CN101554892B - Wall-climbing robot applied in tall buildings facade cleaning - Google Patents
Wall-climbing robot applied in tall buildings facade cleaning Download PDFInfo
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- CN101554892B CN101554892B CN 200910026691 CN200910026691A CN101554892B CN 101554892 B CN101554892 B CN 101554892B CN 200910026691 CN200910026691 CN 200910026691 CN 200910026691 A CN200910026691 A CN 200910026691A CN 101554892 B CN101554892 B CN 101554892B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0078—Programme-controlled manipulators having parallel kinematics actuated by cables
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a wall-climbing robot applied in tall buildings facade cleaning which is characterized in that the invention comprises wire driven systems, a facade mobile platform and a thrust device; the invention has two sets of the flexible cable driving systems comprising wires and a hoisting system which is arranged on the two side of the top of the building facade and comprises an electric motor speed reducer component, a wound roll and a crown block; the electric motor speed reducer component and the wound roll are arranged on the facade of the building; the wound roll and an electric motor are connected with the output shaft of the speed reducer component; one end of the wires are respectively arranged on the facade mobile platform and the other end rounds the crown block and fixes on the wound roll; the side close to the building facade of the facade mobile platform has a passive mobile device to ensure the facade mobile platform to move; the thrust device is arranged on the facies lateralis of the facade mobile platform. The invention has the advantages of big space, simple control, reliable operation, good expansibility, strong adaptability for facade, etc.
Description
Technical field
The present invention relates to a kind of wall-surface mobile robot, what relate to specifically that the gentle rope of a kind of usefulness drives is applied to the wall-surface mobile robot that the high-lager building facade cleans along what the high-lager building facade moved, belongs to robot
Technical field.
Background technology
Along with the modernization in city, produced numerous skyscrapers in the city.Based on daylighting and purpose attractive in appearance, many skyscrapers all are outer the decoration with the glass curtain wall, have therefore brought the cleaning problem of curtain wall.The cleaning of high-lager building glass curtain wall is a heavy and dangerous job.At present, main both at home and abroad use lifting table or hanging basket carrying cleaner carry out the cleaning of glass wall.Not only expense is high in the cleaning that high-rise is carried out in manual work, efficient is low, and very dangerous.The dumper from fall from high altitude, dead accident happens occasionally.The curtain wall for high rise building cleaning robot will make the people from the high-altitude washing and cleaning operation of danger, free.
At present particularly the research of the cleaning robot carrier of glass curtain wall is many based on negative-pressure adsorption or vacuum adsorption principle for the high-lager building facade.Development along with Robotics; The type of climbing robot becomes increasingly abundant, but existing climbing robot particularly all is difficult to reach high-lager building facade washing and cleaning operation requirement of actual application based on the wall-surface mobile robot of vacuum adsorption principle or negative-pressure adsorption principle to the adaptive capacity of wall and the reliability of absorption.And its complex structure is controlled loaded down with trivial details.
Summary of the invention
Be to solve the deficiency of prior art, the object of the present invention is to provide a kind of simple in structure, reliable operation, be easy to control, the wall adaptive capacity is strong is applied to the wall-surface mobile robot that the high-lager building facade cleans.
For reaching the foregoing invention purpose, the technical scheme that the present invention adopted is:
A kind of wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that comprising gentle rope drive system, wall mobile platform and thruster;
Described gentle rope drive system is two groups; Comprise hoisting system and gentle rope respectively; Described hoisting system is installed in the both sides on the top of building facade; Comprise motor reducer assembly, reel and fixed pulley, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor reducer assembly; One end of gentle rope is separately fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley respectively;
Described wall mobile platform is equipped with the passive travel mechanism that guarantees that the wall mobile platform moves near a side of building facade;
Described thruster is installed on the lateral surface of wall mobile platform.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that described thruster is ducted fan, screw propeller or jet thrust unit
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade is characterized in that the elevator motor in the motor reducer assembly is interchange or DC servo motor.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade; It is characterized in that also being equipped with gentle rope drive system on a group at the middle part on described building facade top; The described rope drive system that softens that goes up comprises hoisting system and last gentle rope; The described hoisting system of going up comprises motor reducer assembly, coiling and last fixed pulley, and last motor reducer assembly, coiling are fixed on the facade of building, and coiling is connected with the output shaft of last motor reducer assembly; An end of going up gentle rope is fixed on the wall mobile platform, and the other end is fixed on the coiling after walking around fixed pulley.
