CN209136420U - A kind of high altitude operation robot - Google Patents
A kind of high altitude operation robot Download PDFInfo
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- CN209136420U CN209136420U CN201821525345.9U CN201821525345U CN209136420U CN 209136420 U CN209136420 U CN 209136420U CN 201821525345 U CN201821525345 U CN 201821525345U CN 209136420 U CN209136420 U CN 209136420U
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Abstract
The utility model discloses a kind of high altitude operation robots, are related to robotic technology field.The high altitude operation robot includes: robot body, rope and service line；The operation unit and rope climbing mobile unit of the robot body is installed on the main body frame, the operation unit is used for the wall face operation of building, one end of the rope is mounted on building top, the other end of the rope is put into ground along the wall face of building, the rope climbing mobile unit is flexibly connected with the rope and the robot body is driven to climb or decline along the rope, and the service line connects the robot body and provides power supply and operation material for it.The high altitude operation robot can be used for different types of wall face operation, strong environmental adaptability.
Description
Technical field
The utility model relates to robotic technology fields, more particularly, to a kind of high altitude operation robot.
Background technique
In the field of operating condition danger, robot substitution is manually an irreversible trend, and future will more and more
High-risk operations, such as building glass curtain wall installation cleaning, exterior wall finishing, glass replacement, Advertisement with decorative lamp are carried out using robot
The high altitude operation such as installation.By taking curtain cleaning as an example, the cleaning of current external wall is main or by the way of manually cleaning, packet
It includes and hangs spider-man's cleaning, the cleaning of seat-plate type suspension operation and cradling cleaning.Outside Wall Cleaning is carried out using artificial, is risen suddenly
The uncontrollable factors such as wind, safe fracture of rope, hanging basket be out of control are more, and safety accident occurs frequently, to have every year much about spider-man
The dead relevant report of accident occurs.Therefore, in field of aerial work, machine substitution is artificial very urgent.
Under the conditions of the prior art, also there are some robots for high altitude operation.Such as using magnet adsorb steel plate come
The high altitude operation robot moved up and down, but such robot can only be used in steel plate structure curtain wall scene, it is difficult to it promotes.It is existing
Another high altitude operation robot realizes patch wall and movement using sucker alternating movement, but such robot obstacle performance is poor,
And the barrier of all kinds of prominent wall faces is often had on external wall, therefore be also difficult to promote.In addition it is there are also some modes
Set up loop wheel machine in roof, have hoist engine on loop wheel machine, hoist engine plays robot by fixed pulley, and draw robot on move down
It is dynamic.In such a way that roof sets up loop wheel machine, the problem of being primarily present, which is to set up in roof, is hung for high building high altitude operation robot
Machine is constructed relatively difficult, the more difficult receiving of owner, and most of roof is not smooth flooring, generally have water tank, air-conditioning,
The various objects such as cable tubing, communication antenna.In addition, the high buildings and large mansions created in recent years, in order to which security consideration is substantially all
Attic exterior wall can be made high, typically 4-10 meters, significantly increase and set up the difficulty of loop wheel machine in roof.
Summary of the invention
The purpose of this utility model is to provide a kind of high altitude operation robots, to solve existing high altitude operation robot peace
Dress complexity, the problem of environmental suitability difference.
In order to achieve the above object, the utility model provides a kind of high altitude operation robot, for assisting or substituting people
Work completes high altitude operation, and the high altitude operation robot includes: robot body, rope and service line；
The robot body includes: main body frame, operation unit and rope climbing mobile unit, the operation unit and described
Rope climbing mobile unit is installed on the main body frame, and the operation unit is used for the wall face operation of building；The rope
One end of rope is mounted on the top of the building, and the other end of the rope is put into ground along the wall face of the building
Face, the rope climbing mobile unit be flexibly connected with the rope and drive the robot body along the rope climb or under
Drop, the service line connect the robot body and provide power supply and operation material for it.
Optionally, the operation unit includes cleaning component, application element, welding assembly, detection part or curtain wall peace
Fill the combination of component or above-mentioned a variety of components.
