CN204549922U - The portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot - Google Patents

Abstract

The utility model discloses the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot, relate to lifting device technical field, comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, suspension arm one end of winding plant is hinged on the front cross rail of dolly chassis, dolly chassis is that framed structure intersection is provided with articulated mounting, the bar that removably connects is provided with between articulated mounting, the support of winding plant, counterweight water tank, high pressure pump, water pipe cable winding unit is placed on dolly chassis, dolly chassis is also provided with castor, winding plant is provided with lifting elevator motor and pitching elevator motor.This device can fold minimizing device volume, is transported to top layer flooring, wireless remote control Long-distance Control quickly through elevator or manpower by the manhole of top layer, significantly crosses over wall obstacle.

Description

A portable obstacle-surmounting lifting device for a cleaning robot on the exterior wall of a building

technical field

The utility model relates to the technical field of hoisting tools.

Background technique

The utility model relates to a suspension obstacle-crossing device applied to a cleaning robot on the outer wall of a building, in particular to a suspension obstacle-crossing device for a cleaning robot on the outer wall of a building, which can be quickly transported to the top floor in different ways in different site conditions .

A high-rise cleaning robot safety protection mechanism developed by Shanghai Jiaotong University, the invention patent publication number is CN 1559760A, the support rod of the mechanism is provided with multiple pin holes at different heights to support different pitch angles of the suspension arm (beam). Realize the horizontal distance between the suspended robot and the wall, and achieve the purpose of crossing the wall obstacle. Its mechanism design is simple, but when the suspension arm is under load, it is inconvenient to replace the pins and insert them into the sockets of different heights, and fine adjustment cannot be realized. , it is difficult to realize the suspension of the main body to make the cleaning robot accurately close to the wall, and it is easy to produce longitudinal swing. The single-section curved suspension arm (beam) is designed, and the length of the suspension arm is limited, so its ability to overcome obstacles will not be too large. In addition, the mechanism How it was transported to the top floor was also not mentioned.

Utility model content

The technical problem to be solved by the utility model is to provide a portable obstacle-surmounting lifting device for a cleaning robot on the outer wall of a building. Remote control, greatly crossing wall obstacles.

In order to solve the above problems, the technical solution adopted by the utility model is: a portable obstacle-surmounting lifting device for a cleaning robot on the outer wall of a building, including a hoisting device, a trolley chassis, and a suspension obstacle-surmounting control device. The suspension of the hoisting device One end of the arm is hinged on the front crossbeam of the trolley chassis. The front crossbeam, rear crossbeam and two longitudinal beams of the trolley chassis form a frame structure. There are detachable connecting rods between the hinged devices at two diagonal positions. The bracket of the hoisting device, the counterweight water tank, the high-pressure pump, and the water pipe and cable unwinding device are placed on the chassis of the trolley and are detachably connected to the chassis of the trolley. The chassis of the trolley is also provided with casters and a direction changing device for the casters. The support of the hoisting device is provided with a lifting hoisting motor and a pitching hoisting motor. The steel wire rope of the fixed pulley at the top of the boom is connected, and the pitch winch motor is connected with the suspension arm through a steel wire stay rope.

Preferably, the interior of the suspension arm is a telescopic hollow rod, and the cross-sectional shape of the suspension arm is consistent with that of each section of the hollow rod.

Preferably, both ends of the detachable connecting rod are respectively welded to the hinge device, the detachable connecting rod is a segmented structure, and the two segments of the detachable connecting rod are connected by detachable pins.

Preferably, the support of the hoisting device includes a vertical rod and a diagonal rod, both ends of the vertical rod are detachably connected to the front and rear beams of the trolley chassis, and the top of the vertical rod is connected to the diagonal rod The top ends are rotatably connected by hinged shafts.

Preferably, the counterweight water tank is provided with water filling holes and drainage holes.

Preferably, the drive motor of the water pipe cable unwinding device is a torque deceleration brake motor.

Preferably, the direction change device includes a worm gear reducer, a manual direction change wheel is provided on the input shaft of the worm gear reducer, a linkage shaft is connected above the caster, and a sprocket is provided on the linkage shaft. A transmission chain is connected between the power output end of the worm gear reducer and the sprocket.

Preferably, auxiliary casters are provided at the lateral midpoint of the hinge shaft.

Preferably, the suspended obstacle surmounting control device includes a wireless remote control transmitter and a wireless remote control receiver, the wireless remote control transmitter and the wireless remote control receiver are connected by radio waves, the wireless remote control receiver, a frequency converter, and a hoisting motor electrical connection between the wireless remote control receiver, the relay and the pitch winch motor, and the electrical connection between the wireless remote control receiver and the negative pressure generator motor.

