CN218356087U

CN218356087U - Curtain wall robot

Info

Publication number: CN218356087U
Application number: CN202222587636.3U
Authority: CN
Inventors: 杜攀; 张良军; 姜方宁; 谭耀; 刘存良
Original assignee: Changsha Zoomlion Environmental Industry Co Ltd
Current assignee: Changsha Zoomlion Environmental Industry Co Ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2023-01-24
Anticipated expiration: 2032-09-28

Abstract

The utility model provides a curtain wall robot, which comprises an adsorption module and an obstacle crossing module; the adsorption module comprises at least two adsorption units; the obstacle crossing module comprises a propelling device and linear driving pieces connected with the adsorption units in a one-to-one correspondence manner, the propelling device is used for generating propelling force towards the wall surface to the adsorption units, each linear driving piece is used for independently driving the corresponding adsorption units to contact or be far away from the wall surface, so that the adsorption units can adsorb or desorb on the wall surface, and at least one adsorption unit is always kept adsorbed on the wall surface in the obstacle crossing walking process. The utility model provides a curtain robot is in obstacle-surmounting walking in-process, can remain two all the time and adsorb the unit and adsorb on the wall to exert the propulsive force towards the wall through advancing device to adsorbing the unit, make the adsorption affinity of adsorbing the unit more stable, prevent to adsorb the unit and break away from the wall and the risk that falls appears.

Description

Curtain wall robot

Technical Field

The utility model belongs to the technical field of the curtain washs, especially, relate to a curtain robot.

Background

The glass curtain wall is beautiful and durable in appearance, and is widely applied to buildings of high buildings. In view of the higher and higher floors, the maintenance of the glass curtain wall has greater difficulty. National standards stipulate that glass curtain walls are cleaned at least once a year and that crack inspection needs to be performed on glass curtain walls for a certain period of time. At present glass curtain wall washs and maintains and uses spider people as the main, is that a danger coefficient is high, takes time, and work that repeatability is high urgently needs glass curtain wall robot to replace.

Generally, the adsorption component of current glass curtain wall robot only includes the sucking disc, and solitary sucking disc adsorption affinity is limited, hinders the in-process when glass exists the gap at the robot more, and the glass gap can exert an influence to the sucking disc negative pressure, can take place the sucking disc and break away from the wall and the risk that falls appears to influence hindering more of robot.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a curtain robot, aim at solving the curtain robot among the prior art and have the sucking disc to break away from the wall easily and appear the technical problem of the risk of falling when surmounting the obstacle.

In order to achieve the above object, the utility model provides a curtain wall robot, include:

the adsorption module can walk along the obstacle crossing of the wall surface and comprises at least two adsorption units; and

hinder the module more, including advancing device and with a plurality of adsorb the linear driving piece that the unit one-to-one is connected, advancing device is used for right adsorb the unit and produce the orientation the propulsive force of wall, every linear driving piece is used for driving alone corresponding adsorb the unit contact or keep away from the wall, so that adsorb the unit can adsorb or desorb in the wall to hinder the walking in-process more and keep at least one all the time adsorb the unit and adsorb on the wall.

The utility model discloses an in the embodiment, it still includes the mount, a plurality of to hinder the module more the one end of linear driving spare install in mount, the other end corresponds the connection adsorb the unit, advancing device install in the mount.

The utility model discloses an in the embodiment, the mount includes roof and bottom plate, the roof with be connected with the bracing piece between the bottom plate, linear driving piece runs through the mount, linear driving piece's stiff end with the bottom surface of roof is connected, linear driving piece's flexible end with adsorb the unit connection.

The utility model discloses an in the embodiment, the adsorption unit all includes two sets of symmetrical arrangement and through the adsorption component that the fastener is connected with locate two sets of the walking wheel in adsorption component's the outside, adsorption component includes:

a support frame;

the sucking disc is arranged on one surface of the supporting frame, and the sucking end of the sucking disc is arranged away from the obstacle crossing module; and

and the negative pressure generator is arranged on the supporting frame and used for exhausting air for the sucker so as to form negative pressure in the sucker.

The utility model discloses an in the embodiment, the plane that the absorption end of sucking disc was located towards the minimum of wall is higher than the walking wheel is 1 ~ 2mm towards the plane that the minimum of wall was located, just the absorption end of sucking disc is equipped with seal structure in order to maintain negative pressure in the sucking disc.

The utility model discloses an in the embodiment, adsorption component is still including locating in the braced frame and being close to the gear motor of one side of walking wheel, gear motor's output shaft with the center of walking wheel is connected.

In an embodiment of the utility model, the adsorption component is still including being used for monitoring the negative pressure sensor of the negative pressure of sucking disc.

