A walking frame and a curtain wall gap glue injection robot using the same

Abstract

The present application discloses a walking frame and a curtain wall gap injection robot using the walking frame, which belongs to the field of aerial work robots and is used for curtain wall construction. The suction cup is connected to an air compressor through a gas pipeline, and the suction cup is installed on a fixed plate through a suction cup telescopic driver. The top plate and the bottom plate of the operating platform are respectively connected to guide fixed light rods through linear bearing seats. The guide fixed light rods are arranged in pairs and extend in the horizontal and vertical directions respectively; the suction cup telescopic driver is connected to the air compressor through a gas pipeline; the fixed plate drives the guide fixed light rods to move in the corresponding linear bearing seats under the drive of the moving drive member. The present application reduces the complexity and weight of the frame itself by using a frame that moves horizontally and vertically, and arranging a suction cup structure on the frame that is close to or away from the curtain wall, thereby reducing the weight of the aerial work robot and improving the load capacity.

Description

Technical Field

[0001] The present application belongs to the field of aerial work robots, and more specifically, relates to a walking frame and a curtain wall gap glue injection robot using the walking frame. Background Art

[0002] See the Chinese patent application CN113622629A filed by the applicant, which discloses a curtain wall gap glue injection robot. This patent discloses an aerial work robot for glass curtain wall glue injection, replacing the traditional manual work method using a hanging basket. In this publication, the aerial work robot uses a frame and a crawler assembly connected to both sides of the frame to enable it to move on the glass curtain wall. The glue injection operation in the glass curtain wall gap is carried out through a glue injection mechanism installed on the frame.

[0003] Specifically, in the patent document with publication number CN113622629A, the track structure disclosed therein should include several suction cup assemblies, and a trigger track that cooperates with the suction cup assembly is provided on the frame. When the suction cup assembly moves into the trigger track, it can adsorb or detach from the curtain wall, and it is further defined that positive power supply boards and negative power supply boards are provided on both sides of the starting track. When the suction cup moves to the trigger track, the positive and negative poles of the micro electric vacuum pump are respectively in contact with the positive power supply board and the negative power supply board in the trigger track.

[0004] However, the aforementioned crawler structure is not only complex but also utilizes a relatively complex micro-electric vacuum pump triggering mechanism. This micro-electric vacuum pump activates the suction cups on the crawler contact surface, securing the crawler to the curtain wall. This complex structure inevitably increases the number of components, which in turn increases the weight of the aerial work robot. This increased weight, in turn, inevitably leads to a decrease in the load capacity.

[0005] Therefore, the applicant continued to make improvements based on the above structure, and focused on improving the suction and fixed frame of the aerial work robot relative to the glass curtain wall in the track structure, so as to reduce the weight of the aerial work robot itself, improve its load-bearing capacity, and at the same time reduce the structural complexity of the frame and tracks. Summary of the Invention

[0006] The purpose of this application is to provide a walking frame and a curtain wall gap injection robot using the walking frame, which can reduce the complexity and weight of the frame itself through horizontal and vertical movement of the frame, and set a suction cup structure on the frame that is close to or far away from the curtain wall, thereby reducing the weight of the aerial work robot and improving the load capacity.

[0007] To achieve the above objectives, this application is implemented through the following technical solutions:

[0008] A walking frame includes a suction cup, which is installed on a fixed plate through a suction cup telescopic driver. The fixed plate is located at the end of the guide fixed light rod away from the operating platform. The operating platform includes an operating platform top plate and an operating platform bottom plate. The operating platform top plate and the operating platform bottom plate are respectively connected to the guide fixed light rod through linear bearing seats. The guide fixed light rods are arranged in pairs and extend in the horizontal and vertical directions respectively. The suction cup telescopic driver is connected to the air compressor through a gas pipeline. The fixed plate drives the guide fixed light rod to move in the corresponding linear bearing seat under the drive of the mobile driving member.

[0009] As one of the preferred technical solutions of the present application, the mobile driving part is an electric push rod, and the suction cup is connected to the air compressor through a gas pipeline. The air compressor forms a negative pressure in the suction cup through the gas pipeline after the suction cup is attached to the glass curtain wall or wall.

[0010] As one of the preferred technical solutions of the present application, the movable driving part is a screw-nut pair structure, and the two ends of the screw of the screw-nut pair are respectively installed on the fixed plates at the corresponding positions through the bearing structure. A screw drive motor is provided on one of the fixed plates, and the screw drive motor drives the screw to rotate; the nut pairs are respectively arranged on the top plate and the bottom plate of the operating platform.

[0011] As one of the preferred technical solutions of the present application, the suction cup telescopic driver includes an obstacle-crossing cylinder, a pressing cylinder, and a lifting and suction cylinder connected in sequence, wherein the pressing cylinder includes a pressing cylinder housing, and the interior of the pressing cylinder housing is provided with a pressing cylinder upper cover, a pressing cylinder piston, and a piston lifting rod fixing screw, wherein the pressing cylinder upper cover is sleeved with a pressing cylinder piston O-ring, a pressing cylinder return spring is provided between the pressing cylinder piston and the bottom end of the pressing cylinder housing, and the piston lifting rod fixing screw is connected to the pressing cylinder piston and extends from the bottom end of the pressing cylinder housing; the The telescopic end of the obstacle crossing cylinder is connected to the pressing cylinder through the pressing cylinder upper cover; the lifting and suction cylinder includes a lifting and suction cylinder shell, and a lifting piston is arranged inside the lifting and suction cylinder shell. The lifting piston is provided with a lifting piston O-ring and a lifting piston magnetic ring. The bottom end of the lifting piston is connected to a lifting rod, which passes through a lifting rod sealing seat, and the lifting rod sealing seat is located in the lifting and suction cylinder shell; the lifting rod passes through a suction cup fixing seat and is connected to a lifting suction cup, and the lifting suction cup is located in the suction cup fixing seat and a suction cup return spring is provided between the lifting suction cup and the suction cup fixing seat.

[0012] As one of the preferred technical solutions of the present application, the lifting and suction cup is a double-lipped suction cup, including a suction cup body, and the outer edges of the suction cup body are respectively an inner lip of the suction cup and an outer lip of the suction cup.

[0013] As one of the preferred technical solutions of the present application, the operating platform top plate or the operating platform bottom plate is connected to the safety rope through a damping device assembly, and the damping device assembly includes a fixed seat A and a fixed seat B. An optical axis and a damper are installed between the fixed seat A and the fixed seat B, wherein one end of the optical axis is fixed on the fixed seat A, and the other end of the optical axis is connected to the fixed seat B through a fixed seat linear bearing; the fixed seat A is processed with a wire hole connected to the safety rope.

[0014] A curtain wall gap glue injection robot equipped with the above-mentioned walking frame, the curtain wall gap glue injection robot includes a foam strip winding roller, the foam strip winding roller is located on a fixed plate, the foam strip wound on the foam strip winding roller is fed to the bottom end of the pressing plate via a guide sleeve, the sticker on the sticker rotating wheel passes through the feeding roller and enters between the feeding roller and the guide inclined plate, the foam strip passing between the feeding roller and the guide inclined plate enters under the pressing plate and makes the sticker located on both sides of the foam strip, the pressing plate is driven by a pressing plate push rod; a material is set between the pressing plate and the feeding roller. There is a cutting assembly; the cutting assembly, pressure plate, feed roller, sticker wheel, and guide inclined plate are located at the bottom end of the second longitudinal sliding frame, the second longitudinal sliding frame is connected to the fixed rod body through a fixed connecting piece, the fixed rod body is connected to the horizontal movable guide rail, and the horizontal movable guide rail is connected to the bottom surface of the operating platform base plate; the fixed rod body is also provided with a first longitudinal sliding frame arranged in parallel with the second longitudinal sliding frame in the vertical direction, the first longitudinal sliding frame is installed with a glue injection pipeline, and the glue outlet of the glue injection pipeline is located at the bottom end of the first longitudinal sliding frame.

[0015] As one of the preferred technical solutions of the present application, a scraper is provided at the bottom end of the glue injection pipeline, and a notch is provided on the side facing the direction of movement, and the width of the notch is greater than or equal to the gap in the curtain wall; the top inlet of the glue injection pipeline is connected to a glue injection pumping mechanism, and the glue injection pumping mechanism is connected to a glue storage box, and the glue storage box and the glue injection pumping mechanism are located on the top plate of the operating platform.

[0016] As one of the preferred technical solutions of the present application, the fixed rod body and the horizontal movable guide rail move horizontally along the horizontal movable guide rail under the drive of the horizontal driving component on the fixed rod body; the first longitudinal sliding frame and the second longitudinal sliding frame move relative to the fixed rod body in the vertical direction under the drive of the longitudinal driving component, and the longitudinal driving component is respectively located on the first longitudinal sliding frame and the second longitudinal sliding frame.

[0017] As one of the preferred technical solutions of the present application, an image acquisition device and a microcomputer are also provided on the top plate or the bottom plate of the operating platform. The image acquisition device is used to acquire images or pictures and transmit the acquired information to the microcomputer in the form of electrical signals. The microcomputer has a processor for storing and processing image information, receiving remote control command signals and controlling the actions of the curtain wall gap injection robot, and can transmit the information to the operating terminal in a wired or wireless manner through a communication unit.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] By re-setting the frame, this application can achieve movement in the horizontal and vertical directions, and realize the obstacle crossing function of the frame in the multi-stage working mode of the suction cup telescopic drive. In addition, the above structure can also reduce the weight and structural complexity of the glass curtain wall gap injection robot, and improve the load capacity of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the frame described in this application Figure 1 .

[0021] Figure 2 This is a schematic diagram of the structure of the frame described in this application Figure 2 .

[0022] Figure 3 This is a schematic diagram of the injection structure in this application Figure 1 .

[0023] Figure 4 This is a schematic diagram of the injection structure in this application Figure 2 .

[0024] Figure 5 It is a structural diagram of the scraper in this application.

[0025] Figure 6 yes Figure 3 A partial enlarged view of part I.

[0026] Figure 7 yes Figure 4 A partial enlarged view of part II.

[0027] Figure 8 It is a structural diagram of the suction cup telescopic driver.

[0028] Figure 9 yes Figure 8 Cross-sectional view of section AA.

[0029] Figure 10 It is a schematic diagram of the exploded structure of the suction cup telescopic actuator in this application.

[0030] Figure 11 It is a structural diagram of the suction cup in this application.

[0031] Figure 12 It is a structural schematic diagram of the damper assembly in this application.

[0032] In the figure: 1. Operating platform top plate; 2. Moving drive member; 3. Fixed plate; 4. Suction cup telescopic drive; 5. Suction cup; 6. Operating platform bottom plate; 7. Linear bearing seat; 8. Screw drive motor; 9. Guide fixed light rod; 10. Horizontal moving guide rail; 11. Fixed rod body; 12. Glue injection pipeline; 13. First longitudinal sliding frame; 14. Second longitudinal sliding frame; 15. Sticker wheel; 16. Feed roller; 17. Guide inclined plate; 18. Pressing plate; 19. Guide sleeve; 20. Pressing plate push rod; 21. Fixed connecting piece; 22. Glue scraper; 23. Obstacle-crossing cylinder; 24. Pressing cylinder upper cover; 25. Pressing cylinder piston O-type ; 26. Press cylinder piston; 27. Press cylinder return spring; 28. Press cylinder housing; 29. Piston lifting rod fixing screw; 30. Suction piston O-ring; 31. Suction piston magnetic ring; 32. Suction piston; 33. Suction cylinder housing; 34. Suction lifting rod; 35. Suction lifting rod sealing seat; 36. Suction cup fixing seat; 37. Suction cup return spring; 38. Suction cup; 39. Suction piston pull rod; 40. Suction cup body; 41. Suction cup outer lip; 42. Suction cup inner lip; 43. Fixed seat A; 44. Optical axis; 45. Damper; 46. Sliding limit plug; 47. Fixed seat B; 48. Fixed seat linear bearing. DETAILED DESCRIPTION

[0033] The technical solution described in this application is further described below with reference to the accompanying drawings and embodiments. It should be noted that the directional terms that may be involved in the following paragraphs, including but not limited to "up, down, left, right, front, back", etc., are based on the visual directions shown in the corresponding drawings of the specification, and they should not be regarded as limiting the scope of protection of this technical solution. Their purpose is only to facilitate those skilled in the art to better understand the technical solution described in the specification.

[0034] In the following descriptions, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and similar expressions should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances and in conjunction with common knowledge, design specifications, and standard documents in the field. Example 1

[0035] A walking frame, see Figure 1The operating platform comprises a top plate 1 and a bottom plate 6. Both are rectangular plates arranged parallel to each other. A linear bearing block 7 for horizontal movement is disposed between the top plate 1 and the bottom plate 6, while a linear bearing block 7 for longitudinal movement is disposed on the underside of the bottom plate 6. Guide and fixed polished rods 9, consisting of polished rods, are disposed within the linear bearing blocks 7. These guide and fixed polished rods 9 are arranged in pairs and are located on either side of the top plate 1 or the bottom plate 6, respectively.

