CN105962858B - A kind of obstacle crossing type robot for cleaning external wall - Google Patents

A kind of obstacle crossing type robot for cleaning external wall Download PDF

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Publication number
CN105962858B
CN105962858B CN201610506212.6A CN201610506212A CN105962858B CN 105962858 B CN105962858 B CN 105962858B CN 201610506212 A CN201610506212 A CN 201610506212A CN 105962858 B CN105962858 B CN 105962858B
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CN
China
Prior art keywords
robot
adsorption
obstacle
sucker
bar
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CN201610506212.6A
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Chinese (zh)
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CN105962858A (en
Inventor
卢清华
黄铭贤
孙海韵
李锦豪
林子荣
柯国超
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Zhuhai hexinzhimei Construction Technology Co., Ltd
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Foshan University
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Publication of CN105962858A publication Critical patent/CN105962858A/en
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Classifications

    • 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
    • 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
    • A47L11/40Parts 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
    • 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
    • A47L11/408Means for supplying cleaning or surface treating agents
    • A47L11/4088Supply pumps; Spraying devices; Supply conduits
    • 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
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04Automatic control of the travelling movement; Automatic obstacle detection

Abstract

The present invention provides a kind of obstacle crossing type robot for cleaning external wall, including:Robot body, and the barrier getting over mechanism and cleaning mechanism that are installed on robot body;The barrier getting over mechanism includes the obstacle-surmounting travelling gear being arranged on robot body and adsorbent equipment of creeping;The obstacle-surmounting travelling gear is evenly distributed on the both sides of robot body;The adsorbent equipment of creeping includes front end adsorption element and bottom adsorption element;The front end adsorption element is rotatably arranged in the front end of robot body, and bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body.The obstacle crossing type robot obstacle climbing ability is strong and flexibility is high, to realize obstacle crossing type robot on external wall flexibly walk with steadily obstacle detouring, to achieve the effect that effectively to clean external wall.Further object of the present invention is to provide the obstacle crossing type robot that a kind of cleaning capacity is strong and security performance is high, to which External Wall carries out comprehensive effective cleaning.

Description

A kind of obstacle crossing type robot for cleaning external wall
Technical field
The present invention relates to clean robot technical fields, more specifically to a kind of for cleaning getting over for external wall Zhang Shi robots.
Background technology
In city, the exterior walls of high buildings and large mansions can generally use ceramic paster exterior wall or glass curtain wall, need periodically into Row cleaning is to keep whole beauty.Currently, personnel, which are generally hung in external wall, using rope carries out cleaning operation, industry claims Be " spider-man ".It is breakneck work to carry out external wall clean " spider-man ", and " spider-man " is in cleaning operation mistake It is only hung in the air with rope in journey, not only working environment is extremely dangerous, and inefficiency.Especially to ceramic paster exterior wall Cleaning, the heavy workload of cleaning and danger, " spider-man " complete also extremely difficult.Therefore it is badly in need of substituting people using machine Work carries out the cleaning of high building wall.
There is obstacle climbing ability finite sum flexibility difference in the existing wall clean robot of climbing used, lead to not mostly It reaches all metopes and carries out cleaning operation, cleaning personnel is still needed to carry out high-altitude cleaning work.Specific defect is following Several points:
1, the existing wall clean robot of climbing used overcomes its own gravity, clean robot movement by cable traction mostly Orientation is limited to cause flexibility poor.Moreover, because the washing and cleaning operation of high building wall is more demanding to the condition of height and obstacle detouring, because This, occurs that there is obstacle climbing ability mostly limited to the wall clean robot of climbing of external wall cleaning at present, leads to not Cleaning operation is carried out up to all metopes.
2, the robot for being currently used for cleaning high building wall mostly uses brush roll greatly and jet pipe cooperation is used as cleaning device, in machine In device people's walking process, cleaning device can follow the run trace of robot to clean wall.These are mounted on robot Although cleaning device on can play certain cleaning action, since most of cleaning device is mounted in robot bottom , therefore when robot encounters barrier, the cleaning device of bottom is easy touching barrier, leads to the obstacle detouring for influencing robot Function and flexibility, to substantially reduce the obstacle climbing ability of robot.
3, it is existing use climb wall clean robot using rope be to be connect in a fixed manner with robot body so that Robot body can be fettered during exterior wall is walked and cleaned by rope, be carried out to be unfavorable for clean robot External Wall Comprehensive cleaning also largely effects on obstacle crossing function and the flexibility of robot.
Invention content
It is an object of the invention to overcome shortcoming and deficiency in the prior art, provide a kind of for cleaning external wall Obstacle crossing type robot, the obstacle crossing type robot obstacle climbing ability is strong and flexibility is high, to realize that obstacle crossing type robot is outer in building It carries out flexibly walking with steadily obstacle detouring on wall, to achieve the effect that effectively to clean external wall.The further mesh of the present invention Be to provide a kind of cleaning capacity by force and the high obstacle crossing type robot of security performance, thus External Wall carry out it is comprehensive effective Cleaning.
In order to achieve the above object, the technical scheme is that:One kind is for cleaning external wall Obstacle crossing type robot, it is characterised in that:Including:Robot body, and the barrier getting over mechanism that is installed on robot body And cleaning mechanism;The barrier getting over mechanism includes the obstacle-surmounting travelling gear being arranged on robot body and adsorbent equipment of creeping; The obstacle-surmounting travelling gear is evenly distributed on the both sides of robot body;The adsorbent equipment of creeping include front end adsorption element and Bottom adsorption element;The front end adsorption element is rotatably arranged in the front end of robot body, and bottom adsorption element can be stretched It contracts and is rotatably arranged at the bottom of robot body.
Through the above scheme, obstacle crossing type robot of the invention is when encountering obstacle, since front end adsorption element is rotatable Ground is arranged in the front end of robot body, therefore controllable front end adsorption element flexibly lifts leaping over obstacles, while mobile machine Human body moves ahead.During obstacle detouring, obstacle-surmounting travelling gear can not only increase frictional force of the robot body to wall so that machine Device human body difficultly slips off;And it may span across obstacle.And bottom adsorption element can then stretch and avoid obstacle and flexibly lift Leaping over obstacles.Therefore, the present invention realizes obstacle crossing function by obstacle-surmounting travelling gear with adsorbent equipment is creeped, and obstacle crossing type can be improved The obstacle climbing ability of robot and flexibility carry out flexibly and steadily obstacle detouring to realizing obstacle crossing type robot on external wall Walking, to achieve the effect that effectively to clean external wall.
