CN206586880U - A kind of climbing type glass curtain wall clean robot - Google Patents
A kind of climbing type glass curtain wall clean robot Download PDFInfo
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- CN206586880U CN206586880U CN201621139561.0U CN201621139561U CN206586880U CN 206586880 U CN206586880 U CN 206586880U CN 201621139561 U CN201621139561 U CN 201621139561U CN 206586880 U CN206586880 U CN 206586880U
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- main shaft
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Abstract
The utility model is related to a kind of climbing type glass curtain wall clean robot.Including frame, the rope lifting device being installed in frame, it is arranged in the hoist cable that rope lifting device is distributed and the crawler belt wheel assembly being installed in frame；Crawler belt wheel assembly include main shaft, for drive driver that main shaft rotated relative to frame and be set in main shaft end triangular track wheel, triangular track wheel includes star-like triangular boss frame and the crawler belt being set on star-like triangular boss frame, the end of star-like triangular boss frame is equiped with the crawler belt driven gear group for being set with and being connected by crawler haulage gear train with guide wheel group on guide wheel group, main shaft.Robot of the present utility model is operationally, whole robot is hung on hoist cable using rope lifting device, triangular track wheel is driven to be rotated indirectly by driver, to enable crawler belt mutually to be attached with wall all the time using the structure of triangular track wheel in itself, to spend corner or projection easily.
Description
Technical field
The utility model is related to robotic technology field, especially a kind of climbing type glass curtain wall clean robot.
Background technology
Glass curtain wall is one of most important ornament materials in the world today, by widely as the family of all kinds of buildings
Exterior wall is used, and its maximum feature for assigning building is by the aesthetics of architecture, building function, building energy conservation and building structure etc.
Factor is organically united, building is showed different tones from different perspectives, with sunlight, moonlight, light
Change gives dynamic U.S..Because the dust of entrained with, excreta of birds etc. can little by little in the dust in air, rainwater
The curtain wall surface of building is deposited to, so as to influence the aesthetic property of curtain wall and the clean-up performance of building appearance；Therefore, to glass
Curtain wall cleaning increasingly by people concern and gradually formed huge curtain cleaning market.
The cleaning to glass curtain wall is mainly still completed using manual type at present, i.e.,：By cleanup crew from roof
After at suspention to the side wall of building, manually curtain wall surface is cleared up by cleanup crew, such a mode not only exists whole
The problems such as process cleans are inefficient, danger coefficient is big, and cleaning cost is higher, also thus have impact on U.S. of glass curtain wall
The space seen, clean and further developed.For this problem, occur in that some can be carried out to glass curtain wall on the market at present
Automatically the clean robot cleaned, adsorption element of these robots usually using vacuum cup as robot is (i.e.：Using true
Robot is firmly adsorbed on curtain wall wall by the negative pressure produced by suction disk) or moving parts is (i.e.：By to multiple vacuum
The conversion and control of sucker drives robot body to move step by step)；However, robot in this way typically can only
The curtain wall wall of surfacing is cleaned, reason is：Once occur on curtain wall wall corner by a relatively large margin or
Projection, when robot motion is to corner or raised position, because vacuum cup can not be carried out effectively with the surface of glass curtain wall
Ground is contacted, so that strong underbalance effect can not be formed before curtain wall surface and sucker, and then causes robot suitable
Profit also results in robot by corner or high spot, when serious and separated from curtain wall wall, there is serious peace
Full hidden danger.
Utility model content
The deficiency existed for above-mentioned prior art, the purpose of this utility model is to provide a kind of climbing type glass curtain wall
Clean robot.
