High-flexibility wheel-track combined curtain wall crawling robot

Abstract

The utility model relates to a high-flexibility wheel-track combined curtain wall crawling robot, and relates to the field of curtain wall crawling robots, the high-flexibility wheel-track combined curtain wall crawling robot comprises a machine body, a plurality of mechanical arms and a plurality of wall climbing assemblies, one ends of the mechanical arms are fixed on the machine body, the other ends of the mechanical arms are connected with the wall climbing assemblies, and the wall climbing assemblies are used for being adsorbed on a curtain wall and sliding on the curtain wall; the mechanical arm is used for driving the wall-climbing assembly to move relative to the machine body. The unmanned climbing robot has the effect of improving the obstacle crossing ability and the steering flexibility of the unmanned climbing robot.

Description

Technical Field

[0001] This application relates to the field of curtain wall crawling robots, and in particular to a highly flexible wheel-tracked curtain wall crawling robot. Background Technology

[0002] Architectural glass curtain walls are widely used in modern buildings, offering excellent aesthetics and light transmission. However, the maintenance and cleaning of glass curtain walls present significant challenges. To improve the efficiency of glass curtain wall maintenance and cleaning, unmanned climbing robots have become a key research focus.

[0003] Existing unmanned climbing robots can be broadly categorized into tracked wall-climbing robots, legged wall-climbing robots, and wheeled wall-climbing robots. Tracked wall-climbing robots possess strong adhesion and load-bearing capabilities, along with stability due to their large contact area. However, due to their relatively bulky structure, tracked robots exhibit poor maneuverability when turning and maneuvering, and have weak obstacle-crossing ability. Wheeled wall-climbing robots offer advantages such as simple structure, flexible movement, high speed, and system stability, but their load-bearing capacity is limited, and their obstacle-crossing ability is also poor. Legged wall-climbing robots have significant advantages in environments requiring high flexibility and precise control, but their complexity and cost remain major challenges.

[0004] The aforementioned technical solutions have the following drawbacks: existing unmanned climbing robots perform poorly in obstacle-crossing ability and turning flexibility, and have poor mobility on curtain walls. Utility Model Content

[0005] To improve the obstacle-crossing ability and turning flexibility of unmanned climbing robots, this application provides a highly flexible wheel-tracked combined curtain wall climbing robot.

[0006] This application provides a highly flexible wheeled and tracked curtain wall crawling robot with the following technical solution:

[0007] A highly flexible wheeled and tracked curtain wall crawling robot includes a body, multiple robotic arms and multiple wall-climbing components. One end of each robotic arm is fixed to the body, and the other end is connected to the wall-climbing components. The wall-climbing components are used to adhere to the curtain wall and slide on it. The robotic arms are used to drive the wall-climbing components to move relative to the body.

[0008] By adopting the above technical solution, and by setting up robotic arms on the body, each robotic arm can control the movement of a wall-climbing component. When the wall-climbing component comes into contact with the curtain wall, it can adhere to the curtain wall. By controlling the lifting of the wall-climbing component, the robotic arm can enable the crawling robot to cross obstacles, thereby improving the crawling robot's mobility on the curtain wall.

[0009] Optionally, the robotic arm includes a support one, a support two, a side plate, a motor one, and a motor two. One end of the side plate is rotatably connected to the support one, and the other end is rotatably connected to the support two. The support one is fixedly connected to the machine body, and the support two is fixedly connected to the wall-climbing assembly. The motor one is located at the connection between the support one and the side plate, and the motor two is located at the connection between the support two and the side plate.

[0010] By adopting the above technical solution, a side plate is set between support one and support two, so that motor one can drive support one to rotate relative to the side plate, and motor two can drive support two to rotate relative to the side plate. The output shafts of motor one and motor two are parallel in length direction. When the robotic arm moves, the wall climbing component can move relative to the body, thereby enabling the wall climbing component to cross obstacles or move on stepped obstacles, improving the mobility of the climbing robot.

[0011] Optionally, the wall-climbing assembly includes a housing, a radar probe, a brushless fan, and a drive mechanism. The housing is a shell with an opening on one side. The brushless fan and the drive mechanism are installed inside the housing. The radar probe is set on the outer wall of the housing. The brushless fan is used to draw air out of the housing and to move against the curtain wall.

[0012] By adopting the above technical solution, a brushless fan is installed inside the shell, which can draw out the air inside the shell. When the shell comes into contact with the curtain wall, a low-pressure environment is formed inside the shell, which allows the shell to adhere to the curtain wall. By installing a drive mechanism inside the shell, when the shell is adhered to the curtain wall, the drive mechanism comes into contact with the curtain wall and moves on the curtain wall, which allows the shell to slide on the surface of the curtain wall, thereby increasing the speed at which the crawling robot moves on the curtain wall.

[0013] Optionally, a rubber sealing strip is provided at the opening of the outer casing. The rubber sealing strip is made of an elastic material and has a frame-shaped structure.

[0014] By adopting the above technical solution, and by setting a rubber sealing strip on the outer shell, when the outer shell comes into contact with the curtain wall, the rubber sealing strip can abut against the curtain wall, thereby sealing the gap between the outer shell and the curtain wall, reducing the chance of the climbing component detaching from the curtain wall, and improving the adsorption capacity of the climbing component.

[0015] Optionally, the drive mechanism includes a drive plate, a drive motor, a drive wheel, a driven wheel, a pulley, and a track. The drive plate is fixed inside the housing. There are two pulleys, which are rotatably connected to the drive plate. The track is fitted onto the pulleys. The housing of the drive motor is fixed to the drive plate. The output shaft of the drive motor is connected to the drive wheel. The driven wheel is coaxially connected to the pulley. A transmission belt is fitted onto the drive wheel and the driven wheel.

[0016] By adopting the above technical solution, two pulleys are set on the drive plate, which enables the drive motor to drive the pulleys to rotate, thereby enabling the track to rotate through the pulleys. When the climbing component is attached to the curtain wall, the track contacts the curtain wall, so that the climbing component can slide on the curtain wall when the track rotates.

[0017] Optionally, the drive plate is provided with multiple tensioning wheels, and bolts are rotatably connected to the end face of the tensioning wheels. The drive plate is provided with a groove, and the bolts are placed in the groove. The tensioning wheels abut against the transmission belt.

[0018] By adopting the above technical solution, and by setting a tensioning wheel on the drive plate, the user can adjust the position of the tensioning wheel with bolts so that the tensioning wheel can always be in contact with the transmission belt, keeping the transmission belt taut, improving the connection tightness between the transmission belt and the driving and driven pulleys, and reducing the chance of the transmission belt slipping.

[0019] Optionally, the drive motor is positioned between the two pulleys.

[0020] By adopting the above technical solution, the drive motor is placed between two pulleys, and the driving pulley is between two driven pulleys and driven by a transmission belt, so that one drive motor can drive two pulleys to rotate simultaneously, thereby improving the synchronization of pulley rotation.

[0021] Optionally, the drive mechanisms of the plurality of wall-climbing components move in parallel directions.

[0022] By adopting the above technical solution, when multiple wall-climbing components are attached to the curtain wall, the drive mechanisms of the multiple wall-climbing components can move simultaneously and drive the crawling robot to move. When the crawling robot needs to cross an obstacle, a robotic arm can lift the wall-climbing component, and the other wall-climbing components can continue to be attached to the curtain wall and slide on the curtain wall, so that the crawling robot can be stably attached to the curtain wall and slide on the curtain wall when crossing obstacles.

[0023] In summary, the beneficial technical effects of this application are as follows:

[0024] 1. By setting robotic arms on the body, each robotic arm can control the movement of a wall-climbing component. When the wall-climbing component comes into contact with the curtain wall, it can adhere to the curtain wall. By controlling the lifting of the wall-climbing component, the robotic arm can enable the crawling robot to cross obstacles, thus improving the crawling robot's mobility on the curtain wall.

[0025] 2. By setting a side plate between support one and support two, motor one can drive support one to rotate relative to the side plate, and motor two can drive support two to rotate relative to the side plate. The output shafts of motor one and motor two are parallel in length direction. When the robotic arm moves, the wall climbing component can move relative to the body, thereby enabling the wall climbing component to cross obstacles or move on stepped obstacles, improving the mobility of the climbing robot.

[0026] 3. By installing a tensioning wheel on the drive plate, the user can adjust the position of the tensioning wheel with bolts, so that the tensioning wheel can always be in contact with the drive belt, keeping the drive belt taut, improving the connection between the drive belt and the driving and driven pulleys, and reducing the chance of drive belt slippage. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application. Figure 1 .

[0028] Figure 2 This is a schematic diagram of the overall structure of an embodiment of this application. Figure 2 .

[0029] Figure 3 This is a schematic diagram of the structure of the robotic arm according to an embodiment of this application.

[0030] Figure 4 This is a schematic diagram showing the position of the brushless fan in an embodiment of this application.

[0031] Figure 5 This is a schematic diagram of the drive mechanism in an embodiment of this application. Figure 1 .

[0032] Figure 6 This is a schematic diagram of the drive mechanism in an embodiment of this application. Figure 2 .

[0033] Figure 7 This is a schematic diagram of the installation structure of the tensioning wheel according to an embodiment of this application.

[0034] Reference numerals: 1. Body; 2. Robotic arm; 21. Support 1; 22. Support 2; 23. Side plate; 24. Motor 1; 25. Motor 2; 3. Wall climbing assembly; 31. Outer shell; 311. Rubber sealing strip; 32. Radar probe; 33. Brushless fan; 34. Drive mechanism; 341. Drive plate; 342. Drive motor; 343. Drive wheel; 344. Driven wheel; 345. Pulley; 346. Track; 347. Tensioner wheel; 348. Bolt; 349. Nut. Detailed Implementation

[0035] The present application will be further described in detail below with reference to the accompanying drawings.

[0036] This application discloses a highly flexible wheeled and tracked curtain wall crawling robot, referring to... Figure 1 , Figure 2 and Figure 3 The robot includes a body 1, multiple robotic arms 2, and multiple wall-climbing components 3. One end of each robotic arm 2 is mounted on the body 1, and the other end is connected to the wall-climbing component 3. Each robotic arm 2 is connected to a wall-climbing component 3. The wall-climbing component 3 is used to adhere to the curtain wall and move on the curtain wall. The robotic arm 2 can lift the wall-climbing component 3, so that the wall-climbing component 3 can cross obstacles and continue to adhere to the curtain wall, thereby improving the mobility of the crawling robot.

[0037] Reference Figure 3 The robotic arm 2 includes a first support 21, a second support 22, a side plate 23, a first motor 24, and a second motor 25. One end of the side plate 23 is rotatably connected to the first support 21, and the other end is rotatably connected to the second support 22. The first support 21 is fixed to the body 1, and the second support 22 is fixed to the wall-climbing assembly 3. The first motor 24 is installed at the connection between the first support 21 and the side plate 23, and the second motor 25 is installed at the connection between the second support 22 and the side plate 23. The first motor 24 can drive the first support 21 to rotate relative to the side plate 23, and the second motor 25 can drive the second support 22 to rotate relative to the side plate 23. By moving the first motor 24 and the second motor 25, the wall-climbing assembly 3 can move relative to the body 1, allowing the wall-climbing assembly 3 to be lifted off the curtain wall, achieving the effect of crossing obstacles.

[0038] Reference Figure 1 , Figure 2 and 4 The wall-climbing assembly 3 includes a housing 31, a radar probe 32, a brushless fan 33, and a drive mechanism 34. A cavity is formed inside the housing 31. The base plate of the housing 31 is fixedly connected to the support 22. The radar probe 32 is mounted on the outer wall of the housing 31 and is used for radio ranging. The brushless fan 33 and drive mechanism 34 are installed inside the housing 31, and the side walls of the housing 31 are framed outside the brushless fan 33 and drive mechanism 34. The brushless fan 33 penetrates the housing 31 and is sealed to it. When the housing 31 abuts against the curtain wall, the drive mechanism 34 contacts the curtain wall and drives the wall-climbing assembly 3 to move on the curtain wall. The brushless fan 33 can draw air from inside the housing 31 to the outside, thereby creating a low-pressure environment inside the housing 31, allowing the housing 31 to adhere to the curtain wall. When the housing 31 adheres to the curtain wall, the drive mechanism 34 contacts the curtain wall and drives the wall-climbing assembly 3 to slide on the curtain wall.

[0039] Reference Figure 4A rubber sealing strip 311 is provided at the edge of the opening of the outer casing 31. The rubber sealing strip 311 has a frame-shaped structure and is made of elastic rubber material. When the outer casing 31 abuts against the curtain wall, the rubber sealing strip 311 abuts against the curtain wall and deforms, thereby sealing the gap between the outer casing 31 and the curtain wall. This reduces the probability of a gap between the outer casing 31 and the curtain wall and improves the adhesion of the wall-climbing component 3.

[0040] Reference Figure 5 , Figure 6 and Figure 7 The drive mechanism 34 includes a drive plate 341, a drive motor 342, a drive wheel 343, a driven wheel 344, pulleys 345, and a track 346. Two drive plates 341 are fixed to the inner bottom wall of the housing 31. Two pulleys 345 are rotatably connected between the two drive plates 341. The track 346 is fitted onto the two pulleys 345. The housing of the drive motor 342 is fixed between the two pulleys 345. The output shaft of the drive motor 342 is coaxially connected to the drive wheel 343. Two driven wheels 344 are coaxially connected to the two pulleys 345. A transmission belt is fitted onto the drive wheel 343 and the driven wheel 344. When the drive motor 342 drives the drive wheel 343 to rotate, the driven wheel 344 rotates via the transmission belt, thereby enabling the two pulleys 345 to drive the track 346 to rotate. When the climbing component 3 adheres to the curtain wall, the track 346 abuts against the curtain wall and rotates, allowing the climbing component 3 to slide on the curtain wall. The drive motor 342 is positioned between the two pulleys 345, ensuring a uniform weight distribution of the drive mechanism 34. This allows the climbing component 3 to stably adhere to the curtain wall, reducing the likelihood of it detaching from the curtain wall.

[0041] Reference Figure 5 and Figure 7 The drive plate 341 is equipped with multiple tensioning pulleys 347, which abut against the transmission belt, thereby ensuring a tight fit between the transmission belt and the driving pulley 343 and driven pulley 344. Bolts 348 are rotatably connected to the end face of each tensioning pulley 347, and are coaxially arranged with the tensioning pulley 347. A groove is formed in the drive plate 341, into which the bolts 348 are inserted. Nuts 349 are attached to the bolts 348, fixing them to different positions within the groove, allowing users to easily adjust the tension of the transmission belt.

[0042] Reference Figure 2The drive mechanisms 34 of multiple wall-climbing components 3 on the body 1 move in parallel directions, and the pulleys 345 within the multiple wall-climbing components 3 are parallel in length. When the crawling robot adheres to the curtain wall, all multiple wall-climbing components 3 can adhere to the curtain wall and move through the drive mechanisms 34, resulting in a strong connection between the crawling robot and the curtain wall. When the crawling robot turns, by causing the two drive mechanisms 34 on both sides of the crawling robot to move in opposite directions, the crawling robot can turn, improving its mobility.

[0043] The implementation principle of this application embodiment is as follows: By setting multiple robotic arms 2 on the body 1, the robotic arms 2 are respectively installed on the front and rear sides and left and right sides of the body 1, so that each robotic arm 2 can drive a wall-climbing component 3 to move. The wall-climbing component 3 can be attached to the curtain wall and slide on the curtain wall. The body 1 moves on the curtain wall through the wall-climbing component 3. When there are obstacles or protrusions on the curtain wall, the robotic arm 2 can drive the wall-climbing component 3 to lift, so that multiple wall-climbing components 3 can cross the obstacles respectively, thereby improving the mobility of the crawling robot.

[0044] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A highly flexible wheeled and tracked combined curtain wall crawling robot, characterized in that: It includes a body (1), multiple robotic arms (2) and multiple wall-climbing components (3). One end of the robotic arm (2) is fixed to the body (1) and the other end is connected to the wall-climbing component (3). The wall-climbing component (3) is used to adhere to the curtain wall and slide on the curtain wall. The robotic arm (2) is used to drive the wall-climbing component (3) to move relative to the body (1).

2. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 1, characterized in that: The robotic arm (2) includes a support (21), a support (22), a side plate (23), a motor (24), and a motor (25). One end of the side plate (23) is rotatably connected to the support (21), and the other end is rotatably connected to the support (22). The support (21) is fixedly connected to the body (1), and the support (22) is fixedly connected to the climbing assembly (3). The motor (24) is located at the connection between the support (21) and the side plate (23), and the motor (25) is located at the connection between the support (22) and the side plate (23).

3. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 1, characterized in that: The wall-climbing assembly (3) includes a housing (31), a radar probe (32), a brushless fan (33), and a drive mechanism (34). The housing (31) is a shell with an opening on one side. The brushless fan (33) and the drive mechanism (34) are installed inside the housing (31). The radar probe (32) is set on the outer wall of the housing (31). The brushless fan (33) is used to draw the air inside the housing (31) to the outside of the housing (31). The drive mechanism (34) is used to abut against the curtain wall and move on the curtain wall.

4. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 3, characterized in that: A rubber sealing strip (311) is provided at the opening of the outer shell (31). The rubber sealing strip (311) is made of an elastic material and has a frame structure.

5. A highly flexible wheeled and tracked combined curtain wall crawling robot according to claim 3, characterized in that: The drive mechanism (34) includes a drive plate (341), a drive motor (342), a drive wheel (343), a driven wheel (344), a pulley (345), and a track (346). The drive plate (341) is fixed inside the housing (31). There are two pulleys (345), which are rotatably connected to the drive plate (341). The track (346) is fitted on the pulley (345). The housing of the drive motor (342) is fixed on the drive plate (341). The output shaft of the drive motor (342) is connected to the drive wheel (343). The driven wheel (344) is coaxially connected to the pulley (345). A transmission belt is fitted on the drive wheel (343) and the driven wheel (344).

6. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 5, characterized in that: The drive plate (341) is provided with a plurality of tensioning wheels (347), and bolts (348) are rotatably connected to the end face of the tensioning wheel (347). The drive plate (341) is provided with a waist groove, and the bolts (348) are set in the waist groove. The tensioning wheel (347) abuts against the transmission belt.

7. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 5, characterized in that: The drive motor (342) is positioned between two pulleys (345).

8. The high-flexibility wheel-track combined curtain wall climbing robot according to claim 5, characterized in that: The drive mechanisms (34) of the multiple wall-climbing components (3) move in parallel directions.

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