to machine:
Machine self gravity G (direction is downward), maximum static friction force f2 (direction is upward), the glass friction upward to wheel
Power F3 (direction is downward).
The critical point horizontal direction lower stress analysis that machine will be moved upwards:
Due to negative pressure, atmosphere the pressure F4 to machine, holding power N3 of the glass to machine.
The mechanical condition that machine can move downward:
F3+G>f2；
F3=μ 0*N3；
F1=μ 1*N3；
Therefore the condition that machine can be obtained can rise is μ 0+G/N2 >+μ 1.
In conjunction with machine two kinds of force analysis up and down, it can be deduced that F3 < F2, i.e. machine are dynamic required for moving downward
Power is more much smaller than the power that machine moves upwards, that is, the negative pressure that when machine moves down needs is with small, required centrifugal pump
Revolving speed it is lower, another characteristic of machine is can also to be increased while saving electric energy with the working condition of dynamic regulation centrifuge
The service life of the machine added.
In the present invention it should be noted that atmosphere is too small to the pressure F3, F3 of machine to will lead to machine from curtain wall surface cunning
It falls, it is therefore desirable to which powerful centrifugal pump, when F3 is reached a certain level, vacuum sponge will will receive compression and to carry out
The pressure on belt wheel and cladding glass surface increases, and the movement of machine thus may be implemented, at this time due to crawler belt and glass contact
So that vacuum sponge will not further compress, this is that F3 is intended in a numerical value.
The present invention needs to illustrate to require the thickness h of vacuum sponge, it first has to be greater than Athey wheel and glass contact face
To the distance d of supporting plate, but cannot cross more than Athey wheel and glass contact face to supporting plate distance 2mm, i.e. d < h < d+2.
Specific embodiment:
Remote control equipment and device are powered on first, after turning on the switch, remote control equipment issues action command to centrifugal pump
Absorbent module centrifugal pump 1 starts under control assembly control from 7 air-breathing of negative pressure cavity, by main frame plate 2 after performance of centrifugal pump is stablized
It is attached on glass, since the gas in negative pressure is taken away by vacuum pump, causes the air pressure of the inside lower than external atmosphere pressure.In atmospheric pressure
Under the action of, device can be adsorbed on glass.After sponge 4 to be foamed is compressed, remote control equipment is acted to crawler belt sending
Instruction can be simultaneously since vacuum sponge can play sealing function and prevent Athey wheel will not be by the very tight of atmospheric pressure
The movement of the absorption and crawler belt of realizing machine is, it can be achieved that move up and down and control turning.It needs to increase centrifugal pump when upwards
Power, the comparison that machine can be allowed to walk in this way is steady.When machine is walked in the case where curtain wall is moister, need by from
The phenomenon that power of heart pump is transferred to maximum, crawler belt can be overcome to skid in this way.When machine is walked downwards, due to the work of gravity
With centrifuge power being transferred to minimum.
When cleaning glass, first controls nozzle and start by spraying, to wait and start to put down scraping article extremely after having one layer of small water droplet on glass
Cladding glass face, while brush rolling being allowed to start to work, crawler belt rotation is then controlled, this completes the scavengers of glass curtain metope
Make.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Any simple modification, equivalent change and modification to the above embodiments, all of which are still within the scope of the technical scheme of the invention.
Claims (6)
1. a kind of absorption running gear suitable for moist high-altitude curtain wall, it is characterised in that: including main frame plate (2), and installation
Absorbent module on main frame plate (2), walk component and control assembly；
The absorbent module includes the high-power centrifugal pump (1) being fixedly connected by fixed plate (6) with main frame plate (2), fixed
Foam sponge (4) on the inside of main frame plate (2), foam sponge (4) and glass curtain wall seal to form negative pressure cavity (7)；
The walking component includes being mounted on four Athey wheels (5) of main frame plate (2) two sides and moving for driving Athey wheel (5)
Power device；
The power device and centrifugal pump (1) of the control assembly and driving Athey wheel (5) communicate to connect.
2. a kind of absorption running gear suitable for moist high-altitude curtain wall according to claim 1, which is characterized in that described
Foam sponge (4) formed by pressing mold after be fixed on the insides of main frame plate (2), and its cross sectional shape is rectangle, thickness ratio
Athey wheel (5) thickness 2-3mm at a distance from glass contact face to main frame plate (2), foam sponge (4) post one layer of pvc coating
(3)。
3. a kind of absorption running gear suitable for moist high-altitude curtain wall according to claim 1, which is characterized in that described
Centrifugal pump (1) communicated with negative pressure cavity (7) by the hole of main frame plate (2) above.
4. a kind of absorption running gear suitable for moist high-altitude curtain wall according to claim 1, which is characterized in that described
Main frame plate (2) material be aluminium.
5. a kind of absorption running gear suitable for moist high-altitude curtain wall according to claim 1, which is characterized in that described
Foam sponge (4) material be ethylene propylene diene rubber.
6. a kind of absorption running gear suitable for moist high-altitude curtain wall according to claim 1, which is characterized in that described
The crawler belt material of Athey wheel (5) be polyurethane rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182473.8A CN108995729A (en) | 2017-11-23 | 2017-11-23 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182473.8A CN108995729A (en) | 2017-11-23 | 2017-11-23 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108995729A true CN108995729A (en) | 2018-12-14 |
Family
ID=64573591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711182473.8A Pending CN108995729A (en) | 2017-11-23 | 2017-11-23 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
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| Country | Link |
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| CN (1) | CN108995729A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232739A (en) * | 2021-04-13 | 2021-08-10 | 沈阳工业大学 | Detection wall-climbing robot based on negative pressure adsorption |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074523A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Anti-tip suction cup and suction-type auto-moving apparatus using anti-tip suction cup |
| CN105212823A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工程大学 | A kind ofly follow movable glass clean robot based on negative-pressure adsorption |
| CN105747984A (en) * | 2016-03-14 | 2016-07-13 | 江苏美的清洁电器股份有限公司 | Window-wiping robot and control method thereof |
| CN207345969U (en) * | 2017-11-23 | 2018-05-11 | 北京黑蚁兄弟科技有限公司 | A kind of absorption running gear for being suitable for moist high-altitude curtain wall |
-
2017
- 2017-11-23 CN CN201711182473.8A patent/CN108995729A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015074523A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Anti-tip suction cup and suction-type auto-moving apparatus using anti-tip suction cup |
| CN105212823A (en) * | 2015-10-23 | 2016-01-06 | 哈尔滨工程大学 | A kind ofly follow movable glass clean robot based on negative-pressure adsorption |
| CN105747984A (en) * | 2016-03-14 | 2016-07-13 | 江苏美的清洁电器股份有限公司 | Window-wiping robot and control method thereof |
| CN207345969U (en) * | 2017-11-23 | 2018-05-11 | 北京黑蚁兄弟科技有限公司 | A kind of absorption running gear for being suitable for moist high-altitude curtain wall |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113232739A (en) * | 2021-04-13 | 2021-08-10 | 沈阳工业大学 | Detection wall-climbing robot based on negative pressure adsorption |
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Application publication date: 20181214 |