The beneficial effects produced by adopting the above-mentioned technical scheme are: 1. The pitch angle of the suspension arm is 0 to 75 degrees, and the obstacle surmounting ability is 0 to 4.2 meters. The suspension arm is pulled by the pitch winch motor to make the suspension arm complete the angle Adjustment; 2. There is no elevator available. The device can be folded to reduce its volume. After disassembly and folding, all parts can be transported from the top floor hole to the top floor for use, adapting to China's national conditions; 3. Four trolley chassis The casters can be changed direction. By turning the manual direction change wheel on the input shaft of the worm gear reducer to drive the transmission ring chain, the casters can change to the same direction at the same time. It is especially suitable for the vertical and horizontal directions of the trolley chassis and the small angle adjustment needs, braking Easy to locate. 4. The high-pressure pump is installed on the trolley on the top floor, making full use of the high-level potential energy, reducing the output pressure of the high-pressure pump, saving energy and reducing the cost; 5. The torque motor drives the water pipe and cable unwinding device, which is efficient and free, and realizes the beautiful appearance of the whole machine , easy to move.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment, the utility model is described in further detail:

Fig. 1 is the structural representation of the utility model;

Figure 2 Schematic diagram of the chassis of the trolley;

Fig. 3 is the control block diagram of the utility model.

Among them, 1. Suspension arm, 2. Front beam, 3. Rear beam, 4. Longitudinal beam, 5. Detachable connecting rod, 6. Counterweight water tank, 7. High-pressure pump, 8. Water pipe cable winding device, 9 , casters, 10, lifting winch motor, 11, pitching winch motor, 12, hollow rod, 13, detachable pin, 14, vertical rod, 15, oblique rod, 16, hinged shaft, 17, water filling hole, 18 , drainage hole, 19, manual reversing wheel, 20, worm gear reducer, 21, sprocket wheel, 22, transmission ring chain, 23, auxiliary caster, 24, steel wire rope, 25, latch hole.

Detailed ways

As shown in Figure 1, Figure 2 and Figure 3: a portable obstacle-surmounting lifting device for a building exterior wall cleaning robot, including a hoisting device, a trolley chassis, and a suspension obstacle-surmounting control device, and one end of the suspension arm 1 is detachable hinged on the front beam 2 of the trolley chassis, the front beam 2, rear beam 3 and two longitudinal beams 4 of the trolley chassis form a frame structure, the intersection of the front beam 2, rear beam 3 and the two longitudinal beams 4 is set There is a hinged device, and a detachable connecting rod 5 is provided between the two hinged devices at the inner diagonal positions. The support of the hoisting device, the counterweight water tank 6, the high-pressure pump 7, and the water pipe and cable unwinding device 8 are placed on the trolley chassis and It is detachably connected with the chassis of the trolley. The chassis of the trolley is also provided with casters 9 and a direction changing device for the casters 9. The bracket of the hoisting device is equipped with a lifting hoisting motor 10 and a pitching hoisting motor 11. , the lifting hoisting motor 10 is connected to the wire rope that goes around the fixed pulley at the top of the suspension arm 1 through a wire rope reel, and the pitching hoisting motor 11 is connected to the front of the suspension arm 1 through a wire rope 24.

The interior of the suspension arm 1 is a multi-section telescopic hollow rod 12, and the cross-sectional shape of the multi-section hollow rod 12 is consistent. The two ends of the detachable connecting rod 5 are respectively welded with the hinge device. The detachable connecting rod 5 is a segmented structure, and the two segments of the detachable connecting rod 5 are connected by a detachable pin 13 . The support of the hoisting device includes a vertical bar 14 and a slanting bar 15, one end of the vertical bar 14 is detachably connected to the rear beam 3 of the chassis of the trolley, and one end of the slanting bar 15 is connected to the chassis of the trolley. The front beams 2 are also detachably connected, and the intersection of the vertical rod 14 and the diagonal rod 15 is hinged through the hinge shaft 16 .

The counterweight water tank 6 is provided with a water filling hole 17 and a drain hole 18 . The drive motor of the water pipe cable unwinding device 8 is a torque deceleration braking motor. The change of direction device comprises a worm gear reducer 20, a linkage shaft is connected above the caster 9, and a sprocket 21 is arranged on the linkage shaft, and a power output end of the worm gear reducer 20 and the sprocket 21 are connected with Transmission ring chain 22. A manual reversing wheel 19 is provided on the input shaft of the worm gear reducer 20 , and an auxiliary caster 23 is provided at the lateral midpoint of the hinge shaft 16 . The suspension obstacle surmounting control device includes a wireless remote control transmitter and a wireless remote control receiver. The wireless remote control transmitter and the wireless remote control receiver are connected by radio waves. Electrical connection, electrical connection between the wireless remote control receiver, relay, pitch winch motor 11, electrical connection between the wireless remote control receiver and the negative pressure generator motor.

