CN112873180A - High-altitude operation suspension device and robot - Google Patents
High-altitude operation suspension device and robot Download PDFInfo
- Publication number
- CN112873180A CN112873180A CN202110088053.3A CN202110088053A CN112873180A CN 112873180 A CN112873180 A CN 112873180A CN 202110088053 A CN202110088053 A CN 202110088053A CN 112873180 A CN112873180 A CN 112873180A
- Authority
- CN
- China
- Prior art keywords
- rope
- assembly
- suspension
- building
- fixing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 102
- 238000004804 winding Methods 0.000 claims abstract description 14
- 230000000712 assembly Effects 0.000 claims description 20
- 238000000429 assembly Methods 0.000 claims description 20
- 238000010276 construction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 102
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 230000000875 corresponding effect Effects 0.000 description 9
- 238000012544 monitoring process Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a high-altitude operation suspension device and a robot, wherein the suspension device comprises an installation body, a first suspension assembly, a second suspension assembly, a first fixing assembly and a second fixing assembly, the first suspension assembly comprises a first rope and a first driving piece, the first driving piece is used for winding and unwinding the first rope, the second driving piece is used for tensioning the first rope, the first fixing assembly is installed at the top of a building and is used for winding the upper section of the first rope, and the second fixing assembly is installed at the bottom of the building and is used for winding the lower section of the first rope; the high-altitude operation robot comprises an actuator and the suspension device. According to the invention, the installation body is pulled to move by combining the first suspension assembly and the second suspension assembly, so that the installation body is kept stable at high altitude and avoids the projection of the outer wall of the building by moving in different directions, and the installation body does not need to be moved or re-erected in the operation process and the second operation, thereby reducing the work load at high altitude and having high working efficiency.
Description
Technical Field
The invention relates to the technical field of aerial work equipment, in particular to an aerial work suspension device and a robot.
Background
High-rise buildings usually need to be subjected to treatments such as spraying, cleaning, painting and the like on the building outer wall, so that constructors need to perform corresponding operations on the building outer wall by means of high-altitude operation robots. Some high altitude robots among the correlation technique usually adopt the mode of hanging loop wheel machine or vacuum adsorption to realize pasting the wall and reciprocate, and the sucking disc is not good with the surperficial adhesive strength of building, has the safety risk, can not cross the protruding barrier in building surface, hangs the hanging flower basket and can realize lateral shifting, but need erect the cantilever again, and work load is great.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the high-altitude suspension device which can move in multiple directions to cross obstacles, does not need to move and erect for multiple times, and reduces the workload.
The invention also provides an aerial work robot with the aerial work suspension device.
According to a first aspect of the present invention, an aerial work suspension device for suspending from a building comprises:
installing a body;
the two first suspension assemblies are connected to the upper part of the mounting body and symmetrically distributed on two sides of the mounting body, each first suspension assembly comprises a first rope and a first driving piece, and the first driving pieces are connected with the upper sections of the first ropes and used for releasing and releasing the first ropes;
the two second suspension assemblies are connected to the lower part of the mounting body and symmetrically distributed on two sides of the mounting body, each second suspension assembly comprises a second driving piece, and the second driving pieces are connected with the lower sections of the first ropes and used for tensioning the first ropes;
the first fixing assembly is arranged at the top of the building and is used for winding the upper section of the first rope;
and the second fixing component is arranged at the bottom of the building and is used for winding the lower section of the first rope.
The aerial work suspension device provided by the embodiment of the invention at least has the following beneficial effects:
according to the aerial work suspension device in the embodiment of the invention, the first suspension component and the second suspension component are combined to pull the mounting body to move, so that the mounting body is kept stable at high altitude and avoids the projection of the outer wall of the building through the movement in different directions, and the first fixing component and the second fixing component can be respectively connected with the first suspension component and the second suspension component after erection is completed, so that the first fixing component and the second fixing component do not need to be moved or re-erected in the work process and the second work process, the aerial work amount is reduced, and the work efficiency is high.
According to some embodiments of the invention, the mounting body further comprises a third suspension assembly, the third suspension assembly is mounted on the mounting body and located between the two first suspension assemblies, the third suspension assembly comprises a second rope and a third driving member, two ends of the second rope are respectively connected with the third driving member and the top of the building, and the third driving member is used for retracting the second rope.
According to some embodiments of the present invention, the first fixing assembly further comprises a first fixing frame, the first fixing frame is installed on the top of the building, and the upper section of the first rope is wound on the first fixing frame; the second fixing component further comprises a second fixing frame, the second fixing frame is installed at the bottom of the building, and the lower section of the first rope is wound on the second fixing frame.