In an embodiment of the invention, the suction cup comprises at least one of a radioactive suction cup and a cup-shaped suction cup.

The utility model discloses an in the embodiment, curtain wall robot is still including being used for sealing negative pressure generator's first sealing washer with be used for sealing negative pressure sensor's second sealing washer.

In the embodiment of the utility model, the bottom of walking wheel is equipped with altitude mixture control spare.

Through the technical scheme, the embodiment of the utility model provides a curtain wall robot has following beneficial effect:

the robot of the utility model applies a propelling force towards the wall surface to the adsorption units through the propelling device in the obstacle crossing module in the obstacle crossing walking process, and each linear driving piece in the obstacle crossing module drives the corresponding adsorption unit to contact or keep away from the wall surface independently, so that the adsorption units can adsorb or desorb on the wall surface, and at least one adsorption unit is always kept adsorbed on the wall surface in the obstacle crossing walking process; the robot keeps having powerful adsorption affinity between can and the wall throughout when walking the obstacle-crossing like this, prevents that adsorption module from breaking away from the wall and causing the risk of falling, has further improved the absorptive stability of robot.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide an understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the drawings:

fig. 1 is a schematic structural diagram of a curtain wall robot according to an embodiment of the present invention;

fig. 2 is a left side view schematically illustrating an obstacle crossing module in the curtain wall robot according to the present invention;

fig. 3 is a schematic front view of an obstacle crossing module in the curtain wall robot according to the present invention;

fig. 4 is a schematic front view of an adsorption unit in the curtain wall robot according to the present invention;

fig. 5 is a schematic top view of an adsorption unit in the curtain wall robot according to the present invention;

fig. 6 is a schematic cross-sectional view of an adsorption unit in the curtain wall robot according to the present invention;

fig. 7 is the obstacle-crossing walking schematic diagram of the curtain wall robot of the utility model.

Description of the reference numerals

Detailed Description

The following describes in detail embodiments of the present invention with reference to the accompanying drawings. It should be understood that the description herein of specific embodiments is for purposes of illustration and explanation only and is not intended to limit the invention.

The curtain wall robot according to the present invention is described below with reference to the drawings.

As shown in fig. 1, in an embodiment of the present invention, a curtain wall robot is provided, including:

the adsorption module can walk along the wall surface and cross obstacles and comprises at least two adsorption units 10; and

obstacle crossing module 20, including advancing device and the linear driving piece of being connected with a plurality of adsorption unit 10 one-to-one, advancing device is used for producing the propulsive force towards the wall to adsorption unit 10, every linear driving piece is used for driving corresponding adsorption unit 10 contact alone or keeping away from the wall, so that adsorption unit 10 can adsorb or desorb in the wall, a plurality of adsorption unit 10 can adsorb in turn with between the wall like this, as shown in fig. 7, the robot keeps an adsorption unit 10 to adsorb on the wall in the walking process of crossing obstacle from a left side to the right side all the time, and through the propulsive force towards the wall that advancing device applyed adsorption unit 10, the robot can keep having powerful adsorption affinity between the wall all the time in the walking process like this, prevent that adsorption module from breaking away from the wall and causing the risk of falling, the absorptive stability of robot has further been improved.

As shown in fig. 2 and 3, the obstacle crossing module 20 includes a fixing frame 21 having an i-shaped structure, one end of each of the plurality of linear driving members is mounted on the fixing frame 21, the other end of each of the plurality of linear driving members is correspondingly connected to the adsorption unit 10, and the propulsion unit is mounted on the fixing frame 21.

Among them, the propelling means is preferably ducted fans 25 installed at four corners of the fixed frame 21 and a fan driving member for driving the ducted fans 25 to operate. In the walking in-process is adsorbed in turn to the module in the drive of linear driving piece, the fan driving piece can set up to steering wheel 27, steering wheel 27 is through rotating the in-process in order to drive duct fan 25 rotatory, duct fan 25 that is located the module top of adsorbing simultaneously is through blowing to the unit 10 that adsorbs of below, a plurality of duct fans 25 can follow different directions and can apply the effort towards the wall to adsorbing unit 10, adsorb the unit 10 on the wall in order to assist, thereby can reduce the adsorption pressure who adsorbs unit 10, improve the stability of whole robot.

The type of the linear driving part comprises at least one of an air cylinder, an oil cylinder, an electric cylinder and an electric push rod; the fixing frame 21 comprises a top plate 22 and a bottom plate, a supporting rod 23 is connected between the top plate 22 and the bottom plate, the linear driving piece penetrates through the fixing frame 21, the fixed end of the linear driving piece is connected with the bottom surface of the top plate 22, and the telescopic end of the linear driving piece is connected with the adsorption unit 10.

As shown in fig. 2 and 3, when the linear drive is an electric push rod 24:

in one embodiment, the outer cylinder of the electric push rod 24 penetrates through the fixing frame 21 and is fixedly connected with the bottom surface of the top plate 22 through the hoop 26, the telescopic rod of the electric push rod 24 is telescopically mounted in the outer cylinder and extends out of the fixing frame 21 to be connected with the adsorption unit 10, the length of the outer cylinder of the electric push rod 24 is slightly greater than the distance between the top plate 22 and the fixing frame 21, and when the telescopic rod extends and retracts in the outer cylinder, the adsorption unit 10 connected with the driving end of the telescopic rod can be driven to be separated from or adsorbed on the wall surface.

In another embodiment, the outer cylinder of the electric push rod 24 may be mounted on the bottom surface of the top plate 22, and the telescopic rod of the electric push rod 24 penetrates the fixing frame and is connected to the suction unit 10.

Compared with the integrated adsorption sucker structure in the prior art, the sucker structure of the adsorption unit 10 is improved, specifically, the adsorption unit 10 comprises two groups of adsorption components which are symmetrically arranged and connected through fasteners and walking wheels 13 arranged on the outer sides of the two groups of adsorption components, and each adsorption component comprises a support frame 19, a sucker and a negative pressure generator;

wherein, the supporting frames 19 in the two groups of adsorption components are fixedly connected through fasteners, so that the adsorption unit 10 forms a split type suction cup structure mode; the sucking disc is arranged on one surface of the supporting frame 19, the sucking end of the sucking disc is arranged to depart from the obstacle crossing module 20, and the distance between the sucking disc and the traveling wheel 13 is adjustable, so that the negative pressure of the sucking disc can be adjusted; the walking driving force received by the walking wheels 13 is very large in the process of walking along the wall surface, so that the sucking force between the sucking discs and the wall surface is kept, and the sucking discs can be attached to the wall surface to move under the walking driving of the walking wheels 13; the negative pressure generator is arranged in the supporting frame 19 and used for exhausting air to the sucker so as to form negative pressure in the sucker, and therefore the sucker can be firmly adsorbed on the wall surface.

In order to make the sucking disc can reach the biggest to the adsorption affinity of wall, the applicant has done a lot of experiments contrast to adsorption affinity between sucking disc and the wall and distance, through the experiment discovery, the plane that the minimum that the absorption end that works as the sucking disc is located towards the wall is higher than the plane 1 ~ 2mm that the minimum that walking wheel 13 is located towards the wall, at this distance within range, the adsorption effect between sucking disc and the wall is best, can guarantee to remove along the wall in the adsorbed while. And the suction end of the sucker is provided with a sealing structure to maintain the negative pressure in the sucker, specifically, the sealing mode can adopt skirt edge sealing, floating sealing through sponge or other flexible connections.

As shown in fig. 6, the adsorption assembly further includes a speed reduction motor 14 disposed inside the supporting frame 19 and near one side of the traveling wheels 13, an output shaft of the speed reduction motor 14 is connected to the center of the traveling wheels 13, and the speed reduction motor 14 provides corresponding driving force for the traveling wheels 13.

As shown in fig. 4 and fig. 6, adsorption component is still including the negative pressure sensor 15 that is used for monitoring the negative pressure of sucking disc, all correspond in every sucking disc and set up a negative pressure sensor 15, this negative pressure sensor 15 adopts conventional negative pressure sensor 15 structural style among the prior art, this negative pressure sensor 15 is connected with outside electrical system and display screen, the pressure value that negative pressure sensor 15 detected can be shown on the display screen, through the negative pressure in the monitoring sucking disc, can in time discover to have the sucking disc of absorption obstacle, change or maintenance in order to remind the staff.

In the first embodiment, as shown in fig. 5, the suction cup is a radioactive suction cup 11, the negative pressure generator is a centrifugal fan 12, the centrifugal fan 12 is used for exhausting air in the radioactive suction cup 11, adhesive tape is adhered around the radioactive suction cup 11 to maintain the negative pressure in the radioactive suction cup 11, and the air exhausting efficiency of the centrifugal fan 12 is improved by adopting the design of the radioactive suction cup 11. Because each adsorption unit 10 in the invention adopts the arrangement of the two split radioactive suckers 11, the risk that the robot loses adsorption capacity due to glass gaps or breakage of the integrated sucker is avoided, when one radioactive sucker 11 breaks down or the adsorption capacity is weakened, the other radioactive sucker 11 can still be adsorbed on a wall surface, and thus the performance requirement on the centrifugal fan 12 can be reduced.