The aforesaid wall-surface mobile robot that is applied to the cleaning of high-lager building facade; It is characterized in that the rope drive system that softens under a group also being installed at the middle part of building facade bottom; Described gentle rope drive system down comprises hoisting system and following gentle rope down; Described hoisting system down comprises motor reducer assembly, lower mandrel member and following fixed pulley down, and following motor reducer assembly, lower mandrel member are fixed on the facade of building, and lower mandrel member is connected with the output shaft of following motor reducer assembly; An end of gentle rope is fixed on the wall mobile platform down, and the other end is fixed on the lower mandrel member after walking around down fixed pulley.
The invention has the beneficial effects as follows:
1, motion space is big: the present invention can install hoisting system according to the dimensional structure of building in application process, can obtain bigger motion space.
2, safe and reliable: the present invention is in application process; The wall mobile platform is lifted on the hoisting system through gentle rope; With compare based on the wall-surface mobile robot of negative-pressure adsorption or vacuum principle, the unsafe condition that lost efficacy and to cause robot to come off because of absorption can not appear, robot does not need absorption in the wall moving process; Therefore can adapt to multiple wall environment, application is more extensive.
3, control is simple: the present invention reaches the position of control robot on wall and the purpose of moving velocity through the length of controlling gentle rope; Control algorithm is simple; Only need make simple triangle and resolve the controlling quantity that can obtain the elevator motor; Control hardware is built conveniently, and can select interchange or DC servo motor for use according to actual conditions.
4, favorable expandability: adopt 2 groups of gentle ropes to hang under the general situation and can satisfy job requirements.If mobile platform gentlier is difficult for hanging gentle Suo Lazhi or external interference power when big, can adds in building facade bottom and load gentle rope drive system; When if mobile platform is heavier, then can load onto the force-bearing situation that gentle rope drive system is improved original 2 gentle ropes through adding at building facade top, guarantee the balance of wall mobile platform.
Description of drawings
Fig. 1 is the structural representation of the embodiment of the invention 1;
Fig. 2 is the lateral plan of Fig. 1;
Fig. 3 is the structural representation of the embodiment of the invention 2;
Fig. 4 is the structural representation of the embodiment of the invention 3.
The specific embodiment
Through embodiment and accompanying drawing technical scheme of the present invention is explained further details below.
Embodiment 1:
Fig. 1 is the structural representation of the embodiment of the invention 1; Fig. 2 is the lateral plan of Fig. 1; Like Fig. 1, shown in 2, the wall-surface mobile robot that is applied to the cleaning of high-lager building facade of the present invention is made up of 2 groups of gentle rope drive systems, wall mobile platform and thrusters; Wherein: the gentle rope hoisting system of each group comprises reel 1, motor reducer assembly 2 and fixed pulley 3; Hoisting system is installed in the both sides on building facade top, and an end of gentle rope 4 is fixed on the wall mobile platform 5, and an other end of gentle rope 4 is walked around fixed pulley 3 and is wrapped on the reel 1; The length of gentle rope can be controlled through the rotation of adjustment elevator motor, the kinematic velocity of wall mobile platform on wall and the purpose of position can be realized controlling through the length of adjusting a plurality of gentle ropes.Wall mobile platform 5 is sling by two gentle ropes 4, leans on the gravity of wall mobile platform 5 rope 4 that will soften stretching, and this wall mobile platform 5 can all directions move in the wall upper edge under the traction of gentle rope 4, and can the washing and cleaning operation instrument be installed according to the operation needs.Thruster 6 is installed on the lateral surface of wall mobile platform 5; This thruster 6 can be realized by ducted fan, screw propeller or other jet-propelled thrust units; In order to produce relative wall's positive pressure, make said wall mobile platform and wall be adjacent to and produce certain contact force.A side that contacts with the building facade at wall mobile platform 5 is equipped with passive travel mechanism, is convenient to moving of wall mobile platform 5.Elevator motor in the motor reducer assembly 2 can be selected for use according to actual conditions and exchange or DC servo motor.
