CN209460209U - Percussive curtain wall detection device - Google Patents
Percussive curtain wall detection device Download PDFInfo
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- CN209460209U CN209460209U CN201920138563.5U CN201920138563U CN209460209U CN 209460209 U CN209460209 U CN 209460209U CN 201920138563 U CN201920138563 U CN 201920138563U CN 209460209 U CN209460209 U CN 209460209U
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- detection
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- curtain wall
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Abstract
The utility model relates to a kind of percussive curtain wall detection devices being installed on glass curtain wall climbing robot.Including detection swinging frame, detection support and equipped with the exciting bank of striking head；One end of the detection swinging frame is articulated in rack, and the other end is equipped with detection swinging frame perforation；The exciting bank is installed in detection support；The two sides of the detection support are respectively equipped with idler wheel；The detection support is equipped with detection support sliding bar；The overhanging end of detection support sliding bar is pierced by detection swinging frame perforation；The detection swing driving mechanism that can drive the opposite rack swing of detection swinging frame is equipped between the rack and detection swinging frame.The utility model drives detection swinging frame to swing with respect to rack so that idler wheel contacts and presses on the vitreous surface of curtain wall in the vitreous surface for needing to detect curtain wall.When being not required to the vitreous surface of detection curtain wall, drive detection swinging frame that so that idler wheel leaves the vitreous surface of curtain wall, the flexibility used can be improved with respect to rack swing.
Description
Technical field
The utility model relates to a kind of glass curtain walls to climb robot, be installed on glass curtain wall climbing more particularly, to one kind
Percussive curtain wall detection device on robot.
Background technique
Glass curtain wall climbing robot is mainly used for replacing the high altitude operation such as manually cleaning glass curtain wall, detect.
The glass board checking device of existing curtain wall mainly includes percussive curtain wall detection device, such as Chinese utility model patent specification
A kind of glass curtain wall for safety partition detection robot disclosed in CN207923787U falls off risk supervision device, can also join
See Zhang Chuanmiao, Liu Rong and Wang Ke of Mechanicac Engineering and Automation institute, BJ University of Aeronautics & Astronautics in December, 2013 in " machine
Tool engineering and automation " " development of the climbing robot for glass curtain wall on-site test " (article number 1672- for delivering
6413 (2013) 06-0130-03) disclosed in detection device.Those detection devices pass through exciting bank, pressing device and sensing
Device realizes the detection of the glass plate of curtain wall.But the flexibility that those detection devices use need to be improved.
Summary of the invention
The purpose of this utility model is to provide a kind of percussive curtain wall detection devices, and it is mechanical to be installed on glass curtain wall climbing
On people, it includes rack which, which climbs robot,；The percussive curtain wall detection device includes detection swinging frame, detection support
With the exciting bank for being equipped with striking head；One end of the detection swinging frame is articulated in rack, and the other end is equipped with detection swinging frame and wears
Hole；The exciting bank is installed in detection support；The two sides of the detection support are respectively equipped with idler wheel；The detection support is equipped with detection
Bracket slide bar；The overhanging end of detection support sliding bar is pierced by detection swinging frame perforation, and detection support sliding bar and detection
Swinging frame perforation is slidably matched, and the overhanging end of detection support sliding bar is equipped with detection support and limits baffle, detection support limiting block
The diameter of piece is greater than the diameter of detection swinging frame perforation；Detection support spring, detection support bullet are cased on detection support sliding bar
One end of spring is pressed in detection support, and the other end is pressed on detection swinging frame；It is equipped between the rack and detection swinging frame
Detection swinging frame can be driven with respect to the detection swing driving mechanism that rack is swung.
The utility model selectively makes idler wheel contact or leave curtain by making to detect when swinging frame is swung with respect to rack
The vitreous surface of wall.In the vitreous surface for needing to detect curtain wall, detection swinging frame is driven to swing with respect to rack so as to roll
Wheel contacts and presses on the vitreous surface of curtain wall.When being not required to the vitreous surface of detection curtain wall, detection swinging frame phase is driven
To rack swing so that idler wheel leaves the vitreous surface of curtain wall, the flexibility used can be improved.And pass through setting detection branch
For frame spring so that detection support uses floating assembly form, adjustable idler wheel compresses the pressure of the vitreous surface of curtain wall, can be with
Reduce the service life due to hard contact Deng adverse effects are avoided, cushioning buffer effect can be played.
Detailed description of the invention
Fig. 1 and Fig. 2 respectively illustrates the solid of two different angles of the glass curtain wall climbing robot of the utility model
Schematic diagram；
Fig. 3 and Fig. 4 all illustrates an orthographic projection schematic diagram of the glass curtain wall climbing robot of the utility model,
In, Fig. 3 shows the surface that round brush, idler wheel and the second vacuum chuck contact cladding glass body, and the first vacuum chuck from
The surface of opening wall vitreum；Fig. 4 shows the surface that round brush, idler wheel and the second vacuum chuck are away from cladding glass body,
And the surface of the first vacuum chuck contact cladding glass body；
The stereo decomposing that Fig. 5 and Fig. 6 respectively illustrates two different angles of the absorption steering mechanism of the utility model shows
It is intended to；
Fig. 7 and Fig. 8 respectively illustrates two of the curtain cleaning device of the glass curtain wall climbing robot of the utility model
The stereoscopic schematic diagram of different angle；
Fig. 9 shows the stereo decomposing signal of the curtain cleaning device of the glass curtain wall climbing robot of the utility model
Figure；
Figure 10 and Figure 11 respectively illustrates the stereoscopic schematic diagram of two different angles of the utility model；
Figure 12 shows the perspective exploded view of the utility model.
Specific embodiment
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Embodiment one:
A kind of percussive curtain wall detection device as shown in Figure 10 to Figure 12 is installed on glass curtain wall climbing robot,
As shown in Figures 1 to 4, glass curtain wall climbing robot includes rack, which includes detection pendulum
Moving frame 201, detection support 202 and the exciting bank 204 equipped with striking head 203；
One end of the detection swinging frame 201 is articulated in rack 10, and the other end is equipped with detection swinging frame perforation 205；This reality
It applies in example, one end of the detection swinging frame 201 is articulated with the head 101 of rack；
The exciting bank 204 is installed in detection support 202；In the present embodiment, which is also wrapped
It includes and is installed on the pressing device that detection support is equipped with sensor, which can be pressed in sensor the glass plate of curtain wall
Surface；Exciting bank, pressing device and sensor belong to the prior art, and for details, reference can be made to Chinese utility model patents to illustrate
Technical solution disclosed in book CN207923787U, also reference can be made to of Mechanicac Engineering and Automation institute, BJ University of Aeronautics & Astronautics
It passes vast, Liu Rong and Wang Ke and " is used for glass curtain wall on-site test in what " mechanical engineering and automation " was delivered in December, 2013
Climbing robot development " detection device disclosed in (article number 1672-6413 (2013) 06-0130-03), herein no longer
It repeats；
The two sides of the detection support 202 are respectively equipped with idler wheel 206, and idler wheel selectively leaves when detecting swinging frame and swinging
Or the glass pane surface of contact curtain wall, the technical solution have the excitation dress that can determine in detection support by setting idler wheel
It sets with a distance from the glass pane surface of curtain wall, thus to guarantee to carry out in percussion detection process in the glass plate to curtain wall, excitation
Glass pane surface of the device (i.e. striking head) from curtain wall has with a distance from scheduled, avoids the occurrence of striking head and is close to glass from curtain wall
Plate surface and can not carry out tap detection the phenomenon that, with guarantee tap detection go on smoothly；
The detection support 202 is equipped with detection support sliding bar 207 corresponding with detection swinging frame 205 positions of perforation；
The overhanging end 208 of detection support sliding bar is pierced by detection swinging frame corresponding with the detection support sliding bar position and wears
Hole 205, and 205 sliding of detection swinging frame perforation corresponding with the detection support sliding bar position of detection support sliding bar 207
Cooperation, the overhanging end 208 of detection support sliding bar are equipped with detection support and limit baffle 209, and detection support limits the straight of baffle 209
Diameter is greater than the diameter of detection swinging frame perforation 205；Detection support is limited when baffle 209 leans with detection swinging frame 201 and is placed restrictions on
Movement of the detection support 202 towards the direction far from detection swinging frame 201；
Detection support spring 210 is cased on detection support sliding bar 207, one end of detection support spring 210 is pressed on inspection
It surveys on bracket 202, the other end is pressed on detection swinging frame 201；
Being equipped between the rack 10 and detection swinging frame 201 can drive detection swinging frame 201 with respect to the inspection that rack 10 is swung
Survey swing driving mechanism.