In the second embodiment, the sucking disc is a leather cup type sucking disc, and the negative pressure generator can be a vacuum pump or a vacuum generator, so that negative pressure is formed in the leather cup type sucking disc, and the leather cup type sucking disc is adsorbed on the wall surface.

Since the negative pressure sensor 15 and the centrifugal fan 12 are both inserted from the side of the support frame 19 away from the wall surface and arranged towards the radioactive sucker 11, in order to ensure the tightness in the radioactive sucker 11, the curtain wall robot further comprises a first sealing ring 16 for sealing the centrifugal fan 12 and a second sealing ring 17 for sealing the negative pressure sensor 15.

In order to keep the distance between the walking wheel 13 and the wall surface and the distance between the radioactive suction cup 11 and the wall surface within a certain height difference range of 1-2 mm, the bottom of the walking wheel 13 is provided with a height adjusting piece 18, and the height adjusting range of the height adjusting piece 18 is smaller than the distance between the bottom of the walking wheel 13 and the radioactive suction cup 11. Height adjusting member 18 is preferably the altitude mixture control support, locates the bottom of walking wheel 13 with the altitude mixture control frame, and the altitude mixture control frame is through rotatable rotation axis connection in walking wheel 13 originally internally, regard the altitude mixture control frame as walking wheel 13 partly structure, through artifical manual rotation axis of rotation, can adjust the distance between the lateral surface of altitude mixture control frame and the wall to reach the purpose of adjusting the distance between walking wheel 13 and the wall.

In addition, the curtain wall robot also comprises a cleaning module for glass cleaning, and the cleaning module adopts a cleaning structure carried by a conventional curtain wall robot in the prior art, and is not discussed in detail here.

In the description of the present invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly defined otherwise.

In the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. A curtain wall robot, comprising:

the adsorption module can walk along the wall surface and cross obstacles and comprises at least two adsorption units (10); and

hinder module (20) more, including advancing device and with a plurality of adsorb the linear driving spare that unit (10) one-to-one is connected, advancing device is used for right adsorb unit (10) and produce the orientation the propulsive force of wall, every linear driving spare is used for the individual drive corresponding adsorb unit (10) contact or keep away from the wall, so that adsorb unit (10) can adsorb or desorb in the wall to keep at least one more obstacle walking in-process all the time adsorb unit (10) adsorb in on the wall.

2. The curtain wall robot as claimed in claim 1, wherein the obstacle crossing module (20) further comprises a fixing frame (21), one end of each of the linear driving members is mounted on the fixing frame (21), the other end of each of the linear driving members is correspondingly connected with the adsorption unit (10), and the propulsion device is mounted on the fixing frame (21).

3. The curtain wall robot according to claim 2, wherein the fixing frame (21) comprises a top plate (22) and a bottom plate, a support rod (23) is connected between the top plate (22) and the bottom plate, the linear driving member penetrates through the fixing frame (21), a fixed end of the linear driving member is connected with the bottom surface of the top plate (22), and a telescopic end of the linear driving member is connected with the adsorption unit (10).

4. The curtain wall robot according to claim 1, characterized in that the adsorption units (10) each comprise two groups of adsorption components which are symmetrically arranged and connected through a fastener and road wheels (13) arranged on the outer sides of the two groups of adsorption components, and the adsorption components comprise:

a support frame (19);

the sucking disc is arranged in the supporting frame (19), and the sucking end is arranged away from the obstacle crossing module (20); and

the negative pressure generator is arranged on the supporting frame (19) and used for exhausting air of the sucker so as to form negative pressure in the sucker.

5. The curtain wall robot according to claim 4, wherein the plane where the lowest point of the suction end of the suction cup facing the wall surface is located is 1-2 mm higher than the plane where the lowest point of the walking wheel (13) facing the wall surface is located, and the suction end of the suction cup is provided with a sealing structure to maintain the negative pressure in the suction cup.

6. Curtain wall robot according to claim 4, characterized in that the suction assembly further comprises a gear motor (14) arranged in the support frame (19) and close to one side of the travelling wheel (13), and an output shaft of the gear motor (14) is connected with the center of the travelling wheel (13).

7. Curtain wall robot according to claim 4, characterized in that the suction assembly further comprises a negative pressure sensor (15) for monitoring the negative pressure of the suction cups.

8. The curtain wall robot according to claim 4, characterized in that the suction cups comprise at least one of radioactive suction cups (11) and cup-and-cup type suction cups.

9. The curtain wall robot according to claim 7, characterized in that it further comprises a first sealing ring (16) for sealing the negative pressure generator and a second sealing ring (17) for sealing the negative pressure sensor (15).

10. Curtain wall robot according to any of claims 4 to 9, characterized in that the bottom of the road wheels (13) is provided with a height adjustment (18).