CN109531629B - High-altitude outer wall operation robot applying negative pressure adsorption safety device - Google Patents
High-altitude outer wall operation robot applying negative pressure adsorption safety device Download PDFInfo
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- CN109531629B CN109531629B CN201811362289.6A CN201811362289A CN109531629B CN 109531629 B CN109531629 B CN 109531629B CN 201811362289 A CN201811362289 A CN 201811362289A CN 109531629 B CN109531629 B CN 109531629B
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- negative pressure
- adsorption
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- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- 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
Abstract
The invention discloses an overhead outer wall operation robot applying a negative pressure adsorption safety device, which comprises an adsorption plate and a centrifugal fan, wherein one side of the adsorption plate is an adsorption surface, one side of the adsorption plate with the adsorption surface is provided with a groove, the groove is provided with a vent hole, the centrifugal fan is arranged on the adsorption plate and is connected with the vent hole, and the edge of the adsorption surface is provided with a teflon contact piece. The negative pressure adsorption safety device can effectively improve the wind resistance of the high-altitude outer wall operation robot, has the advantages of simple structure and convenience in application, and effectively solves the defects that the high-altitude outer wall operation robot in the prior art is high in cost and difficult to use.
Description
Technical Field
The invention relates to a negative pressure adsorption safety device of an overhead outer wall operation robot, and belongs to the field of robots.
Background
With the rapid development of economy, the number of tall buildings in each city in China is gradually increased, and the demand for high-altitude operation is increased. At present, more and more robots are developed to replace manual work for high-altitude operation. Due to the particularity of the high-altitude environment, the safety guarantee work of the robot for high-altitude operation is very important. Especially when meeting the strong wind of outer wall in high altitude, in case the unable effectual absorption of robot is on the wall, will be blown away by the strong wind, even drop from the high altitude, will cause immeasurable harm to personal safety and property safety all. Therefore, improving the wind resistance of the robot during aloft work is a very important subject in the research and development process of the robot for the operation of the outer wall of the aloft. Existing solutions are roughly divided into three directions:
1. the counterweight mode is adopted to resist strong wind. As shown in fig. 1, a weight block is added at one end far from the wall surface, and the weight block can generate a rotation moment by taking the hanging point of the steel wire rope as a center. Thereby the operation mechanism is attached to the outer wall surface. The mechanism has limited bonding capability with the wall surface, and is easy to cause falling accidents when meeting strong wind. And the balancing weight has large mass, which is not beneficial to the operation of the robot. Also this solution does not have the ability to override the boss.
2. And the robot is adsorbed on the outer wall by adopting an active sucker. The working principle of the scheme is that a vacuum generator and a vacuum pump are utilized to generate negative pressure, and the negative pressure is connected with a sucker of the robot through a pipeline, so that the robot is adsorbed on the wall surface. This mechanism needs external very long pipeline to provide the negative pressure, and not only the power consumption is big, and the logistics is difficult to guarantee and has increased the operation danger.
3. And the robot is adsorbed on the outer wall by adopting a passive sucking disc. This scheme is through setting up passive sucking disc on the robot, presses or draws the sucking disc through the mechanism and realizes the absorption and the breaking away from of sucking disc and outer wall. Such solutions are often mechanically complex and not easily implemented.
Disclosure of Invention
The invention provides a negative pressure adsorption safety device, which at least solves the problem of insufficient wind resistance of a high-altitude outer wall operation robot in the prior art
The invention discloses a negative pressure adsorption safety device of a high-altitude outer wall operation robot, which comprises an adsorption plate and a centrifugal fan, wherein one side of the adsorption plate is an adsorption surface, one side of the adsorption plate, which is provided with the adsorption surface, is provided with a groove, the groove is provided with a vent hole, the centrifugal fan is arranged on the adsorption plate and is connected with the vent hole, and the edge of the adsorption surface is provided with a teflon contact piece.
Further, the adsorption plate is an ABS plate.
Furthermore, the negative pressure adsorption safety device further comprises a clamping plate, and the clamping plate is installed in the groove of the adsorption surface.
Further, the groove depth is 6mm, and the area is 26392mm 2.
