CN109748211A - Birdcage t shore high-altitude robot up and down with lateral walking mechanism - Google Patents
Birdcage t shore high-altitude robot up and down with lateral walking mechanism Download PDFInfo
- Publication number
- CN109748211A CN109748211A CN201711067220.6A CN201711067220A CN109748211A CN 109748211 A CN109748211 A CN 109748211A CN 201711067220 A CN201711067220 A CN 201711067220A CN 109748211 A CN109748211 A CN 109748211A
- Authority
- CN
- China
- Prior art keywords
- birdcage
- lateral
- trolley
- guide rod
- robot
- 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
Abstract
The present invention provides a kind of to be developed on the basis of birdcage t shore high-altitude robot and is subject to perfect birdcage t shore high-altitude robot or more and lateral walking mechanism, it is characterized in that: being made of two parts up and down: top is high-altitude robot platform, there is upper and lower and lateral walking mechanism, it can walk up and down, lateral walking can also be controlled；Lower part trolley also has front and back and lateral walking mechanism, can front and back walking, lateral walking can be controlled；There are also birdcage t shore up and down mechanism on the trolley of lower part, control remote controler can control the high-altitude robot platform operation on top, can also control the up and down of birdcage t shore simultaneously and the whole of lower part running gear for trolley act.
Description
Technical field
The present invention relates to the important components of a kind of high altitude operation robot more particularly to climbing robot: birdcage
Pillar high-altitude robot up and down with lateral walking mechanism.
Background technique
Chinese Patent Application No.: 201710803015.5 give a kind of birdcage t shore high-altitude robot, and the patent is special
Sign is: more than ten spring steel wire vertical bars are distributed same distance, between with onesize or slightly smaller spring steel woollen yarn knitting silk oblique pull weldering
It connects, forms the net of a spring steel wire, be then rolled into birdcage, the pillar of Shi Xiading mechanism is sought connections with as high-altitude robot,
Length is exactly the highest setting of birdcage t shore high-altitude robot, and because volume is little, self weight very little more flexibly can two people
Platform walk, can also oneself walking, the resistance very little of high altitude operation wind, and operating space very little is easy to operate, can be height 50
Meter or more building construction and operation.The patent birdcage t shore high-altitude robot, only expresses the structure of birdcage t shore,
Need to increase upper and lower and lateral walking mechanism.
Summary of the invention
Before all climbing robot, spider-man, hanging basket, have the characteristics that common, need wirerope or rope suspensions
On building top, because the surface of building is extremely complex, how absorbing elements cope with these complicated surfaces, there is presently no
It thoroughly solves, and because transverse shifting is dangerous, also inconvenient, birdcage t shore of the present invention high-altitude robot is up and down and lateral line
Mechanism is walked, different from these equipment before, the present invention is developed on the basis of birdcage t shore high-altitude robot to be subject to
It is perfect；The invention belongs to seek connections with Shi Xiading mechanism, can walk up and down, can also laterally walk, strong flexibility, be not only suitble to it is general
Building surface high altitude operation is also suitable for various building surfaces: as having the building on top on garden cambered surface, garden spherical surface, top, having cross
High altitude operation to the building surface of arrangement.
The object of the present invention is achieved like this:
Birdcage t shore of the present invention high-altitude robot up and down with lateral walking mechanism, it is characterized in that: there is two part groups up and down
At: top is high-altitude robot platform, has up and down with lateral walking mechanism, can walk up and down, can also control lateral walking；Lower part
Trolley also has front and back and lateral walking mechanism, can front and back walking, lateral walking can be controlled；There are also birdcage t shores on the trolley of lower part
Up and down mechanism, control remote controler can control the high-altitude robot platform operation on top, can also control the small garage in lower part simultaneously
Walk whole movements of mechanism.
Detailed description of the invention
Attached drawing 1 is birdcage t shore high-altitude robot or more and laterally walking mechanism side face schematic diagram.
Attached drawing 2 is that birdcage t shore high-altitude robot is positive with the high altitude operation robot platform of lateral walking mechanism up and down
Schematic diagram.
Attached drawing 3 is birdcage t shore high-altitude robot or more and lateral walking mechanism trolley top view.
