CN207245230U - A kind of curtain wall robot for easily realizing wall adsorption - Google Patents
A kind of curtain wall robot for easily realizing wall adsorption Download PDFInfo
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- CN207245230U CN207245230U CN201721107317.0U CN201721107317U CN207245230U CN 207245230 U CN207245230 U CN 207245230U CN 201721107317 U CN201721107317 U CN 201721107317U CN 207245230 U CN207245230 U CN 207245230U
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Abstract
The utility model discloses a kind of curtain wall robot for easily realizing wall adsorption, the curtain wall robot includes fixed frame, several suckers, several rollers, several scalable cleaning baldes and at least one fan unit；Front end on the curtain wall robot ambulation direction hangs on wall side to be adsorbed by the safety rope of roof；The fan unit is fixed on the fixed frame and blowing direction is that the direction away from wall to be adsorbed is overall close to wall to be adsorbed in suspension Shi Shi curtain walls robot to realize；The sucker, which is fixedly installed on the fixed frame, to be used to adsorb wall；The rear and front end for the curtain wall robot that the scalable cleaning balde is respectively arranged on direction of travel and it can realize flexible to coordinate the fan unit and the sucker to complete absorption wall action on wall direction to be adsorbed.A kind of curtain wall robot for easily realizing wall adsorption of the utility model can realize the quick adsorption of wall and structure is very firm.
Description
Technical field
Curtain wall robot device's technical field is the utility model is related to, more particularly to a kind of curtain wall for easily realizing wall adsorption
Robot.
Background technology
Curtain wall robot is a kind of automation equipment that there is mobile and adsorption function can be moved in vertical walls, can
To replace worker to complete work under the danger such as nuclear engineering, fire-fighting and the manufacture of large-scale non-structural equipment and maintenance and extreme environment
Make.The work of glass curtain wall clean robot is to wash the dust on glass, makes whole building brighter and beautiful, has wide
General application prospect.
Before robot work, robot is attached at curtain wall face by people, after robot absorption, is referred to by remote controler or mobile phone
Robot is waved to walk upwards, downwards, rotate and turn around.Manual imitation carries out scouring curtain wall, scrapes bright curtain wall.Real curtain wall has part
It is not land curtain wall, it is alien invasion part curtain wall to have part, also has the intersection complexity alien invasion curtain wall of the non-curtain wall in part.And clear
When washing these walls, it is impossible that robot artificially is attached at curtain wall face.
Utility model content
Curtain wall robot existing in the prior art can not be steadily easily adsorbed on wall before work for more than
Defect, technical problem to be solved in the utility model are to provide a kind of easy reality that can quickly realize wall adsorption, stabilized structure
The curtain wall robot of existing wall adsorption.
In order to solve the above-mentioned technical problem, a kind of curtain wall robot for easily realizing wall adsorption, curtain wall robot bag
Include fixed frame, several suckers, several rollers, several scalable cleaning baldes and at least one fan unit；It is described
Curtain wall robot ambulation side hangs on wall to be adsorbed up and away from the front end outer side of wall to be adsorbed by the safety rope of roof
Face side；The fan unit is fixed on the fixed frame and blowing direction is the direction away from wall to be adsorbed with reality
Suspension Shi Shi curtain walls robot is overall close to wall to be adsorbed now；The sucker is fixedly installed on the fixed frame and uses
In absorption wall；The scalable cleaning balde is respectively arranged at the rear and front end of the curtain wall robot on direction of travel and can be real
Now stretching to coordinate the fan unit and the sucker to complete absorption wall action on wall direction to be adsorbed.
As a further improvement, the roller includes two front-wheels and two trailing wheels, each front-wheel and each described
Trailing wheel front and rear sides are both provided with a sucker.
As a further improvement, the quantity of the fan unit is set for two and parallel to the front-wheel；The wind turbine
The blowing direction of unit is perpendicular to wall to be adsorbed.
As a further improvement, the fan unit is arranged on rear side of the trailing wheel on direction of travel；The wind turbine list
Member open after by curtain wall robot radial components wall to be adsorbed with realize sucker at curtain wall robot trailing wheel with
Wall to be adsorbed mutually adsorbs；The thrust for defining the fan unit is F, and wherein the scope of F is more than or equal to 2.25kg.
