CN102631173A - Track sucker type wall surface cleaning robot - Google Patents

Track sucker type wall surface cleaning robot Download PDF

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Publication number
CN102631173A
CN102631173A CN2012101148083A CN201210114808A CN102631173A CN 102631173 A CN102631173 A CN 102631173A CN 2012101148083 A CN2012101148083 A CN 2012101148083A CN 201210114808 A CN201210114808 A CN 201210114808A CN 102631173 A CN102631173 A CN 102631173A
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CN
China
Prior art keywords
robot
sucker
cleaning
crawler belt
steering
Prior art date
Application number
CN2012101148083A
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Chinese (zh)
Inventor
韩宝玲
罗庆生
刘成
王帅
范皓
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北京理工大学
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Application filed by 北京理工大学 filed Critical 北京理工大学
Priority to CN2012101148083A priority Critical patent/CN102631173A/en
Publication of CN102631173A publication Critical patent/CN102631173A/en

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Abstract

The invention discloses a miniature robot capable of walking and cleaning on vertical surfaces such as a glass curtain wall and a ceramic outer wall. The robot walks through a track provided with a sucker, the track sucker is connected with a vacuum pump, and local vacuum is formed by air extraction so as to generate negative pressure; the sucker is of a specially designed structure with an air valve to exhaust through lever action; a steering sucker is arranged in the middle of a robot chassis, a motor controls a ball screw to operate so that a robot vehicle body rotates around the axis of the steering sucker so as to steer; an ultrasonic detection and feedback device is arranged at the front end of the robot vehicle body to guarantee the robot to measure and avoid barriers in real time during the walking process; and a fog-shaped spraying device, a drum brushing and washing device and a scraping plate washing device are installed on the robot vehicle body to clean the wall surface during the walking process of the robot. By means of the multi-technology multi-science combination, namely combination of a robot system function, a mechanical structure, a movement mechanism, an electronic circuit, a sensing detection, a program control and the like of the robot, the robot can reliably walk and efficiently clean on vertical surfaces such as the glass curtain wall and the ceramic outer wall.

Description

Crawler belt sucked type robot for cleaning wall surfaces

Technical field

The invention belongs to the specialized robot application, be specifically related to a kind of crawler belt sucked type robot for cleaning wall surfaces.

Background technology

Have much about the research of wall surface cleaning robot and the paper of having delivered at present, the more of use both at home and abroad is the high-altitude cleaning glass robot of hanger rope formula.Though can replace manual work in this robot aspect the glass of cleaning high-altitude; Reduce the incidence of casualty accident, efficient also improves, but this type clean robot can't be broken away from the control of hanger rope; Do not have the function of Intelligent Recognition and cleaning, and involve great expense.For the low service efficiency of sufficient formula climbing robot and the overall weight that can carry also is a big difficulty that is difficult to overcome, and this mechanical mechanism requirement of strength for sufficient formula is higher.

BJ University of Aeronautics & Astronautics and Jin Xun company cooperate, and from developmental research over 1996, get integral level and " the clean scholar in blue sky " the glass cleaning machine device people who has synchronous leading position abroad up till now." the clean scholar in blue sky " three exploitation series are primarily aimed in middle low layer, on the middle and senior level, high-rise, superelevation layer, inclined-plane, small angle inclination vertical plane, the low-angle different cleaning ambients such as plane of transferring.The success of " the clean scholar in blue sky " indicates that the level of China's clean robot has begun to get into new era.

The clear cleaning robot of glass of " the clean scholar in blue sky " series of developing at present; Because this robot adopts the hanger rope formula; Though can under a lot of environment, carry out operation, amount of power consumption is very important, but the robot of hanger rope formula needs the continual operation of staff; In addition, also need lay the track that needs when robot advances in cleaning course on the building top.We have seen that " blue sky " series strides the innovation advantage in epoch, but also can not ignore these its deficiencies.

For glass cleaning machine device people can have better adaptability ability and cleaning capacity, we are devoted to design and develop a kind of wall automatic rinser device people of crawler belt sucked type.This robot can break away from the constraint of hanger rope, promptly adopts no cable formula control, and has certain obstacle detouring and automatic recognition function, can under the situation of low-power consumption, reach the workload that we need.Wall automatic rinser device people is applicable to walls such as glass curtain wall and ceramic tile, leans on the adsorption capacity of vacuum cup and the ability of the advancing operation fast of crawler belt.Phenomenon such as avoided not only using that tradition is artificial when cleaning a lot of cleaning efficiencies are low, the wasting of resources and accident take place frequently; Also avoid hanger rope formula robot can't break away from weak points such as manually-operated, the preset track of needs, and had characteristics such as little, the suitable multiple material wall of volume, low-power consumption, efficient height.

Summary of the invention

Content of the present invention is design and realizes crawler belt sucked type robot for cleaning wall surfaces.