In attached drawing:
1. birdcage t shore；2. going up and down rod；3. trolley；4. rotary cylinder；5. traveling wheel；6. verticality sensor；7. high-altitude is made
Industry robot platform；8. building；9. remote control transmitter；10. sucker；11. the sucker electric expansion device (Chinese patent of our company
Number: 201710360831.1)；12. remote controller receiver；13. on lateral guide rod；14. under lateral guide rod；15. vertical guide rod；
16. lateral linear bearing；17. on vertical lines bearing；18. under vertical lines bearing；19. trolley driver；20. in-built electrical
Machine.
Specific embodiment
It illustrates with reference to the accompanying drawing and the present invention is described in greater detail:
In conjunction with Fig. 1, Fig. 2, Fig. 3, the invention is characterized in that being made of two parts up and down, top is high altitude operation robot
Platform (7), high altitude operation robot platform (7) is interior to be had on lateral guide rod (13), under lateral guide rod (14), on lateral guide rod (13)
On have lateral linear bearing (16), also have lateral linear bearing (16) on (14) under lateral guide rod, (13) two on lateral guide rod
There is sucker electric expansion device (11), be equipped on sucker electric expansion device (11) sucker (10), (14) two have under lateral guide rod
Sucker electric expansion device (11) is equipped with sucker (10) on sucker electric expansion device (11), and high altitude operation robot platform (7) needs
When being moved to the left, (13) upper two sucker electric expansions device (11) stretches out a distance on lateral guide rod, and sucker (10) is encountered
Building, sucker (10) air-breathing, (13) move right on lateral guide rod, after moving a distance, (14) two under lateral guide rod
Sucker electric expansion device (11) stretches out a distance, and sucker (10) encounters building, sucker (10) air-breathing, on lateral guide rod (13)
Upper two suckers are deflated, two sucker electric expansion device (11) Aligning controls, and (14) move right under lateral guide rod, such two cross
To guide rod alternating movement, sucker electric expansion device (11) is alternately flexible, completes the left or right of high altitude operation robot platform (7)
It is mobile.
There are on vertical lines bearing (17) on vertical guide rod (15), has under vertical lines bearing (18), high altitude operation machine
When people's platform (7) need to move up, (13) two sucker electric expansion devices (11) stretch out a distance, sucker on lateral guide rod
(10) encounter building, sucker (10) air-breathing, (17) move downward under vertical lines bearing, after moving a distance, laterally lead
(14) two sucker electric expansion devices (11) stretch out a distance under bar, and sucker (10) encounters building, sucker (10) air-breathing,
Two suckers (10) on lateral guide rod on (13) are deflated, two sucker electric expansion device (11) Aligning controls, vertical lines bearing
Under (18) move downward, such two linear bearing alternating movements drive lateral guide rod alternating movement, complete high altitude operation machine
The movement of the up or down of people's platform (7).
Lower part has trolley (3), trolley (3) can front and back walking, walking can be controlled.
Specific structure is；(3) four angles of trolley have rotary cylinder (4), totally four each rotary cylinders of rotary cylinder (4)
(4) there is a driving wheel (5) under, driving wheel (5) center has built-in motor (20), and rotary cylinder (4) is 90 degree of rotation angles, trolley
(3) when needing to be moved to the left, (4) directions of four rotary cylinders are ventilated simultaneously, and rotary cylinder (4) rotates clockwise, rotation
After the completion, four driving wheels (5) rotation counterclockwise simultaneously, completes trolley (3) and moves to left；When trolley (3) needs to move right, four
Driving wheel (5) rotates clockwise, and completes trolley (3) and moves to right.
When trolley (3) needs to move backward, four another directions of rotary cylinder (4) are ventilated simultaneously, and rotary cylinder (4) is inverse
Hour hands rotation, rotates 90 degree, and after the completion of rotation, four driving wheels (5) rotate clockwise simultaneously, completes trolley (3) and moves back；Trolley
(3) when needing to move forward, four driving wheels (5) rotate counterclockwise, complete trolley (3) Forward.
There are lifting rod (2) on lower part trolley (3), be the device for driving the up and down of birdcage t shore, birdcage t shore needs
It rises or falls, lifting rod (2) can be driven, reach lifting purpose.
Birdcage t shore of the present invention high-altitude robot is vertical with having one on the birdcage t shore (1) of lateral walking mechanism up and down
It spends sensor (6), this is not related with birdcage t shore (1) and the inclination of building (8), is that birdcage t shore is positive vertical
Degree；By verticality sensor (6) adjust automatically high altitude operation robot platform (7), laterally whether walking is synchronous with trolley (3),
Whether vertical device, be suitble to common building object surface operation, be also suitable for arc surface building and asymmetric buildings object surface
Adjust automatically and operation.
There is a remote control transmitter in birdcage t shore of the present invention high-altitude robot on the trolley (3) of lateral walking mechanism up and down
(9), the trolley driver (19) on trolley (3) can be controlled simultaneously, and driving trolley (3) is advanced and the laterally walking of retrogressing, left and right, bird
(1) up and down of cage modle pillar complete it each there are also the remote controller receiver (12) on high altitude operation robot platform (7)
The complicated movement of kind.
Claims (7)
1. a kind of birdcage pillar robot up and down with lateral walking mechanism, including birdcage t shore (1), lifting rod (2), trolley
(3), rotary cylinder (4), traveling wheel (5), verticality sensor (6), high altitude operation robot platform (7), building (8), distant
Control transmitter (9), remote controller receiver (12), (13) on lateral guide rod, is laterally led at sucker (10) sucker electric expansion device (11)
(14) under bar, vertical guide rod (15), lateral linear bearing (16), (18) under (17) vertical lines bearing on vertical lines bearing,
Trolley driver (19), built-in motor (20).
2. a kind of birdcage pillar robot according to claim 1 transverse direction walking mechanism, it is characterised in that two above and below having
Part forms, and top is high altitude operation robot platform (7), has on lateral guide rod (13) in high altitude operation robot platform (7),
Under lateral guide rod (14), there are lateral linear bearing (16) on (13) on lateral guide rod, has lateral straight line on (14) under lateral guide rod
Bearing (16), (13) two have sucker electric expansion device (11) on lateral guide rod, are equipped with suction on sucker electric expansion device (11)
Disk (10), (14) two have sucker electric expansion device (11) under lateral guide rod, are equipped with sucker on sucker electric expansion device (11)
(10)。
3. according to according to above and below a kind of birdcage pillar robot described in claim 1 with lateral walking mechanism, it is characterised in that under
Trolley (3) four angles in portion's have rotary cylinder (4), there is a driving wheel (5) under each rotary cylinder (4), and driving wheel (5) center has
Built-in motor (20), rotary cylinder (4) are 90 degree of rotation angles.
4. a kind of birdcage pillar robot according to claim 1 up and down with lateral walking mechanism, it is characterised in that under
It is the device for driving the up and down of birdcage t shore there are also lifting rod (2) on portion's trolley (3).
5. a kind of birdcage pillar robot according to claim 1 up and down with lateral walking mechanism, it is characterised in that bird
There is a verticality sensor (6) on cage modle pillar (1), it is flat by verticality sensor (6) adjust automatically high altitude operation robot
Laterally whether walking is synchronous with trolley (3) for platform (7).
6. a kind of birdcage pillar robot according to claim 1 up and down with lateral walking mechanism, it is characterised in that it is small
There are a remote control transmitter (9) on vehicle (3), can control the trolley driver (19) on trolley (3) simultaneously, on birdcage t shore (1)
It rises, decline, the remote controller receiver (12) on high altitude operation robot platform (7) makes it complete the movement of various complexity.
