CN110179409A - A kind of climbing robot and application method for half frame glass curtain wall - Google Patents
A kind of climbing robot and application method for half frame glass curtain wall Download PDFInfo
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- CN110179409A CN110179409A CN201910454512.8A CN201910454512A CN110179409A CN 110179409 A CN110179409 A CN 110179409A CN 201910454512 A CN201910454512 A CN 201910454512A CN 110179409 A CN110179409 A CN 110179409A
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- robot
- curtain wall
- glass curtain
- half frame
- straight
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of climbing robots and application method for half frame glass curtain wall, belong to crawler-type wall climbing robot technical field.Wherein, a kind of climbing robot for half frame glass curtain wall includes: robot body, and the cross-brace device being mounted below robot body is mounted on the running gear of cross-brace device two sides, wherein, running gear and cross-brace device are elastic connection；The present invention, enough support forces can be provided for robot body by abutting running gear with two vertical edges of half frame glass curtain wall by cross-brace device, it is able to drive robot body between two vertical edges of half frame glass curtain wall by running gear to move up and down, the robot body that can replace different function as needed works on glass curtain wall.
Description
Technical field
The present invention relates to crawler-type wall climbing robot technical field, specifically a kind of climbing for being used for half frame glass curtain wall
Robot and application method.
Background technique
It is the notable feature of modernization skyscraper that glass curtain wall, which is mounted on construction wall outside, and for glass curtain wall
Beautiful and safety usually adds a pressing plate in the vertical edge of full concealed frame glass curtain wall, forms half built-in-frame type glass curtain of vertical edge.
Since horizontal edge is hidden in glass curtain wall on half built-in-frame type glass curtain of vertical edge, so existing use sucker in glass
What the robot climbed on glass curtain wall was easy not stop falls on bottom surface, and casualties and property is be easy to cause to damage
It loses.
And the support force of the existing robot climbed on glass curtain wall using sucker is small, only carries out glass curtain
The cleaning of wall, especially when the dust on glass curtain wall is excessive, the adsorption capacity of sucker reduces the support force to robot
It is smaller, and the big sucker of upper air current is easy to loosen and is easier that accident occurs, so needing to provide one kind can be in half frame glass
Operation provides the climbing robot of enough support forces on glass curtain wall.
Summary of the invention
Goal of the invention: a kind of climbing robot and application method for half frame glass curtain wall, to solve the prior art
The existing above problem.
A kind of technical solution: climbing robot for half frame glass curtain wall, comprising: robot body is mounted on machine
Cross-brace device below device human body, is mounted on the running gear of cross-brace device two sides, wherein running gear and cross
It is elastic connection to support device；
The cross-brace device includes: the rack being fixedly connected with robot body, and every two is one group and is symmetrically mounted on machine
Straight-line motion mechanism on frame, and be mounted on the straight-line motion mechanism of the same side, and straight line is done on straight-line motion mechanism
Move movable plate, wherein at least two groups of straight-line motion mechanism；
The running gear includes: the elastic parts being mounted on movable plate, is mounted on the vertical component of elastic parts end, with
And it is mounted on the triangle Athey wheel below vertical component；
Wherein, the direction of motion of elastic parts and the direction of motion of straight-line motion mechanism are consistent, the lower surface of vertical component and shifting
The side of movable plate is vertical.
In a further embodiment, the straight-line motion mechanism by the cylinder with pressure maintaining ability or has self-lock ability
Ball screw framework composition, even if climbing robot can be made by the pressure maintaining ability of cylinder and the self-lock ability of ball-screw
It can be also supported on glass curtain wall when the fortuitous events such as power-off occur.
In a further embodiment, the elastic parts be gas spring or elastic buffer with lateral pressure resistant ability,
Enough support forces can be provided for climbing robot by gas spring or the flexible deformation of elastic buffer, and due to gas bullet
Spring or elastic buffer have lateral pressure resistant ability and bend so can be avoided because of the gravity of climbing robot, and raising makes
With service life and safety.
