CN101999871A - Multi-joint creeping high-altitude cleaning robot - Google Patents
Multi-joint creeping high-altitude cleaning robot Download PDFInfo
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- CN101999871A CN101999871A CN 201010534074 CN201010534074A CN101999871A CN 101999871 A CN101999871 A CN 101999871A CN 201010534074 CN201010534074 CN 201010534074 CN 201010534074 A CN201010534074 A CN 201010534074A CN 101999871 A CN101999871 A CN 101999871A
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Abstract
The invention relates to a multi-joint creeping high-altitude cleaning robot comprising a robot body (1), a creeping part (2) and a cleaning part (3), wherein the robot body (1) comprises an adsorption system and an air source system, and the adsorption system and the air source system are both arranged on a base plate of the robot body (1); the creeping part (2) comprises six feet, the six feet are respectively provided with three joints and uniformly distributed at both sides of the robot body (1), and each feet is articulated with the base plate of the robot body (1); the cleaning part (3) comprises a middle cleaning system and a rear cleaning system, wherein the middle cleaning system is arranged below the base plate of the robot body (1), and the rear cleaning system is fixed on the tail part of the robot body (1). The invention realizes the functions of spanning barriers or cracks and being absorbed on a curved surface, has good cleaning effect and high efficiency and can be adapted to a more complex high-altitude operating environment, thereby greatly reducing the unsafe hidden dangers under manual operation.
Description
Technical field
The present invention relates to a kind of clean robot, especially a kind of joint that has can be adsorbed on the smooth panel, and the multi-joint that can freely the creep high-altitude cleaning robot of creeping.
Background technology
In recent years, along with the paces of China's Modernization process are constantly accelerated, batchs of modern cities sharply emerge in large numbers, and many modern high buildings and large mansions are also rised sheer from level ground thereupon, the problem that these have also brought the modern architecture outer surface to clean simultaneously.For a long time, clean the work of skin face for these work high above the ground, it itself is exactly the thing of a danger, and from another angle, it is not high manually to clean efficient, labour intensity is bigger again, and invest quite a fewly, therefore, reality presses for a kind of clean robot and changes a kind of like this situation.
At present, picture clean robot similar products like also appearred on the market, but great majority all volume is too huge, dumb, and cost height, power consumption is big, efficient is not obvious, cost performance is low; Also have some clean robots, though it is relatively small and exquisite, but, still there are many problems aspect motion or the cleaning, such as can not be on some abnormal curved surfaces or spherical wall wall motion and cleaning, cleaning brush too simple, can not clean wall surface neatly, and when running into the building that has barrier and need be when a metope crosses the angled with it metope of another one, have no way out especially, therefore, these clean robot adaptive capacitys are not strong, are difficult to obtain socially promoting.
The utility model content
Existing clean robot is bulky, power consumption is big in order to overcome, and those small and exquisite relatively clean robots can not and clean, be difficult to the conversion between realization across obstacle and the face face in motion on the curved surface, and clean sordid deficiency, the invention provides a kind of multi-joint high-altitude cleaning robot of creeping, this robot is not only light and handy relatively, and cost performance height, practicality, can clean the curved-surface building thing more neatly, cross obstacle on the building surface and bigger crack easily, and the face of realization face is crossed over.
For achieving the above object, the multi-joint of the present invention technical scheme that high-altitude cleaning robot adopts of creeping is as follows:
The multi-joint of the present invention high-altitude cleaning robot of creeping comprises robot fuselage (1), the part of creeping (2) and cleaning part (3); Robot fuselage (1) comprises adsorption system and air supply system, and they are installed on the base plate of robot fuselage (1); The part (2) of creeping is made of six pin that have three joints respectively, and they are evenly distributed in the both sides of robot fuselage (1), and the base plate hinged of each pin and robot fuselage (1); Cleaning part (3) comprises middle part cleaning systems and rear portion cleaning systems, its middle part cleaning systems be installed in robot fuselage (1) base plate below, the rear portion cleaning systems then are fixed on the afterbody of robot fuselage (1).
