CN110179409A - Climbing robot for half-frame type glass curtain wall and using method - Google Patents

Abstract

The invention discloses a climbing robot for a semi-frame glass curtain wall and a using method, and belongs to the technical field of crawler-type wall-climbing robots. Wherein, a climbing robot for half frame glass curtain wall includes: the robot comprises a robot body, a transverse supporting device and traveling devices, wherein the transverse supporting device is arranged below the robot body; according to the invention, the transverse supporting device enables the walking device to be abutted against the two vertical edges of the half-frame type glass curtain wall, so that enough supporting force can be provided for the robot body, the walking device can drive the robot body to move up and down between the two vertical edges of the half-frame type glass curtain wall, and the robot body with different functions can be replaced to work on the glass curtain wall as required.

Description

A climbing robot for half-frame glass curtain wall and its application method

technical field

The invention relates to the technical field of a crawler-type wall-climbing robot, in particular to a climbing robot for a half-frame glass curtain wall and a method for using it.

Background technique

Installing the glass curtain wall outside the building wall is a remarkable feature of modern high-rise buildings. For the beauty and safety of the glass curtain wall, a pressing plate is usually added to the vertical side of the full hidden frame glass curtain wall to form a vertical half hidden frame glass curtain wall.

On the vertical side semi-hidden frame glass curtain wall, because the horizontal side is hidden in the glass curtain wall, the existing robots that use suction cups to climb on the glass curtain wall tend to fall to the bottom without obstruction, which is likely to cause casualties and property losses .

And existing robot that uses sucker to climb on the glass curtain wall has little supporting force, and can only clean the glass curtain wall, especially when there is too much dust on the glass curtain wall, the absorbing force of the sucker reduces the supporting force of the robot. Small, but the suction cup with high air flow is easy to loose and accidents occur, so it is necessary to provide a climbing robot that can provide sufficient support for working on the semi-frame glass curtain wall.

Contents of the invention

Purpose of the invention: a climbing robot for half-frame glass curtain wall and its usage method, so as to solve the above-mentioned problems existing in the prior art.

Technical solution: A climbing robot for semi-frame glass curtain walls, including: a robot body, a lateral support device installed under the robot body, and walking devices installed on both sides of the lateral support device, wherein the walking device and the lateral support The device is elastically connected;

The lateral support device includes: a frame fixedly connected with the robot body, each two as a set of linear motion mechanisms mounted symmetrically on the frame, and mounted on the same side of the linear motion mechanism, and on the linear motion mechanism Moving the plate in a linear motion, wherein there are at least two sets of linear motion mechanisms;

The walking device includes: an elastic assembly installed on the moving plate, a vertical assembly installed at the end of the elastic assembly, and a triangular track wheel installed below the vertical assembly;

Wherein, the movement direction of the elastic component is consistent with that of the linear motion mechanism, and the lower surface of the vertical component is perpendicular to the side of the moving plate.

In a further embodiment, the linear motion mechanism is composed of a cylinder with pressure maintaining capability or a ball screw mechanism with self-locking capability, and the climbing robot can It can be supported on the glass curtain wall even in the event of unexpected situations such as power outages.

In a further embodiment, the elastic component is a gas spring or an elastic buffer capable of resisting lateral pressure, which can provide sufficient support for the climbing robot through the elastic deformation of the gas spring or elastic buffer, and because the gas spring Or the elastic buffer has the ability to resist lateral pressure, so it can avoid bending due to the gravity of the climbing robot, and improve the service life and safety.

In a further embodiment, the vertical assembly includes: a horizontal plate and a vertical plate vertically installed in the middle of the horizontal plate, and the triangular track wheels are installed below the horizontal plate, wherein the lower surface of the horizontal plate is in contact with the moving The side of the plate is vertical, and the working surface of the triangular track wheel is perpendicular to the lower surface of the horizontal plate. Through the vertical assembly, the working surface of the triangular track wheel is perpendicular to the side of the moving plate, so that the working surface of the triangular track wheel can be vertical to the vertical surface of the glass curtain wall. The sides are parallel, and when the climbing robot is working, the working surface of the triangular track wheel is touched to provide sufficient support for the robot body;

The triangular track wheels are symmetrical about the center line of the robot body, the working surfaces of the triangular track wheels on the same side are on the same plane, and the triangular track wheels are symmetrically installed on both sides of the robot body, so that the robot body is evenly stressed and the stability of the robot body is improved. , the working surfaces of the triangular track wheels on the same side are in the same plane, which can ensure that the triangular track wheels on the same side abut against the vertical edge smoothly, and improve the stability of the robot body.