Optionally, the high altitude operation robot further includes for detecting the barrier on the wall face of the building
Detection of obstacles unit, the detection of obstacles unit are mounted on the main body frame, and the detection of obstacles unit includes
The combination of ultrasonic distance-measuring sensor, laser range sensor or camera or these three components.
Optionally, the high altitude operation robot further includes for crossing the barrier on the wall face of the building
Obstacle detouring unit, the obstacle detouring unit are mounted on the main body frame, and the obstacle detouring unit includes telescopic push rod, when described
When detection of obstacles unit detects the barrier, the robot body is lifted off the building by the push rod elongation
Wall face, after the robot body crosses the barrier, the push rod shortening enables the robot body to adhere to
In the wall face of the building.
Optionally, the exterior wall face contact of the operation unit and the building, the main body frame and the building
Wall face have certain distance, when the detection of obstacles unit detects the barrier, push rod elongation will be described
Main body frame is lifted off the wall face of the building, and the operation unit is enable to cross the barrier, when the push rod is
When will encounter the barrier, the push rod shortens to cross the barrier.
Optionally, the robot body further includes leaning on wall unit, described to be mounted on the main body frame by wall unit,
For making the high altitude operation robot be attached to the wall face of the building, it is described by wall unit include sucker and/or spiral shell
Revolve paddle.
Optionally, the robot body further includes that laterally correction unit, the laterally correction unit are mounted on the master
On body frame, enable high altitude operation robot transverse shifting, the laterally correction unit includes propeller and/or driving
Wheel.
Optionally, the rope climbing mobile unit includes: motor, speed reducer, crawling wheel and cooperates with the crawling wheel
Two guide wheels, the crawling wheel and two guide wheels are arranged in isosceles triangle, and the rope that vertical direction extends passes through an institute
It states guide wheel to be wrapped on the outer circumference surface of the crawling wheel, and return to vertical direction, the electricity by winding another guide wheel
The output end of machine is connect after speed reducer deceleration with the crawling wheel, the rotation of crawling wheel described in the motor driven, in turn
The robot body is driven to climb or decline along the rope.
Optionally, the quantity of the rope is two, and the quantity of the rope climbing mobile unit is two, two ropes
It is connect respectively with two rope climbing mobile units.
Optionally, the service line includes water pipe, cable, tracheae and oil pipe or this combination.
In a kind of high altitude operation robot provided by the utility model, the high altitude operation robot includes: robot
Main body, rope and service line；The robot body includes: main body frame, operation unit and rope climbing mobile unit, the work
Industry unit and the rope climbing mobile unit are installed on the main body frame, and the operation unit is used for the wall face of building
Operation；One end of the rope is mounted on the top of the building, and the other end of the rope is along the outer of the building
Metope is put into ground, and the rope climbing mobile unit is flexibly connected with the rope and drives the robot body along the rope
It climbs or declines, the service line connects the robot body and provides power supply and operation material for it.Make in the high-altitude
Industry robot is mobile using rope climbing and rope climbing mobile unit, and the structure is easy for installation, is applicable to different types of wall face and makees
Industry.
Detailed description of the invention
Fig. 1 is the high altitude operation robot architecture figure that an embodiment of the present invention provides；
Wherein: 1- rope, 2- service line, 31- rope climbing mobile unit, 311- guide wheel, 312- crawling wheel, 32- body frame
Frame, 33- operation unit, 331- hairbrush, 332- water suction handhold, 34- detection of obstacles unit, 35- obstacle detouring unit, 36- lean on wall list
Member, 37- transverse direction correction unit.
Specific embodiment
Specific embodiment of the present utility model is described in more detail below in conjunction with schematic diagram.It is retouched according to following
It states and claims, will be become apparent from feature the advantages of the utility model.It should be noted that attached drawing is all made of very simplification
Form and use non-accurate ratio, only to it is convenient, lucidly aid in illustrating the purpose of the utility model embodiment.
