CN105942918B - A kind of absorption type crawler belt wall-climbing cleaning robot - Google Patents
A kind of absorption type crawler belt wall-climbing cleaning robot Download PDFInfo
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- CN105942918B CN105942918B CN201610284763.2A CN201610284763A CN105942918B CN 105942918 B CN105942918 B CN 105942918B CN 201610284763 A CN201610284763 A CN 201610284763A CN 105942918 B CN105942918 B CN 105942918B
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- Prior art keywords
- sucker
- area
- cleaning
- crawler belt
- tracheae
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of absorption type crawler belt wall-climbing cleaning robot, including frame, crawler belt traveling mechanism, cleaning device, the cleaning device is arranged in the frame, the cleaning device includes brush deflector roll, cleaning box, annular rag, the brush deflector roll is arranged at outside the cleaning box, the cleaning box includes casing, dividing plate, casing is divided into denuded zone by the dividing plate successively, prerinse area, depth cleaning area, soak zone, extract area, the annular rag sequentially passes through the denuded zone, prerinse area, depth cleaning area, soak zone, it is set around after extracting area on the brush deflector roll.The clean robot can not only realize the walking on curtain wall by crawler belt traveling mechanism, moreover it is possible to the cleaning of curtain wall and the cleaning of rag are realized by cleaning device.
Description
Technical field
The present invention relates to specialized robot application field, specifically a kind of absorption type crawler belt wall-climbing cleaning robot.
Background technology
The rapid development of science and technology, the social life to the mankind bring very big change, various automation equipments into
For a part indispensable in human society life, the career field of all kinds of plant equipment is increasingly extensive, equipment performance also by
Unification continues to develop to diversification.From deep-sea detecting to universe exploration, robot be widely used in it is various manually can not operation
Extreme environment in, provide important help for the development of human society.The novel various modern metropolitan cities of shape are built, are more built
Higher skyscraper, all become the mark of busy city.Simultaneously, the cleaning of all kinds of buildings becomes increasingly complex,
Frequency more and more higher.Nowadays all by being accomplished manually, human needs puts down the curtain cleaning of most of high building by lift
Platform or hoist cable clean high building wall layer by layer, not only dangerous, operating efficiency but also low, and because working environment rather harsh is easily sent out
Make trouble former, have very big menace to cleaner's personal safety, high-altitude cleaning accident occurs again and again.
Along with the continuous progress in epoch, every subjects are all in the state of high speed development, robot skill in world wide
Art is at home and abroad studied more far-reaching with application, and the mankind recognize that industrial robot can be as a kind of work of production gradually
Tool is applied in real life.The applying of robot achieves very big in manufacturing industry, assembling and emerging various industrial trades
Progress, have bigger development space.
The current robot for also having some cleaning curtain walls on the market, these robots can realize the row on curtain wall
Walk, but rag can not be cleaned automatically and efficiently so that its cleaning efficiency is relatively low.
The content of the invention
The technical problem to be solved in the present invention is, there is provided a kind of absorption type crawler belt wall-climbing cleaning robot, including frame,
Crawler belt traveling mechanism, cleaning device, the cleaning device are arranged in the frame, the cleaning device include brush deflector roll,
Cleaning box, annular rag, the brush deflector roll are arranged at outside the cleaning box, the cleaning box include casing, dividing plate, it is described every
Casing is divided into denuded zone, prerinse area, depth cleaning area, soak zone, extracts area by plate successively, and the annular rag is worn successively
Cross the denuded zone, prerinse area, depth cleaning area, soak zone, extract area after be set around on the brush deflector roll.The cleaner
Device people can not only realize walking on curtain wall by crawler belt traveling mechanism, moreover it is possible to by cleaning device realize curtain wall cleaning and
The cleaning of rag.
In order to reach above-mentioned technique effect, concrete technical scheme provided by the invention is：
A kind of absorption type crawler belt wall-climbing cleaning robot, including：Frame；Crawler belt traveling mechanism, including wheel hub, walking are carried out
Band, adsorption piece, the wheel hub include wheel hub one, the wheel hub two being connected by connecting rod, and the traveling crawler is set around the wheel hub
First, on wheel hub two, the wheel hub one, wheel hub two are rotationally arranged in the frame, and the adsorption piece is arranged at the row
Walk on crawler belt and be distributed along the traveling crawler annular array；Cleaning device, it is arranged in the frame, the cleaning device bag
Include brush deflector roll, cleaning box, annular rag, the brush deflector roll is arranged at outside the cleaning box, the cleaning box include casing,
Casing is divided into denuded zone, prerinse area, depth cleaning area, soak zone, extracts area, the depth by dividing plate, the dividing plate successively
Cleaning fluid is provided with degree cleaning area, soak zone, support block, rotatable cam brush, institute are provided with the denuded zone, depth cleaning area
State prerinse area be provided with backing roll, be rotatable from stenciling head, the soak zone is provided with guide roller, rotatable brush, described to squeeze
Dry area is provided with two compression rollers of move toward one another, and the annular rag sequentially passes through the denuded zone, prerinse area, depth cleaning
Area, soak zone, it is set around after extracting area on the brush deflector roll, the annular rag is in the denuded zone, depth cleaning area
When be placed between the support block and rotatable cam brush, the annular rag is placed in the branch when being in the prerinse area
Runner and rotatable between stenciling head, the annular rag is set around the guide roller with that can revolve when being in the soak zone
Between turning brush, the annular rag is in described and is placed in when extracting area between described two compression rollers.
As the preferred of such scheme, it is described it is rotatable from stenciling head include rotary barrel, fluid chamber, bristle, nozzle,
The fluid chamber is arranged at the inside of the rotary barrel, and the bristle, nozzle are arranged at the outer circumference surface of the rotary barrel
On.
As the preferred of such scheme, the rotatable cam brush from inside to outside successively include support inner circle, cam outer shroud,
Viscous glutinous top layer.
As the preferred of such scheme, the material of the support inner circle is aluminium, and the material of the cam outer shroud is copper, described
The material on viscous glutinous top layer is nylon hook side.
As the preferred of such scheme, the adsorption piece includes sucker, and the sucker is described by supporting tracheae to be arranged at
On traveling crawler, in addition to air path controlling mechanism, the air path controlling mechanism include main tracheae, elastic tracheae, annular gas pipe, branch
Tracheae, the support tracheae includes air entry, gas vent, described to support tracheae by solenoid directional control valve to switch the air entry
With gas vent, the gas vent and atmosphere, the air entry is connected with the bronchial air inlet, the bronchus
It is laid on the traveling crawler, the annular gas pipe is sheathed on the traveling crawler, the bronchial gas outlet and institute
The air inlet for stating annular gas pipe is connected, and the gas outlet of the annular gas pipe is connected with the air inlet of the elastic tracheae, institute
The gas outlet for stating elastic tracheae is connected by universal connecting tube with the air inlet of the main tracheae, the gas outlet of the main tracheae with
Air pump is connected, and the universal connecting tube is arranged on the connecting rod.
As the preferred of such scheme, in addition to steering mechanism, the steering mechanism includes spring bearing, scalable center
Sucker, scalable peripheral sucker, the spring bearing are arranged in the frame, the scalable center sucker, scalable outer
Sucker is enclosed to be rotationally arranged in the frame by the spring bearing, the scalable peripheral sucker be arranged at it is described can
The periphery of telescoping center sucker.
As the preferred of such scheme, the scalable center sucker includes main telescopic oil cylinder, big footpath sucker, the big footpath
Sucker is arranged on the spring bearing by main telescopic oil cylinder, and it is flexible that the scalable peripheral sucker includes support bar one, pair
Oil cylinder, support bar two, path sucker, the support bar one are that the elder generation to stretch out from scalable big footpath sucker bends again again vertically
Vertical three-stage bending bar, the support bar two is " ┗ " shape bending bar to stretch out from scalable big footpath sucker, described
One end of support bar one is arranged on the spring bearing, and one end of the secondary telescopic oil cylinder is arranged at the another of the support bar one
On one end, the other end of the secondary telescopic oil cylinder is arranged on one end of the support bar two, and the path sucker is arranged at institute
On the other end for stating support bar two.
As the preferred of such scheme, the other end of the support bar two is provided with bayonet socket, and the path sucker is provided with
Hard tracheae, the periphery of the hard tracheae are provided with annular groove, and the part with annular groove is caught in institute on the hard tracheae
State in bayonet socket.
As the preferred of such scheme, the both ends of the connecting rod are equipped with direction sensor, and the support tracheae is provided with
Angular displacement sensor.
As the preferred of such scheme, the adsorption piece also includes electromagnet, and the crawler belt traveling mechanism is liftably set
It is placed in the frame.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of absorption type crawler belt wall-climbing cleaning robot provided by the invention；
Fig. 2 is the internal structure schematic diagram of cleaning device；
Fig. 3 is the rotatable structural representation from stenciling head；
Fig. 4 is the structural representation of rotatable cam brush；
Fig. 5 is the external structure schematic diagram of cleaning device；
Fig. 6 is the structural representation of crawler belt traveling mechanism；
Fig. 7 is the another structural representation of crawler belt traveling mechanism；
Fig. 8 is the structural representation of steering mechanism.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " on ", " under ", "front", "rear", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are based on side shown in the drawings
Position or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or the device or member that imply meaning
Part must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " setting " should be interpreted broadly, for example, it may be fixedly linked, set or be detachably connected, set, or one
Connect body, set.For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
As Figure 1-Figure 8, the present invention provides a kind of absorption type crawler belt wall-climbing cleaning robot, including：
(1) frame 1；
(2) crawler belt traveling mechanism, including wheel hub, traveling crawler 2, adsorption piece, the wheel hub include what is be connected by connecting rod 3
Wheel hub 1, wheel hub 2 402, the traveling crawler 2 are set around the wheel hub 1, on wheel hub 2 402, the wheel hub one
401st, wheel hub 2 402 is rotationally arranged in the frame 1, and the adsorption piece is arranged on the traveling crawler and along described
Traveling crawler annular array is distributed, and the adsorption piece includes sucker 5, and the sucker 5 is by supporting tracheae 6 to be arranged at the walking
On crawler belt 2, in addition to air path controlling mechanism, the air path controlling mechanism include main tracheae 701, elastic tracheae 702, annular gas pipe
703rd, bronchus 704, the support tracheae 6 includes air entry, gas vent, described to support tracheae by solenoid directional control valve to switch
The air entry and gas vent, the gas vent and atmosphere, the air entry are connected with the bronchial air inlet,
The bronchus 704 is laid on the traveling crawler 2, and the annular gas pipe 703 is sheathed on the traveling crawler 2, described
The gas outlet of bronchus 704 is connected with the air inlet of the annular gas pipe 703, the gas outlet of the annular gas pipe 703 and institute
The air inlet for stating elastic tracheae 702 is connected, and the gas outlet of the elastic tracheae 702 passes through universal connecting tube 17 and the main gas
The air inlet of pipe 701 is connected, and the gas outlet of the main tracheae 701 is connected with air pump, and the universal connecting tube 17 is arranged at described
On connecting rod 3；
(3) cleaning device, it is arranged in the frame 1, the cleaning device includes brush deflector roll 8, cleaning box 9, annular
Rag 10, the brush deflector roll 8 are arranged at outside the cleaning box 9, the cleaning box 9 include casing 901, dividing plate 902, it is described every
Casing 901 is divided into denuded zone A, prerinse area B, depth cleaning area C, soak zone D, extracts area E, the depth by plate 902 successively
Degree cleaning area C, is provided with cleaning fluid in the D of soak zone, provided with support block 11, rotatable convex in the denuded zone A, depth cleaning area C
Wheel brush 12, the prerinse area B are provided with backing roll 13, rotatable from stenciling head 27, the soak zone D be provided with guide roller 15,
Rotatable brush 14, two compression rollers 16 extracted area E and be provided with move toward one another, the annular rag 10 sequentially passes through described
Denuded zone A, prerinse area B, depth cleaning area C, soak zone D, extract area E after be set around on the brush deflector roll 8, the annular
Rag 10 is placed between the support block 11 and rotatable cam brush 12 when being in the denuded zone A, depth cleaning area C, institute
State and the backing roll 13 is placed in when annular rag 10 is in the prerinse area B and rotatable between stenciling head 27, it is described
Annular rag 10 is set around when being in the soak zone D between the guide roller 15 and rotatable brush 14, the annular rag
10 are placed between described two compression rollers 16 when extracting area E described in.
A kind of operation principle of absorption type crawler belt wall-climbing cleaning robot provided by the invention is：When need clean glass curtain
During wall, the absorption type crawler belt wall-climbing cleaning robot is put on curtain wall, being walked on glass curtain wall relies primarily on the suction of sucker
Gas realizes with deflating, and during air-breathing, solenoid directional control valve to support the air entry of tracheae with bronchus to be connected, and now needs to inhale
The air being attached in the sucker on glass curtain wall passes sequentially through bronchus, annular gas pipe, elastic gas through air entry from support tracheae
Pipe, universal connecting tube enter main tracheae, and siphoned away by air pump, so that sucker formation vacuum to be adsorbed, which reaches, is adsorbed onto glass
Purpose on glass curtain wall；During deflation, solenoid directional control valve make it that support the gas vent of tracheae to be connected with air waits to take off so as to realize
From sucker deflate reach depart from glass curtain wall purpose.When the absorption type crawler belt wall-climbing cleaning robot needs to advance, before
The sucker of absorption deflate successively depart from glass curtain wall, at the same time, behind again there is new sucker to be adsorbed onto glass by air-breathing successively
Glass curtain wall, as wheel hub constantly rotates, traveling crawler so as to during different sucker thereon and the when of absorption and depart from, so as to complete
Into the walking of the absorption type crawler belt wall-climbing cleaning robot.When reaching the region that glass curtain wall needs clean, crawler belt traveling machine
Structure stops advancing, and now the brush deflector roll in cleaning device starts cleaning operation with annular rag, when around being located at brush deflector roll
On annular rag section it is dirty after, this dirty section runs in cleaning box, initially enters denuded zone in cleaning box, in denuded zone
Provided with support block and rotatable cam brush, support block plays a supportive role to annular rag, on the one hand rotatable cam brush can incite somebody to action
Spot on dirty section brushes off a part, to acyclic caused by annular rag when another aspect rotatable cam brush rotates
Impact endurance test shock can also strengthen the clean effect on dirty section；Dirty section after denuded zone cleans enters back into prerinse area, in advance
In cleaning area be provided with backing roll and it is rotatable annular rag is play supporting role from stenciling head, backing roll, rotatable blowing
Brush is scrubbed when spraying cleaning fluid during rotation to dirty section, use it is rotatable from stenciling head cause do not have to
Cleaning fluid is placed in prerinse area, realizes that brush is washed in spray, so as to save cleaning fluid；It is dirty after prerinse area is cleaned
Section enters back into the depth cleaning area equipped with cleaning fluid, and the support block in the depth cleaning area plays a supportive role to annular rag, can
On the one hand rotation cam brush is scrubbed to dirty section, another aspect rotatable cam brush, which provides acyclic impact shake pendulum, to be come
Strengthen dirty section of clean effect；Dirty section after depth cleaning area is cleaned enters back into the soak zone equipped with soak, soaks
Guide roller in bleb district supports to annular rag, and rotatable brush carries out last cleaning to dirty section；What cleaning was completed
The guide roller in dirty section of soaking area, which is directed into, extracts area, and the compression roller extracted in area extracts dirty section after cleaning, from
And annular rag is constantly back and forth used, so as to increase operation rate.
Further, it is described it is rotatable from stenciling head include rotary barrel 2701, fluid chamber 2702, bristle 2703, spray
Mouth 2704, the fluid chamber 2702 are arranged at the inside of the rotary barrel 2701, and the bristle 2703, nozzle 2704 are arranged at
On the outer circumference surface of the rotary barrel 2701.In the present embodiment, the bristle is set with nozzle in a manner of group variety, described
Bristle group variety is formed by axial direction array distribution of the ring-type bristle subelement along the rotary barrel, and ring-type bristle is single
Member is distributed by circumferential annular array of the bristle along the rotary barrel to be formed；The nozzle group variety is by annular nozzle subelement along institute
The axial direction array distribution for stating rotary barrel is formed, and the annular nozzle subelement is by circumference of the nozzle along the rotary barrel
Annular array is distributed to be formed, and the nozzle subelement is set with being spaced in axial direction of the bristle subelement along the rotary barrel
Put, the nozzle in the adjacent nozzle subelement is staggered.Cleaning fluid is loaded in fluid chamber, rotary barrel rotation, works as brush
When hair will contact with dirty section of annular rag, the nozzle in the portion bristle starts ejection cleaning fluid, so as to ensure the portion
Bristle is divided to complete cleaning task.This set form causes the nozzle operation in running order bristle, and other are in
Nozzle not operation in the bristle of off working state, so as to save operating cost.
Further, the scrub end of the bristle is provided with and thickens termination.Because the scrub end of bristle is easy to wear, termination is thickened
The wearability of bristle is enhanced, meanwhile, thickening the setting of termination also makes the structure of the rotatable bristle group variety from stenciling head more
Step up to gather, improve scrubbing effect.
Further, the rotatable cam brush 12 from inside to outside successively include support inner circle 1201, cam outer shroud 1202,
Viscous glutinous top layer 1203.Rotatable cam brush uses modular construction, on the one hand causes the structure configuration of rotatable cam brush more to close
On the other hand reason make it that its manufacture and installation are more convenient so as to reach preferably cleaning compared with fruit.
Further, the material of the support inner circle is aluminium, and the material of the cam outer shroud is copper, the viscous glutinous top layer
Material is nylon hook side.The rotatable convex different piece for swinging brush enables it to obtain more excellent thing after having used unlike material
Mechanical performance is managed, is specially：Support inner circle and the material of cam outer shroud different, on the one hand can mitigate rotatable cam brush
Weight so as to increase the rotation moments of inertia, on the other hand also cause impact runout caused by the rotation of rotatable cam brush to become apparent from so as to
Pulsed vibrations are formed, reach the effect of enhancing decontamination cleaning unexpectedly；The material on viscous glutinous top layer is nylon hook side, when rotatable convex
When wheel brush is in contact with annular rag, the material of nylon hook side can be pullled glutinous floccule, scum silica frost etc. is glued on annular rag,
So as to further improve the effect of cleaning rag.
Further, in addition to steering mechanism, the steering mechanism include spring bearing 18, scalable center sucker, can
Stretched peripheral sucker, and the spring bearing 18 is arranged in the frame 1, and the scalable center sucker, scalable periphery are inhaled
Disk is rotationally arranged in the frame by the spring bearing, and the scalable peripheral sucker is arranged at described scalable
The periphery of center sucker.The steering of the absorption type crawler belt wall-climbing cleaning robot can be realized by steering mechanism, specially when need
When turning to, scalable center sucker with scalable peripheral sucker elongation absorption on glass curtain wall, then crawler belt traveling mechanism,
Cleaning device departs from glass curtain wall and turned to frame.
Further, the scalable center sucker includes main telescopic oil cylinder 1901, big footpath sucker 1902, and the big footpath is inhaled
Disk 1902 is arranged on the spring bearing 18 by main telescopic oil cylinder 1901, and the scalable peripheral sucker includes support bar one
2001st, secondary telescopic oil cylinder 2001, support bar 2 2003, path sucker 2004, the support bar 1 are from scalable big footpath
What sucker stretched out first bends again vertical three-stage bending bar again vertically, and the support bar 2 2003 is from scalable big footpath
" ┗ " shape bending bar that sucker stretches out, one end of the support bar 1 is arranged on the spring bearing 18, described
One end of secondary telescopic oil cylinder 2002 is arranged on the other end of the support bar 1, the secondary telescopic oil cylinder 2002 it is another
End is arranged on one end of the support bar 2 2003, and the path sucker 2004 is arranged at the another of the support bar 2 2003
On end.The structure make it that the radius that the steering mechanism is adsorbed when turning to is bigger, so that more steady when turning to.
