CN219031693U - Aerial working system - Google Patents

Abstract

The utility model provides an aerial working system and the application technical field of aerial working robots. The aerial working system includes: one end of the rope is fixed on the floor structure, and the other end of the rope sags towards the ground along the direction parallel to the side surface of the building; the movable guide device is arranged on the floor structure and close to the side face of the building and is used for adjusting the initial position of the rope drooping along the side face of the building; the rope climbing robot is internally provided with a lifting device, the rope passes through the lifting device, and the lifting device can climb or descend along the rope so as to drive the rope climbing robot to climb or descend along the side face of a building. Because one end of the rope is anchored on the roof, the movable guiding device mainly bears the pressure of the rope, and does not bear the tension of the rope, so that the problem of tipping of the movable wire device can be avoided.

Description

Aerial working system

Technical Field

The utility model relates to the technical field of aerial work robot application, in particular to an aerial work system.

Background

Traditional building high-altitude operation devices, such as scaffolds, scaling ladder type lifting platforms and the like, are influenced by factors such as building topography, ground materials, ground facilities and the like, and are greatly limited in use. At present, an overhead working robot is mostly adopted to replace manual work for working, when the overhead working robot is used, the overhead working robot needs to be matched with a rope for working, in the prior art, a traversing device is often arranged on the roof, then one end of the rope is directly fixed on a device capable of traversing relative to a floor, and in such a way, the traversing device is enabled to bear the pressure of the rope and also bear the pulling force of the rope, so that the traversing device is easy to tilt.

Disclosure of Invention

The utility model provides an aerial working system which is used for solving the problem that a traversing device is easy to tilt in the prior art and realizing the safety and reliability of the aerial working system.

The utility model provides an aerial working system, comprising:

one end of the rope is fixed on the floor structure, and the other end of the rope sags towards the ground along the direction parallel to the side surface of the building;

the movable guide device is arranged on the floor structure and close to the side face of the building and is used for adjusting the initial position of the rope drooping along the side face of the building;

the rope climbing robot is internally provided with a lifting device, the rope passes through the lifting device, and the lifting device can climb or descend along the rope so as to drive the rope climbing robot to climb or descend along the side face of a building.

According to the aerial working system provided by the utility model, the movable guiding device comprises a fixed part and a movable part, wherein the fixed part is fixed with the floor structure, one of the fixed part and the movable part is provided with a sliding groove, the other one of the fixed part and the movable part is provided with a sliding block matched with the sliding groove, and the movable part is in sliding connection with the fixed part;

the locking mechanism is arranged between the movable part and the fixed part, a wire guide opening is arranged on the movable part, and the rope movably penetrates through the wire guide opening.

According to the aerial working system provided by the utility model, the rope protection mechanism is arranged in the wire guide.

According to the aerial working system provided by the utility model, the rope protection mechanism comprises round chamfer structures arranged on the end surfaces of two sides of the wire guide opening;

or the rope protection mechanism comprises an arc-shaped protruding part arranged in the middle of the inner wall of the wire guide opening and round corner structures arranged at two ends of the wire guide opening;

or the rope protection mechanism comprises vertical rolling elements rotatably arranged at two sides of the inside of the wire guide opening and transverse rolling elements rotatably arranged at the bottom side of the inside of the wire guide opening.

According to the aerial working system provided by the utility model, the fixing part is transversely fixed at the edge position of the side surface of the floor structure close to the building through the fixing piece;

alternatively, the fixing member is fixed to the parapet wall of the floor structure by a clamping mechanism.

According to the aerial working system provided by the utility model, the locking mechanism comprises the locking screw rod, and the locking screw rod is abutted against the fixed part after penetrating through the movable part in a threaded manner so as to lock the movable part;

or, the locking mechanism comprises a locking bolt, the locking bolt is threaded through the movable part, a bolt sliding groove for sliding the locking bolt is formed in the fixed part, and locking or movement of the movable part is achieved by screwing or unscrewing the locking bolt.

According to the aerial working system provided by the utility model, the movable part and the fixed part are provided with the movable driving assembly, and the movable driving assembly is used for driving the movable part to slide relative to the fixed part.

