CN107049128B - The running gear of slippery walls automatic scrubbing robot - Google Patents
The running gear of slippery walls automatic scrubbing robot Download PDFInfo
- Publication number
- CN107049128B CN107049128B CN201710342723.3A CN201710342723A CN107049128B CN 107049128 B CN107049128 B CN 107049128B CN 201710342723 A CN201710342723 A CN 201710342723A CN 107049128 B CN107049128 B CN 107049128B
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- Prior art keywords
- sucker
- wheel body
- running gear
- robot
- stomata
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- 238000005201 scrubbing Methods 0.000 title claims abstract description 20
- 239000000758 substrate Substances 0.000 claims abstract description 32
- 241000252254 Catostomidae Species 0.000 claims abstract description 9
- 238000009826 distribution Methods 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 abstract description 10
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 43
- 239000011521 glass Substances 0.000 description 34
- 230000006872 improvement Effects 0.000 description 32
- 239000006210 lotion Substances 0.000 description 29
- 238000004140 cleaning Methods 0.000 description 17
- 239000007788 liquid Substances 0.000 description 11
- 230000000694 effects Effects 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 7
- 238000009991 scouring Methods 0.000 description 6
- 238000003825 pressing Methods 0.000 description 5
- 238000005406 washing Methods 0.000 description 5
- 239000011148 porous material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000004851 dishwashing Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
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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
-
- 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
-
- 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
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- 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
- A47L11/4041—Roll shaped surface treating tools
-
- 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
-
- 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
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of running gears of slippery walls automatic scrubbing robot, including substrate, the bottom level of substrate is rotatably connected to swab, the bottom of substrate, which is located at around swab, is equipped with multiple running gears, running gear includes the supported rod erecting being fixedly connected with base plate bottom, the bottom end of supported rod erecting, which is horizontally rotated with trunnion axis by horizontally rotating device, to be connect, on horizontal rotating shaft, driving motor B is respectively symmetrically equipped with positioned at the two sides of supported rod erecting, hub motor passes through connecting rod C and the concentric fixation of wheel body, the circumferential surface of wheel body is evenly distributed with multiple suckers, sucker is equipped with sebific duct towards the middle part of one side end face of wheel body, wheel body is connect by sebific duct with sucker.Known to from the above, the running gear of slippery walls automatic scrubbing robot of the invention, robot is realized without under the premise of being equipped with negative pressure generating device, it remains to clean metope in smooth surface by negative-pressure adsorption, and can also automatically be easily disengaged the sucker of script absorption smooth surface with smooth surface.
Description
Technical field
The present invention relates to the technical fields of shiny surface scrubbing machine people, and in particular to a kind of slippery walls automatic scrubbing machine
The running gear of people.
Background technique
Window wiping robot, also known as automatic window-cleaning machine, glass-cleaning robot, intelligent window cleaner, intelligent window cleaner etc. are
One kind of controlling intelligent household appliances.It can rely on the vacuum pump or blower fan apparatus of themselves bottom, firmly be adsorbed on glass, so
Afterwards by certain artificial intelligence, window path is wiped in the automatic corner distance for detecting window, planning.Window wiping robot can generally utilize
It is dirty on glass to drive the rag of fuselage bottom to wipe itself to be adsorbed on the dynamics on glass.The appearance of window wiping robot,
Primarily to people is helped to solve the problems, such as that high-rise wiping window, outdoor wiping window are difficult.Window wiping robot can be applied equally to smooth
The metope on surface or other facades.
Window wiping robot maximum technical problem to be solved seeks to adsorb with window surface.Absorption on the market at present
There are two types of modes.
The first kind, vacuum chuck absorption: double-layer vacuum sucker takes out bottom air by internal vacuum pump, forms one
Fixed vacuum environment, so that window wiping robot be enable to be adsorbed on glass.Requirement of such absorption principle to medium is relatively high,
Need glass surface it is smooth, without apparent raised barrier, and be only limited to use in glass surface.
Second class, blower absorption: the window wiping robot of blower absorption forms inside and outside draught head by internal blower,
To be adsorbed on glass.Requirement of such absorption principle to medium is somewhat wide, (removes as long as dielectric surface is smooth
Glass surface, as glass, ground glass, the metope of marble medium, ceramic tile etc. with paster can adsorb).
Above two mode requires additional formation negative pressure device to form negative pressure, to realize robot and window table
The absorption in face.But the robot of such as above two classification is used to generate the device of negative pressure, generally is vacuum pump or negative pressure
Blower, not only volume, weight are larger, but also energy consumption is higher, and noise is also bigger when work.Lead to the cost of product and makes
It is all relatively large with cost.
In addition, the swab of window wiping robot is typically removable at present, washing rag of Reusability, due to one
As window areas it is bigger, and extraneous air quality is generally poor, so rag needs frequent clean, otherwise will lead to can not
Window is scrubbed.And continually clean rag then and will lead to that clean efficiency lower.
Summary of the invention
It is an object of the invention to: overcome the deficiencies of the prior art and provide a kind of slippery walls automatic scrubbing robot
Running gear realizes robot without remaining to through negative-pressure adsorption in smooth table under the premise of being equipped with negative pressure generating device
It is cleaned, and can also be automatically easily disengaged the sucker of script absorption smooth surface with smooth surface in face of metope,
Reduce the bulking value and manufacturing cost of robot；By the effect of lantern ring, so as to according to the situation of smooth surface, choosing
Select the rotating manner of swab；By the effect of lead screw and pair of nut, two that swab has scrub and dries can be made
Kind function, and can automatically switch between each other；By the lotion pipeline and water pipe of setting, scrubbed to smooth surface
While, and the cleaning to bristle, so without being cleaned to the swab of robot during cleaning metope；
The ring that the side for the ring that bristle is surrounded is surrounded by lotion pipeline, the ring that the other side is surrounded by water pipe, to either exist
Under jet cleaning liquid status or under injection clear water state, bristle is not in dry brush state, while improving washing effect,
Bristle is also protected, the service life of bristle is extended；Lotion pipeline, water pipe and bristle are distributed in a ring, and adjacent ring
Be equidistant so that distribution is more uniform, ensure that the washing effect of swab；Pass through the work of lead screw and pair of nut
With when spongy layer is dried, moreover it is possible to carry out water squeezing to spongy layer；By the effect of hub motor, so that each wheel
Body can be freely rotated, so that the walking of any direction and the steering in original place may be implemented according to different revolving speeds and steering, from
And is conducive to robot and smooth surface position is cleaned；By being staggered for two neighboring sucker, so that
Wheeling thereof has sucker and smooth surface to be attracted, to ensure that the actuation intensity of robot and metope, protects to any angle
No matter how Zheng Liao robot wheel body, which rotates, effectively to adsorb, guarantee that swab can be cleaned normally；By lumen,
The structure of stomata A, the enlarged footing of stomata B and nose bar and conical head, can be realized dishwashing automatic pick smooth surface and
Automatically, easily separated with smooth surface；The bottom end of the bristle is lower than the bottom of running gear, to guarantee that bristle can have
Effect ground is scrubbed in smooth surface；The nozzle of the water pipe bottom end is equipped with atomising device, improves the water spray effect of clear water,
So that the cleaning solution of smooth surface and dirty can effectively clean.
The technical solution used in the present invention is:
The running gear of slippery walls automatic scrubbing robot, including substrate, the bottom level rotation connection of the substrate
There is swab, the bottom of the substrate, which is located at around swab, is equipped with multiple running gears, and the swab passes through
Transmission mechanism and driving motor A are sequentially connected, and the running gear is driven by driving motor B, the driving motor A and driving electricity
Machine B is electrically connected with the control system of battery, and the transmission mechanism, driving motor A and control system with battery are equal
Set on the top of substrate, and driving motor A is fixed with the control system with battery with substrate.
The present invention be further improved scheme be, the swab be equipped with it is multiple, pass through shaft joint at the top of swab
It is fixedly connected with the lower end of output vertical shaft, the upper end of the output vertical shaft is coaxially fixed with driving wheel D, and the driving wheel D is to pass
The planetary gear of driving wheel C, the driving wheel C and driving wheel D engaged transmission, the top of the driving wheel C is coaxially fixed with driving wheel
B, the driving wheel B and driving wheel A engaged transmission, the output shaft A of the driving wheel A and driving motor A are fixed.
The further improvement project of the present invention is that the driving wheel D is distributed in around driving wheel C, described driving wheel A
At position between two neighboring driving wheel D.
The further improvement project of the present invention is that the liquid reserve tank of washing lotion and clear water, institute are fixed at the top of the driving wheel D
The outlet tube for stating liquid reserve tank is set to liquid reserve tank bottom, and is connected to after being passed down through output vertical shaft with swab.
The further improvement project of the present invention is that the driving wheel D, driving wheel C, driving wheel B and driving wheel A are respectively positioned on water
In flat turn slot, the horizontal turn trough is located at the upper surface of substrate and horizontal turn trough and the concentric setting of driving wheel C, described defeated
Vertical shaft passes through through-hole A set by the slot bottom and substrate of horizontal turn trough, the slewing area position of the output vertical shaft separately down out
In within the scope of through-hole A.
The further improvement project of the present invention is, the top surface of the substrate is that have annular protrusion, the horizontal turn trough
The internal diameter of outer diameter and annular protrusion matches.
The further improvement project of the present invention is that the top surface of the substrate is fixed with housing A, and the horizontal turn trough is located at cover
In shell A, the driving motor A and the control system with battery are individually fixed on housing A, the output of the driving motor A
Axis A is passed down through housing A and driving wheel A and coaxially fixes.
The further improvement project of the present invention is that housing B is fixed on the housing A, the control system with battery
System is respectively positioned in housing B with driving motor A.