Further, the other end of the support bar 2 2003 is provided with bayonet socket 21, and the path sucker is provided with hard
Tracheae 22, the periphery of the hard tracheae are provided with annular groove, and the part with annular groove is caught in described on the hard tracheae
In bayonet socket.By the way that hard tracheae to be caught in the fixation that path sucker is realized in bayonet socket on support bar two.
Further, the both ends of the connecting rod 3 are equipped with direction sensor 23, and the support tracheae 6 is provided with angular displacement
Sensor 24.When direction sensor detect with angular displacement sensor formed air-breathing angle when, now with the angular displacement sensor
Corresponding sucker enters air-breathing mode, i.e. its preparation is adsorbed onto curtain wall；When direction sensor detects and angular displacement sensor
When forming deflation angle, now the sucker corresponding with the angular displacement sensor enters air bleeding mode, i.e., it prepares to depart from curtain wall.
The collective effect of direction sensor and angular displacement sensor causes crawler belt traveling mechanism to walk sensitiveer.
Further, the adsorption piece also includes electromagnet 25, and the crawler belt traveling mechanism is liftably arranged at described
In frame.Adsorption piece includes sucker and electromagnet simultaneously so that the absorption type crawler belt wall-climbing cleaning robot can not only be in glass
Walked on curtain wall, it can also walk on the curtain wall of metal material；Crawler belt traveling mechanism is liftably arranged at the frame
On, the steering of the absorption type crawler belt wall-climbing cleaning robot can not only be conveniently realized, and when running into the curtain wall of out-of-flatness
Crawler belt traveling mechanism can be automatically adjusted to ensure the steady of complete machine.
Further, the denuded zone, prerinse area, depth cleaning area, soak zone, extract connecting tube be equipped with area
26.The cleaning of impurity in denuded zone can be realized by connecting tube, prerinse area, cleaning area is realized, soak zone, extracts liquid in area
Removing and replacing.
Although the adsorption piece of the absorption type crawler belt wall-climbing cleaning robot in the present embodiment includes sucker and electromagnet, make
It can be sucker or simply electromagnet for other embodiment adsorption piece, gas circuit not needed if being if electromagnet if adsorption piece
Controlling organization.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (10)
- A kind of 1. absorption type crawler belt wall-climbing cleaning robot, it is characterised in that including：Frame；Crawler belt traveling mechanism, including wheel hub, traveling crawler, adsorption piece, the wheel hub include wheel hub one, the wheel being connected by connecting rod Hub two, the traveling crawler are set around the wheel hub one, on wheel hub two, and the wheel hub one, wheel hub two are rotationally arranged at institute State in frame, the adsorption piece is arranged on the traveling crawler and along the traveling crawler annular spread；Cleaning device, it is arranged in the frame, the cleaning device includes brush deflector roll, cleaning box, annular rag, the brush Head deflector roll is arranged at outside the cleaning box, and the cleaning box includes casing, dividing plate, and casing is divided into removal of impurities by the dividing plate successively Area, prerinse area, depth cleaning area, soak zone, area is extracted, cleaning fluid is provided with the depth cleaning area, soak zone, it is described to remove Support block, rotatable cam brush are provided with miscellaneous area, depth cleaning area, the prerinse area is provided with backing roll, rotatable blowing Brush, the soak zone are provided with guide roller, rotatable brush, and two compression rollers extracted area and be provided with move toward one another are described Annular rag sequentially pass through the denuded zone, prerinse area, depth cleaning area, soak zone, extract area after be set around the brush On deflector roll, the annular rag is placed in the support block and rotatable cam brush when being in the denuded zone, depth cleaning area Between, the annular rag is placed in the backing roll and rotatable between stenciling head when being in the prerinse area, described Annular rag is set around between the guide roller and rotatable brush when being in the soak zone, and the annular rag is in described It is placed in when extracting area between described two compression rollers.
