CN105030144A - Curtain wall cleaning robot using wall suction movement mechanism - Google Patents
Curtain wall cleaning robot using wall suction movement mechanism Download PDFInfo
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- CN105030144A CN105030144A CN201510351723.0A CN201510351723A CN105030144A CN 105030144 A CN105030144 A CN 105030144A CN 201510351723 A CN201510351723 A CN 201510351723A CN 105030144 A CN105030144 A CN 105030144A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 title claims abstract description 38
- 238000001179 sorption measurement Methods 0.000 claims description 18
- 238000010521 absorption reaction Methods 0.000 claims description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 239000011521 glass Substances 0.000 abstract description 13
- 210000002683 foot Anatomy 0.000 description 19
- 230000009194 climbing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000002594 sorbent Substances 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010926 purge Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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Abstract
The invention provides a curtain wall cleaning robot using a wall suction movement mechanism and capable of surmounting an obstacle and freely walking or turning. By the use of a double-D multi-sucker rotary movement mechanism, on one hand, moving efficiency of a vacuum suction mechanism is improved; on the other hand, the robot is allowed to linearly move continually and quickly and continuously turn after sucking, curtain wall cleaning efficiency is greatly improved, and the problem that the existing robot has poor obstacle-surmounting capability is also solved. With high structural availability and high practicality, the robot has a promising application prospect in terms of building glass curtain wall cleaning, solar panel cleaning and the like.
Description
Technical field
The present invention relates to a kind of absorption motion and cleaning equipment thereof, especially a kind of curtain cleaning robot using wall adsorption motion.
Background technology
Glass-wall building thing extensively adopts, but it is large that it exists cleaning difficulty, the problems such as cleaning process is dangerous, cleaning efficiency is low, for solving the problem of manual cleaning, lot of domestic and international researcher and mechanism have made a lot of trial, and these designs have certain defect and deficiency.
BJ University of Aeronautics & Astronautics's robot research have developed the clean scholar in Washman blue sky and waits P series glass curtain cleaning robot, as:
A kind of window wiping robot (patent No.: ZL00201085.2), its technical characteristic adopts frame-type travel mechanism, polypody multi-sucker suction type, cleaning performance also better, intelligence degree is high, but translational speed is slow, cleaning efficiency is low, complex structure and cost is high.
A kind of eight sufficient formula glass curtain wall cleaning machine application numbers: 201420075627.9 climbing mechanisms are for carrier with a kind of eight feet walking robot havings of utility model patent a few days ago, the foot end of eight foots all arranges sucker by vavuum pump by solenoid control sucker air-breathing and venting, thus make the sucker generation negative pressure be attached on glass curtain metope reach object promptly, other suckers leaving metope do not produce negative pressure, sucker alternately promptly realizes creeping with disengaging glass curtain wall, thus has four suckers at any time promptly on glass curtain wall.
The publication number of Shanghai Communications University's development is the high building glass curtain wall purging system of CN1586384A, its technical characteristic is under the draw of hoist engine, rely on sealing mechanism, utilize double sucker negative adsorption mechanism simultaneously or alternating sorbent in glass wall, glass curtain wall is cleaned by round brush, but obstacle climbing ability is limited, and overall mass is comparatively large, and cleaning efficiency is lower.
A kind of high building glass curtain wall cleaner application number: 201320690584.0, can only rely on line slideway and gravity to complete the motion of vertical direction, can not horizontal movement, and cannot realize turning to.
The patent No. of Shaanxi Tech Univ is the robot of ZL200720031773.1, one, efficiency is low, and the alternating movement of upper and lower frame bracket cannot obtain gait of march faster; Two, stable not, this cleaning machine needs five motors, adds power supply, then weight is inevitable very large, but only has four sucker attachments on the wall when advancing, and one or two sucker may be had to lose efficacy, being easy to because frictional force drops not when arriving wall joints place.
And the patent No. of Harbin University of Science and Technology's application is the glass curtain wall cleaning machine device people of two Wire driven robot of 201220255844.7, adopts the mode of two Wire driven robot, also cannot realize the arbitrary motion at wall.
The patent No.: 200410025218.9, proposes a kind of high building curtain wall absorption cleaning device, but only proposes technical solution for local problem, cannot solve cleaning process movement fast, and comprehensive auto-steering.Patent " high building glass curtain wall cleaner system ", the patent No.: 200410053264.X, propose and a kind ofly utilize double sucker negative adsorption mechanism simultaneously or the cleaning device of alternating sorbent, have employed crossing obstacle automatically detection system, but need with cable traction in cleaning process, actual cleaning needs can not be met, cannot practicality popularization be carried out.
The common issue of above robot be can not, translational speed is slow, and cannot walk fast continuously, obstacle climbing ability is limited, cannot realize the motion of quick any direction in vertical walls.
Summary of the invention
The invention provides a kind of can obstacle detouring the curtain cleaning robot of use wall adsorption motion of freely walking.
Realize a kind of wall adsorption motion of one of the object of the invention, comprise at least one D shape gyration mechanism, described D shape gyration mechanism comprises the D shape upper plate and D shape lower plate that link together, described D shape upper plate is provided with motor, driving wheel, driven pulley and chain is provided with between described D shape upper plate and D shape lower plate, described motor drives driving wheel, and described driving wheel is rotated by chain-driving driven pulley; Described chain is fixed with multiple vacuum suction motion foot, the outer ledge of described D shape upper plate and D shape lower plate is respectively equipped with circular guideway, and described D shape upper plate is provided with pneumoelectric revolution distributor gear;
Described vacuum suction motion foot comprises the fixed mount be fixed on chain, and the inner side of described fixed mount is provided with upper and lower at least two directive wheels, and described directive wheel lays respectively on the circular guideway of D shape upper plate and D shape lower plate; The outside of described fixed mount is provided with lift cylinder and magnetic valve, and the piston rod of described lift cylinder is connected with vacuum generator, and described vacuum generator is connected with vacuum cup; Described pneumoelectric revolution distributor gear is connected with vacuum generator with lift cylinder respectively by magnetic valve, described magnetic valve controls the lifting of vacuum cup by controlling lift cylinder, described magnetic valve controls the absorption of vacuum cup by controlling vacuum generator and unclamps;
Described wall adsorption motion, comprises two D shape gyration mechanisms, and described two D shape gyration mechanisms are linked together by connecting cross beam, and the arc core of the outside camber line of two D shape gyration mechanisms overlaps.
Described D shape upper plate and D shape lower plate are linked together by bolt.
Realize a kind of curtain cleaning robot of the object of the invention two, comprise housing, be positioned at two D shape gyration mechanisms of housing, described two D shape gyration mechanisms are connected by connecting cross beam, and the arc core of the outside camber line of described two D shape gyration mechanisms overlaps; At least one round brush lift cylinder is provided with above described housing, described round brush lift cylinder is fixed with round brush shell, the round brush being provided with cleaning motor, water injector in described round brush shell and being connected with cleaning motor, the below surrounding of described round brush shell is provided with flexible Wiper blade;
Described D shape gyration mechanism comprises the D shape upper plate and D shape lower plate that link together, described D shape upper plate is provided with motor, be provided with driving wheel, driven pulley and chain between described D shape upper plate and D shape lower plate, described motor drives driving wheel, and described driving wheel is rotated by chain-driving driven pulley; Described chain is fixed with multiple vacuum suction motion foot, the outer ledge of described D shape upper plate and D shape lower plate is respectively equipped with circular guideway, and described D shape upper plate is provided with pneumoelectric revolution distributor gear;
Described vacuum suction motion foot comprises the fixed mount be fixed on chain, and the inner side of described fixed mount is provided with upper and lower two directive wheels, and described directive wheel lays respectively on the circular guideway of D shape upper plate and D shape lower plate; The outside of described fixed mount is provided with lift cylinder and magnetic valve, and the piston rod of described lift cylinder is connected with vacuum generator, and described vacuum generator is connected with vacuum cup; Described pneumoelectric revolution distributor gear is connected with vacuum generator with lift cylinder respectively by magnetic valve, described magnetic valve controls the lifting of vacuum cup by controlling lift cylinder, described magnetic valve controls the absorption of vacuum cup by controlling vacuum generator and unclamps.
Described D shape upper plate and D shape lower plate are linked together by bolt.
The beneficial effect of the curtain cleaning robot of use wall adsorption motion of the present invention is as follows:
The curtain cleaning robot of use wall adsorption motion of the present invention, adopt two D shape multi-sucker gyration mechanism, improve the sport efficiency of vacuum adsorption mechanism on the one hand, solve the problem of robot absorption rear continuous linear fast motion and continuous turning in addition on the one hand, substantially increase the operating efficiency of curtain cleaning, also solve the problem of existing robot obstacle climbing ability difference simultaneously.High, practical owing to having Fabric utilization, have great application prospect in the cleaning of building glass curtain wall and solar panel cleaning etc.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of wall adsorption motion of the present invention.
Fig. 2 is the structural representation of the vacuum suction motion foot of a kind of wall adsorption motion of the present invention.
Fig. 3 is the structural representation of a kind of curtain cleaning robot of the present invention.
Detailed description of the invention
As shown in Figure 1, a kind of wall adsorption motion of the present invention, comprise a D shape gyration mechanism, described D shape gyration mechanism comprises the D shape upper plate 1 and D shape lower plate 2 that link together, described D shape upper plate 1 is provided with motor 4, be provided with driving wheel 5, driven pulley 7 and chain 6 between described D shape upper plate 1 and D shape lower plate 2, described motor 4 drives driving wheel 5, and described driving wheel 5 drives driven pulley 7 to rotate by chain 6; Described chain 6 is fixed with multiple vacuum suction motion foot 3, the outer ledge of described D shape upper plate 1 and D shape lower plate 2 is respectively equipped with circular guideway 8, and described D shape upper plate 1 is provided with pneumoelectric revolution distributor gear 9;
As shown in Figure 2, described vacuum suction motion foot 3 comprises the fixed mount 31 be fixed on chain 6, and the inner side of described fixed mount 31 is provided with upper and lower at least two directive wheels 32, and described directive wheel 32 lays respectively on the circular guideway 8 of D shape upper plate 1 and D shape lower plate 2; The outside of described fixed mount 31 is provided with lift cylinder 33 and magnetic valve 34, and the piston rod of described lift cylinder 33 is connected with vacuum generator 35, and described vacuum generator 35 is connected with vacuum cup 36; Described pneumoelectric revolution distributor gear 9 is connected with vacuum generator 35 with lift cylinder 33 respectively by magnetic valve 34, described magnetic valve 34 controls the lifting of vacuum cup 36 by controlling lift cylinder 33, described magnetic valve 34 controls the absorption of vacuum cup 26 by controlling vacuum generator 35 and unclamps.Described D shape upper plate 1 and D shape lower plate 2 are linked together by bolt.
Described wall adsorption motion, can also comprise two D shape gyration mechanisms, and described two D shape gyration mechanisms are linked together by connecting cross beam, and the arc core of the outside camber line of two D shape gyration mechanisms overlaps.
Described pneumoelectric revolution distributor gear is that pivotal vacuum movement adsorbs sufficient air feed and power supply.Control system connects vacuum generator for the formation of vacuum by magnetic valve, to realize the absorption of vacuum cup and to unclamp, magnetic valve also controls lift cylinder, by air-breathing and the lifting realizing lift cylinder of exitting of lift cylinder, thus drive the lifting of vacuum cup, its gases at high pressure connect to each vacuum suction motion foot by pneumoelectric revolution distributor gear, control system passes through Controlling solenoid valve, the lifting of further control vacuum suction motion foot and vacuum, when robot needs rectilinear motion, vacuum suction foot outside circular arc is lifted by control system, not with surface contact, and the vacuum suction foot of straight sides lifts successively at two ends and falls, realize continuous linear motion, when robot needs gyration, the vacuum suction motion foot that control system controls circular arc side puts down, and the vacuum suction motion foot of straight sides rises, rely on the motion of the vacuum suction of camber line side foot to lift successively at two ends and put down and produce continuous turning motion.
As shown in Figure 3, a kind of curtain cleaning robot of the present invention, comprises housing 12, is positioned at two D shape gyration mechanisms 10 of housing 12, described two D shape gyration mechanisms 10 are connected by connecting cross beam 11, and the arc core of the outside camber line of two D shape gyration mechanisms 10 overlaps.At least one round brush lift cylinder 13 is provided with above described housing 12, described round brush lift cylinder 13 is fixed with round brush shell 14, the round brush 15 being provided with cleaning motor, water injector in described round brush shell 14 and being connected with cleaning motor, the below surrounding of described round brush shell 14 is provided with flexible Wiper blade.
Round brush, cleaning motor, water injector and flexible Wiper blade are in order to scrape dry and to reclaim addle, and when round brush lift cylinder control round brush shell puts down, moving surface of can fitting completes the cleaning of wall efficiently.
The present invention due to have employed symmetric arrays two D shape motion slew gears after, vacuum suction motion can with under the control of system, realize the continuous motion of straight line and the continuous motion of turning, substantially increase sport efficiency and speed, when vacuum cup motion foot lifts, can leaping over obstacles, in addition, owing to have employed multiple vacuum suction motion foot, for the load capacity of robot provides redundancy, therefore several vacuum cup motion foot can be allowed to lift leaping over obstacles or cannot vacuum surface be adsorbed on, substantially increase obstacle climbing ability and the security performance of system.
Embodiment recited above is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; do not departing under the present invention designs spiritual prerequisite; the various distortion that the common engineers and technicians in this area make technical solution of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (5)
1. a wall adsorption motion, it is characterized in that: comprise at least one D shape gyration mechanism, described D shape gyration mechanism comprises the D shape upper plate and D shape lower plate that link together, described D shape upper plate is provided with motor, driving wheel, driven pulley and chain is provided with between described D shape upper plate and D shape lower plate, described motor drives driving wheel, and described driving wheel is rotated by chain-driving driven pulley; Described chain is fixed with multiple vacuum suction motion foot, the outer ledge of described D shape upper plate and D shape lower plate is respectively equipped with circular guideway, and described D shape upper plate is provided with pneumoelectric revolution distributor gear.
2. a kind of wall adsorption motion according to claim 1, it is characterized in that: described vacuum suction motion foot comprises the fixed mount be fixed on chain, the inner side of described fixed mount is provided with upper and lower at least two directive wheels, and described directive wheel lays respectively on the circular guideway of D shape upper plate and D shape lower plate; The outside of described fixed mount is provided with lift cylinder and magnetic valve, and the piston rod of described lift cylinder is connected with vacuum generator, and described vacuum generator is connected with vacuum cup; Described pneumoelectric revolution distributor gear is connected with vacuum generator with lift cylinder respectively by magnetic valve, described magnetic valve controls the lifting of vacuum cup by controlling lift cylinder, described magnetic valve controls the absorption of vacuum cup by controlling vacuum generator and unclamps.
3. a kind of wall adsorption motion according to claim 1, it is characterized in that: comprise two D shape gyration mechanisms, described two D shape gyration mechanisms are linked together by connecting cross beam, and the arc core of the outside camber line of two D shape gyration mechanisms overlaps.
4. a kind of wall adsorption motion according to claim 1 and 2, is characterized in that: described D shape upper plate and D shape lower plate are linked together by bolt.
5. a curtain cleaning robot, it is characterized in that: comprise housing, be positioned at two D shape gyration mechanisms of housing, described two D shape gyration mechanisms are connected by connecting cross beam, and the arc core of the outside camber line of described two D shape gyration mechanisms overlaps; At least one round brush lift cylinder is provided with above described housing, described round brush lift cylinder is fixed with round brush shell, the round brush being provided with cleaning motor, water injector in described round brush shell and being connected with cleaning motor, the below surrounding of described round brush shell is provided with flexible Wiper blade;
Described D shape gyration mechanism comprises the D shape upper plate and D shape lower plate that link together, described D shape upper plate is provided with motor, be provided with driving wheel, driven pulley and chain between described D shape upper plate and D shape lower plate, described motor drives driving wheel, and described driving wheel is rotated by chain-driving driven pulley; Described chain is fixed with multiple vacuum suction motion foot, the outer ledge of described D shape upper plate and D shape lower plate is respectively equipped with circular guideway, and described D shape upper plate is provided with pneumoelectric revolution distributor gear;
Described vacuum suction motion foot comprises the fixed mount be fixed on chain, and the inner side of described fixed mount is provided with upper and lower two directive wheels, and described directive wheel lays respectively on the circular guideway of D shape upper plate and D shape lower plate; The outside of described fixed mount is provided with lift cylinder and magnetic valve, and the piston rod of described lift cylinder is connected with vacuum generator, and described vacuum generator is connected with vacuum cup; Described pneumoelectric revolution distributor gear is connected with vacuum generator with lift cylinder respectively by magnetic valve, described magnetic valve controls the lifting of vacuum cup by controlling lift cylinder, described magnetic valve controls the absorption of vacuum cup by controlling vacuum generator and unclamps.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510351723.0A CN105030144A (en) | 2015-06-24 | 2015-06-24 | Curtain wall cleaning robot using wall suction movement mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510351723.0A CN105030144A (en) | 2015-06-24 | 2015-06-24 | Curtain wall cleaning robot using wall suction movement mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN107157411A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | Adsorb the cleaning robot of climbing mechanism and absorption glass curtain wall |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
| CN108820063A (en) * | 2018-07-13 | 2018-11-16 | 中国电子科技集团公司第二十研究所 | Combined sucking disc device |
| CN109077655A (en) * | 2018-10-30 | 2018-12-25 | 河海大学常州校区 | A kind of cleaning robot for high-building external wall |
| CN110029801A (en) * | 2018-01-12 | 2019-07-19 | 中科院微电子研究所昆山分所 | A kind of spray equipment |
| CN110089972A (en) * | 2019-03-06 | 2019-08-06 | 上海逍森自动化科技有限公司 | The glass-wall cleaning robot of plane motion |
| CN111150322A (en) * | 2019-12-30 | 2020-05-15 | 邓冰冰 | Glass cleaning machine |
| CN114313049A (en) * | 2022-01-26 | 2022-04-12 | 中科特检机器人科技(北京)有限公司 | Sucking disc assembly for multi-foot wall climbing robot |
| CN114379667A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot curtain wall cleaning robot capable of crossing obstacles |
| CN114379663A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot wall-climbing robot moving chassis capable of crossing obstacles |
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| CN204862949U (en) * | 2015-06-24 | 2015-12-16 | 苑雪山 | Wall adsorbs motion and curtain cleaning robot |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN107157411A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | Adsorb the cleaning robot of climbing mechanism and absorption glass curtain wall |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN110029801A (en) * | 2018-01-12 | 2019-07-19 | 中科院微电子研究所昆山分所 | A kind of spray equipment |
| CN110029801B (en) * | 2018-01-12 | 2021-03-19 | 昆山微电子技术研究院 | Spraying device |
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
| CN108820063A (en) * | 2018-07-13 | 2018-11-16 | 中国电子科技集团公司第二十研究所 | Combined sucking disc device |
| CN109077655A (en) * | 2018-10-30 | 2018-12-25 | 河海大学常州校区 | A kind of cleaning robot for high-building external wall |
| CN109077655B (en) * | 2018-10-30 | 2020-11-10 | 河海大学常州校区 | High-rise outer wall cleaning robot |
| CN110089972A (en) * | 2019-03-06 | 2019-08-06 | 上海逍森自动化科技有限公司 | The glass-wall cleaning robot of plane motion |
| CN110089972B (en) * | 2019-03-06 | 2023-05-30 | 上海逍森自动化科技有限公司 | Curtain wall cleaning robot with plane motion and control method thereof |
| CN111150322A (en) * | 2019-12-30 | 2020-05-15 | 邓冰冰 | Glass cleaning machine |
| CN114313049A (en) * | 2022-01-26 | 2022-04-12 | 中科特检机器人科技(北京)有限公司 | Sucking disc assembly for multi-foot wall climbing robot |
| CN114379667A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot curtain wall cleaning robot capable of crossing obstacles |
| CN114379663A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot wall-climbing robot moving chassis capable of crossing obstacles |
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