CZ2011437A3 - Mobile platform for movement on vertical wall - Google Patents

Abstract

The mobile platform for moving along the vertical wall is formed by the frame (1) on the swivel bogie (2) with the actuator (7) and equipped with legs (3, 10, 12, 14) with suction cups (5) on individually adjustable holders (6). The legs (3, 10) on one side of the frame (1) and the legs (12, 14) on the other side of the frame (1) are interconnected by flexible members (8, 16). The frame (1) is connected to the legs (3, 10, 12, 14) by rotary handles (9) and each leg (3, 10, 12, 14) has its own actuator (4, 11, 13, 15).

Description

Field of technology

The invention relates to a mobile platform for moving along a vertical wall.

BACKGROUND OF THE INVENTION Chemical glass walls have either ^stepwise or ^{pseudocontinuous} movement, and the holding force on the glass wall is derived by means of active suction cups. The solution according to U ^{^ 06105695} is known, where the stepping movement is provided by ^means of ^a glass surface. The stepping movement of the mobile platform is realized by linear pneumatic motors or linear electric ituator svratnyin movement. This design contains JPO1141184. Stepping is most often? - ^{fixing the body of the cereal} platform by the force induced by the vacuum in the active suction cups, the suction cups on the legs are ^aerated , the legs are pulled away from contact with the glass terraces. Furthermore, the legs are pushed into contact with the glass wall and fixed by creating ^{a vacuum of} this mobile body.

The construction of the mobile ^platform , the considerable weight of the moving units there and the complicated construction of the transformer in the case of electric actuators. Pneumatic actuators are difficult to control and, in addition, considerable noise is generated at dead ends. ^S1 ™ ^Reducing grip safety 'and the need to use more diameterFurtherly, mobile platform solutions are known for washing ^the walls of glass ^- clad buildings ^. and easy to overcome obstacles, but the main disadvantage is the expensive suspension system, which can only be applied in certain cases of building construction.

VS čí ™ “ ^s Pseudocontinuous motion based on rotational motion through a stepped wall ^ ^{Cm h} ° ^riZOntálnic h ^{os perpendicular} to the plane of the glass wall, resp. parallel to the glass ^{with coothing} or pseudo-continuous movement is the application of vacuum chambers in the form of oval suction cups placed on the conveyor links, which has a stepped or formed by two ^{parts of its body} with ^a belt consisting of two belts with suction cups.

bound by Sr ^rotational P ^oh >' ^bu two mechanically

With the ^operation and body of the mobile platform, the rotating ^legs alternate between the legs and the body as a frame and a parallelogram body. ^y

A disadvantage of the above-described solutions using the rotational movement of the stepping members or the movement ^away from the plane of the glass wall having an adverse effect on the magnitude of the holding force on the glass wall and the problematic or unresolved rotation of the mobile platform.

The essence of the invention

The above-mentioned drawbacks are eliminated by the mobile platform for moving along the vertical wall according to the invention. Its essence lies in that. That the frame of the mobile platform placed on a bogie with a servo drive is equipped with legs with suction cups on individually adjustable holders. The legs on one side of the frame and the legs on the other side of the frame are connected by resilient members and the frame is connected to the legs by rotary handles. Each leg of the frame also has its own actuator.

The advantages of the invention are the smooth movement of the mobile platform, the low weight and the relatively simple construction of the legs and the easy control of the actuators. Furthermore, in comparison with pneumatic regulators, unfavorable dynamic forces at dead centers do not excel and thus there is no reduction in grip safety. It also does not rub expensive lifting equipment for vertical movement. The flat design ^of the mobile tilt with low tilting torque minimizes the additional load on the suction cups. The design of the mobile platform also allows it to be rotated without any problems and to overcome obstacles such as joints or mounting holes. ^K '

Overview of figures in the drawings

In the accompanying drawing, Fig. 1 shows an example of the invention as a three-dimensional model.

Exemplary embodiments of the invention

The mobile platform for moving along the vertical wall shown according to Fig. 1 in contact with the vertical glass wall 17 is formed by a duralumin frame 1 on a rotating bogie 2 provided with suction cups H on individually slidable adjustable holders 6 and an actuator 2 located in the bogie axis 2. 9 is connected to four legs 3, 10, 12 and 14, each ^of which ^is associated with ^{suction cups} 5 on each of the individually sliding holders 6. Each of the legs 3, 1, 12 and 14 is further provided with a separate drive formed by an electric actuator 4. , 11, 13 and 15. The legs 3, 10 on one side of the mobile platform are connected by a lower member 8 and the legs 12, 14 on the other side of the mobile platform are connected by a resilient member 16. The pairs of legs 3, 10 and 12, 14 form with the frame 1. , two parallelograms.

The movement of the mobile platform in the selected direction is enabled by fixing the rotating chassis 2 by the force exerted by the vacuum in the suction cups 18 on the vertical glass wall 17 and rotating the actuator 7 around its axis to rotate the frame 1 with legs 3, 10, 12 and 14 in the desired direction. . Turning the rotary cranks £ half a turn moves the legs 3, 10, 12 and 14 by one step and the legs 3 wi move ^{to the} vertical glass wall 17 in the new position by the force exerted by the vacuum in the sutures 5. The next turn of the rotary cranks 9 moves half a turn the body of the mobile platform, i.e. the frame 1 and the bogie 2 by one step.

Each leg 10, 12 and 14 with individual drive performs a stepping movement, which suitably synchronizes the time and range of movement of the rotary cranks 9, allows to alternately move the body formed by the frame 1 and the bogie 2 and the legs 3, 10, 12 and 14 of the mobile platform. The ^{rotating undercarriage 2} allows ^the frame 1 with the legs 3, 10, 12 and 14 to rotate about the axis of the actuators 7. position by means of slidably adjustable holders 6, which makes it possible to eliminate the number of aerated suction cups 5 resp. 18 in the case of overcoming obstacles such as joints and mounting holes disrupting the continuity of the vertical glass wall.

Industrial applicability

The mobile platform for vertical standing movement according to the invention can also be used for moving on a generally oriented surface, e.g. inclined or horizontal, and also for non-glass

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Patent claims

Claims (1)

Patent claims Mobile platform for moving along a vertical wall with a frame (1) on a bogie (2) with a servo drive (7), characterized in that the frame (1) provided with a foot (3 10 12 14) with suction cups (5) on individually adjustable (6) has legs (3, 10) on one side (0 ^and legs (12 14) on the other side of the frame (1) connected by resilient members (8, 16), the frame (1) being connected to the legs (3, 10). , 12,14) connected by rotary cranks (9). The mobile platform according to claim 1, characterized in that it has its own actuator (4, 11, 13, 15).