CN214678814U

CN214678814U - Multi-foot robot system for curtain wall operation

Info

Publication number: CN214678814U
Application number: CN202120058000.2U
Authority: CN
Inventors: 李延博
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-11
Filing date: 2021-01-11
Publication date: 2021-11-12
Anticipated expiration: 2031-01-11

Abstract

The embodiment of the disclosure relates to a multi-legged robot system for curtain wall operation, which comprises a multi-legged robot, a rope, an extension mechanism and a counterweight device; the multi-foot robot is used for executing curtain wall operation; a rope suspends the stretching mechanism; the extension mechanism is connected to the multi-legged robot and the counterweight device by a link structure, respectively. The utility model discloses use polypody robot and cleaning equipment, replace the high-rise curtain cleaner of human, thoroughly eliminated and hung the risk in the high latitude with personnel. The robot can continuously work for 24 hours under the conditions of external power supply and water supply, and the work limitation is eliminated. Compared with human cleaners, the cleaning time is long and greatly shortened. The cleaning robot has the high trafficability characteristic of the wall surface, most of protrusions on the wall surface can be spanned through the structure of the legs, and certain wall surface depressions and holes are crossed, so that the application range of the curtain wall cleaning robot is greatly enlarged.

Description

Multi-foot robot system for curtain wall operation

Technical Field

The utility model relates to an operation robot technical field especially relates to a polypod robot system for curtain operation.

Background

At present, the existing high-altitude curtain wall cleaning robot is based on a fixed mechanism platform, a wheel type platform or a similar unmanned aerial vehicle (rotor wing driving) platform. Machine systems utilizing specialized ambulation mechanisms (biped-octapod, at least 12 degrees of freedom or more) have not emerged for high altitude curtain wall cleaning, or maintenance.

The prior art has the following defects:

(1) wheeled or fixed structure systems have poor adaptability to wall surfaces. Glass curtain walls are not perfectly flat, and most glass curtain walls have high protrusions in the vertical plane, such as decorative partitions, air conditioners, fenestrations, etc. Conventional cleaning machines have difficulty passing such obstacles. They can only work on a certain wall and are not motivated to bind on another wall. The application of the conventional washing system is severely restricted.

(2) A problem with rotor based cleaning systems is that the stability in the air is too poor. High altitude winds and the like can easily cause similar systems to swing in the air. These oscillations give the system the potential risk of hitting the glass wall surface and damage can cause serious damage to the ground surface people or property. Thus, the application of rotor cleaning systems is severely restricted.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, embodiments of the present disclosure provide a multi-legged robot system for curtain wall operation, which utilizes the controllability and high trafficability of a professional multi-legged robot, and utilizes a rope to suspend the robot so that the robot can move on a vertical wall surface in a stopping, walking or jumping manner, and simultaneously uses a cleaning mechanism carried by the robot to perform other operations such as wall surface cleaning and painting.

In order to achieve the above object, one aspect of the present disclosure provides a multi-legged robot system for curtain wall work, including a multi-legged robot, a rope, an extension mechanism, and a counterweight device; the multi-foot robot is used for executing curtain wall operation; a rope suspension extension mechanism; the extension mechanism is connected to the multi-legged robot and the counterweight device by a link structure, respectively.

In some embodiments, the extension mechanism includes a tension actuator that adjusts an extension angle of the linkage structure.

In some embodiments, the extension mechanism comprises a first frame, a second frame, and a shaft; the shaft top end is connected to the rope; one end of each of the first frame and the second frame is connected to the shaft, the other end of each of the first frame and the second frame is connected to the robot and the counterweight equipment respectively, and the included angle between the first frame and the second frame can be adjusted under the driving of the stretching actuator; the shaft is connected to a rope.

In some embodiments, the extension mechanism comprises a telescopic lattice, the two ends of the telescopic lattice are respectively connected to the multi-legged robot and the counterweight device, and the middle part of the telescopic lattice is connected to a rope.

In some embodiments, the extension mechanism is connected to the robot by a rotational joint such that the robot is able to rotate relative to the extension mechanism.

