CN103169419A - High-rise wall surface cleaning robot moving device - Google Patents
High-rise wall surface cleaning robot moving device Download PDFInfo
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- CN103169419A CN103169419A CN2013100962172A CN201310096217A CN103169419A CN 103169419 A CN103169419 A CN 103169419A CN 2013100962172 A CN2013100962172 A CN 2013100962172A CN 201310096217 A CN201310096217 A CN 201310096217A CN 103169419 A CN103169419 A CN 103169419A
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- cleaning robot
- wall surface
- steel wire
- surface cleaning
- rise wall
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Abstract
The invention discloses a high-rise wall surface cleaning robot moving device. The high-rise wall surface cleaning robot moving device comprises two steel wire ropes used for suspending a cleaning robot, wherein one ends of the steel wire ropes are connected with the cleaning robot, and the other ends of the steel wire ropes respectively winds across a pulley and are respectively wound around a winding device. The high-rise wall surface cleaning robot moving device is simple in structure, reliable in work, simple in control, light in weight, and strong in wall surface adaptive capacity. The high-rise wall surface cleaning robot moving device adopts a steel wire rope suspension mode, and the addition of a suction mechanism or a climbing mechanism is not needed due to gravity when the cleaning robot operates. Meanwhile, the high-rise wall surface cleaning robot moving device just needs to control a motor to adjust the length of each steel wire rope, and the cleaning robot can move freely in the horizontal direction and the vertical direction. The high-rise wall surface cleaning robot moving device is simple in structure and convenient to control. Each winding device adopts a worm and gear self-locking mechanism, so that when the motor is powered off by accident, the cleaning robot is kept at the original position and does not fall off.
Description
Technical field
The present invention relates to a kind of high-rise wall surface cleaning robot mechanism, specifically relate to a kind of high-rise wall surface cleaning robot mobile device, belong to the Robotics field.
Background technology
Along with the modernization in city, produced numerous skyscrapers in the city.Based on daylighting and consideration attractive in appearance, therefore many skyscrapers have also brought the cleaning problem of curtain wall all take glass curtain wall as outer decoration.The cleaning of high-lager building glass curtain wall is a heavy and dangerous job.At present, main use hoistable platform or hanging basket carrying cleaner carry out the cleaning of glass surface both at home and abroad.Not only expense is high, efficient is low manually to carry out the cleaning of high-rise, and very dangerous.The street cleaner from eminence fall, dead accident happens occasionally.The curtain wall for high rise building cleaning robot will make the people free from the high-altitude cleaning operation of danger.
At present, many based on negative-pressure adsorption or vacuum adsorption principle for the scrubbing machine people's of the outer surface of skyscraper, particularly glass curtain wall research.The most complex structure of such climbing robot, absorption reliability are poor, and along with the development of Robotics, climbing robot is towards miniaturization, the future development of lightness.But existing climbing robot particularly all is difficult to reach the requirement of washing and cleaning operation practical application to the reliability of the adaptive capacity of wall and adsorption capacity based on the robot of vacuum adsorption principle.
Summary of the invention
Be to solve the deficiencies in the prior art, the object of the present invention is to provide a kind of simple in structure, reliable operation, control is simple, lightweight, wall is adaptable high-rise wall surface cleaning robot mobile device.
For solving the problems of the technologies described above, the invention provides a kind of high-rise wall surface cleaning robot mobile device, it is characterized in that, comprise two steel wire ropes that suspend cleaning robot in midair, one end of described steel wire rope all is connected with described cleaning robot, after the other end of described steel wire rope is walked around respectively a fixed pulley, be wrapped in respectively on a winding plant.
Described winding plant comprises
By the worm screw of a drive motors driving,
With the worm gear of described worm engaging,
With the coaxial reel that is used for lay winding wire ropes that is connected of described worm gear.
Also comprise the rope guide that the steel wire rope that is wrapped on reel is led on described winding plant.
The worm and gear self-locking mechanism also is set on described winding plant.
By two respectively corresponding folding and unfoldings windings of described winding plant, two steel wire ropes thereon, the cleaning robot by two wire rope suspensionings is moved
The beneficial effect that the present invention reaches:
High-rise wall surface cleaning robot mobile device of the present invention, simple in structure, reliable operation, control simple, lightweight, wall is adaptable.
Adopt the mode of wire rope hanging, need not when making the cleaning robot operation again because of the gravity reason, the mechanism such as increase absorption or climb.
Simultaneously, the present invention only need to control the length that motor is regulated steel wire rope, can realize that machine level, vertical both direction move arbitrarily, and simple in structure, it is convenient to control.
Wherein, winding plant adopts the worm and gear self-locking mechanism, and when meeting accident the motor outage, it is motionless that cleaning robot can remain on original position, and the situation of can not falling.
Description of drawings
Fig. 1 is the mobile device overall schematic;
Fig. 2 is the winding plant schematic diagram in Fig. 1.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.Following examples only are used for technical scheme of the present invention more clearly is described, and can not limit protection scope of the present invention with this.
As shown in Figure 1, high-rise wall surface cleaning robot mobile device comprises winding plant 1,2, steel wire rope 3,4, fixed pulley 5,6.Wherein, winding plant 1,2 comprises drive motors 8, worm screw 9, worm gear 10, reel 11, rope guide 12 as shown in Figure 2.
Steel wire rope 3 one ends are connected with cleaning robot 7, after the other end is walked around fixed pulley 5, pass on the reel 11 that rope guide 12 is wrapped in winding plant 1.In like manner, steel wire rope 4 one ends are connected with cleaning robot 7, and the other end is wrapped on the reel of winding plant 2 after walking around fixed pulley 6.When safeguarding after cleaning robot 7 lands, the steel wire rope 3 that rope guide 12 can guarantee relaxed state can be on reel 11 disorderly strand.
By controlling the winding plant 1,2 of both sides, the length of regulating steel wire rope 3 and steel wire rope 4 realizes up and down, the side-to-side movement of robot 7 in perpendicular, can realize that robot 7 arrives the optional position of glass curtain metopes, cleans.Suspend robot in midair by double-steel wire rope, realize that robot moves arbitrarily at perpendicular level, vertical direction.
Winding plant 1 can be arranged on the optional position according to the actual requirements, as is installed on roof or bottom of the building, is installed on just a kind of embodiment wherein of bottom of the building in the present embodiment.
Winding plant 1,2 has the worm and gear self-locking mechanism, can realize power-off protection function.When meeting accident the motor outage, it is motionless that cleaning robot can remain on original position, and the situation of can not falling.
The above is only the preferred embodiment of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the technology of the present invention principle; can also make some improvement and distortion, these improvement and distortion also should be considered as protection scope of the present invention.
Claims (5)
1. high-rise wall surface cleaning robot mobile device, it is characterized in that, comprise two steel wire ropes that suspend cleaning robot in midair, an end of described steel wire rope all is connected with described cleaning robot, after the other end of described steel wire rope is walked around respectively a fixed pulley, be wrapped in respectively on a winding plant.
2. high-rise wall surface cleaning robot mobile device according to claim 1, is characterized in that, described winding plant comprises
By the worm screw of a drive motors driving,
With the worm gear of described worm engaging,
With the coaxial reel that is used for lay winding wire ropes that is connected of described worm gear.
3. high-rise wall surface cleaning robot mobile device according to claim 2, is characterized in that, also comprises the rope guide that the steel wire rope that is wrapped on reel is led on described winding plant.
4. high-rise wall surface cleaning robot mobile device according to claim 2, is characterized in that, the worm and gear self-locking mechanism also is set on described winding plant.
5. high-rise wall surface cleaning robot mobile device according to claim 1, is characterized in that, by two respectively corresponding folding and unfoldings windings of described winding plant, two steel wire ropes thereon, the cleaning robot by two wire rope suspensionings moved.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100962172A CN103169419A (en) | 2013-03-25 | 2013-03-25 | High-rise wall surface cleaning robot moving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013100962172A CN103169419A (en) | 2013-03-25 | 2013-03-25 | High-rise wall surface cleaning robot moving device |
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| Publication Number | Publication Date |
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| CN103169419A true CN103169419A (en) | 2013-06-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN2013100962172A Pending CN103169419A (en) | 2013-03-25 | 2013-03-25 | High-rise wall surface cleaning robot moving device |
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| CN (1) | CN103169419A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629146A (en) * | 2016-12-12 | 2017-05-10 | 山西龙舟输送机械有限公司 | Powdery material warehouse cleaning machine |
| CN109222782A (en) * | 2018-11-12 | 2019-01-18 | 阜阳市金亮涂料有限公司 | Exterior wall cleaning machine |
| CN110173124A (en) * | 2019-05-24 | 2019-08-27 | 北京史河科技有限公司 | Apparatus for work |
| CN110680225A (en) * | 2018-07-04 | 2020-01-14 | 科沃斯机器人股份有限公司 | Cleaning robot and anti-falling method thereof |
| CN113146656A (en) * | 2021-04-25 | 2021-07-23 | 上海钧工智能技术有限公司 | Urban drainage pipeline cleaning robot system and well descending operation method |
| CN114098561A (en) * | 2021-12-02 | 2022-03-01 | 湖南林宇科技发展有限公司 | Building sanitation equipment in high-rise room |
| WO2022124244A3 (en) * | 2020-12-09 | 2022-08-18 | ウラカミ合同会社 | Winch system for self-propelled device that adheres to wall surface by suction |
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| CN86202687U (en) * | 1986-04-28 | 1986-11-26 | 南昌起重设备厂 | Rope guider |
| JPH0662984A (en) * | 1992-08-24 | 1994-03-08 | Toshiba Eng & Constr Co Ltd | Cleaning device movable on wall surface |
| JPH06142011A (en) * | 1992-11-11 | 1994-05-24 | Y K Giken:Kk | Apparatus suspended from three points for automatically cleaning outer wall surface of building |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN201545647U (en) * | 2009-11-16 | 2010-08-11 | 赵红阳 | Rope guiding device |
| CN101962159A (en) * | 2010-09-30 | 2011-02-02 | 刘文富 | Self-lockable windlass for calcium carbide furnace |
| CN201809098U (en) * | 2010-08-26 | 2011-04-27 | 南通亚威机械制造有限公司 | Automatic stroke controlled winch |
| CN203138344U (en) * | 2013-03-25 | 2013-08-21 | 昆山瑞泰智能科技有限公司 | High-rise wall face cleaning robot moving device |
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2013
- 2013-03-25 CN CN2013100962172A patent/CN103169419A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86202687U (en) * | 1986-04-28 | 1986-11-26 | 南昌起重设备厂 | Rope guider |
| JPH0662984A (en) * | 1992-08-24 | 1994-03-08 | Toshiba Eng & Constr Co Ltd | Cleaning device movable on wall surface |
| JPH06142011A (en) * | 1992-11-11 | 1994-05-24 | Y K Giken:Kk | Apparatus suspended from three points for automatically cleaning outer wall surface of building |
| CN101554892A (en) * | 2009-05-08 | 2009-10-14 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot applied in tall buildings facade cleaning |
| CN201545647U (en) * | 2009-11-16 | 2010-08-11 | 赵红阳 | Rope guiding device |
| CN201809098U (en) * | 2010-08-26 | 2011-04-27 | 南通亚威机械制造有限公司 | Automatic stroke controlled winch |
| CN101962159A (en) * | 2010-09-30 | 2011-02-02 | 刘文富 | Self-lockable windlass for calcium carbide furnace |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106629146A (en) * | 2016-12-12 | 2017-05-10 | 山西龙舟输送机械有限公司 | Powdery material warehouse cleaning machine |
| CN106629146B (en) * | 2016-12-12 | 2023-05-16 | 山西龙舟输送机械有限公司 | Powder material warehouse cleaner |
| CN110680225A (en) * | 2018-07-04 | 2020-01-14 | 科沃斯机器人股份有限公司 | Cleaning robot and anti-falling method thereof |
| CN109222782A (en) * | 2018-11-12 | 2019-01-18 | 阜阳市金亮涂料有限公司 | Exterior wall cleaning machine |
| CN110173124A (en) * | 2019-05-24 | 2019-08-27 | 北京史河科技有限公司 | Apparatus for work |
| WO2022124244A3 (en) * | 2020-12-09 | 2022-08-18 | ウラカミ合同会社 | Winch system for self-propelled device that adheres to wall surface by suction |
| CN113146656A (en) * | 2021-04-25 | 2021-07-23 | 上海钧工智能技术有限公司 | Urban drainage pipeline cleaning robot system and well descending operation method |
| CN114098561A (en) * | 2021-12-02 | 2022-03-01 | 湖南林宇科技发展有限公司 | Building sanitation equipment in high-rise room |
| CN114098561B (en) * | 2021-12-02 | 2022-11-25 | 中建国信工程建设集团有限公司 | Building sanitation equipment in high-rise room |
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Application publication date: 20130626 |