CN109018049A - A kind of wall surface walking device - Google Patents
A kind of wall surface walking device Download PDFInfo
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- CN109018049A CN109018049A CN201810652800.XA CN201810652800A CN109018049A CN 109018049 A CN109018049 A CN 109018049A CN 201810652800 A CN201810652800 A CN 201810652800A CN 109018049 A CN109018049 A CN 109018049A
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- metope
- vehicle
- walking machine
- walking
- moveable support
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- 239000000725 suspension Substances 0.000 claims abstract description 12
- 230000008859 change Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims description 18
- 230000004888 barrier function Effects 0.000 claims description 5
- 238000005406 washing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 claims 1
- 238000012806 monitoring device Methods 0.000 claims 1
- 238000012546 transfer Methods 0.000 abstract description 16
- 238000013461 design Methods 0.000 abstract description 14
- 238000004891 communication Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000013473 artificial intelligence Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000001154 acute effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000013065 commercial product Substances 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000002594 sorbent Substances 0.000 description 1
- 238000012800 visualization 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of wall surface walking device, there are eminence platform and vehicle with walking machine, vehicle with walking machine is by rope suspensions below eminence platform, the suspended portion length of eminence platform change rope, vehicle with walking machine is controlled to move up and down, for air propulsion device by pushing air that vehicle with walking machine is made to be pressed on metope, moveable support realizes that obstacle crossing function, moveable support can realize that the machine of walking is turned in metope by its corresponding transfer by large radius wheel or other abnormity designs.Cooperate Electric automatic control, communication and artificial intelligence technology, the full-automation of overall work may be implemented, visualizes, and remotely can check and operate.
Description
Technical field
The present invention relates to metope mechanically moving fields, more particularly, to a kind of metope mobile platform.
Background technique
Currently, modern city, there are many beautiful high building, but to carry out the metope operation outside high building, main as metope washing
Operating personnel is hung on into the mode in high-altitude into operation by the tools such as platform sling, hanging basket, such worker is dangerous, there is wound every year
Example is died, and is suspended from worker's operation in high-altitude, inefficiency, high labor cost.In addition, for building design drift
Bright, some high-altitude wall faces and level ground are simultaneously non-perpendicular, and in obtuse angle, acute angle, part at an acute angle therein is difficult by hanging basket
It reaches, is difficult to carry out outer wall operation, such as wash.Also not commercial product now, existing invention, patent, as application number
The steering can not be achieved in 201410671202.9, and application number 201320096470.3 is to be hovered by loop wheel machine, then consolidated by bracket
It is fixed, it cannot consolidate and be adsorbed in metope, although application number 201310135905.5 has sucker, there is sensor, oneself cannot be lifted
With put down sucker, it is mobile simply by loop wheel machine or motor, cannot work metope at an acute angle is tilted.Other are as application number
201210451244.2, application number 201210137133.4, application number 201120035363.0, ZL 200820155191.9 all
It is each has something to recommend him, but fail to that very good solution acute angle metope, high-altitude strong wind, exterior wall is uneven has barrier etc. real with exterior wall
Problem, and the patent of application number 201510345751.1 is to realize sucker group alternating sorbent and is by two branch far from metope
Frame itself metope vertical direction relative motion complete, such that crawling device metope walk when, whole device
One high and one low movement, thus the risk for increasing windage and falling due to gravity；Application number 201610904433.9 it is special
Benefit, have it is counter push away fan, there are 4 wheels to walk in metope, but its wheel cannot turn to, and limit the practicality；Application number
201611017939.4 patent, have it is counter push away fan, have 4 wheels, can turn to, but turn to for 2, an axis band wheel steerings,
Accordingly even when vehicle is motionless, in steering procedure, wheel is also easy to encounter window frame, and fan rotation causes cleaning vehicle bottom to generate
Instantaneous vacuum, vehicle bottom necessary in this way and glass are close to, and are difficult to keep during vehicle obstacle detouring；Application number
The patent of 201710683353.X, there is fan, there is a universal wheel, but its operating process are as follows: first passes through lifting rope first for machine and ten thousand
Metope is contacted to wheel, then pushes metope to for part is cleaned by blower, and have sealing strip, blower generates negative pressure, designs in this way
Structure is complicated；The patent of application number 201711470584.9, there is fan, has directive wheel, but cannot turn to, and has said that XYZ axis is automatic
Positioning function, surmount obstacles function, but does not all specifically describe.
Summary of the invention
The present invention is a kind of wall surface walking device, there is a traction element and vehicle with walking machine, and when work, traction element is located at eminence
(generally in roof or high-storey), vehicle with walking machine are realized below traction element by rope suspensions in metope work, tractive unit
Divide the suspension length (vehicle with walking machine cannot change) that can change rope, can control movement and position of the vehicle with walking machine in vertical direction；Or
Vehicle with walking machine itself can be by changing rope suspensions partial-length (traction element cannot change), to control vehicle with walking machine vertical direction
Movement and position；Further, traction element and vehicle with walking machine can change rope suspensions partial-length, to control vehicle with walking machine side vertically
To movement and position.Further, traction element can also control vehicle with walking machine in metope by changing the position of oneself horizontal direction
The horizontal movement of plane and position.Vehicle with walking machine has a moveable support and air propeller, when work, moveable support
Positioned at vehicle with walking machine, towards metope side；Air propeller is located at vehicle with walking machine, and air direction of propulsion is the direction far from metope,
When vehicle with walking machine is hung below traction element, because of the different shape of metope, vehicle with walking machine may not contact metope, Huo Zhejie
Metope is touched, but to metope insufficient pressure, under the action of high-rise natural wind, cannot stablize and be supported in metope admittedly, so, work
When, the air propulsion device on vehicle with walking machine pushes air far from metope direction to, and the reaction force by air pushes away air
Push metope into device, to push vehicle with walking machine to metope, vehicle with walking machine is supported in metope by moveable support, thus row
Function is walked in the direction stress balance perpendicular to metope, because the reaction force that air propulsion device generates is larger, so vehicle with walking machine
Metope can be stably fixed on, further, can Auto-Sensing vehicle with walking machine to the pressure of metope, and automatically control air propulsion device production
Raw thrust；The quantity of moveable support does not limit, and own form is unlimited, when vehicle with walking machine is pushed away by air propulsion device is counter,
And when being supported in wall, in all moveable supports, the contact point at least 3 with metope is (in following crawler belts, because carrying out
Belt shape is different, and same crawler belt may have multiple contact points), and not in same straight line, so that these points, which can be stablized, is supported in wall
Face, it is ensured that vehicle with walking machine does not roll in metope.Moveable support can be wheel or supports of other movements, then vehicle with walking machine can be with
In metope stabilized walking.Further, when moveable support is supported in metope movement, along its direction of motion, front end portion
Far from metope, one section of spacing is formed with metope, thus when moveable support movement, moveable support can be remote from this
Across the barrier for protruding metope, i.e. moveable support itself can clear the jumps spacing from metope part, such as
Large radius wheel, large radius wheel drive crawler belt or design as described above crawler belt (crawler belt metope walk, crawler belt and
Metope contact portion, direction of motion front end portion is far from metope), it can also be with the not separated top and the bottom of moveable support, such as
As the band-like contact metope of tank track, so that walking function be kept steadily to walk in metope；Then vehicle with walking machine is walked in metope
When, there can be big obstacle climbing ability (such as large radius wheel can roll through barrier, and crawler belt can clear the jumps).Into one
Step, when surmounting obstacles, its thrust is adjusted in air propulsion device, cooperates vehicle with walking machine obstacle detouring.Wheel or crawler belt can be from drives
Power, the self weight of cooperation vehicle with walking machine are walked with the resultant force of rope pull, can not also drive, pass through vehicle with walking machine self weight and rope pull
Resultant force moves.Further, if moveable support can under the control of respective diverter rotation direction, and each diverter energy
Coordinate to turn to, then vehicle with walking machine can realize steering；The turn-around design of vehicle with walking machine, such as the tire turn-around design of vehicle, vehicle with walking machine is such as
Same vehicle, moveable support can be common 4 wheel car such as automobile tire, turn-around design, and one group of wheel is without steering, separately
One group of wheel can independent steering, but this group of wheel cooperates, and realizes that vehicle with walking machine turns to；It can be common 3 wheel vehicle design, rear-wheel
Without steering, front-wheel steer realizes that vehicle with walking machine turns to；Further, can also the similar common 4 wheel car, in addition one
Group can also independent steering, and cooperate, realize vehicle with walking machine turn to；Can also be similar to the common 3 wheel vehicle, rear-wheel can also
Independent steering, and cooperate, realize that vehicle with walking machine turns to；Or can the similar common 3 wheel vehicle, front-wheel without steering,
Rear-wheel can independent steering, and cooperate, realize vehicle with walking machine turn to；Or moveable support is designed to crawler attachment,
It realizes and turns to as tank turn-around design；Further, the front and back wheel or crawler belt of above-mentioned 3 wheel vehicle, 4 wheel vehicles and tank, which can exchange, to be set
Meter.
It totally sees, for vehicle with walking machine through rope suspensions below traction element, the suspended portion that traction element changes rope is long
Degree, control vehicle with walking machine move up and down, and air propulsion device moves support dress by pushing air that vehicle with walking machine is made to be pressed on metope
It sets and obstacle crossing function is realized by large radius wheel or other abnormity designs, moveable support can be corresponding turn by its
Realize that the machine of walking is turned in metope to device.Further, the above Machine Design, cooperation automatic control, communication and artificial intelligence are based on
The full-automation of overall work may be implemented in technology, visualization, and remotely can check and operate, can by automatic control technology
It realizes the real-time Auto-Sensing of each motive position and motion control on traction element and vehicle with walking machine, is also manually operable control；It is logical
Crossing the communication technology may be implemented heat transfer agent, control command and the transmission for implementing monitoring video photography, and information can transmit to traction
Part, operator's operation monitor or mobile phone；By artificial intelligence technology, the shape, size, obstacle of metope may be implemented
The intelligent recognition of object and intelligent operation in metope.
Detailed description of the invention
Attached drawing is several implementation schematic diagrams of certain of the invention.
Fig. 1 is a kind of implementing device three-view diagram of vehicle with walking machine.
Fig. 2 to Fig. 4 is the three-dimensional figure of implementing device and the schematic diagram of its different conditions shown in Fig. 1.
Fig. 5 is another implementation schematic diagram of vehicle with walking machine.
Fig. 6 is another implementation schematic diagram of vehicle with walking machine.
Fig. 7 is a kind of implementing device three-view diagram of traction element.
Fig. 8 is a kind of implementation schematic diagram of traction element.
Fig. 9 is the other two implementation schematic diagram (each one kind in left and right) of moveable support.
Specific embodiment
The following are a kind of implementing devices in conjunction with attached drawing, and present invention is further described in detail.
In Fig. 1 to Fig. 9, comprising:
1. fuselage 1
2. air propeller 2
3. cable 3
4. traveling controller 4
5. rope interface 5
6. photographic device 6
7. moveable support 7
Moveable support 71 on 71.
72. lower moveable support 72
8. transfer 8
Transfer 81 on 81.
82. lower transfer 82
11. pulley 11
12. bracket 12
13. substrate 13
14. wheel 14
15. bracket support 15
16. crawler belt 16
17. circle crawler rack 17
18. crawler rack 18
In the various figures, moveable support 7 specific implementation case in be divided into upper moveable support 71 and under can
Mobile support device 72, transfer 8 divide for upper transfer 81 and lower transfer 82.
In each figure, vehicle with walking machine has an air propeller 2, and air propeller 2 pushes air far from metope when work, counter to be made
Firmly, which move vehicle with walking machine to metope, and (the upper removable support dress i.e. in actual implementation of moveable support 7
71 are set, lower moveable support 72), vehicle with walking machine is supported in metope, stablizes the horizontal direction perpendicular to metope；It is practical real
Shi Zhong further by installing pressure sensor (not drawing in figure) in vehicle with walking machine, can detect vehicle with walking machine to the pressure of metope
Power, according to the pressure, the size of the active force of adjustable air propeller 2 achievees the effect that control to metope pressure, into one
Step big wind condition at the metope according to suffered by vehicle with walking machine and the demand that surmounts obstacles, can the control of the intelligence pressure；There is example in figure
2 air propellers 2 actually use no quantity limitation, one or more.Air propeller 2 can for fan type,
Compressed air type or other air propulsion devices.
Cable 3 is used for the power supply and communication of vehicle with walking machine, transmits the signals such as various videos, image, sensing, order, communicates
It can complete by wireless communication (such as: wimax, wifi, rola, 4G and 5G communication mode and other public networks wireless communication)；
Some control devices and communication device, the work of control vehicle with walking machine and communication with the outside world are placed in traveling controller 4.
Rope interface 5 is at connection rope, and vehicle with walking machine is by the rope suspensions, and rope upper end connects traction element, into one
Step, rope interface 5 can also realize (being not drawn into figure) by the way that pulley etc. is mechanical, so as to change the suspended portion height of rope
Degree, come control vehicle with walking machine move up and down with its vertical height, traction element also can control rope suspensions partial-length, to control row
The machine of walking move up and down with its vertical height, traction element from metope move horizontally and position, to control vehicle with walking machine in wall
Face move horizontally and position.
Photographic device 6 is for shooting and monitor vehicle with walking machine and surrounding real time scene, for assisting control, or by with
It is checked in manually, image can be sent to traction element, mobile phone terminal or other monitoring clients, and installation site and angle do not have
Limitation, also there is no limit zero or more for quantity.
The installation of moveable support 7 and vehicle with walking machine, when vehicle with walking machine is pushed to metope by 2 reaction force of air propeller,
Vehicle with walking machine is supported in metope by moveable support 7, so that vehicle with walking machine is stablized in the horizontal direction perpendicular to metope, because removable
Movable support device 7 can be mobile relative to metope, and moving direction is parallel to metope, to realize that walking function is parallel to metope shifting
Dynamic, moving direction is controlled by its corresponding transfer 8；In specific implementation, multiple moveable supports 7 can be grouped, such as
In Fig. 2, it is divided into moveable support 71 and lower moveable support 72, upper moveable support 71 is 2 one group,
Lower moveable support 72 is 2 one group, and moveable support 7 can be designed to fixed-direction；Further, in every group
Moveable support 7 can be controlled holding by its corresponding transfer 8 and synchronize and turn, with the steering mechanism of automobile,
In actual implementation case, any one group of fixed-direction can be designed as, one group can turn to, if transfer 81 upper in Fig. 3 is kept straight on,
Lower transfer 82 is in steering state, and upper transfer 81 is in steering state in Fig. 4, and lower transfer 82 is kept straight on；Walking
Machine, which is also designed to transfer 81 and lower transfer 82, can turn to and (not indicate in figure)；Be also designed to two groups it is equal
It can turn to；Further, in implementation process, every group of moveable support 7 can be one or more group, such as Fig. 5, figure
6, it is not drawn into the figure greater than 2；The number of moveable support 7 is unlimited, in work, all removable support dresses of vehicle with walking machine
Setting the supporting point that 7 are supported in metope can determine that a plane, that is, have at least three difference supporting point, and 3 supporting points are not same
One straight line.
Pulley 11 is pulley, and the rope for hanging vehicle with walking machine is connected by the pulley, thus it is possible to vary the height of suspension cord.
Bracket 12 is a bracket of traction element, and pulley 11 is enabled to stretch out the substrate 13 of traction element and hang row
Walk machine.
Wheel 14 is the wheel of traction element, keeps traction element mobile in horizontal plane, and wheel 14 has the half of certain length
Diameter can roll across the barrier of protrusion metope；Further, wheel 14 can help its rolling with dynamic device.
