CN201641887U - Suspension device and curtain wall cleaning robot thereof - Google Patents
Suspension device and curtain wall cleaning robot thereof Download PDFInfo
- Publication number
- CN201641887U CN201641887U CN2010200029859U CN201020002985U CN201641887U CN 201641887 U CN201641887 U CN 201641887U CN 2010200029859 U CN2010200029859 U CN 2010200029859U CN 201020002985 U CN201020002985 U CN 201020002985U CN 201641887 U CN201641887 U CN 201641887U
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- stay cord
- main part
- control module
- wire spool
- suspension apparatus
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Abstract
The utility model provides a suspension device and a curtain wall cleaning robot thereof. The suspension device comprises a main body (300), a first pull rope (210), a second pull rope (220), a first pull rope control unit, a second pull rope control unit and a central control unit, wherein one end of the first pull rope (210) is coupled on the main body (300), one end of the second pull rope (220) is coupled on the main body (300), the first pull rope control unit is used for adjusting the length of the first pull rope (210), the second pull rope control unit is used for adjusting the length of the second pull rope (220), and the central control unit is used for respectively controlling actions of the first pull rope control unit and the second pull rope control unit so as to respectively change the length of the first pull rope (210) and the length of the second pull rope (220).
Description
Technical field
The utility model relates to a kind of suspension apparatus and curtain cleaning robot thereof.
Background technology
As shown in Figure 1, existing curtain cleaning robot generally all adopts the mode of suspention to carry out operation.Existing suspension apparatus generally all adopts the mode of single line suspention to carry out work, promptly controls the upright position that is suspended thing by the length of lifting rope, and changes the horizontal level that is suspended thing by the horizontal level that changes the top arm.
Because suspention is dangerous operation, because arm needs frequent motion, then the installation requirement to arm is very high, and cost and installation difficulty are all higher.
The utility model content
In view of this, technical problem to be solved in the utility model provides a kind of simple installation, the suspension apparatus and the curtain cleaning robot thereof that can not need movable arm to move arbitrarily in vertical plane.
The purpose of this utility model is achieved through the following technical solutions:
A kind of suspension apparatus, comprise: the second stay cord control module of the first stay cord control module of first pulling rope length that main part, an end be coupled in first stay cord of described main part, second stay cord that an end is coupled in described main part, be used to adjust, second pulling rope length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change the long central control unit of described first stay cord and the second stay cord rope respectively.
When above-mentioned suspension apparatus suspention is installed on the moving region that it will be worked, for example the curtain wall of building the time, then, this suspension apparatus comprises: first stiff end and second stiff end that are fixedly installed on its top, moving region respectively, main part, two ends are coupled in first stay cord of described first stiff end and main part respectively, two ends are coupled in second stay cord of described second stiff end and main part respectively, the first stay cord control module of first pulling rope length that is used to adjust, the second stay cord control module of second pulling rope length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, with the long central control unit of rope that changes described first stay cord and second stay cord respectively.
Wherein, when described suspension apparatus suspention is installed on the moving region that it will be worked, for example the curtain wall of building the time, from can clearly knowing geometrically, respectively in the determined moving region of the vertical line by first stiff end and second stiff end, there is a functional relation one to one the position of the main part that is suspended with the length of first stay cord and second stay cord.As long as determine the length of first stay cord and second stay cord respectively, just can determine the position of main part like this.
Like this, adopt technique scheme like this,, just can easily control the position and the movement locus thereof of main part by adopting the central control unit of computer technology.
Adopt technique scheme, do not need to install transportable arm, just can realize being suspended the action of thing easily.Install easylier, cost also can be lower.
Preferably, described central control unit comprises: the main part position module that is used to measure described main part position, be used to measure the first position fixed ends module of described first position fixed ends, and, be used to measure the second position fixed ends module of described second position fixed ends.
Further adopt abovementioned technology,, can know that the rope of first stay cord and second stay cord is long, be convenient to control as long as determine the position of main part, first stiff end and second stiff end respectively.
Preferably, the described first stay cord control module comprises: be arranged on first wire spool on the described main part and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described first stiff end, and its other end is around in described first wire spool.
Further adopt abovementioned technology, can control the length of first stay cord easily.Wherein, motor can be selected the stepper motor of its rotation amplitude more easy to control.
In the corresponding another kind of preference, the described first stay cord control module comprises: be arranged on first wire spool on described first stiff end and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described main part, and its other end is around in described first wire spool.
Preferably, the described second stay cord control module comprises: be arranged on second wire spool (920) on the described main part and be used to drive second motor that described second wire spool rotates; Described second stay cord, one end is fixed in described second stiff end, and its other end is around in described second wire spool.
Further adopt abovementioned technology, can control the length of second stay cord easily.Wherein, motor can be selected the stepper motor of its rotation amplitude more easy to control.
In the corresponding another kind of preference, the described second stay cord control module comprises: be arranged on second wire spool on described second stiff end and be used to drive second motor that described second wire spool rotates; Described second stay cord, one end is fixed in described main part, and its other end is around in described second wire spool.
Preferably, described suspension apparatus also comprises: be arranged on the described main part natural measurement of tilt unit that is connected with described central control unit.
Further adopt abovementioned technology, can conveniently control the attitude of main part.In fact, not only the position of main part and first stay cord and second stay cord have relation, and its attitude as gradient, also has relation with first stay cord and second stay cord.
Preferably, described suspension apparatus also comprises: be movably connected on the sucker of described main part, and, be movably connected on described main part, and can with the support of the movement locus horizontal movement of described sucker.
Further adopt abovementioned technology,, can be attached at easily or leave, be convenient to operation in curtain wall as the curtain wall operation time.
The utility model also provides a kind of curtain cleaning robot that adopts described suspension apparatus, comprising: be arranged on the cleaning device on the described main part.
Advantage compared with prior art of the present utility model is, simple installation can not need movable arm to move arbitrarily in vertical plane.
Description of drawings
Fig. 1 is the structural representation of a kind of embodiment of curtain cleaning robot of prior art;
Fig. 2 is the structural representation of a kind of embodiment of the utility model curtain cleaning robot;
Fig. 3 is the part-structure side view of a kind of embodiment of the utility model curtain cleaning robot;
Fig. 4 is the part-structure side view of a kind of embodiment of the utility model curtain cleaning robot.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and preferred embodiment.
As shown in Figure 2, be a kind of curtain cleaning robot that adopts suspension apparatus, it is suspended on the glass curtain wall 500.
Wherein, suspension apparatus comprises: first stiff end 110 and second stiff end 120 that are fixedly installed on its top, moving region respectively, main part 300, two ends are coupled in first stay cord 210 of described first stiff end 110 and main part 300 respectively, two ends are coupled in second stay cord 220 of described second stiff end 120 and main part 300 respectively, the first stay cord control module of first stay cord, 210 length that are used to adjust, the second stay cord control module of second pulling rope length 220 that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change described first stay cord 210 and the long central control unit of second stay cord, 220 ropes respectively.
Wherein, described central control unit comprises: the main part position module that is used to measure described main part 300 positions, be used to measure the first position fixed ends module of described first stiff end 110 positions, and, be used to measure the second position fixed ends module of described second stiff end 120 positions.
The described first stay cord control module comprises: be arranged on first wire spool 910 on the described main part 300 and be used to drive first motor 911 that described first wire spool 910 rotates.Described first stay cord, 210 1 ends are fixed in described first stiff end 110, and its other end is around in described first wire spool 910.
Stating the second stay cord control module comprises: be arranged on second wire spool 920 on the described main part 300 and be used to drive second motor 922 that described second wire spool 920 rotates; Described second stay cord, 220 1 ends are fixed in described second stiff end 120, and its other end is around in described second wire spool 920.
Described main part 300 is provided with cleaning device, and described cleaning device comprises: air compressor machine 310, high-pressure pump 320, water tank 330, oil pressure pump 340, supersonic generator 350 and water pump 360.
As shown in Figure 3 and Figure 4, on glass curtain wall 500, often be provided with the barrier 510 that is used to block water.For avoiding barrier 510, when suspention was moved, suspension apparatus must keep certain distances with glass curtain wall 500 in the suspention process, but washing and cleaning operation the time, with regard to the glass curtain wall of pressing close to that must be stable.
For this reason, suspension apparatus also comprises: be movably connected on the sucker 810 of described main part 300, and, be movably connected on described main part 300, and can with the support 820 of the movement locus horizontal movement of described sucker 810.
Above content be in conjunction with concrete preferred implementation to further describing that the utility model is done, can not assert that concrete enforcement of the present utility model is confined to these explanations.For the utility model person of an ordinary skill in the technical field, under the prerequisite that does not break away from the utility model design, can also make some simple deduction or replace, all should be considered as belonging to protection domain of the present utility model.
Claims (10)
1. suspension apparatus, it is characterized in that, comprise: main part (300), one end is coupled in first stay cord (210) of described main part (300), one end is coupled in second stay cord (220) of described main part (300), the first stay cord control module of first stay cord (210) length that is used to adjust, the second stay cord control module of second stay cord (220) length that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, with the long central control unit of rope that changes described first stay cord (210) and second stay cord (220) respectively.
