CN105962856A - Double-suction-cup connecting rod type wall face cleaning robot - Google Patents

Double-suction-cup connecting rod type wall face cleaning robot Download PDF

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Publication number
CN105962856A
CN105962856A CN201610337874.5A CN201610337874A CN105962856A CN 105962856 A CN105962856 A CN 105962856A CN 201610337874 A CN201610337874 A CN 201610337874A CN 105962856 A CN105962856 A CN 105962856A
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CN
China
Prior art keywords
sucker
cleaning
robot
double
vacuum pump
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Pending
Application number
CN201610337874.5A
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Chinese (zh)
Inventor
柯文
李喜艳
屈春雷
李超
肖力凡
陈俊
方凡涛
卢昱华
陈建友
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Wuhan Enjoy Technology Co Ltd
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Wuhan Enjoy Technology Co Ltd
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Priority to CN201610337874.5A priority Critical patent/CN105962856A/en
Publication of CN105962856A publication Critical patent/CN105962856A/en
Pending legal-status Critical Current

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    • 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
    • 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
    • A47L11/4011Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4061Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • 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
    • 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

Abstract

The invention provides a double-suction-cup connecting rod type wall face cleaning robot and belongs to the field of specialized robots. The double-suction-cup connecting rod type wall face cleaning robot is characterized by comprising an adsorption device, a walking obstacle crossing device, a power device, a control device, a cleaning device and a safety device. The adsorption device is composed of a vacuum pump, a vacuum cavity and a suction cup. The walking obstacle crossing device is composed of a suction cup and a four-connecting-rod mechanism. Power is provided by a stepping motor and a steering engine. The control device comprises a single-chip microcomputer, a pressure sensor, an angle sensor and an infrared sensor. The cleaning device is composed of a cleaning box, cleaning cloth, a throttling valve and the like. The cleaning robot is wholly adsorbed on a wall face through the suction cups, alternate adsorption is achieved through the suction cups, and advancing wiping and obstacle crossing of the robot are achieved in cooperation with rotation of four connecting rods. The wall face cleaning robot can carry out safe and efficient cleaning work on high-rise outer walls (ceramic tiles or glass curtain walls or laid aluminum-plastic panel structures), and has the advantages of being stable in adsorption force, high in obstacle crossing capacity, high in wiping efficiency, high in wind load resistance, light, simple in structure, convenient to control and the like.

Description

A kind of Double-sucker link-type robot for cleaning wall surfaces
Technical field
The present invention relates to a kind of specialized robot of a kind of clean robot technical field, especially relate to a kind of high-rise building wall surface clean robot.
Background technology
Wall surface cleaning robot includes the huge metope of spraying of building trade, installs ceramic tile, wall cleaning and glass-cleaning robot etc., also include nuclear industry carries out visual inspection to nuclear waste storage tank, thickness measuring and seam inspection robot etc., also include that the inside and outside wall of the tank big to cylinder in petroleum chemical enterprise or spherical tank checks or derusting by sandblasting, spray paint antiseptical robot.For the wall of current building trade cleans, this kind of work is still taken hanging basket by street cleaner and is carried out work high above the ground and complete.On the one hand the work under bad environment of workman, has certain danger, and work efficiency is the lowest, on the other hand cleans a building, building and sometimes takes time-consuming tens of sky, costly, causes manual cleaning not only cost high, and efficiency is low, and extremely hazardous.The most economically consider with security standpoint, need a kind of efficient robot for cleaning wall surfaces of research and development to solve above situation.
For external wall of high-rise building robot for cleaning wall surfaces, the key technologies such as the absorption of robot, walking, obstacle detouring, location, signal transmission are the most perfect, it gets over barrier technique, distance actual application gap is bigger, and this just significantly limit the extensive application of external wall of high-rise building robot for cleaning wall surfaces.Additionally, the cleaning of external wall of high-rise building is the work high above the ground of a kind of danger.Reliability, safety that robot works are particularly significant.And its simple in construction of outdoor work environmental requirement, easy and simple to handle, there is high performance-price ratio, strong to environmental suitability, the spray coating operations of various metope can be completed, and there is stable absorption affinity, and convenient travel mechanism, stronger obstacle crossing function, low price, economy and durability, requires low to operator's technology, and working service is convenient.
The research of robot for cleaning wall surfaces is more at present, Chinese utility model patent such as Application No. CN201320885854.3, the day for announcing is 2014-07-16, describe a kind of by drive part, break-in part, absorbed portion, cleaning part, circulating part is divided, the absorption movable type of composition climbs the two-way clean robot of wall, it is conveniently adjusted direction although having and changes path, the multiple instrument and equipment of portability, there is two-way cleaning model, the advantage that work efficiency is high, but this robot architecture is complicated, screw rod and electromagnetic valve etc. are wayward, and this robot cannot realize obstacle crossing function.For another example the Chinese utility model patent of Application No. CN200920283411.0, the day for announcing is 2010-11-03, describe a kind of high-rise building external wall cleaning robot being made up of cleaning mechanism, wall adsorption mechanism, robot barrier getting over mechanism, robot support system and GPS posture tracking control system, the moving obstacle-crossing mechanism of this robot is aircraft, owing to robot is in work high above the ground, contact with wall by adsorbent equipment, after the frequent obstacle detouring of aircraft, whereabouts absorption can cause job insecurity, once falls and will result in major accident.And the control to aircraft requires higher.
Robot for cleaning wall surfaces also has some actual application at present, the winbot glass-cleaning robot sold in May, 2014 such as day undergraduate course Butterworth company.Robot is adsorbed on the glass of surface relative smooth by the way of vacuum suction by this robot, uses crawler belt to move.Winbot takes the method that " z " font cleans, and automatically detects edge, sets the shortest path of cover glass area.But this robot can only be at wiping one monolithic glass, it is impossible to cross the obstacle from one block of glass to another block glass.For another example Germany's hobot glass-cleaning robot, is bled by a vacuum motor, takes Double-sucker to adsorb and move wiping, can automatically identify edge and carry out optimum path planning, being operated by remote controller.Although its volume is the smallest and the most exquisite, weight is lighter.But it still cannot complete obstacle detouring action.
Summary of the invention
In order to solve the problems mentioned in background technology, the present invention provides that a kind of absorption affinity is stable, obstacle climbing ability strong, wiping efficiency is high, wind resistance load-carrying ability is strong, lightweight, simple in construction and Double-sucker link-type robot for cleaning wall surfaces easy to control.
