Stable climbing and adsorbing device for high-altitude curtain wall

Abstract

The invention discloses a high-altitude curtain wall stable climbing and adsorption device which comprises a frame and a shell, through holes are formed in the frame and the shell, the shell is arranged on one side of the frame, the high-altitude curtain wall stable climbing and adsorption device further comprises a thrust assembly, the thrust assembly is arranged between the frame and the shell, and the through holes are formed in the frame and the shell. The thrust assembly is located between the through hole of the frame and the through hole of the shell, the thrust assembly comprises a propeller, a mounting pipe, a driving motor and a first adjusting steering engine, the mounting pipe is fixedly matched with the frame or the shell, the first adjusting steering engine is matched with the mounting pipe, and the driving motor is driven by the driving motor. The driving motor is matched with the mounting pipe, the first adjusting steering engine is matched with the driving motor, the propeller is arranged on a shaft of the driving motor, and the propeller is located between the through hole of the frame and the through hole of the shell. Even if the surface of the curtain wall is uneven or the wind is slight, the device does not shake, and the reliability is higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of curtain wall climbing, in particular to a high-altitude curtain wall stable climbing and adsorption device. BACKGROUND

[0002] With the acceleration of urbanization, the number of high-rise buildings continues to grow, and the high-altitude curtain wall as an important part of building appearance and protection, its cleaning and detection needs are increasingly urgent. The existing high-altitude curtain wall maintenance still mainly relies on manual operation, which has the problem of cost. Curtain wall cleaning and detection require workers to hang in the air through safety ropes or baskets, which cannot be operated in high-altitude strong winds, rain and snow, and other adverse weather conditions, and falling and injury accidents caused by safety rope aging, operation errors, gusts and other extreme environments occur frequently every year. Building curtain wall glass self-explosion and structural aging, hardware corrosion and other problems will intensify with the increase of service life, and the future greater curtain wall cleaning needs and more curtain wall detection needs will conflict with the existing manual cleaning and detection methods.

[0003] In order to improve the pain points of manual operation, the industry has tried to introduce auxiliary equipment such as the one shown in patent announcement document CN210472054U for adsorption and fixation, but such equipment still has obvious defects: such equipment is adsorbed and moved by multiple suction cups in turn, so a certain number of suction cups will be in a suspended state during movement, and other suction cups may cause the equipment to lose pressure if they encounter uneven curtain wall surface or crosswind interference, and the reliability is relatively poor. SUMMARY

[0004] The present application proposes a high-altitude curtain wall stable climbing and adsorption device to address the above problems, which generates thrust to press the device against the curtain wall, realizes stable climbing through double hangers, and adsorbs and locks the curtain wall through multiple vacuum suction cups in extreme environments, so that even if the curtain wall surface is uneven or there is slight wind, there will be no shaking, and the reliability is stronger.

[0005] The technical solutions adopted by the present application are as follows:

[0006] The high-altitude curtain stabilizing climbing and adsorbing device comprises a frame and a shell, and a through hole is formed in the frame and the shell; the shell is arranged on one side of the frame; a thrust assembly is arranged between the frame and the shell; the thrust assembly is arranged between the through hole of the frame and the through hole of the shell; the thrust assembly comprises a propeller, a mounting pipe, a driving motor and a first adjusting rudder; the mounting pipe is fixedly connected with the frame or the shell; the first adjusting rudder is connected with the mounting pipe; the driving motor is connected with the mounting pipe; the first adjusting rudder is connected with the driving motor; the propeller is arranged on the shaft of the driving motor; and the propeller is arranged between the through hole of the frame and the through hole of the shell.

[0007] In the climbing and adsorbing device, the frame and the shell form the main part of the device; the thrust assembly is arranged on the main part; the thrust assembly mainly comprises a driving motor and a propeller; when the device needs to be adsorbed on the curtain, the driving motor can drive the propeller to rotate; the propeller rotation forms a thrust force for pushing the device to the curtain; the device is pressed on the curtain by the thrust force generated by the propeller rotation; even if the surface of the curtain is uneven or there is slight wind, the device will not shake, and the reliability is higher.

[0008] In the device, the thrust assembly comprises two groups of thrust assemblies; the two groups of thrust assemblies are arranged at two ends of the device respectively; and the two groups of thrust assemblies are arranged in the device formed by the frame and the shell.

[0009] In the device, the propeller and the mounting pipe of each group of thrust assemblies are arranged in two parallel planes; the mounting pipe is a carbon fiber pipe; and the driving motor is a brushless motor.

[0010] Optionally, the thrust assembly comprises a motor base, a pipe clamp, a carbon fiber plate and a carbon pipe cover plate; the driving motor is fixed on the motor base; the carbon fiber plate is fixed on the mounting pipe through the pipe clamp; the motor base is rotatably arranged on the carbon fiber plate through a rotating shaft; a first swing arm is fixed on the motor base and connected with the first adjusting rudder through a connecting rod; the first adjusting rudder is fixed on the carbon fiber plate; the carbon pipe cover plate fixes the mounting pipe on a carbon pipe base; and the carbon pipe base is fixed on the frame.

[0011] The first adjusting rudder can drive the motor base to rotate on the mounting pipe by a certain angle; the rotation of the motor base can drive the driving motor and the propeller to rotate together; and the angle of the thrust force generated by the propeller can be adjusted.

[0012] Optionally, the mobile wheel assembly is arranged on the frame, and the mobile wheel assembly comprises a second swing arm, a wheel and a second adjusting steering engine, the second swing arm and the second adjusting engine are arranged on the frame, the second adjusting engine is matched with the second swing arm, and the wheel is rotatably arranged on the second swing arm.

[0013] The four mobile wheel assemblies are respectively arranged at four corners of the whole device, the wheel in the mobile wheel assembly is used to contact the curtain wall so as to realize the movement of the whole device on the curtain wall, and the second adjusting engine is used to drive the second swing arm to retract or extend so as to realize the retraction or extension of the wheel.

[0014] Optionally, the mobile wheel assembly further comprises a fixed cover plate, a swing arm base, a second rotating shaft, an angle sensor and a shock absorber, the fixed cover plate and the swing arm base are fixed on the frame, the second adjusting engine is fixed on the fixed cover plate, the second swing arm is rotatably matched with the swing arm base through a second rotating shaft, the wheel is rotatably arranged on the second swing arm through a second rotating shaft, the angle sensor is fixed on the swing arm base, and a connecting rod is connected with the second swing arm and the angle sensor.

[0015] The angle sensor can detect the rotation angle of the second swing arm, and the shock absorber is connected with the second adjusting engine and the second swing arm, so that the second adjusting engine can control the retraction and extension of the second swing arm.

[0016] Optionally, the device further comprises a sling assembly arranged between the frame and the shell, the sling assembly comprises an integrated joint engine, a winch and a sling, the winch is fixed on the integrated joint engine, the sling is wound on the winch, and the integrated joint engine is fixed on the frame.

[0017] The two groups of sling assemblies are respectively arranged at two ends of the whole device and located in the space enclosed by the frame and the shell, and the sling assembly is used to realize the lifting of the whole device.

[0018] Optionally, the device further comprises an adsorption assembly arranged on the frame, the adsorption assembly comprises a suction cup, a vacuum pump and a hose, the suction cup and the vacuum pump are arranged on the frame, and the suction cup and the vacuum pump are connected through the hose.

[0019] The four groups of adsorption assemblies are respectively arranged at four corners of the frame, and the adsorption assembly is used to adsorb and fix the whole device on the curtain wall when needed.

[0020] Optionally, it also includes a main control board and an IMU inertial measurement unit, both of which are mounted on the frame, with the main control board connected to the IMU inertial measurement unit.

[0021] Optionally, a storage battery may also be included, which is disposed on the frame.

[0022] Specifically, the battery is electrically connected to the main control board, and the drive motor, the first adjustment servo, the second adjustment servo, the integrated joint motor, and the angle sensor are all electrically connected to the main control board.

[0023] The beneficial effects of this invention are: by generating thrust, the device is pressed against the curtain wall, and stable climbing is achieved through double suspension cables. In extreme environments, multiple sets of vacuum suction cups are used to adsorb and lock the curtain wall, so that even if the curtain wall surface is uneven or there is slight wind, there will be no shaking, thus making it more reliable. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0025] Figure 1 This is a simplified structural diagram of a high-altitude curtain wall stabilization climbing and adsorption device;

[0026] Figure 2 This is a schematic diagram showing the positional relationship of the adsorption components on the frame;

[0027] Figure 3 This is an exploded view of the high-altitude curtain wall stable climbing and adsorption device;

[0028] Figure 4 This is a schematic diagram of the thrust assembly explosion;

[0029] Figure 5 This is a schematic diagram of an exploded sling assembly;

[0030] Figure 6 This is a schematic diagram of the explosion of the moving wheel assembly.

