A glass curtain wall climbing robot

Abstract

The utility model discloses a glass curtain wall climbing robot, which relates to the technical field of glass curtain wall maintenance, and comprises a base plate, an adsorption module 1 and a rotating connection component, wherein the adsorption module 1 and the rotating connection component are both mounted on the base plate, the rotating connection component is slidably connected with an adsorption module 2, the rotating connection component is used to drive the adsorption module 2 to rotate, and a translation drive component is mounted on the adsorption module 2. The utility model enables the climbing robot to stably move on the glass curtain wall through the coordinated arrangement of the adsorption module 1, the adsorption module 2, the rotating connection component and the translation drive component, and can perform steering movement at any angle, and has good maneuverability. The climbing robot can clean and maintain the glass curtain wall by carrying a cleaning component, and the climbing robot has a simple and compact structure, a low manufacturing cost, and is easier to popularize and use.

Description

Technical Field

[0001] The utility model relates to the technical field of glass curtain wall maintenance, in particular to a glass curtain wall climbing robot. Background Art

[0002] Glass curtain walls are widely used in modern high-rise buildings due to their beautiful appearance and sufficient lighting. However, the outer surface of glass curtain walls is exposed to the outdoor environment for a long time, and dust in the environment easily accumulates on the surface of the glass curtain walls, which requires regular cleaning and maintenance.

[0003] At present, the cleaning and maintenance of glass curtain walls are often carried out by manual climbing. This cleaning and maintenance method is not only labor-intensive but also has great safety risks. Therefore, researchers have developed some glass curtain wall climbing robots to replace manual cleaning and maintenance of glass curtain walls. However, the existing robots have relatively complex structures and high production and manufacturing costs, making them difficult to promote and popularize. Therefore, a glass curtain wall climbing robot is needed to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a glass curtain wall climbing robot to solve the problems existing in the prior art proposed in the above background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A glass curtain wall climbing robot comprises a base plate, an adsorption module 1 and a rotating connection component, wherein the adsorption module 1 and the rotating connection component are both mounted on the base plate, the rotating connection component is slidably connected to an adsorption module 2, the rotating connection component is used to drive the adsorption module 2 to rotate, a translation drive component is mounted on the adsorption module 2, the translation drive component is used to drive the adsorption module 2 to slide linearly relative to the rotating connection component, and the adsorption module 1 and the adsorption module 2 are both capable of adsorbing the glass curtain wall.

[0007] Preferably, the adsorption module 1 includes a base plate 1 fixedly connected to the substrate, a telescopic actuator 1 and a mounting shell 1, the telescopic actuator 1 is installed at four positions around the base plate 1, the output end of the telescopic actuator 1 is connected to the mounting shell 1, the mounting shell 1 is installed with a solenoid valve 1, and the port of the solenoid valve 1 is connected to a suction cup 1.

[0008] Preferably, the rotating connection assembly includes a cylinder fixedly connected to a base plate, a swivel and a thrust bearing, the swivel is rotatably connected to the lower end of the cylinder via the thrust bearing, and a rotating motor for driving the swivel to rotate is installed on the top of the cylinder.

[0009] Preferably, the adsorption module 2 includes a base plate 2, a support column and a mounting shell 2, sliding sleeves are provided on both sides of the upper end surface of the base plate 2, the sliding rods on both sides of the rotating ring are slidably connected in the sliding sleeves, the base plate 2 is connected with support columns around, the ends of the support columns are connected with the mounting shell 2, the mounting shell 2 is connected with an electromagnetic valve 2, and the port of the electromagnetic valve 2 is connected with a suction cup 2.

[0010] Preferably, the translation drive assembly includes a telescopic actuator 2, a motor bracket and a translation motor, the telescopic actuator 2 is installed on the upper end surface of the base plate 2, the output end of the telescopic actuator 2 is connected to the motor bracket, the translation motor is installed on the motor bracket, a rack is installed on the lower side of the adsorption module 1, and the output end of the translation motor is key-connected to a gear that can engage with the rack.

[0011] Preferably, a fixing frame is connected around the base plate 1, a support rod is connected to the fixing frame, and the support rod passes through a fixing hole at the upper end of the telescopic actuator 1 to fix the telescopic actuator 1.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The utility model can make the climbing robot move stably on the glass curtain wall and perform turning movement at any angle through the coordinated arrangement of the adsorption module 1, the adsorption module 2, the rotating connection component and the translation driving component, and has good maneuverability. The climbing robot can clean and maintain the glass curtain wall by carrying the cleaning components. The climbing robot has a simple and compact structure, a low manufacturing cost, and is easier to popularize and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 and Figure 2 It is a schematic diagram of the overall structure of the utility model from different viewing angles.

[0015] Figure 3 For this utility model Figure 2 Schematic diagram of the local enlarged structure at point A in the middle.

[0016] Figure 4 It is a schematic diagram of the connection structure of the rotary connection component and the adsorption module 2 of the utility model.

[0017] In the figure: 1. substrate; 2. adsorption module 1; 21. bottom plate 1; 22. telescopic actuator 1; 23. fixing frame; 24. support rod; 25. mounting shell 1; 26. solenoid valve 1; 27. suction cup 1; 3. rotating connection assembly; 31. cylinder; 32. swivel; 33. thrust bearing; 34. slide rod; 35. sleeve; 36. rotating motor; 4. adsorption module 2; 41. bottom plate 2; 42. support column; 43. mounting shell 2; 44. solenoid valve 2; 45. suction cup 2; 5. translation drive assembly; 51. telescopic actuator 2; 52. motor bracket; 53. translation motor; 54. rack; 55. gear. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0019] See also Figure 1-4 , the utility model provides the following technical solutions:

[0020] A glass curtain wall climbing robot comprises a substrate 1, an adsorption module 2 and a rotating connection component 3, wherein the adsorption module 2 and the rotating connection component 3 are both mounted on the substrate 1, the adsorption module 2 comprises a bottom plate 21 fixedly connected to the substrate 1, a telescopic actuator 22 and a mounting shell 25, the telescopic actuator 22 is mounted around the bottom plate 21, the output end of the telescopic actuator 22 is connected to the mounting shell 25, a solenoid valve 26 is mounted on the mounting shell 25, a suction cup 27 is connected to the port of the solenoid valve 26; a fixing frame 23 is connected around the bottom plate 21, a support rod 24 is connected to the fixing frame 23, the support rod 24 passes through the fixing hole at the upper end of the telescopic actuator 22 to fix the telescopic actuator 22; the telescopic actuator 22 is used to drive the solenoid valve 26 and the suction cup 27 to telescopic movement.

[0021] The rotation connection component 3 is slidably connected with an adsorption module 2 4, and both the adsorption module 1 2 and the adsorption module 2 4 can adsorb the glass curtain wall; the rotation connection component 3 is used to drive the adsorption module 2 4 to rotate, and the rotation connection component 3 includes a cylinder 31 fixedly connected to the base plate 1, a swivel 32 and a thrust bearing 33, the swivel 32 is rotatably connected to the lower end of the cylinder 31 through the thrust bearing 33, and a rotating motor 36 for driving the swivel 32 to rotate is installed on the top of the cylinder 31; the rotation connection component 3 is used for the turning movement of the climbing robot to improve the maneuverability of the climbing robot.

[0022] The adsorption module 2 4 includes a base plate 2 41, a support column 42 and a mounting shell 2 43. Slide sleeves 35 are provided on both sides of the upper end surface of the base plate 2 41. The slide rods 34 on both sides of the rotating ring 32 are slidably connected in the slide sleeves 35. The base plate 2 41 is connected with support columns 42 around, and the ends of the support columns 42 are connected with mounting shells 2 43. The mounting shell 2 43 is connected with a solenoid valve 2 44, and the port of the solenoid valve 2 44 is connected with a suction cup 2 45. The adsorption module 1 2 and the adsorption module 2 4 are alternately adsorbed and cooperated to facilitate the movement of the climbing robot.

[0023] A translation drive assembly 5 is installed on the adsorption module 2 4, and the translation drive assembly 5 is used to drive the adsorption module 2 4 to slide linearly relative to the rotating connection assembly 3. The translation drive assembly 5 includes a telescopic actuator 2 51, a motor bracket 52 and a translation motor 53. The telescopic actuator 2 51 is installed on the upper end surface of the base plate 2 41, and the output end of the telescopic actuator 2 51 is connected to the motor bracket 52, and the translation motor 53 is installed on the motor bracket 52. A rack 54 is installed on the lower side of the adsorption module 1 2, and the output end of the translation motor 53 is key-connected with a gear 55 that can mesh with the rack 54; the setting of the telescopic actuator 2 51 can control the meshing and disengagement of the gear 55 and the rack 54, so as to facilitate the rotating connection assembly 3 to drive the adsorption module 1 2 or the adsorption module 2 4 to rotate.

[0024] The working process of the utility model is as follows:

[0025] First, the telescopic actuator 22 is controlled to extend, and the suction cup 27 is attached to the glass curtain wall. The solenoid valve 26 is opened to generate negative pressure in the suction cup 27, and the entire robot is adsorbed and fixed to the glass curtain wall. The translation motor 53 is started. The translation motor 53 drives the bottom plate 2 41 to slide linearly relative to the rotating ring 32 under the action of the gear 55 and the rack 54. In this process, the adsorption module 2 4 moves a certain distance relative to the adsorption module 2 as a whole;

[0026] After the adsorption module 2 4 is moved, the telescopic actuator 1 22 begins to shrink until the suction cup 2 45 is in contact with the surface of the glass curtain wall, the solenoid valve 2 44 is opened to generate negative pressure, the solenoid valve 1 26 is closed to eliminate the negative pressure in the suction cup 1 27, and the telescopic actuator 1 22 continues to shrink, so that the suction cup 1 27 is separated from the surface of the glass curtain wall, completing the adsorption switching between the adsorption module 1 2 and the adsorption module 2 4;

[0027] The translation motor 53 is started again, so that the adsorption module 1 2 moves a certain distance linearly relative to the adsorption module 2 4, and the telescopic actuator 1 22 is extended again to realize the adsorption switching. The process is repeated in this way to realize the linear motion of the glass curtain wall climbing robot.

[0028] When turning movement is required, the adsorption module 2 is firstly made to adsorb the glass curtain wall, the adsorption module 2 4 is separated from the surface of the glass curtain wall, the telescopic actuator 2 51 contracts to disengage the gear 55 from the rack 54, the rotary motor 36 drives the swivel 32 to rotate, and the swivel 32 drives the entire adsorption module 2 4 to rotate relative to the adsorption module 2. After rotating to the required angle, the telescopic actuator 22 drives the adsorption module 2 4 to adsorb, the adsorption module 2 is separated from the glass curtain wall, the rotary motor 36 drives the adsorption module 2 to rotate the same angle relative to the adsorption module 2 4, and the telescopic actuator 2 51 extends to make the gear 55 and the rack 54 resume meshing, and the forward movement can continue according to the above-mentioned linear motion method.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A glass curtain wall climbing robot, characterized in that: The invention comprises a base plate (1), an adsorption module 1 (2) and a rotating connection assembly (3), wherein the adsorption module 1 (2) and the rotating connection assembly (3) are both mounted on the base plate (1), the rotating connection assembly (3) is slidably connected to an adsorption module 2 (4), the rotating connection assembly (3) is used to drive the adsorption module 2 (4) to rotate, the adsorption module 2 (4) is mounted with a translation drive assembly (5), the translation drive assembly (5) is used to drive the adsorption module 2 (4) to slide linearly relative to the rotating connection assembly (3), and the adsorption module 1 (2) and the adsorption module 2 (4) are both capable of adsorbing a glass curtain wall.

2. A glass curtain wall climbing robot according to claim 1, characterized in that: The adsorption module (2) comprises a bottom plate (21) fixedly connected to the base plate (1), a telescopic actuator (22) and a mounting shell (25); the telescopic actuator (22) is mounted on the four sides of the bottom plate (21); the output end of the telescopic actuator (22) is connected to the mounting shell (25); a solenoid valve (26) is mounted on the mounting shell (25); and a suction cup (27) is connected to the port of the solenoid valve (26).

3. The glass curtain wall climbing robot according to claim 1, characterized in that: The rotary connection assembly (3) comprises a cylinder (31) fixedly connected to a base plate (1), a rotating ring (32) and a thrust bearing (33); the rotating ring (32) is rotatably connected to the lower end of the cylinder (31) via the thrust bearing (33); and a rotary motor (36) for driving the rotating ring (32) to rotate is installed on the top of the cylinder (31).

4. A glass curtain wall climbing robot according to claim 3, characterized in that: The adsorption module 2 (4) comprises a base plate 2 (41), a support column (42) and a mounting shell 2 (43). Slide sleeves (35) are provided on both sides of the upper end surface of the base plate 2 (41). The slide rods (34) on both sides of the rotating ring (32) are slidably connected in the slide sleeves (35). The base plate 2 (41) is connected with support columns (42) around it. The ends of the support columns (42) are connected with the mounting shell 2 (43). The mounting shell 2 (43) is connected with an electromagnetic valve 2 (44). The port of the electromagnetic valve 2 (44) is connected with a suction cup 2 (45).

5. The glass curtain wall climbing robot according to claim 4, characterized in that: The translation drive assembly (5) comprises a telescopic actuator 2 (51), a motor bracket (52) and a translation motor (53); the telescopic actuator 2 (51) is mounted on the upper end surface of the bottom plate 2 (41); the output end of the telescopic actuator 2 (51) is connected to the motor bracket (52); the translation motor (53) is mounted on the motor bracket (52); a rack (54) is mounted on the lower side of the adsorption module 1 (2); and the output end of the translation motor (53) is key-connected with a gear (55) capable of meshing with the rack (54).

6. The glass curtain wall climbing robot according to claim 2, characterized in that: The base plate 1 (21) is connected to a fixing frame (23) on all sides, the fixing frame (23) is connected to a support rod (24), and the support rod (24) passes through a fixing hole at the upper end of the telescopic actuator 1 (22) to fix the telescopic actuator 1 (22).

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