CN204765395U - Bionical high altitude construction robot - Google Patents
Bionical high altitude construction robot Download PDFInfo
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- CN204765395U CN204765395U CN201520287766.2U CN201520287766U CN204765395U CN 204765395 U CN204765395 U CN 204765395U CN 201520287766 U CN201520287766 U CN 201520287766U CN 204765395 U CN204765395 U CN 204765395U
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Abstract
The utility model provides a bionical high altitude construction robot, it relates to the washing of high -rise building thing wall and the function of spraying paint. At first adhere to and scramble the function consideration of walking from vertical wall, adopt pneumatic sucking disc formula foot with the robot. And adopt the appearance of the ingenious planing machine of bionics. Because the robot is unsettled at operating condition, then must adjust with the during operation focus self weight of robot all has very high requirement, consequently adoption aluminum alloy and the main material of solar panel as the robot in the design to at the centrobaric built -in raw material tank of during operation design adjustment. Still be equipped with the external tapping in robot the place ahead, under the big condition of task load, usable external tapping is carried the raw materials to enter and is put raw material tank. And control the design safety line of pendulum foot department device to prevent that the robot makes its destruction because of outside other factors lead to dropping. Consider from the intelligent control angle again, adopt PLC control and add the sensor and realize the dangerous operation in the artifical high altitude of intelligent replacement.
Description
[technical field]
The utility model relates to the cleaning of high-rise glass and the japanning of body of wall, particularly relates to attachment and the walking of a kind of high-altitude vertical plane, and the bionical work high above the ground robot of the one of keeping away barrier.
[background technology]
At society, skyscraper gets more and more, and various building to have become in present city one beautiful scenery.Most of metope adopts the form of glass, and also has some bodies of wall to adopt the form of brush paint.But in order to ensure the clean and tidy beauty of architectural appearance, regularly glass metope being cleaned with regard to needs and japanning metope is painted, reaching the effect of beautifying city.The cleaning of current employing and japanning mode mainly contain hanging basket cleaning model and lifting platform pattern, and these two kinds of modes have the shortcoming that labour intensity is large, cost is high, danger is high.
Along with the proposition of industry 4.0, intelligent machine replaces manual work to become a development trend.For these problems, invent a kind of bionical work high above the ground robot.This robot uses PlC or singlechip technology to control.Electricity consumption and pneumatic as drive energy, and adopt six pin attachment metopes and creep.Working portion adopts roll type brush and spray-painting plant to complete corresponding work.And can advance flexibly, retreat, left and right turning function, achieve cleaning in all directions and japanning.Successfully realize the effect that machine is substituted.
[summary of the invention]
The utility model aims to provide a kind of replacement artificial bionic work high above the ground robot.
The technical solution of the utility model is as follows: include control device, working portion, power set, climbing mechanism, safety device and lighting device composition, it is characterized in that: control device comprises PLC control system and sensor is formed; Working portion comprises washing barrel formula brush, spray-painting plant; Adopt motor module and Pneumatic module to cooperatively interact in power set, wherein electric energy is by household electric straight-charging type and solar electrical energy generation two kinds of forms; Climbing mechanism comprises four-bar mechanism, expansion link, cylinder, sucked type pin, and wherein four-bar mechanism is driven by motor, and expansion link, cylinder and sucked type pin are controlled by pneumatic means.
Described control device comprises the control system controlling whole robot, and it is made up of PLC control system and sensor, in the whole course of work, realize intelligent and automation.
Described working portion comprises washing barrel formula brush, spray-painting plant, wherein washing barrel formula is made up of multiple cylinder, spray-painting plant adopts the mode of splicing to assemble, and can arrange corresponding length as required, increase work efficiency and the quality worked in the whole course of work.Consider raw material supply situation simultaneously, be designed with built-in material box and in machinery equipment, design external feedstock input place.
Adopt power module and Pneumatic module to cooperatively interact in described power set, consider from energy angle, have employed solar energy generation technology, save the energy.And operationally, the sound of generation is less, and duty is as described in instantiation mode.
The element that described climbing mechanism comprises has two cover four-bar mechanisms, expansion link, cylinder and retractility sucked type pin, and wherein four-bar mechanism is driven by motor, and motor, by controlling the rotation of worm and gear, realizes the action of creeping of machinery equipment.Expansion link, cylinder and retractility sucked type pin are controlled by pneumatic means, gas by the built-in flue of sucker, to the action of the sucker " sucking-off " in retractility sucked type pin and " spitting into " realization " absorption " and " unclamping ", complete corresponding action.
Due to machinery equipment in working order time be all in vacant state, require very high to the own wt of machinery equipment and self center of gravity, consider from own wt angle, bionics techniques is adopted to copy the profile of " cicada " and the sucker of " gecko " pin formula, and by the main material aluminium alloy of machinery equipment and solar panels.Consider from self center of gravity angle, the built-in material box in machinery equipment is designed to the device of adjustable center of gravity, and employing six absorption type pin are adsorbed on wall, improves the ability being attached to wall.
Described safety device is made up of safety line; by respectively settling a safety line on pendulum pin both sides, left and right; by putting down from building top layer; and Abseiling device swings along with robot and moves; do not affect robot work; and get protective effect, prevent other factors outside from causing dropping of machinery equipment and the loss that causes.
Lighting device in described machinery equipment, plays Lumination & Decoration effect.
Particular advantages of the present utility model and good effect are:
1., because machines clean and japanning replace artificial work high above the ground, reduce high-altitude danger coefficient, and improve operating efficiency and work quality.
2., owing to adopting Bionic Design, improve robot stabilized performance, and make outward appearance more beautiful.
3. walk also can avoid barrier owing to adopting four-bar mechanism and telescoping mechanism can realize robot ' on ' ' under ' ' left side ' ' right side ' flexibly.
4., owing to adding rational equipment (many wheel round brush and nozzle) at working portion, improve robot work quality and operating efficiency.
5. owing to designing built-in, circumscribed two kinds of feedstock supply units, in case problems such as insufficient raw material.And design adjusts center of gravity mechanism automatically in built-in material box, keep the overall stationarity of machinery equipment.
6., because jet pipe adopts spliced, the length of spray-painting plant can be controlled as required, increase work efficiency and work quality.
7. because power adopts the electronic and pneumatic mode that combines, and electric energy provides two kinds of forms that can adopt the direct rechargeable and solar powered formula of household electric, improves transmission efficiency, and adopts and do not pollute environment.
[accompanying drawing explanation]
Fig. 1 is that the axle of robot surveys view, and Fig. 2 is the top view of robot, and Fig. 3 is inner composition top view, and Fig. 4 is bottom power distribution top view, and Fig. 5 is left and right pendulum pin sectional view, and Fig. 6 is built-in material box sectional view.
Gas conveying docking port (1), left and right pendulum pin (2), lighting device (3), spray-painting plant (4), retractility sucked type pin (5), drum-type brush (6), expansion link mechanism (7), safety line device (8), machine vehicle body (9), air shooter (10), terminal box (11), built-in material box (12), wing solar panel (13), external feedstock input (14), control system device (15), gas diverter (16), liquor pump (17), gas storage tank (18), motor (19), turbine and worm (20), drum-type brush teeth wheels (21), the built-in air shooter of sucker (22), battery (23), cylinder (24), external raw material input pipe (25), built-in material box dress liquid mouth (26), automatic adjustment center of gravity spring (27), built-in raw material casing (28), push liquid sheet (29), material outlet (30).
[detailed description of the invention]
Below in conjunction with accompanying drawing, structural principle of the present utility model and operation principle are described in further detail.
Bionical work high above the ground robot outline approximate size is: the robot (when left and right pendulum pin does not launch) of high 600mm, wide 800mm, long 1500mm, when left and right pendulum pin 2 launches, robot is wide is 1200mm.It is made up of control device, working portion, power set, climbing mechanism, safety device and lighting device.