The suspension arm 1 is hinged on the front beam 2 of the trolley chassis. The suspension arm 1 is a multi-section telescopic hollow rod, that is, its length can be changed. The same but similar in shape, the suspension arm 1 is provided with a plurality of pin holes 25, the front and rear beams of the trolley chassis and the two longitudinal beams 4 form a parallelogram, the four corners of the trolley chassis are provided with hinged devices, and the two non-adjacent inner corners are opposite A detachable connecting rod 5 is arranged between the two hinged devices of the angle, and the bracket of the hoisting device, the counterweight water tank 6, the high-pressure pump 7 and the water pipe cable unwinding device 8 are detachably arranged on the trolley chassis, and the trolley chassis has Caster 9, the output shaft of the worm gear reducer 20 is provided with a chain transmission device, and the worm gear reducer 20 is provided with a steering adjustment manual reversing wheel 19, by turning the manual reversing wheel 19, the 4 casters 9 can be driven to turn in the same direction, and the direction same.

When there is an elevator at the cleaning site, the suspension obstacle-crossing device can be rolled over 90 degrees around the rear beam 3 of the trolley chassis and the two caster shafts, and the two casters 9 and auxiliary casters 23 form a three-point support structure, and it can be pushed into the The elevator should be braked and positioned, transported smoothly and safely to the next floor on the top floor, transported to the top floor with a walking ladder, and then turned over 90 degrees in the reverse direction, release the brake, push it to a suitable position, and restore the form of four-wheel support, that is Cleaning is possible.

If there is no elevator available at the cleaning site, quickly remove the hinge pin on the suspension arm 1 on the trolley chassis, remove the vertical rod 14 and the inclined rod 15 on the bracket of the hoisting device, and rotate around the hinge shaft 16 to make the vertical Straight bar 14 and inclined bar 15 are straightened, and the detachable latch 13 on the detachable connecting rod 5 is removed, so that the bracket of the relatively thick and short hoisting device and the chassis of the trolley are transformed into relatively slender rods, and each component is turned into a relatively slender rod. It is transported from the 0.6m by 0.6m manhole on the top floor to the top floor, and then assembled in blocks to form a complete machine, which saves time and improves work efficiency.

The integration of wireless monitoring, wireless remote control, frequency conversion control, and modern technology of video transmission has laid an objective foundation for precise control of the steering speed of each motor, precise, safe and large-scale crossing of wall obstacles by the main robot device, and safe and efficient cleaning.

Suspension arm 1 composed of multi-section hollow rods 12, hinged device is set between the front and rear beams and longitudinal beams 4 of the chassis of the trolley, the frame can be any one of rectangle, triangle and polygon, and multiple pin holes are set on the suspension arm 1 25. Determine the required length according to the actual needs. The hinge device set at the intersection of the two longitudinal beams 4 of the trolley chassis and the front and rear beams uses four hinges, and the hinge positions are respectively set on the obliquely opposite inner or outer corners of the trolley chassis. Lay the foundation for the folding and deformation of the trolley chassis into a long rod. The detachable connecting rod 5 ensures that the frame state is not variable when the detachable latch 13 is not pulled out. When pulled out, the detachable connecting rod 5 is divided into two sections, so that the trolley chassis can be folded into The slender rod is a solution for both ends. The chassis of the trolley is equipped with a worm gear reducer 20 and a corresponding transmission chain 22 and other transmission mechanisms to ensure that the directions of the four casters 9 are the same for the horizontal or vertical movement of the device. And the brake positioning lays the foundation, the vertical rod 14 of the support of the hoisting device and the slanting rod 15 intersection are provided with hinge shaft 16, for the vertical rod 14 and slanting rod 15 folded into slender rod body, pass through the manhole on the top floor to do In order to fully prepare, the counterweight water tank 6 on the chassis of the trolley is provided with a water filling hole 17 and a drain hole 18. It is convenient to fill water during work, and when cleaning is completed, the water is released to make the handling lighter. The setting of the high-pressure pump 7 makes full use of the high-level potential energy Advantages, can greatly reduce the rated pressure of the high-pressure pump 7, save power consumption, and reduce costs. The water pipe cable unwinding device 8 is driven by a torque deceleration brake motor, and the water pipe cable passes through the pulley at the front of the suspension arm 1 as the main device of the robot. Supply water and electricity, easy to operate, the water pipe cable is wound on the reel, the overall image is beautiful, easy to move and convenient, the pitch winch motor 11 is connected to the suspension arm 1, and the signal is transmitted to the frequency converter through the wireless remote control transmitter and wireless remote control receiver and relay, and then control the hoisting motor 10 and the pitching motor 11 to adjust the lifting speed and the pitch angle of the suspension arm 1, and the pitch angle adjustment makes the distance between the robot main device below and the wall reach adjustment, and the robot main device There is a negative pressure suction cup on the top, the negative pressure suction cup is attracted to the wall and the walking device on the suction cup is walking on the wall. The negative pressure generator motor is used to control the negative pressure suction cup, so the negative pressure suction cup can also be controlled by a wireless remote control transmitter. pressure generator motor.