In a further embodiment, the two ends of the moving plate are also provided with a guide assembly; the guide assembly includes: a guide frame hingedly connected to both ends of the moving plate, a guide wheel fixed at the end of the guide frame, and one end fixed In the middle position of the guide frame, the other end is fixed on the spring at the top of the moving plate, wherein the distance from the central axis of the guide wheel to the moving plate is greater than the distance from the working surface of the triangular track wheel to the moving plate, and the stretching stroke of the spring is greater than the elasticity The stroke of the component, through the spring of the guide component, can make the guide wheel always abut against the pressure plate when it encounters the curved part of the vertical edge of the curved surface, so that the climbing robot can get enough even on the glass curtain wall with the vertical edge of the curved surface. support.

In a further embodiment, the surface of the triangular track wheel is provided with a suction cup or a rubber material with a large surface friction force, which can prevent the triangular track wheel from Sliding friction occurs with the vertical edge during work, reducing the chance of accidents.

In a further embodiment, the frame includes: a top plate detachably installed at the bottom of the robot body, two parallel middle plates are detachably installed in the lower middle position of the top plate, and two parallel middle plates are detachably installed in the lower two sides of the top plate. Two parallel side plates; wherein, there is a predetermined distance between the two middle plates, and each group of linear motion mechanisms is detachably installed on the opposite side of the two middle plates, and the side plates slide with the linear motion mechanisms on the same side Connection, the detachable installation can facilitate the maintenance and replacement of the robot body with different functions according to the needs, as well as the maintenance and replacement of the lateral support device and the walking device, and the linear motion mechanism can be fixed through the middle plate. Leaving a predetermined distance between the middle plates can increase the distance between the two middle plates as required to shorten the length of the linear motion mechanism and reduce production costs. The sliding connection between the side plates and the linear motion mechanism can ensure the smooth operation of the linear motion mechanism.

In a further embodiment, a plurality of lateral support devices and walking devices can be installed under the robot body according to the difference in the size of the supporting force required by the robot body, and by increasing the lateral support devices and walking devices, different types of robots can be provided with sufficient Support force to ensure the normal operation of the robot.

A method of using a climbing robot for a half-frame glass curtain wall, comprising:

Method 1: Fix the robot body of the cleaning robot on the top plate of the rack, then place the robot body between the two vertical sides of the glass curtain wall to be cleaned, and then adjust the distance between the triangular track wheels through the linear motion mechanism until the The triangular track wheels abut against the vertical edges until the elastic components are elastically deformed, and then the triangular track wheels are started to make the cleaning robot move up and down between the two vertical sides, and the glass curtain wall is cleaned by the cleaning robot.

Method 2: Install the robot body of the fire-fighting robot on the top plates of the two racks, and use the fire-fighting robot to carry out fire-fighting and rescue operations on the room where the fire broke out in the glass curtain wall.

Beneficial effects: the invention discloses a climbing robot for a half-frame glass curtain wall and its use method. Through the lateral support device and the vertical assembly, the walking device can be brought into contact with the vertical edge to support the robot body on the two sides of the glass curtain wall. Between the vertical sides, it provides enough support for the robot body. Even after the power is cut off, the elastic components can still ensure sufficient pressure between the triangular track wheels and the vertical sides, providing sufficient support for the robot body. The triangular track wheels can realize the climbing robot to move up and down between two vertical sides.

Description of drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic diagram of an embodiment of the present invention.

Fig. 3 is a structural schematic diagram of the spring buffer of the present invention.

Reference numerals shown in Fig. 1 to the figure are: robot body 1, lateral support device 2, walking device 3, guide assembly 4, frame 21, linear motion mechanism 22, moving plate 23, elastic assembly 31, vertical assembly 32, triangle Track wheel 33, guide frame 41, spring 42, the third servo motor 43, guide wheel 44, top plate 211, middle plate 212, side plate 213, connecting plate 214, the first servo motor 221, vertical plate 321, horizontal plate 322, the second servo motor 331 .

