Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Climbing method based on semi-frame type glass curtain wall climbing robot
The invention discloses a climbing method based on a semi-frame type glass curtain wall climbing robot, and belongs to the field of wall climbing robots. The semi-frame type glass curtain wall climbing robot comprises a robot body, a clamping device installed below the robot body and a walking device installed on the inner side of the clamping device. The clamping device comprises a rack installedbelow the robot body, first servo motors fixed to the two ends of the rack, and a hinge mechanism installed on the rack. The walking device comprises an elastic buffer fixedly connected with the moving plate, a connecting plate mounted on the elastic buffer, a second servo motor mounted on the connecting plate, and a roller fixedly connected with the output end of the second servo motor; according to the invention, enough supporting force is provided for the robot body through the clamping device, the climbing robot can steer on the vertical edge of the curve type through elastic deformationof the elastic buffer, and the climbing robot can move along the vertical edge through the walking device.
本发明公开了基于半框式玻璃幕墙攀爬机器人的攀爬方法，属于爬壁机器人领域。其中，半框式玻璃幕墙攀爬机器人包括：机器人本体，安装在机器人本体下方的夹紧装置，以及安装在夹紧装置内侧的行走装置；夹紧装置包括：安装在机器人本体下方的机架，固定在机架两端的第一伺服电机，以及安装在机架上的铰链机构；行走装置包括：与移动板固定连接的弹性缓冲器，安装在弹性缓冲器上的连接板，安装在连接板上的第二伺服电机，以及与第二伺服电机输出端固定连接的滚轮；本发明通过夹紧装置为机器人本体提供足够的支撑力，而且依靠弹性缓冲器的弹性形变使攀爬机器人能够在曲线样式的竖边上转向，依靠行走装置能够实现攀爬机器人在沿着竖边进行移动。
Climbing method based on semi-frame type glass curtain wall climbing robot
The invention discloses a climbing method based on a semi-frame type glass curtain wall climbing robot, and belongs to the field of wall climbing robots. The semi-frame type glass curtain wall climbing robot comprises a robot body, a clamping device installed below the robot body and a walking device installed on the inner side of the clamping device. The clamping device comprises a rack installedbelow the robot body, first servo motors fixed to the two ends of the rack, and a hinge mechanism installed on the rack. The walking device comprises an elastic buffer fixedly connected with the moving plate, a connecting plate mounted on the elastic buffer, a second servo motor mounted on the connecting plate, and a roller fixedly connected with the output end of the second servo motor; according to the invention, enough supporting force is provided for the robot body through the clamping device, the climbing robot can steer on the vertical edge of the curve type through elastic deformationof the elastic buffer, and the climbing robot can move along the vertical edge through the walking device.
本发明公开了基于半框式玻璃幕墙攀爬机器人的攀爬方法，属于爬壁机器人领域。其中，半框式玻璃幕墙攀爬机器人包括：机器人本体，安装在机器人本体下方的夹紧装置，以及安装在夹紧装置内侧的行走装置；夹紧装置包括：安装在机器人本体下方的机架，固定在机架两端的第一伺服电机，以及安装在机架上的铰链机构；行走装置包括：与移动板固定连接的弹性缓冲器，安装在弹性缓冲器上的连接板，安装在连接板上的第二伺服电机，以及与第二伺服电机输出端固定连接的滚轮；本发明通过夹紧装置为机器人本体提供足够的支撑力，而且依靠弹性缓冲器的弹性形变使攀爬机器人能够在曲线样式的竖边上转向，依靠行走装置能够实现攀爬机器人在沿着竖边进行移动。
Climbing method based on semi-frame type glass curtain wall climbing robot
基于半框式玻璃幕墙攀爬机器人的攀爬方法
YANG MENGRU (Autor:in)
09.02.2021
Patent
Elektronische Ressource
Chinesisch
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