CN107149443B - Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same - Google Patents
Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same Download PDFInfo
- Publication number
- CN107149443B CN107149443B CN201710511139.6A CN201710511139A CN107149443B CN 107149443 B CN107149443 B CN 107149443B CN 201710511139 A CN201710511139 A CN 201710511139A CN 107149443 B CN107149443 B CN 107149443B
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- CN
- China
- Prior art keywords
- sliding
- ridge
- passing
- telescopic
- curtain wall
- 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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- 238000004140 cleaning Methods 0.000 title claims abstract description 26
- 239000010985 leather Substances 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 6
- 241000252254 Catostomidae Species 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 238000005299 abrasion Methods 0.000 abstract description 2
- 239000011521 glass Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- 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
Abstract
The invention discloses a sliding sucker capable of passing a bank, which comprises a sliding sucker body, a vacuum generator and a bank passing telescopic assembly, wherein the sliding sucker body is connected with the vacuum generator, the bank passing telescopic assembly comprises a fixed plate, a telescopic slide block, a plurality of guide rods and springs, the fixed plate is fixed on a frame, the sliding sucker body is fixedly connected with the telescopic slide block, the springs are arranged on the guide rods, and the telescopic slide block is movably arranged on the guide rods and can slide on the guide rods and compress the springs. The invention also discloses a curtain wall cleaning robot capable of passing through the ridge, which comprises a frame, a controller and a plurality of cleaning components arranged at the two ends and the middle part of the frame, wherein the frame is provided with a plurality of driving wheels and a steering driving device connected with the controller in a signal manner, and a plurality of sliding suction cups capable of passing through the ridge are arranged around each driving wheel. The invention has the advantages of convenient passing of the ridge and high efficiency of passing the ridge, and effectively reduces the abrasion rate of the sliding sucker body.
Description
Technical Field
The invention relates to a sucker and application thereof, in particular to a sliding sucker capable of passing a bank and a curtain wall robot applying the same.
Background
The curtain wall cleaning robot is required to be reliably adsorbed on the glass wall surface, and can complete cleaning operation with higher working efficiency. The gaps among the glass of the hidden frame curtain wall are glued or pressed, the gaps are glued or pressed to protrude out of the glass surface by 5-10mm, and the construction error can generate 3-5mm of the height difference of adjacent glass; escape windows or ventilation windows of the hidden frame curtain wall can be 10-15mm higher than that of adjacent glass. The curtain wall cleaning robot is required to have certain obstacle crossing and bank crossing capabilities. The patent 'a wall robot capable of crossing and stepping on an obstacle' (CN 106388725A) discloses a wall robot which adopts a connection combination of a pneumatic cylinder and a guide rail structure to realize the stretching of the whole structure of the wall robot in the running direction, thereby achieving the effect of crossing a large-volume obstacle. However, for small sills (the height is 3-25 mm), the wall robot is used for crossing, so that energy is wasted, the crossing efficiency is low, and the cost is high.
Disclosure of Invention
The invention aims to provide a sliding sucker capable of passing over a ridge, which can freely move up and down and left and right on a glass surface, avoids being blocked when the sucker moves to a height difference ridge, cannot operate and can realize rapid ridge passing. In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a can cross slidingtype sucking disc of bank, fixes in the equipment frame, includes slidingtype sucking disc body, vacuum generator and crosses the flexible subassembly of bank, slidingtype sucking disc body and vacuum generator be connected, cross the flexible subassembly of bank include fixed plate, flexible slider, a plurality of guide arms and spring, the fixed plate fix in the frame, slidingtype sucking disc body and flexible slider fixed connection, the spring install on the guide arm, flexible slider activity set up on the guide arm and can slide and compress spring on the guide arm.
In an embodiment, the over-threshold telescopic assembly further comprises a sensor and a plurality of control push rods connected with signals of the sensor, the sensor is mounted on the fixed plate, one end of each control push rod is connected with the telescopic sliding block, and the other end of each control push rod is connected with the fixed plate.