In some embodiments, the robot is a two-legged, three-legged, four-legged, five-legged, six-legged, seven-legged or eight-legged robot.

In some embodiments, the robot is a robot dog.

In some embodiments, the robot has more than 12 degrees of freedom, and the robot makes the rope in an inclined state when the curtain wall works, and the rope provides pressure for pressing the robot to the curtain wall.

In some embodiments, the robot foot end is a suction cup structure or a hoof structure without suction cups.

In some embodiments, the robot provides at least one robotic arm as the cleaning device.

In some embodiments, the counterweight device is internally provided with water or cleaning fluid, and is connected to the cleaning device through a pipeline.

The technical scheme of the disclosure has the following beneficial technical effects:

(1) the present disclosure uses a multi-legged robot and cleaning equipment to replace human high-rise curtain wall cleaners, completely eliminating the risk of hanging personnel in the sky. The robot can continuously work for 24 hours under the conditions of external power supply and water supply, and the work limitation is eliminated. Compared with human cleaners, the cleaning time is long and greatly shortened.

(2) The cleaning robot of this disclosure has the high trafficability characteristic of wall, and most of bulges that can stride across the wall through the structure of leg cross certain wall and cave in, hole to greatly improved curtain cleaning robot's application range.

(3) Compared with a traditional robot structure, the robot has higher controllability and adaptability to uneven walls. Because the robot multi-legged robot has more than 12 degrees of freedom, the robot multi-legged robot can resist random factors such as high-altitude wind strong convection, unstable wall friction force and the like. Thereby greatly improving the application range of the robot.

(4) The cleaning machine can clean vertical planes and non-vertical planes, and is also applicable to wall structures such as curved surfaces, three-dimensional multi-surfaces and the like due to the existence of the mechanical arm.

Further features of the present disclosure will become apparent from the following description of exemplary embodiments with reference to the attached drawings.

It should be understood that this summary is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The above and other objects, features and advantages of the embodiments of the present disclosure will become more readily understood through the following detailed description with reference to the accompanying drawings. Various embodiments of the present disclosure will be described by way of example and not limitation in the accompanying drawings, in which:

FIG. 1 is a schematic view of the operating state of a multi-legged robot system;

FIG. 2 is a schematic diagram of the system components of the multi-legged robot;

FIG. 3 is a schematic view of the stretching mechanism;

FIG. 4 is a schematic drawing of the stretching mechanism;

FIG. 5 is a schematic view of a rotary joint;

FIG. 6(a) is a schematic view of a first rotation state, and FIG. 6(b) is a schematic view of a second rotation state;

FIG. 7(a) is a schematic diagram of a stress state, and FIG. 7(b) is a schematic diagram of a stress composition;

FIG. 8 is a schematic view of a cleaning configuration;

FIG. 9 is a schematic view of opposing crosswinds;

FIG. 10 is a schematic view of opposing side wind;

FIG. 11 is a schematic view of a wall to counter unevenness;

FIG. 12 is a schematic view of an obstacle crossing;

FIG. 13(a) is a schematic view of an axisymmetric quadruped robot; FIG. 13(b) is a schematic view of a four-footed robot with planar symmetry; FIG. 13(c) is a schematic diagram of a dual-arm robot;

FIG. 14 is an extended state view of an extension mechanism in the form of a telescoping grid;

fig. 15 is a contracted state view of the expansion mechanism in the form of a telescopic grid.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present invention is described in further detail below with reference to the accompanying drawings in combination with the detailed description. It should be understood that the description is intended to be illustrative only and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The present disclosure provides a multi-legged robot system for curtain wall work, as shown in fig. 1-2, comprising a multi-legged robot 2, a rope 1, an extension mechanism 3, and a counter weight device 4.

The multi-legged robot 2 is used to perform curtain wall work.

The rope 1 is used to suspend the stretching means 3. The system requires one or more ropes. One end of the rope is connected to a certain point at the high position of the wall surface, and the other end of the rope is connected to the stretching mechanism 3. The rope is used for bolting the robot and bears the main gravity of the system. The cord mechanism may be a controllable retractable cord mechanism.

The stretching mechanism 3 is connected to the polypod robot 2 and the counter weight device 4 by a link structure, respectively. The stretching mechanism can adjust the distance between the robot body and the rope by geometric deformation.

In one embodiment, the stretching mechanism includes a linkage structure and a stretch actuator. Referring to fig. 3, the link structure includes a first frame 3-2, a second frame 3-3, and a shaft 3-1; the top end of the shaft 3-1 is connected to the rope 1; the first frame 3-2 and the second frame 3-3 are connected at one end to the shaft 3-1 and at the other end to the robot 2 and the counter weight device 4, respectively. The linkage is driven by a tension actuator to effect the opening of the linkage to a certain angle, as shown in figure 4. The stretching actuator comprises a first arm 3-4 and a second arm 3-5 with adjustable length, one end of which is connected to the shaft and the other end of which is connected to the first frame 3-2 and the second frame 3-3, respectively. The first arm 3-4 and the second arm 3-5 can be realized by electric push rods, hydraulic cylinders or pneumatic cylinders.

Further, the first arm 3-4 and the second arm 3-5 are identical in structure and symmetrically arranged on both sides of the shaft 3-1.

Further, the first frame 3-2 and the second frame 3-3 are symmetrically disposed at both sides of the shaft 3-1.

With reference to fig. 5, the extension mechanism is provided with a rotary joint 3-6 fixed to the robot, and the link structure is connected to the robot via the rotary joint 3-6. The revolute joints 3-6 allow the robot to rotate relative to the link structure and attach to the wall at a suitable angle. Referring to fig. 6, the robot is shown rotated to different angles.

When the stretching mechanism 3 is stretched, the robot can be driven to go deep into the sunken area of the wall. Referring to fig. 7(a), when the robot lies on the wall, the stretching mechanism 3 makes the rope 1 in an inclined state. The component force of the rope 1 in the horizontal direction in conjunction with fig. 7(b) provides a positive horizontal pressure when the robot lies on a wall.

The counterweight device 4 can store water for cleaning, a robot battery and other devices. The effect of the counterweight device 4 is to provide a counterweight that, regardless of the extension angle, allows the combined centre of gravity of the robot part and the counterweight cabin as a whole to be located in the vicinity of the extension line of the ropes. The robot can be driven to go deep into the concave part of the wall surface. While also providing a positive pressure perpendicular to the wall surface.

The rotating/sliding part of the robot has more than 12 degrees of freedom. The robot platform moves and stops by using the tension of the rope, the friction force of the wall surface, the wall surface supporting force and the self gravity. The foot end of the robot can be in a sucker structure or a hoof structure without a sucker.

The robot is provided with a cleaning device 5, see fig. 8. Typical cleaning systems may be robotic arms, and end effectors may be window wipers, water jets, and the like. The cleaning device may be one or more robotic arms.

In the case of no wind, as shown in fig. 9, the system is substantially perpendicular to the wall surface and the roll angle is about zero. Referring to fig. 10, when a crosswind occurs on the wall surface, the robot only needs to adjust the gait to change the rolling angle of the upper body. The robot is inclined to the wind direction by a certain angle, and the disturbance to the wind resistance is caused by the friction force of the sole.

With reference to fig. 11, for an uneven wall, when the undulation size is not large or the degree of the concave-convex of the curved surface is not high, the foot-drop point of the robot can be adjusted, and the length of the legs can be adjusted to adapt to the unevenness of the wall.

When a wall obstacle with a larger size is encountered, the robot can jump from the wall, then the length of the rope is adjusted, and the system is descended to a desired position at a specific moment by using a simple pendulum system formed by the rope and the machine system. I.e. move on the wall surface in a jumping way.

Referring to fig. 12, a basic difference of the robot from the conventional robot is that the legs of the walking robot can realize controllable impedance, that is, the walking robot can control the impact of the legs on the wall surface when landing on the surface. Thus, the present disclosure makes use of walking robots to jump on a wall surface, and it is the legs of such robots that control the impedance. The system can reduce the impact effect of the robot on the wall surface, so that the system can safely jump and walk on fragile materials such as glass.