To sum up, 1. The pitch angle of the suspension arm is 0 to 75 degrees, and the obstacle surmounting ability is 0 to 4.2 meters. The suspension arm is pulled by the pitch winch motor to adjust the angle of the suspension arm; 2. If there is no elevator available, the device can be folded to reduce its volume. After disassembly and folding, all parts can be transported from the top floor hole to the top floor for use, adapting to China's national conditions; the casters of the 3 and 4 trolley chassis can change direction, By turning the manual reversing wheel on the input shaft of the worm gear reducer to drive the transmission ring chain, the casters can change to the same direction at the same time, especially suitable for the vertical and horizontal directions of the trolley chassis and the small angle adjustment needs, and the brake positioning is simple. 4. The high-pressure pump is installed on the trolley on the top floor, making full use of the high-level potential energy, reducing the output pressure of the high-pressure pump, saving energy and reducing the cost; 5. The torque motor drives the water pipe and cable unwinding device, which is efficient and free, and realizes the beautiful appearance of the whole machine , easy to move.

Claims (9)

1. the portable obstacle detouring lifting appliance of building exposed wall face cleaning robot, it is characterized in that: comprise winding plant, dolly chassis, suspension obstacle surmounting control setup, suspension arm (1) one end of described winding plant is hinged on the front cross rail (2) of dolly chassis, the front cross rail (2) of dolly chassis, after cross member (3) and two longerons (4) form framed structure, described front cross rail (2) and after cross member (3) are provided with articulated mounting with the intersection of two longerons (4), the bar (5) that removably connects is provided with between the articulated mounting of two diagonal positions, the support of winding plant, counterweight water tank (6), high pressure pump (7), water pipe cable winding unit (8) to be placed on dolly chassis and and for removably connecting between dolly chassis, described dolly chassis is also provided with castor (9) and is provided with the deviator of castor (9), the support of described winding plant is provided with lifting elevator motor (10) and pitching elevator motor (11), described lifting elevator motor (10) is connected with the steel rope walking around suspension arm (1) top fixed pulley by cable drum, described pitching elevator motor (11) is connected with suspension arm (1) by steel wire tow line (24).

2. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: be provided with telescopic hollow stem (12) in described suspension arm (1), described hollow stem (12) is consistent with the cross sectional shape of suspension arm (1).

3. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: the two ends of the described bar that removably connects (5) are welded with articulated mounting respectively, the described bar that removably connects (5) is segment type structure, is connected between two merogenesis of the bar that removably connects (5) by detachable latch (13).

4. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: the support of described winding plant comprises vertical bar (14) and brace (15), be connected for detachable between the bottom of described vertical bar (14) and the after cross member (3) of dolly chassis, also be connected for detachable between the bottom of described brace (15) and the front cross rail (2) of dolly chassis, the top of described vertical bar (14) and the top of brace (15) are rotationally connected by jointed shaft (16).

5. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, is characterized in that: described counterweight water tank (6) is provided with water inlet (17) and drain gutter (18).

6. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, is characterized in that: the drive motor of described water pipe cable winding unit (8) is moment brake snub motor.

7. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: described deviator comprises worm reduction gear (20), described castor (9) top is connected with universal driving shaft, described universal driving shaft is provided with sprocket wheel (21), transmission loop chain (22) is connected with, with manual break-in wheel (19) on the input shaft of described worm reduction gear (20) between the clutch end of described worm reduction gear (20) and sprocket wheel (21).

8. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 4, is characterized in that: the horizontal point midway of described jointed shaft (16) is provided with auxiliary castor (23).

9. the portable obstacle detouring lifting appliance of a kind of building exposed wall face cleaning robot according to claim 1, it is characterized in that: described suspension obstacle surmounting control setup comprises wireless remote control emitter, wireless remote controlled receiver, for radiowave is connected between wireless remote control emitter with wireless remote controlled receiver, be electrically connected between wireless remote controlled receiver, frequency converter, lifting elevator motor (10), be electrically connected between wireless remote controlled receiver, relay, pitching elevator motor (11), be electrically connected between wireless remote controlled receiver with negative pressure generator motor.