Detailed ways

In the following description, numerous specific details are given in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other examples, some technical features known in the art are not described in order to avoid confusion with the present invention.

For the convenience of showing the internal structure of the climbing robot, the top plate 211 in FIG. 1 is shown in a half-sectional view.

This embodiment is an application of a climbing robot for a half-frame glass curtain wall to clean a half-frame glass curtain wall.

The linear motion mechanism 22 used in this embodiment is a ball screw mechanism, and the elastic component 31 used is an elastic buffer.

Therefore, the lateral support device 2 in this embodiment includes: a ball screw mechanism, an optical axis located on both sides of the ball screw mechanism, a linear bearing for linear motion on the optical axis, fixed on the first bevel gear at the top of the screw, and the second bevel gear. A second bevel gear meshed with a bevel gear, a main shaft passing through the second bevel gear and keyed to the second bevel gear, and a first servo motor 221 whose output end is connected to the end of the main shaft through a coupling, wherein the ball screw The model of the mechanism is BGFVP1505-L400, the model of the first bevel gear and the second bevel gear is GB/T12369-1990, the model of the coupling is JB/T9148-1999, and the model of the first servo motor 221 is 1FL5060-0AC21.

The moving plate 23 has two through holes concentric with the screw rod of the ball screw mechanism in linear motion and not in contact with the screw rod on the moving plate 23. There are two light holes matched with the linear bearing symmetrically about the center of the through hole. There are also some threaded holes for installing the screw nut of the ball screw mechanism around the through hole, and the two ends of the moving plate 23 are provided with hinged parts.

In this embodiment, an elastic buffer with a model number of HT3-630×150 is used as the elastic assembly 31. The structure of the elastic buffer of this type is shown in Figure 3. The guide rod on the elastic buffer can prevent the spring 42 from shifting. When the two ends of the elastic buffer are under pressure, the spring 42 elastically deforms, and the spring 42 reversely applies a supporting force to the two ends of the elastic buffer. The elastic buffer of the same type ensures that the elastic deformation produces the same supporting force, and Make the working surfaces of the triangular crawler wheels 33 in the same plane.

The vertical assembly 32 is assembled by a vertical plate 321 and a horizontal plate 322. The bottom end of the vertical plate 321 has a threaded hole, and the middle position of the horizontal plate 322 has a sink corresponding to the threaded hole at the bottom end of the vertical plate 321. The head hole is threaded through the countersunk hole of the horizontal plate 322 and the threaded hole of the vertical plate 321, so that the vertical plate 321 is vertically installed in the middle of the horizontal plate 322. The material of the vertical plate 321 and the horizontal plate 322 is No. 2014 aluminum alloy plate with high strength and high hardness, and several through holes are opened on the surface of the vertical plate 321 and the horizontal plate 322 where the working strength is not affected to reduce the weight of the vertical plate 321 and the horizontal plate 322.

Triangular track wheel 33, by rubber track, is installed in the triangular support in rubber track, is installed in the driving wheel of triangular support triangular place, support wheel and tensioner, and the second servomotor 331 that output end is fixedly connected with driving wheel, Among them, the model of the second servo motor 331 is 1FL5060-0AC21, the driving wheel, the support wheel and the tensioning wheel are in contact with the rubber track to support the rubber track, and the position of the tensioning wheel can be adjusted on the triangle bracket. The position of the tension wheel can prevent the rubber track from slipping with the driving wheel and the support wheel, increase the safety factor and reduce the probability of failure.

The frame 21 includes: a top plate 211, two middle plates 212 installed in the middle of the top plate 211, two side plates 213 installed on both sides of the top plate 211 and three connecting plates 214 installed between the two middle plates 212.

The top plate 211 has several countersunk holes and threaded holes, and the material of the top plate 211 is No. 2014 aluminum alloy plate with high strength and high hardness.

The middle plate 212 has threaded holes on the top of the middle plate 212. The two ends of the middle plate 212 have through holes that can be passed through by the screw rod of the ball screw mechanism. There are two holes that match the optical axis symmetrically about the center of the through holes. There are light holes on the middle plate 212, and there are countersunk holes; the material of the middle plate 212 is No. 2014 aluminum alloy plate with high strength and high hardness.

Side plate 213, the top of side plate 213 has threaded hole, and the two ends of side plate 213 have the through hole that can be slidably connected with the screw rod of ball screw mechanism, can not affect the rotation of screw rod; The material of side plate 213 is to have High-strength and high-hardness 2014 aluminum alloy plate.

Connecting plate 214, the middle position of connecting plate 214 is provided with a through hole that is slidably connected with the main shaft, on the surface where connecting plate 214 is connected with intermediate plate 212, there is a threaded hole matching with the countersunk hole on the intermediate plate 212, The connecting plate 214 is made of 2014 aluminum alloy plate with high strength and high hardness.

There are four guide assemblies 4 in total, and the guide assemblies 4 include: a guide frame 41 , a guide wheel 44 , a spring 42 and a third servo motor 43 .

Guide frame 41, one end of guide frame 41 is provided with the hinge mechanism that cooperates with movable plate 23 hinge parts, and the other end has groove and fillet, has the output end that can make the 3rd servomotor 43 on the groove Through the through hole, there is a threaded hole for installing the third servo motor 43 around the through hole, and the material of the guide frame 41 is No. 2014 aluminum alloy plate with high strength and high hardness.

The guide wheel 44 is fixedly connected to the output end of the third servo motor 43, and the guide wheel 44 is wrapped by a rubber material with relatively high surface friction.

Spring 42, one end of spring 42 is fixedly connected with the middle position of guide frame 41, and the other end is fixedly connected with movable plate 23, guide frame 41 is elastically connected with movable plate 23, and the stroke of spring 42 is longer than the stroke of elastic buffer.

The third servo motor 43, the third servo motor 43 is installed on the end of the guide frame 41, the model is 1FL5060-0AC21.

Assembly process: first install the first servo motor 221 on a connecting plate 214, then fix the main shaft to the first servo motor 221 through a coupling, and then fix a second bevel gear on the main shaft close to the first servo motor 221 One end of the main shaft, then pass the two connecting plates 214 through the main shaft, and then fix another second bevel gear on the end of the main shaft, so far the assembly of the main shaft is completed; then pass one end of the screw of the ball screw mechanism through the middle plate 212 , then the first bevel gear is installed on the end of the screw rod passing through one end of the middle plate 212, then the middle plate 212 is installed on both sides of the connecting plate 214 with screws, and the first bevel gear is meshed with the second bevel gear, and then Use the optical axis clamp to install the optical axis on the middle plate 212; then install the triangular track wheel 33 and below the horizontal plate 322 of the vertical assembly 32, so far the assembly of the running gear 3 is completed; then use screws and pin shafts to screw the screw Nuts, linear bearings, vertical components 32 and guide components 4 are installed on the moving plate 23 in sequence, then the moving plate 23 is installed on the screw rod and the optical axis, then the side plate 213 is installed on the screw rod and the optical axis, and then the top plate 211 is mounted on the screw rod and the optical axis. Install on the middle plate 212 and the side plate 213, and then install the cleaning robot on the top plate 211, so far the assembly is completed.

Working principle: First, place the guide assembly 4 and the triangular track wheel 33 between the two vertical sides of the glass curtain wall, and then drive the lateral support device 2 through the first servo motor 221 so that the triangular track wheel 33 and the guide mechanism are respectively against the vertical sides. Connect, and make the elastic buffer and spring 42 produce elastic deformation; then start the cleaning robot body 1, make the cleaning robot clean the glass curtain wall, then start the second servo motor 331 and the third servo motor 43 through the triangular track wheel 33 and The guide wheels 44 move between the two vertical sides of the glass curtain wall to achieve the purpose of cleaning each position of the glass curtain wall.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be carried out to the technical solutions of the present invention. These equivalent transformations all belong to the protection scope of the present invention.

Claims (9)

1. A climbing robot for a half-frame glass curtain wall, characterized in that it includes: a robot body (1), a lateral support device (2) installed under the robot body (1), and a lateral support device ( 2) The running device (3) on both sides, wherein the running device (3) is elastically connected to the lateral support device (2); The lateral support device (2) includes: a frame (21) fixedly connected to the robot body (1), two sets of linear motion mechanisms (22) symmetrically mounted on the frame (21), and On the linear motion mechanism (22) on the same side, and a moving plate (23) that performs linear motion on the linear motion mechanism (22), wherein the linear motion mechanism (22) has at least two groups; The walking device (3) includes: an elastic assembly (31) installed on the moving plate (23), a vertical assembly (32) installed at the end of the elastic assembly (31), and a triangular assembly below the vertical assembly (32) Track wheels (33); Wherein, the moving direction of the elastic component (31) is consistent with the moving direction of the linear motion mechanism (22), and the lower surface of the vertical component (32) is perpendicular to the side of the moving plate (23). 2. A climbing robot for semi-frame glass curtain walls according to claim 1, characterized in that: the linear motion mechanism (22) is composed of a cylinder with pressure maintaining capability or a ball wire with self-locking capability The lever mechanism is composed. 3. A climbing robot for a half-frame glass curtain wall according to claim 1, characterized in that: the elastic component (31) is a gas spring (42) or an elastic buffer capable of resisting lateral pressure . 4. A climbing robot for a half-frame glass curtain wall according to claim 1, characterized in that: The vertical assembly (32) includes: a horizontal plate (322) and a vertical plate (321) vertically installed in the middle of the horizontal plate (322), the triangular track wheel (33) is installed under the horizontal plate (322), Wherein, the lower surface of the horizontal plate (322) is perpendicular to the side of the movable plate (23), and the working surface of the triangular track wheel (33) is perpendicular to the lower surface of the horizontal plate (322); The triangular track wheels (33) are symmetrical about the center line of the robot body (1), and the working surfaces of the triangular track wheels (33) on the same side are on the same plane. 5. A climbing robot for half-frame glass curtain walls according to claim 4, characterized in that: guide assemblies (4) are provided at both ends of the moving plate (23); the guide assemblies (4) Including: a guide frame hingedly connected to both ends of the mobile plate (23), a guide wheel (44) fixed at the end of the guide frame, and one end fixed at the middle position of the guide frame, and the other end fixed on the mobile plate (23 ) at the top of the spring (42), wherein the distance from the central axis of the guide wheel (44) to the moving plate (23) is greater than the distance from the working surface of the triangular track wheel (33) to the moving plate (23), the spring ( 42) the telescopic stroke is greater than the stroke of the elastic component (31). 6. A climbing robot for a half-frame glass curtain wall according to claim 4, characterized in that: the surface of the triangular track wheel (33) is provided with a suction cup or rubber material with high surface friction. 7. A climbing robot for a half-frame glass curtain wall according to claim 2, characterized in that: the frame (21) includes: a top plate ( 211), two parallel middle plates (212) are detachably installed at the middle position below the top plate (211), and two parallel side plates (213) are detachably installed at both sides below the top plate (211); Wherein, there is a predetermined distance between the two middle plates (212), and each group of linear motion mechanisms (22) is detachably installed on the opposite side of the two middle plates (212), and the side plates (213) are on the same side as The linear motion mechanism (22) is slidingly connected. 8. A climbing robot for a half-frame glass curtain wall according to claim 7, characterized in that it can be installed under the robot body (1) according to the difference in the supporting force required by the robot body (1) Multiple lateral support devices (2) and running devices (3). 9. A method of using a climbing robot for a half-frame glass curtain wall, characterized in that it comprises: Method 1: Fix the robot body (1) of the cleaning robot on the top plate (211) of the frame (21), then place the robot body (1) between the two vertical sides of the glass curtain wall to be cleaned, and then pass The linear motion mechanism (22) adjusts the distance between the triangular track wheels (33) until the triangular track wheels (33) abut against the vertical edge and the elastic component (31) is elastically deformed, and then the triangular track wheels (33) are started to make The cleaning robot moves up and down between the two vertical sides, and the glass curtain wall is cleaned by the cleaning robot; Method 2: Install the robot body (1) of the fire-fighting robot on the top plates (211) of the two racks (21). Carry out fire rescue work in rooms where a fire occurs within the curtain wall.