The further improvement project of the present invention is that the lateral wall of the horizontal turn trough is equipped with lantern ring, the horizontal turn trough
Lateral wall lower part the slide bar A of a plurality of vertical direction is distributed with, the inner wall lower of the lantern ring is equipped with and the matched sliding slot of slide bar A
A, is distributed with multiple convex blocks on the lateral wall of the lantern ring, the outboard end of the convex block pass through through-hole B set by housing A side wall,
Stretch out housing A.
The further improvement project of the present invention is that the lateral wall of the horizontal turn trough is equipped at least positioned at the top of slide bar A
The two horizontal bulge loops of circle, the inner wall of the lantern ring, the horizontal annular groove that identical quantity is correspondingly provided with above sliding slot A.
The further improvement project of the present invention is, when the horizontal annular groove of lantern ring bottom and the level of horizontal turn trough bottom
When bulge loop matching contact, slide bar A is contacted with sliding slot A；When the top in the top of lantern ring and housing A contacts, set
The horizontal annular groove that ring is located at horizontal turn trough region is matched with horizontal bulge loop to be contacted, and slide bar A is separated with sliding slot A；Or work as
The horizontal annular groove of lantern ring bottom is matched with the horizontal bulge loop of horizontal turn trough the top when contact, slide bar A and sliding slot A points
From.
The further improvement project of the present invention is that upright bar, the upright bar are fixed at the bottom surface axle center of the horizontal turn trough
Lower rotation be connected with axle sleeve A, the axle sleeve is fixed with the casing for being placed on swab surface, the swab with turn
It is dynamic to be connected in casing.
The further improvement project of the present invention is that the axle sleeve passes through connecting rod A respectively fixes with casing.
The further improvement project of the present invention is that the swab includes cleaning case, is equipped with activity in the scouring case
Plate, the sidewalls vertical of the movable plate are equipped with slide bar B, and the side wall cleaned in case corresponds to slide bar B and is equipped with sliding slot B, described
Movable plate is cleaning up and down connection in case along sliding slot B by slide bar B.
The further improvement project of the present invention, which is that the bottom of the movable plate is respectively perpendicular, is fixed with lotion pipeline, water pipe
And bristle, the bottom for cleaning case are fixed with spongy layer, the bottom end of the lotion pipeline, water pipe and bristle is passed down through scouring
Bottom plate corresponding set pore A and bristle hole A simultaneously protrude into spongy layer corresponding set pore B and bristle hole B, the activity
The top of plate is coaxially fixed with standpipe, and lead screw is rotatably connected at the axle center in the standpipe, is rotatably connected on the lead screw
Pair of nut, the side wall of the pair of nut are fixed with connecting rod B, and the outer end of the connecting rod B passes through vertical bar shaped set by standpipe
Through-hole is fixed with the inner wall for cleaning case, and the top of the lead screw is fixed with the output shaft B of driving motor C, and the driving motor C is solid
Due on level board set in standpipe, the top of the standpipe stretches out scouring case and is fixed with shaft coupling.
The further improvement project of the present invention is that the lotion pipeline and water pipe are connected to respective liquid reserve tank respectively.
The further improvement project of the present invention is that the lotion pipeline, water pipe and bristle are distributed in movable plate in a ring
Bottom.
The further improvement project of the present invention is the ring that the side for the ring that the bristle is surrounded is surrounded by lotion pipeline,
The ring that the other side is surrounded by water pipe.
The further improvement project of the present invention is, the ring that the ring that the bristle is surrounded and adjacent lotion pipeline are surrounded with
And the spacing between the ring that is surrounded of water pipe is equal.
The further improvement project of the present invention is that the bottom end of the lotion pipeline is flushed with the bottom end of water pipe, and bristle
Bottom end be lower than lotion pipeline and water pipe bottom end.
The further improvement project of the present invention is that the bottom end of the bristle is lower than the bottom of running gear.
The further improvement project of the present invention is that the nozzle of the water pipe bottom end is equipped with atomising device.
The further improvement project of the present invention is that the driving motor C is electrically connected with the control system with battery.
The further improvement project of the present invention is, when pair of nut is located at highest stroke, lotion pipeline, water pipe and
The bottom end of bristle extends downwardly spongy layer；When pair of nut is located at minimum stroke, lotion pipeline, water pipe and bristle
Bottom end is above the bottom of spongy layer.
The further improvement project of the present invention is that the running gear includes that the support being fixedly connected with base plate bottom is stood
Bar, the bottom end of the supported rod erecting, which is horizontally rotated with trunnion axis by horizontally rotating device, to be connect, and on the horizontal rotating shaft, is located at
The two sides of supported rod erecting are respectively symmetrically equipped with driving motor B, and the driving motor B is hub motor, and the hub motor passes through
Connecting rod C and the concentric fixation of wheel body, the circumferential surface of the wheel body are evenly distributed with multiple suckers, and the sucker is towards wheel body
The middle part of one side end face is equipped with sebific duct, and the wheel body is connect by sebific duct with sucker.
The further improvement project of the present invention is that the end of the horizontal rotating shaft is connect with wheeling thereof.
The further improvement project of the present invention is that the hub motor and horizontal rotating shaft are rotatablely connected.
The further improvement project of the present invention is that the sucker is distributed in a ring along the periphery of wheel body, and wheel body
Periphery on along width direction be successively arranged multiple suckers being distributed in a ring.
The further improvement project of the present invention is that any one sucker in the sucker of any one annular spread is respectively positioned on
Between two adjacent suckers in the sucker of its adjacent side annular spread.
The further improvement project of the present invention is that the center of sucker, and the middle part of sucker are passed through in the axle center of the sebific duct
Equipped with stomata A, the lumen in sucker with sebific duct is connected to by the stomata A, and the sebific duct is provided inwardly with far from one end of sucker and turns over
Side, the edge of the flange surround stomata B, and the surface of the wheel body is radially secure multiple nose bars, the outer diameter of the nose bar
Internal diameter with stomata B is clearance fit, and the nose bar is equipped with enlarged footing, the outer diameter and pipe of the enlarged footing far from one end of wheel body
The internal diameter of chamber is clearance fit, and the enlarged footing is equipped with vertebra forming head backwards to one end of nose bar, and the maximum gauge of the conical head is big
In the internal diameter equal to stomata A and less than or equal to the diameter of enlarged footing.
The further improvement project of the present invention is the one end of the enlarged footing towards nose bar and conical head side wall diameter and gas
Distance at the A diameter location of equal of hole is less than the length of lumen.
The further improvement project of the present invention is at the conical head side wall diameter and stomata A diameter location of equal and to take turns
The distance between body is more than or equal to the minimum range between sucker and wheel body.
The further improvement project of the present invention is at the conical head side wall diameter and stomata A diameter location of equal and to bore
The distance between forming head tip is less than or equal to the length of stomata A.
The further improvement project of the present invention is that the running gear is uniformly distributed in the bottom edge of substrate.
The beneficial effects of the present invention are:
The first, the running gear of slippery walls automatic scrubbing robot of the invention realizes robot without being equipped with
Under the premise of negative pressure generating device, remain to clean metope in smooth surface by negative-pressure adsorption, and can also be automatic
By script absorption smooth surface sucker be easily disengaged with smooth surface, reduce robot bulking value and manufacture at
This.
The second, the running gear of slippery walls automatic scrubbing robot of the invention, by the effect of hub motor, so that
Each wheel body can be freely rotated, thus according to different revolving speeds and steering, walking and the original place of any direction may be implemented
It turns to, glass surface position is cleaned to be conducive to robot.
The running gear of third, slippery walls automatic scrubbing robot of the invention passes through interlocking for two neighboring sucker
Setting, so that wheeling thereof has sucker and smooth surface to be attracted, to ensure that robot and metope to any angle
Actuation intensity, no matter ensure that how robot wheel body rotates can effectively adsorb, guarantee swab can carry out normally
It cleans.
4th, the running gear of slippery walls automatic scrubbing robot of the invention, by lumen, stomata A, stomata B with
And nose bar enlarged footing and conical head structure, can be realized dishwashing automatic pick smooth surface and automatically, easily with
Smooth surface separation.
Detailed description of the invention:
Fig. 1 is the main view schematic cross-sectional view of structure of the invention.
Fig. 2 is that the main view section view of swab shows that amplification is intended to.
Fig. 3 looks up enlarged diagram for swab.
Fig. 4 is the main view cutaway enlargement diagram of running gear.
Fig. 5 is the main view cutaway enlargement diagram of sucker structure.
Specific embodiment:
In conjunction with Fig. 1 ~ Fig. 5 it is found that the present invention includes substrate 1, the bottom level of the substrate 1 is rotatably connected to swab
2, the bottom of the substrate 1, which is located at around swab 2, is equipped with multiple running gears 3, and the swab 2 passes through driver
Structure and driving motor A4 are sequentially connected, and the running gear 3 is driven by driving motor B, the driving motor A4 and driving motor B
It is electrically connected with the control system 10 with battery, the transmission mechanism, driving motor A4 and the control system 10 with battery
It is set to the top of substrate 1, and driving motor A4 is fixed with the control system 10 with battery with substrate 1.
The swab 2 be equipped with it is multiple, the top of swab 2 by shaft joint 30 and export vertical shaft 16 lower end it is solid
The upper end of fixed connection, the output vertical shaft 16 is coaxially fixed with driving wheel D15, and the driving wheel D15 is the planet of driving wheel C14
Wheel, the driving wheel C14 and driving wheel D15 engaged transmission, the top of the driving wheel C14 is coaxially fixed with driving wheel B13, institute
Driving wheel B13 and driving wheel A12 engaged transmission is stated, the output shaft A of the driving wheel A12 and driving motor A4 is fixed.
The driving wheel D15 is distributed in around driving wheel C14, and the driving wheel A12 is located at two neighboring driving wheel D15
Between position at.
The liquid reserve tank 20 of washing lotion and clear water is fixed at the top of the driving wheel D15, the outlet tube of the liquid reserve tank 20 is set
It is connected in 20 bottom of liquid reserve tank, and after being passed down through output vertical shaft 16 with swab 2.
