CN113925408A

CN113925408A - Wall operation robot and operation method thereof

Info

Publication number: CN113925408A
Application number: CN202111216882.1A
Authority: CN
Inventors: 王熙尧
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2022-01-14

Abstract

The invention discloses a wall operation robot and an operation method thereof, relating to the technical field of intelligent operation, and comprising a driving part, an installation frame, a winding belt group and a robot operation body, wherein: one end of the tape coiling group is movably arranged on the mounting frame, and the other end of the tape coiling group is connected with the robot operation body; the driving piece is connected with the winding belt set and drives the winding belt set to move; the winding belt group comprises a plurality of winding belts, and adjacent winding belts are connected with each other to form the winding belt group. The robot operation body does not need additionally to lay the guide rail along the wall motion under the drive of rolling tape group, and when the distance of robot operation body and wall was suitable, the robot operation body was washd the wall, and for manual work, this equipment is safer, and the continuous operation ability is stronger, and does not receive the restriction of environmental climate.

Description

Wall operation robot and operation method thereof

Technical Field

The invention relates to the technical field of intelligent operation, in particular to a wall operation robot and an operation method thereof.

Background

The outer walls in cities are exposed to wind, rain and sun all the year round and are generally attached to the surfaces by dust in the air. In order to beautify the whole city, the cleaning agent is used for high-altitude cleaning in a new industry in modern cities. Personnel in the industry are specialized and trained overhead operators, and the overhead operation ropes, the safety ropes and the overhead hanging baskets are used for brushing and cleaning the building exterior wall materials from top to bottom. The risk of the work is very high, and once the worker falls carelessly, the life of the worker can be threatened.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention provides a wall operation robot and an operation method thereof, aiming at the technical problem of great risk of manually cleaning high-altitude walls, and the wall operation robot is safer, has stronger continuous operation capability and is not limited by environmental climate.

2. Technical scheme

In order to solve the problems, the technical scheme provided by the invention is as follows: a wall working robot comprising a driving member, a mounting frame, a tape set and a robot working body, wherein: one end of the tape coiling group is movably arranged on the mounting frame, and the other end of the tape coiling group is connected with the robot operation body; the driving piece is connected with the winding belt set and drives the winding belt set to move; the winding belt set comprises a plurality of winding belts, and the adjacent winding belts are connected with each other and connected with the robot operation body.

Optionally, the mounting bracket comprises a support and an annular bracket arranged on the support, and the winding belt is rotatably mounted on the annular bracket.

Optionally, the ring-shaped support is movably mounted on a support, the support is horizontally or obliquely arranged at the mounting position, and the ring-shaped support moves along the support.

Optionally, the mounting rack is provided with a roller or a slider, the roller is used for the rail at the mounting position to roll and cooperate, and the slider is used for the rail at the mounting position to slide and cooperate.

Optionally, a guide wheel is mounted on one surface, facing the wall, of the shell of the robot operation body.

Optionally, the guide wheel includes an elastic arm and a roller, one end of the elastic arm is mounted on the housing, and the other end of the elastic arm is connected with the roller.

Optionally, the winding belt is annularly distributed, and forms an accommodating cavity of the winding belt set.

Optionally, the winding belt includes a first winding sheet and a second winding sheet, and the first winding sheet and the second winding sheet are annularly distributed along the mounting frame.

Optionally, the first roll of film and the second roll of film are arranged at intervals, the two sides of the first roll of film are provided with limiting clamping protrusions, and the two sides of the second roll of film are provided with limiting grooves matched with the limiting clamping protrusions.

The invention also discloses an operation method of the wall operation robot, which comprises the following steps: one end of the winding belt group is driven by the driving piece to move around the mounting rack, and the other end of the winding belt group drives the robot operation body to move; when the robot operation body reaches the target position, the sucker on the robot operation body extends out to suck the wall with operation, and the robot operation body starts to operate; after the operation is finished, the sucking disc retracts, the winding belt group continues to rotate, and the next operation is carried out; when the wall work in one area is finished, the mounting frame moves horizontally or obliquely along the mounting position, or the annular support on the mounting frame moves horizontally or obliquely along the support, and the work in the other area is carried out.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

(1) the wall operation robot that this application embodiment provided, robot operation body move along the wall under the drive of scalable winding set, when the distance of robot operation body and wall is suitable, robot operation body washs the wall, for manual work, this operating device is safer, and the continuous operation ability is stronger, and does not receive the restriction of environment weather.

(2) The wall work robot that this application embodiment provided, robot operation body goes up and down along with the lift of winding, need not lay the guide bar, not only practices thrift the cost, after a work area's wall body is cleaned up, remove the mounting bracket can, it is very convenient to operate. The hollow track formed by the tape winding group is internally provided with pipelines such as a cable, a water pipe, a recovery pipe, a vacuum pipe, an air pipe and the like which are connected with the robot operation body, so that the structure of the operation device is simpler, energy (electric power), cleaning materials and wastes can be conveyed through the pipelines, and the robot operation body is not required to be stored.

(3) The wall operation robot that this application embodiment provided, when the sucking disc stretches out and adsorbs the wall body, the elastic arm shrink is convenient for shorten the distance between casing and the wall body, and when the sucking disc shrink, the elastic arm resets under the elasticity of self, pulls open the distance between casing and the wall body, and the robot operation body of being convenient for removes. The elastic arm in this embodiment is V style of calligraphy structure, and when the sucking disc shrink and remove the absorption, V style of calligraphy structure realizes more easily restoring to the throne because self has the trend to both ends extension.

(4) The wall work robot that this application embodiment provided, when the winding rotates, the side of first roll of piece and the side interconnect of second roll of piece form the track, and the setting up of spacing calorie of protruding and spacing recess makes first roll of piece and second roll of piece complex inseparabler, increases orbital stability, ensures the security of this operation device in service.

Drawings

Fig. 1 is a schematic structural diagram of a wall-mounted working robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of the first tape and the second tape of the wall-working robot according to the embodiment of the present invention.

Fig. 3 is a schematic view of a first roll of a wall working robot according to an embodiment of the present invention.

Fig. 4 is a schematic view of a second roll of a wall working robot according to an embodiment of the present invention.

The labels in the various figures are: 1. a mounting frame; 11. a support; 12. an annular support; 2. a tape winding group; 21. coiling; 211. a first roll of sheet; 2111. limiting clamping protrusions; 212. a second roll of sheet; 2121. a limiting groove; 213. a through hole; 22. an accommodating chamber; 3. a robot work body; 31. a housing; 32. brushing a disc; 33. a suction cup; 34. a guide wheel; 341. a resilient arm; 342. a roller; 4. a pipeline.

Detailed Description

For a further understanding of the present invention, reference will now be made in detail to the embodiments illustrated in the drawings.

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The terms first, second, and the like in the present invention are provided for convenience of describing the technical solution of the present invention, and have no specific limiting effect, but are all generic terms, and do not limit the technical solution of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. The technical solutions in the same embodiment and the technical solutions in different embodiments can be arranged and combined to form a new technical solution without contradiction or conflict, and the technical solutions are within the scope of the present invention.

Example 1

With reference to fig. 1-4, the wall operation robot of the present embodiment includes a driving member, a mounting frame 1, a winding set 2 and a robot operation body 3, wherein: one end of the tape winding group 2 is movably arranged on the mounting frame 1, and the other end of the tape winding group 2 is connected with the robot operation body 3; the driving piece is connected with the winding belt group 2 and drives the winding belt group 2 to move; the tape unit 2 includes a plurality of tapes 21, and adjacent tapes 21 are connected to each other and to the robot working body 3. The mounting rack 1 can be horizontally or obliquely mounted at a roof or a window, the side edge of the winding belt 21 is connected with the side edge of the adjacent winding belt 21 to support the robot operation body 3 to move, when one end of the winding belt 21 rotates clockwise (anticlockwise) around the mounting rack 1, the other end of the winding belt 21 drives the robot operation body 3 to extend along the wall, when one end of the winding belt 21 rotates anticlockwise (clockwise) around the mounting rack 1, the other end of the winding belt 21 drives the robot operation body 3 to contract along the wall, so that the robot operation body 3 finishes the high-altitude cleaning work, the winding belt 21 in the embodiment is made of rigid material, one ends of the winding belts 21 are annularly distributed along the mounting component 1, the other ends of the winding belt 21 are connected with each other to form a guide rail, and the guide rail has stronger supporting force, can drive the robot operation body 3 to vertically or obliquely move, no extra track laying is needed, and the cost is saved, when the wall of a target area is cleaned, the mounting frame 1 is moved, and the operation is very convenient. The inside or the externally mounted that winding 21 and winding 21 are connected have pipeline 4 such as cable, water pipe, recovery tube, vacuum tube, trachea that are connected with robot operation body 3, make the structure of operation device more succinct, and energy (electric power), washing material and wastes material can be carried through pipeline 4, do not need robot operation body 3 storage. The user can carry out long-range, automatic operation to robot operation body 3 according to the operation task, makes robot operation body 3 scrub, scrape, wash or the spraying work to the wall body to judge whether effective through state information, data of patrolling and examining, until all tasks finish, realize the intellectuality of operation.

Example 2

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with the solution of embodiment 1: the mounting frame 1 comprises a support 11 and an annular support 12 arranged on the support 11, and the tape 21 is rotatably mounted on the annular support 12. The support 11 is used for being installed on a wall, and the tape 21 is rotatably installed on the annular support 12. The annular support 12 is a circular ring or a square ring, and the winding belt 21 is distributed around the annular support 12, so that a hollow accommodating cavity 22 is formed conveniently.

Example 3

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with the solution of embodiment 1 or 2: the annular support 12 is movably arranged on a support 11, the support 11 is horizontally or obliquely arranged at the installation position, and the annular support 12 moves along the support 11. The installation place can be a roof or a window in a wall, the coiling belt 21 is perpendicular to the support 11, and after the robot operation body 3 finishes the operation of one vertical or inclined wall area, the annular support 12 moves along the support 11, so that the robot operation body 3 horizontally or obliquely moves relative to the wall, and the operation of the next wall area is facilitated.

Example 4

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with any of the embodiments 1-3: the mounting rack 1 is provided with a roller 342 or a sliding block, the roller 342 is used for the rail rolling fit of the mounting position, and the sliding block is used for the rail sliding fit of the mounting position. A track can be laid on the roof or the window along the horizontal or inclined direction, the roller 342 or the slider of the mounting frame 1 is matched with the track, and after the robot operation body 3 finishes the operation of one vertical or inclined wall body area, the mounting frame 1 moves along the track, so that the robot operation body 3 moves horizontally or obliquely relative to the wall body, and the operation of the next wall body area is facilitated. The robot working body 3 includes a housing 31, a brush plate 32, a water pump and a suction cup 33, the brush plate 32, the suction cup 33 and the water pump are all installed inside the housing 31, and the suction cup 33 extends and retracts in the direction of the wall.

Example 5

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with any of the embodiments 1-4: a guide wheel 34 is mounted on one surface of the housing 31 of the robot working body 3 facing the wall. The guide wheels 34 may be a plurality of guide wheels, and are symmetrically disposed along one surface of the housing 31 facing the wall, and the guide wheels 34 may reduce friction between the housing 31 and the wall, thereby increasing the moving efficiency of the robot working body 3.

Example 6

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with any of the embodiments 1-5: the guide wheel 34 includes a resilient arm 341 and a roller 342, one end of the resilient arm 341 is mounted on the housing 31, and the other end of the resilient arm 341 is connected to the roller 342. The robot working body 3 has the suction cup 33, when the suction cup 33 extends out of the wall to be adsorbed, the elastic arm 341 contracts to facilitate shortening of the distance between the shell 31 and the wall, and when the suction cup 33 contracts, the elastic arm 341 resets under the elasticity of itself to pull open the distance between the shell 31 and the wall, thereby facilitating the movement of the robot working body 3. The elastic arm 341 in this embodiment is a V-shaped structure, and when the suction cup 33 contracts to release the suction, the V-shaped structure tends to extend toward both ends, so that the resetting is more easily performed. In other embodiments, the elastic arm 341 may be a spring.

Example 7

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with any of the embodiments 1-6: the winding tape 21 is annularly distributed to form an accommodating cavity 22 of the winding tape set 2. The winding set 2 with the accommodating cavity 22 is hollow, and the accommodating cavity 22 can be internally provided with pipelines 4 such as cables, water pipes, recovery pipes, vacuum pipes and air pipes which are connected with the robot operation body 3, so that the structure of the operation device is simpler, energy (electric power), cleaning materials and wastes can be conveyed through the pipelines 4, and the robot operation body 3 is not required to be stored. The conduit 4 may also be provided outside the receiving chamber 22. The cable is used for supplying power for robot operation body 3, and the water pipe is used for supplying water for robot operation body 3, and when sucking disc 33 stretched out to the wall, the vacuum tube was to sucking disc 33 extraction vacuum, made sucking disc 33 adsorb on the wall, when sucking disc 33 deviated from the wall and retracted, the trachea was aerifyd sucking disc 33, removed sucking disc 33's absorption, and the pipeline 4 such as cable, water pipe, trachea, vacuum tube can refer to a high altitude absorption belt cleaning device of patent (201710036401.6) inside the specific setting mode of robot operation body 3. The brush plate 32 is provided with a brush head, a spray head, a scraper or a paint pump. The brush head is used for scrubbing stains on the wall body, the spray head is used for washing the stains after scrubbing, when the stains are adhered firmly, the scraper plate can scrape, the scraper plate can also be used for painting the wall body, the paint pump can be used for spraying paint or spraying painting patterns on the wall body, and the brush head, the spray head, the scraper plate and the paint pump can be used according to user requirements.

Example 8

With reference to fig. 1-4, the wall working robot of the present embodiment can be improved as follows compared with any of the embodiments 1-7: the tape 21 comprises a first roll sheet 211 and a second roll sheet 212, and the first roll sheet 211 and the second roll sheet 212 are annularly distributed along the mounting frame 1. One end of first roll of piece 211 and the one end of second roll of piece 212 movable mounting respectively on mounting bracket 1, the other end of first roll of piece 211 and the other end interconnect of second roll of piece 212 constitute the guide rail, support the vertical or slope removal of robot operation body 3, the simple operation.

Example 9

With reference to fig. 1-4, the wall working robot of the present embodiment can be modified as follows compared with any of the embodiments 1-8: the first rolling sheet 211 and the second rolling sheet 212 are arranged at intervals, the two sides of the first rolling sheet 211 are provided with limiting clamping protrusions 2111, and the two sides of the second rolling sheet 212 are provided with limiting grooves 2121 matched with the limiting clamping protrusions 2111. When winding tape 21 rotated, the side of first roll of piece 211 and the side interconnect of second roll of piece 212 formed and held the chamber 22, and spacing calorie of protruding 2111 of card and spacing recess 2121's setting makes first roll of piece 211 and the cooperation of second roll of piece 212 inseparabler, and the structure is more stable, increases the stability of supporting robot operation body 3, ensures the security of this equipment in service.

Example 10

With reference to fig. 1-4, the method for operating a wall working robot according to any one of embodiments 1-9 of the present embodiment includes the following steps: one end of the tape winding group 2 moves around the mounting rack 1 under the driving of the driving piece, and the other end of the tape winding group 2 drives the robot operation body 3 to move; when the robot working body 3 reaches the target position, the suction cup 33 on the robot working body 3 extends out to suck the wall with the work, and the robot working body 3 starts to work; after the operation is finished, the suction disc 33 retracts, the winding belt group 2 continues to rotate, and the next operation is carried out; when the wall work in one area is finished, the mounting frame 1 moves horizontally or obliquely along the mounting position, or the annular support 12 on the mounting frame 1 moves horizontally or obliquely along the support 11, and the work in the other area is carried out. One end of the winding belt 21 is wound on the mounting frame 1, the side edge of the other end of the winding belt 21 is connected with the side edge of the adjacent winding belt 21, so as to support the robot operation body 3, when one end of the winding belt 21 rotates around the mounting frame 1, the length of the other end of the winding belt 21 is increased or reduced, so that the robot operation body 3 is driven by the winding belt 21 to horizontally or obliquely move along a wall, when the robot operation body 3 reaches a target position, a user can remotely and automatically operate the robot operation body 3 according to an operation task, so that the robot operation body 3 can scrub, scrape, wash or spray the wall, and whether the operation is effective or not is judged through state information and inspection data until all tasks are executed, so that the operation is intelligent, a cable connected with the robot operation body 3 is installed in a containing cavity 22 between the winding belt 21 and the winding belt 21, The pipelines 4 such as the water pipe, the recovery pipe, the vacuum pipe and the air pipe enable the structure of the operation device to be simpler, energy (electric power), cleaning materials and wastes can be conveyed through the pipelines 4, after the storage operation of the robot operation body 3 is not needed, the sucking disc 33 retracts, the winding belt 21 continues to rotate, and the next operation is carried out; when the wall work in one area is finished, the mounting frame 1 moves horizontally or obliquely along the mounting position, or the annular support 12 on the mounting frame 1 moves horizontally or obliquely along the support 11, and the work in the other area is carried out.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. The utility model provides a wall operation robot which characterized in that, includes driving piece, mounting bracket, reel group and robot operation body, wherein:

one end of the tape coiling group is movably arranged on the mounting frame, and the other end of the tape coiling group is connected with the robot operation body;

the driving piece is connected with the winding belt set and drives the winding belt set to move;

the winding belt set comprises a plurality of winding belts, and the adjacent winding belts are connected with each other and connected with the robot operation body.

2. A wall working robot according to claim 1, wherein the mounting frame comprises a support and an annular support provided on the support, the tape being rotatably mounted on the annular support.

3. A wall working robot according to claim 2, characterized in that said ring carrier is movably mounted on a support, which is arranged horizontally or obliquely at the mounting, along which the ring carrier is moved.

4. A wall working robot according to claim 2, characterized in that the mounting frame is provided with rollers for rolling engagement with the rails of the mounting site or with sliders for sliding engagement with the rails of the mounting site.

5. A wall working robot according to claim 1, wherein a guide wheel is mounted on a side of the housing of the robot working body facing the wall.

6. A wall working robot according to claim 5 wherein the guide wheel comprises a resilient arm and a roller, the resilient arm being mounted on the housing at one end and connected to the roller at the other end.

7. A wall working robot according to claim 1, characterized in that the tape is distributed in a loop forming a housing cavity for the set of tapes.

8. A wall working robot according to claim 1, characterized in that the tape comprises a first and a second roll, which are distributed annularly along the mounting frame.

9. A wall working robot according to claim 8 wherein the first and second rolls are spaced apart, the first roll being provided with a retaining projection on each side thereof and the second roll being provided with a retaining groove on each side thereof for engaging with the retaining projection.

10. A method of operation of a wall working robot according to any of claims 1-9, characterized by the steps of: one end of the winding belt group is driven by the driving piece to move around the mounting rack, and the other end of the winding belt group drives the robot operation body to move; when the robot operation body reaches the target position, the sucker on the robot operation body extends out to suck the wall with operation, and the robot operation body starts to operate; after the operation is finished, the sucking disc retracts, the winding belt group continues to rotate, and the next operation is carried out; when the wall work in one area is finished, the mounting frame moves horizontally or obliquely along the mounting position, or the annular support on the mounting frame moves horizontally or obliquely along the support, and the work in the other area is carried out.