CN207402785U - The mobile architecture system of working at height robot - Google Patents
The mobile architecture system of working at height robot Download PDFInfo
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- CN207402785U CN207402785U CN201721427625.1U CN201721427625U CN207402785U CN 207402785 U CN207402785 U CN 207402785U CN 201721427625 U CN201721427625 U CN 201721427625U CN 207402785 U CN207402785 U CN 207402785U
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- 238000010276 construction Methods 0.000 abstract description 4
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- 238000005516 engineering process Methods 0.000 description 3
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- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
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- 208000036829 Device dislocation Diseases 0.000 description 1
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- 230000007797 corrosion Effects 0.000 description 1
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Abstract
This application discloses a kind of mobile architecture systems of working at height robot, including working at height robot and using when be suspended in rope at the exterior wall of building, the working at height robot is provided with the mechanism that walks up and down that is connected with the rope and can be moved up and down along the rope.The application allows the robot to the safety and steady in working at height environment and efficiently moves, and can adapt to the construction environment of nearly all building roof, greatly promotes working at height machine task efficiency.
Description
Technical field
This application involves robot fields, and in particular to a kind of mobile architecture system of working at height robot.
Background technology
Current external wall working at height mainly using manual type, cause workers with long time under outdoor rugged environment into
Row working at height, it is dangerous high, often there is high-altitude safe accident and cause casualties, cost of labor constantly increases,
Artificial working at height efficiency can not but effectively improve, therefore in field of aerial work, particularly in the installation of building glass curtain wall and
The occasions such as cleaning, external wall finishing, machine replacement is manually an irreversible trend, following to use machine by more and more
Device people carries out working at height.Working at height robot substitutes high-altitude manual work first has to solve the problems, such as be high-altitude robot
Mobile problem in working at height.
It is used when most of at present and sets up loop wheel machine in roof, have hoist engine on loop wheel machine, hoist engine plays machine by fixed pulley
Device people, and draw moving up and down for robot.Also some products are that sucker and traveling wheel are installed in working at height robot,
The movement of robot is realized by controlling the movement of traveling wheel and sucker.
Loop wheel machine is set up using in roof, has hoist engine on loop wheel machine, hoist engine plays robot, and dragger by fixed pulley
The mode moved up and down of device people, the drawback is that：
(1) most of roof is not smooth flooring, and it is various generally to have water tank, air-conditioning, cable tubing, communication antenna etc.
Object sets up loop wheel machine in roof, high to building roof construction requirement, and construction is relatively difficult；
(2) there is still a need for manual operation, every machine is required for people's operation, inefficient；
(3) in recent years newly-built high buildings and large mansions it is high to be made attic exterior wall, generally all in order to which security consideration is substantially all
It is 4-10 meters of even more highs, the difficulty that loop wheel machine is set up in roof is greatly increased, so the applicable scene of loop wheel machine is limited.
Sucker and traveling wheel in robot are installed, realize that robot moves by controlling the movement of traveling wheel and sucker
Mode, although the autonomous of high-altitude robot can be realized, the drawback is that：
(1) material to external wall and plane requirement are high, are difficult to cross if building exterior wall face has barrier；
(2) traveling wheel and sucker is needed to coordinate completion movement, translational speed is slower；
(3) the too small easy generation falling accident of force of suction cup, suction is too big may to be caused the damage of external wall or come off,
Particularly glass curtain wall stress is easily revealed.
The content of the invention
The purpose of the application is：In view of the above-mentioned problems, the application proposes a kind of mobile architecture system of working at height robot,
So that robot can efficiently move safety and steady in working at height environment, and it can adapt to nearly all building building
The construction environment on top greatly promotes working at height machine task efficiency.
The technical solution of the application is：
A kind of mobile architecture system of working at height robot, including working at height robot, suspends in midair when further including use
Rope at the exterior wall of building, the working at height robot is provided with to be connected and can be along described with the rope
Mechanism that rope moved up and down walk up and down.
The application based on the above technical solutions, further includes following preferred embodiment：
The rope is provided only with one.
The upper end of the rope removably bundled fixed at the top of the building.
Further include the safety rope that upper end is connected with the top of building, lower end is connected with the working at height robot.
Roller type walking mechanism is in the mechanism that walks up and down.
The mechanism that walks up and down includes the driving motor that driving roller and the driving driving roller rotate, the rope
Rope is wound on the driving roller.
The robot being attached on outer surface of wall patch wall telephone is provided in the working at height robot
Structure.
The robot patch wall mechanism includes：
Vacuum suction cup on the inside of the working at height robot or
Propeller on the inside or outside of working at height robot.
The working at height robot is provided with to drive the working at height robot perpendicular to the exterior wall wall
The inside and outside moving mechanism of inside and outside movement on the direction in face.
The working at height robot is provided with to drive the working at height robot parallel to the exterior wall wall
The left/right movement device moved left and right on the direction in face.
The application has the advantages that：
1st, what is be connected by rope and with rope walks up and down mechanism to drive working at height robot compared with building
Beyond the region of objective existence wall moves up or down, and is walked up and down mechanism band using the sucked type being connected with skin in nontraditional technology
Dynamic idle job robot moves up and down.The connection of walking mechanism and rope is simpler and stabilization than with connecting for vertical metope
It is more, be not in the problem of robot falls substantially, and the travelling control to robot of being more convenient for.
2nd, the motion path moved up and down using the rope offer working at height robot for being suspended in skin face, rope
The connection of rope and building and the lifting moving of robot will not be subject to the objects such as building upper water box, air-conditioning, cable tubing
Interference.
3rd, building various positions can be easily fixed on by providing the rope of motion path, outside to building
Metope carries out washing and cleaning operation everywhere.
4th, the inside and outside moving mechanism set in robot and left/right movement device may be such that robot can be in operation
A small range or so or inside and outside movement, so as to adapt to metope structure and cleaning needs, while it is inclined to prevent that robot from being occurred by wind
It moves.
Description of the drawings
The application is described further in the following with reference to the drawings and specific embodiments：
Fig. 1 is that (visual angle is perpendicular to building for the front view of the embodiment of the present application high and medium Work robot movement architecture system
Build beyond the region of objective existence metope direction)；
Fig. 2 is the side view that the embodiment of the present application high and medium Work robot moves architecture system.
Wherein：The exterior wall of a- buildings, 1- working at height robot, 1a- walk up and down mechanism, moving mechanism inside and outside 1b-,
1c- left/right movement devices, 2- ropes.
Specific embodiment
Figures 1 and 2 show that a specific embodiment of this working at height robot movement architecture system of the application,
Including：Working at height robot 1 and the rope 2 being suspended at the exterior wall a of building, wherein working at height robot 1 are set
There is the mechanism 1a that walks up and down that is connected with rope 2 and can be moved up and down along rope 2.Working at height robot 1 is cleaning machine
Device people, for cleaning skin.
In practical application, the upper end of rope 2 is fixed on to the top of building, the wall face of rope lower end edge building
It puts down.Working at height robot 1 climbs or declines along rope 2 under the action for the mechanism 1a that walks up and down, so as to walk to it
Skin face on path is cleaned.Also, the upper end of rope 2 can easily bundled fixed in building
Top, dismounting and connection are quite convenient to, after cleaning is completed in a certain vertical region of skin face, then by 2 upper end of rope
It unlocks and is fixed on top of building another location, rope 2 is made to be suspended in skin another location, working at height robot
1 moves up or down further along the rope 2 of new position so as to being cleaned to the wall face in another region, until completing entire
The cleaning of wall face.
As it can be seen that the effect of rope 2 is to provide the motion path that working at height robot moves up and down, it is general to select specially
Industry working at height class rope has the characteristics that big wear-resisting, pulling force, high temperature resistant and corrosion-resistant.
As it can be seen that the present embodiment be connected by rope and with rope 2 walk up and down mechanism 1a to drive working at height
Robot 1 is moved up or down compared with skin, and the suction being connected with skin is utilized in nontraditional technology
The disc type mechanism that walks up and down drives idle job robot 1 to move up and down.Obviously, the connection of walking mechanism and rope 2 is than with erecting
The connection in stalk face is simply more, and that stablizes is more, is not in the problem of robot falls substantially.Also, it utilizes and is suspended in
The rope 2 of skin face provides the motion path that working at height robot moves up and down, the connection of rope 2 and building with
And the lifting moving of robot will not be disturbed be subject to objects such as building upper water box, air-conditioning, cable tubings.
In this implementation, above-mentioned rope 2 only sets one, more convenient to use.
In order to which working at height robot 1 is further avoided to fall, the present embodiment is also provided with a upper end and is fixed on
The safety rope (being not drawn into figure) that top of building, lower end are fixed in working at height robot 1.
Various structure types may be employed in the above-mentioned mechanism 1a that walks up and down, and specifically in the present embodiment, this walks up and down
Mechanism 1a is roller type walking mechanism, including including at least a driving roller and the driving that the driving roller is driven to rotate
Motor, above-mentioned rope 2 are wrapped on driving roller.During work, driving motor runs and driving roller is driven to turn forward or backwards
It is dynamic, so that idle job robot 1 is moved up or down along rope 2.
In view of working at height robot 1 in washing and cleaning operation, need to be needed according to metope structure or cleaning sometimes and lean on
It is moved in or out close or remote from metope, the present embodiment is also provided with that high-altitude is driven to make in working at height robot 1
Industry robot 1 is in the inside and outside moving mechanism 1b of the inside and outside movement on the direction of exterior wall a metopes.
Above-mentioned inside and outside moving mechanism 1b employs this structure type：It includes being mounted on the inside of working at height robot
Two propellers and two propellers on the outside of working at height robot, and the rotation axis of this four propellers
It is each perpendicular to be disposed to extend inside and outside the metope of exterior wall a.During practical application, wherein the rotation of two propellers in outside is (with air
Cooperation) for working at height robot 1 to be driven to be moved inward close to metope, the rotation of two propellers of inside is used to drive height
Idle job robot 1 is displaced outwardly away from metope.
Certainly, above-mentioned inside and outside moving mechanism 1b can also use other structure types, such as this：It is included to exterior wall
The expansion bracket that metope direction is stretched out.When robot needs to be displaced outwardly away from metope, expansion bracket end props up metope and stretches,
Robot body structure is outwards ejected certain distance by the expansion bracket of stretching, extension.When robot needs to move inward close to metope,
Expansion bracket shortens, and robot is close to metope under self gravitation and flexible 2 pulling force effects.
Moreover, inside and outside moving mechanism 1b can also include above-mentioned expansion bracket and propeller arrangement simultaneously.It is acted predominantly on
It can be smoothly across the barrier on metope during rope climbing in guarantee robot.
In addition, it is also contemplated that it is inclined to the left or to the right to be frequently encountered robot in washing and cleaning operation for working at height robot 1
From situation, such as wind.Deviate to correct the position on this left and right directions, the present embodiment is in working at height robot 1
On be also provided with working at height robot 1 is driven to move left and right on the direction parallel to exterior wall a metopes move left and right
Mechanism 1c.
In the present embodiment, above-mentioned left/right movement device 1c is similar to the structure type of above-mentioned inside and outside moving mechanism 1b, bag
It includes：Be separately mounted to two propellers of working at height robot arranged on left and right sides, the rotation axis of the two propellers parallel to
Metope of exterior wall a or so is disposed to extend.During practical application, the rotation (coordinating with air) of one of propeller is used to drive height
Idle job robot 1 is moved to the left parallel to metope, and the rotation of another propeller is used to drive working at height robot 1 parallel
It moves right in metope.
Certainly, above-mentioned left/right movement device 1c can also use other structures form, for example be engaged with wall face
And the directive wheel with certain adhesion strength.
In addition, in order to enable the robot can be close on outer surface of wall in washing and cleaning operation, to optimize cleaning performance,
The present embodiment is additionally provided with robot patch wall mechanism in the working at height robot 1, utilizes the dynamic of robot patch wall mechanism
Work makes robot be attached onto with outer surface of wall, so that the cleaning component of robot contacts cleaning metope well.Before
It states robot patch wall mechanism and various structure types may be employed, such as：Suction is vacuumized on the inside of working at height robot
Disk or the propeller on the inside or outside of working at height robot.
The action of the above-mentioned mechanism 1a that walks up and down, inside and outside moving mechanism 1b and left/right movement device 1c passes through controller
Control, and the controller is arranged on inside working at height robot 1, the mechanism that walks up and down 1a, inside and outside moving mechanism 1b and a left side
The actuator for moving right mechanism 1c is connected with the controller circuitry.
" upper and lower, left and right, inside and outside " described in the application, using Fig. 1 as reference, parallel to paper upwards to be upper, parallel to
It is to the left a left side parallel to paper under paper is downwards, is to the right the right side parallel to paper, perpendicular to paper to inside and outside interior, perpendicular to
Paper is outwards outer.
Certainly, above-described embodiment is only the technical concepts and features for illustrating the application, and its object is to make people much of that
Solution present context is simultaneously implemented according to this, and the protection domain of the application can not be limited with this.It is all according to the application major technique
The equivalent transformation or modification that the Spirit Essence of scheme is done, should all cover within the protection domain of the application.
Claims (10)
1. a kind of mobile architecture system of working at height robot, including working at height robot (1), which is characterized in that also wrap
Include the rope (2) at exterior wall (a) place that building is suspended in during use, be provided on the working at height robot (1) with it is described
Rope (2) is connected and can be along the mechanism that walks up and down (1a) that the rope (2) move up and down.
2. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the rope (2) is only
It is provided with one.
3. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the rope (2)
Upper end removably bundled fixed at the top of the building.
4. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that further include upper end and institute
State top of building connection, the safety rope that lower end is connected with the working at height robot (1).
5. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the machine that walks up and down
Structure (1a) is roller type walking mechanism.
6. the mobile architecture system of working at height robot as claimed in claim 5, which is characterized in that the machine that walks up and down
Structure (1a) includes the driving motor that driving roller and the driving driving roller rotate, and the rope (2) is wound in the master
On dynamic idler wheel.
7. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the working at height machine
The robot being attached on exterior wall (a) metope patch wall mechanism is provided on device people (1).
8. the mobile architecture system of working at height robot as claimed in claim 7, which is characterized in that the robot pastes wall
Mechanism includes：
Vacuum suction cup on the inside of the working at height robot (1) or
Propeller on the inside or outside of working at height robot.
9. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the working at height machine
It is provided with to drive the working at height robot on device people (1) in the inside and outside movement on the direction of the outer surface of wall
Inside and outside moving mechanism (1b).
10. the mobile architecture system of working at height robot as described in claim 1, which is characterized in that the working at height
It is provided with that the working at height robot is driven to move left and right on the direction parallel to the outer surface of wall in robot (1)
Left/right movement device (1c).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201721427625.1U CN207402785U (en) | 2017-10-31 | 2017-10-31 | The mobile architecture system of working at height robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721427625.1U CN207402785U (en) | 2017-10-31 | 2017-10-31 | The mobile architecture system of working at height robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111070947A (en) * | 2019-10-30 | 2020-04-28 | 苏州风正帆智能科技有限公司 | Easy-to-erase recording board for computer software development |
| CN112078683A (en) * | 2020-08-31 | 2020-12-15 | 点狮科技(浙江)有限公司 | Fusion type crosswind resisting system, device and method |
| CN112470791A (en) * | 2020-12-25 | 2021-03-12 | 沈阳农业大学 | Circular arch type sunlight greenhouse snow removing device |
-
2017
- 2017-10-31 CN CN201721427625.1U patent/CN207402785U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111070947A (en) * | 2019-10-30 | 2020-04-28 | 苏州风正帆智能科技有限公司 | Easy-to-erase recording board for computer software development |
| CN112078683A (en) * | 2020-08-31 | 2020-12-15 | 点狮科技(浙江)有限公司 | Fusion type crosswind resisting system, device and method |
| CN112470791A (en) * | 2020-12-25 | 2021-03-12 | 沈阳农业大学 | Circular arch type sunlight greenhouse snow removing device |
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Granted publication date: 20180525 Termination date: 20211031 |