Wherein the control push rod is an electric push rod or an air cylinder push rod. The telescopic sliding block comprises a sliding block main body and a plurality of guide sleeves, the guide sleeves are fixedly arranged on the sliding block main body, and the guide rods are inserted into the guide sleeves to realize movable connection.
Further, the sliding type sucking disc body comprises a sliding disc and an elastic leather cup which are in sealing fit, the surface of the sliding disc is smooth, a chamfer is arranged on the peripheral wall of the end part of the sliding disc, a groove is formed inwards on the surface, attached to the adsorption plane, of the sliding disc, and an air suction hole communicated with the elastic leather cup is formed in the groove.
In one embodiment, the edge of the sliding sucker body is convexly provided with two groups of symmetrical hat brim.
Preferably, a boss is extended on one side of the sliding disk matched with the elastic leather cup, a dovetail tenon is arranged on the side wall of the boss, a corresponding dovetail groove is arranged on one end of the elastic leather cup, which is close to the sliding disk, and the dovetail groove is matched with the boss to realize sealing connection.
Preferably, four guide rods and four springs are arranged on one passing bank telescopic assembly, and four guide sleeves are correspondingly arranged on the telescopic sliding block.
The invention also discloses a curtain wall cleaning robot capable of passing through the ridge, which comprises a frame, a controller and a plurality of cleaning components arranged at the two ends and the middle part of the frame, wherein the frame is provided with a plurality of driving wheels and a steering driving device connected with the controller in a signal manner, and the sliding type sucking disc capable of passing through the ridge is arranged around each driving wheel.
After the technical scheme is adopted, the invention has the following effects: according to the invention, the ridge passing telescopic assembly is arranged, so that the structure is simple, when the slidable sucker passes through the ridge, the slidable sucker is passively or actively telescopic, so that the slidable sucker is separated from the wall surface, the ridge passing is convenient through the driving wheel, the ridge passing efficiency is high, and the abrasion rate of the slidable sucker is effectively reduced.
Drawings
Fig. 1 is a schematic diagram of a sliding suction cup capable of passing through a ridge in the first embodiment.
Fig. 2 is a schematic structural diagram of a sliding suction cup in a compressed state capable of passing through a ridge in the first embodiment.
Fig. 3 is an exploded view of a sliding chuck body according to the first embodiment.
Fig. 4 is a schematic diagram of a sliding suction cup capable of passing through a ridge in the second embodiment.
Fig. 5 is a schematic structural diagram of a sliding suction cup in a compressed state capable of passing through a ridge according to the second embodiment.
Fig. 6 is an exploded view of a sliding chuck body according to the second embodiment.
Fig. 7 is a schematic perspective view of a curtain wall cleaning robot according to the present invention.
Fig. 8 is a front view of the hidden cleaning assembly and a portion of the frame of fig. 7 in a threshold-passing state.
Fig. 9 is a schematic top view of fig. 8.
Fig. 10 is a schematic diagram illustrating a state of the invention in fig. 9 when the threshold is moved.
Description of main reference numerals:
1: frame, 2: cleaning assembly, 3: driving wheel, 4: steering drive device, 5: sliding suction cup capable of passing over ridge, 6: pass the flexible subassembly of bank, 61: fixing plate, 62: telescoping slide block, 621: slider body, 622: guide sleeve, 63: guide bar, 64: spring, 65: sensor, 66: control push rod, 7: sliding chuck body, 71: slide disk, 711: groove, 712: suction holes, 713: boss, 714: brim, 72: elastic cup, 721: and a dovetail groove.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent.
Example 1
As shown in fig. 1-2, the present embodiment discloses a sliding suction cup capable of passing over a ridge, which adopts a passive ridge passing manner. Is suitable for the ridge with the diameter lower than 15mm. The sliding sucker 5 capable of passing the ridge comprises a sliding sucker body 7, a vacuum generator (not shown in the figure) and a ridge passing telescopic component 6. The sliding sucker body 7 is connected with a vacuum generator, the threshold-passing telescopic assembly 6 comprises a fixed plate 61, a telescopic sliding block 62, four guide rods 63 and four springs 64, and the telescopic sliding block 62 comprises a sliding block main body 621 and four guide sleeves 622. The fixed plate 61 is fixed on the frame 1, the sliding sucker body 7 is fixedly connected with a sliding block main body 621 of the telescopic sliding block 62, the spring 64 is arranged on the guide rod 63, the guide sleeve 622 is fixedly arranged on the sliding block main body 621, and the guide rod 63 is inserted into the guide sleeve 622 to realize movable connection.
As shown in fig. 3, the sliding chuck body 7 includes a sliding plate 71 and an elastic cup 72 which are sealingly engaged. The sliding plate 71 has a smooth surface, and two symmetrical cap rims 714 are convexly arranged on the edge of the sliding plate 71. The surface of the sliding plate 71, which is attached to the adsorption plane, is formed with a groove 711 inward, and the groove 711 is provided with a suction hole 712 communicating with the elastic cup 72. A boss 713 extends from the side of the sliding plate 71 matching with the elastic leather cup 72, and a dovetail tenon is arranged on the side wall of the boss 713. The elastic leather cup 72 is provided with a corresponding dovetail groove 721 at one end close to the sliding disk 71, and the dovetail groove 721 is matched with the boss 713 to realize sealing connection.
The sliding suction cup 5 capable of passing over the ridge can be used on curtain wall robots and other robot equipment which are required to slide on a smooth surface so as to meet the requirement of the robot for passing over the ridge. As shown in fig. 7, the invention specifically discloses a curtain wall robot capable of passing over a threshold, which comprises a frame 1, a controller (not shown in the figure), a plurality of cleaning assemblies 2 arranged at two ends and in the middle of the frame 1, and a plurality of sliding suction cups 5 capable of passing over the threshold. The frame 1 is provided with a plurality of driving wheels 3 and a steering driving device 4 which is connected with a controller through signals, and two sliding suckers 5 which can pass through a bank are arranged around each driving wheel 3.
As shown in fig. 8-10, all sliding sucker bodies 7 (7 a, 7b, 7c, 7d, 7e, 7f, 7g, 7 h) of the curtain wall cleaning robot are closely adsorbed on the curtain wall initially, when the curtain wall is to transversely cross over a ridge (the height is 5-15 mm), the cap peak 714 of the sliding sucker bodies 7a, 7b firstly passes over the ridge, the cap peak 714 is pressed on the ridge to generate pressure, when the telescopic sliding block 62 is pressed on the ridge, the telescopic sliding block 62 outwards compresses the spring 64, the guide sleeve 622 drives the sliding block main body 621 to move on the guide rod 63 and compress the spring 64, and the sliding sucker bodies 7a, 7b are separated from the curtain wall as shown in fig. 2. Then, the driving wheel 3 passes through the ridge, and after the ridge is passed, the spring is not stressed by external force and returns to a natural state, so that the sliding sucker bodies 7a and 7b are pushed, and the sliding sucker bodies 7a and 7b are adsorbed with the curtain wall again. Then the sliding sucker bodies 7c and 7d pass the ridge, the telescopic sliding blocks 62 corresponding to the sliding sucker bodies 5c and 5d are compressed, the sliding sucker bodies 5c and 5d are separated from the curtain wall, and the above actions are repeated until all the sliding suckers 5 capable of passing the ridge pass the ridge.
Example two
As shown in fig. 4-5, the present embodiment discloses a sliding suction cup capable of passing over a ridge, which adopts a mode of actively passing over the ridge. Can be suitable for the ridge with the height of 15-25 mm. The sliding sucker 5 capable of passing the ridge comprises a sliding sucker body 7, a vacuum generator (not shown in the figure) and a ridge passing telescopic component 6. The sliding sucker body 7 is connected with a vacuum generator.
The over-threshold telescopic assembly 6 comprises a fixed plate 61, a telescopic sliding block 62, four guide rods 63, four springs 64, a sensor 65 and a plurality of control push rods 66 (two groups of control push rods 66 in the embodiment), wherein the control push rods 66 are electric push rods or air cylinder push rods, and the control push rods 66 are in signal connection with the sensor 65. The telescopic slider 62 includes a slider body 621 and four guide sleeves 622. The fixed plate 61 is fixed on the frame 1, the sliding sucker body 7 is fixedly connected with a sliding block main body 621 of the telescopic sliding block 62, the spring 64 is arranged on the guide rod 63, the guide sleeve 622 is fixedly arranged on the sliding block main body 621, and the guide rod 63 is inserted into the guide sleeve 622 to realize movable connection. The sensor 65 is mounted on the fixed plate 61, and one end of the control push rod 66 is connected with the telescopic slide block 62, and the other end is connected with the fixed plate 61.
As shown in fig. 6, the sliding chuck body 7 includes a sliding plate 71 and an elastic cup 72 which are sealingly engaged. The sliding plate 71 has a smooth surface, and the outer peripheral wall of the end portion thereof is provided with a chamfer, and the surface thereof in contact with the suction plane is formed inward with a groove 711, and the groove 711 is provided therein with a suction hole 712 communicating with the elastic cup 72. A boss 713 extends from the side of the sliding plate 71 matching with the elastic leather cup 72, and a dovetail tenon is arranged on the side wall of the boss 713. The elastic leather cup 72 is provided with a corresponding dovetail groove 721 at one end close to the sliding disk 71, and the dovetail groove 721 is matched with the boss 713 to realize sealing connection.
As shown in fig. 7, this embodiment discloses a curtain wall robot capable of passing over a bank, which is different from the first embodiment in that the curtain wall cleaning robot adopts the structure of the sliding suction cup capable of passing over a bank in the second embodiment, and adopts a mode of actively passing over a bank. The principle thereof is described in detail below.
As shown in fig. 8 to 10, all the sliding sucker bodies 7 (7 a, 7b, 7c, 7d, 7e, 7f, 7g and 7 h) of the curtain wall cleaning robot are closely adsorbed on the curtain wall in the initial stage, when the height of the curtain wall cleaning robot is about to transversely cross over a ridge (5-20 mm), the sensor judges the height of the ridge, when the height is higher than 20mm, a stop signal is sent, when the height is lower than 20mm, a signal is sent to the robot to turn off the vacuum generator, and meanwhile, the signal is transmitted to the control push rod 66, the control push rod 66 extends outwards, and the telescopic slide block 62 is driven to move and compress the spring 64. Referring to fig. 4, the guide sleeve 622 drives the slider body 621 to move on the guide rod 63 and compress the spring 64, and the sliding sucker bodies 7a and 7b are separated from the curtain wall. Then the driving wheel 3 passes through the ridge, after the ridge is passed, the spring is not stressed by external force, and is restored to a natural state, and the sliding sucker bodies 5a and 5b are adsorbed with the curtain wall again. Then, the sensors 65 on the sliding sucker bodies 7c and 7d detect the front passing ridge in advance, signals are transmitted to the control push rod 66, the control push rod 66 extends outwards, the telescopic sliding blocks 62 corresponding to the sliding sucker bodies 7c and 7d are compressed, the sliding sucker bodies 7c and 7d are separated from the curtain wall, and the actions are repeated until all sliding suckers 5 which can pass the ridge.
The above embodiment is two modes of passive and active of transverse passing of the curtain wall cleaning robot, and the patent is also applicable to passive and active modes of longitudinal passing of the curtain wall cleaning robot. The invention has simple structure and is suitable for popularization and application.
In the foregoing, only the preferred embodiments of the present invention are described, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be covered by the present invention.
Claims (6)
1. The utility model provides a curtain cleaning robot that can cross bank, includes frame, controller, sets up a plurality of cleaning components at frame both ends and middle part, the frame on set up a plurality of drive wheels and turn to drive arrangement with controller signal connection, its characterized in that: a plurality of sliding suckers capable of passing through the ridge are arranged around each driving wheel;
the sliding sucker capable of passing the ridge comprises a sliding sucker body, a vacuum generator and a ridge passing telescopic assembly, wherein the sliding sucker body is connected with the vacuum generator, the ridge passing telescopic assembly comprises a fixing plate, a telescopic sliding block, a plurality of guide rods and springs, the fixing plate is fixed on a frame, the sliding sucker body is fixedly connected with the telescopic sliding block, the springs are arranged on the guide rods, and the telescopic sliding block is movably arranged on the guide rods and can slide on the guide rods and compress the springs;
the sliding type sucker body comprises a sliding disc and an elastic leather cup which are in sealing fit, the surface of the sliding disc is smooth, the peripheral wall of the end part of the sliding disc is provided with a chamfer, the surface of the sliding disc, which is attached to the adsorption plane, is inwards provided with a groove, and the groove is internally provided with an air suction hole communicated with the elastic leather cup; two groups of symmetrical hat brim are convexly arranged at the edge of the sliding disk; when the sliding type sucker body is adsorbed on the curtain wall and spans the ridge, the cap peak firstly passes through the ridge, and the cap peak is pressed on the ridge to generate pressure.
2. The sill-capable curtain wall cleaning robot of claim 1, wherein: the over-threshold telescopic assembly further comprises a sensor and a plurality of control push rods connected with signals of the sensor, the sensor is mounted on the fixed plate, one end of each control push rod is connected with the telescopic sliding block, and the other end of each control push rod is connected with the fixed plate.
3. The sill-capable curtain wall cleaning robot of claim 2, wherein: the control push rod is an electric push rod or an air cylinder push rod.
4. The threshold-passing curtain wall cleaning robot of any one of claims 1-3, wherein: the telescopic sliding block comprises a sliding block main body and a plurality of guide sleeves, the guide sleeves are fixedly arranged on the sliding block main body, and the guide rods are inserted into the guide sleeves to realize movable connection.
5. The sill-capable curtain wall cleaning robot of claim 1, wherein: one side of the sliding disk, which is matched with the elastic leather cup, is extended with a boss, the side wall of the boss is provided with a dovetail tenon, one end of the elastic leather cup, which is close to the sliding disk, is provided with a corresponding dovetail groove, and the dovetail groove is matched with the boss to realize sealing connection.
6. The sill-capable curtain wall cleaning robot of claim 4, wherein: four guide rods and four springs are arranged on one passing bank telescopic assembly, and four guide sleeves are correspondingly arranged on the telescopic sliding block.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511139.6A CN107149443B (en) | 2017-06-29 | 2017-06-29 | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same |
| PCT/CN2018/082595 WO2019001086A1 (en) | 2017-06-29 | 2018-04-11 | Sucker of curtain wall robot, curtain wall robot and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710511139.6A CN107149443B (en) | 2017-06-29 | 2017-06-29 | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107149443A CN107149443A (en) | 2017-09-12 |
| CN107149443B true CN107149443B (en) | 2023-12-26 |
Family
ID=59796058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710511139.6A Active CN107149443B (en) | 2017-06-29 | 2017-06-29 | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107149443B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019001086A1 (en) * | 2017-06-29 | 2019-01-03 | 厦门华蔚物联网科技有限公司 | Sucker of curtain wall robot, curtain wall robot and control method therefor |
| CN108420366B (en) * | 2018-03-12 | 2023-09-26 | 厦门华蔚物联网科技有限公司 | Sliding sucker assembly with back pressure sucker and curtain wall robot applying sliding sucker assembly |
| CN109441938A (en) * | 2018-12-13 | 2019-03-08 | 上海翎腾智能科技有限公司 | A kind of switchable sucker structure |
| CN114947648A (en) * | 2022-05-30 | 2022-08-30 | 杭州埃欧珞机器人科技有限公司 | Suction cup and cleaning device |
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| CN106667364A (en) * | 2017-02-27 | 2017-05-17 | 武汉市享昱科技有限公司 | Double-sucker glass curtain wall robot cleaner |
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Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB189720130A (en) * | 1897-09-01 | 1898-12-01 | Percy Beresford Wright Kershaw | Improvements in Typewriters. |
| CN1594006A (en) * | 2004-06-17 | 2005-03-16 | 上海交通大学 | Double sucker negative adsorption unit with obstacle crossing function |
| CN1864940A (en) * | 2006-06-22 | 2006-11-22 | 上海交通大学 | Wheel leg traction type flat curtain cleaning robot |
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| CN107149443A (en) | 2017-09-12 |
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