CN209826534U - Glass curtain wall climbing robot - Google Patents
Glass curtain wall climbing robot Download PDFInfo
- Publication number
- CN209826534U CN209826534U CN201920140752.6U CN201920140752U CN209826534U CN 209826534 U CN209826534 U CN 209826534U CN 201920140752 U CN201920140752 U CN 201920140752U CN 209826534 U CN209826534 U CN 209826534U
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- detection
- cleaning
- swing frame
- frame
- curtain wall
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Abstract
The utility model relates to a glass curtain wall climbing robot. The climbing mechanism comprises an adsorption moving mechanism and an adsorption steering mechanism, wherein the adsorption moving mechanism comprises two groups of crawler type advancing assemblies which are respectively positioned at two sides of the rack; the head of the frame is provided with a knock-on curtain wall detection device; the tail part of the frame is provided with a curtain wall cleaning device. The utility model discloses a set up the climbing moving mechanism and realize holistic climbing motion, realize the detection to the glass body of curtain through setting up percussive curtain detection device, realize the washing to the surface of the glass body of curtain through setting up curtain belt cleaning device, from this in order to realize multi-functional use, and percussive curtain detection device and curtain belt cleaning device are located the head and the afterbody of frame respectively, its overall arrangement reasonable in design.
Description
Technical Field
The utility model relates to a glass curtain wall climbing robot.
Background
The glass curtain wall climbing robot is mainly used for replacing manpower to clean, detect and conduct high altitude operation on glass curtain walls. The function of the existing glass curtain wall climbing robot is single, and improvement is needed.
Disclosure of Invention
An object of the utility model is to provide a multi-functional glass curtain wall climbing robot.
The above purpose is realized by the following technical scheme:
a glass curtain wall climbing robot comprises a rack and a climbing moving mechanism arranged on the rack, wherein the climbing moving mechanism comprises an adsorption moving mechanism and an adsorption steering mechanism, the adsorption moving mechanism comprises two groups of crawler-type advancing assemblies, and the two groups of crawler-type advancing assemblies are respectively positioned on two sides of the rack; the head of the frame is provided with a knock-on curtain wall detection device; the tail part of the frame is provided with a curtain wall cleaning device.
The utility model discloses a set up the climbing moving mechanism and realize holistic climbing motion, realize the detection to the glass body of curtain through setting up percussive curtain detection device, realize the washing to the surface of the glass body of curtain through setting up curtain belt cleaning device, from this in order to realize multi-functional use, and percussive curtain detection device and curtain belt cleaning device are located the head and the afterbody of frame respectively, its overall arrangement reasonable in design.
Drawings
Fig. 1 and 2 respectively show a perspective view of the present invention at two different angles;
fig. 3 and 4 each show an orthographic view of the present invention, wherein fig. 3 shows that the roller brush, the roller and the second vacuum chuck all contact the surface of the curtain wall glass body, while the first vacuum chuck is away from the surface of the curtain wall glass body; FIG. 4 shows the roller brush, roller and second vacuum chuck all off the surface of the curtain wall glass body, while the first vacuum chuck contacts the surface of the curtain wall glass body;
fig. 5 and 6 are schematic exploded perspective views of the adsorption steering mechanism of the present invention at two different angles;
fig. 7 and 8 respectively show a perspective view of the curtain wall cleaning device of the present invention at two different angles;
fig. 9 shows a perspective exploded view of the curtain wall cleaning device of the present invention;
fig. 10 and 11 respectively show a perspective view of the knocking type curtain wall detecting device of the present invention at two different angles;
fig. 12 shows a three-dimensional exploded schematic view of the knocking type curtain wall detection device of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The glass curtain wall climbing robot as shown in fig. 1 to 12 comprises a frame 10 and a climbing moving mechanism arranged on the frame 10, wherein the climbing moving mechanism comprises an adsorption moving mechanism and an adsorption steering mechanism, the adsorption moving mechanism comprises two sets of crawler-type traveling assemblies, and the two sets of crawler-type traveling assemblies are respectively positioned on two sides of the frame 10;
the head 101 of the frame is provided with a knock-on curtain wall detection device 20;
the rear portion 102 of the frame is provided with a curtain wall cleaning device 30.
In this embodiment, the head 101 of the rack is opposite to the tail 102 of the rack.
In this embodiment, realize holistic climbing motion through setting up the climbing moving mechanism, realize the detection to the glass body of curtain through setting up formula curtain detection device that strikes, realize the washing to the surface 40 of the glass body of curtain through setting up curtain belt cleaning device, from this in order to realize multi-functional use, and strike formula curtain detection device and curtain belt cleaning device and be located the head and the afterbody of frame respectively, its overall arrangement reasonable in design.
In this embodiment, the knocking type curtain wall detection device and the curtain wall cleaning device can adopt the prior art besides the technical scheme disclosed in this embodiment.
Each set of crawler travel assemblies comprises a driving wheel 103, a driven wheel 104 and a crawler 105 sleeved on the driving wheel 103 and the driven wheel 104, and the crawler 105 is provided with a second vacuum suction cup 106. In this embodiment, there are a plurality of second vacuum chucks on each track, the second vacuum chucks on each track are distributed at intervals along the track, and each second vacuum chuck may be distributed with an air cylinder for providing negative pressure to the second vacuum chuck, which may be specifically referred to the technical scheme disclosed in chinese patent application publication CN 130129639A.
In this embodiment, climbing moving mechanism, knock-on curtain wall detection device and curtain belt cleaning device can be used in combination and can realize climbing the wall, detect and wash the operation.
As shown in fig. 5 and 6, the suction steering mechanism includes a suction cup holder 107, a rotation driving mechanism, a pivoting support, and a lifting driving cylinder 108, the suction cup holder 107 is provided with a first vacuum suction cup 111, an outer ring 112 of the pivoting support is fixedly mounted on the frame 10, a cylinder 109 of the lifting driving cylinder is fixedly mounted on an inner ring 113 of the pivoting support, and the suction cup holder 107 is fixedly mounted on a piston rod 110 of the lifting driving cylinder;
the rotary drive mechanism is provided between the frame 10 and the inner ring 113 of the slewing bearing to drive the inner ring 113 of the slewing bearing to rotate relative to the outer ring 112 of the slewing bearing.
In this embodiment, the outer ring of the rotary support can be fixedly and detachably mounted on the frame by screws (not shown), the cylinder body of the lifting driving cylinder can also be fixedly and detachably mounted on the inner ring of the rotary support by screws (not shown), and the sucker base can be fixedly and detachably mounted on the piston rod of the lifting driving cylinder by set screws (not shown).
In this embodiment, the slewing bearing further includes a rolling element (not shown in the figure) disposed between the outer ring and the inner ring of the slewing bearing, so that the outer ring and the inner ring of the slewing bearing can rotate relatively.
In this embodiment, the number of the first vacuum chucks may be plural, and all the first vacuum chucks may be connected to the same cylinder through the gas circulation pipes, respectively, so as to generate negative pressure for all the first vacuum chucks. Of course, each first vacuum chuck may be provided with an air cylinder, and each first vacuum chuck generates negative pressure through the air cylinder communicated with the air passage of the first vacuum chuck.
In this embodiment, can realize adsorbing curtain wall glass surface through the first vacuum chuck on the sucking disc seat.
The embodiment can improve the reliability of the movement (including the advancing movement and the steering movement) of the glass curtain wall climbing robot while realizing the steering adjustment.
In the embodiment, the first vacuum chuck can selectively contact with or separate from the curtain wall glass body through the action of the lifting driving air cylinder.
In this embodiment, the operating principle of the adsorption steering mechanism is as follows:
when glass curtain wall climbing robot need march, drive actuating cylinder through the lift and order about the direction motion of sucking disc seat towards keeping away from the curtain vitreous body so that first vacuum chuck can leave the curtain vitreous body, in this embodiment, the size of the distance that first vacuum chuck can leave the curtain vitreous body can select to confirm through the stroke that sets up the piston rod that the lift drove actuating cylinder. The second vacuum chuck on the track contacts the surface of the curtain wall glass body and starts to work, and the glass curtain wall climbing robot can advance when the track runs. In the process of marcing of glass curtain wall climbing robot, because first vacuum chuck is enough to leave the curtain vitreous body, can avoid first vacuum chuck and the mutual contact friction of curtain vitreous body and influence the motion of marcing to improve the stability and the reliability of glass curtain wall climbing robot motion of marcing.
When glass curtain wall climbing robot need turn to the adjustment, drive actuating cylinder through the lift and order about the direction motion of sucking disc seat towards being close to the curtain vitreous body so that first vacuum chuck can contact the curtain vitreous body to adsorb on the curtain vitreous body when first vacuum chuck produces the negative pressure, second vacuum chuck stop work on the track, all second vacuum chucks do not produce the negative pressure. At this moment, the suction cup seat can be driven to move towards the direction close to the curtain wall glass body by the lifting driving cylinder, so that the second vacuum energy on the track can leave the curtain wall glass body. And then the outer ring and the inner ring of the slewing bearing are driven to rotate relatively by the rotary driving mechanism, so that the steering adjustment of the glass curtain wall climbing robot is realized. In the steering adjustment process of the glass curtain wall climbing robot, the second vacuum sucker can be prevented from contacting and rubbing with the curtain wall glass body to influence steering movement due to the fact that the second vacuum sucker can leave the curtain wall glass body enough, and stability and reliability of the steering movement of the glass curtain wall climbing robot are improved.
After the steering adjustment is completed, the implementation process that the glass curtain wall climbing robot needs to advance is implemented.
The rotary driving mechanism comprises a steering driving motor 114 and a steering worm 115, the steering driving motor 114 is fixedly mounted on the frame 10, the steering worm 115 is fixedly connected with an output shaft of the steering driving motor 114 so that the steering driving motor drives the steering worm to rotate, the outer side wall of the inner ring 113 of the slewing bearing is provided with circumferentially distributed worm gear teeth 116, and the steering worm 115 is in meshing transmission with the worm gear teeth 116 of the inner ring of the slewing bearing.
In this embodiment, the steering worm and the worm gear of the inner ring of the slewing bearing form a worm gear and worm drive. The stability and the correctness of the steering adjustment can be realized by utilizing the self-locking property of the worm gear and the worm transmission.
In this embodiment, when the steering worm rotates, the outer ring and the inner ring of the slewing bearing can be driven to rotate relatively.
The lift drive cylinder 108 is a dual-axis cylinder.
As shown in fig. 7 to 9, the curtain wall cleaning apparatus includes a cleaning swing frame 301, a roll brush holder 302, and a roll brush 303 for cleaning a glass body of a curtain wall;
one end of the cleaning swing frame 301 is hinged on the frame 10, and the other end is provided with a cleaning swing frame through hole 304; in this embodiment, one end of the cleaning swing frame 301 is hinged to the tail 102 of the rack;
the rolling brush 303 is mounted on the rolling brush holder 302;
the rolling brush bracket 302 is provided with a rolling brush bracket sliding rod 305 corresponding to the position of the cleaning swing bracket through hole 304;
the outer extending end 306 of the rolling brush support sliding rod penetrates through the cleaning swing frame through hole 304 corresponding to the rolling brush support sliding rod, the rolling brush support sliding rod 305 is in sliding fit with the cleaning swing frame through hole 304 corresponding to the rolling brush support sliding rod, a rolling brush support limiting baffle 307 is arranged at the outer extending end 306 of the rolling brush support sliding rod, and the diameter of the rolling brush support limiting baffle 307 is larger than that of the cleaning swing frame through hole 304. When the rolling brush support limiting baffle 307 abuts against the cleaning swing frame 301, the rolling brush support 302 is limited to move towards the direction far away from the cleaning swing frame 301;
a rolling brush bracket spring 308 is sleeved on the rolling brush bracket sliding rod 305, one end of the rolling brush bracket spring 308 is pressed against the rolling brush bracket 302, and the other end is pressed against the cleaning swing frame 301;
a cleaning swing driving mechanism which can drive the cleaning swing frame 301 to swing relative to the frame 10 is arranged between the frame 10 and the cleaning swing frame 301.