According to the aerial working system provided by the utility model, the movable driving assembly comprises a linear push rod mechanism, the linear push rod mechanism is fixed on the fixed part, and the output end of the linear push rod mechanism is connected with the movable part;

or the movable driving assembly comprises a first motor, a screw rod and a nut, wherein the first motor is fixed on the fixed part, an output shaft of the first motor is connected with the screw rod, the screw rod is sleeved with the nut in a threaded manner, and the nut is fixed on the movable part;

or the movable driving assembly comprises a second motor, a gear and a rack, wherein the second motor is fixed on the movable part, an output shaft of the second motor is connected with the gear, the rack is arranged on the fixed part, and the gear is in meshed connection with the rack;

or the movable driving assembly comprises a third motor and a driving wheel, the driving wheel is rotatably arranged on the movable part through a supporting piece, the third motor is fixed on the movable part, an output shaft of the third motor is connected with the driving wheel, and the driving wheel is in rolling connection with the surface of the fixed part.

According to the aerial working system provided by the utility model, one end of a rope is anchored to a floor structure, and the other end of the rope penetrates through a movable guiding device and then penetrates into a lifting device of a rope climbing robot; because one end of the rope is anchored on the roof, the movable guiding device mainly bears the pressure of the rope, and the tension of the rope is reduced to act on the movable guiding device, so that the problem of tipping of the movable wire device can be avoided;

the movable part of the movable guiding device guides the rope, so that the direct contact between the rope and the floor is avoided, the pressure damage or friction damage to the floor and the rope is reduced, in addition, the movable part of the movable guiding device can move or lock relative to the fixed part, and therefore, when the robot ascends or descends along the rope to operate, the movable part and the fixed part are locked, and the rope is kept in a relatively stable state; when the position of the rope needs to be adjusted, the movable part can move relative to the fixed part, so that the position of the rope hanging down along the wall surface is adjusted, the robot can be conveniently replaced along the longitudinal operation position, in addition, in the process of rope position change, the abrasion of the rope can be reduced due to the arrangement of the rope protection mechanism, the service life of the rope can be prolonged, the operation position change of the robot is facilitated, and the improvement of the operation efficiency is facilitated.

Drawings

In order to more clearly illustrate the utility model or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an aerial working system according to the present utility model;

FIG. 2 is a side view of an aerial working system according to the present utility model;

FIG. 3 is a second side view of the working system of the present utility model;

FIG. 4 is one of the side views of the mobile guide;

FIG. 5 is a second side view of the mobile guide;

fig. 6 is one of the schematic diagrams of the rope protection mechanism;

FIG. 7 is a second schematic view of the rope protection mechanism;

FIG. 8 is a third schematic view of the rope protection mechanism;

FIG. 9 is a schematic block diagram illustrating a method of aloft work according to one embodiment of the present utility model;

FIG. 10 is a schematic block diagram of a method of aloft work in accordance with another embodiment of the present utility model.

Reference numerals:

100. a rope; 200. a movement guide; 201. a fixing member;

2011. a fixing member; 2012. a clamping mechanism; 2013. parapet wall;

202. a movable member; 203. a slide block; 204. a locking mechanism;

205. a wire port; 2051. a round chamfer structure; 2052. an arc-shaped protruding portion;

2053. a rounded corner structure; 2054. a vertical rolling member; 2055. a lateral rolling member;

206. a movement drive assembly; 2061. a second motor; 2062. a gear;

2063. a rack; 2064. a third motor; 2065. a driving wheel;

300. rope climbing robot; 401. a control terminal;

402. a movement guide control module; 403. and a robot control module.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

An aerial working system and an aerial working method using the same according to the present utility model will be described below with reference to fig. 1 to 10.

An aerial working system includes a rope 100, a movement guide 200, and a rope climbing robot 300.

One end of the rope 100 is fixed to the floor structure, and the other end thereof sags toward the ground in a direction parallel to the side of the building;

the moving guide 200 is disposed on the floor structure and near the side of the building, for adjusting the initial position of the rope 100 drooping along the side of the building;

the rope climbing robot 300 is internally provided with a lifting device, the rope 100 passes through the lifting device, and the lifting device can climb or descend along the rope 100 to drive the rope climbing robot 300 to climb or descend along the side surface of the building;

it should be noted that the lifting device may be in the prior art, for example, a lifting cable device of a cable-stayed curtain wall cleaning robot with the publication number CN213606092U may be used, and the structure of the lifting device is not an utility model point of the present application, so that the description is omitted herein.

The movable guiding device 200 comprises a fixed part 201 and a movable part 202, wherein the fixed part 201 is fixed with the floor structure, one of the fixed part 201 and the movable part 202 is provided with a sliding groove, the other one of the fixed part 201 and the movable part 202 is provided with a sliding block 203 matched with the sliding groove, and the movable part 202 is in sliding connection with the fixed part 201;

the movable member 202 is provided with a wire guide 205, and the rope 100 is movably inserted through the wire guide 205. A rope protection mechanism is arranged in the wire guide opening 205; the rope protection mechanism is capable of guiding the rope 100 while reducing wear of the rope 100;

in this embodiment, as shown in fig. 6, the rope protecting mechanism may be a round chamfer structure 2051 provided on both side end surfaces of the wire guide 205;

in some embodiments, as shown in fig. 7, the rope protection mechanism may also be an arc-shaped boss 2052 provided in the middle of the inner wall of the wire guide 205 and rounded structures 2053 provided at both ends of the wire guide 205;

in some embodiments, as shown in fig. 8, the rope protection mechanism may also be a vertical rolling member 2054 rotatably disposed on both sides of the inside of the wire guide 205 and a lateral rolling member 2055 rotatably disposed on the bottom side of the inside of the wire guide 205; both the vertical rolling member 2054 and the lateral rolling member 2055 may be a rotating shaft structure.

As shown in fig. 2, the fixing member 201 is laterally fixed to the side edge of the floor structure near the building by a fixing member 2011; when the fixing component 201 is directly fixed with the floor structure, in order to increase the stability of the fixing component 201, the fixing component 201 may be configured into a laterally placed L-shaped structure, and the fixing component 2011 may be a screw, a bolt or other fixing structures;

in some embodiments, as shown in fig. 3-5, the fixing member 201 is fixed to the parapet 2013 of the floor structure by a clamping mechanism 2012. When the fixing part 201 is connected with the parapet 2013, a connecting port is formed at the bottom of the fixing part 201, and the connecting port is sleeved on the parapet 2013; at this time, the clamping mechanism 2012 may be a fixing screw, one end of the fixing screw is threaded through the fixing member 201 from the side surface and extends into the connection port and abuts against the parapet 2013, and an elastic block or a friction block may be added on two sides of the parapet 2013 to increase friction force and improve connection stability.

As shown in fig. 2, a locking mechanism 204 is provided between the movable member 202 and the fixed member 201, and the locking mechanism 204 is used to fix the movable member 202 to the fixed member 201.

In this embodiment, the locking mechanism 204 includes a locking screw threaded through the movable member 202 and abutting against the fixed member 201 to lock the movable member 202;

in some embodiments, the locking mechanism 204 includes a locking bolt threaded through the movable member 202, and the fixed member 201 is provided with a bolt runner for sliding the locking bolt, and locking or moving the movable member 202 is achieved by tightening or loosening the locking bolt.

A moving driving assembly 206 is disposed between the movable member 202 and the fixed member 201, and the moving driving assembly 206 is used for driving the movable member 202 to slide relative to the fixed member 201.

In some embodiments, the movement driving assembly 206 may be a linear push rod mechanism, such as an electric push rod, a hydraulic or pneumatic push rod, etc., which is fixed on the fixed part 201, and the output end of the linear push rod mechanism is connected with the movable part 202;

in some embodiments, the movement driving assembly 206 includes a first motor, a screw, and a nut, the first motor is fixed on the fixed part 201, an output shaft of the first motor is connected with the screw, the nut is threaded on the screw, the nut is fixed on the movable part 202, and the screw is disposed along a sliding direction parallel to the movable part 202;

in addition, when the movement driving unit 206 is used in this way, the screw and the nut constitute the locking mechanism 204 described above, that is, the relative position fixation of the movable member 202 and the fixed member 201 can be made without providing additional locking mechanism 204.

In some embodiments, as shown in FIG. 4, the mobile drive assembly 206 includes a second motor 2061, a gear 2062, and a rack 2063, the second motor 2061 being fixed to the movable member 202, the output shaft of the second motor 2061 being coupled to the gear 2062, the rack 2063 being disposed on the stationary member 201, the gear 2062 being in meshed connection with the rack 2063;

further, the second electric motor 2061 may be configured as a motor with self-locking, and thus the locking mechanism 204 described above may be configured such that the relative positions of the movable member 202 and the fixed member 201 are fixed by self-locking of the second electric motor 2061 without providing any additional locking mechanism 204.

