CN106514663A - Multilayer distributed-type building outer surface cleaning robot - Google Patents
Multilayer distributed-type building outer surface cleaning robot Download PDFInfo
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- CN106514663A CN106514663A CN201611026551.0A CN201611026551A CN106514663A CN 106514663 A CN106514663 A CN 106514663A CN 201611026551 A CN201611026551 A CN 201611026551A CN 106514663 A CN106514663 A CN 106514663A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention relates to the technical field of aerial cleaning operations, in particular to a multilayer distributed-type building outer surface cleaning robot. The multilayer distributed-type building outer surface cleaning robot comprises a cleaning function unit layer, a center control core layer and a rotor wing boost layer which are sequentially arranged. The cleaning function unit layer comprises a plurality of cleaning units. By the adoption of the multilayer distributed-type structure with the cleaning function unit layer, the center control core layer and the rotor wing boost layer, a cleaning function unit and a core circuit part are effectively separated, the effect that the middle center control core layer is far away from the complex liquid working surface can be guaranteed, and the working intelligence and stability are improved. The layered structure can reduce the wind drag area of the robot in the upper air, working stability of the whole system under the condition of transverse wind is improved, and the working efficiency is improved. On the aspect of wall space adaptability, control over all the units and parts and posture adjustment under the working condition can be better conducted through the layered structure, and the structural adaptability and cleaning effect are improved.
Description
Technical field
A kind of the present invention relates to high-altitude cleaning technical field of operation, more particularly to multilayer distributed external surface of buildings cleaning
Robot.
Background technology
At present, the cleaning mode of skin mainly still has high-risk work post " spider-man " to carry out manual cleaning, just cleans
Need for process repeatedly that outside the building side is adjusted to working region using elevator by cleanup crew, then implement artificial
Operation.There are many unsafe factors in tens meters to hundreds of meter of work high above the ground in workman, efficiency is not also high, and for industry
For master, the expenditure of this cleaning mode is also considerable；Another way is substituting people using some simple frame for movements
Work cleaning operation, this mode can avoid the skyborne high-risk operations of personnel, but be limited in that high level similar at present
Outer surface of building cleaning machine degree of intelligence is generally relatively low, needs manually to operate the function to reach specified location cleaning.And
The intelligent glass-cleaning robot of main flow also rested in the simple scope of operation, by the use of the border of glass as robot motion from
So border, carries out simple path planning in these a small ranges, and cleaning effect is still undesirable.
In addition, outside Wall Cleaning machine people does not also have the spread in market scope, only several domestic and international enterprises exist
Structure of the research and development of small range similar to facade washing machine tool.However, just as described above, its main shortcoming can be general
It is big by the limitation of metope feature to include, and cleaning efficiency is low and low three aspects of intelligence degree.
Therefore, it is not enough for more than, it is desirable to provide a kind of multilayer distributed external surface of buildings clean robot.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to provide a kind of multilayer distributed external surface of buildings clean robot is substituting artificial high-altitude
While high-risk operations, intellectuality, efficiency and the knot of building table cleaning are improved by rational hierarchy and motion
Structure adaptability.
(2) technical scheme
In order to solve above-mentioned technical problem, the invention provides a kind of multilayer distributed external surface of buildings cleaning machine
People, which includes cleaning function elementary layer, middle control core layer and the rotor boosting layer for setting gradually, and cleaning function elementary layer includes many
Individual cleaning unit；The middle control core layer includes main installing rack and the control unit being arranged on main installing rack, control circuit, follows
Ring water circuit system and lifting elements, control unit are electrically connected with the drive part of cleaning unit by control circuit, the circulation
Water circuit system is connected with the water inlet portion of the cleaning unit, and the lifting elements are connected with hanger rope；The rotor boosting layer bag
Include rotor body frame and the rotor on rotor body frame；The rotor body frame is connected with the cleaning unit by unit expansion link
Connect, the unit expansion link passes through the main installing rack；Also include the main body expansion link parallel with the unit expansion link, it is described
One end of main body expansion link is connected with the rotor body frame and the other end of the main body expansion link is connected with the main installing rack.
Wherein, the plurality of cleaning unit includes rolling brush cleaning unit, suction windscreen wiper unit and negative-pressure sucking cleaning unit；
Rolling brush cleaning unit and negative-pressure sucking cleaning unit are located at the both sides of suction windscreen wiper unit；Each cleaning unit is by described in one
Unit expansion link is connected to the rotor body frame.
Wherein, also include it is parallel with the unit expansion link and for support it is described it is middle control core layer many optical axises, institute
The one end for stating optical axis is slidably inserted into the rotor body frame and the other end is fixedly connected with the cleaning unit.
Wherein, the unit expansion link is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link is
Electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The unit expansion link, main body expansion link are electrically connected with described control unit
Connect.
Wherein, the lifting elements include mast-up and the suspension ring on mast-up, and the suspension ring are connected with hanger rope.
Wherein, it is described it is middle control core layer also include Three Degree Of Freedom data acquisition unit, Three Degree Of Freedom data acquisition unit with
Described control unit connects；Three Degree Of Freedom data acquisition unit is located at the fore-end of the middle control core layer, Three Degree Of Freedom number
Include photographic head, ultrasonic ranging unit and Three Degree Of Freedom drive component, the photographic head, ultrasonic ranging list according to collecting unit
Unit is successively set on Three Degree Of Freedom drive component.
Wherein, the middle control core layer also includes communication system, and the communication system is connected with described control unit.
Wherein, the circulation waterway system includes water tank and the inlet pipeline being connected on water tank, water return pipeline, it is described enter
Water pump is provided with water lines, water return pipeline, and two water tanks are symmetrically mounted at the both sides of main installing rack, and described in two
Water tank is connected.
Wherein, the rotor boosting layer also includes Rotor thrust system and LED state display system, the Rotor thrust system
System, LED state display system are electrically connected with described control unit, and four rotor centers are symmetrically disposed in the rotor
On body frame.
Wherein, the rolling brush cleaning unit includes sealing cleaning cover, spray unit, double round brush units, negative pressure unit；It is described
Spray unit includes the water pipe being arranged in the sealing cleaning cover and the shower nozzle being opened on the water pipe, described
Water pipe and the circulation waterway system connectivity；Described pair of round brush unit includes the double rollings being arranged in the sealing cleaning cover
Brush and drive the round brush actuator of the round brush, the round brush actuator to be connected with described control unit；The negative pressure unit sets
Put at the back side of the sealing cleaning cover, and connect with the space in the sealing cleaning cover, the drive division of the negative pressure unit
Divide and be connected with described control unit.
Wherein, the suction windscreen wiper unit includes windscreen wiper bar and the negative pressure recovery section being arranged at windscreen wiper bar, described negative
The water return pipeline that receiving portions are pushed back with the circulation waterway system is connected；The negative-pressure sucking cleaning unit includes main frame, peace
Negative-pressure sealing rag band and the negative-pressure sucking part of main frame bottom periphery is mounted in, the water sucking mouth of negative-pressure sucking part is located at rag
Near.
(3) beneficial effect
The above-mentioned technical proposal of the present invention has the advantage that：
By cleaning function elementary layer, middle control core layer and this multi-layer distributed structure of rotor boosting layer, effectively divide
From cleaning function unit and core circuit portions, detached modular mechanism can be in the less feelings of the impact to whole system
Condition completes to clean flow process, while and can guarantee that the middle control core layer of centre, away from complicated band liquid working surface, improves work
Intelligent and stability；The structure of layering can reduce robot in high aerial windage area, and air-flow can be more stable
By fairshaped robot side, job stability of the whole system in the case of having beam wind is improved, improve work efficiency；
In terms of the adaptability of metope, overall hoisting Design, the structure of layering is coordinated to be more beneficial for dividing unit and part
Pose adjustment under Kong Zhi and not working, improves structure adaptability and cleaning effect.
In addition, flow process is cleaned by the standardization that three cleaning units are cleaned successively, while cleaning effect is improve
Also solve a cleaning difficult problem for marginal position；By selection and the arrangement of sensor, it is reliable and stable to be that control flow with the addition of
Closed loop feedback link, improves intelligence degree, and also the trouble free service for robot provides Reliable guarantee；Using negative pressure and rotation
The new structure that wing thrust combines, is on the one hand effectively ensured the offer of working condition lower thrust, on the other hand also ensures more
In the case of barrier, whole robot system still has stable thrust, even running.
Description of the drawings
Fig. 1 is the side view of the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention；
Fig. 2 is the stereochemical structure at a visual angle of the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention
Figure；
Fig. 3 is the upward view of the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention；
Fig. 4 is the top view of the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention；
Fig. 5 is the solid of rolling brush cleaning unit in the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention
Structural representation；
Fig. 6 is the side-looking of rolling brush cleaning unit in the multilayer distributed external surface of buildings clean robot of the embodiment of the present invention
Figure；
Fig. 7 is the type of drive schematic diagram of auxiliary wheel in embodiment of the present invention composite multifunction negative pressure cleaning device；
Fig. 8 is that the structure of Three Degree Of Freedom data acquisition unit in embodiment of the present invention composite multifunction negative pressure cleaning device is shown
It is intended to.
In figure, 1：Cleaning function elementary layer；2：Middle control core layer；3：Rotor boosting layer；4：Rolling brush cleaning unit；5：Suction
Windscreen wiper unit；6：Negative-pressure sucking cleaning unit；7：Scram button；8：Negative pressure fan；9：Suspension ring；10：Mast-up；11：Water tank enters
Air valve；12：Optical axis；13：Unit expansion link；14：Windscreen wiper fixed plate；15：Windscreen wiper suction tube；16：Windscreen wiper bar；17：Stroke wheel；
18：Crawler attachment；19：Negative-pressure sealing rag band；20：Windscreen wiper steering-engine；21：Transmission belt；22：Spray unit；23：Auxiliary
Wheel；24：Round brush；25：Touching formula photoelectric sensor；26：Rotor thrust system；27：LED state display system；28：Water tank；29：
Before renovate；30：Before renovate actuator；31：Three Degree Of Freedom data acquisition unit；32：Front end ultrasonic distance measuring module；33：Main body
Expansion link；34：Round brush actuator；35：After renovate；36：Sealing cleaning cover；37：Front contact probe sensor；38：It is followed by feeler inspection
Pin sensor；39：Push contact sensor；40：Receipts stretch motor；41：Corner pieces；42：Screw mandrel；43：Screw；44：Rise and fall
Bar；45：Photographic head；46：Ultrasonic ranging unit；47：Steering wheel fixed mount；48：First actuator driving plate；49；Second steering wheel drives
Dynamic plate；50：3rd actuator driving plate.
Specific embodiment
With reference to the accompanying drawings and examples the specific embodiment of the present invention is described in further detail.Following examples
For illustrating the present invention, but it is not limited to the scope of the present invention.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " on ", D score,
The orientation of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward " or position relationship are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than indicate or dark
Show that the device or element of indication there must be specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
The restriction of the present invention.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative
Importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to be mechanically connected, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the multilayer distributed external surface of buildings clean robot bag that the present invention is provided
Cleaning function elementary layer 1, middle control core layer 2 and the rotor boosting layer 3 for setting gradually is included, cleaning function elementary layer 1 includes multiple
Cleaning unit；The middle control core layer 2 includes main installing rack and the control unit being arranged on main installing rack, control circuit, follows
Ring water circuit system and lifting elements, control unit, control circuit, circulation waterway system have corresponding installation warehouse, and control is single
Unit is electrically connected with the drive part of cleaning unit by control circuit, and then controls cleaning unit execution cleaning, described to follow
Ring water circuit system is connected with the water inlet portion of the cleaning unit, provides clean water for cleaning unit, the lifting elements with hang
Cable connects, to realize lifting of the hanger rope to overall robot；The rotor boosting layer 3 includes rotor body frame and is arranged on rotor master
Rotor on frame, can make whole robot preferably recline clean surface by rotor；The rotor body frame is flexible by unit
Bar 13 is connected with the cleaning unit, and the unit expansion link 13 passes through the main installing rack；Also include flexible with the unit
The parallel main body expansion link 33 of bar 13, one end of the main body expansion link 33 is connected with the rotor body frame and the main body is flexible
The other end of bar 33 is connected with the main installing rack.Wherein, scram button 7 is set on main installing rack, and scram button 7 is single with control
Unit's connection, can carry out jerk operation when breaking down.
In above-described embodiment, by cleaning function elementary layer 1, middle control 3 this Multi-layers distributing of core layer 2 and rotor boosting layer
Formula structure, has efficiently separated cleaning function unit and core circuit portions, and detached modular mechanism can be to whole system
The situation that the impact of system is less completes to clean flow process, while and can guarantee that the middle control core layer 2 of centre away from complicated band liquid work
Make surface, improve the intelligent and stability of work；The structure of layering can reduce robot in high aerial windage area, gas
Stream can more smoothly pass through fairshaped robot side, improve working stability of the whole system in the case of having beam wind
Property, improve work efficiency；In terms of the adaptability of metope, overall hoisting Design, the structure of layering is coordinated to be more beneficial for each
Individual unit and partial control respectively and the pose adjustment under work, improve structure adaptability and cleaning effect.
Specifically, the plurality of cleaning unit includes rolling brush cleaning unit 4, suction windscreen wiper unit 5 and negative-pressure sucking cleaning
Unit 6；Rolling brush cleaning unit 4 and negative-pressure sucking cleaning unit 6 are located at the both sides of suction windscreen wiper unit 5, and rolling brush cleaning unit 4 can
To be cleaned to glass frame (dead angle) position, suction windscreen wiper unit 5 can carry out secondary cleaning, and windscreen wiper collection is returned
Water is reclaimed, and negative-pressure sucking cleaning unit 6 can improve the efficiency and effect of cleaning；So, drawing for cleaning unit has been refined
Point, flow process is cleaned by the standardization that Unit three are cleaned successively, marginal position is also solved while cleaning effect is improve
A cleaning difficult problem.
Specifically, each cleaning unit is connected to the rotor body frame by a unit expansion link 13, and unit is stretched
Contracting bar 13 is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；In the presence of unit expansion link 13, round brush can be promoted to clean
Unit 4, suction windscreen wiper unit 5 or negative-pressure sucking cleaning unit 6 stretch to clean surface or to middle control core layer 2 and rotor boosting layer
3 withdraw；Robot can be according to metope and glass surface specifically apart from dimensional conditions, stretch out cleaning unit and relative to hanging point
It is adjusted in the position of whole machine, reaches the purpose of adjustment.Wherein, by main body expansion link 33, adjust rotor body frame
With main installing rack, and then the position to hanging point relative to whole machine is adjusted.
Specifically, the main body expansion link 33 is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The unit stretches
Bar 13, main body expansion link 33 are electrically connected with described control unit.
Specifically, also include parallel with the unit expansion link 13 and for core layer 2 being controlled in support many optical axises 12,
One end of the optical axis 12 is slidably inserted into the rotor body frame and the other end is fixedly connected with cleaning unit.By optical axis
12 setting, on the one hand can control core layer 2 in reliably supporting, support cleaning unit and rotor body frame in other words；The opposing party
Face, as one end of optical axis 12 is slidably inserted into ground rotor body frame, drives cleaning unit axial movement in unit expansion link 13
When, optical axis 12 does not interfere with the relative movement of cleaning unit and rotor body frame, equally, does not interfere with main body expansion link 33 yet
Adjustment to main installing rack and rotor body frame position.
Specifically, the lifting elements include mast-up 10 and the suspension ring 9 on mast-up 10, suspension ring 9 and hanger rope
Connection, by hanger rope and the cooperation of suspension ring 9, realizes to the overall suspension operation of whole clean robot.
Preferably, the middle control core layer 2 also includes Three Degree Of Freedom data acquisition unit 31, Three Degree Of Freedom data acquisition list
Unit 31 is connected with described control unit；Fore-end of the Three Degree Of Freedom data acquisition unit 31 positioned at the middle control core layer 2, three
Degree of freedom data acquisition unit 31 includes photographic head 45, ultrasonic ranging unit 46 and Three Degree Of Freedom drive component, the shooting
45, ultrasonic ranging unit 46 is successively set on Three Degree Of Freedom drive component；Specifically, Three Degree Of Freedom drive component includes
Steering wheel fixed mount 47, the first degree of freedom steering wheel, the second degree of freedom steering wheel, Three Degree Of Freedom steering wheel, the first actuator driving plate 48,
Two actuator driving plates 49, the 3rd actuator driving plate 50；First degree of freedom steering wheel is fixed on steering wheel fixed mount 47, and the first steering wheel drives
Dynamic plate rotate-stationary mode by the first degree of freedom servo driving；Second degree of freedom steering wheel is fixed on the first actuator driving plate 48,
Second actuator driving plate 49 foldable sport by the second degree of freedom servo driving；Three Degree Of Freedom steering wheel is fixed on the second steering wheel
In driving plate, the 3rd actuator driving plate foldable sport by Three Degree Of Freedom servo driving；Photographic head is fixed on the 3rd steering wheel
In driving plate, ultrasonic ranging unit 46 is fixed on the second actuator driving plate；So as to pass through photographic head and supersonic sounding unit
Can not only efficiently identify work surface in three-dimensional space motion, and can collection work face and non-working surface curvature space
The relevant information of distribution, the cleaning speed for drastically increasing high-rise curtain wall robot have saved time cost.