According to some embodiments of the invention, the first fixing assembly further comprises a first weight body mounted at the top of the building, the upper section of the first rope being connected with the first weight body.
According to some embodiments of the invention, the first suspension assembly further comprises a falling prevention element and a third rope, the third rope is wound on the falling prevention element, the falling prevention element is used for braking the third rope, the second fixing assembly further comprises a second counterweight body, the second counterweight body is installed at the bottom of the building, and two ends of the third rope are respectively connected with the first counterweight body and the second counterweight body.
According to a second aspect embodiment of the present invention, a high-altitude operation robot comprises:
the aerial work suspension device;
and the actuator is connected with the mounting body.
The high-altitude operation robot provided by the embodiment of the invention has at least the following beneficial effects:
through the installation of high altitude construction linkage to the executor, make high altitude construction robot can be all the time with the building outer wall is stable attached to can hang under the lifting action of subassembly and second and remove, so that the executor carries out corresponding operation to the different regions of building outer wall, the operating efficiency is high.
According to some embodiments of the invention, the actuator further comprises a moving component, the moving component is mounted on the mounting body and connected with the actuator, and the moving component is used for driving the actuator to move.
According to some embodiments of the invention, the support assembly further comprises a brace bar, the brace bar being mounted within the mounting body, the brace bar being retractable relative to the mounting body.
According to some embodiments of the invention, the end of the brace is rotatably connected with a roller.
According to some embodiments of the invention, the actuator further comprises a sensing assembly mounted on the mounting body, the sensing assembly being configured to detect an operational state of the actuator.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is an installation schematic diagram of one embodiment of an aerial work suspension robot of the present invention;
FIG. 2 is a schematic structural view of one embodiment of a mounting body of the present invention;
FIG. 3 is a schematic structural view of one embodiment of the first fixing assembly of FIG. 1;
FIG. 4 is a schematic structural view of one embodiment of the second fixing assembly of FIG. 1;
FIG. 5 is a schematic diagram of one embodiment of the operating state of the actuator of FIG. 2.
Reference numerals: the mounting body 100, the runner 110; a first suspension assembly 200, a first cable 210, a first drive member 220, a first mounting bracket 230, a fall arrest member 240, a third cable 250; a second suspension assembly 300, a second drive member 310; the first fixing assembly 400, the first fixing frame 410, the first fixing column 411, the second fixing column 412 and the first counterweight body 420; a second fixing assembly 500, a second fixing frame 510, a second counterweight body 520; a third suspension assembly 600, a second rope 610, a third drive member 620; a third stationary assembly 700; an actuator 800; a moving assembly 900, a first guide 910, a second guide 920, a third guide 930, a robot arm 940; a support assembly 1000, a brace 1010, a roller 1020; a sensing component 1100, a first sensor 1110, and a second sensor 1120.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1 to 4, in one embodiment of the present invention, there is provided an aerial work suspension device for suspending from a building for a worker to perform work or perform installation of components to perform corresponding operations on an outer wall of the building. Specifically, the aerial work suspension device includes the installation body 100, and the installation body 100 provides the installation basis for other parts, and the installation body 100 can be shell-shaped or frame-type structure, provides installation space for the part. The aerial work suspension device further comprises a first suspension assembly 200 and a second suspension assembly 300, wherein the first suspension assembly 200 and the second suspension assembly 300 are respectively arranged at the upper side and the lower side of the installation body 100 and are connected with a building so as to suspend the installation body 100 in the air; the two first suspension assemblies 200 are arranged at the top of the installation body 100 and are positioned at two sides of the installation body 100, the two first suspension assemblies 200 are symmetrically distributed relative to the vertical center of the installation body 100, the installation body 100 is kept balanced in the horizontal direction by the symmetrical tension of the two first suspension assemblies 200, each first suspension assembly 200 comprises a first rope 210 and a first driving piece 220, the first driving piece 220 is arranged in the installation body 100, the first driving piece 220 is connected with the upper section of the first rope 210 and is used for retracting and releasing the first rope 210, and the installation body 100 is pulled to ascend and descend by the movement of the first rope 210 so as to adjust the air position of the installation body 100; similarly, two second suspension assemblies 300 are provided, two second suspension assemblies 300 are installed at the bottom of the installation body 100 and located at both sides of the installation body 100, the two second suspension assemblies 300 are symmetrically distributed with respect to the vertical center of the installation body 100, the installation body 100 is symmetrically pulled by the two second suspension assemblies 300 and can be balanced in the horizontal direction, the second suspension assemblies 300 include second driving members 310, the second driving members 310 are connected with the lower sections of the first ropes 210 and are used for tensioning the first ropes 210, so that the lower sections of the first ropes 210 are kept in a tightened state, the first driving members 220 and the second driving members 310 are combined to provide pulling force to the first ropes 210, so that the upper and lower sides of the installation body 100 are pulled by the combination of the first suspension assemblies 200 and the second suspension assemblies 300, the upper and lower sections of the first ropes 210 can be kept in a tightened state, and therefore the installation body 100 can always work against the outer wall of the building, the stability of operation is high to receiving and releasing of first rope 210 can stimulate installation body 100 to remove, makes installation body 100 can avoid the protruding thing on the building outer wall, has improved the flexibility ratio that installation body 100 removed. The aerial work suspension device further comprises a first fixing component 400 and a second fixing component 500, wherein the first fixing component 400 is used for being installed at the top of the building and used for winding the upper section of the first rope 210 so as to facilitate the winding and unwinding of the first rope 210, and the second fixing component 500 is used for being installed at the bottom of the building and used for winding the lower section of the first rope 210 so as to facilitate the tensioning of the first rope 210; it is contemplated that each first hanging assembly 200 is connected to the first fixing assembly 400 through the upper section of the first rope 210, each second hanging assembly 300 is connected to the second fixing assembly 500 through the lower section of the first rope 210, the first hanging assembly 200 and the first fixing assembly 400 act in combination to provide a pulling force to the top of the installation body 100, and the second hanging assembly 300 and the second fixing assembly act in combination to provide a pulling force to the bottom of the installation body 100, so that the installation body 100 is stably hung in the air; after the first fixing assembly 400 is installed at the top of the building and the second fixing assembly 500 is installed at the bottom of the building, the first rope 210 can be wound, and the first fixing assembly 400 and the second fixing assembly 500 do not need to be moved or reinstalled again when the work from the beginning to the completion of the work on the outer wall of the building and the work from high above the ground is performed again, so that the work load at high above the ground is reduced, and the work efficiency is high.
Therefore, in the aerial work suspension device in the embodiment of the invention, the first suspension assembly 200 and the second suspension assembly 300 are combined to pull the installation body 100 to move, so that the installation body 100 is kept stable at high altitude and avoids projections on the outer wall of a building through movement in different directions, and the first fixing assembly 400 and the second fixing assembly 500 can be respectively connected with the first suspension assembly 200 and the second suspension assembly 300 after erection is completed, so that movement or re-erection is not required in the work process and re-work, the aerial work amount is reduced, and the work efficiency is high.
The upper section is a portion where the first rope 210 is positioned above the installation body 100, the lower section is a portion where the first rope 210 is positioned below the installation body 100, the climbing power of the installation body 100 is provided by the first suspension unit 200, the installation body 100 is lifted and lowered by storing and releasing the upper section of the first rope 210, the second suspension unit 300 provides a downward tension to tension the lower section of the first rope 210, and the installation body 100 is stabilized in the air by a combined tension of the upper section and the lower section of the first rope 210, thereby reducing the vibration of the installation body 100 in the air. In the moving process of the installation body 100, a certain included angle is formed between the upper sections of the first ropes 210 in the two first suspension assemblies 200, and the included angle between the two first ropes 210 is continuously changed along with the movement of the installation body 100, that is, when the installation body 100 descends, the included angle is gradually reduced, and when the installation body 100 ascends, the included angle is gradually increased; the space coordinate system can be established according to the height of the building, the distance between the two first fixing assemblies 400, the length of the first ropes 210 and the like, and the included angle between the two first ropes 210 corresponding to the installation body 100 at different positions can be obtained through calculation formulas such as the pythagorean theorem and the like, so that the lifting force required by the installation body 100 to climb can be further obtained through the first driving piece 220, and the lifting force can be adjusted in real time according to the actual moving condition of the installation body 100.
It should be noted that, when the installation body 100 rises to the highest point of the building, the included angle between the two first ropes 210 is the largest and is close to 180 °, the lifting force provided by the first ropes 210 to the installation body 100 is limited, and the installation body 100 is easy to shake, in view of this, in an embodiment of the present invention, a third suspension assembly 600 is further provided, the third suspension assembly 600 is connected with the installation body 100 and is located between the two first suspension assemblies 200, the third suspension assembly 600 is installed at the upper end of the installation body 100, the third suspension assembly 600 is connected with the top of the building, and the third suspension assembly 600 assists the first suspension assembly 200 to provide a pulling force to the top of the installation body 100, so that the installation body 100 can be lifted and lowered stably in the whole lifting process. In addition, the third suspension assembly 600 may be installed at the vertical center of the installation body 100 such that the third suspension assembly 600 is located at the symmetrical center of the two first suspension assemblies 200, to improve the smoothness of the elevation of the installation body 100.
Specifically, the structure of the third suspension assembly 600 and the manner of providing lift to the mounting body 100 may be the same as the first suspension assembly 200, so that the first suspension assembly 200 and the third suspension assembly 600 can pull the mounting body 100 to ascend and descend synchronously. In order to enable the third suspension assembly 600 to lift the installation body 100 synchronously with the first suspension assembly 200, a third fixing assembly 700 is further installed at the top of the building, and the third fixing assembly 700 may have the same structure as the first fixing assembly 400, and the third fixing assembly 700 is used for a rope in the third suspension assembly 600 to wind. The third suspension assembly 600 includes a second rope 610 and a third driving element 620, the third driving element 620 is installed at the upper end of the installation body 100, two ends of the second rope 610 are respectively connected with the third driving element 620 and the third fixing assembly 700, and the third driving element 620 drives the second rope 610 to be retracted, so as to assist the first suspension assembly 200 to lift the installation body 100.
Referring to fig. 3, the first fixing assembly 400 includes a first fixing frame 410, the first fixing frame 410 is installed at the top of the building, the first fixing frame 410 can be stably installed on the upper top surface of the building through a threaded connection, a welding or a riveting manner, the upper section of the first rope 210 is wound on the first fixing frame 410, and the first fixing frame 410 guides and limits the winding of the upper section of the first rope 210. Referring to fig. 4, the second fixing assembly 500 includes a second fixing frame 510, the second fixing frame 510 is installed at the bottom of the building, the second fixing frame 510 can be stably installed on the ground by means of screw connection, welding or riveting, the lower section of the first rope 210 is wound on the second fixing frame 510, and the second fixing frame 510 guides and limits the winding of the lower section of the first rope 210.
The first fixing frame 410 may be assembled by a pillar or rod structure, and in some embodiments, the first fixing frame 410 and the second fixing frame 510 may include a first fixing column 411 disposed vertically and a second fixing column 412 disposed horizontally, the second fixing column 412 is vertically installed on the first fixing column 411, and an inclined strut is disposed at the bottom of the first fixing column 411 to improve the structural strength of the first fixing column 411 and the stability of installation between the first fixing column 411 and the ground. A plurality of pulleys are rotatably connected to the first fixing column 411 and/or the second fixing column 412, the pulleys can be mounted at the ends of the first fixing column 411 and the second fixing column 412, the first rope 210 is wound on the pulleys and moves along with the rotation of the pulleys, a rotating groove can be further formed in the surface of each pulley, and the first rope 210 is embedded in the rotating groove to avoid the first rope 210 from deviating during moving. The second fixing frame 510 may be formed by a plurality of first fixing columns 411 or a combination of the first fixing columns 411 and the second fixing column 412.
In addition, the first fixing assembly 400 further includes a first weight 420, the first weight 420 is fixed to the top of the building, the upper end of the first rope 210 is connected to the first weight 420 after being wound by the first fixing frame 410, and the first rope 210 is fixed by the first weight 420, so that the first rope 210 and the first fixing frame 410 are stretched tightly, and the first rope 210 is prevented from being separated from the first fixing frame 410. The second fixing assembly 500 further includes a second weight 520, the second weight 520 is installed at the bottom of the building, and the lower section of the first rope 210 is connected to the second weight 520 after being wound by the second fixing frame 510, so as to ensure that the first rope 210 is stably contacted with the second fixing frame 510.
It should be noted that the first fixing column 411 may include a plurality of first fixing columns 411, and the first fixing column 411 may further be connected to the first counterweight body 420 or the second counterweight body 520, so that the first fixing frame 410 and the first counterweight body 420 or the second fixing frame 510 and the second counterweight body 520 are connected to each other and jointly connected to the first rope 210. The first and second weight bodies 420 and 520 may be selected from cast iron, concrete, or pressed ore blocks.