The driving wheel D15, driving wheel C14, driving wheel B13 and driving wheel A12 are respectively positioned in horizontal turn trough 5, the water
Flat turn slot 5 is located at the upper surface of substrate 1 and horizontal turn trough 5 and the concentric setting of driving wheel C14, the output vertical shaft 16 divide
It is not passed down through through-hole A21 set by the slot bottom and substrate 1 of horizontal turn trough 5, the slewing area of the output vertical shaft 16 is located at
Within the scope of through-hole A21.
The top surface of the substrate 1 is that have annular protrusion 22, the outer diameter of the horizontal turn trough 5 and the internal diameter of annular protrusion 22
Match.
The top surface of the substrate 1 is fixed with housing A11, and the horizontal turn trough 5 is located in housing A11, the driving motor
A4 and control system 10 with battery are individually fixed on housing A11, and the output shaft A of the driving motor A4 is passed down through cover
Shell A11 is coaxially fixed with driving wheel A12.
Housing B6 is fixed on the housing A11, the control system 10 with battery is respectively positioned on driving motor A4
In housing B6.
The lateral wall of the horizontal turn trough 5 is equipped with lantern ring 23, and the lateral wall lower part of the horizontal turn trough 5 is distributed with a plurality of
The slide bar A25 of vertical direction, the inner wall lower of the lantern ring 23 be equipped with the matched sliding slot A24 of slide bar A25, the lantern ring 23
Multiple convex blocks 29 are distributed on lateral wall, the outboard end of the convex block 29 passes through through-hole B28 set by housing A11 side wall, stretches out
Housing A11.
The lateral wall of the horizontal turn trough 5 is equipped at least two horizontal bulge loops 27 of circle, the set positioned at the top of slide bar A25
The inner wall of ring 23, the horizontal annular groove 26 that identical quantity is correspondingly provided with above sliding slot A24.
When the horizontal bulge loop 27 of the horizontal annular groove 26 of 23 bottom of lantern ring and horizontal 5 bottom of turn trough match contact when
It waits, slide bar A25 is contacted with sliding slot A24；When the top in the top of lantern ring 23 and housing A11 contacts, lantern ring 23 is located at
The horizontal annular groove 26 in horizontal 5 region of turn trough is matched with horizontal bulge loop 27 to be contacted, and slide bar A25 is separated with sliding slot A24；Or
When the horizontal annular groove 26 of 23 bottom of lantern ring is matched with the horizontal bulge loop 27 of horizontal 5 the top of turn trough to be contacted, slide bar A25
It is separated with sliding slot A24.
Upright bar 8 is fixed at the bottom surface axle center of the horizontal turn trough 5, the lower rotation of the upright bar 8 is connected with axle sleeve A7,
The axle sleeve 7 and the casing 9 for being placed on 2 surface of swab are fixed, the swab 2 be rotationally connected in casing 9.
The axle sleeve 7 is fixed by connecting rod A17 and casing 9 respectively.
The swab 2 includes cleaning case 36, is equipped with movable plate 33, the side of the movable plate 33 in the scouring case 36
Wall is equipped with slide bar B42 vertically, and the side wall cleaned in case 36 corresponds to slide bar B42 and is equipped with sliding slot B43, and the movable plate 33 is logical
It crosses slide bar B42 and is cleaning up and down connection in case 36 along sliding slot B43.
The bottom of the movable plate 33, which is respectively perpendicular, is fixed with lotion pipeline 47, water pipe 48 and bristle 49, the scouring case
36 bottom is fixed with spongy layer 44, and the bottom end of the lotion pipeline 47, water pipe 48 and bristle 49, which is passed down through, cleans 36 bottom of case
Plate corresponding set pore A45 and bristle hole A46 simultaneously protrude into spongy layer 44 corresponding set pore B45 ' and bristle hole B46 ',
The top of the movable plate 33 is coaxially fixed with standpipe 34, and lead screw 39 is rotatably connected at the axle center in the standpipe 34, described
Pair of nut 40 is rotatably connected on lead screw 39, the side wall of the pair of nut 40 is fixed with connecting rod B41, the connecting rod B41's
Outer end passes through vertical strip through-hole set by standpipe 34 and fixes with the inner wall for cleaning case 36, the top of the lead screw 39 and driving electricity
The output shaft B38 of machine C37 is fixed, and the driving motor C37 is fixed on level board 35 set in standpipe 34, the standpipe 34
Top stretch out to clean and case 36 and be fixed with shaft coupling 30.
The lotion pipeline 47 and water pipe 48 are connected to respective liquid reserve tank 20 respectively.
The lotion pipeline 47, water pipe 48 and bristle 49 are distributed in the bottom of movable plate 33 in a ring.
The ring that the side for the ring that the bristle 49 is surrounded is surrounded by lotion pipeline 47, the other side are surrounded by water pipe 48
Ring.
The ring that the ring and water pipe 48 that the ring and adjacent lotion pipeline 47 that the bristle 49 is surrounded are surrounded are surrounded
Between spacing be equal.
The bottom end of the lotion pipeline 47 is flushed with the bottom end of water pipe 48, and the bottom end of bristle 49 is lower than 47 He of lotion pipeline
The bottom end of water pipe 48.
The bottom end of the bristle 49 is lower than the bottom of running gear 3.
The nozzle of 48 bottom end of water pipe is equipped with atomising device.
The driving motor C37 is electrically connected with the control system 10 with battery.
When pair of nut 40 is located at highest stroke, the bottom end of lotion pipeline 47, water pipe 48 and bristle 49 is downward
Stretch out spongy layer 44；When pair of nut 40 is located at minimum stroke, the bottom end of lotion pipeline 47, water pipe 48 and bristle 49 is equal
Higher than the bottom of spongy layer 44.
The running gear 3 includes the supported rod erecting 18 being fixedly connected with 1 bottom of substrate, the bottom end of the supported rod erecting 18
Horizontally rotated with trunnion axis 50 by horizontally rotating device 19 and connect, on the horizontal rotating shaft 50, positioned at the two of supported rod erecting 18
Side is respectively symmetrically equipped with driving motor B, and the driving motor B is hub motor 52, and the hub motor 52 passes through connecting rod C53
With the concentric fixation of wheel body 51, the circumferential surface of the wheel body 51 is evenly distributed with multiple suckers 54, and the sucker 54 is towards wheel
The middle part of 51 1 side end face of body is equipped with sebific duct 55, and the wheel body 51 is connect by sebific duct 55 with sucker 54.
The end of the horizontal rotating shaft 50 and wheel body 1 are rotatablely connected.
The hub motor 52 is rotatablely connected with horizontal rotating shaft 50.
The sucker 54 is distributed in a ring along the periphery of wheel body 51, and along width side on the periphery of wheel body 51
To being successively arranged multiple suckers 54 being distributed in a ring.
Any one sucker 54 in the sucker 54 of any one annular spread, is respectively positioned on the suction of its adjacent side annular spread
Between two adjacent suckers 54 in disk 54.
The center of sucker 54 is passed through in the axle center of the sebific duct 55, and the middle part of sucker 54 is equipped with stomata A58, the stomata
Lumen 56 in sucker 54 with sebific duct 55 is connected to by A58, and the sebific duct 55 is provided inwardly with flange far from one end of sucker 54, described
The edge of flange surrounds stomata B57, and the surface of the wheel body 51 is radially secure multiple nose bars 59, the outer diameter of the nose bar 59
Internal diameter with stomata B57 is clearance fit, and the nose bar 59 is equipped with enlarged footing 60, the enlarged footing 60 far from one end of wheel body 51
Outer diameter and the internal diameter of lumen 56 be clearance fit, the enlarged footing 60 is equipped with vertebra forming head 61 backwards to one end of nose bar 59, described
Internal diameter of the maximum gauge of conical head 61 more than or equal to stomata A58 and the diameter for being less than or equal to enlarged footing 60.
At the one end of the enlarged footing 60 towards nose bar 59 and 61 side wall diameter of conical head and stomata A58 diameter location of equal
Distance be less than lumen 56 length.
The 61 side wall diameter of conical head is more than or equal to at stomata A58 diameter location of equal with the distance between wheel body 51
Minimum range between sucker 54 and wheel body 51.
The 61 side wall diameter of conical head with it is small with the distance between 61 tip of conical head at stomata A58 diameter location of equal
In the length for being equal to stomata A58.
The running gear 3 is uniformly distributed in the bottom edge of substrate 1.
It is illustrated below with the example that the present invention wipe window:
When the present invention uses, first by the pressing of the wheel body of robot 51 when glass surface, pressing, with glass table
The sucker 54 of face contact is squeezed to 51 side of wheel body, to make sucker 54 contact with enlarged footing 60, and conical head 61 protrudes into gas
In the A58 of hole, so that stomata A58 be blocked, under the active force of pressing, sucker 54 is gradually pressed towards glass surface, and sucker
Air in 54 can only be discharged by the edge of sucker 54, to make to form vacuum in sucker 54, pass through the active force of atmospheric pressure
It fixes sucker 54 with glass surface, and then fixes robot with glass surface；Then it is controlled by system, hub motor 52
Wheel body 51 is controlled to rotate, it is identical when pressing to the process of the sucker 54 of glass surface under the drive of wheel body 51 with above-mentioned pressing, and
The process of the sucker 54 of glass surface is left under the drive of wheel body 51 are as follows: nose bar 59 is under the drive of wheel body 51 to separate glass
Side is mobile, to make that enlarged footing 60 leaves sucker 54, conical head 61 is separated with stomata A58, thus allow outside air according to
It is secondary by after stomata B57, lumen 56 and stomata A58 be connected in sucker 54, to make the suction for being pulled on glass surface originally
Air pressure in disk 54 is equal with external atmosphere pressure, so that sucker 54 be made to be automatically separated with glass surface；Due to same level shaft
Two wheel bodys 51 on 50 are that rotation is independently driven by individual hub motor 52, so as to according to cleaning glass
Demand makes running gear 3 realize the walking and rotation of all angles.