Specifically, the middle control core layer 2 also includes communication system, and communication system is connected with control unit.By communication
The working condition of clean robot can be sent to host computer, so as to more accurate to clean robot by the setting of system in time
Control and operation.
Specifically, the circulation waterway system include water tank 28 and be connected on water tank 28 inlet pipeline, water return pipeline,
Water pump is provided with the inlet pipeline, water return pipeline, and two water tanks 28 are symmetrically mounted at the both sides of main installing rack, and
Two water tanks 28 are connected, and offer 28 intake valve 11 of water tank on the water tank 28, during backwater, by opening water
28 intake valve 11 of case, makes in water tank 28 in atmospheric pressure, it is to avoid backwater resistance, reduces the load of back water pump.By circulation waterway
System realizes supply and the timely recovery to sewage to cleaning unit water inlet.
Preferably, the rotor boosting layer 3 also includes Rotor thrust system 26 and LED state display system 27, and rotor is pushed away
Force system 26, LED state display system 27 are electrically connected with control unit, and four rotor centers are symmetrically disposed in the rotor
On body frame.When Rotor thrust system 26 works, negative pressure can be produced between rotor and work surface, lasting thrust can be provided
Hold, can effectively ensure that the thrust under working condition is provided, also can guarantee that robot system still has surely in the case of obstacle detouring
Fixed thrust, even running；The working condition of robot can be shown in real time by LED state display system 27, when appearance event
During barrier, LED state display system 27 can send indicating fault prompting, to facilitate control unit control associated components to quit work,
Avoid the damage of associated components.
Specifically, as shown in Figure 5 and Figure 6, rolling brush cleaning unit 4 includes sealing cleaning cover 36, spray unit 22, double round brush
Unit, negative pressure unit；Spray unit 22 includes the water pipe being arranged in sealing cleaning cover 36 and is opened on water pipe
Shower nozzle, water pipe and circulation waterway system connectivity；Double round brush units include the double round brush being arranged in sealing cleaning cover 36
24 are connected with control unit with the round brush actuator 34 for driving round brush 24, round brush actuator 34, and 24 actuator of round brush specially drives
Galvanic electricity machine, motor are connected with round brush 24 by the transmission of transmission belt 21；Negative pressure unit is arranged on the back side of sealing cleaning cover 36,
And connect with the space in sealing cleaning cover 36, the drive part of negative pressure unit is connected with control unit, specifically negative pressure unit
Including negative-pressure air duct and the negative pressure fan 8 being arranged on negative-pressure air duct, negative pressure fan 8 is connected with control unit.By negative pressure wind
The suction of pipe, sealing cleaning cover 36 are in negative pressure state, and the round brush 24 sealed in cleaning cover 36 can preferably be adjacent to clean surface face,
Further increase the effect that round brush 24 cleans glass surface.
Specifically, sealing cleaning cover 36 and 35 being renovated with after with front renovating 29, front actuator 30 of renovating renovates driving with after
Part is arranged on the back side of sealing cleaning cover 36；Before renovate 29 and after renovate 35 be respectively hinged at sealing cleaning cover 36 front portions and after
Portion, and respectively by front renovate actuator and after renovate actuator driving.Before renovate 29 leading flanks and be provided with front end ultrasonic ranging
Module 32, to detect preceding object in obstacle detouring.
The form of above-mentioned round brush 24, it is front renovate 29 and after renovate 35 setting and mainly consider negative pressure cleaning device obstacle detouring
Need, when glass surface does not have obstacle detouring, front round brush 24 and rear round brush 24 attach glass surface normal wash, and before renovate 29 and after
Renovate 35 to be closed, cavity body is formed together with sealing cleaning cover 36, in the presence of negative pressure unit, overall negative pressure
Cleaning device has certain suction with glass surface, and round brush 24 is cleaned operation；It is when glass frame (obstacle) is run into, front to renovate 29
Open, negative pressure cleaning device moves ahead, and the front round brush 24 on the inside of which is fitted with the one side of glass frame, during obstacle detouring,
The dirty point for having (the dead angle position of obstacle side) at the one side of glass frame is removed by front round brush 24, afterwards, negative pressure cleaning dress
Put withdrawal, continue obstacle detouring and move ahead (move ahead in obstacle top surface), after covering obstacle, i.e., front glass be in the inner side of blocking surface,
Now, 35 openings are renovated after, and negative pressure cleaning device moves ahead, and rear round brush 24 is fitted with glass frame another side, by (obstacle at this
The dead angle position of opposite side) dirty point remove, so, during obstacle detouring, the dead angle position of obstacle both sides has been carried out clearly
Wash.
Specifically, suction windscreen wiper unit 5 includes windscreen wiper bar 16 and the negative pressure recovery section being arranged at windscreen wiper bar 16, negative pressure
Recovery section is connected with the water return pipeline of circulation waterway system, is entered the water collected at windscreen wiper bar 16 by way of negative-pressure sucking
Row is reclaimed, and improves cleaning effect；Specifically, negative pressure recovery section includes windscreen wiper fixed plate 14 and windscreen wiper suction tube 15, windscreen wiper bar
16 are arranged in windscreen wiper fixed plate 14, are provided with water sucking mouth in windscreen wiper fixed plate 14, and water sucking mouth passes through windscreen wiper suction tube 15 and water tank
28 connect, and specifically the peace of windscreen wiper fixed plate 14 turns on windscreen wiper steering-engine 20, to facilitate windscreen wiper to turn to.
The negative-pressure sucking cleaning unit 6 includes main frame, installed in the negative-pressure sealing rag band of main frame bottom periphery
19 and negative-pressure sucking part, the water sucking mouth of negative-pressure sucking part is located near rag, is additionally provided with stroke wheel below main frame
17, the lower section crawler attachment 18 of main frame, it is ensured that it is steady that negative-pressure sucking cleaning unit 6 runs；By way of negative-pressure sucking
The water that spills when cleaning at rag is reclaimed, while be also beneficial to rag band preferably reclining clean surface；Also set under main frame
Touching formula photoelectric sensor 25 is put, to detect the situation that reclines of rag band and work clean surface.
In addition, by foregoing description, in terms of the positive operating pressure offer of cleaning flow process, this Analysis of Nested Design is using negative
The new structure that pressure is combined with Rotor thrust；The negative pressure fan 8 of rolling brush cleaning unit 4, the negative pressure of negative-pressure sucking cleaning unit 6
Suction portion can be provided efficiently for robot in the state of robot work, stable positive operating pressure, it is ensured that cleaning
Mechanism can preferably touch surface to be cleaned, but have the disadvantage when clean surface is not ideal plane but with windowsill or
During the complex plane of other obstacles, the meeting discontinuity failure of negative pressure mechanism affects system stability；And Rotor thrust mentioned above
System 26 can provide lasting thrust and support, although the transformation efficiency of the thrust and entirety of offer is low, but can be special
Ensure the overall stable operation of robot under operating mode；Work shape can effectively be ensured using the means that negative pressure and rotor are used cooperatively
Thrust under state is provided, and also can guarantee that robot system still has stable thrust even running in the case of obstacle detouring.
Further, it is front renovate actuator, after renovate actuator, front round brush actuator, rear round brush actuator with control
Unit is electrically connected.By 35 being renovated before and after control unit control and round brush 24 in front and back, realize co-operating；Described control unit has
Body includes control circuit, and the back side for sealing cleaning cover 36 is provided with control circuit storehouse, for accommodating control circuit；Also set up in addition
There is circuit trace storehouse, facilitate cabling.
Preferably, the front contact probe sensor 37 that is connected with control unit and rear contact probe sensor 38 are also included,
Sealing cleaning cover 36 has left cap and right cap, and front contact probe sensor 37 is arranged on the front end of left cap or right cap,
With round brush 24 before detecting and the attaching state on front side of obstacle face；Contact probe sensor 38 is arranged on left cap or right cap afterwards
Rear end, with round brush after detection 24 and the attaching state on rear side of obstacle face；Also include that what is be connected with control unit pushes contact sense
Device 39, pushes contact sensor 39 installed in the lower end of left cap or right cap, with detect front round brush 24 and rear round brush 24 with it is clear
The attaching state of face cleaning.By front contact probe sensor 37, rear contact probe sensor 38 and push contact sensor 39
The work of feedack, control unit and then controllable round brush 24 and flip, improves whole negative pressure cleaning device operation
Intelligent and accuracy.
Whole system has done above-mentioned unique design in terms of the selection of sensor and arrangement, and as control flow with the addition of surely
Fixed reliable closed loop feedback link improves intelligence degree, and also the trouble free service for robot provides Reliable guarantee.
Further, as shown in fig. 7, also including that auxiliary wheel 23 and receipts stretch actuator, auxiliary wheel 23 is arranged on sealing cleaning
In cover 36, receipts are stretched actuator and are connected with auxiliary wheel 23, so that auxiliary wheel 23 withdraws or stretches out.Specifically, receipts stretch actuator includes
Receipts stretch motor 40, corner pieces 41, screw mandrel 42 and screw 43, and one end of drive end and screw mandrel 42 that receipts stretch motor 40 connects
Connect, screw 43 is coordinated with 42 screw thread of screw mandrel；Corner pieces 41 are hinged on sealing cleaning cover 6, and the upper end of corner pieces 41 offers cunning
Groove, is fixed with projection on screw 43, to coordinate with slide and drive corner pieces to rotate.Corner pieces are especially by lifting lever 44
It is connected with auxiliary wheel 23；In normal wash operation, in the presence of receipts stretch actuator, auxiliary wheel 23 is packed up, when switching to more
During barrier pattern, auxiliary wheel 23 stretches out；So different pass-through modes can be switched according to the difference of building surface material, except
By outer, in-house auxiliary wheel 23 can be particulate form or not washable white in building surface to normal cleaning
During lime wall, there is provided stable operation is supported.
In sum, multilayer distributed external surface of buildings clean robot of the invention has advantages below：
1st, multi-layer distributed structure is adopted, has efficiently separated cleaning function unit and core circuit portions；Detached list
On the one hand first formula cleaning unit can complete to clean flow process in the case of less on the impact of whole robot system, while another
Aspect can guarantee that the middle control core layer 2 of centre away from complicated band liquid working surface again, it is ensured that the safety and stability of middle control core layer 2
Operation.
2nd, the structure of layering can reduce robot in high aerial windage area, and air-flow can more smoothly by stream
The robot side of line style, improves job stability of the whole robot system in the case of having beam wind.
3rd, in terms of the adaptability of metope, coordinate overall hoisting Design, the structure of layering be more beneficial for cleaning unit, in
Pose adjustment under the control and work respectively of control core layer 2 and rotor boosting layer 3；Robot can be according to metope and glass surface
Specifically apart from dimensional conditions, stretch out cleaning unit and the position to hanging point relative to whole machine be adjusted, reach regulation
The purpose of balance.
4th, the division of cleaning unit has been refined, flow process has been cleaned by the standardization that three cleaning units are cleaned successively, is being carried
Also a cleaning difficult problem for marginal position is solved while high cleaning effect.
5th, by selection and the arrangement of sensor, it is that control flow with the addition of reliable and stable closed loop feedback link, improves
Intelligence degree, also trouble free service for robot provide Reliable guarantee.
