CN106214054A - Slidingtype clean robot - Google Patents
Slidingtype clean robot Download PDFInfo
- Publication number
- CN106214054A CN106214054A CN201610828964.4A CN201610828964A CN106214054A CN 106214054 A CN106214054 A CN 106214054A CN 201610828964 A CN201610828964 A CN 201610828964A CN 106214054 A CN106214054 A CN 106214054A
- Authority
- CN
- China
- Prior art keywords
- group
- adsorption piece
- slide construction
- slidingtype
- clean robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of slidingtype clean robot, the cleaning structure including agent structure, being located in described agent structure, the first slide construction, two group of second slide construction, and two groups of adsorption pieces；Wherein the adsorption piece in first group is moved relative to described agent structure in the first direction by described first slide construction, is moved in a second direction relative to described agent structure by described second slide construction in first group；Wherein the adsorption piece in second group is moved relative to described agent structure in a second direction by described second slide construction in second group；Wherein, described first direction is the direction being parallel to clean target surface, described second direction is to be perpendicular to clean the direction of target surface, and then make: wherein described in one group during adsorption piece absorption cleaning target, another is organized described adsorption piece and can be moved along the first direction by described first slide construction；Described adsorption piece can by the contact of mobile realization in a second direction and cleaning target with separate.
Description
Technical field
The present invention relates to automated cleaning field, particularly relate to a kind of slidingtype clean robot.
Background technology
The most conventional cleaning glass machine people is applied to indoor glass cleaning more, there is the low cleaning force of work efficiency
Spend poor, body flexibility ratio is poor, automaticity is low and the problem such as throwing over barrier ability.The family of the buildings such as office building
Outer cleaning glass many employings manual work, safety coefficient is low, clean-up performance is poor and cleaning cost is high.
Summary of the invention
In order to solve above-mentioned technical problem, the invention provides a kind of slidingtype clean robot, including main body
Structure, the cleaning structure being located in described agent structure, the first slide construction, two group of second slide construction, and two groups of absorption
Part；
Wherein the adsorption piece in first group is moved relative to described agent structure in the first direction by described first slide construction,
Moved in a second direction relative to described agent structure by described second slide construction in first group；Wherein in second group
Adsorption piece is moved relative to described agent structure in a second direction by described second slide construction in second group；Wherein, institute
Stating first direction is the direction being parallel to clean target surface, and described second direction is to be perpendicular to clean the direction of target surface,
And then make:
Wherein described in one group during adsorption piece absorption cleaning target, another organizes described adsorption piece can be by described first slip knot
Structure moves along the first direction；
Described adsorption piece can by the contact of mobile realization in a second direction and cleaning target with separate.
Optionally, wherein described second slide construction in second group is connected to described agent structure, the suction in second group
Adnexa realizes the motion of second direction by corresponding described second slide construction.
Optionally, wherein described second slide construction in first group is connected to described agent structure, the suction in first group
Adnexa is connected to described first slide construction, described first slide construction and connect adsorption piece thereon by second in this group
Slide construction moves in a second direction, and the adsorption piece in first group is moved along the first direction by described first slide construction.
Optionally, described first slide construction is connected to described agent structure, and the adsorption piece in first group is connected to first
Described second slide construction in group, the second slide construction and adsorption piece thereon in first group slide by described first and tie
Structure moves along the first direction, and the adsorption piece in first group is moved in a second direction by described second slide construction.
Optionally, described first slide construction and/or the second slide construction all include slide rail, the cunning moved along described slide rail
Block, leading screw and nut, described slide block realizes the movement along described slide rail, institute by described nut along moving of leading screw length direction
Stating leading screw to be driven by motor, described motor is by PLC control.
Optionally, described slidingtype clean robot also includes the hitch structure in order to be drawn by handling, described traction
Structure is connected to described agent structure.
Optionally, described adsorption piece connects vacuum pump structure, and described vacuum pump structure is installed on described agent structure.
Optionally, described cleaning structure is stretched relative to described agent structure by an expansion link, thus controlled
Make and extend out to subject surface to be cleaned when cleaning.
Optionally, described slidingtype clean robot also includes cleaning movement mechanism, described cleaning structure by described clearly
Clean motion drives and moves along subject surface to be cleaned.
Optionally, described adsorption piece uses sucker structure.
First slide construction and the second slide construction are incorporated into the field of clean robot, wherein, first party by the present invention
To slip act on and realize the movement of robot, the slip of second direction acts on the suction between robot and object to be cleaned
Attached with depart from.Furthermore, it is understood that during the absorption of first group of adsorption piece, the slip that second group of adsorption piece can first pass through second direction takes off
From object to be cleaned, then, stepping the step of robot after sliding in the first direction, behind in-position, second group of adsorption piece is again
Stretch out in a second direction and adsorb；After the absorption of second group of adsorption piece, first group of adsorption piece can be regained in a second direction, edge
Position after first direction moves then new is stretched out in a second direction, adsorbs.The row of robot is completed by above step
Enter.
Accompanying drawing explanation
Fig. 1 is the side schematic view of slidingtype clean robot in an alternate embodiment of the present invention；
Fig. 2 is the schematic top plan view of slidingtype clean robot in an alternate embodiment of the present invention；
Fig. 3 is the elevational schematic view of slidingtype clean robot in an alternate embodiment of the present invention；
Fig. 4 is sliding type schematic diagram in an alternate embodiment of the present invention；
Fig. 5 is the driving schematic diagram of cleaning structure in another alternative embodiment of the present invention；
Fig. 6 is the schematic diagram of swing boom configuration in alternative embodiment of the present invention；
Fig. 7 is the schematic diagram of hitch structure in alternative embodiment of the present invention；
In figure, 1-agent structure；2,7,9-fixed structure；3,10,14-slide rail；4,8,11-slide block；5,12-attachment structure；6、
13-adsorption piece；15-expansion link；16-cleaning structure；17-cleans slide block；18-cleans slide rail；19-workbench main body；20-first
Rotating disk；21-connecting portion；22-turning arm；23-stopper slot；24-locating part；25-the second rotating disk；26-cleaning body；27-wiping
Part；28-groove；29-vapours extraction structure；30-bath of glass extraction structure；31-motor；32-nut；33-leading screw；In 34-
Between structure；35-motor；36-main shaft；37-spring；38-draws guide rail；39-draws slide block；40-limit switch；41-controller.
Detailed description of the invention
The slidingtype clean robot provided the present invention below with reference to Fig. 1 to Fig. 7 is described in detail, and it is this
Invention optional embodiment, it is believed that those skilled in the art are not changing in the range of present invention spirit and content, it is possible to
It is modified and polishes.
The invention provides a kind of slidingtype clean robot, including agent structure, be located in described agent structure 1 clear
Clean structure the 16, first slide construction, two group of second slide construction, and two groups of adsorption pieces 6 and 13；
Wherein the adsorption piece 13 in first group is transported relative to described agent structure 1 in the first direction by described first slide construction
Dynamic, moved in a second direction relative to described agent structure 1 by described second slide construction in first group；Wherein second group
In adsorption piece 6 moved in a second direction relative to described agent structure 1 by described second slide construction in second group；Its
In, described first direction is the direction being parallel to clean target surface, and described second direction is to be perpendicular to clean target surface
Direction,
And then make:
Wherein described in one group during adsorption piece 6 or 13 absorption cleaning target, another organizes described adsorption piece 13 or 6 can be by described
First slide construction moves along the first direction；
Described adsorption piece 6 and 13 can by the contact of mobile realization in a second direction and cleaning target with separate.
During specifically used, when first group of adsorption piece 13 adsorbs, second group of adsorption piece 6 can first pass through second direction
Slip depart from object to be cleaned, then, after sliding in the first direction, step the step of robot, behind in-position, second group
Adsorption piece 6 stretches out the most in a second direction and adsorbs；After the absorption of second group of adsorption piece 6, first group of adsorption piece 13 can be along the
Two directions regain, move along the first direction after, newer position stretches out in a second direction, adsorbs.Complete by above step
Become the traveling of robot.
About first direction and the traveling of second direction, flexible implementation:
Wherein described second slide construction in second group is connected to described agent structure 1, and the adsorption piece 6 in second group is by right
Described second slide construction answered realizes the motion of second direction.
In optional embodiment of the present invention, refer to Fig. 4, described first slide construction and/or the second slide construction are equal
Including slide rail, the slide block, leading screw and the nut that move along described slide rail, described slide block by described nut along leading screw length direction
Motion realizes the movement along described slide rail, and described leading screw is driven by motor, and described motor is by PLC control.
For Fig. 4, in the first slide construction, slide block 11 moves along slide rail 10, and this to move be by therewith
Arrange what one group of leading screw 33, motor 31 and the nut 32 counted realized, i.e. motor drives leading screw 33 to rotate, and then makes nut
32 can move along leading screw 33；In second slide construction, slide block 8 and 4 moves along slide rail 14 and 3 respectively, and this moves and is also
Realized by one group of leading screw 33, motor 31 and the nut 32 of the design that matches, i.e. motor drives leading screw 33 to rotate, and enters
And nut 32 can be moved along leading screw 33.
In the present invention one optional embodiment, wherein described second slide construction in first group is connected to described main body
Structure 1, the adsorption piece 13 in first group is connected to described first slide construction, described first slide construction and connect suction thereon
Adnexa 13 is moved in a second direction by the second slide construction in this group, and the adsorption piece 13 in first group is sliding by described first
Dynamic structure moves along the first direction.
In another optional embodiment of the present invention, described first slide construction is connected to described agent structure 1, first group
In described second slide construction that is connected in first group of adsorption piece 13, the second slide construction in first group and suction thereon
Adnexa 13 is moved along the first direction by described first slide construction, and the adsorption piece in first group passes through described second slide construction
Move in a second direction.
Described slidingtype clean robot also includes the hitch structure in order to be drawn by handling, and described hitch structure connects
In described agent structure.Relevant hitch structure, refer to Fig. 7, and alternative of the present invention gives the version of a kind of original creation,
Specifically:
Described hitch structure includes intermediate structure 34, pull rope 42, traction drive structure and traction detection structure, described pull rope
42 connect outside and described intermediate structure 34, and described agent structure 1 is hung in described intermediate structure 34, described traction detection structure inspection
Surveying the relative position between described agent structure 1 and intermediate structure 34 or relative stress, described traction drive structure is according to described
Traction detection structure detection to situation drive pull rope 42 work.
Furthermore, it is understood that its traction detection structure relevant；Described traction detection structure includes spring 37 and limit switch 40,
The two ends of described spring 37 connect described intermediate structure 34 and agent structure 1 respectively, when described spring 37 compresses or is stretched to spy
When location is put, described limit switch 40 is triggered, thus feeds back to described traction drive structure so that it is drive pull rope 42 work
Make.Specifically, by motor 35 drive shaft 36 forward or reverse, thus pull rope is driven to be wound around main shaft 36.
Described intermediate structure 34 be provided with traction guide rail 38, one end of described spring 37 be provided with traction slide block 39, described in lead
Drawing slide block 39 and connect clean robot, specifically, connect agent structure 1, described traction slide block 39 is along described traction guide rail 38
Slide, and described traction guide rail 38 is located at by described limit switch 40.Described limit switch 40 includes unwrapping wire limit switch, take-up limit
Bit switch and stopping limit switch.Described take-up limit switch, stopping limit switch and unwrapping wire limit switch are along described spring 37
Telescopic direction arrange under upper.
Relevant described traction drive structure, described traction drive structure includes the main shaft 36 being wound around described pull rope 42 and drives
Moving the motor 35 that described main shaft 36 rotates, and this motor 35 is driven by controller 41, controller 35 connects limit switch 40.
Described adsorption piece 6 and 13 connects vacuum pump structure, and described vacuum pump structure is installed on described agent structure 1.Described
Adsorption piece uses sucker structure.About pump and sucker structure, known all size and model can be used, and be not limited to appoint
What is a kind of.
Relevant described cleaning structure 16, in optional embodiment of the present invention, described cleaning structure 16 is by an expansion link
15 stretch relative to described agent structure 1, thus extend out to subject surface to be cleaned when being controlled in cleaning.Expansion link 15
Being driven and do flexible relative to cleaning slide block 17, its specific implementation can use the compound mode of leading screw, nut and motor.
In alternative, described slidingtype clean robot also includes cleaning movement mechanism, refer to Fig. 1 and Fig. 2, institute
State cleaning structure 16 to be moved along subject surface to be cleaned by the driving of described cleaning movement mechanism.Furthermore, it is understood that described cleaning
Motion includes cleaning slide block 17 and cleaning slide rail 18, and agent structure 1 is located at by cleaning slide rail 18, and cleaning slide block 17 is driven edge
Cleaning slide rail 18 moves, and then drives expansion link 15 thereon to move.
In optional embodiment of the present invention, described slidingtype clean robot also includes workbench main body 19, is located at institute
Stating the mechanical arm structure of workbench main body 19, described mechanical arm structure can drive described cleaning structure respectively along around two mutually
Vertical axial-rotation, and described cleaning structure can also be by the driving rotation of described mechanical arm structure.
Described mechanical arm structure includes the first rotating disk 20, connecting portion 21, turning arm 22 and the second rotating disk 25, described connecting portion
21 are located on described first rotating disk 20, and described turning arm 22 is rotatably connected in described connecting portion 21, the end of described turning arm 22
Being provided with described second rotating disk 25, described cleaning structure 16 is located at described second rotating disk 16.So, cleaning structure 16 can realize many
The rotation of individual dimension.
Relevant described cleaning structure 16, refer to Fig. 4, including cleaning body structure 26 with along outside described agent structure 26
The polishing piece 27 at edge, described polishing piece 27 is located at the side cleaning object to be cleaned of described cleaning body structure 26, described
Being also formed with groove 28 in the middle of the side cleaning object to be cleaned of cleaning body structure 26, described cleaning body structure is with described
Clean robot connects, and specifically, is connected to the second rotating disk 25.
Furthermore, it is understood that the external periphery outline of described cleaning body structure 26 is triangular in shape, the edge wheel of described groove 28
Wide and described cleaning body structure 26 outward flange mates.Described groove 28 is provided with vapours extraction structure 29, and described groove 28 sets
There is bath of glass extraction structure 30.Certainly, steam extraction structure 29 also mates with bath of glass extraction structure 30 and is provided with steam and glass
The device of glass water, those skilled in the art can be designed according to demand, so, do not do expansion narration, the most there is not disclosure
Insufficient situation, and without departing from the scope of the present invention.
In sum, the first slide construction and the second slide construction are incorporated into the field of clean robot by the present invention, its
In, the slip of first direction acts on the movement realizing robot, and it is right with to be cleaned that the slip of second direction acts on robot
Absorption between as and disengaging.Furthermore, it is understood that during first group of adsorption piece absorption, second group of adsorption piece can first pass through second party
To slip depart from object to be cleaned, then, after sliding in the first direction, step the step of robot, behind in-position, second
Group adsorption piece stretches out the most in a second direction and adsorbs；After second group of adsorption piece absorption, first group of adsorption piece can be along second
Direction regains, move along the first direction after, newer position stretches out in a second direction, adsorbs.Completed by above step
The traveling of robot.
Claims (10)
1. a slidingtype clean robot, it is characterised in that: the cleaning knot include agent structure, being located in described agent structure
Structure, the first slide construction, two group of second slide construction, and two groups of adsorption pieces；
Wherein the adsorption piece in first group is moved relative to described agent structure in the first direction by described first slide construction,
Moved in a second direction relative to described agent structure by described second slide construction in first group；Wherein in second group
Adsorption piece is moved relative to described agent structure in a second direction by described second slide construction in second group；Wherein, institute
Stating first direction is the direction being parallel to clean target surface, and described second direction is to be perpendicular to clean the direction of target surface,
And then make:
Wherein described in one group during adsorption piece absorption cleaning target, another organizes described adsorption piece can be by described first slip knot
Structure moves along the first direction；
Described adsorption piece can by the contact of mobile realization in a second direction and cleaning target with separate.
2. slidingtype clean robot as claimed in claim 1, it is characterised in that: wherein described second in second group slides
Structure is connected to described agent structure, and the adsorption piece in second group realizes second direction by corresponding described second slide construction
Motion.
3. slidingtype clean robot as claimed in claim 1, it is characterised in that: wherein described second in first group slides
Structure is connected to described agent structure, and the adsorption piece in first group is connected to described first slide construction, and described first slides ties
Structure and connect adsorption piece thereon and moved in a second direction by the second slide construction in this group, the adsorption piece in first group leads to
Cross described first slide construction to move along the first direction.
4. slidingtype clean robot as claimed in claim 1, it is characterised in that: described first slide construction is connected to described
Agent structure, described second slide construction that the adsorption piece in first group is connected in first group, the second slip in first group
Structure and adsorption piece thereon are moved along the first direction by described first slide construction, and the adsorption piece in first group is by described
Second slide construction moves in a second direction.
5. such as Claims 1-4 one of arbitrarily described slidingtype clean robot, it is characterised in that: described first slides ties
Structure and/or the second slide construction all include slide rail, the slide block, leading screw and the nut that move along described slide rail, and described slide block passes through institute
Stating nut to realize along the movement of described slide rail along moving of leading screw length direction, described leading screw is driven by motor, described motor by
PLC controls.
6. slidingtype clean robot as claimed in claim 1, it is characterised in that: also include the traction in order to be drawn by handling
Mechanism, described hitch structure is connected to described agent structure, and described haulage gear includes intermediate structure, pull rope, traction drive
Structure and traction detection structure, described pull rope connects outside and described intermediate structure, and described clean robot hangs in described
Between structure, relative position between clean robot with intermediate structure described in described traction detection structure detection or relatively stress,
The situation that described traction drive structure arrives according to described traction detection structure detection drives pull rope work.
7. slidingtype clean robot as claimed in claim 1, it is characterised in that: described adsorption piece connects vacuum pump structure,
Described vacuum pump structure is installed on described agent structure.
8. slidingtype clean robot as claimed in claim 1, it is characterised in that: described cleaning structure passes through an expansion link
Stretch relative to described agent structure, thus when being controlled in cleaning, extend out to subject surface to be cleaned.
9. slidingtype clean robot as claimed in claim 1, it is characterised in that: also include cleaning movement mechanism, described clearly
Clean structure is driven by described cleaning movement mechanism and moves along subject surface to be cleaned.
10. slidingtype clean robot as claimed in claim 1, it is characterised in that: described adsorption piece uses sucker structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828964.4A CN106214054A (en) | 2016-09-19 | 2016-09-19 | Slidingtype clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828964.4A CN106214054A (en) | 2016-09-19 | 2016-09-19 | Slidingtype clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106214054A true CN106214054A (en) | 2016-12-14 |
Family
ID=58076152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610828964.4A Pending CN106214054A (en) | 2016-09-19 | 2016-09-19 | Slidingtype clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106214054A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107981772A (en) * | 2017-12-08 | 2018-05-04 | 梁平县足金机电设备有限公司 | Creeping motion type exterior wall cleaning machine |
| CN108126929A (en) * | 2017-12-29 | 2018-06-08 | 广东电网有限责任公司阳江供电局 | A kind of porcelain vase clean robot |
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Application publication date: 20161214 |