To achieve these goals, the present invention is that one can completely clean the high building wall clean robot that there is 150mm × 150mm obstacle.Its primary structure includes: adsorbent equipment is 2 suckers and vacuum pump;Moving obstacle-crossing device, two suckers are connected by shaft coupling with quadric chain by steering wheel and steering wheel support, by controlling the rotary extension of double leval jib and coordinating the rotation of sucker, it is achieved the spiral walking wiping of clean robot and obstacle detouring;Power set, are provided with motor at sucker, the rotation for sucker provides power, and equipped with steering wheel at connecting rod, the rotation for connecting rod provides power;Control device and mainly include infrared detecting device, angle detection device and pressure-detecting device, be respectively mounted in position, send different control signals, detect distance of obstacle, the anglec of rotation and vacuum cavity pressure respectively;Cleaning device, is made up of cleaning box, cleaning cloth, falope ring and choke valve, it is possible to ensure that cleaning solution constantly oozes to cleaning cloth;Safety device, is made up of safety collar and safety rope.
Described adsorbent equipment, absorption affinity is provided by vacuum pump, form negative pressure in making sucker, rely on frictional force to be adsorbed on wall by robot, in wiping process, need to control the sucker pressure to wall by regulation vacuum pump rotating speed, when needs sucker suction, pressure is adjusted to maximum, when only needing little pressure adsorption to rotate wiping, pressure is adjusted to suitable scope (design parameter can be obtained by test), it is ensured that cleaning cloth is with enough pressure by wall cleaning totally.
Described moving obstacle-crossing device, at sucker, active force is provided by 2 motors, the rotation of step motor control sucker, realize helical trajectory walking, increase the area of wiping and improve wiping efficiency, power at connecting rod is provided by 3 steering wheels, and the mutually coordinated cooperation of steering wheel rotates a certain angle, to control connecting rod drive sucker advance wiping and obstacle detouring.This sucker alternating sorbent obstacle detouring mode, it is ensured that obstacle detouring is stable, adapts to wider obstacle detouring scope.
Described moving obstacle-crossing device, motor can drive entirety or cleaning deskitte to rotate, and the steering wheel on steering wheel support being fixed on upper end cover and four connecting rods are connected by shaft coupling, and drivening rod rotates, its coupling position, it is placed on vacuum pump upper end rather than side, primarily to be easily installed steering wheel, ensure sufficiently large link motion space, it is easy to obstacle detouring, and in view of Motor torque, more favourable to the design of bar length.
Described control device, infrared detecting device, when not having obstacle in the range of Sensor monitoring, level is low level, and when having monitored obstacle, level becomes high level.Surrounding four infrared sensors of each uniform installation bottom this Double-sucker link-type robot for cleaning wall surfaces sucker circular housing.Circular housing one pressure transducer of internal each installation.Equipped with photoelectric encoder on motor.Master controller can arrange ten ports to be changed for detecting level, and two ports read motor angles.And then control motor and steering wheel cooperation rotation, it is achieved and avoidance, obstacle detouring, accurately control the angle that movable end sucker rotates, control sucker pressure, it is ensured that stablize absorption.
Described cleaning device, two symmetrical cleaning boxes are arranged on inside housing cylinder, equipped with cleaning solution inside cleaning box, the mounting means of cleaning box ensure that cleaning solution the most all can flow out under gravity, the thin pipe of choke valve it is provided with outside cleaning box, the speed that cleaning solution flows out can be controlled, it is ensured that cleaning solution oozes to cleaning cloth with little flow velocity.
Described safety device, is buckled in safety collar at housing cylinder, and is connected with rope at safety collar, it is ensured that robot departs from after wall and will not overturn, and collides with wall, damages wall, ensure simultaneously robot will not Crater face, cause accident.
Described double leval jib device is detachable apparatus, replaceable to adapt to various sizes of obstacle on wall.
The Advantageous Effects of the present invention a kind of Double-sucker link-type robot for cleaning wall surfaces is: novel, practical, efficiently, can effectively solve the shortcoming that existing robot for cleaning wall surfaces obstacle climbing ability is poor, structure complicated, adsorbs and controls instability, can be mass, there is preferable promotion and use value.
Accompanying drawing explanation
Fig. 1 is the overall construction drawing of a kind of Double-sucker link-type robot for cleaning wall surfaces.
Fig. 2 is robot ambulation wiping track sketch.