The second driving member 310 can be installed on the ground, the lower section of the first rope 210 is connected to the second driving member 310 after being wound by the second fixing frame 510, and the second driving member 310 drives the lower section of the first rope 210 to be tensioned. The second fixing assembly 500 further includes a tension sensor for detecting tension of the lower section of the first rope 210 and feeding back a detected value to the second driving member 310, the second driving member 310 drives the first rope 210 to be retracted and extended, and the tension state of the first rope 210 is adjusted to always keep a certain tension of the first rope 210, so as to prevent the installation body 100 from shaking at a high altitude, thereby improving the smoothness of the operation of the installation body 100.
It should be noted that the first driving element 220, the second driving element 310 and the third driving element 620 may be selected from a winch, a servo motor, a motor, or a combination of a servo motor and a capstan.
Referring to fig. 2 (hiding the third suspension assembly), the first suspension assembly 200 includes a first mounting bracket 230, the first mounting bracket 230 is fixed in the mounting body 100, a pulley is rotatably connected to the first mounting bracket 230, the pulley is used for winding an upper section of the first rope 210, and the first driving member 220 is fixed in the mounting body 100 and connected to the first rope 210 to receive and release the first rope 210; the first suspension assembly 200 further includes a fall arrest member 240 and a third cable 250, the fall arrest member 240 being mounted to the mounting body 100, the third cable 250 being reeved within the fall arrest member 240. similarly, the second suspension assembly 300 includes a second mounting bracket (not shown) mounted to the bottom of the mounting body 100, the second mounting bracket being of the same construction as the first mounting bracket 230 to reeve the lower section of the first cable 210.
Specifically, an upper section of the third rope 250 extends upward to the first driving assembly 400 and is connected to the first weight body 420, and a lower section of the third rope 250 extends downward and is connected to the second weight body 520 downward through the guidance of the second mounting bracket. The anti-falling element 240 can lock and brake the first rope 210 in time when the first rope 210 is suddenly broken, the sliding speed of the installation body 100 reaches the locking rope speed or the limit inclination angle of the installation body 100, so that the installation body 100 stops sliding or inclining to play a safety protection role, and the anti-falling element 240 can be a centrifugal trigger type safety lock or a swing arm anti-inclining type safety lock.
The upper segment of the first rope 210 is connected to the first driving member 220, and extends upwards through the winding of the first mounting bracket 230 until it is wound to the first fixing assembly 400 at the top of the building, and is finally fixed to the first counterweight body 420, the lower segment of the first rope 210 is integrally connected to the upper segment, and the lower segment of the first rope 210 extends downwards through the guiding of the second mounting bracket until it is connected to the second driving member 310.
When the components installed on the installation body 100 are in the initial state, the components are accommodated in the installation body 100, and when corresponding operation is needed, the components extend out of the installation body 100, so that the installation and transportation of the installation body 100 are facilitated, the height of the installation body 100 is not more than 2.4m, and the length and the width of the installation body 100 are not more than 2.1m in the initial state, so that the transportation requirements of medium and large truck carriages are met. The mounting body 100 can be assembled into a shell shape by a plurality of plate-shaped structures or a frame shape by a plurality of rod-shaped structures, so that the weight of the mounting body 100 is reduced on the premise that the mounting body 100 has a certain mounting space; the mounting body 100 may be made of an aluminum alloy to reduce weight and ensure structural strength of the mounting body 100. The inside of installation body 100 can be separated for the multilayer through the baffle, forms a plurality of installation spaces between the adjacent baffle, but drive element, executive component, switching part etc. can be held in the installation space, still can supply the operation personnel to stand or place the operation instrument, supports the operation personnel to carry out the debugging operation at the high altitude. Install on installation body 100 through the mode of can dismantling the connection between different structures and the installation body 100, other structures can be demolishd in advance when installation body 100 transports to avoid damaging because of colliding with in the transportation. A plurality of runners 110 are still installed to the bottom of installation body 100, and the corner department of installation body 100 is located to runner 110 branch, and runner 110 can rotate, is convenient for install the transfer and the transportation of body 100.
The invention further provides an overhead working robot for correspondingly operating the outer wall of a building at high altitude, which comprises the overhead working suspension device and an actuator 800, wherein the actuator 800 is connected with the mounting body 100 and can move at high altitude along with the mounting body 100 to operate at different positions of the outer wall of the building.
Through the installation of the high-altitude operation suspension device to the actuator 800, the high-altitude operation robot can be stably attached to the outer wall of the building all the time, and can move under the lifting action of the first suspension assembly 200 and the second suspension assembly 300, so that the actuator 800 performs corresponding operations on different areas of the outer wall of the building, and the operation efficiency is high. The actuator 800 may be selected from a welding gun for performing a welding operation, a spray gun for performing a spraying operation, a spray head for performing a cleaning operation, a blade for performing a coating operation, and the like; the installation body 100 is provided with a corresponding installation space for accommodating operation materials, such as putty, real stone paint, finishing paint, solder, cleaning agent, water and the like.