The robot platform in the present disclosure is not limited to a conventional four-footed walking robot, further, the robot may be a two-footed, three-footed, four-footed, five-footed, six-footed, seven-footed, eight-footed robot, or the like.

Possible solutions include, but are not limited to, the following: the axisymmetric type and the plane-symmetric type shown in fig. 13(a) and (b). The robotic platform may carry one, two or more robotic arms as shown in fig. 13 (c).

In addition, in some embodiments, the stretching mechanism may also be implemented in a telescopic grid or the like, and referring to fig. 14, the stretching state of the stretching mechanism in the form of a telescopic grid is shown, and fig. 15, the contracting state of the stretching mechanism in the form of a telescopic grid is shown, and the transverse distance between the robot and the rope is changed through stretching of the telescopic grid. Similar structures are intended to fall within the scope of the present disclosure.

In summary, the present disclosure relates to an multi-legged robot system for curtain wall work, which includes a multi-legged robot, a rope, an extending mechanism and a counterweight device; the multi-foot robot is used for executing curtain wall operation; a rope suspends the stretching mechanism; the extension mechanism is connected to the multi-legged robot and the counterweight device by a link structure, respectively. The utility model discloses use polypody robot and cleaning equipment, replace the high-rise curtain cleaner of human, thoroughly eliminated and hung the risk in the high latitude with personnel. The robot can continuously work for 24 hours under the conditions of external power supply and water supply, and the work limitation is eliminated. Compared with human cleaners, the cleaning time is long and greatly shortened. The cleaning robot has the high trafficability characteristic of the wall surface, most of protrusions on the wall surface can be spanned through the structure of the legs, and certain wall surface depressions and holes are crossed, so that the application range of the curtain wall cleaning robot is greatly enlarged.

It is to be understood that the above-described embodiments of the present disclosure are merely illustrative of or explaining the principles of the invention and do not constitute limitations on the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims

1. A multi-foot robot system for curtain wall operation is characterized by comprising a multi-foot robot, a rope, an extension mechanism and a counterweight device;

the multi-legged robot is used for executing curtain wall operation;

the rope suspends the stretching mechanism;

two extension ends of the extension mechanism are respectively connected to the multi-legged robot and the counterweight device.

2. The multi-legged robotic system for curtain wall work as claimed in claim 1, wherein the stretching mechanism comprises a stretching actuator to adjust the stretching angle of the two stretching ends.

3. The multi-legged robotic system for curtain wall work as claimed in claim 2, wherein the stretching mechanism comprises a first frame, a second frame and a shaft; the shaft top end is connected to the rope; one end of each of the first frame and the second frame is connected to the shaft, the other end of each of the first frame and the second frame is connected to the robot and the counterweight equipment respectively, and the included angle between the first frame and the second frame can be adjusted under the driving of the stretching actuator; the shaft is connected to a rope.

4. The multi-legged robotic system for curtain wall work according to claim 1 or 2, characterized in that the stretching mechanism comprises a telescopic lattice, the two ends of the telescopic lattice are respectively connected to the multi-legged robot and the counterweight device, and the middle part of the telescopic lattice is connected to a rope.

5. The multi-legged robotic system for curtain wall work according to claim 1 or 2, characterized in that the extension mechanism is connected to the robot by a rotary joint so that the robot can rotate relative to the extension mechanism.

6. The multi-legged robotic system for curtain wall work according to claim 1 or 2, characterized in that the robot is a two-, three-, four-, five-, six-, seven-or eight-legged robot.

7. The multi-legged robotic system for curtain wall work as claimed in claim 1 or 2, wherein the robot has more than 12 degrees of freedom, the robot having a rope in an inclined state during curtain wall work, the rope providing a pressure pressing the robot against the curtain wall.

8. The multi-legged robotic system for curtain wall work as claimed in claim 1 or 2, wherein the robot foot end is of a suction cup or a hoof structure without suction cups.

9. The multi-legged robotic system for curtain wall work according to claim 1 or 2, characterized in that the robot is provided with at least one robotic arm as a cleaning device.

10. The multi-legged robotic system for curtain wall work as claimed in claim 9, wherein the weight device is internally provided with water or cleaning solution, and is connected to the cleaning device through a pipeline.