Fig. 3 is this robot initial state diagram.
Fig. 4 is this robot forward travel state figure.
Fig. 5 is that this robot is away from obstacle terminal sucker obstacle detouring schematic diagram.
Fig. 6 is that this robot is away from obstacle terminal sucker obstacle detouring success schematic diagram.
Fig. 7 is that this robot is near obstacle terminal sucker obstacle detouring schematic diagram.
Fig. 8 is this robot entirety obstacle detouring success schematic diagram.
Detailed description of the invention
In conjunction with Fig. 18, the present invention is further described in detail.
Fig. 1 is the overall construction drawing of a kind of Double-sucker link-type robot for cleaning wall surfaces, this clean robot is by two suckers (11), including upper end cover (5) and bottom end cover (9), vacuum pump (4), 1 quadric chain (2), 2 motors (10) and motor decelerator (8), steering wheel support (3), 3 steering wheels (14) and steering wheel decelerator (1), cleaning box (13), choke valve (7), circular housing (12), encoder (6) and safety line (15) composition.
Fig. 2 is robot ambulation wiping track sketch, a () is robot entirety wiping run trace figure, clearly have expressed clean robot when cleaning wall, from top to bottom, from left to right, from right to left, move in circles and carry out wiping, b () is robot local wiping trajectory diagram, with the walking wiping of spiral track.This wiping track can save energy, improves wiping efficiency.
Fig. 3 is this robot initial state diagram, during work original state, makes the sucker at two ends all adsorb on wall by regulation vacuum pump, and now two circular housings are in nearest state.
Fig. 4 is this robot forward travel state figure, when cleaning starts, the sucker keeping head end is fixed on wall, by regulation vacuum pump, the suction of tail end sucker is reduced, make sucker with less pressure plaster on wall, the sucker of head end is controlled along fixation locus reciprocally swinging by a small margin now by motor and motor decelerator, make steering wheel decelerator control double leval jib by steering wheel constantly to extend simultaneously, tail end sucker is made to realize spiral advance, during Gai, step motor drive tail end sucker rotates, cleaning cloth below is driven spirally to clean, now two circular housings are in farthest state.
Fig. 5 is that this robot is away from obstacle terminal sucker obstacle detouring schematic diagram, when framework obstacle being detected by infrared sensor, vacuum pump away from obstacle end tapers off work, pressure reduces, opposite side steering wheel drivening rod is rotated up, sucker away from obstacle end is lifted to specified altitude assignment (can be according to barrier height assessment) by walking mechanism so that it is more than the highest obstacle height.
Fig. 6 is that this robot is away from obstacle terminal sucker obstacle detouring success schematic diagram, when sucker is lifted to certain altitude, motor at the sucker of obstacle end rotates, robot is made to rotate counterclockwise 180 °, clearing the jumps, steering wheel drivening rod rotates gradually downward, makes to drop down onto contact wall away from the sucker of obstacle end, vacuum pump is started working, and makes it adsorb the opposite side at obstacle.
Fig. 7 is that this robot is near obstacle terminal sucker obstacle detouring schematic diagram, when the sucker suction away from obstacle end is after the opposite side of obstacle, control the vacuum pump near obstacle end and taper off work, pressure reduces, opposite side steering wheel drivening rod is rotated up, sucker near obstacle end is lifted to specified altitude assignment (can be according to barrier height assessment) by walking mechanism so that it is more than the highest obstacle height.
Fig. 8 is this robot entirety obstacle detouring success schematic diagram, when sucker is lifted to certain altitude, motor at the sucker surmounted obstacles rotates, robot is made to rotate counterclockwise 180 °, clearing the jumps, steering wheel drivening rod rotates gradually downward, makes to drop down onto contact wall away from the sucker of obstacle end, vacuum pump is started working, and makes it adsorb the opposite side at obstacle.
The present invention can be used for the cleaning of high-rise outer (ceramic tile, glass curtain wall or lay aluminium-plastic panel structure).Owing to the double leval jib of this robot is detachable and changes, it is adapted to various sizes of barrier.Cleaning device can be changed other device such as spray equipment and detection device into, to complete the operations such as pipeline spraying, detection.
Present invention may also apply to automated cleaning stair it can also be used to automated cleaning ground.
Above-mentioned application example is only for technology design and the feature of the explanation present invention; its object is to allow person skilled in the art will appreciate that present disclosure and to be carried out; can not limit the scope of the invention; all equivalence changes made according to spirit of the invention or modification, all should contain within the scope of the present invention.

Claims (12)

1. a Double-sucker link-type robot for cleaning wall surfaces, basic machine is by two suckers (11), including upper end cover (5) and bottom end cover (9), vacuum pump (4), quadric chain (2), two motors (10) and motor decelerator (8), steering wheel support (3), three steering wheels (14) and steering wheel decelerator (1), cleaning box (13), choke valve (7), circular housing (12), encoder (6) and safety line (15) composition;Absorption affinity provides mainly by two vacuum pumps (4) being arranged on upper end cover (5) place, forms negative pressure in making sucker (11) by vacuum pump, relies on frictional force to be adsorbed on wall by robot;Double leval jib (2) is respectively connected together by three steering wheels (14) of hinge with two ends, and wherein steering wheel is arranged on the steering wheel support (3) being fixed on upper end cover (9), and above section constitutes the walking mechanism of robot;During work original state, the sucker (11) at two ends is made all to adsorb on wall by regulation vacuum pump (4), now two circular housings (12) distance is in short status, when cleaning starts, the sucker (11) keeping head end is fixed on wall, by regulation vacuum pump (4), the suction of tail end sucker (11) is reduced, make sucker with less pressure plaster on wall, the sucker (11) of head end is controlled along fixation locus reciprocally swinging by a small margin now by motor (10) and motor decelerator (8), make steering wheel decelerator (1) control double leval jib by steering wheel (14) to rotate simultaneously, increase the spacing of two tanks, tail end sucker is made to realize spiral advance, during Gai, step motor drive tail end sucker rotates, cleaning cloth (15) below is driven spirally to clean;When two circular housing distances reach the longest, by regulation vacuum pump, make the sucker suction of tail end on wall, then by regulation vacuum pump, the suction at head end sucker is reduced, make head end sucker with less pressure plaster on wall, now control the sucker of head end in fixed position reciprocally swinging by a small margin, control double leval jib constantly to shorten simultaneously, head end sucker is made to realize spiral advance, during Gai, step motor drive head end sucker rotates, cleaning cloth below is made spirally to clean, until it is the shortest to move to two circular housing distances, by regulation vacuum pump, the sucker making head end is also secured on wall, consistent with original operating state;Then repeat said process, wall is cleaned;When framework obstacle being detected by infrared sensor, the vacuum pump of tail end tapers off work, pressure reduces, opposite side steering wheel drivening rod is rotated up, the sucker of head end is lifted to specified altitude assignment (can be according to barrier height assessment) by walking mechanism, it is larger than the highest obstacle height, now the motor at tail end sucker rotates, robot is made to rotate counterclockwise 180 °, clear the jumps, steering wheel drivening rod rotates gradually downward, the sucker making head end drops down onto and touches wall, vacuum pump is started working, make the sucker suction opposite side at obstacle of head end;Now, use same principle, make the sucker of tail end surmount obstacles, return to original operating state at this, then carry out the cleaning after obstacle detouring;When building boundary obstacles being detected by infrared sensor, adjustment process is similar to the above, the most now tail end is first fixed by robot, half-twist counterclockwise, fix head end, half-twist counterclockwise again, forward next line at this to, return to original operating state, then carry out the cleaning after obstacle detouring turning.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterised in that: comprise the adsorbent equipment being made up of inside equipped with two suckers of big flow vacuum pump;Absorption affinity is provided by vacuum pump, forms negative pressure in making sucker, relies on frictional force to be adsorbed on wall by robot;Double-sucker and good sealing ring ensure that robot has stable absorption affinity.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: the main movement state of robot includes advancing and two parts of obstacle detouring, therefore power supplying apparatus, it is designed primarily at sucker place motor, control the rotation of sucker, at connecting rod, be placed with steering wheel, control the rotation of connecting rod, owing to advance wiping needs a connecting rod as driving link, and two connecting rods during obstacle detouring, are needed to control motion sucker position and attitude respectively as driving link;Therefore, have at three rod members and be placed with steering wheel, coordinated in motor process, complete advance cleaning and obstacle detouring action.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: when clean robot planar section on wall moves, one terminal sucker is fixed on wall, make other end sucker with less pressure plaster on wall by regulation vacuum pump, now by step motor control movable end sucker along fixation locus reciprocally swinging by a small margin, constantly extended by servos control double leval jib simultaneously, realize spiral advance, during Gai, step motor drive movable end sucker rotates, and drives cleaning cloth below spirally to clean.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: for whole building wall to be cleaned, this clean robot is from top to bottom, from left to right, more from right to left, move in circles and spirally clean, and the repeatable cleaning in same region, on the basis of ensureing cleaning quality, this cleaning mode greatly reduces energy expenditure, improves cleaning efficiency.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: when clean robot runs into obstacle, the sucker suction from obstacle nearer end need to be controlled on wall, it is rotated up by servos control connecting rod, certain altitude will be raised to compared with the sucker of far-end from obstacle, then the step motor control sucker at sucker is made to rotate, after going to surmount obstacles, rotated down by servos control connecting rod, sucker is made to contact wall, regulation vacuum pump makes on sucker suction and wall simultaneously, then other end sucker is lifted, adopt and carry out obstacle detouring in the same way.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: cleaning cloth is arranged on the downside of sucker, when sucker rotates, cleaning cloth starts wiping wall, and outside cleaning cloth, it is cased with rubber ring, on the one hand increase and frictional force during glass contact, on the other hand play cleaning action.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: two symmetrical cleaning boxes are arranged on inside housing cylinder, equipped with cleaning solution inside cleaning box, the mounting means of cleaning box ensure that cleaning solution the most all can flow out under gravity, the outside related thin pipe having choke valve of cleaning box, the speed that cleaning solution flows out can be controlled, it is ensured that cleaning solution oozes to cleaning cloth with little flow velocity.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: sucker and the coupling position of connecting rod, it is placed on vacuum pump upper end, on the one hand it is easily installed steering wheel, on the other hand the space that can make connecting rod lower part is bigger, it is easy to obstacle detouring, and long without increasing bar, and cause Motor torque to increase.
A kind of Double-sucker link-type robot for cleaning wall surfaces the most according to claim 1, it is characterized in that: when advance or obstacle detouring, the connecting rod cooperation that servos control is corresponding, the angle that each bar controls to rotate is through accurately calculating, when ensureing to advance with obstacle detouring, correctly coordinate.
11. a kind of Double-sucker link-type robot for cleaning wall surfaces according to claim 1, it is characterized in that: this robot is furnished with safety device, at safe latch closure housing cylinder, rope it is connected with at safety collar, on the one hand ensure that robot will not overturn after departing from wall, collide with wall, on the other hand ensure robot will not Crater face, cause accident.
12. a kind of Double-sucker link-type robot for cleaning wall surfaces according to claim 1, it is characterised in that: need external power supply, and built-in lithium battery is used as power-off protection;Do not result in robot come off even if power line is unexpected cut-off, it is ensured that the safety of work high above the ground yet.
CN201610337874.5A 2016-05-22 2016-05-22 Double-suction-cup connecting rod type wall face cleaning robot Pending CN105962856A (en)

