CN106963283A - It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method - Google Patents
It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method Download PDFInfo
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- CN106963283A CN106963283A CN201710374281.0A CN201710374281A CN106963283A CN 106963283 A CN106963283 A CN 106963283A CN 201710374281 A CN201710374281 A CN 201710374281A CN 106963283 A CN106963283 A CN 106963283A
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- China
- Prior art keywords
- cleaning robot
- barrier
- human body
- negative pressure
- cleaning
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Classifications
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Abstract
The present invention provide it is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method, can barrier-crossing wall-climbing robot include：Pipeline retractable unit, translation mechanism, aerial statue fine-adjusting unit, and cleaning robot human body, pipeline retractable unit suspend cleaning robot human body in midair；Translation mechanism, is slidably connected with the pipeline retractable unit, drives the pipeline retractable unit to move in the horizontal direction；Cleaning robot human body, the lower section of the pipeline retractable unit is suspended in by cable；Aerial statue fine-adjusting unit, is arranged on the dorsal part of cleaning robot human body, and the lift and pressure perpendicular to working face are provided to cleaning robot human body.The present invention's can barrier-crossing wall-climbing robot, due to aerial statue fine-adjusting unit, so that when climbing robot runs into barrier, smoothly suspended using aerial statue fine-adjusting unit in the air, cleaning robot human body is driven to move up and down by pipeline retractable unit and translation mechanism, so that cross-domain obstacle.
Description
Technical field
The present invention relates to one kind can barrier-crossing wall-climbing robot, the invention further relates to the method for this robot leaping over obstacles, category
In robot field.
Background technology
Because the daylighting of glass is good, it is heat-holding dampproof, practical and attractive, therefore using glass curtain wall as the constructure screen wall of representative
Structure is gradually in city development and application.In order to ensure the clean and tidy beauty of architectural appearance, it is necessary to periodically glass curtain wall is carried out clear
Wash.It is main to the cleaning of glass of building curtain wall at present or workman takes hanging basket or waist tether rope completes by cleaning,
This mode is completely dependent on manually, and not only labor intensity is big, inefficiency, and extremely dangerous, belongs to limit operation.So
The artificial robot to glass of building curtain wall progress washing and cleaning operation, which can be substituted, will promote developing rapidly for high building cleaning industry.
Current glass curtain wall cleaning machine device people also has some applications：As day undergraduate course Butterworth company cleaning glass robot,
Series machine people is adsorbed robot on glass by one big vacuum cup or extraction fan, is moved using crawler belt
It is dynamic.But the robot can only be cleaned on the glass without obstacle.For another example German glass girl's glass-cleaning robot, true by one
Empty pumping gas, takes Double-sucker to adsorb and moves wiping cleaning.Although its volume is more compact, weight is lighter, still can not be complete
Into obstacle detouring action.Actual glass of building curtain wall all has frame obstacle, and cleaning robot will have obstacle climbing ability to clean
Whole building.
The content of the invention
It is an object of the invention to provide it is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method, it is above-mentioned to solve
Problem.
Present invention employs following technical scheme：
The present invention provides one kind can barrier-crossing wall-climbing robot, it is characterised in that including：Pipeline retractable unit, translation mechanism,
Aerial statue fine-adjusting unit, and cleaning robot human body, pipeline retractable unit suspend cleaning robot human body in midair；Translation mechanism,
It is slidably connected with pipeline retractable unit, drives pipeline retractable unit to move in the horizontal direction；Cleaning robot human body, passes through line
Cable is suspended in the lower section of pipeline retractable unit；Aerial statue fine-adjusting unit, is arranged on the dorsal part of cleaning robot human body, to cleaning
Robot body provides the lift and pressure perpendicular to working face.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that：Wherein, aerial statue is micro-
Unit is adjusted to include airscrew engine and the propeller blade being connected with each other.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that, in addition to：Cleaning fluid is followed
Ring element, including：The sewage recovery tube that is sequentially communicated, coarse filtration hydrophone, foul water tank, sewage water pump, magnetic valve, clear water tanks, water purification
Water pump and refined filtration hydrophone, negative pressure generator, are arranged in foul water tank, negative pressure are provided into foul water tank；Wherein, coarse filtration hydrophone pair
Sewage carries out first time filtering；Refined filtration hydrophone carries out second to sewage and filtered.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that, in addition to：Spray water with high pressure
Mouthful, it is connected to behind refined filtration hydrophone.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that：Wherein, pipeline folding and unfolding list
Member has collected high-pressure water pipe, sewage recovery tube and safety rope, connection cleaning robot and cleaning solution circulating device.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that, cleaning robot human body bag
Include：Shell, negative pressure adsorption equipment, by cleaning robot ontological adsorption theory in the scope of operation；Traveling crawler, drives cleaning robot to exist
Walked in the scope of operation；Hairbrush is cleaned, the scope of operation is cleaned；And sealing shirt rim, the edge of shell is looped around, negative pressure is surrounded
Adsorbent equipment, traveling crawler and cleaning hairbrush.
Further, it is of the invention can barrier-crossing wall-climbing robot, can also have the feature that, wherein, negative-pressure adsorption dress
The inlet scoop put is communicated with the negative pressure generating region that sealing shirt rim is surrounded, exhaust outlet and the outside atmosphere phase of negative pressure adsorption equipment
It is logical.
The present invention also provide it is a kind of control described above can barrier-crossing wall-climbing robot leaping over obstacles method, its feature exists
In comprising the following steps：
Step one, when running into obstacle, the airscrew engine of aerial statue fine-adjusting unit, which is rotated forward, causes propeller blade production
Raw lift, while negative pressure adsorption equipment is stopped, cleaning robot human body departs from working face, suspends in the air；
Step 2, pipeline retractable unit crosses over vertical obstacle by folding and unfolding cable, and translation mechanism can by moving horizontally
To cross over horizontal direction obstacle；After leaping over obstacles, the airscrew engine of aerial statue fine-adjusting unit, which is inverted, causes propeller blade
Negative pressure is produced, compressing cleaning robot presses close to working face to be cleaned；
Step 3, starts negative pressure adsorption equipment, produces negative pressure, makes cleaning robot absorption on working face to be cleaned.
The beneficial effect of invention
The present invention can barrier-crossing wall-climbing robot, due to aerial statue fine-adjusting unit so that when climbing robot meet
During to barrier, smoothly suspended in the air using aerial statue fine-adjusting unit, pass through pipeline retractable unit and translation mechanism band
Dynamic cleaning robot human body moves up and down, so that cross-domain obstacle.The present invention's can barrier-crossing wall-climbing robot and prior art
Compare, adapt to the cleaning of raised border glass curtain wall, with good obstacle climbing ability.
The barrier-crossing wall-climbing robot of the present invention causes water to be fully utilized using cleaning fluid cycling element.
Brief description of the drawings
Fig. 1 be can barrier-crossing wall-climbing robot overall structure diagram；
Fig. 2 is the structured flowchart of cleaning fluid cycling element；
Fig. 3 is the dorsal part figure of cleaning robot human body；
Fig. 4 is the veutro figure of cleaning robot human body；
Fig. 5 is the veutro front view of cleaning robot human body.
Embodiment
Illustrate specific embodiments of the present invention below in conjunction with accompanying drawing.
As shown in figure 1, present embodiment can barrier-crossing wall-climbing robot include：Cleaning fluid cycling element 1, pipeline folding and unfolding list
Member 2, translation mechanism 3 and cleaning robot human body 4 etc..
As shown in Fig. 2 cleaning fluid cycling element 1 includes：Sewage recycling mouth 1-1, coarse filtration hydrophone 1-2, negative pressure generator 1-
3rd, foul water tank 1-4, sewage water pump 1-5, magnetic valve 1-6, clear water tanks 1-7, water purification water pump 1-8, refined filtration hydrophone 1-9 and high pressure spray
Mouth of a river 1-10.
As shown in figure 5, sewage recycling mouth 1-1, opening is arranged within cleaning hairbrush 4-4 internal circles.As shown in Fig. 2 dirty
The sewage recovery tube 2-2 that Water Sproading mouthful 1-1 is connected with cleaning robot human body 4 is connected, and then connects foul water tank 1-4 entrance, is born
Pressure generator 1-3 is connected with foul water tank 1-4, and negative pressure is formed in foul water tank 1-4, is less than foul water tank 1-4's so as to reclaim
Soiling solution, foul water tank 1-4 outlet connects clear water tanks 1-7 import through sewage water pump 1-5 and magnetic valve 1-6 successively, clear water tanks 1-7's
Outlet meets high pressure water spray nozzle 1-10 through water purification water pump 1-8 and refined filtration hydrophone 1-9 successively, so as to realize the mistake of sewage recycling
Journey.Coarse filtration hydrophone 1-2 carries out first time filtering to sewage, and refined filtration hydrophone 1-9 carries out second to sewage and filtered.
Pipeline retractable unit 2 is used for placing cable, and the cable of folding and unfolding includes：High-pressure water pipe 2-1, sewage recovery tube 2-2, peace
(as shown in Figure 5) such as full rope 2-3.Cleaning robot human body 4 and cleaning fluid cycling element 1 and related electric are controlled by cable
Cabinet is connected；Pipeline retractable unit 2 is mounted on translation mechanism 3, pipeline can be controlled to vertically move.Translation mechanism connecting tube
Line retractable unit 2.
As shown in Fig. 3, Fig. 4 and Fig. 5, cleaning robot human body 4 includes negative pressure adsorption equipment 4-2, traveling crawler 4-3, clear
Scouring of wool brush 4-4, sealing shirt rim 4-5 etc..
Negative pressure adsorption equipment 4-2 is fixed through the hole on the shell 4-6 of cleaning robot human body 4, bottom inlet scoop with it is clear
Wash the internal negative pressure generating region of robot body 4 to communicate, exhaust outlet is communicated with outside atmosphere.
Traveling crawler 4-3 directly can be walked and turned to by motor driving, realize the cleaning in one piece of all region of glass.
It is placed on after high-pressure water nozzle 1-10 and cleaning hairbrush 4-4 are integrated on cleaning robot human body 4, high-pressure water nozzle 1-
10 water sprayed realize preliminary flushing, cleaning hairbrush 4-4 and the further cleaning dirt of glass surface friction on glass.
Sealing shirt rim 4-5 is the sealing ring being made up of flexible material sponge, be fixed on the veutro of cleaning robot human body 4 with
The edge of glass curtain wall contact, realization is as few as possible in glass surface skimming wear, while allowing cleaning robot human body 4 to be internally formed
Confined space, this confined space is also referred to as negative pressure generating region, and negative pressure is realized so as to coordinate with negative pressure adsorption equipment.
Aerial statue fine-adjusting unit includes four airscrew engine (not shown), four propeller blade 4-1 etc., Gu
The dorsal part of cleaning robot human body 4 is connected in, passes through cable winding apparatus 2, translation mechanism 3 and aerial statue fine-adjusting unit 4-1
Cooperation controlling, can make cleaning robot body cross over raised border obstacle between two glass.
The present invention can the barrier-crossing wall-climbing robot course of work be：
Cleaning robot human body 4 carries out the long distance elevating of vertical direction by pipeline retractable unit 2, by being placed on building
The big distance that the translation mechanism 3 on top carries out horizontal direction is mobile.
Cleaning robot human body 4 is inhaled on smooth glass by negative pressure adsorption equipment first, and traveling crawler passes through motor
Driving causes cleaning robot human body 4 to keep straight on and turn on glass curtain wall, the high-pressure water nozzle spray of body on cleaning robot
Discharge water on glass surface, and cleaning hairbrush cooperation carries out washing and cleaning operation.Sewage is reclaimed by the sewage on cleaning robot human body 4
Mouth 1-1 enters cleaning fluid cycling element, and rinse water can be fully used after processing.
When one piece of glass cleaning of glass curtain wall is finished, it is necessary to which cleaning robot human body 4 is moved into next piece of glass cleaning.
Raised border is had between the glass of glass curtain wall two, cleaning robot human body 4 is departed from by glass by aerial statue fine-adjusting unit
Face, simultaneously closes off negative pressure adsorption equipment so that cleaning robot human body 4 is suspended in aerial higher than frame distance, then passes through
The cooperation of pipeline retractable unit or translation mechanism so that cleaning robot human body 4 can be across frame vertically or horizontally
Obstacle, after surmounting obstacles, cleaning robot human body 4 is adjusted to position of being fitted with glass curtain wall surface by aerial statue fine-adjusting unit
Put, reopen negative pressure adsorption equipment, robot carries out cleaning with regard to adsorbing again on glass curtain wall.
When running into frame projection obstacle 5, aerial statue fine-adjusting unit 4-1 airscrew engine, which is rotated forward, causes propeller
Leaf produces lift, while negative pressure adsorption equipment 4-2 is stopped, cleaning robot human body 4 departs from wall, suspends in the air.
Vertical frame obstacle can be crossed over by the folding and unfolding cable of pipeline retractable unit 2, or translation mechanism 3 is moved horizontally
Horizontal frame obstacle 5 can be crossed over；After leaping over obstacles, aerial statue fine-adjusting unit 4-1 airscrew engine, which is inverted, causes spiral shell
Revolve blade and produce negative pressure, compressing cleaning robot human body 4 presses close to curtain wall surface, starts negative pressure adsorption equipment 4-2, in cleaning machine
The inside of device human body 4 produces negative pressure and it is adsorbed on glass curtain wall to be cleaned, is so achieved that leaping over obstacles is cleaned
Glass curtain wall.
The present invention can barrier-crossing wall-climbing robot the glass curtain wall for having frame can be cleaned, there is good obstacle detouring to imitate
Really, stability is high.
Claims (8)
1. one kind can barrier-crossing wall-climbing robot, it is characterised in that including：
Pipeline retractable unit, translation mechanism, aerial statue fine-adjusting unit, and cleaning robot human body,
Pipeline retractable unit, suspends cleaning robot human body in midair；
Translation mechanism, is slidably connected with the pipeline retractable unit, drives the pipeline retractable unit to move in the horizontal direction；
Cleaning robot human body, the lower section of the pipeline retractable unit is suspended in by cable；
Aerial statue fine-adjusting unit, is arranged on the dorsal part of cleaning robot human body, is provided to cleaning robot human body perpendicular to work
Make the lift and pressure in face.
2. one kind can barrier-crossing wall-climbing robot, it is characterised in that：
Wherein, the aerial statue fine-adjusting unit includes airscrew engine and the propeller blade being connected with each other.
3. as claimed in claim 1 can barrier-crossing wall-climbing robot, it is characterised in that also include：
Cleaning fluid cycling element, including：
The sewage recovery tube that is sequentially communicated, coarse filtration hydrophone, foul water tank, sewage water pump, magnetic valve, clear water tanks, water purification water pump and
Refined filtration hydrophone,
Negative pressure generator, is arranged in foul water tank, and negative pressure is provided into foul water tank；
Wherein, the coarse filtration hydrophone carries out first time filtering to sewage；
The refined filtration hydrophone carries out second to sewage and filtered.
4. as claimed in claim 3 can barrier-crossing wall-climbing robot, it is characterised in that also include：
High pressure water spray nozzle, is connected to behind the refined filtration hydrophone.
5. as claimed in claim 1 can barrier-crossing wall-climbing robot, it is characterised in that：
Wherein, pipeline retractable unit has collected high-pressure water pipe, sewage recovery tube and safety rope, connection cleaning robot and cleaning
Liquid circulating device.
6. as claimed in claim 1 can barrier-crossing wall-climbing robot, it is characterised in that：
Cleaning robot human body includes：
Shell,
Negative pressure adsorption equipment, by cleaning robot ontological adsorption theory in the scope of operation；
Traveling crawler, drives cleaning robot to be walked in the scope of operation；
Hairbrush is cleaned, the scope of operation is cleaned；
And sealing shirt rim, it is looped around the edge of the shell, surrounds the negative pressure adsorption equipment, the traveling crawler and described
Clean hairbrush.
7. as claimed in claim 6 can barrier-crossing wall-climbing robot, it is characterised in that：
Wherein, the inlet scoop of negative pressure adsorption equipment is communicated with the negative pressure generating region that sealing shirt rim is surrounded, negative pressure adsorption equipment
Exhaust outlet communicated with outside atmosphere.