It is characterized in that:
Described control device comprises the control system (15) controlling whole robot, it is made up of PLC control system and sensor, wherein PlC control system connects with sensor, by providing the corresponding command to the software kit in computer, machinery equipment is controlled, by the inductive pick-up in machinery equipment, the environment around robot is informed computer analysis simultaneously, to be analyzedly rear corresponding task arrangement is made to machinery equipment, such as: under requiring at different tasks, control the difference of feedstock transportation to the amount of each drum-type brush (6), or, the speed of the rotating speed of motor (19), carry out different tasks.Thus make to realize intellectuality in the whole course of work;
Described working portion comprises washing barrel formula brush (6), spray-painting plant (4), wherein washing barrel formula (6) is made up of multiple cylinder, realize multiple drum rotating orientation consistency by motor (19) index drum formula brush teeth wheels (21), high-effect high-quality complete cleaning task.Spray-painting plant (4) adopts the mode of splicing to assemble, and can arrange corresponding length as required;
Power module and Pneumatic module is adopted to cooperatively interact in described power set, power is provided to machinery equipment, wherein electric energy accepts sunshine by the board-like wing of solar energy (13), convert thereof into electric energy by terminal box (11), electric energy to be imported in battery (23), or by directly charging to battery (23) with household electric.Discharged by battery (23) again and be provided to motor (21) and lighting device (3).Pneumatic module first loads appropriate gas in gas tank (18), gas diverter (16) is transported to by air shooter (10), by gas diverter (16) to ' suction ' and ' telling ' of gas on expansion link (7) and retractility sucked type pin (5), achieve and stretch and contracting;
During work, put down rope by high roof and be connected with the safety line device (5) of machinery equipment, be adsorbed on wall by retractility sucked type pin (5).By the mode of gas diverter (16) to " suction " and " telling " of gas: the first, make retractility sucked type pin (18) " stretching " and " contracting " to reach " absorption " and the function of " unclamping ", achieve the climbing of robot.The second, make expansion link (7) " stretching " and " contracting ", achieve robot and move left and right.Drive turbine and worm (20) that expansion link (3) is swung up and down by motor (19) again, walking order ground before and after reaching.In robot ambulation process, drum-type brush (6) is driven by motor (19), to be transported on drum-type brush (6) by cleaning fluid to clean metope by built-in material box (12) by pipeline.Or by Liquid transfer on liquid-jet device (4), undertaken aerosolly being sprayed on metope by gas, simultaneously by the control of PLC control system to the flow of raw material, reach corresponding job requirement, and lay an inductor at built-in material box (12), judge the amount of the raw material in casing, whether prompting will add raw material.The method of wherein adding raw material has two kinds, and one is quit work at machinery equipment, directly adds.Another kind is input in built-in material box (12) by raw material by liquor pump (17) by external feedstock input (14).
When considering the center of gravity problem of machine in the design as shown in Figure 6, built-in material box (12) is designed to the device of adjustable center of gravity, as shown in Figure 6.First carrying out dress material liquid from built-in raw material dress liquid mouth (26) makes built-in material box (12) fill, open material outlet (30) output raw material in work, now shift liquid barrier (29) onto make liquid concentrate on built-in material box (12) upper strata in adjustment center of gravity spring (27), thus reach that center of gravity is departed from original basis is less.And consider from absorption angle, by design six retractility sucked type pin, raising robot is adsorbed on the reliability on wall.
As shown in Figure 5, be the sectional view of left and right pendulum pin 1.Gas arrives cylinder (24) by air shooter (10) makes its reality " stretch " function with " contracting ", and be transported on sucker by the built-in flue of sucker (22), by " supplying gas " or " bleeding " to the inside, the action of " absorption " and " unclamp " of pin on wall can be realized flexibly.In the design process, make full use of the position of left and right pendulum pin (1), arrange above above battery (23) is arranged on by power supply lay down location.
