CN1559760A - Safety protection mechanism of robot for cleaning wall of high building - Google Patents
Safety protection mechanism of robot for cleaning wall of high building Download PDFInfo
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- CN1559760A CN1559760A CNA2004100168704A CN200410016870A CN1559760A CN 1559760 A CN1559760 A CN 1559760A CN A2004100168704 A CNA2004100168704 A CN A2004100168704A CN 200410016870 A CN200410016870 A CN 200410016870A CN 1559760 A CN1559760 A CN 1559760A
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- hoisting mechanism
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Abstract
A high-safety protecting mechanism of the robot for cleaning the wall of high building is composed of guide track made of slotted steel, moving carriage, encoded counter unit for determining the current position of robot, electric control system, and winding engine unit with steel cable for hanging said cleaning robot.
Description
Technical field
The present invention relates to a kind of high building cleaning robot safety protection mechanism, the safeguard protection that is used for the high building cleaning robot relates in particular to the safeguard protection of climbing robot, belongs to the Robotics field.
Background technology
Utilize wiping window, wall cleaning that robot is engaged in skyscraper etc. worldwide to obtain more and more widely attention.Most window wiping robot, wall cleaning machine device people use crawling device when work.Because the working environment complexity is climbed phenomenons such as skidding appears in wall formula running gear easily, outage suddenly, must consider the safety problem when this robotlike works in external wall of high-rise building.
Usually in order to prevent that these robots from falling from the high-altitude, generally do not allow the robot high-speed mobile yet, thereby greatly reduce its operating efficiency.People begin one's study and introduce safety device in the cleaning robot people thus, with the safety of guaranteeing the machine man-hour and raise the efficiency.
Retrieval to existing robot security's protection mechanism is found; application for a patent for invention [application number 01136768.7] " building environmental protection cleaning robot control method and the robot that adopts described method " relates to a kind of device of safeguard protection, it is characterized in that: the suspension protection mechanism is provided for a kind of building environmental protection cleaning robot.This device can not accurately be controlled moving of cleaning robot, cause the swing and the extensional vibration of security system easily, reduced the operating efficiency of cleaning robot, brought very big potential safety hazard, therefore be not suitable for the stricter high-rise cleaning robot of safety requirements.
Summary of the invention
The objective of the invention is at deficiency of the prior art; a kind of high building cleaning robot safety protection mechanism is provided; can accurately control robot; reduce each swing and extensional vibration of moving the back security system; thereby make cleaning robot reach the cleaning efficiency that the cleaning state improves cleaning robot as early as possible; not only can be used for the safeguard protection of high building cleaning robot, also can be applied to whole wall climbing robot field.
The present invention is achieved by the following technical solutions: safety protection mechanism mainly comprises travelling car, channel-section steel guide rail, coding counting device, electric control system and hoisting mechanism.Mounted hoisting mechanism is placed on the travelling car, travelling car is placed in the mounted in advance channel-section steel guide rail, the coding counting device is installed in crossbeam one end of travelling car and links to each other with control system, and electric control system links to each other respectively with travelling car, hoisting mechanism.
Travelling car comprises support wheel, car body, running fix wheel, support bar, crossbeam and pulley etc.Support wheel and car body support whole system, have enough rigidity, are the bases of entire equipment, and other parts are all supported by it.The running fix wheel is placed in the mounted in advance channel-section steel guide rail, has enough precision, and travelling car can be along the channel-section steel guide rail movement.Support bar is installed on the travelling car, is used for supporting traverse, has above apart from four position pin holes that do not wait, and can be used to regulate the high and low position of crossbeam.Pulley is installed in crossbeam one end, and crossbeam and pulley have enough rigidity, can hang entire machine human body mechanism.
The channel-section steel guide rail is made up of two parallel channel-section steels, is installed in roof ground in advance, and travelling car is along this guide rail movement.
The coding counting device comprises encoder and protecting sheathing.Encoder closely is connected with pulley by connecting shaft spare, and the rotating shaft and the pulley of encoder are synchronized with the movement, and guarantees the accurate counting of encoder.Protecting sheathing is fixed on by screw on the crossbeam of travelling car, and encoder is played protection and waterproof effect.
Electric control system comprises switch board, frequency converter, Programmable Logic Controller, wireless communication module.Frequency converter, Programmable Logic Controller, wireless communication module all are placed in the switch board.Drawing line by frequency converter in the switch board is connected with hoisting mechanism.Be to communicate between frequency converter, wireless communication module and the Programmable Logic Controller by RS485.Electric control system and hoisting mechanism are placed on the travelling car and together move with it.In addition, conveniently to have designed control panel and can carry out field control in order to control, the button of control panel is connected with the Programmable Logic Controller input port, and delivery outlet then is connected to the control end of frequency converter.Hoisting mechanism comprises motor, arrestment mechanism and cable wire.The driven by motor cable wire rotates, and can just change also and can reverse, and arrestment mechanism can be braked motor.
