CN208769680U - Curtain wall robot and multi-functional hawser synchronous lifting control system - Google Patents
Curtain wall robot and multi-functional hawser synchronous lifting control system Download PDFInfo
- Publication number
- CN208769680U CN208769680U CN201721751646.9U CN201721751646U CN208769680U CN 208769680 U CN208769680 U CN 208769680U CN 201721751646 U CN201721751646 U CN 201721751646U CN 208769680 U CN208769680 U CN 208769680U
- Authority
- CN
- China
- Prior art keywords
- robot
- encoder
- hoist engine
- curtain wall
- functional
- 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.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses curtain wall robots and multi-functional hawser synchronous lifting control system, including robot body, robot controller, robot encoder, multi-functional hawser, roofing smart control box, hoist engine and hoist engine encoder, multi-functional hawser one ends wound is fixedly connected above the other end and robot body on hoist engine；Robot encoder is set on robot body, and robot controller handling machine people's encoder information is provided with first carrier control mould group in robot controller；Hoist engine encoder is set on hoist engine, and roofing smart control box handles hoist engine encoder information, the second carrier Control mould group is arranged in roofing smart control box, first carrier controls mould group and the second carrier Control mould group communicates to connect.The utility model structure is simple, realizes that the synchronization lifting of curtain wall robot and multi-functional hawser controls, and makes curtain wall robot moving process not by the resistance of multi-functional hawser, realization is freely walked.
Description
Technical field
The utility model relates to curtain cleaning technical fields, and in particular to a kind of curtain wall robot is synchronous with multi-functional hawser
Lift control system.
Background technique
Curtain wall robot is in aloft work, by the safety rope of the hoist engine of roof in company with to guarantee safety, simultaneously
With energy pipeline supply energy source to robot.Curtain wall robot completes mobile while keeping wall adsorption and cleans work
Industry, for existing hoist engine in curtain wall robot motion, manual operation, which is stretched, receives safety rope and energy pipeline, but manual operation is lost
Accidentally or operating time difference can all cause safety rope or energy pipeline that can not synchronize to stretch receipts, all different degrees of influence curtain wall robot
Movement, resistance is formd to the movement of curtain wall robot.Therefore need to research and develop a kind of control of adjoint robot synchronization lifting
System.
Summary of the invention
The purpose of this utility model is to provide a kind of curtain wall robot and multi-functional hawser synchronous lifting control system, with
Realize that the synchronization lifting of curtain wall robot and multi-functional hawser controls.To achieve the above object, the utility model uses following skill
Art scheme:
Curtain wall robot and multi-functional hawser synchronous lifting control system, including robot body, robot controller, machine
Device people encoder, multi-functional hawser, roofing smart control box, hoist engine and hoist engine encoder, described multi-functional hawser one end twine
It is wound on hoist engine, is fixedly connected above the other end and robot body；It is provided on the robot body for obtaining
The robot encoder of its present speed and direction of advance, robot controller handling machine people's encoder information, machine
First carrier control mould group is provided in device people's controller；It is provided on the hoist engine for obtaining its velocity of rotation and side
To hoist engine encoder, the roofing smart control box handles hoist engine encoder information, and setting second carries in roofing smart control box
Wave controls mould group, and the first carrier control mould group and the second carrier Control mould group communicate to connect.
Further, the robot body and multi-functional cable connection parts are additionally provided with tension sensor.
Preferably, the multi-functional hawser is by the mutually twisted cable formed of electric power core, hollow tube and load-bearing core
Core combination.
Further, protective jacket is extruded with outside the electric power core, hollow tube and load-bearing core.
Wherein, the hollow tube is feed pipe and/or appendix.
Due to the above structure, the utility model has the following beneficial effects:
1. the utility model structure is simple, by the way that an encoder is respectively arranged on robot body and hoist engine, electricity is realized
Power carrier communication makes curtain wall robot moving process to realize that the synchronization lifting of curtain wall robot and multi-functional hawser controls
Not by the resistance of multi-functional hawser, realization is freely walked.
2. tension sensor is arranged on robot body, when robot being made to fall, hoist engine is realized after receiving signal
Self-actuating brake improves whole safety.
3. multi-functional hawser is wound by fulgurite, water pipe, safety rope and is integrally formed, the dispersion of three root canal lines can avoid in the sky
It drifts.Ensure the order of multi-functional hawser winding.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the diagrammatic cross-section of multi-functional hawser.
Primary clustering symbol description:
1: robot body, 2: robot controller, 3: robot encoder, 4: multi-functional hawser, 41: electric power core,
42: hollow tube, 43: load-bearing core, 44: protective jacket, 5: roofing smart control box, 6: hoist engine, 7: hoist engine encoder, carry at 8: the first
Wave control mould group, 9: the second carrier Control mould groups, 10: tension sensor.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution of the utility model, with reference to the accompanying drawing and have
Body embodiment is described in further detail the utility model.
As shown in Figure 1, the utility model discloses curtain wall robots and multi-functional hawser synchronous lifting control system, including
Robot body 1, robot controller 2, robot encoder 3, multi-functional hawser 4, roofing smart control box 5, hoist engine 6, elevator
Machine encoder 7.
Hoist engine 6 and roofing smart control box 5 are arranged in roof.Multi-functional 4 one ends wound of hawser is on hoist engine 6, the other end
It is fixedly connected with above robot body 1.Robot body 1 is suspended on curtain wall wall surface by multi-functional hawser 4.
Robot controller 2, robot encoder 3 are provided on robot body 1.Robot encoder 3 is for obtaining
Its present speed and direction of advance are provided with first carrier control mould group 8 in robot controller 2.Robot body 1 and more function
Energy hawser 4 connects end and is provided with tension sensor 10.
The hoist engine encoder 7 for obtaining its velocity of rotation and direction is provided on hoist engine 6, in roofing smart control box 5
Second carrier Control mould group 9 is set.First carrier controls mould group 8 and the second carrier Control mould group 9 communicates to connect.
As shown in Fig. 2, multi-functional hawser 4 is formed by electric power core 41, hollow tube 42 and load-bearing core 43 are mutually twisted
Cable core combination.Protective jacket 44 is extruded with outside electric power core 41, hollow tube 42 and load-bearing core 43.Hollow tube 42 is feed pipe, or
Person's appendix, or it is equipped with feed pipe and appendix simultaneously.
The use principle of the utility model are as follows: when robot body 1 is walked upwards, robot encoder 3 obtains its speed
And direction of travel, and signal is controlled into mould group 8 by first carrier and is sent to the second carrier Control mould group 9, roofing smart control box 5 is controlled
Hoist engine encoder 7 processed is consistent with the speed of robot encoder 3 to carry out syncing up the multi-functional hawser 4 of winding.Work as robot
When ontology 1 is walked downwards, robot encoder 3 obtains its speed and direction of travel, and signal is controlled mould by first carrier
Group 8 is sent to the second carrier Control mould group 9, and roofing smart control box 5 controls the speed of hoist engine encoder 7 and robot encoder 3
Consistent progress, which synchronizes downwards, unreels multifunctional cable rope 4.When robot body 1 since failure can not adsorb curtain wall, i.e., when will fall,
Tension sensor 10 incudes and transmits signals to roofing smart control box 5, and roofing smart control box 5 controls 6 self-actuating brake of hoist engine, more function
Energy hawser 4 suspends robot body in midair, and robot body is avoided to fall.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in
Change or replacement, should be covered within the scope of the utility model.
Claims (5)
1. curtain wall robot and multi-functional hawser synchronous lifting control system, it is characterised in that: including robot body, robot
Controller, robot encoder, multi-functional hawser, roofing smart control box, hoist engine and hoist engine encoder, the multifunctional cable
One ends wound restrict on hoist engine, is fixedly connected above the other end and robot body；
The robot encoder for obtaining its present speed and direction of advance is provided on the robot body, it is described
Robot controller handling machine people's encoder information is provided with first carrier control mould group in robot controller；Described
The hoist engine encoder for obtaining its velocity of rotation and direction is provided on hoist engine, the roofing smart control box handles elevator
Machine encoder information, roofing smart control box is interior to be arranged the second carrier Control mould group, and the first carrier control mould group is carried with second
Wave controls the communication connection of mould group.
2. curtain wall robot as described in claim 1 and multi-functional hawser synchronous lifting control system, it is characterised in that: described
Robot body and multi-functional cable connection parts be additionally provided with tension sensor.
3. curtain wall robot as described in claim 1 and multi-functional hawser synchronous lifting control system, it is characterised in that: described
Multi-functional hawser be to be combined by the mutually twisted cable core formed of electric power core, hollow tube and load-bearing core.
4. curtain wall robot as claimed in claim 3 and multi-functional hawser synchronous lifting control system, it is characterised in that: described
Protective jacket is extruded with outside electric power core, hollow tube and load-bearing core.
5. curtain wall robot and multi-functional hawser synchronous lifting control system as described in claim 3 or 4, it is characterised in that:
The hollow tube is feed pipe and/or appendix.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721751646.9U CN208769680U (en) | 2017-12-15 | 2017-12-15 | Curtain wall robot and multi-functional hawser synchronous lifting control system |
| PCT/CN2018/082594 WO2018192397A1 (en) | 2017-04-19 | 2018-04-11 | System for controlling synchronous rising and falling of curtain wall robot, and winch, mooring rope and pulley bracket thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721751646.9U CN208769680U (en) | 2017-12-15 | 2017-12-15 | Curtain wall robot and multi-functional hawser synchronous lifting control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208769680U true CN208769680U (en) | 2019-04-23 |
Family
ID=66142946
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721751646.9U Active CN208769680U (en) | 2017-04-19 | 2017-12-15 | Curtain wall robot and multi-functional hawser synchronous lifting control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208769680U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112006594A (en) * | 2019-05-30 | 2020-12-01 | 杭州萤石软件有限公司 | Cleaning system, traction apparatus, and cleaning method |
-
2017
- 2017-12-15 CN CN201721751646.9U patent/CN208769680U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112006594A (en) * | 2019-05-30 | 2020-12-01 | 杭州萤石软件有限公司 | Cleaning system, traction apparatus, and cleaning method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205111882U (en) | Line structure of walking of mechanical hand is carried to four degrees of freedom | |
| CN106142049A (en) | Hot line robot | |
| CN104597349B (en) | The split type measuring robots of suspension insulator | |
| CN204079334U (en) | A kind of electric winch for mooring unmanned vehicle | |
| CN102561744A (en) | Integrated base station capable of realizing one-click maintenance without ascending height | |
| CN207826597U (en) | It is a kind of monitoring rubble production be tethered at unmanned aerial vehicle platform | |
| CN208769680U (en) | Curtain wall robot and multi-functional hawser synchronous lifting control system | |
| CN206105824U (en) | Electric operating robot | |
| CN204038444U (en) | Endless rope winch tethered sliding belt conveyer | |
| CN205892345U (en) | Polished rod traverse unit | |
| CN103878784B (en) | One is snake-shaped robot joint module under water | |
| CN204727421U (en) | A kind of metal pipe material hanging device | |
| CN103935182B (en) | Portable book drawing paper writing paper stretcher | |
| CN201280391Y (en) | Double-hung synchronization mechanism of crane | |
| CN102515024B (en) | Ultra-lifting synchronous defection device, control method thereof and crane comprising same | |
| CN203889923U (en) | Self-propelled support rope trolley for bridge type grab ship-unloader | |
| CN205472306U (en) | Bridge crane intelligence control system | |
| CN103048759A (en) | Paying-off robot and application thereof on erecting optical cables on 110kV circuit | |
| CN204389612U (en) | The split type measuring robots of suspension insulator | |
| CN205158139U (en) | A flight attitude control ware for mooring gyroplane | |
| CN203780195U (en) | Portable painting and calligraphy paper stretching device | |
| CN204529191U (en) | Remote controlled pile tube Lift-on/Lift-off System | |
| CN204297846U (en) | Can be used for the rope speed laser online monitoring system of gig and lifting winch | |
| CN208986485U (en) | It is offline in a kind of robot to use automatic hanging hook | |
| CN203529757U (en) | Civil crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |