CN106889957A - One kind climbs wall sweeping robot - Google Patents
One kind climbs wall sweeping robot Download PDFInfo
- Publication number
- CN106889957A CN106889957A CN201510947708.2A CN201510947708A CN106889957A CN 106889957 A CN106889957 A CN 106889957A CN 201510947708 A CN201510947708 A CN 201510947708A CN 106889957 A CN106889957 A CN 106889957A
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- CN
- China
- Prior art keywords
- steering wheel
- fuselage
- output shaft
- plate
- sides
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
One kind climbs wall sweeping robot, including fuselage, and fuselage is made up of body plate (13) and horn plate (5)；Reducing motor (12) is arranged on the middle of body plate (13), and reducing motor (12) is connected with feed screw nut (3), drives cleaning component to move up and down；Two minipumps (10) are symmetricly set on reducing motor (12) both sides；Two double output shafts move steering wheel (9) and are horizontally arranged at fuselage both sides horn plate (5) upper end respectively；Two single output shafts move steering wheel (6) and are respectively perpendicular installed in fuselage both sides horn plate (5) lower end, single output shaft moves steering wheel (6) lower section and is provided with vacuum cup (4), and vacuum cup (4) is connected by soft air pipe with minipump (10).The present invention imitates human hand and arm joint structure and uses feed screw nut's structure so that robot can cross certain obstacle, overcomes the not enough problem of general metope walking robot obstacle climbing ability.The robot is particularly suitable for the cleaning of skyscraper glass metope.
Description
Technical field
The present invention relates to robotics, relate in particular to one kind and climb wall sweeping robot.
Background technology
More and more due to skyscraper, under construction with also increasingly wider, high-altitude metope is cleaned and will be also valued by people, and is had broad application prospects and society, economic benefit for the hydraulically smooth surface of glass.
Notification number is disclosed " a kind of climbing mechanism for glass curtain wall crawling robot " for the utility model patent of CN202080361, described robot displacement is big, flexibly and quick, but its fuselage limited height, leap to obstacle is also very limited, may be crossed over when being run on glass curtain wall with reference to junctions such as crossbeams.For another example the application for a patent for invention of Publication No. CN104015832A is disclosed a kind of " pneumatic Climbing Robot "., by preceding dividing plate, intermediary movements plate, post-mounting structure plate, front and rear guiding mechanism, cylinder, left and right guiding mechanism, steering wheel, Suction cup assembly and drive control component, although the robot mobility is preferably, translational speed is slower for the Climbing Robot.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of prior art presence, there is provided one kind climbs wall sweeping robot, simple and reasonable, realizes that walking can simultaneously complete the task such as cleaning and monitoring on smooth glass metope by suction-operated.
One kind climbs wall sweeping robot, including fuselage, and fuselage is made up of body plate 13 and horn plate 5；Reducing motor 12 is arranged on the middle of body plate 13, and down, reducing motor 12 is connected output shaft with feed screw nut 3, drives cleaning component to move up and down；
Two minipumps 10 are symmetricly set on the both sides of reducing motor 12, and the base 11 of minipump 10 is arranged on body plate 13；
Two double output shafts motion steering wheel 9 is horizontally arranged at the upper end of fuselage both sides horns plate 5 respectively, and the double output shaft of double output shaft motion steering wheel 9 is connected by tray joint shaft 8 with fuselage both sides, and drive body plate 13 is rotated；
Two single output shaft motion steering wheels 6 are respectively perpendicular installed in the lower end of fuselage both sides horns plate 5, and output shaft is directed downward, and single lower section of output shaft motion steering wheel 6 is provided with vacuum cup 4, and vacuum cup 4 is connected by soft air pipe with minipump 10；
Single output shaft motion steering wheel 6 is vertical with the output direction of principal axis of double output shaft motion steering wheel 9.
The body plate 13 is additionally provided with lifting groove 14, for being engaged with cleaning component.
The cleaning component includes cleaning steering wheel 2, rain brush seat 15 and brush 1.
Camera 7 is additionally provided with the horn plate 5.
Compared with prior art, the beneficial effects of the present invention are：
First, robot of the invention fixes a robotic arm using the air-breathing and exhaust of two asepwirator pumps of control, and another robotic arm lifts whole fuselage under the drive of double output shaft steering wheel, and feed screw nut drives clearing apparatus lifting, realizes robot across the function of obstacle.The obstacle detouring mode simple structure is flexibly, conveniently.
2nd, robot of the invention makes two sucker alternating sorbents reach the purpose of motion, simple structure, low manufacture cost using two air-breathings of asepwirator pump of control with stopping suction.
3rd, driving brush it is swung using cleaning steering wheel can complete the cleaning of smooth glass metope.
Brief description of the drawings
Fig. 1 is the overall structure diagram of apparatus of the present invention.
Fig. 2 is horn structural representation.
Fig. 3 is obstacle detouring view.
Fig. 4 is the structural representation of lifting groove.
Fig. 5 is the structural representation of vacuum pump frame.
Fig. 6 is the structural representation of rain brush seat.
Fig. 7 is the structural representation of horn plate.
Fig. 8 is the structural representation of vacuum cup.
Fig. 9 is the structural representation of tray joint shaft.
In figure, 1 is brush, and 2 is cleaning steering wheel, 3 is feed screw nut, and 4 is vacuum cup, and 5 is horn plate, 6 is single output shaft motion steering wheel, and 7 is camera, and 8 is tray joint shaft, 9 is that double output shaft moves steering wheel, and 10 is minipump, and 11 is base, 12 is reducing motor, 13 is body plate, and 14 is lifting groove, and 15 is rain brush seat.
Specific embodiment
The present invention is further described below in conjunction with the accompanying drawings.As shown in Fig. 1-Fig. 9, one kind climbs wall sweeping robot, including fuselage, and fuselage is made up of body plate 13 and horn plate 5；Reducing motor 12 is arranged on the middle of body plate 13, and down, reducing motor 12 is connected output shaft with feed screw nut 3, drives cleaning component to move up and down；
Two minipumps 10 are symmetricly set on the both sides of reducing motor 12, and the base 11 of minipump 10 is arranged on body plate 13；
Two double output shafts motion steering wheel 9 is horizontally arranged at the upper end of fuselage both sides horns plate 5 respectively, and the double output shaft of double output shaft motion steering wheel 9 is connected by tray joint shaft 8 with fuselage both sides, and drive body plate 13 is rotated；
Two single output shaft motion steering wheels 6 are respectively perpendicular installed in the lower end of fuselage both sides horns plate 5, and output shaft is directed downward, and single lower section of output shaft motion steering wheel 6 is provided with vacuum cup 4, and vacuum cup 4 is connected by soft air pipe with minipump 10；
Single output shaft motion steering wheel 6 is vertical with the output direction of principal axis of double output shaft motion steering wheel 9.
The body plate 13 is additionally provided with lifting groove 14, for being engaged with cleaning component.
The cleaning component includes cleaning steering wheel 2, rain brush seat 15 and brush 1.
Camera 7 is additionally provided with the horn plate 5.
What the present invention was realized in：
Two minipumps 10 are connected with two vacuum cups 4 by flexible pipe, power failure state is obtained by two minipumps 10 of control, to complete pumping and exhaust of the vavuum pump to sucker 4, so as to ensure that climbing wall sweeping robot can lean on vacuum cup 4 to adsorb on smooth glass metope.
The concrete scheme of motion：The first step, after side minipump 10 electric must make vacuum cup 4 adsorb glass metope, the upper end double output shaft motion rotation of steering wheel 9 of side horn plate 5 lifts the unadsorbed end of opposite side, and then the unadsorbed lower end of terminal arm plate 5 list output shaft motion steering wheel 6 rotates, and fuselage is advanced；Second step, unadsorbed end vavuum pump 10 obtains electric pumping, vacuum cup 4 is adsorbed metope, repeats the first step, so realizes that reciprocal alternating sorbent advances.
The concrete scheme of obstacle detouring：When obstacle is run into, robot side is fixed by vacuum cup 4, the lateral movement steering wheel 9 lifts the opposite side of robot and unadsorbed end is first surmounted obstacles by the rotation of motion steering wheel 6, after unadsorbed side surmounts obstacles and holds metope by vacuum cup 4, then former absorption side is set to surmount obstacles in the same way.
Advance for cleaning component and be hampered, reducing motor 12 can be made to work by feed screw nut 3 and cleaned steering wheel 2 and brush 1 and surmounted obstacles being lifted, the height for reducing cleaning component by feed screw nut 3 again after obstacle detouring is completed is easy to complete follow-up cleaning works.
Claims (4)
1. one kind climbs wall sweeping robot, including fuselage, and fuselage is made up of body plate (13) and horn plate (5)；It is characterized in that：Reducing motor (12) is arranged on the middle of body plate (13), and down, reducing motor (12) is connected output shaft with feed screw nut (3), drives cleaning component to move up and down；
Two minipumps (10) are symmetricly set on reducing motor (12) both sides, and the base (11) of minipump (10) is on body plate (13)；
Two double output shafts move steering wheel (9) and are horizontally arranged at fuselage both sides horn plate (5) upper end respectively, the double output shaft of double output shaft motion steering wheel (9) is connected by tray joint shaft (8) with fuselage both sides, drives body plate (13) to rotate；
Two single output shafts move steering wheel (6) and are respectively perpendicular installed in fuselage both sides horn plate (5) lower end, output shaft is directed downward, single output shaft moves steering wheel (6) lower section and is provided with vacuum cup (4), and vacuum cup (4) is connected by soft air pipe with minipump (10)；
It is vertical with the output direction of principal axis of double output shaft motion steering wheel (9) that single output shaft moves steering wheel (6).
2. wall sweeping robot is climbed as claimed in claim 1, it is characterised in that：The body plate (13) is additionally provided with lifting groove (14), for being engaged with cleaning component.
3. wall sweeping robot is climbed as claimed in claim 1, it is characterised in that：The cleaning component includes cleaning steering wheel (2), rain brush seat (15) and brush (1).
4. wall sweeping robot is climbed as claimed in claim 1, it is characterised in that：Camera (7) is additionally provided with the horn plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510947708.2A CN106889957A (en) | 2015-12-17 | 2015-12-17 | One kind climbs wall sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510947708.2A CN106889957A (en) | 2015-12-17 | 2015-12-17 | One kind climbs wall sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106889957A true CN106889957A (en) | 2017-06-27 |
Family
ID=59188558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510947708.2A Withdrawn CN106889957A (en) | 2015-12-17 | 2015-12-17 | One kind climbs wall sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106889957A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108100956A (en) * | 2018-01-30 | 2018-06-01 | 南安市荣华机械科技有限公司 | One kind climbs wall puller system |
| CN108284886A (en) * | 2017-12-21 | 2018-07-17 | 江苏大学 | A kind of Double-sucker Climbing Robot walked using the mode of crossing |
| CN109911050A (en) * | 2019-04-17 | 2019-06-21 | 郑宏远 | One kind is from climbing robot omnidirectional barrier getting over mechanism and obstacle-detouring method |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN110745194A (en) * | 2019-12-04 | 2020-02-04 | 安徽工业大学 | Wall climbing robot and series robot group thereof |
| CN112298396A (en) * | 2020-12-03 | 2021-02-02 | 哈尔滨工业大学（威海） | Photoelectric hybrid-driven foot type electrostatic adsorption wall-climbing robot |
| CN113815741A (en) * | 2021-10-13 | 2021-12-21 | 大连木牛流马机器人科技有限公司 | Bionic robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2499186Y (en) * | 2001-10-24 | 2002-07-10 | 吴志明 | Cleaning robot for building environment protection |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| WO2006083094A1 (en) * | 2005-02-02 | 2006-08-10 | Joon Mo Yang | Three-dimensionally movable absorption-type robot and moving method thereof |
| CN101999871A (en) * | 2010-11-05 | 2011-04-06 | 广州大学 | Multi-joint creeping high-altitude cleaning robot |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
| CN205251438U (en) * | 2015-12-17 | 2016-05-25 | 湖北工业大学 | Climb wall and clean machine people |
-
2015
- 2015-12-17 CN CN201510947708.2A patent/CN106889957A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2499186Y (en) * | 2001-10-24 | 2002-07-10 | 吴志明 | Cleaning robot for building environment protection |
| WO2006083094A1 (en) * | 2005-02-02 | 2006-08-10 | Joon Mo Yang | Three-dimensionally movable absorption-type robot and moving method thereof |
| CN1736668A (en) * | 2005-09-09 | 2006-02-22 | 清华大学 | Magnetic adsorption wall climbing robot with curved surface adaptive ability |
| CN101999871A (en) * | 2010-11-05 | 2011-04-06 | 广州大学 | Multi-joint creeping high-altitude cleaning robot |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
| CN205251438U (en) * | 2015-12-17 | 2016-05-25 | 湖北工业大学 | Climb wall and clean machine people |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108284886A (en) * | 2017-12-21 | 2018-07-17 | 江苏大学 | A kind of Double-sucker Climbing Robot walked using the mode of crossing |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108100956A (en) * | 2018-01-30 | 2018-06-01 | 南安市荣华机械科技有限公司 | One kind climbs wall puller system |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN109911050A (en) * | 2019-04-17 | 2019-06-21 | 郑宏远 | One kind is from climbing robot omnidirectional barrier getting over mechanism and obstacle-detouring method |
| CN110745194A (en) * | 2019-12-04 | 2020-02-04 | 安徽工业大学 | Wall climbing robot and series robot group thereof |
| CN110745194B (en) * | 2019-12-04 | 2024-05-24 | 安徽工业大学 | Wall climbing robot and serial robot group thereof |
| CN112298396A (en) * | 2020-12-03 | 2021-02-02 | 哈尔滨工业大学（威海） | Photoelectric hybrid-driven foot type electrostatic adsorption wall-climbing robot |
| CN112298396B (en) * | 2020-12-03 | 2022-09-23 | 哈尔滨工业大学（威海） | Photoelectric hybrid-driven foot type electrostatic adsorption wall-climbing robot |
| CN113815741A (en) * | 2021-10-13 | 2021-12-21 | 大连木牛流马机器人科技有限公司 | Bionic robot |
| CN113815741B (en) * | 2021-10-13 | 2022-06-07 | 大连木牛流马机器人科技有限公司 | Bionic robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170627 |
|
| WW01 | Invention patent application withdrawn after publication |