CN110292333A - One kind climbing wall high-pressure wash machine people - Google Patents
One kind climbing wall high-pressure wash machine people Download PDFInfo
- Publication number
- CN110292333A CN110292333A CN201810246747.3A CN201810246747A CN110292333A CN 110292333 A CN110292333 A CN 110292333A CN 201810246747 A CN201810246747 A CN 201810246747A CN 110292333 A CN110292333 A CN 110292333A
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- China
- Prior art keywords
- robot
- metope
- servo motor
- unit
- master board
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 30
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 238000010521 absorption reaction Methods 0.000 claims abstract description 14
- 238000007790 scraping Methods 0.000 claims abstract description 7
- 239000000428 dust Substances 0.000 claims abstract description 6
- 239000010865 sewage Substances 0.000 claims abstract description 6
- 230000006835 compression Effects 0.000 claims abstract description 4
- 238000007906 compression Methods 0.000 claims abstract description 4
- 230000000694 effects Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 4
- 241000252254 Catostomidae Species 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 3
- 239000003292 glue Substances 0.000 claims description 3
- 239000011796 hollow space material Substances 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 abstract description 5
- 239000000047 product Substances 0.000 description 31
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000006227 byproduct Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention provides one kind to climb wall high-pressure wash machine people, including absorption metope unit, motion profile unit and high pressure cleaning unit, wherein, the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to firm compression on metope；The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, TRAJECTORY CONTROL part includes master board, servo motor and sensor, signal is passed to master board by sensor, master board will control signal and pass to servo motor, and servo motor drives track motion parts to move in " bow " zag trajectory；The high pressure cleaning unit sprays high pressure water by high pressure nozzle, then is wiped off sewage by water scraping blade.Cleaning robot provided by the present invention, cleaning thoroughly, are able to solve the problem of leakage is washed.
Description
Technical field
The present invention relates to cleaning machine technical fields, and in particular, to one kind climbs wall high-pressure wash machine people.
Background technique
There are two types of modes for the cleaning of Climbing Robot currently on the market: 1, product movement rail is controlled by the way of remote control
Mark, the mode that water is scraped after metope is drenched in ejection with hairbrush+water inside spray orifice or water is scraped clean metope；2, using setting in advance
The mode of control program controls the motion profile of product, cleans metope using mode same with front.
The above-mentioned prior art have the shortcomings that one it is common: the water of ejection is entirely low pressure water, and cleaning effect is very bad.
Meanwhile the motion profile of above two mode is easy offset direction, causes thoroughly clean all metopes.And use remote control side
Formula higher cost.Using program controlled mode, work could be started after row input data again after need to measuring according to on-site actual situations
Make, causes the working time that can extend very much.The control route of control panel is relative complex simultaneously, causes manufacturing cost very high.
Summary of the invention
For above-mentioned defect in the prior art, the object of the present invention is to provide a kind of Climbing Robot jetting machine,
Cleaning thoroughly, solves the problems, such as that leakage is washed.
In order to achieve the above objectives, the technical solution adopted in the present invention is as follows:
One kind climbing wall high-pressure wash machine people, including absorption metope unit, motion profile unit and high pressure cleaning unit,
Wherein, the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to firm compression in wall
On face；The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, TRAJECTORY CONTROL part include master board,
Signal is passed to master board by servo motor and sensor, sensor, and master board passes to servo motor, servo for signal is controlled
Motor driven track motion parts are moved in " bow " zag trajectory；The high pressure cleaning unit sprays high pressure by high pressure nozzle
Water, then wiped off sewage by water scraping blade.
The absorption metope unit includes two absorption motors, after adsorbing motor unlatching, between robot and metope
Parital vacuum is formed, for the suction which generates by robot to wall-attached, the absorption metope unit further includes setting
Set 4 tapered hollow flexible glue suckers being distributed respectively on robot two sides of the bottom, when adsorb motor open after by robot to
When wall-attached, sucker is deformed, while hollow space air being squeezed out outward, thus by robot firm compression in wall
It not will pop up on face.
The track motion parts include the four rolling of two sides of the bottom setting, and the roller surface has the staggered ditch of height
Slot, with guarantee robot increase during exercise with the frictional force of metope, to guarantee that robot can move freely on metope.
The idler wheel connects servo motor by gear and rack teeth mechanism, and servo motor driving wheel drives the centre tooth on idler wheel
Wheel shaft rotation, to control the direction of idler wheel rotation.
The sensor is two, is mounted at left and right sides of robot, and the servo motor is two, is translated in robot
When to the turning of metope, sensor collides with the step of corner, and sensor passes to collision alarm in master board, main
One end of control panel is connected with sensor, and one end connects servo motor one, when the signal on sensor passes in master board,
Control panel passes to turn signal on servo motor one, and servo motor one starts, and servo motor one is under the control of master board
90 ° of rotation, while master board controls an other servo motor two and idler wheel is driven to move down the distance set, it
After servo motor one is again started up 90 ° of revolution afterwards, servo motor two is closed, and robot is mobile to original opposite direction.
Motion profile is realized using remote control mode.
The high-pressure wash part includes a high-pressure wash electric-motor pump, and the high pressure nozzle is high pressure fan nozzle,
There are four robot is each side installed, the cleaning angle of the fan nozzle is preselect, and when starting, electric-motor pump opens simultaneously
Dynamic, nozzle is emitted into fan-shaped high pressure water, and dirty by metope plays and be dissolved into water, and then water scraping blade wipes sewage off, together
When the other side fan nozzle remaining spot is washed out again, to achieve the effect that thoroughly to clean metope.
It further include auxiliary unit, the auxiliary unit includes rope when in use will with the latch closure being arranged in robot
Rope is fixed on the wall after rope passes through latch closure, centre pulley transition, so that during the decline of robot at work, rope
Rope can be fixed.
It further include the water pipe connect in robot water inlet, to guarantee to cut off the water supply in use.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, in water spray effect, high-tension electricity pump is increased, so that the metope of building is dirty under the impact of high pressure water
It is all taken away, to reach thorough clean effect.
2, in terms of motion profile, by the sensor of product side, when product encounters wall, sensor passes signal
It is sent on the simple control panel inside machine, control panel, which transmits information to direct current, waits upon and take on motor, and motor drives idler wheel to realize
It turns to and is reversely translated after the mobile a certain distance in 90 degree of directions.Thus it moves back and forth until the cleaning of entire metope finishes.It is this
Mode eliminate the uncertainty of the distance as machine when moving and caused by leakage wash problem.Product bottom passes through dust catcher
Machine is adsorbed on metope by the parital vacuum formed after starting.To the sucker with movement machine two sides, sucker is firmly adsorbed
On metope.Idler wheel servo motor and control route under the action of can be comprehensive movement, the sensor in the left and right sides
It can be oriented under effect and set a distance is mobile.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is robot bottom substance schematic diagram provided by the present invention；
Fig. 2 is the right view of Fig. 1.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
As shown in Figure 1 and Figure 2, provided by the present invention to climb wall high-pressure wash machine people, including following four unit:
1, metope unit is adsorbed；2, motion profile unit；3, high pressure cleaning unit；4, auxiliary unit.
Wherein:
1, metope unit is adsorbed:
Absorption metope unit is divided into two parts again:
1.1 using dust catcher principles by machine towards metope direction absorbed portion；
It can be adsorbed on wall completely to realize product when in use, this product vacuumizes principle using dust catcher.It opens
After machine, two absorption motors 6 are opened on product, in product with forming parital vacuum between metope, the suction of this partial vacuum generation
Power is by entire product to wall-attached；
1.2 products are adsorbed on the mechanism of metope；
4 tapered hollow flexible glue suckers 1 of unilateral distribution in the two sides of the bottom of product.By product after adsorbing motor 1 and opening
When to wall-attached, sucker 1 is deformed, while hollow space air being squeezed out outward, is produced after air is extruded completely
Product are just firmly extruded on metope by atmospheric pressure completely and not will pop up.
2, motion profile unit:
Motion profile unit is divided into following two part:
2.1 track motion parts:
2.1.1 product two sides of the bottom are there are four idler wheel 5, and there is the staggered groove of height on 5 surface of idler wheel, it is ensured that product exists
Increase the frictional force with metope when movement, to guarantee that product can move freely on metope；
2.1.2 idler wheel is connected by gear and rack teeth mechanism with servo motor.Servo motor driving wheel can drive idler wheel
On sun gear shaft rotation, thus control idler wheel rotation direction；
2.1.3 motion profile of the entire product on metope is in " bow " font.