Above-mentioned adsorption system comprises sucker (4), vacuum tube (5) and vavuum pump (6), and sucker (4) places the sole of six pin, and links to each other with vavuum pump (6) by vacuum tube (5), and vavuum pump (6) is fixedly mounted on robot fuselage (1) base plate.
Above-mentioned air supply system is made up of air accumulator (7), wireway (8) and wireway magnetic valve (9), air accumulator (7) is fixedly mounted on robot fuselage (1) base plate, and links to each other with vulcanite scraper cylinder (16) with last beriberi cylinder (10), leftover bits and pieces cylinder (11), stepping cylinder (12), central shaft cylinder (13), self-adapting type cylinder (14), guiding cylinder (15) respectively by wireway (8) and the magnetic valve (9) that is installed on the wireway.
Above-mentioned every the pin of part in (2) of creeping all has three joints, is connected by spherical joint (18) between get a foothold (17) and the sucker (4); Last pin (19) is connected by fixed-hinged support (20) with robot fuselage (1); Stepping cylinder (12) is fixedly mounted on robot fuselage (1) base plate, and vertical with last pin (19) (during resting state), and be hinged; Utilize connecting rod (21) to be connected between last pin (19) and get a foothold (17).
Above-mentioned middle part cleaning systems comprise self-adapting type cleaning brush (22), central shaft (23) and central shaft cylinder (13), self-adapting type cleaning brush (22) is in contact with one another with working surface, and it is connected with robot fuselage (1) by central shaft (23), and the top of central shaft (21) links to each other with guiding cylinder (15) on being fixed on robot fuselage (1) base plate.
Above-mentioned rear portion cleaning systems comprise two vulcanite scraper cylinders (16) and a vulcanite scraper (24), and vulcanite scraper (24) contacts with working surface, and join by the afterbody of two vulcanite scraper cylinders (16) with robot fuselage (1).
The invention has the beneficial effects as follows:
This robot has adopted six pin (climbing mechanism) that have three joints respectively and the adsorbent equipment of underfooting thereof, can be so that this clean robot clear the jumps easily and bigger crack, and the leap between the face of the realization face.
The sucker of sole adopts plastic production, and it contact one of sealing and enclose employing hemispherical rubber with working face, helps improving the air-tightness of sucker, has increased the scope of application of this clean robot.
What adopt being connected of following leg and sucker is spherical joint, and it can make sucker tilt freely, adapts to the variation at working surface inclination angle, that is: its provide may for this clean robot is creeped on some curved surfaces or sphere.
The middle part cleaning systems have adopted the self-adapting type cleaning brush, make this clean robot can not only clean the plane, can also clean the skin of curved surface or sphere; The vulcanite scraper length of rear portion cleaning systems employing simultaneously is wideer than fuselage, and being made dirty again in the place that is unlikely to like this six pin of robot are passed by, makes this robot improve cleaning capacity effectively.
Description of drawings
Fig. 1 is the creep structural representation of high-altitude cleaning robot of multi-joint;
Fig. 2 is the multi-joint high-altitude cleaning robot adsorption system structural representation of creeping;
Fig. 3 is the multi-joint high-altitude cleaning robot part-structure schematic diagram of creeping of creeping;
Fig. 4 is the spherical joint structural representation;
Fig. 5 is the multi-joint high-altitude cleaning robot cleaning part structural representation of creeping;
The creep structural representation of self-adapting type cleaning brush of high-altitude cleaning robot of Fig. 6 position multi-joint;
Fig. 7 is the multi-joint high-altitude cleaning robot walking gait schematic diagram that advances of creeping;
Fig. 8 retreats walking gait schematic diagram for the multi-joint high-altitude cleaning robot of creeping;
Fig. 9 is the multi-joint high-altitude cleaning robot left-hand rotation walking gait schematic diagram of creeping.
