CN111497962B - Self-adsorption type climbing mechanism for high-altitude building - Google Patents
Self-adsorption type climbing mechanism for high-altitude building Download PDFInfo
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- CN111497962B CN111497962B CN202010362324.5A CN202010362324A CN111497962B CN 111497962 B CN111497962 B CN 111497962B CN 202010362324 A CN202010362324 A CN 202010362324A CN 111497962 B CN111497962 B CN 111497962B
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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
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Abstract
The invention discloses a self-adsorption type climbing mechanism for high-altitude buildings, which comprises a rack, four rollers and an adsorption device, wherein the four rollers are arranged on the rack; the frame is parallel to the surface of the high-altitude building to be climbed; the four rollers are symmetrically arranged on two sides of the adsorption device, and any one, two or more rollers are driving wheels; the adsorption device comprises a large belt wheel, a small belt wheel, a flexible belt and a sucker; the large belt wheel and the small belt wheel are both arranged on the frame through a bracket, the large belt wheel is positioned at the front end of the advancing direction, and the small belt wheel is positioned at the tail end of the advancing direction; the large belt wheel or the small belt wheel is a driving wheel; the flexible belt is sleeved on the peripheries of the large belt wheel and the small belt wheel, the flexible belt facing one side of the rack is parallel to the rack, and an inclination angle alpha is formed between the flexible belt facing away from one side of the rack and the rack; the sucking discs are evenly distributed on the outer surface of the flexible belt, and the height of each sucking disc can be freely stretched. The invention is based on the vacuum adsorption principle, and realizes a self-adsorption structure without a power source and stable adsorption with high-altitude buildings through unique design.
Description
Technical Field
The invention relates to a detection robot for the field of buildings, in particular to a self-adsorption type climbing mechanism for high-altitude buildings.
Background
In modern industrial buildings, the use of cables is becoming more widespread, for example cable-stayed bridges, cable cars, etc., which require the use of cables for the stabilization of the overall structure. The cable bears great force in the use process, is influenced by various external forces in the use process, has strict requirements on safety performance of a cable-stayed bridge, a cable car and the like, and has serious consequences once being broken, even endangers the life of people, so the cable is very important for quality acceptance, maintenance and fault inspection of the cable.
The cable-stayed bridge is a novel bridge type which has been developed in recent decades, and is widely applied worldwide due to good anti-seismic performance and economic performance. With the rapid development of traffic construction in China, more and more large-span bridges appear on large rivers, and cable bridges and cable-stayed bridges are generally adopted as super-large economic bridges.
Cables are a major component of such bridges, and their safety has gained widespread attention. Thus, crawling robots have emerged that are concerned with detecting the cables of cable-stayed bridges. For example: the Chinese patent application with the application number of 201510726413.2 and the invention name of a closed type high-altitude cable climbing robot, the Chinese patent application with the application number of 201610474655.1 and the invention name of a friction wheel type climbing cable detection robot, the Chinese patent application with the application number of 201410629242.7 and the invention name of a cable-stayed bridge cable detection robot, and the like.
However, the above patent application, when implemented, has the following problems:
1. the cable is of a closed structure, the installation in the field test process is very inconvenient, the whole mechanism needs to be disassembled and sleeved on the cable, then the cable is installed again, time and labor are consumed, and the practical value of patent application is seriously influenced.
2. The structure is complicated, the number of parts is too much, the weight is heavy, the manufacture is difficult, and the cost is high.
3. The clamping force of the mechanism is applied by the spring, the resonance and instability of the mechanism are easily caused under the action of nonlinear dynamic factors such as high-altitude dynamic wind load, self vibration of the cable and the like, the precision and stability of the carried detection equipment are influenced slightly, and the mechanism falls down to cause safety accidents.
4. The climbing device can only be suitable for climbing cables with specific rod diameters, and when the rod diameter changes greatly, the climbing device is difficult to climb tapered rod-shaped objects, and is less likely to climb flat surfaces or objects with other arc surfaces.
5. If the vacuum chuck is adopted for adsorption in the high-altitude climbing field, a power source is required to be provided under general conditions, and the provision of the vacuum power source is obviously unrealistic under extreme environments such as high altitude and the like, and if no wiring is available, the air and electric energy consumption are too large, and the like.
6. At 201510726413.2, since there is no rotational degree of freedom to control, it is not easy to detect the cable in the circumferential direction.
Disclosure of Invention
The invention aims to solve the technical problem of the prior art and provides a self-adsorption type climbing mechanism for a high-altitude building, which is based on a vacuum adsorption principle and adopts a unique driving structure design to realize a self-adsorption type structure without a power source and realize stable adsorption with a cable.
In order to solve the technical problems, the invention adopts the technical scheme that:
a self-adsorption type climbing mechanism for high-altitude buildings comprises a rack, four rollers and an adsorption device.
The frame is parallel to the surface of the high-altitude building to be climbed.
Four gyro wheels and adsorption equipment all set up in the frame towards high altitude building one side, and four gyro wheels symmetry sets up in adsorption equipment both sides, and wherein arbitrary one, two or more gyro wheels are the action wheel.
The adsorption device comprises a large belt wheel, a small belt wheel, a flexible belt and a sucker. The big belt wheel and the small belt wheel are both installed on the rack through a support, wherein the big belt wheel is located at the front end of the advancing direction, and the small belt wheel is located at the tail end of the advancing direction. The big belt wheel or the small belt wheel is a driving wheel.
The flexible belt is sleeved on the peripheries of the large belt wheel and the small belt wheel, and an inclination angle alpha is formed between the flexible belt and the rack on the side departing from the rack.
The sucking discs are evenly distributed on the outer surface of the flexible belt, and the height of each sucking disc can be freely stretched.
When the flexible belt on the side facing the frame is parallel to the frame, the height of the inclination angle α in the direction perpendicular to the frame is the difference between the diameters of the large pulley and the small pulley.
The sucking disc includes flexible lip, connecting block, dabber and spring.
The flexible lip is in the shape of a hollow disc, the bottom of which is connected to the top end of the connecting block.
The axis of the connecting block is provided with a mandrel cavity, a shaft shoulder cavity and an air leakage hole. The diameter of the shaft shoulder cavity is larger than that of the mandrel cavity, and the air release hole is communicated with the shaft shoulder cavity.
The middle part of the mandrel is provided with a shaft shoulder, the mandrel is in sealed sliding fit with the mandrel containing cavity, and the shaft shoulder is in clearance fit with the shaft shoulder containing cavity. The bottom end of the mandrel is fixedly connected with the flexible belt, and the top end of the mandrel is provided with an axial vent hole and a radial vent hole. Wherein, the axial air vent sets up along the axis of dabber, and is linked together with the cavity of flexible lip. The radial vent hole is positioned at the bottom of the axial vent hole, arranged along the radial direction and communicated with the axial vent hole.
The spring is positioned in the shaft shoulder containing cavity below the shaft shoulder and is sleeved on the periphery of the mandrel.
The high-altitude building is a cable, a nuclear power station, a high-pressure boiler or a high-altitude curtain wall.
The flexible belt is a synchronous belt or a chain.
A climbing method of a self-adsorption type climbing mechanism for a building cable comprises the following steps.
Step 1, climbing mechanism placing and adsorbing: will scramble the mechanism and place the high altitude building surface of treating the climbing, specifically place the requirement: the frame is parallel to the surface of the high-altitude building, the large belt wheel in the adsorption device is positioned at the front end of the advancing direction, and the small belt wheel is positioned at the tail end of the advancing direction. Meanwhile, the sucker A positioned right below the large belt wheel is adsorbed to the surface of the high-altitude building.
Step 2, the climbing mechanism stably adsorbs, and comprises the following steps:
step 21, extending the sucker: the frame is parallel to the surface of the high-altitude building all the time, and an inclination angle alpha is formed between the flexible belt facing the surface of the high-altitude building and the frame. The large belt wheel rotates clockwise, the rack climbs upwards slowly, the sucker A moves towards the small belt wheel along the inclination angle alpha, and due to the existence of the inclination angle alpha, the sucker A can extend in a self-adaptive manner and keep adsorbing with the surface of the high-altitude building. Meanwhile, the sucker B positioned at the downstream of the sucker A moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized.
Step 22, the suction cup is stretched again: the large belt wheel continues to rotate clockwise, the rack continues to climb upwards slowly, the sucker A continues to move towards the small belt wheel along the inclination angle alpha, and the sucker A adaptively extends again and keeps adsorbing the surface of the high-altitude building. Suction cup B will be extended with reference to suction cup a in step 21 and will remain attached to the overhead building surface. Meanwhile, the sucker C positioned at the downstream of the sucker B moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized.
Step 23, stably adsorbing by a sucker: and (3) repeating the steps 21 to 22, wherein when the sucker A moves to a position right below the small belt wheel, the sucker A has the largest extension length, the m suckers on the inclination angle alpha flexible belt are adsorbed to the surface of the high-altitude building, the adsorption force is greater than the gravity of the climbing mechanism, and the whole climbing mechanism is pressed on the surface of the high-altitude building. The extension lengths of the m suckers are sequentially increased from the large belt wheel to the small belt wheel. At the same time, the suction cup A is in a vacuum releasing state, and the large belt wheel stops rotating.
Step 3, rolling adsorption: the four rollers climb upwards under the action of the driving device to drive the large belt wheel and the small belt wheel to rotate in a self-adaptive mode, and the sucker A resets. And (3) repeating the step (2) and the step by a plurality of suckers to realize rolling adsorption in the climbing process.
In step 23, when the suction cup a has the maximum extension length, the radial vent hole on the mandrel is communicated with the shoulder cavity and the air release hole to form a vacuum air release channel. In step 3, the sucker A is reset under the action of the spring.
The invention has the following beneficial effects:
1. the open structure is very convenient to install.
2. Simple structure, light weight (prolonging the climbing height of the battery), easy manufacture and low cost.
3. Because flexible parts such as springs and the like are eliminated, the mechanism can be stably adsorbed on the surface of the cable, is not influenced by nonlinear dynamic factors such as high-altitude dynamic wind load, self vibration of the cable and the like, and has good stability.
4. The adsorption can be stably realized without providing any power source, the energy is saved, no power line is needed, and the complex and high-altitude extreme environment can be realized.
5. The climbing device is suitable for climbing with different rod diameters, and the climbing of the conical rod is expanded into an arc surface and a plane climbing. The invention can expand the extreme environment which can not be reached by human beings in extreme high-altitude buildings such as nuclear power stations, high-pressure boilers, high-altitude curtain wall climbing, high-rise buildings and the like. And does not need to provide any power.
Drawings
Fig. 1 shows a first three-dimensional structure diagram of a self-adsorption climbing mechanism for high-altitude buildings according to the invention.
Fig. 2 shows a three-dimensional structure diagram of a self-adsorption climbing mechanism for high-altitude buildings according to the invention.
Fig. 3 shows a schematic perspective view of the adsorption apparatus of the present invention.
Fig. 4 is a view showing a structure of a suction cup in a natural state in the suction device of the present invention.
Fig. 5 is a view showing a structure of a suction cup in an operation state in the suction device of the present invention.
Figure 6 shows a view of the structure of the suction cup of the present invention in its natural state.
Fig. 7 shows a structure view of the suction cup of the present invention in a vacuum sucking state.
Figure 8 shows a block diagram of the suction cup of the present invention in a vacuum released state.
Among them are:
10. a cable; 20. a frame; 30. a roller;
40. an adsorption device;
41. a large belt pulley; 42. a small belt pulley; 43. a flexible band;
44. a suction cup;
441. a flexible lip;
442. connecting blocks; 4421. a mandrel cavity; 4422. a shoulder cavity; 4423. an air release hole;
443. a mandrel; 4431. an axial vent; 4432. a radial vent; 4433. a shaft shoulder;
444. a spring;
45. and (4) a bracket.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As shown in fig. 1 and 2, the self-adsorption type climbing mechanism for the high-altitude building comprises a frame 20, four rollers 30 and an adsorption device 40.
The frame is parallel to the surface of the high-altitude building to be climbed. The high-altitude building is preferably a cable 10, a nuclear power plant, a high-pressure boiler or a high-altitude curtain wall, and the like. When the high-altitude building is a cable 10, the frame is preferably cambered.
Four gyro wheels and adsorption equipment all set up in the frame towards high altitude building one side, and four gyro wheels symmetry sets up in the adsorption equipment both sides, and wherein arbitrary one, two or a plurality of gyro wheels are the action wheel, also need not injecing who is the action wheel.
As shown in fig. 3, 4 and 5, the suction device includes a large pulley 41, a small pulley 42, a flexible belt 43, and a suction cup 44. The large belt wheel and the small belt wheel are both mounted on the frame through a support 45, wherein the large belt wheel is located at the front end of the advancing direction, and the small belt wheel is located at the tail end of the advancing direction. The big belt wheel or the small belt wheel is a driving wheel.
The flexible belt is sleeved on the peripheries of the large belt wheel and the small belt wheel, and preferably a synchronous belt or a chain and the like.
The flexible strip facing the frame is preferably parallel to the frame, and the flexible strip facing away from the frame has an angle of inclination α with the frame. The height of the inclination angle alpha in the direction perpendicular to the frame is the difference between the diameters of the large and small pulleys.
The sucking discs are evenly distributed on the outer surface of the flexible belt, and the height of each sucking disc can be freely stretched.
As shown in fig. 6, 7 and 8, the suction cup preferably includes a flexible lip 441, a connector block 442, a spindle 443 and a spring 444.
The flexible lip is in the shape of a hollow disc, the bottom of which is connected to the top end of the connecting block.
The axis of the connecting block is provided with a mandrel cavity 4421, a shaft shoulder cavity 4422 and an air leakage hole 4423. The diameter of the shaft shoulder cavity is larger than that of the mandrel cavity, and the air release hole is communicated with the shaft shoulder cavity.
The middle part of the mandrel is provided with a shaft shoulder 4433, the mandrel is in sealed sliding fit with the mandrel cavity, and the shaft shoulder is in clearance fit with the shaft shoulder cavity. The bottom end of the mandrel is fixedly connected with the flexible belt, and the top end of the mandrel is provided with an axial vent hole 4431 and a radial vent hole 4432. Wherein, the axial air vent sets up along the axis of dabber, and is linked together with the cavity of flexible lip. The radial vent hole is positioned at the bottom of the axial vent hole, arranged along the radial direction and communicated with the axial vent hole.
The spring is positioned in the shaft shoulder containing cavity below the shaft shoulder and is sleeved on the periphery of the mandrel to play a role in resetting.
As shown in fig. 7, when the mandrel is stretched relative to the connecting block, the suction is realized corresponding to the movement of the cylinder piston, and the vent hole arranged in the mandrel is in a sealed 'cut-off' state.
When the mandrel is continuously stretched relative to the connecting block, the vent hole arranged in the mandrel is communicated with the shoulder cavity and the air release hole, vacuum is released, and adsorption force is not generated, as shown in fig. 8.
When the driving device drives the roller to roll, the suckers are stretched one by one, sequentially and gradually due to the existence of the inclination angle, the adsorption force of the suckers is gradually increased, and the adsorption is realized. And along with the increase of the tensile amount of the sucker, the vent hole, the shaft shoulder cavity and the air release hole are communicated to release vacuum, so that the adsorption force is not generated, and the magnetic disks release the vacuum one by one.
The adsorption device can realize adsorption when rolling by the aid of the cyclic reciprocating manner.
A climbing method of a self-adsorption type climbing mechanism for a building cable comprises the following steps.
Step 1, climbing mechanism placing and adsorbing: artifical or hoist device etc. will climb the mechanism and place the high altitude building surface of treating the climbing, specifically place the requirement: the frame is parallel to the surface of the high-altitude building, the large belt wheel in the adsorption device is positioned at the front end of the advancing direction, and the small belt wheel is positioned at the tail end of the advancing direction. Meanwhile, the sucker A positioned right below the large belt wheel is adsorbed to the surface of the high-altitude building.
And 2, stably adsorbing by the climbing mechanism, and comprising the following steps.
Step 21, extending the sucker: the frame is parallel to the surface of the high-altitude building all the time, and an inclination angle alpha is formed between the flexible belt facing the surface of the high-altitude building and the frame. The large belt wheel rotates clockwise (generated by pushing upwards by manpower or a hoisting device and the like), the rack slowly climbs upwards, the sucker A moves towards the small belt wheel along the inclination angle alpha, and due to the existence of the inclination angle alpha, the sucker A can adaptively extend and keep adsorbing with the surface of the high-altitude building. Meanwhile, the sucker B positioned at the downstream of the sucker A moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized.
Step 22, the suction cup is stretched again: the large belt wheel continues to rotate clockwise, the rack continues to climb upwards slowly, the sucker A continues to move towards the small belt wheel along the inclination angle alpha, and the sucker A adaptively extends again and keeps adsorbing the surface of the high-altitude building. Suction cup B will be extended with reference to suction cup a in step 21 and will remain attached to the overhead building surface. Meanwhile, the sucker C positioned at the downstream of the sucker B moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized.
Step 23, stably adsorbing by a sucker: and (3) repeating the steps 21 to 22, wherein when the sucker A moves to a position right below the small belt wheel, the sucker A has the largest extension length, the m suckers on the inclination angle alpha flexible belt are adsorbed to the surface of the high-altitude building, the adsorption force is greater than the gravity of the climbing mechanism, and the whole climbing mechanism is pressed on the surface of the high-altitude building. The extension lengths of the m suckers are sequentially increased from the large belt wheel to the small belt wheel. At the same time, the suction cup A is in a vacuum releasing state, and the large belt wheel stops rotating.
In the step, when the sucker A extends to the maximum length, the radial vent hole on the mandrel is communicated with the shaft shoulder cavity and the air release hole to form a vacuum air release channel.
Step 3, rolling adsorption: four rolls, under drive arrangement's effect, realizes upwards climbing, drives big band pulley and little band pulley self-adaptation rotation, and sucking disc A resets under the effect of spring. And (3) repeating the step (2) and the step by a plurality of suckers to realize rolling adsorption in the climbing process.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.
Claims (6)
1. The utility model provides a self-absorption formula climbing mechanism for high altitude building which characterized in that: comprises a frame, four rollers and an adsorption device;
the frame is parallel to the surface of the high-altitude building to be climbed;
the four rollers and the adsorption device are arranged on the rack on one side facing the high-altitude building, the four rollers are symmetrically arranged on two sides of the adsorption device, and any one or more rollers are driving wheels;
the adsorption device comprises a large belt wheel, a small belt wheel, a flexible belt and a sucker; the large belt wheel and the small belt wheel are both arranged on the frame through a bracket, wherein the large belt wheel is positioned at the front end of the advancing direction, and the small belt wheel is positioned at the tail end of the advancing direction; the large belt wheel or the small belt wheel is a driving wheel;
the flexible belt is sleeved on the peripheries of the large belt wheel and the small belt wheel, and an inclination angle alpha is formed between the flexible belt and the rack on the side departing from the rack;
the suckers are uniformly distributed on the outer surface of the flexible belt, and the height of each sucker can be freely stretched;
the sucker comprises a flexible lip, a connecting block, a mandrel and a spring;
the flexible lip is in a hollow disc shape, and the bottom of the flexible lip is connected with the top end of the connecting block;
a mandrel cavity, a shaft shoulder cavity and an air leakage hole are formed in the axis of the connecting block; the diameter of the shaft shoulder cavity is larger than that of the mandrel cavity, and the air release hole is communicated with the shaft shoulder cavity;
the middle part of the mandrel is provided with a shaft shoulder, the mandrel is in sealed sliding fit with the mandrel cavity, and the shaft shoulder is in clearance fit with the shaft shoulder cavity; the bottom end of the mandrel is fixedly connected with the flexible belt, and the top end of the mandrel is provided with an axial vent hole and a radial vent hole; wherein, the axial vent hole is arranged along the axis of the mandrel and communicated with the hollow cavity of the flexible lip; the radial vent hole is positioned at the bottom of the axial vent hole, is arranged along the radial direction and is communicated with the axial vent hole;
the spring is positioned in the shaft shoulder containing cavity below the shaft shoulder and is sleeved on the periphery of the mandrel.
2. The self-adsorption climbing mechanism for high-altitude buildings according to claim 1, characterized in that: the flexible belt facing one side of the frame is parallel to the frame, and the height of the inclination angle alpha in the direction vertical to the frame is the difference between the diameters of the large belt wheel and the small belt wheel.
3. The self-adsorption climbing mechanism for high-altitude buildings according to claim 1, characterized in that: the high-altitude building is a cable, a nuclear power station, a high-pressure boiler or a high-altitude curtain wall.
4. The self-adsorption climbing mechanism for high-altitude buildings according to claim 1, characterized in that: the flexible belt is a synchronous belt or a chain.
5. A climbing method using the self-adsorption type climbing mechanism for high-altitude buildings according to any one of claims 1 to 4, characterized in that: the method comprises the following steps:
step 1, climbing mechanism placing and adsorbing: will scramble the mechanism and place the high altitude building surface of treating the climbing, specifically place the requirement: the frame is parallel to the surface of the high-altitude building, a large belt wheel in the adsorption device is positioned at the front end of the advancing direction, and a small belt wheel is positioned at the tail end of the advancing direction; meanwhile, the sucker A positioned right below the large belt wheel is adsorbed with the surface of the high-altitude building;
step 2, the climbing mechanism stably adsorbs, and comprises the following steps:
step 21, extending the sucker: the frame is always parallel to the surface of the high-altitude building, and an inclination angle alpha is formed between the flexible belt facing the surface of the high-altitude building and the frame; the large belt wheel rotates clockwise, the rack climbs upwards slowly, the sucker A moves towards the small belt wheel along the inclination angle alpha, and due to the existence of the inclination angle alpha, the sucker A extends in a self-adaptive manner and keeps adsorbing with the surface of a high-altitude building; meanwhile, the sucker B positioned at the downstream of the sucker A moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized;
step 22, the suction cup is stretched again: the large belt wheel continuously rotates clockwise, the rack continuously climbs upwards slowly, the sucker A continuously moves towards the small belt wheel along the inclination angle alpha, the sucker A adaptively extends again and keeps adsorbing the surface of the high-altitude building; the sucking disc B extends according to the sucking disc A in the step 21 and keeps adsorbing with the surface of the high-altitude building; meanwhile, the sucker C positioned at the downstream of the sucker B moves to the position right below the large belt wheel under the transmission of the flexible belt, and the adsorption with the surface of the high-altitude building is realized;
step 23, stably adsorbing by a sucker: repeating the steps 21 to 22, wherein when the sucker A moves to a position right below the small belt wheel, the sucker A has the largest extension length, m suckers on the inclination angle alpha flexible belt are adsorbed to the surface of the high-altitude building, the adsorption force is greater than the gravity of the climbing mechanism, and the whole climbing mechanism is pressed on the surface of the high-altitude building; the extension lengths of the m suckers are sequentially increased from the large belt wheel to the small belt wheel; meanwhile, the sucker A is in a vacuum releasing state, and the large belt wheel stops rotating;
step 3, rolling adsorption: the four rollers climb upwards under the action of the driving device to drive the large belt wheel and the small belt wheel to rotate in a self-adaptive manner, and the sucker A resets; and (3) repeating the step (2) and the step by a plurality of suckers to realize rolling adsorption in the climbing process.
6. The climbing method of the self-adsorption climbing mechanism for the high-altitude building according to claim 5, characterized in that: in step 23, when the suction cup A extends to the maximum length, the radial vent hole on the mandrel is communicated with the shaft shoulder cavity and the air release hole to form a vacuum air release channel; in step 3, the sucker A is reset under the action of the spring.
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| CN202010362324.5A CN111497962B (en) | 2020-04-30 | 2020-04-30 | Self-adsorption type climbing mechanism for high-altitude building |
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| CN110040190B (en) * | 2019-04-23 | 2021-09-24 | 哈尔滨理工大学 | Adsorption system for sucker crawler-type wall-climbing robot |
| CN110306787A (en) * | 2019-07-31 | 2019-10-08 | 正如(广东)机器人科技有限公司 | External wall template robot |
| CN111535170B (en) * | 2020-04-30 | 2020-12-15 | 江苏省苏科建设技术发展有限公司 | Open climbing mechanism of robot of easy installation for building cable |
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2020
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