As mentioned in the background, the existing high altitude operation machine moved up and down using magnet absorption steel plate
People can only use in steel plate structure curtain wall scene；It is existing to realize that patch wall and mobile high-altitude are made using sucker alternating movement
Industry robot, obstacle performance are poor；The existing high altitude operation robot moved up and down using hoist engine and fixed pulley, is needed in building
Upper frame sets loop wheel machine, constructs relatively difficult.And a kind of high altitude operation robot of maturation, it has to be possible to complete on the outside of building
The functions such as lower movement and obstacle detouring, and it is easy for construction simple, a variety of different scenes, i.e. high altitude operation robot can be coped at least
It needs to realize following functions:
1, high altitude operation robot allows for the wall face outside building and moves up and down, to realize that the exterior wall of large area is made
Industry；
2, high altitude operation robot must realize patch wall operation, otherwise will shake with the wind in high air-robot, not only
Cannot operation, also bring very big security risk, such as pounded to glass by wind is then heavy from exterior wall；
3, high altitude operation robot needs continuous operation ability, and cruising ability is not strong or is frequently necessary to drop to downstairs
Replacement material can then largely effect on working efficiency；
4, high altitude operation robot needs the ability for crossing more barrier, and the wall face of many buildings has various
Barrier, such as the glass frame of glass curtain wall, stone material edge of door and window etc., robot, must when pasting wall operation
Obstacle detouring must be can be realized, just can ensure that be not in motion process block or can not be upper and lower problem.
Based on above-mentioned cognition, inventor devises a kind of high altitude operation robot, is accomplished manually height for assisting or substituting
Idle job.Fig. 1 is the high altitude operation robot architecture figure that an embodiment of the present invention provides, as shown in Figure 1, the high-altitude is made
Industry robot includes: robot body, rope 1 and service line 2；The robot body includes: main body frame 32, job ticket
Member 33 and rope climbing mobile unit 31, the operation unit 33 and the rope climbing mobile unit 31 are installed in the main body frame
On, the operation unit 33 is used for the wall face operation of building；One end of the rope 1 is mounted on the top of the building
The other end at end, the rope 1 is put into ground, the rope climbing mobile unit 31 and the rope along the wall face of the building
Rope 1 is flexibly connected and the robot body is driven to climb or decline along the rope 1, and the service line 2 connects the machine
Device human agent simultaneously provides power supply and operation material for it.
Further, the operation unit 33 includes cleaning component, application element, welding assembly, detection part or curtain
The combination of wall installing component or above-mentioned a variety of components.The operation unit 33 is that the high altitude operation machine is done directly height
The component of idle job, the high altitude operation robot include outside Wall Cleaning machine people, high-altitude spray robot, overhead welding machine
People, high-altitude detection robot and high-altitude curtain wall mounting robot.The operation unit of the outside Wall Cleaning machine people includes hairbrush
331, water scrape and (do not marked in figure) and absorb water handhold 332, the operation unit of the high-altitude spray robot include nozzle and
The action cell 33 of paint can, high-altitude detection robot includes camera and detection sensor, the overhead welding
The operation unit 33 of robot is including welding gun etc..It should be noted that Fig. 1 is the height that an embodiment of the present invention provides
Idle job robot architecture schemes, and only illustrates the knot of the high altitude operation robot in Fig. 1 with the artificial example of the outer wall cleaning robots
Structure, operation unit 33 described in figure are cleaning component, comprising: hairbrush 331 and water suction handhold 332, the hairbrush 331 and the suction
Water handhold 332 is installed on the main body frame 32, the action cleans metope from top to bottom of outer wall cleaning robots people described in figure,
The hairbrush 331 is mounted on 32 lower end of main body frame, and the water suction handhold 332 is mounted on 32 upper end of main body frame.
The high-altitude spray robot, the overhead welding robot, high-altitude detection robot and the high-altitude curtain wall fitting machine
Only the operation unit 33 is different by device people etc., and other structures are identical, and so it will not be repeated.
Further, as shown in Figure 1, the high altitude operation robot further includes the wall face for detecting the building
On barrier detection of obstacles unit 34, the detection of obstacles unit 34 is mounted on the main body frame 32, described
Detection of obstacles unit 34 includes ultrasonic distance-measuring sensor, laser range sensor or camera or these three components
Combination.The detection of obstacles unit 34 can detect the barrier in high altitude operation robot movement routine.
Further, as shown in Figure 1, the high altitude operation robot further includes the wall face for crossing the building
On barrier obstacle detouring unit 35, the obstacle detouring unit 35 is mounted on the main body frame 32, and the obstacle detouring unit 35 wraps
Telescopic push rod is included, when the detection of obstacles unit 34 detects the barrier, the push rod is extended the machine
Device human agent is lifted off the wall face of the building, and after the robot body crosses the barrier, the push rod shortens
Robot body is set to be attached to the wall face of the building.The high altitude operation machine man-hour, the job ticket
First exterior wall face contact with the building, the wall face of the main body frame and the building has certain distance at this time, when
When the detection of obstacles unit 34 detects the barrier, the robot body is lifted off described build by the push rod elongation
The wall face for building object enables the operation unit 33 to cross the barrier, when the push rod will encounter the barrier
When, the push rod shortens the exterior wall face contact for making the operation unit 33 and the building, and then the push rod is crossed described
Barrier.The push rod includes the telescopic pusher structure such as electric pushrod, cylinder push-rod.
Further, the robot body further includes described by wall unit 36, it is described be mounted on by wall unit 36 it is described
It is described to lean on wall unit packet for making the high altitude operation robot be attached to the wall face of the building on main body frame 32
Include sucker and/or propeller.The sucker can be the robot body and be adsorbed on the wall face of building, the propeller
It can dry toward the wall face direction far from the building to provide reaction force, the robot body is made to be attached to described build
It builds on the wall face of object.
Further, the robot body further includes the laterally correction unit 37, and the laterally correction unit 37 is pacified
On the main body frame 32, enable high altitude operation robot transverse shifting, the laterally correction unit 37 includes
Propeller and/or driving wheel.The robot body may be inclined by wind in high building, described in order to resist this offset
Robot body is required to provide the component for moving left and right power.The laterally correction unit 37 can be to be blown toward left and right directions
The propeller of wind is also possible to the driving wheel mobile with the left and right directions of the exterior wall face contact of the building.
Further, the rope climbing mobile unit 31 include: motor, speed reducer, crawling wheel 312 and with the crawling wheel
At least two guide wheels 311 (motor and speed reducer does not mark in figure) of 312 cooperations, the crawling wheel 312 and two of them institute
It states guide wheel 311 to be arranged in isosceles triangle, the rope 1 that vertical direction extends is wrapped in described creep by a guide wheel 311
On the outer circumference surface of wheel 312, and vertical direction is returned to by winding another introduction 311, the defeated outlet of the motor is through institute
It states after speed reducer slows down and is connect with the crawling wheel 312, the rotation of crawling wheel 312 described in the motor driven, and then described in drive
Robot body climbs or declines along the rope 1.The effect of rope 1 is to provide high altitude operation robot and persistently moves up and down
Motion path, while with the high altitude operation robot keep connection avoid the occurrence of falling accident.The rope 1 connects described
It is to be wound in by the guide wheel 311 on the periphery of the crawling wheel 312 when rope climbing mobile unit 31, the crawling wheel 312
It is sufficiently large to guarantee that the rope 1 and the crawling wheel 312 are not in slipping phenomenon with 1 contact area of rope.It is described
The preferably wear-resisting, high temperature resistant of rope 1 and professional high altitude operation class rope corrosion-resistant, that pulling force is big.
Further, the quantity of the rope 1 is two, and the quantity of the rope climbing mobile unit 31 is two, two institutes
Rope 1 is stated to connect with two rope climbing mobile units 31 respectively.The rope climbing mobile unit 31 can use 1, can also be with
Using 2 or 2 or more, the quantity and 1 quantity of the rope of the rope climbing mobile unit 31 are usually one-to-one relationship.Make
To be preferred, the rope climbing mobile unit 31 and 1 quantity of the rope are all 2, and the first from left right side is set to the body frame
32 two sides of frame, can do carrying out safety backup, also be able to cooperate the balance that attitude transducer realizes horizontal direction.
Further, service line 2 includes water pipe, cable, tracheae or oil pipe or this combination.The operation
Pipeline 2 connects the robot body and provides power supply and operation material for it, has the high altitude operation robot and continues
Work capacity avoids cruising ability not strong or is frequently necessary to drop to replace material downstairs to influence working efficiency.
With the artificial example of the outer wall cleaning robots, as shown in Figure 1, outer wall cleaning robots people action cleans from top to bottom
Metope, the hairbrush 331 and the detection of obstacles unit 34 are mounted on 32 lower end of main body frame, the water suction handhold
332 are mounted on 32 upper end of main body frame, and are arranged on the push rod.When the detection of obstacles unit 34 detects institute
When stating barrier, the push rod elongation makes the hairbrush 331 cross the barrier, and the robot body continues fortune downwards
Dynamic, when the push rod is close to the barrier, the push rod shortening, the hairbrush 331 contacts the exterior walls of buildings, then
The water suction handhold 332 and the push rod can cross the barrier, and the push rod restores original length.It is readily comprehensible
It is that the outer wall cleaning robots people can also move clean metope from the bottom up, the hairbrush 331,332 and of water suction handhold at this time
The detection of obstacles unit makees corresponding position variation.
In conclusion in the high altitude operation robot that an embodiment of the present invention provides, the high altitude operation machine
People includes: robot body, rope and service line；The robot body includes: that main body frame, operation unit and rope climbing move
Moving cell, the operation unit and the rope climbing mobile unit are installed on the main body frame, and the operation unit is used for
The wall face operation of building；One end of the rope is mounted on the top of the building, the other end of the rope along
The wall face of the building is put into ground, and the rope climbing mobile unit is flexibly connected with the rope and drives the robot
Main body is climbed or is declined along the rope, and the service line connects the robot body and provides power supply and operation object for it
Material.The robot body further includes leaning on wall unit and laterally correction unit, described to be mounted on the main body frame by wall unit
On, for making the high altitude operation robot be attached to the wall face of the building；The laterally correction unit is mounted on institute
It states on main body frame, enables high altitude operation robot transverse shifting.The high altitude operation robot is using rope climbing and climbs
Mobile unit of restricting is mobile, and the structure is easy for installation, is applicable to different types of wall face operation；It is provided with detection of obstacles list
Member and obstacle detouring unit, enable the high altitude operation robot to cross wall face barrier；By wall unit and laterally, correction is single for setting
Member enhances the adaptive capacity to environment of the high altitude operation robot.
The preferred embodiment that above are only the utility model, does not play the role of any restrictions to the utility model.
Any person of ordinary skill in the field, in the range of not departing from the technical solution of the utility model, to the utility model
The technical solution and technology contents of exposure make the variation such as any type of equivalent replacement or modification, belong to without departing from the utility model
Technical solution content, still fall within the protection scope of the utility model.
Claims (10)
1. a kind of high altitude operation robot is accomplished manually high altitude operation for assisting or substituting, which is characterized in that make in the high-altitude
Industry robot includes: robot body, rope and service line；
The robot body includes: main body frame, operation unit and rope climbing mobile unit, the operation unit and the rope climbing
Mobile unit is installed on the main body frame, and the operation unit is used for the wall face operation of building；
One end of the rope is mounted on the top of the building, the other end of the rope along the building exterior wall
Face is put into ground, and the rope climbing mobile unit is flexibly connected with the rope and the robot body is driven to climb along the rope
It rises or decline, the service line connects the robot body and provide power supply and operation material for it.
2. high altitude operation robot according to claim 1, which is characterized in that the operation unit include cleaning component,
The combination of application element, welding assembly, detection part perhaps curtain wall installing component or above-mentioned a variety of components.
