CN214451815U - Butt joint separation pushing mechanism for intelligent service equipment and wall surface operation system - Google Patents
Butt joint separation pushing mechanism for intelligent service equipment and wall surface operation system Download PDFInfo
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- CN214451815U CN214451815U CN202022715700.2U CN202022715700U CN214451815U CN 214451815 U CN214451815 U CN 214451815U CN 202022715700 U CN202022715700 U CN 202022715700U CN 214451815 U CN214451815 U CN 214451815U
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Abstract
The utility model discloses a butt-joint separation pushing mechanism for intelligent service equipment, which comprises a suspension component and is connected with an aircraft; the pulley is connected with the suspension assembly and used for driving the hanging rack to move towards the operation wall surface; the hanging rack is connected with the pulley and moves along with the pulley; the butt joint buffer assembly is connected to the hanging frame, drives the intelligent service equipment to move towards the operation wall surface, and is used for buffering the impact force generated when the intelligent service equipment is in butt joint with the operation wall surface; a belt drive assembly is connected to the suspension assembly for driving the trolley along the suspension assembly towards the work wall. Under the promotion of aircraft, push mechanism realizes the ground to aerial and the transfer of operation face, coaster and suspension component sliding connection drive equipment and remove to the operation wall, and when intelligent service equipment contacted with the operation wall, the impact of butt joint buffering subassembly buffering operation wall reduced the impact of collision to adsorption stability, and the mode that belt drive coaster removed has the cushioning effect equally, and the butt joint is more stable.
Description
Technical Field
The utility model relates to a robot field, more specifically say, it relates to a butt joint separation push mechanism and wall operating system for intelligent service equipment.
Background
With the development of science and technology, people have higher and higher requirements on unattended operation and automation of dangerous work. For example, the operation of the outer wall of a building belongs to high-risk operation, and is often performed by professional personnel and equipment, so that the efficiency is difficult to improve, and the operation cost is difficult to reduce. In addition, in the domestic robot field, some current companies provide vacuum adsorption's window cleaning robot, possess the ability of independently removing and intelligent operation, but this type of robot can only be in the motion of complete smooth wall, can't adapt to complicated changeable building wall environment, thereby can't break away from artifical supplementary autonomic operation during in-service use more.
Based on the above requirements, the present company provides an intelligent triphibian operation system for ground, air and wall and an operation method thereof in chinese patent publication No. CN 111824404 a, which includes a multi-rotor aircraft, a wall operation module, a suspension and auxiliary adsorption system. The multi-rotor aircraft is used for controlling the distance between the multi-rotor aircraft and a target operation surface. The wall surface operation module is used for firmly adhering to a target operation surface and performing autonomous operation. The suspension and auxiliary adsorption system is fixed below the multi-rotor aircraft and used for suspending the wall operation module on the multi-rotor aircraft and transporting the wall operation module to an adsorption preparation position from a flight suspension position when the wall operation module is prepared to be adsorbed on a target operation surface.
Although this triphibian operation system can realize multi-environment autonomous movement operation among the ground, the air and the target operation wall surface, when the suspension and auxiliary adsorption system transports the wall surface operation module to the adsorption preparation position, the suspension and auxiliary adsorption system directly and rigidly presses the wall surface operation module to the operation wall surface through the servo linear guide rail, and the violent impact on the suspension and adsorption system affects the stability of the adsorption operation wall surface, and on the other hand, the service life of the wall surface operation module can be affected by a plurality of times of violent impacts for a long time, so the proposal is further developed and improved.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art exists, the utility model discloses a first aim at provides a butt joint separation push mechanism for intelligent service equipment, when driving intelligent service equipment and removing to the operation wall, have and the little advantage of impact effort between the operation wall.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a butt joint separation push mechanism for intelligent service equipment includes
A suspension assembly connected to the aircraft;
the pulley is connected with the suspension assembly in a sliding manner and used for driving the hanging rack to move towards the operation wall surface;
the hanging rack is connected with the pulley and moves along with the pulley;
the butt joint buffer assembly is connected to the hanging frame, drives the intelligent service equipment to move towards the operation wall surface, and is used for buffering the impact force generated when the intelligent service equipment is in butt joint with the operation wall surface;
a belt drive assembly is connected to the suspension assembly for driving the trolley along the suspension assembly towards the work wall.
Adopt above-mentioned technical scheme, the suspension assembly is used for connecting the aircraft, under the promotion of aircraft, push mechanism realizes the ground to the aerial and the transfer of operation face, coaster and suspension assembly sliding connection, be used for driving the stores pylon, butt joint buffering subassembly, intelligent service equipment removes to the operation wall, butt joint buffering subassembly is connected between stores pylon and intelligent service equipment, when intelligent service equipment contacts with the operation wall, the impact of buffering operation wall, reduce the impact of collision to adsorption stability's influence, in addition, the coaster removes on the suspension assembly and is driven by belt drive assembly, the belt drives the mode that the coaster removed, possess the cushioning effect equally, make the adsorption butt joint more stable.
Further, the suspension assembly includes a pylon connected to the aircraft, and a suspension beam connected to the pylon.
Furthermore, the suspension beam comprises a plurality of longitudinal rods which are arranged in parallel and a connecting piece which is connected between the longitudinal rods.
Further, the pulley comprises a pulley block for clamping the longitudinal rod and a hollow plate connected with the pulley block.
Further, the butt joint buffer assembly comprises
The connecting plate is connected to the hanging rack;
the butt joint plate is used for installing intelligent service equipment;
the elastic piece is connected between the butt joint plate and the connecting plate and used for buffering acting force between the butt joint plate and the connecting plate;
the in-place thimble switch is arranged on the connecting plate, approaches to the butt joint plate along with the connecting plate and outputs a stop signal to the motion controller when abutting against the butt joint plate.
Further, the belt driving assembly includes
A pulley connected to the suspension assembly;
the belt is connected between the belt pulley and the motor and is used for driving the pulley to move;
and the motor is used for driving the belt.
Furthermore, the belt driving assembly further comprises a limiting piece connected to the longitudinal rod and used for limiting the moving position of the pulley.
The utility model discloses a second aim at provides a wall operating system, when carrying intelligent service equipment and operation wall butt joint, have and the operation between the wall impact effort little, adsorb stable advantage.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a wall surface operation system comprises the butt joint separation pushing mechanism in the technical scheme.
Adopt above-mentioned technical scheme, the wall operation system carries intelligent service equipment through the aircraft and flies to rise to the operation wall and transport, and later butt joint separation push mechanism adsorbs in the operation wall to with cleaning equipment to operation wall propelling movement via butt joint separation push mechanism, owing to the setting of butt joint buffering subassembly and belt drive subassembly, and the striking effort between the operation wall reduces, adsorbs the butt joint more stable.
To sum up, the utility model discloses following beneficial effect has:
1. the butt joint buffer assembly is connected between the hanging rack and the intelligent service equipment, and when the intelligent service equipment is in contact with the operation wall surface, the impact force of the operation wall surface is buffered, and the influence of collision on the adsorption stability is reduced;
2. the coaster removes on hanging the subassembly and is driven by belt drive assembly, and the belt drives the mode that the coaster removed, possesses the cushioning effect equally for it is more stable to adsorb the butt joint.
3. The butt joint buffering assembly is provided with an in-place thimble switch, when the intelligent service equipment is in contact with the abutting operation surface, the in-place thimble switch sends a signal to the control system, pushing is stopped in time, and the butt joint stability is further enhanced.
Drawings
Fig. 1 is a schematic perspective view of a middle wall surface operation system according to the present invention;
fig. 2 is a schematic structural diagram of the docking, separating and pushing system of the present invention;
FIG. 3 is a schematic structural view of a suspension assembly of the present invention;
fig. 4 is a schematic view of the enlarged structure of a part a of fig. 3 according to the present invention;
fig. 5 is a schematic view of the enlarged structure of the part B in fig. 3 according to the present invention;
FIG. 6 is a schematic structural view of a middle butt joint buffer assembly according to the present invention;
in the figure: 1001. an aircraft; 1002. a transfer platform; 1003. an intelligent service device; 1. a suspension assembly; 11. a hanger; 12. a suspension beam; 121. a longitudinal bar; 122. a connecting member; 2. a pulley; 21. a pulley block; 22. a hollowed-out plate; 3. a hanger; 4. butting a buffer assembly; 41. a connecting plate; 42. a butt plate; 43. An elastic member; 44. an in-place thimble switch; 5. a belt drive assembly; 51. a belt pulley; 52. a belt; 53. A motor; 54. a limiting member; 6. an adsorption component.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and embodiments.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Example 1
The utility model provides a wall operation system, refer to fig. 1, including aircraft 1001, transfer platform 1002 and intelligent service equipment 1003, wherein, aircraft 1001 adopts for many rotors unmanned vehicles, be used for transporting transfer platform 1002 and intelligent service equipment 1003 to the predetermined range of operation wall, the butt joint separation push mechanism that later transfer platform 1002 contained begins work, at first adsorb at the operation wall, intelligent service equipment 1003 propelling movement to the operation wall that will carry, later intelligent service equipment 1003 separates with butt joint separation push mechanism, independently adsorb in the autonomous operation of operation wall, the butt joint process is automatic to be accomplished, intelligent degree is high.
It should be noted that the intelligent service device 1003 in the present invention generally refers to an intelligent robot capable of performing autonomous operations, such as an automatic glass cleaning robot, a curtain wall cleaning robot, etc.
Example 2
A docking and separating pushing mechanism for intelligent service equipment is applied to a wall surface operation system in embodiment 1. When the unmanned aerial vehicle carries the intelligent service equipment 1003 to the working wall surface within the set distance, the intelligent service equipment is adsorbed to the working wall surface, the intelligent service equipment 1003 is pushed to the working wall surface, and meanwhile the intelligent service equipment 1003 can be recycled.
Referring to fig. 2, butt joint separation push mechanism includes suspension component 1, coaster 2, stores pylon 3, butt joint buffering component 4, belt drive component 5, wherein, suspension component 1 is connected with aircraft 1001, be used for bearing push mechanism and remove, and drive push mechanism and remove, coaster 2 is connected in suspension component 1, be used for driving stores pylon 3 and remove to the operation wall, stores pylon 3 is connected and is removed with coaster 2 and along with coaster 2, butt joint buffering component 4 is connected in stores pylon 3, drive intelligent service equipment 1003 and remove to the operation wall, and be used for buffering the impact when intelligent service equipment 1003 docks with the operation wall, belt drive component 5 is connected in suspension component 1, be used for driving coaster 2 to remove towards the operation wall along suspension component 1. Further, an adsorption unit 6 that can be adsorbed to the work wall surface is provided at one end of the suspension unit 1.
In particular, with reference to fig. 3, the suspension assembly 1 comprises a pylon 11 connected to the aircraft 1001, and a suspension beam 12 connected to the pylon 11. Further, the suspension beam 12 includes a plurality of longitudinal bars 121 arranged in parallel, and connecting members 122 connected between the longitudinal bars 121, wherein the total number of the longitudinal bars 121 is three, and the longitudinal bars are arranged in parallel in a regular triangle to form a triangular hollow truss. The connecting members 122 are provided one at each of the front, middle, and distal ends of the side rail 121 near the wall, and the connecting members 122 are coupled to the side rail 121 in such a manner as to be caught from the outside toward the inside of the side rail 121. In this embodiment, the longitudinal rod 121 is a thin-walled CFRP circular tube.
Referring to fig. 3 and 4, the tackle 2 includes a pulley block 21 for clamping the longitudinal rod 121, and a hollow plate 22 connected to the pulley block 21, the pulley block 21 is located inside the connecting member 122, two pulleys respectively clamp the longitudinal rod 121 from two directions, and can slide along the length direction of the longitudinal rod 121, in this embodiment, the pulley blocks 21 are four groups, and are located on two sides of the longitudinal rod 121, four pulley blocks 21 on each side form two pairs, the two pairs of pulleys can ensure the transmission of motion, vertical load, front and rear bending moment, and the lateral spacing and lateral torsion load adaptation of the four side pulleys.
Referring to fig. 3, 4 and 5, the belt driving assembly 5 includes a belt pulley 51 connected to the vertical rod 121, a motor 53 and a belt 52 connected between the belt pulley 51 and the motor 53, specifically, the belt pulley 51 is rotatably connected to one end of the vertical rod 121 close to the operation wall surface, the motor 53 is connected to one end of the vertical rod 121 far away from the operation wall surface, one end of the belt 52 is connected to the pulley 2, and the other end of the belt 52 is connected to the other side of the pulley 2 after sequentially bypassing the belt pulley 51 and the motor 53. Further, a stopper 54 for restricting the movement position of the carriage 2 is provided on the vertical rod 121, and the carriage 2 is restricted from further movement when the carriage 2 moves toward the work wall surface.
Referring to fig. 6, the upper end of the hanging rack 3 is connected to the bottom of the pulley 2, and one side of the lower end is connected to the butt buffer assembly 4. Further, the hanger 3 is composed of a plurality of specially-shaped hollow CFRP sheets, so that the wind resistance can be effectively reduced, and the adsorption is more stable.
The docking buffer assembly 4 includes a connection plate 41, a docking plate 42, an elastic member 43, and a positioning thimble switch 44, wherein the connection plate 41 is connected to the rack 3, the docking plate 42 is used for installing the smart service device 1003, the connection plate 41 and the docking plate 42 are similar in shape and parallel to each other, the elastic member 43 is connected between the docking plate 42 and the connection plate 41, the force between the docking plate 42 and the connection plate 41 is buffered, the positioning thimble switch 44 is disposed on the connection plate 41 and approaches the docking plate 42 along with the connection plate 41, and outputs a stop signal to the motion controller when abutting against the docking plate 42. In this embodiment, the butt-joint plate 42 is a thin steel plate with electromagnetic polarization characteristics, and can be adsorbed by an electromagnet, and the connecting plate 41 is a light CFRP composite plate, which is hollow and reduces weight.
It is above only the utility model discloses a preferred embodiment, the utility model discloses a scope of protection does not only confine above-mentioned embodiment, the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A butt joint separation push mechanism for intelligent service equipment (1003), characterized by: comprises that
A suspension assembly (1) connected to an aircraft (1001);
the pulley (2) is connected to the suspension assembly (1) in a sliding manner and is used for driving the hanging rack (3) to move towards the operation wall surface;
the hanging rack (3) is connected with the pulley (2) and moves along with the pulley (2);
the butt joint buffer assembly (4) is connected to the hanging rack (3), drives the intelligent service equipment (1003) to move towards the operation wall surface, and is used for buffering the impact force generated when the intelligent service equipment (1003) is in butt joint with the operation wall surface;
and the belt driving assembly (5) is connected to the suspension assembly (1) and is used for driving the pulley (2) to move towards the operation wall surface along the suspension assembly (1).
2. The docking, undocking and pushing mechanism of claim 1, wherein: the suspension assembly (1) comprises a pylon (11) connected to an aircraft (1001), and a suspension beam (12) connected to the pylon (11).
3. The docking, undocking and pushing mechanism of claim 2, wherein: the suspension beam (12) comprises a plurality of longitudinal rods (121) which are arranged in parallel, and connecting pieces (122) which are connected between the longitudinal rods (121).
4. The docking, undocking and pushing mechanism of claim 3, wherein: the pulley (2) comprises a pulley block (21) for clamping the longitudinal rod (121) and a hollow plate (22) connected with the pulley block (21).
5. The docking, undocking and pushing mechanism of claim 1, wherein: the butt joint buffer component (4) comprises
A connecting plate (41) connected to the hanger (3);
a docking plate (42) for mounting the intelligent service apparatus (1003);
the elastic piece (43) is connected between the butt joint plate (42) and the connecting plate (41) and buffers acting force between the butt joint plate (42) and the connecting plate (41);
and the in-place thimble switch (44) is arranged on the connecting plate (41), approaches to the butt joint plate (42) along with the connecting plate (41), and outputs a stop signal to the motion controller when abutting against the butt joint plate (42).
6. The docking, undocking and pushing mechanism of claim 1, wherein: the belt drive assembly (5) comprises
A pulley (51) connected to the suspension assembly (1);
the belt (52) is connected between the belt pulley (51) and the motor (53) and is used for driving the pulley (2) to move;
and a motor (53) for driving the belt (52).
7. The docking, undocking and pushing mechanism of claim 6, wherein: the belt driving assembly (5) further comprises a limiting piece (54) connected to the longitudinal rod (121) and used for limiting the moving position of the pulley (2).
8. A wall working system, comprising: comprising a docking, undocking and pushing mechanism according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022715700.2U CN214451815U (en) | 2020-11-20 | 2020-11-20 | Butt joint separation pushing mechanism for intelligent service equipment and wall surface operation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022715700.2U CN214451815U (en) | 2020-11-20 | 2020-11-20 | Butt joint separation pushing mechanism for intelligent service equipment and wall surface operation system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214451815U true CN214451815U (en) | 2021-10-22 |
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ID=78183886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022715700.2U Active CN214451815U (en) | 2020-11-20 | 2020-11-20 | Butt joint separation pushing mechanism for intelligent service equipment and wall surface operation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214451815U (en) |
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2020
- 2020-11-20 CN CN202022715700.2U patent/CN214451815U/en active Active
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