CN110179410A - Half frame glass curtain wall climbing robot of one kind and application method - Google Patents
Half frame glass curtain wall climbing robot of one kind and application method Download PDFInfo
- Publication number
- CN110179410A CN110179410A CN201910460298.7A CN201910460298A CN110179410A CN 110179410 A CN110179410 A CN 110179410A CN 201910460298 A CN201910460298 A CN 201910460298A CN 110179410 A CN110179410 A CN 110179410A
- Authority
- CN
- China
- Prior art keywords
- curtain wall
- glass curtain
- climbing robot
- robot
- half frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of half frame glass curtain wall climbing robot and application methods, belong to climbing robot field.Wherein, a kind of half frame glass curtain wall climbing robot includes: robot body, the clamping device being mounted below robot body, and is mounted on the running gear on the inside of clamping device；Clamping device includes: the rack being mounted below robot body, be fixed on rack both ends first servo motor and rack-mounted linkage；Running gear includes: the elastic buffer being fixedly connected with movable plate, the connecting plate being mounted on elastic buffer, the second servo motor being mounted on connecting plate, and the idler wheel being fixedly connected with the second servo motor output end；The present invention, enough support forces are provided by clamping device for robot body, and so that climbing robot is turned on the vertical edge of curve pattern by the elastic deformation of elastic buffer, it can be realized climbing robot by running gear and moved along vertical edge.
Description
Technical field
The present invention relates to climbing robot technical field, specifically a kind of half frame glass curtain wall climbing robot and use
Method.
Background technique
It is the notable feature of modernization skyscraper that glass curtain wall, which is mounted on construction wall outside, and for glass curtain wall
Beautiful and safety usually adds a pressing plate in the vertical edge of full concealed frame glass curtain wall, forms half built-in-frame type glass curtain of vertical edge.
Since horizontal edge is hidden in glass curtain wall on half built-in-frame type glass curtain of vertical edge, so existing use sucker in glass
What the robot climbed on glass curtain wall was easy not stop falls on bottom surface, and casualties and property is be easy to cause to damage
It loses.
And the support force of the existing robot climbed on glass curtain wall using sucker is small, only carries out glass curtain
The cleaning of wall, especially when the dust on glass curtain wall is excessive, the adsorption capacity of sucker reduces the support force to robot
It is smaller, and the big sucker of upper air current is easy to loosen and is easier that accident occurs, so needing to provide one kind can be in half frame glass
Operation provides the climbing robot of enough support forces on glass curtain wall；And for the beauty of building so some buildings are by outer layer
Half built-in-frame type glass curtain of vertical edge is designed as curve pattern, this for climbing robot depend on vertical edge carry out climbing increase difficulty.
Summary of the invention
Goal of the invention: half frame glass curtain wall climbing robot of one kind and application method, it is of the existing technology to solve
The above problem.
Technical solution: half frame glass curtain wall climbing robot of one kind includes: robot body, is mounted on robot body
The clamping device of lower section, and it is mounted on the running gear on the inside of clamping device；
The clamping device includes: the rack being mounted below robot body, is fixed on the first servo motor at rack both ends,
And rack-mounted linkage, wherein linkage includes: the crank being fixedly connected with the output end of servo motor
Wheel, the hinged and contrary connecting rod with the two sides of crankwheel, and the movable plate hinged with connecting rod end；
The running gear includes: the elastic buffer being fixedly connected with movable plate, is mounted on the connection on elastic buffer top
Plate, the second servo motor being mounted on connecting plate, and the idler wheel being fixedly connected with the output end of the second servo motor；
Wherein, the connecting rod and elastic buffer are located at the same side of movable plate, and the elastic buffer is located at the two sides of connecting rod.
