CN105290008B - The adaptive surface cleaning implement of self-travel type - Google Patents
The adaptive surface cleaning implement of self-travel type Download PDFInfo
- Publication number
- CN105290008B CN105290008B CN201510756899.4A CN201510756899A CN105290008B CN 105290008 B CN105290008 B CN 105290008B CN 201510756899 A CN201510756899 A CN 201510756899A CN 105290008 B CN105290008 B CN 105290008B
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- Prior art keywords
- self
- push
- arm
- slide bar
- pull rod
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- 238000004140 cleaning Methods 0.000 title claims abstract description 101
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 48
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000000605 extraction Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 238000013265 extended release Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Cleaning In General (AREA)
Abstract
The present invention discloses a kind of adaptive surface cleaning implement of self-travel type, and including cleaning unit, the cleaning unit includes brush holder and the brush body being arranged on a surface of the brush holder, further includes：Mechanical arm unit, the machinery arm unit include：Telescopic first push-rod assembly, hollow slide bar, swing arm and for limiting that the swing arm swings from lock set；It is described to include from lock set：Telescopic self-locking push-pull rod and lock pin, the axial direction of the self-locking push-pull rod and the lock pin is identical with the reference axial direction, one end of the self-locking push-pull rod and the inner wall axis connection of the slide bar, the other end of the self-locking push-pull rod and one end axis connection of the lock pin make the lock pin with the flexible stretching slide bar of the self-locking push-pull rod outside or retract in the slide bar.Consumption of natural resource, saving manpower can not overcome situations such as cleaned object body place is uneven, and vehicle driving trace is complicated and changeable, can save energy efficiently, safety and stability works the cleaning device.
Description
Technical field
The invention belongs to the clean technical fields of body surface, and in particular to a kind of adaptive flat clear of self-travel type
Device.
Background technology
Exposed body surface easily accumulates dust, animal excrements, fallen leaves or accumulated snow etc., against hand sweeping,
Work efficiency is low.For the cleaning of body surface, many cleaning devices are developed in the prior art, such as clean machine
People.But for the surface of some stay clean objects, due to the position of its placement, for example, the surface of stay clean object is to tilt
Or the unfavorable factors such as vertical and Active workings road conditions condition difference, so that these cleaning devices can not be put with security and stability
It puts on the surface of stay clean object, energy-efficient can not complete cleaning time saving and energy savingly.
The content of the invention
The above-mentioned deficiency for aiming to overcome that the prior art of the embodiment of the present invention, provides a kind of self-travel type and adaptively puts down
Face cleaning device, can efficiently cleaning objects surface.
In order to realize foregoing invention purpose, the technical solution of the embodiment of the present invention is as follows：
A kind of adaptive surface cleaning implement of self-travel type, including：Cleaning unit, the cleaning unit include brush holder and set
The brush body on a surface of the brush holder is put, is further included：Mechanical arm unit, the machinery arm unit include：Telescopic
One push-rod assembly, hollow slide bar, swing arm and for limiting that the swing arm swings from lock set, with first push-rod assembly
Axial direction on the basis of it is axial, the slide bar, the axial direction of the swing arm are identical with the reference axial direction；First push-rod assembly
One end and one end axis connection of the slide bar；The other end of the slide bar and one end axis connection of the swing arm；The swing arm
Another surface axis connection of the other end brush holder opposite with the surface for being provided with the brush body；It is described from lock set bag
It includes：The axial direction of telescopic self-locking push-pull rod and lock pin, the self-locking push-pull rod and the lock pin is identical with the reference axial direction,
One end of the self-locking push-pull rod and the inner wall axis connection of the slide bar, the other end of the self-locking push-pull rod and the lock pin
One end axis connection make the lock pin with the flexible stretching slide bar of the self-locking push-pull rod outside or retract in the slide bar.
Further, the mechanical arm unit further includes：Arm shaft；The side plate that the lock pin is mutually parallel by two pieces forms,
Sliding slot is offered on the side plate；The arm shaft is arranged on one end of the swing arm, one end of the arm shaft and the pendulum
The one side wall connection of arm, the other end of the arm shaft sequentially pass through the one side wall of the slide bar, the lock pin side plate on
Sliding slot, the lock pin another side plate on sliding slot, the slide bar another side wall and the swing arm another side wall connect
It connects.
Further, the mechanical arm unit further includes：For accommodating the principal arm of first push-rod assembly and the slide bar；
The axial direction of the principal arm is identical with the reference axial direction, the other end of first push-rod assembly and one end of the principal arm it is interior
Wall axis connection.
Further, further include：Carrier unit, the carrier unit include rotary disc assembly, and the rotary disc assembly includes：Turntable
With the principal arm connecting plate being arranged on the turntable, one end axis connection of the principal arm connecting plate and the principal arm.
Further, the rotary disc assembly further includes：Rotary base and pin are provided with location hole on the rotary base,
The rotatable turntable is provided on the rotary base；The pin be movably disposed on the turntable and with it is described
The location matches of location hole make the pin can be inserted into or extract out the location hole.
Further, the rotary disc assembly further includes：Pin servomechanism, the pin servomechanism are connected with the pin, are used
It is moved in driving the pin.
Further, the carrier unit further includes：Carrier loader is provided with the rotary base on the carrier loader.
Further, the mechanical arm unit further includes：Telescopic principal arm push-pull rod, the axial direction of the principal arm push-pull rod with
The reference axial direction is identical；The rotary disc assembly further includes：The principal arm push-pull rod connecting plate being arranged on the turntable；The master
One end of arm push-pull rod and a surface axis connection of the principal arm, the other end of the principal arm push-pull rod and the principal arm push-pull rod
Connecting plate axis connection.
Further, the carrier unit further includes：At least one location sensitive component for being arranged on the carrier loader one side,
For sensing whether the carrier unit contacts stay clean object.
Further, the location sensitive component includes：Cylinder base, telescopic rod and sensing post, one end of the cylinder base are arranged on
The one side of the carrier loader, the other end of the cylinder base are connected with one end of the telescopic rod, the cylinder base and the telescopic rod
Coaxial, the other end of the telescopic rod is connected with one end of the sensing post, the axial direction of the telescopic rod and the sensing post
Axially it is mutually perpendicular to.
Further, first push-rod assembly includes：Casing and telescopic first push rod；It opens one end of described sleeve pipe
Mouthful, the other end closing of described sleeve pipe, one end of described sleeve pipe opening is set in one end of first push rod, described sleeve pipe envelope
The one end closed and one end axis connection of the slide bar；The other end of first push rod and the inner surface axis of one end of the principal arm
Connection.
Further, the mechanical arm unit further includes：Sliding sleeve, the sliding sleeve are installed in the inside of the principal arm, and described
One push-rod assembly and the slide bar are arranged in the sliding sleeve.
Further, the mechanical arm unit further includes：Connector, the swing arm and the brush holder are connected by the connector
It connects.
Further, the connector includes：Connector pedestal and the connector stent being arranged on the connector pedestal,
By connector axis connection between the connector pedestal and the connector stent, make the connector pedestal that can be connect around described
Clutch axis rotates, and the connector pedestal is connected with the brush holder, and the other end axis of the connector stent and the swing arm connects
It connects.
Further：Limit hole is provided on the connector pedestal, is set in a side of the connector stent limited
Position column, the limited post are inserted into the limit hole.
Further, the cleaning unit further includes：Flexible axle and transmission case, the flexible axle are connected with the transmission case, are used for
Power is transmitted to the transmission case；The transmission case is connected with the brush body, for the brush body to be driven to move.
Further：At least one axle sleeve is provided on one surface of the principal arm, the flexible axle passes through the axle sleeve.
Further, the cleaning unit further includes：First traveling wheel, the second traveling wheel, the third line walk wheel and fourth line is walked
Wheel；First traveling wheel and second traveling wheel are arranged on one end of the brush holder, the position phase of first traveling wheel
For the end of the one end of second traveling wheel closer to the brush holder；Described the third line walks wheel and the fourth line is walked wheel and set
The other end in the brush holder is put, wheel is walked closer to the brush holder in the position that the fourth line walks wheel compared with described the third line
The end of the other end；The surface for being axially perpendicular to the brush holder for being provided with the brush body of first traveling wheel；It is described
The axial direction of first traveling wheel and second traveling wheel it is axially vertical, the axial direction of second traveling wheel and described the third line are walked
The axial direction of wheel is consistent, and the axial direction that the fourth line walks wheel is axial consistent with first traveling wheel.
The embodiment of the present invention has the beneficial effect that：
1st, the adaptive surface cleaning implement of the self-travel type of the embodiment of the present invention is clear by setting mechanical arm unit that can incite somebody to action
Clean unit is placed on stay clean object surface with security and stability, and time saving and energy saving, so as to reduce hand labor intensity and save people
Power cost.
2nd, the adaptive surface cleaning implement of the self-travel type of the embodiment of the present invention, by setting slide bar, swing arm and engagement
Device mechanism smoothly advances when the cleaning unit can be made to work on cleaned object body surface face, and from work-yard road conditions
Condition influences, securely and reliably.
3rd, the adaptive surface cleaning implement of the self-travel type of the embodiment of the present invention can make this certainly by setting from lock set
After the completion of cleaning, mechanical arm smoothly takes cleaning unit the adaptive surface cleaning implement of walking from cleaned object body
It descends and withdraws carrier unit, so that cleaning is accomplished.
4th, the adaptive surface cleaning implement of the self-travel type of the embodiment of the present invention by setting carrier unit, can cause
Cleaning unit is moved with the movement of carrier unit, so as to clean any position on the surface of stay clean object or cleaning
The stay clean object of any position in place.
5th, the adaptive surface cleaning implement of the self-travel type of the embodiment of the present invention is particularly suitable for cleaning solar cell
Plate, large board and its similar object.
Description of the drawings
Fig. 1 is the structure diagram of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention；
Fig. 2 is the structure of the mechanical arm unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Schematic diagram one；
Fig. 3 is the structure of the mechanical arm unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Schematic diagram two；
Fig. 4 is the structure of the mechanical arm unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Schematic diagram three；
Fig. 5 is the structure of the mechanical arm unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Schematic diagram four
Fig. 6 is the structure of the mechanical arm unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Perspective view；
Fig. 7 is the structural representation of the connector of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Figure；
Fig. 8 is showing from the structure of lock set for the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
It is intended to；
Fig. 9 is the rotary disc assembly structural representation of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Figure；
Figure 10 is the position of the carrier unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
The structure diagram of inductive component；
Figure 11 is the structure of the cleaning unit of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention
Schematic diagram.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
An embodiment of the present invention provides a kind of adaptive surface cleaning implements of self-travel type.As shown in Fig. 1~11, it is respectively
The structure diagram of the adaptive surface cleaning implement of self-travel type of one embodiment of the present invention, the structure of mechanical arm unit are shown
It is intended to one, two, three and four, the mechanical structural perspective of arm unit, the structure diagram of connector, the structural representation from lock set
Figure, rotary disc assembly structure diagram, the structure diagram of location sensitive component and the structure diagram of cleaning unit.Such as Fig. 1 institutes
Show, in a preferred embodiment, the adaptive surface cleaning implement of the self-travel type is in the state of cleaning solar panel 1
Under.
Specifically, the adaptive surface cleaning implement of the self-travel type includes：Cleaning unit 2 and mechanical arm unit 3.
Wherein, which includes：Brush holder 207 and the brush body being arranged on a surface of brush holder 207.Brush holder 207
Shape can be selected according to the shape of stay clean object.For example, when cleaning the surface of solar panel, brush holder 207 is strip；
It, can (such as brush holder 207 has with selected shape brush holder 207 matched with arc surface when stay clean object surface is arc surface
The structure of arc groove).For being cleaned to stay clean object surface, the shape of brush body matches brush body with brush holder 207, so as to
On brush holder 207.
The machinery arm unit 3 includes：Telescopic first push-rod assembly, hollow slide bar 303, swing arm 304 and for limiting
Swing arm 304 processed swing from lock set.It is axial on the basis of the axial direction of the first push-rod assembly, slide bar 303, the axial direction of swing arm 304
It is identical with reference axial direction.Specifically, first push-rod assembly includes：Casing 302 and telescopic first push rod 301.This first
Push rod 301 can realize the flexible work(of the first push rod 301 by using hydraulic column or by setting the dynamic structures such as motor
Energy.The one end open of casing 302, the other end closing of casing 302.One end that casing 302 is open is set in the first push rod 301
One end.The sealing design of the casing 302 is inserted into slide bar 303 when can be stretched out to avoid the first push rod 301 and damages.First
One end of push-rod assembly and one end axis connection of slide bar 303, specifically, in this preferred embodiment by real with lower structure
It is existing：One end and one end axis connection of slide bar 303 that casing 302 is closed.The other end of slide bar 303 and one end axis of swing arm 304 connect
It connects.Another surface axis connection of the other end of swing arm 304 brush holder 207 opposite with the surface for being provided with brush body.At this preferably
Embodiment in, swing arm 304 and the connection of brush holder 207 are by making mechanical arm unit 3 that connector 312 be set to realize.For example,
In a preferred embodiment, brush holder 207 is strip, and connector 312 is located at the center of gravity of brush holder 207 so that cleaning unit 2 by
Dynamic balance.Connector 312 includes connector pedestal 313 and the connector stent 314 being arranged on connector pedestal 313.Engagement
It is connected between device pedestal 313 and connector stent 314 by connector axis 315, makes connector pedestal 313 can be around connector axis
315 rotate.Connector pedestal 313 and brush holder 207 connect, the other end axis connection of connector stent 314 and swing arm 304.For example,
The shape of connector pedestal 313 can be concave shape, i.e., with a groove.The groove of connector pedestal 313 and the shape of brush holder 207
Shape and size matching so that brush holder 207 can be embedded in the groove of connector pedestal 313, realize 313 He of connector pedestal
The connection of brush holder 207；Meanwhile connector stent 314 and the other end axis connection of swing arm 304, so that brush holder 207 and swing arm
304 link together.It is furthermore preferred that in order to limit the angle of the rotation of connector pedestal 313, it is provided on connector pedestal 313
Limit hole 316 is provided with limited post 317 in a side of connector stent 314, and limited post 317 is inserted into limit hole 316.
When connector pedestal 313 is rotated around connector axis 315, due to limited post 317, rotatable angle has in limit hole 316
Limit so that connector pedestal 313 can only rotate in limited angle around connector axis 315.Preferably, connector pedestal 313
It can be freely rotated around the connector axis 315 in positive and negative 15 °.
The structure design of above-mentioned mechanical arm so that flexible by the first push-rod assembly can be moved with moving slide-bar 303,
So as to which the movement of swing arm 304 be driven to adjust the position of cleaning unit 2, it is made to be securely placed in stay clean object surface.
Include from lock set：Telescopic self-locking push-pull rod 305 and lock pin.The axial direction of self-locking push-pull rod 305 and lock pin with
Reference axial direction is identical.The self-locking push-pull rod 305 can be by using hydraulic column or by setting the dynamic structures such as motor come real
The Telescopic of existing self-locking push-pull rod 305.One end of self-locking push-pull rod 305 and the inner wall axis connection of slide bar 303.Self-locking push-pull rod
305 other end and one end axis connection of lock pin make lock pin as the flexible stretching slide bar 303 of self-locking push-pull rod 305 is outer or contracting
It returns in slide bar 303.In this preferred embodiment, which is made of two blocks of side plates being mutually parallel 306.Preferably, both sides
Plate 306 is linked together by lock pin 308.Meanwhile the lock pin 308 also extends through self-locking push-pull rod 305 makes self-locking push-pull rod
305 connect with lock pin.Sliding slot 307 is offered on side plate 306.Preferably, which is strip.Mechanical arm unit 3 also wraps
Include arm shaft.Arm shaft is arranged on one end of swing arm 304.One end of arm shaft is connected with the one side wall of swing arm 304, arm shaft
The other end sequentially pass through the one side wall of slide bar 303, lock pin side plate 306 on sliding slot 307, lock pin another side plate 306 on
Sliding slot 307, another side wall of slide bar 303 connects with another side wall of swing arm 304.Said structure design causes arm shaft can
The relative movement in sliding slot 307.This is realized from the function of lock set by such a way：When the self-travel type is adaptively put down
, it is necessary to which swing arm 304 is kept to stablize at the end of the cleaning of face cleaning device, swing arm 304 is avoided to turn around the connecting shaft of itself and slide bar 303
It is dynamic, so that cleaning unit 2 smoothly, is steadily removed and withdrawn from the body surface cleaned by mechanical arm unit 3；Self-locking pushes and pulls
Bar 305 is extended releases slide bar 303 by lock pin, and lock pin is made to be at least partially situated at outside slide bar 303；At this point, at least one of lock pin
Point it is located in swing arm 304, the lock pin of the part blocks swing arm 304 and rotated around the connecting shaft of itself and slide bar 303 so as to fulfill lock
The function of fixed pendulum arm 304.When self-locking push-pull rod 305 shortens and is fully retracted into pendulum lock pin in slide bar 303, at this point, lock pin is no longer
Stop that swing arm 304 is rotated around the connecting shaft of itself and slide bar 303.
In a preferred embodiment of the invention, which further includes：For accommodating the first push-rod assembly and cunning
The principal arm 309 of bar 303.The axial direction of principal arm 309 is identical with reference axial direction.One end of principal arm 309 and the first push-rod assembly it is another
Axis connection is held, specifically, the inner surface axis connection of one end of the other end and principal arm 309 of the first push rod 301 can be passed through.The principal arm
309 can play the role of support and the first push-rod assembly of protection and slide bar 303.
In a preferred embodiment of the invention, which further includes：Sliding sleeve.Sliding sleeve is installed in principal arm 309
It is internal.Preferably, which is arranged in principal arm 309 close to one end of swing arm 304.First push-rod assembly and slide bar 303 are set
In sliding sleeve.The inner surface of principal arm 309 is generally rougher, can influence the movement of slide bar 303, and the medial surface coefficient of friction of sliding sleeve
It is small, when slide bar 303 slides in sliding sleeve, friction can be reduced, resistance is reduced, and can prolong the service life.It is of course also possible to
By making its inner surface coefficient of friction small by polishing or other modes the inner surface of principal arm 309, so as to omit cunning
Set, can also bring above-mentioned advantageous effect.
In a preferred embodiment of the invention, in order to realize that cleaning unit 2 can efficiently be moved to stay clean object table
Any position in face alternatively, during cleaning, makes cleaning unit 2 in the mobile progress in a certain direction of stay clean object surface
Cleaning, the adaptive surface cleaning implement of the self-travel type can also set carrier unit 4 to move cleaning unit 2 to realize
Function.
Specifically, the carrier unit 4 includes：Carrier loader 401 and the rotary disc assembly being arranged on carrier loader 401.Wherein, should
Rotary disc assembly includes：Turntable 402 and the principal arm connecting plate 403 being arranged on turntable 402.The principal arm connecting plate 403 and principal arm 309
One end axis connection.
The rotary disc assembly further includes：The rotary base 404 and pin 405 being arranged on carrier loader 401.
Location hole 406 is provided on rotary base 404.Preferably, the quantity of the location hole 406 can be it is multiple, it is more excellent
Choosing, location hole 406 is evenly distributed on the surface of rotary base 404, for example, location hole 406 is 4, is evenly distributed on
On rotary base 404.Turntable 402 is rotatably arranged on rotary base 404, specifically, turntable 402 can turn around its center
It is dynamic.By the rotatable setting of turntable 402, mechanical arm unit 3 can be caused to be rotated with the rotation of turntable 402, so as to
The position of the mechanical arm unit 3 of adjustment, allows mechanical arm unit 3 that cleaning unit 2 is stably placed stay clean object table
Face, alternatively, mechanical arm unit 3 is made to remove cleaning unit 2 from stay clean object surface.For example, when being worked, turntable 402
Mechanical arm unit 3 is driven, which to turn to, makes covering of the fan during the mechanical work of arm unit 3 perpendicular to 401 direction of advance of carrier loader, Ran Houyun
Carrier vehicle 401 is advanced or is retreated, and mechanical arm unit 3 and cleaning unit 2 and carrier loader 401 is driven to move in the same direction, cleaning unit 2 exists
Stay clean object moves on surface, plays cleaning action.
Pin 405 is movably disposed on turntable 402 and can be inserted into pin 405 with the location matches of location hole 406
Or extraction location hole 406.Preferably, which can be by using hydraulic column or by setting the power knot such as motor
Structure realizes the Telescopic of pin 405.In a preferred embodiment of the invention, pin servomechanism 407 can also be set.Pin
Column 405 and pin servomechanism 407 connect.The pin 405 can be inserted under the driving of pin servomechanism 407 in location hole 406 will
Turntable 402 is fixed on rotary base 404.By the setting of pin 405, turntable 402 can be locked so that turntable 402 is not
It is rotated further by.For example, when the adaptive surface cleaning implement of self-travel type is ready for cleaning, mechanical arm unit 3 is with turning
After disk 402 goes to suitable position, pin 405 is inserted into location hole 406, and turntable 402 and rotary base 404 are locked, so as to
So that mechanical arm unit 3 is fixed in this direction.
In a preferred embodiment of the invention, which further includes：It is at least one to be arranged on carrier loader 401 1
The location sensitive component of side, for sensing whether carrier unit 4 contacts stay clean object.The location sensitive component can be by connecing
Sense of touch should, the distance of carrier unit 4 and stay clean object by various ways such as optoelectronic inductions, can also be compareed perceive whether
Collide stay clean object.If colliding stay clean object, carrier loader 401 is controlled to brake.
Preferably, which is one, is arranged at the headstock or the tailstock of carrier loader 401.
Preferably, which is two, is separately positioned at the headstock and the tailstock of carrier loader 401.
Preferably, which is multiple to be separately positioned on headstock, middle part and the tailstock of 401 both sides of carrier loader
Place.
In a preferred embodiment, which includes：Cylinder base 408, telescopic rod 409 and sensing post 410.Cylinder
Seat 408 is used to telescopic rod 409 being mounted on carrier loader 401.Telescopic rod 409 is used for according to carrier loader 401 and stay clean object
Distance adjust its length so that sensing post 410 can sense accurate position.Whether sensing post 410 collides for sensing
Stay clean object.One end of cylinder base 408 is arranged on the one side of carrier loader 401, the other end of cylinder base 408 and the one of telescopic rod 409
End connection.Cylinder base 408 and telescopic rod 409 are coaxial.The other end of telescopic rod 409 is connected with one end of sensing post 410.Telescopic rod
409 axial direction and the axial direction of sensing post 410 are mutually perpendicular to.Preferably, telescopic rod 409 can be by using hydraulic column or logical
It crosses and the dynamic structures such as motor is set to realize the Telescopic of telescopic rod 409.Preferably, the axially vertical ground of sensing post 410.
In an of the invention preferred embodiment, in order to which principal arm 309 is controlled to turn around the connecting shaft of itself and principal arm connecting plate 403
Dynamic, which further includes：Telescopic principal arm push-pull rod 311.The axial direction of principal arm push-pull rod 311 and reference axial direction phase
Together.The principal arm push-pull rod 311 can realize that principal arm pushes and pulls by using hydraulic column or by setting the dynamic structures such as motor
The Telescopic of bar 311.One end of the principal arm push-pull rod 311 and a surface axis connection of principal arm 309.In order to realize that principal arm pushes away
The function of pull rod 311, rotary disc assembly further include：The principal arm push-pull rod connecting plate 411 being arranged on turntable 402.The principal arm pushes and pulls
411 axis connection of the other end and principal arm push-pull rod connecting plate of bar 311.It, can by the elongation or shortening of the principal arm push-pull rod 311
Principal arm 309 to be driven to be rotated around the connecting shaft of itself and principal arm connecting plate 403, so as to by the way that principal arm push-pull rod 311 is controlled to extend
Or shorten distance come control principal arm 309 rotate angle.
In a preferred embodiment, in order to allow brush body, around the central axis of its own, the cleaning unit 2 also wraps
It includes：Flexible axle 208 and transmission case 209.Flexible axle 208 and transmission case 209 connect, for power to be transmitted to transmission case 209.Transmission case
209 connect with brush body, for brush body to be driven to move.For example, when brush body is the form of brush roll, can be made by transmission case 209
Brush roll rotates, to reach better cleaning effect.It is furthermore preferred that at least one can be provided on a surface of principal arm 309
A axle sleeve makes flexible axle 208, to limit the position of flexible axle 208, the swing of flexible axle 208 be avoided to bring security risk through axle sleeve
The problems such as.
In a preferred embodiment, in order to brush holder 207 and brush body is made more securely to be placed on stay clean object surface simultaneously
And moved on stay clean object surface with enabling brush holder 207 and brush body steady and smooth, which further includes：The first row
Walk wheel 201, the second traveling wheel 202, the third line walk wheel 203 and fourth line walk wheel 204.First traveling wheel 201 and the second traveling wheel
202 are arranged on one end of brush holder 207.There is no limit for example, can be with for the quantity of first traveling wheel 201 and the second traveling wheel 202
It is 1,2 or 3.It is furthermore preferred that the quantity of the first traveling wheel 201 is 3.Preferably, the first traveling wheel 201 and second
Traveling wheel 202 can be mounted on by first support 205 on brush holder 207.Specifically, first support 205 is arranged on brush holder 207
One end, the first traveling wheel 201 and the second traveling wheel 202 are arranged in first support 205.When the first traveling wheel 201 and the second row
When the quantity for walking wheel 202 is multiple, the first traveling wheel 201 and the second traveling wheel 202 uniformly divide in first support 205 respectively
Cloth.The position of first traveling wheel 201 is compared with the second traveling wheel 202 closer to the end of one end of brush holder 207.The third line walks wheel
203 and fourth line walk the other ends that wheel 204 is arranged on brush holder 207.The third line walks wheel 203 and fourth line is walked the quantity for taking turns 204 and do not had
It is restricted, for example, it may be 1,2 or 3.Preferably, the quantity that the third line walks wheel 203 can be multiple, fourth line
The quantity for walking wheel 204 is 1.The third line walks wheel 203 and fourth line walks wheel 204 and can be mounted on brush holder by second support 206
On 207.Specifically, second support 206 is arranged on the other end of brush holder 207, the third line walks wheel 203 and fourth line is walked wheel 204 and set
It puts in second support 206.When the third line walk wheel 203 and fourth line walk wheel 204 quantity for it is multiple when, the third line walks wheel 203
Wheel 204 is walked with fourth line to be uniformly distributed in second support 206.Wheel is walked compared with the third line in the position that fourth line walks wheel 204
203 closer to the end of the other end of brush holder 207.The brush holder 207 that being axially perpendicular to of first traveling wheel 201 is provided with brush body
One surface so that the first traveling wheel 201 can roll on the one side to connect with stay clean object surface.First traveling wheel 201
Axial direction and the second traveling wheel 202 it is axially vertical so that the second traveling wheel 202 can roll on stay clean object surface.The
The axial direction of two traveling wheels 202 walks the axial consistent of wheel 203 with the third line so that the third line walks wheel 203 can be in stay clean object table
It is rolled on face.Fourth line walks the axial consistent of axial direction and the first traveling wheel 201 of wheel 204 so that fourth line walks to take turns 204 can be
It is rolled on the one side to connect with stay clean object surface.At cleaning objects surface, brush holder 207 and brush body are placed in object to be cleaned
On body surface face, the first traveling wheel 201 and fourth line are walked wheel 204 and are located at respectively on opposite two side of stay clean object.More
Preferably, on the opposite surface in the surface of the first traveling wheel of installation 201 of first support 205 and/or, second support 206
Installation fourth line walk on the opposite surface in surface of wheel 204, other traveling wheels can also be set, the axial direction of these traveling wheels with
First traveling wheel 201, fourth line walk wheel 204 unanimously, make these traveling wheels can be in the one side to connect with stay clean object surface
Upper rolling, to play the mobile effect of auxiliary so that movement of the brush holder 207 on stay clean object surface is more stablized.It is more excellent
Choosing, other traveling wheels can also be set on a surface of the brush holder 207 for being provided with brush body, for example, above-mentioned traveling wheel can divide
Not She Zhi on brush holder 207, positioned at the both ends of brush body, be axially parallel to the brush holder for being provided with brush body 207 the one of the traveling wheel
Surface so that these traveling wheels can roll on stay clean object surface, plays the role of that brush holder 207 is aided in move.Example
Such as, when stay clean object surface is a clinoplain, the first traveling wheel 201 can be located on the top surface on stay clean object surface
And can roll on this plane, fourth line walk wheel 204 be located at stay clean object surface bottom surface on and can be on this plane
It rolls, the second traveling wheel 202 and the third line walk wheel 203 and be located at respectively on stay clean object surface and can roll on this plane
It is dynamic.
In a preferred embodiment of the invention, the adaptive surface cleaning implement of the self-travel type is also provided with controlling
System is electrically connected with the component of cleaning unit 2, mechanical arm unit 3 and carrier unit 4, so as to fulfill adaptive to the self-travel type
The electrified control of surface cleaning implement is answered, makes the adaptive surface cleaning implement of the self-travel type that there is automation.
During surface cleaning implement adaptive using the self-travel type, carrier unit 4 can be first passed through self-travel type is adaptive
Surface cleaning implement is transported to designated position；Then by the rotary disc assembly of carrier unit 4 mechanical arm unit 3 is made to turn to properly
Position, then rotary disc assembly locking；Cleaning unit 2 is placed on object to be cleaned by mechanical arm unit 3 by the modes such as rotate, stretch
Body surface face；Making cleaning unit 2 by the movement of the carrier loader 401 of carrier unit 4, movement is cleaned on stay clean object surface
Work.After the completion of cleaning, body surface of the cleaning unit 2 after having cleaned is removed by mechanical arm unit 3, is locked
Rotary disc assembly unlocks so that mechanical arm unit 3 turns to initial position and is accommodated on carrier loader 401.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc. should all be included within protection scope of the present invention.
Claims (15)
1. a kind of adaptive surface cleaning implement of self-travel type, including：Cleaning unit, the cleaning unit include brush holder and setting
Brush body on a surface of the brush holder, which is characterized in that further include：Mechanical arm unit；
The cleaning unit further includes：First traveling wheel, the second traveling wheel, the third line walk wheel, fourth line walks wheel, first support and
Second support；
First traveling wheel and second traveling wheel are arranged on one end of the brush holder by the first support, and described
The position of one traveling wheel compared with the one end of second traveling wheel closer to the brush holder end；
Described the third line walks wheel and the fourth line walks the other end that wheel is arranged on the brush holder by the second support, described
Wheel is walked closer to the end of the other end of the brush holder compared with described the third line in the position that fourth line walks wheel；
The surface for being axially perpendicular to the brush holder for being provided with the brush body of first traveling wheel；
Axially vertical, the axial direction of second traveling wheel and described of the axial direction of first traveling wheel and second traveling wheel
The third line walks the axial consistent of wheel, and the axial direction that the fourth line walks wheel is axial consistent with first traveling wheel；
The machinery arm unit includes：Telescopic first push-rod assembly, hollow slide bar, swing arm, for limiting the swing arm
The principal arm from lock set and for accommodating first push-rod assembly and the slide bar swung, with first push-rod assembly
Axial on the basis of axial direction, the slide bar, the axial direction of the swing arm are identical with the reference axial direction；
One end of first push-rod assembly and one end axis connection of the slide bar；
The other end of the slide bar and one end axis connection of the swing arm；
Another surface axis connection of the other end of the swing arm brush holder opposite with the surface for being provided with the brush body；
It is described to include from lock set：The axial direction of telescopic self-locking push-pull rod and lock pin, the self-locking push-pull rod and the lock pin
It is identical with the reference axial direction, one end of the self-locking push-pull rod and the inner wall axis connection of the slide bar, the self-locking push-pull rod
The other end and one end axis connection of the lock pin make the flexible stretching slide bar of the lock pin with the self-locking push-pull rod
In the outer or retraction slide bar；
The axial direction of the principal arm is identical with the reference axial direction, the other end of first push-rod assembly and one end of the principal arm
Inner wall axis connection；
First push-rod assembly includes：Casing and telescopic first push rod；The one end open of described sleeve pipe, described sleeve pipe
The other end is closed, and one end of described sleeve pipe opening is set in one end of first push rod, one end of described sleeve pipe closing and institute
State one end axis connection of slide bar；The other end of first push rod and the inner surface axis connection of one end of the principal arm.
2. the adaptive surface cleaning implement of self-travel type as described in claim 1, which is characterized in that the machinery arm unit is also
Including：Arm shaft；
The side plate that the lock pin is mutually parallel by two pieces forms, and sliding slot is offered on the side plate；
The arm shaft is arranged on one end of the swing arm, and one end of the arm shaft is connected with the one side wall of the swing arm, institute
State arm shaft the other end sequentially pass through the one side wall of the slide bar, the lock pin side plate on sliding slot, the lock pin
Another side wall of sliding slot, the slide bar on another side plate is connected with another side wall of the swing arm.
3. the adaptive surface cleaning implement of self-travel type as described in claim 1, which is characterized in that further include：Carrier unit,
The carrier unit includes rotary disc assembly, and the rotary disc assembly includes：Turntable and the principal arm connecting plate being arranged on the turntable,
One end axis connection of the principal arm connecting plate and the principal arm.
4. the adaptive surface cleaning implement of self-travel type as claimed in claim 3, which is characterized in that the rotary disc assembly also wraps
It includes：Rotary base and pin,
Location hole is provided on the rotary base, the rotatable turntable is provided on the rotary base；
The pin be movably disposed on the turntable and with the location matches of the location hole, can be inserted into the pin
Or the extraction location hole.
5. the adaptive surface cleaning implement of self-travel type as claimed in claim 4, which is characterized in that the rotary disc assembly also wraps
It includes：Pin servomechanism, the pin servomechanism are connected with the pin, for the pin to be driven to move.
6. the adaptive surface cleaning implement of self-travel type as claimed in claim 4, which is characterized in that the carrier unit also wraps
It includes：Carrier loader is provided with the rotary base on the carrier loader.
7. the adaptive surface cleaning implement of self-travel type as claimed in claim 3, which is characterized in that
The machinery arm unit further includes：Telescopic principal arm push-pull rod, axial direction and the reference axis of the principal arm push-pull rod
To identical；
The rotary disc assembly further includes：The principal arm push-pull rod connecting plate being arranged on the turntable；
One end of the principal arm push-pull rod and a surface axis connection of the principal arm, the other end of the principal arm push-pull rod and described
Principal arm push-pull rod connecting plate axis connection.
8. the adaptive surface cleaning implement of self-travel type as claimed in claim 6, which is characterized in that the carrier unit also wraps
It includes：Whether at least one location sensitive component for being arranged on the carrier loader one side contacts for sensing the carrier unit and treats
Cleaning objects.
9. the adaptive surface cleaning implement of self-travel type as claimed in claim 8, which is characterized in that the location sensitive component
Including：Cylinder base, telescopic rod and sensing post, one end of the cylinder base are arranged on the one side of the carrier loader, the cylinder base it is another
End is connected with one end of the telescopic rod, and the cylinder base and the telescopic rod are coaxial, the other end of the telescopic rod and the sense
The axial direction of one end connection of Ying Zhu, the axial direction of the telescopic rod and the sensing post is mutually perpendicular to.
10. the adaptive surface cleaning implement of self-travel type as described in claim 1, which is characterized in that the machinery arm unit
It further includes：Sliding sleeve, the sliding sleeve are installed in the inside of the principal arm, and first push-rod assembly and the slide bar are arranged on described
In sliding sleeve.
11. the adaptive surface cleaning implement of self-travel type as described in claim 1, which is characterized in that the machinery arm unit
It further includes：Connector, the swing arm and the brush holder are connected by the connector.
12. the adaptive surface cleaning implement of self-travel type as claimed in claim 11, which is characterized in that the connector bag
It includes：Connector pedestal and the connector stent being arranged on the connector pedestal, the connector pedestal and the connector
By connector axis connection between stent, make the connector pedestal that can be rotated around the connector axis, the connector pedestal
It is connected with the brush holder, the other end axis connection of the connector stent and the swing arm.
13. the adaptive surface cleaning implement of self-travel type as claimed in claim 12, it is characterised in that：The connector pedestal
On be provided with limit hole, limited post is provided in a side of the connector stent, the limited post is inserted into the /V
Kong Zhong.
14. the adaptive surface cleaning implement of self-travel type as described in claim 1, which is characterized in that the cleaning unit is also
Including：Flexible axle and transmission case,
The flexible axle is connected with the transmission case, for power to be transmitted to the transmission case；
The transmission case is connected with the brush body, for the brush body to be driven to move.
15. the adaptive surface cleaning implement of self-travel type as claimed in claim 14, it is characterised in that：One table of the principal arm
At least one axle sleeve is provided on face, the flexible axle passes through the axle sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510756899.4A CN105290008B (en) | 2015-11-09 | 2015-11-09 | The adaptive surface cleaning implement of self-travel type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510756899.4A CN105290008B (en) | 2015-11-09 | 2015-11-09 | The adaptive surface cleaning implement of self-travel type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105290008A CN105290008A (en) | 2016-02-03 |
| CN105290008B true CN105290008B (en) | 2018-06-01 |
Family
ID=55188215
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510756899.4A Expired - Fee Related CN105290008B (en) | 2015-11-09 | 2015-11-09 | The adaptive surface cleaning implement of self-travel type |
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| Country | Link |
|---|---|
| CN (1) | CN105290008B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105964573A (en) * | 2016-07-12 | 2016-09-28 | 河南森源重工有限公司 | Cantilever crane structure and solar cell panel cleaning vehicle |
| DE202018102726U1 (en) * | 2018-05-16 | 2019-08-19 | Franz Ehleuter | Device for cleaning smooth surfaces |
| CN108824716A (en) * | 2018-07-19 | 2018-11-16 | 安徽信康电子科技有限公司 | A kind of herringbone wayside pavilion pavilion top upper surface cleaner |
| CN114161385A (en) * | 2021-10-28 | 2022-03-11 | 湖南海森格诺信息技术有限公司 | Autonomous navigation robot for cleaning photovoltaic module |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2345082B2 (en) * | 2008-12-23 | 2011-05-31 | Rafael Maria Mendez De La Cuesta | CLEANING DEVICE FOR PHOTOVOLTAIC PANELS AND THERMOSOLAR PANELS. |
| DE202011051073U1 (en) * | 2011-03-18 | 2011-12-28 | Marcus Brand | Cleaning device for solar modules |
| ITBO20110157A1 (en) * | 2011-03-28 | 2012-09-29 | Hymach S R L | EQUIPMENT FOR CLEANING SOLAR PANELS |
| CN202105809U (en) * | 2011-05-12 | 2012-01-11 | 特变电工新疆新能源股份有限公司 | Solar panel cleaning device |
| DE202011105493U1 (en) * | 2011-09-09 | 2011-12-13 | Franz Ehleuter | Device for cleaning smooth surfaces |
| CN202803639U (en) * | 2012-09-18 | 2013-03-20 | 北京市计科能源新技术开发公司 | Automatic travelling support system of automatic washing brush head for solar panel |
| CN203227636U (en) * | 2013-05-06 | 2013-10-09 | 英利能源（中国）有限公司 | Cleaning device and cleaning vehicle comprising same |
| CN205253614U (en) * | 2015-11-09 | 2016-05-25 | 金丹 | From walking self -adaptation plane cleaning device |
-
2015
- 2015-11-09 CN CN201510756899.4A patent/CN105290008B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105290008A (en) | 2016-02-03 |
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Granted publication date: 20180601 Termination date: 20191109 |