CN106514663B - Multilayer distributed building outer surface cleaning robot - Google Patents
Multilayer distributed building outer surface cleaning robot Download PDFInfo
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- CN106514663B CN106514663B CN201611026551.0A CN201611026551A CN106514663B CN 106514663 B CN106514663 B CN 106514663B CN 201611026551 A CN201611026551 A CN 201611026551A CN 106514663 B CN106514663 B CN 106514663B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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Abstract
The invention relates to the technical field of high-altitude cleaning operation, in particular to a multi-layer distributed building outer surface cleaning robot. The cleaning robot for the outer surface of the multi-layer distributed building comprises a cleaning functional unit layer, a central control core layer and a rotor wing boosting layer which are sequentially arranged, wherein the cleaning functional unit layer comprises a plurality of cleaning units; the cleaning functional unit and the core circuit part are effectively separated through the multi-layer distributed structure of the cleaning functional unit layer, the central control core layer and the rotor boosting layer, so that the central control core layer in the middle can be kept away from the complex liquid-carrying working surface, and the working intellectualization and stability are improved; the layered structure can reduce the wind resistance area of the robot in the high air, improve the working stability of the whole system under the condition of transverse wind and improve the working efficiency; in the aspect of the adaptability of the wall surface, the layered structure is more beneficial to the respective control of each unit and each part and the posture adjustment under the working condition, and the structural adaptability and the cleaning effect are improved.
Description
Technical Field
The invention relates to the technical field of high-altitude cleaning operation, in particular to a multi-layer distributed building outer surface cleaning robot.
Background
At present, the cleaning mode of the building outer wall mainly has a high-risk industrial type of 'spider man' to manually clean, and in terms of the cleaning process, cleaning personnel are required to be adjusted to a working area on the outer side surface of the building by using a lifter for many times, and then manual operation is carried out. Many unsafe factors exist for workers working at the high altitude of tens of meters to hundreds of meters, the efficiency is not high, and the expenditure of the cleaning mode is considerable for owners; the other mode is to replace manual cleaning operation by adopting a simple mechanical structure, and the mode can avoid high-risk operation of personnel in the air, but has the limitation that the intelligent degree of the similar high-rise building outer surface cleaning machinery is generally low at present, and the function of cleaning the designated position is required to be achieved by manual operation. The mainstream intelligent glass cleaning robot still stays on a simple working surface, utilizes the boundary of glass as a natural boundary of robot motion, performs simple path planning in the small ranges, and has an unsatisfactory cleaning effect.
In addition, the outer wall cleaning robot is not promoted in a large scale in the market range, and only a few domestic and foreign enterprises develop structures similar to the outer wall cleaning machine in a small range. However, as described above, the main drawbacks can be summarized as three aspects of high limitation by the wall surface characteristics, low cleaning efficiency and low degree of intelligence.
Accordingly, in view of the above shortcomings, there is a need to provide a multi-story distributed building exterior surface cleaning robot.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to provide a multi-layer distributed building outer surface cleaning robot which replaces manual high-altitude high-risk operation and improves the intelligentization, efficiency and structural adaptability of building surface cleaning through a reasonable layered structure and a motion mechanism.
(II) technical scheme
In order to solve the technical problems, the invention provides a multi-layer distributed building outer surface cleaning robot, which comprises a cleaning functional unit layer, a central control core layer and a rotor boosting layer, wherein the cleaning functional unit layer comprises a plurality of cleaning units; the central control core layer comprises a main mounting frame, a control unit, a control circuit, a circulating waterway system and a hoisting unit, wherein the control unit, the control circuit, the circulating waterway system and the hoisting unit are arranged on the main mounting frame, the control unit is electrically connected with a driving part of the cleaning unit through the control circuit, the circulating waterway system is connected with a water inlet part of the cleaning unit, and the hoisting unit is connected with a hoisting cable; the rotor boosting layer comprises a rotor main frame and a rotor arranged on the rotor main frame; the rotor main frame is connected with the cleaning unit through a unit telescopic rod, and the unit telescopic rod penetrates through the main mounting frame; the main body telescopic rod is parallel to the unit telescopic rod, one end of the main body telescopic rod is connected with the rotor main frame, and the other end of the main body telescopic rod is connected with the main mounting frame.
Wherein the plurality of cleaning units comprise a rolling brush cleaning unit, a suction wiper unit and a negative pressure suction cleaning unit; the rolling brush cleaning unit and the negative pressure suction cleaning unit are positioned at two sides of the suction wiper unit; each cleaning unit is connected to the rotor frame by one of the unit telescoping rods.
The device also comprises a plurality of optical axes which are parallel to the unit telescopic rods and used for supporting the central control core layer, wherein one end of each optical axis is slidably inserted into the rotor main frame, and the other end of each optical axis is fixedly connected with the cleaning unit.
The unit telescopic rod is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; the main body telescopic rod is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; the unit telescopic rod and the main body telescopic rod are electrically connected with the control unit.
The hoisting unit comprises a hoisting frame and a hoisting ring arranged on the hoisting frame, and the hoisting ring is connected with the hoisting cable.
The central control core layer further comprises a three-degree-of-freedom data acquisition unit, and the three-degree-of-freedom data acquisition unit is connected with the control unit; the three-degree-of-freedom data acquisition unit is positioned at the front end part of the central control core layer and comprises a camera, an ultrasonic ranging unit and a three-degree-of-freedom driving assembly, and the camera and the ultrasonic ranging unit are sequentially arranged on the three-degree-of-freedom driving assembly.
The central control core layer further comprises a communication system, and the communication system is connected with the control unit.
The circulating waterway system comprises a water tank, a water inlet pipeline and a water return pipeline which are connected to the water tank, wherein the water inlet pipeline and the water return pipeline are provided with water pumps, the two water tanks are symmetrically arranged on two sides of the main installation frame, and the two water tanks are communicated.
The rotor boosting layer further comprises a rotor thrust system and an LED state display system, wherein the rotor thrust system and the LED state display system are electrically connected with the control unit, and the rotor is arranged on the rotor main frame in a central symmetry mode.
The rolling brush cleaning unit comprises a sealing cleaning cover, a spraying unit, a double rolling brush unit and a negative pressure unit; the spraying unit comprises a water spraying pipeline arranged in the sealed cleaning cover and a spray head arranged on the water spraying pipeline, and the water spraying pipeline is communicated with the circulating waterway system; the double-rolling brush unit comprises a double-rolling brush arranged in the sealed cleaning cover and a rolling brush driving piece for driving the rolling brush, and the rolling brush driving piece is connected with the control unit; the negative pressure unit is arranged on the back surface of the sealing cleaning cover and is communicated with the space in the sealing cleaning cover, and the driving part of the negative pressure unit is connected with the control unit.
The suction wiper unit comprises a wiper strip and a negative pressure recovery part arranged at the wiper strip, and the negative pressure recovery part is communicated with a water return pipeline of the circulating waterway system; the negative pressure suction cleaning unit comprises a main frame, a negative pressure sealing wiping belt and a negative pressure suction part, wherein the negative pressure sealing wiping belt and the negative pressure suction part are arranged on the periphery of the bottom of the main frame, and a water suction port of the negative pressure suction part is positioned near the wiping cloth.
(III) beneficial effects
The technical scheme of the invention has the following advantages:
through the multi-layer distributed structure of the cleaning functional unit layer, the central control core layer and the rotor boosting layer, the cleaning functional unit and the core circuit part are effectively separated, the separated unit type mechanism can complete the cleaning process under the condition of smaller influence on the whole system, and meanwhile, the central control core layer in the middle can be kept away from the complex liquid-carrying working surface, so that the working intellectualization and stability are improved; the layered structure can reduce the windage area of the robot in the high air, and the airflow can more stably pass through the side surface of the streamline robot, so that the working stability of the whole system under the condition of transverse wind is improved, and the working efficiency is improved; in the aspect of the adaptability of the wall surface, the integral hoisting design is matched, and the layered structure is more beneficial to the separate control of each unit and part and the posture adjustment under the working, so that the structural adaptability and the cleaning effect are improved.
In addition, the standardized cleaning flow of cleaning sequentially by the three cleaning units improves the cleaning effect and simultaneously solves the cleaning problem of the edge position; through the selection and arrangement of the sensors, a stable and reliable closed-loop feedback link is added for the control flow, the intelligent degree is improved, and reliable guarantee is provided for the safe work of the robot; the novel structure that negative pressure and rotor thrust combined together is adopted, on the one hand effectively guarantees the provision of thrust under the operating condition, and on the other hand also guarantees that whole robot system still has stable thrust under the condition of obstacle crossing, steady operation.
Drawings
FIG. 1 is a side view of a multi-level distributed building exterior surface cleaning robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a perspective block diagram of a multi-story distributed architecture exterior surface cleaning robot in accordance with an embodiment of the present invention;
FIG. 3 is a bottom view of a multi-level distributed building exterior surface cleaning robot according to an embodiment of the present invention;
FIG. 4 is a top view of a multi-level distributed building exterior surface cleaning robot according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a brush roll cleaning unit in a multi-layered distributed architecture exterior surface cleaning robot according to an embodiment of the present invention;
FIG. 6 is a side view of a roll brush cleaning unit in a multi-level distributed building exterior surface cleaning robot according to an embodiment of the present invention;
FIG. 7 is a schematic diagram showing a driving mode of an auxiliary wheel in the composite multifunctional negative pressure cleaning device according to the embodiment of the invention;
fig. 8 is a schematic structural diagram of a three-degree-of-freedom data acquisition unit in the composite multifunctional negative pressure cleaning device according to the embodiment of the invention.
In the figure, 1: cleaning the functional unit layer; 2: a central control core layer; 3: a rotor boosting layer; 4: a rolling brush cleaning unit; 5: a suction wiper unit; 6: a negative pressure suction cleaning unit; 7: an emergency stop button; 8: a negative pressure fan; 9: a hanging ring; 10: hoisting the frame; 11: intake valve of the water tank; 12: an optical axis; 13: a unit expansion link; 14: a wiper fixing plate; 15: a wiper suction tube; 16: a wiper strip; 17: a travel wheel; 18: a crawler device; 19: negative pressure sealing wiping belt; 20: the windscreen wiper steering engine; 21: a transmission belt; 22: a spraying unit; 23: an auxiliary wheel; 24: a rolling brush; 25: a touch type photoelectric sensor; 26: a rotor thrust system; 27: an LED status display system; 28: a water tank; 29: a front flip; 30: a front flip drive; 31: a three-degree-of-freedom data acquisition unit; 32: the front end ultrasonic ranging module; 33: a main body telescopic rod; 34: a rolling brush driving member; 35: a rear flip; 36: sealing and cleaning the cover; 37: a front contact probe sensor; 38: a rear contact probe sensor; 39: pressing down the contact sensor; 40: a retraction driving motor; 41: a corner piece; 42: a screw rod; 43: a nut; 44: a lifting rod; 45: a camera; 46: an ultrasonic ranging unit; 47: steering engine fixing frame; 48: the first steering engine driving plate; 49; the second steering engine driving plate; 50: and the third steering engine driving plate.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, 2, 3 and 4, the cleaning robot for the outer surface of the multi-layer distributed building provided by the invention comprises a cleaning functional unit layer 1, a central control core layer 2 and a rotor boosting layer 3 which are sequentially arranged, wherein the cleaning functional unit layer 1 comprises a plurality of cleaning units; the central control core layer 2 comprises a main mounting frame, a control unit, a control circuit, a circulating waterway system and a hoisting unit, wherein the control unit, the control circuit, the circulating waterway system and the hoisting unit are arranged on the main mounting frame, the control unit, the control circuit and the circulating waterway system are respectively provided with a corresponding mounting bin body, the control unit is electrically connected with a driving part of the cleaning unit through the control circuit, so as to control the cleaning unit to execute cleaning work, the circulating waterway system is connected with a water inlet part of the cleaning unit to provide cleaning water for the cleaning unit, and the hoisting unit is connected with a lifting cable so as to realize hoisting of the lifting cable on the whole robot; the rotor boosting layer 3 comprises a rotor main frame and a rotor arranged on the rotor main frame, and the whole robot can be better attached to a cleaning surface through the rotor; the rotor main frame is connected with the cleaning unit through a unit telescopic rod 13, and the unit telescopic rod 13 penetrates through the main mounting frame; the main body telescopic rod 33 is parallel to the unit telescopic rod 13, one end of the main body telescopic rod 33 is connected with the rotor main frame, and the other end of the main body telescopic rod 33 is connected with the main mounting frame. Wherein, set up scram button 7 on the main mounting bracket, scram button 7 is connected with the control unit, can carry out scram operation when breaking down.
In the above embodiment, through the multi-layer distributed structure of the cleaning functional unit layer 1, the central control core layer 2 and the rotor boosting layer 3, the cleaning functional unit and the core circuit part are effectively separated, the separated unit type mechanism can complete the cleaning process under the condition of less influence on the whole system, and meanwhile, the central control core layer 2 in the middle can be ensured to be far away from the complex liquid-carrying working surface, so that the working intellectualization and stability are improved; the layered structure can reduce the windage area of the robot in the high air, and the airflow can more stably pass through the side surface of the streamline robot, so that the working stability of the whole system under the condition of transverse wind is improved, and the working efficiency is improved; in the aspect of the adaptability of the wall surface, the integral hoisting design is matched, and the layered structure is more beneficial to the separate control of each unit and part and the posture adjustment under the working, so that the structural adaptability and the cleaning effect are improved.
Specifically, the plurality of cleaning units include a rolling brush cleaning unit 4, a suction wiper unit 5, and a negative pressure suction cleaning unit 6; the rolling brush cleaning unit 4 and the negative pressure suction cleaning unit 6 are positioned on two sides of the suction wiper unit 5, the rolling brush cleaning unit 4 can clean the glass frame (dead angle), the suction wiper unit 5 can perform secondary cleaning, return water collected by the wiper is recycled, and the negative pressure suction cleaning unit 6 can improve cleaning efficiency and effect; therefore, the division of the cleaning units is thinned, and the cleaning effect is improved and the problem of cleaning the edge position is solved through the standardized cleaning flow of the three-unit sequential cleaning.
Specifically, each cleaning unit is connected to the rotor main frame through one unit telescopic rod 13, and the unit telescopic rod 13 is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; under the action of the unit telescopic rod 13, the rolling brush cleaning unit 4, the suction wiper unit 5 or the negative pressure suction cleaning unit 6 can be pushed to extend to the cleaning surface or retract to the central control core layer 2 and the rotor wing boosting layer 3; the robot can extend out of the cleaning unit according to the specific distance size condition of the wall surface and the glass surface and adjust the position of the hanging point relative to the whole machine so as to achieve the aim of adjusting balance. Wherein, through main part telescopic link 33, adjustment rotor body frame and main mounting bracket, and then to hanging the position of some for the complete machine and adjust.
Specifically, the main body telescopic rod 33 is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; the unit expansion link 13 and the main body expansion link 33 are electrically connected to the control unit.
Specifically, the device further comprises a plurality of optical axes 12 which are parallel to the unit telescopic rods 13 and are used for supporting the central control core layer 2, one end of each optical axis 12 is slidably inserted into the rotor main frame, and the other end of each optical axis 12 is fixedly connected with the cleaning unit. By means of the arrangement of the optical axis 12, on the one hand, the central core layer 2, or the cleaning unit and the rotor frame, can be reliably supported; on the other hand, since one end of the optical axis 12 is slidably inserted into the main rotor frame, when the unit expansion link 13 drives the cleaning unit to move axially, the optical axis 12 does not affect the relative movement of the cleaning unit and the main rotor frame, and similarly, the main body expansion link 33 does not affect the adjustment of the positions of the main mounting frame and the main rotor frame.
Specifically, the hoisting unit comprises a hoisting frame 10 and a hoisting ring 9 arranged on the hoisting frame 10, wherein the hoisting ring 9 is connected with a hoisting cable, and the whole hoisting operation of the whole cleaning robot is realized through the coordination of the hoisting cable and the hoisting ring 9.
Preferably, the central control core layer 2 further includes a three-degree-of-freedom data acquisition unit 31, and the three-degree-of-freedom data acquisition unit 31 is connected with the control unit; the three-degree-of-freedom data acquisition unit 31 is positioned at the front end part of the central control core layer 2, the three-degree-of-freedom data acquisition unit 31 comprises a camera 45, an ultrasonic ranging unit 46 and a three-degree-of-freedom driving assembly, and the camera 45 and the ultrasonic ranging unit 46 are sequentially arranged on the three-degree-of-freedom driving assembly; specifically, the three-degree-of-freedom driving assembly comprises a steering engine fixing frame 47, a first degree-of-freedom steering engine, a second degree-of-freedom steering engine, a third degree-of-freedom steering engine, a first steering engine driving plate 48, a second steering engine driving plate 49 and a third steering engine driving plate 50; the first-degree-of-freedom steering engine is fixed on the steering engine fixing frame 47, and the first steering engine driving plate is driven by the first-degree-of-freedom steering engine to rotate; the second-degree-of-freedom steering engine is fixed on the first steering engine driving plate 48, and the second steering engine driving plate 49 is driven by the second-degree-of-freedom steering engine to move in a folding mode; the third-degree-of-freedom steering engine is fixed on the second steering engine driving plate, and the third steering engine driving plate is driven by the third-degree-of-freedom steering engine to move in a folding manner; the camera is fixed on a third steering engine driving plate, and the ultrasonic ranging unit 46 is fixed on a second steering engine driving plate; therefore, the camera and the ultrasonic ranging unit can move in a three-dimensional space, the working face can be effectively identified, and the related information of the spatial distribution of the curvatures of the working face and the non-working face can be collected, so that the cleaning speed of the high-rise curtain wall robot is greatly improved, and the time cost is saved.
Specifically, the central control core layer 2 further includes a communication system, and the communication system is connected to the control unit. Through the setting of communication system, can in time transmit cleaning robot's operating condition to the host computer to more accurate control and operation to cleaning robot.
Specifically, circulation waterway system includes water tank 28 and connects intake pipe, the return water pipeline on water tank 28, intake pipe, return water pipeline are provided with the water pump, two water tank 28 are installed in the both sides of main mounting bracket symmetrically, and two water tank 28 are linked together, water tank 28 admission valve 11 has been seted up on the water tank 28, in return water process, through opening water tank 28 admission valve 11, makes the interior atmospheric pressure that is in of water tank 28, avoids the return water resistance, reduces the load of return water pump. The supply of the water inlet of the cleaning unit and the timely recovery of the sewage are realized through the circulating waterway system.
Preferably, the rotor boosting layer 3 further includes a rotor thrust system 26 and an LED status display system 27, where the rotor thrust system 26 and the LED status display system 27 are electrically connected to the control unit, and four rotors are centrally and symmetrically disposed on the rotor frame. When the rotor thrust system 26 works, negative pressure can be generated between the rotor and the working surface, so that continuous thrust support can be provided, the thrust provision in a working state can be effectively ensured, and the robot system can still have stable thrust and stably run under the condition of obstacle surmounting; the working state of the robot can be displayed in real time through the LED state display system 27, and when a fault occurs, the LED state display system 27 can send out a fault indication prompt so as to facilitate the control unit to control related components to stop working and avoid damage of the related components.
Specifically, as shown in fig. 5 and 6, the rolling brush cleaning unit 4 includes a sealing cleaning cap 36, a spraying unit 22, a double rolling brush unit, a negative pressure unit; the spraying unit 22 comprises a water spraying pipeline and a spray head, wherein the water spraying pipeline is arranged in the sealed cleaning cover 36, and the spray head is arranged on the water spraying pipeline; the double-rolling brush unit comprises a double-rolling brush 24 arranged in a sealing cleaning cover 36 and a rolling brush driving piece 34 for driving the rolling brush 24, wherein the rolling brush driving piece 34 is connected with the control unit, the rolling brush 24 driving piece is specifically a driving motor, and the driving motor is connected with the rolling brush 24 through transmission of a transmission belt 21; the negative pressure unit is arranged on the back surface of the sealed cleaning cover 36 and is communicated with the space in the sealed cleaning cover 36, the driving part of the negative pressure unit is connected with the control unit, and concretely the negative pressure unit comprises a negative pressure air pipe and a negative pressure fan 8 arranged on the negative pressure air pipe, and the negative pressure fan 8 is connected with the control unit. The sealing cleaning cover 36 is in a negative pressure state by the suction force of the negative pressure air pipe, and the rolling brush 24 in the sealing cleaning cover 36 can be better adhered to the cleaning surface, so that the effect of cleaning the glass surface by the rolling brush 24 is further improved.
Specifically, the seal washing cover 36 has a front cover 29 and a rear cover 35, and a front cover drive member 30 and a rear cover drive member are provided on the back surface of the seal washing cover 36; the front and rear flaps 29 and 35 are hinged to the front and rear portions of the sealed and cleaned enclosure 36, respectively, and are driven by front and rear flap driving members, respectively. The front side of the front folder 29 is provided with a front ultrasonic ranging module 32 to detect a front obstacle when crossing the obstacle.
The form of the rolling brush 24 and the arrangement of the front flip cover 29 and the rear flip cover 35 mainly consider the obstacle crossing requirement of the negative pressure cleaning device, when the obstacle crossing is not carried out on the surface of the glass, the front rolling brush 24 and the rear rolling brush 24 are attached to the surface of the glass for normal cleaning, the front flip cover 29 and the rear flip cover 35 are in a closed state and form a cavity together with the sealing cleaning cover 36, and under the action of the negative pressure unit, the whole negative pressure cleaning device has a certain suction force with the surface of the glass, and the rolling brush 24 carries out cleaning operation; when encountering a glass frame (obstacle), the front flip cover 29 is opened, the negative pressure cleaning device moves forward, the front rolling brush 24 on the inner side of the front flip cover is attached to one side face of the glass frame, the dirty points on one side face (dead angle position on one side of the obstacle) of the glass frame are cleared away by the front rolling brush 24 in the obstacle crossing process, then the negative pressure cleaning device is retracted, the obstacle crossing forward (forward on the top face of the obstacle) is continued, after the obstacle is finished, namely, the front glass is on the inner side of the surface of the obstacle, at the moment, the rear flip cover 35 is opened, the negative pressure cleaning device moves forward, the rear rolling brush 24 is attached to the other side face of the glass frame, and the dirty points on the side face (dead angle position on the other side of the obstacle) are cleared away, so that the dead angle positions on the two sides of the obstacle are cleared away in the obstacle crossing process.
Specifically, the suction wiper unit 5 comprises a wiper strip 16 and a negative pressure recovery part arranged at the wiper strip 16, the negative pressure recovery part is communicated with a water return pipeline of the circulating waterway system, and water collected at the wiper strip 16 is recovered in a negative pressure suction mode, so that the cleaning effect is improved; specifically, the negative pressure recovery part comprises a wiper fixing plate 14 and a wiper suction pipe 15, the wiper strip 16 is arranged on the wiper fixing plate 14, a water suction port is formed in the wiper fixing plate 14 and is connected with a water tank 28 through the wiper suction pipe 15, and specifically the wiper fixing plate 14 is arranged on a wiper steering engine 20 in a rotating manner, so that the wiper steering is facilitated.
The negative pressure suction cleaning unit 6 comprises a main frame, a negative pressure sealing wiping belt 19 and a negative pressure suction part, wherein the negative pressure sealing wiping belt 19 and the negative pressure suction part are arranged at the periphery of the bottom of the main frame, a water sucking port of the negative pressure suction part is positioned near the wiping cloth, a travel wheel 17 is further arranged below the main frame, and a crawler device 18 is arranged below the main frame to ensure the running stability of the negative pressure suction cleaning unit 6; the water sprayed when the rag is cleaned is recovered by negative pressure suction, and meanwhile, the wiping belt is favorable for being better attached to the cleaning surface; a touch photoelectric sensor 25 is also arranged under the main frame to detect the contact condition of the wiping belt and the working cleaning surface.
In addition, as can be seen from the above description, in terms of providing positive working pressure in the cleaning process, the present set of design adopts a novel structure of combining negative pressure and rotor thrust; the negative pressure fan 8 of the rolling brush cleaning unit 4 and the negative pressure suction part of the negative pressure suction cleaning unit 6 can provide high-efficiency and stable forward working pressure for the robot in the working state of the robot, so that the cleaning mechanism can be better contacted with the surface to be cleaned, but the disadvantage is that when the cleaning surface is not an ideal plane but a complex plane with a windowsill or other obstacles, the negative pressure mechanism is intermittently invalid, and the stability of the system is affected; while rotor thrust system 26 as described above may provide sustained thrust support, while providing less thrust and overall conversion efficiency, it may provide for overall stable operation of the robot under special conditions; the means of matching the negative pressure and the rotor wing can effectively ensure the thrust under the working state to be provided, and can also ensure that the robot system still has stable thrust to run stably under the condition of obstacle surmounting.
Further, the front flip driving piece, the rear flip driving piece, the front rolling brush driving piece and the rear rolling brush driving piece are all electrically connected with the control unit. The front and rear flip cover 35 and the front and rear rolling brush 24 are controlled by the control unit to realize cooperative action; the control unit specifically comprises a control circuit, and a control circuit bin is arranged on the back surface of the sealed cleaning cover 36 and used for accommodating the control circuit; in addition, a circuit wiring bin is also arranged, so that wiring is convenient.
Preferably, the sealing and cleaning cover 36 further includes a front contact probe sensor 37 and a rear contact probe sensor 38 connected to the control unit, the sealing and cleaning cover 36 having a left side cover and a right side cover, the front contact probe sensor 37 being mounted at a front end of the left side cover or the right side cover to detect an attached state of the front roller brush 24 to a front side of the obstacle; a rear contact probe sensor 38 is installed at the rear end of the left or right cover to detect the attached state of the rear roller brush 24 to the rear side of the obstacle surface; the cleaning device further comprises a pressing contact sensor 39 connected with the control unit, wherein the pressing contact sensor 39 is arranged at the lower end of the left side cover or the right side cover so as to detect the attached state of the front rolling brush 24 and the rear rolling brush 24 to the cleaning surface. The control unit can further control the work of the rolling brush 24 and the lifting cover through the feedback information of the front contact probe sensor 37, the rear contact probe sensor 38 and the pressing contact sensor 39, so that the operation intellectualization and accuracy of the whole negative pressure cleaning device are improved.
The whole set of system makes the above unique design in the aspects of the selection and arrangement of the sensors, namely, a stable and reliable closed loop feedback link is added for the control flow, the intelligent degree is improved, and the reliable guarantee is provided for the safe work of the robot.
Further, as shown in fig. 7, the auxiliary wheel 23 is provided in the sealed washing cover 36, and a retracting drive member connected to the auxiliary wheel 23 to retract or extend the auxiliary wheel 23 is further included. Specifically, the retraction driving piece comprises a retraction driving motor 40, a corner piece 41, a screw rod 42 and a screw 43, wherein the driving end of the retraction driving motor 40 is connected with one end of the screw rod 42, and the screw 43 is in threaded fit with the screw rod 42; the corner piece 41 is hinged on the sealed cleaning cover 6, a chute is formed at the upper end of the corner piece 41, and a lug is fixed on the nut 43 so as to be in sliding fit with the chute and drive the corner piece to rotate. The corner piece is connected with the auxiliary wheel 23 specifically through a lifting rod 44; during normal cleaning operation, under the action of the retraction driving piece, the auxiliary wheel 23 is retracted, and when the obstacle surmounting mode is switched, the auxiliary wheel 23 is extended; in this way, the different passing modes can be switched according to the different materials of the building surface, and besides the normal cleaning passing, the auxiliary wheel 23 in the mechanism can provide stable operation support when the building surface is in the form of particles or a non-scrubbable lime wall surface.
In summary, the multi-layer distributed type building outer surface cleaning robot of the invention has the following advantages:
1. the cleaning function unit and the core circuit part are effectively separated by adopting a multi-layer distributed structure; the separated unit type cleaning unit can finish a cleaning process under the condition of less influence on the whole robot system, and meanwhile, the middle central control core layer 2 can be kept away from a complex liquid-carrying working surface, so that safe and stable operation of the central control core layer 2 is ensured.
2. The layered structure can reduce the windage area of the robot in the high air, and the airflow can more stably pass through the side surface of the streamline robot, so that the working stability of the whole robot system under the condition of transverse wind is improved.
3. In the aspect of the adaptability of the wall surface, the layered structure is more beneficial to the respective control and the posture adjustment under the working of the cleaning unit, the central control core layer 2 and the rotor boosting layer 3 in cooperation with the integral hoisting design; the robot can extend out of the cleaning unit according to the specific distance size condition of the wall surface and the glass surface and adjust the position of the hanging point relative to the whole machine so as to achieve the aim of adjusting balance.
4. The division of the cleaning units is thinned, and the standardized cleaning flow of the three cleaning units for cleaning in turn improves the cleaning effect and simultaneously solves the cleaning problem of the edge position.
5. Through the selection and arrangement of the sensors, a stable and reliable closed loop feedback link is added for the control flow, the intelligent degree is improved, and reliable guarantee is provided for the safe work of the robot.
6. In the aspect of the positive working pressure of the cleaning process, the novel structure combining negative pressure and rotor thrust is adopted in the design of the cleaning process, so that on one hand, the provision of thrust under the working state is effectively ensured, and on the other hand, the stable thrust of the whole robot system under the obstacle crossing condition is also ensured, and the robot system runs stably.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present invention, and these modifications and variations should also be regarded as the scope of the invention.