During work, at first wireless communication module receives working signal, send signal to Programmable Logic Controller, Programmable Logic Controller compiling back is controlled frequency converter, frequency converter is according to the difference of control signal, 380 volts of electric currents of output different frequency and direction are given hoisting mechanism, realize the rotating and the speed adjusting of hoisting mechanism, then are to rise, descend with certain speed corresponding to the cleaning robot that hangs.Then when the cleaning robot entry square when needs are mobile, then can be along channel-section steel guide rail promotion travelling car.When each hoist engine is worked, at first open brakes, unclamp band-type brake, could realize the rotation of hoisting mechanism, when fortuitous events such as outage suddenly take place, band-type brake will tighten up, and the rotation of hoist engine will be braked.In addition, encoder can accurately measure the number of turns of rotation by the rotation of pulley, calculates the cleaning robot move distance, thereby realizes determining the cleaning robot position.
Theory analysis and experimental result show that by adjusting relevant parameter, the present invention can accurately control moving of cleaning robot, even be subjected to repeatedly disturbing, native system also can reach requirement, eliminates the swing and the vibration of system fast and reliablely.Reduce potential safety hazard simultaneously, increase work efficiency.The present invention adopts encoder apparatus, makes the cleaning robot site error be controlled in the indication range of requirement.The more important thing is that the present invention adopts the channel-section steel track-type facilities, can realize the accurately mobile control of travelling car,, just can eliminate soon and swing and extensional vibration as long as each displacement of moving is little.The present invention not only can be applicable to the safeguard protection of high building cleaning robot, also extends to whole wall climbing robot field.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present invention.
Among Fig. 1, support wheel 1, channel-section steel guide rail 2, running fix wheel 3, support and connection plate 4, support bar 5, position pin hole 6, hoisting mechanism steel wire rope 7, pulley 8, coding counting device 9, electric control system 10, crossbeam 11, connecting rod 12, hoisting mechanism 13.
Fig. 2 is the structural representation of channel-section steel guide rail among the present invention.
Among Fig. 2, channel-section steel guide rail 2, running fix wheel 3, travelling car car body 14.
Fig. 3 is the brake sticking brake structure principle chart of hoisting mechanism of the present invention.
Among Fig. 3, power transmission shaft 15, brake pad 16, brake band assembly 17, fixed support axle 18, support bar 19, connector 20, solenoid 21, spring 22, fixed axis 23.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
High building cleaning robot safety protection mechanism of the present invention mainly comprises: travelling car, channel-section steel guide rail 2, coding counting device 9, electric control system 10 and hoisting mechanism 13, its connected mode as shown in Figure 1.Wherein, travelling car comprises two support wheel 1, running fix wheel 3, support and connection plate 4, support bar 5, position pin hole 6, pulley 8, crossbeam 11, connecting rod 12.Support wheel 1 is connected with car body, supports whole system.There are 3, two running fix wheels 3 of a pair of running fix wheel to be placed on respectively in the mounted in advance channel-section steel guide rail 2 between two support wheel 1, only play positioning action, do not play a supportive role.Support and connection plate 4 and support bar 5 are installed on the travelling car, are used for supporting traverse 11.Four position pin holes 6 that have distance not wait above the support bar 5.Pulley 8 is installed in an end of crossbeam 11.Encoder apparatus 9 is installed on the pulley 8, and the turning cylinder of encoder will rotate synchronously with pulley.Robot main body mechanism is suspended on the pulley 8 of crossbeam 11 1 ends by the cable wire 7 of hoisting mechanism 13.Hoisting mechanism 13 is placed on the car body of travelling car and is synchronized with the movement with it.Can realize that under the control of electric control system 10 hoisting mechanism carries out rotating with certain speed.
Electric control system 10 mainly comprises frequency converter, Programmable Logic Controller, wireless communication module.During work, wireless communication module has guaranteed that safety protection mechanism and cleaning robot main body mechanism and bottom of the building control system realize communicating by letter, and can receive and send data each other.Programmable Logic Controller and wireless communication module carry out serial communication, the data that receive are compiled and send status data to wireless communication module.Frequency converter and Programmable Logic Controller also are serial communications, and according to the control signal difference of Programmable Logic Controller, 380 volts of voltages of output different frequency and direction are given hoisting mechanism, on the other hand status data are sent to Programmable Logic Controller on the one hand.Motor in the hoisting mechanism carries out rotating according to the input of frequency converter with certain speed, then is to rise, descend with certain speed corresponding to the cleaning robot that hangs.
Fig. 2 is the schematic diagram of the channel-section steel guide rail of safety guard of the present invention, separates from Fig. 1 for ease of understanding the channel-section steel guide rail.It is made up of two parallel channel-section steel guide rails 2, is installed in advance on the roof ground, and the running fix wheel 3 on the car body 14 is placed in the channel-section steel guide rail 2, moves along certain guide rail when guaranteeing travelling car work, reduces the sum of errors vibration.
Fig. 3 is the brake sticking brake structure principle chart of hoisting mechanism of the present invention.It mainly comprises power transmission shaft 15, brake pad 16, brake band assembly 17, fixed support axle 18, support bar 19, connector 20, solenoid 21, spring assembly 22, fixed axis 23.Power transmission shaft 15 connects by key and cooperates with machine shaft, brake pad 16 closely cooperates with power transmission shaft 15, the one end is fixed on the fixed axis 23, an other end then is connected with brake band assembly 17, brake band assembly 17 and spring assembly 22 are connected by screw, and be embedded in the support bar 19, one end of support bar 19 withstands an end of brake pad 16, an other end is connected with connector 20 and solenoid 21, fixed support axle 18 makes support bar 19 form leverage as the fulcrum of support bar 19.When needs work, electric control system 10 will be connected solenoid 21, and connector 20 will be subjected to a downward electromagnetic attraction, and support bar 19 passes through fixed support axle 18 with brake pad 16 and spring assembly 22 jack-up, brake pad 16 is just no longer held power transmission shaft 15 tightly, thereby unties braking.When support bar 19 is with brake pad 16 and spring assembly 22 jack-up, also caused the distortion of spring assembly 22, after solenoid 21 outages, spring assembly 22 will impel brake pad 16 to recover to hold tightly power transmission shaft 15, realizes braking.Brake sticking brake mechanism has guaranteed when fortuitous events such as outage suddenly take place hoisting mechanism to be realized braking, the security that has improved system greatly.
The course of work of safety protection mechanism of the present invention is as follows: as shown in Figure 1, cleaning robot is suspended on the hoisting mechanism cable wire 7 on the travelling car.Under the control of electric control system 10, hoisting mechanism 13 rotates rising, the decline that realizes cleaning robot.Travelling car moves along mounted guide rail 2 in advance, each dolly driving force and promote acceleration (can be determined by experiment) controlled well when mobile.Coding counting device 9 is measured the number of turns that hoisting mechanism cable wire 7 rotates, and calculates the distance of rotation, determines the residing position of cleaning robot.During electric control system 10 work, at first wireless communication module receives working signal, send signal to Programmable Logic Controller, Programmable Logic Controller compiling back is controlled frequency converter, frequency converter is according to the difference of control signal, 380 volts of voltages of output different frequency and direction are given hoisting mechanism, realize the rotating and the speed adjusting of hoisting mechanism, then are to rise, descend with certain speed corresponding to the cleaning robot that hangs.Owing to move and can accurately measure the cleaning robot present position, so as long as each dolly driving force and promote acceleration controlled well when mobile can be eliminated the swing and the extensional vibration of system soon along fixed guide.
Claims (3)
1; a kind of high building cleaning robot safety protection mechanism; it is characterized in that comprising travelling car; channel-section steel guide rail (2); coding counting device (9); electric control system (10) and hoisting mechanism (13); wherein; travelling car comprises support wheel (1); running fix wheel (3); support and connection plate (4); support bar (5); position pin hole (6); pulley (8); crossbeam (11); connecting rod (12); support wheel (1) is connected with car body; there is a pair of running fix wheel (3) to be installed on the support and connection plate (4) between two support wheel (1); running fix wheel (3) is placed in the mounted in advance channel-section steel guide rail (2); support and connection plate (4) and support bar (5) are installed on the travelling car; be used for supporting traverse; pulley (8) is installed in an end of crossbeam (11); encoder in the coding counting device (9) is installed on the pulley (8); the turning cylinder and the pulley of encoder rotate synchronously; hoisting mechanism (13) is placed on the car body of travelling car; coding counting device (9) links to each other with electric control system (10); in electric control system (10) inside; wireless communication module all is connected with Programmable Logic Controller with frequency converter, and the frequency converter output current is realized control to hoisting mechanism (13).
2; high building cleaning robot safety protection mechanism as claimed in claim 1; it is characterized in that described hoisting mechanism (13) adopts the brake sticking brake structure; comprise power transmission shaft (15); brake pad (16); brake band assembly (17); fixed support axle (18); support bar (19); connector (20); solenoid (21); spring assembly (22) and fixed axis (23); brake pad 16 closely cooperates with power transmission shaft (15); the one end is fixed on the fixed axis (23); an other end then is connected with brake band assembly (17); brake band assembly (17) is connected with spring assembly (22); and be embedded in the support bar (19); one end of support bar (19) withstands an end of brake pad (16); an other end is connected with connector (20) and solenoid (21), and fixed support axle (18) is the fulcrum of support bar (19).
3, high building cleaning robot safety protection mechanism as claimed in claim 1 is characterized in that four the position pin holes (6) that have distance not wait above the described support bar (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410016870 CN1273272C (en) | 2004-03-11 | 2004-03-11 | Safety protection mechanism of robot for cleaning wall of high building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410016870 CN1273272C (en) | 2004-03-11 | 2004-03-11 | Safety protection mechanism of robot for cleaning wall of high building |
Publications (2)
| Publication Number | Publication Date |
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| CN1559760A true CN1559760A (en) | 2005-01-05 |
| CN1273272C CN1273272C (en) | 2006-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410016870 Expired - Fee Related CN1273272C (en) | 2004-03-11 | 2004-03-11 | Safety protection mechanism of robot for cleaning wall of high building |
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| CN (1) | CN1273272C (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100424712C (en) * | 2005-04-14 | 2008-10-08 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN101396682B (en) * | 2007-09-28 | 2010-09-15 | 刘乐贺 | Intelligent arm mechanism for spray painting |
| CN101913153A (en) * | 2010-08-09 | 2010-12-15 | 范红兵 | Robot reinforcement method and device |
| WO2012019324A1 (en) * | 2010-08-13 | 2012-02-16 | Fan Hongbing | Method and device for robot reinforcement |
| CN104665714A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Building external wall surface cleaning robot system control device |
| CN104671141A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Portable obstacle surmounting lifting appliance of building external wall surface cleaning robot |
| CN104709831A (en) * | 2015-03-15 | 2015-06-17 | 郝高林 | Crane for high-rise building outer wall cleaning machine |
| CN104775600A (en) * | 2015-04-17 | 2015-07-15 | 哈尔滨理工大学 | Suspension-type outer wall plastering machine for high-rise buildings |
| TWI600608B (en) * | 2016-11-15 | 2017-10-01 | Chien Wen Kao | Mobile retractable hanging device installed on the roof of building |
| CN108673479A (en) * | 2018-07-25 | 2018-10-19 | 温州大学 | industrial robot teaching system |
| CN109528069A (en) * | 2019-01-31 | 2019-03-29 | 蓝天洁士(无锡)科技有限公司 | Close to formula window cleaning device |
-
2004
- 2004-03-11 CN CN 200410016870 patent/CN1273272C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100424712C (en) * | 2005-04-14 | 2008-10-08 | Lg电子株式会社 | Wireless controllable cleaning robot and remote controlling system for controlling the same |
| CN101396682B (en) * | 2007-09-28 | 2010-09-15 | 刘乐贺 | Intelligent arm mechanism for spray painting |
| CN101913153A (en) * | 2010-08-09 | 2010-12-15 | 范红兵 | Robot reinforcement method and device |
| WO2012019324A1 (en) * | 2010-08-13 | 2012-02-16 | Fan Hongbing | Method and device for robot reinforcement |
| CN104709831A (en) * | 2015-03-15 | 2015-06-17 | 郝高林 | Crane for high-rise building outer wall cleaning machine |
| CN104671141A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Portable obstacle surmounting lifting appliance of building external wall surface cleaning robot |
| CN104665714A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Building external wall surface cleaning robot system control device |
| CN104665714B (en) * | 2015-03-15 | 2018-06-12 | 江苏亘德科技有限公司 | A kind of building outside wall surface cleaning robot system control device |
| CN104775600A (en) * | 2015-04-17 | 2015-07-15 | 哈尔滨理工大学 | Suspension-type outer wall plastering machine for high-rise buildings |
| TWI600608B (en) * | 2016-11-15 | 2017-10-01 | Chien Wen Kao | Mobile retractable hanging device installed on the roof of building |
| CN108673479A (en) * | 2018-07-25 | 2018-10-19 | 温州大学 | industrial robot teaching system |
| CN109528069A (en) * | 2019-01-31 | 2019-03-29 | 蓝天洁士(无锡)科技有限公司 | Close to formula window cleaning device |
| CN109528069B (en) * | 2019-01-31 | 2020-09-18 | 蓝天洁士(无锡)科技有限公司 | Close type window cleaning device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1273272C (en) | 2006-09-06 |
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Granted publication date: 20060906 |