3. high altitude operation robot according to claim 1, which is characterized in that the high altitude operation robot further includes using
In the detection of obstacles unit of the barrier on the wall face for detecting the building, the detection of obstacles unit is mounted on institute
It states on main body frame, the detection of obstacles unit includes ultrasonic distance-measuring sensor, laser range sensor or camera, or
The combination of these three components of person.
4. high altitude operation robot according to claim 3, which is characterized in that the high altitude operation robot further includes using
In the obstacle detouring unit of the barrier on the wall face for crossing the building, the obstacle detouring unit is mounted on the main body frame
On, the obstacle detouring unit includes telescopic push rod, described to push away when the detection of obstacles unit detects the barrier
Bar extends the wall face that the robot body is lifted off to the building, when the robot body crosses the barrier
Afterwards, the push rod shortens the wall face for enabling the robot body to be attached to the building.
5. high altitude operation robot according to claim 4, which is characterized in that the operation unit and the building
The wall face of exterior wall face contact, the main body frame and the building has certain distance, when the detection of obstacles unit is examined
When measuring the barrier, the main body frame is lifted off the wall face of the building by the push rod elongation, makes the operation
Unit can cross the barrier, and when the push rod will encounter the barrier, the push rod shortens described to cross
Barrier.
6. high altitude operation robot according to claim 1, which is characterized in that the robot body further includes by wall list
Member, it is described to be mounted on the main body frame by wall unit, for making the high altitude operation robot be attached to the building
Wall face, it is described by wall unit include sucker and/or propeller.
7. high altitude operation robot according to claim 1, which is characterized in that the robot body further includes laterally entangling
Inclined unit, the laterally correction unit are mounted on the main body frame, enable high altitude operation robot transverse shifting,
The laterally correction unit includes propeller and/or driving wheel.
8. high altitude operation robot according to claim 1, which is characterized in that the rope climbing mobile unit include: motor,
Speed reducer, crawling wheel and at least two guide wheels with crawling wheel cooperation, guide wheel described in the crawling wheel and two of them
It is arranged in isosceles triangle, the rope that vertical direction extends is wrapped in the outer circumference surface of the crawling wheel by a guide wheel
On, and return to vertical direction by winding another guide wheel, the output end of the motor after speed reducer deceleration with institute
Crawling wheel connection is stated, crawling wheel rotation described in the motor driven, and then the robot body is driven to climb along the rope
Or decline.
9. high altitude operation robot according to claim 1 or 8, which is characterized in that the quantity of the rope is two, institute
The quantity for stating rope climbing mobile unit is two, and two ropes are connect with two rope climbing mobile units respectively.
10. high altitude operation robot according to claim 1, which is characterized in that the service line includes water pipe, electricity
Perhaps oil pipe or this combination of cable, tracheae.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821525345.9U CN209136420U (en) | 2018-09-18 | 2018-09-18 | A kind of high altitude operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821525345.9U CN209136420U (en) | 2018-09-18 | 2018-09-18 | A kind of high altitude operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209136420U true CN209136420U (en) | 2019-07-23 |
Family
ID=67267292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821525345.9U Expired - Fee Related CN209136420U (en) | 2018-09-18 | 2018-09-18 | A kind of high altitude operation robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209136420U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| WO2021082624A1 (en) * | 2019-10-28 | 2021-05-06 | 南京中科特检机器人有限公司 | Climbing mechanism and cleaning robot |
-
2018
- 2018-09-18 CN CN201821525345.9U patent/CN209136420U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171543A (en) * | 2018-09-18 | 2019-01-11 | 上海霄卓机器人有限公司 | A kind of high altitude operation robot |
| WO2021082624A1 (en) * | 2019-10-28 | 2021-05-06 | 南京中科特检机器人有限公司 | Climbing mechanism and cleaning robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190723 Termination date: 20200918 |
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| CF01 | Termination of patent right due to non-payment of annual fee |