2. suspension apparatus, it is characterized in that, comprise: first stiff end (110) and second stiff end (120) that are fixedly installed on its top, moving region respectively, main part (300), two ends are coupled in first stay cord (210) of described first stiff end (110) and main part (300) respectively, two ends are coupled in second stay cord (220) of described second stiff end (120) and main part (300) respectively, the first stay cord control module of first stay cord (210) length that is used to adjust, the second stay cord control module of second pulling rope length (220) that is used to adjust, and, be used for controlling respectively the action of the described first stay cord control module and the second stay cord control module, to change the long central control unit of described first stay cord (210) and second stay cord (220) rope respectively.
3. suspension apparatus as claimed in claim 2, it is characterized in that, described central control unit comprises: the main part position module that is used to measure described main part (300) position, be used to measure the first position fixed ends module of described first stiff end (110) position, and, be used to measure the second position fixed ends module of described second stiff end (120) position.
4. as claim 2 or 3 described suspension apparatus, it is characterized in that, the described first stay cord control module comprises: be arranged on first wire spool (910) on the described main part (300) and be used to drive first motor (911) that described first wire spool (910) rotates; Described first stay cord (210) one ends are fixed in described first stiff end (110), and its other end is around in described first wire spool (910).
5. as claim 2 or 3 described suspension apparatus, it is characterized in that the described first stay cord control module comprises: be arranged on first wire spool on described first stiff end (110) and be used to drive first motor that described first wire spool rotates; Described first stay cord, one end is fixed in described main part (300), and its other end is around in described first wire spool.
6. as claim 2 or 3 described suspension apparatus, it is characterized in that, the described second stay cord control module comprises: be arranged on second wire spool (920) on the described main part (300) and be used to drive second motor (922) that described second wire spool (920) rotates; Described second stay cord (220) one ends are fixed in described second stiff end (120), and its other end is around in described second wire spool (920).
7. as claim 2 or 3 described suspension apparatus, it is characterized in that the described second stay cord control module comprises: be arranged on second wire spool on described second stiff end (120) and be used to drive second motor that described second wire spool rotates; Described second stay cord (220) one ends are fixed in described main part (300), and its other end is around in described second wire spool.
8. as claim 2 or 3 described suspension apparatus, it is characterized in that, also comprise: be arranged on the described main part (300) the natural measurement of tilt unit that is connected with described central control unit.
9. as claim 2 or 3 described suspension apparatus, it is characterized in that, also comprise: be movably connected on the sucker (810) of described main part (300), and, be movably connected on described main part (300), and can with the support (820) of the movement locus horizontal movement of described sucker (810).
10. a curtain cleaning robot that adopts suspension apparatus as claimed in claim 1 or 2 is characterized in that, comprising: be arranged on the cleaning device on the described main part (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200029859U CN201641887U (en) | 2010-01-14 | 2010-01-14 | Suspension device and curtain wall cleaning robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200029859U CN201641887U (en) | 2010-01-14 | 2010-01-14 | Suspension device and curtain wall cleaning robot thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201641887U true CN201641887U (en) | 2010-11-24 |
Family
ID=43107064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200029859U Expired - Fee Related CN201641887U (en) | 2010-01-14 | 2010-01-14 | Suspension device and curtain wall cleaning robot thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201641887U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273492A (en) * | 2013-05-10 | 2013-09-04 | 河南科技大学 | Two-dimensional suspended type high-rise outer wall cleaning robot |
| CN108212592A (en) * | 2018-02-08 | 2018-06-29 | 平太宇 | A kind of finishing is with based on polar emulsion paint spray equipment |
| CN110326994A (en) * | 2019-07-18 | 2019-10-15 | 郭嘉辉 | A kind of safety automation glass-cleaning robot |
-
2010
- 2010-01-14 CN CN2010200029859U patent/CN201641887U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103273492A (en) * | 2013-05-10 | 2013-09-04 | 河南科技大学 | Two-dimensional suspended type high-rise outer wall cleaning robot |
| CN103273492B (en) * | 2013-05-10 | 2015-07-29 | 河南科技大学 | A kind of two dimensional suspension formula high-rise facade washing machine device people |
| CN108212592A (en) * | 2018-02-08 | 2018-06-29 | 平太宇 | A kind of finishing is with based on polar emulsion paint spray equipment |
| CN110326994A (en) * | 2019-07-18 | 2019-10-15 | 郭嘉辉 | A kind of safety automation glass-cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101124 Termination date: 20120114 |