CN106388725A - Wall robot capable of surmounting and tramping obstacles - Google Patents
Wall robot capable of surmounting and tramping obstacles Download PDFInfo
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- CN106388725A CN106388725A CN201611054659.0A CN201611054659A CN106388725A CN 106388725 A CN106388725 A CN 106388725A CN 201611054659 A CN201611054659 A CN 201611054659A CN 106388725 A CN106388725 A CN 106388725A
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- support
- wall robot
- robot
- obstacle detouring
- driving
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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
- A47L11/4036—Parts or details of the surface treating tools
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4072—Arrangement of castors or wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- 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
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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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
- 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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wall robot capable of surmounting and tramping obstacles. The wall robot comprises a first bracket and a second bracket which are symmetrically arranged, and driving wheels arranged on the first bracket and the second bracket respectively, a sucker, a draught fan, a first driving device and a control device, the first bracket and the second bracket is connected with a first guide rail mechanism through a second driving device, and the first bracket comprises a fixing bracket, a driving frame and a driven frame; a shear type lifting structure is arranged between the fixing bracket and the driving frame; the driving frame is fixedly connected with the driven frame through a second guide rail mechanism; the driven frame is connected to the fixing bracket through the fixing bracket; the driving wheel, the sucker, and the first driving device is arranged on the driving frame. With such a structure, the wall robot capable of surmounting and tramping obstacle achieves extending on the horizontal plane and lifting on the vertical plane, thus the function of surmounting and tramping obstacles is further achieved.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly, to a kind of the wall robot of barrier can be stepped on by obstacle detouring.
Background technology
With economic rapid growth and urbanization.Increasing high buildings and large mansions are rised sheer from level ground, the appearance of many high buildings
It is all to be decorated with glass curtain wall, and the cleaning of corresponding glass curtain wall brings very burden.Existing major part cleaner
Make by being accomplished manually, but work is both dangerous, cost is again high.So this results in the clear robot of the wall to high-rise building wall surface
Demand very urgent.
Climbing robot be a kind of there is the automation equipment that mobile and adsorption function can move in vertical walls, can
To replace workman to complete work under the danger such as the manufacture of nuclear engineering, fire-fighting and large-scale non-structural equipment and maintenance and extreme environment
Make.The work of glass curtain wall clean robot is to wash the dust on glass, makes whole building brighter and attractive in appearance, has wide
General application prospect.
There are a lot of companies to be made that the clean robot of glass curtain wall now, but most of wall robot can only
Under the conditions of very smooth curtain wall, have big projection or groove in the junction of some glass and glass, existing
Robot cannot more pass by.Therefore this robot is fairly cumbersome in clean sliding window, needs manually on every block of glass
Lay robot to be carried out, lay robot in high-altitude also very inconvenient.But for existing can obstacle detouring robot, its knot
Structure is often sufficiently complex, and also cannot successfully cross over when running into too big or too long of barrier.
Content of the invention
For solving above-mentioned wall robot complex structure it is impossible to cross over the technical problem of the barrier of large volume, the present invention
Provide the wall robot that a kind of simple, the achievable obstacle detouring of structure steps on barrier：
A kind of can step on the wall robot of barrier by obstacle detouring, including symmetrically arranged first support and second support, and be respectively symmetrically and set
Put driving wheel in described first support and second support, sucker, blower fan, first driving means and control device, described
Pass through the second driving means between one support and described second support and the first guide rail mechanism connects, described first support includes solid
Determine frame, bogie, from moving frame；It is provided with scissor type elevating structure, described scissor-type liter between described fixed mount and described bogie
Fall structure is fixedly connected with described fixed mount and described bogie with bottom plate respectively by upper mounted plate, described scissor-type liter
Fall structure drives described bottom plate to move upwards；Described bogie is fixedly connected from moving frame with described；Described from moving frame and institute
State fixed mount and pass through described second guide rail mechanism connection, described second guide rail mechanism includes the second slide guide geosynclinal block and the second slide guide
Block, described second slide guide geosynclinal block be fixed on described from moving frame, described second slide guide geosynclinal block be fixed on described fixed mount
Second slider guide is flexibly connected；Described driving wheel, described sucker, described first driving means are arranged on described bogie.