[0031] The figures are labeled as follows: 1. Frame; 2. Shell; 3. Thrust assembly; 31. Propeller; 32. Drive motor; 33. Motor base; 34. First adjustment servo; 35. Mounting tube; 36. Carbon tube base; 37. Carbon tube cover plate; 38. Tube clamp; 39. Carbon fiber plate; 310. First pivot; 311. First swing arm; 312. Connecting rod; 4. Moving wheel assembly; 41. Fixed cover plate; 42. Second adjustment servo; 43. Second swing arm; 44. Swing arm base; 45. Wheel; 46. Shock absorber; 47. Angle sensor; 48. Linkage rod; 49. Second pivot; 5. Sling assembly; 51. Integrated joint motor; 52. Winch; 53. Sling; 6. Battery; 7. Adsorption assembly; 71. Vacuum suction cup; 72. Hose; 73. Vacuum pump; 8. Main control board; 9. IMU inertial measurement unit. Detailed Implementation

[0032] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0034] In the description of this application, it should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0035] As attached Figure 1 ~Appendix Figure 6As shown, a high-altitude curtain wall stable climbing and adsorption device includes a frame 1 and a shell 2. Both the frame 1 and the shell 2 have through holes. The shell 2 is located on one side of the frame 1. It also includes a thrust assembly 3, which is located between the frame 1 and the shell 2. The thrust assembly 3 is located between the through holes of the frame 1 and the shell 2. The thrust assembly 3 includes a propeller 31, a mounting tube 35, a drive motor 32, and a first adjustment servo 34. The mounting tube 35 is fixedly engaged with the frame 1 or the shell 2. The first adjustment servo 34 is engaged with the mounting tube 35. The drive motor 32 is engaged with the mounting tube 35. The first adjustment servo 34 is engaged with the drive motor 32. The propeller 31 is mounted on the shaft of the drive motor 32 and is located between the through holes of the frame 1 and the shell 2.

[0036] In this climbing and adsorption device, the frame 1 and the outer shell 2 constitute the main body of the entire device. The device is equipped with a thrust assembly 3 on the main body. There are two sets of thrust assemblies 3, which are mainly composed of a drive motor 32 and a propeller 31. When the entire device needs to be adsorbed onto the curtain wall, the drive motor 32 can drive the propeller 31 to rotate. The rotation of the propeller 31 generates a thrust that pushes the entire device toward the curtain wall. With the thrust generated by the rotation of the propeller 31, the entire device is pressed against the curtain wall. In this way, the device is pressed against the curtain wall by generating thrust, and there will be no shaking even if the surface of the curtain wall is uneven or there is a slight wind, which makes it more reliable.

[0037] Specifically, in this device, the two sets of thrust components 3 are located at approximately the two ends of the entire device, and the two sets of thrust components 3 are located within the device formed by the frame 1 and the outer shell 2.

[0038] In this device, the propeller 31 and the mounting tube 35 on each thrust assembly 3 are in two parallel planes, and the mounting tube 35 is a carbon fiber tube, and the drive motor 32 is a brushless motor.

[0039] As attached Figure 1 ~Appendix Figure 6 As shown, the thrust assembly 3 includes a motor base 33, a pipe clamp 38, a carbon fiber plate 39, and a carbon tube cover plate 37. The drive motor 32 is fixed on the motor base 33. The carbon fiber plate 39 is fixed on the mounting pipe 35 by the pipe clamp 38. The rotating shaft rotates the motor base 33 onto the carbon fiber plate 39. The first swing arm 311 is fixed on the motor base 33 and connected to the first adjustment servo 34 through the connecting rod 312. The first adjustment servo 34 is fixed on the carbon fiber plate 39. The carbon tube cover plate 37 fixes the mounting pipe 35 onto the carbon tube base 36. The carbon tube base 36 is fixed on the frame 1.

[0040] The first adjustment servo 34 can drive the motor 32 base to rotate a certain angle on the mounting tube 35. The rotation of the motor base 33 can drive the drive motor 32 and the propeller 31 to rotate together, thus adjusting and changing the angle of the thrust generated by the propeller 31.

[0041] As attached Figure 1 ~Appendix Figure 6 As shown, it also includes a movable wheel assembly 4, which is mounted on the frame 1. The movable wheel assembly 4 includes a second swing arm 43, a wheel 45, and a second adjustment servo motor 42. The second swing arm 43 and the second adjustment motor are mounted on the frame 1. The second adjustment servo motor 42 cooperates with the second swing arm 43. The wheel 45 is rotatably mounted on the second swing arm 43.