Further, the safety device is adsorbed to negative pressure still includes first ultrasonic ranging appearance, second ultrasonic ranging appearance, first ultrasonic ranging appearance, second ultrasonic ranging appearance set up respectively in both sides about the adsorption plate.
Furthermore, the negative pressure adsorption safety device further comprises driving motors arranged on the left side and the right side of the adsorption plate, and one ends of the driving motors, which are provided with the rotors, are provided with rubber coated wheels.
Furthermore, the negative pressure adsorption safety device further comprises a first step-counting wheel component and a second step-counting wheel component, wherein the first step-counting wheel component and the second step-counting wheel component are driven mechanisms and are respectively arranged on the left side and the right side of the adsorption plate.
Further, the negative pressure adsorption safety device further comprises an air pressure detection electronic element, an air pressure hole is formed in the adsorption plate, the air pressure detection electronic element is installed at the air pressure hole, and air pressure in the groove is detected through the air pressure hole.
The utility model provides an use high altitude outer wall work robot of above-mentioned safeties is adsorbed to negative pressure, adsorbs including frame, negative pressure and scrapes the water installation, the negative pressure adsorbs to scrape the water installation and includes wiper, electric putter, step motor, optical axis walking beam, optical axis, yoke, negative pressure and adsorbs safeties, optical axis walking beam installs on the optical axis, step motor installs on optical axis walking beam, step motor drive optical axis walking beam carries out linear motion on the optical axis, the negative pressure adsorbs safeties and installs on optical axis walking beam through the yoke, electric putter includes motor, lead screw, the motor is installed in the frame, the wiper links to each other with the one end of lead screw, the optical axis is on a parallel with the lead screw and both ends link to each other with the lead screw both ends respectively.
Further, the water device is scraped in the negative pressure absorption includes that the water device is scraped in the negative pressure absorption, the water device is scraped in the negative pressure absorption down, go up the water device is scraped in the negative pressure absorption, water device parallel mount is scraped in the negative pressure absorption down in the frame.
Compared with the prior art, the adopted negative pressure adsorption safety device has the advantages of simple structure, no complex parts, engineering realization difficulty reduction, manufacturing cost reduction and structural weight reduction. Meanwhile, the centrifugal fan structure is adopted, and different adsorption pressures are realized by using the rotating speed of the centrifugal fan, so that the energy can be saved, and the safety of the machine can be ensured. In addition, the invention can realize the functions of adsorption, separation from a wall body and obstacle crossing of the negative pressure adsorption safety device through the stepping motor, ensure that the high-altitude outer wall operation robot keeps a safe distance with the vertical frame through the ultrasonic distance meter, and ensure that the negative pressure adsorption safety device keeps linear walking through the matching of the step wheel assembly and the driving motor.
Drawings
FIG. 1 is a schematic view of an embodiment of an adsorption plate according to the present invention;
FIG. 2 is a schematic structural diagram of a negative pressure adsorption safety device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an overhead outer wall operation robot according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
High altitude outer wall work robot negative pressure adsorbs safeties 11, as shown in fig. 1, including adsorption plate 112, centrifugal fan 111, adsorption plate 112 one side is the adsorption plane, one side that adsorption plate 112 has the adsorption plane is equipped with the recess, be equipped with the ventilation hole on the recess, centrifugal fan 111 installs on adsorption plate 112 and links to each other with the ventilation hole, the edge of adsorption plane is equipped with teflon contact piece 113.
Optionally, the adsorption plate 112 is an ABS plate.
In particular, the negative pressure suction safety device 11 further comprises a clamping plate 114, and the clamping plate 114 is installed in a groove of the suction surface.
Optionally, the groove has a depth of 6mm and an area of 26392mm 2.
Optionally, as shown in fig. 2, the negative pressure adsorption safety device 11 further includes a first ultrasonic distance meter and a second ultrasonic distance meter, and the first ultrasonic distance meter and the second ultrasonic distance meter are respectively disposed on the left side and the right side of the adsorption plate 112.
Optionally, as shown in fig. 2, the negative pressure adsorption safety device 11 further includes driving motors disposed on the left and right sides of the adsorption plate 112, and one end of each driving motor having a mover is provided with a rubber-covered wheel.
Specifically, as shown in fig. 2, the negative pressure adsorption safety device 11 further includes a first step wheel assembly 117 and a second step wheel assembly, which are driven mechanisms and are respectively installed at the left and right sides of the adsorption plate 112.
Optionally, as shown in fig. 2, the negative pressure adsorption safety device 11 further includes an air pressure detecting electronic element 118, the adsorption plate 112 is further provided with an air pressure hole, and the air pressure detecting electronic element 118 is installed at the air pressure hole and detects the air pressure in the groove through the air pressure hole.
As shown in fig. 1, the suction plate 112 of the vacuum suction fuse device according to the embodiment of the present invention is a flat plate made of ABS material. In order to ensure the strength of the ABS plate, a clamping plate 114 is added to the center of the ABS plate for support. The edge of this board is pasted with teflon contact piece 113, and the roughness of contact clearance face is enough little when this contact piece's effect is guaranteeing dull and stereotyped and wall laminating, and the leakproofness of contact face when firstly guaranteeing vacuum adsorption, secondly greatly reduced this mechanism adsorbs and is the frictional resistance of translational motion when the outer wall face. Meanwhile, a groove with the depth of 6mm and the area of 26392 square mm is dug in the middle of the ABS flat plate 112, and when the flat plate is attached to a wall surface, the groove and the wall surface form a relatively closed space. A centrifugal fan 111 is arranged above the flat plate, and a hole is formed right below a fan blade of the centrifugal fan 111 and communicated with a groove on the flat plate, so that when the centrifugal fan 111 is started, the fan blade rotates at high speed to pump air in the groove of the flat plate away from the hole, and a stable vacuum environment is formed in the groove. The maximum pressure of the vacuum environment can reach 2.4KPa, which is equivalent to 90N adsorption force formed on the adsorption surface.
Two air pressure holes with the diameter of 1 mm are arranged on the adsorption flat plate 112 and are communicated with the grooves below the flat plate. The air tube is used to communicate the air pressure port with the air pressure detection electronics 118. When the centrifugal fan 111 works, the air pressure in the groove can be detected, and the real-time adsorption force of the mechanism can be obtained through a conversion formula. The adjustment of the mechanism adsorption force is realized by adjusting the rotating speed of the centrifugal fan 111.
As shown in fig. 2, the left and right sides of the vacuum adsorption safety device are respectively provided with an ultrasonic distance meter 115 which can be used for detecting the distance from the vacuum adsorption safety device 11 to the high-rise mullion, so as to adjust the distance from the high-altitude outer wall operation robot to the high-rise mullion.
As shown in fig. 2, a driving motor 116 and a step-counting wheel assembly 117 are respectively installed on the left and right sides of the negative pressure adsorption safety device 11, the driving motor 116 is used to drive the rubber-coating wheel 1161 to rotate, and the rubber-coating wheel 1161 is in contact with the wall and can provide forward power for the negative pressure adsorption safety device 11. The step-counting wheel assembly 117 is a driven mechanism, and when the negative pressure adsorption safety device 11 walks linearly, the output values of the two step-counting wheel assemblies 117 are the same. When the negative pressure absorption safety device 11 deflects, the output values of the two step wheel assemblies 117 deviate, and the system can change the rotating speed of the driving motor 116 to enable the negative pressure absorption safety device 11 to return to the linear walking state again.
The negative pressure adsorption safety device adopted by the embodiment of the invention has the advantages of simple structure, no complex parts, reduced engineering implementation difficulty, reduced manufacturing cost and reduced structural weight. Meanwhile, the embodiment of the invention adopts a centrifugal fan structure, and different adsorption pressures are realized by using the rotating speed of the centrifugal fan, so that the energy can be saved and the safety of the machine can be ensured. In addition, the embodiment of the invention can realize the functions of adsorbing, separating from the wall body and crossing obstacles of the negative pressure adsorption safety device through the stepping motor, and ensure that the high-altitude outer wall operation robot keeps a safe distance with the vertical frame through the ultrasonic distance meter, and can also ensure that the negative pressure adsorption safety device keeps linear walking through the matching of the step wheel assembly and the driving motor.
The utility model provides an use high altitude outer wall work robot of above-mentioned safeties is adsorbed to negative pressure, as shown in figure 3, adsorb including frame 3, negative pressure and scrape water installation 1, negative pressure adsorbs that water installation 1 includes wiper 12, electric putter 13, step motor 14, optical axis walking beam 15, optical axis 16, yoke 17, negative pressure adsorbs safeties 11, optical axis walking beam 15 is installed on optical axis 16, step motor 14 installs on optical axis walking beam 15, step motor 14 drive optical axis walking beam 15 carries out linear motion on optical axis 16, negative pressure adsorbs safeties 11 and installs on optical axis walking beam 16 through yoke 17, electric putter 13 includes motor, lead screw, the motor is installed in frame 3, wiper 12 links to each other with the one end of lead screw, optical axis 13 is on a parallel with the lead screw and both ends link to each other with the lead screw both ends respectively.
Optionally, as shown in fig. 3, the negative pressure adsorption water wiper device 1 includes an upper negative pressure adsorption water wiper device and a lower negative pressure adsorption water wiper device 2, and the upper negative pressure adsorption water wiper device and the lower negative pressure adsorption water wiper device 2 are installed in parallel on the frame 3.
As shown in figure 3, each high-altitude outer wall operation robot is provided with two negative pressure adsorption water scraping devices 1, namely an upper negative pressure adsorption water scraping device and a lower negative pressure adsorption water scraping device. Each negative pressure adsorption safety device 1 is provided with an independent stepping motor, the stepping motor is arranged on an optical axis walking beam, and the optical axis walking beam is arranged on the optical axis. The optical axis walking beam is connected with the negative pressure adsorption safety device through a fork arm. When the high-altitude outer wall operation robot works, the wiper stretches out along with the electric push rod, and the optical axis walking beam can move along with the electric push rod, so that the negative pressure adsorption safety device keeps a distance of 5 millimeters with the wall surface all the time. The benefit of design like this lies in that negative pressure adsorbs safeties and wall and keeps small distance throughout, in case high altitude outer wall operation robot meets proruption strong wind, and negative pressure adsorbs safeties and can shift forward 5 millimeters immediately, makes negative pressure adsorb safeties and adsorb on the wall, guarantees high altitude outer wall operation robot's safety. When the robot encounters obstacles such as a boss, the optical axis walking beam can be moved by the stepping motor, so that the negative pressure adsorption safety device leaves the wall surface, and when the distance from the negative pressure adsorption safety device to the wall is greater than the distance from the boss to the wall, the negative pressure adsorption safety device can cross the boss.
Under the condition of normal operation of the high-altitude outer wall operation robot, the safety of the high-altitude outer wall operation robot can be ensured by a single negative pressure adsorption device. Due to the complexity of the high-altitude environment, the high-altitude outer wall operation robot can encounter unforeseen strong wind, at the moment, the other negative pressure adsorption safety device can be stretched out, and the two negative pressure adsorption safety devices work simultaneously to ensure the safety of the high-altitude outer wall operation robot.
It should be noted that a brush structure 4 mounted on the frame is further provided between the upper negative pressure adsorption water wiper device and the lower negative pressure adsorption water wiper device, and fans for adjusting the direction of the frame 3 are further provided at the upper end and the lower end of the frame 3.
Finally, it should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the modifications and equivalents of the specific embodiments of the present invention can be made by those skilled in the art after reading the present specification, but these modifications and variations do not depart from the scope of the claims of the present application.
Claims (9)
1. The high-altitude outer wall operation robot is characterized in that the negative pressure adsorption safety device comprises an adsorption plate and a centrifugal fan, one side of the adsorption plate is an adsorption surface, one side of the adsorption plate with the adsorption surface is provided with a groove, the groove is provided with a vent hole, the centrifugal fan is installed on the adsorption plate and connected with the vent hole, and the edge of the adsorption surface is provided with a Teflon contact piece; the water installation is scraped in negative pressure absorption includes wiper, electric putter, step motor, optical axis walking beam, optical axis hookup arm, yoke, negative pressure absorption safeties, optical axis walking beam installs on the optical axis, step motor installs on optical axis walking beam, step motor drive optical axis walking beam carries out linear motion on the optical axis, negative pressure absorption safeties passes through the yoke and installs on optical axis walking beam, electric putter includes motor, lead screw, the motor is installed in the frame, the wiper links to each other with the one end of lead screw, the optical axis is on a parallel with lead screw and both ends link to each other with the lead screw both ends respectively.
2. The robot for the high-altitude outer wall operation applying the negative pressure adsorption safety device is characterized in that the adsorption plate is an ABS plate.
3. The overhead outer wall operation robot applying the negative pressure adsorption safety device is characterized by further comprising a clamping plate, wherein the clamping plate is installed in a groove of the adsorption surface.
4. The robot for the high-altitude outer wall operation by applying the negative pressure adsorption safety device is characterized in that the depth of the groove is 6mm, and the area of the groove is 26392mm 2.
5. The robot for high-altitude outer wall operation applying the negative pressure adsorption safety device according to claim 1, further comprising a first ultrasonic distance meter and a second ultrasonic distance meter, wherein the first ultrasonic distance meter and the second ultrasonic distance meter are respectively arranged on the left side and the right side of the adsorption plate.
6. The robot for high-altitude outer wall operation applying the negative pressure adsorption safety device according to claim 1, further comprising driving motors arranged on the left side and the right side of the adsorption plate, wherein the driving motors are provided with rotors, and one ends of the rotors are provided with rubber coating wheels.
7. The robot for high-altitude outer wall operation applying the negative pressure adsorption safety device according to claim 6, further comprising a first step-counting wheel assembly and a second step-counting wheel assembly, wherein the first step-counting wheel assembly and the second step-counting wheel assembly are driven mechanisms and are respectively installed on the left side and the right side of the adsorption plate.
8. The robot for high-altitude outer wall operation using the negative pressure absorption safety device as claimed in claim 1, wherein the negative pressure absorption safety device further comprises an air pressure detecting electronic component, the absorption plate is further provided with an air pressure hole, and the air pressure detecting electronic component is mounted at the air pressure hole and detects the air pressure in the groove through the air pressure hole.
9. The high-altitude outer wall operation robot applying the negative pressure adsorption safety device is characterized in that the negative pressure adsorption water scraping device comprises an upper negative pressure adsorption water scraping device and a lower negative pressure adsorption water scraping device, and the upper negative pressure adsorption water scraping device and the lower negative pressure adsorption water scraping device are arranged on the machine frame in parallel.
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| CN201811362289.6A CN109531629B (en) | 2018-11-15 | 2018-11-15 | High-altitude outer wall operation robot applying negative pressure adsorption safety device |
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| CN201811362289.6A CN109531629B (en) | 2018-11-15 | 2018-11-15 | High-altitude outer wall operation robot applying negative pressure adsorption safety device |
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| CN109531629B true CN109531629B (en) | 2021-04-02 |
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| CN110203397B (en) * | 2019-06-10 | 2022-07-05 | 华南农业大学 | Detachable aerial fixed operation platform based on unmanned aerial vehicle carrying and operation recovery method |
| CN113184075B (en) * | 2021-05-25 | 2022-08-26 | 重庆邮电大学 | Wind-resistant vibration-resistant climbing robot imitating exendin |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH058768A (en) * | 1991-06-28 | 1993-01-19 | Nishimatsu Constr Co Ltd | Wall surface peel-off robot |
| US6156124A (en) * | 1999-06-18 | 2000-12-05 | Applied Materials, Inc. | Wafer transfer station for a chemical mechanical polisher |
| CN2499186Y (en) * | 2001-10-24 | 2002-07-10 | 吴志明 | Cleaning robot for building environment protection |
| CN100422029C (en) * | 2006-11-27 | 2008-10-01 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN204309922U (en) * | 2014-10-31 | 2015-05-06 | 杨可涵 | A kind of climbing robot |
| CN105398503A (en) * | 2015-12-10 | 2016-03-16 | 华南理工大学 | Negative pressure sucking disc device |
| CN105496291A (en) * | 2016-01-25 | 2016-04-20 | 金烜伊 | Automatic high-altitude glass cleaning robot |
| CN207482043U (en) * | 2017-09-04 | 2018-06-12 | 徐州木牛流马机器人科技有限公司 | A kind of absorption type high-altitude Work robot foot device |
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