[0036] Fixed plates 3 composed of rectangular or triangular plates are fixed at both ends of the guide fixed light rod 9 away from the top plate 1 and the bottom plate 6 of the operating platform. The fixed plate 3 is provided with a plurality of suction cup telescopic drivers 4 perpendicular to the fixed plate 3. The suction cup telescopic driver 4 is a telescopic cylinder. The suction cup telescopic driver 4 passes through the fixed plate 3 or the shaft sleeve on the fixed plate 3 and is connected to the suction cup 5. The suction cup 5 in this application is divided into two types, one of which can be connected to an external vacuum generating device without a gas pipeline, and the other can be connected to an air compressor through a gas pipeline. The suction cup telescopic driver 4 and the suction cup 5 are respectively connected to the air compressor through a gas pipeline, and the air compressor can adopt a micro electric vacuum pump.

[0037] A movable driving member 2 is connected to one of the fixed plates 3 on the guide fixed light rod 9. The movable driving member 2 is an electric push rod, which is fixed to the bottom ends of the operating platform top plate 1 and the operating platform bottom plate 6 respectively. Example 2

[0038] A walking frame, wherein the movable driving member 2 is a screw-nut pair structure, and the two ends of the screw in the screw-nut pair are mounted on the corresponding fixed plate 3 through a bearing structure or a bearing seat, and the screw is arranged in parallel with the light rod constituting the guide fixed light rod 9. The nut pair is located at the bottom end of the corresponding operating platform top plate 1 and the operating platform bottom plate 6. A screw drive motor 8 for driving the screw to rotate is installed on the fixed plate 3 to which one end of the guide fixed light rod 9 is connected. The structure and connection relationship of the remaining parts are the same as the structure and connection relationship described in any one of the aforementioned embodiments. In order to avoid cumbersome writing, they will not be repeated here. Example 3

[0039] See also Figures 8 to 11As shown, a walking frame includes a suction cup telescopic driver 4 composed of an obstacle-crossing cylinder 23, a pressing cylinder, and a lifting and suction cylinder. The bottom end of the suction cup telescopic driver 4 is connected to a suction cup 5. There are two types of suction cups 5. One does not need to be connected to an external vacuum generating device through a gas pipeline, and the other can be connected to an air compressor through a gas pipeline. The suction cup telescopic driver 4 and the suction cup 5 are respectively connected to the air compressor through a gas pipeline, and the air compressor can use a micro electric vacuum pump. The obstacle crossing cylinder 23 should include an obstacle crossing cylinder air inlet hole, an obstacle crossing cylinder air outlet hole and a cylinder connecting screw located at the telescopic end of the obstacle crossing cylinder 23 and connected to the pressing cylinder; the pressing cylinder includes a pressing cylinder housing 28, and the bottom end of the pressing cylinder housing 28 has a through hole for the piston lifting rod fixing screw 29 to extend out, and a pressing cylinder return spring 27 is provided at a position near the bottom end inside the pressing cylinder housing 28. The top end of the pressing cylinder return spring 27 contacts the bottom end of the pressing cylinder piston 26, and the top end of the pressing cylinder piston 26 is provided with a pressing cylinder upper cover 24. The pressing cylinder piston 26 is processed with an embedding groove for accommodating the pressing cylinder piston O-ring 25, and there are multiple pressing cylinder piston O-rings 25. The upper cover 24 of the pressing cylinder is machined with a cylinder connection inner thread that connects to the cylinder connection screw. The upper cover 24 of the pressing cylinder is also machined with weight-reducing holes distributed around the cylinder connection inner thread. The side of the upper cover 24 of the pressing cylinder is machined with a pressing cylinder air inlet. The bottom end of the pressing cylinder piston O-ring 25 is machined near the position of the pressing cylinder piston O-ring 25 to form a pressing cylinder exhalation port.

[0040] The suction cylinder includes a suction cylinder housing 33, a suction piston 32 is arranged inside the suction cylinder housing 33, a suction piston O-ring groove 30 is processed on the suction piston 32 for embedding the suction piston O-ring 30, and a suction piston magnetic ring 31 is arranged above the suction piston 32.

[0041] A suction rod sealing seat 35 is provided at the bottom end of the suction piston 32 inside the suction cylinder housing 33, and a suction rod 34 is provided inside the suction rod sealing seat 35. The suction rod 34 is sleeved with a plurality of suction rod sealing seat O-rings.

[0042] The suction rod 34 extends out of the suction rod sealing seat 35 and the suction cylinder housing 33, passes through the suction cup fixing seat 36 and is threadedly connected to the suction piston pull rod 39 on the suction cup 38. A suction air inlet is also provided on the side of the suction rod sealing seat 35.

[0043] A suction cup 38 is provided inside the suction cup holder 36, and a suction cup return spring 37 is provided between the suction cup 38 and the suction cup holder 36. The suction piston pull rod 39 is connected to the suction rod 34 and passes through the suction cup return spring 37. The suction cup holder 36 is also provided with a suction cup breathing port.

[0044] The lifting suction cup 38 includes a suction cup body 40. The bottom of the suction cup body 40, near the edge, has an inner suction cup lip 42 and an outer suction cup lip 41, with a gap between the outer suction cup lip 41 and the inner suction cup lip 42. The remaining structure and connection relationship are the same as those described in any of the previous embodiments and will not be repeated here to avoid tediousness. Example 4

[0045] A walking frame, see Figure 12 , including a fixed seat A43 and a fixed seat B47, wherein a damper 45 is provided between the fixed seat A43 and the fixed seat B47, and one end of the optical axis 44 is fixedly connected to the fixed seat A43, and the other end of the optical axis 44 is connected to the fixed seat B47 through a fixed seat linear bearing 48. The optical axis 44 is also provided with a sliding limit plug 46 to limit the moving distance of the optical axis 44. The fixed seat A43 is also processed with a wire hole, which can be connected to the safety rope released by the mobile winch placed at the roof position to ensure the safety of the walking frame. The structure and connection relationship of the remaining parts are the same as the structure and connection relationship described in any of the aforementioned embodiments. In order to avoid cumbersome writing, they will not be repeated here. Example 5

[0046] Based on Examples 1 to 4, Figures 1 to 11 The structure shown is a curtain wall gap glue injection robot equipped with Example 1 or Example 2, including a glue injection mechanism, which is located at the bottom end of the operating platform base plate 6. The glue injection mechanism includes a horizontal movable guide rail 10, on which a fixed rod body 11 is slidably connected. The fixed rod body 11 is respectively connected to a first longitudinal sliding frame 13 and a second longitudinal sliding frame 14 via a fixed connecting member 21. The horizontal movable guide rail 10 is arranged parallel to the operating platform base plate 6, and the first longitudinal sliding frame 13 and the second longitudinal sliding frame 14 are arranged perpendicular to the horizontal movable guide rail 10. The first longitudinal sliding frame 13 and the second longitudinal sliding frame 14 are respectively arranged on both sides of the fixed rod body 11.

[0047] The first longitudinal sliding frame 13 is equipped with a glue injection pipeline 12. The top inlet of the glue injection pipeline 12 is connected to a glue pumping mechanism, which is connected to the glue storage box through the glue pumping mechanism. The glue pumping mechanism, glue storage box, and the air compressor used to drive the suction cup telescopic actuator 4 are all located on the roof of the operating device and can be installed on a movable anti-fall device on the roof. The anti-fall device includes a winch located on the mobile frame. The moving speed and direction of the mobile frame and the unwinding speed and direction of the winch are coordinated with the glue injection robot at the bottom. The safety rope released by the winch is connected to a constant weight displacement laser sensor. The damper can maintain a constant tension at any telescopic position. For example, when the constant tension of the damper is 10 kg, the safety rope can also maintain a tension of 10 kg, which is equivalent to reducing the weight of the glue injection robot by 10 kg. The set size of the damper telescopic rod is 30 cm, with an upper position of 0-12 cm, a middle position of 12-18 cm, and a lower position of 18-30 cm. When the constant weight displacement laser sensor senses a change in position between 0 and 12 cm, the winch lowers the safety rope. The smaller the change in the constant weight displacement laser sensor data within 0-12 cm, the faster the winch releases the safety rope. When the constant weight displacement laser sensor senses a change in position between 12 and 18 cm, the winch is in the middle stop position and is stopped. When the constant weight displacement laser sensor senses a distance between 18 and 30 cm, the winch reels in the safety rope. The larger the value of 18-30 cm sensed by the constant weight displacement laser sensor, the faster the safety rope is retracted.

[0048] The bottom end of the glue injection pipeline 12 is located at the bottom end of the first longitudinal sliding frame 13 and is connected to the scraper 22. Figure 5 The structure shown is a trumpet-shaped structure with a notch provided on the side facing the moving direction, and the width of the notch is greater than or equal to the gap in the curtain wall to be injected with glue.

[0049] The foam strip is located on a foam strip winding roller, which has a driving mechanism and is located on a fixed plate 3 that is not provided with a screw drive motor 8 or connected to an electric push rod. Under the action of the foam strip winding roller, the foam strip is fed through a guide sleeve 19 to the bottom of the guide inclined plate 17.

[0050] A sticker wheel 15 is positioned at the bottom end of the second longitudinal sliding frame 14, facing the direction of the foam strip winding roller. This wheel 15 has two sets of troughs for wrapping stickers. The sticker wheel 15 feeds the stickers through a guide ramp 17, a feed roller 16, and a pressure plate 18 to the end edge of the curtain wall, where they are affixed to the edge by the pressure plate 18. After being released from the foam strip winding roller, the foam strip passes between two parallel stickers, then passes through a guide sleeve 19, a feed roller 16, and a pressure plate 18, pressing down into the gap between the curtain walls. Upon reaching the end, the stickers are cut by a cutting assembly. The pressure plate 18 is driven by a pressure plate push rod 20, which is located at the bottom end of the second longitudinal sliding frame 14.

[0051] The fixed rod body 11 moves horizontally along the horizontal movable guide rail 10, which means that a horizontal driving mechanism is provided on the fixed rod body 11 to realize the above-mentioned function. The first longitudinal sliding frame 13 and the second longitudinal sliding frame 14 move in the vertical direction relative to the fixed rod body 11, which means that the first longitudinal sliding frame 13 and the second longitudinal sliding frame 14 are also provided with a vertical driving mechanism. The horizontal driving mechanism and the vertical driving mechanism shall be based on what can be realized by technical personnel in this field under the existing technology.

[0052] In this application, an image acquisition device and a microcomputer are also provided. The microcomputer is used to realize the actions of each execution component in this application, and is also used to receive control instructions from the terminal to realize the movement and injection operation of the curtain wall gap injection robot.

[0053] The video capture device and laser sensor can be used to observe the robot's working conditions. The laser sensor can be used for distance measurement and is installed at the end and bottom of the frame. Through direct distance measurement and drop detection, it is combined with an algorithm to determine whether the end has been reached. When in use, this application requires a winch with an anti-fall function. The winch with an anti-fall function can achieve synchronous operation with the glass curtain wall glue injection robot through a wire rope.

[0054] When the walking frame or curtain wall gap glue injection robot described in this application walks on the glass curtain wall, it is first necessary to control the mobile drive member 2 through a controller or a microcomputer. The mobile drive member 2 can adopt an electric push rod or a screw nut pair structure in the above-mentioned situation. Figure 1 、 Figure 2 In the X and Y directions shown, for example, when the frame or curtain wall gap injection robot moves in the X direction, the guide fixed polished rod 9 provided in the Y direction slides along the guide fixed polished rod 9 provided in the X direction through the corresponding linear bearing seat 7 under the action of the moving drive member 2 provided in the X direction. At this time, the suction cup 5 in the X direction needs to contact the glass curtain wall under the action of the corresponding suction cup telescopic drive 4, and is adsorbed and fixed through the action of the gas pipeline and air compressor.

[0055] Specifically, the suction cup telescopic driver 4 includes an obstacle crossing cylinder 23, a pressing cylinder, and a lifting and suction cylinder, wherein the telescopic end of the obstacle crossing cylinder 23 is connected to the pressing cylinder, the telescopic end of the pressing cylinder is connected to the lifting and suction cylinder, and the telescopic end of the lifting and suction cylinder is connected to a lifting and suction cup 38, which is located in the suction cup fixing seat 36.

[0056] When walking is required, the pressing cylinder and the suction cylinder connected to the bottom end of the obstacle-crossing cylinder 23 should be in the initial state, so that the suction cup 38 and the suction cup fixing seat 36 are separated from the adsorbed glass curtain wall, and the obstacle-crossing cylinder 23 is transformed from the telescopic state to the initial retracted state under the control of the air circuit.

[0057] When the suction cup extension and retraction actuator 4 moves to the designated position, the obstacle-crossing cylinder 23 begins to operate, driving the pressing and lifting cylinders at the bottom to move downward synchronously. Controlled by the air circuit, the obstacle-crossing cylinder 23 stops when it reaches the set length. At this point, the pressing cylinder begins to operate, causing the piston-lifting rod fixing screw 29 inside it to drive the entire lifting cylinder downward, thereby ensuring that the suction cup 38 connected to the lifting cylinder is in contact with the glass curtain wall at its location and ensuring a tight fit.

[0058] When the suction cup 38 is in contact with the glass curtain wall at its location, the suction cylinder activates the lifting rod 34 through the connected air path. The lifting rod 34 is then connected to the suction cup 38, causing the suction cup 38 to move within the suction cup holder 36. This creates a negative pressure area within the suction cup holder 36 and the glass curtain wall, achieving stable suction between the two. To further enhance the airtightness between the suction cup 38 and the suction cup holder 36 and ensure effective suction, a suction cup body 40 having an outer suction cup lip 41 and an inner suction cup lip 42 is employed. A gap is provided between the outer suction cup lip 41 and the inner suction cup lip 42 to allow for deformation.

[0059] When it is necessary to separate the suction cup 38 from the glass curtain wall, the suction cylinder can be reset first under the action of the respective air paths, and then the pressing cylinder is reset, and then the obstacle cylinder 23 is reset.

[0060] The suction cup 5 in the Y direction is separated from the glass curtain wall under the action of the corresponding suction cup telescopic driver 4, and stops after moving to the specified position and contacts the glass curtain wall again under the action of the suction cup telescopic driver 4. The air compressor generates suction force on the suction cup 5 in contact with the glass curtain wall through the gas pipeline, thereby fixing the Y direction suction cup 5 to the glass curtain wall.

[0061] Finally, although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A walking frame, comprising a suction cup (5), characterized in that: The suction cup (5) is mounted on the fixed plate (3) via the suction cup telescopic driver (4), and the fixed plate (3) is located at one end of the guide fixed light rod (9) away from the operating platform, and the operating platform comprises an operating platform top plate (1) and an operating platform bottom plate (6); the operating platform top plate (1) and the operating platform bottom plate (6) are respectively connected to the guide fixed light rod (9) via linear bearing seats (7), and the guide fixed light rods (9) are arranged in pairs and extend in the horizontal direction and the vertical direction respectively; the suction cup telescopic driver (4) is connected to the air compressor via a gas pipeline; the fixed plate (3) drives the guide fixed light rod (9) to move in the corresponding linear bearing seat (7) under the drive of the moving drive member (2); The suction cup telescopic driver (4) comprises an obstacle-crossing cylinder (23), a pressing cylinder, and a lifting cylinder connected in sequence, wherein the pressing cylinder comprises a pressing cylinder housing (28), the interior of the pressing cylinder housing (28) is provided with a pressing cylinder upper cover (24), a pressing cylinder piston (26), and a piston lifting rod fixing screw (29), wherein the pressing cylinder upper cover (24) is provided with a pressing cylinder piston O-ring (25), a pressing cylinder return spring (27) is provided between the pressing cylinder piston (26) and the bottom end of the pressing cylinder housing (28), and the piston lifting rod fixing screw (29) is connected to the pressing cylinder piston (26) and extends from the bottom end of the pressing cylinder housing (28); the telescopic end of the obstacle-crossing cylinder (23) is connected to the pressing cylinder upper cover (2 4) connected to the pressing cylinder; the lifting and suction cylinder includes a lifting and suction cylinder housing (33), a lifting piston (32) is provided inside the lifting and suction cylinder housing (33), a lifting piston O-ring (30) and a lifting piston magnetic ring (31) are provided on the lifting and suction piston (32), and the bottom end of the lifting and suction piston (32) is connected to a lifting and suction rod (34), the lifting and suction rod (34) passes through the lifting and suction rod sealing seat (35), and the lifting and suction rod sealing seat (35) is located in the lifting and suction cylinder housing (33); the lifting and suction rod (34) passes through the suction cup fixing seat (36) and is connected to the lifting suction cup (38), the lifting suction cup (38) is located in the suction cup fixing seat (36), and a suction cup return spring (37) is provided between the lifting suction cup (38) and the suction cup fixing seat (36).

2. A walking frame according to claim 1, characterized in that: The movable driving member (2) is an electric push rod, and the suction cup (5) is connected to an air compressor via a gas pipeline. The air compressor forms a negative pressure in the suction cup (5) through the gas pipeline after the suction cup (5) is attached to the glass curtain wall or wall surface.

3. The walking frame according to claim 1, characterized in that: The movable driving member (2) is a screw-nut pair structure, and both ends of the screw of the screw-nut pair are respectively mounted on the fixed plates (3) at corresponding positions through bearing structures. A screw drive motor (8) is provided on one of the fixed plates (3), and the screw drive motor (8) drives the screw to rotate; the nut pairs are respectively provided on the top plate (1) and the bottom plate (6) of the operating platform.

4. The walking frame according to claim 1, characterized in that: The lifting suction cup (38) is a double-lipped suction cup, comprising a suction cup body (40), wherein the outer edges of the suction cup body (40) are respectively a suction cup inner lip (42) and a suction cup outer lip (41).

5. The walking frame according to any one of claims 1 to 4, characterized in that: The operating platform top plate (1) or the operating platform bottom plate (6) is connected to the safety rope through a damping device assembly, and the damping device assembly includes a fixed seat A (43) and a fixed seat B (47). An optical axis (44) and a damper (45) are installed between the fixed seat A (43) and the fixed seat B (47), wherein one end of the optical axis (44) is fixed to the fixed seat A (43), and the other end of the optical axis (44) is connected to the fixed seat B (47) through a fixed seat linear bearing (48); and a wire hole connected to the safety rope is processed on the fixed seat A (43).

6. A curtain wall gap glue injection robot equipped with a walking frame according to any one of claims 1 to 5, characterized in that: The curtain wall gap glue injection robot includes a foam strip winding roller, the foam strip winding roller is located on the fixed plate (3), the foam strip wound on the foam strip winding roller is fed to the bottom end of the pressing plate (18) via the guide sleeve (19), the sticker on the sticker rotating wheel (15) passes through the feeding roller (16) and enters between the feeding roller (16) and the guide inclined plate (17), and the foam strip passing between the feeding roller (16) and the guide inclined plate (17) enters below the pressing plate (18) and makes the sticker located on both sides of the foam strip, and the pressing plate (18) is driven by the pressing plate push rod (20); a cutting assembly is provided between the pressing plate (18) and the feeding roller (16); the cutting assembly, the pressing plate (18), the feeding roller (16) and the guide inclined plate (17) are connected to each other. The roller (16), the sticker wheel (15), and the guide inclined plate (17) are located at the bottom end of the second longitudinal sliding frame (14). The second longitudinal sliding frame (14) is connected to the fixed rod body (11) through a fixed connecting member (21). The fixed rod body (11) is connected to the horizontal movable guide rail (10). The horizontal movable guide rail (10) is connected to the bottom surface of the operating platform bottom plate (6). The fixed rod body (11) is also provided with a first longitudinal sliding frame (13) arranged in parallel with the second longitudinal sliding frame (14) in the vertical direction. The first longitudinal sliding frame (13) is installed with a glue injection pipeline (12). The glue outlet of the glue injection pipeline (12) is located at the bottom end of the first longitudinal sliding frame (13).

7. The curtain wall gap glue injection robot according to claim 6, characterized in that: The bottom end of the glue injection pipeline (12) is provided with a glue scraper (22), and the glue scraper (22) is provided with a notch on the side facing the movement direction, and the width of the notch is greater than or equal to the curtain wall gap; the top inlet of the glue injection pipeline (12) is connected to a glue injection pumping mechanism, and the glue injection pumping mechanism is connected to a glue storage box, and the glue storage box and the glue injection pumping mechanism are located on the top plate (1) of the operating platform.

8. The curtain wall gap glue injection robot according to claim 6 or 7, characterized in that: The fixed rod body (11) and the horizontal movable guide rail (10) are driven by a horizontal driving assembly on the fixed rod body (11) to move horizontally along the horizontal movable guide rail (10); the first longitudinal sliding frame (13) and the second longitudinal sliding frame (14) are driven by longitudinal driving assemblies to move relative to the fixed rod body (11) in the vertical direction, and the longitudinal driving assemblies are respectively located on the first longitudinal sliding frame (13) and the second longitudinal sliding frame (14).

9. The curtain wall gap glue injection robot according to claim 6 or 7, characterized in that: An image acquisition device and a microcomputer are also provided on the operating platform top plate (1) or the operating platform bottom plate (6). The image acquisition device is used for acquiring images or pictures and transmitting the acquired information to the microcomputer in the form of electrical signals. The microcomputer has a processor for storing and processing image information, receiving remote control command signals, and controlling the actions of the curtain wall gap glue injection robot, and can transmit the information to the operating terminal in a wired or wireless manner through a communication unit.

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