CN201469194U - Wall movable robot being applied to elevation washing of tall building - Google Patents
Wall movable robot being applied to elevation washing of tall building Download PDFInfo
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- CN201469194U CN201469194U CN2009202305954U CN200920230595U CN201469194U CN 201469194 U CN201469194 U CN 201469194U CN 2009202305954 U CN2009202305954 U CN 2009202305954U CN 200920230595 U CN200920230595 U CN 200920230595U CN 201469194 U CN201469194 U CN 201469194U
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- building
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Abstract
The utility model relates to a wall movable robot being applied to the elevation washing of a tall building, which is characterized by comprising a flexible cable driving system, a wall movable platform and a thrusting device; the quantity of the flexible cable driving system is two groups, and each group of the flexible cable driving systems comprises a winding system and a flexible cable, the winding system is installed at two sides on the top end of an elevation of the building and comprises a motor reducer component, a wound roll and a crown block, the motor reducer component and the wound roll are fixed on the elevation of the building, and the wound roll is connected with an output shaft of the motor reducer component; one end of the flexible cable is respectively fixed on the wall movable platform, and the other end is respectively fixed on the wound roll after rounding the crown block; the side of the wall movable platform, which is close to the elevation of the building, is provided with a passive moving mechanism which ensures the wall movable platform; and the thrusting device is installed on the outer side surface of the wall movable platform. The wall movable robot has the advantages of large movement space, simple control, reliable work, good expandability, strong wall adaptability and the like.
Description
Technical field
The utility model relates to a kind of wall-surface mobile robot, and what relate to specifically that the gentle rope of a kind of usefulness drives is applied to the wall-surface mobile robot that the high-lager building facade cleans along what the high-lager building facade moved, belongs to the Robotics field.
Background technology
Along with the modernization in city, produced numerous skyscrapers in the city.Based on daylighting and purpose attractive in appearance, many skyscrapers all are outer the decoration with the glass curtain wall, have therefore brought the cleaning problem of curtain wall.The cleaning of high-lager building glass curtain wall is a heavy and dangerous job.At present, main both at home and abroad use hoistable platform or hanging basket carrying cleaner carry out the cleaning of glass wall.The cleaning of manually carrying out high-rise not only expense height, efficient is low, and very dangerous.The street cleaner from fall from high altitude, dead accident happens occasionally.The curtain wall for high rise building cleaning robot will make the people free from the high-altitude washing and cleaning operation of danger.
At present particularly the research of the cleaning robot carrier of glass curtain wall is many based on negative-pressure adsorption or vacuum adsorption principle for the high-lager building facade.Development along with Robotics, the type of climbing robot becomes increasingly abundant, but existing climbing robot particularly all is difficult to reach high-lager building facade washing and cleaning operation requirement of actual application based on the wall-surface mobile robot of vacuum adsorption principle or negative-pressure adsorption principle to the adaptive capacity of wall and the reliability of absorption.And its complex structure is controlled loaded down with trivial details.
The utility model content
Be to solve the deficiencies in the prior art, the purpose of this utility model is to provide a kind of simple in structure, reliable operation, be easy to control, the wall adaptive capacity is strong is applied to the wall-surface mobile robot that the high-lager building facade cleans.
For reaching above-mentioned utility model purpose, the technical scheme that the utility model adopted is:
A kind of wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that comprising gentle rope drive system, wall mobile platform and thrust device;
Described gentle rope drive system is two groups, comprise hoisting system and gentle rope respectively, described hoisting system is installed in the both sides on the top of building facade, comprise motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is separately fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley respectively;
Described wall mobile platform is equipped with the passive travel mechanism that guarantees the wall mobile platform near a side of building facade;
Described thrust device is installed on the lateral surface of wall mobile platform.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that described thrust device is ducted fan, screw or jet thrust unit
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that the elevator motor in the motor reducer assembly is interchange or DC servo motor.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade, it is characterized in that also being equipped with one group of gentle rope drive system at the middle part on described building facade top, described hoisting system also comprises motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade, it is characterized in that one group of gentle rope drive system also being installed at the middle part of described building facade bottom, described hoisting system also comprises motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley.
The beneficial effects of the utility model are:
1, space is big: the utility model can be installed hoisting system according to the dimensional structure of building in application process, can obtain bigger space.
2, safe and reliable: the utility model is in application process, the wall mobile platform is lifted on the hoisting system by gentle rope, with compare based on the wall-surface mobile robot of negative-pressure adsorption or vacuum principle, can not occur because of adsorbing the unsafe condition that inefficacy causes robot to come off, robot does not need absorption in the wall moving process, therefore can adapt to multiple wall environment, application is more extensive.
3, control is simple: the utility model reaches the control position of robot on wall and the purpose of translational speed by the length of controlling gentle rope, control algolithm is simple, only need make simple triangle and resolve the controlled quentity controlled variable that can obtain the elevator motor, control hardware is built conveniently, and can select interchange or DC servo motor for use according to actual conditions.
4, favorable expandability: adopt 2 groups of gentle ropes to hang under the general situation and can satisfy job requirements.If mobile platform gentlier is difficult for hanging gentle Suo Lazhi or external interference power when big, can install gentle rope drive system additional in building facade bottom; When if mobile platform is heavier, then can improve the force-bearing situation of original 2 gentle ropes by install gentle rope drive system additional at building facade top, guarantee the balance of wall mobile platform.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment 1;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is the structural representation of the utility model embodiment 2;
Fig. 4 is the structural representation of the utility model embodiment 3.
The specific embodiment
Below by embodiment and accompanying drawing the technical solution of the utility model is described in further details.
Embodiment 1:
Fig. 1 is the structural representation of the utility model embodiment 1, Fig. 2 is the side view of Fig. 1, as Fig. 1, shown in 2, the wall-surface mobile robot that is applied to the cleaning of high-lager building facade of the present utility model, by 2 groups of gentle rope drive systems, wall mobile platform and thrust device are formed, wherein: the gentle rope hoisting system of each group comprises reel 1, motor reducer assembly 2 and fixed pulley 3, hoisting system is installed in the both sides on building facade top, one end of gentle rope 4 is fixed on the wall mobile platform 5, an other end of gentle rope 4 is walked around fixed pulley 3 and is wrapped on the reel 1, the length of gentle rope can be controlled by the rotation of adjusting the elevator motor, the movement velocity of wall mobile platform on wall and the purpose of position can be realized controlling by the length of adjusting a plurality of gentle ropes.Wall mobile platform 5 is sling by two gentle ropes 4, and stretching by the gravity of wall mobile platform 5 rope 4 that will soften, this wall mobile platform 5 can move in wall upper edge all directions under the traction of gentle rope 4, and can the washing and cleaning operation instrument be installed according to the operation needs.Thrust device 6 is installed on the lateral surface of wall mobile platform 5, this thrust device 6 can be realized by ducted fan, screw or other jet-propelled thrust units, in order to produce relative wall's normal pressure, make described wall mobile platform and wall be adjacent to and produce certain contact force.A side that contacts with the building facade at wall mobile platform 5 is equipped with passive travel mechanism, is convenient to moving of wall mobile platform 5.Elevator motor in the motor reducer assembly 2 can be selected for use according to actual conditions and exchange or DC servo motor.
Operation principle of the present utility model is: drive reel 1 rotation by motor reducer assembly 2 and control the flexible of gentle rope 4, the length of two gentle ropes 4 is determined the position of wall mobile platform 5 on the building facade, thereby realize motion and the location of wall mobile platform 5 on wall, thrust device 6 produces relative wall's normal pressure, make wall mobile platform 5 be adjacent to wall and produce certain contact force, passive travel mechanism (not shown) guarantees moving flexibly of wall mobile platform 5.
Present embodiment can be used as the mobile vehicle of facade washing and cleaning operation robot, adjust the length of gentle rope 4 and can control the position of wall mobile platform 5 on wall, passive travel mechanism is installed on the wall mobile platform 5, can move along the wall all directions, on the wall mobile platform 5 the washing and cleaning operation instrument can be installed, thrust device 6 is used for wall mobile platform 5 is pressed to wall, and the active force that provides washing and cleaning operation to need.The utlity model has characteristics such as space is big, control is simple, reliable operation.
Embodiment 2:
Fig. 3 is the structural representation of the utility model embodiment 2, as shown in Figure 3, when the gravity of wall mobile platform is can not be with two gentle Suo Lazhi or external interference force rate big, on the basis of embodiment 1, middle part in building facade bottom installs 1 gentle rope drive system additional, make two gentle Suo Lazhi of top, and can resist certain external interference power (as crosswind).Therefore the wall-surface mobile robot platform that is applied to the cleaning of high-lager building facade in the present embodiment is made up of 3 groups of gentle rope drive systems, wall mobile platform and thrust devices.For simplifying the control of system, the gentle rope drive system of bottom can adopt the power control mode, and promptly the tensile force f of the gentle rope of control is certain.
Embodiment 3:
Fig. 4 is the structural representation of the utility model embodiment 3, as shown in Figure 4, when the gravity of wall mobile platform is big, for improving the force-bearing situation of original two groups of gentle rope drive systems, simplify robot and move the algorithm of control, on the basis of embodiment 1, added one group of gentle rope drive system in the facade top middle portion.Therefore, in the present embodiment, be applied to the wall-surface mobile robot platform that the high-lager building facade cleans, form by 3 groups of gentle rope drive systems, wall mobile platform and thrust devices.The traversal motion of wall mobile platform on wall can be by adjusting the 3rd gentle rope that is added length, control original two gentle ropes simultaneously the wall mobile platform realized as circular motion around the 3rd fixed pulley that is added.
The foregoing description limits the utility model never in any form, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in the protection domain of the present utility model.
Claims (5)
1. be applied to the wall-surface mobile robot that the high-lager building facade cleans, it is characterized in that comprising gentle rope drive system, wall mobile platform and thrust device;
Described gentle rope drive system is two groups, comprise hoisting system and gentle rope respectively, described hoisting system is installed in the both sides on the top of building facade, comprise motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is separately fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley respectively;
Described wall mobile platform is equipped with the passive travel mechanism that guarantees the wall mobile platform near a side of building facade;
Described thrust device is installed on the lateral surface of wall mobile platform.
2. the wall-surface mobile robot that is applied to the cleaning of high-lager building facade according to claim 1 is characterized in that described thrust device is ducted fan, screw or jet thrust unit
3. the wall-surface mobile robot that is applied to the cleaning of high-lager building facade according to claim 1 is characterized in that the elevator motor in the motor reducer assembly is interchange or DC servo motor.
4. according to claim 1, the 2 or 3 described wall-surface mobile robots that are applied to the cleaning of high-lager building facade, it is characterized in that also being equipped with one group of gentle rope drive system at the middle part on described building facade top, described hoisting system also comprises motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley.
5. according to claim 1, the 2 or 3 described wall-surface mobile robots that are applied to the cleaning of high-lager building facade, it is characterized in that one group of gentle rope drive system also being installed at the middle part of described building facade bottom, described hoisting system also comprises motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor with the decelerator assembly; One end of gentle rope is fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202305954U CN201469194U (en) | 2009-08-24 | 2009-08-24 | Wall movable robot being applied to elevation washing of tall building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202305954U CN201469194U (en) | 2009-08-24 | 2009-08-24 | Wall movable robot being applied to elevation washing of tall building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201469194U true CN201469194U (en) | 2010-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202305954U Expired - Lifetime CN201469194U (en) | 2009-08-24 | 2009-08-24 | Wall movable robot being applied to elevation washing of tall building |
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| Country | Link |
|---|---|
| CN (1) | CN201469194U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
-
2009
- 2009-08-24 CN CN2009202305954U patent/CN201469194U/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210180351A1 (en) * | 2019-12-16 | 2021-06-17 | Chun Wo Construction & Engineering Co., Limited | System and method for building façade cleaning and painting with a dual cable-driven robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100519 Effective date of abandoning: 20090824 |