Mark is represented among the figure: 1. robot fuselage, the part of 2. creeping, 3. cleaning part, 4. sucker, 5. vacuum tube, 6. vavuum pump, 7. air accumulator, 8. wireway, 9. the wireway magnetic valve is 10. gone up the beriberi cylinder, 11. leftover bits and pieces cylinders, 12. stepping cylinder, 13. central shaft cylinders, 14. self-adapting type cylinders, 15. the guiding cylinder, 16. vulcanite scraper gas, 17. get a foothold, 18. spherical joint, pin on 19., 20. fixed-hinged supports, 21. connecting rod, 22. self-adapting type cleaning brush, 23. central shafts, 24. vulcanite scraper, 25-1. magnetic valve, 25-2. magnetic valve, 26. cleaning head, 27. guide rails, 28. ball-joints, 29. guide protrusions, 30. cleaning brush shells, 31. cushion spaces.
The specific embodiment
The present invention is described in further detail below in conjunction with drawings and Examples:
Fig. 1 is the multi-joint high-altitude cleaning robot structural representation of creeping, and comprises robot fuselage (1), the part of creeping (2) and cleaning part (3); The robot fuselage comprises adsorption system and air supply system, and they are installed on the base plate of robot fuselage (1); The part (2) of creeping is made of six pin that have three joints respectively, and they are evenly distributed in the both sides of robot fuselage, and the base plate hinged of each pin and robot fuselage (1); Cleaning part (3) comprises middle part cleaning systems and rear portion cleaning systems, its middle part cleaning systems be installed in robot fuselage (1) base plate below, the rear portion cleaning systems then are fixed on the afterbody of robot fuselage (1).
Adsorption system comprises sucker (4), vacuum tube (5) and vavuum pump (6), and sucker (4) places the sole of six pin, and links to each other with vavuum pump (6) by vacuum tube (5), and vavuum pump (6) is fixedly mounted on robot fuselage (1) base plate.
Air supply system is made up of air accumulator (7), wireway (8) and wireway magnetic valve (9), air accumulator (7) is fixedly mounted on robot fuselage (1) base plate, and links to each other with vulcanite scraper cylinder (16) with last beriberi cylinder (10), leftover bits and pieces cylinder (11), stepping cylinder (12), central shaft cylinder (13), self-adapting type cylinder (14), guiding cylinder (15) respectively by wireway (8) and the magnetic valve (9) that is installed on the wireway.
Every the pin of the part of creeping in (2) all has three joints, is connected by spherical joint (18) between get a foothold (17) and the sucker (4); Last pin (19) is connected by fixed-hinged support (20) with robot fuselage (1); Stepping cylinder (12) is fixedly mounted on robot fuselage (1) base plate, and vertical with last pin (19) (during resting state), and be hinged; Utilize connecting rod (21) to be connected between last pin (19) and get a foothold (17).
The middle part cleaning systems comprise self-adapting type cleaning brush (22), central shaft (23) and central shaft cylinder (13), self-adapting type cleaning brush (22) is in contact with one another with working surface, and it is connected with robot fuselage (1) by central shaft (23), and the top of central shaft (21) links to each other with guiding cylinder (15) on being fixed on robot fuselage (1) base plate.
The rear portion cleaning systems comprise two vulcanite scraper cylinders (16) and a vulcanite scraper (24), and vulcanite scraper (24) contacts with working surface, and are connected by the afterbody of two vulcanite scraper cylinders (16) with robot fuselage (1).
