CN106314584A - Cleaning and maintenance robot for high-rise buildings - Google Patents
Cleaning and maintenance robot for high-rise buildings Download PDFInfo
- Publication number
- CN106314584A CN106314584A CN201610845002.XA CN201610845002A CN106314584A CN 106314584 A CN106314584 A CN 106314584A CN 201610845002 A CN201610845002 A CN 201610845002A CN 106314584 A CN106314584 A CN 106314584A
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- China
- Prior art keywords
- robot
- connects
- robot body
- hydraulic cylinder
- skyscraper
- 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
-
- 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
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- 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
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- 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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A cleaning and maintenance robot for high-rise buildings comprises a robot body. The robot body is composed of an upper fixing plate and a lower fixing plate, a robot head is installed at the front end of the robot body, a storage box, a rechargeable battery and a dust collector box are installed at the top of the robot body, an electric cleaning brush is installed at the bottom of the robot body, a dust collector head is installed on the rear bottom face of the robot body and connected with a dust collector box through a pipeline, and a plurality of mechanical legs are installed at the bottom of the robot body. The cleaning and maintenance robot for high-rise buildings can replace the manual work of cleaning and maintaining outer-layer curtain walls of high-rise buildings, relieve the manual labor intensity and guarantee the personal safety of workers, large safety protection equipment is not needed, and the workload can be reduced; moreover, multiple robots can be arranged to cooperate, working sections of all the robots are distributed through a wireless communication module, and thus working efficiency can be improved.
Description
Technical field
The present invention relates to robot field, the people that maintains machinery cleared up by especially a kind of skyscraper.
Background technology
Along with the development of economic society, city space becomes the most crowded, and skyscraper is increasingly appearing in
In city.After the development of the production and consumption in each city, the world reaches to a certain degree, there's no one who doesn't or isn't it is actively working to improve urban architecture
The number of plies.It was verified that skyscraper can bring obvious economic results in society: first, make population concentration, available building
Contact distance between internal vertical and cross traffic shortening department, thus improve efficiency；Secondly large area can be made to build
Land used significantly reduces, it is possible in downtown urban land addressing；It is again, it is possible to reduce urban construction investment and shortening building work
Phase.Skyscraper can be substantially improved the utilization rate of city space.But meanwhile, the cleaning maintenance difficulty of skyscraper is more come
The biggest, and use labor cleaning to maintain not only labor intensive material resources, but also have certain danger.Additionally, build for high level
For building, ventilation shaft be easy to pile up dust, and be not easy to cleaning.
Summary of the invention
It is desirable to provide a kind of replacement is accomplished manually outer layer curtain cleaning and the skyscraper of maintenance of skyscraper
Clear up the people that maintains machinery.
For achieving the above object, the present invention provides following technical scheme: the people that maintains machinery cleared up by a kind of skyscraper, including
Robot body, described robot body is made up of upper mounted plate and bottom plate, the front end mounting robot of robot body
Head, storage bin, rechargeable battery and vacuum cleaner casing, bottom installation electric cleaning brush, the rear portion of robot body are installed in top
Cleaner head is installed in bottom surface, and cleaner head connects vacuum cleaner casing by pipeline；The bottom of robot body is installed several
Pedipulator.
Further scheme as the present invention: the first photographic head is installed in the front end of described robot head, spray is installed in bottom
Head and second camera, shower nozzle connects storage bin, and the rear end of robot head connects robot body by steering wheel fixed disk.
Further scheme as the present invention: described pedipulator is by the first hydraulic cylinder, leg joint, thigh, the second hydraulic pressure
Cylinder, shank, the 3rd hydraulic cylinder, foot stand and foot sucker composition, pedipulator by leg arthrodesis on bottom plate,
Fixing seat connects one end of thigh by rotating shaft, and the other end of thigh connects one end of shank, the other end of shank by rotating shaft
Connected one end of foot stand by rotating shaft, the other end of foot stand connects foot's sucker, and leg passes through hydraulic cylinder on joint
Seat installs the first hydraulic cylinder, and the piston rod of the first hydraulic cylinder connects thigh, and thigh installs the second hydraulic cylinder by hydraulic cylinder seat,
The piston rod of the second hydraulic cylinder connects shank, and shank installs the second hydraulic cylinder, the piston of the second hydraulic cylinder by hydraulic cylinder seat
Bar connects foot stand.
Further scheme as the present invention: be provided with sucker motor in described foot stand, the output shaft of sucker motor leads to
Crossing sucker afterbody bolt and connect foot's sucker, the output shaft of sucker motor passes through gear drive attaching nut, nut and suction
Dish afterbody bolt thread connects.
Further scheme as the present invention: be provided with, in described robot body, the Hydraulic Station being connected with pedipulator.
Further scheme as the present invention: equipped with stress sensing system on described pedipulator.
Further scheme as the present invention: the top installation process device of described robot body, this processor is located at and is filled
The top of electricity battery, processor connects display screen.
Further scheme as the present invention: be provided with liquid level monitoring system in described storage bin, liquid level monitoring system is even
Connect processor.
Further scheme as the present invention: described rechargeable battery is directly connected with compact battery electric quantity monitoring device, small electrical
Pond electric quantity monitoring device connects processor.
Compared with prior art, the invention has the beneficial effects as follows: this skyscraper is cleared up the people that maintains machinery and used vacuum to inhale
Disk technology and Visual identification technology, it is possible to identifying curtain wall outer wall spot and profile, every mechanical arm, under the effect of controller, depends on
Moving by hydraulic stem, under the effect of a plurality of lower limb, robot can clear up with automatic by autonomous on curtain wall, vision system
After the particular form of system identification curtain wall (having one piece of spot on such as curtain wall), Automatic Program is reacted, and controls robot leg fortune
Move and sucker suction and disengaged position, move the robot into the work of suitable position.Photographic head is positioned at robot head, has
Broader visual angle and can being rotated by steering wheel.When having barrier local on curtain wall when, visual system identification hinders
Hinder thing shape size, stride across barrier by processor automatic reaction controlling robot motion's mode.Because the activity of this device is clever
Live, it might even be possible to enter skyscraper ventilation shaft class and be cleaned work, when some foreign material easily spread such as dust are more
When, it is possible to use dust etc. is siphoned away by the vacuum cleaner at robot abdominal part rear, it is to avoid affect with fresh air, and robot
On processor, the information of robot identification is real-time transmitted on staff's computer, if having assorted by configurable wireless transmitting system
Special circumstances (such as finding the defects such as body of wall peeling or crackle) or robot are the most appropriate for stain treatment, work
Personnel can be judged by the information independence received, and suitable process behavior is made by remote control robot.
The people that maintains machinery cleared up by skyscraper can replace skyscraper outer layer curtain cleaning and the manual work of maintenance, energy
Enough reduce hand labor intensity and ensure workman's life safety, and need not large-scale safety features, it is possible to reduce work
Amount.Additionally, we can also arrange multiple robots cooperative cooperating, distributed the work of each robot by wireless communication module
Interval, improves work efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the top view of the present invention；
Fig. 3 is the elevation of the present invention；
Fig. 4 is the schematic diagram of liquid level monitoring system；
Fig. 5 is the structural representation of the electric cleaning brush of the present invention；
Fig. 6 is the structural representation in the leg joint of the present invention；
Fig. 7 is the structural representation of the thigh of the present invention；
Fig. 8 is the structural representation of the shank of the present invention；
Fig. 9 is the structural representation of foot's sucker of the present invention；
Figure 10 is the outer wall cleaning effect figure of the present invention；
Figure 11 is the ventilation shaft cleaning effect figure of the present invention；
Figure 12 is the schematic diagram of the linkage coordination control of the multirobot of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
Referring to Fig. 1-12, in the embodiment of the present invention, a kind of skyscraper clears up the people that maintains machinery, including robot body
Body, described robot body is made up of upper mounted plate 9 and bottom plate 8, the front end mounting robot head 1 of robot body,
Storage bin 2, rechargeable battery 3 and vacuum cleaner casing 5 are installed in top, and electric cleaning brush 7 is installed in bottom, at the bottom of the rear portion of robot body
Cleaner head 6 is installed in face, and cleaner head 6 connects vacuum cleaner casing 5 by pipeline；The bottom of robot body is installed several
Pedipulator 10.
Above-mentioned, welded by pillar between upper mounted plate 9 and bottom plate 8, and between upper mounted plate 9 and bottom plate 8
It is provided with gap.
Above-mentioned, the first photographic head 20, bottom mounting spray head 23 and second camera 22 are installed in the front end of robot head 1,
Shower nozzle 23 connects storage bin 2, and the rear end of robot head 1 connects robot body by steering wheel fixed disk 21 and (connects robot
Steering wheel in body).
Above-mentioned, pedipulator 10 by the first hydraulic cylinder 12, leg joint 13, thigh the 14, second hydraulic cylinder 15, shank 16,
Three hydraulic cylinders 17, foot stand 18 and foot's sucker 19 form, and pedipulator 10 is fixed on bottom plate 8 by leg joint 13
On, fixing seat connects one end of thigh 14 by rotating shaft, and the other end of thigh 14 connects one end of shank 16, shank by rotating shaft
The other end of 16 connects one end of foot stand 18 by rotating shaft, and the other end of foot stand 18 connects foot's sucker 19, leg
Installing the first hydraulic cylinder 12 by hydraulic cylinder seat on joint 13, the piston rod of the first hydraulic cylinder 12 connects thigh 14, on thigh 14
Installing the second hydraulic cylinder 15 by hydraulic cylinder seat, the piston rod of the second hydraulic cylinder 15 connects shank 16, and shank 16 passes through hydraulic pressure
Cylinder seat installs the second hydraulic cylinder 15, and the piston rod of the second hydraulic cylinder 15 connects foot stand 18, is provided with sucker in foot stand 18
Motor, the output shaft that the output shaft of sucker motor connects foot's sucker 19(sucker motor by sucker afterbody bolt passes through gear
Drive mechanism attaching nut, nut is connected with sucker afterbody bolt thread).
Robot, in moving process, relies on the synergy movement of leg to carry out.When mobile, controller controls on sucker
Electric machine rotation drives sucker afterbody bolt to move down so that the space reduction that sucker is middle with metope, and air pressure increases, so that lower limb
Portion can lift, when lower limb is moved to by Hydraulic Elements (including three hydraulic cylinders) and the driving of steering wheel under the control of the controller
During setting position, leg falls so that sucker contacts with curtain wall wall, and now, controller controls motor rotational band on sucker and moves
Move on bolt and increase sucker and space between the walls, reduce wherein atmospheric pressure and produce pressure differential so that sucker is inside and outside,
Thus reach the purpose of fixed leg.
Above-mentioned, the Hydraulic Station being connected with pedipulator 10 is installed in robot body, Hydraulic Station connects processor 4.
Above-mentioned, equipped with stress sensing system on pedipulator 10, stress sensing system connects processor 4.
Above-mentioned, the top installation process device 4 of robot body, this processor 4 is located at the top of rechargeable battery 3, processor 4
Connect display screen.
Above-mentioned, liquid level monitoring system is installed in storage bin 2, equipped with liquid level monitoring system loop in storage bin 2, works as cleaning
Liquid or rendering serosity position are understood early warning and send a signal to processor 4 time relatively low, it is simple to staff adds cleanout fluid or paints slurry.
Above-mentioned, the electronic original part of whole robot relies on battery to provide energy, rechargeable battery 3 be positioned at processor 4 times and
Battery is directly connected with compact battery electric quantity monitoring device, can send [battery electric quantity when battery electric quantity is less than 1 15 when
Early warning] signal is delivered to processor 4, and processor 4 controls red flare on display screen, and transmits signal by wireless communication module
To staff, remind staff that robot is charged.
Further, wireless communication module is installed in above-mentioned processor 4.
The present invention uses vacuum cup technology and Visual identification technology, it is possible to identification curtain wall outer wall spot and profile, every
Mechanical arm, under the effect of controller, relies on hydraulic stem to move, and under the effect of a plurality of lower limb, robot can be on curtain wall
Autonomous and automatically cleaning, (have one piece of spot) after the particular form of visual system identification curtain wall, program on such as curtain wall
Automatically reaction, controls robot leg motion and sucker suction and disengaged position, moves the robot into suitable position (such as
Shower nozzle 23 and cleaning head are moved to above spot) work.Photographic head is positioned at robot head 1, has broader visual angle also
And can be rotated by steering wheel.When having barrier local on curtain wall when, visual system cognitive disorders thing shape size is logical
Cross the automatic reaction controlling robot motion's mode of processor 4 and stride across barrier.Because this device is movable flexibly, it might even be possible to enter
Skyscraper ventilation shaft class is cleaned work, when some foreign material easily spread such as dust are more when, it is possible to use
Dust etc. is siphoned away by the vacuum cleaner at robot abdominal part rear, it is to avoid affect with fresh air, and configurable on robot processor 4
The information of robot identification is real-time transmitted on staff's computer by wireless transmitting system, if there being what special circumstances (example
As found, body of wall peels off or the defect such as crackle) or robot the most appropriate for stain treatment, staff can pass through
The information independence received judges, suitable process behavior is made by remote control robot.
The technical characterstic of the present invention: 1, the automatic cleaning to skyscraper glass can be realized.Computer can be relied on
Control realization is autonomous on skyscraper glass, and with other machines person cooperative work, improve glass cleaning efficiency.
2, high-rise outer wall real time imaging can be passed back to skyscraper management personnel, once find body of wall peeling or crack etc.
Can the most independently repair during defect.
3, the control of computer is relied on, it is possible to realize the autonomous cleaning work to high-rise ventilation shaft.Ensure that high level is built
Build with fresh air.
The principle of the present invention: the people that maintains machinery cleared up by skyscraper can replace skyscraper outer layer curtain cleaning and maintenance
Manual work, it is possible to reduce hand labor intensity and ensure workman's life safety, and need not large-scale safety features,
Workload can be reduced.Additionally, we can also arrange multiple robots cooperative cooperating, distributed each by wireless communication module
The operation interval of robot, improves work efficiency.
After robot starts working, in its working range, photographic head detects that there is the dirt of attachment in curtain wall certain region outer,
Then can transmit a signal to processor 4, processor 4 controls pedipulator 10 and moves to dirt region, and visual system identification is dirty
Species type, if attachment dirt (such as oil stain etc.) more closely, processor 4 controls pedipulator 10 form so that robot abdomen
Portion's electric cleaning brush 7 contacts curtain wall, and electric cleaning brush 7 is cleaned, and during cleaning, photographic head monitors dirt region in real time, if
Dirt region exceedes half a minute and does not cleans totally, and signal is delivered to processor 4, and processor 4 sends signal and controls cleanout fluid shower nozzle
23 spray cleanout fluid, electric cleaning brush 7 continuous firing, until dirt disappears；If adhering to untight dirt (such as dust etc.),
Processor 4 controls tail vacuum cleaner head and declines, and contacts curtain wall, directly cleans curtain wall.After dirt disappears, controller receives signal,
Stop cleaning；And proceed by the dirt monitoring in other regions.
Vacuum cleaner casing 5 dust processes: simultaneously equipped with stress sensing system on eight pedipulators 10 of robot, work as robot
After work a period of time, vacuum cleaner casing 5 dust is more, and robot weight increases, when can affect robot travelling performance, and should
Power sensor-based system can send signal, after processor 4 accepts signal, passes to staff by wireless communication module, and work people
The dust in vacuum cleaner casing 5 is returned to clear up by member Autonomous Control robot.
Body of wall is simply repaired: simultaneously robot monitoring dirt during if it find that curtain wall body of wall is defective (if any splitting
Stricture of vagina or body of wall peeling etc.) time, first defective locations can be cleaned, then defective locations spray coating powder swabbing is simply repaiied
Multiple, also can send record position and transmit a signal at staff simultaneously, staff can be fed back by robot
Information independence judge that robot repair is the most qualified, if need other reclamation activitiess.
Coordinating control principle drawing for multirobot linkage as shown in figure 12, the linkage of multirobot is coordinated to control then to pass through
Wireless communication module within processor 4 completes with the computer coordinated in staff's hands.
Application notice:
One, cleaning brush needs to make regular check on, to ensure cleaning effect.
Two, make regular check on sucker, change in time if any abnormal, it is to avoid affect the locomotivity of robot.
Three, periodic charge, it is to avoid the too low exception causing robot of electricity.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of the spirit or essential attributes of the present invention, it is possible to realize the present invention in other specific forms.Therefore, no matter
From the point of view of which point, all should regard embodiment as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all by fall in the implication of equivalency and scope of claim
Change is included in the present invention.Should not be considered as limiting involved claim by any reference in claim.
Although moreover, it will be appreciated that this specification is been described by according to embodiment, but the most each embodiment only wraps
Containing an independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should
Description can also be formed those skilled in the art through appropriately combined as an entirety, the technical scheme in each embodiment
May be appreciated other embodiments.
Claims (9)
1. the people that maintains machinery cleared up by skyscraper, including robot body, it is characterised in that described robot body is by upper
Fixed plate and bottom plate composition, the front end mounting robot head of robot body, top install storage bin, rechargeable battery and
Vacuum cleaner casing, bottom installation electric cleaning brush, bottom surface, the rear portion installation cleaner head of robot body, cleaner head is led to
Piping connects vacuum cleaner casing；Several pedipulators are installed in the bottom of robot body.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that before described robot head
End installs the first photographic head, bottom mounting spray head and second camera, and shower nozzle connects storage bin, and the rear end of robot head is passed through
Steering wheel fixed disk connects robot body.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that described pedipulator is by the first liquid
Cylinder pressure, leg joint, thigh, the second hydraulic cylinder, shank, the 3rd hydraulic cylinder, foot stand and foot's sucker composition, pedipulator leads to
Crossing leg arthrodesis on bottom plate, fixing seat connects one end of thigh by rotating shaft, and the other end of thigh passes through rotating shaft
Connecting one end of shank, the other end of shank connects one end of foot stand, the other end connecting pin of foot stand by rotating shaft
Portion's sucker, the first hydraulic cylinder is installed by hydraulic cylinder seat in leg joint, and the piston rod of the first hydraulic cylinder connects thigh, on thigh
Installing the second hydraulic cylinder by hydraulic cylinder seat, the piston rod of the second hydraulic cylinder connects shank, and shank is installed by hydraulic cylinder seat
Second hydraulic cylinder, the piston rod of the second hydraulic cylinder connects foot stand.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that be provided with in described foot stand
Sucker motor, the output shaft of sucker motor connects foot's sucker by sucker afterbody bolt, and the output shaft of sucker motor passes through tooth
Wheel drive mechanism attaching nut, nut is connected with sucker afterbody bolt thread.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that peace in described robot body
Equipped with the Hydraulic Station being connected with pedipulator.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that equipped with answering on described pedipulator
Power sensor-based system.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that the top of described robot body
Portion's installation process device, this processor is located at the top of rechargeable battery, processor connection display screen.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that be provided with in described storage bin
Liquid level monitoring system, liquid level monitoring system connects processor.
The people that maintains machinery cleared up by skyscraper the most according to claim 1, it is characterised in that described rechargeable battery directly connects
Having compact battery electric quantity monitoring device, compact battery electric quantity monitoring device connects processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845002.XA CN106314584A (en) | 2016-09-23 | 2016-09-23 | Cleaning and maintenance robot for high-rise buildings |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610845002.XA CN106314584A (en) | 2016-09-23 | 2016-09-23 | Cleaning and maintenance robot for high-rise buildings |
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| CN106314584A true CN106314584A (en) | 2017-01-11 |
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| CN201610845002.XA Pending CN106314584A (en) | 2016-09-23 | 2016-09-23 | Cleaning and maintenance robot for high-rise buildings |
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| CN107028549A (en) * | 2017-05-18 | 2017-08-11 | 烟台工程职业技术学院 | A kind of glass-cleaning robot |
| CN107150730A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
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| CN108497989A (en) * | 2018-05-14 | 2018-09-07 | 昆明理工大学 | A kind of spider-shaped glass-cleaning robot |
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| CN108903762A (en) * | 2018-08-08 | 2018-11-30 | 宁波史河机器人科技有限公司 | A kind of clean robot |
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| CN114451830A (en) * | 2022-03-17 | 2022-05-10 | 上海飞博激光科技有限公司 | Device and method for cleaning glass curtain wall by laser |
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