CN207693509U - A kind of curtain wall robot that walking is stable - Google Patents
A kind of curtain wall robot that walking is stable Download PDFInfo
- Publication number
- CN207693509U CN207693509U CN201720469630.2U CN201720469630U CN207693509U CN 207693509 U CN207693509 U CN 207693509U CN 201720469630 U CN201720469630 U CN 201720469630U CN 207693509 U CN207693509 U CN 207693509U
- Authority
- CN
- China
- Prior art keywords
- sucker
- screw rod
- curtain wall
- motor
- vacuum
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of curtain wall robot that walking is stable, including rack and the control device, driving device, vacuum plant, driving wheel, sucker, motor, screw rod and the negative pressure of vacuum sensor that are set in rack；Driving device is for driving driving wheel to walk on curtain wall；The side of sucker is fixedly connected with one end of screw rod, and the other side of sucker is contacted with curtain wall；Motor is connect with screw rod, for driving screw rod to lift；Negative pressure of vacuum sensor is connect with control device, for detecting vacuum values size in sucker；Vacuum plant connecting sucker makes to form vacuum state in sucker；Control device connects driving device and motor, control device control the driving device and control motor positive and inverse, to drive the lifting of screw rod and the walking of driving wheel.The curtain wall robot can detect the automatic control that vacuum values in sucker realize motor, be rotated by motor to realize the lifting of screw rod, keeps vacustat purpose in sucker to reach, has broad application prospects.
Description
Technical field
The utility model is related to motor control technology field, specially a kind of curtain wall robot that walking is stable
Background technology
Motor control refers to the startup of motor, acceleration, operating, deceleration and stopping the control carrying out.
Currently, sucker generates vertical glass surface pressure to high-altitude curtain cleaning robot wheel, to make wheel vertical
It walks on glass surface.The pressure at right angle size, sucker face are related with wheel difference of height.Due to construction error, upper and lower glass does not exist
Same vertical plane, by national standard, its error is qualification within 2MM.Under the effect of gravity, itself can also bend glass,
In operation process, original sucker face also can also be sent out with reasons such as mechanical loss high-altitude curtain cleaning robot with wheel difference of height
Changing.So that sucker declines the adsorption capacity of glass, when sucker passes through curtain wall panel (such as glass) seam, not due to glue-line bumps
It is flat, gas leakage is generated between sucker and curtain wall panel, loses suction, influences the operation stability and safety of high-altitude curtain cleaning robot
Property, therefore the gap between sucker and glass is adjusted as frequent work.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the prior arts provides a kind of curtain wall robot that walking is stable.
In order to solve the above technical problems, the utility model uses following technical measures：
A kind of curtain wall robot that walking is stable, including rack and be set in the rack control device, driving
Device, driving wheel, vacuum plant, sucker, motor, screw rod and negative pressure of vacuum sensor；The driving device is for driving institute
Driving wheel is stated to walk on curtain wall；The side of the sucker is solid by the binding groove of the sucker bottom and one end of the screw rod
Fixed connection, the other side of the sucker is contacted with curtain wall；The motor is connect with the screw rod, for driving the screw rod liter
Drop；The vacuum plant connects the sucker, makes to form vacuum state in the sucker；The negative pressure of vacuum sensor with it is described
Control device connects, and the negative pressure of vacuum sensor detects vacuum values size in the sucker for incuding；The control
Device connects the driving device and the motor, and the control device controls the driving device, and controls the motor
Positive and negative rotation, to drive the lifting of the screw rod and the walking of driving wheel.
The utility model can also be further perfect by following technical measures：
As a further improvement, including multiple negative pressure of vacuum sensors, each negative pressure of vacuum sensor is used for
Vacuum values size in the corresponding sucker of induction detection, and the control device is fed back to, so that the control device is controlled
The motor positive and inverse, to drive the lifting of the screw rod.
As a further improvement, the driving wheel periphery in the rack is provided with a plurality of screw rod and multiple suckers, it is each
The side of the sucker is fixedly connected by the binding groove of the sucker bottom with one end of the corresponding screw rod, and a plurality of institute
Screw rod is stated to be controlled respectively by multiple motors.
As a further improvement, the lateral surface of the screw rod is equipped with horizontal thread.
As a further improvement, it is additionally provided with limited block on the lateral surface of the screw rod, it is excessive for limiting the screw rod
Lifting.
As a further improvement, being provided with the vertical gear coordinated with the horizontal thread in the shaft of the motor.
Compared with prior art, the utility model has the following advantages：
The curtain wall robot of controllable screw rod lifting can detect the size of vacuum values in sucker, realize oneself of motor
Control, realization principle is relatively simple, and motor rotation can be controlled by control device to realize spiral shell without manual intervention debugging
The lifting of bar；According to the vacuum values size between sucker and curtain wall, the screw rod is finely adjusted so that driving wheel and suction
Disk is maintained at same level so that sucker is firm to be adsorbed on curtain wall；And curtain wall robot includes negative pressure of vacuum sensing
Device, under vacuum state, vacuum values are more than -50kpa or motor will be into when vacuum values are less than or equal to -80kpa
Row adjust automatically avoids, it can be achieved that the adjust automatically of sucker vacuum values in driving wheel traveling process and works as rotor
Speed when differing larger with synchronous speed, negative pressure is unstable caused by generating step-out phenomenon, has a vast market foreground and answers
Use foreground.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structural schematic diagram of shaft in the utility model, sucker and motor；
Fig. 3 is the bottom overall structure diagram of the utility model.
Main element symbol description
Rack 1
Driving wheel 2
Sucker 3
Motor 4
Screw rod 5
Negative pressure of vacuum sensor 6
Binding groove 31
Horizontal thread 51
Vertical gear 41
Limited block 52
Shell 7
Specific implementation mode
The utility model is described in further detail with specific implementation mode below in conjunction with the accompanying drawings.
Embodiment one please refers to Fig.1-3, and the utility model provides a kind of technical solution：A kind of curtain wall machine that walking is stable
Device people, including rack 1 and the control device, driving device, vacuum plant, driving wheel 2, the sucker that are set in the rack 1
3, motor 4, screw rod 5 and negative pressure of vacuum sensor 6；The driving device is for driving the driving wheel 2 to walk on curtain wall；
The side of the sucker 3 is fixedly connected by the binding groove 31 of 3 bottom of the sucker with one end of the screw rod 5, the sucker
3 other side is contacted with curtain wall；The motor 4 is connect with the screw rod 5, for driving the screw rod 5 to lift；The vacuum holding
The connection sucker 3 is set, makes to form vacuum state in the sucker 3；The negative pressure of vacuum sensor 6 connects with the control device
It connects, the negative pressure of vacuum sensor 6 detects vacuum values size in the sucker 3 for incuding；The control device connection
The driving device and the motor 4, the control device controls the driving device, and controls 4 positive and negative rotation of the motor,
To drive the lifting of the screw rod 5 and the walking of driving wheel 2.
Specifically, including multiple negative pressure of vacuum sensors 6, each negative pressure of vacuum sensor 6 is examined for incuding
Vacuum values size in the corresponding sucker 3 is surveyed, and feeds back to the control device, the control device is made to control the electricity
4 positive and negative rotation of machine, to drive the lifting of the screw rod 5；More specifically, a negative pressure of vacuum sensor 6 is for incuding
Detect the size of pressure value in a sucker 3, so that it may to individually adjust the lifting of a certain screw rod 5 according to actual conditions, realize
Principle is relatively simple, and the rotation of motor 4 can be controlled by control device to realize the liter of screw rod 5 without manual intervention debugging
Drop.
A plurality of screw rod 5 and multiple suckers 3, each sucker 3 are provided on 2 periphery of driving wheel in the rack 1
Side be fixedly connected with one end of the corresponding screw rod 5 by the binding groove 31 of 3 bottom of the sucker, and a plurality of spiral shell
Bar 5 is controlled respectively by multiple motors 4.When the curtain wall robot manipulating task, multiple suckers 3 are adsorbed on curtain wall simultaneously, curtain
It is connect using colloid between wallboard (such as glass) and curtain wall panel (such as glass) and will appear gap, a certain sucker is moved to seam
When at gap or curtain wall occur surface irregularity it is whole when, the sucker 3 is connected to outside air, air enter the sucker 3
It is interior so that sucker 3 loses adsorption capacity, and at this moment, the control device controls the vacuum plant and gives other suckers 3 enough suctions
Attached power, even if thus a certain sucker 3 lose adsorption capacity, curtain wall robot still can be adsorbed on curtain wall with safety and stability
On.
The lateral surface of the screw rod 5 is equipped with horizontal thread 51, and further, the horizontal thread 51 is set to the screw rod
5 middle part, there are many kinds of the modes for realizing the lifting of screw rod 5；In the present embodiment, it is provided in the shaft of the motor 4 and institute
The vertical gear 41 of the cooperation of horizontal thread 51 is stated, the vertical gear 41 coordinates with the horizontal thread 51, realizes screw rod 5
Lifting.
To prevent the control device from breaking down, the screw rod 5 is caused to lift excessively, thus the screw rod 5 outside
Limited block 52 is provided on side.In embodiment, it is additionally provided with the shell 7 being adapted to the rack.
On the other hand, a kind of control method of stable curtain wall robot of walking described above is additionally provided, including following
Step：
S1, the control device controls the sucker 3 and the driving wheel 2 moves on curtain wall；
S2, the induction of negative pressure of vacuum sensor 6 detects vacuum values size in the sucker 3, and feeds back to control
Device processed；
S3, the control device compare, to control the electricity according to vacuum values size with predetermined vacuum number of degrees value
4 positive and negative rotation of machine.
Among the above, the predetermined vacuum number of degrees value ranging from -50kpa to -80Kpa, the sucker 3 contact patch with curtain wall
It closes, forms vacuum state in the sucker 3, there is stronger adsorption capacity in a certain range, it is ensured that the sucker 3 is adsorbed on
On curtain wall.
On the one hand, in step s3, when the negative pressure of vacuum sensor 6 induction detects the vacuum number of degrees in the sucker 3
When value is more than -50kpa, illustrate that sucker 3 and 2 height of the driving wheel are inconsistent, and less than the height of the driving wheel 2；In this way,
Adsorption capacity between the sucker 3 and curtain wall is weaker, or even loses adsorption capacity, and the sucker 3 is easy to be detached from from curtain wall, thus
The control device controls the motor 4 and rotates forward, to drive the raising of the screw rod 5, by fine tuning so that the sucker 3 with
2 height of the driving wheel is consistent, and reinforces the adsorption capacity between the sucker 3 and curtain wall so that the firm suction of the sucker 3
It is attached on the curtain wall, improves the safe to use of curtain wall robot.
On the other hand, in step s3, when the negative pressure of vacuum sensor 6 induction detects vacuum degree in the sucker 3
When numerical value is less than or equal to -80kpa, illustrate that sucker 3 and the driving wheel 2 are highly consistent, the sucker 3 and the driving wheel 2
It is maintained at the same horizontal plane；Therefore, the adsorption capacity between the sucker 3 and curtain wall is stronger, and the sucker 3 is not easy from curtain wall
It is detached from, the control device controls the motor 4 and stops operating at this time.
It should be noted that in the driving wheel 2 and the sucker 3 during being carried out on curtain wall, curtain wall occurs uneven
Or when having dirt on curtain wall, the control device can also control the operating of motor 4, the corresponding lifting for controlling screw rod 5, by micro-
It adjusts, ensures the stability of vacuum degree in sucker 3.
Operation principle：First, curtain wall robot is adsorbed on by sucker 3 on curtain wall, while the driving device drives
The driving wheel 2 is rolled, and the control rolled by control device, and robot is driven to be moved on curtain wall；It is true simultaneously
Idling pressure sensor 6 can detect the vacuum values in sucker 3, since negative pressure of vacuum sensor 6 is connected to control device, because
This will be automatically adjusted under vacuum conditions when vacuum values are more than -50kpa by reducing rotor voltage.This
When motor torque capacity will not be affected, but the appearance point of torque capacity will move, and motor torque-revolutional slip is bent
Line will be compressed along revolutional slip axis, downward trend after motor curve first rises about revolutional slip presentation, therefore the startup of motor turns
Square will increase；In the case that vertical gear 41 on machine shaft is engaged with 51 phase of horizontal thread of screw rod 5, to the spiral shell
Bar 5 carries out raising adjustment, passes through this fine tuning so that the sucker 3 is maintained at the same horizontal plane with the driving wheel 2；When
Vacuum values stop adjustment when being less than or equal to -80kpa, to keep vacuum degree between sucker 3 and curtain wall to obtain stability.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent substitution, improvement and etc. done should be included in the utility model
Within the scope of protection.
Claims (5)
1. a kind of curtain wall robot that walking is stable, it is characterised in that：Including rack and the control being set in the rack
Device, driving device, vacuum plant, driving wheel, sucker, motor, screw rod and negative pressure of vacuum sensor；
The driving device is for driving the driving wheel to walk on curtain wall；
The side of the sucker is fixedly connected by the binding groove of the sucker bottom with one end of the screw rod, the sucker
The other side is contacted with curtain wall；
The motor is connect with the screw rod, for driving the screw rod to lift；
The vacuum plant connects the sucker, makes to form vacuum state in the sucker；
The negative pressure of vacuum sensor is connect with the control device, and the negative pressure of vacuum sensor detects the suction for incuding
Vacuum values size in disk；
The control device connects the driving device and the motor, and the control device controls the driving device, and
The motor positive and inverse is controlled, to drive the lifting of the screw rod and the walking of driving wheel.
2. a kind of stable curtain wall robot of walking according to claim 1, which is characterized in that the driving in the rack
Wheel periphery is provided with a plurality of screw rod and multiple suckers, and the side of each sucker passes through the binding groove of the sucker bottom
It is fixedly connected with one end of the corresponding screw rod, and a plurality of screw rod is controlled respectively by multiple motors.
3. a kind of stable curtain wall robot of walking according to claim 1, it is characterised in that：The lateral surface of the screw rod
Equipped with horizontal thread.
4. a kind of stable curtain wall robot of walking according to claim 1, it is characterised in that：The lateral surface of the screw rod
On be additionally provided with limited block, excessively lifted for limiting the screw rod.
5. a kind of stable curtain wall robot of walking according to claim 3, it is characterised in that：In the shaft of the motor
It is provided with the vertical gear coordinated with the horizontal thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720469630.2U CN207693509U (en) | 2017-04-28 | 2017-04-28 | A kind of curtain wall robot that walking is stable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720469630.2U CN207693509U (en) | 2017-04-28 | 2017-04-28 | A kind of curtain wall robot that walking is stable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207693509U true CN207693509U (en) | 2018-08-07 |
Family
ID=63020137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720469630.2U Active CN207693509U (en) | 2017-04-28 | 2017-04-28 | A kind of curtain wall robot that walking is stable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207693509U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028547A (en) * | 2017-04-28 | 2017-08-11 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot for walking stable and control method |
| CN111907271A (en) * | 2020-08-18 | 2020-11-10 | 湖南汽车工程职业学院 | Automobile tire screw replacing device |
| CN114380053A (en) * | 2022-03-08 | 2022-04-22 | 哈尔滨工业大学 | Glass carrying robot |
-
2017
- 2017-04-28 CN CN201720469630.2U patent/CN207693509U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028547A (en) * | 2017-04-28 | 2017-08-11 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot for walking stable and control method |
| CN107028547B (en) * | 2017-04-28 | 2022-12-27 | 厦门华蔚物联网科技有限公司 | Stably-walking curtain wall robot and control method |
| CN111907271A (en) * | 2020-08-18 | 2020-11-10 | 湖南汽车工程职业学院 | Automobile tire screw replacing device |
| CN114380053A (en) * | 2022-03-08 | 2022-04-22 | 哈尔滨工业大学 | Glass carrying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207693509U (en) | A kind of curtain wall robot that walking is stable | |
| CN205820378U (en) | Aluminum material buttress de-stacking device | |
| CN104494931B (en) | A kind of automatic bag feeding bag openning body | |
| CN206187997U (en) | Adjustable sucking disc tongs | |
| CN105366362B (en) | A kind of bus vehicle glass auto-steering machine | |
| CN206598905U (en) | Four-footed sucked type automatic travelling device | |
| CN207738080U (en) | A kind of adjustable feed mechanism of rotation angle | |
| CN206301773U (en) | Silicon chip grabbing device and the manufacture of solar cells equipment using the device | |
| CN206544554U (en) | Wall device is climbed by a kind of adjustable robot | |
| CN107028547B (en) | Stably-walking curtain wall robot and control method | |
| CN204383822U (en) | A kind of automatic bag feeding bag openning body | |
| CN202640363U (en) | Sucking disc device for conveying silicon wafer | |
| CN106531678A (en) | Silicon wafer gripping device and solar cell production equipment of using same | |
| CN110329495A (en) | A kind of unmanned plane absorption stop device and its parking scheme | |
| CN205969026U (en) | Novel mechanical arm | |
| CN210342599U (en) | Horizontal ground ceramic tile laying device for house construction | |
| CN205739312U (en) | A kind of double handle arranges press-loading apparatus | |
| CN211664291U (en) | Automatic grain leveling device | |
| CN212613590U (en) | Wall ornamental material pastes robot | |
| CN205366777U (en) | Unloading storage frame | |
| CN209668216U (en) | A kind of suction paper and turnover mechanism | |
| CN209372714U (en) | A kind of positive and negative AOI detection system | |
| CN207226461U (en) | A kind of robot LCD suction plate structures | |
| CN206645540U (en) | Glass horizontal linear transfer table | |
| CN202292329U (en) | Tray-type linear conveying turntable |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |