CN201665256U - Self-climbing type multi-functional wall robot - Google Patents
Self-climbing type multi-functional wall robot Download PDFInfo
- Publication number
- CN201665256U CN201665256U CN2010200320350U CN201020032035U CN201665256U CN 201665256 U CN201665256 U CN 201665256U CN 2010200320350 U CN2010200320350 U CN 2010200320350U CN 201020032035 U CN201020032035 U CN 201020032035U CN 201665256 U CN201665256 U CN 201665256U
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- servo
- pinch wheels
- rotating shaft
- rocker arm
- climbing
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- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 238000004140 cleaning Methods 0.000 claims abstract description 21
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 15
- 239000010959 steel Substances 0.000 claims abstract description 15
- 230000009194 climbing Effects 0.000 claims abstract description 12
- 238000010276 construction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 244000283207 Indigofera tinctoria Species 0.000 description 1
- 244000082204 Phyllostachys viridis Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The utility model relates to a self-climbing type multi-functional wall robot, which comprises steel rope tracks, servo climbing mechanisms and a retractable rocker mechanism, the servo climbing mechanisms are mounted on the steel rope tracks, the retractable rocker mechanism is connected with the servo climbing mechanisms through connecting sleeves, concave clamping wheels and convex clamping wheels of each servo climbing mechanism are connected together by compressing rods, the retractable rocker mechanism comprises a four-rod lifter mechanism, rockers and a pressure control switch, one end of the four-rod lifter mechanism is connected with a lifting motor, the other end of the four-rod lifter mechanism is connected with the rockers, one end of each rocker is articulated with a frame, the other end of each rocker is connected with a cleaning roller, and the pressure control switch is arranged on the end of the cleaning roller. The utility model is characterized by simple structure, high practicability and convenient mounting, and is applicable to high-altitude wall construction operation.
Description
Technical field
The utility model relates to novel soaring mechanism, and the construction operation of high-altitude wall such as curtain wall clean, and wall whitewashes, the quality testing of external surface of buildings.
Background technology
After the reform and opening-up, the economic construction of China has had the fast speed development, and skyscraper is like rain the back spring bamboo.For good looking appearance, simultaneously also in order to obtain better daylighting effect, many skyscrapers have all adopted glass curtain wall.The surface of building is stained with dust, dirty after, make the outward appearance of building be subjected to great influence, also affect simultaneously the environment of ours at one's side.But because architectural design is supporting still lack of standardization, the cleaning of domestic most skyscrapers is all adopted and is hung indigo plant and manually finish, the outdoor curtain wall correlative study in high-altitude also only rests on conceptual phase mostly, fail to break through the Design Thinking of traditional mode, relevant high-altitude curtain cleaning device is owing to be subjected to the restriction of each side technical risk so effectively do not promoted.
The building cleaning robot of current appearance mainly comes out with the artificial foundational development of wall-climbing device.Climbing robot has negative-pressure adsorption and the attached two kinds of basic suction types of magnetic, and in view of the material characteristics of skin, cleaning robot adopts the negative pressure of vacuum suction type more.The robot of this mode has higher operation manoevreability and alerting ability, but mainly is adapted to the cleaning of glass curtain wall, and the wall surface that is used for other material is relatively more difficult, and complex structure, kinematic velocity is relatively low, and load-carrying capacity is little, thereby has limited the height of creeping.Even also can cause vacuum pump to pollute, make the absorption of sucker to lose efficacy because of the dust of wall, make it have significant limitation.
Clean market and demand urgently efficiently, high energy, the swab of low danger coefficient occurs.
The utility model content
The purpose of this utility model is to overcome the deficiency of prior art and provides a kind of practical, integrates intelligence, efficient, stable, innovative form robot lightly, is applied to high-altitude wall construction operation, and the people is freed from the aloft work of danger.
The purpose of this utility model is achieved by following technical proposals:
A kind of from climbing the multi-functional wall robot of formula, comprise the steel rope guide rail, the servo-actuated mechanism of riseing, telescopic rocker arm mechanism, the soaring mechanism of described servo-actuated is installed on the steel rope guide rail, described telescopic rocker arm mechanism is connected by adapter sleeve and the soaring mechanism of servo-actuated, the soaring mechanism of described servo-actuated is connected by compressor arm with protruding pinch wheels by one group of recessed pinch wheels at least, described compressor arm connects an end and connects recessed pinch wheels rotating shaft, the other end branch is provided with groove, the close recessed pinch wheels rotating shaft end of groove is equipped with protruding pinch wheels rotating shaft, be provided with holddown spring in the groove, the outer end of groove is provided with setting nut, described output gear is concentric also fixing with protruding pinch wheels rotating shaft or recessed pinch wheels rotating shaft, be connected with idle pulley by pipe link, described reducing motor is connected with idle pulley by reducing gear, describedly shake in the telescopic boom mechanism at least that the upper end links to each other by adapter sleeve and the soaring mechanism of at least one group of servo-actuated, described telescopic rocker arm mechanism is provided with one group of rocking arm at least, the end that described four bars are carried arm mechanism links to each other with the lifting motor by rotating shaft, the other end links to each other with rocking arm, described rocking arm one end hinge other end on frame connects the cleaning wiping and rolls, and described cleaning is wiped to roll to hold and is provided with pressure operated switch.
In the utility model, described soaring mechanism is provided with two groups of recessed pinch wheels and protruding pinch wheels.
In the utility model, described steel rope guide rail is provided with two, and the two ends of telescopic rocker arm mechanism are respectively arranged with the soaring mechanism of two servo-actuateds.
In the utility model, described telescopic rocker arm mechanism is provided with two groups of rocking arms.
In sum, the utlity model has simple in structure, efficient, high energy, the advantages such as swab of low danger coefficient are applicable to the improvement to existing aerial lift device.
Description of drawings
Fig. 1 is a complete machine normal axomometric drawing of the present utility model.
Fig. 2 is the soaring mechanism structure figure of servo-actuated of the present utility model.
Fig. 3 is the soaring mechanism of a servo-actuated of the present utility model normal axomometric drawing.
Fig. 4 is suspension gear figure of the present utility model.
Among the accompanying drawing 1-4: 1--steel rope guide rail, 2-adapter sleeve, 3-pressure operated switch, 4-cleaning are wiped and are rolled, 5-rocking arm, 6-promote motor, 7-frame, 8-four bars are carried arm mechanism, the soaring mechanism of 9-servo-actuated, 10-telescopic rocker arm mechanism, the recessed pinch wheels of 11-, the protruding pinch wheels of 12-, 13-clamping bar, 14-output gear, 15-pipe link, 16-deceleration, 21-reducing motor machine gear, 17-idle pulley, 18-setting nut, 19-fastening spring, 20-adapter sleeve.
The specific embodiment
Below in conjunction with accompanying drawing, describe in detail from the specific embodiment of climbing the multi-functional wall robot of formula.
Shown in Fig. 1 to 4, a kind of from climbing the multi-functional wall robot of formula, comprise steel rope guide rail 1, the servo-actuated mechanism 9 of riseing, telescopic rocker arm mechanism 10, the soaring mechanism 9 of described servo-actuated is installed on the steel rope guide rail 1, described telescopic rocker arm mechanism 10 is connected by adapter sleeve 2 and the servo-actuated mechanism 9 of riseing, it is characterized in that: described soaring mechanism 9 is connected by clamping bar 13 with protruding pinch wheels 12 by one group of recessed pinch wheels 11 at least, described clamping bar 13 connects the rotating shaft that an end connects recessed pinch wheels 11, the other end branch is provided with groove, the rotating shaft end of the close recessed pinch wheels 11 of groove is equipped with the rotating shaft of protruding pinch wheels 12, be provided with holddown spring 19 in the groove, the outer end of groove is provided with setting nut 18, the rotating shaft of described output gear 14 and protruding the pinch wheels 12 or rotating shaft of recessed pinch wheels 11 is concentric and fixing, be connected with idle pulley 17 by pipe link 15, described reducing motor 21 is connected with idle pulley 17 by reducing gear 16, in the described telescopic rocker arm mechanism 10 at least the upper end link to each other by adapter sleeve 2 and the soaring mechanism 9 of at least one group of servo-actuated, described telescopic rocker arm mechanism 10 is provided with one group of rocking arm (5) at least, the end that described four bars are carried arm mechanism 8 links to each other with lifting motor 6 by rotating shaft, the other end links to each other with Rocker arm 5, described Rocker arm 5 one end hinge other end on frame 7 connects the cleaning wiping and rolls 4, and described cleaning wiping is rolled 4 ends and is provided with pressure operated switch 3.
In the utility model, described soaring mechanism 9 is provided with two groups of recessed pinch wheels 11 and protruding pinch wheels 12.Described steel rope guide rail 1 is provided with two, and the two ends of telescopic rocker arm mechanism 10 are respectively arranged with the soaring mechanism 9 of two servo-actuateds.Described telescopic rocker arm mechanism 10 is provided with two groups of Rocker arm 5s.
In the application process,, set up steel rope guide rail and tensioning at first according to the size of building appearance facial contour, obstacle.Connect hydroelectric line, promptly finish dead work on the utility model being packed into the steel rope guide rail from the building lower end.
In the working process, the up-and-down movement of the certainly soaring mechanism controls complete machine of servo-actuated, and can be according to the complex situations automatic speed regulation of obstacle.Rising washing and cleaning operation process, the wiping of lower shake-changing arm cleaning is rolled in running order, is adjacent to the clean surface automatically according to pressure condition, and upper rocker arm shrinks off working state; Decline washing and cleaning operation process is transformed to, and the wiping of upper rocker arm cleaning is rolled in running order, is adjacent to the clean surface automatically according to pressure condition, and lower shake-changing arm shrinks off working state.After cleaning was finished in the clean surface in the steel rope guide rail scope, it is traversing that guide rail drives the robot level, begins new cleaning operation, thereby realize the complex surface cleaning operation.
Claims (4)
1. climb the multi-functional wall robot of formula certainly for one kind, comprise steel rope guide rail (1), the servo-actuated mechanism (9) of riseing, telescopic rocker arm mechanism (10), the described servo-actuated mechanism (9) of riseing is installed on the steel rope guide rail (1), described telescopic rocker arm mechanism (10) is connected by the soaring mechanism (9) of adapter sleeve (2) and servo-actuated, it is characterized in that: described soaring mechanism (9) is connected by clamping bar (13) with protruding pinch wheels (12) by one group of recessed pinch wheels (11) at least, described clamping bar (13) connects the rotating shaft that an end connects recessed pinch wheels (11), the other end branch is provided with groove, the rotating shaft end of the close recessed pinch wheels (11) of groove is equipped with the rotating shaft of protruding pinch wheels (12), be provided with holddown spring (19) in the groove, the outer end of groove is provided with setting nut (18), the rotating shaft of described output gear (14) and protruding pinch wheels (12) or the rotating shaft of recessed pinch wheels (11) is concentric and fixing, be connected with idle pulley (17) by pipe link (15), described reducing motor (21) is connected with idle pulley (17) by reducing gear (16), in the described telescopic rocker arm mechanism (10) at least the upper end link to each other by adapter sleeve (2) and at least one group of servo-actuated mechanism (9) of riseing, described telescopic rocker arm mechanism (10) is provided with one group of rocking arm (5) at least, the end that described four bars are carried arm mechanism (8) links to each other with lifting motor (6) by rotating shaft, the other end links to each other with rocking arm (5), described rocking arm (5) one end hinges are gone up the wiping of other end connection cleaning in frame (7) and are rolled (4), and described cleaning wiping is rolled (4) end and is provided with pressure operated switch (3).
2. according to claim 1 from climbing the multi-functional wall robot of formula, it is characterized in that: described soaring mechanism (9) is provided with two groups of recessed pinch wheels (11) and protruding pinch wheels (12).
3. according to claim 1 and 2 it is characterized in that: described steel rope guide rail (1) is provided with two from climbing the multi-functional wall robot of formula, and the two ends of telescopic rocker arm mechanism (10) are respectively arranged with the soaring mechanism (9) of two servo-actuateds.
4. according to claim 1 from climbing the multi-functional wall robot of formula, it is characterized in that: described telescopic rocker arm mechanism (10) is provided with two groups of rocking arms (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200320350U CN201665256U (en) | 2010-01-08 | 2010-01-08 | Self-climbing type multi-functional wall robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200320350U CN201665256U (en) | 2010-01-08 | 2010-01-08 | Self-climbing type multi-functional wall robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201665256U true CN201665256U (en) | 2010-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200320350U Expired - Fee Related CN201665256U (en) | 2010-01-08 | 2010-01-08 | Self-climbing type multi-functional wall robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201665256U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102178493A (en) * | 2011-05-25 | 2011-09-14 | 上海普英特高层设备有限公司 | Rope straightening device used for window wiper |
| CN104644065A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Pressure detection and air leakage device and absorptive robot with same |
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN106365062A (en) * | 2016-10-20 | 2017-02-01 | 肇庆市小凡人科技有限公司 | Automatic lifting type glass curtain wall cleaning robot |
| CN107288639A (en) * | 2017-07-24 | 2017-10-24 | 太原科技大学 | Deep-sea mining is saved along the soaring formula of rope can lifting device |
| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
| CN109018049A (en) * | 2018-06-22 | 2018-12-18 | 刘禄军 | A kind of wall surface walking device |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN111824282A (en) * | 2020-07-28 | 2020-10-27 | 北京瑞华新科科技有限公司 | Climbing method of foldable climbing robot |
| CN112404805A (en) * | 2020-10-29 | 2021-02-26 | 江苏大学 | A trackless automatic welding equipment for wire rope guidance with long straight seams |
| WO2025066084A1 (en) * | 2023-09-27 | 2025-04-03 | 苏州翼博特智能科技有限公司 | High-altitude cleaning robot |
-
2010
- 2010-01-08 CN CN2010200320350U patent/CN201665256U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102178493A (en) * | 2011-05-25 | 2011-09-14 | 上海普英特高层设备有限公司 | Rope straightening device used for window wiper |
| CN102178493B (en) * | 2011-05-25 | 2013-06-19 | 上海普英特高层设备有限公司 | Rope straightening device used for window wiper |
| CN104644065A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Pressure detection and air leakage device and absorptive robot with same |
| CN104644065B (en) * | 2013-11-20 | 2017-09-19 | 科沃斯商用机器人有限公司 | Pressure detecting and air releasing device and the absorption type robot with the device |
| CN106365062A (en) * | 2016-10-20 | 2017-02-01 | 肇庆市小凡人科技有限公司 | Automatic lifting type glass curtain wall cleaning robot |
| CN106335052A (en) * | 2016-11-08 | 2017-01-18 | 天津职业技术师范大学 | Hydraulic Pole-climbing Robot |
| CN107288639A (en) * | 2017-07-24 | 2017-10-24 | 太原科技大学 | Deep-sea mining is saved along the soaring formula of rope can lifting device |
| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
| CN107724662B (en) * | 2017-08-25 | 2024-04-09 | 上海霄卓机器人有限公司 | Aloft work robot and using method thereof |
| CN109018049A (en) * | 2018-06-22 | 2018-12-18 | 刘禄军 | A kind of wall surface walking device |
| CN110255428A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of moving cell applied to guide rail climbing robot |
| CN111824282A (en) * | 2020-07-28 | 2020-10-27 | 北京瑞华新科科技有限公司 | Climbing method of foldable climbing robot |
| CN112404805A (en) * | 2020-10-29 | 2021-02-26 | 江苏大学 | A trackless automatic welding equipment for wire rope guidance with long straight seams |
| WO2025066084A1 (en) * | 2023-09-27 | 2025-04-03 | 苏州翼博特智能科技有限公司 | High-altitude cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Li Guozhi Document name: Notification to Pay the Fees |
|
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 511338 GAC Honda Automobile Co.,Ltd. General Assembly Department 2, No. 2, Lixin 11th Road, Shapu, Zengcheng City, Guangzhou, Guangdong Province Patentee after: Li Guozhi Address before: 444 room 1, building 410076, Xiyuan, Changsha University of Science and Technology, Changsha, 45 Ling Lu, Tianxin, Hunan, China Patentee before: Li Guozhi |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101208 Termination date: 20110108 |