In some embodiments, as shown in FIG. 5, the movement drive assembly 206 includes a third motor 2064 and a drive wheel 2065, the drive wheel 2065 being rotatably disposed on the movable member 202 by a support, the third motor 2064 being fixed to the movable member 202, and an output shaft of the third motor 2064 being coupled to the drive wheel 2065, the drive wheel 2065 being in rolling communication with a surface of the stationary member 201;

similarly, the third electric motor 2064 may be configured as a motor with self-locking, so that the locking mechanism 204 is configured as described above, and the relative positions of the movable member 202 and the fixed member 201 are fixed by self-locking of the third electric motor 2064 without providing any additional locking mechanism 204.

As shown in fig. 3 to 5, in order to facilitate remote control of the aerial working system of the present utility model, the aerial working system of the present utility model further includes a control system;

the control system is in communication connection with the rope climbing robot 300 and is used for controlling the movement and operation of the rope climbing robot 300.

Optionally, a control system is communicatively coupled to the mobile guide 200 for controlling the motion of the mobile guide 200.

Preferably, the mobile guide 200 and the rope climbing robot 300 work cooperatively under the control of the control system.

Specifically, the control system includes a control terminal 401, a mobile guiding control module 402 and a robot control module 403, where the mobile guiding control module 402 is located on the movable component 202 and is electrically connected to the mobile driving component 206, and the mobile guiding control module 402 can receive a signal to control the mobile driving component 206 to act (including telescoping of the linear push rod mechanism or forward and backward rotation of the motor), so as to adjust the starting position of the rope 100 along the side drooping wall surface of the building.

The robot control module 403 is disposed on the rope climbing robot 300 and electrically connected to the lifting device, and is configured to receive a signal and control the lifting device to act, so that the robot lifts or descends along the rope 100.

The control terminal 401 may be a remote control that can remotely wirelessly control the mobile drive assembly 206 and the climbing robot 300.

The remote control signal may also be a 4G, 5G or wifi signal, which is not limited in this application.

The working flow of the utility model is as follows:

s100: preparing operation;

s101: fixing ropes: one end of the rope 100 is fixed to an arbitrarily stable structure of the floor structure;

s102: fixed movement guide means: fixing the fixing member 201 of the moving guide 200 to the floor structure or parapet 2013, and bringing the moving guide 200 close to the side of the building;

s103: threading: a lifting device for allowing one end of the rope 100 to hang down along the side of the building after passing through the movable part 202 of the moving guide 200 and passing through the rope climbing robot 300;

s200: rope climbing robot 300 works: the lifting device of the rope climbing robot 300 works to enable the rope climbing robot 300 to climb or descend to a designated area along the rope 100 to perform work;

s300: position transformation: moving the movable part 202 of the moving guide 200 relative to the fixed part 201 so that the rope 100 moves laterally relative to the side of the building;

s400: repeating the steps S200 and S300, the rope climbing robot 300 can work the side surface of the building in a certain range; the content of the operation can be cleaning, maintenance and the like.

If appropriate fastening structures are not present on the floor structure, a fastening anchor may be provided for fastening the rope 100.

In step S300, when the position is changed, the rope climbing robot 300 is located on the wall, and the movable component 202 can be directly moved relative to the fixed component 201, so that the rope climbing robot 300 moves along the wall surface (side surface of the building) or is separated from the wall surface along with the rope 100 and keeps a certain distance from the wall surface;

in another embodiment, in step S300, after the rope climbing robot 300 has washed down a row and has fallen down the wall, the movable member 202 is moved relative to the fixed member 101 to change the initial position of the rope 100 sagging along the wall surface.

The working method further includes a step S500 located after the step S200 and before the step S300: judging whether the movable part 202 is positioned at the limit position within the movable range, if so, stopping the operation, and adjusting the position of the movable guiding device 200 (namely changing the position of the fixed part 201 on the floor), or directly stopping the whole operation (namely arranging and recovering devices on the lower wall of the machine); if not, go to step S300.

The aerial working method can automatically operate in a programmed mode through a control system, and can also realize semi-automatic operation in a mode of combining manual cooperation.

When an automatic operation mode is adopted, the control system controls the rope climbing robot 300 to climb from bottom to top along the rope 100, and enables the rope climbing robot 300 to descend from top to bottom along the rope 100, after a round-trip operation process (i.e. a round trip) is completed, the control system controls the movement guide device 200 to act, and a cooperative operation is performed, namely, even if the movable part 202 in the movement guide device 200 slides relative to the fixed part 201, the initial position of the rope 100 drooping along the side face of the building is adjusted, namely, even if the rope 100 transversely moves relative to the side face of the building, after the position adjustment of the rope 100 is completed, the above process is recycled, so that the rope climbing robot 300 can perform the round trip operation until reaching the limit adjustment position of the movement guide device 200, and the operation of the rope climbing robot 300 is stopped.

At this time, after the fixing position of the moving guide 200 is changed, the above-described process is repeated until the side operation of the entire building is completed.

When a semi-automatic operation mode is adopted, the position of the movable member 202 with respect to the fixed member 201 is adjusted manually when the sagging initial position of the rope 100 needs to be adjusted, unlike the above-described automatic operation process.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and are not limiting; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims (8)

1. An aerial working system, comprising:

one end of the rope is fixed on the floor structure, and the other end of the rope sags towards the ground along the direction parallel to the side surface of the building;

the movable guide device is arranged on the floor structure and close to the side face of the building and is used for adjusting the initial position of the rope drooping along the side face of the building;

the rope climbing robot is internally provided with a lifting device, the rope passes through the lifting device, and the lifting device can climb or descend along the rope so as to drive the rope climbing robot to climb or descend along the side face of a building.

2. The aerial working system according to claim 1, wherein the movement guiding device comprises a fixed part and a movable part, the fixed part is fixed with the floor structure, one of the fixed part and the movable part is provided with a sliding groove, the other one of the fixed part and the movable part is provided with a sliding block matched with the sliding groove, and the movable part is in sliding connection with the fixed part;

the locking mechanism is arranged between the movable part and the fixed part, a wire guide opening is arranged on the movable part, and the rope movably penetrates through the wire guide opening.

3. The aerial working system of claim 2, wherein a rope protection mechanism is disposed within the wire guide.

4. A high altitude construction system as claimed in claim 3, wherein the rope protection mechanism comprises rounded chamfer structures provided on both side end surfaces of the wire guide;

or the rope protection mechanism comprises an arc-shaped protruding part arranged in the middle of the inner wall of the wire guide opening and round corner structures arranged at two ends of the wire guide opening;

or the rope protection mechanism comprises vertical rolling elements rotatably arranged at two sides of the inside of the wire guide opening and transverse rolling elements rotatably arranged at the bottom side of the inside of the wire guide opening.

5. The aerial working system of claim 2 wherein the securing member is secured laterally to the floor structure at the edge of the side of the building by a securing member;

alternatively, the fixing member is fixed to the parapet wall of the floor structure by a clamping mechanism.

6. The aerial working system of claim 2 wherein the locking mechanism comprises a locking screw threaded through the movable member against the stationary member to lock the movable member;

or, the locking mechanism comprises a locking bolt, the locking bolt is threaded through the movable part, a bolt sliding groove for sliding the locking bolt is formed in the fixed part, and locking or movement of the movable part is achieved by screwing or unscrewing the locking bolt.

7. An aerial working system according to claim 2, wherein a movement drive assembly is provided between the movable part and the fixed part, the movement drive assembly being arranged to drive the movable part to slide relative to the fixed part.

8. The aerial work system of claim 7 wherein the mobile drive assembly comprises a linear push rod mechanism secured to the stationary member, an output of the linear push rod mechanism being connected to the movable member;

or the movable driving assembly comprises a first motor, a screw rod and a nut, wherein the first motor is fixed on the fixed part, an output shaft of the first motor is connected with the screw rod, the screw rod is sleeved with the nut in a threaded manner, and the nut is fixed on the movable part;

or the movable driving assembly comprises a second motor, a gear and a rack, wherein the second motor is fixed on the movable part, an output shaft of the second motor is connected with the gear, the rack is arranged on the fixed part, and the gear is in meshed connection with the rack;

or the movable driving assembly comprises a third motor and a driving wheel, the driving wheel is rotatably arranged on the movable part through a supporting piece, the third motor is fixed on the movable part, an output shaft of the third motor is connected with the driving wheel, and the driving wheel is in rolling connection with the surface of the fixed part.

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