In the present embodiment, detection swinging frame selectively makes idler wheel contact or leaves the glass of curtain wall when swinging with respect to rack
Glass body surface face.In the vitreous surface for needing to detect curtain wall, detection swinging frame is driven to swing with respect to rack so that idler wheel contacts
And press on the vitreous surface of curtain wall.When being not required to the vitreous surface of detection curtain wall, drive detection swinging frame with respect to rack
It swings so that idler wheel leaves the vitreous surface of curtain wall, the flexibility used can be improved.
And by setting detection support spring so that detection support uses floating assembly form, adjustable idler wheel compresses curtain
The pressure of the vitreous surface of wall it is slow can to play damping to avoid equal adverse effects are reduced the service life due to hard contact
Punching effect.
In the present embodiment, which is perforated with 2, which has 2, each detection support sliding
Bar is corresponding with a detection swinging frame punch position respectively.The overhanging end of each detection support sliding bar is pierced by sliding with the detection support
The corresponding detection swinging frame perforation in lever position.
The detection swing driving mechanism includes detection shaft 211, detection connecting rod 212, detection connecting rod 213, detection worm gear
214, worm screw 215 and detection driving motor 216 are detected；
The detection shaft 211 is rotatably installed in rack 10, the detection worm gear 214 and detection connecting rod 212
One end is fixedly mounted in detection shaft 211, the other end of the detection connecting rod 212 and one end of detection connecting rod 213
Hingedly, the other end of the detection connecting rod 213 and detection swinging frame 201 are hinged；
The detection worm screw 215 is fixedly connected so as to detect driving motor 216 with the output shaft of detection driving motor 216 and drives
It detects worm screw 215 to rotate, 214 engaged transmission of the detection worm screw 215 and detection worm gear.
In the present embodiment, detection connecting rod, detection connecting rod and detection swinging frame constitute crank and rocker mechanism, wherein detecting
Connecting rod can be used as crank, and detection swinging frame can be used as rocking bar.
The disclosed detection swing driving mechanism of the technical solution can realize detection using the self-locking performance of Worm Wheel System
The stability and correctness of swinging frame oscillation adjustment.
Embodiment two:
A kind of glass curtain wall as shown in Figures 1 to 12 climbs robot, the curtain including rack 10 and in rack 10
Wall climbs mobile mechanism, and it includes absorption mobile mechanism and absorption steering mechanism, the absorption moving machine which, which climbs mobile mechanism,
Structure includes two groups of crawler type traveling components, which is located at the two sides of rack 10；
The head 101 of the rack is equipped with percussive curtain wall detection device 20；
The tail portion 102 of the rack is equipped with curtain cleaning device 30.
In the present embodiment, the head 101 of rack and the tail portion 102 of rack are that head and the tail are opposite.
In the present embodiment, mobile mechanism is climbed to realize whole climbing sports by setting curtain wall, is tapped by setting
Formula curtain wall detection device realizes the detection to the vitreum of curtain wall, realizes the glass to curtain wall by setting curtain cleaning device
The cleaning on the surface 40 of glass body, thus to realize multifunctional use, and percussive curtain wall detection device and curtain cleaning device point
Not Wei Yu rack head and tail portion, layout designs are reasonable.
In the present embodiment, the percussive curtain wall detection device and curtain cleaning device are except technical solution disclosed in the present embodiment
Outside, the prior art also can be used.
Each group crawler type traveling component includes driving wheel 103, driven wheel 104 and is placed on driving wheel 103 and driven wheel 104
On crawler belt 105, the crawler belt 105 be equipped with the second vacuum chuck 106.The second vacuum chuck in the present embodiment, on each crawler belt
Have several, the second vacuum chuck on each crawler belt is distributed along track space, and each second vacuum chuck can be distributed configuration one and use
In providing the cylinder of negative pressure for the second vacuum chuck, for details, reference can be made to Chinese invention patent application Publication Specifications
Technical solution disclosed in CN130129639A.
In the present embodiment, curtain wall climb mobile mechanism, percussive curtain wall detection device and curtain cleaning device can group
Conjunction use, which can be realized, climbs wall, detection and washing and cleaning operation.
As shown in Figure 5 and Figure 6, the absorption steering mechanism include sucker disk seat 107, rotary drive mechanism, pivoting support and
Lifting driving cylinder 108, the sucker disk seat 107 are equipped with the first vacuum chuck 111, and the outer ring 112 of pivoting support is fixedly mounted
In in rack 10, the cylinder body 109 of lifting driving cylinder is fixably attached to the inner ring 113 of pivoting support, and the sucker disk seat 107 is fixed
Ground is installed on the piston rod 110 of lifting driving cylinder；
The rotary drive mechanism is set between rack 10 and the inner ring 113 of pivoting support, to drive the inner ring of pivoting support
113 rotate relative to the outer ring of pivoting support 112.
In the present embodiment, the outer ring of pivoting support can fixedly be pacified in a manner of removable by screw (not shown)
Loaded in rack, the cylinder body of lifting driving cylinder can also be fixedly mounted in a manner of removable by screw (not shown)
In on the inner ring of pivoting support, sucker disk seat can be fixably attached in a manner of removable by holding screw (not shown)
On the piston rod of lifting driving cylinder.
In the present embodiment, pivoting support further include set on pivoting support outer ring and inner ring between rolling element (in figure not
Show) so that the outer ring of pivoting support is relatively rotatable to each other with inner ring, pivoting support belongs to the prior art, and details are not described herein again.
In the present embodiment, the quantity of the first vacuum chuck can be multiple, and all first vacuum chucks can pass through respectively
Gas flow pipe road connects the same cylinder can generate negative pressure for all first vacuum chucks.It is of course also possible to be each
A cylinder is respectively configured in one vacuum chuck, and each first vacuum chuck generates negative pressure by the cylinder that its gas circuit is connected to.
In the present embodiment, absorption cladding glass surface can be realized by the first vacuum chuck on sucker disk seat.
The present embodiment may be implemented turn to adjustment while can be improved glass curtain wall climbing robot movement (including advance
Movement and divertical motion) reliability.
In the present embodiment, by the movement of lifting driving cylinder so that the first vacuum chuck is selectively contacted or left
Cladding glass body.
In the present embodiment, the working principle for adsorbing steering mechanism is as follows:
When glass curtain wall climbing robot needs to advance, drive sucker disk seat towards far from curtain wall glass by lifting driving cylinder
The direction of glass body moves so that the first vacuum chuck can leave cladding glass body, in the present embodiment, the first vacuum chuck it is enough from
The size of the distance of opening wall vitreum can go up and down the stroke of the piston rod of driving cylinder by setting to select to determine.Crawler belt
On the second vacuum chuck contact cladding glass body surface and start-up operation, glass curtain wall can be realized climb when crawler belt operating
Climb the traveling of robot.In the traveling process of glass curtain wall climbing robot, since the first vacuum chuck enough leaves curtain wall glass
Glass body, can avoid the first vacuum chuck and cladding glass body contacts with each other and rubs and the movement that influences to advance, to improve glass curtain wall
Climb the stability and reliability of robot traveling movement.
When glass curtain wall climbing robot needs to turn to adjustment, drive sucker disk seat towards close to curtain by lifting driving cylinder
The direction of wall vitreum moves so that the first vacuum chuck can contact cladding glass body, and generate negative pressure in the first vacuum chuck
When be adsorbed on cladding glass body, the second vacuum chuck on crawler belt stops working, and all second vacuum chucks do not generate negative pressure.
Can continue through at this time lifting driving cylinder drive sucker disk seat to move towards the direction close to cladding glass body so that on crawler belt the
Two vacuum energy-absorbings enough leave cladding glass body, and in the present embodiment, the second vacuum chuck enough leaves the big of the distance of cladding glass body
Small can be gone up and down by setting drives the stroke of the piston rod of cylinder to select to determine.It is driven back thereafter through rotary drive mechanism
The outer ring for turning bearing is turned to realization glass curtain wall climbing robot in inner ring relative rotational motion to be adjusted.It is climbed in glass curtain wall
Robot steering adjustment during, since the second vacuum chuck enough leaves cladding glass body, can avoid the second vacuum chuck with
Cladding glass body, which contacts with each other, to rub and influences divertical motion, to improve the stability of glass curtain wall climbing robot divertical motion
And reliability.
After the completion of turning to adjustment, then implement the implementation process that above-mentioned glass curtain wall climbing robot needs to advance.
The rotary drive mechanism includes turning to driving motor 114 and steering screw 115, and the steering driving motor 114 is fixed
Ground is installed in rack 10, which is fixedly connected so as to turn to driving electricity with the output shaft for turning to driving motor 114
Machine drives steering screw to rotate, and the lateral wall of the inner ring 113 of the pivoting support is equipped with the circumferentially distributed worm-gear type gear teeth 116, should
116 engaged transmission of the worm-gear type gear teeth of the inner ring of steering screw 115 and pivoting support.
In the present embodiment, the worm-gear type gear teeth of the inner ring of steering screw and pivoting support form Worm Wheel System.It can benefit
The stability and correctness for turning to adjustment are realized with the self-locking performance of Worm Wheel System.
In the present embodiment, steering screw can drive the outer ring of pivoting support to relatively rotate with inner ring when rotating.
It is twin shaft cylinder that the lifting, which drives cylinder 108,.
As shown in Figure 7 to 9, which includes cleaning swinging frame 301, round brush bracket 302 and for cleaning
The round brush 303 of the vitreum of curtain wall；
One end of the cleaning swinging frame 301 is articulated in rack 10, and the other end is equipped with cleaning swinging frame perforation 304；This reality
It applies in example, one end of the cleaning swinging frame 301 is articulated with the tail portion 102 of rack；
The round brush 303 is installed on round brush bracket 302；
The round brush bracket 302 is equipped with round brush bracket slide bar 305 corresponding with cleaning swinging frame 304 positions of perforation；
The overhanging end 306 of round brush bracket slide bar is pierced by cleaning swinging frame corresponding with the round brush bracket slide bar position and wears
Hole 304, and 304 sliding of cleaning swinging frame perforation corresponding with the round brush bracket slide bar position of round brush bracket slide bar 305
Cooperation, the overhanging end 306 of round brush bracket slide bar are equipped with round brush bracket and limit baffle 307, and round brush bracket limits the straight of baffle 307
Diameter is greater than the diameter of cleaning swinging frame perforation 304.Round brush bracket is limited when baffle 307 leans with cleaning swinging frame 301 and is placed restrictions on
Movement of the round brush bracket 302 towards the direction far from cleaning swinging frame 301；
Round brush stand spring 308 is cased on round brush bracket slide bar 305, one end of round brush stand spring 308 is pressed on rolling
On brush bracket 302, the other end is pressed on cleaning swinging frame 301；
Being equipped between the rack 10 and cleaning swinging frame 301 can drive cleaning swinging frame 301 clear with respect to what rack 10 was swung
Wash swing driving mechanism.
In the present embodiment, cleaning swinging frame selectively makes round brush contact or leaves the glass of curtain wall when swinging with respect to rack
Glass body surface face.In the vitreous surface for needing to clean curtain wall, cleaning swinging frame is driven to swing with respect to rack so that round brush contacts
The vitreous surface of curtain wall.Be not required to cleaning curtain wall vitreous surface when, drive cleaning swinging frame with respect to rack swing so that
Round brush leaves the vitreous surface of curtain wall, and the flexibility used can be improved.In the present embodiment, it can be climbed in glass curtain wall mechanical
People, which climbs, utilizes the glass plate of round brush scrub curtain wall in the traveling process of curtain wall.
And by setting round brush stand spring so that round brush bracket uses floating assembly form, adjustable round brush compresses curtain
The pressure of the vitreous surface of wall it is slow can to play damping to avoid equal adverse effects are reduced the service life due to hard contact
Punching effect.
In the present embodiment, which is perforated with 2, which has 2, each round brush bracket slide
Bar is corresponding with a cleaning swinging frame punch position respectively.The overhanging end of each round brush bracket slide bar is pierced by sliding with the round brush bracket
The corresponding cleaning swinging frame perforation in lever position.
The cleaning swing driving mechanism includes cleaning shaft 309, cleaning connecting rod 310, cleaning connecting rod 311, cleaning worm gear
312, worm screw 313 and cleaning driving motor 314 are cleaned；
The cleaning shaft 309 is rotatably installed in rack 10, the cleaning worm gear 312 and cleaning connecting rod 310
One end is fixedly mounted in cleaning shaft 309, the other end of the cleaning connecting rod 310 and one end of cleaning connecting rod 311
Hingedly, the other end of the cleaning connecting rod 311 and cleaning swinging frame 301 are hinged；
The cleaning worm screw 313 is fixedly connected so as to clean driving motor 314 with the output shaft of cleaning driving motor 314 and drives
It cleans worm screw 313 to rotate, 312 engaged transmission of the cleaning worm screw 313 and cleaning worm gear.
In the present embodiment, cleaning connecting rod, cleaning connecting rod and cleaning swinging frame constitute crank and rocker mechanism, wherein cleaning
Connecting rod can be used as crank, and cleaning swinging frame can be used as rocking bar.
The disclosed cleaning swing driving mechanism of the technical solution can realize cleaning using the self-locking performance of Worm Wheel System
The stability and correctness of swinging frame oscillation adjustment.
As shown in Figure 10 to Figure 12, which includes detection swinging frame 201, detection support 202
With the exciting bank 204 for being equipped with striking head 203；
One end of the detection swinging frame 201 is articulated in rack 10, and the other end is equipped with detection swinging frame perforation 205；This reality
It applies in example, one end of the detection swinging frame 201 is articulated with the head 101 of rack；
The exciting bank 204 is installed in detection support 202；In the present embodiment, which is also wrapped
It includes and is installed on the pressing device that detection support is equipped with sensor, which can be pressed in sensor the glass plate of curtain wall
Surface；Exciting bank, pressing device and sensor belong to the prior art, and for details, reference can be made to Chinese utility model patents to illustrate
Technical solution disclosed in book CN207923787U, also reference can be made to of Mechanicac Engineering and Automation institute, BJ University of Aeronautics & Astronautics
It passes vast, Liu Rong and Wang Ke and " is used for glass curtain wall on-site test in what " mechanical engineering and automation " was delivered in December, 2013
Climbing robot development " detection device disclosed in (article number 1672-6413 (2013) 06-0130-03), herein no longer
It repeats；
The two sides of the detection support 202 are respectively equipped with idler wheel 206, and idler wheel selectively leaves when detecting swinging frame and swinging
Or the glass pane surface of contact curtain wall, the technical solution have the excitation dress that can determine in detection support by setting idler wheel
It sets with a distance from the glass pane surface of curtain wall, thus to guarantee to carry out in percussion detection process in the glass plate to curtain wall, excitation
Glass pane surface of the device (i.e. striking head) from curtain wall has with a distance from scheduled, avoids the occurrence of striking head and is close to glass from curtain wall
Plate surface and can not carry out tap detection the phenomenon that, with guarantee tap detection go on smoothly；
The detection support 202 is equipped with detection support sliding bar 207 corresponding with detection swinging frame 205 positions of perforation；
The overhanging end 208 of detection support sliding bar is pierced by detection swinging frame corresponding with the detection support sliding bar position and wears
Hole 205, and 205 sliding of detection swinging frame perforation corresponding with the detection support sliding bar position of detection support sliding bar 207
Cooperation, the overhanging end 208 of detection support sliding bar are equipped with detection support and limit baffle 209, and detection support limits the straight of baffle 209
Diameter is greater than the diameter of detection swinging frame perforation 205；Detection support is limited when baffle 209 leans with detection swinging frame 201 and is placed restrictions on
Movement of the detection support 202 towards the direction far from detection swinging frame 201；
Detection support spring 210 is cased on detection support sliding bar 207, one end of detection support spring 210 is pressed on inspection
It surveys on bracket 202, the other end is pressed on detection swinging frame 201；
Being equipped between the rack 10 and detection swinging frame 201 can drive detection swinging frame 201 with respect to the inspection that rack 10 is swung
Survey swing driving mechanism.
In the present embodiment, detection swinging frame selectively makes idler wheel contact or leaves the glass of curtain wall when swinging with respect to rack
Glass body surface face.In the vitreous surface for needing to detect curtain wall, detection swinging frame is driven to swing with respect to rack so that idler wheel contacts
And press on the vitreous surface of curtain wall.When being not required to the vitreous surface of detection curtain wall, drive detection swinging frame with respect to rack
It swings so that idler wheel leaves the vitreous surface of curtain wall, the flexibility used can be improved.
And by setting detection support spring so that detection support uses floating assembly form, adjustable idler wheel compresses curtain
The pressure of the vitreous surface of wall it is slow can to play damping to avoid equal adverse effects are reduced the service life due to hard contact
Punching effect.
In the present embodiment, which is perforated with 2, which has 2, each detection support sliding
Bar is corresponding with a detection swinging frame punch position respectively.The overhanging end of each detection support sliding bar is pierced by sliding with the detection support
The corresponding detection swinging frame perforation in lever position.