7. a kind of birdcage pillar robot running gear according to claim 1, it is characterised in that there is a remote controler
(13), by controlling the touch screen of remote controler (13), driver (16) and remote controller receiver (14) is controlled, birdcage t shore is made
(1) it rises or falls, the various movements of high altitude operation robot platform equipment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067220.6A CN109748211A (en) | 2017-11-02 | 2017-11-02 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711067220.6A CN109748211A (en) | 2017-11-02 | 2017-11-02 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109748211A true CN109748211A (en) | 2019-05-14 |
Family
ID=66398507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711067220.6A Pending CN109748211A (en) | 2017-11-02 | 2017-11-02 | Birdcage t shore high-altitude robot up and down with lateral walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109748211A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203153652U (en) * | 2013-04-10 | 2013-08-28 | 丽水学院 | Wall-climbing mechanism of high-rise glass cleaning robot and PLC control system |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN203581163U (en) * | 2013-07-08 | 2014-05-07 | 西安理工大学 | Wall-climbing robot |
| CN203841632U (en) * | 2014-04-14 | 2014-09-24 | 陕西科技大学 | High-rise building outer wall washing machine |
| CN204744021U (en) * | 2015-05-22 | 2015-11-11 | 芜湖特源鑫复合材料科技有限公司 | Reciprocating type high altitude glass cleaning robot |
| CN105030169A (en) * | 2015-06-19 | 2015-11-11 | 刘禄军 | Wall crawling device |
| US20160046471A1 (en) * | 2014-08-14 | 2016-02-18 | Joseph Turner | Communication Assembly |
| CN105399020A (en) * | 2015-12-31 | 2016-03-16 | 徐州重型机械有限公司 | Three-dimensional space planar tracking control method, system and high-altitude operation equipment |
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
-
2017
- 2017-11-02 CN CN201711067220.6A patent/CN109748211A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
| CN203153652U (en) * | 2013-04-10 | 2013-08-28 | 丽水学院 | Wall-climbing mechanism of high-rise glass cleaning robot and PLC control system |
| CN203581163U (en) * | 2013-07-08 | 2014-05-07 | 西安理工大学 | Wall-climbing robot |
| CN203841632U (en) * | 2014-04-14 | 2014-09-24 | 陕西科技大学 | High-rise building outer wall washing machine |
| US20160046471A1 (en) * | 2014-08-14 | 2016-02-18 | Joseph Turner | Communication Assembly |
| CN204744021U (en) * | 2015-05-22 | 2015-11-11 | 芜湖特源鑫复合材料科技有限公司 | Reciprocating type high altitude glass cleaning robot |
| CN105030169A (en) * | 2015-06-19 | 2015-11-11 | 刘禄军 | Wall crawling device |
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN106419768A (en) * | 2015-11-08 | 2017-02-22 | 柯干兴 | Wall surface cleaning machine |
| CN105399020A (en) * | 2015-12-31 | 2016-03-16 | 徐州重型机械有限公司 | Three-dimensional space planar tracking control method, system and high-altitude operation equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108545628B (en) | A kind of mobile hanging device of Super High and its hanging method | |
| CN105030169B (en) | A kind of metope crawling device | |
| CN104163215B (en) | A kind of transport vehicle climbing cylinder | |
| CN203916990U (en) | Paint spraying mechanical arm | |
| CN203839819U (en) | Obstacle surmounting mechanical arm suitable for power transmission line inspection robot | |
| CN105064556A (en) | Glass curtain wall cleaning device | |
| CN106996297B (en) | Multiple degrees of freedom rectangle section of jurisdiction conjugates assembled mechanism and its assembling method | |
| CN106256308A (en) | A kind of have the hoistable platform that metope persistently keeps absorption | |
| CN103972816A (en) | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot | |
| CN103359198A (en) | All-directional horizontal-posture stair climbing robot, zero-radius turning method and stair climbing method | |
| CN107298137B (en) | Lying type walking robot | |
| CN107848590A (en) | With linear and yaw motion walking mechanism | |
| CN109620046A (en) | A kind of wall surface walking device | |
| CN208396269U (en) | A kind of lift operation platform for building engineering | |
| CN110469646A (en) | Multistage lifting device | |
| CN108382480A (en) | A kind of power steel pipe tower climbing robot | |
| CN204601603U (en) | The dynamic rail system of a kind of suspension roller-coaster | |
| CN104146651A (en) | Winch type window cleaning machine | |
| CN206722846U (en) | Multiple degrees of freedom rectangle section of jurisdiction conjugates assembled mechanism | |
| CN107717977B (en) | Mobile architecture system of aerial working robot | |
| CN207513213U (en) | Folding arm contra bevel window cleaning equipment | |
| CN109748211A (en) | Birdcage t shore high-altitude robot up and down with lateral walking mechanism | |
| CN109334804A (en) | A kind of wall surface walking device | |
| CN104325551A (en) | Green-taking device for high-pressure counter basin forming machines | |
| CN208545989U (en) | Skyscraper glass remote control cleaner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190514 |