6th, in terms of the positive operating pressure offer of cleaning flow process, this Analysis of Nested Design is combined with Rotor thrust using negative pressure
New structure, is on the one hand effectively ensured the offer of working condition lower thrust, on the other hand also ensures whole in the case of obstacle detouring
Robot system still has stable thrust, even running.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of without departing from the technology of the present invention principle, some improvement and modification can also be made, these improve and modification
Also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of multilayer distributed external surface of buildings clean robot, it is characterised in that：Including the cleaning function for setting gradually
Elementary layer, middle control core layer and rotor boosting layer, cleaning function elementary layer include multiple cleaning units；The middle control core layer bag
Main installing rack and the control unit, control circuit, circulation waterway system and the lifting elements that are arranged on main installing rack are included, control is single
Unit is electrically connected with the drive part of cleaning unit by control circuit, the water inlet of the circulation waterway system and the cleaning unit
Part connects, and the lifting elements are connected with hanger rope；The rotor boosting layer includes rotor body frame and is arranged on rotor body frame
Rotor；The rotor body frame is connected with the cleaning unit by unit expansion link, and the unit expansion link passes through the master
Installing rack；Also include the main body expansion link parallel with the unit expansion link, one end and the rotor of the main body expansion link
Body frame connects and the other end of the main body expansion link is connected with the main installing rack.
2. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：It is the plurality of
Cleaning unit includes rolling brush cleaning unit, suction windscreen wiper unit and negative-pressure sucking cleaning unit；Rolling brush cleaning unit and negative pressure are inhaled
Power cleaning unit is located at the both sides of suction windscreen wiper unit；Each cleaning unit is connected to described by a unit expansion link
Rotor body frame.
3. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：Also include with
The unit expansion link it is parallel and for support it is described it is middle control core layer many optical axises, one end of the optical axis is slidably inserted
Enter the rotor body frame and the other end is fixedly connected with the cleaning unit.
4. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The unit
Expansion link is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link is electric expansion bar, Pneumatic extension cylinder
Or hydraulic cylinder；The unit expansion link, main body expansion link are electrically connected with described control unit.
5. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The lifting
Unit includes mast-up and the suspension ring on mast-up, and the suspension ring are connected with hanger rope；The middle control core layer also includes
Communication system, the communication system are connected with described control unit.
6. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The middle control
Core layer also includes Three Degree Of Freedom data acquisition unit, and Three Degree Of Freedom data acquisition unit is connected with described control unit；Three certainly
By degrees of data collecting unit be located at it is described it is middle control core layer fore-end, Three Degree Of Freedom data acquisition unit include photographic head,
Ultrasonic ranging unit and Three Degree Of Freedom drive component, the photographic head, ultrasonic ranging unit are successively set on Three Degree Of Freedom
On drive component.
7. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The circulation
Water circuit system includes water tank and the inlet pipeline being connected on water tank, water return pipeline, arranges on the inlet pipeline, water return pipeline
There is water pump, two water tanks are symmetrically mounted at the both sides of main installing rack, and two water tanks are connected.
8. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The rotor
Boosting layer also includes Rotor thrust system and LED state display system, and the Rotor thrust system, LED state display system are equal
Electrically connect with described control unit, four rotor centers are symmetrically disposed on the rotor body frame.
9. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The round brush
Cleaning unit includes sealing cleaning cover, spray unit, double round brush units, negative pressure unit；The spray unit includes being arranged on institute
State the water pipe and the shower nozzle being opened on the water pipe, the water pipe and the recirculated water in sealing cleaning cover
Road system connectivity；Described pair of round brush unit includes the double round brush being arranged in the sealing cleaning cover and the rolling for driving the round brush
Brush actuator, the round brush actuator are connected with described control unit；The negative pressure unit is arranged on the sealing cleaning cover
The back side, and connect with the space in the sealing cleaning cover, the drive part of the negative pressure unit is connected with described control unit.
10. the multilayer distributed external surface of buildings clean robot according to any one of claim 1-9, its feature exist
In：The suction windscreen wiper unit includes windscreen wiper bar and the negative pressure recovery section being arranged at windscreen wiper bar, the negative pressure recovery section
Connect with the water return pipeline of the circulation waterway system；The negative-pressure sucking cleaning unit includes main frame, installed in main frame
The negative-pressure sealing rag band of bottom periphery and negative-pressure sucking part, the water sucking mouth of negative-pressure sucking part are located near rag.
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| CN201611026551.0A CN106514663B (en) | 2016-11-15 | 2016-11-15 | Multilayer distributed building outer surface cleaning robot |
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| CN201611026551.0A CN106514663B (en) | 2016-11-15 | 2016-11-15 | Multilayer distributed building outer surface cleaning robot |
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| CN106514663B CN106514663B (en) | 2023-06-20 |
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| CN106514663B (en) | 2023-06-20 |
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