阅读说明：本技术 幕墙缝隙注胶机器人 (Curtain gap injecting glue robot ) 是由 李志文 刘兴国 刘庆喜 孙士齐 慕国良 于 2021-07-29 设计创作，主要内容包括：本发明公开了一种幕墙缝隙注胶机器人,本发明包机架和连接在机架两侧的履带总成,所述履带总成包括履带和用于驱动履带转动的驱动装置,所述履带与幕墙的接触面上依次设置有若干吸盘组件,且所述机架上设置有与吸盘组件相配合的触发轨道,当吸盘组件移动至触发轨道内时能够吸附或脱离幕墙,所述机架的中部设置有多轴移动平台,所述多轴移动平台上设置有注胶装置和防护装置。本发明通过注胶机器人代替人工进行幕墙的打胶作业,既避免了工作高空作业的危险性,又提升了打胶作业的效率,大大提高了施工速度。(The invention discloses a curtain wall gap glue injection robot which comprises a rack and crawler assemblies connected to two sides of the rack, wherein each crawler assembly comprises a crawler and a driving device used for driving the crawler to rotate, a plurality of sucker assemblies are sequentially arranged on contact surfaces of the crawler and a curtain wall, a trigger track matched with the sucker assemblies is arranged on the rack, the sucker assemblies can adsorb or separate from the curtain wall when moving into the trigger track, a multi-shaft moving platform is arranged in the middle of the rack, and a glue injection device and a protection device are arranged on the multi-shaft moving platform. According to the curtain wall glue-injecting robot, the glue-injecting robot replaces manpower to carry out glue-injecting operation on the curtain wall, so that the danger of work high-altitude operation is avoided, the efficiency of the glue-injecting operation is improved, and the construction speed is greatly improved.)

1. The utility model provides a curtain gap injecting glue robot, includes the frame and connects the track assembly in the frame both sides, the track assembly includes the track and is used for driving track pivoted drive arrangement, its characterized in that: the utility model discloses a curtain wall gluing machine, including the track, the frame is provided with sucking disc subassembly, frame, the contact surface of track and curtain has set gradually a plurality of sucking disc subassemblies, just be provided with in the frame with sucking disc subassembly matched with trigger the track, can adsorb or break away from the curtain when sucking disc subassembly removes to in triggering the track, the middle part of frame is provided with multiaxis moving platform, be provided with injecting glue device and protector on the multiaxis moving platform, when being in operating condition, adsorb on the curtain wall through the sucking disc subassembly on the track to through multiaxis moving platform adjustment injecting glue position, and paste the sticker through protector after, carry out the injecting glue through the injecting glue device in to the curtain gap.

2. The curtain wall gap glue injection robot of claim 1, characterized in that: the multi-axis mobile platform comprises a transverse sliding frame and a longitudinal sliding frame, the transverse sliding frame is arranged on the rack in a sliding manner along the length direction of the rack through a corresponding driving assembly, the length direction of the transverse sliding frame is along the width direction of the rack, the longitudinal sliding frame is arranged on the transverse sliding frame through an intermediate piece, the intermediate piece is arranged on the transverse sliding frame in a sliding manner along the length direction of the transverse sliding frame through a corresponding driving assembly, the longitudinal sliding frame comprises a first longitudinal sliding frame and a second longitudinal sliding frame, the first longitudinal sliding frame and the second longitudinal sliding frame are respectively arranged on the middle part in a sliding mode through corresponding driving components, the sliding direction of the first longitudinal sliding frame and the sliding direction of the second longitudinal sliding frame are perpendicular to the glass curtain wall, the glue injection device is arranged on the first longitudinal sliding frame, and the protection device is arranged on the second longitudinal sliding frame.

3. The curtain wall gap glue injection robot of claim 2, characterized in that: the protection device comprises a connecting sleeve, a paster component, a foam strip setting component, a feeding component, a flattening component and a cutting component, wherein the connecting sleeve is fixedly connected to the lower end of a second longitudinal sliding frame, the paster component and the foam strip setting component are both installed on the connecting sleeve, the paster component comprises a paster rotating wheel and a guide inclined plate, the paster rotating wheel is rotatably arranged on the connecting sleeve, the paster rotating wheel comprises two paper rollers which are arranged side by side and are arranged at intervals, the guide inclined plate is fixedly arranged, the flattening device is arranged at one end of the guide inclined plate close to the glass curtain wall, the foam strip setting component comprises a guide sleeve, the guide sleeve is fixedly arranged on the connecting sleeve and is arranged adjacent to the guide inclined plate, the guide sleeve corresponds to the gap between the two paper rollers, the frame is provided with a foam strip winding roller, and the paster is released from the paper rollers and then guided by the inclined plate, the foam strips are driven by the feeding assembly and pressed down to the glass curtain wall through the flattening assembly, pass through the space between the two stickers after being released from the foam strips around the roller, pass through the guide sleeve, are driven by the feeding assembly, are pressed down to the gap between the glass curtain walls through the flattening assembly, and are cut off the stickers and the foam strips through the cutting assembly when reaching the end part.

4. The curtain wall gap glue injection robot of claim 3, characterized in that: the utility model discloses a glass curtain wall, including the top of the frame, the top of the frame is provided with the top of the frame, the bottom of the frame is provided with the top of the frame, the top of the frame is provided with the top of the frame, the bottom of the frame is provided with the bottom of the frame, the frame is provided with the top of the frame, the frame is provided with the frame, the frame is provided with the top of the frame, the frame is provided with the frame, and the frame, the frame, the frame, the frame, and frame, the frame.

5. The curtain wall gap glue injection robot of claim 2, characterized in that: the injecting glue device is including storing up gluey case, injecting glue pumping mechanism and injecting glue pipe, the one end of injecting glue pipe is connected with injecting glue pumping mechanism, and the other end setting of injecting glue pipe is at the lower extreme of first vertical sliding frame, and the rear side of injecting glue pipe discharge gate is provided with scrapes the offset plate.

6. The curtain wall gap glue injection robot according to any one of claims 1-5, characterized in that: the sucking disc subassembly includes sucking disc and lifting rod, the lifting rod is the T type, it also is the T die cavity to trigger the track, and the web member of lifting rod connects on the rear end face of sucking disc, is provided with the gyro wheel on two wing bars of lifting rod, and when the sucking disc subassembly removed to trigger track department, two wing bars of lifting rod entered into and triggered in the track, when the sucking disc subassembly removed to the one side that is close to glass curtain wall, the track that triggers of this department carries the sucking disc, made the sucking disc adsorb on glass curtain wall.

7. The curtain wall gap glue injection robot according to any one of claims 1-5, characterized in that: the sucking disc subassembly includes sucking disc and miniature electric vacuum pump, the inner chamber of sucking disc is connected with miniature electric vacuum pump's induction port, just miniature electric vacuum pump draws forth anodal electric post and the negative pole electric post that is used for the power supply, both sides are provided with anodal power supply board and negative pole power supply board in the track of triggering, and when the sucking disc removed to the track department of triggering, miniature electric vacuum pump's anodal electric post and negative pole electric post contacted with anodal power supply board and the negative pole power supply board in the track of triggering respectively.

8. The curtain wall gap glue injection robot according to any one of claims 1-5, characterized in that: the sucker assembly comprises a sucker, a lifting rod and a lifting lever, the lifting lever is perpendicular to the axial direction of the sucker, the lifting rod is arranged along the circumferential direction of the sucker, and the sucker and the lifting lever are respectively connected to two ends of the lifting lever.

9. The curtain wall gap glue injection robot according to any one of claims 1-5, characterized in that: the sucking disc subassembly includes the electro-magnet, draw forth the anodal electric post and the negative pole electric post that are used for the power supply on the electro-magnet, both sides are provided with anodal power supply board and negative pole power supply board in the track of triggering, and it is to trigger track department when the disk removes, and the anodal electric post and the negative pole electric post of electro-magnet contact with anodal power supply board and negative pole power supply board in the track of triggering respectively.

10. The curtain wall analysis glue injection robot of claim 1, characterized in that: the frame is also provided with a video acquisition device and a laser sensor; the frame is connected with an anti-falling winch through a steel wire rope.

Technical Field

The invention relates to the technical field of glass curtain wall construction, in particular to a curtain wall gap glue injection robot.

Background

The glass curtain wall is a building envelope structure or a decorative structure in modern urban buildings, the glass curtain wall can be in a structure of mirror glass and common glass, and sealant colloid is required to be sprayed on gaps between adjacent glass after a main body is installed, so that the glass curtain wall is connected. The existing glue injection for the glass curtain wall mainly adopts a manual operation mode, the manual operation mode needs to adopt an aerial operation mode that a winch drives a hanging basket, not only has inevitable aerial operation danger, but also needs manual spraying, and the labor efficiency is low.

The main process of manual glue injection is that stickers are firstly pasted on the two sides of a gap of the glass curtain wall along the edge of the glass curtain wall, then glue injection is carried out, and the stickers are removed from the glass curtain wall when glue is not completely solidified, so that glue beating operation is completed. The main function of pasting the sticker is to avoid gluing on glass curtain wall's terminal surface, and the aesthetic property is relatively poor, pastes the sticker after, and excessive glue solution can glue on the sticker, waits to get rid of the sticker after, the edge of the both sides of gluing is straight, and can not leave the glue solution on glass curtain wall.

Disclosure of Invention

The invention aims to overcome the defects and provides a curtain wall gap glue injection robot which can realize automation of glue injection of a glass curtain wall in a high-altitude operation robot mode so as to avoid manual high-altitude operation.

The technical scheme adopted by the invention is as follows:

the utility model provides a curtain gap injecting glue robot, includes the frame and connects the track assembly in the frame both sides, the track assembly includes the track and is used for driving track pivoted drive arrangement, a plurality of sucking disc subassemblies have set gradually on the contact surface of track and curtain, just be provided with in the frame with sucking disc subassembly matched with trigger the track, can adsorb or break away from the curtain when sucking disc subassembly removes to in triggering the track, the middle part of frame is provided with multiaxis moving platform, be provided with injecting glue device and protector on the multiaxis moving platform, when being in operating condition, adsorb on the curtain through sucking disc subassembly on the track to adjust the injecting glue position through multiaxis moving platform, and paste the sticker through protector after, carry out the injecting glue through the injecting glue device in to the curtain injecting glue gap.

As a further optimization, the multi-axis mobile platform of the invention comprises a transverse sliding frame and a longitudinal sliding frame, the transverse sliding frame is arranged on the rack in a sliding manner along the length direction of the rack through a corresponding driving assembly, the length direction of the transverse sliding frame is along the width direction of the rack, the longitudinal sliding frame is arranged on the transverse sliding frame through an intermediate piece, the intermediate piece is arranged on the transverse sliding frame in a sliding manner along the length direction of the transverse sliding frame through a corresponding driving assembly, the longitudinal sliding frame comprises a first longitudinal sliding frame and a second longitudinal sliding frame, the first longitudinal sliding frame and the second longitudinal sliding frame are respectively arranged on the intermediate piece in a sliding manner through a corresponding driving assembly, the sliding direction of the first longitudinal sliding frame and the sliding direction of the second longitudinal sliding frame are along the direction perpendicular to the glass curtain wall, the glue injection device is arranged on the first longitudinal sliding frame, the protective device is arranged on the second longitudinal sliding frame.

As a further optimization, the protection device comprises a connecting sleeve, a sticker component, a foam strip setting component, a feeding component, a flattening component and a cutting component, wherein the connecting sleeve is fixedly connected to the lower end of a second longitudinal sliding frame, the sticker component and the foam strip setting component are both arranged on the connecting sleeve, the sticker component comprises a sticker rotating wheel and a guide inclined plate, the sticker rotating wheel is rotatably arranged on the connecting sleeve, the sticker rotating wheel comprises two paper rollers which are arranged side by side and are arranged at intervals, the guide inclined plate is fixedly arranged, a flattening device is arranged at one end of the guide inclined plate close to a glass curtain wall, the foam strip setting component comprises a guide sleeve, the guide sleeve is fixedly arranged on the connecting sleeve and is arranged adjacent to the guide inclined plate, the guide sleeve corresponds to a gap between the two paper rollers, and a foam strip winding roller is arranged on a machine frame, the sticker is released from the paper roll and then passes through the guide inclined plate, is driven by the feeding assembly, is pressed down to the glass curtain wall through the flattening assembly, is released from the foam strip around the roller, passes through the two stickers, passes through the guide sleeve, is driven by the feeding assembly, is pressed down to a gap between the glass curtain walls through the flattening assembly, and is cut off the sticker and the foam strip through the cutting assembly when reaching the end part.

As a further optimization, the feeding assembly comprises a feeding roller and a driving mechanism for driving the feeding roller to rotate, the flattening assembly comprises a pressing plate and a telescopic driving mechanism for driving the pressing plate to stretch, the cutting assembly comprises an inclined cutter and a cutting driving mechanism for driving the cutting cutter to act, in operation, the sticker passes through the lower ends of the guide inclined plate, the feeding roller and the pressing plate and is pressed onto the glass curtain wall through the pressing plate, the foam strip is released from the foam strip winding roller, penetrates through the two stickers, sequentially passes through the guide sleeve, the feeding roller and the pressing plate and is pressed into a gap between the glass curtain walls through the pressing plate.

As a further optimization, the glue injection device comprises a glue storage box, a glue injection pumping mechanism and a glue injection pipe, wherein one end of the glue injection pipe is connected with the glue injection pumping mechanism, the other end of the glue injection pipe is arranged at the lower end of the first longitudinal sliding frame, and a glue scraping plate is arranged on the rear side of a discharge port of the glue injection pipe.

As a further optimization, the sucker component comprises a sucker and a lifting rod, the lifting rod is T-shaped, the trigger track is also a T-shaped cavity, web members of the lifting rod are connected to the rear end face of the sucker, two wing rods of the lifting rod are provided with idler wheels, when the sucker component moves to the trigger track, the two wing rods of the lifting rod enter the trigger track, and when the sucker component moves to one side close to the glass curtain wall, the trigger track at the position lifts the sucker, so that the sucker is adsorbed on the glass curtain wall.

As a further optimization, the sucker component comprises a sucker and a miniature electric vacuum pump, wherein the inner cavity of the sucker is connected with an air suction port of the miniature electric vacuum pump, a positive pole electric pole and a negative pole electric pole for supplying power are led out of the miniature electric vacuum pump, a positive power supply board and a negative power supply board are arranged on two sides in the trigger track, and when the sucker moves to the trigger track, the positive pole electric pole and the negative pole electric pole of the miniature electric vacuum pump are respectively contacted with the positive power supply board and the negative power supply board in the trigger track.

As a further optimization, the sucker assembly comprises a sucker, a lifting rod and a lifting lever, wherein the lifting lever is perpendicular to the axial direction of the sucker, the lifting rod is arranged along the circumferential direction of the sucker, and the sucker and the lifting lever are respectively connected to two ends of the lifting lever.

As a further optimization, the sucker component comprises an electromagnet, a positive pole electric column and a negative pole electric column for supplying power are led out of the electromagnet, a positive pole power supply plate and a negative pole power supply plate are arranged on two sides in the trigger track, and when the magnetic disc moves to the trigger track, the positive pole electric column and the negative pole electric column of the electromagnet are respectively contacted with the positive pole power supply plate and the negative pole power supply plate in the trigger track.

As a further optimization, the rack is also provided with a video acquisition device and a laser sensor; the frame is connected with an anti-falling winch through a steel wire rope.

The invention has the following advantages:

1. according to the curtain wall glue-spraying robot, the glue-spraying robot replaces manpower to carry out glue-spraying operation on the curtain wall, so that the danger of work high-altitude operation is avoided, the efficiency of the glue-spraying operation is improved, and the construction speed is greatly improved;

2. the glue injection robot finishes advancing operation through the crawler assembly, pastes stickers and plugs foam strips through the protective device, finishes glue injection operation through the glue injection device, and is convenient to adjust glue injection positions as the protective device and the glue injection device are arranged on the multi-axis moving platform;

3. the invention provides a plurality of setting modes of the sucker assembly, so that the walking stability of the crawler on the curtain wall surface is ensured;

4. the glue injection robot is also connected with the anti-falling winch, and the glue injection robot moves forward and is synchronously retracted with the anti-falling winch, so that the risk of accidental falling of the glue injection robot is avoided.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

The invention is further described below with reference to the accompanying drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the guard;

FIG. 3 is a schematic structural view of the glue injection device;

FIG. 4 is a schematic structural diagram of a chuck assembly according to a second embodiment;

FIG. 5 is a schematic structural diagram of another arrangement of the chuck assembly according to the third embodiment;

FIG. 6 is a schematic structural diagram of a chuck assembly according to a third embodiment.

Wherein: 1. the device comprises a rack, 2, a track assembly, 3, a sucker, 4, a lifting rod, 5, a triggering track, 6, a foam strip winding roller, 7, a horizontal moving track, 8, a transverse sliding frame, 9, a second longitudinal sliding frame, 10, a first longitudinal sliding frame, 11, a sticker rotating wheel, 12, a glue injection pipe, 13, a connecting pipe, 14, a guide sleeve, 15, a guide inclined plate, 16, a feeding roller, 17, a pressing plate, 18, a cutting assembly, 19, an electric push rod, 20, a glue scraping plate, 21, a glue injection connecting sleeve, 22, an intermediate piece, 23, a lifting lever, 24, a lifting rod, 25, a roller, 26, a conductive roller, 27, a conductive column, 28, a positive wire, 29, a protective sleeve, 30, a negative wire, 31, a power supply plate, 32 and a metal elastic sheet.

Detailed Description

The present invention is further described in the following with reference to the drawings and the specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention, and the embodiments and the technical features of the embodiments can be combined with each other without conflict.

It is to be understood that the terms first, second, and the like in the description of the embodiments of the invention are used for distinguishing between the descriptions and not necessarily for describing a sequential or chronological order. The "plurality" in the embodiment of the present invention means two or more.

The term "and/or" in the embodiment of the present invention is only an association relationship describing an associated object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, B exists alone, and A and B exist at the same time. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

Example one

A curtain gap glue injection robot comprises a frame 1 and crawler assemblies 2 connected to two sides of the frame 1, wherein each crawler assembly 2 comprises a crawler and a driving device used for driving the crawler to rotate, a plurality of sucker components are sequentially arranged on the contact surface of the crawler and a curtain wall, a trigger track 5 matched with the sucker components is arranged on the frame 1, each sucker component comprises a sucker 3 and a lifting rod 4, each lifting rod 4 is T-shaped, web members of the lifting rods 5 are connected to the rear end face of each sucker 3, idler wheels 25 are arranged on two wing rods of each lifting rod 5, when the sucker components move to the trigger track, two wing rods of each lifting rod 5 enter the trigger track 5, the inner cavity of each trigger track is also T-shaped cavity, and according to the adsorption principle of the suckers, the trigger track 5 positioned on the front side pushes the suckers 3 through the lifting rods 4 to enable the suckers 3 to exhaust air, the trigger rail 5 located at the rear side does not push the suction cup 3 any more, so that the suction cup 3 is naturally adsorbed on the curtain wall.

The middle part of the rack 1 is provided with a multi-axis moving platform, the multi-axis moving platform is provided with a glue injection device and a protective device, the protective device is used for pasting stickers on curtain walls and filling foam strips in the gaps of the curtain walls, the glue injection device is used for gluing in the gaps of the curtain walls of the protection workshops, the multi-axis moving platform comprises a transverse sliding frame 8 and a longitudinal sliding frame, a horizontal moving rail 7 is arranged on the length direction of the rack 1, the transverse sliding frame 8 is arranged on the horizontal moving rail 7 of the rack 1 in a sliding manner through a self-driving assembly, the length direction of the transverse sliding frame 8 is along the width direction of the rack 1, the longitudinal sliding frame is arranged on the transverse sliding frame 8 through an intermediate piece 22, the intermediate piece 22 is arranged on the transverse sliding frame 8 in a sliding manner along the length direction of the transverse sliding frame 8 through a self-driving assembly 22, and comprises a first longitudinal sliding frame 10 and a second longitudinal sliding frame 9, the first longitudinal sliding frame 10 and the second longitudinal sliding frame 9 are arranged on the middle part 22 in a sliding mode, corresponding driving assemblies are arranged on the first longitudinal sliding frame 10 and the second longitudinal sliding frame 9 respectively and used for driving the first longitudinal sliding rod 10 and the second longitudinal sliding rod 9 to move relative to the middle part 22, the sliding direction of the first longitudinal sliding frame 10 and the sliding direction of the second longitudinal sliding frame 9 are perpendicular to the direction of a curtain wall, the glue injection device is arranged on the first longitudinal sliding frame 10, and the protection device is arranged on the second longitudinal sliding frame 9. The driving assembly can adopt a transmission form of a motor matched with a gear rack or a transmission form of a lead screw and a nut, and is a common technical means in the field, so that the details are not repeated.

Specifically, as shown in fig. 2, the protection device comprises a connecting sleeve 13, a sticker component, a foam strip setting component, a feeding component, a flattening component and a cutting component, the connecting sleeve 13 is fixedly connected to the lower end of the second longitudinal sliding frame 9, the sticker component and the foam strip setting component are both installed on the connecting sleeve 13, the sticker component comprises a sticker rotating wheel 11 and a guide inclined plate 15, the sticker rotating wheel 11 is used for installing a sticker disk, the sticker rotating wheel 11 is rotatably arranged on the connecting sleeve 13, the sticker rotating wheel 11 comprises two paper rollers arranged side by side and arranged at intervals, the guide inclined plate 15 is fixedly arranged, the foam strip setting component comprises a guide sleeve 14, the guide sleeve 14 is fixedly arranged on the connecting sleeve 13 and arranged adjacent to the guide inclined plate 15, and the guide sleeve 14 corresponds to a gap between the two paper rollers, the front end of frame 1 is provided with foam strip around roller 6, foam strip is used for the foam strip feed around roller 6, the pay-off subassembly includes feed roll 16 and is used for driving feed roll 16 pivoted actuating mechanism, feed roll 16 is used for driving the transport of sticker and foam strip, feed roll 16 sets up the outside at direction swash plate 15, the subassembly that flattens includes clamp plate 17 and the flexible actuating mechanism who is used for driving clamp plate 17 to stretch out and draw back, flexible actuating mechanism can select to electric putter, tailor 18 pieces including cutting the sword and be used for driving the cutting actuating mechanism who cuts the sword action, and during the operation, the sticker walks around direction swash plate 15, feed roll 16 and clamp plate 17 in proper order, is pressed on the terminal surface edge of curtain by clamp plate 17, and the foam strip is released from foam strip around roller 6, passes between two stickers to loop through guide sleeve 14, feed roll 16 and clamp plate 17 in proper order, and is pressed down into the gap between the curtain walls by the press plate 17. And cut through cutting assembly 18 after reaching the tip, as further setting, can also set up and roll up the material detection subassembly, specifically for through photoelectric sensor setting in the both sides of material book, when the material volume surplus is more, do not respond to between the photoelectric sensor, when the material volume surplus reduces, there is signal induction between the photoelectric sensor, carries out the police dispatch newspaper.

As shown in fig. 3, the glue injection device of the present embodiment includes a glue storage box, a glue injection pumping mechanism and a glue injection pipe 12, one end of the glue injection pipe 12 is connected to the glue injection pumping mechanism, the other end of the glue injection pipe 12 is disposed at the lower end of the first longitudinal sliding frame 10 through a glue injection connecting sleeve 21, a glue scraping plate 20 is disposed at the rear side of a discharge port of the glue injection pipe 12, and after glue is discharged from the glue injection pipe 12, the glue is scraped through the glue scraping plate 20.

This embodiment still be provided with video acquisition equipment and laser sensor in the frame 1, the working condition of robot can be convenient for observe by video sensor, laser sensor can be used for the range finding, sets up in the tip and the lower part of frame, detects through direct range finding and fall to whether cooperation algorithm judges to reach the tip.

In the embodiment, the rack 1 is connected with an anti-falling winch through a steel wire rope, the anti-falling winch is arranged on the roof, the robot is arranged and prevented from falling in an unexpected situation, and the falling speed of the anti-falling winch is synchronous with the traveling speed of the track assembly. As necessary and known to those skilled in the art, the present embodiment is further provided with a power supply device, the power supply device can be selected to be wired power supply, the cable harness and the steel wire rope can be simultaneously received and released, and a separate storage battery can be used for supplying power, and the storage battery is directly arranged on the rack.

In order to enable the robot to have certain obstacle crossing capability, the sliding frame of the longitudinal sliding frame can be further provided with an auxiliary sucker, the auxiliary sucker extends towards the direction of a curtain wall and is adsorbed on the end face of the curtain wall when the head or the tail of the curtain wall rises in the obstacle crossing process, the crawler assembly is driven to cross the obstacle through the mobility of the multi-axis moving platform, the auxiliary sucker is separated from the reset after the obstacle crossing is completed, and the structure of the auxiliary sucker can refer to the structure of any sucker listed in the invention.

In addition, it should be considered that all the electrical control components of the present embodiment are controlled by setting a controller, including the control of each driving component, the control of the electromagnetic control valve, and the data processing of each data acquisition sensor, etc., and besides the sensors used in the present embodiment, other sensors configured to realize the corresponding functions may be added.

Example two

As shown in fig. 4, compared with the first embodiment, the main differences of the present embodiment are: the sucking disc subassembly includes sucking disc 3 and miniature electric vacuum pump, the inner chamber of sucking disc 3 is connected with miniature electric vacuum pump's induction port, just miniature electric vacuum pump draws forth and is used for supplying power to lead electrical pillar 27, it includes anodal electric post and negative pole electric post to lead electrical pillar 27, in order to avoid and trigger the track 5 between the great wearing and tearing of friction production, the outside cover that leads electrical pillar 27 is equipped with electrically conductive roller bearing 26, both sides are provided with power supply board 31 in the trigger track 5, power supply board 31 includes anodal power supply board and negative pole power supply board, as in shown in fig. 4, the outside of the negative pole wire 30 that links to each other with anodal electric post 28 and negative pole power supply post is provided with protective case 29. When the sucking disc 3 moves to the trigger track 5, the positive pole electric post and the negative pole electric post of miniature electric vacuum pump contact with positive pole power supply board and negative pole power supply board in the trigger track respectively, and miniature electric vacuum pump starts, carries out the evacuation in the sucking disc 3, makes it adsorb on the curtain wall.

As another arrangement, in order to avoid the loss caused by direct friction of the wire material, another arrangement is provided in this embodiment, as shown in fig. 5, the power supply plate is disposed outside the trigger rail, the miniature electric vacuum pump lifting rod is disposed in the trigger rail 5, and the positive electrode and the negative electrode of the miniature electric vacuum pump are in contact with the power supply plate through the metal elastic sheet 32.

EXAMPLE III

As shown in fig. 6, compared with the first embodiment, the main differences of the present embodiment are: the sucker component comprises a sucker, a lifting rod and a lifting lever, the lifting lever is perpendicular to the axial direction of the sucker, the lifting rod is arranged along the circumferential direction of the sucker, the sucker and the lifting lever are respectively connected to two ends of the lifting lever, and compared with the first embodiment, the lifting lever is arranged, the transversely arranged lifting lever has certain deflection, the elastic adjusting capacity is stronger, and the adaptive strength is stronger.

Example four

Compared with other embodiments, the main differences of the present embodiment are: the scene that this embodiment was used is different, and the scene that other embodiments were used generally is glass curtain wall, and the scene that this embodiment was used is the curtain of iron element, and specific like stainless steel curtain wall, the sucking disc subassembly includes the electro-magnet, draw forth the anodal electric post and the negative pole electric post that are used for the power supply on the electro-magnet, both sides are provided with anodal power supply board and negative pole power supply board in the track of triggering, and it is when the disk removes to triggering track department, the anodal electric post and the negative pole electric post of electro-magnet contact with anodal power supply board and the negative pole power supply board in the track of triggering respectively, and its specific design structure can refer to aforementioned structure, adsorbs on the curtain wall of stainless steel material through the electro-magnet circular telegram.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.