Fig. 2 is the creep structural representation of high-altitude cleaning robot adsorption system of multi-joint, and sucker (4) adopts plastic production, and it contact one of sealing and encloses the rubber seal of employing hemispherical with working face.When certain pin of robot need be born the weight of robot; microcontroller sends signal and makes magnetic valve (25-1) energising; magnetic valve (25-2) outage; simultaneously; vavuum pump (6) is rotation at a high speed under the drive of motor, and suction air is by vacuum tube (5); make to form certain vacuum in the sucker (4), sucker (4) just utilizes principle of negative pressure to be adsorbed on the working face tightly under atmospheric effect like this.When certain pin of robot need lift, then microcontroller sends signal and makes magnetic valve (25-1) outage, magnetic valve (25-2) energising, air in the atmosphere enters sucker (4) rapidly by vacuum tube (5) under atmospheric effect at this moment, make the pressure of gas in the sucker (4) equate that with atmospheric pressure sucker (4) comes off.
Fig. 3 is the multi-joint high-altitude cleaning robot part-structure schematic diagram of creeping of creeping, every pin in the part of creeping all has three joints, leftover bits and pieces (17) is spherical joint (18) with being connected of sucker (4) employing, and it can make sucker (4) tilt freely, adapts to the variation at working surface inclination angle; Last pin (19) is connected by fixed-hinged support (20) with robot fuselage (1), and stepping cylinder (12) is fixedly mounted on robot fuselage (1) base plate, and vertical with last pin (19) (during resting state), and be hinged; Utilize connecting rod (21) to be connected between last pin (19) and get a foothold (17).Not only can alleviate the weight of robot itself like this, and make this robot relatively small and exquisite, simultaneously, provide as required under the condition that continues gas at source of the gas to make the robot operating ratio more steady.
Fig. 4 is the spherical joint structural representation, the ball-joint (28) and the sucker (4) that have passage in the middle of it comprises constitute, sucker (4) is fixedlyed connected with ball-joint (28), utilize flange to be connected between ball-joint (28) and the leftover bits and pieces cylinder (11) by bolt, when this pin drops on the clinoplain, ball-joint (28) then turns over corresponding angle self-adapting type, and sucker is dropped on this plane stably.When the air in vavuum pump (6) the suction sucker (4), also form local vacuum in the cushion space (31), under the effect of atmospheric pressure, make ball-joint by locked tightly, can not rotate.
Fig. 5 is the multi-joint high-altitude cleaning robot cleaning part structural representation of creeping, and cleaning part (3) is made up of middle part cleaning systems and rear portion cleaning systems.The middle part cleaning systems comprise self-adapting type cleaning brush (22), central shaft (23) and central shaft cylinder (13), wherein, self-adapting type cleaning brush (22) is formed by connecting side by side by five the self-adapting type cylinders (14) that are fixed on cleaning brush shell (30) base plate, one cleaning head (26) is installed below it, and they are in all in the cleaning brush shell (30).When needs clear the jumps, self-adapting type cleaning brush (22) then lifts under the effect of central shaft cylinder (13), when if the material that is difficult to clean is arranged on the working face, working face is applied certain pressure, under the drive of while guiding cylinder (15) parallel in robot fuselage (1) with guide rail (27), make under the guide protrusions (29) that is positioned at central shaft (23) upper end and move, help removing these materials like this along guide rail (27).The cleaning mechanism at rear portion comprises two vulcanite scraper cylinders (16) and a vulcanite scraper (24), wherein, vulcanite scraper cylinder (16) is installed in the afterbody of robot, promote vulcanite scraper (24) and compress working face, when robot fuselage (1) moved under the impetus of stepping cylinder (12), vulcanite scraper was also along with fuselage (1) motion.The length of vulcanite scraper (24) is wideer than robot fuselage (1), is made dirty again in the place that is unlikely to like this six pin are passed by, and simultaneously, can clean the place of cleaning again again, has improved the cleaning efficiency of robot integral body.
Fig. 6 is the creep structural representation of self-adapting type cleaning brush of high-altitude cleaning robot of multi-joint, when this clean robot need clean curved surface or sphere working face, at first self-adapting type cleaning brush (22) contacts working face under the promotion of central shaft cylinder (13), and then air accumulator (7) is by wireway (8) and be installed in magnetic valve (9) on the wireway for self-adapting type cylinder (14) air guide, make the motion of these cylinders (14) generation perpendicular to working face, be subjected to the time spent of doing of certain resistance when each self-adapting type cylinder (14), then stop motion of self-adapting type cylinder (14), the self-adapting type cleaning brush (22) of this moment and the working face shape basically identical that needs cleaning, can make the more abundant cleaning face more neatly of cleaning brush (22) like this, improve the cleaning capacity of robot.
Fig. 7 is the multi-joint high-altitude cleaning robot walking gait schematic diagram that advances of creeping, and makes robot from resting state (a) setting in motion, and each circle is represented a pin, and black circles represents to bear weight, and six pin all are adsorbed on the metope when noting robot manipulating task.At first introduce the gait of advancing, in (b) of the gait of advancing, the weight of robot is born by pin before and after left side crura intermedium and the right side, the crura intermedium on pin and right side lifts under the impetus of last beriberi cylinder (10) and leftover bits and pieces cylinder (11) before and after the left side of robot, do not bear any weight, therefore be free to move forward, shown in figure (c).Front and back pin on the left of robot is after turning over 30 ° forward under the impetus of stepping cylinder (12); (the right side crura intermedium is because only play a supportive role; so do not rotate;) they bear the weight of robot under the effect of the promotion of last beriberi cylinder (10) and leftover bits and pieces cylinder (11); at this moment the front and back pin on Zuo Ce crura intermedium and right side lifts; and pin turns over 30 ° forward before and after the right side under the effect of stepping cylinder (12), shown in figure (e).Pin is depressed before and after the right side, bears weight, and the left side crura intermedium lifts, and shown in figure (f), simultaneously, promotion robot fuselage (1) moves forward under the effect of left-right and front-back step inlet casing (12).
Fig. 8 is that the multi-joint high-altitude cleaning robot of creeping retreats walking gait schematic diagram, the gait that robot retreats is similar with the gait of advancing, make robot also from resting state (h) setting in motion, in (i) of retropulsion, the weight of robot is born by pin before and after left side crura intermedium and the right side, the crura intermedium on pin and right side lifts under the impetus of last beriberi cylinder (10) and leftover bits and pieces cylinder (11) before and after the left side of robot, do not bear any weight, therefore be free to move backward, shown in figure (j).When the front and back pin in robot left side was turning round under the effect of stepping cylinder (12) after 30 °; (the right side crura intermedium is because only play a supportive role; so do not rotate;) they bear the weight of robot under the effect of last beriberi cylinder (10) and leftover bits and pieces cylinder (11) promotion; at this moment the front and back pin on Zuo Ce crura intermedium and right side lifts; and pin turns over 30 ° forward before and after the right side under the effect of stepping cylinder (12), shown in figure (1).Pin is depressed before and after the right side, bears weight, and the left side crura intermedium lifts, and shown in figure (m), simultaneously, promotion robot fuselage (1) moves backward under the effect of left-right and front-back step inlet casing (12).
Fig. 9 is the multi-joint high-altitude cleaning robot left-hand rotation walking gait schematic diagram of creeping, the left-hand rotation gait of robot also supposes it is from resting state (o) setting in motion, in (p) of left-hand rotation gait, the weight of robot is born by pin before and after left side crura intermedium and the right side, the crura intermedium on pin and right side lifts under the impetus of last beriberi cylinder (10) and leftover bits and pieces cylinder (11) before and after the left side of robot, do not bear any weight, therefore be free to move forward.Front and back pin on the left of robot is after turning over 30 ° forward under the effect of stepping cylinder (12); (the right side crura intermedium is because only play a supportive role; so do not rotate;) they bear the weight of robot under the downward impetus of last beriberi cylinder (10) and leftover bits and pieces cylinder (11); simultaneously; the crura intermedium in left side and the front and back pin on right side lift, and pin turned round under the impetus of stepping cylinder (12) 30 ° before and after the right side, shown in figure (r).Pin is depressed before and after the right side, bear weight, the left side crura intermedium lifts, and shown in figure (s), simultaneously, advance to promote under the impetus that step inlet casings (12) make progress before and after downward effect of (12) cylinder and the right side robot fuselage (1) toward left steering at front and back, left side step.
When bending to right, the sequence of motion of every bar pin of robot is the same when turning left, just the position opposite of pin.
Should be noted that; above embodiment only is used for technical scheme of the present invention; its purpose is to allow the personage who is familiar with this technology can understand content of the present invention and enforcement according to this; can not limit protection scope of the present invention with this; all technical scheme of the present invention is carried out various changes and equivalence is replaced; and do not deviate from the principle and the scope of technical solution of the present invention, all should be encompassed among the scope of claim of the present invention.
Claims (6)
1. multi-joint high-altitude cleaning robot of creeping is characterized in that comprising robot fuselage (1), the part of creeping (2) and cleaning part (3); Described robot fuselage (1) comprises adsorption system and air supply system, and they are installed on the base plate of robot fuselage (1); The described part (2) of creeping is made of six pin that have three joints respectively, and they are evenly distributed in the both sides of robot fuselage (1), and the base plate hinged of each pin and robot fuselage (1); Described cleaning part (3) comprises middle part cleaning systems and rear portion cleaning systems, its middle part cleaning systems be installed in robot fuselage (1) base plate below, the rear portion cleaning systems then are fixed on the afterbody of robot fuselage (1).
2. the multi-joint according to claim 1 high-altitude cleaning robot of creeping, it is characterized in that, described adsorption system comprises sucker (4), vacuum tube (5) and vavuum pump (6), sucker (4) places the sole of six pin, and link to each other with vavuum pump (6) by vacuum tube (5), vavuum pump (6) is fixedly mounted on robot fuselage (1) base plate.
3. the multi-joint according to claim 1 high-altitude cleaning robot of creeping, it is characterized in that, described air supply system is made up of air accumulator (7), wireway (8) and wireway magnetic valve (9), air accumulator (7) is fixedly mounted on robot fuselage (1) base plate, and links to each other with vulcanite scraper cylinder (16) with last beriberi cylinder (10), leftover bits and pieces cylinder (11), stepping cylinder (12), central shaft cylinder (13), self-adapting type cylinder (14), guiding cylinder (15) respectively by wireway (8) and the magnetic valve (9) that is installed on the wireway.
4. the multi-joint according to claim 1 high-altitude cleaning robot of creeping is characterized in that, every pin in the described part (2) of creeping all has three joints, is connected by spherical joint (18) between get a foothold (17) and the sucker (4); Last pin (19) is connected by fixed-hinged support (20) with robot fuselage (1); Stepping cylinder (12) is fixedly mounted on robot fuselage (1) base plate, and is vertical with last pin (19) and be hinged; Utilize connecting rod (21) to be connected between last pin (19) and get a foothold (17).
5. the multi-joint according to claim 1 high-altitude cleaning robot of creeping, it is characterized in that, described middle part cleaning systems comprise self-adapting type cleaning brush (22), central shaft (23) and central shaft cylinder (13), self-adapting type cleaning brush (22) is in contact with one another with working surface, and it is connected with robot fuselage (1) by central shaft (23), and the top of central shaft (21) links to each other with guiding cylinder (15) on being fixed on robot fuselage (1) base plate.
6. the multi-joint according to claim 1 high-altitude cleaning robot of creeping, it is characterized in that, described rear portion cleaning systems comprise two vulcanite scraper cylinders (16) and a vulcanite scraper (24), vulcanite scraper (24) contacts with working surface, and joins by the afterbody of two vulcanite scraper cylinders (16) with robot fuselage (1).
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Application publication date: 20110406 |