Specifically, the obstacle-surmounting travelling gear is triangle planet gear type Athey wheel;The obstacle-surmounting travelling gear includes protecting Frame one is held, central gear on retainer one, transition gear, driving gear and Athey wheel, crawler belt and motor are installed in; The central gear connect with motor and engages connection with transition gear;The driving gear and Athey wheel are coaxially connected, and with Transition gear engagement connection;The crawler belt is coated on Athey wheel.
The present invention, as obstacle-surmounting travelling gear, is by driving gear band to move crawler belt using triangle planet gear type Athey wheel Wheel, and crawler belt wheel drive crawler belt, therefore there is good obstacle climbing ability, then fit applications crawler belt, it can avoid improving machine Human agent's chassis height is to cross over higher obstacle, to improve the obstacle performance of obstacle crossing type robot.In addition caterpillar belt structure Form adhesion property more wheeled than triangle is more superior, increases frictional force of the robot to wall, so that robot is made to difficultly slip off.
The front end adsorption element includes preceding terminal sucker, connecting rod and front end sucking disk bar;Front end sucking disk bar one end is with before Terminal sucker connects, and the other end is hinged with connecting rod;The one end of the connecting rod far from front end sucking disk bar is hinged with robot body;
The front end adsorption element further includes angle steering engine one and angle steering engine two;The angle steering engine one is arranged in machine The front end of human body, and connect with the hinge joint of connecting rod and robot body;The angle steering engine two is arranged on connecting rod, and with Connecting rod is connected with the hinge joint of front end sucking disk bar;
The front end that the front end adsorption element is rotatably arranged in robot body refers to:The angle steering engine one drives Link rotatable, angle steering engine two drive the rotation of front end sucking disk bar, and terminal sucker is rotatably arranged in robot body before realizing Front end;
The barrier getting over mechanism includes at least two front end adsorption elements, for so that connecting rod synchronizes in each front end adsorption element The cross bar one of action and cross bar two for making front end sucking disk bar synchronization action in each front end adsorption element;The cross bar one It is connect respectively with the connecting rod in each front end adsorption element;The cross bar two respectively with the front end sucking disk bar in each front end adsorption element Connection.The synchronism of multiple front end adsorption elements can be improved in the setting of cross bar one and cross bar two.
The present invention is hinged by connecting rod and front end sucking disk bar, and hinged flexible with terminal sucker before realization with robot body It lifts and creeps, thus across obstacle easily.The angle steering engine one is the rotational angle for controls connecting rod, and angle steering engine two It is the rotational angle for controlling front end sucking disk bar, to further increase flexibility and the obstacle climbing ability of obstacle crossing type robot.
The bottom adsorption element includes that the middle-end adsorption element in robot body bottom middle-end and rear end is arranged with after Hold adsorption element;The middle-end adsorption element and rear end adsorption element include sucker, the gas bar for driving sucker flexible and Sucker hinge;The sucker is connect with gas bar, and is arranged in the bottom of robot body by gas bar;The sucker hinge with Sucker is hinged;
The bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body and refers to:The gas bar driving Sucker is flexible, and sucker hingedly realizes that sucker is scalable and is rotatably arranged at the bottom of robot body with sucker hinge.
The cleaning mechanism includes for scraping and spraying water dress drum apparatus, the water of dust or dirt erasing on exterior wall It sets;The water injector is mounted on the front end of robot body;The drum apparatus is got over mounted on robot body front end both sides Hinder the underface of running gear line;The water is scraped mounted on the rear end bottom of robot body, and includes removing device, described Removing device can be arranged to elastic rotation on water is scraped.
The drum apparatus of the present invention is mounted on the underface of robot body front end both sides obstacle-surmounting travelling gear line, to keep away Exempt from drum apparatus to collide with barrier during robot obstacle detouring.Meanwhile removing device can be arranged to elastic rotation Water is scraped, and not only so that removing device is pressed on exterior wall always, can greatly enhance cleaning of the obstacle crossing type robot to high building wall Effect, and during robot is in obstacle detouring, removing device can press against barrier and realize obstacle detouring, can avoid barrier pair Rigid collision occurs in it, to greatly improve obstacle climbing ability and the flexibility of barrier-surpassing robot.
It further includes supporting rack and spring that the water, which is scraped,;Support frame as described above one end is connect with robot body rear end bottom, separately One end is connect with removing device;The removing device can be arranged to elastic rotation:The spring setting is being propped up Between support and removing device, removing device is realized by the compression or reset of spring can be arranged to elastic rotation the branch scraped in water On support.The present invention installs spring additional between removing device and supporting rack so that removing device has certain rotational angle, in bullet Under the action of spring force, removing device is pressed on the wall always, and during obstacle detouring, removing device can press against barrier realization and get over Barrier, can avoid barrier that rigid collision occurs to it in the use of obstacle detouring.
The removing device includes retainer two and scraper plate;Described scraper plate one end is connect with two inside of retainer, the other end It stretches out outside retainer two;The spring one end is connect with scraper plate, and the other end stretches out two outside of retainer and offsets with supporting rack;
Support frame as described above includes frame body, frame body one end be provided with for the fixed nut of robot body, the other end sets It is equipped with the fastener for being connected together with removing device;The cross section of the fastener is arc-shaped, and fastener both ends are used as and strike off The locating part of device rotation.
Scraper plate one end of the present invention is connect with retainer two, and the other end stretches out outside retainer two on external wall Sewage or dirt strike off.The present invention effectively limits the rotational angle of removing device by two ends of fastener.
The invention also includes the protection mechanisms on robot body;The protection mechanism includes being mounted on robot Retainer three, protective shell, rope on ontology and the rope control device for being discharged or being recycled to rope;The protection Shell is rotatably arranged on retainer three, and is provided with wire guide;The rope control device is mounted on the roof of building;Institute It states rope one end to connect with rope control device, the other end is connect across wire guide with protective shell;
The protective shell is provided with accommodating chamber, and guide roller and cross bar are provided in accommodating chamber;The guide roller passes through cross bar In receiving cavity;Described rope one end is connect with rope control device, and the other end is connect across wire guide with protective shell Refer to:Described rope one end is connect with rope control device, and the other end passes through wire guide and guide roller winding realization and protective shell Connection.