As a further improvement, the quantity of the scalable cleaning balde is four, the scalable cleaning balde includes
Two pneumatic cylinders being fixed on the fixed frame and the scraper plate main body being mutually fixedly connected with the push rod of the pneumatic cylinder
As a further improvement, the push rod thrust for defining the pneumatic cylinder is N, wherein the scope of N is 136N~180N；It is fixed
The release time of the justice pneumatic cylinder is S, and wherein the scope of S is 0.2s~0.7s；The stroke for defining the pneumatic cylinder is L, its
The scope of middle L is more than or equal to 20mm.
As a further improvement, surface of the fixed frame of front end away from wall to be adsorbed is into one on direction of travel
Step is provided with an insurance rope fixing part；Described safety rope one end, which is fixed, to be tied on the insurance rope fixing part so that curtain wall robot
Overall center of gravity is away from wall to be adsorbed.
As a further improvement, the fixed frame include some piece first fixed beams parallel with direction of travel and with
Some perpendicular second fixed beams of direction of travel；L is respectively arranged with first fixed beam and second fixed beam
Type fixed plate is used to fix the fan unit.
Compared with prior art, the beneficial effects of the utility model are：
1. a kind of curtain wall robot for easily realizing wall adsorption of the utility model and control method utilize the insurance of robot
Rope, robot is hung in the air, then by wind turbine high-speed flow by the lower part of the body radial components curtain wall face of curtain wall robot, machine
The sucker of device people's lower part of the body pair holds curtain wall, then coordinates the air pressure push rod of machine upper part of human body and the lower part of the body to release at the same time, to be inhaled by sucker
Firmly curtain wall face is supporting point, and robot is attached at curtain wall face, and robot is attached at curtain wall face, machine upper part of human body so as to reach
Sucker work holds curtain wall, reaches complete machine and is firmly adsorbed in curtain wall.
After 2. a kind of curtain wall robot for easily realizing wall adsorption of the utility model by fan unit by being arranged at trailing wheel
Side combines sucker and realizes the absorption of curtain wall robot latter half and wall, in combination with the front-wheel on direction of travel and trailing wheel
The scalable cleaning balde at place releases the absorption for realizing curtain wall robot first half and wall toward wall, effectively realizes overall
Steady absorption of the curtain wall robot on wall.
3. the utility model is a kind of easily realize the curtain wall robot of wall adsorption by fixed frame and L-type fixed plate come pair
To ensure to dry perpendicular to wall direction, overall structure consolidates safety for the fixation that fan unit is stablized.
Brief description of the drawings
Fig. 1 is a kind of structure diagram for the curtain wall robot for easily realizing wall adsorption of the utility model；
Fig. 2 is when a kind of curtain wall robot for easily realizing wall adsorption of the utility model hangs on wall side to be adsorbed
Schematic diagram.
Main element symbol description
Fixed frame 10, the first fixed beam 11, the second fixed beam 12,
Sucker 20,
Roller 30, front-wheel 31, trailing wheel 32,
Scalable cleaning balde 40, pneumatic cylinder 41, scraper plate main body 42
Fan unit 50,
Insurance rope fixing part 60,
Brush unit 70,
L-type fixed plate 80,
Embodiment
To make the purpose, technical scheme and advantage of the utility model embodiment clearer, below in conjunction with this practicality
Attached drawing in new embodiment, is clearly and completely described the technical solution in the utility model embodiment, shows
So, described embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on this practicality
Embodiment in new, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment, shall fall within the protection scope of the present invention.Therefore, the implementation to the utility model provided in the accompanying drawings below
The detailed description of mode is not intended to limit claimed the scope of the utility model, but is merely representative of the utility model
Selected embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative labor
The every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present invention.
In the description of the utility model, it is to be understood that the orientation or position relationship of the instruction such as term " on ", " under "
Based on orientation shown in the drawings or position relationship, to be for only for ease of description the utility model and simplifying description, without referring to
Show or imply that the equipment of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore cannot manage
Solve as the limitation to the utility model.
In the utility model, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be
Mechanically connect or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two
The interaction relationship of connection or two elements inside element.For the ordinary skill in the art, can basis
Concrete condition understands concrete meaning of the above-mentioned term in the utility model.
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings：
Please refer to Fig.1 to Fig. 2, in embodiment, a kind of curtain wall robot for easily realizing wall adsorption, the curtain wall robot
Including fixed frame 10, several suckers 20, several rollers 30, several scalable cleaning baldes 40 and at least one wind turbine
Unit 50；The roller 30 includes two front-wheels 31 and two trailing wheels 32；The curtain wall robot ambulation side is up and away from treating
The front end outer side of absorption wall hangs on wall side to be adsorbed by the safety rope of roof；The fan unit 50 is fixed on institute
State on fixed frame 10 and blowing direction is that the direction away from wall to be adsorbed is whole in suspension Shi Shi curtain walls robot to realize
Body is close to wall to be adsorbed；The sucker 20, which is fixedly installed on the fixed frame 10, to be used to adsorb wall；It is described to stretch
The rear and front end for the curtain wall robot that contracting cleaning balde 40 is respectively arranged on direction of travel and it can realize perpendicular to be adsorbed
Stretching to coordinate the fan unit 50 and the sucker 20 to complete absorption wall action on wall direction.Entirely through by wind
Machine unit 50 is arranged on fixed frame 10 and realizes curtain wall robot first half or latter half and wall in combination with sucker 20
The absorption in face, releases toward wall in combination with the scalable cleaning balde 40 of front end on direction of travel or rear end and realizes curtain wall machine
The absorption of device people latter half or first half and wall, effectively realizes steady absorption of the integrated curtain-wall robot on wall.
Further, an insurance rope fixing part is further provided with direction of travel on the fixed frame 10 of front end
60, the insurance rope fixing part 60 is used for the one end for bundling safety rope, specifically, the insurance rope fixing part 60 is arranged at curtain wall
On the fixed frame 10 of robot front end, the fixed frame can be bundled in avoid safety rope using insurance rope fixing part 60
The normal work of the scalable cleaning balde 40 is influenced on 10.
Please refer to Fig.2, in embodiment, the fan unit 50 may be disposed at first half or the middle part of curtain wall robot
Or latter half, it is preferred that the fan unit 50 is arranged at the rear side of the trailing wheel 32 i.e. curtain wall machine on direction of travel
The latter half of people, since safety rope is bundled on the insurance rope fixing part 60, when curtain wall robot is suspended in aerial,
Due to hitch point be not located at the central part of curtain wall robot front end but away from absorption wall top, therefore curtain wall robot by
Roof to bottom of the building is in the oblique line shape suspension for being gradually distance from absorption wall, so the first half distance absorption of curtain wall robot at this time
The distance of wall is less than the distance of latter half distance absorption wall, therefore the fan unit 50 is arranged on direction of travel
The rear side of trailing wheel 32 will can be fixed first apart from far curtain wall robot latter half, and pass through curtain with trailing wheel 32 for fulcrum
The scalable cleaning balde 40 of wall robot end realizes the overall absorption on wall, can effectively and smoothly realize entirety
Absorption of the curtain wall robot on wall.
Specifically, when the fan unit 50 is fixed on first half or middle part, make after the work of fan unit 50
Obtain curtain wall robot first half and lean near wall, the sucker 20 for being now placed in 31 both sides of front-wheel inhales curtain wall robot first half
Invest on wall, while the scalable cleaning balde 40 positioned at front end is released, and is rotation by contacting offer and front-wheel 31 with wall
One propulsive thrust of turning point realizes that curtain wall robot latter half with adsorbing the absorption of wall, completes whole adsorption process；Work as institute
The rear side of the trailing wheel 32 i.e. latter half of curtain wall robot that fan unit 50 is arranged on direction of travel is stated, works as fan unit
So that curtain wall robot latter half leans near wall after 50 work, the suckers 20 of 32 both sides of trailing wheel is now placed in by curtain wall robot
Latter half is adsorbed on wall, while is released positioned at the scalable cleaning balde 40 of curtain wall robot rear end, by with wall
Contact is provided realizes curtain wall robot first half with adsorbing the absorption of wall with trailing wheel 32 for a propulsive thrust of the point of rotation, complete
Into whole adsorption process.
The thrust for defining the fan unit is F, and wherein the scope of F is more than or equal to 2.25kg, due to fan unit
Quantity is two, i.e. the thrust of the fan unit that curtain wall robot needs need to meet to use this more than or equal to 4.5kg thrusts
It can meet to realize to curtain wall machine in the case where overcoming curtain wall robot main screw lift and external resistance interference during the minimum of sample
The promotion of people's entirety.
Please refer to Fig.1, in embodiment, the front-wheel 31 and the trailing wheel 32 are respectively connected with driving motor；It is each it is described before
Wheel 31 and each 32 front and rear sides of trailing wheel are both provided with a sucker 20, and the sucker 20 is connected with vacuum generator, adopts
The absorption of one end can be effectively realized with reference to fan unit 50 with such structure.
Further, brush unit 70, the hairbrush dress are further provided between the front-wheel 31 and the trailing wheel 32
Wall after 70 are put for cleaning；When being provided with brush unit 70, it is contemplated that described in the proportional space arrangement of complete machine
Fan unit 50 can only be arranged at the first half or latter half of curtain wall robot.
Please refer to Fig.1, in embodiment, the quantity of the fan unit 50 is set for two and parallel to the front-wheel 31；
The blowing direction of the fan unit 50 can ensure that fan unit 50 exists perpendicular to wall to be adsorbed using such structure
Curtain wall robot is adsorbed on wall with maximum speed under identical wind-force.
Please refer to Fig.1, in embodiment, the quantity of the scalable cleaning balde 40 is four, and the scalable cleaning is scraped
Two pneumatic cylinders 41 that plate 40 includes being fixed on the fixed frame 10 and set perpendicular to absorption wall and with the air pressure
The scraper plate main body 42 that the push rod of cylinder 41 is mutually fixedly connected, that is, share eight pneumatic cylinders.
Further, the push rod thrust for defining the pneumatic cylinder is N, and wherein the scope of N is 136N~180N, can be according to curtain
The weight of wall robot entirety selects suitable push rod thrust to meet the release demand to curtain wall robot overall weight；Definition
The release time of the pneumatic cylinder is S, and wherein the scope of S is 0.2s~0.7s；The stroke for defining the pneumatic cylinder is L, wherein L
Scope be more than or equal to 20mm, using the pneumatic cylinder of such stroke sucker suction at trailing wheel can be met in wall to be adsorbed
When on face, pneumatic cylinder push rod can eject the stroke more farther with a distance from wall to be adsorbed than the sucker at curtain wall robot front-wheel
To ensure curtain wall robot front-wheel sucker and wall to be adsorbed.
Please refer to Fig.1, in embodiment, the fixed frame 10 includes some piece first fixations parallel with direction of travel
Beam 11 and some piece second fixed beams 12 perpendicular with direction of travel；First fixed beam 11 and second fixed beam 12
On be respectively arranged with L-type fixed plate 80 be used for fix the fan unit 50.
Specific control method is as follows：
S1：The safety rope one end for being fixedly installed on roof is fixed to the insurance rope fixing part for being tied to the curtain wall robot
On, and curtain wall robot is hung on to the wall side to be adsorbed of initial wash position；
S2：The fan unit being arranged at curtain wall robot trailing wheel is opened, the high speed high wind that wind turbine rotation produces is by described in
Curtain wall robot pushes wall to be adsorbed to, i.e., curtain wall robot does the circular arc for axis point with safety rope binding point on side at this time
Move to realize the absorption of sucker and wall to be adsorbed at trailing wheel；
S3：The push rod of the pneumatic cylinder of curtain wall robot front-end and back-end is controlled to be released at the same time to wall to be adsorbed, curtain wall machine
Device people realizes the sucker at curtain wall robot front-wheel and wall to be adsorbed using the sucker at trailing wheel as fulcrum under the action of push rod
Absorption, complete absorption of the whole curtain wall robot on wall to be adsorbed.
Whole process is realized the fast lifting to curtain wall robot by roof safety rope first and is moved into initial clear
Clean position, then realizes sucker at using trailing wheel as fulcrum by the ingenious cooperation of fan unit and scalable cleaning balde
Movement is reversely promoted, the curtain wall robot lower part of the body and the above the waist absorption to wall to be adsorbed is realized successively, effectively realizes curtain wall
Steady absorption of the robot on wall to be adsorbed.
The foregoing is merely the embodiment of utility model, it is not limited to the scope of patent protection of the utility model.
Any to be familiar with alike those skilled in the art, in the spirit and scope for not departing from the utility model, the change and the equivalent of retouching made are replaced
Change, still in the scope of patent protection of the utility model.
Claims (8)
- A kind of 1. curtain wall robot for easily realizing wall adsorption, it is characterised in that：If the curtain wall robot include fixed frame, Dry sucker, several rollers, several scalable cleaning baldes and at least one fan unit；The curtain wall robot ambulation Side hangs on wall side to be adsorbed up and away from the front end outer side of wall to be adsorbed by the safety rope of roof；The wind turbine Unit is fixed on the fixed frame and blowing direction is that the direction away from wall to be adsorbed makes curtain to realize in suspension Wall robot is overall close to wall to be adsorbed；The sucker, which is fixedly installed on the fixed frame, to be used to adsorb wall；Institute State the rear and front end for the curtain wall robot that scalable cleaning balde is respectively arranged on direction of travel and can realize perpendicular to waiting to inhale Stretching to coordinate the fan unit and the sucker to complete absorption wall action on attached wall direction.
