CN107997702B - High-altitude cleaning robot with artificial-like operation mode - Google Patents

High-altitude cleaning robot with artificial-like operation mode Download PDF

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Publication number
CN107997702B
CN107997702B CN201810009606.XA CN201810009606A CN107997702B CN 107997702 B CN107997702 B CN 107997702B CN 201810009606 A CN201810009606 A CN 201810009606A CN 107997702 B CN107997702 B CN 107997702B
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cleaning
driving motor
arm
movable supporting
supporting mechanism
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CN107997702A (en
Inventor
王海燕
阮久宏
杨福广
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Shandong Jiaotong University
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Shandong Jiaotong University
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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
    • 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
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
    • 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 with a manual-like operation mode, which comprises two cleaning arms, a box assembly, two movable supporting mechanisms, a first cleaning actuator, a second cleaning actuator and a vision sensing system assembly, wherein the two cleaning arms are respectively fixed on a second cleaning arm connecting base and a first cleaning arm connecting base of a box assembly shell in the box assembly through flanges of a first driving motor of the cleaning arms, and the first cleaning actuator and the second cleaning actuator are respectively arranged on cleaning actuator connecting pieces of the cleaning arms corresponding to the first cleaning arm connecting base and the second cleaning arm connecting base; the two movable supporting mechanisms are respectively arranged at two ends of the connecting base of the movable supporting mechanism of the box assembly shell in the box assembly; the vision sensing system assembly is fixed on the top of the box assembly shell in the box assembly. The robot has the advantages of strong adaptability, flexible movement, safety, reliability and compact structure.

Description

High-altitude cleaning robot with artificial-like operation mode
Technical Field
The invention relates to a robot technology, in particular to a high-altitude cleaning robot with a similar manual 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 swing rod mechanism consists of a crank, a connecting rod and a swing rod, and the swing rod swings at any angle in a spherical pair connection mode, so that the cleaning of the glass curtain wall and the fire extinguishing function of a high-rise building are realized. The travelling mechanism adopts a crawler-type travelling mode. The transmission system adopts a gear meshing mode to realize power transmission. The adsorption device consists of a fan, a wind bowl and an exhaust hole, and the robot is attached to the wall by adopting an adsorption principle. The fire extinguishing device adopts a mode of spraying carbon dioxide to a fire source to extinguish fire. The cleaning device cleans by a cleaning brush which can rotate freely. The robot is stuck on the wall by adopting the adsorption principle. The camera shooting unit feeds back the working condition of the robot for the ground in real time, so that the remote control of ground personnel is facilitated. 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 201510578552.5 discloses a high altitude cleaning robot, installs the sucking disc group on the robot track, through the adsorption function of sucking disc, makes high altitude cleaning robot can carry out perpendicular climbing on the outer wall of high-rise building, and this robot technical scheme is complicated, adopts crawler-type structure, is difficult to accomplish class people's operation mode, is unfavorable for the implementation of little action.
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. This patent application has adopted vacuum adsorption's mechanical leg mode, is convenient for stride across the obstacle, but because air compressor places subaerial, compressed air long-distance transmission energy loss is great, and robot operation scope is limited. 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 development of the high-altitude cleaning robot which has the advantages of simple structure, strong adaptability, flexible movement, safety and reliability has theoretical and practical significance.
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 which has strong adaptability, flexible movement, safety and reliability, and the robot has a compact structure and flexible movement and is a high-altitude cleaning robot with a similar manual operation mode.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the high-altitude cleaning robot with the artificial work-like mode comprises two cleaning arms, a box assembly, two movable supporting mechanisms, a first cleaning actuator, a second cleaning actuator and a vision sensing system assembly, wherein the two cleaning arms are respectively fixed on a second cleaning arm connecting base and a first cleaning arm connecting base of a box assembly shell in the box assembly through a flange plate of a first driving motor of the cleaning arms, and the first cleaning actuator and the second cleaning actuator are respectively arranged on cleaning actuator connecting pieces of cleaning arms corresponding to the first cleaning arm connecting base and the second cleaning arm connecting base; the two movable supporting mechanisms are respectively arranged at two ends of the movable supporting mechanism connecting base of the box assembly shell in the box assembly, and the tail ends of the movable supporting mechanisms are provided with arc foot end anti-skid rubber pads; the vision sensing system assembly is fixed on the top of the box assembly shell in the box assembly, and the electric elements in the components are controlled by the system controller.
The cleaning arm has a Z-direction 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 structure of the cleaning arm comprises 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;
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;
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 second driving motor of the cleaning arm is fixed on a second driving motor seat of the cleaning arm, and an output shaft of the second driving motor is fixedly connected with a second connecting rod joint of the cleaning arm 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 structure 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 the center of the upper surface of the first cleaning arm cleaning towel bracket is provided with a first cleaning arm connecting piece; 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 structure 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 actuator connecting 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.
The structure of the box assembly comprises a box assembly end cover, a box assembly shell, a heat insulation plate, a system controller, a cleaning solution storage and recovery system assembly and a battery pack; the end cover of the box body assembly is fixed with the shell of the box body assembly through bolts, and six through holes are formed in the edge of the end cover of the box body assembly and are matched with six threaded holes of the shell of the box body assembly; the heat insulation plate, the system controller and the battery pack are all arranged above the cleaning solution storage and recovery system assembly, the upper end of the heat insulation plate is clamped in the heat insulation plate fixing clamping groove, and the heat insulation plate is positioned between the system controller and the battery pack; the guiding edges of the system controller and the battery pack are respectively fixed in the system controller fixing clamping groove and the battery pack fixing clamping groove.
The structure of box assembly casing, including a second clean arm connection base, a hoist and mount joint, a heat insulating board fixed slot, a first clean arm connection base, a system controller fixed slot, a first fixed slot of cleaning solution storage recovery system, a casing cleaning solution output hole, six screw holes, a group of battery fixed slot, a cleaning solution storage recovery system second fixed slot, a casing dirty liquid recovery hole, a removal supporting mechanism connection base, a first power cord jack, a second power cord jack, a set of fin, a first safety rope attach fitting, a second safety rope attach fitting, a controller input bus jack, a controller output bus jack.
The back of box assembly casing is equipped with a set of fin, first safety rope attach fitting and second safety rope attach fitting, and the upper surface outside is equipped with the hoist and mount and connects, and the upper surface inboard is equipped with the fixed draw-in groove of heat insulating board, and the lower surface outside is equipped with and removes supporting mechanism connection base, and its front edge is equipped with six screw holes, and both sides surface is equipped with first clean arm connection base and second clean arm connection base respectively.
The system controller fixing clamping grooves and the cleaning solution storage and recovery system first fixing clamping grooves are all formed in the inner surface of the side face of the first cleaning arm connecting base. The shell cleaning liquid output hole, the controller input bus jack and the controller output bus jack penetrate through the side face of the first cleaning arm connecting base, the shell cleaning liquid output hole is concentric with the cleaning liquid output hole of the cleaning liquid storage and recovery system assembly, and the controller input bus jack and the controller output bus jack are arranged behind the first cleaning arm connecting base.
The battery pack fixing clamping groove and the cleaning solution storage and recovery system second fixing clamping groove are formed in the inner surface of the side face of the second cleaning arm connecting base. The shell dirty liquid recovery hole, the first power line jack and the second power line jack penetrate through the side face where the second cleaning arm connecting base is located, the center of the shell dirty liquid recovery hole coincides with the center of the dirty liquid recovery hole of the cleaning liquid storage and recovery system assembly, and the first power line jack and the second power line jack are arranged behind the second cleaning arm connecting base.
The structure of the cleaning solution storage and recovery system assembly comprises a cleaning solution recovery hole, a cleaning solution storage tank, a cleaning solution recovery tank, a cleaning solution output hole, a cleaning solution recovery tank sealing cover, a cleaning solution storage and recovery system first guiding edge, a cleaning solution filtering device, a micro water pump, a cleaning solution storage and recovery system second guiding edge and a cleaning solution sealing cover.
The cleaning solution storage tank is communicated with the dirty solution recovery tank through the dirty solution filtering device, the two sides of the cleaning solution storage tank and the dirty solution recovery tank are respectively provided with a cleaning solution output hole and a dirty solution recovery hole, and a miniature water pump is arranged in the cleaning solution storage tank. The dirty liquid formed in the cleaning process flows into the dirty liquid recovery tank through the dirty liquid recovery hole, the dirty liquid after precipitation enters the clean liquid storage tank through the dirty liquid filtering device, and under the action of the miniature water pump, the clean liquid infiltrates the clean towel of the first clean arm through the actuator clean liquid injection joint in the first clean actuator.
The top of the outer side surface of the cleaning solution storage tank and the top of the outer side surface of the dirty solution recovery tank are respectively provided with a second guide edge of the cleaning solution storage recovery system and a first guide edge of the cleaning solution storage recovery system, which are used for fixing the position of the cleaning solution storage recovery system assembly in the tank body assembly shell, and the top of the cleaning solution storage recovery system is respectively provided with a cleaning solution sealing cover and a dirty solution recovery tank sealing cover, which are used for preventing leakage of the cleaning solution and the dirty solution in the working process.
The movable supporting mechanism is provided with a supporting mechanism which is used for supporting the movable supporting mechanism in X-shaped manner 0 The first revolute pair of the movable supporting mechanism with the direction being the rotation axis is two Y-shaped 0 The direction is the initiative degree of freedom of rotation axis, is respectively and removes supporting mechanism second revolute pair and removes supporting mechanism third revolute pair, its structure, including a removal supporting mechanism first driving motor, a removal supporting mechanism first connecting rod, a removal supporting mechanism second drive motor cabinet, a removal supporting mechanism second driving motor, a removal supporting mechanism second connecting rod joint, a removal supporting mechanism second connecting rod, a removal supporting mechanism third drive motor cabinet, a removal supporting mechanism third driving motor, a removal supporting mechanism third connecting rod joint, a removal supporting mechanism third connecting rod, an arc removal supporting mechanism foot end, an arc foot end antiskid rubber pad.
The first driving motor of the movable supporting mechanism is fixed on one side of the movable supporting mechanism connecting base in the box assembly shell, and an output shaft of the first driving motor is fixedly connected with the first connecting rod of the movable supporting mechanism to form a first rotating pair of the movable supporting mechanism. The other end of the first connecting rod of the movable supporting mechanism is in threaded connection with the second driving motor seat of the movable supporting mechanism.
The second driving motor of the movable supporting mechanism is fixed on the second driving motor seat of the movable supporting mechanism, and an output shaft of the second driving motor is fixedly connected with the second connecting rod joint of the movable supporting mechanism to form a second revolute pair of the movable supporting mechanism. One end of the second connecting rod of the movable supporting mechanism is in threaded connection with the second connecting rod connector of the movable supporting mechanism, and the other end of the second connecting rod is in threaded connection with the third driving motor seat of the movable supporting mechanism.
The third driving motor of the movable supporting mechanism is fixed on the third driving motor seat of the movable supporting mechanism, and an output shaft of the third driving motor is fixedly connected with the third connecting rod joint of the movable supporting mechanism to form a third revolute pair of the movable supporting mechanism. One end of the third connecting rod of the movable supporting mechanism is in threaded connection with the third connecting rod joint of the movable supporting mechanism, and the other end of the third connecting rod of the movable supporting mechanism is in threaded connection with the foot end of the arc-shaped movable supporting mechanism. The structure of vision sensing system assembly, including the camera, camera first support, camera first attach fitting, camera second support, first driving motor, camera second attach fitting, vision sensing system base, second driving motor. The visual sensing system base is fixed on the upper surface of the box assembly shell. The second driving motor is fixed on the base of the vision sensing system, and an output shaft of the second driving motor is fixedly connected with the second connecting joint of the camera. The flange plate of the camera second connecting joint is in threaded connection with the lower surface of the camera second bracket, and the second driving motor drives the camera second bracket to realize Z-shaped structure 0 The direction is the rotation of the rotating shaft. The first driving motor is fixed on the side face of the second bracket of the camera, and the output shaft of the first driving motor is fixedly connected with the first connecting joint of the camera. The flange plate of the first connecting joint of the camera is in threaded connection with the first bracket of the camera, and the first driving motor drives the first bracket of the camera to realize the purpose of Y 0 The direction is the rotation of the rotating shaft. The camera is fixed on the first support of the camera.
When the invention works, a roof hoisting system and two safety ropes are required to be configured. The main rope extending out of the winding system is fixedly connected with a hoisting joint on the top surface of the shell of the box assembly, and the two safety ropes are respectively connected with a first safety rope connecting joint and a second safety rope on the back surface of the shell of the box assemblyThe connecting joints are fixedly connected, and the two safety ropes are provided with self-locking devices, so that the robot cannot slide down rapidly when the winch fails. The foot end and the foot end anti-skid rubber pad of the movable supporting mechanism are designed into an arc shape, and Y is added 0 Frictional resistance in direction but without affecting X 0 、Z 0 Movement in the direction. When the robot is in operation, the arc foot end anti-slip rubber pad of the movable supporting mechanism is tightly attached to the working surface, so that the robot is prevented from swinging left and right.
The first step of the cleaning task, the second driving motor and the first driving motor of the vision sensing system assembly respectively drive the camera to Z 0 and Y0 The direction is that the rotation axis swings, the condition of the working surface is checked, and information is transmitted to the system controller;
secondly, under the control of a 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 through the cleaning liquid output hole, the shell cleaning liquid output hole and the actuator cleaning liquid injection joint;
thirdly, a first cleaning arm cleaning towel in a first cleaning actuator performs preliminary wiping on the obviously dirty working surface detected by the vision sensing system assembly;
fourth, utilizing a scraper in the second cleaning actuator to remove dirt;
fifthly, cleaning the cleaning surface in a large range by using a first cleaning arm cleaning towel in a first cleaning actuator;
sixthly, scraping the cleaning surface by using a rubber strip in the first cleaning actuator;
seventh, cleaning towels by using a second cleaning arm in a second cleaning actuator to wipe and collect the dirty liquid, wherein the dirty liquid flows into a dirty liquid recovery box through an actuator dirty liquid output joint, a dirty liquid recovery hole of a box body assembly shell and a dirty liquid recovery hole of a clean liquid storage recovery system;
eighth step, the winding system acts to enter the next working surface, and the cleaning process is repeated until the robot lands;
And ninth, the miniature water pump is started to the maximum, the cleaning towel of the first cleaning arm of the first cleaning actuator and the 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 through the dirty liquid output joint of the actuator.
And tenth, lifting the robot to the roof by the hoisting system, and translating the hoisting system to enter the next vertical working surface to start cleaning.
The power of the high-altitude cleaning robot with the artificial-like operation mode is provided by a battery pack, and the power of a 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 system has the advantages of high adaptability and high automation degree, and is provided with a visual feedback system;
(3) The device has a dirty liquid recovery system, does not pollute the environment, and has a mutual cleaning function for the two cleaning actuators.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of a cleaning arm according to the present invention;
FIG. 3 is a schematic view of the first cleaning actuator of the cleaning arm of the present invention;
FIG. 4 is a schematic view of a second cleaning actuator for a cleaning arm according to the present invention;
FIG. 5 is a schematic view of the structure of the case assembly of the present invention;
FIG. 6 is a schematic perspective view of a housing of the case assembly of the present invention;
FIG. 7 is a schematic diagram of a right side view of the housing assembly of the present invention;
FIG. 8 is a schematic diagram of the front view of the housing assembly of the present invention;
FIG. 9 is a schematic diagram of a left-hand construction of a housing of the tank assembly of the present invention;
FIG. 10 is a schematic diagram of a right-hand view of a cleaning solution storage and recovery system assembly according to the present invention;
FIG. 11 is a schematic diagram of a front view of a cleaning solution storage and recovery system assembly according to the present invention;
FIG. 12 is a schematic diagram of a left-hand construction of a cleaning solution storage and recovery system assembly according to the present invention;
FIG. 13 is a schematic view of the cross-sectional view taken along the direction A-A in FIG. 11;
FIG. 14 is a schematic view of the structure of the movable supporting mechanism in the present invention;
FIG. 15 is a schematic view of the visual sensing system assembly of the present invention;
the cleaning device comprises a cleaning arm 11, a box assembly 12, a movable supporting mechanism 13, a first cleaning actuator 14, a second cleaning actuator 15 and a visual sensing system assembly 16;
21. the cleaning device comprises a cleaning arm first driving motor, 22, a cleaning arm first connecting rod, 23, a cleaning arm second driving motor seat, 24, a cleaning arm second driving motor, 25, a cleaning arm second connecting rod joint, 26, a cleaning arm second connecting rod, 27, a cleaning arm third driving motor seat, 28, a cleaning arm third driving motor, 29, a cleaning arm third connecting rod, 210, a cleaning arm fourth driving motor seat, 211, a cleaning arm fourth driving motor, 212, a cleaning actuator connecting piece, 213, a fourth revolute pair, 214, a third revolute pair, 215, a second revolute pair, 216, a first revolute pair.
31. The cleaning device comprises an actuator cleaning liquid injection joint, 32, a first cleaning actuator connecting support, 33, a first cleaning arm connecting piece, 34, a wiper rubber strip support, 35, a rubber strip, 36, a first cleaning arm cleaning towel, and 37, a first cleaning arm cleaning towel support.
41. The actuator dirty liquid output connector 42, the second cleaning arm connecting piece 43, the second cleaning actuator connecting bracket 44, the scraper bracket 45, the scraper 46, the second cleaning arm cleaning towel 47, the second cleaning arm cleaning towel bracket;
51. the end cover of the box assembly, 52, the shell of the box assembly, 53, the heat insulation board, 54, the system controller, 55, the cleaning solution storage and recovery system assembly, 56, the battery pack;
61. the second cleaning arm is connected with the base, 62, the lifting joint, 63, the heat insulation board fixing clamping groove, 64, the first cleaning arm is connected with the base, 65, the system controller fixing clamping groove, 66, the cleaning liquid storage and recovery system first fixing clamping groove, 67, the shell cleaning liquid output hole, 68, the threaded hole, 69, the battery pack fixing clamping groove, 610, the cleaning liquid storage and recovery system second fixing clamping groove, 611, the shell dirty liquid recovery hole, 612, the mobile supporting mechanism is connected with the base, 613, the first power line jack, 614, the second power line jack, 615, the cooling fin, 616, the first safety rope connecting joint, 617, the second safety rope connecting joint, 618, the controller input bus jack, 619, the controller output bus jack.
71. The cleaning device comprises a dirty liquid recovery hole 72, a cleaning liquid storage tank 73, a dirty liquid recovery tank 74, a cleaning liquid output hole 75, a seal cover of the dirty liquid recovery tank 76, a first guide edge of a cleaning liquid storage recovery system 77, a dirty liquid filtering device 78, a micro water pump 79, a second guide edge of the cleaning liquid storage recovery system 710, and a seal cover of the cleaning liquid;
81. the device comprises a first driving motor of the moving support mechanism, a first connecting rod of the moving support mechanism, a second driving motor of the moving support mechanism, a second connecting rod connector of the moving support mechanism, a second connecting rod of the moving support mechanism, a third driving motor of the moving support mechanism, a third connecting rod connector of the moving support mechanism, a third connecting rod of the moving support mechanism, a 811, a foot end of the arc-shaped moving support mechanism, a non-skid rubber pad of the arc-shaped foot end, a 813, a third revolute pair of the moving support mechanism, a 814, a second revolute pair of the moving support mechanism, a 815 and a first revolute pair of the moving support mechanism.
91. The camera comprises a camera, a camera first bracket, a camera first connecting joint, a camera second bracket, a first driving motor, a camera second connecting joint, a visual sensing system base and a second driving motor.
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.
As shown in fig. 1, the high-altitude cleaning robot with the artificial work mode of the present invention includes two cleaning arms 11, a box assembly 12, two moving support mechanisms 13, a first cleaning actuator 14, a second cleaning actuator 15, and a vision sensing system assembly 16. The two cleaning arms 11 are respectively fixed on the second cleaning arm connecting base 61 and the first cleaning arm connecting base 64 of the housing 52 in the housing assembly 12 through the flange plate of the first driving motor 21 of the cleaning arm, and the first cleaning actuator 14 and the second cleaning actuator 15 are respectively mounted on the cleaning actuator connecting pieces 212 of the cleaning arms 11 corresponding to the first cleaning arm connecting base 64 and the second cleaning arm connecting base 61. Two movable support mechanisms are respectively mounted on the two ends of the base 612 of the housing assembly 12 and the movable support mechanism of the housing 52 of the housing assembly. The vision sensing system assembly 16 is secured to the top of the housing assembly housing 52 in the housing assembly 12.
The cleaning arm 11 has a cleaning arm with a Z 0 A first rotating pair 216 with a direction of rotation axis, one X 0 A third revolute pair 214 with a direction of rotation axis, two Y' s 0 The driving degrees of freedom in the direction of the rotation axis are the second rotation pair 215 and the fourth rotation pair 213, 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 11 is shown in fig. 2, and includes a cleaning arm first driving motor 21, a cleaning arm first link 22, a cleaning arm second driving motor mount 23, a cleaning arm second driving motor 24, a cleaning arm second link joint 25, a cleaning arm second link 26, a cleaning arm third driving motor mount 27, a cleaning arm third driving motor 28, a cleaning arm third link 29, a cleaning arm fourth driving motor mount 210, a cleaning arm fourth driving motor 211, and a cleaning actuator connecting member 212.
The cleaning arm 11 equipped with the first cleaning actuator 14 is fixed to the first cleaning arm connecting base 64 via a flange of the cleaning arm first driving motor 21;
the cleaning arm 11 equipped with the second cleaning actuator 15 is fixed to the second cleaning arm connecting base 61 via a flange of the cleaning arm first driving motor 21.
The output shaft of the cleaning arm first driving motor 21 is fixedly connected with the cleaning arm first link 22 to form a first rotating pair 216. The other end of the cleaning arm first link 22 is screwed with the cleaning arm second driving motor mount 23.
The cleaning arm second driving motor 24 is fixed on the cleaning arm second driving motor seat 23, and an output shaft thereof is fixedly connected with the cleaning arm second connecting rod joint 25 to form a second revolute pair 215. One end of the cleaning arm second connecting rod 26 is connected with the cleaning arm second connecting rod joint 25 through threads, and the other end is connected with the cleaning arm third driving motor seat 27 through threads.
The cleaning arm third driving motor 28 is fixed on the cleaning arm third driving motor base 27, and an output shaft thereof is fixedly connected with the cleaning arm third connecting rod 29 to form a third revolute pair 214. The other end of the cleaning arm third link 29 is screwed with the cleaning arm fourth driving motor mount 210.
The cleaning arm fourth driving motor 211 is fixed on the cleaning arm fourth driving motor base 210, and an output shaft thereof is fixedly connected with the cleaning actuator connecting piece 212 to form a fourth revolute pair 213.
The first cleaning actuator 14 is constructed as shown in fig. 3, and includes two actuator cleaning liquid injection joints 31, a first cleaning actuator connecting bracket 32, a first cleaning arm connecting member 33, a wiper rubber strip bracket 34, a rubber strip 35, a first cleaning arm cleaning towel 36, and a first cleaning arm cleaning towel bracket 37. One end of the first cleaning actuator connecting bracket 32 is provided with a wiper rubber strip bracket 34, the other end is provided with a first cleaning arm cleaning towel bracket 37, and the center of the upper surface of the first cleaning arm cleaning towel bracket is provided with a first cleaning arm connecting piece 33. The rubber strip 35 is mounted on the wiper rubber strip holder 34. The first cleaning arm cleaning towel 36 is fixed to the lower surface of the first cleaning arm cleaning towel holder 37, and the actuator cleaning liquid injection joint 31 is provided on the first cleaning arm cleaning towel holder 37, and the cleaning liquid wets the first cleaning arm cleaning towel 36 through the actuator cleaning liquid injection joint 31.
The second cleaning actuator 15 is constructed as shown in fig. 4, and includes an actuator contaminated fluid output joint 41, a second cleaning arm connector 42, a second cleaning actuator connecting bracket 43, a scraper bracket 44, a scraper 45, a second cleaning arm cleaning towel 46, and a second cleaning arm cleaning towel bracket 47. The second cleaning actuator connecting bracket 43 has a scraper bracket 44 at one end and a second cleaning arm cleaning towel bracket 47 at the other end, and a second cleaning arm connecting member 42 is provided at the center of the upper surface. The doctor blade 45 is mounted on the doctor blade holder 44. The second cleaning arm cleaning towel 46 is fixed to an outer surface of the second cleaning arm cleaning towel holder 47. The bottom of the second cleaning arm cleaning towel bracket 47 is provided with an actuator dirty liquid output joint 41, and the dirty liquid remained by wiping the glass curtain wall frame by the second cleaning arm cleaning towel 46 is recovered through the actuator dirty liquid output joint 41.
The structure of the tank assembly 12 is shown in fig. 5 and includes a tank assembly end cap 51, a tank assembly housing 52, a heat shield 53, a system controller 54, a cleaning solution storage and recovery system assembly 55, and a battery pack 56. The box assembly end cover 51 and the box assembly shell 52 are fixed through bolts, and six through holes are formed in the edge of the box assembly end cover 51 and matched with six threaded holes 68 of the box assembly shell 52. The heat insulating plate 53, the system controller 54 and the battery pack 56 are all arranged above the cleaning solution storage and recovery system assembly 55, the upper end of the heat insulating plate 53 is clamped in the heat insulating plate fixing clamping groove 63, and the heat insulating plate is positioned between the system controller 54 and the battery pack 56. The guide edges of the system controller 54 and the battery pack 56 are respectively fixed in the system controller fixing clip groove 65 and the battery pack fixing clip groove 69.
The casing 52 of the tank assembly has a structure shown in fig. 6 to 9, and includes a second cleaning arm connection base 61, a hoist connector 62, a heat insulating board fixing clip groove 63, a first cleaning arm connection base 64, a system controller fixing clip groove 65, a cleaning liquid storage and recovery system first fixing clip groove 66, a casing cleaning liquid output hole 67, six screw holes 68, a battery pack fixing clip groove 69, a cleaning liquid storage and recovery system second fixing clip groove 610, a casing contaminated liquid recovery hole 611, a movable supporting mechanism connection base 612, a first power cord jack 613, a second power cord jack 614, a set of heat radiating fins 615, a first safety cord connection connector 616, a second safety cord connection connector 617, a controller input bus jack 618, and a controller output bus jack 619.
The back of the case assembly housing 52 is provided with a set of cooling fins 615, a first safety rope connecting joint 616 and a second safety rope connecting joint 617, the outer side of the upper surface of which is provided with a hoisting joint 62, the inner side of the upper surface of which is provided with a heat insulation board fixing clamping groove 63, the outer side of the lower surface of which is provided with a movable supporting mechanism connecting base 612, the front edge of which is provided with six threaded holes 68, and the outer surfaces of the two sides of which are respectively provided with a first cleaning arm connecting base 64 and a second cleaning arm connecting base 61.
The system controller fixing groove 65 and the cleaning liquid storage and recovery system first fixing groove 66 are formed in the inner surface of the side surface of the first cleaning arm connecting base 64. The housing cleaning liquid output hole 67, the controller input bus jack 618 and the controller output bus jack 619 penetrate through the side surface of the first cleaning arm connection base 64, and the housing cleaning liquid output hole 67 is concentric with the cleaning liquid output hole 74 of the cleaning liquid storage and recovery system assembly 55, and the controller input bus jack 618 and the controller output bus jack 619 are disposed behind the first cleaning arm connection base 64.
The battery pack fixing clip groove 69 and the cleaning liquid storage and recovery system second fixing clip groove 610 are provided on the inner surface of the side surface of the second cleaning arm connecting base 61. The housing dirty liquid recovery hole 611, the first power line jack 613 and the second power line jack 614 penetrate through the side surface of the second cleaning arm connection base 61, the center of the housing dirty liquid recovery hole 611 coincides with the center of the dirty liquid recovery hole 71 of the cleaning liquid storage and recovery system assembly 55, and the first power line jack 613 and the second power line jack 614 are disposed behind the second cleaning arm connection base 61.
The cleaning solution storage and recovery system assembly 55 has a structure as shown in fig. 10 to 13, and comprises a cleaning solution recovery hole 71, a cleaning solution storage tank 72, a cleaning solution recovery tank 73, a cleaning solution output hole 74, a cleaning solution recovery tank sealing cover 75, a cleaning solution storage and recovery system first guide edge 76, a cleaning solution filtering device 77, a micro water pump 78, a cleaning solution storage and recovery system second guide edge 79, and a cleaning solution sealing cover 710.
The cleaning liquid storage tank 72 and the contaminated liquid recovery tank 73 are communicated by a contaminated liquid filtering apparatus 77, both sides of which are provided with a cleaning liquid output hole 74 and a contaminated liquid recovery hole 71, respectively, and a micro water pump 78 is provided in the cleaning liquid storage tank 72. The contaminated liquid formed in the cleaning process flows into the contaminated liquid recovery tank 73 through the contaminated liquid recovery hole 71, the precipitated contaminated liquid enters the cleaning liquid storage tank 72 through the contaminated liquid filtering apparatus 77, and the cleaning liquid infiltrates the first cleaning arm cleaning towel through the actuator cleaning liquid injection joint 31 in the first cleaning actuator 14 under the action of the micro water pump 78. The cleaning solution storage tank 72 and the dirty solution recovery tank 73 are respectively provided with a cleaning solution storage recovery system second guiding edge 79 and a cleaning solution storage recovery system first guiding edge 76 at the top of the outer side surface, and are used for fixing the position of the cleaning solution storage recovery system assembly 55 in the tank assembly shell 52, and a cleaning solution sealing cover 710 and a dirty solution recovery tank sealing cover 75 are respectively arranged at the top of the cleaning solution storage recovery system assembly 55, and are used for preventing leakage of cleaning solution and dirty solution in the working process.
The movable support mechanism 13 has a support member X 0 First rotating pair 815 of movable supporting mechanism with direction of rotation axis and two Y-shaped rotating pairs 0 The driving degrees of freedom in the direction of the rotation axis are respectively a second rotating pair 814 of the movable supporting mechanism and a third rotating pair 813 of the movable supporting mechanism, and the structure is shown in fig. 14, and the driving degrees of freedom comprise a first driving motor 81 of the movable supporting mechanism, a first connecting rod 82 of the movable supporting mechanism, a second driving motor base 83 of the movable supporting mechanism, a second driving motor 84 of the movable supporting mechanism, and a movable supporting mechanism The device comprises a second connecting rod joint 85, a movable supporting mechanism second connecting rod 86, a movable supporting mechanism third driving motor seat 87, a movable supporting mechanism third driving motor 88, a movable supporting mechanism third connecting rod joint 89, a movable supporting mechanism third connecting rod 810, an arc-shaped movable supporting mechanism foot end 811 and an arc-shaped foot end anti-skid rubber pad 812.
The first driving motor 81 is fixed to one side of the connecting base 612 of the moving support mechanism in the housing 52 of the box assembly, and the output shaft thereof is fixedly connected with the first connecting rod 82 of the moving support mechanism to form a first rotating pair 815 of the moving support mechanism. The other end of the first connecting rod 82 of the movable supporting mechanism is in threaded connection with the second driving motor base 83 of the movable supporting mechanism.
The second driving motor 84 of the moving support mechanism is fixed on the second driving motor base 83 of the moving support mechanism, and the output shaft thereof is fixedly connected with the second connecting rod joint 85 of the moving support mechanism to form a second revolute pair 814 of the moving support mechanism. One end of the second connecting rod 86 of the movable supporting mechanism is in threaded connection with the second connecting rod joint 85 of the movable supporting mechanism, and the other end of the second connecting rod is in threaded connection with the third driving motor seat 87 of the movable supporting mechanism.
The third driving motor 88 of the movable supporting mechanism is fixed on the third driving motor seat 87 of the movable supporting mechanism, and the output shaft thereof is fixedly connected with the third connecting rod joint 89 of the movable supporting mechanism to form the third revolute pair 813 of the movable supporting mechanism. One end of the third connecting rod 810 of the movable supporting mechanism is in threaded connection with the third connecting rod joint 89 of the movable supporting mechanism, and the other end is in threaded connection with the foot end 811 of the arc-shaped movable supporting mechanism. An arc-shaped foot end anti-skid rubber pad 812 is fixed at the end of the arc-shaped movable supporting mechanism foot end 811.
The structure of the vision sensing system assembly 16 is shown in fig. 15, and includes a camera 91, a camera first bracket 92, a camera first connection joint 93, a camera second bracket 94, a first driving motor 95, a camera second connection joint 96, a vision sensing system base 97, and a second driving motor 98. The vision sensing system base 97 is fixed to the upper surface of the housing assembly housing 52. A second driving motor 98 is fixed on the vision sensing system base 97, and the output shaft thereof is fixedly connected with the camera second connecting joint 96. The flange plate of the camera second connecting joint 96 is in threaded connection with the lower surface of the camera second bracket 94, and the second driving motor 98 drives the camera second bracket 94 to realize Z-shaped structure 0 The direction is the rotation of the rotating shaft. The first driving motor 95 is fixed on the side surface of the second bracket 94 of the camera, and the output shaft thereof is fixedly connected with the first connecting joint 93 of the camera. The flange plate of the first connecting joint 93 of the camera is in threaded connection with the first bracket 92 of the camera, and the first driving motor 95 drives the first bracket 92 of the camera to realize the purpose of Y 0 The direction is the rotation of the rotating shaft. The camera 91 is fixed to a camera first bracket 92.
When the invention works, a roof hoisting system and two safety ropes are required to be configured. The main rope extending out of the hoisting system is fixedly connected with the hoisting connector 52 on the top surface of the box assembly shell 52, the two safety ropes are respectively fixedly connected with the first safety rope connecting connector 616 and the second safety rope connecting connector 617 on the back surface of the box assembly shell 52, and the two safety ropes are provided with self-locking devices, so that the robot cannot rapidly slide down when the hoist breaks down.
The arc-shaped design of the foot end 811 and the foot end anti-skid rubber pad 812 of the movable supporting mechanism increases Y 0 Frictional resistance in direction but without affecting X 0 、Z 0 Movement in the direction. When the robot works, the arc foot end anti-skid rubber pad 812 of the movable supporting mechanism 13 is tightly attached to the working surface, so that the robot is prevented from swinging left and right.
In the first step of the cleaning task, the second driving motor 98 and the first driving motor 95 of the vision sensing system assembly 16 respectively drive the camera 91 to Z 0 and Y0 The direction is the rotation axis swing, the condition of the work surface is checked, and information is transmitted to the system controller 54;
second, under the control of the system controller 54, the micro water pump 78 draws cleaning liquid from the cleaning liquid storage tank 72, wets the first cleaning arm cleaning towel 36 via the cleaning liquid outlet 74, the housing cleaning liquid outlet 67, and the actuator cleaning liquid injection joint 31;
third, the first cleaning arm cleaning towel 36 of the first cleaning actuator 14 performs a preliminary wipe against the significantly soiled work surface detected by the vision sensing system assembly 16;
fourth, cleaning dirt by using the scraper 45 of the second cleaning actuator 15;
fifthly, cleaning the cleaning surface by using the first cleaning arm cleaning towel 36 in the first cleaning actuator 14;
Sixth, scraping the cleaning surface with the rubber strip 35 in the first cleaning actuator 14;
seventh, cleaning towels are wiped and collected by using the second cleaning arms in the second cleaning actuator 15, and the dirty liquid flows into the dirty liquid recovery tank 73 through the actuator dirty liquid output connector 41, the tank assembly housing 52 housing dirty liquid recovery hole 611 and the cleaning liquid storage recovery system dirty liquid recovery hole 71;
eighth step, the winding system acts to enter the next working surface, and the cleaning process is repeated until the robot lands;
ninth, the micro water pump 78 is turned on to the maximum, the first cleaning-arm cleaning towel 36 of the first cleaning actuator 14 and the second cleaning-arm cleaning towel 46 of the second cleaning actuator 15 are wiped, pressed, and the contaminated fluid is discharged into the contaminated fluid recovery tank 73 through the actuator contaminated fluid output connector 41.
And tenth, lifting the robot to the roof by the hoisting system, and translating the hoisting system to enter the next vertical working surface to start cleaning.
The power of the high-altitude cleaning robot with the artificial-like operation mode is provided by the battery pack 56, and the power of the hoisting system is provided by an external power supply. The receiving, processing and transmitting of control information is accomplished by the system controller 54.
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 (7)

1. The high-altitude cleaning robot with the artificial work-like mode is characterized by comprising two cleaning arms, a box assembly, two movable supporting mechanisms, a first cleaning actuator, a second cleaning actuator and a vision sensing system assembly, wherein the two cleaning arms are respectively fixed on a second cleaning arm connecting base and a first cleaning arm connecting base of a box assembly shell in the box assembly through a flange plate of a first driving motor of the cleaning arms, and the first cleaning actuator and the second cleaning actuator are respectively arranged on cleaning actuator connecting pieces of the cleaning arms corresponding to the first cleaning arm connecting base and the second cleaning arm connecting base; the two movable supporting mechanisms are respectively arranged at two ends of the movable supporting mechanism connecting base of the box assembly shell in the box assembly, and the tail ends of the movable supporting mechanisms are fixed with arc foot end anti-skid rubber pads; the visual sensing system assembly is fixed at the top of the box assembly shell in the box assembly, and the electric elements in the components are controlled by the system controller;
the cleaning arm is provided with oneZ 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 directions Y 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 cleaning arm comprises 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;
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;
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 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.
3. The overhead cleaning robot with artificial-like operation mode according to claim 1, wherein the tank assembly comprises a tank assembly end cap, a tank assembly housing, a heat shield, a system controller, a cleaning solution storage and recovery system assembly, and a battery pack; the end cover of the box body assembly is fixed with the shell of the box body assembly through bolts, and six through holes are formed in the edge of the end cover of the box body assembly and are matched with six threaded holes of the shell of the box body assembly; the heat insulation plate, the system controller and the battery pack are all arranged above the cleaning solution storage and recovery system assembly, the upper end of the heat insulation plate is clamped in the heat insulation plate fixing clamping groove, and the heat insulation plate is positioned between the system controller and the battery pack; the guiding edges of the system controller and the battery pack are respectively fixed in the system controller fixing clamping groove and the battery pack fixing clamping groove.
4. The overhead cleaning robot with artificial work-like mode of claim 3, wherein the housing assembly housing comprises a second cleaning arm connection base, a lifting joint, a heat shield fixing clip groove, a first cleaning arm connection base, a system controller fixing clip groove, a cleaning liquid storage and recovery system first fixing clip groove, a housing cleaning liquid output hole, six screw holes, a battery pack fixing clip groove, a cleaning liquid storage and recovery system second fixing clip groove, a housing dirty liquid recovery hole, a mobile support mechanism connection base, a first power line jack, a second power line jack, a group of radiating fins, a controller input bus jack, a controller output bus jack, a first safety rope connection joint, and a second safety rope connection joint;
the back of the box assembly shell is provided with a group of radiating fins, a first safety rope connecting joint and a second safety rope connecting joint, the outer side of the upper surface is provided with a hoisting joint, the inner side of the upper surface is provided with a heat insulation board fixing clamping groove, the outer side of the lower surface is provided with a movable supporting mechanism connecting base, the front edge is provided with six threaded holes, and the outer surfaces of the two sides are respectively provided with a first cleaning arm connecting base and a second cleaning arm connecting base;
The system controller fixing clamping groove and the cleaning solution storage and recovery system first fixing clamping groove are respectively arranged on the inner surface of the side surface where the first cleaning arm connecting base is arranged; the shell cleaning liquid output hole, the controller input bus jack and the controller output bus jack penetrate through the side surface where the first cleaning arm connecting base is located, the shell cleaning liquid output hole is concentric with the cleaning liquid output hole of the cleaning liquid storage and recovery system assembly, and the controller input bus jack and the controller output bus jack are arranged behind the first cleaning arm connecting base;
the battery pack fixing clamping groove and the cleaning solution storage and recovery system second fixing clamping groove are respectively arranged on the inner surface of the side surface of the second cleaning arm connecting base; the shell dirty liquid recovery hole, the first power line jack and the second power line jack penetrate through the side face where the second cleaning arm connecting base is located, the center of the shell dirty liquid recovery hole coincides with the center of the dirty liquid recovery hole of the cleaning liquid storage and recovery system assembly, and the first power line jack and the second power line jack are arranged behind the second cleaning arm connecting base.
5. The overhead cleaning robot with artificial work-like mode of claim 3, wherein the cleaning solution storage and recovery system assembly comprises a cleaning solution recovery hole, a cleaning solution storage tank, a cleaning solution recovery tank, a cleaning solution output hole, a cleaning solution recovery tank sealing cover, a cleaning solution storage and recovery system first guiding edge, a cleaning solution filtering device, a micro water pump, a cleaning solution storage and recovery system second guiding edge, and a cleaning solution sealing cover;
The cleaning solution storage tank is communicated with the dirty solution recovery tank through a dirty solution filtering device, both sides of the cleaning solution storage tank and the dirty solution recovery tank are respectively provided with a cleaning solution output hole and a dirty solution recovery hole, and a miniature water pump is arranged in the cleaning solution storage tank; the waste liquid formed in the cleaning process flows into the waste liquid recovery tank through the waste liquid recovery hole, the precipitated waste liquid enters the cleaning liquid storage tank through the waste liquid filtering device, and under the action of the miniature water pump, the cleaning liquid infiltrates into the cleaning towel of the first cleaning arm through the actuator cleaning liquid injection joint in the first cleaning actuator;
the top of the outer side surface of the cleaning solution storage tank and the top of the outer side surface of the dirty solution recovery tank are respectively provided with a second guide edge of the cleaning solution storage recovery system and a first guide edge of the cleaning solution storage recovery system, which are used for fixing the position of the cleaning solution storage recovery system assembly in the tank body assembly shell, and the top of the cleaning solution storage recovery system is respectively provided with a cleaning solution sealing cover and a dirty solution recovery tank sealing cover, which are used for preventing leakage of the cleaning solution and the dirty solution in the working process.
6. The high-altitude cleaning robot with artificial work mode as claimed in claim 1, wherein said moving support mechanism has a structure for moving the robotX 0 The first revolute pair of the movable supporting mechanism with the direction being the rotation axis is two Y 0 The direction is the initiative degree of freedom of the rotating shaft, which is a second revolute pair of the movable supporting mechanism and a third revolute pair of the movable supporting mechanism respectively; wherein,X 0 、Y 0 two axial directions in a Cartesian three-dimensional coordinate system;
the movable supporting mechanism comprises a movable supporting mechanism first driving motor, a movable supporting mechanism first connecting rod, a movable supporting mechanism second driving motor seat, a movable supporting mechanism second driving motor, a movable supporting mechanism second connecting rod connector, a movable supporting mechanism second connecting rod, a movable supporting mechanism third driving motor seat, a movable supporting mechanism third driving motor, a movable supporting mechanism third connecting rod connector, a movable supporting mechanism third connecting rod, an arc-shaped movable supporting mechanism foot end and an arc-shaped foot end anti-skid rubber pad;
the first driving motor of the movable supporting mechanism is fixed on one side of the movable supporting mechanism connecting base in the box assembly shell, and the output shaft of the first driving motor of the movable supporting mechanism is fixedly connected with the first connecting rod of the movable supporting mechanism to form a first rotating pair of the movable supporting mechanism; the other end of the first connecting rod of the movable supporting mechanism is in threaded connection with the second driving motor seat of the movable supporting mechanism;
The second driving motor of the movable supporting mechanism is fixed on a second driving motor seat of the movable supporting mechanism, and an output shaft of the second driving motor of the movable supporting mechanism is fixedly connected with a second connecting rod joint of the movable supporting mechanism to form a second revolute pair of the movable supporting mechanism; one end of a second connecting rod of the movable supporting mechanism is in threaded connection with a second connecting rod joint of the movable supporting mechanism, and the other end of the second connecting rod is in threaded connection with a third driving motor seat of the movable supporting mechanism;
the third driving motor of the movable supporting mechanism is fixed on the third driving motor seat of the movable supporting mechanism, and the output shaft of the third driving motor of the movable supporting mechanism is fixedly connected with the third connecting rod joint of the movable supporting mechanism to form a third revolute pair of the movable supporting mechanism; one end of the third connecting rod of the movable supporting mechanism is in threaded connection with the third connecting rod joint of the movable supporting mechanism, and the other end of the third connecting rod of the movable supporting mechanism is in threaded connection with the foot end of the arc-shaped movable supporting mechanism.
7. The overhead cleaning robot with the artificial-like operation mode according to claim 1, wherein the structure of the vision sensing system assembly comprises a camera, a camera first bracket, a camera first connecting joint, a camera second bracket, a first driving motor, a camera second connecting joint, a vision sensing system base and a second driving motor;
The visual sensing system base is fixed on the upper surface of the box assembly shell; the second driving motor is fixedOn the base of the vision sensing system, the output shaft of the second driving motor is fixedly connected with a second connecting joint of the camera; the flange plate of the camera second connecting joint is in threaded connection with the lower surface of the camera second bracket, and the second driving motor drives the camera second bracket to realizeZ 0 The direction is the rotation of the rotating shaft;
the first driving motor is fixed on the side surface of the second bracket of the camera, and the output shaft of the first driving motor is fixedly connected with the first connecting joint of the camera; the flange plate of the first connecting joint of the camera is in threaded connection with the first bracket of the camera, and the first driving motor drives the first bracket of the camera to realizeY 0 The direction is the rotation of the rotating shaft; the camera is fixed on the first bracket of the camera; wherein the method comprises the steps ofY 0 、Z 0 Respectively two axial directions in a cartesian three-dimensional coordinate system.
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