Crawler belt 16 is a part of moveable support 7, and crawler belt 16 can justify crawler rack 17 along the line of crawler belt 16 relatively
Road transport is dynamic, and the outside-supporting of crawler belt 16 realizes that moveable support 7 is mobile in metope, transfer 8 can control in metope
Its direction moved.The crawler belt lower part contact metope movement of circle crawler rack 17, and 7 direction of motion of moveable support
Front carrier can be higher than its metope for being contacted, moveable support 7 is surmounted obstacles, the design of other crawler belts accords with
This feature is closed, obstacle crossing function may be implemented, in Fig. 9, the corresponding crawler belt 16 of crawler rack 18 be will not enumerate；Further,
Crawler belt can dynamic device help its movement.
Vehicle with walking machine and traction element are respectively independent design, and the traction element is a kind of embodiment, specific implementation
In can also have other traction element schemes, design does not influence the patent point demand of vehicle with walking machine.
The present invention is described by above-mentioned several embodiments, but the non-right for the purpose of limiting the invention of embodiment is wanted
It asks.If those skilled in the art in the range of spirit of the invention, make various modifications or improvement, in protection model of the invention
Within enclosing.Therefore the scope of the present invention should be subject to what claims hereof protection scope was defined.
Claims (8)
1. a kind of wall surface walking device has traction element and vehicle with walking machine, traction element is located at eminence, and vehicle with walking machine is connected by rope
Traction element；When work, vehicle with walking machine is hung below traction element；Traction element can change the length of the rope suspensions part
Degree, vehicle with walking machine cannot change or walking function changes the length of the rope suspensions part, and traction element cannot change, or
Person's traction element and vehicle with walking machine can change the length of the rope suspensions part；Vehicle with walking machine has air propeller, metope walking
When device works, air propeller pushes air to far from metope direction, and by the reaction force of air, push vehicle with walking machine to wall
Face；Vehicle with walking machine has a moveable support, when work, in vehicle with walking machine towards metope side, when vehicle with walking machine is pushed away by the air
When to metope, moveable support is supported in metope, and in all moveable supports, and at least 3 the same as not always
The contact point contact metope of line, so that it is guaranteed that walking function is stably supported on metope；Each moveable support is supported in
It when metope, can also be moved in metope, so that vehicle with walking machine can be moved in metope；As needed, some moveable support sides of having
To control device, moveable support can be changed in the direction of motion of metope, transported to realize that vehicle with walking machine can change in metope
Dynamic direction；When moveable support is supported on metope movement, direction of motion front end portion and metope have spacing, thus removable
Movable support device can cross the barrier for protruding from metope by the spacing.
2. the device based on claim 1, vehicle with walking machine are equipped with photographic device, can be used for taking pictures, monitor, intelligent control identification or
Person's record.
3. a kind of equipment for washing external wall, which has used feature described in claim 1.
4. a kind of exterior wall transport device, the device have used feature described in claim 1.
5. a kind of exterior wall maintenance device, the device have used feature described in claim 1.
6. a kind of exterior wall monitoring device, the device have used feature described in claim 1.
7. a kind of exterior wall detection device, the device have used feature described in claim 1.
The checking device 8. a kind of exterior wall is creeped, the device have used feature described in claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652800.XA CN109018049A (en) | 2018-06-22 | 2018-06-22 | A kind of wall surface walking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810652800.XA CN109018049A (en) | 2018-06-22 | 2018-06-22 | A kind of wall surface walking device |
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| CN109018049A true CN109018049A (en) | 2018-12-18 |
Family
ID=64610454
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| CN201810652800.XA Pending CN109018049A (en) | 2018-06-22 | 2018-06-22 | A kind of wall surface walking device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| CN111620276A (en) * | 2020-01-07 | 2020-09-04 | 刘禄军 | Supporting surface moving device |
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|---|---|---|---|---|
| CN110772185A (en) * | 2019-05-31 | 2020-02-11 | 刘禄军 | Wall walking device |
| CN111620276A (en) * | 2020-01-07 | 2020-09-04 | 刘禄军 | Supporting surface moving device |
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