In a further embodiment, the vertical component includes: transverse slat and is vertically mounted on the perpendicular of transverse slat middle position
Plate, the triangle Athey wheel are mounted on the lower section of transverse slat, wherein the lower surface of the transverse slat is vertical with movable plate side, described
The working face of triangle Athey wheel and the lower surface of transverse slat are vertical, and the working face and movable plate of triangle Athey wheel are made by vertical component
Side it is vertical, the working face of triangle Athey wheel can be made parallel with the vertical edge of glass curtain wall, climbing robot work when make
The working face of triangle Athey wheel abuts, and provides enough support forces for robot body；
The triangle Athey wheel is symmetrical about the center line of robot body, and the working face of the triangle Athey wheel of the same side is same
Plane, triangle crawler belt are symmetrically mounted on the two sides of robot body, make robot body uniform force, improve robot body
The working face of stability, the triangle Athey wheel of the same side is in same plane, can guarantee that the triangle Athey wheel of the same side is steady
Be connected on vertical edge, improve the stability of robot body.
In a further embodiment, the both ends of the movable plate are additionally provided with guidance set；The guidance set include: with
The mobile hinged leading truck of board ends, the directive wheel and one end for being fixed on leading truck end are fixed in leading truck
Between position, the other end is fixed on the spring on movable plate top, wherein the distance of directive wheel central axis to the movable plate is greater than
To the distance of movable plate, the flexible stroke of the spring is greater than the stroke of elastic parts, passes through guiding triangle Athey wheel working face
The spring of component can be such that directive wheel abuts always with pressing plate, make climbing machine when encountering the bending part of surface modeling vertical edge
Device people can obtain enough support forces on the glass curtain wall with surface modeling vertical edge.
In a further embodiment, the surface of the triangle Athey wheel is equipped with the big sucker or rubber material of skin-friction force
Material is existed by can be avoided triangle Athey wheel equipped with skin-friction force big sucker or rubber material on the surface of triangle Athey wheel
Sliding friction occurs with vertical edge when work, reduces the probability that accident occurs.
In a further embodiment, the rack, comprising: be removably mounted at the top plate of robot body bottom end, push up
The lower section middle position of plate is detachably installed there are two parallel intermediate plate, and two side position of lower section of top plate is detachably equipped with two
A parallel side plate；Wherein, preset space length is equipped between two intermediate plates, every group of straight-line motion mechanism is removably mounted at two
The straight-line motion mechanism of the opposite side of intermediate plate, the side plate and the same side is slidably connected, can be square by detachably installing
Just the maintenance and replacement of the different robot body of replacement function as needed, and conveniently cross-brace device and walking are filled
The maintenance and replacement set, can be realized the fixation of straight-line motion mechanism by intermediate plate, by reserving between two intermediate plates
Preset distance can increase the length of the hypotelorism straight-line motion mechanism of two intermediate plates as needed, reduce production cost,
It can guarantee the even running of straight-line motion mechanism by side plate and being slidably connected for straight-line motion mechanism.
In a further embodiment, the difference of the support force size according to needed for robot body is in robot body
Lower section multiple cross-brace devices and running gear are installed, by by increasing cross-brace device and running gear is difference
The robot of type provides enough support forces, guarantees the working properly of robot.
A kind of application method of the climbing robot for half frame glass curtain wall, comprising:
Method one: the robot body of clean robot is fixed on the top plate of rack, is then placed on robot body
Between two vertical edges of glass curtain wall to be cleaned, then pass through the spacing of straight-line motion mechanism adjusting triangle Athey wheel, until
Until abutting triangle Athey wheel with vertical edge and making elastic parts that elastic deformation occur, then starting triangle Athey wheel makes cleaner
Device people moves up and down between two vertical edges, is cleaned by clean robot to glass curtain wall.
Method two: the robot body of fire-fighting robot is mounted on the top plate of two racks, passes through fire-fighting robot
Fire-fighting and rescue operation is carried out to the room that fire occurs in glass curtain wall.
The utility model has the advantages that leading to the invention discloses a kind of climbing robot and application method for half frame glass curtain wall
It crosses cross-brace device and vertical component can be such that running gear abuts with vertical edge robot body is supported on glass curtain wall
Between two vertical edges, enough support forces are provided for robot body, even if after a loss of power, still can by elastic parts
Guarantee that there is enough pressure between triangle Athey wheel and vertical edge, provides enough support forces for robot body, pass through triangle
Athey wheel can be realized climbing robot and move up and down between two vertical edges.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the embodiment of the present invention schematic diagram.
Fig. 3 is the structural schematic diagram of spring buffer of the invention.
Fig. 1 to scheme shown in appended drawing reference are as follows: robot body 1, cross-brace device 2, running gear 3, guidance set 4,
Rack 21, straight-line motion mechanism 22, movable plate 23, elastic parts 31, vertical component 32, triangle Athey wheel 33, leading truck 41, bullet
Spring 42, third servo motor 43, directive wheel 44, top plate 211, intermediate plate 212, side plate 213, connecting plate 214, first servo motor
221, riser 321, transverse slat 322, the second servo motor 331.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
For convenience of the internal structure for showing climbing robot, so the top plate 211 in Fig. 1 is shown with half sectional view.
The present embodiment is that a kind of double of frame glass curtain wall of climbing robot for half frame glass curtain wall is cleaned
The application of work.
Used straight-line motion mechanism 22 is ball screw framework in the present embodiment, and used elastic parts 31 is
Elastic buffer.
So the cross-brace device 2 in the present embodiment includes: ball screw framework, positioned at ball screw framework two sides
Optical axis, the linear bearing moved in a straight line on optical axis are fixed on screw tip first bevel gear, engage with first bevel gear
Second bevel gear passes through connection across second bevel gear and with the main shaft of second bevel gear key connection and output end and spindle nose
The first servo motor 221 of axis device connection, wherein the model BGFVP1505-L400 of ball screw framework, first bevel gear
With the model GB/T12369-1990 of second bevel gear, the model JB/T9148-1999 of shaft coupling, first servo motor
221 model 1FL5060-0AC21.
Movable plate 23, open on movable plate 23 there are two with the screw rod of ball screw framework in linear motion it is concentric not with
The through-hole of screw rod contact is also provided with around through-hole about through hole center symmetrically there are two the unthreaded hole matched with linear bearing
The both ends of the threaded hole of several feed screw nuts for being used to install ball screw framework, movable plate 23 are equipped with articulated section.
Elastic buffer in the present embodiment using model HT3-630 × 150 is as elastic parts 31, the bullet of the model
Property buffer structure is as shown in figure 3, the guide rod on elastic buffer can make spring 42 not shift, in elastic buffer
Both ends when being under pressure spring 42 elastic deformation occurs, spring 42 applies support force back to the both ends of elastic buffer, together
The elastic buffer of one model guarantees to occur to generate identical support force when flexible deformation, and makes the work of triangle Athey wheel 33
Face is in same plane.
Vertical component 32 is assembled by a riser 321 and a transverse slat 322, and the bottom end of the riser 321 is provided with spiral shell
Pit, the middle position of transverse slat 322 are provided with counter sink corresponding with the threaded hole of 321 bottom end of riser, pass through transverse slat by screw
322 counter sink and the screw hole of riser 321 make riser 321 be vertically mounted on the middle position of transverse slat 322, described perpendicular
The material of plate 321 and transverse slat 322 is No. 2014 aluminium alloy plates with high-intensitive and high rigidity, and in riser 321 and transverse slat 322
Surface do not influence the position of working strength and be provided with several through-holes and reduce the weight of risers 321 and transverse slat 322.
Triangle Athey wheel 33, by rubber belt track, the A-frame being mounted in rubber belt track is mounted on A-frame triangle
The second servo motor 331 that driving wheel, support wheel and the expansion tightening wheel and output end at place are fixedly connected with driving wheel, wherein the
The model 1FL5060-0AC21 of two servo motors 331, driving wheel, support wheel and expansion tightening wheel are abutted with rubber belt track, to rubber
Crawler belt is supported, the adjustable position on A-frame of expansion tightening wheel, and the position by adjusting expansion tightening wheel can be avoided rubber
Glue crawler belt and driving wheel and support wheel skid, and increase safety coefficient, reduce the probability to break down.
Rack 21 includes: top plate 211, is mounted on two intermediate plates 212 in 211 middle position of top plate, is mounted on top plate 211
Two side plates 213 of two sides and three connecting plates 214 being mounted between two intermediate plates 212.
Top plate 211, several counter sinks and threaded hole are provided on top plate 211, and the material of top plate 211 is with high-intensitive and high
No. 2014 aluminium alloy plates of hardness.
Intermediate plate 212, the top of intermediate plate 212 are provided with threaded hole, and the both ends of intermediate plate 212 are provided with can be by ball-screw
The through-hole that the screw rod of mechanism passes through, the central symmetry about through-hole open that there are two the unthreaded holes with optical axis cooperation, on intermediate plate 212 also
It is provided with counter sink；The material of intermediate plate 212 is No. 2014 aluminium alloy plates with high-intensitive and high rigidity.
Side plate 213, the top of side plate 213 are provided with threaded hole, and the both ends of side plate 213 are provided with can be with ball screw framework
The through-hole of screw slide connection, can not influence the rotation of screw rod；The material of side plate 213 is with high-intensitive and high rigidity
No. 2014 aluminium alloy plates.
Connecting plate 214, the middle position of connecting plate 214 is provided with the through-hole being slidably connected with main shaft, in connecting plate 214
The threaded hole matched with the counter sink on intermediate plate 212, the material of connecting plate 214 are provided on the face connecting with intermediate plate 212
For No. 2014 aluminium alloy plates with high-intensitive and high rigidity.
There are four guidance set 4 is total, guidance set 4 includes: leading truck 41, directive wheel 44, spring 42 and third servo
Motor 43.
Leading truck 41, one end of leading truck 41 are equipped with the linkage matched with 23 articulated section of movable plate, and the other end is opened
It is fluted and be rounded down, it is provided with the through-hole that the output end of third servo motor 43 can be made to pass through on groove, is opened around through-hole
There is the threaded hole for installing third servo motor 43, the material of leading truck 41 is No. 2014 aluminium with high-intensitive and high rigidity
Alloy sheets.
Directive wheel 44, directive wheel 44 are fixedly connected with the output end of third servo motor 43, and directive wheel 44 is by mantle friction
The biggish rubber material package of power.
One end of spring 42, spring 42 is fixedly connected with the middle position of leading truck 41, and the other end and movable plate 23 are fixed
Connection, makes leading truck 41 and 23 elastic connection of movable plate, the stroke of the stroke ratio elastic buffer of spring 42 will be grown.
Third servo motor 43, third servo motor 43 are mounted on the end of leading truck 41, model 1FL5060-
0AC21。
Assembling process: first servo motor 221 is mounted on a connecting plate 214 first, main shaft is then passed through into connection
Axis device is fixedly connected with first servo motor 221, and a second bevel gear is then fixed on main shaft close to first servo motor
Then two connecting plates 214 are passed through main shaft, then another second bevel gear are fixed on to the end of main shaft by 221 one end,
So far the assembly of main shaft is completed；Then one end of the screw rod of ball screw framework is passed through into intermediate plate 212, then bores tooth for first
Wheel is mounted on the end that screw rod is pierced by 212 one end of intermediate plate, and intermediate plate 212 is then mounted on connecting plate 214 using screw
Two sides, and engage first bevel gear with second bevel gear, it is then pressed from both sides using optical axis and optical axis is mounted on intermediate plate 212；So
Afterwards by the lower section of triangle Athey wheel 33 and the transverse slat 322 for being mounted on vertical component 32, the assembly of running gear 3 is so far completed；So
Feed screw nut, linear bearing, vertical component 32 and guidance set 4 are sequentially arranged at movable plate 23 using screw and pin shaft afterwards
On, then movable plate 23 is mounted on screw rod and optical axis, then side plate 213 is mounted on screw rod and optical axis, is then used
Top plate 211 is mounted on the top of intermediate plate 212 and side plate 213 by screw, and clean robot is then mounted on the upper of top plate 211
Side so far completes assembly.
Working principle: guidance set 4 and triangle Athey wheel 33 are placed between two vertical edges of glass curtain wall first, then
Cross-brace device 2 is driven to abut triangle Athey wheel 33 and guiding mechanism with vertical edge respectively by first servo motor 221, and
Elastic buffer and spring 42 is set to generate elastic deformation；Then start clean robot ontology 1, make clean robot to glass curtain
Wall carries out cleaning, then starts the second servo motor 331 and third servo motor 43 and passes through triangle Athey wheel 33 and guiding
Wheel 44 moves between two vertical edges of glass curtain wall, reaches and carries out clean purpose to each position of glass curtain wall.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (9)
1. a kind of climbing robot for half frame glass curtain wall characterized by comprising robot body (1) is mounted on
Cross-brace device (2) below robot body (1) is mounted on the running gear (3) of cross-brace device (2) two sides,
In, running gear (3) and cross-brace device (2) they are elastic connection；
The cross-brace device (2) includes: the rack (21) being fixedly connected with robot body (1), and every two is one group pair
Claim the straight-line motion mechanism (22) being mounted on rack (21), and is mounted on the straight-line motion mechanism (22) of the same side, and
The movable plate (23) moved in a straight line on straight-line motion mechanism (22), wherein at least two groups of straight-line motion mechanism (22)；
The running gear (3) includes: the elastic parts (31) being mounted on movable plate (23), is mounted on elastic parts (31) end
The vertical component (32) at end, and it is mounted on the triangle Athey wheel (33) below vertical component (32)；
Wherein, the direction of motion of elastic parts (31) is consistent with the direction of motion of straight-line motion mechanism (22), vertical component (32)
Lower surface it is vertical with the side of movable plate (23).
2. a kind of climbing robot for half frame glass curtain wall according to claim 1, it is characterised in that: described straight
Line movement mechanism (22) is made of the cylinder with pressure maintaining ability or the ball screw framework with self-lock ability.
3. a kind of climbing robot for half frame glass curtain wall according to claim 1, it is characterised in that: the bullet
Property component (31) be gas spring (42) or elastic buffer with lateral pressure resistant ability.
4. a kind of climbing robot for half frame glass curtain wall according to claim 1, it is characterised in that:
The vertical component (32) includes: transverse slat (322) and the riser (321) for being vertically mounted on transverse slat (322) middle position, institute
State the lower section that triangle Athey wheel (33) is mounted on transverse slat (322), wherein the lower surface and movable plate (23) of the transverse slat (322)
Side is vertical, and the working face of the triangle Athey wheel (33) is vertical with the lower surface of transverse slat (322)；
The triangle Athey wheel (33) is symmetrical about the center line of robot body (1), the triangle Athey wheel (33) of the same side
Working face is in same plane.
5. a kind of climbing robot for half frame glass curtain wall according to claim 4, it is characterised in that: the shifting
The both ends of movable plate (23) are additionally provided with guidance set (4)；The guidance set (4) includes: to connect with movable plate (23) both ends hinge
Leading truck, the directive wheel (44) and one end that are fixed on leading truck end be fixed on the middle position of leading truck, and the other end is solid
It is scheduled on the spring (42) on movable plate (23) top, wherein the distance of the central axis of the directive wheel (44) to movable plate (23)
Greater than the distance of triangle Athey wheel (33) working face to movable plate (23), the flexible stroke of the spring (42) is greater than elastic parts
(31) stroke.