8. it is a kind of control as described in claim 1 to 7 can barrier-crossing wall-climbing robot leaping over obstacles method, it is characterised in that
Comprise the following steps：
Step one, when running into obstacle, the airscrew engine of aerial statue fine-adjusting unit, which is rotated forward, causes propeller blade is produced to rise
Power, while negative pressure adsorption equipment is stopped, cleaning robot human body departs from working face, suspends in the air；
Step 2, pipeline retractable unit crosses over vertical obstacle by folding and unfolding cable, and translation mechanism can be across by moving horizontally
More horizontal direction obstacle；After leaping over obstacles, the airscrew engine of aerial statue fine-adjusting unit, which is inverted, causes propeller blade to produce
Negative pressure, compressing cleaning robot presses close to working face to be cleaned；
Step 3, starts negative pressure adsorption equipment, produces negative pressure, makes cleaning robot absorption on working face to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374281.0A CN106963283A (en) | 2017-05-24 | 2017-05-24 | It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710374281.0A CN106963283A (en) | 2017-05-24 | 2017-05-24 | It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method |
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| CN106963283A true CN106963283A (en) | 2017-07-21 |
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| CN201710374281.0A Pending CN106963283A (en) | 2017-05-24 | 2017-05-24 | It is a kind of can barrier-crossing wall-climbing robot and its leaping over obstacles method |
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Cited By (13)
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|---|---|---|---|---|
| CN107334418A (en) * | 2017-09-05 | 2017-11-10 | 见保林 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| CN107456152A (en) * | 2017-09-05 | 2017-12-12 | 纪小坤 | A kind of robot for being remotely controlled work high above the ground and cleaning the windows |
| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
| CN108313237A (en) * | 2018-02-11 | 2018-07-24 | 哈尔滨工业大学 | A kind of sucked type climbs wall shot-peening robot control system and control method |
| CN108968787A (en) * | 2018-08-08 | 2018-12-11 | 冯瑞新 | A kind of glass door and window clean robot |
| CN109717786A (en) * | 2019-01-31 | 2019-05-07 | 王昕� | A kind of glass curtain wall cleaning machine device people's system |
| CN110123191A (en) * | 2019-05-15 | 2019-08-16 | 江苏理工学院 | A kind of window wiping robot system and clean method |
| WO2020224075A1 (en) * | 2019-05-09 | 2020-11-12 | 广东博智林机器人有限公司 | Spraying robot, control method, control apparatus, and computer readable storage medium |
| CN112205912A (en) * | 2020-10-14 | 2021-01-12 | 深圳截明电子科技有限公司 | Surface cleaning device and cleaning method using same |
| 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 |
| CN113498995A (en) * | 2021-08-03 | 2021-10-15 | 兰州理工大学 | Double-adsorption type multi-direction movable obstacle-surmounting wall surface cleaning robot |
| CN114027743A (en) * | 2021-09-23 | 2022-02-11 | 上海工程技术大学 | Control system of high-rise curtain wall cleaning robot |
| CN114176452A (en) * | 2021-09-23 | 2022-03-15 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
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| CN107724662A (en) * | 2017-08-25 | 2018-02-23 | 上海霄卓机器人有限公司 | Work high above the ground robot and its application method |
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| CN108968787A (en) * | 2018-08-08 | 2018-12-11 | 冯瑞新 | A kind of glass door and window clean robot |
| CN109717786A (en) * | 2019-01-31 | 2019-05-07 | 王昕� | A kind of glass curtain wall cleaning machine device people's system |
| WO2020224075A1 (en) * | 2019-05-09 | 2020-11-12 | 广东博智林机器人有限公司 | Spraying robot, control method, control apparatus, and computer readable storage medium |
| CN110123191B (en) * | 2019-05-15 | 2023-09-22 | 江苏理工学院 | Window cleaning robot system and cleaning method |
| CN110123191A (en) * | 2019-05-15 | 2019-08-16 | 江苏理工学院 | A kind of window wiping robot system and clean method |
| CN112205912A (en) * | 2020-10-14 | 2021-01-12 | 深圳截明电子科技有限公司 | Surface cleaning device and cleaning method using same |
| CN112205912B (en) * | 2020-10-14 | 2022-03-11 | 深圳截明电子科技有限公司 | Surface cleaning device and cleaning method using same |
| 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 |
| CN113498995A (en) * | 2021-08-03 | 2021-10-15 | 兰州理工大学 | Double-adsorption type multi-direction movable obstacle-surmounting wall surface cleaning robot |
| CN114027743A (en) * | 2021-09-23 | 2022-02-11 | 上海工程技术大学 | Control system of high-rise curtain wall cleaning robot |
| CN114176452A (en) * | 2021-09-23 | 2022-03-15 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
| CN114176452B (en) * | 2021-09-23 | 2022-11-29 | 上海工程技术大学 | High-rise curtain wall cleaning robot |
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Application publication date: 20170721 |