CN107468183A - A kind of suspension obstacle surmounting device of building cleaning robot - Google Patents
A kind of suspension obstacle surmounting device of building cleaning robot Download PDFInfo
- Publication number
- CN107468183A CN107468183A CN201710945652.6A CN201710945652A CN107468183A CN 107468183 A CN107468183 A CN 107468183A CN 201710945652 A CN201710945652 A CN 201710945652A CN 107468183 A CN107468183 A CN 107468183A
- Authority
- CN
- China
- Prior art keywords
- dolly
- longitudinal extension
- extension bar
- cleaning robot
- fixed
- 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.)
- Pending
Links
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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
- B66C23/20—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures
- B66C23/205—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures for use on top of roofs
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Jib Cranes (AREA)
Abstract
The present invention provides a kind of suspension obstacle surmounting device of building cleaning robot, is made up of suspension apparatus, cleaning robot and supplying monitoring device.Suspension apparatus is the dolly with counterweight for being placed in roof, there is longitudinal extension bar on dolly, the rear portion hinge joint of longitudinal extension bar is fixed on dolly, there is vertically arranged pull bar the front portion of dolly, the bottom of pull bar is fixed with dolly hinge joint, the top of pull bar is fixed with the hinge joint of longitudinal extension bar, longitudinal extension bar, pull bar and the setting triangular in shape of dolly top bottom plate, the front end of longitudinal extension bar is provided with fixed pulley, the top of cleaning robot erecting by overhang is provided with movable pulley, supplying monitoring device is that the ground moving as counterweight for being arranged at ground controls car, hoist engine is provided with ground moving control car, high-pressure hydraulic pump, distributing monitoring system and counter weight device, the upper end of hanging rope is fixed on longitudinal extension bar, hanging rope is fastened on after movable pulley and fixed pulley on the elevator wheel of hoist engine.
Description
Technical field
The present invention relates to a kind of suspension obstacle surmounting device of building cleaning robot, particularly a kind of high building wall face
Cleaning, the suspension obstacle surmounting device of cleaning robot.
Background technology
At present, it is to follow traditional approach for a long time that the cleaning " spider-man " of high building wall face, which is kept a public place clean, present market
For occupation rate more than 95%, this mode efficiency is low, and labor intensity is high, and the worker that keeps a public place clean casualty accident of falling down from the building also happens occasionally；Closely
In the past few years, cleaning robot is shown up prominently, but to be resolved in the presence of many technical problems of suspention, obstacle detouring.Such as：Shanghai traffic
A kind of safety protection mechanism of robot for cleaning wall of high building (application number that university develops：200410016870.4 publication number：
1559760), the device is arranged in moving cart, moving cart roof pre-set lead rule on move, in moving cart
Crossbeam be used to hang robot body, robot body relative to cleaned metope distance by adjust crossbeam with it is vertical
Different jack positions in supporting plate are realized.Its existing subject matter is：The moving cart is transported and puts roof and in roof
Pre-set lead rule it is all relatively time-consuming, laborious, influence operating efficiency；Under the robot body working condition of suspention, regulation is horizontal
The position of beam and the pin hole of vertical supporting plate is inconvenient, while has a grade mode for regulating pin hole site can not accurately adjust machine
Device human body cannot be guaranteed clean robot relative to the distance of cleaned metope when cleaned metope camber is larger
Normal operation.
The content of the invention
It is an object of the invention to overcome deficiencies of the prior art, there is provided and one kind carrying is light, dismounting is convenient,
Longitudinal extension pole length is adjustable, vertical supporting bar can under heavy load state remote controlled stepless adjust, so as to realize it is steady, safe,
Accurate adjustment robot body fills relative to a kind of suspension obstacle surmounting of building cleaning robot of the distance of cleaned metope
Put.
The purpose of the present invention can be realized by technical scheme in detail below：
A kind of suspension obstacle surmounting device of building cleaning robot, filled by suspension apparatus, cleaning robot and supplying monitoring
Put composition.Suspension apparatus is the dolly with counterweight for being placed in roof, there is longitudinal extension bar on dolly, after longitudinal extension bar
Portion's hinge joint is fixed on dolly, and there is vertically arranged pull bar the front portion of dolly, and bottom and the dolly hinge joint of pull bar are fixed, pushed away
The top of pull bar is fixed with the hinge joint of longitudinal extension bar, and longitudinal extension bar, pull bar and the dolly top bottom plate with counterweight are in three
Angular setting, fixed pulley is provided with the front end of longitudinal extension bar, and the top of cleaning robot erecting by overhang is provided with dynamic cunning
Wheel, supplying monitoring device are that the ground moving as counterweight for being arranged at ground controls car, are provided with ground moving control car
Hoist engine, high-pressure hydraulic pump, distributing monitoring system and counter weight device, the upper end of hanging rope are fixed on longitudinal extension bar, hanging rope
The other end is fastened on after movable pulley and fixed pulley on the elevator wheel of hoist engine.
The purpose of the present invention can also be realized by technical scheme in detail below：
The present invention is provided with the flexible wireless reception module of control pull bar on suspension apparatus, has in distributing monitoring system
Digiplex, control panel, hoist engine motor, high-pressure hydraulic pump motor and pull bar motor, it is wireless in distributing monitoring system
Be between remote control and the control panel of hoist engine by the wireless connection of Digiplex, distributing monitoring system and each motor it
Between be wired connection, be by the wired connection of normally opened relay, wirelessly between the motor and wireless reception module of pull bar
It is wireless connection between receiving module and Digiplex, the bottom of the dolly with counterweight is provided with brake, positioner
Universal wheel.
The longitudinal extension bar of the present invention is that cross section is the either similar triangle of similar rectangle, pentagon, hexagon
Hollow rod body 3 --- 5 section suit compositions, the small hollow rod body in cross section can longitudinally slide in the big hollow rod body in cross section
It is dynamic, there are multiple horizontal pin-and-holes for installing alignment pin on hollow rod body.
Pull bar of the present invention is spiral electric push rod either fluid pressure type electric pushrod or hydraulic jack.
Dolly of the present invention with counterweight is the counterweight trolley that balance weight body is installed on the bottom plate at dolly rear portion, is matched somebody with somebody
The balance weight body that weight body is either combined into for overall block balance weight body by polylith bulk balance weight body, or balance weight body are to contain
The container of solid particle or liquid, the loading port of solid particle or liquid and openable discharge port are provided with container.
Architectural feature and operation principle of the present invention are as follows：
The suspension obstacle surmounting device of building cleaning robot.Its suspension apparatus is to be placed in dolly of the roof with counterweight, is indulged
Triangle that can be movable, its longitudinal extension bar and vertical push-and-pull are formed to bottom on expansion link, vertical pull bar and dolly
The coordinated of vertical, the perpendicular direction regulation of bar, protrude wall barrier to realize that cleaning robot body is steadily pressed close to wall and crossed over
Hinder thing.
As there are the devices such as hoist engine, high-pressure hydraulic pump and distribution monitor on the ground moving control car of counterweight, distribution is monitored
Device is installed on dolly, remote control and ground moving control car for divide/combination type (i.e.：Remote control can be placed on ground shifting
On dynamic control car --- combination type；With ground moving car can also be controlled to separate as mobile controller --- split type), for ground
Face operating personnel provide convenient, safety operation.
The beneficial effects of the invention are as follows：
1st, the longitudinal extension pole length of cleaning robot erecting by overhang is adjustable, vertical pull bar can be distant under heavy load state
Step-less adjustment is controlled, adapts to planomural face, also adapts to and its coarse even rough wall, longitudinal extension bar is indulged
0 is adjusted to boom length --- 5 meters of coarse adjustment, vertical pull bar are adjusted to finely tune, and it is a variety of that both coordinate realization to adapt to
The goal of the invention of wall wall cleaning.
2nd, the combination of longitudinal extension bar and vertical pull bar, significantly obstacle detouring and fine setting can be realized, can be in heavy load
Under state remote controlled stepless adjust, so as to realize it is steady, safe, accurately adjust robot body relative to cleaned metope away from
From.
3rd, longitudinal extension bar is similar type section by section by fix bar, external extension bar and interior flexible three sections combined set
Cuboid cavity suit be actively coupled, have multiple pin holes on longitudinal extension bar, regulating pin enters the adjustable regulation in hole site
The longitudinal length of bar；Pull bar is movably connected on dolly chassis, and longitudinal extension bar forms a moving trihedral with pull bar,
Installed on pull bar manually and remote control parallel form open type point dynamic formula electricity push-and-pull bar controlling, longitudinal extension bar and electronic
The cooperation of pull bar, which coordinates, can realize that cleaning robot body crosses over the obstacle of 5 meters of wall of protrusion, manually/remote control crawl operation, put down
Surely freely, convenience and high-efficiency.
Brief description of the drawings
Fig. 1 is structure chart provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
Shown in accompanying drawing：A kind of suspension obstacle surmounting device of building cleaning robot, by suspension apparatus 1, the and of cleaning robot 2
Supplying monitoring device forms.Suspension apparatus 1 is the dolly with counterweight for being placed in roof, has longitudinal extension bar on dolly, is indulged
Rear portion hinge joint to expansion link is fixed on dolly, and there is a vertically arranged pull bar front portion of dolly, the bottom of pull bar with it is small
Car hinge joint is fixed, and top and the hinge joint of longitudinal extension bar of pull bar are fixed, longitudinal extension bar, pull bar and the dolly with counterweight
The setting triangular in shape of top bottom plate, the front end of longitudinal extension bar is provided with fixed pulley, in the upper of the erecting by overhang of cleaning robot 2
Portion is provided with movable pulley, and supplying monitoring device is that the ground moving as counterweight for being arranged at ground controls car, ground moving control
Hoist engine 3, high-pressure hydraulic pump 4, distributing monitoring system 5 and counter weight device 6 are provided with car processed, the upper end of hanging rope is fixed on longitudinal direction
On expansion link, the hanging rope other end is fastened on after movable pulley and fixed pulley on the elevator wheel of hoist engine 3.Filled in suspention
Put and the flexible wireless reception module of control pull bar be installed on 1, have in distributing monitoring system 5 Digiplex, control panel,
Hoist engine motor, high-pressure hydraulic pump motor and pull bar motor, the electricity of Digiplex and hoist engine 3 in distributing monitoring system 5
It is the wireless connection by Digiplex between control equipment, is wired connection between distributing monitoring system 5 and each motor, pushes away
It is wired connection (motor of pull bar and the wireless reception by normally opened relay between the motor and wireless reception module of pull bar
It is the wired connection by two normally opened relays between module, the forward and backward of motor is respectively with a normally opened relay), wirelessly
It is wireless connection between receiving module and Digiplex, the bottom of the dolly with counterweight is provided with brake, positioner
Universal wheel.Longitudinal extension bar is that the section suit of hollow rod body three that cross section is similar rectangle forms, the small hollow stem in cross section
Body can the longitudinal sliding motion in the big hollow rod body in cross section, have multiple horizontal pin-and-holes for installing alignment pin on hollow rod body.
Described pull bar is spiral electric push rod.The described dolly with counterweight is the bottom that balance weight body is installed on dolly rear portion
Counterweight trolley on plate, balance weight body are provided with solid particle or liquid to contain the container of solid particle or liquid on container
Loading port and openable discharge port.
Claims (2)
1. a kind of suspension obstacle surmounting device of building cleaning robot, supervised by suspension apparatus (1), cleaning robot (2) and supply
Control device composition, it is characterised in that：Suspension apparatus (1) is the dolly with counterweight for being placed in roof, has longitudinal direction to stretch on dolly
Contracting bar, the rear portion hinge joint of longitudinal extension bar are fixed on dolly, and there is a vertically arranged pull bar front portion of dolly, under pull bar
Portion and dolly hinge joint are fixed, and the top of pull bar is with the hinge joint fixation of longitudinal extension bar, longitudinal extension bar, pull bar and with counterweight
Dolly the setting triangular in shape of top bottom plate, the front end of longitudinal extension bar is provided with fixed pulley, hung in cleaning robot (2)
The top of hang device is provided with movable pulley, and supplying monitoring device is that the ground moving as counterweight for being arranged at ground controls car,
Hoist engine (3), high-pressure hydraulic pump (4), distributing monitoring system (5) and counter weight device (6) are provided with ground moving control car, is hung
The upper end of rope is fixed on longitudinal extension bar, and the other end of hanging rope is fastened on hoist engine after movable pulley and fixed pulley
(3) on elevator wheel.
A kind of 2. suspension obstacle surmounting device of building cleaning robot according to claim 1, it is characterised in that：Stretch longitudinal direction
Contracting bar is that suit group is saved in cross section for the either similar triangle of similar rectangle, pentagon, hexagonal hollow rod body 3-5
Into, the small hollow rod body in cross section can the longitudinal sliding motion in the big hollow rod body in cross section, have multiple transverse directions on hollow rod body
The pin-and-hole for installing alignment pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945652.6A CN107468183A (en) | 2017-10-12 | 2017-10-12 | A kind of suspension obstacle surmounting device of building cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710945652.6A CN107468183A (en) | 2017-10-12 | 2017-10-12 | A kind of suspension obstacle surmounting device of building cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107468183A true CN107468183A (en) | 2017-12-15 |
Family
ID=60605142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710945652.6A Pending CN107468183A (en) | 2017-10-12 | 2017-10-12 | A kind of suspension obstacle surmounting device of building cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107468183A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108618691A (en) * | 2018-07-11 | 2018-10-09 | 上海霄卓机器人有限公司 | A kind of working at height robot and its control method |
| CN109528069A (en) * | 2019-01-31 | 2019-03-29 | 蓝天洁士(无锡)科技有限公司 | Close to formula window cleaning device |
| CN110790172A (en) * | 2019-10-13 | 2020-02-14 | 国网山东省电力公司宁阳县供电公司 | Portable pole-mounted switch handling device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101332068B (en) * | 2008-07-16 | 2010-06-09 | 郝高林 | Suspension obstacle surmounting device of building cleaning robot |
-
2017
- 2017-10-12 CN CN201710945652.6A patent/CN107468183A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101332068B (en) * | 2008-07-16 | 2010-06-09 | 郝高林 | Suspension obstacle surmounting device of building cleaning robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108618691A (en) * | 2018-07-11 | 2018-10-09 | 上海霄卓机器人有限公司 | A kind of working at height robot and its control method |
| CN109528069A (en) * | 2019-01-31 | 2019-03-29 | 蓝天洁士(无锡)科技有限公司 | Close to formula window cleaning device |
| CN109528069B (en) * | 2019-01-31 | 2020-09-18 | 蓝天洁士(无锡)科技有限公司 | Close type window cleaning device |
| CN110790172A (en) * | 2019-10-13 | 2020-02-14 | 国网山东省电力公司宁阳县供电公司 | Portable pole-mounted switch handling device |
| CN110790172B (en) * | 2019-10-13 | 2021-11-26 | 国网山东省电力公司宁阳县供电公司 | Portable pole-mounted switch handling device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171215 |