In a further embodiment, the rack includes: the top plate being fixedly connected with robot body, is arranged in top plate
The first straight line guide rail of lower section, the sliding panel being slidably connected by first straight line guide rail and top plate, and setting sliding panel lower section
Limited block；Wherein, the lower section of sliding panel is arranged in the movable plate, can by the lower section that sliding panel is arranged in movable plate
Make the moving process of movable plate that first straight line guide rail be followed to move in a straight line, the spacing between running gear can adjusted
While so that running gear is not shifted, and because movable plate with connecting rod is hinged movable plate will not be generated with connecting rod
Torque damages.
In a further embodiment, second straight line guide rail is additionally provided with below the top plate, the connecting plate passes through
Second straight line guide rail is slidably connected with top plate, because idler wheel generates axial force to spring damper during rotating on vertical edge
Spring damper can be made to shift, influence the using effect using elastic buffer, connecting plate is made by second straight line guide rail
It is slidably connected with top plate, can guarantee to guarantee to abut between idler wheel and riser while elastic deformation occurs for spring damper not sending out
Raw offset.
In a further embodiment, the two sides of the crankwheel are equipped with centrosymmetric articulated section, the crankwheel
Outside middle position is provided with annular groove, and the articulated section of the connecting rod and crankwheel is hinged and is located in annular groove, and connecting rod is placed
It can be avoided the premature surface for touching crankwheel of connecting rod in a ring groove, increase the stroke of connecting rod, enable connecting rod to the greatest extent can
The dead point close to crankwheel of energy, further ensure that the clamping effect of clamping device, also reduce the negative of first servo motor
Lotus.
In a further embodiment, the limited block is located at position corresponding with connecting rod, is provided in the limited block
Square groove, the width of the square groove are greater than the diameter of crankwheel, and the lower surface of the square groove and the lower surface of connecting rod are slidably connected, energy
Enough connecting rod is limited by limited block, prevents connecting rod from falling off in use.
In a further embodiment, the outer round surface of the idler wheel is equipped with rubber or sucker, passes through the outer circle in idler wheel
Rubber or sucker etc. is arranged in surface, can increase the skin-friction force of idler wheel and provide bigger support force for climbing robot.
In a further embodiment, a kind of application method of half frame glass curtain wall climbing robot, comprising: will clean
The robot body of robot is fixed on the top two sides of the top plate of rack, and climbing robot is then placed on glass curtain wall
On, so that the vertical edge of glass curtain wall is in the middle position of climbing robot, then starts first servo motor and pass through clamping device
Abut the idler wheel of running gear with the vertical edge of glass curtain wall, then starting the second servo motor makes climbing robot with cleaning
Robot is mobile along vertical edge, and is cleaned by clean robot to glass curtain wall.
The utility model has the advantages that passing through clamping the invention discloses a kind of half frame glass curtain wall climbing robot and application method
Device abuts running gear with vertical edge to provide enough support forces for robot body, even if after power-off, by running gear
Elastic buffer, enough support forces can be still provided for robot body；And by the elastic shape of elastic buffer
Change enables climbing robot to turn on the vertical edge of curve pattern；By running gear can be realized climbing robot along
Vertical edge is moved.
Detailed description of the invention
Fig. 1 is elevational schematic view of the invention.
Fig. 2 is axonometric schematic diagram of the invention.
Fig. 3 is the embodiment of the present invention schematic diagram.
Appended drawing reference shown in Fig. 1 to Fig. 3 are as follows: robot body 1, clamping device 2, running gear 3, rack 21, first are watched
Take motor 22, linkage 23, elastic buffer 31, connecting plate 32, the second servo motor 33, idler wheel 34, top plate 211, limit
Block 212, first straight line guide rail 213, sliding panel 214, second straight line guide rail 215, crankwheel 231, connecting rod 232, movable plate 233.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
For convenience of the internal structure for showing climbing robot, so the top plate 211 in Fig. 2 is shown with half sectional view.
The present embodiment is a kind of half frame glass curtain wall climbing robot, double of frame glass curtain wall progress cleaning
Using so the robot body 1 in embodiment illustrated in fig. 3 attached drawing is clean robot.
Half frame glass curtain wall climbing robot of one kind includes: first straight line guide rail 213, model LSBSA28-400-
FC-N。
Second straight line guide rail 215, model LSBSM8-200-FC-N.
Elastic buffer 31, model LDA42 × 50.
First servo motor 22, model 60JASM5042K-20B.
Second servo motor 33, model 40JASM5012K-20B.
Connecting plate 32, connecting plate 32 are L plate, and being provided in the bottom surface of connecting plate 32 can be by the output of the second servo motor 33
The through-hole passed through is held, circumference equal dividing has the threaded hole for installing the second servo motor 33 around through-hole, in the side of connecting plate 32
Face is provided with the threaded hole for installing elastic buffer 31, and the bottom end of connecting plate 32 is provided with the countersunk head with the cooperation of the second slide rail
Hole, the counter sink pass through the side plate of connecting plate 32, and the material of connecting plate 32 is No. 2014 aluminium with high-intensitive and high rigidity
Alloy sheets.
Idler wheel 34, the through-hole matched with the second servo motor 33 is provided with along the center line of idler wheel 34, and the hole wall of through-hole is opened
There is keyway, the outer round surface of idler wheel 34 is equipped with rubber material.
Top plate 211, the both ends of top plate 211 are provided with the through-hole that can be passed through by the output end of first servo motor 22, through-hole
Surrounding circumference equal dividing has several threaded holes for being used to install first servo motor 22, is also provided on top plate 211 several for installing
The threaded hole of limited block 212, first straight line guide rail 213 and second straight line guide rail 215, the material of top plate 211 are with high intensity
With No. 2014 aluminium alloy plates of high rigidity.
Limited block 212, the two sides of limited block 212 are provided with counter sink, and the bottom end of limited block 212 is provided with width and compares crankwheel
The big square groove of 231 diameters, the bottom end surface roughness of square groove at 1.6 μm hereinafter, the material of limited block 212 be with high-intensitive and
No. 2014 aluminium alloy plates of high rigidity.
Sliding panel 214, altogether there are four, sliding panel 214 is No. 2014 aluminium alloy plates with high-intensitive and high rigidity, in cunning
The surface of movable plate 214 is provided with several counter sinks with the cooperation of the first slide rail, is provided with and is used in the middle position of sliding panel 214
The threaded hole of limited block 212 is installed.
Crankwheel 231 is provided with logical with the cooperation of the output end of first servo motor 22 along the central axis of crankwheel 231
Hole, the two sides of crankwheel 231 are provided with hinge hole, and the outside middle position of crankwheel 231 is provided with annular groove, and the surface of annular groove is thick
Rugosity is at 3.2 μm or less.
Connecting rod 232, the both ends of connecting rod 232 are equipped with articulated structure, the surface roughness at the both ends of connecting rod 232 3.2 μm with
Under, the material of connecting rod 232 is No. 2014 aluminium alloy plates with high-intensitive and high rigidity.
Movable plate 233, the top of movable plate 233 are provided with the threaded hole cooperated with sliding panel 214, the centre of movable plate 233
Position is equipped with the articulated section cooperated with connecting rod 232, and the two sides of movable plate 233 are provided with the screw thread for installing elastic buffer 31
Hole, the material of movable plate 233 are No. 2014 aluminium alloy plates with high-intensitive and high rigidity, wherein the articulated section of movable plate 233
Eccentric setting, so that elastic buffer 31 increases the stress point of climbing robot in climbing robot in interleaved state.
Connecting plate 32: being first mounted on one end of elastic buffer 31 by assembling process, then by the another of elastic buffer 31
One end is mounted on the both ends of movable plate 233, and then the second servo motor 33 is mounted on connecting plate 32, then pacifies idler wheel 34
Mounted in the output end of the second servo motor 33, the assembly of running gear 3 is so far completed；Then movable plate 233 is mounted on sliding
On plate 214, then first straight line sliding rail and second straight line sliding rail are mounted on top plate 211, are then mounted on sliding panel 214
On first connecting plate 32, connecting plate 32 is mounted on second straight line guide rail 215, first servo motor 22 is then mounted on top
The both ends of plate 211, and the output end of first servo motor 22 is made to pass through the through-hole of top plate 211, then crankwheel 231 is mounted on
The output end of first servo motor 22, it is then using pin shaft that one end of connecting rod 232 and the hinge hole of crankwheel 231 is hinged, make
It is with pin shaft that the other end of connecting rod 232 and the articulated section of movable plate 233 is hinged, the assembly of linkage 23 is so far completed, then
Limited block 212 is mounted on sliding panel 214 using screw, so far completes the assembly of rack 21 and clamping device 2；It finally will top
Plate 211 is mounted on the lower section of robot body 1.
Climbing robot: being placed on half frame glass curtain wall by working principle first, and fills the walking of climbing robot
The 3 vertical edge two sides for being located at glass curtain wall are set, first servo motor 22 is then started, crankwheel 231 is rotated, drives the company of two sides
232 relative motion of bar makes movable plate 233 drive 31 relative motion of elastic buffer, to drive running gear 3 and glass curtain wall
Vertical edge two sides abut, up to elastic buffer 31, deformation occurs, then starts the second servo motor 33, passes through running gear 3
It drives robot body 1 to move on glass curtain wall, then starts robot body 1 and cleaning is carried out to glass curtain wall.
In the riser for encountering curve pattern, different degrees of bullet is carried out by the elastic buffer 31 of front and back different location
Property deformation, realizes the transformation in the direction of climbing robot, thus the riser of accommodation curve pattern, so that the walking of different location fills
Setting 3 can still abut with vertical edge, and running gear 3 is designed as the bullet that alternating expression can make the running gear 3 of vertical edge two sides
Property buffer 31 not the same time occur elastic deformation further ensure that the stability of climbing robot and to machine
The support force that human body 1 provides.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, technical solution of the present invention can be carried out a variety of etc.
With transformation, these equivalents are all belonged to the scope of protection of the present invention.
Claims (7)
1. a kind of half frame glass curtain wall climbing robot characterized by comprising robot body (1) is mounted on robot
Clamping device (2) below ontology (1), and it is mounted on the running gear (3) on the inside of clamping device (2)；
The clamping device (2) includes: the rack (21) being mounted below robot body (1), is fixed on rack (21) both ends
First servo motor (22), and the linkage (23) being mounted on rack (21), wherein linkage (23) includes:
The crankwheel (231) being fixedly connected with the output end of first servo motor (22), and direction hinged with the two sides of crankwheel (231)
Opposite connecting rod (232), and the movable plate (233) hinged with connecting rod (232) end；
The running gear (3) includes: the elastic buffer (31) being fixedly connected with movable plate (233), is mounted on elastic buffer
The connecting plate (32) on device (31) top, the second servo motor (33) being mounted on connecting plate (32), and it is electric with the second servo
The idler wheel (34) that the output end of machine (33) is fixedly connected；
Wherein, the connecting rod (232) and elastic buffer (31) are located at the same side of movable plate (233), the elastic buffer
(31) it is located at the two sides of connecting rod (232).
2. a kind of half frame glass curtain wall climbing robot according to claim 1, it is characterised in that: the rack (21)
It include: the top plate (211) being fixedly connected with robot body (1), the first straight line guide rail being arranged below top plate (211)
(213), the sliding panel (214) being slidably connected by first straight line guide rail (213) and top plate (211), and setting sliding panel
(214) limited block (212) below；
Wherein, lower section of movable plate (233) setting in sliding panel (214).
3. a kind of half frame glass curtain wall climbing robot according to claim 2, it is characterised in that: the top plate
(211) it is additionally provided with below second straight line guide rail (215), the connecting plate (32) passes through second straight line guide rail (215) and top
Plate (211) is slidably connected.
4. a kind of half frame glass curtain wall climbing robot according to claim 1, it is characterised in that: the crankwheel
(231) two sides are equipped with centrosymmetric articulated section, and the outside middle position of the crankwheel (231) is provided with annular groove, described
The articulated section of connecting rod (232) and crankwheel (231) is hinged and is located in annular groove.
5. a kind of half frame glass curtain wall climbing robot according to claim 2, it is characterised in that: the limited block
(212) it is located at position corresponding with connecting rod (232), is provided with square groove in the limited block (212), the width of the square groove is greater than
The diameter of crankwheel (231), the lower surface of the square groove and the lower surface of connecting rod (232) are slidably connected.
6. a kind of half frame glass curtain wall climbing robot according to claim 1, it is characterised in that: the idler wheel (34)
Outer round surface be equipped with rubber or sucker.
7. a kind of application method of half frame glass curtain wall climbing robot characterized by comprising
The robot body (1) of clean robot: being fixed on the top of the top plate (211) of rack (21) by method one, then will
Climbing robot is placed on glass curtain wall, so that the vertical edge of glass curtain wall is in the middle position of climbing robot, is then started
First servo motor (22) abuts the idler wheel (34) of running gear (3) with the vertical edge of glass curtain wall by clamping device (2), so
After start the second servo motor (33) to make climbing robot mobile along vertical edge with clean robot, and pass through clean robot
Glass curtain wall is cleaned；
Method two: in the riser for encountering curve pattern, different journeys are carried out by the elastic buffer (31) of front and back different location
The transformation in the direction of climbing robot is realized in the elastic deformation of degree, thus the riser of accommodation curve pattern, so that different location
Running gear (3) can still be abutted with vertical edge, to provide enough support forces for robot body (1).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910460298.7A CN110179410B (en) | 2019-05-30 | 2019-05-30 | Semi-frame type glass curtain wall climbing robot and using method |
| CN202011032576.8A CN112336261B (en) | 2019-05-30 | 2019-05-30 | Climbing method based on half-frame type glass curtain wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910460298.7A CN110179410B (en) | 2019-05-30 | 2019-05-30 | Semi-frame type glass curtain wall climbing robot and using method |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011032576.8A Division CN112336261B (en) | 2019-05-30 | 2019-05-30 | Climbing method based on half-frame type glass curtain wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110179410A true CN110179410A (en) | 2019-08-30 |
| CN110179410B CN110179410B (en) | 2020-11-06 |
Family
ID=67718742
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011032576.8A Active CN112336261B (en) | 2019-05-30 | 2019-05-30 | Climbing method based on half-frame type glass curtain wall climbing robot |
| CN201910460298.7A Active CN110179410B (en) | 2019-05-30 | 2019-05-30 | Semi-frame type glass curtain wall climbing robot and using method |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011032576.8A Active CN112336261B (en) | 2019-05-30 | 2019-05-30 | Climbing method based on half-frame type glass curtain wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112336261B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115306172A (en) * | 2022-08-29 | 2022-11-08 | 重庆大学 | Double-roller clamping mechanism, outer wall cleaning machine fixing device and outer wall cleaning machine |
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| CN1806739A (en) * | 2005-01-18 | 2006-07-26 | 周汝霖 | Cleaner |
| KR101427215B1 (en) * | 2014-04-16 | 2014-08-13 | (주) 신동아건축종합건축사사무소 | The windows for apartment house with washing device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115306172A (en) * | 2022-08-29 | 2022-11-08 | 重庆大学 | Double-roller clamping mechanism, outer wall cleaning machine fixing device and outer wall cleaning machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112336261A (en) | 2021-02-09 |
| CN112336261B (en) | 2022-12-30 |
| CN110179410B (en) | 2020-11-06 |
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