[0042] There are four specific moving wheel assemblies 4, located at the four corners of the entire device. The wheels 45 in the moving wheel assembly 4 contact the curtain wall, thereby enabling the entire device to move on the curtain wall. The function of the second adjustment servo motor 42 is to drive the second swing arm 43 to extend or retract, thereby retracting or extending the wheels 45.

[0043] As attached Figure 1 ~Appendix Figure 6 As shown, the movable wheel assembly 4 also includes a fixed cover plate 41, a swing arm base 44, a second rotating shaft 49, an angle sensor 47, and a shock absorber 46. The fixed cover plate 41 and the swing arm base 44 are fixed on the frame 1. The second adjustment servo 42 is fixed on the fixed cover plate 41. The second swing arm 43 is rotatably engaged with the swing arm base 44 through a second rotating shaft 49. The wheel 45 is rotatably mounted on the second swing arm 43 through a second rotating shaft 49. The angle sensor 47 is fixed on the swing arm base 44. The connecting rod 48 is connected to the second swing arm 43 and the angle sensor 47.

[0044] Angle sensor 47 can detect the rotation angle of the second swing arm 43. Shock absorber 46 is connected to the second adjustment servo 42 and the second swing arm 43, so that the second adjustment servo 42 can control the extension and retraction of the second swing arm 43.

[0045] As attached Figure 1 ~Appendix Figure 6 As shown, it also includes a sling assembly 5, which is disposed between the frame 1 and the outer shell 2. The sling assembly 5 includes an integrated joint motor 51, a winch 52 and a sling 53. The winch 52 is fixed on the integrated joint motor 51, and the sling 53 is wound around the winch 52. The integrated joint motor 51 is fixed on the frame 1.

[0046] Specifically, there are two sets of sling assemblies 5, which are respectively located at both ends of the entire device and within the space enclosed by the frame 1 and the outer shell 2. The function of the sling assemblies 53 is to realize the lifting and lowering of the entire device. The integrated articulated motor 51 rotates to drive the winch 52 to wind up or release the sling 53.

[0047] As attached Figure 1 ~Appendix Figure 6 As shown, it also includes an adsorption component 7, which is disposed on the frame 1. The adsorption component 7 includes a suction cup, a vacuum pump 73 and a hose 72. The suction cup and the vacuum pump 73 are both disposed on the frame 1, and the suction cup and the vacuum pump 73 are connected by the hose 72.

[0048] There are four sets of adsorption components 7, which are located at the four corners of the frame 1. The function of the adsorption components 7 is to adsorb and fix the entire device to the curtain wall when needed.

[0049] As attached Figure 1 ~Appendix Figure 6 As shown, it also includes a main control board 8 and an IMU inertial measurement unit 9. Both the main control board 8 and the IMU inertial measurement unit 9 are mounted on the frame 1, and the main control board 8 is connected to the IMU inertial measurement unit 9.

[0050] As attached Figure 1 ~Appendix Figure 6 As shown, it also includes a storage battery 6, which is mounted on the frame 1.

[0051] Specifically, the battery 6 is electrically connected to the main control board 8, and the drive motor 32, the first adjustment servo motor 34, the second adjustment servo motor 42, the integrated joint motor 51, and the angle sensor 47 are all electrically connected to the main control board 8.

[0052] Combined with appendix Figure 1 To be continued Figure 6 The diagram illustrates the detailed operation process of this device.

[0053] First, the device is suspended on the building curtain wall. By issuing a running command to the main control board 8, the main control board 8 will start the initialization action. According to the horizontal attitude data of the IMU inertial measurement unit, the sling 53 assembly 5 is adjusted to keep the device horizontal. The second adjustment servo motor 42 releases the moving wheel assembly 4 so that the wheel 45 contacts the curtain wall. The drive motor 32 is controlled to drive the propeller 31 to rotate and generate thrust, so that the device is in close contact with the curtain wall.

[0054] When the entire device moves up or down, the main control board 8 monitors the data from the IMU inertial measurement unit and angle sensors 47 in real time to determine the operating status. When the entire device experiences a horizontal attitude shift, the main control board 8 will increase or decrease the rotation speed of the integrated joint motor 51 on one side to restore the device to a horizontal position. When the total pressure value of the four angle sensors 47 that detect the pressure of the four wheels 45 is lower or higher than the preset pressure, the main control board 8 can control the rotation speed of the drive motors to restore the pressure to the preset value, allowing the device to operate stably even under external interference such as crosswinds (i.e., moving on the curtain wall). When an imbalance in the pressure of the angle sensors 47 on the left and right sides is detected, compensation can be made by controlling the rotation speed of the two drive motors 32 on both sides to balance the pressure on the left and right sides of the device. When an imbalance in the pressure of the angle sensors 47 on the upper and lower sides of the device is detected, the main control board 8 can control the first adjustment servo 34 to tilt the drive motors 32 up and down, changing the angle of the thrust generated by the propeller 31, so that the pressure of the angle sensors 47 on the upper and lower sides is balanced.

[0055] When the device encounters an emergency, such as when the two integrated joint motors 51 detect a torque difference greater than 20% of the total load or the IMU inertial measurement unit detects an attitude exceeding the alarm value, the main control board 8 can start the vacuum pump 73 and simultaneously retract all four moving wheel modules via the second adjustment servo motor 42, causing the vacuum suction cups 71 to contact the curtain wall and begin adsorption. At the same time, the two drive motors 32 will reach maximum power output, driving the two propellers 31 to rotate at maximum speed. The integrated joint motors 51 will perform emergency braking, allowing the device to quickly adhere to the curtain wall. The adsorption force of the four vacuum suction cups 71 in working state is sufficient to support the device's own weight and operating load, waiting for the danger to be eliminated. At the same time, after the device adsorbs, the drive motors 32 will be turned off to save power, maximizing the ability of the vacuum pump 73 to run for an extended period until the danger is eliminated.

[0056] This embodiment further provides a curtain wall cleaning robot including the above-mentioned climbing and adsorption devices, which is used to clean curtain walls.

[0057] The above-described embodiments only illustrate some aspects of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A stable climbing and adsorption device for high-altitude curtain walls, comprising a frame and a shell, wherein both the frame and the shell are provided with through holes, and the shell is disposed on one side of the frame, characterized in that, It also includes a thrust assembly, of which there are at least two sets; the thrust assembly is disposed between the frame and the outer shell, and is located between the through hole of the frame and the through hole of the outer shell. The thrust assembly includes a propeller, a mounting tube, a drive motor, and a first adjusting servo. The mounting tube is fixedly engaged with the frame or the outer shell. The first adjusting servo is engaged with the mounting tube. The drive motor is engaged with the mounting tube. The propeller is disposed on the shaft of the drive motor and is located between the through hole of the frame and the through hole of the outer shell.

2. The high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, The thrust assembly includes a motor base, a pipe clamp, a carbon fiber plate, and a carbon tube cover plate. The drive motor is fixed on the motor base. The carbon fiber plate is fixed on the mounting pipe by the pipe clamp. A rotating shaft rotates the motor base onto the carbon fiber plate. A first swing arm is fixed on the motor base and connected to the first adjustment servo via a connecting rod. The first adjustment servo is fixed on the carbon fiber plate. The carbon tube cover plate fixes the mounting pipe to the carbon tube base. The carbon tube base is fixed to the frame.

3. The high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, It also includes a moving wheel assembly, which is disposed on the frame. The moving wheel assembly includes a second swing arm, a wheel, and a second adjustment servo. The second swing arm and the second adjustment servo are disposed on the frame. The second adjustment servo cooperates with the second swing arm. The wheel is rotatably mounted on the second swing arm.

4. The high-altitude curtain wall stable climbing and adsorption device according to claim 3, characterized in that, The moving wheel assembly also includes a fixed cover plate, a swing arm base, a second rotating shaft, an angle sensor, and a shock absorber. The fixed cover plate and the swing arm base are fixed to the frame. The second adjustment servo is fixed to the fixed cover plate. The second swing arm is rotatably engaged with the swing arm base via a second rotating shaft. The wheel is rotatably mounted on the second swing arm via a second rotating shaft. The angle sensor is fixed to the swing arm base. A connecting rod is connected to the second swing arm and the angle sensor.

5. A high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, It also includes a sling assembly disposed between the frame and the shell. The sling assembly includes an integrated articulated motor, a winch, and a sling. The winch is fixed to the integrated articulated motor, the sling is wound around the winch, and the integrated articulated motor is fixed to the frame.

6. The high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, It also includes an adsorption component, which is disposed on the frame. The adsorption component includes a suction cup, a vacuum pump, and a hose. The suction cup and the vacuum pump are both disposed on the frame, and the suction cup and the vacuum pump are connected by the hose.

7. A high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, It also includes a main control board and an IMU inertial measurement unit, both of which are mounted on the frame, with the main control board connected to the IMU inertial measurement unit.

8. A high-altitude curtain wall stable climbing and adsorption device according to claim 1, characterized in that, It also includes a storage battery, which is mounted on the frame.

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