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CN106419722A (en) * 2016-10-28 2017-02-22 唐山新禾智能科技有限公司 Automatic glass cleaning robot
CN106725081A (en) * 2017-02-06 2017-05-31 赵东来 The control method of glass-cleaning robot and its obstacle detouring pattern
CN106983436A (en) * 2017-04-25 2017-07-28 苏州花坞信息科技有限公司 A kind of glass dedusting intelligent robot
CN107049129A (en) * 2017-06-09 2017-08-18 吴为生 Domestic glass window cleaning machine
CN107981801A (en) * 2017-12-08 2018-05-04 梁平县足金机电设备有限公司 Convertible wall surface cleaner
CN108078478A (en) * 2017-12-13 2018-05-29 上海工程技术大学 A kind of intelligentized glass cleaning device and control method
CN108284886A (en) * 2017-12-21 2018-07-17 江苏大学 A kind of Double-sucker Climbing Robot walked using the mode of crossing
CN109620071A (en) * 2018-12-26 2019-04-16 深兰科技(上海)有限公司 The walking mechanism of clean robot and the traveling method of clean robot
CN109645906A (en) * 2018-12-26 2019-04-19 深兰科技(上海)有限公司 Clean 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
CN110381785A (en) * 2017-03-09 2019-10-25 阿尔弗雷德·卡赫欧洲两合公司 Window wiping robot
CN111281281A (en) * 2020-03-10 2020-06-16 杭州电子科技大学 Deformable wall surface cleaning robot and cleaning method and obstacle crossing method thereof
CN111358329A (en) * 2020-03-08 2020-07-03 太原理工大学 Cleaning robot for crossing obstacles on smooth surface
CN111685638A (en) * 2020-07-09 2020-09-22 佛山科学技术学院 Glass curtain wall obstacle crossing cleaning robot
CN111700550A (en) * 2020-06-30 2020-09-25 佛山科学技术学院 Curtain wall cleaning robot
CN111839381A (en) * 2020-07-31 2020-10-30 佛山科学技术学院 Obstacle crossing mechanism of curtain wall cleaning robot
CN111839338A (en) * 2020-07-30 2020-10-30 陈华 Building glass curtain wall cleaning robot
CN112369978A (en) * 2020-10-21 2021-02-19 山东华宇工学院 Glass curtain wall belt cleaning device
CN112401784A (en) * 2020-11-13 2021-02-26 张松周 Efficient porcelain plate cleaning equipment for outer wall of low-rise building
CN113273921A (en) * 2021-06-10 2021-08-20 河海大学 Mechanical structure of obstacle-crossing type glass cleaning robot

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CN106419722B (en) * 2016-10-28 2021-12-28 唐山新禾智能科技有限公司 Automatic glass cleaning robot
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CN112401784A (en) * 2020-11-13 2021-02-26 张松周 Efficient porcelain plate cleaning equipment for outer wall of low-rise building
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Application publication date: 20160928