Claims (5)
1. The utility model provides a multilayer distributed building surface cleaning robot which characterized in that: the device comprises a cleaning functional unit layer, a central control core layer and a rotor boosting layer which are sequentially arranged, wherein the cleaning functional unit layer comprises a plurality of cleaning units; the central control core layer comprises a main mounting frame, a control unit, a control circuit, a circulating waterway system and a hoisting unit, wherein the control unit, the control circuit, the circulating waterway system and the hoisting unit are arranged on the main mounting frame, the control unit is electrically connected with a driving part of the cleaning unit through the control circuit, the circulating waterway system is connected with a water inlet part of the cleaning unit, and the hoisting unit is connected with a hoisting cable; the rotor boosting layer comprises a rotor main frame and a rotor arranged on the rotor main frame; the rotor main frame is connected with the cleaning unit through a unit telescopic rod, and the unit telescopic rod penetrates through the main mounting frame; the main body telescopic rod is parallel to the unit telescopic rod, one end of the main body telescopic rod is connected with the rotor wing main frame, and the other end of the main body telescopic rod is connected with the main mounting frame; the cleaning units comprise a rolling brush cleaning unit, a suction wiper unit and a negative pressure suction cleaning unit; the rolling brush cleaning unit and the negative pressure suction cleaning unit are positioned at two sides of the suction wiper unit; each cleaning unit is connected to the rotor main frame through one unit telescopic rod; the device also comprises a plurality of optical axes which are parallel to the unit telescopic rods and used for supporting the central control core layer, one end of each optical axis is slidably inserted into the rotor main frame, and the other end of each optical axis is fixedly connected with the cleaning unit; the rotor boosting layer further comprises a rotor thrust system and an LED state display system, wherein the rotor thrust system and the LED state display system are electrically connected with the control unit, and the four rotors are arranged on the rotor main frame in a central symmetry manner; the rolling brush cleaning unit comprises a sealing cleaning cover, a spraying unit, a double rolling brush unit and a negative pressure unit; the spraying unit comprises a water spraying pipeline arranged in the sealed cleaning cover and a spray head arranged on the water spraying pipeline, and the water spraying pipeline is communicated with the circulating waterway system; the double-rolling brush unit comprises a double-rolling brush arranged in the sealed cleaning cover and a rolling brush driving piece for driving the rolling brush, and the rolling brush driving piece is connected with the control unit; the negative pressure unit is arranged on the back surface of the sealing cleaning cover and is communicated with the space in the sealing cleaning cover, and the driving part of the negative pressure unit is connected with the control unit; the suction wiper unit comprises a wiper strip and a negative pressure recovery part arranged at the wiper strip, and the negative pressure recovery part is communicated with a water return pipeline of the circulating waterway system; the negative pressure suction cleaning unit comprises a main frame, a negative pressure sealing wiping belt and a negative pressure suction part, wherein the negative pressure sealing wiping belt and the negative pressure suction part are arranged on the periphery of the bottom of the main frame, and a water suction port of the negative pressure suction part is positioned near the wiping cloth.
2. The multi-story, distributed building exterior surface cleaning robot of claim 1, wherein: the unit telescopic rod is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; the main body telescopic rod is an electric telescopic rod, a pneumatic telescopic cylinder or a hydraulic cylinder; the unit telescopic rod and the main body telescopic rod are electrically connected with the control unit.
3. The multi-story, distributed building exterior surface cleaning robot of claim 1, wherein: the hoisting unit comprises a hoisting frame and a hoisting ring arranged on the hoisting frame, and the hoisting ring is connected with a hoisting cable; the central control core layer also comprises a communication system, and the communication system is connected with the control unit.
4. The multi-story, distributed building exterior surface cleaning robot of claim 1, wherein: the central control core layer further comprises a three-degree-of-freedom data acquisition unit, and the three-degree-of-freedom data acquisition unit is connected with the control unit; the three-degree-of-freedom data acquisition unit is positioned at the front end part of the central control core layer and comprises a camera, an ultrasonic ranging unit and a three-degree-of-freedom driving assembly, and the camera and the ultrasonic ranging unit are sequentially arranged on the three-degree-of-freedom driving assembly.
5. The multi-story, distributed building exterior surface cleaning robot of claim 1, wherein: the circulating waterway system comprises a water tank, a water inlet pipeline and a water return pipeline which are connected to the water tank, wherein the water inlet pipeline and the water return pipeline are provided with water pumps, the two water tanks are symmetrically arranged on two sides of the main installation frame, and the two water tanks are communicated.
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| CN110353554B (en) * | 2019-07-25 | 2021-04-02 | 沈阳航空航天大学 | High-rise building wall surface cleaning robot |
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