CN106235951A - Endless track type cleaning robot - Google Patents
Endless track type cleaning robot Download PDFInfo
- Publication number
- CN106235951A CN106235951A CN201610828967.8A CN201610828967A CN106235951A CN 106235951 A CN106235951 A CN 106235951A CN 201610828967 A CN201610828967 A CN 201610828967A CN 106235951 A CN106235951 A CN 106235951A
- Authority
- CN
- China
- Prior art keywords
- endless track
- track type
- cleaning robot
- traction
- type cleaning
- 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.)
- Pending
Links
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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
The invention provides a kind of endless track type cleaning robot, including agent structure, caterpillar drive structure, the cleaning mechanism being located in described agent structure, the sucker being located at track surface and hitch structure, described agent structure is driven by described caterpillar drive structure and advances；Described caterpillar drive structure is by described sucker suction target to be cleaned；Described hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, described pull rope connects outside and described intermediate structure, described agent structure and caterpillar drive structure thereon are hung in described intermediate structure, relative position between agent structure with intermediate structure or relative stress described in described traction detection structure detection, the situation that described traction drive structure arrives according to described traction detection structure detection drives pull rope work.
Description
Technical field
The present invention relates to automated cleaning field, particularly relate to a kind of endless track type cleaning 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 endless track type cleaning robot, including main body
Structure, caterpillar drive structure, the cleaning mechanism being located in described agent structure, the sucker being located at track surface and hitch structure,
Described agent structure is driven by described caterpillar drive structure and advances；Described caterpillar drive structure is treated clearly by described sucker suction
Clean target；
Described hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, and described pull rope connects
Outside and described intermediate structure, described agent structure and caterpillar drive structure thereon are hung in described intermediate structure, described traction
Relative position between agent structure with intermediate structure or relative stress, described traction drive structure root described in detection structure detection
Situation about arriving according to described traction detection structure detection drives pull rope work.
Optionally, described traction drive structure includes the main shaft being wound around described pull rope and the electricity driving described main shaft to rotate
Machine.
Optionally, to include that spring and limit switch, the two ends of described spring connect respectively described for described traction detection structure
Intermediate structure and agent structure, when described spring-compressed or when being stretched to ad-hoc location, described limit switch is triggered, thus instead
It is fed to described traction drive structure so that it is drive pull rope work.
Optionally, described limit switch includes drawing unwrapping wire limit switch, take-up limit switch and stopping limit switch.
Optionally, the width along crawler belt is disposed with sucker described in a group, and sucker described in same group connects same
Vacuum pump.
Optionally, described sucker is fixedly installed in described crawler belt by screw nut assembly.
Optionally, described sucker includes base and the disk body being removably mounted on base, and described base is connected to described
Crawler belt.
Optionally, described cleaning structure is stretched relative to described agent structure by an expansion link.
Optionally, described endless track type cleaning robot also includes that mechanical arm structure, described mechanical arm structure can drive
Described cleaning structure is respectively along two mutually perpendicular axial-rotations.
Optionally, described cleaning structure includes main element and along the outer peripheral polishing piece of described main element, described
Polishing piece is located at the side cleaning object to be cleaned of described main element, the one of the cleaning object to be cleaned of described main element
Being also formed with groove in the middle of side, described groove is provided with vapours extraction structure and/or bath of glass extraction structure.
Caterpillar walking manner is combined by the present invention with adsorption piece so that endless track type cleaning robot can be along clearly
Clean object, such as window move, furthermore, it is understood that in order to ensure absorption affinity, present invention further introduces the hitch structure of original creation, with
Between the absorption of clean robot is moved and traction is hung, set up relation, preferably help clean robot complete mobile and
Cleaning.
Accompanying drawing explanation
Fig. 1 is the structural representation of endless track type cleaning robot in an alternate embodiment of the present invention；
Fig. 2 is sucker scheme of installation in an alternate embodiment of the present invention；
Fig. 3 is the schematic diagram of hitch structure in an alternate embodiment of the present invention；
Fig. 4 is the schematic diagram of swing boom configuration in an alternate embodiment of the present invention；
Fig. 5 is the schematic diagram of cleaning structure in an alternate embodiment of the present invention；
In figure, 1-agent structure；2-vacuum pump；3-sucker；4-expansion link；5-workbench main body；6-swing boom configuration；7-cleans
Structure；8-crawler belt；9-screw rod；10-nut；11-base；12-connecting tube；13-disk body；14-vacuum pump；15-intermediate structure；
16-pull rope；17-motor；18-main shaft；19-spring；20-controller；21-limit switch；22-draws guide rail；23-draws sliding
Block；24-slide block；25-slide rail；26-turning arm；27-the first rotating disk；28-connecting portion；29-the second rotating disk；30-stopper slot；31-
Locating part；32-vapours extraction structure；33-main element；34-polishing piece；35-groove；36-bath of glass extraction structure.
Detailed description of the invention
The endless track type cleaning robot provided the present invention below with reference to Fig. 1 to Fig. 5 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, to it
Modify and polish.
Refer to Fig. 1, the invention provides a kind of endless track type cleaning robot, including agent structure 1, caterpillar drive knot
Structure, the cleaning mechanism 7 being located in described agent structure 1, the sucker 3 being located at crawler belt 8 surface and hitch structure, described agent structure
1 drives traveling by described caterpillar drive structure；Described caterpillar drive structure adsorbs target to be cleaned by described sucker 3；
Refer to Fig. 3, described hitch structure includes intermediate structure 15, pull rope 16, traction drive structure and traction detection structure,
Described pull rope 16 connects outside and described intermediate structure 15, described agent structure 1 and caterpillar drive structure thereon and hangs in institute
State intermediate structure 15, the relative position between agent structure 1 with intermediate structure 15 or phase described in described traction detection structure detection
To stress, described traction drive structure according to described traction detection structure detection to situation drive pull rope 16 to work.
Relevant traction drive structure therein, described traction drive structure includes main shaft 18 He being wound around described pull rope 16
Driving the motor 17 that described main shaft 18 rotates, and this motor 17 is driven by controller 20, controller 20 connects limit switch 21.
Relevant traction detection structure therein, described traction detection structure includes spring 19 and limit switch 21, described bullet
The two ends of spring 19 connect described intermediate structure 15 and agent structure 1 respectively, when described spring 19 compresses or is stretched to ad-hoc location
Time, described limit switch 21 is triggered, thus feeds back to described traction drive structure so that it is drive pull rope 16 to work.Described
Limit switch includes drawing unwrapping wire limit switch, take-up limit switch and stopping limit switch.
Relevant described sucker 3, refer to Fig. 1 and Fig. 2, and the width along crawler belt 8 is disposed with sucker 3 described in a group, and
Sucker 3 described in same group connects same vacuum pump 2, and one group of sucker 3 is connected to vacuum pump 2 by connecting tube.Described sucker 3 passes through
Screw nut assembly is fixedly installed in described crawler belt 8.Described sucker 3 includes base 11 and the dish being removably mounted on base 11
Body 13, described base is connected to described crawler belt.Described screw nut assembly includes nut 10 and screw rod 9, and screw rod 9 can be fixed in
Base 11, the connection chamber in base 11 is respectively communicated with disk body 13 and connecting tube 12.Described disk body 13 can use the material of rubber.
Relevant cleaning structure 7, described cleaning structure 7 includes main element 33 and outer peripheral along described main element 33
Polishing piece 34, described polishing piece 34 is located at the side cleaning object to be cleaned of described main element 33, described main element 33
Clean object to be cleaned side in the middle of be also formed with groove 35, described groove 35 be provided with vapours extraction structure 32 and/or
Bath of glass extraction structure 36.Described polishing piece 34 includes scraping article and/or scrapes head.Certainly, vapours extraction structure 32 and bath of glass
Extraction structure 36 also mates the device being provided with steam and bath of glass, and those skilled in the art can be designed according to demand,
So, do not do expansion narration, the most there is not the situation of insufficient disclosure, and without departing from the scope of the present invention.
In optional embodiment of the present invention, described cleaning structure is entered relative to described agent structure 1 by an expansion link 4
Row is flexible.Expansion link 4 by drive relative to cleaning slide block 25 do flexible, its specific implementation can use leading screw, nut and
The compound mode of motor.Certainly, in further alternative embodiment, also including cleaning movement mechanism, described cleaning structure 7 is by institute
State the driving of cleaning movement mechanism to move along subject surface to be cleaned.Furthermore, it is understood that described cleaning movement mechanism includes cleaning
Slide block 25 and cleaning slide rail 24, clean slide rail 24 and be located at agent structure 1, and cleaning slide block 25 is driven to move along cleaning slide rail 24,
And then drive expansion link 4 thereon to move.
The present invention is further and in other alternative embodiments, and described endless track type cleaning robot also includes that mechanical arm is tied
Structure 6, described mechanical arm structure 6 can drive described cleaning structure 7 respectively along two mutually perpendicular axial-rotations.
Furthermore, it is understood that also include workbench main body 5, described mechanical arm structure 6 include the first rotating disk 27, connecting portion 28,
Turning arm 262 and the second rotating disk 29, described connecting portion 28 is located on described first rotating disk 27, described turning arm 26 be rotatably connected in
Described connecting portion 28, the end of described turning arm 26 is provided with described second rotating disk 29, and described cleaning structure 7 is located at described second turn
Dish 29.So, cleaning structure 7 can realize the rotation of multiple dimension.
In sum, caterpillar walking manner is combined by the present invention with adsorption piece so that endless track type cleaning robot
Can move, furthermore, it is understood that in order to ensure absorption affinity, present invention further introduces original creation along cleaning object, such as window
Hitch structure, move with the absorption at clean robot and traction hang between set up relation, preferably help cleaning machine
People completes mobile and cleaning.
Claims (10)
1. an endless track type cleaning robot, it is characterised in that: include agent structure, caterpillar drive structure, be located at described main body
Cleaning mechanism in structure, the sucker being located at track surface and hitch structure, described agent structure is tied by described caterpillar drive
Structure drives advances；Described caterpillar drive structure is by described sucker suction target to be cleaned；
Described hitch structure includes intermediate structure, pull rope, traction drive structure and traction detection structure, and described pull rope connects
Outside and described intermediate structure, described agent structure and caterpillar drive structure thereon are hung in described intermediate structure, described traction
Relative position between agent structure with intermediate structure or relative stress, described traction drive structure root described in detection structure detection
Situation about arriving according to described traction detection structure detection drives pull rope work.
2. endless track type cleaning robot as claimed in claim 1, it is characterised in that: described traction drive structure includes being wound around institute
The main shaft stating pull rope and the motor driving described main shaft to rotate.
3. endless track type cleaning robot as claimed in claim 1, it is characterised in that: described traction detection structure include spring and
Limit switch, the two ends of described spring connect described intermediate structure and agent structure respectively, when described spring-compressed or be stretched to
During ad-hoc location, described limit switch is triggered, thus feeds back to described traction drive structure so that it is drive pull rope work.
4. endless track type cleaning robot as claimed in claim 3, it is characterised in that: described limit switch includes drawing unwrapping wire limit
Bit switch, take-up limit switch and stopping limit switch.
5. endless track type cleaning robot as claimed in claim 1, it is characterised in that: the width along crawler belt is disposed with one group
Described sucker, and the same vacuum pump of sucker connection described in same group.
6. endless track type cleaning robot as claimed in claim 1, it is characterised in that: described sucker is solid by screw nut assembly
Dingan County is loaded on described crawler belt.
7. the endless track type cleaning robot as described in claim 1 or 6, it is characterised in that: described sucker includes base and removable
Unloading the disk body being installed on base, described base is connected to described crawler belt.
8. endless track type cleaning 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.
9. endless track type cleaning robot as claimed in claim 1, it is characterised in that: also include mechanical arm structure, described machinery
Arm configuration can drive described cleaning structure respectively along two mutually perpendicular axial-rotations.
10. endless track type cleaning robot as claimed in claim 1, it is characterised in that: described cleaning structure includes main element
With along the outer peripheral polishing piece of described main element, described polishing piece is located at the cleaning object to be cleaned of described main element
Side, is also formed with groove in the middle of the side cleaning object to be cleaned of described main element, and described groove is provided with vapours and goes out
Penetrate structure and/or bath of glass extraction structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828967.8A CN106235951A (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610828967.8A CN106235951A (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106235951A true CN106235951A (en) | 2016-12-21 |
Family
ID=57600251
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610828967.8A Pending CN106235951A (en) | 2016-09-19 | 2016-09-19 | Endless track type cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106235951A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007195A (en) * | 2017-06-15 | 2017-08-04 | 吴为生 | Glass wall cleaning driving car |
| CN109288442A (en) * | 2018-12-04 | 2019-02-01 | 安徽信息工程学院 | A kind of cleaning part for glass-cleaning robot |
| CN109466649A (en) * | 2018-09-30 | 2019-03-15 | 厦门朴蜂智能科技有限公司 | The crawler type walking mechanism that Z can be continuously maintained adsorption capacity based on passive sucker |
| CN109953703A (en) * | 2017-12-25 | 2019-07-02 | 南京农业大学 | Steam-type glass automatic cleaning equipment |
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| CN204924677U (en) * | 2015-09-24 | 2015-12-30 | 山推工程机械股份有限公司 | Bull -dozer load test device |
| CN205094341U (en) * | 2015-11-10 | 2016-03-23 | 南京理工大学泰州科技学院 | Wall clean robot is climbed to vacuum adsorption formula track |
| CN206745309U (en) * | 2016-09-19 | 2017-12-15 | 贺州学院 | Endless track type cleaning robot with traction detection driving function |
| CN206761623U (en) * | 2016-09-19 | 2017-12-19 | 蔡秋强 | Endless track type cleaning robot |
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| CN201826892U (en) * | 2010-09-17 | 2011-05-11 | 山西普松自动化设备有限公司 | Movable pump station for mine underground drainage |
| WO2012072834A1 (en) * | 2010-12-02 | 2012-06-07 | Eliot Systems, S.L. | Robot device for cleaning external steel structures |
| CN201937391U (en) * | 2010-12-22 | 2011-08-17 | 王超 | Roller-combined generator set |
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| CN206761623U (en) * | 2016-09-19 | 2017-12-19 | 蔡秋强 | Endless track type cleaning robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007195A (en) * | 2017-06-15 | 2017-08-04 | 吴为生 | Glass wall cleaning driving car |
| CN109953703A (en) * | 2017-12-25 | 2019-07-02 | 南京农业大学 | Steam-type glass automatic cleaning equipment |
| CN109466649A (en) * | 2018-09-30 | 2019-03-15 | 厦门朴蜂智能科技有限公司 | The crawler type walking mechanism that Z can be continuously maintained adsorption capacity based on passive sucker |
| CN109288442A (en) * | 2018-12-04 | 2019-02-01 | 安徽信息工程学院 | A kind of cleaning part for glass-cleaning robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20161221 |