In the embodiment, the rolling brush can be selectively contacted with or separated from the surface of the glass body of the curtain wall when the cleaning swinging frame swings relative to the frame. When the surface of the glass body of the curtain wall needs to be cleaned, the cleaning swing frame is driven to swing relative to the rack so that the rolling brush contacts the surface of the glass body of the curtain wall. When the surface of the glass body of the curtain wall does not need to be cleaned, the cleaning swing frame is driven to swing relative to the rack so that the rolling brush is separated from the surface of the glass body of the curtain wall, and the use flexibility can be improved. In this embodiment, can utilize the round brush to scrub the glass board of curtain at the in-process of marcing of glass curtain wall climbing robot climbing curtain.
And through setting up round brush support spring so that the round brush support adopts the assembly form that floats, adjustable round brush supports the pressure of pressing the glass body surface of curtain, can avoid reducing harmful effects such as life because of rigid contact, can play shock attenuation cushioning effect.
In this embodiment, there are 2 holes for the cleaning swing frame, 2 sliding rods for the rolling brush holders, and each sliding rod for the rolling brush holders corresponds to a hole for the cleaning swing frame. The outer extending end of each rolling brush bracket sliding rod penetrates through a cleaning swing frame through hole corresponding to the rolling brush bracket sliding rod.
The cleaning swing driving mechanism comprises a cleaning rotating shaft 309, a cleaning connecting rod 310, a cleaning connecting rod 311, a cleaning worm wheel 312, a cleaning worm 313 and a cleaning driving motor 314;
the cleaning rotating shaft 309 is rotatably mounted on the frame 10, one end of the cleaning worm wheel 312 and one end of the cleaning side link 310 are respectively fixedly mounted on the cleaning rotating shaft 309, the other end of the cleaning side link 310 is hinged with one end of the cleaning connecting rod 311, and the other end of the cleaning connecting rod 311 is hinged with the cleaning swing frame 301;
the cleaning worm 313 is fixedly connected with an output shaft of the cleaning driving motor 314, so that the cleaning driving motor 314 drives the cleaning worm 313 to rotate, and the cleaning worm 313 is in meshed transmission with the cleaning worm wheel 312.
In this embodiment, the cleaning side link, the cleaning connecting rod and the cleaning swing frame form a crank-rocker mechanism, wherein the cleaning side link can be used as a crank, and the cleaning swing frame can be used as a rocker.
The cleaning swing driving mechanism disclosed by the technical scheme can realize the stability and the correctness of the swing adjustment of the cleaning swing frame by utilizing the self-locking property of the worm and gear transmission.
As shown in fig. 10 to 12, the knocking type curtain wall detecting device 20 comprises a detecting swing frame 201, a detecting bracket 202 and an excitation device 204 provided with a knocking head 203;
one end of the detection swing frame 201 is hinged on the frame 10, and the other end is provided with a detection swing frame through hole 205; in this embodiment, one end of the detection swing frame 201 is hinged to the head 101 of the rack;
the excitation device 204 is mounted on the detection bracket 202; in the embodiment, the knocking type curtain wall detection device also comprises a pressing device which is arranged on the detection bracket and is provided with a sensor, and the pressing device can press the sensor on the surface of a glass plate of the curtain wall; the excitation device, the pressing device and the sensor belong to the prior art, and the technical scheme disclosed in the chinese utility model patent specification CN207923787U can be specifically referred, and the detection device disclosed in "development of wall-climbing robot for glass curtain wall field detection" (article number 1672-;
the two sides of the detection support 202 are respectively provided with a roller 206, the rollers can selectively leave or contact the surface of the glass plate of the curtain wall when the detection swing frame swings, and the technical scheme can determine the distance between an excitation device on the detection support and the surface of the glass plate of the curtain wall by arranging the rollers, so that the excitation device (i.e. a knocking head) has a preset distance from the surface of the glass plate of the curtain wall in the process of knocking detection of the glass plate of the curtain wall, the phenomenon that the knocking head is attached to the surface of the glass plate away from the curtain wall to avoid the failure of knocking detection is avoided, and the smooth performance of knocking detection is ensured;
the detection bracket 202 is provided with a detection bracket sliding rod 207 corresponding to the detection swing frame through hole 205;
the outer extending end 208 of the sliding rod of the detection bracket penetrates through a detection swing frame through hole 205 corresponding to the position of the sliding rod of the detection bracket, the sliding rod 207 of the detection bracket is in sliding fit with the detection swing frame through hole 205 corresponding to the position of the sliding rod of the detection bracket, the outer extending end 208 of the sliding rod of the detection bracket is provided with a detection bracket limiting baffle 209, and the diameter of the detection bracket limiting baffle 209 is larger than that of the detection swing frame through hole 205; when the detection support limiting blocking piece 209 abuts against the detection swing frame 201, the movement of the detection support 202 in the direction far away from the detection swing frame 201 is limited;
the detection bracket sliding rod 207 is sleeved with a detection bracket spring 210, one end of the detection bracket spring 210 is pressed against the detection bracket 202, and the other end is pressed against the detection swing frame 201;
a detection swing driving mechanism which can drive the detection swing frame 201 to swing relative to the frame 10 is arranged between the frame 10 and the detection swing frame 201.
In the embodiment, when the detection swing frame swings relative to the frame, the roller can be selectively contacted with or separated from the surface of the glass body of the curtain wall. When the surface of the glass body of the curtain wall needs to be detected, the detection swing frame is driven to swing relative to the rack so that the idler wheels contact and abut against the surface of the glass body of the curtain wall. When the surface of the glass body of the curtain wall does not need to be detected, the detection swing frame is driven to swing relative to the rack so that the idler wheels leave the surface of the glass body of the curtain wall, and the use flexibility can be improved.
And through setting up the detection support spring so that detect the support and adopt the assembly form that floats, adjustable gyro wheel supports the pressure that presses the glass body surface of curtain, can avoid reducing harmful effects such as life because of rigid contact, can play shock attenuation cushioning effect.
In this embodiment, there are 2 detection swing frame holes, 2 detection support sliding rods, and each detection support sliding rod corresponds to one detection swing frame hole. The outer extending end of each detection support sliding rod penetrates through a detection swing frame through hole corresponding to the position of the detection support sliding rod.
The detection swing driving mechanism comprises a detection rotating shaft 211, a detection connecting rod 212, a detection connecting rod 213, a detection worm wheel 214, a detection worm 215 and a detection driving motor 216;
the detecting rotating shaft 211 is rotatably mounted on the frame 10, one end of the detecting worm wheel 214 and one end of the detecting connecting rod 212 are respectively fixedly mounted on the detecting rotating shaft 211, the other end of the detecting connecting rod 212 is hinged with one end of the detecting connecting rod 213, and the other end of the detecting connecting rod 213 is hinged with the detecting swinging frame 201;
the detection worm 215 is fixedly connected with an output shaft of a detection driving motor 216, so that the detection driving motor 216 drives the detection worm 215 to rotate, and the detection worm 215 is in meshing transmission with the detection worm wheel 214.
In this embodiment, the detecting side link, the detecting link and the detecting swing frame form a crank-rocker mechanism, wherein the detecting side link can be used as a crank, and the detecting swing frame can be used as a rocker.
The detection swing driving mechanism disclosed by the technical scheme can utilize the self-locking property of the worm and gear transmission to realize the stability and the correctness of the detection swing frame swing adjustment.
Claims (7)
1. The utility model provides a glass curtain wall climbing robot, includes the frame and locates the climbing moving mechanism in the frame, should climb moving mechanism and include that adsorption moving mechanism and adsorption steering mechanism, should adsorb moving mechanism and include two sets of crawler-type components of advancing, and these two sets of crawler-type components of advancing are located the both sides of frame, its characterized in that respectively:
the head of the frame is provided with a knock-on curtain wall detection device;
the tail part of the frame is provided with a curtain wall cleaning device.
2. The glass curtain wall climbing robot as claimed in claim 1, characterized in that:
the adsorption steering mechanism comprises a sucker seat, a rotary driving mechanism, a slewing bearing and a lifting driving cylinder, wherein a first vacuum sucker is arranged on the sucker seat, the outer ring of the slewing bearing is fixedly arranged on a rack, the cylinder body of the lifting driving cylinder is fixedly arranged on the inner ring of the slewing bearing, and the sucker seat is fixedly arranged on the piston rod of the lifting driving cylinder;
the rotary driving mechanism is arranged between the frame and the inner ring of the slewing bearing so as to drive the inner ring of the slewing bearing to rotate relative to the outer ring of the slewing bearing.
3. The glass curtain wall climbing robot as claimed in claim 1, characterized in that: the rotary driving mechanism comprises a steering driving motor and a steering worm, the steering driving motor is fixedly arranged on the rack, the steering worm is fixedly connected with an output shaft of the steering driving motor, the outer side wall of the inner ring of the slewing bearing is provided with circumferentially distributed worm gear teeth, and the steering worm is in meshing transmission with the worm gear teeth of the inner ring of the slewing bearing.
4. The glass curtain wall climbing robot as claimed in claim 3, characterized in that:
the curtain wall cleaning device comprises a cleaning swing frame, a rolling brush bracket and a rolling brush;
one end of the cleaning swing frame is hinged on the rack, and the other end of the cleaning swing frame is provided with a cleaning swing frame through hole;
the rolling brush is arranged on the rolling brush bracket;
the rolling brush bracket is provided with a rolling brush bracket sliding rod corresponding to the position of the through hole of the cleaning swing bracket;
the outer extending end of the rolling brush support sliding rod penetrates through the cleaning swing frame through hole, the rolling brush support sliding rod is in sliding fit with the cleaning swing frame through hole, a rolling brush support limiting blocking piece is arranged at the outer extending end of the rolling brush support sliding rod, and the diameter of the rolling brush support limiting blocking piece is larger than that of the cleaning swing frame through hole;
a rolling brush support spring is sleeved on the rolling brush support sliding rod, one end of the rolling brush support spring is pressed on the rolling brush support, and the other end of the rolling brush support spring is pressed on the cleaning swing frame;
a cleaning swing driving mechanism which can drive the cleaning swing frame to swing relative to the frame is arranged between the frame and the cleaning swing frame.
5. The glass curtain wall climbing robot as claimed in claim 4, characterized in that:
the cleaning swing driving mechanism comprises a cleaning rotating shaft, a cleaning connecting rod, a cleaning worm wheel, a cleaning worm and a cleaning driving motor;
the cleaning rotating shaft is rotatably arranged on the rack, one end of the cleaning worm wheel and one end of the cleaning side link are respectively and fixedly arranged on the cleaning rotating shaft, the other end of the cleaning side link is hinged with one end of the cleaning connecting rod, and the other end of the cleaning connecting rod is hinged with the cleaning swing frame;
the cleaning worm is fixedly connected with an output shaft of the cleaning driving motor, and the cleaning worm is in meshing transmission with the cleaning worm wheel.
6. The glass curtain wall climbing robot as claimed in claim 5, characterized in that:
the knocking type curtain wall detection device comprises a detection swing frame, a detection support and an excitation device provided with a knocking head;
one end of the detection swing frame is hinged on the rack, and the other end of the detection swing frame is provided with a detection swing frame through hole;
the excitation device is arranged on the detection bracket;
the two sides of the detection bracket are respectively provided with a roller;
the detection bracket is provided with a detection bracket sliding rod corresponding to the position of the detection swing frame through hole;
the outer extending end of the detection support sliding rod penetrates through the detection swing frame through hole, the detection support sliding rod is in sliding fit with the detection swing frame through hole, a detection support limiting blocking piece is arranged at the outer extending end of the detection support sliding rod, and the diameter of the detection support limiting blocking piece is larger than that of the detection swing frame through hole;
the detection support sliding rod is sleeved with a detection support spring, one end of the detection support spring is pressed against the detection support, and the other end of the detection support spring is pressed against the detection swing frame;
a detection swing driving mechanism which can drive the detection swing frame to swing relative to the rack is arranged between the rack and the detection swing frame.
7. The glass curtain wall climbing robot as claimed in claim 6, characterized in that:
the detection swing driving mechanism comprises a detection rotating shaft, a detection connecting rod, a detection worm wheel, a detection worm and a detection driving motor;
the detection rotating shaft is rotatably arranged on the rack, one ends of the detection worm wheel and the detection side link are respectively and fixedly arranged on the detection rotating shaft, the other end of the detection side link is hinged with one end of the detection connecting rod, and the other end of the detection connecting rod is hinged with the detection swing frame;
the detection worm is fixedly connected with an output shaft of the detection driving motor, and the detection worm is in meshing transmission with the detection worm wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920140752.6U CN209826534U (en) | 2019-01-24 | 2019-01-24 | Glass curtain wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920140752.6U CN209826534U (en) | 2019-01-24 | 2019-01-24 | Glass curtain wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209826534U true CN209826534U (en) | 2019-12-24 |
Family
ID=68902698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920140752.6U Expired - Fee Related CN209826534U (en) | 2019-01-24 | 2019-01-24 | Glass curtain wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN209826534U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN112790659A (en) * | 2021-02-26 | 2021-05-14 | 深圳市艾文尚贸易有限公司 | Travelling equipment capable of travelling on smooth plane |
| CN112806926A (en) * | 2020-12-30 | 2021-05-18 | 江苏五九设计营造有限公司 | Vertical adsorption self-climbing type dust binding device for attaching dust to wall surface |
| 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 |
| CN114403738A (en) * | 2022-01-20 | 2022-04-29 | 北京国家速滑馆经营有限责任公司 | Be used for abluent arm of curtain and equipment |
| CN114766957A (en) * | 2022-03-11 | 2022-07-22 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
-
2019
- 2019-01-24 CN CN201920140752.6U patent/CN209826534U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN110803230B (en) * | 2019-11-20 | 2021-09-10 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN112806926A (en) * | 2020-12-30 | 2021-05-18 | 江苏五九设计营造有限公司 | Vertical adsorption self-climbing type dust binding device for attaching dust to wall surface |
| CN112790659A (en) * | 2021-02-26 | 2021-05-14 | 深圳市艾文尚贸易有限公司 | Travelling equipment capable of travelling on smooth plane |
| 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 |
| CN114403738A (en) * | 2022-01-20 | 2022-04-29 | 北京国家速滑馆经营有限责任公司 | Be used for abluent arm of curtain and equipment |
| CN114766957A (en) * | 2022-03-11 | 2022-07-22 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
| CN114766957B (en) * | 2022-03-11 | 2023-11-07 | 沈阳航空航天大学 | Full-automatic glass curtain wall cleaning robot |
| CN114892978A (en) * | 2022-03-24 | 2022-08-12 | 温州一建城建集团有限公司 | Civil engineering foundation mold construction process and fixing device thereof |
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Granted publication date: 20191224 Termination date: 20220124 |