Curtain wall crawling robot moving mechanism

Abstract

The utility model relates to a curtain wall crawling robot moving mechanism, and relates to the field of self-walking robots, the curtain wall crawling robot moving mechanism comprises a deformable main body, a plurality of connecting rods, a plurality of electric push rods and a plurality of adsorption mechanisms, the deformable main body comprises four rod pieces, the end of each rod piece is rotatably connected with the ends of other rod pieces, and the multiple rod pieces are spliced into a frame structure; the multiple connecting rods are rotationally connected to the rod piece, each connecting rod is provided with an electric push rod, and the adsorption mechanisms are installed at the ends of the electric push rods. The effect of improving the moving flexibility of the crawling robot on the curtain wall is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of self-moving robots, in particular to a curtain wall crawling robot moving mechanism. BACKGROUND

[0002] Glass curtain walls are widely used as building facades in high-rise buildings, and problems such as sealing failure, structural aging and glass breakage often occur in glass curtain walls during use, which requires regular maintenance and maintenance.

[0003] The existing glass curtain wall inspection is completed by a crawling robot, which moves vertically on the glass curtain wall. The crawling robot is provided with sensors and cameras, which can monitor the flatness, sealing and cracks of the glass curtain wall, thereby reducing manual high-altitude work and improving detection efficiency and safety. The crawling robot includes a deformable body, a plurality of electric push rods and a plurality of suction mechanisms. One end of the electric push rod is connected to the deformable body, and the other end is connected to the suction mechanism. The suction mechanism at one end of the deformable body is connected to the curtain wall, at which time the shape of the deformable body changes and drives the suction mechanism connected to the curtain wall to move. Then the electric push rod acts to make the suction mechanism abut on the curtain wall and be connected to the curtain wall. By periodically connecting the plurality of suction mechanisms to the curtain wall, the crawling robot can move on the curtain wall.

[0004] The related technical solutions in the above have the following defects: the crawling robot is difficult to move in any direction on the curtain wall, and the flexibility of movement is poor. CONTENT OF THE UTILITY MODEL

[0005] In order to improve the flexibility of the crawling robot moving on the curtain wall, the present application provides a curtain wall crawling robot moving mechanism.

[0006] The curtain wall crawling robot moving mechanism provided by the present application adopts the following technical solutions:

[0007] A curtain wall crawling robot moving mechanism includes a deformable body, a plurality of connecting rods, a plurality of electric push rods and a plurality of suction mechanisms. The deformable body includes four bar members, the end of each bar member is rotatably connected to the end of the other bar member, the plurality of bar members are spliced into a frame structure, the plurality of connecting rods are rotatably connected to the bar members, each connecting rod is provided with an electric push rod, and the suction mechanism is installed at the end of the electric push rod.

[0008] By adopting the technical scheme, the parallelogram frame is formed by using the rod pieces, the driving pieces are arranged between the rod pieces, the two adjacent rod pieces can rotate relative to each other, and the shape of the parallelogram formed by the rod pieces is adjusted, the connecting rods on the parallelogram drive the adsorption mechanisms to move when the shape of the parallelogram frame changes, the plurality of adsorption mechanisms on the deformable main body are kept connected with the curtain wall when the parallelogram frame is deformed, the adsorption mechanisms connected with the curtain wall are more when the crawling robot moves, and the crawling robot is less likely to fall off the curtain wall, the connecting rods can be moved to different positions by controlling the shape change of the parallelogram frame, the advancing direction of the crawling robot is changed, and the moving direction of the crawling robot on the curtain wall is more flexible, and the crawling robot is convenient to use.

[0009] Optionally, the plurality of rod pieces are equal in length.

[0010] By adopting the technical scheme, the parallelogram frame is formed by using the rod pieces, the driving pieces are arranged between the rod pieces, the two adjacent rod pieces can rotate relative to each other, and the shape of the parallelogram formed by the rod pieces is adjusted, the connecting rods on the parallelogram drive the adsorption mechanisms to move when the shape of the parallelogram frame changes, the plurality of adsorption mechanisms on the deformable main body are kept connected with the curtain wall when the parallelogram frame is deformed, the adsorption mechanisms connected with the curtain wall are more when the crawling robot moves, and the crawling robot is less likely to fall off the curtain wall, the connecting rods can be moved to different positions by controlling the shape change of the parallelogram frame, the advancing direction of the crawling robot is changed, and the moving direction of the crawling robot on the curtain wall is more flexible, and the crawling robot is convenient to use.

[0011] Optionally, the rod piece is provided with a motor one, a shell of the motor one is fixed on one rod piece, and an output shaft of the motor one drives another rod piece to rotate.

[0012] By adopting the technical scheme, the motor one is arranged on the rod piece, the motor one can control the included angle of the two connected rod pieces, the positions of the plurality of rod pieces in the deformable main body can be changed when the motor one drives one rod piece to rotate, the connecting rods on each rod piece can move, the number of driving pieces required for controlling the movement of the crawling robot is smaller, and the motion control is more convenient.

[0013] Optionally, the connecting rod is rotationally connected to the middle of the rod piece, and one connecting rod is connected to each rod piece.

[0014] By adopting the technical scheme, the connecting rod is arranged in the middle of the rod piece, the clockwise and counterclockwise rotation paths of the connecting rod relative to the rod piece are the same, the movement path and landing point of the adsorption mechanism are conveniently controlled, and the crawling robot is conveniently controlled to move on the curtain wall.

[0015] Optionally, the rod piece is provided with a motor two, a shell of the motor two is fixed on the rod piece, and an output shaft of the motor two drives the connecting rod to rotate relative to the rod piece.

[0016] By adopting the technical scheme, the motor two is arranged on the rod piece, the motor two can control the forward and reverse rotation of the connecting rod on the rod piece, the connecting rod is more flexible in rotation, and the rotation angle is larger.

[0017] Optionally, the adsorption mechanism comprises an electric suction cup configured to adhere to the curtain wall and adsorb the curtain wall.

[0018] By adopting the above technical scheme, when the crawling robot crawls on the curtain wall, the electric push rod is perpendicular to the curtain wall, and the electric push rod can control the gap between the electric suction cup and the curtain wall by stretching and retracting, and the electric suction cup can work and adsorb the curtain wall when the electric suction cup abuts against the curtain wall.

[0019] Optionally, a protective cover is arranged outside the electric suction cup, the protective cover comprises a sleeve ring, a plurality of connecting pieces and a protective ring, the sleeve ring is sleeved on the end of the electric push rod, the protective ring is sleeved outside the electric suction cup, and the plurality of connecting pieces are equidistantly arranged along the circumferential direction of the sleeve ring, one end of each connecting piece is connected to the sleeve ring, and the other end is connected to the protective ring.

[0020] By adopting the above technical scheme, the protective cover is arranged outside the electric suction cup, which reduces the probability of foreign matter impacting or adhering to the electric suction cup, and enables the electric suction cup to stably adsorb the curtain wall.

[0021] Optionally, the protective cover is made of elastic material.

[0022] By adopting the above technical scheme, the protective cover is made of elastic material, which enables the protective cover to completely cover the electric suction cup, and when the electric push rod is elongated, the protective cover first contacts the curtain wall and deforms, so that the electric suction cup extends out of the protective cover and connects with the curtain wall, further reducing the probability of foreign matter adhering to the electric suction cup.

[0023] In summary, the beneficial technical effects of the present application are:

[0024] 1. By using rod pieces to splice to form a parallelogram frame, and arranging driving pieces between the rod pieces, the adjacent two rod pieces can rotate relative to each other, thereby adjusting the shape of the parallelogram formed by the spliced rod pieces, when the shape of the parallelogram frame changes, the connecting rods on the parallelogram drive the adsorption mechanism to move, by keeping multiple adsorption mechanisms on the deformable main body connected with the curtain wall, when the parallelogram frame deforms, the adsorption mechanism connected with the curtain wall can move, and the probability of the crawling robot falling off the curtain wall is low, by controlling the shape change of the parallelogram frame, the connecting rods can be moved to different positions, thereby changing the advancing direction of the crawling robot, making the moving direction of the crawling robot on the curtain wall more flexible, and facilitating use.

[0025] 2. By using rod pieces of equal length to splice, the movement trajectory of each rod piece in the parallelogram frame is more simple, the calculation of the moving path of the crawling robot is more convenient, and the control of the deformation of the deformable main body and the rotation of the connecting rods is more convenient.

[0026] 3. By setting motor one on the rod, motor one can control the included angle of two interconnected rods. When motor one drives one rod to rotate, the positions of multiple rods in the deformable main body can be changed, so that the connecting rods on each rod can move, the number of driving elements required for the crawling robot to move is less, and the motion control is more convenient. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the overall structure schematic of the embodiment of the present application Figure 1 .

