CN206507903U - Go straight up to high-altitude exterior wall multi-function robot - Google Patents
Go straight up to high-altitude exterior wall multi-function robot Download PDFInfo
- Publication number
- CN206507903U CN206507903U CN201621362087.8U CN201621362087U CN206507903U CN 206507903 U CN206507903 U CN 206507903U CN 201621362087 U CN201621362087 U CN 201621362087U CN 206507903 U CN206507903 U CN 206507903U
- Authority
- CN
- China
- Prior art keywords
- aircraft
- exterior wall
- straight
- organism frame
- function robot
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- 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
Abstract
High-altitude exterior wall multi-function robot is gone straight up to the utility model discloses one kind, belong to equipment for washing external wall, for outside Wall Cleaning, it includes organism frame, controller, running gear, the running gear is located on rotary type under(-)chassis, add-on assemble is provided with the forward and backward two ends of under(-)chassis, under(-)chassis is connected by rotary connector with organism frame；At least one thrust device is provided with the organism frame；Aircraft is additionally provided with the organism frame, the aircraft includes aircraft power device, wing；The controller is connected with running gear, thrust device, add-on assemble, aircraft respectively.In view of above-mentioned technical proposal, the utility model can realize the clean in place of glass curtain wall, improve the efficiency of small range glass curtain wall washing and cleaning operation, and change the fixed form of traditional glass curtain cleaning robot, security incident risk that may be present is reduced, stability is improved.
Description
Technical field
The utility model belongs to equipment for washing external wall, specifically, more particularly to one kind goes straight up to high-altitude exterior wall Multi Role Aircraft
Device people.
Background technology
The Light Wall with decorative effect that glass curtain wall is commonly used as modern large-scale and skyscraper, with area
Greatly, the features such as height is high, nothing climbs up by holding on to support, and the characteristics of the dangerous property of the cleaning tool of glass curtain wall and big labor intensity, manually
The problem of work high above the ground is then faced with big cleaning difficulty, high security risk and low efficiency is carried out, when generally requiring large area operation
Just using the scheme of above-mentioned manual work.
Curtain cleaning robot can avoid Traditional Man from making as the alternative solution of manual work in small area operation
The problem of industry is present, but be due to the operating type that traditional curtain wall robot uses absorption type or sucked type, glass curtain wall glass
Space or cut-off between glass, equipment can not be crossed over, secondly as conventional curtain wall cleaning robot by track lifting, cross over
The ability of obstacle is poor, can only typically be moved according to track, operating efficiency is affected.
The content of the invention
The purpose of this utility model is that providing one kind goes straight up to high-altitude exterior wall multi-function robot, and can realize glass curtain
The clean in place of wall, improves the efficiency of small range glass curtain wall washing and cleaning operation, and changes traditional glass curtain cleaning robot
Fixed form, reduce security incident risk that may be present, improve stability.
To reach above-mentioned purpose, the utility model is achieved through the following technical solutions：
It is described in the utility model to go straight up to high-altitude exterior wall multi-function robot, including organism frame, controller, walking dress
Put, the running gear is located on rotary type under(-)chassis, add-on assemble, bottom are provided with the forward and backward two ends of under(-)chassis
Framework is connected by rotary connector with organism frame；At least one thrust device is provided with the organism frame；The body
Aircraft is additionally provided with framework, the aircraft includes aircraft power device, wing；The controller is filled with walking respectively
Put, thrust device, add-on assemble, aircraft are connected.
Further speaking, add-on assemble described herein includes water spray and cleaning device, painting spraying device.
Further speaking, running gear described herein includes road wheel and traction drive device, the walking
Wheel drive unit is driven using motor.
Further speaking, thrust device described herein includes at least one adjustable direction type blower fan.
Further speaking, rotating driving device, the rotation driving dress are provided with rotary connector described herein
Put using motor driving.
Further speaking, aircraft power device described herein use can self-power generation type aviation gasoline machine.
Further speaking, aircraft described herein is 2, is respectively arranged at the upper/lower terminal of organism frame.
Further speaking, aircraft described herein or organism frame are provided with camera, the camera and control
Device connection processed.
Further speaking, described herein go straight up to is also equipped with anticollision steering on the exterior wall multi-function robot of high-altitude
System, dirt detection return wiping system, and the anticollision steering, dirt detection are returned wiping system and be connected with controller.
Compared with prior art, the beneficial effects of the utility model are：
The utility model can use flexible operating type to the glass curtain wall for needing small range to clean, and change cleaning machine
The fixed form of device people, glass curtain wall cleaning machine device task efficiency is improved while security incident is reduced；Using flight
Device adds the job area and the ability across larger barrier of glass curtain wall cleaning machine device people, improved as lifting power
The ease for use and the versatility to different type metope of glass curtain wall cleaning machine device people.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is control principle drawing of the present utility model.
In figure：1st, wing；2nd, aircraft power device；3rd, organism frame；4th, thrust device；5th, add-on assemble；6th, walk
Device；7th, rotary connector；8th, under(-)chassis；9th, anticollision steering；10th, dirt detection returns wiping system.
Embodiment
Below in conjunction with the accompanying drawings and embodiment is described further to technical scheme described herein.
Embodiment 1：One kind goes straight up to high-altitude exterior wall multi-function robot, including organism frame 3, controller, running gear 6,
It is characterized in that：The running gear 6 is located on rotary type under(-)chassis 8, at the forward and backward two ends of under(-)chassis 8 provided with attached
Plus component 5, under(-)chassis 8 is connected by rotary connector 7 with organism frame 3；Pushed away in the organism frame 3 provided with least one
Power apparatus 4；Aircraft is additionally provided with the organism frame 3, the aircraft includes aircraft power device 2, wing 1；It is described
Controller is connected with running gear 6, thrust device 4, add-on assemble 5, aircraft respectively.
Embodiment 2：One kind goes straight up to high-altitude exterior wall multi-function robot, including organism frame 3, controller, running gear 6,
The running gear 6 is located on rotary type under(-)chassis 8, and add-on assemble 5, bottom are provided with the forward and backward two ends of under(-)chassis 8
Framework 8 is connected by rotary connector 7 with organism frame 3；At least one thrust device 4 is provided with the organism frame 3；It is described
Aircraft is additionally provided with organism frame 3, the aircraft includes aircraft power device 2, wing 1；The controller respectively with
Running gear 6, thrust device 4, add-on assemble 5, aircraft connection.The add-on assemble 5 includes water spray and cleaning device, coating
Spray equipment.The running gear 6 includes road wheel and traction drive device, and the traction drive device is driven using motor
It is dynamic.The thrust device 4 includes at least one adjustable direction type blower fan.Provided with rotation driving dress in the rotary connector 7
Put, the rotating driving device is driven using motor.The aircraft power device 2 is used can self-power generation type aviation gasoline machine.
The aircraft is 2, is respectively arranged at the upper/lower terminal of organism frame 3.The aircraft or organism frame 3 are provided with and taken the photograph
As head, the camera is connected with controller.
Embodiment 3：One kind goes straight up to high-altitude exterior wall multi-function robot, wherein the aircraft, which is 2, is respectively arranged at machine
The upper and lower ends of body framework 3.The high-altitude exterior wall multi-function robot of going straight up to is also equipped with anticollision steering 9, dirt spy
Survey time wipes system 10, and the intelligent and autonomous judgement of high-altitude exterior wall multi-function robot is gone straight up to increase.Remainder
It is identical with the device described in embodiment 1 or 2.
In view of above-described embodiment, the utility model, which can be lifted organism frame 3 by aircraft, needs the position of cleaning,
In the presence of the reaction force that thrust device 4 is provided, on the glass curtain wall cleaned the need for organism frame 3 is pressed, thrust
The size for the reaction force that device 4 is provided is directly proportional to equipment gross mass entrained on organism frame 3.Self-power generation type aviation
Gasoline engine (series of little Song 800 is can select, but specific engine model need to be selected according to the weight of complete machine, to ensure work
Safety and stability) as aircraft power device 2, the power dress that the unmanned plane belonged in commercial type is often selected
Put, as the power resources of lifting complete machine in the utility model, the upper of complete machine device is realized by the order for receiving controller
It is capable, descending, press close to metope or away from metope.Its electricity sent can be used for the device of remaining in the utility model power supply or with
Battery carries out the storage of unnecessary electricity.
When organism frame 3 of the present utility model is lifted predetermined position by aircraft power device 2, controller passes through
Control aircraft power device 2 drives the wing 1 being attached thereto to be hovered.Aircraft power device 2 and flying that wing 1 is constituted
Row device, its work structuring and principle are identical with the control mode of multi-rotor unmanned aerial vehicle well known to those skilled in the art.
After aircraft hovers, controller is by controlling the adjustable direction type blower fan in thrust device 4, in the blower fan
Organism frame 3 is fitted in wall by lower realize of effect, and is contacted by running gear 6 with metope.I.e. it should be clear that,
The effect of thrust device 4, which is to provide, makes organism frame 3, under(-)chassis 8 fit in wall, so that on organism frame 3
Corresponding function work package work；When thrust device 4 is acted, the effect of aircraft is fall arrest and is organism frame 3
The active force of resistance gravity is provided, while when the utility model needs across obstacle, thrust device 4 thrust is reduced or
It is stopped, the lifting force that power output provides across obstacle is increased by aircraft.Controller is in above process by adopting
The feedback of the information collected causes the thrust between thrust device 4 and aircraft to exist to operating personnel under the manipulation of operating personnel
Distinguish and reduce and increase under two kinds of scenes of work and transfer.
Controller described in the utility model uses the programmable single-chip microcomputer of commercial type or can complete this work(
Can integrated circuit die block structure, the signal that corresponding inductor is passed back can be gathered, and handle and transmit signal after the signal
It is controlled to act to correspondence working cell.Those skilled in the art is fully able under the framework of above-mentioned functions, according to existing
Technology realizes above-mentioned functions, the utility model not description of being limited property herein.
Under the thrust of thrust device 4, organism frame 3 is affixed on wall and carries out operation preparation.In the utility model
Spraying-rinsing, spraying operation of coating of wall etc. are realized by add-on assemble 5.The device of above-mentioned operation is sold using market
Small pump flusher, painting spraying device realize that the flusher and painting spraying device can voluntarily carry water tank
Or coating case, it can be also attached thereto by external pipeline, to reduce the weight of complete machine.
Organism frame 3 is connected by rotary connector 7 with under(-)chassis 8, and the function of said structure is to ensure aircraft
In the case of castering action simultaneously so that the utility model has the function of commutation, under(-)chassis 8 can enter around rotary connector 7
Turning around or turning in the range of 360 ° of row.Under(-)chassis 8 is provided with running gear 6, and running gear 6 is driven by motor.
Anticollision steering 9, dirt detection are also equipped with the utility model and returns wiping system 10, anticollision steering
9 can prevent the utility model from being collided when walking work with the cut-off of glass curtain wall, cause the damage of part or complete machine.
Dirt detection returns wiping system 10 and cleaning or spray coated curtain wall metope can be detected, can if detection has problem
Control machine people transmits signals to hand-held control end and carries out reselecting cleaning or spray.
Claims (9)
1. one kind goes straight up to high-altitude exterior wall multi-function robot, including organism frame (3), controller, running gear (6), its feature
It is：The running gear (6) is located on rotary type under(-)chassis (8), at the forward and backward two ends of under(-)chassis (8) provided with attached
Plus component (5), under(-)chassis (8) is connected by rotary connector (7) with organism frame (3)；It is provided with the organism frame (3)
At least one thrust device (4)；Aircraft is additionally provided with the organism frame (3), the aircraft is filled including aircraft power
Put (2), wing (1)；The controller is connected with running gear (6), thrust device (4), add-on assemble (5), aircraft respectively.
2. according to claim 1 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The add-on assemble (5)
Including water spray and cleaning device, painting spraying device.
3. according to claim 2 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The running gear (6)
Including road wheel and traction drive device, the traction drive device is driven using motor.
4. according to claim 3 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The thrust device (4)
Including at least one adjustable direction type blower fan.
5. according to claim 4 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The rotary connector
(7) rotating driving device is provided with, the rotating driving device is driven using motor.
6. according to claim 5 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The aircraft power dress
Putting (2) use can self-power generation type aviation gasoline machine.
7. going straight up to high-altitude exterior wall multi-function robot according to any claim in claim 1~6, its feature exists
In：The aircraft is 2, is respectively arranged at the upper/lower terminal of organism frame (3).
8. according to claim 7 go straight up to high-altitude exterior wall multi-function robot, it is characterised in that：The aircraft or body
Framework (3) is provided with camera, and the camera is connected with controller.
9. going straight up to high-altitude exterior wall multi-function robot according to any claim in claim 1~6, its feature exists
In：Described go straight up to is also equipped with anticollision steering (9), dirt detection time wiping system on the exterior wall multi-function robot of high-altitude
(10), the anticollision steering (9), dirt detection are returned wiping system (10) and are connected with controller.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362087.8U CN206507903U (en) | 2016-12-12 | 2016-12-12 | Go straight up to high-altitude exterior wall multi-function robot |
| PCT/CN2017/099291 WO2018107804A1 (en) | 2016-12-12 | 2017-10-13 | Working-at-height robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621362087.8U CN206507903U (en) | 2016-12-12 | 2016-12-12 | Go straight up to high-altitude exterior wall multi-function robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206507903U true CN206507903U (en) | 2017-09-22 |
Family
ID=59862468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621362087.8U Active CN206507903U (en) | 2016-12-12 | 2016-12-12 | Go straight up to high-altitude exterior wall multi-function robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN206507903U (en) |
| WO (1) | WO2018107804A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018107804A1 (en) * | 2016-12-12 | 2018-06-21 | 慕国良 | Working-at-height robot |
| CN108451450A (en) * | 2018-03-15 | 2018-08-28 | 赵清鹤 | Descaling machine and multi-functional cleaning spraying equipment |
| CN110328658A (en) * | 2019-07-15 | 2019-10-15 | 上海霄卓机器人有限公司 | The high altitude operation robot system of modularization assemble |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200451361Y1 (en) * | 2008-07-30 | 2010-12-10 | 대우조선해양 주식회사 | Clean Working Module for Wall-Climbing Mobile Robot |
| CN102397039B (en) * | 2011-11-23 | 2015-04-22 | 博宇(无锡)科技有限公司 | Folding window cleaning equipment |
| CN102860796A (en) * | 2012-09-17 | 2013-01-09 | 江苏申锡建筑机械有限公司 | Window cleaning machine with stretching type lifting arm |
| CN104720698B (en) * | 2015-03-15 | 2017-03-15 | 郝高林 | A kind of robot for cleaning wall surface system and device |
| CN205286252U (en) * | 2015-12-31 | 2016-06-08 | 慕国良 | High altitude outer wall multifunctional machine ware people |
| CN206507903U (en) * | 2016-12-12 | 2017-09-22 | 慕国良 | Go straight up to high-altitude exterior wall multi-function robot |
| CN106703430B (en) * | 2016-12-22 | 2023-08-18 | 日照洁帮物联网科技有限公司 | Anti-falling device for aerial working robot |
-
2016
- 2016-12-12 CN CN201621362087.8U patent/CN206507903U/en active Active
-
2017
- 2017-10-13 WO PCT/CN2017/099291 patent/WO2018107804A1/en active Application Filing
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018107804A1 (en) * | 2016-12-12 | 2018-06-21 | 慕国良 | Working-at-height robot |
| CN108451450A (en) * | 2018-03-15 | 2018-08-28 | 赵清鹤 | Descaling machine and multi-functional cleaning spraying equipment |
| CN110328658A (en) * | 2019-07-15 | 2019-10-15 | 上海霄卓机器人有限公司 | The high altitude operation robot system of modularization assemble |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018107804A1 (en) | 2018-06-21 |
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| GR01 | Patent grant |