CN210310629U - Transverse supporting device for climbing robot - Google Patents
Transverse supporting device for climbing robot Download PDFInfo
- Publication number
- CN210310629U CN210310629U CN201920786290.5U CN201920786290U CN210310629U CN 210310629 U CN210310629 U CN 210310629U CN 201920786290 U CN201920786290 U CN 201920786290U CN 210310629 U CN210310629 U CN 210310629U
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- China
- Prior art keywords
- linear motion
- climbing robot
- lateral support
- support device
- robot
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Abstract
The utility model discloses a horizontal strutting arrangement for climbing robot belongs to wall climbing robot technical field. Wherein, a horizontal strutting arrangement for climbing robot includes: the robot comprises a robot body, a transverse supporting device and traveling devices, wherein the transverse supporting device is arranged below the robot body; wherein, horizontal strutting arrangement includes: the two linear motion mechanisms are symmetrically arranged on the rack, and the movable plate is arranged on the linear motion mechanisms on the same side and does linear motion on the linear motion mechanisms, wherein at least two groups of linear motion mechanisms are arranged; the utility model discloses, can make running gear and erect the limit butt and support the robot between two perpendicular limits of glass curtain wall through horizontal strutting arrangement, provide sufficient holding power for the robot.
Description
Technical Field
The utility model belongs to the technical field of the wall climbing robot, especially, a horizontal strutting arrangement for climbing robot.
Background
The glass curtain wall is installed outside the building wall body and is a remarkable characteristic of a modern high-rise building, and a pressing plate is usually added on a vertical edge of the fully-hidden frame glass curtain wall for the attractiveness and safety of the glass curtain wall to form a vertical edge semi-hidden frame type glass curtain wall.
On the semi-hidden frame glass curtain wall of vertical limit because the horizontal limit is hidden in the glass curtain wall, so the robot that uses the sucking disc to scramble on the glass curtain wall now does not have the bottom surface that falls that blocks easily on, causes casualties and loss of property easily.
And the holding power of the robot that current use sucking disc to scramble on glass curtain wall is little, can only carry out glass curtain wall's cleaning work, and especially when the dust on glass curtain wall is too much, the holding power of sucking disc reduces the robot littleer, and the big sucking disc of high altitude air current is not hard up more easy emergence accident, so need provide one kind can provide the climbing robot of enough holding power for the operation on half frame glass curtain wall.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: a lateral support device for a climbing robot is provided to solve the above problems of the prior art.
The technical scheme is as follows: a lateral support device for a climbing robot comprising: the robot comprises a robot body, a transverse supporting device and traveling devices, wherein the transverse supporting device is arranged below the robot body;
wherein, horizontal strutting arrangement includes: the two linear motion mechanisms are symmetrically arranged on the rack, and the moving plate is arranged on the linear motion mechanism on the same side and does linear motion on the linear motion mechanism, wherein at least two groups of linear motion mechanisms are arranged.
In a further embodiment, the rack comprises: the detachable mounting has the roof in the robot body bottom, and the below intermediate position demountable mounting of roof has the intermediate lamella of two parallels, and the below both sides position demountable mounting of roof has the curb plate of two parallels, can conveniently change the maintenance and the change of the different robot body of function as required through demountable mounting to and convenient maintenance and the change to horizontal strutting arrangement and running gear.
In a further embodiment, a preset distance is arranged between the middle plates, each group of linear motion mechanisms are detachably mounted on one side, opposite to the two middle plates, of each group of linear motion mechanisms, the side plates are connected with the linear motion mechanisms in a sliding mode, the distance between the two middle plates can be increased according to needs by reserving the preset distance between the two middle plates, the length of each linear motion mechanism is shortened, production cost is reduced, and stable operation of each linear motion mechanism can be guaranteed through the sliding connection of the side plates and the linear motion mechanisms.
In a further embodiment, still be fixed with a plurality of optical axes between intermediate lamella and the riser, be provided with linear bearing on the optical axis, wherein, linear bearing and optical axis sliding connection, linear bearing and movable plate fixed connection can make the rectilinear motion of movable plate more stable through optical axis and linear bearing's sliding connection.
In a further embodiment, the linear motion mechanism is a cylinder with pressure maintaining capability or a ball screw mechanism with self-locking capability, and the climbing robot can be supported on the glass curtain wall even in the case of accidents such as power failure and the like through the pressure maintaining capability of the cylinder and the self-locking capability of the ball screw.
In a further embodiment, the movable plate is fixedly connected with a telescopic rod of the air cylinder, the movable plate is fixed on the telescopic rod of the air cylinder, the movable plate can be pushed by the air cylinder to perform linear motion, the distance between the movable plates is adjusted, and the purpose of supporting the climbing robot is achieved.
In a further embodiment, the ball screw mechanism comprises a screw and a screw nut; the movable plate is fixedly connected with a lead screw nut of the ball screw, the movable plate is fixed on the lead screw nut of the ball screw and can be pushed by the ball screw to move linearly, the distance between the movable plates is adjusted, and the purpose of supporting the climbing robot is achieved.
In a further embodiment, one end of a screw rod of the ball screw penetrates through the middle plate, and a first bevel gear is fixed to one end penetrating through the middle plate; a main shaft is arranged between the intermediate plates, and a second bevel gear meshed with the first bevel gear is fixed on the main shaft; the top of main shaft and servo motor's output fixed connection can the automatically regulated interval of movable plate through servo motor, realize carrying out the purpose that supports climbing robot.
Has the advantages that: can make running gear and perpendicular limit butt support the robot between two perpendicular limits of glass curtain wall through horizontal strutting arrangement, for the robot provides sufficient holding power, even after the outage, still can guarantee to have sufficient pressure between running gear and the perpendicular limit through horizontal strutting arrangement, provide sufficient holding power for the robot.
Drawings
Fig. 1 is a schematic bottom view of the present invention.
Fig. 2 is a schematic view of the axial measurement structure of the present invention.
FIG. 3 is a schematic structural diagram of an embodiment of the present invention
The reference numerals shown in fig. 1 to 3 are: the robot comprises a robot body 1, a transverse supporting device 2, a traveling device 3, a frame 21, a linear motion mechanism 22, a moving plate 23, a top plate 211, a middle plate 212, side plates 213, a connecting plate 214, a servo motor 221, a ball screw mechanism 222, a first bevel gear 223, a main shaft 224 and a second bevel gear 225.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the present invention.
To facilitate the display of the internal structure of the climbing robot, the top plate 211 in fig. 1 is shown in a half-sectional view.
The embodiment is an application of a climbing robot for a semi-frame glass curtain wall to cleaning the semi-frame glass curtain wall.
The linear motion mechanism 22 used in the present embodiment is a ball screw mechanism 222.
The frame 21 includes: top plate 211, it has a plurality of counter bores and screw hole to open on the top plate 211, and the material of top plate 211 is 2014 # aluminum alloy plate that has high strength and high rigidity.
The top end of the middle plate 212 is provided with a threaded hole, the two ends of the middle plate 212 are provided with through holes which can be penetrated by a screw rod of the ball screw mechanism 222, the center of each through hole is symmetrically provided with two unthreaded holes matched with an optical axis, and the middle plate 212 is also provided with a counter bore; the material of the intermediate plate 212 is 2014-grade aluminum alloy plate with high strength and high hardness.
The top end of the side plate 213 is provided with a threaded hole, and the two ends of the side plate 213 are provided with through holes which can be in sliding connection with the screw rod of the ball screw mechanism 222, so that the rotation of the screw rod can not be influenced; the side plate 213 is made of 2014-grade aluminum alloy plate with high strength and high hardness.
The middle of the connecting plate 214 is provided with a through hole which is in sliding connection with the spindle 224, the connecting surface of the connecting plate 214 and the middle plate 212 is provided with a threaded hole which is matched with the counter bore on the middle plate 212, and the connecting plate 214 is made of 2014-grade aluminum alloy plate with high strength and high hardness.
The four ball screw mechanisms 222, the ball screw mechanisms 222 being of the type BGFVP1505-L400, are composed of a screw and a screw nut.
Eight linear bearings, linear bearing's model LM8 UU.
The diameter of the optical axis is matched with that of the linear bearing, the surface of the optical axis is plated with chrome, and the surface roughness is less than 3.2 mu m.
Four first bevel gears 223 and two second bevel gears 225, the first bevel gears 223 and the second bevel gears 225 being of the type GB/T12369-1990.
The servo motor 221, the model number of the servo motor 221 is 1FL5060-0AC 21.
The coupler is JB/T9148-1999 in model number.
The main shaft 224 is a stepped shaft, a side platform is arranged at the top end of the main shaft 224, two key grooves matched with the second bevel gear 225 are further formed in the main shaft 224, and the surface of the main shaft 224 is plated with chrome.
The assembling process comprises the following steps: firstly, a first servo motor 221 is installed on a connecting plate 214, then a main shaft 224 is fixedly connected with the first servo motor 221 through a coupler, then a second bevel gear 225 is fixed at one end, close to the first servo motor 221, of the main shaft 224, then the two connecting plates 214 penetrate through the main shaft 224, and then the other second bevel gear 225 is fixed at the end part of the main shaft 224, so that the main shaft 224 is assembled; then, one end of the screw rod of the ball screw mechanism 222 is passed through the intermediate plate 212, then the first bevel gear 223 is mounted on the end of the screw rod that passes through the end of the intermediate plate 212, then the intermediate plate 212 is mounted on both sides of the connecting plate 214 using screws, and the first bevel gear 223 is meshed with the second bevel gear 225, then the optical axis is mounted on the intermediate plate 212 using an optical axis clamp, then the moving plate 23 is fixed on the screw nut and the linear bearing, then the side plate 213 is mounted on the screw rod and the optical axis, then the top plate 211 is mounted above the intermediate plate 212 and the side plate 213 using screws, and thus the assembly of the lateral supporting device 2 is completed; then, the traveling device 3 is mounted on the moving plate 23, and the robot body 1 of the cleaning robot is mounted above the top plate 211, to thereby complete the assembly.
The working principle is as follows: firstly, placing a transverse supporting device 2 and a traveling device 3 between two vertical edges of a glass curtain wall, and then driving the transverse supporting device 2 through a servo motor 221 to enable the traveling device 3 to be abutted against the vertical edges; then start cleaning robot, make cleaning robot carry out cleaning work to the glass curtain wall, then start running gear 3 and make cleaning robot remove between two perpendicular limits of glass curtain wall, reach and carry out clear purpose to the glass curtain wall.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be modified to perform various equivalent transformations, which all belong to the protection scope of the present invention.
Claims (8)
1. A lateral support device (2) for a climbing robot, characterized in that it comprises: the robot comprises a robot body (1), a transverse supporting device (2) arranged below the robot body (1), and traveling devices (3) arranged on two sides of the transverse supporting device (2);
wherein the lateral support means (2) comprise: the device comprises a rack (21), two linear motion mechanisms (22) which are symmetrically arranged on the rack (21) in a group, and a moving plate (23) which is arranged on the linear motion mechanisms (22) on the same side and does linear motion on the linear motion mechanisms (22), wherein at least two groups of linear motion mechanisms (22) are provided.
2. Lateral support device (2) for a climbing robot according to claim 1, characterized in that: the frame (21) comprises: the detachable mounting has roof (211) in robot body (1) bottom, and the below intermediate position demountable mounting of roof (211) has two parallel intermediate floors (212), and the below both sides position demountable mounting of roof (211) has two parallel curb plates (213).
3. Lateral support device (2) for a climbing robot according to claim 2, characterized in that: the middle plates (212) are arranged at preset intervals, each group of linear motion mechanisms (22) are detachably mounted on one side opposite to the two middle plates (212), and the side plates (213) are connected with the linear motion mechanisms (22) in a sliding mode.
4. Lateral support device (2) for a climbing robot according to claim 2, characterized in that: still be fixed with a plurality of optical axes between intermediate lamella (212) and the riser, be provided with linear bearing on the optical axis, wherein, linear bearing and optical axis sliding connection, linear bearing and movable plate (23) fixed connection.
5. Lateral support device (2) for a climbing robot according to claim 1, characterized in that: the linear motion mechanism (22) is a ball screw mechanism (222) with a pressure maintaining capacity cylinder or a self-locking capacity.
6. Lateral support device (2) for a climbing robot according to claim 5, characterized in that: and the moving plate (23) is fixedly connected with a telescopic rod of the cylinder.
7. Lateral support device (2) for a climbing robot according to claim 5, characterized in that: the ball screw mechanism (222) comprises a screw and a screw nut;
the moving plate (23) is fixedly connected with a screw nut of the ball screw.
8. Lateral support device (2) for a climbing robot according to claim 7, characterized in that: one end of a screw rod of the ball screw penetrates through the middle plate (212), and a first bevel gear (223) is fixed at one end penetrating through the middle plate (212);
a main shaft (224) is arranged between the middle plates (212), and a second bevel gear (225) meshed with the first bevel gear (223) is fixed on the main shaft (224);
the top end of the main shaft (224) is fixedly connected with the output end of the servo motor (221).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920786290.5U CN210310629U (en) | 2019-05-29 | 2019-05-29 | Transverse supporting device for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920786290.5U CN210310629U (en) | 2019-05-29 | 2019-05-29 | Transverse supporting device for climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210310629U true CN210310629U (en) | 2020-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920786290.5U Expired - Fee Related CN210310629U (en) | 2019-05-29 | 2019-05-29 | Transverse supporting device for climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210310629U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643427A (en) * | 2020-12-07 | 2021-04-13 | 李朝阳 | Intelligent building robot for high-rise building outer wall construction |
-
2019
- 2019-05-29 CN CN201920786290.5U patent/CN210310629U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643427A (en) * | 2020-12-07 | 2021-04-13 | 李朝阳 | Intelligent building robot for high-rise building outer wall construction |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 Termination date: 20210529 |