The present invention rope control device rope can be discharged or be recycled, and protective shell be mounted on robot body Retainer three connect, to when robot falls, which can effectively prevent robot falling from high altitude, play protection Effect improves security performance.Meanwhile protective shell is rotatably arranged on retainer three so that rope will not to robot into The constraint of row fixed-direction is walked in exterior wall uplink to not influencing robot, be conducive to robot External Wall carry out it is comprehensive Cleaning, greatly improves cleaning quality of the robot to high building wall.And guide roller be used for the direction in rope moving process its Guiding function, to reduce constraint of the rope to robot.
The protective shell is rotatably arranged on retainer three:It further include fixing piece;It wears described fixing piece one end Retainer three is crossed, protective shell bottom is provided with mounting hole, and mounting hole is set in one end of fixing piece, and realization is rotatably arranged in On retainer three;
The bar portion of the fixing piece passes through retainer three, bar portion to turn as what protective shell rotated from the bottom of retainer three Axis;The protective shell is made of two symmetrical shell splicings;Two housing bottoms offer semicircle orifice;The mounting hole by The semicircle orifice of two asymmetric housings bottoms is spliced to form.
The protective shell of the present invention can be directly set on fixing piece, and realized with the pulling of rope and turned on retainer It is dynamic, so that rope does not influence walking of the robot on exterior wall.And the design is very ingenious and simple, using fixing piece Installation part of the protective shell on retainer three is can be used as, the shaft of protective shell rotation is also can be used as.Moreover, the design can Greatly simplify the installation steps of protection mechanism:After installing fixing piece, directly it can then facilitate realization by two shell splicings Protective shell is set in the bar portion of fixing piece.
The invention also includes for detecting wall gray value gray-scale sensor, for detecting barrier or wall edge Ultrasonic sensor, for detect robot body whether in horizontality gyro sensor and respectively with obstacle detouring The controller that mechanism is connected with cleaning mechanism signal;The gray-scale sensor is arranged in the front end of robot body and and controller Signal connects;The ultrasonic sensor is connect with robot body by strut and is arranged in the front of front end adsorption element, Ultrasonic sensor is connect with controller signals;The gyro sensor is arranged on robot body and and controller signals Connection.
The present invention is used to clean preceding terminal sucker in the barrier getting over mechanism of external wall obstacle crossing type robot, bottom adsorption element Whether sucker is controlled the work of sucker by an air control valve, that is, control whether to generate vacuum.This is used to clean external wall and gets over The barrier getting over mechanism of Zhang Shi robots works in this way:
1, front end adsorption element:The present invention is hinged by connecting rod and front end sucking disk bar, and with robot body it is hinged with Terminal sucker, which flexibly lifts, before realizing creeps, thus across obstacle easily.And angle steering engine one is the rotation for controls connecting rod Angle, angle steering engine is second is that be used to control the rotational angle of front end sucking disk bar, to further increase the spirit of obstacle crossing type robot Activity and obstacle climbing ability.
2, bottom adsorption element:During obstacle detouring, robot body can have a certain degree with wall inclination, sucker Can have a certain degree with robot body, in order to keep chuck surface parallel with wall always, therefore design sucker when Time adds a sucker hinge, allows sucker that can have certain rotational angle, to keep absorption wall when obstacle detouring.And the work of gas bar Be make sucker have Telescopic, during obstacle detouring, in order to ensure avoiding sucker collision obstacle, when sucker does not work It is retracted to robot body bottom, when work extends to parallel with obstacle-surmounting travelling gear.
3, obstacle-surmounting travelling gear:Central gear rotation is driven by motor, is engaged by gear and drives transition gear and driving Gear rotates, and driving gear band moves Athey wheel and rotated coaxially around gear shaft.Drive gear and Athey wheel logical in transmission system It crosses gear shaft to be connected, is finally reached Athey wheel and is rotated around central gear.Obstacle crossing type robot is in normally travel, in train Any two Athey wheel contacts wall (i.e. retainer one is not rotated relative to wall, and Athey wheel drives crawler belt rotation) simultaneously, with Realize straight line moving.When robot encounters barrier, according to gear drive relationship, retainer one drives entire train to enclose It is rotated around central gear, what central gear was formed rotates around train and bar contact point, and (i.e. retainer one and Athey wheel be simultaneously Rotate relative to wall), drive at this time gear shape at train evolve into planetary gear train, complete overturning obstacle movement.
The present invention is such for cleaning the obstacle detouring process of external wall obstacle crossing type robot:
1, when ultrasonic sensor has detected obstacle, controller controls the robot and enters obstacle detouring operation.Pass through angle The rotation of terminal sucker before degree steering engine one and angle steering engine two control, to the height for being higher than barrier before terminal sucker lifts before making.This When motor drive central gear simultaneously, robot is moved ahead by obstacle-surmounting travelling gear.When terminal sucker clears the jumps before, angle The rotation of terminal sucker before steering engine one and angle steering engine two control, terminal sucker is again close to wall before making, until preceding terminal sucker bottom surface It is back to when being overlapped with wall, air control valve is opened, front end sucker suction wall.During this, middle-end adsorption element and rear end absorption The sucker of component is adsorbed on wall.
2, robot body is moved on by obstacle-surmounting travelling gear.
3, when the obstacle-surmounting travelling gear of front end nearly touches obstacle, air control valve closes the sucker of middle-end adsorption element, together When two sucker the work of gas bar, driving sucker is retracted to the bottom of robot body, the obstacle detouring that robot body passes through front end Running gear carries out the leap of barrier.During this, the sucker of preceding terminal sucker and rear end adsorption element is adsorbed on wall. After robot body is surmounted obstacles by the obstacle-surmounting travelling gear of front end, the sucker of middle-end adsorption element is driven by gas bar to be extended It is back to and is overlapped with wall, air control valve is opened, the sucker suction wall of middle-end adsorption element.
4, when the obstacle-surmounting travelling gear of rear end nearly touches obstacle, air control valve closes the sucker of rear end adsorption element, together When two sucker the work of gas bar, driving sucker is retracted to the bottom of robot body, the obstacle detouring that robot body passes through rear end Running gear carries out the leap of barrier.During this, the sucker of preceding terminal sucker and middle-end adsorption element is adsorbed on wall. After robot body is surmounted obstacles by the obstacle-surmounting travelling gear of rear end, the sucker of rear end adsorption element is driven by gas bar to be extended It is back to and is overlapped with wall, air control valve is opened, the sucker suction wall of rear end adsorption element.
Therefore, the present invention be used to clean external wall obstacle crossing type robot can at least 4 in any time of obstacle detouring A sucker works, and clean stability and reliability are carried out in high-altitude to greatly improve robot.
In addition, the present invention is also with the following functions for cleaning external wall obstacle crossing type robot:
1, when wall is dirtier, color can be deeper than clean place, and the height of wall gray value is detected by gray-scale sensor It is low, to judge whether wall cleanliness factor reaches predetermined value:If detecting, the color of wall is less than predetermined value, by slowing down more Hinder the motor speed in running gear, realizes and slow down the forward speed of robot to extend cleaning time, to improve the clear of wall Clean quality.
2, the ultrasonic wave of ultrasonic sensor encounters impurity or interface will produce significantly to reflect to form and be reflected into echo, when When barrier occurs in front, ultrasonic wave changes at a distance from wall, and echo is also with changing at this time, with this original Reason, to realize the detection to front obstacle.When detecting wall edge, application mode is similarly.Robot is passed by ultrasonic wave Sensor detects wall edge automatically, when detection is at the end or is hanging, robot can intelligent decision carry out, reserve enough Space is turned around, and the cleaning of next column is carried out.
3, built-in in robot to add a gyro in order to allow the robot to reach straight line moving to ensure cleaning quality Instrument sensor can in real time be monitored the horizontality of robot, when robot front end direction deflects away from predetermined value, Sensor can then feed back to controller, and controller is adjusted the rotating speed of the motor in obstacle-surmounting travelling gear, to ensure machine People keeps straight line moving to clean.
Compared with prior art, the invention has the advantages that and advantageous effect:
1, external wall obstacle crossing type robot obstacle climbing ability is strong and flexibility is high for cleaning by the present invention, to realize obstacle detouring Formula robot carries out flexibly walking with steadily obstacle detouring on external wall, to achieve the effect that effectively to clean external wall.
2, the cleaning mechanism of obstacle crossing type robot of the present invention can not only greatly enhance obstacle crossing type robot to high building wall Cleaning effect, and there is obstacle crossing function, it can avoid barrier that rigid collision occurs to it, to greatly improve obstacle detouring machine The obstacle climbing ability of people and flexibility.
3, the protection mechanism of obstacle crossing type robot of the present invention can not only effectively prevent robot falling from high altitude, be protected to play Shield acts on, and improves the security performance of robot;And do not influence robot and walked in exterior wall uplink, be conducive to robot External Wall into The comprehensive cleaning of row, to greatly improve cleaning quality of the robot to high building wall.
Description of the drawings
Fig. 1 is schematic diagram of the present invention for cleaning external wall obstacle crossing type robot;
Fig. 2 is schematic internal view of the present invention for cleaning external wall obstacle crossing type robot;
Fig. 3 is bottom schematic view of the present invention for cleaning external wall obstacle crossing type robot;
Fig. 4 is the explosive view of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention;
Fig. 5 is the structure diagram one of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention;
Fig. 6 is the structure diagram two of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention;
Fig. 7 is the structural schematic diagram of bottom adsorption element in obstacle crossing type robot of the present invention;
Fig. 8 is that the water of cleaning mechanism in obstacle crossing type robot of the present invention scrapes schematic diagram;
Fig. 9 is that the water of cleaning mechanism in obstacle crossing type robot of the present invention scrapes schematic internal view;
Figure 10 is the position view of drum apparatus and obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention;
Figure 11 is crawling process schematic diagram of the present invention for cleaning external wall obstacle crossing type robot;
Figure 12 is the present invention for cleaning external wall obstacle crossing type robot course of work schematic diagram;
Figure 13 is the schematic diagram of protective shell and retainer two in obstacle crossing type robot of the present invention;
Figure 14 is the explosive view of the protective shell of obstacle crossing type robot and retainer two in embodiment one;
Figure 15 is the schematic diagram of rope control device in obstacle crossing type robot of the present invention protection mechanism;
Figure 16 (a) -16 (h) is obstacle crossing type robot obstacle detouring procedure chart of the present invention;
Figure 17 is the schematic internal view of the protective shell of obstacle crossing type robot and retainer two in embodiment two;
Wherein, 1 it is robot body, 2 be barrier getting over mechanism, 2.2 be gear centered on retainer one, 2.3,2.4 is transition Gear, 2.5 be driving gear, 2.6 be Athey wheel, 2.7 be crawler belt, 2.8 be that motor one, 2.9 is preceding terminal sucker, 2.10 is company Bar, 2.11 be front end sucking disk bar, 2.12 be hinge, 2.13 be angle steering engine one, 2.14 be angle steering engine two, 2.15 be cross bar One, 2.16 be that cross bar two, 2.17 is sucker, 2.18 is gas bar, 2.19 is sucker hinge, 2.20 is gear shaft, 3 is cleaner Structure, 3.2 be drum apparatus, 3.3 be that water is scraped, 3.4 is supporting rack, 3.5 is spring, 3.6 be retainer two, 3.7 is scraper plate, 3.8 It is fastener for nut, 3.9,3.10 be locating part, 3.11 be water injector, 4 be protection mechanism, 4.2 is that retainer three, 4.3 is Protective shell, 4.4 be rope, 4.5 be rope control device, 4.6 be wire guide, 4.7 be guide roller, 4.8 be cross bar, 4.9 be solid Determine part, 4.10 be mounting hole, 4.11 be exterior wall, 4.12 be flange bolt, 4.13 be shell, 4.14 be roller two, 4.15 be electricity Machine three, 4.16 is signal receiver, 4.17 be gasket one, 4.18 is that gasket two, 5 is gray-scale sensor, 6 is supersonic sensing Device, 7 be gyro sensor, 8 be strut, 9 be barrier.
Specific implementation mode
The present invention is described in further detail with specific implementation mode below in conjunction with the accompanying drawings.
Embodiment one
As shown in Fig. 1 to 15, a kind of obstacle crossing type robot for cleaning external wall of the present invention includes:Robot body 1, and the barrier getting over mechanism 2 and cleaning mechanism 3 that are installed on robot body 1, further include for detecting wall gray value Gray-scale sensor 5, the ultrasonic sensor 6 for detecting barrier or wall edge, for detecting whether robot body 1 is located Gyro sensor 7 in horizontality and the controller that is connect respectively with barrier getting over mechanism 2 and 3 signal of cleaning mechanism.Its In, barrier getting over mechanism 2 includes four obstacle-surmounting travelling gears being arranged on robot body 1 and adsorbent equipment of creeping.Four more Barrier running gear is evenly distributed on the both sides of robot body 1, and adsorbent equipment of creeping includes two front end adsorption elements and four Bottom adsorption element, wherein two front end adsorption elements are rotatably arranged in the front end of robot body 1, and four bottoms are inhaled Attached component is scalable and is rotatably arranged at the bottom of robot body 1.Gray-scale sensor 5 is arranged before robot body 1 It holds and is connect with controller signals, ultrasonic sensor 6 is connect with robot body 1 by strut 8 and is arranged two front ends The front of adsorption element, ultrasonic sensor 6 are connect with controller signals, and gyro sensor 7 is arranged in robot body 1 Above and with controller signals it connect.
Each obstacle-surmounting travelling gear of the present invention is triangle planet gear type Athey wheel, and includes retainer 1, is respectively mounted Central gear 2.3, transition gear 2.4, driving gear 2.5 on retainer 1 and Athey wheel 2.6, crawler belt 2.7 and electricity Machine 1, wherein central gear 2.3 connect with motor 1 and is engaged with transition gear 2.4 connection, driving gear 2.5 with Athey wheel 2.6 is coaxially connected by gear shaft 2.20, and engages connection with transition gear 2.4, and crawler belt 2.7 is coated on Athey wheel On 2.6, transition gear 2.4 is evenly distributed on centered on central gear 2.3 on the circumference of central gear 2.3.
And each front end adsorption element includes preceding terminal sucker 2.9, connecting rod 2.10 and front end sucking disk bar 2.11, wherein front end 2.11 one end of sucking disk bar is connect with preceding terminal sucker 2.9, and the other end is hinged by hinge 2.12 and connecting rod 2.10, and connecting rod 2.10 is separate One end of front end sucking disk bar 2.11 is hinged by hinge 2.12 and robot body 1.Front end adsorption element further includes angle steering engine One 2.13, angle steering engine 2 2.14, for make the cross bar 1 of 2.10 synchronization action of connecting rod in each front end adsorption element with And the cross bar 2 2.16 for making sucking disk bar 2.11 synchronization action in front end in each front end adsorption element, wherein angle steering engine one 2.13 are arranged in the front end of robot body 1, and are connect with the hinge joint of connecting rod 2.10 and robot body 1, angle steering engine two 2.14 settings are connect on connecting rod 2.10, and with the hinge joint of connecting rod 2.10 and front end sucking disk bar 11, in this way, angle steering engine one 2.13 drive links 2.10 rotate, and angle steering engine 2 2.14 drives front end sucking disk bar 2.11 to rotate, and terminal sucker 2.9 can before realizing It is rotatably arranged at the front end of robot body 1.Cross bar 1 is connect with the connecting rod 2.10 in each front end adsorption element respectively, Cross bar 2 2.16 is connect with the front end sucking disk bar 2.11 in each front end adsorption element respectively, to which two front ends adsorption section can be improved The synchronism of part.
The bottom adsorption element of the present invention includes the middle-end adsorption element being arranged in robot body 1 bottom middle-end and rear end With rear end adsorption element, the middle-end adsorption element and rear end adsorption element include sucker 2.17, for driving sucker 2.17 to stretch The gas bar 2.18 and sucker hinge 2.19 of contracting, wherein sucker 2.17 is connect with gas bar 2.18, and is arranged in machine by gas bar 2.18 The bottom of device human body 1, and sucker hinge 2.19 and sucker 2.17 are hinged, in this way, gas bar 2.18 drives sucker 2.17 flexible, inhale Disk 2.17 hingedly realizes that sucker 2.17 is scalable and is rotatably arranged at the bottom of robot body 1 with sucker hinge 2.19.This Embodiment is connected by tracheae and is controlled sucker 2.17 using external vacuum pump.
Cleaning mechanism 3 of the present invention includes for drum apparatus 3.2, the water of dust or dirt erasing on exterior wall to be scraped 3.3 With water injector 3.11, wherein water injector 3.11 is mounted on the front end of robot body 1, and drum apparatus 3.2 is mounted on machine The underface of 1 front end both sides obstacle-surmounting travelling gear line of human body, water scrape the 3.3 rear end bottoms for being mounted on robot body 1, and Including removing device, which, which can be arranged to elastic rotation, scrapes in water on 3.3.
It further includes supporting rack 3.4 and spring 3.5 that the water of the present invention, which scrapes 3.3,3.4 one end of supporting rack with after robot body 1 Bottom connection, the other end is held to be connect with removing device.And above-mentioned removing device can be arranged to elastic rotation to scrape on 3.3 in water and be Refer to:Spring 3.5 is arranged between supporting rack 3.4 and removing device, and removing device is realized by the compression or reset of spring 3.5 can Elastic rotation it is arranged on the supporting rack 3.4 that water scrapes 3.3.
Wherein, removing device includes retainer 2 3.6 and scraper plate 3.7, is connected inside 3.7 one end of scraper plate and retainer 2 3.6 It connects, the other end stretches out outside retainer 2 3.6.Supporting rack 3.4 include frame body, frame body one end be provided with for robot body 1 Fixed nut 3.8, the other end are provided with the fastener 3.9 for being connected together with removing device.The cross section of fastener 3.9 is in circle Arc, the locating part 3.10 that 3.9 both ends of fastener are rotated as removing device.And 3.5 one end of spring is connect with scraper plate 3.7, separately One end stretches out 2 3.6 outside of retainer and offsets with 3.9 inner wall of the fastener of supporting rack 3.4.
The drum apparatus 3.2 of the present invention is including roller one and for the motor two that driving drum one rotates, motor two and rolling Cylinder one connects.The roller one can be sponge rag round brush or roller one can be hard fibre round brush.The water injector of the present invention 3.11 be atomizing sparge pipe, and is mounted on the front end of robot body 1, the water outlet mouth down of the water injector 3.11, in this way It can then be scrubbed by drum apparatus 3.2, finally by the water of 1 rear end bottom of robot body after External Wall sprinkled water 3.3 are scraped to strike off dirt or sewage.
The drum apparatus 3.2 of the present invention is mounted on the underface of the front end walking axle of robot body 1, is filled to avoid roller 3.2 are set to collide with barrier during robot obstacle detouring.Its principle is such:As shown in Figure 10, when robot sheet After 1 leaping over obstacles of body, for the obstacle-surmounting travelling gear of robot in crossing over blockage, drum apparatus 3.2 remains at the circle of dotted line Interior, i.e. obstacle-surmounting travelling gear can ensure that drum apparatus 3.2 does not collide with barrier in crossing over blockage.Meanwhile it striking off Device, which can be arranged to elastic rotation, to be scraped in water on 3.3, not only so that removing device is pressed on exterior wall always, can greatly enhance obstacle detouring Formula robot is to the cleaning effect of high building wall, and during robot is in obstacle detouring, removing device can press against barrier It realizes obstacle detouring, can avoid barrier that rigid collision occurs to it, to greatly improve obstacle climbing ability and the spirit of barrier-surpassing robot Activity.
The robot of the present invention further includes the protection mechanism 4 being mounted on robot body 1, which includes peace Retainer 3 4.2, protective shell 4.3, rope 4.4 on robot body 1 and for rope 4.4 to be discharged or recycled Rope control device 4.5, wherein protective shell 4.3 is rotatably arranged on retainer 3 4.2, and is provided with wire guide 4.6, rope control device 4.5 is mounted on the roof of building, and 4.4 one end of rope is connect with rope control device 4.5, and the other end is worn Wire guide 4.6 is crossed to connect with protective shell 4.3.And protective shell 4.3 is provided with accommodating chamber, and 4.7 He of guide roller is provided in accommodating chamber Cross bar 4.8, conducting wire, 4.7 are mounted on by cross bar 4.8 in accommodating chamber.4.4 one end of rope is connect with rope control device 4.5, separately One end is connect across wire guide 4.6 with protective shell 4.3:4.4 one end of rope is connect with rope control device 4.5, the other end It realizes with the winding of guide roller 4.7 across wire guide 4.6 and is connect with protective shell 4.3.
The protective shell 4.3 of the present invention, which is rotatably arranged on retainer 3 4.2, refers to:Further include fixing piece 4.9, it is fixed 4.9 one end of part passes through retainer 3 4.2,4.3 bottom of protective shell to be provided with mounting hole 4.10, and mounting hole 4.10 is set in fixing piece 4.9 one end, realization are rotatably arranged on retainer 3 4.2.Protective shell 4.3 can be directly set on fixing piece 4.9, and It realizes with the pulling of rope 4.4 and is rotated on retainer 3 4.2, so that rope 4.4 does not influence robot in exterior wall Walking on 4.11.The bar portion of the fixing piece 4.9 of the present invention passes through retainer 3 4.2, bar portion to make from the bottom of retainer 3 4.2 For the shaft that protective shell 4.3 rotates, such fixing piece 4.9 can be used as installation of the protective shell 4.3 on retainer 3 4.2 Part also can be used as the shaft of the rotation of protective shell 4.3.And protective shell 4.3 is made of two symmetrical shell splicings, two shell bottoms Portion offers semicircle orifice, and mounting hole 4.10 is spliced to form by the semicircle orifice of two asymmetric housings bottoms.The design can be significantly simple Change the installation steps of protection mechanism:After installing fixing piece 4.9, directly realization can be then facilitated to protect by two shell splicings Shell 4.3 is set in the bar portion of fixing piece 4.9.
The rope control device 4.5 of the present embodiment include shell 4.13, be wound with rope 4.4 roller 2 4.14, be used for The motor 3 4.15 and recycle the signal of information for receiving the release information of rope 4.4 or rope 4 that driving drum 2 4.14 rotates Receiver 4.16, wherein roller 2 4.14, which is arranged on shell 4.13 and with motor 3 4.15, connect, signal receiver 4.16 and Motor 3 4.15 connects, and the forward or reverse of motor 3 4.15 is controlled for receiving the signal that robot body 1 is sent out.Rope Control device 4.5 receives rope release signal by signal receiver 4.16 or rope recycles signal, to control motor 3 4.15 Forward or reverse, to 2 4.14 forward or reverse of driving drum realization rope 4.4 is discharged or is recycled.Work as robot In uplink process, the rope 4.4 of the 4.5 recyclable additional length of rope control device is put to robot and falls down longer height Degree is just drawn by rope 4.4, causes to hit floor surface;Equally, robot downlink cleans process, the rope control device 4.5 Releasable rope 4.4.During withdrawing and discharging rope 4.4, it should ensure that rope 4.4 has 1 meter or so of surplus length, with Anti- rope 4.4 is tightened, and robot normal work is influenced.
The present invention rope control device 4.5 rope 4.4 can be discharged or be recycled, and protective shell 4.3 be mounted on The retainer 3 4.2 of robot body 1 connects, to which when robot falls, which can effectively prevent robot height Sky falls, and plays a protective role.Meanwhile protective shell 4.3 is rotatably arranged on retainer 3 4.2 so that rope 4.4 will not The constraint in direction is fixed to robot, walks on exterior wall 4.11 to not influence robot, it is external to be conducive to robot Wall 4.11 carries out comprehensive cleaning, greatly improves cleaning quality of the robot to high building wall.
Preceding terminal sucker 9, bottom adsorption element in barrier getting over mechanism of the present invention for cleaning external wall obstacle crossing type robot Sucker 17 whether control the work of sucker by air control valve, that is, control whether to generate vacuum.This is used to clean building outer The barrier getting over mechanism of wall obstacle crossing type robot works in this way:
1, front end adsorption element:The present invention is hinged by connecting rod 2.10 and front end sucking disk bar 2.11, and with robot sheet Hinged flexibly lifted with terminal sucker before realization 2.9 of body 1 is creeped, thus across obstacle easily.And angle steering engine 1 is to use In the rotational angle of controls connecting rod 2.10, angle steering engine 2 2.14 is the rotational angle for controlling front end sucking disk bar 2.11, from And further increase flexibility and the obstacle climbing ability of obstacle crossing type robot.
2, bottom adsorption element:During obstacle detouring, robot body 1 can have a certain degree with wall inclination, sucker 2.17 can also have a certain degree with robot body 1, in order to keep 2.17 surface of sucker parallel with wall always, therefore set Add a sucker hinge 2.19 when counting sucker 2.17, allow sucker 2.17 that can have certain rotational angle, when obstacle detouring with Keep absorption wall.And the effect of gas bar 2.18 is that sucker 2.17 is made to have Telescopic, during obstacle detouring, in order to ensure Avoid 2.17 collision obstacle of sucker, sucker 2.17 is retracted to 1 bottom of robot body when not working, when work extends to and obstacle detouring Running gear is parallel.
3, obstacle-surmounting travelling gear:It drives central gear 2.3 to rotate by motor 1, is engaged by gear and drive transition tooth Wheel 2.4 and driving gear 2.5 rotate, and driving gear 2.5 drives Athey wheel 2.6 to be rotated coaxially around gear shaft 2.20.It is being driven It drives gear 2.5 to be connected by gear shaft 2.20 with Athey wheel 2.6 in system, is finally reached Athey wheel 2.6 and surrounds centre tooth 2.3 rotation of wheel.In normally travel, any two Athey wheel 2.6 contacts wall simultaneously and (keeps in train for obstacle crossing type robot Frame 1 is not rotated relative to wall, and Athey wheel 2.6 drives crawler belt 2.7 to rotate), to realize straight line moving.When robot encounters When barrier, according to gear drive relationship, retainer 1 drives entire train to be rotated around central gear 2.3, center What gear 2.3 was formed rotates around train and bar contact point, and (i.e. retainer 1 and Athey wheel 2.6 is simultaneously relative to wall Rotate), the train for driving gear 2.5 to be formed at this time evolves into planetary gear train, completes overturning obstacle movement.
The present invention is such (such as Figure 16 (a) -16 for cleaning the obstacle detouring process of external wall obstacle crossing type robot (h)):
1, when ultrasonic sensor 6 has detected obstacle, controller controls the robot and enters obstacle detouring operation.Pass through angle The rotation of terminal sucker 2.9 before degree steering engine 1 and the control of angle steering engine 2 2.14, extremely higher than barrier before terminal sucker 2.9 lifts before making Hinder the height of object.Motor 1 drives central gear 2.3, robot to move ahead by obstacle-surmounting travelling gear simultaneously at this time.Wait for front end When sucker 2.9 clears the jumps, the rotation of terminal sucker 2.9 before angle steering engine 1 and the control of angle steering engine 2 2.14, before making Terminal sucker 2.9 is again close to wall, until 2.9 bottom surface of preceding terminal sucker is back to when being overlapped with wall, air control valve is opened, preceding terminal sucker 2.9 absorption walls.During this, the sucker 2.17 of middle-end adsorption element and rear end adsorption element is adsorbed on wall.
2, robot body 1 is moved on by obstacle-surmounting travelling gear.
3, when the obstacle-surmounting travelling gear of front end nearly touches obstacle, air control valve closes the sucker of middle-end adsorption element 2.17, while the gas bar 2.18 of two sucker 2.17 works, driving sucker 2.17 is retracted to the bottom of robot body 1, machine Human body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of front end.During this, preceding terminal sucker 2.9 and rear end absorption The sucker 2.17 of component is adsorbed on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of front end, middle-end The sucker 2.17 of adsorption element is back to by the driving elongation of gas bar 2.18 and is overlapped with wall, and air control valve is opened, middle-end adsorption element Sucker 2.17 adsorb wall.
4, when the obstacle-surmounting travelling gear of rear end nearly touches obstacle, air control valve closes the sucker of rear end adsorption element 2.17, while the gas bar 2.18 of two sucker 2.17 works, driving sucker 2.17 is retracted to the bottom of robot body 1, machine Human body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of rear end.During this, preceding terminal sucker 2.9 and middle-end absorption The sucker 2.17 of component is adsorbed on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of rear end, rear end The sucker 2.17 of adsorption element is back to by the driving elongation of gas bar 2.18 and is overlapped with wall, and air control valve is opened, rear end adsorption element Sucker 2.17 adsorb wall.
Therefore, the present invention be used to clean external wall obstacle crossing type robot can at least 4 in any time of obstacle detouring A sucker works, and clean stability and reliability are carried out in high-altitude to greatly improve robot.
In addition, the present invention is also with the following functions for cleaning external wall obstacle crossing type robot:
1, when wall is dirtier, color can be deeper than clean place, and the height of wall gray value is detected by gray-scale sensor 5 It is low, to judge whether wall cleanliness factor reaches predetermined value:If detecting, the color of wall is less than predetermined value, by slowing down more Hinder one 2.8 rotating speed of motor in running gear, realizes and slow down the forward speed of robot to extend cleaning time, to improve wall Cleaning quality.
2, the ultrasonic wave of ultrasonic sensor 6 encounters impurity or interface will produce significantly to reflect to form and be reflected into echo, When barrier occurs in front, ultrasonic wave changes at a distance from wall, and echo is also with changing at this time, with this original Reason, to realize the detection to front obstacle.When detecting wall edge, application mode is similarly.Robot is passed by ultrasonic wave The detection wall edge automatically of sensor 6, when detection is at the end or is hanging, robot can intelligent decision carry out, reserve enough Space turn around, carry out the cleaning of next column.
3, built-in in robot to add a gyro in order to allow the robot to reach straight line moving to ensure cleaning quality Instrument sensor 7 can in real time be monitored the horizontality of robot, when robot front end is towards when deflecting away from predetermined value It waits, gyro sensor 7 can then feed back to controller, and controller carries out the rotating speed of the motor 1 in obstacle-surmounting travelling gear Adjustment, to ensure that robot keeps straight line moving cleaning.
Embodiment two
The present embodiment the difference is that only with embodiment one:As shown in figure 17, protection mechanism of the invention further includes using In fixed protective shell 4.3 and limit flange bolt 4.12 that protective shell 4.3 in axial direction moves, for adjusting flange bolt 4.12 and protective shell 4.3 gap gasket 1 and rub between protective shell 4.3 and retainer 3 4.2 for reducing Gasket 2 4.18, wherein flange bolt 4.12 is threadedly coupled with fixing piece 4.9 and compresses protective shell 4.3, and gasket 1 is arranged Between flange bolt 4.12 and protective shell 4.3, to prevent gap is excessive between the two from causing to rock.And gasket 2 4.18 is arranged Between protective shell 4.3 and retainer 3 4.2, it is in direct contact with retainer 3 4.2 when being rotated to avoid protective shell 4.3.
The other structures of the present embodiment are consistent with embodiment one.
Embodiment three
The present embodiment the difference is that only with embodiment one:The present embodiment can be arranged two according to the size of robot body The obstacle-surmounting travelling gear of a, six or eight or more, obstacle-surmounting travelling gear are evenly distributed on the both sides of robot body.Meanwhile One or three or more front end adsorption element, the bottom absorption of setting two or six or more can be also set according to actual demand Component.
The other structures of the present embodiment are consistent with embodiment one.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications, Equivalent substitute mode is should be, is included within the scope of the present invention.

Claims (9)

1. a kind of obstacle crossing type robot for cleaning external wall, it is characterised in that:Including:Robot body, and pacify Barrier getting over mechanism on robot body and cleaning mechanism;The barrier getting over mechanism includes being arranged at getting on robot body Barrier running gear and adsorbent equipment of creeping;The obstacle-surmounting travelling gear is evenly distributed on the both sides of robot body;It is described to creep Adsorbent equipment includes front end adsorption element and bottom adsorption element;The front end adsorption element is rotatably arranged in robot sheet The front end of body, bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body;
The obstacle-surmounting travelling gear is triangle planet gear type Athey wheel;The obstacle-surmounting travelling gear includes retainer one, is respectively mounted Central gear, transition gear, driving gear on retainer one and Athey wheel, crawler belt and motor;The central gear with Motor connects and engages connection with transition gear;The driving gear and Athey wheel are coaxially connected, and company is engaged with transition gear It connects;The crawler belt is coated on Athey wheel.
2. the obstacle crossing type robot according to claim 1 for cleaning external wall, it is characterised in that:It inhales the front end Attached component includes preceding terminal sucker, connecting rod and front end sucking disk bar;Front end sucking disk bar one end is connect with preceding terminal sucker, the other end with Connecting rod is hinged;The one end of the connecting rod far from front end sucking disk bar is hinged with robot body;
The front end adsorption element further includes angle steering engine one and angle steering engine two;The angle steering engine one is arranged in robot sheet The front end of body, and connect with the hinge joint of connecting rod and robot body;The angle steering engine two is arranged on connecting rod, and and connecting rod It is connected with the hinge joint of front end sucking disk bar;
The front end that the front end adsorption element is rotatably arranged in robot body refers to:One drive link of angle steering engine Rotation, angle steering engine two drive the rotation of front end sucking disk bar, and terminal sucker is rotatably arranged in the front end of robot body before realizing;
The barrier getting over mechanism includes at least two front end adsorption elements, for making connecting rod synchronization action in each front end adsorption element Cross bar one and cross bar two for making front end sucking disk bar synchronization action in each front end adsorption element;The cross bar one is distinguished It is connect with the connecting rod in each front end adsorption element;The cross bar two connects with the front end sucking disk bar in each front end adsorption element respectively It connects.
3. the obstacle crossing type robot according to claim 1 for cleaning external wall, it is characterised in that:It inhales the bottom Attached component includes the middle-end adsorption element and rear end adsorption element being arranged in robot body bottom middle-end and rear end;The middle-end Adsorption element and rear end adsorption element include sucker, the gas bar for driving sucker flexible and sucker hinge;The sucker with Gas bar connects, and is arranged in the bottom of robot body by gas bar;The sucker hinge is hinged with sucker;
The bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body and refers to:The gas bar drives sucker Flexible, sucker hingedly realizes that sucker is scalable and is rotatably arranged at the bottom of robot body with sucker hinge.
4. the obstacle crossing type robot according to claim 1 for cleaning external wall, it is characterised in that:The cleaner Structure include for by exterior wall dust or dirt erasing drum apparatus, water is scraped and water injector;The water injector installation In the front end of robot body;The drum apparatus be mounted on robot body front end both sides obstacle-surmounting travelling gear line just under Side;The water is scraped mounted on the rear end bottom of robot body, and include removing device, and the removing device can elastic rotation It is arranged on water is scraped.
5. the obstacle crossing type robot according to claim 4 for cleaning external wall, it is characterised in that:The water is scraped also Including supporting rack and spring;Support frame as described above one end is connect with robot body rear end bottom, and the other end is connect with removing device; The removing device can be arranged to elastic rotation:The spring is arranged between supporting rack and removing device, Removing device is realized and can be arranged on the supporting rack that water is scraped to elastic rotation by the compression or reset of spring.
6. the obstacle crossing type robot according to claim 5 for cleaning external wall, it is characterised in that:It is described to strike off dress It sets including retainer two and scraper plate;Described scraper plate one end is connect with two inside of retainer, and the other end stretches out outside retainer two;It is described Spring one end is connect with scraper plate, and the other end stretches out two outside of retainer and offsets with supporting rack;
Support frame as described above includes frame body, frame body one end be provided with for the fixed nut of robot body, the other end is provided with Fastener for being connected together with removing device;The cross section of the fastener is arc-shaped, and fastener both ends are as removing device The locating part of rotation.
7. the obstacle crossing type robot according to claim 1 for cleaning external wall, it is characterised in that:It further include installation Protection mechanism on robot body;The protection mechanism include be mounted on robot body on retainer three, protective shell, Rope and rope control device for being discharged or being recycled to rope;The protective shell is rotatably arranged in retainer three On, and it is provided with wire guide;The rope control device is mounted on the roof of building;Described rope one end and rope control device Connection, the other end are connect across wire guide with protective shell;
The protective shell is provided with accommodating chamber, and guide roller and cross bar are provided in accommodating chamber;The guide roller is installed by cross bar In receiving cavity;Described rope one end is connect with rope control device, and the other end, which is connect across wire guide with protective shell, refers to: Described rope one end is connect with rope control device, and the other end passes through wire guide to be realized with guide roller winding and connect with protective shell.
8. the obstacle crossing type robot according to claim 7 for cleaning external wall, it is characterised in that:The protective shell It is rotatably arranged on retainer three and refers to:It further include fixing piece;Described fixing piece one end passes through retainer three, protective shell bottom Portion is provided with mounting hole, and mounting hole is set in one end of fixing piece, and realization is rotatably arranged on retainer three;
The bar portion of the fixing piece passes through retainer three, the shaft that bar portion is rotated as protective shell from the bottom of retainer three;Institute Protective shell is stated to be made of two symmetrical shell splicings;Two housing bottoms offer semicircle orifice;The mounting hole is by two The semicircle orifice of asymmetric housings bottom is spliced to form.
9. the obstacle crossing type robot according to claim 1 for cleaning external wall, it is characterised in that:Further include being used for It detects the gray-scale sensor of wall gray value, the ultrasonic sensor for detecting barrier or wall edge, be used for detection machine Whether device human body gyro sensor in horizontality and respectively connect with barrier getting over mechanism and cleaning mechanism signal Controller;The gray-scale sensor is arranged in the front end of robot body and is connect with controller signals;The supersonic sensing Device is connect with robot body by strut and is arranged in the front of front end adsorption element, ultrasonic sensor and controller signals Connection;The gyro sensor is arranged on robot body and is connect with controller signals.
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