The detection swing driving mechanism includes detection shaft 211, detection connecting rod 212, detection connecting rod 213, detection worm gear
214, worm screw 215 and detection driving motor 216 are detected；
The detection shaft 211 is rotatably installed in rack 10, the detection worm gear 214 and detection connecting rod 212
One end is fixedly mounted in detection shaft 211, the other end of the detection connecting rod 212 and one end of detection connecting rod 213
Hingedly, the other end of the detection connecting rod 213 and detection swinging frame 201 are hinged；
The detection worm screw 215 is fixedly connected so as to detect driving motor 216 with the output shaft of detection driving motor 216 and drives
It detects worm screw 215 to rotate, 214 engaged transmission of the detection worm screw 215 and detection worm gear.
In the present embodiment, detection connecting rod, detection connecting rod and detection swinging frame constitute crank and rocker mechanism, wherein detecting
Connecting rod can be used as crank, and detection swinging frame can be used as rocking bar.
The disclosed detection swing driving mechanism of the technical solution can realize detection using the self-locking performance of Worm Wheel System
The stability and correctness of swinging frame oscillation adjustment.
Claims (4)
1. a kind of percussive curtain wall detection device is installed on glass curtain wall climbing robot, which climbs robot
Including rack, it is characterised in that:
The percussive curtain wall detection device includes detection swinging frame, detection support and the exciting bank equipped with striking head；
One end of the detection swinging frame is articulated in rack, and the other end is equipped with detection swinging frame perforation；
The exciting bank is installed in detection support；
The two sides of the detection support are respectively equipped with idler wheel；
The detection support is equipped with detection support sliding bar；
The overhanging end of detection support sliding bar is pierced by detection swinging frame perforation, and detection support sliding bar is worn with detection swinging frame
Hole is slidably matched, and the overhanging end of detection support sliding bar is equipped with detection support and limits baffle, and detection support limits the diameter of baffle
Greater than the diameter of detection swinging frame perforation；
Detection support spring is cased on detection support sliding bar, one end of detection support spring is pressed in detection support, another
End is pressed on detection swinging frame；
The detection swing driving mechanism that can drive the opposite rack swing of detection swinging frame is equipped between the rack and detection swinging frame.
2. percussive curtain wall detection device according to claim 1, it is characterised in that: the detection swinging frame is perforated with 2,
The detection support sliding bar has 2, and each detection support sliding bar is corresponding with a detection swinging frame punch position respectively.
3. percussive curtain wall detection device according to claim 2, it is characterised in that:
The detection swing driving mechanism includes detection shaft, detection connecting rod, detection connecting rod, detection worm gear, detection worm screw and inspection
Survey driving motor；
The detection shaft is rotatably installed in rack, and the detection worm gear and the one end for detecting connecting rod are respectively fixedly pacified
Loaded in detection shaft, one end of the other end of the detection connecting rod and detection connecting rod is hinged, the other end of the detection connecting rod and
It is hinged to detect swinging frame；
The detection worm screw is fixedly connected with the output shaft of detection driving motor, the detection worm screw and detection worm gear engaged transmission.
4. percussive curtain wall detection device according to claim 2, it is characterised in that: the glass curtain wall climbs robot also
Including the absorption mobile mechanism and absorption steering mechanism being set in rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920138563.5U CN209460209U (en) | 2019-01-24 | 2019-01-24 | Percussive curtain wall detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920138563.5U CN209460209U (en) | 2019-01-24 | 2019-01-24 | Percussive curtain wall detection device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209460209U true CN209460209U (en) | 2019-10-01 |
Family
ID=68045904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920138563.5U Expired - Fee Related CN209460209U (en) | 2019-01-24 | 2019-01-24 | Percussive curtain wall detection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209460209U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137074A (en) * | 2021-11-24 | 2022-03-04 | 苏州市建设工程质量检测中心有限公司 | Glass curtain wall detection device based on bionic wall-climbing robot |
-
2019
- 2019-01-24 CN CN201920138563.5U patent/CN209460209U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114137074A (en) * | 2021-11-24 | 2022-03-04 | 苏州市建设工程质量检测中心有限公司 | Glass curtain wall detection device based on bionic wall-climbing robot |
| CN114137074B (en) * | 2021-11-24 | 2023-12-19 | 苏州市建设工程质量检测中心有限公司 | Glass curtain wall detection device based on bionic wall climbing robot |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20191001 Termination date: 20220124 |