- 2. absorption type crawler belt wall-climbing cleaning robot according to claim 1, it is characterised in that the rotatable blowing Brush includes rotary barrel, fluid chamber, bristle, nozzle, and the fluid chamber is arranged at the inside of the rotary barrel, the brush Hair, nozzle are arranged on the outer circumference surface of the rotary barrel.
- 3. absorption type crawler belt wall-climbing cleaning robot according to claim 1, it is characterised in that the rotatable cam brush Include support inner circle, cam outer shroud, viscous glutinous top layer successively from inside to outside.
- 4. absorption type crawler belt wall-climbing cleaning robot according to claim 3, it is characterised in that the material of the support inner circle Matter is aluminium, and the material of the cam outer shroud is copper, and the material on the viscous glutinous top layer is nylon hook side.
- 5. the absorption type crawler belt wall-climbing cleaning robot according to claim any one of 1-4, it is characterised in that the absorption Part includes sucker, and the sucker is by supporting tracheae to be arranged on the traveling crawler, in addition to air path controlling mechanism, the gas Road controlling organization includes main tracheae, elastic tracheae, annular gas pipe, bronchus, and the support tracheae includes air entry, gas vent, For the support tracheae by solenoid directional control valve to switch the air entry and gas vent, the gas vent and atmosphere are described Air entry is connected with the bronchial air inlet, and the bronchus is laid on the traveling crawler, the annular gas pipe It is sheathed on the traveling crawler, the bronchial gas outlet is connected with the air inlet of the annular gas pipe, the annular The gas outlet of tracheae is connected with the air inlet of the elastic tracheae, the gas outlet of the elastic tracheae by universal connecting tube with The air inlet of the main tracheae is connected, and the gas outlet of the main tracheae is connected with air pump, and the universal connecting tube is arranged at described On connecting rod.
- 6. absorption type crawler belt wall-climbing cleaning robot according to claim 5, it is characterised in that also including steering mechanism, The steering mechanism includes spring bearing, scalable center sucker, scalable peripheral sucker, and the spring bearing is arranged at described In frame, the scalable center sucker, scalable peripheral sucker are rotationally arranged at the machine by the spring bearing On frame, the scalable peripheral sucker is arranged at the periphery of the scalable center sucker.
- 7. absorption type crawler belt wall-climbing cleaning robot according to claim 6, it is characterised in that inhale at the scalable center Disk includes main telescopic oil cylinder, big footpath sucker, and the big footpath sucker is arranged on the spring bearing by main telescopic oil cylinder, described Scalable peripheral sucker includes support bar one, secondary telescopic oil cylinder, support bar two, path sucker, and the support bar one is from can stretch What the big footpath sucker that contracts stretched out first bends again vertical three-stage bending bar again vertically, and the support bar two is from scalable big " ┗ " shape bending bar that footpath sucker stretches out, one end of the support bar one are arranged on the spring bearing, and the pair is stretched One end of contracting oil cylinder is arranged on the other end of the support bar one, and the other end of the secondary telescopic oil cylinder is arranged at the support On one end of bar two, the path sucker is arranged on the other end of the support bar two.
- 8. absorption type crawler belt wall-climbing cleaning robot according to claim 7, it is characterised in that the support bar two it is another One end is provided with bayonet socket, and the path sucker is provided with hard tracheae, and the periphery of the hard tracheae is provided with annular groove, described The part with annular groove is caught in the bayonet socket on hard tracheae.
- 9. the absorption type crawler belt wall-climbing cleaning robot according to claim any one of 6-8, it is characterised in that the connecting rod Both ends be equipped with direction sensor, the support tracheae is provided with angular displacement sensor.
- 10. the absorption type crawler belt wall-climbing cleaning robot according to claim any one of 6-8, it is characterised in that the suction Annex also includes electromagnet, and the crawler belt traveling mechanism is liftably arranged in the frame.
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| CN201610284763.2A CN105942918B (en) | 2016-04-29 | 2016-04-29 | A kind of absorption type crawler belt wall-climbing cleaning robot |
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