To achieve these goals, the utility model is adopted the following technical scheme that：
A kind of climbing type glass curtain wall clean robot, it includes frame, the rope for the back side for being installed in frame and risen
Device, the hoist cable from top to bottom laid along the wall of glass curtain wall and be arranged in the distribution of rope lifting device and it is installed in the abdomen of frame
The crawler belt wheel assembly of portion side；
The crawler belt wheel assembly include at least two each other in front and rear parallel distributeds and respectively in left-right direction through
Being equiped with the main shaft of frame installing, the frame and one positioned at the top of every main shaft is used to drive main shaft relative
The driver rotated in frame, the left end and right-hand member of the every main shaft and is set with one or three positioned at the outside of frame
Angular Athey wheel, each triangular track wheel includes a star-like triangular boss frame and one being socketed on main shaft
The crawler belt on star-like triangular boss frame is set in, the end of each support arm of the star-like triangular boss frame is equiped with one
On the guide wheel group mutually attached for the inner surface with crawler belt, the every main shaft and position corresponding with each triangular track wheel
Put and be also set with a crawler belt driven gear group, each crawler belt driven gear group is by a crawler haulage gear train and relatively
One of guide wheel group in the triangular track wheel answered is connected.
Preferably, the driver is defeated including the axostylus axostyle drive motor and one that the first drive gear is set with an output shaft
It is set with the track drive motor of the second drive gear on shaft, the axostylus axostyle drive motor and track drive motor are along right and left
To being installed in frame and being linearly distributed each other, filled on the main shaft and on the inside of the left end of frame or on the inside of right-hand member
The first driven gear provided with one for being meshed with the first drive gear, the crawler belt driven gear group is located at the right-hand member of frame
Simultaneously be held on the outside of outside and left end between the outer wall of frame and corresponding triangular track wheel, and one of them described crawler belt from
Moving gear group is meshed with the second drive gear.
Preferably, the crawler haulage gear train includes being distributed along one of support arm order of star-like triangular boss frame
And several crawler haulage gears of order engagement, the crawler haulage gear at the axle center of the star-like triangular boss frame
It is meshed with crawler belt driven gear group, the crawler haulage gear at the circumferential edges of the star-like triangular boss frame passes through
The axostylus axostyle of guide wheel group is integrated with guide wheel group installing.
Preferably, the crawler belt driven gear group is made up of the crawler belt driven gear of two synchronous axial systems, the crawler belt from
One of crawler belt driven gear of moving gear group is meshed with crawler haulage gear, another crawler belt driven gear is used for and the
Two drive gears are meshed.
Preferably, the star-like triangular boss frame is in left and right parallel distributed each other by two and is set in main turn simultaneously
Tripod on axle is constituted, and the guide wheel group is held between the leg extremities of two tripods and by the second rotating shaft and two
Tripod phase axle connects, and the crawler haulage gear train is installed on one of support arm of one of tripod and close to described
It is one that crawler haulage gear at the circumferential edges of star-like triangular boss frame is installed by the second rotating shaft and corresponding guide wheel group
Body.
Preferably, the guide wheel group is in left and right parallel distributed each other by two and wears what is be integrated by the second rotating shaft
Guide wheel is constituted, and anti-slip tank is offered on the circumferential surface of each guide wheel.
Preferably, the frame is installed in two in the side plate frame and several of left and right parallel distributed each other including two
The header board between individual side plate frame and two side plate framves being connected as a single entity, the global shape of each side plate frame is " U "-shaped,
The rope lifting device is installed on header board, and the driver is held between the longitudinal side wall of two side plate framves, the master
Longitudinal side wall distribution of the rotating shaft through two side plate framves.
Preferably, it also sweeps wind apparatus including at least one, and the wind apparatus of sweeping is lifted on header board and positioned at two
Between side plate frame.
As a result of such scheme, the wall of the glass curtain wall of building is cleaned using the utility model
When, hoist cable can be arranged along wall in advance, and hung whole robot on hoist cable using rope lifting device；Work as driving
When device driving triangular track wheel is rotated, crawler belt can be enable in the presence of crawler belt driven gear group is engaged with guide wheel group
Enough synchronous axial systems in the same direction kept with star-like triangular boss frame, so as to utilize the friction between the walls of crawler belt and glass curtain wall
Power strengthens the hold of triangular track wheel；When occurring corner by a relatively large margin or projection on the wall in glass curtain wall
When, by the triangular structure that star-like triangular boss frame rotating effect in itself and triangular track wheel are used can be all the time
Crawler belt is set mutually to be attached with wall, to spend corner or projection easily；In the process, due to the effect of rope lifting device
It can ensure that robot can be climbed along the setting direction of hoist cable；And can not only play auxiliary machine using the hoist cable of setting
The effect of device people orientation walking, prevents robot motion direction from offseting, and can effectively prevent because robot is from wall
The potential safety hazard for departing from wall and causing, security of the enhancing robot during practice.
Brief description of the drawings
Fig. 1 is the Standard schematic diagram of the utility model embodiment；
Fig. 2 is the structural decomposition diagram of the main building block of the utility model embodiment；
Fig. 3 is the running status schematic diagram (one) of the utility model embodiment；
Fig. 4 is the running status schematic diagram (two) of the utility model embodiment；
Fig. 5 is the running status schematic diagram (three) of the utility model embodiment；
Fig. 6 is the running status schematic diagram (four) of the utility model embodiment.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with accompanying drawing, but the utility model can be by right
It is required that the multitude of different ways for limiting and covering is implemented.
As depicted in figs. 1 and 2, a kind of climbing type glass curtain wall clean robot that the present embodiment is provided, it includes frame
A, be installed in frame a back side rope lifting device b, from top to bottom laid along glass curtain wall c wall and be arranged in rope
Lifting device b distribution hoist cable d and be installed in frame a belly side crawler belt wheel assembly；Wherein, crawler belt wheel assembly is included at least
Two are in front and rear parallel distributed and the main shaft 100 installed in left-right direction through frame a respectively each other, in frame a
And one is equiped with for driving main shaft 100 relative to the driving that frame a is rotated positioned at the top of every main shaft 100
Device, the left end and right-hand member in every main shaft 100 and the outside positioned at frame a are set with a triangular track wheel, Mei Gesan
Angular Athey wheel is set in star-like triangle including a star-like triangular boss frame 101 and one being socketed on main shaft 100
Crawler belt 102 on shape wheel hub frame 101, be equiped with the end of each support arm of star-like triangular boss frame 101 one be used for
The guide wheel group 103 that the inner surface of crawler belt 102 is mutually attached, at the same on every main shaft 100 and with each triangular track wheel pair
The position answered also is set with a crawler belt driven gear group, and each crawler belt driven gear group passes through a crawler haulage gear train and phase
One of guide wheel group 103 in corresponding triangular track wheel is connected.
, can when needing the robot using the present embodiment to clean the glass curtain wall c of building wall with this
Hoist cable d is arranged along wall in advance and (roof of building such as is fixed on hoist cable d top, ground is fixed in bottom
On, so that hoist cable d is along wall and is linearly distributed), and hung whole robot in hoist cable d using rope lifting device b
On；When driver driving main shaft 100 is rotated, triangular track wheel (especially star-like triangular boss frame 101) can be driven
Synchronize rotation, and can enable in the presence of crawler belt driven gear group is engaged with guide wheel group 103 crawler belt 102 keep with
The synchronous axial system in the same direction of star-like triangular boss frame 101, so as to utilize crawler belt 102 and glass curtain wall c friction between the walls
Power strengthens the hold of triangular track wheel；When occurring corner by a relatively large margin or projection on the wall in glass curtain wall c
When, by the triangular structure that the rotating effect and triangular track wheel of star-like triangular boss frame 101 itself are used can
All the time crawler belt 3 is enable mutually to be attached with wall, (its specific motion principle refers to Fig. 3, figure to spend corner or projection easily
4th, Fig. 5 and Fig. 6), in the process, because rope lifting device b effect can ensure that robot can be along hoist cable d setting side
To being climbed, by Functional Design to rope lifting device b (as using at present on the market be applied to the automatic of rock-climbing field
Lifting device etc.) the certain power of the operation offer of robot is provided；And can not only play auxiliary machine using the hoist cable d of setting
The effect of device people orientation walking, prevents robot motion direction from offseting, and can effectively prevent because robot is from wall
The potential safety hazard for departing from wall and causing, security of the enhancing robot during practice.To ensure triangular track
The stationarity rotated is taken turns, the driver of the present embodiment includes being set with the axostylus axostyle driving of the first drive gear 104 on an output shaft
The track drive motor 107 of the second drive gear 106 is set with the output shaft of motor 105 and one, axostylus axostyle drive motor 105 is with carrying out
It is installed in frame a and is linearly distributed each other (while the output shaft institute of two motors in left-right direction with drive motor 107
Place it is in opposite direction), on main shaft 100 and positioned at frame a left end on the inside of or right-hand member on the inside of be equiped with one be used for and first
The first driven gear 108 that drive gear 104 is meshed, and crawler belt driven gear group is then on the outside of frame a right-hand member and left
End outside simultaneously be held between frame a outer wall and corresponding triangular track wheel, and one of crawler belt driven gear group with
Second drive gear 106 be meshed (to ensure that whole robot can smoothly be run, the driver and crawler belt of the present embodiment from
Moving gear group can specifically use following set-up mode, i.e.,：Main shaft 100 amounts to two and respectively positioned at frame a belly front
Side and belly rear side；Relative to frame a, the axostylus axostyle drive motor 105 that is acted for the main shaft 100 in front of driving is had an effect
The sticking point of axostylus axostyle drive motor 105 of the point with being used to drive the main shaft 100 at rear to act is in diagonal distribution each other, and
The sticking point of track drive motor 107 of the sticking point with being located behind for the track drive motor 107 positioned at front is mutual
Between be also diagonally distributed；At this point it is possible to understand the set location and other parts accordingly cooperated of the first drive gear 104
Also adjust accordingly in the nature of things).
With this, with relation that corresponding first driven gear 108 is meshed phase can be driven using the first drive gear 104
The main shaft 100 answered is rotated, and during main shaft 100 is rotated star-like triangular boss frame 101 can be driven to make together
Step rotate, and provided using track drive motor 107 and between the second drive gear 106 and crawler belt driven gear group
Meshing relation can keep crawler belt 102 to make synchronous axial system in the same direction with star-like triangular boss frame 101, it is to avoid because crawler belt 102 with
Glass curtain wall c powerful frictional force between the walls and cause crawler belt 102 relative to star-like triangular boss frame 101 reversely turn
It is dynamic, and then avoid the problem of robot is easily slipped in climbing.
As a preferred scheme, the crawler haulage gear train of the present embodiment is included along star-like triangular boss frame 101
One of support arm order distribution and several crawler haulage gears 109 of order engagement, wherein, close to star-like triangular boss
Crawler haulage gear 109 at the axle center of frame 101 is meshed with crawler belt driven gear group, and close to star-like triangular boss frame
Crawler haulage gear 109 at 101 circumferential edges is then integrated by the axostylus axostyle and the installing of guide wheel group 103 of guide wheel group 103.From
And can in itself have using gear drive transmission effect stability, it is accurate the features such as strengthen crawler belt 102 and star-like triangle
Wheel hub frame 101 keeps synchronous.
As a preferred scheme, the crawler belt driven gear group of the present embodiment by two synchronous axial systems crawler belt driven gear
110 are constituted, and one of crawler belt driven gear 110 of crawler belt driven gear group is meshed with crawler haulage gear 109, another
Crawler belt driven gear 110 is then used to be meshed with the second drive gear 106 (certainly, because two on same main shaft 100
Crawler belt driven gear group, only one of which can be meshed with the second drive gear 106, so when another crawler belt driven gear group
In, it is only necessary to a crawler belt driven gear 110 is meshed with corresponding crawler haulage gear 109, and another is then discarded
It is standby).
To optimize the structure of triangular track wheel, its convenience that is dismantled and assembled and safeguarding, star-like the three of the present embodiment is improved
Angular wheel hub frame 101 is in left and right parallel distributed and the structure of tripod 1011 being set in simultaneously on main shaft 100 each other by two
Into guide wheel group 103 is then held between the leg extremities of two tripods 1011 and by the second rotating shaft 1031 and two triangles
The phase axle of frame 1011 connects, and crawler haulage gear train is installed on one of support arm of one of tripod 1011 and close to star-like
Crawler haulage gear 109 at the circumferential edges of triangular boss frame 101 passes through the second rotating shaft 1031 and corresponding guide wheel group 103
Installing is integrated.
To ensure that guide wheel group 103 exerts a force equilibrium to crawler belt 102, the guide wheel group 103 of the present embodiment is by two each other in a left side
Right parallel distributed and the guide wheel 1032 being integrated is worn by the second rotating shaft 1031 constituted, in the circumferential surface of each guide wheel 1032
On offer anti-slip tank；With this, the inner surface of crawler belt 102 is propped up in each guide wheel group 103 using two guide wheels 1032,
Strengthen the frictional force between guide wheel 1032 and crawler belt 102 using anti-slip tank simultaneously.
To optimize the structure of whole robot to greatest extent, especially with other composition machines of frame a for robot
Structure or device provide assembly space, and the frame a of the present embodiment includes two each other in the side plate frame 111 of left and right parallel distributed
And several header boards 112 for being installed between two side plate framves 111 and two side plate framves 111 being connected as a single entity, each side
The global shape of grillage 111 is " U "-shaped, rope lifting device b be installed on header board 112 and positioned at two side plate framves 111 it
Between superjacent air space, driver is then held between the longitudinal side wall of two side plate framves 111, and main shaft 100 is through two sides
The longitudinal side wall distribution of grillage 111.Made with this using between two side plate framves 111 and positioned at the space of the lower section of header board 112
For the installing space of other composition mechanisms (such as to the cleaning cleaning device of wall) of robot, and utilize header board 112 then
The support member that can be lifted as these composition mechanisms.As a preferred scheme, the robot of the present embodiment also it also include extremely
Few one is swept wind apparatus e, is swept wind apparatus e and is lifted on header board 112 and between two side plate framves 111.In robot fortune
During row, the solid deposits such as the dust that is deposited on wall are dispelled using the wind-force that wind apparatus e provided is swept, it also can be with
Cleaning cleaning device is used cooperatively, and realizes the dual-use function that machine customs and morals of the people are washed and washed.
Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited,
Equivalent structure or equivalent flow conversion that every utilization the utility model specification and accompanying drawing content are made, or directly or indirectly fortune
Used in other related technical fields, similarly it is included in scope of patent protection of the present utility model.
Claims (8)
1. a kind of climbing type glass curtain wall clean robot, it is characterised in that：It includes frame, is installed in the back side of frame
Rope lifting device, from top to bottom laid along the wall of glass curtain wall and be arranged in rope lifting device distribution hoist cable and be installed in
The crawler belt wheel assembly of the belly side of frame；
The crawler belt wheel assembly includes at least two each other in front and rear parallel distributed and respectively in left-right direction through frame
Being equiped with the main shaft of installing, the frame and one positioned at the top of every main shaft is used to drive main shaft relative to machine
The driver that frame is rotated, the left end and right-hand member of the every main shaft and is set with a triangle positioned at the outside of frame
Athey wheel, each triangular track wheel includes star-like triangular boss frame and the suit being socketed on main shaft
Crawler belt on star-like triangular boss frame, the end of each support arm of the star-like triangular boss frame, which is equiped with one, to be used for
On the guide wheel group mutually attached with the inner surface of crawler belt, the every main shaft and position corresponding with each triangular track wheel is also
Be set with a crawler belt driven gear group, each crawler belt driven gear group by a crawler haulage gear train with it is corresponding
One of guide wheel group in triangular track wheel is connected.
2. a kind of climbing type glass curtain wall clean robot as claimed in claim 1, it is characterised in that：The driver includes
The shoe that the second drive gear is set with the axostylus axostyle drive motor of the first drive gear and an output shaft is set with one output shaft
Band drive motor, the axostylus axostyle drive motor is installed in frame and linear each other in left-right direction with track drive motor
On distribution, the main shaft and being equiped with one on the inside of the left end of frame or on the inside of right-hand member is used to mutually nibble with the first drive gear
The first driven gear closed, the crawler belt driven gear group is located on the outside of the right-hand member of frame outside and left end and is held on frame
Between outer wall and corresponding triangular track wheel, and one of them described crawler belt driven gear group is mutually nibbled with the second drive gear
Close.
3. a kind of climbing type glass curtain wall clean robot as claimed in claim 2, it is characterised in that：The crawler haulage tooth
Wheel group includes several crawler haulage teeth being distributed along one of support arm order of star-like triangular boss frame and order is engaged
Wheel, the crawler haulage gear at the axle center of the star-like triangular boss frame is meshed with crawler belt driven gear group, close
Crawler haulage gear at the circumferential edges of the star-like triangular boss frame is installed by the axostylus axostyle of guide wheel group with guide wheel group is
One.
4. a kind of climbing type glass curtain wall clean robot as claimed in claim 3, it is characterised in that：The crawler belt driven tooth
Wheel group is made up of the crawler belt driven gear of two synchronous axial systems, one of crawler belt driven gear of the crawler belt driven gear group
It is meshed with crawler haulage gear, another crawler belt driven gear is used to be meshed with the second drive gear.
5. a kind of climbing type glass curtain wall clean robot as claimed in claim 3, it is characterised in that：The star-like triangle
Wheel hub frame is constituted in left and right parallel distributed and the tripod that is set on main shaft simultaneously each other by two, the guide wheel group folder
It is held between the leg extremities of two tripods and is connected by the second rotating shaft with two tripod phase axles, the crawler haulage gear
Assembling is located therein on one of support arm of a tripod and at the circumferential edges of the star-like triangular boss frame
Crawler haulage gear be integrated by the installing of the second rotating shaft and corresponding guide wheel group.
6. a kind of climbing type glass curtain wall clean robot as claimed in claim 5, it is characterised in that：The guide wheel group is by two
It is individual to be in each other left and right parallel distributed and the guide wheel composition being integrated, the circumference table of each guide wheel are worn by the second rotating shaft
Anti-slip tank is offered on face.
7. a kind of climbing type glass curtain wall clean robot as claimed in claim 1, it is characterised in that：The frame includes two
It is individual to be installed in each other in the side plate frame and several of left and right parallel distributed between two side plate framves and connect two side plate framves
The header board being integrated, the global shape of each side plate frame is " U "-shaped, and the rope lifting device is installed in header board
On, the driver is held between the longitudinal side wall of two side plate framves, and the main shaft is through the longitudinal direction of two side plate framves
Side wall distribution.
8. a kind of climbing type glass curtain wall clean robot as claimed in claim 7, it is characterised in that：It also includes at least one
Individual to sweep wind apparatus, the wind apparatus of sweeping is lifted on header board and between two side plate framves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621139561.0U CN206586880U (en) | 2016-10-20 | 2016-10-20 | A kind of climbing type glass curtain wall clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621139561.0U CN206586880U (en) | 2016-10-20 | 2016-10-20 | A kind of climbing type glass curtain wall clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206586880U true CN206586880U (en) | 2017-10-27 |
Family
ID=60129725
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621139561.0U Expired - Fee Related CN206586880U (en) | 2016-10-20 | 2016-10-20 | A kind of climbing type glass curtain wall clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206586880U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106343914A (en) * | 2016-10-20 | 2017-01-25 | 肇庆市小凡人科技有限公司 | Climbing-type glass curtain wall cleaning robot |
-
2016
- 2016-10-20 CN CN201621139561.0U patent/CN206586880U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106343914A (en) * | 2016-10-20 | 2017-01-25 | 肇庆市小凡人科技有限公司 | Climbing-type glass curtain wall cleaning robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171027 Termination date: 20211020 |