A robotic tool changer removably attaches a robotic tool to a robotic arm. The changer includes a tool module connected to the robotic tool, and a master module connected to the robotic arm. To attach and detach the robotic tool, the changer couples and uncouples the tool module and the master module. A master electrical signal module (ESM) affixes to the master module and a tool ESM affixes to the tool module. In accordance with design requirements, the changer applies the same power supply to both the master ESM and the tool ESM. The changer, however, selectively suppresses application of the power supply to the tool ESM, while maintaining application of the power supply to the master ESM, during the coupling or uncoupling of the master module and the tool module. In doing so, the changer enables such coupling and uncoupling, while also preventing the formation of transient electric arcs.

Power Control of a Robotic Tool Changer

The invention relates to a cleaning machine suitable for various kinds of wall surfaces. The cleaning machine comprises a circulation cleaning assembly, an upper support, a middle support, a lower support, a bottom tray, an upward-downward movement mechanism, a leftward-rightward movement mechanism and a control assembly. The bottom tray is arranged in the middle of the middle support. The upper support and the lower support are symmetrically arranged on two sides of the middle support and connected with the bottom tray through the upward-downward movement mechanism. The leftward-rightward movement mechanism is arranged on the middle support and connected to the bottom tray. The upper support, the middle support and the lower support are all provided with adsorption assemblies. The circulation cleaning assembly is arranged on the middle support. The control assembly is connected with the circulation cleaning assembly, the upward-downward movement mechanism, the leftward-rightward movement mechanism and the adsorption assemblies. Compared with the prior art, the machine can automatically clean wall surfaces so that potential safety hazards are reduced, working efficiency is increased and resources are saved. Meanwhile, the conventional cleaning mode is changed, which facilitates life of people.

Cleaning machine suitable for various kinds of wall surfaces

The invention relates to a tower climbing robot and belongs to the technical field of a robot. The tower climbing robot comprises a robot main body structure, an upper manipulator and a lower manipulator, wherein the robot main body structure consists of an upper mechanical arm (4), a lower mechanical arm (6), an arm opening and closing electric motor (5), an arm opening and closing driving motor support (15), an arm opening and closing screw rod (12), a pin nut (14), an upper connecting plate (13-1) and a lower connecting plate (13-2); the upper manipulator and the lower manipulator are respectively arranged at the second end of the upper mechanical arm (4) and at the second end of the lower mechanical arm (6); and each manipulator consists of a pitching joint, a wrist joint and a gripper jaw. The tower climbing robot has a compact structure, can complete complex actions of surmounting obstacles, turning and the like by linkage of a plurality of joints, can climb different structure types of towers, has a wide application range, has a certain load capacity, can carry about necessary overhaul equipment, and replaces a worker to climb the power tower to complete corresponding overhaul tasks.

Tower climbing robot

The invention discloses a cleaning structure of a wind turbine blade. Two supporting plates are fixedly connected to the top ends of two supporting columns in each set of base correspondingly, and ropes are connected to the two supporting plates in a net mode; two mounting plates are fixedly connected to the two supporting plates correspondingly, two guiding rails are fixed to the two mounting plates correspondingly, sliding blocks are slidably connected to the guiding rails, a rack is fixed to the corresponding mounting plate, a first motor is fixed to a mounting block, and a gear is fixedlyconnected with a rotating shaft of the first motor; a water outlet of a water pump is connected with a water spraying pipe, and a water inlet of the water pump is connected with a hose; and a roller brush is rotatably connected to the lower end face of a cross beam, and a second motor is fixedly connected to the upper end face of the cross beam. The cleaning structure is simple in structure and convenient to manufacture, waste of water is avoided, automation is achieved advantageously, the using effect is good, and the labor intensity of workers is reduced.

Cleaning structure of wind turbine blade

The invention discloses a three-axis moving device for a rail routing inspection robot. The three-axis moving device is composed of a left driving wheel opening and closing mechanism, a right drivingwheel opening and closing mechanism, a translation mechanism, a pair of lifting mechanisms, a pair of slewing mechanisms and a fixed base, wherein the translation mechanism is located at the bottommost part, two sliders of the translation mechanism are correspondingly fixed with sliders of the lifting mechanisms, and the lifting mechanisms and other parts above the lifting mechanism are driven toachieve the translational motion in the horizontal direction; the sliders of the pair of lifting mechanisms are correspondingly fixed on the two sliders of the translation mechanism, and a sliding seat can move up and down along guide rails; and the pair of slewing mechanisms are correspondingly installed on the tops of lifting mechanism sliding seats, and are used for adjusting the angles of thetranslation mechanism and the driving wheel opening and closing mechanisms. According to the three-axis moving device, the rail routing inspection robot can be enabled to smoothly pass through a broken track of a fireproof door, and can also be operated on a track with an included angle, so that the application field of the routing inspection robot is expanded; and the three-axis moving device issimple in structure, high in practicability and reliable in work.

Three-axis moving device for rail routing inspection robot

A device for washing a blade of a wind generator of the present invention moves along the length direction of the blade of the wind generator so as to wash the surface of the blade The device comprises: an ascending unit that includes an ascending plate having a through-hole formed at the center thereof so as to enable a blade to penetrate therethrough, a rope operating member provided so as to enable the ascending plate to ascend along the length direction of the blade, and a rope having one end connected with the ascending plate and the other end passing through a nacelle of the wind generator in order to be connected with the rope operating member; and a washing unit that is installed in order to be able to move right and left on a guide rail installed on the ascending plate to be adjacent to the through-hole and is operated to move towards another position in order to be able to contact the surface of the blade so as to wash the surface of the blade The washing unit comprises: a washing body installed in order to be able to move right and left along the guide rail; a driveshaft that has one end connected with the washing body in order to be able to move forwards and backwards and provides a rotating force to a rotating member installed in the other end; a first interval adjusting unit that is disposed horizontally with respect to the driveshaft to be separated at a particular interval from the driveshaft, is installed in order to be able to move forwards and backwards on the washing body, and is equipped with a first rubber roller that is formed at the longitudinal end thereof in order to come in contact with the surface of the blade; and a second interval adjusting unit that is disposed horizontally with respect to the driveshaft to be separated at a particular interval from the driveshaft, is installed in order to be able to move forwards and backwards on the washing body, and is equipped with a second rubber roller that is formed at the longitudinal end thereof in order to come in contact with the surface of the blade By means of the first rubber roller and second rubber roller, the rotating member is preferably provided in order not to directly contact the surface of the blade

Apparatus for cleaning a blade of a wind generator

PURPOSE: A maintenance robot system having a modular climbing mechanism is provided to flexibly apply various climbing module according to the environment of skyscraper CONSTITUTION: A maintenance robot system(1) comprises a working module, a body unit(10), a general connector(20) and a modular climbing mechanism(30) The working module makes the maintenance of a building The general connector is fixed to the connection unit(11) of the body unit The climbing module is selected according to the outer wall structure of a building The climbing module is exchangeably connected to the general connector The climbing module transfers the body unit

Maintenance robot system based on modular climbing mechanism

PURPOSE: A lift device using inch-worm type is provided to minimize a dead zone because a device is arranged in corners of the exterior wall. CONSTITUTION: A lift device(1) using inch-worm type comprises a body(100), first and second moving parts(320,330), a lifting guide shaft(350), a guide rail moving unit(700). The first moving part is independently moved up and down for the body by the rotation of a lifting ball screw(310) in the state of being joined and separated to/from a vertical plate. The second moving part is joined and separated to/from the vertical plate in the state the first moving part is joined to the vertical plate. The second moving part moves the first moving part up and down by moving closely to or separately from the first moving part as the lifting ball screw rotates. The lifting guide shaft guides the first moving part and moves the first moving part along the lifting ball screw as the lifting ball screw rotates. The guide rail moving unit transfers a guide rail(500) to one between a connection position or a separation position.

Lift apparatus using inch-worm type

PURPOSE: An exterior wall climbing robot for maintenance of the exterior wall of a building is provided to enforcing a maintenance task corresponding to the design of a curtain wall by applying an exterior wall climbing robot in the design of a curtain wall. CONSTITUTION: An exterior wall climbing robot(100) for maintenance of the exterior wall of a building comprises a robot body(10), a pair of first sliding units(20a, 20b) and a pair of first link units(40a, 40b). A pair of first sliding units is slid along the pair of first guide rails. A pair of first guide rails is formed along the first direction to face each other in the exterior wall of a building. A pair of first link units connects each first sliding unit and robot body.

Outer wall climbing robot for maintenance of building outer wall

A transfer apparatus which has adaptability to the surface change of an object according to an embodiment of the present invention includes: a base plate which has a structure capable of being stably put on a bottom surface; a tube accommodating unit which is installed in the base plate and has a tube stacked inside; a first air pressure providing unit which provides an air pressure by a tube in order to expand the tube; the tube which has one end fixated on the upper part of the first air pressure providing unit, has the other end fixated on the lower part of the first air pressure providing unit, and is accommodated inside the tube accommodating unit; a second air pressure providing unit which provides air for the internal space of the tube accommodating unit and prevents a contact between the tube and the inner surface of the tube accommodating unit in a process of the growth of the tube by providing a first air pressure for the tube; and a tube growth guiding unit which is installed in the base plate and guides the tube so that the tube stably ascends and descends in the growth process of the tube It is desirable for the tube to perform the growth movement while being in contact with an object which is inserted into the inside of the tube when the first and second air pressure providing units operate

Hong Dae Hie

Papers

Apparatus for cleaning a blade of a wind generator

Maintenance robot system based on modular climbing mechanism

Lift apparatus using inch-worm type

Outer wall climbing robot for maintenance of building outer wall

Surface adaptive moving apparatus