Principle of work of the present invention is: drive reel 1 rotation through motor reducer assembly 2 and control the flexible of gentle rope 4; The length of two gentle ropes 4 is confirmed the position of wall mobile platform 5 on the building facade; Thereby realize motion and the location of wall mobile platform 5 on wall; Thruster 6 produces relative walls' positive pressure, makes wall mobile platform 5 be adjacent to wall and produces certain contact force, and passive travel mechanism (not shown) guarantees moving flexibly of wall mobile platform 5.
Present embodiment can be used as the mobile vehicle of facade washing and cleaning operation robot; The length of the gentle rope 4 of adjustment can be controlled the position of wall mobile platform 5 on wall; Passive travel mechanism is installed on the wall mobile platform 5, can moves, on the wall mobile platform 5 the washing and cleaning operation instrument can be installed along the wall all directions; Thruster 6 is used for wall mobile platform 5 is pressed to wall, and the application force that provides washing and cleaning operation to need.The present invention has characteristics such as motion space is big, control is simple, reliable operation.
Embodiment 2:
Fig. 3 is the structural representation of the embodiment of the invention 2; As shown in Figure 3; When the gravity of wall mobile platform is can not be with two gentle Suo Lazhi or external interference force rate big, on the basis of embodiment 1, install 1 gentle rope drive system down additional at the middle part of building facade bottom; Make two gentle Suo Lazhi of top, and can resist certain external interference power (like crosswind).Therefore the wall-surface mobile robot platform that is applied to the cleaning of high-lager building facade in the present embodiment is made up of 3 groups of gentle rope drive systems, wall mobile platform and thrusters.Be the control of simplified system, the following gentle rope drive system of bottom can adopt the power mode, and promptly the tensile force f of the gentle rope of control is certain.
Embodiment 3:
Fig. 4 is the structural representation of the embodiment of the invention 3; As shown in Figure 4; When the gravity of wall mobile platform is big; For improving the force-bearing situation of original two groups of gentle rope drive systems, simplify the algorithm of robot movement control, adding gentle rope drive system on a group in the facade top middle portion on the basis of embodiment 1.Therefore, in the present embodiment, be applied to the wall-surface mobile robot platform that the high-lager building facade cleans, form by 3 groups of gentle rope drive systems, wall mobile platform and thrusters.The length of the 3rd gentle rope that the traversal motion of wall mobile platform on wall can be added through adjustment, control original two gentle ropes simultaneously the wall mobile platform is realized as circular movement around the 3rd fixed pulley that is added.
The foregoing description does not limit the present invention in any way, and all employings are equal to the technical scheme that mode obtained of replacement or equivalent transformation, all drop in protection scope of the present invention.
Claims (5)
1. be applied to the wall-surface mobile robot that the high-lager building facade cleans, it is characterized in that comprising gentle rope drive system, wall mobile platform and thruster;
Described gentle rope drive system is two groups; Comprise hoisting system and gentle rope respectively; Described hoisting system is installed in the both sides on the top of building facade; Comprise motor reducer assembly, reel and fixed pulley respectively, motor reducer assembly, reel are fixed on the facade of building, and reel is connected with the output shaft of motor reducer assembly; One end of gentle rope is separately fixed on the wall mobile platform, and the other end is fixed on the reel after walking around fixed pulley respectively;
Described wall mobile platform is equipped with the passive travel mechanism that guarantees that the wall mobile platform moves near a side of building facade;
Described thruster is installed on the lateral surface of wall mobile platform.
2. the wall-surface mobile robot that is applied to the cleaning of high-lager building facade according to claim 1 is characterized in that described thruster is ducted fan, screw propeller or jet thrust unit
3. the wall-surface mobile robot that is applied to the cleaning of high-lager building facade according to claim 1 is characterized in that the elevator motor in the motor reducer assembly is interchange or DC servo motor.
4. according to claim 1, the 2 or 3 described wall-surface mobile robots that are applied to the cleaning of high-lager building facade; It is characterized in that also being equipped with gentle rope drive system on a group at the middle part on described building facade top; The described rope drive system that softens that goes up comprises hoisting system and last gentle rope; The described hoisting system of going up comprises motor reducer assembly, coiling and last fixed pulley; Last motor reducer assembly, coiling are fixed on the facade of building, and coiling is connected with the output shaft of last motor reducer assembly; An end of going up gentle rope is fixed on the wall mobile platform, and the other end is fixed on the coiling after walking around fixed pulley.
5. according to claim 1, the 2 or 3 described wall-surface mobile robots that are applied to the cleaning of high-lager building facade; It is characterized in that the rope drive system that softens under a group also being installed at the middle part of building facade bottom; Described gentle rope drive system down comprises hoisting system and following gentle rope down; Described hoisting system down comprises motor reducer assembly, lower mandrel member and following fixed pulley down; Following motor reducer assembly, lower mandrel member are fixed on the facade of building, and lower mandrel member is connected with the output shaft of following motor reducer assembly; An end of gentle rope is fixed on the wall mobile platform down, and the other end is fixed on the lower mandrel member after walking around down fixed pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910026691 CN101554892B (en) | 2009-05-08 | 2009-05-08 | Wall-climbing robot applied in tall buildings facade cleaning |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200910026691 CN101554892B (en) | 2009-05-08 | 2009-05-08 | Wall-climbing robot applied in tall buildings facade cleaning |
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| CN101554892A CN101554892A (en) | 2009-10-14 |
| CN101554892B true CN101554892B (en) | 2012-04-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1040526C2 (en) * | 2013-12-03 | 2015-06-04 | Scrobby Robotics B V | Tethered autonomous solar panel installation cleaning device. |
| DE102016109402A1 (en) | 2016-05-23 | 2017-11-23 | Anton Jäger | Device for cleaning surfaces |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101822512B (en) * | 2010-04-06 | 2012-05-23 | 昆山市工业技术研究院有限责任公司 | Mobile mechanism of high-rise building wall surface cleaning robot |
| CN101803895B (en) * | 2010-04-06 | 2012-05-23 | 昆山市工业技术研究院有限责任公司 | Moving and protecting device of wall surface washing robot for high-rise building |
| EP2578367B1 (en) | 2010-05-27 | 2014-04-09 | Fundacion Tecnalia Research & Innovation | Positioning device controlled by cables |
| CN103169419A (en) * | 2013-03-25 | 2013-06-26 | 昆山瑞泰智能科技有限公司 | High-rise wall surface cleaning robot moving device |
| NL2013877B1 (en) * | 2014-11-26 | 2016-10-11 | Metiss B V | Cleaning system for a façade of a building structure. |
| CN110101332A (en) * | 2019-05-15 | 2019-08-09 | 江苏理工学院 | A kind of combined type window wiping robot system and clean method |
| CN112110391A (en) * | 2019-06-20 | 2020-12-22 | 杭州孚亚科技有限公司 | Operation system |
| CN110448238A (en) * | 2019-08-09 | 2019-11-15 | 西安理工大学 | There are two types of the high-altitude wall cleaning devices of operating mode for tool |
| CN112718326B (en) * | 2020-12-24 | 2022-10-04 | 济南山川机械制造有限公司 | Suspension device for spraying automobile hub |
| CN112873180A (en) * | 2021-01-22 | 2021-06-01 | 佛山(华南)新材料研究院 | High-altitude operation suspension device and robot |
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| CN2413808Y (en) * | 1999-10-31 | 2001-01-10 | 张朝吟 | Automatic cleaning machine for outer wall |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2413808Y (en) * | 1999-10-31 | 2001-01-10 | 张朝吟 | Automatic cleaning machine for outer wall |
| CN2499186Y (en) * | 2001-10-24 | 2002-07-10 | 吴志明 | Cleaning robot for building environment protection |
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Non-Patent Citations (1)
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1040526C2 (en) * | 2013-12-03 | 2015-06-04 | Scrobby Robotics B V | Tethered autonomous solar panel installation cleaning device. |
| DE102016109402A1 (en) | 2016-05-23 | 2017-11-23 | Anton Jäger | Device for cleaning surfaces |
| EP3248696A1 (en) | 2016-05-23 | 2017-11-29 | Anton Jäger | Surface cleaning device |
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| CN101554892A (en) | 2009-10-14 |
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Effective date of registration: 20190624 Address after: 215399 8th Floor, No. 5 Tsinghua Science Park, No. 1666 Zuchong South Road, Yushan Town, Kunshan City, Suzhou City, Jiangsu Province Patentee after: Jiangsu three Italy building Polytron Technologies Inc Address before: 215347 4F Science and Technology Building No. 1666 Weicheng South Road, Kunshan City, Jiangsu Province Patentee before: Kunshan Industrial Technology Research Institute Co., Ltd. |