- 2. the curtain wall robot according to claim 1 for easily realizing wall adsorption, it is characterised in that：The roller includes two A front-wheel and two trailing wheels, each front-wheel and each trailing wheel front and rear sides are both provided with a sucker.
- 3. the curtain wall robot according to claim 2 for easily realizing wall adsorption, it is characterised in that：The fan unit Quantity is set for two and parallel to the front-wheel；The blowing direction of the fan unit is perpendicular to wall to be adsorbed.
- 4. the curtain wall robot according to claim 3 for easily realizing wall adsorption, it is characterised in that：The fan unit is set It is placed on rear side of the trailing wheel on direction of travel；The fan unit is to be adsorbed by curtain wall robot radial components after opening Wall is to realize that the sucker at curtain wall robot trailing wheel and wall to be adsorbed mutually adsorb；Define the thrust of the fan unit For F, the wherein scope of F is more than or equal to 2.25kg.
- 5. the curtain wall robot according to claim 1 for easily realizing wall adsorption, it is characterised in that：The scalable cleaning The quantity of scraper plate is four, the scalable cleaning balde include being fixed on two pneumatic cylinders on the fixed frame and with institute State the scraper plate main body that the push rod of pneumatic cylinder is mutually fixedly connected.
- 6. the curtain wall robot according to claim 5 for easily realizing wall adsorption, it is characterised in that：Define the pneumatic cylinder Push rod thrust be N, wherein the scope of N is 136N~180N；The release time for defining the pneumatic cylinder is S, the wherein scope of S For 0.2s~0.7s；The stroke for defining the pneumatic cylinder is L, and wherein the scope of L is more than or equal to 20mm.
- 7. the curtain wall robot according to claim 5 for easily realizing wall adsorption, it is characterised in that：On direction of travel most before The surface of the fixed frame away from wall to be adsorbed at end is further provided with an insurance rope fixing part；Described safety rope one end It is fixed to be tied on the insurance rope fixing part so that curtain wall robot entirety center of gravity is away from wall to be adsorbed.
- 8. the curtain wall robot according to claim 7 for easily realizing wall adsorption, it is characterised in that：The fixed frame bag Include some piece first fixed beams parallel with direction of travel and some piece second fixed beams perpendicular with direction of travel；It is described L-type fixed plate is respectively arranged with first fixed beam and second fixed beam to be used to fix the fan unit.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721107317.0U CN207245230U (en) | 2017-08-31 | 2017-08-31 | A kind of curtain wall robot for easily realizing wall adsorption |
| PCT/CN2017/111024 WO2018095250A1 (en) | 2016-11-25 | 2017-11-15 | Wall-climbing robot capable of surmounting and treading on obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721107317.0U CN207245230U (en) | 2017-08-31 | 2017-08-31 | A kind of curtain wall robot for easily realizing wall adsorption |
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| Publication Number | Publication Date |
|---|---|
| CN207245230U true CN207245230U (en) | 2018-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721107317.0U Active CN207245230U (en) | 2016-11-25 | 2017-08-31 | A kind of curtain wall robot for easily realizing wall adsorption |
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| Country | Link |
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| CN (1) | CN207245230U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107327152A (en) * | 2017-08-31 | 2017-11-07 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot and control method for easily realizing wall adsorption |
| CN108532979A (en) * | 2018-04-20 | 2018-09-14 | 丁佐琳 | A kind of building glass curtain wall equipment |
| WO2019001086A1 (en) * | 2017-06-29 | 2019-01-03 | 厦门华蔚物联网科技有限公司 | Sucker of curtain wall robot, curtain wall robot and control method therefor |
-
2017
- 2017-08-31 CN CN201721107317.0U patent/CN207245230U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019001086A1 (en) * | 2017-06-29 | 2019-01-03 | 厦门华蔚物联网科技有限公司 | Sucker of curtain wall robot, curtain wall robot and control method therefor |
| CN107327152A (en) * | 2017-08-31 | 2017-11-07 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot and control method for easily realizing wall adsorption |
| CN108532979A (en) * | 2018-04-20 | 2018-09-14 | 丁佐琳 | A kind of building glass curtain wall equipment |
| CN108532979B (en) * | 2018-04-20 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | Building glass curtain wall equipment |
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