[0028] Figure 2 is the overall structure schematic of the embodiment of the present application Figure 2 .

[0029] Figure 3 is the structure schematic of the protective cover of the embodiment of the present application.

[0030] Figure 4 is the top view of the embodiment of the present application Figure 1 .

[0031] Figure 2 is the top view of the embodiment of the present application Figure 1 .

[0032] Reference signs: 1, deformable main body; 11, rod; 12, motor one; 2, connecting rod; 21, motor two; 3, electric push rod; 4, adsorption mechanism; 41, electric suction cup; 42, protective cover; 421, sleeve ring; 422, connecting piece; 423, protective ring. DETAILED DESCRIPTION

[0033] The present application will be further described in detail below with reference to the accompanying drawings.

[0034] The embodiment of the present application discloses a curtain wall crawling robot moving mechanism, referring to Figure 2 , Figure 3 and Figure 1, including a deformable body 1, a plurality of connecting rods 2, a plurality of electric push rods 3 and a plurality of adsorption mechanisms 4, one end of the connecting rod 2 is rotatably connected to the deformable body 1, the other end is connected with the electric push rod 3, the length direction of the electric push rod 3 is perpendicular to the length direction of the connecting rod 2, one end of the electric push rod 3 is fixed on the connecting rod 2, the other end is connected with the adsorption mechanism 4. The connecting rod 2 is provided with a motor 21, the motor 21 drives the connecting rod 2 to rotate relative to the deformable body 1, when the shape of the deformable body 1 changes, the connecting rod 2 rotates on the deformable body 1, thereby driving the electric push rod 3 to move, when the electric push rod 3 moves to the predetermined position, the electric push rod 3 is elongated and makes the adsorption mechanism 4 abut on the curtain wall, so that the deformable body 1 is stably connected with the curtain wall. The deformable body 1 drives the connecting rod 2 to move when the shape changes, the connecting rod 2 can rotate relative to the deformable body 1, by controlling the movement of the connecting rod 2, the effect of adjusting the position of the adsorption mechanism 4 is achieved, the user controls the movement of the plurality of adsorption mechanisms 4 in turn, so that the crawling robot can move on the curtain wall, the crawling robot always has a plurality of adsorption mechanisms 4 adsorbed and connected with the curtain wall when moving, thereby reducing the probability of falling off the curtain wall.

[0035] Referring to Figure 2 , Figure 3 and Figure 1 , in the embodiment of the application, the deformable body 1 includes four rod members 11, the four rod members 11 are the same in length, the end of each rod member 11 is rotatably connected with the end of another rod member 11, and the four rod members 11 surround a parallelogram frame structure. The deformable body 1 is provided with a motor 12, the motor 12 is arranged at the connection between the two rod members 11, the shell of the motor 12 is fixed on one rod member 11, the output shaft of the motor 12 is connected with another rod member 11, the motor 12 drives the two rod members 11 to rotate relative to each other, thereby controlling the included angle of the two rod members 11 and adjusting the shape of the deformable body 1.

[0036] Referring to Figure 2 and Figure 4 , in the embodiment of the application, the deformable body 1 is provided with four connecting rods 2, one connecting rod 2 is arranged on each rod member 11, one end of the connecting rod 2 is rotatably connected to the middle of the rod member 11, and the other end is connected with the electric push rod 3. The plurality of connecting rods 2 are the same in length. When the shape of the deformable body 1 changes, the deformable body 1 can drive the connecting rod 2 connected with the curtain wall to move. The motor 21 is arranged on each connecting rod 2, the shell of the motor 21 is fixed on the deformable body 1, and the output shaft of the motor 21 drives the connecting rod 2 to rotate. Referring to Figure 5 and Figure 3 , when the deformable body 1 deforms on the curtain wall, the connecting rod 2 connected with the curtain wall rotates relative to the deformable body 1 through the motor 21, thereby enabling the deformable body 1 to drive other connecting rods 2 disconnected with the curtain wall to act.

[0037] Referring to ​The adsorption mechanism 4 includes an electric suction cup 41 and a protective cover 42. The electric suction cup 41 is fixed at the movable rod end of the electric push rod 3 and is perpendicular to the electric push rod 3. The electric suction cup 41 can be adsorbed on the surface of the glass curtain wall, so that the deformable main body 1 is stably connected with the curtain wall. The protective cover 42 includes a sleeve ring 421, a plurality of connecting pieces 422 and a protective ring 423. The sleeve ring 421 is a circular ring and is fixed on the movable rod of the electric push rod 3. The protective ring 423 is sleeved outside the electric suction cup 41 and is coaxially arranged with the sleeve ring 421. The plurality of connecting pieces 422 are equidistantly arranged along the circumferential direction of the sleeve ring 421. One end of each connecting piece 422 is fixed on the sleeve ring 421, and the other end is fixed on the protective ring 423. The protective cover 42 is sleeved outside the electric suction cup 41, so as to reduce the probability of sundries impacting or adhering to the electric suction cup 41, thereby enabling the electric suction cup 41 to be stably adsorbed on the curtain wall. In other embodiments, the protective cover 42 can be made of a material with elasticity. When the electric push rod 3 is elongated, the protective cover 42 first contacts and deforms the curtain wall, so that the electric suction cup 41 extends out of the protective cover 42 and is adsorbed on the curtain wall, further reducing the probability of sundries adhering to the electric suction cup 41.

[0038] The implementation principle of the embodiments of the present application is that: the electric motor one 12 is arranged on the deformable main body 1, so that the electric motor one 12 can control the included angle of two adjacent rod members 11, thereby controlling the shape of the parallelogram formed by the rod members 11. The connecting rods 2 are arranged on the rod members 11, so that the connecting rods 2 can rotate relative to the rod members 11 through the electric motor two 21. When the crawling robot moves on the curtain wall, the adsorption mechanisms 4 on the three connecting rods 2 are adsorbed and connected with the curtain wall. By simultaneously actuating the electric motor one 12 and the plurality of electric motor two 21, the position of the adsorption mechanism 4 disconnected with the curtain wall can be adjusted, so that the crawling robot moves stably on the curtain wall.

[0039] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application. Therefore, equivalent changes made on the basis of the structure, shape and principle of the present application should be covered by the protection scope of the present application.

Claims

1. A curtain wall climbing robot moving mechanism, characterized in that: The application relates to a curtain wall cleaning robot, which comprises a deformable main body (1), a plurality of connecting rods (2), a plurality of electric push rods (3) and a plurality of adsorption mechanisms (4), the deformable main body (1) comprises four rod members (11), the end of each rod member (11) is rotationally connected with the end of another rod member (11), the plurality of rod members (11) are combined into a frame structure, the plurality of connecting rods (2) are rotationally connected on the rod members (11), one electric push rod (3) is arranged on each connecting rod (2), and the adsorption mechanism (4) is installed at the end of the electric push rod (3).

2. The curtain wall climbing robot moving mechanism according to claim 1, characterized in that: The plurality of rod members (11) are equal in length.

3. The curtain wall climbing robot moving mechanism according to claim 2, characterized in that: A motor one (12) is arranged on the rod member (11), the shell of the motor one (12) is fixed on one rod member (11), and the output shaft of the motor one (12) drives another rod member (11) to rotate.

4. The curtain wall climbing robot moving mechanism according to claim 2, characterized in that: The connecting rod (2) is rotationally connected in the middle of the rod member (11), and one connecting rod (2) is connected on each rod member (11).

5. The curtain wall climbing robot moving mechanism according to claim 4, characterized in that: A motor two (21) is arranged on the rod member (11), the shell of the motor two (21) is fixed on the rod member (11), and the output shaft of the motor two (21) drives the connecting rod (2) to rotate relative to the rod member (11).

6. The curtain wall climbing robot moving mechanism according to claim 1, characterized in that: The adsorption mechanism (4) comprises an electric suction disc (41), and the electric suction disc (41) is used for being attached to a curtain wall and adsorbing the curtain wall.

7. The curtain wall climbing robot moving mechanism according to claim 6, characterized in that: A protective cover (42) is arranged outside the electric suction disc (41), the protective cover (42) comprises a sleeve ring (421), a plurality of connecting pieces (422) and a protection ring (423), the sleeve ring (421) is sleeved at the end of the electric push rod (3), the protection ring (423) is sleeved outside the electric suction disc (41), the plurality of connecting pieces (422) are equidistantly arranged along the circumferential direction of the sleeve ring (421), one end of the connecting piece (422) is connected to the sleeve ring (421), and the other end is connected to the protection ring (423).

8. The curtain wall climbing robot moving mechanism according to claim 7, characterized in that: The protective cover (42) is made of a material with elasticity.

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