CN208274533U - A kind of two-legged type climbing robot - Google Patents
A kind of two-legged type climbing robot Download PDFInfo
- Publication number
- CN208274533U CN208274533U CN201820063218.5U CN201820063218U CN208274533U CN 208274533 U CN208274533 U CN 208274533U CN 201820063218 U CN201820063218 U CN 201820063218U CN 208274533 U CN208274533 U CN 208274533U
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- Prior art keywords
- foot
- push rod
- mechanical
- legged type
- robot body
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- 230000009194 climbing Effects 0.000 title claims abstract description 18
- 230000008602 contraction Effects 0.000 claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 23
- 239000007921 spray Substances 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 19
- 238000000638 solvent extraction Methods 0.000 abstract description 3
- 238000009434 installation Methods 0.000 description 4
- 210000001699 lower leg Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of two-legged type climbing robot, including supporting device, robot body and the connection robot body and the connection cable for supporting device, the robot body is two-legged type structure, specifically include symmetrical two mechanical arms and mechanical foot, wherein: the mechanical arm of left and right two is equipped with top push rod by top bearing hinge connection between arm, two mechanical arms of extension and contraction control or so are forwarded dynamic around top axle；The machinery foot passes through foot bearing hinge connection in mechanical arm end, and push rod is equipped between mechanical foot and mechanical arm, and extension and contraction control machinery foot is rotated around foot bearing.A kind of revealed two-legged type climbing robot of the utility model, two-legged type structure is used simultaneously, the mankind can be copied to realize great-leap-forward walking, for containing right angle, the external wall of the complexity metope structure such as wall coverings item or partitioning slot can effectively realize cleaning, to complete cleaning.
Description
Technical field
The utility model relates to a kind of cleaning of external wall and to maintain equipment more particularly to a kind of two-legged type wall-climbing devices
People.
Background technique
With the fast development of urbanization process, high-rise building is more and more, and urbanization building is also with high building and glass
How efficiently, safely based on curtain wall, however the cleaning and maintenance of high-rise curtain wall are an operation having a large capacity and a wide range, currently,
Clean oneself life home and working environment, carry out high-rise glass curtain wall or the cleaning of miscellaneous metope and upkeep operation by
It is gradually paid close attention to by people, for current market application, the most common cleaning mode is by the high-rise cleaning of profession
Personnel carry out artificial cleaning from the exterior wall surface that roof is suspended to high-rise, however this cleaning way not only works
Intensity is big, and labor efficiency is low, and very dangerous, the case where cleaning personnel fall lower injures and deaths often occurs.
Certainly also occurs the high-rise curtain wall cleaning robot of some artificial cleanings of substitution in the market, but mostly
Number robot is all that traction up and down is carried out by rope, takes action inflexible, can not achieve the cleaning of great-leap-forward, this allows for building
The right angle built is difficult to realize effectively clean at wall coverings item or partitioning slot, and existing robot architecture is complicated, needs in traction end
Personnel control, and the adsorption design Safety Redundancy of equipment is low, inflexible for use and cannot be generally applicable to various external walls.
Utility model content
The purpose of the utility model is to overcome the defect of the prior art, providing effectively to be adsorbed, and is able to achieve leap
The two-legged type climbing robot of formula walking.
To achieve the above object, the utility model proposes following technical solutions: a kind of two-legged type climbing robot, including branch
Hold device, robot body and the connection robot body and the connection cable for supporting device, the robot sheet
Body is two-legged type structure, specifically includes symmetrical two mechanical arms and mechanical foot, in which:
The mechanical arm of left and right two is equipped with top push rod, extension and contraction control or so two by top bearing hinge connection between arm
A mechanical arm is forwarded dynamic around top axle；
The machinery foot passes through foot bearing hinge connection in mechanical arm end, and is equipped with and pushes away between mechanical foot and mechanical arm
Bar, extension and contraction control machinery foot are rotated around foot bearing；
The machinery foot is rectangular frame structure, including rectangular frame, and the sucker being mounted in two long side of rectangular frame is solid
Fixed rack, the round brush being mounted on frame center axis is mounted on the motor of frame sides driving round brush rotation, and installs at equal intervals
Plural sucker on the fixed bracket of sucker, the sucker center are equipped with suction nozzle, are mutually interconnected between each suction nozzle by vacuum tube
Logical, rectangular frame upper surface center is equipped with fixed disk, and the fixed disk upper surface is equipped with controller, the controller
It is electrically connected with compressor and motor, the fixed disk bottom surface is provided with the sparge pipe of spray head, and sparge pipe is located at round brush and square
Round brush again of first spraying water is realized in gap between shape frame.
The support device includes water supply device, power supply unit, cable winding device, vacuum pump and hoist engine.
The connection cable includes traction rope, water supplying pipe, tracheae and cable, and the traction rope connects hoist engine and robot
The top bearing of ontology, the water supplying pipe connect water supply device and sparge pipe, power supply unit described in the cable connection and control
Device, the tracheae connection vacuum pump and vacuum tube.
Ultrasonic sensor is installed on described machinery foot four angles, is connect with controller, to feed back mechanical pin pitch from
The distance of metope, auxiliary robot are mobile.
It further include remote control terminal, the remote control terminal and the wired or wireless connection of the robot body are used
In detecting and control the robot body.
It further include that the Multi-angle camera of installation on the robotic arm is connect with controller, for monitoring the robot body
And ambient enviroment, carry out the acquisition of barrier data.
It is also equipped with environment data acquisition device and attitude data acquisition device connected to the controller on the machinery foot,
The environment data acquisition device includes Temperature Humidity Sensor, and atmosphere pressure sensor, the attitude data acquisition device includes super
Sonic sensor and gyroscope.
It further include the rotating device for being mounted on the fixed disk upper surface, specific structure includes turntable, the first push rod and
Two push rods, first push rod and second push rod one end are separately mounted to the opposite both ends of turntable, first push rod and second
On two diagonally opposing corners for being mounted on frame of push rod, turning for turntable different angle is realized by the first push rod of control and the second push rod
It is dynamic.
When the revealed robot of the utility model cleans, a mechanical foot is adsorbed on metope, another pin pitch wall
It face fixed range and is parallel to metope and moves back and forth, while wherein cleaning agency works: water jet water spray, round brush rotation.Ultrasound
The mechanical foot of sensor judgement is modified to metope distance.After the completion of the region cleans, mechanical foot, which cleans, stops simultaneously horizontal direction
Before move to designated position, sucker suction to metope, another foot sucker air blowing is lifted, and is cut away from metope fixed range and is parallel to wall
Face moves back and forth, cleaning agency work, such alternate repetition.Wherein whether vacuum transducer reflection sucker is all sucked metope.
Multi-angle camera monitoring cleans environment, and for the cleaning at square edge, a mechanical foot is adsorbed on a face wall at right angle,
Control top push rod is located at another machinery foot above another face wall, adjusts push rod and mechanical underfooting end face is made to be parallel to wall
Face is cleaned, and is also hinge between mechanical arm and mechanical foot due to being hinged between two mechanical arms in the utility model structure
It connects, it is possible to which the operation for realizing the multi-angle of great-leap-forward is not limited by wall construction.
Compared with prior art, the two-legged type climbing robot that the utility model discloses, may be implemented accessible metope
Unmanned operation can allow operation and maintenance personnel remotely to understand and control operation for there is the metope of obstacle, this cleaning and maintenance machine
Device people will support device and robot body to separate, and mitigate robot body weight, enhance adsorption capacity, while using two-legged type
Structure can copy the mankind to realize great-leap-forward walking, for right angle, cleaning can be effectively realized at wall coverings item or partitioning slot, from
And complete cleaning.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the revealed two-legged type climbing robot of the utility model；
Fig. 2 is the revealed structural schematic diagram for supporting device of the utility model；
Fig. 3 is the front view of the revealed robot body of the utility model；
Fig. 4 is the top view of the revealed robot body of the utility model；
Fig. 5 is the bottom view of the left mechanical foot of the utility model；
Fig. 6 is the top view of the left mechanical foot of the utility model；
Fig. 7 is the top view of the right mechanical foot of the utility model；
Fig. 8 is walking schematic diagram.
Specific embodiment
Below in conjunction with the attached drawing of the utility model, the technical solution of the utility model embodiment is carried out clear, complete
Description.
A kind of revealed two-legged type climbing robot of the utility model is applied to external wall of high-rise building and cleans and safeguard,
As shown in Figure 1 comprising device 1, robot body 2 is supported to connect the company for supporting device 1 and the robot body 2
Hawser 3 and remote control terminal, the remote control terminal and the wired or wireless connection of the robot body are connect, for detecting
And control the robot body.
Particularly, the connection cable 3 includes traction rope, water inlet pipe, tracheae, cable and other stay pipe roads.
It is used as shown in Fig. 2, the support device 1 can be placed in high-rise roof cooperation guide rail, can also be placed in high work
On industry platform or lifting platform, moved with the movement of robot body 2 comprising pedestal 11, the elevator on pedestal 11
Machine 12, vacuum pump 13, water supply device 14, cable winding device 15 and power supply unit 16, the traction rope connect robot body 2
And hoist engine 12, the vacuum pump 13 connect tracheae, the water supply device 14 connects water inlet pipe, and the cable connection is in the confession
On electric installation 16, the water pipe, sewage pipe and cable are wrapped on the cable winding device 15.
As shown in Fig. 3 ~ 4, the robot body is two-legged type structure, and specific structure includes top bearing 21, is passed through
The left mechanical arm 22 and right mechanical arm 23 that top bearing 21 is hinged, 22 end of left mechanical arm are cut with scissors by left foot bearing 24
It is connected to left mechanical foot 25,23 end of right mechanical arm is hinged with right mechanical foot 27, the left mechanical arm by right crus of diaphragm bearing 26
22 are equipped with top push rod 4 with the hinged place of right mechanical arm 23, to extension and contraction control left mechanical arm 22 and right mechanical arm 23 around top
Portion's bearing 21 rotates, and achieves across big-movement, is equipped with left push rod 5 between the left mechanical foot 25 and left mechanical arm 22,
The left mechanical foot of extension and contraction control is rotated around left foot bearing, to realize the absorption of different directions curtain wall, the right mechanical foot 27 and right machine
Right push rod 6 is installed, the right mechanical foot of extension and contraction control is rotated around right crus of diaphragm bearing between tool arm 23.
The left mechanical arm 22 and right mechanical arm 23 are the frame structure of bending, and bending part is provided with a reinforcement
Muscle 28 is equipped with Multi-angle camera in left mechanical arm 22 and right mechanical arm 23 to ensure the intensity of bending part.
As shown in 5 ~ 6, the left mechanical foot 25 is identical as right mechanical 27 structure of foot, the frame including rectangular configuration, frame
With two long sides and two short sides, the bottom surface of two long sides is equipped with the fixed bracket 31 of sucker, is equipped with rolling on frame center axis
Brush 32 is parallel to long side, and motor 33 is equipped with outside frame short side and round brush 32 is sequentially connected to drive round brush 32 to rotate, described
Multiple suckers 34 are installed at equal intervals, and 34 center of sucker is equipped with suction nozzle 35 and passes through the fixed bracket of sucker on the fixed bracket 31 of sucker
Frame upper surface is extended to, vacuum transducer 40 is installed on the suction nozzle, detects whether to suck, is passed through between each suction nozzle 35
Vacuum tube 39 is interconnected, and frame upper surface center is equipped with fixed disk 36, is equipped with controller in fixed disk 36 and (is embedded in
Inside, not shown), environment data acquisition device 42(Temperature Humidity Sensor, atmosphere pressure sensor), the motor, temperature and humidity passes
Sensor, atmosphere pressure sensor, Multi-angle camera, top push rod, left push rod and right push rod are electrically connected with controller, described
Controller and power supply unit pass through cable connection, and the vacuum tube on the machinery foot is connected to with tracheae.
36 bottom surface of fixed disk is equipped with sparge pipe 37, and fountain head 41 is equipped at intervals on sparge pipe 37 etc., sparge pipe 37
Between round brush and frame at gap, round brush again of first spraying water is realized, or hydroblasting, the sparge pipe 37 connect first round brush again
Tap into water pipe.
Ultrasonic sensor 38 and gyroscope (not shown) are installed on four angles of the frame bottom surface, realize robot
The monitoring of ontology posture, wherein the distance of ultrasonic sensor feedback transducer position to metope, for judging mechanical pin pitch from wall
The distance in face, judge machine foot whether level in metope, gyroscope is gesture monitoring device, for robot measurement relative to perpendicular
Histogram to angle.
The left foot bearing 24 is mounted on the upper surface of the fixed disk of left mechanical foot 25, realizes left mechanical foot and left mechanical arm
Hinged installation, as shown in fig. 7, the fixed disk upper surface of the right mechanical foot is equipped with rotating device, specific structure includes turning
Disk 7(is such as chair turntable), one end of the first push rod 8 and the second push rod 9, first push rod 8 is mounted on one end of turntable, separately
One end is mounted on an angle of frame one end, and one end of second push rod is mounted on the turntable other end, push rod other end peace
On another angle of frame, the joint angle with the first push rod is in diagonally opposing corner.It is real by the first push rod of control and the second push rod
The rotation of existing turntable different angle, the right crus of diaphragm bearing 26, which is mounted on, realizes the hinged of right mechanical foot and right mechanical arm on turntable 7
Installation.
The workflow of the revealed two-legged type climbing robot of the utility model is illustrated below,
Will support device 1 be placed on high-rise roof or senior engineer's job platform or lifting platform (if being placed into high-rise roof,
Need that dragging track is installed), robot body 1 is placed on the metope for needing to clean, robot body 2 starts work at this time
Make, water supply device 24 is supplied water by water pipe to the spray head, and water is sprayed on metope, and the round brush is scrubbed, and is cleaned at one
It finishes, the robot body 2 is moved to next place.
The process of moving of the robot is
Robot moves: when starting to advance, the left mechanical foot air-breathing of robot is adsorbed on wall, right machinery foot sucker spray
Gas unclamps, and left push rod elongation pushes mechanical arm that right mechanical foot is pushed away out metope certain distance, and then three push rods cooperate,
Keep right mechanical foot level mobile in metope fixed range direction of travel.After right machinery foot is moved to designated position, right machinery foot
It is pressed on metope, right machinery foot sucker air-breathing is adsorbed on metope.
Then left mechanical foot leaves metope, and level is adsorbed on metope after metope is retracted to designated position completes a step.
Repeatedly, when robot advances, round brush is carried out to metope.
Robot pinpoints round brush: the mechanical foot of one, robot is adsorbed on metope, and another machinery foot level is come in metope
Flyback brush.
Robot turns to: the left mechanical foot sucker air-breathing of robot is adsorbed on metope, and left and right push rod collaborative work arm will be right
After mechanical foot lifts a distance and is parallel to metope, left machinery foot transfer (push rod) control robot or so mechanical arm and
Right crus of diaphragm is rotated around left foot, after turning to designated position, in the right mechanical foot press to metope of the mechanical foot Collaborative Control in left and right, and right machine
Tool foot sucker air-breathing is adsorbed on metope.
Then it controls left mechanical foot sucker to blow, left machinery foot is lifted off metope, and left machinery foot transfer control is left
Mechanical foot level is rotated in metope, turn to it is parallel with right mechanical foot after stop, in left machinery foot press to metope, sucker is inhaled
Gas.
The technology contents and technical characteristic of the utility model have revealed that as above, however those skilled in the art still may be used
Can teaching based on the utility model and announcement and make various replacements and modification without departing substantially from the spirit of the present invention, therefore, this
Utility model protection range should be not limited to the revealed content of embodiment, and should include the various replacements without departing substantially from the utility model
And modification, and covered by present patent application claim.
Claims (8)
1. a kind of two-legged type climbing robot, including support device, robot body and the connection robot body and institute
State the connection cable for supporting device, it is characterised in that: the robot body is two-legged type structure, is specifically included symmetrical
Two mechanical arms and mechanical foot, in which:
The mechanical arm of left and right two is equipped with top push rod, two machines of extension and contraction control or so by top bearing hinge connection between arm
Tool arm is forwarded dynamic around top axle；
The machinery foot is equipped with push rod in mechanical arm end, and between mechanical foot and mechanical arm by foot bearing hinge connection, stretches
Contracting controls mechanical foot and rotates around foot bearing；
The machinery foot is rectangular frame structure, including rectangular frame, the fixed branch of the sucker being mounted in two long side of rectangular frame
Frame, the round brush being mounted on frame center axis is mounted on the motor of frame sides driving round brush rotation, and is mounted on suction at equal intervals
Plural sucker on the fixed bracket of disk, the sucker center are equipped with suction nozzle, are interconnected between each suction nozzle by vacuum tube, institute
It states rectangular frame upper surface center and fixed disk is installed, the fixed disk upper surface is equipped with controller, the controller and electricity
Mechatronics, the fixed disk bottom surface is provided with the sparge pipe of spray head, and sparge pipe is between round brush and rectangular frame
Round brush again of first spraying water is realized in gap.
2. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: the support device includes supplying water
Device, power supply unit, cable winding device, vacuum pump and hoist engine.
3. a kind of two-legged type climbing robot according to claim 2, it is characterised in that: the connection cable includes traction
Rope, water supplying pipe, tracheae and cable, the top bearing of traction rope the connection hoist engine and robot body, the water supplying pipe connect
Connect water supply device and sparge pipe, power supply unit described in the cable connection and controller, the tracheae connection vacuum pump and vacuum
Pipe.
4. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: the machinery foot is pacified on four angles
It equipped with ultrasonic sensor, is connect with controller, to feed back mechanical pin pitch with a distance from metope, auxiliary robot is mobile.
5. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: it further include remote control terminal,
The remote control terminal and the wired or wireless connection of the robot body, for detecting and controlling the robot body.
6. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: further include installing on the robotic arm
Multi-angle camera connect with controller, for monitoring the robot body and ambient enviroment, carry out barrier data and adopt
Collection.
7. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: be also equipped on the machinery foot
Environment data acquisition device and attitude data acquisition device connected to the controller, the environment data acquisition device include warm and humid
Sensor is spent, atmosphere pressure sensor, the attitude data acquisition device includes ultrasonic sensor and gyroscope.
8. a kind of two-legged type climbing robot according to claim 1, it is characterised in that: further include being mounted on the fixation
The rotating device of disk upper surface, specific structure include turntable, the first push rod and the second push rod, first push rod and the second push rod
One end is separately mounted to the opposite both ends of turntable, two diagonally opposing corners for being mounted on frame of first push rod and the second push rod
On, the rotation of turntable different angle is realized by the first push rod of control and the second push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820063218.5U CN208274533U (en) | 2018-01-16 | 2018-01-16 | A kind of two-legged type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820063218.5U CN208274533U (en) | 2018-01-16 | 2018-01-16 | A kind of two-legged type climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208274533U true CN208274533U (en) | 2018-12-25 |
Family
ID=64748018
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820063218.5U Expired - Fee Related CN208274533U (en) | 2018-01-16 | 2018-01-16 | A kind of two-legged type climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208274533U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224299A (en) * | 2020-10-16 | 2021-01-15 | 哈尔滨工程大学 | An abalone-like suction cup climbing robot |
| CN113287987A (en) * | 2021-06-16 | 2021-08-24 | 陕西中建建乐智能机器人股份有限公司 | Wall surface cleaning robot |
-
2018
- 2018-01-16 CN CN201820063218.5U patent/CN208274533U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112224299A (en) * | 2020-10-16 | 2021-01-15 | 哈尔滨工程大学 | An abalone-like suction cup climbing robot |
| CN113287987A (en) * | 2021-06-16 | 2021-08-24 | 陕西中建建乐智能机器人股份有限公司 | Wall surface cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20181225 Termination date: 20210116 |