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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
cleaning
sucker
area
crawler belt
tracheae
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201610284763.2A
Other languages
Chinese (zh)
Other versions
CN105942918A (en
Inventor
黄维
罗俊岭
黄诚驹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan Polytechnic University
Original Assignee
Wuhan Polytechnic University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Wuhan Polytechnic University filed Critical Wuhan Polytechnic University
Priority to CN201610284763.2A priority Critical patent/CN105942918B/en
Publication of CN105942918A publication Critical patent/CN105942918A/en
Application granted granted Critical
Publication of CN105942918B publication Critical patent/CN105942918B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00Cleaning windows
    • A47L1/02Power-driven machines or devices
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00Working measures on existing buildings
    • E04G23/002Arrangements for cleaning building facades
    • E04G23/004Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products

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

A kind of absorption type crawler belt wall-climbing cleaning robot
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)

  1. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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.
CN201610284763.2A 2016-04-29 2016-04-29 A kind of absorption type crawler belt wall-climbing cleaning robot Active CN105942918B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610284763.2A CN105942918B (en) 2016-04-29 2016-04-29 A kind of absorption type crawler belt wall-climbing cleaning robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610284763.2A CN105942918B (en) 2016-04-29 2016-04-29 A kind of absorption type crawler belt wall-climbing cleaning robot

Publications (2)

Publication Number Publication Date
CN105942918A CN105942918A (en) 2016-09-21
CN105942918B true CN105942918B (en) 2018-03-02

Family

ID=56914594

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610284763.2A Active CN105942918B (en) 2016-04-29 2016-04-29 A kind of absorption type crawler belt wall-climbing cleaning robot

Country Status (1)

Country Link
CN (1) CN105942918B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110541573A (en) * 2019-08-28 2019-12-06 南京驭逡通信科技有限公司 automatic cleaning robot for building glass curtain wall

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106983458B (en) * 2017-05-27 2019-03-15 安徽沪宁智能科技有限公司 A kind of stair climbing robot with cleaning function
CN107007196A (en) * 2017-06-14 2017-08-04 浙江工贸职业技术学院 A kind of glass cleaning device
CN107550385A (en) * 2017-08-30 2018-01-09 深圳市赛亿科技开发有限公司 A kind of glass cleaning device
CN107752897A (en) * 2017-08-30 2018-03-06 深圳市赛亿科技开发有限公司 A kind of glass cleaning device
CN108158481A (en) * 2017-12-27 2018-06-15 广东技术师范学院 A kind of building glass cleaning robot
CN107981795A (en) * 2018-01-17 2018-05-04 姜调调 A kind of practicality housework integrated tool
CN108185915A (en) * 2018-02-07 2018-06-22 陈子麒 Practical housework integration creative tools
CN108532979B (en) * 2018-04-20 2020-09-01 南京溧水高新创业投资管理有限公司 Building glass curtain wall equipment
CN108716288B (en) * 2018-06-12 2020-07-24 嘉兴市晨阳箱包有限公司 Building outer wall belt cleaning device
CN108894528B (en) * 2018-09-03 2020-10-27 延安大学 High-altitude glass cleaning machine
CN109512317B (en) * 2019-01-21 2021-03-16 鲁豪 Wiping device for glass curtain wall
CN109728778B (en) * 2019-03-05 2020-06-19 浙江国自机器人技术有限公司 Cleaning robot
CN110326995A (en) * 2019-07-22 2019-10-15 河海大学常州校区 A kind of crawler belt sucker type glass cleaning robot
CN110359721A (en) * 2019-07-25 2019-10-22 杭州幕林眼镜有限公司 A kind of vapour-pressure type window wiping systems
CN110613394B (en) * 2019-11-11 2021-04-13 河南工程学院 High-rise building cleaning robot
CN110803230A (en) * 2019-11-20 2020-02-18 西安理工大学 Bionic adhesion-absorption combined type crawler wall-climbing robot
CN110916572B (en) * 2020-01-21 2021-02-09 金陵科技学院 A wheeled vacuum chuck structure climbing clearance dolly for glass curtain wall

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2512558Y (en) * 2001-12-28 2002-09-25 吴志明 Crawler-type multiple sucking disc wall climbing robot
CN2813227Y (en) * 2005-05-21 2006-09-06 夏斌 Wall-climbing multipurpose robot
CN101440958A (en) * 2008-12-15 2009-05-27 天津大学 Ash cleaning and descaling robot for heat medium stove
CN101537620A (en) * 2009-04-20 2009-09-23 北京航空航天大学 Modular reconfigurable crawler-type wall climbing robot
CN102631173A (en) * 2012-04-16 2012-08-15 北京理工大学 Track sucker type wall surface cleaning robot

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09236688A (en) * 1996-02-29 1997-09-09 Hitachi Zosen Corp Robot for underwater operation

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2512558Y (en) * 2001-12-28 2002-09-25 吴志明 Crawler-type multiple sucking disc wall climbing robot
CN2813227Y (en) * 2005-05-21 2006-09-06 夏斌 Wall-climbing multipurpose robot
CN101440958A (en) * 2008-12-15 2009-05-27 天津大学 Ash cleaning and descaling robot for heat medium stove
CN101537620A (en) * 2009-04-20 2009-09-23 北京航空航天大学 Modular reconfigurable crawler-type wall climbing robot
CN102631173A (en) * 2012-04-16 2012-08-15 北京理工大学 Track sucker type wall surface cleaning robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110541573A (en) * 2019-08-28 2019-12-06 南京驭逡通信科技有限公司 automatic cleaning robot for building glass curtain wall

Also Published As

Publication number Publication date
CN105942918A (en) 2016-09-21

Similar Documents

Publication Publication Date Title
CN204912151U (en) High -efficient cleaning machine of carrying of bearing
CN203263305U (en) Wall robot cleaner
CN106269660A (en) A kind of automatic shaft bearing cleaning machine
CN105962858B (en) A kind of obstacle crossing type robot for cleaning external wall
CN105873489A (en) Floor-cleaning machine
CN104289483B (en) A kind of inner surface cleaning machine
CN106073623A (en) Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people
KR20110033389A (en) Pipe cleaning robot
US9439545B2 (en) Window cleaning apparatus capable of supplying power in real-time from inner unit to outer unit
CN105773638B (en) A kind of interior architecture clean robot based on parallel institution
CN206780115U (en) One kind gives steel pipe scaffold derusting mechanical brush
CN105771518B (en) Dust treatment plant in a kind of ore processing
CN204445712U (en) A kind of electric cleaner
CN106002516A (en) Novel polishing device for building
CN203816990U (en) Purifying air shower
CA2376051A1 (en) Surface-travelling mobile apparatus and cleaning apparatus using the same
CN203678770U (en) Multifunctional cleaner
CN107441863A (en) A kind of air cleaning unit of high-efficiency environment friendly
CN207222410U (en) A kind of surface cleaning apparatus of copper rod
CN207357654U (en) A kind of energy-efficient automation glass cleaning drier
CN101474628B (en) Full automatic machine for washing bottle mouth of wide neck container
CN207606031U (en) A kind of machine components cleaning device
CN107999477B (en) A kind of pipeline cleaning robot
CN104588373A (en) Bearing cleaning and drying integrated machine
CN105564390A (en) Rectangular coordinate type car washing robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant