CN107960944B - High-altitude cleaning robot cleaning system with artificial-like operation mode - Google Patents
High-altitude cleaning robot cleaning system with artificial-like operation mode Download PDFInfo
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- CN107960944B CN107960944B CN201810009602.1A CN201810009602A CN107960944B CN 107960944 B CN107960944 B CN 107960944B CN 201810009602 A CN201810009602 A CN 201810009602A CN 107960944 B CN107960944 B CN 107960944B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a high-altitude cleaning robot cleaning system with a manual-like operation mode, which comprises a first cleaning arm and a second cleaning arm, wherein the first cleaning arm and the second cleaning arm are arranged on a robot body, a first cleaning actuator is arranged at the tail end of the first cleaning arm, and a second cleaning actuator is arranged at the tail end of the second cleaning arm; the first and second cleaning arms are provided with a Z-shaped cleaning arm 0 A first rotating pair with the direction of rotation axis, one X 0 A third revolute pair with a rotation axis in the direction of Y 0 The direction is the initiative degree of freedom of the rotation axis, which is a second revolute pair and a fourth revolute pair respectively, wherein X 0 、Y 0 、Z 0 Three axes in a cartesian three-dimensional coordinate system, respectively. The cleaning system has strong adaptability, clean scrubbing, safety and reliability and self-cleaning function.
Description
Technical Field
The invention relates to robot technology, in particular to a high-altitude cleaning robot cleaning system with a manual-like mode for high-altitude cleaning.
Background
Along with the rapid development of economic construction in China, high-rise buildings such as spring bamboo shoots after rain are of a kind of people of all ages. However, the building design is not standard, so at present, most of domestic high-rise buildings are manually cleaned. Whether hanging plate type, hanging basket type or lifting table type cleaning, the cleaning machine has the defects of high labor cost, high labor intensity of workers, high danger and the like. Therefore, from the viewpoints of economy and safety, a robot capable of automatically performing cleaning work instead of manual work is required.
The Chinese patent application 201510824734.6 discloses a cleaning robot, which comprises a robot body and a roof safety lifting cable car, wherein the robot body comprises an adsorption device, a cleaning system, a power supply system and a recovery system; the robot body is controlled to rise and fall through the roof safety lifting cable car to reach the cleaning position, the adsorption device fixes the robot body on the glass curtain wall, the cleaning system cleans glass, the recovery system recovers dirt after cleaning the glass, and the power supply system is used for supplying power to the adsorption device, the cleaning system and the recovery system. However, by reading the entire patent document, the patent application only gives a general technical idea, and there is no specific technical feature description, and there is no corresponding technical drawing, according to which the technical solution cannot be implemented directly, and it is necessary for a person skilled in the art to make a further technical creation to implement the method, that is, the patent application is a conceptual idea, and there is no specific technical solution to implement the method.
Chinese patent application 201510258869.0 discloses a climbing fire extinguishing and cleaning robot, the body structure of which consists of a swing rod mechanism, a traveling mechanism, a transmission system, an adsorption device, a fire extinguishing device, a cleaning device and a camera unit. The cleaning device consists of a cleaning brush, a handle and a water pipe, and ground water is sprayed to a to-be-cleaned area on the glass curtain wall under the action of the water pipe, and is cleaned by the cleaning brush capable of rotating freely. The technical scheme of the patent application is complex, the movable ability of the cleaning arm and the travelling mechanism is poor, no revolute pair exists, the action adjustment is not facilitated, and the implementation of the micro action is difficult to complete.
Chinese patent application 201610048950.0 discloses an automatic high-altitude glass wiping robot, which comprises a base, a control system, a small air pump, a round sucker, a trapezoidal sucker, a water receiver, a sprinkler, a wiper and a sponge cleaning block, wherein the control system, the small air pump, the water receiver and the sprinkler are arranged on the base; the control system is electrically connected with the small air pump, the water reservoir and the sprinkler respectively; the bottom of the base is provided with a first column body, a first spring is embedded in the first column body, and one end of the first spring is connected with the wiper; a second post is arranged on the side surface of the tail part of the base, a second spring is embedded in the second post, and the second spring is connected with the arc-shaped rod; the bottom of the arc-shaped rod is connected with the sponge cleaning block. When the robot is in operation, the small air pump is started, and the robot is automatically adsorbed on the glass wall under the action of the round sucker and the trapezoidal sucker. The miniature aerial working robot has poor freedom degree and insufficient flexibility of a cleaning part, is difficult to simulate and implement human-like actions, and is not suitable for scrubbing complex areas in an environment.
Chinese patent application 201611194695.7 discloses a high altitude outer wall cleaning robot, including crawling device and cleaning device, cleaning device is located one side of crawling device, crawling device includes the robot fuselage, is equipped with four hip joints on the robot body, and every hip joint is connected with the mechanical leg, and every mechanical leg bottom is connected with the vacuum chuck that is used for adsorbing glass, and cleaning device includes clean arm, clean base, first roating seat and second roating seat, and first roating seat and clean base swing joint are passed through to clean arm's one end, and the other end of clean arm passes through the second roating seat activity setting on the robot body. The cleaning arm comprises a big arm driving device for driving the big arm of the cleaning arm to move, a small arm driving device for driving the small arm of the cleaning arm to move and a balance control device for controlling the cleaning base to keep level with the glass surface. The robot adopts a crawling mode of four-foot static gait or dynamic gait, wipes through the relative movement between the cleaning base and the glass when walking, is poor in dirt collection and cleaning effect, and is difficult to achieve the similar operation effect.
Chinese patent application 201710109588.8 discloses a double suction disc glass curtain wall cleaning robot, including traction mechanism, hoisting mechanism, reversing mechanism, power unit, cleaning device, adsorption equipment and safety device, traction mechanism is by double wire rope coiling and linear guide mechanism constitute, hoisting mechanism comprises worm wheel and little worm, reversing mechanism comprises big worm wheel and big worm, power is provided by direct current motor, cleaning device comprises rotatory brush and spring telescopic machanism, adsorption equipment comprises sucking disc and air-blower, safety device comprises safety ring and safety rope, the robot passes through adsorption equipment and adsorbs in glass curtain wall surface, utilize traction mechanism to realize advancing, cleaning device keeps rotatory wiping simultaneously. This patent application cannot realize multiple free rotations, and it is difficult to perform fine movements.
Chinese patent application 201611264150.9 discloses a glass cleaning robot, including the detergent circulator, arrange the external cleaner in the glass outside and arrange the inboard built-in driver of glass in, the external cleaner includes the inner skeleton, install on the inner skeleton and with the attached washing dish assembly of glass wall and inlay the external magnetic shoe on the inner skeleton, be provided with in the built-in driver and be used for with external magnetic shoe counterpoint magnetism actuation's built-in magnetic shoe, the detergent circulator is linked together with the washing dish assembly through the detergent hose. The magnetic force and the effect between the external magnetic block and the internal magnetic block are utilized to form an internal and external clamping effect on the glass, and cleaning staff drives the external cleaner to clean and clean along the glass in a movable manner by moving the internal driver in a house. The technology is not suitable for cleaning the outer surface of the glass of a high-rise building, and particularly the outer glass of a plurality of high-rise curtain walls can not be opened or closed at present, so that the technology is difficult to adapt.
Chinese patent document 201510246660.2 discloses a crawler robot for cleaning high-altitude curtain walls, which comprises two fixing frames, a first chain, a horizontal moving device, a second chain, a robot body, a power supply and a controller; the horizontal moving device comprises a first flywheel motor, a first driven gear and a second driven gear which are arranged in the device, and the first chain is meshed with the first flywheel motor, the first driven gear and the second driven gear in sequence; one end of the second chain is fixedly connected with the side part of the horizontal moving device; the robot body comprises a flight control device, a vertical moving device, a crawler trolley and at least two wiping discs. When in work, the trolley is tightly attached to the glass to move by the pressure of the screw propeller. The patent has complex structure and not particularly good cleaning effect, and particularly adopts the crawler belt to move, has less freedom degree and is not ideal in fine adjustment of actions.
Chinese patent application 201511029515.5 discloses a multifunctional robot for high-altitude outer wall, which comprises a frame and a controller, wherein at least one thrust mechanism is arranged in the frame, travelling mechanisms are arranged on two sides of the frame, an induction device is arranged in the advancing direction of the frame, and the controller is connected with the thrust mechanism and the travelling mechanisms. The multifunctional robot for the high-altitude outer wall is attached to the surface of the outer wall through a reaction force by adopting a thrust mechanism. The technology of the patent is simpler, the cleaning effect is not particularly good, and especially the micro-action is difficult to adjust.
The high-altitude cleaning robot is fixed on a working surface by adopting different adsorption modes from the viewpoint of mechanism design, and mainly comprises adsorption type (including vacuum adsorption and magnetic adsorption), or pressure by a propeller or action by a thrust mechanism. However, the magnetic force adsorption requires that the working surface can be attracted by a magnet or the effect of clamping the working surface inside and outside by the magnetic force and effect between the internal magnetic block and the external magnetic block; the vacuum adsorption, the pressure by the propeller or the mode of fixing the robot on the working surface by the action of the thrust mechanism have larger energy consumption, and are not beneficial to large-scale popularization. The cleaning system of the high-altitude robot mainly focuses on the design of a robot motion system, and a cleaning device and a dirt recovery device are poor in consideration and cannot achieve a good cleaning effect, and especially cannot achieve self-cleaning of cleaning devices.
Disclosure of Invention
The invention aims to overcome the defects of the existing high-altitude cleaning robot technology and provide a high-altitude cleaning robot cleaning system with strong adaptability, clean scrubbing, safety and reliability and self-cleaning function.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a high-altitude cleaning robot cleaning system with a manual-like operation mode comprises a first cleaning arm and a second cleaning arm which are installed on a robot body, wherein a first cleaning actuator is installed at the tail end of the first cleaning arm, and a second cleaning actuator is installed at the tail end of the second cleaning arm; the first and second cleaning arms are provided with a Z-shaped cleaning arm 0 A first rotating pair with the direction of rotation axis, one X 0 A third revolute pair with a rotation axis in the direction of Y 0 The direction is the initiative degree of freedom of the rotation axis, which is a second revolute pair and a fourth revolute pair respectively, wherein X 0 、Y 0 、Z 0 Three axes in a cartesian three-dimensional coordinate system, respectively.
The first cleaning arm and the second cleaning arm respectively comprise a cleaning arm first driving motor, a cleaning arm first connecting rod, a cleaning arm second driving motor seat, a cleaning arm second driving motor, a cleaning arm second connecting rod connector, a cleaning arm second connecting rod, a cleaning arm third driving motor seat, a cleaning arm third driving motor, a cleaning arm third connecting rod, a cleaning arm fourth driving motor seat, a cleaning arm fourth driving motor and a cleaning actuator connecting piece;
an output shaft of the cleaning arm first driving motor is fixedly connected with a cleaning arm first connecting rod to form a first rotating pair; the other end of the first connecting rod of the cleaning arm is connected with the second driving motor seat of the cleaning arm through threads;
the cleaning arm second driving motor is fixed on the cleaning arm second driving motor seat, and an output shaft of the cleaning arm second driving motor is fixedly connected with a cleaning arm second connecting rod joint to form a second revolute pair; one end of the second connecting rod of the cleaning arm is connected with a second connecting rod joint of the cleaning arm through threads, and the other end of the second connecting rod of the cleaning arm is connected with a third driving motor seat of the cleaning arm through threads;
the cleaning arm third driving motor is fixed on the cleaning arm third driving motor seat, and an output shaft of the cleaning arm third driving motor is fixedly connected with a cleaning arm third connecting rod to form a third revolute pair; the other end of the third connecting rod of the cleaning arm is connected with a fourth driving motor seat of the cleaning arm through threads;
the cleaning arm fourth driving motor is fixed on the cleaning arm fourth driving motor seat, and an output shaft of the cleaning arm fourth driving motor is fixedly connected with the cleaning actuator connecting piece to form a fourth revolute pair.
The first cleaning actuator and the second cleaning actuator are correspondingly and fixedly connected to the first cleaning arm and the second cleaning arm respectively through the cleaning actuator connecting piece.
The cleaning arm provided with the first cleaning actuator is fixed on the first cleaning arm connecting base through a flange plate of a first driving motor of the cleaning arm; the cleaning arm provided with the second cleaning actuator is fixed on the second cleaning arm connecting base through a flange plate of the first driving motor of the cleaning arm.
The first cleaning actuator comprises two actuator cleaning liquid injection joints, a first cleaning actuator connecting bracket, a first cleaning arm connecting piece, a wiper rubber strip bracket, a rubber strip, a first cleaning arm cleaning towel and a first cleaning arm cleaning towel bracket; one end of the first cleaning actuator connecting bracket is provided with a wiper rubber strip bracket, the other end of the first cleaning actuator connecting bracket is provided with a first cleaning arm cleaning towel bracket, and a first cleaning arm connecting piece is arranged at the center of the upper surface of the first cleaning arm cleaning towel bracket; the rubber strip is arranged on the wiper rubber strip bracket; the first cleaning arm cleaning towel is fixed on the lower surface of the first cleaning arm cleaning towel support, the actuator cleaning liquid injection joint is arranged on the first cleaning arm cleaning towel support, and cleaning liquid wets the first cleaning arm cleaning towel through the actuator cleaning liquid injection joint.
The second cleaning actuator comprises an actuator waste liquid output joint, a second cleaning arm connecting piece, a second cleaning actuator connecting bracket, a scraper, a second cleaning arm cleaning towel and a second cleaning arm cleaning towel bracket; one end of the second cleaning actuator connecting bracket is provided with a scraper bracket, the other end of the second cleaning actuator connecting bracket is provided with a second cleaning arm cleaning towel bracket, and the center of the upper surface of the second cleaning arm cleaning towel bracket is provided with a second cleaning arm connecting piece; the scraper is arranged on the scraper bracket; the second cleaning arm cleaning towel is fixed on the outer surface of the second cleaning arm cleaning towel bracket; the bottom of the second cleaning arm cleaning towel bracket is provided with an actuator dirty liquid output connector, and the dirty liquid remained on the frame of the glass curtain wall when the second cleaning arm cleaning towel is wiped by the cleaning towel is recovered through the actuator dirty liquid output connector.
When the cleaning towel cleaning device works, under the control of the system controller, the miniature water pump extracts cleaning liquid from the cleaning liquid storage tank, and wets the cleaning towel of the first cleaning arm; the first cleaning arm cleans a towel to primarily wipe the detected obviously dirty working surface; removing dirt by using a scraper in the second cleaning actuator; the first cleaning arm cleaning towel in the first cleaning actuator wipes the cleaning surface in a large range; then scraping the cleaning surface by using a rubber strip in the first cleaning actuator; a second cleaning arm in the second cleaning actuator cleans a towel to wipe and collect the dirty liquid, and the dirty liquid flows into a dirty liquid recovery tank; the miniature water pump is opened to the maximum, and the first cleaning towel of the first cleaning arm of the first cleaning actuator and the second cleaning towel of the second cleaning arm of the second cleaning actuator are mutually wiped and extruded, and the dirty liquid is discharged into the dirty liquid recovery tank.
The power of the invention is provided by the battery pack, and the power of the hoisting system is provided by an external power supply. The receiving, processing and transmitting of the control information are all completed by the system controller.
Compared with the prior art, the invention has the following characteristics:
(1) The cleaning device has a cleaning mode similar to manual operation, and has the advantages of low energy consumption, simple structure, flexible movement, safety and reliability;
(2) The dirty liquid is recovered, the environment is not polluted, and the two cleaning executors have the mutual cleaning function.
Drawings
FIG. 1 is a schematic view of a cleaning arm according to the present invention;
FIG. 2 is a schematic view of a first cleaning actuator of the cleaning arm of the present invention;
FIG. 3 is a schematic view of a second cleaning actuator for a cleaning arm according to the present invention;
wherein, 11, a first driving motor of the cleaning arm, 12, a first connecting rod of the cleaning arm, 13, a second driving motor seat of the cleaning arm, 14, a second driving motor of the cleaning arm, 15, a second connecting rod joint of the cleaning arm, 16, a second connecting rod of the cleaning arm, 17, a third driving motor seat of the cleaning arm, 18, a cleaning arm third driving motor, 19, a cleaning arm third connecting rod, 110, a cleaning arm fourth driving motor seat, 111, a cleaning arm fourth driving motor, 112, cleaning actuator connector, 113, fourth revolute pair, 114, third revolute pair, 115, second revolute pair, 116, first revolute pair;
21. the cleaning device comprises an actuator cleaning liquid injection joint, a first cleaning actuator connecting support, a first cleaning arm connecting piece, a wiper rubber strip support, a rubber strip, a first cleaning arm cleaning towel and a first cleaning arm cleaning towel support.
31. The actuator dirty liquid output connector 32, the second cleaning arm connecting piece 33, the second cleaning actuator connecting bracket 34, the scraper bracket 35, the scraper 36, the second cleaning arm cleaning towel 37, and the second cleaning arm cleaning towel bracket.
Detailed Description
The invention will be further described with reference to the drawings and examples.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and are not intended to limit the scope of the invention, which is defined by the claims, but rather by the claims. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the invention, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the invention may be practiced.
1-3, the high-altitude cleaning robot cleaning system with the artificial work mode comprises a first cleaning arm and a second cleaning arm which are installed on a robot body, wherein the tail end of the first cleaning arm is provided with a first cleaning actuator, and the tail end of the second cleaning arm is provided with a second cleaning actuator; the first and second cleaning actuators are mounted on the cleaning actuator connection members 112 of the corresponding cleaning arms of the first and second cleaning arm connection bases, respectively.
The first and second cleaning arms each have a first and second cleaning arm 0 A first rotating pair 116 with a direction of rotation axis, one X 0 A third revolute pair 114 having a rotation axis in the direction of Y 0 The driving degrees of freedom in the direction of the rotation axis are the second revolute pair 115 and the fourth revolute pair 113, respectively. Wherein X is 0 、Y 0 、Z 0 Three axes in a cartesian three-dimensional coordinate system, respectively.
The structure of the cleaning arm is shown in fig. 1, and includes a cleaning arm first driving motor 11, a cleaning arm first connecting rod 12, a cleaning arm second driving motor base 13, a cleaning arm second driving motor 14, a cleaning arm second connecting rod joint 15, a cleaning arm second connecting rod 16, a cleaning arm third driving motor base 17, a cleaning arm third driving motor 18, a cleaning arm third connecting rod 19, a cleaning arm fourth driving motor base 110, a cleaning arm fourth driving motor 111, and a cleaning actuator connecting member 112.
The cleaning arm provided with the first cleaning actuator is fixed on the first cleaning arm connecting base through a flange plate of the cleaning arm first driving motor 11;
the cleaning arm equipped with the second cleaning actuator is fixed to the second cleaning arm connection base by the flange of the cleaning arm first driving motor 11.
The output shaft of the cleaning arm first driving motor 11 is fixedly connected with the cleaning arm first connecting rod 12 to form a first revolute pair 116. The other end of the cleaning arm first connecting rod 12 is connected with the cleaning arm second driving motor seat 13 through threads.
The cleaning arm second driving motor 14 is fixed on the cleaning arm second driving motor base 13, and an output shaft thereof is fixedly connected with the cleaning arm second connecting rod joint 15 to form a second revolute pair 115. One end of the cleaning arm second connecting rod 16 is connected with the cleaning arm second connecting rod joint 15 through threads, and the other end of the cleaning arm second connecting rod is connected with the cleaning arm third driving motor seat 17 through threads.
The cleaning arm third driving motor 18 is fixed on the cleaning arm third driving motor seat 17, and an output shaft thereof is fixedly connected with the cleaning arm third connecting rod 19 to form a third revolute pair 114. The other end of the cleaning arm third link 19 is screwed with the cleaning arm fourth driving motor mount 110.
The cleaning arm fourth driving motor 111 is fixed on the cleaning arm fourth driving motor base 110, and an output shaft thereof is fixedly connected with the cleaning actuator connecting piece 112 to form a fourth revolute pair 113.
The first cleaning actuator structure is shown in fig. 2 and includes two actuator cleaning liquid injection joints 21, a first cleaning actuator connecting bracket 22, a first cleaning arm connecting member 23, a wiper rubber strip bracket 24, a rubber strip 25, a first cleaning arm cleaning towel 26, and a first cleaning arm cleaning towel bracket 27. One end of the first cleaning actuator connecting bracket 22 is provided with a wiper rubber strip bracket 24, the other end is provided with a first cleaning arm cleaning towel bracket 27, and the center of the upper surface of the first cleaning arm connecting bracket is provided with a first cleaning arm connecting piece 23. The rubber strip 25 is mounted on the wiper rubber strip holder 24. The first cleaning arm cleaning towel 26 is fixed to the lower surface of the first cleaning arm cleaning towel holder 27, and the actuator cleaning liquid injection joint 21 is provided on the first cleaning arm cleaning towel holder 27, and the cleaning liquid wets the first cleaning arm cleaning towel 26 through the actuator cleaning liquid injection joint 21.
The second cleaning actuator structure is shown in fig. 3 and includes an actuator dirty liquid output joint 31, a second cleaning arm connector 32, a second cleaning actuator connecting bracket 33, a scraper bracket 34, a scraper 35, a second cleaning arm cleaning towel 36, and a second cleaning arm cleaning towel bracket 37. The second cleaning actuator connecting bracket 33 has a scraper bracket 34 at one end and a second cleaning arm cleaning towel bracket 37 at the other end, and a second cleaning arm connecting member 32 is provided at the center of the upper surface. The doctor 35 is mounted on the doctor bracket 34. The second cleaning arm cleaning towel 36 is fixed to the outer surface of the second cleaning arm cleaning towel holder 37. The bottom of the second cleaning arm cleaning towel bracket 37 is provided with an actuator dirty liquid output joint 31, and the dirty liquid remained by wiping the glass curtain wall frame by the second cleaning arm cleaning towel 36 is recovered through the actuator dirty liquid output joint 31.
When the cleaning towel cleaning device works, under the control of the system controller, the miniature water pump extracts cleaning liquid from the cleaning liquid storage tank, and wets the cleaning towel of the first cleaning arm; the first cleaning arm cleans a towel to primarily wipe the detected obviously dirty working surface; removing dirt by using a scraper in the second cleaning actuator; the first cleaning arm cleaning towel in the first cleaning actuator wipes the cleaning surface in a large range; then scraping the cleaning surface by using a rubber strip in the first cleaning actuator; a second cleaning arm in the second cleaning actuator cleans a towel to wipe and collect the dirty liquid, and the dirty liquid flows into a dirty liquid recovery tank; the miniature water pump is opened to the maximum, and the first cleaning towel of the first cleaning arm of the first cleaning actuator and the second cleaning towel of the second cleaning arm of the second cleaning actuator are mutually wiped and extruded, and the dirty liquid is discharged into the dirty liquid recovery tank.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (4)
1. The high-altitude cleaning robot cleaning system with the artificial work-like mode is characterized by comprising a first cleaning arm and a second cleaning arm which are arranged on a robot body, wherein the tail end of the first cleaning arm is provided with a first cleaning actuator, and the tail end of the second cleaning arm is provided with a second cleaning actuator; the first and second cleaning arms are provided with one cleaning armZ 0 A first rotating pair with the direction of the rotating shaft, one pair isX 0 A third revolute pair with a rotation axis in two directionsY 0 The direction is the initiative degree of freedom of the rotating shaft, which is a second revolute pair and a fourth revolute pair respectively, wherein,X 0 、Y 0 、Z 0 three axial directions in a Cartesian three-dimensional coordinate system;
the first cleaning arm and the second cleaning arm respectively comprise a cleaning arm first driving motor, a cleaning arm first connecting rod, a cleaning arm second driving motor seat, a cleaning arm second driving motor, a cleaning arm second connecting rod connector, a cleaning arm second connecting rod, a cleaning arm third driving motor seat, a cleaning arm third driving motor, a cleaning arm third connecting rod, a cleaning arm fourth driving motor seat, a cleaning arm fourth driving motor and a cleaning actuator connecting piece;
an output shaft of the cleaning arm first driving motor is fixedly connected with a cleaning arm first connecting rod to form a first rotating pair; the other end of the first connecting rod of the cleaning arm is connected with the second driving motor seat of the cleaning arm through threads;
the cleaning arm second driving motor is fixed on the cleaning arm second driving motor seat, and an output shaft of the cleaning arm second driving motor is fixedly connected with a cleaning arm second connecting rod joint to form a second revolute pair; one end of the second connecting rod of the cleaning arm is connected with a second connecting rod joint of the cleaning arm through threads, and the other end of the second connecting rod of the cleaning arm is connected with a third driving motor seat of the cleaning arm through threads;
the cleaning arm third driving motor is fixed on the cleaning arm third driving motor seat, and an output shaft of the cleaning arm third driving motor is fixedly connected with a cleaning arm third connecting rod to form a third revolute pair; the other end of the third connecting rod of the cleaning arm is connected with a fourth driving motor seat of the cleaning arm through threads;
the cleaning arm fourth driving motor is fixed on the cleaning arm fourth driving motor seat, and an output shaft of the cleaning arm fourth driving motor is fixedly connected with the cleaning actuator connecting piece to form a fourth revolute pair;
the first cleaning actuator comprises two actuator cleaning liquid injection joints, a first cleaning actuator connecting bracket, a first cleaning arm connecting piece, a wiper rubber strip bracket, a rubber strip, a first cleaning arm cleaning towel and a first cleaning arm cleaning towel bracket; one end of the first cleaning actuator connecting bracket is provided with a wiper rubber strip bracket, the other end of the first cleaning actuator connecting bracket is provided with a first cleaning arm cleaning towel bracket, and a first cleaning arm connecting piece is arranged at the center of the upper surface of the first cleaning arm cleaning towel bracket; the rubber strip is arranged on the wiper rubber strip bracket; the first cleaning arm cleaning towel is fixed on the lower surface of the first cleaning arm cleaning towel support, the actuator cleaning liquid injection joint is arranged on the first cleaning arm cleaning towel support, and cleaning liquid wets the first cleaning arm cleaning towel through the actuator cleaning liquid injection joint.
2. The overhead cleaning robot cleaning system with the manual-like operation mode according to claim 1, wherein the first cleaning actuator and the second cleaning actuator are fixedly connected to the first cleaning arm and the second cleaning arm respectively through the cleaning actuator connecting pieces.
3. The overhead cleaning robot cleaning system with the manual-like operation mode according to claim 1, wherein the cleaning arm equipped with the first cleaning actuator is fixed to the first cleaning arm connection base by a flange of the cleaning arm first driving motor; the cleaning arm provided with the second cleaning actuator is fixed on the second cleaning arm connecting base through a flange plate of the first driving motor of the cleaning arm.
4. The overhead cleaning robot cleaning system with manual-like operation mode according to claim 1, wherein the second cleaning actuator comprises an actuator dirty liquid output joint, a second cleaning arm connector, a second cleaning actuator connection bracket, a scraper, a second cleaning arm cleaning towel, and a second cleaning arm cleaning towel bracket; one end of the second cleaning actuator connecting bracket is provided with a scraper bracket, the other end of the second cleaning actuator connecting bracket is provided with a second cleaning arm cleaning towel bracket, and the center of the upper surface of the second cleaning arm cleaning towel bracket is provided with a second cleaning arm connecting piece; the scraper is arranged on the scraper bracket; the second cleaning arm cleaning towel is fixed on the outer surface of the second cleaning arm cleaning towel bracket; the bottom of the second cleaning arm cleaning towel bracket is provided with an actuator dirty liquid output connector, and the dirty liquid remained on the frame of the glass curtain wall when the second cleaning arm cleaning towel is wiped by the cleaning towel is recovered through the actuator dirty liquid output connector.
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| CN201810009602.1A CN107960944B (en) | 2018-01-05 | 2018-01-05 | High-altitude cleaning robot cleaning system with artificial-like operation mode |
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| CN108742362A (en) * | 2018-08-23 | 2018-11-06 | 浙江新远见材料科技股份有限公司 | A kind of floor cleaning equipment |
| CN112401732B (en) * | 2020-11-25 | 2022-03-22 | 山东科技大学 | Multi-degree-of-freedom omnibearing glass wiping machine and using method thereof |
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