When robot carries out wiping window, it can be required according to the difference of cleaned window, select scouring mode；Pass through convex block
The 29 horizontal annular grooves 26 for being depressed into 23 bottom of lantern ring downwards are contacted with the matching of the horizontal bulge loop 27 of horizontal 5 bottom of turn trough, at this time
Slide bar A25 is contacted with sliding slot A24, fixed between horizontal turn trough 5 and substrate 1 at this time；Swab 2 is only capable of through rotation reality at this time
It now cleans, and can not revolve around the axle center of vertical upright bar 8；It is lifted upwards by convex block 29 to the horizontal loops of 23 bottom of lantern ring
Slot 26 is contacted with the matching of the horizontal bulge loop 27 of horizontal 5 bottom of turn trough, and slide bar A25 is separated with sliding slot A24 at this time, horizontal turn trough 5
It can revolve while driving wheel D15 drives output 16 autobiography of vertical shaft around the axle center of vertical upright bar 8, and export 16 band of vertical shaft
Horizontal turn trough 5 is moved around the axis rotation of vertical upright bar 8, i.e. swab 2 can also pass through revolution by rotation at this time simultaneously
It is cleaned to realize.
When swab 2 is cleaned, the control system 10 with power supply controls driving motor C37 rotation first, drives
Lead screw 39 rotates, and rises to pair of nut 40 upwards at highest line journey, so that lotion pipeline 47, water pipe 48 and bristle 49 be made to stretch downwards
Spongy layer 44 out；Then the control system 10 with power supply controls lotion pipeline 47 to glass surface jet cleaning liquid, and controls
Driving motor A4 drives swab 2 to rotate, and scrubs bristle 49 effectively to glass surface；Simultaneous with the control of power supply
System 10 controls hub motor 52 and wheel body 51 is driven to rotate, and is that running gear 3 is walked with mobile robot, makes swab 2
Remaining place of glass surface can also be scrubbed；After glass surface scrub, the control system 10 with power supply is controlled
Lotion pipeline 47 processed stops to glass surface jet cleaning liquid, while controlling water pipe 48 and spraying clear water to glass surface, continues to lead to
Bristle 49 is crossed to scrub glass surface, under the action of running gear 3, allow swab 2 to glass surface its
Leeway side is scrubbed；After the dirty and cleaning solution of glass surface is completely flushed out, the control system with power supply
10 control water pipes 48 stop spraying clear water to glass surface, and control driving motor C37 rotation, and lead screw 39 is driven to rotate,
Make pair of nut 40 to decline, so that spongy layer 44 be made to wrap lotion pipeline 47, water pipe 48 and bristle 49；It is filled at this time in walking
Under the action of setting 3 and the rotation of swab 2, glass surface is dried；When the water in spongy layer 44 is more,
Control system 10 with power supply controls driving motor C37 rotation, drives lead screw 39 to rotate, minimizes pair of nut 40 downwards
At stroke, to squeeze spongy layer 44, the water in spongy layer 44 is squeezed out；After the water in spongy layer 44 is extruded, have
The control system 10 of power supply controls driving motor C37 rotation, and lead screw 39 is driven to rotate, sponge before rising to pair of nut 40 upwards
Layer 44 cleans the position of glass surface, continues to dry glass surface.
The present invention is apply equally as well to the smooth facade of slippery walls or other surfaces.
Claims (8)
1. the running gear of slippery walls automatic scrubbing robot, it is characterised in that: including substrate (1), the bottom of the substrate (1)
Portion, which horizontally rotates, to be connected with swab (2), and the bottom of the substrate (1), which is located at around swab (2), is equipped with multiple rows
Walking apparatus (3), the running gear (3) are driven by driving motor B, the driving motor B and the control system for having battery
(10) it is electrically connected, the control system (10) with battery is set to the top of substrate (1), and has the control system of battery
System (10) and substrate (1) are fixed；The running gear (3) includes the supported rod erecting (18) being fixedly connected with substrate (1) bottom, institute
It states the bottom end of supported rod erecting (18) and is horizontally rotated with trunnion axis (50) by horizontally rotating device (19) and is connect, the trunnion axis
(50) driving motor B is respectively symmetrically equipped on, positioned at the two sides of supported rod erecting (18), the driving motor B is hub motor
(52), the hub motor (52) passes through connecting rod C(53) and wheel body (51) concentric fixation, the circumference table of the wheel body (51)
Face is evenly distributed with multiple suckers (54), and the sucker (54) is equipped with sebific duct (55) towards the middle part of (51) one side end face of wheel body,
The wheel body (51) is connect by sebific duct (55) with sucker (54)；
The center of sucker (54) is passed through in the axle center of the sebific duct (55), and the middle part of sucker (54) is equipped with stomata A(58), it is described
Stomata A(58) it will be connected in sucker (54) with the lumen (56) of sebific duct (55), the one end of the sebific duct (55) far from sucker (54)
Be provided inwardly with flange, the edge of the flange surrounds stomata B(57), the surface of the wheel body (51) is radially secure have it is multiple convex
Bar (59), the outer diameter of the nose bar (59) are clearance fit with the internal diameter of stomata B(57), and the nose bar (59) is far from wheel body (51)
One end be equipped with enlarged footing (60), the internal diameter of the outer diameter of the enlarged footing (60) and lumen (56) is clearance fit, the expansion
Head (60) is equipped with vertebra forming head (61) backwards to the one end of nose bar (59), and the maximum gauge of conical head (61) is more than or equal to stomata A(58)
Internal diameter and be less than or equal to enlarged footing (60) diameter.
2. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the trunnion axis
(50) end and wheel body (1) is rotatablely connected；The hub motor (52) and trunnion axis (50) are rotatablely connected.
3. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the sucker
(54) it is distributed along the periphery of wheel body (51), and is successively arranged on the periphery of wheel body (51) along width direction in a ring
Multiple suckers (54) being distributed in a ring.
4. the running gear of slippery walls automatic scrubbing as claimed in claim 3 robot, it is characterised in that: any one annular
Any one sucker (54) in the sucker (54) of distribution, two be respectively positioned in the sucker (54) of its adjacent side annular spread
Between adjacent sucker (54).
5. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the enlarged footing
(60) one end towards nose bar (59) and conical head (61) side wall diameter at stomata A(58) diameter location of equal at a distance from be less than
The length of lumen (56).
6. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the conical head
(61) side wall diameter and stomata A(58) it is more than or equal to sucker (54) and wheel with the distance between wheel body (51) at diameter location of equal
Minimum range between body (51).
7. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the conical head
(61) the distance between side wall diameter and at stomata A(58) diameter location of equal and conical head (61) tip are less than or equal to stomata A
(58) length.
8. the running gear of slippery walls automatic scrubbing as described in claim 1 robot, it is characterised in that: the walking dress
Set the bottom edge that (3) are uniformly distributed in substrate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710342723.3A CN107049128B (en) | 2017-05-16 | 2017-05-16 | The running gear of slippery walls automatic scrubbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710342723.3A CN107049128B (en) | 2017-05-16 | 2017-05-16 | The running gear of slippery walls automatic scrubbing robot |
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| Publication Number | Publication Date |
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| CN107049128A CN107049128A (en) | 2017-08-18 |
| CN107049128B true CN107049128B (en) | 2019-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710342723.3A Expired - Fee Related CN107049128B (en) | 2017-05-16 | 2017-05-16 | The running gear of slippery walls automatic scrubbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107007193B (en) * | 2017-05-16 | 2019-05-24 | 淮阴工学院 | Slippery walls automatic scrubbing robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2512554Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Crawler-type multiple sucking disc wall climbing robot |
| CN203153626U (en) * | 2013-04-03 | 2013-08-28 | 于润 | Brush capable of spraying water |
| CN105455748A (en) * | 2015-12-30 | 2016-04-06 | 马鞍山清净环保科技有限公司 | Efficient wall cleaning robot and control method thereof |
| CN105816117A (en) * | 2016-06-14 | 2016-08-03 | 南安市天鸿电子科技有限公司 | Control method of dual-purpose mop driven by motor to rise and fall |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006005985B4 (en) * | 2006-02-08 | 2015-08-27 | Carl Freudenberg Kg | cleaner |
-
2017
- 2017-05-16 CN CN201710342723.3A patent/CN107049128B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2512554Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Crawler-type multiple sucking disc wall climbing robot |
| CN203153626U (en) * | 2013-04-03 | 2013-08-28 | 于润 | Brush capable of spraying water |
| CN105455748A (en) * | 2015-12-30 | 2016-04-06 | 马鞍山清净环保科技有限公司 | Efficient wall cleaning robot and control method thereof |
| CN105816117A (en) * | 2016-06-14 | 2016-08-03 | 南安市天鸿电子科技有限公司 | Control method of dual-purpose mop driven by motor to rise and fall |
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| CN107049128A (en) | 2017-08-18 |
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Application publication date: 20170818 Assignee: Jiangsu Li Lian Heavy Machinery Co., Ltd. Assignor: Huaijin Polytechnical College Contract record no.: X2019980000494 Denomination of invention: Traveling device for automatic scrubbing robot for smooth walls Granted publication date: 20190524 License type: Common License Record date: 20191106 Application publication date: 20170818 Assignee: Nanjing Jiadi Fastener Manufacturing Co., Ltd. Assignor: Huaijin Polytechnical College Contract record no.: X2019980000481 Denomination of invention: Traveling device for automatic scrubbing robot for smooth walls Granted publication date: 20190524 License type: Common License Record date: 20191104 |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201125 Address after: 274400 Qin village, Heze Town, Caoxian, Shandong Patentee after: CAOXIAN LUGONG MACHINERY Co.,Ltd. Address before: 223005 Jiangsu city of Huaian Province Higher Education Park while the road No. 1 Patentee before: HUAIYIN INSTITUTE OF TECHNOLOGY |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190524 Termination date: 20210516 |