As improving further, described first guide rail mechanism quantity is two groups, and described first guide rail mechanism includes being fixed on
The first slide guide geosynclinal block on described first support fixed mount and the first slider guide being fixed on described second support fixed mount.
As improving further, described second driving means are used for promoting second support away from first support, and described first
Guide rail mechanism is symmetricly set in the both sides of described second driving means pushing direction；Described second driving means are pneumatic cylinder, electricity
Dynamic push rod and electric expansion arm, the stroke that described second driving means of definition can promote is h, and wherein the scope of h is 0 ~ 36cm.
As improving further, described bogie is fixedly connected with the driving wheel installation being distributed in driven wheel side wall both sides
Block, described driving wheel center offers axially extending bore, and driving wheel is arranged on described drive through described through hole by driving wheel installation axle
On driving wheel mounting blocks.
As improving further, described driving wheel is corresponded with described scissor type elevating structure；On described arbitrary support
Two driving wheels correspond to a described scissor type elevating structure；Described scissor type elevating structure passes through under the 3rd driving means control
Fixed plate moves up and down thus driving described bogie to move up and down, and defines the tensile stroke of described scissor type elevating structure and is
The scope of d, wherein d is 0 ~ 32cm.
As improving further, described driving wheel on direction of travel before and after both sides be respectively provided with a sucker, described suction
Disk is connected with vacuum generator.
As improving further, described in described first support or second support is two from moving frame quantity, described from
Moving frame is " gantry shape ", described is equipped with described second guide rail mechanism from the vertical portion of moving frame.
As improving further, described bogie is also fixedly connected with wiper mechanism, described wiper mechanism include located at
The high pressurised water jet of body front end, the side brush located at honorable direction of travel both sides, the rubber flap located at body rear and front end,
Located at the row brush at front end rubber flap rear and in the middle part of robot lower end disc brush.
As improving further, the quantity of described blower fan is four, is evenly distributed at the corner of wall robot body.
As improving further, described control device is connected with above-mentioned each driving means；It is provided with described control device
Inductor, described inductor can determine whether robot ambulation direction preceding object object location and size, and described control device accepts institute
State inductor information and driving means are sent with corresponding action command.
Compared with prior art, the present invention has advantages below：
1st, the present invention is a kind of obstacle detouring can step on the wall robot of barrier and employs crossing type lifting apparatus to realize wall robot
Support is in the lifting on metope direction, thus having reached the first step of obstacle detouring, using such stabilized structure safety, can
To be effectively realized elevating function.
2nd, the present invention is a kind of obstacle detouring can step on and employ pneumatic cylinder between the wall robot first support of barrier and second support
Combine to realize wall robot integrally-built extension on direction of travel with the connection of guide rail structure, thus it is big to reach leap
The effect of volume barrier.
3rd, the present invention a kind of can obstacle detouring step on barrier wall robot overall structure simple, convenient and easy, action substep is carried out,
Also directly can walk on barrier simultaneously, finally realize the function that obstacle detouring steps on barrier.
Brief description
Accompanying drawing 1 is that the present invention is a kind of can step on the structural representation after the wall robot removing cleaning structure of barrier by obstacle detouring；
Accompanying drawing 2 be the present invention a kind of can obstacle detouring step on barrier wall robot top view；
Accompanying drawing 3 be the present invention a kind of can obstacle detouring step on barrier wall robot structural representation；
Accompanying drawing 4 be the present invention a kind of can obstacle detouring step on barrier wall robot obstacle detouring fundamental diagram；
Accompanying drawing 5 is that the present invention is a kind of obstacle detouring can be stepped on the wall robot of barrier and steps on the fundamental diagram of barrier.
Specific embodiment
In describing the invention, it should be noted that term " first ", " second " are only used for describing purpose, and can not
It is interpreted as indicating or imply relative importance." being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected,
Can be to be detachably connected, or be integrally connected；Can be to be mechanically connected or electrically connect；Can be to be joined directly together,
Can be indirectly connected to by intermediary, can be the connection of two element internals.For those of ordinary skill in the art
Speech, can understand above-mentioned term concrete meaning in the present invention with concrete condition.Additionally, in describing the invention, unless separately
It is described, " multiple " are meant that two or more.
Purpose, technical scheme and advantage for making the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of not making creative work, broadly falls into the scope of protection of the invention.
With specific embodiment, the present invention is described in further detail below in conjunction with the accompanying drawings.
Refer to Fig. 1 to Fig. 2, in embodiment, a kind of can step on the wall robot of barrier, including symmetrically arranged first by obstacle detouring
Support 10 and second support 20, and be symmetrically arranged at driving wheel 30 in described first support 10 and second support 20, inhale
Disk 40, blower fan 50, cleaning structure 60, first driving means 71 and control device, described first support 10 and described second support
Pass through the second driving means 72 between 20 and the first guide rail mechanism 81 connects, described first support 10 includes fixed mount 11, drives
Frame 12, from moving frame 13；It is provided with scissor type elevating structure 14, described scissor-type liter between described fixed mount 11 and described bogie 13
Fall structure 14 is fixedly connected with described fixed mount 11 and described bogie 13 with bottom plate 16 respectively by upper mounted plate 15, institute
Stating scissor type elevating structure 14 drives described bottom plate 16 to move upwards；Described bogie 12 is fixing even from moving frame 13 with described
Connect；Described be connected by described second guide rail mechanism 82 with described fixed mount 11 from moving frame 13, described second guide rail mechanism 82 wraps
Include the second slide guide geosynclinal block 821 and the second slider guide 822, described second slide guide geosynclinal block 821 be fixed on described from moving frame 13, described
Second slide guide geosynclinal block 821 is flexibly connected with the second slider guide 822 being fixed on described fixed mount 11；Described driving wheel 30, institute
State sucker 40, described first driving means 71 are arranged at and realize being synchronized with the movement on described bogie 13.Using such overall knot
Structure can not only realize stepping on the function of barrier obstacle detouring, and structure is simple simultaneously and safety and firmness.
Refer to Fig. 1, in embodiment, described first guide rail mechanism 81 quantity is two groups, and described first guide rail mechanism includes
The first slide guide geosynclinal block 811 of being fixed on described first support 10 fixed mount and being fixed on described second support 20 fixed mount
First slider guide 812, described first guide rail structure 81 has not only acted as guide effect, is also further enhanced using two groups simultaneously
Steadiness between first support 10 and second support 20.Described second driving means 72 are used for promoting second support 20 away from first
Support 10, described first guide rail mechanism 81 is symmetricly set in the both sides of described second driving means 72 pushing direction；Described second
Driving means 72 include pneumatic cylinder, electric pushrod and electric expansion arm, define the stroke that described second driving means 72 can promote
For h, the wherein scope of h is 0cm ~ 36cm.Wall robot stretching on direction of travel can be realized using such structure,
Thus combine that the function of finally realizing direct obstacle detouring is lifted on direction of travel.
Refer to Fig. 1 to Fig. 2, in embodiment, the quantity of described driving wheel 30 is four, is uniformly arranged on whole wall machine
The corner of device people, described bogie 12 is fixedly connected with the driving wheel mounting blocks being distributed in driving wheel 30 side wall both sides, described
Driving wheel 30 center offers axially extending bore, and driving wheel 30 is arranged on described driving wheel through described through hole by driving wheel installation axle
On mounting blocks.Described driving wheel 30 is corresponded with described scissor type elevating structure 14；Described scissor type elevating structure 14 passes through
3rd driving means 17 control described bogie 12 to move up and down, and specially described 3rd driving means 17 drive lower fixed frame 16
Move up and down and carry out driving driving wheel 30 to realize lifting together with sucker 40 thus driving described bogie 12 to move upwards, definition
The tensile range of described scissor type elevating structure 14 is d, and wherein the scope of d is 0cm ~ 32cm.Described driving wheel 30 exists
Before and after on direction of travel, both sides are respectively provided with a sucker 40, the elasticity that described sucker 40 includes slider disc and seals engagement therewith
Leather cup, elastic cup is provided with the installation portion being connected with described support, and described sucker is connected with vacuum generator.Using so
Structure can achieve whole walking structure Integral synchronous motion, realize the lift leg action of obstacle detouring, described scissors type elevating simultaneously
The barrier that the extending stroke of structure also meets in certain altitude further is crossed over.
Refer to Fig. 1 to Fig. 2, in embodiment, in described first support 10 or second support 20 described from moving frame 13
Mostly be two it is preferred that being respectively uniformly provided with two from moving frame 13 in described first support 10 and second support 20, described from moving frame
13 are corresponded with driving wheel 30, described from moving frame 13 be " gantry shape "；Described fixed mount 11 includes fixed frame 111 and fixing horizontal stroke
Beam 112, described fixed frame 111 and fixed cross beam 112 are in the same plane and parallel to wall, described fixed cross beam 112
Quantity is the six roots of sensation and is uniformly arranged on robot ambulation direction, is provided between described bogie 12 and fixed cross beam 112
Second guide rail structure 82, described second guide rail structure 82 includes the second slide guide geosynclinal block 821 and the second slider guide 822, and described second
Slide guide, 822 are fixed on fixed cross beam 112, and the second described slide guide geosynclinal block 821 is fixed on from the vertical portion of moving frame 13, institute
State each and be equipped with the second slide guide geosynclinal block 821 at the vertical position of both sides from moving frame 13.Robot support adopts such knot
Structure can more firmly realize the elevating function of obstacle detouring needs.Further, described logical between moving frame 13 and fixed mount 11
Cross the 3rd guide rail mechanism to be flexibly connected, and control motion to reach described driving wheel, described sucker etc. by four-drive device
Device is sliding on the direction of travel of robot.Slender type barrier can be run in wall robot using such structure
Hinder and be laterally moved during thing thus reaching the function of efficient avoiding obstacles.
Refer to Fig. 1 and Fig. 2, in embodiment, described bogie 12 is also fixedly connected with wiper mechanism 60, described cleaning
Mechanism include high pressurised water jet located at body front end, the side brush located at honorable direction of travel both sides, two before and after body
End rubber flap 61, the row brush located at front end rubber flap rear and in the middle part of robot lower end disc brush 62, described height
Pressure water ejector adds the water of washing agent to be pressurized to the pressure more than 10 kgf/cm2 through high-pressure hydraulic pump.It is less than by aperture
The injection apparatus of 1mm is converted to the fine water column of high speed.Water flow jet, in glass surface, can rinse curtain wall surface dirt；Institute
State side brush bristle lengths and exceed body 5-8 centimetre, the effect of side brush is at the frame that cannot approach robot, corner cleaning
Totally；Described rubber adhesive tape can quickly shave glass surface sewage.By controlling adhesive tape cross sectional shape and width, make scraper plate deformation
Amount is moderate, reaches and most preferably scrapes effect.It is fixed with the row brush that bristle is slightly slightly longer than adhesive tape before adhesive tape, mainly tackle glass curtain wall
The cleaning of seam crossing.Every group of rubber flap 61 is formed by two sections it is therefore intended that tackles that glass curtain wall plane out-of-flatness brings is clear
Wash blind area.Two sections of scraper plates 61 are respectively by air cylinder driven；The quantity of described disc brush 62 is eight, is turned at a high speed using belt 621 transmission
Move, described disc brush 62 and belt 621 are fixed on guide rail 63.Disc brush material is the moderate nylon yarn of hardness.Not easy-to-use to tackle
The special circumstances of conventional method cleaning, glue that such as work progress stays, concrete etc..For tackling the different contaminated feelings of glass
Condition, can change the disc brush of different bristle stiffness it might even be possible to be replaced by grinding head, can play and stain is brushed
The effect such as wash, glass surface polishing repaired；The quantity of described blower fan 50 is four, is evenly distributed on the bottom of wall robot
Corner at.Described blower fan 50 is used for the absorption first of concave surface curtain wall, using safety rope, wall robot is risen to concave surface curtain
During the height of wall place, start four blower fans, blower fan high-speed rotation produces the active force promoting robot near glass, by program
After algorithm controls rotation speed of fan to make robot steadily press close to curtain wall, complete the absorption action of robot, thus realizing whole machine
People steadily enters convex surface and is carried out work, to reach the function at cleaning concave surface position, reaches comprehensive cleaning.
Refer to Fig. 1, Fig. 3 and Fig. 4, in embodiment, in described control device, be provided with inductor, described inductor can determine whether
Robot ambulation direction preceding object object location and size, specifically, if the length of barrier is less than the 72 of the second driving means
Range, then control centre send obstacle detouring instruction, specifically ask for an interview Fig. 3：The scissors type elevating of the wall robot forward foot in a step first
Structure 14 is increased to obstacle height, and then the electric expansion arm of the second driving means 72 extends to be directed across barrier, its
The scissor type elevating structure 14 of the secondary wall robot forward foot in a step declines land, finally the scissors type elevating of the wall robot rear foot first
Structure 14 repeats the action of the forward foot in a step, realizes whole barrier-jump process in conjunction with driving wheel；If the length of barrier is more than second drives dress
The range of 72 putting, then control centre send step on barrier instruction, specifically ask for an interview Fig. 4：The scissor of the wall robot forward foot in a step first
Formula lifting structure 14 is increased to obstacle height, and then the scissor type elevating structure 14 of the wall robot rear foot is also increased to obstacle
Thing height, when getting over barrier and arriving at barrier edge, the scissor type elevating structure 14 of the wall robot forward foot in a step declines land,
The scissor type elevating structure 14 of the robot rear foot declines land afterwards, realizes entirely stepping on barrier process in conjunction with driving wheel.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement done etc., should be included within the scope of protection of the invention.
Claims (10)
1. a kind of can step on the wall robot of barrier by obstacle detouring, including symmetrically arranged first support and second support, and be respectively symmetrically
It is arranged on driving wheel in described first support and second support, sucker, blower fan, first driving means and control device, it is special
Levy and be：Pass through the second driving means between described first support and described second support and the first guide rail mechanism connects, described
First support include fixed mount, bogie, from moving frame；It is provided with scissors type elevating knot between described fixed mount and described bogie
Structure, described scissor type elevating structure is fixed with described fixed mount and described bogie respectively by upper mounted plate and bottom plate
Connect, described scissor type elevating structure drives described bottom plate to move upwards；Described bogie is fixing even from moving frame with described
Connect；Described be connected by described second guide rail mechanism with described fixed mount from moving frame, described second guide rail mechanism includes second leads
Runner block and the second slider guide, described second slide guide geosynclinal block be fixed on described from moving frame, described second slide guide geosynclinal block and fixation
The second slider guide on described fixed mount is flexibly connected；Described driving wheel, described sucker, described first driving means are arranged at
On described bogie.
2. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Described first guide rail machine
Structure quantity is two groups, and described first guide rail mechanism includes the first slide guide geosynclinal block being fixed on described first support fixed mount and consolidates
It is scheduled on the first slider guide on described second support fixed mount.
3. according to claim 2 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Described second drives dress
Put for promoting second support away from first support, described first guide rail mechanism is symmetricly set in described second driving means and promotes
The both sides in direction；Described second driving means include pneumatic cylinder, electric pushrod and electric expansion arm, define described second and drive dress
Putting the stroke that can promote is h, and wherein the scope of h is 0cm ~ 36cm.
4. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Solid on described bogie
Surely it is connected with the driving wheel mounting blocks being distributed in driven wheel side wall both sides, described driving wheel center offers axially extending bore, drive
Wheel installation axle through described through hole, driving wheel is arranged on described driving wheel mounting blocks.
5. according to claim 4 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：On described arbitrary support
Two driving wheels correspond to a described scissor type elevating structure；Described scissor type elevating structure passes through under the 3rd driving means control
Fixed plate moves up and down thus driving described bogie to move up and down, and defines the tensile stroke of described scissor type elevating structure and is
The scope of d, wherein d is 0 ~ 32cm.
6. according to claim 4 or 5 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Described driving wheel
Before and after on direction of travel, both sides are respectively provided with a sucker, and described sucker is connected with vacuum generator.
7. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Described first support or
Described in second support is two from moving frame quantity, described from moving frame be " gantry shape ", described from the vertical portion of moving frame all
It is provided with described second guide rail mechanism.
8. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：On described bogie also
It is fixedly connected with wiper mechanism, described wiper mechanism includes high pressurised water jet located at body front end, located at honorable walking side
To the side brush of both sides, the rubber flap located at body rear and front end, the row brush located at front end rubber flap rear and located at machine
The disc brush of lower end in the middle part of people.
9. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：The quantity of described blower fan
For four, it is evenly distributed at the corner of wall robot body.
10. according to claim 1 a kind of can obstacle detouring step on barrier wall robot it is characterised in that：Described control device
It is connected with above-mentioned each driving means；It is provided with inductor, described inductor can determine whether robot ambulation side in described control device
Forwards Obstacle Position and size, described control device accepts described inductor information driving means are sent and moves accordingly
Instruct.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611054659.0A CN106388725B (en) | 2016-11-25 | 2016-11-25 | It is a kind of can obstacle detouring step on the wall robot of barrier |
| PCT/CN2017/111024 WO2018095250A1 (en) | 2016-11-25 | 2017-11-15 | Wall-climbing robot capable of surmounting and treading on obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611054659.0A CN106388725B (en) | 2016-11-25 | 2016-11-25 | It is a kind of can obstacle detouring step on the wall robot of barrier |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106388725A true CN106388725A (en) | 2017-02-15 |
| CN106388725B CN106388725B (en) | 2019-01-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611054659.0A Active CN106388725B (en) | 2016-11-25 | 2016-11-25 | It is a kind of can obstacle detouring step on the wall robot of barrier |
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| CN (1) | CN106388725B (en) |
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106821164A (en) * | 2017-04-19 | 2017-06-13 | 厦门华蔚物联网科技有限公司 | Horizontal walking curtain cleaning robot and its cleaning method |
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| CN107386682B (en) * | 2017-08-31 | 2019-08-27 | 无锡市钱桥建筑安装工程有限公司 | A kind of high-rise building arch maintenance robot |
| CN107327152A (en) * | 2017-08-31 | 2017-11-07 | 厦门华蔚物联网科技有限公司 | A kind of curtain wall robot and control method for easily realizing wall adsorption |
| CN107386682A (en) * | 2017-08-31 | 2017-11-24 | 王凯盛 | A kind of high-rise building arch maintenance robot |
| CN107692920A (en) * | 2017-11-10 | 2018-02-16 | 安徽工程大学 | A kind of cleaning glass machine people |
| CN107692920B (en) * | 2017-11-10 | 2022-12-13 | 安徽工程大学 | Glass cleaning robot |
| CN108466601A (en) * | 2018-03-30 | 2018-08-31 | 曾正扬 | A kind of public transport dust collector dedicated |
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| CN110664324A (en) * | 2018-07-02 | 2020-01-10 | 凌昕 | Robot for cleaning toilet |
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| CN109909971A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | Obstacle crossing type water-cooling wall detects robot |
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| CN112471957A (en) * | 2020-11-25 | 2021-03-12 | 佛山市高明区高级技工学校 | Adsorption type window cleaning device |
| CN113133730A (en) * | 2021-05-27 | 2021-07-20 | 北京黑蚁兄弟科技有限公司 | Obstacle-surmounting curtain wall cleaning robot and obstacle surmounting method thereof |
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| CN115211777A (en) * | 2022-07-22 | 2022-10-21 | 中建七局建筑装饰工程有限公司 | Wind-control obstacle-crossing type building curtain wall cleaning device |
| CN115211777B (en) * | 2022-07-22 | 2023-09-01 | 中建七局建筑装饰工程有限公司 | Wind control obstacle crossing type building curtain wall cleaning device |
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