2.2 TRAJECTORY CONTROL part:
It is surveyed on product in left and right two and is respectively provided with two sensors 9, product is initially set translation during exercise, in product
When moving to the turning of metope, sensor 9 collides with the step of corner, and collision alarm is passed to master board by sensor
On 10, one end of master board 10 is connected with sensor 9, and one end connects servo motor 1.When the signal on sensor passes to master
When on control panel 10, master board 10 passes to turn signal on servo motor 1, and servo motor 1 starts.Servo motor one
4 have a circular gear 3, and the centre of idler wheel 3 is connected again with gear with rack gear 2 among the two.Servo motor 1 is in master control
Servo motor is closed after rotating 90 ° under the control of making sheet.Meanwhile master board 10 controls an other servo motor 2 11 and drives
Idler wheel 3 moves down the distance set, and servo motor 1 is again started up 90 ° of revolution later, and servo motor 2 11 closes
It closes, it is mobile to original opposite direction.
3, high pressure cleaning unit:
One high-pressure wash electric-motor pump 12 is installed on the product.The discharge pressure of electric-motor pump is up to 7MPa.On a product left side
Respectively there are four high pressure fan nozzles 8 for dress on right two sides, and a draining scraping blade 7 is respectively assembled in product two sides of the bottom.Fan nozzle 8 it is clear
Washing angle is to select in advance, and when machine startup, electric-motor pump starts simultaneously, and nozzle is emitted into the sector of 30 °~60 ° angles
High pressure water, dirty by metope play and are dissolved into water, and then water scraping blade 7 wipes sewage off.The fan-shaped spray of the other side simultaneously
Mouth 8 again washes out remaining spot.To achieve the effect that thoroughly to clean metope.
4, auxiliary unit:
Product when in use, for prevention product under something unexpected happened automatic shutdown and cause that product is fallen down from high-altitude and
It causes unnecessary injury or breaks machine, a latch closure (not illustrating in figure) is devised on product.When in use by one
Rope is fixed on the wall after sufficiently long rope (not illustrating in figure) passes through latch closure.Centre pulley transition.So that product is in work
During decline when making.Rope can determine product.The water inlet in product is connect with a water pipe (not illustrating in figure) simultaneously,
It will not be cut off the water supply with guaranteeing product in use.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (9)
1. one kind climbs wall high-pressure wash machine people, which is characterized in that including absorption metope unit, motion profile unit and high pressure
Cleaning unit, wherein the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to secured
It is extruded on metope；The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, and TRAJECTORY CONTROL part includes
Signal is passed to master board by master board, servo motor and sensor, sensor, and master board passes to servo for signal is controlled
Motor, servo motor drive track motion parts to move in " bow " zag trajectory；The high pressure cleaning unit passes through high pressure nozzle
High pressure water is sprayed, then is wiped off sewage by water scraping blade.
2. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the absorption metope unit includes
Two absorption motors form parital vacuum after adsorbing motor unlatching between robot and metope, what which generated
For suction by robot to wall-attached, the absorption metope unit further includes being arranged on robot two sides of the bottom to be distributed respectively
4 tapered hollow flexible glue suckers, after adsorbing motor and opening by robot to wall-attached when, sucker is deformed, simultaneously
Hollow space air is squeezed out outward, so that robot firm compression not will pop up on metope.
3. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the track motion parts include
The four rolling of two sides of the bottom setting, the roller surface has the staggered groove of height, to guarantee that robot increases during exercise
With the frictional force of metope, to guarantee that robot can move freely on metope.
4. according to claim 3 climb wall high-pressure wash machine people, which is characterized in that the idler wheel passes through rack-and-pinion
Mechanism connects servo motor, and servo motor driving wheel drives the sun gear shaft rotation on idler wheel, to control idler wheel rotation
Direction.
5. according to claim 3 climb wall high-pressure wash machine people, which is characterized in that the sensor is two, peace
At left and right sides of robot, the servo motor is two, and when robot moves to the turning of metope, sensor is with turning
The step at place collides, and sensor passes to collision alarm in master board, and one end of master board is connected with sensor, and one
End connection servo motor one, when the signal on sensor passes in master board, turn signal is passed to servo electricity by control panel
On machine one, servo motor one starts, and servo motor one rotates 90 ° under the control of master board, while master board control is another
An outer servo motor two drives idler wheel to move down the distance set, and servo motor one is again started up revolution later
After 90 °, servo motor two is closed, and robot is mobile to original opposite direction.
6. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that motion profile uses remote control mode
It realizes.
7. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the high-pressure wash part includes
One high-pressure wash electric-motor pump, the high pressure nozzle be high pressure fan nozzle, each side installed in robot there are four, institute
The cleaning angle for stating fan nozzle is preselect, and when starting, electric-motor pump starts simultaneously, and nozzle is emitted into fan-shaped high pressure water, by wall
The dirty of face plays and is dissolved into water, and then water scraping blade wipes sewage off, while the fan nozzle of the other side again will be residual
The spot stayed is washed out, to achieve the effect that thoroughly to clean metope.
8. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that it further include auxiliary unit, it is described
Auxiliary unit, which includes rope, is fixed on wall across rope after latch closure for rope when in use with the latch closure being arranged in robot
On, centre pulley transition, so that rope can be fixed during the decline of robot at work.
9. according to claim 8 climb wall high-pressure wash machine people, which is characterized in that further include connecing to intake in robot
The water pipe of mouth, to guarantee to cut off the water supply in use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810246747.3A CN110292333A (en) | 2018-03-23 | 2018-03-23 | One kind climbing wall high-pressure wash machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810246747.3A CN110292333A (en) | 2018-03-23 | 2018-03-23 | One kind climbing wall high-pressure wash machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110292333A true CN110292333A (en) | 2019-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810246747.3A Pending CN110292333A (en) | 2018-03-23 | 2018-03-23 | One kind climbing wall high-pressure wash machine people |
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| CN (1) | CN110292333A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975794A (en) * | 2020-08-18 | 2020-11-24 | 南通大学 | Walking type solar cell module cleaning robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02249518A (en) * | 1989-03-23 | 1990-10-05 | Mitsubishi Electric Corp | Control method for self-traveling vacuum cleaner |
| CN1864940A (en) * | 2006-06-22 | 2006-11-22 | 上海交通大学 | Wheel leg traction type flat curtain cleaning robot |
| CN101822513A (en) * | 2010-04-16 | 2010-09-08 | 东南大学 | Robot for cleaning wall surfaces |
| CN202875237U (en) * | 2012-08-17 | 2013-04-17 | 杨金亮 | Automatic cleaning machine for high-altitude walls |
| CN105935272A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Climbing control method and system for wall climbing device |
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN208864229U (en) * | 2018-03-23 | 2019-05-17 | 上海亿力电器有限公司 | One kind climbing wall high-pressure wash machine people |
-
2018
- 2018-03-23 CN CN201810246747.3A patent/CN110292333A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02249518A (en) * | 1989-03-23 | 1990-10-05 | Mitsubishi Electric Corp | Control method for self-traveling vacuum cleaner |
| CN1864940A (en) * | 2006-06-22 | 2006-11-22 | 上海交通大学 | Wheel leg traction type flat curtain cleaning robot |
| CN101822513A (en) * | 2010-04-16 | 2010-09-08 | 东南大学 | Robot for cleaning wall surfaces |
| CN202875237U (en) * | 2012-08-17 | 2013-04-17 | 杨金亮 | Automatic cleaning machine for high-altitude walls |
| CN106256308A (en) * | 2015-11-08 | 2016-12-28 | 柯干兴 | A kind of have the hoistable platform that metope persistently keeps absorption |
| CN105935272A (en) * | 2016-06-21 | 2016-09-14 | 深圳市博飞航空科技有限公司 | Climbing control method and system for wall climbing device |
| CN208864229U (en) * | 2018-03-23 | 2019-05-17 | 上海亿力电器有限公司 | One kind climbing wall high-pressure wash machine people |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111975794A (en) * | 2020-08-18 | 2020-11-24 | 南通大学 | Walking type solar cell module cleaning robot |
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