6. a kind of climbing robot for half frame glass curtain wall according to claim 4, it is characterised in that: described three
The surface of angle Athey wheel (33) is equipped with the big sucker or rubber material of skin-friction force.
7. a kind of climbing robot for half frame glass curtain wall according to claim 2, it is characterised in that: the machine
Frame (21), comprising: be removably mounted at the top plate (211) of robot body (1) bottom end, the lower section middle position of top plate (211)
There are two parallel intermediate plate (212), two side position of lower section of top plate (211) detachably install that there are two in parallel for detachable installation
Side plate (213)；
Wherein, preset space length is equipped between two intermediate plates (212), every group of straight-line motion mechanism (22) is removably mounted at two
The opposite side of intermediate plate (212), the side plate (213) and the straight-line motion mechanism (22) of the same side are slidably connected.
8. a kind of climbing robot for half frame glass curtain wall according to claim 7, it is characterised in that: Ke Yigen
Multiple cross-brace devices are installed according to the different lower sections in robot body (1) of support force size needed for robot body (1)
(2) and running gear (3).
9. a kind of application method of the climbing robot for half frame glass curtain wall characterized by comprising
Method one: the robot body (1) of clean robot is fixed on the top plate (211) of rack (21), then by machine
Human body (1) is placed between two vertical edges of glass curtain wall to be cleaned, then adjusts three by straight-line motion mechanism (22)
The spacing of angle Athey wheel (33), until abutting triangle Athey wheel (33) with vertical edge and making elastic parts (31) that elastic deformation occurs
Until, then starting triangle Athey wheel (33) moves up and down clean robot between two vertical edges, passes through clean robot
It is cleaned to glass curtain wall；
Method two: the robot body (1) of fire-fighting robot is mounted on the top plate (211) of two racks (21), works as climbing
After robot carries the predetermined position that fire-fighting robot arrival distance needs to rescue room, by fire-fighting robot to glass curtain wall
The interior room that fire occurs carries out fire-fighting and rescue work.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454512.8A CN110179409B (en) | 2019-05-29 | 2019-05-29 | Climbing robot for half-frame type glass curtain wall and using method |
| CN202011032592.7A CN112274072B (en) | 2019-05-29 | 2019-05-29 | Climbing method based on climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910454512.8A CN110179409B (en) | 2019-05-29 | 2019-05-29 | Climbing robot for half-frame type glass curtain wall and using method |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011032592.7A Division CN112274072B (en) | 2019-05-29 | 2019-05-29 | Climbing method based on climbing robot |
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| Publication Number | Publication Date |
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| CN110179409A true CN110179409A (en) | 2019-08-30 |
| CN110179409B CN110179409B (en) | 2020-11-06 |
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| CN201910454512.8A Active CN110179409B (en) | 2019-05-29 | 2019-05-29 | Climbing robot for half-frame type glass curtain wall and using method |
| CN202011032592.7A Active CN112274072B (en) | 2019-05-29 | 2019-05-29 | Climbing method based on climbing robot |
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| CN116138673B (en) * | 2023-02-10 | 2024-04-05 | 青岛理工大学 | Automatic ash removing robot for building outer wall |
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| US20040084069A1 (en) * | 2002-10-31 | 2004-05-06 | Woodard Kenneth S. | Fluid/air burst washing system |
| CN201271202Y (en) * | 2008-09-11 | 2009-07-15 | 北京凯博擦窗机械技术公司 | Electric rail-climbing device of window cleaning equipment for slope |
| CN108979305A (en) * | 2018-09-11 | 2018-12-11 | 台山市河朗新型环保建材有限公司 | A kind of municipal works protective fence structure |
| CN109700371A (en) * | 2019-03-19 | 2019-05-03 | 潘文文 | A kind of automatic cleaning apparatus for high-altitude glass |
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| CN112274072A (en) | 2021-01-29 |
| CN112274072B (en) | 2021-07-30 |
| CN110179409B (en) | 2020-11-06 |
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