Inclined plane moving machine, multi-robot system and using method thereof

A technology for moving machines and inclined surfaces, applied in chemical instruments and methods, cleaning methods using tools, cleaning methods and utensils, etc., can solve the consumption of surface attachment devices, the increase in the incidence of failures, and the increase in the probability of falling from wall-climbing machines, etc. problems, to achieve the effect of reducing the intensity and difficulty of work, reducing the probability of failure, and eliminating the risk of working at heights

Pending Publication Date: 2020-12-18
ZHEJIANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Otherwise, the wall climbing machine will fall
[0005] (2) A surface-attached device that is always in working condition consumes a lot of energy
When the wall crawler is powered by batteries, this will obviously shorten the battery life significantly
[0006] (3) If the surface attachment device works for a long time, the failure rate will increase significantly
Therefore, the long-term work of the surface-attached device will increase the probability of the wall-climbing machine falling
[0007] (4) If the surface adsorption device moves in a large range on an inclined surface, the failure rate will increase significantly
Therefore, extensive movement of surface attachments on sloped surfaces increases the probability of a wall climbing machine falling

Method used

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  • Inclined plane moving machine, multi-robot system and using method thereof
  • Inclined plane moving machine, multi-robot system and using method thereof
  • Inclined plane moving machine, multi-robot system and using method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0067] Please also refer to figure 1 as well as figure 2 Shown is the first embodiment of the structure and method of use of the inclined surface moving machine of the present invention.

[0068] The inclined surface moving machine of the present invention comprises a first split body 1, a second split body 2 and functional components. Functional components include surface attachment device 3 , moving mechanism 4 , flexible connection device and working tool 7 . The flexible connecting device includes a rope 5 and a rope driving mechanism. The rope driving mechanism in this embodiment is a rope winding mechanism (not shown in the figure) for winding the rope 5 . The first split body 1 is provided with a suspension mechanism. The suspension mechanism of this embodiment includes a rotating hook 6 hooked on the upper edge of the inclined surface P to form a connection relationship with the inclined surface P.

[0069] The work tool 7 installed on the second split body 2 is ...

Embodiment 2

[0081] Please also refer to image 3 as well as Figure 4 Shown, the second embodiment of the structure and method of use of the inclined surface moving machine of the present invention.

[0082] In this embodiment, a moving mechanism 4 and a surface attachment device 3 are installed on the first split body 1 . A moving mechanism 4 and a working tool 7 are installed on the second split body 2 . Wherein, the moving mechanism 4 arranged on the first split body 1 includes a driving wheel with driving ability, and the moving mechanism 4 arranged on the second split body 2 can be a driven wheel without driving ability or a driven wheel with driving ability. driving wheel. The suspension mechanism includes a rotating hook 6 hooked on the upper edge of the inclined surface P to form a connection relationship with the inclined surface P.

[0083] Other structures and functions are the same as those in Embodiment 1 and will not be repeated here.

[0084] The present invention also...

Embodiment 3

[0094] This example is another embodiment of Example 2. like Figure 5 As shown, the rope driving mechanism is a rope climbing mechanism (not shown) that can move along the rope 5 . There are many mechanisms that can achieve the function of moving along the rope. For example, if Image 6 As shown, the rope climbing mechanism includes two rope clamping wheels 8, which are installed on the second split body 2. Two clamping wheels 8 clamp the rope 5, and two clamping wheels 8 are as Image 6 Turning in the direction shown can make the second split body 2 move upwards along the rope 5 . The two rope clamping wheels 8 rotate in opposite directions, and the second split body 2 then moves down along the rope 5 .

[0095] Other structures and functions are the same as those in Embodiment 2 and will not be repeated here.

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PUM

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Abstract

The invention relates to an inclined plane moving machine. The inclined plane moving machine comprises a first split body, a second split body and a functional assembly, wherein the functional assembly comprises a moving mechanism, a flexible connecting device and an operation tool, the operation tool is installed on the first split body and / or the second split body and is used for implementing operation content, the flexible connecting device is connected with the first split body and the second split body and is used for adjusting the distance between the first split body and the second split body, the moving mechanism is installed on the first split body and / or the second split body and is used for driving the first split body and / or the second split body to move on an inclined plane,the first split body comprises a hanging mechanism, and the hanging mechanism is used for connecting and disconnecting the inclined plane. The invention further discloses a multi-robot system using the inclined plane moving machine and a using method of the multi-robot system. According to the inclined plane moving machine, the multi-robot system and the using method of the multi-robot system, asurface attachment device can work intermittently, the working time of the surface attachment device is shortened, and the overall energy consumption of the machine is greatly reduced; and even if theinclined plane moving machine breaks down, the inclined plane moving machine can still be safely hung on the inclined plane and cannot fall off.

Description

technical field [0001] The invention belongs to the technical field of adsorption technology application, and in particular relates to an inclined surface mobile machine, a multi-robot system and a use method thereof. Background technique [0002] Some specific operations need to be implemented on some inclined surfaces, for example, surface crack detection on the outer wall of a building, cleaning of inclined photovoltaic panel arrays, etc. With the increase of labor costs, machines gradually replace workers to complete these dangerous operations. [0003] Typically, wall climbing machines are fitted with surface attachment devices. The surface attachment device adopts magnetic force technology (recorded in patent No. CN201910983947.1), rotor thrust reverse technology (recorded in patent No. CN201911117754.4), negative pressure adsorption technology (recorded in patent No. CN201910807463. 1 patent) and other methods to obtain adhesion, so that the wall climbing machine ca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F19/00B66F17/00H02S40/10
CPCB66F19/00B66F17/00H02S40/10Y02E10/50B66D3/00B62D57/024B08B1/008B08B13/00B60P3/07B60P3/10B60P3/11B66D1/00
Inventor 黎鑫赵江宏秦杰
Owner ZHEJIANG UNIV
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