In an embodiment of the present invention, two actuators 800 are disposed on the mounting body 100 to improve the working efficiency of the overhead working robot, and the two actuators 800 are disposed on the left and right sides of the mounting body 100 and located at the upper and lower portions, respectively, so that the inertia of the robot can be reduced, and the mounting body 100 can be kept stable when the actuators 800 extend to the two sides of the mounting body 100, respectively. The two actuators 800 may be provided of the same or different types.
Referring to fig. 2 and 5, the high-altitude operation robot further includes a moving assembly 900, the moving assembly 900 is fixed on the mounting body and connected to the actuator 800, and the moving assembly 900 is configured to move the actuator 800 so that the actuator 800 extends to the outside of the mounting body or performs a position adjustment with respect to an outer wall of a building. The moving assembly 900 includes a first guide rail 910 extending along the X-axis direction, a second guide rail 920 extending along the Z-axis direction, and a third guide rail 930 extending along the Y-axis direction, the first guide rail 910 is mounted on the mounting body 100, the second guide rail 920 is slidably connected to the first guide rail 910, the third guide rail 930 is slidably connected to the second guide rail 920, and the actuator 800 is slidably connected to the third guide rail 930, so that the actuator 800 can move along the X-axis, Y-axis, and Z-axis directions, the moving assembly 900 further includes a driving element for driving the actuator 800 to move, the driving element can be selected from an air cylinder, an electric cylinder, or a linear motor, and the mounting body 100 is provided with a notch for avoiding the movement of the actuator 800.
The moving assembly 900 further includes a robot 940, the robot 940 is mounted on the third rail 930, the robot 940 has rotational degrees of freedom in the X-axis, the Y-axis, and the Z-axis, and the actuator 800 can be driven to rotate in the three directions, so that the operation flexibility is high. Fig. 2 is a schematic structural diagram of the moving assembly 900 when retracted to an initial state, and fig. 5 is a schematic structural diagram of the moving assembly 900 when extended to an operating state.
The high-altitude operation robot further comprises a supporting assembly 1000, and the supporting assembly 1000 is used for supporting the installation body 100 and assisting the installation body 100 to avoid obstacles. The supporting assembly 1000 includes a stay 1010, the stay 1010 is installed in the installation body 100, and the stay 1010 is capable of extending and retracting relative to the installation body 100, so that the stay 1010 can extend out of the installation body 100 or retract into the installation body 100; the extending stay 1010 abuts against the outer wall of the building and supports the installation body 100, so that the installation body 100 is away from the outer wall of the building by a certain distance to avoid the protrusion on the outer wall of the building. The stay 1010 may be configured as an electric push rod or a combination of an air cylinder, a hydraulic cylinder and a rod structure, the support assembly 1000 further includes a power element, such as an air supply pump, a hydraulic pump or a power supply, for providing power to the stay 1010, the power element is fixed in the mounting body 100, and the expansion amount of the stay 1010 can be adjusted in real time according to the specific situation of the obstacle. The plurality of struts 1010 may be provided to support the installation body 100 in combination, in one embodiment, the number of struts 1010 is four, and the struts 1010 are respectively provided at four corners of the installation body 100, and the plurality of struts 1010 may be individually or simultaneously extended and retracted to lift or drop the corresponding sides of the installation body 100, so that the obstacle avoidance flexibility is high.
The end of the stay 1010 is rotatably connected with a roller 1020, and the roller 1020 can roll relative to the building outer wall, so that the installation body 100 can move along the building outer wall to reduce the friction between the installation body 100 and the building. In addition, the roller 1020 may be made of an elastic material, such as rubber or silica gel, or an air-supply elastic tire, so as to buffer the hard collision between the installation body 100 and the outer wall of the building during the movement process; the surface of the roller 1020 may be provided with protrusions or protrusions to increase friction between the roller 1020 and the wall surface, so that the movement of the mounting body 100 is more stable.
In some embodiments, a thrust mechanism (not shown) may be disposed at the back of the mounting body 100, and the thrust mechanism is used to provide thrust to the mounting body 100 close to the outer wall of the building, so that the mounting body 100 always works against the wall surface, and the working stability is high. The thrust mechanism may be a wind thrust structure, such as an axial flow fan, and generates a driving force by an airflow generated by rotation of a propeller, so that the mounting body 100 is tightly attached to the surface of the wall.
The high-altitude operation robot further comprises a sensing component 1100, and the sensing component 1100 is used for monitoring the operation state of the installation body 100 in real time and feeding back the operation state so as to adjust the position or the execution strength of the actuator 800, or the position of the installation body 100. The sensing assembly 1100 comprises first sensors 1110, the first sensors 1110 are mounted at four corners of the mounting body 100, the first sensors 1110 can be distance measuring sensors, the first sensors 1110 are used for detecting the distance between the mounting body 100 and the outer wall of the building, and adjusting the distance between the actuator 800 and the wall surface according to the change of the distance value, so that the actuator 800 can stably operate and the operation quality can be improved; the sensing assembly 1100 further includes a second sensor 1120, the second sensor 1120 is mountable on the top of the mounting body 100, the second sensor 1120 is a camera which can be selected, and the second sensor 1120 is used for monitoring the operation state, effect and quality of the actuator 800 in real time, so as to facilitate later maintenance and rework. It should be noted that the first sensor 1110 and the second sensor 1120 can both detect obstacles on the wall surface, and when an obstacle appears on the wall surface, the first sensor can send a signal to the supporting assembly 1000, so that the supporting rod 1010 stretches and retracts to avoid the obstacle.
In addition, the high-altitude operation robot further comprises a communication module, a control module and a display module, the communication module can be installed on the installation body 100, the control module and the display module can be installed in the control room and are convenient for remote monitoring, the communication module comprises a signal transmitting end and a signal receiving end, the communication module can receive monitoring signals of the sensing assembly 1100 and feed back the monitoring signals to the control module, the display module can display data and images detected by the sensing assembly 1100, an operator can observe display contents of the display module and adjust the control module and send the signals to the communication module, and accordingly the supporting assembly 1000, the actuator 800, the moving assembly 900 and the like can make corresponding actions, and real-time monitoring and feedback of high-altitude operation are achieved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. High altitude construction linkage for hang on the building, its characterized in that includes:
installing a body;
the two first suspension assemblies are connected to the upper part of the mounting body and symmetrically distributed on two sides of the mounting body, each first suspension assembly comprises a first rope and a first driving piece, and the first driving pieces are connected with the upper sections of the first ropes and used for releasing and releasing the first ropes;
the two second suspension assemblies are connected to the lower part of the mounting body and symmetrically distributed on two sides of the mounting body, each second suspension assembly comprises a second driving piece, and the second driving pieces are connected with the lower sections of the first ropes and used for tensioning the first ropes;
the first fixing assembly is arranged at the top of the building and is used for winding the upper section of the first rope;
and the second fixing component is arranged at the bottom of the building and is used for winding the lower section of the first rope.
2. The aerial work suspension device of claim 1 further comprising a third suspension assembly, the third suspension assembly being mounted on the mounting body and located between the two first suspension assemblies, the third suspension assembly comprising a second rope and a third driving member, two ends of the second rope being respectively connected to the third driving member and the top of the building, the third driving member being configured to receive and release the second rope.
3. The aerial work suspension device of claim 1 or 2 wherein the first fixing assembly further comprises a first fixing frame, the first fixing frame is mounted on the top of the building, and the upper section of the first rope is wound on the first fixing frame; the second fixing component further comprises a second fixing frame, the second fixing frame is installed at the bottom of the building, and the lower section of the first rope is wound on the second fixing frame.
4. The aerial work suspension of claim 3 wherein the first securing assembly further comprises a first counterweight mounted to a top of the building, an upper section of the first cable being connected to the first counterweight.
5. The aerial work suspension device of claim 4 wherein the first suspension assembly further comprises a fall arrest member and a third rope, the third rope is wound around the fall arrest member, the fall arrest member is used for braking the third rope, the second fixing assembly further comprises a second counterweight body, the second counterweight body is mounted at the bottom of the building, and two ends of the third rope are respectively connected with the first counterweight body and the second counterweight body.
6. High altitude construction robot, its characterized in that includes:
an aerial work suspension as defined in any one of claims 1 to 5;
and the actuator is connected with the mounting body.
7. The high-altitude operation robot as claimed in claim 6 further comprising a moving assembly mounted on the mounting body and connected to the actuator, the moving assembly being configured to move the actuator.
8. The high altitude work robot of claim 6 further comprising a support assembly including a brace mounted within the mounting body, the brace being retractable relative to the mounting body.
9. The overhead working robot of claim 8 wherein the ends of the struts are pivotally connected with rollers.
10. The overhead working robot according to any one of claims 6 to 9 further comprising a sensing assembly mounted on the mounting body for detecting a working condition of the actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110088053.3A CN112873180A (en) | 2021-01-22 | 2021-01-22 | High-altitude operation suspension device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110088053.3A CN112873180A (en) | 2021-01-22 | 2021-01-22 | High-altitude operation suspension device and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112873180A true CN112873180A (en) | 2021-06-01 |
Family
ID=76050132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110088053.3A Pending CN112873180A (en) | 2021-01-22 | 2021-01-22 | High-altitude operation suspension device and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112873180A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932564A (en) * | 2022-04-13 | 2022-08-23 | 大连海事大学 | Rope-driven parallel robot applied to welding operation |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101518429A (en) * | 2009-03-17 | 2009-09-02 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
| CN107717977A (en) * | 2017-10-31 | 2018-02-23 | 上海霄卓机器人有限公司 | The mobile architecture system of work high above the ground robot |
| CN108590152A (en) * | 2018-05-10 | 2018-09-28 | 北京信息科技大学 | A kind of mobile job platform in high-wall implement |
| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| US20190160482A1 (en) * | 2017-11-24 | 2019-05-30 | Elid Technology International Pte Ltd | System for Spraying a Wall Surface of a Building and Method therefor |
| CN109972826A (en) * | 2019-05-09 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
-
2021
- 2021-01-22 CN CN202110088053.3A patent/CN112873180A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101518429A (en) * | 2009-03-17 | 2009-09-02 | 江苏威汇力自动化技术有限公司 | Robot cleaning system for cleaning outside vertical surface of building and cleaning method thereof |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
| CN107717977A (en) * | 2017-10-31 | 2018-02-23 | 上海霄卓机器人有限公司 | The mobile architecture system of work high above the ground robot |
| US20190160482A1 (en) * | 2017-11-24 | 2019-05-30 | Elid Technology International Pte Ltd | System for Spraying a Wall Surface of a Building and Method therefor |
| CN109838073A (en) * | 2017-11-24 | 2019-06-04 | 亿立科技国际有限公司 | The automated system of wall for coated building |
| CN108590152A (en) * | 2018-05-10 | 2018-09-28 | 北京信息科技大学 | A kind of mobile job platform in high-wall implement |
| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| CN109972826A (en) * | 2019-05-09 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932564A (en) * | 2022-04-13 | 2022-08-23 | 大连海事大学 | Rope-driven parallel robot applied to welding operation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100879726B1 (en) | Robot painting device | |
| CN111287417A (en) | Intelligent spraying robot for outer wall of high-rise building and control method thereof | |
| CN110668299B (en) | Steel structure hoisting and conveying equipment for steel structure factory building | |
| JP2587684B2 (en) | Construction wall construction equipment | |
| CN107724662B (en) | Aloft work robot and using method thereof | |
| CN110528863A (en) | A kind of nacelle device and construction method for outer slope bearing layer | |
| CN112873180A (en) | High-altitude operation suspension device and robot | |
| CN113601485B (en) | Intelligent spraying robot for outer wall of high-rise building | |
| AU2024200914A1 (en) | Building envelope access system | |
| CN113775162A (en) | Outer facade construction robot | |
| CN107717977B (en) | Mobile architecture system of aerial working robot | |
| JP2000169083A (en) | Wall face work robot | |
| JP4138864B1 (en) | Crane type gondola structure | |
| KR101814117B1 (en) | An Operation Tool for Outer Walls of a Building and Gondola Unit Comprising the Operation Tool | |
| JP4067096B2 (en) | Electric balance arm device for outdoor wall work | |
| JP2775201B2 (en) | Lifting member positioning and mounting device for high lift crane | |
| CN113697732A (en) | Outer wall processing device | |
| CN213505662U (en) | Interlayer crane | |
| CN211037771U (en) | Hanging basket device for outer slope construction | |
| WO2021141556A1 (en) | Innovation in facade access systems | |
| JP2989969B2 (en) | Exterior scaffolding and exterior construction method | |
| CN220667006U (en) | Construction device for simultaneously installing steel-structured elevator shaft and elevator equipment | |
| CN218201889U (en) | Hoisting structure | |
| KR102590849B1 (en) | Gondola apparatus of double rail structure | |
| CN219690329U (en) | Hanging basket for bridge high-altitude operation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210601 |
|
| RJ01 | Rejection of invention patent application after publication |