Crawler belt sucked type robot for cleaning wall surfaces in this invention is a kind of small scale robot of advancing and carrying out cleaning on the vertical surface such as glass curtain wall, ceramic tile exterior wall that can be implemented in.This robot relies on the crawler belt that sucker is housed to advance; The crawler belt sucker has function air-breathing and venting; And connect with vavuum pump simultaneously, through the work of vavuum pump being bled in sucker inside forms parital vacuum with the generation negative pressure, thereby sucker can be adsorbed on the vertical surface that provides.Breathing process between vavuum pump and the sucker is accomplished through the cam mechanism that is installed in the synchronizing wheel place; Cam mechanism has air suction structure; When each needed air-breathing sucker through the cam mechanism bottom, the valve insertion sucker that the cam promotion of cam mechanism is installed in the cam bottom carried out air-breathing.Sucker and crawler belt connect firmly, and are static relatively between sucker that has adsorbed during crawler belt is advanced and the vertical surface, and the reciprocal air-breathing and venting of sucker; Simultaneously under the driving of main drive motor; The driving wheel rotation, crawler belt work, robot car body is also along with crawler belt is advanced.The sucker that is installed on the crawler belt adopts the air valve formula that the carries structure through particular design, can exit through the lever that is installed on the sucker, when lever is in by pressure condition; Air valve structure is open; Sucker inside and atmosphere are accomplished deflation course, and sucker be not adsorbed on the hammer surface; Otherwise, then be to keep air valve structure to close, sucker inside and atmospheric isolation, sucker is in adsorbed state.Trigger the sucker leverage and mainly contain dual mode; A kind of is that robot is in the process of moving ahead; Be installed in the bulge-structure at drive wheel position place, robot car body chassis can be when sucker moves to this position extrusion lever; Another kind be robot in steering procedure, be installed in the lever flip flop equipment on two crawler belts next door, robot chassis, this lever flip flop equipment can only just can be participated in work in steering procedure; Can trigger the leverage on all crawler belt suckers that adsorbed simultaneously, venting when accomplishing these suckers.Middle part, robot chassis is provided with and turns to sucker, through the running of Electric Machine Control ball-screw, robot car body is centered on turn to the rotation of sucker axis to turn to realization.The robot car body front end is provided with supersonic sounding and feedback device, and this device is provided with safe detection range, is cornerwise half length of robot automobile body, thereby can guarantee that robot can survey barrier in good time and keep away barrier in advancing.Vaporific spray equipment, rotary broom cleaning device and scraper plate are housed on the robot car body scrape cleaning device, carry out the cleaning of metope in the time of can advancing in robot.Through many technology and multi-disciplinary fusions such as robot system function, frame for movement, motion, electronic circuit, sensor measuring and programme-control, make this robot can be implemented in reliably advancing and efficient cleaning function on the vertical surface such as glass curtain wall, ceramic tile exterior wall.

In order to realize the foregoing invention purpose; This crawler belt sucked type robot for cleaning wall surfaces mainly comprises following structure: 1. crawler belt sucker structure: the sucker that will have particular design is assemblied on the crawler belt; Condition according to sucker absorption wall; Carry out the air-breathing of sucker and venting in good time, guaranteed the synchronous operation of sucker and crawler belt, confirm the running route and the state of car load simultaneously.2. steering structure: middle part, robot chassis is provided with and turns to sucker, through the running of Electric Machine Control ball-screw, turns to the rotation of sucker axis to realize turning to of robot car body thereby robot car body is centered on.3. bleeding and deflation structure of crawler belt sucker: the air extractor of crawler belt sucker adopts gear matched and cam mechanism; Operate through the gear driven cam mechanism; Because gear matched has certain gear ratio relation, be installed in valve on the cam and can combine with the sucker valve repeatedly and carry out air-breathing; Sucker itself is designed with the lever exhaust apparatus, when sucker arrives trailing wheel with caterpillar drive, and leverage operation, sucker exhaust.4. supersonic sounding and reponse system: the detecting obstacles distance of this default be cornerwise half length of car body, guarantees that car body is turning to Shi Buhui and obstacle to touch, the normal operation of obstruction steering.

The invention has the advantages that:

(1) steering mechanism of design has overcome this robotlike and on wall, has been difficult to the difficult problem that turns to, and simple in structure, operational efficiency is high, and air valve formula sucker adsorption efficiency is high, the multi-sucker good reliability.

(2) the air-breathing and exhaust structure power of crawler belt sucker comes from main drive motor, has improved energy use efficiency, utilizes the cooperating of gear ratio and cam mechanism, lever exhaust apparatus simultaneously, has guaranteed air-breathingly to carry out with success exhaust.

(3) adopt crawler belt sucked type platform, can bear bigger load, on traditional climbing robot basis, realized the successful research and development of crawler belt sucked type wall robot, significantly improved operational efficiency with respect to existing sufficient formula.

(4) the wall absorption platform of building has higher bearing function, can be widely used in various hydraulically smooth surfaces.The scope that crawler belt sucked type platform can be promoted the use of relates to many-sides such as military affairs, national life, commercial production.

Description of drawings

Accompanying drawing 1 is a crawler belt sucked type robot for cleaning wall surfaces overall schematic;

Accompanying drawing 2 is a crawler belt sucked type robot for cleaning wall surfaces vertical view;

Accompanying drawing 3 is a crawler belt sucked type robot for cleaning wall surfaces front view;

Accompanying drawing 4 is a crawler belt sucked type robot for cleaning wall surfaces upward view;

Accompanying drawing 5 is a crawler belt sucked type cleaning wall surfaces device

Accompanying drawing 6 is a crawler belt sucked type robot for cleaning wall surfaces crawler belt sketch map;

Accompanying drawing 7 is a crawler belt sucked type robot for cleaning wall surfaces steering mechanism installation diagram;

Accompanying drawing 8 is the crawler belt sucked type robot for cleaning wall surfaces sketch map people of a steering mechanism installation diagram.

In the accompanying drawing: 1-steering mechanism, the 2-chassis, 3-is with synchronously, 4-main drive motor, 5-lever flip flop equipment, 6-steering-engine, 7-support bracket; The 8-vavuum pump, 9-vavuum pump drive motors, 10-tripod, 12-round brush support, 13-driving shaft, 14-bracing frame, 15-bearing; 16-up-down driven gear, 17-turns to driven gear, 18-up-down driving gear, 19-ball-screw, 20-diversion driving-gear, 21-central authorities sucker, 22-jump ring; The 23-sucker, the 24-synchronizing wheel, 25-is with synchronously, 26-driving wheel, 27-leading screw hold-down nut, 28-feed screw nut, 29-pad; The 30-flat head screw, 31-deflate lever, 32-steady pin, 33-rubber seal ball, 34-pressure ball spring, the 35-spring of exitting, 36-long spiro nail; The 37-seal washer, 38-screw, 39-turn to the sucker post, 40-air relief, 41-hold-down screw, 42-scraper plate; 43-compresses extension spring, 44-round brush, 45-V-belt, 46-driving gear wheel set, 47-gas wiring gear group, 48-cam mechanism.

The specific embodiment

A. the structure of crawler belt and assembling:

Shown in accompanying drawing 6, crawler belt is made up of synchronous band (25), synchronizing wheel (24), driving wheel (26), sucker assembling (23).For guaranteeing gearratio,,, sucker is realized being connected through the pressure zone spring with synchronous band in punching above the band synchronously through calculating the theoretical value of the distance between each sucker.

B. the structure of steering mechanism and assembling:

Shown in accompanying drawing 7 and accompanying drawing 8.Steering mechanism mainly by diversion driving-gear (20), turn to driven gear (17), up-down driving gear (18), up-down driven gear (16), ball-screw (19), central sucker (21), bearing (15), jump ring (22) etc. to form.Central authorities' sucker and leading screw are in the position of coaxial line, and the two connects firmly; Directly over the sucker, turn to driven gear (17) to be installed on the leading screw; What turn to the installation of driven gear (17) top is up-down driven gear (16), and this gear and feed screw nut (28) are connected through screw, and the ball that passes through of the screw mandrel of feed screw nut and ball-screw (19) reduces friction.Up-down driven gear (16) with turn to driven gear (17) all to be fixed on the fuselage chassis.Up-down driving gear (18), diversion driving-gear (20) form engagement with corresponding driven gear respectively, and are connected with the drive end of steering gear worm worm screw steering wheel (6).The jump ring (22) that bearing (15) and rigid bearing are used is installed in the leading screw upper end.

C. cleaning systems assembling

Cleaning systems comprise that vaporific spray equipment, rotary broom cleaning device and scraper plate scrape cleaning device.Cleaning mechanism is mainly by forming with the lower part: round brush (44), scraper plate (42), frame (2) etc.With round brush (44), and the scraper plate of the tailstock (42) is installed on chassis (2).Cleaning solution is by water pump ejection flushing and soak into wall; Scrub wall by round brush (44) subsequently, remove the bigger dirt of adhesive force; At last, by the residual liquid of Wiper blade (42) scraping.Adopt and wash, scrub, scrape the cleaning way of washing integration of operation, the driven by motor crawler belt rotates and realizes the continuously smooth of traveling process when cleaning.And cleaning device is preposition, helps the cleaning at dead angle, and cleaning efficiency is high.Round brush is installed in the place ahead of car body, and scraper plate is installed in the tailstock, and vestige that causes after simultaneously crawler belt being advanced and residual spot are further cleared up, and reduce because the pollution that crawler belt is advanced curtain wall is caused is more cleaned curtain wall as far as possible.

D. robot overall package:

Shown in accompanying drawing 5, go up installation synchronizing wheel (24) at the tripod (10) of the chassis that has processed (2), go up installing drive wheel (26) at bracing frame (14), will be with (3) to be installed on synchronizing wheel and the driving wheel synchronously.Deflate lever (31) side in sucker (23) is installed on lever flip flop equipment (5) on the vehicle frame, and vavuum pump (8) is installed, and vavuum pump drive motors (9) is installed simultaneously, mounting cam mechanism (48) and gas wiring gear group (47) at the synchronizing wheel place.The steering mechanism (1) shown in the accompanying drawing 8 is installed in central reaming place in chassis (2); Support bracket (7) is installed on steering mechanism (1) top; The bearing (15) of steering mechanism (1) is installed in the bearing holder (housing, cover) of support bracket (7), and steering-engine (6) is installed on the support bracket (7).Installing drive axle (13) is between driving wheel (26).Will be synchronously be installed in the chassis another side with (3) according to the step of front, front and back wheel leans on driving shaft (13) to be bound up respectively.Main drive motor (4) is installed on the chassis postmedian, and the gears engaged on gear on this motor transmission shaft and the driving shaft (13).The car body front end is installed round brush support (12), and round brush (44) is installed on the round brush support, and scraper plate (42) is installed at rear portion, car body chassis, and with holddown spring (43) scraper plate is pressed on the car body chassis (2).Supersonic sounding and feedback device and circuit control structure are installed on car body at last.

Claims (2)

1. crawler belt sucked type robot for cleaning wall surfaces possesses the function of reliably advancing and efficiently cleaning on, the vertical walls smooth, smooth at glass curtain wall, ceramic tile exterior wall etc.This robot relies on the crawler belt that sucker is housed to advance, and the crawler belt sucker connects with vavuum pump, through the inner local decompression of the air-breathing formation sucker of vavuum pump, guarantees the absorption of sucker; Sucker has the air valve through the lever venting through particular design; Be designed with in the middle of the robot chassis and turn to sucker,, robot car body is centered on turn to the rotation of sucker axis to turn to realization through the running of Electric Machine Control ball-screw; The robot car body front end is provided with supersonic sounding and feedback device, guarantees that robot can survey barrier in good time and keep away barrier in advancing; Vaporific spray equipment, rotary broom cleaning device and scraper plate are housed on the robot car body scrape cleaning device, carry out the cleaning of metope in the time of can advancing in robot.
2. a crawler belt sucked type robot for cleaning wall surfaces is characterized in that: synchronous pulley (24), synchronous band (25) and sucker group (23) formation crawler type sucker driving system; Steering mechanism (1) by ball-screw (19), up-down active and passive gear (16) and (18), turn to active and passive gear (17) and (20) to form, drive through worm and gear motor (6), have the characteristic of high pulling torque self-locking; By vavuum pump (8) and gear train (47) and cam mechanism (48), realize the distribution work of the air-breathing operating mode of sucker through the constraint gearratio; Corresponding air-release mechanism triggers the unlatching of valve by steering wheel (49) and lever flip flop equipment (5), (50), and the control sucker is the venting work in the tailstock and the steering procedure in advancing; Main devices such as round brush (44), scraper plate (42) and micro pump constitute vaporific spray equipment, rotary broom cleaning device and the scraper plate of robot and scrape the cleaning systems that cleaning device combines.Robot can by main drive motor (4) and gear reduction (46) drive synchronous pulley (24) be implemented on the vertical walls absorption with advance.
CN2012101148083A 2012-04-16 2012-04-16 Track sucker type wall surface cleaning robot CN102631173A (en)

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Cited By (28)

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Publication number Priority date Publication date Assignee Title
CN103129639A (en) * 2013-02-26 2013-06-05 西北工业大学 Cam-type negative pressure adsorption wall-climbing robot
CN103654604A (en) * 2012-09-26 2014-03-26 科沃斯机器人科技(苏州)有限公司 Window cleaning robot with air exhausting device
CN104058018A (en) * 2014-05-28 2014-09-24 苏州工业园区职业技术学院 Control system for wall-climbing robot
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US9427121B2 (en) 2012-09-26 2016-08-30 Ecovacs Robotics Co., Ltd. Glass-wiping robot having air-venting device
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CN110432817A (en) * 2019-09-19 2019-11-12 象山泛海环保科技有限责任公司 A kind of cleaning device for tempered glass outside office tower room
CN110432817B (en) * 2019-09-19 2021-02-02 广东天宏玻璃科技有限公司 Cleaning device for high-rise office building outdoor tempered glass
CN110916555A (en) * 2019-12-03 2020-03-27 陕西科技大学 Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck

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Application publication date: 20120815