Claims (5)
1. a bionical work high above the ground robot, includes control device, working portion, power set, climbing mechanism, safety device and lighting device composition, it is characterized in that: control device comprises PLC control system and sensor is formed; Working portion comprises washing barrel formula brush, spray-painting plant; Adopt motor module and Pneumatic module to cooperatively interact in power set, wherein electric energy is by household electric straight-charging type and solar electrical energy generation two kinds of forms; Climbing mechanism comprises four-bar mechanism, expansion link, cylinder, sucked type pin, and wherein four-bar mechanism is driven by motor, and expansion link, cylinder and sucked type pin are controlled by pneumatic means.
2. bionical work high above the ground robot according to claim 1, it is characterized in that: due to machinery equipment in working order time be all in vacant state, require very high to the own wt of machinery equipment and self center of gravity, consider from own wt angle, bionics techniques is adopted to copy the profile of " cicada " and the sucker of " gecko " pin formula, and by the main material aluminium alloy of machinery equipment and solar panels; Consider from self center of gravity angle, the built-in material box in machinery equipment is designed to the device of adjustable center of gravity, and employing six absorption type pin are adsorbed on wall, improves the ability being attached to wall.
3. bionical work high above the ground robot according to claim 1, is characterized in that: adopt many shower nozzles and Assembled brush form, realized multiple task, increase work efficiency and work quality.
4. bionical work high above the ground robot according to claim 1, is characterized in that: adopt electric power and the pneumatic power source as machinery equipment; Wherein electric power energy part, adopts two modes of the direct rechargeable and solar energy charging type of household electric, wherein solar panels is made the wing of machinery equipment, increase the aesthetic property of machinery equipment outward appearance, make use of space simultaneously.
5. bionical work high above the ground robot according to claim 1, is characterized in that: adopt expansion link and four-bar mechanism to realize " front " " afterwards " " left side " " right side " walking function of machinery equipment; And adopt large-scale sucker to realize being adsorbed on metope; In machinery equipment, safety device is installed simultaneously, prevents other unfavorable factors from causing machine to drop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520287766.2U CN204765395U (en) | 2015-05-04 | 2015-05-04 | Bionical high altitude construction robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520287766.2U CN204765395U (en) | 2015-05-04 | 2015-05-04 | Bionical high altitude construction robot |
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| CN204765395U true CN204765395U (en) | 2015-11-18 |
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| CN201520287766.2U Expired - Fee Related CN204765395U (en) | 2015-05-04 | 2015-05-04 | Bionical high altitude construction robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739521A (en) * | 2016-02-04 | 2016-07-06 | 吴晨 | Agricultural robot traction and power supply system and method |
| CN105919501A (en) * | 2016-06-15 | 2016-09-07 | 刘晓红 | Wall cleaning robot |
| CN106264309A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of multifunctional glass glass-wall cleaning robot |
| CN107307819A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car |
| CN107307797A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car cleaning mechanism |
| 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 |
-
2015
- 2015-05-04 CN CN201520287766.2U patent/CN204765395U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105739521A (en) * | 2016-02-04 | 2016-07-06 | 吴晨 | Agricultural robot traction and power supply system and method |
| CN105739521B (en) * | 2016-02-04 | 2019-10-18 | 吴晨 | A kind of system and method agricultural robot traction and powered |
| CN107307819A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car |
| CN107307797A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of high-altitude exterior wall cleans car cleaning mechanism |
| CN105919501A (en) * | 2016-06-15 | 2016-09-07 | 刘晓红 | Wall cleaning robot |
| CN106264309A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of multifunctional glass glass-wall cleaning robot |
| 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 |
| CN107717977B (en) * | 2017-10-31 | 2024-04-09 | 上海霄卓机器人有限公司 | Mobile architecture system of aerial working robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: He Ming Document name: Notification to Pay the Fees |
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| DD01 | Delivery of document by public notice |
Addressee: He Ming Document name: Notification of Termination of Patent Right |
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| DD01 | Delivery of document by public notice | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 Termination date: 20160504 |
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| CF01 | Termination of patent right due to non-payment of annual fee |