CN108143363A - The clean method of high-altitude cleaning robot with class manual work pattern - Google Patents
The clean method of high-altitude cleaning robot with class manual work pattern Download PDFInfo
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- CN108143363A CN108143363A CN201810009600.2A CN201810009600A CN108143363A CN 108143363 A CN108143363 A CN 108143363A CN 201810009600 A CN201810009600 A CN 201810009600A CN 108143363 A CN108143363 A CN 108143363A
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- cleaning arm
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
-
- 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
- A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
- E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Sustainable Development (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The roof hoisting system and two safety ropes connected firmly the invention discloses a kind of cleaning method of the high-altitude cleaning robot with class manual work pattern, configuration with babinet assembly shell；The sufficient end anti-skid rubber cushion of mobile supporting mechanism is adjacent to working face；Visual sensing system checks work surface situation, and communicates information to system controller；The first cleaning arm cleaning towel is soaked tentatively to be wiped；Dirt is removed using the scraper in the second cleaning actuator；First cleaning arm cleaning towel is wiped on a large scale；Clean surface is scraped using the rubber strip in the first cleaning actuator；It is wiped using the second cleaning arm cleaning towel and collects soiling solution inflow soiling solution recycling bins；Hoisting system acts, and into next work surface, repeats above-mentioned cleaning process, until robot lands；First cleaning arm cleaning towel is mutually wiped with the second cleaning arm cleaning towel, is squeezed, and soiling solution is discharged into soiling solution recycling bins, and robot is promoted to roof by hoisting system, into next cleaning.
Description
Technical field
The present invention relates to a kind of robot technology, especially a kind of height with the artificial operation mode of class for high-altitude cleaning
The clean method of empty clean robot.
Background technology
With the rapid development of economic construction of China, skyscraper is such as emerged rapidly in large numbersBamboo shoots after a spring rain, and can be found everywhere.But due to architectural design
Mating still lack of standardization, at present, the cleaning of domestic overwhelming majority skyscraper is all by being accomplished manually.Either hanger-plate type, basket-hanging
Cleaning or column and knee type cleaning, all there are high labor cost, the shortcomings of labor intensity is big, dangerous high.Therefore, from warp
Ji property and security consideration need a kind of robot that can replace manually being automatically performed cleaning again.
Chinese patent application 201510824734.6 discloses a kind of clean robot, pacifies including robot body and roof
Full rise and fall cable car, wherein, robot body includes adsorbent equipment, cleaning system, electric power system, recovery system；Robot body
Adjustable height is controlled by the safe rise and fall cable car of roof, reaches cleaning position, robot body is fixed on glass by adsorbent equipment
On curtain wall, cleaning systems carry out cleaning glass, and recovery system recycles the dirt after cleaning glass, and electric power system fills for adsorbing
It puts, the power supply of cleaning system and recovery system.But by reading full wafer patent document, which simply shows generally
The technology of including property is imagined, and does not have specific technical characteristic to describe, also without correspondingly technology attached drawing, for people in the art
For member, can not directly it be practiced according to the technical solution, it is necessary to technology creation again is carried out, it can be real
It is existing, that is to say, that present patent application is a kind of conceptual idea, lacks the technical solution of specific implementation.
Chinese patent application 201510258869.0 disclose it is a kind of climbing fire extinguishing, clean robot, body construction by
Swing-bar mechanism, walking mechanism, transmission system, adsorbent equipment, extinguishing device, cleaning device and camera unit composition.Swing-bar mechanism
It is made of crank, connecting rod and swing rod, swing rod is made to be swung at any angle using spherical pair connection mode, realized to glass curtain
The cleaning of wall and the fire-extinguishing function concurrently of skyscraper.Walking mechanism is by the way of crawler-type traveling.Transmission system is nibbled using gear
Conjunction mode realizes the transmission of power.Adsorbent equipment is made of fan, wind bowl and vent, is attached to robot using absorption principle
On wall.Extinguishing device is put out a fire using by the way of burning things which may cause a fire disaster sparging carbon dioxide.Cleaning device is by that can be freely rotated
Cleaning brush cleaned.Robot is made to be attached on wall using absorption principle.Camera unit is then ground Real-time Feedback machine
The working condition of people, convenient for ground staff's remote control.The technical solution of the patent application is complicated, cleaner arm and vehicle with walking machine
The mobility of structure is poor, no revolute pair, is unfavorable for action adjustment, it is difficult to complete the implementation of minor motion.
Chinese patent application 201510578552.5 discloses a kind of high-altitude cleaning robot, is equipped on robot crawler belt
Sucker group passes through the adsorption function of sucker so that the high-altitude cleaning robot can hang down on the exterior wall of skyscraper
Straight climbing, the robot technology scheme is complicated, using track structure, it is difficult to complete class people's operating type, be unfavorable for small dynamic
The implementation of work.
Chinese patent application 201610048950.0 discloses a kind of self-action high-altitude cleaning glass window machine people, including base
Seat, control system, small air pump, circular magnetic chuck, trapezoidal sucker, water receiver, water sprinkler, wiper, Sponge Cleaned Block, the base
Control system, small air pump, water receiver and water sprinkler are installed on seat；The control system and small air pump, water receiver, watering
Device is electrically connected；The bottom of the pedestal is equipped with the first cylinder, and the first spring, one end of the first spring are embedded on the first cylinder
It is connected with wiper；Pedestal tail portion side is equipped with the second cylinder, embedded second spring on the second cylinder, second spring with
Curved rod is connected；The curved rod bottom is connected with Sponge Cleaned Block.Start small air pump during work, in circular magnetic chuck and
So that robot automatic absorbing is on glass metope under the action of trapezoidal sucker.The patent is a kind of miniature working at height machine
People, the degree of freedom of cleaning part is poor, and flexibility is inadequate, it is difficult to realize the imitation and implementation of class human action, unsuitable wiping
Wash the work of environment complex region.
Chinese patent application 201611194695.7 discloses a kind of high-altitude outside Wall Cleaning machine people, including crawling device and
Cleaning device, the cleaning device are located at the side of crawling device, and the crawling device includes robot fuselage, robot fuselage
On set there are four hip joint, each hip joint is connected with pedipulator, and each pedipulator bottom is connected with to adsorb the true of glass
Suction disk, cleaning device include cleaning arm, cleaning pedestal, the first rotating seat and the second rotating seat, and one end of cleaning arm passes through the
One rotating seat is connect with cleaning base runner, and the other end of cleaning arm is movably arranged on robot fuselage by the second rotating seat
On.The patent application employs the pedipulator mode of vacuum suction, convenient for leaping over obstacles, but since air compressor is placed on ground
On face, compressed air transmits that energy loss is larger, and robot manipulating task is limited in scope at a distance.The patent using the quiet gait of four-footed or
The reptile fashion of Dynamic gait during robot ambulation, is wiped by the relative movement cleaned between pedestal and glass, is received in dirt
Collect, is not good enough from the aspect of cleaning effect, it is difficult to reach class people's operation effectiveness.
Chinese patent application 201710109588.8 discloses a kind of Double-sucker glass curtain wall clean robot, including traction
Mechanism, lifting mechanism, changement, actuating unit, cleaning device, adsorbent equipment and safety device, haulage gear is by double steel wires
Rope winding and guiding rail mechanism composition, lifting mechanism are made of small gear and small worm, and changement is by big worm gear and big snail
Bar forms, and power is provided by direct current generator, and cleaning device is made of rotating brushes and telescopic spring mechanism, and adsorbent equipment is by sucker
With blower unit into safety device is made of safety collar and safety rope, and robot is adsorbed in glass curtain wall table by adsorbent equipment
Face is realized using haulage gear and advanced, while cleaning device keeps rotation wiping.The patent application, which can not be realized, mostly freely to be turned
It is dynamic, it is difficult to complete the implementation of deliberate action.
Chinese patent application 201611264150.9 discloses a kind of cleaning glass machine people, including detergent circulator,
It is placed in the external cleaner of glass outer side and is placed in the built-in drive of glass inner side, external cleaner includes inner frame, installing
In the cleaning disc assembly mutually attached on inner frame and with glass wall and the external magnetic block being embedded on inner frame, built-in drive
Inside be provided with for external magnetic block contraposition magnetic attracting built-in magnetic block, detergent circulator by detergent hose with
Cleaning disc assembly is connected.Inside and outside clamping is formed to glass using the magnetic force between external magnetic block and built-in magnetic block and effect
Effect, it is clear that cleanup crew drives external cleaner along glass to carry out mobile cleaning in house by mobile built-in drive
It washes.The patent application technology less adapts to clean outside the glass of skyscraper, the outer glass of especially many at present high-rise curtain walls
Glass can not folding, be even more difficult in adapt to.
Chinese patent literature 201510246660.2 discloses a kind of caterpillar type robot for being used to clean high-altitude curtain wall, packet
Include two fixed frames, the first chain, horizontally moving device, the second chain, robot body, power supply and controller；First chain
Both ends be fixedly connected respectively with two fixed frames, horizontally moving device include being arranged on the first fly-wheel motor inside device,
First driven gear and the second driven gear, the first chain successively with the first fly-wheel motor, the first driven gear, the second driven tooth
Wheel is meshed；One end of second chain is fixedly connected with the side of horizontally moving device；Robot body includes flying control device, hang down
Straight mobile device, pedrail and at least two wipe disk.Trolley is made to be close to glass motion by the pressure of propeller during work.It should
Patent construction is complicated, and cleaning performance is not especially good, is moved in particular by crawler belt, and degree of freedom is less, and action fine tuning is undesirable.
Chinese patent application 201511029515.5 discloses a kind of high-altitude exterior wall multi-function robot, including frame and
Controller, the frame is interior to be equipped at least one thrust mechanism, walking mechanism is equipped in the both sides of frame, in the advance side of frame
To equipped with sensing device, the controller is connect with thrust mechanism and walking mechanism.Using thrust mechanism by the more work(of high-altitude exterior wall
Energy robot is affixed on exterior wall surface by reaction force.The patented technology is relatively simple, cleaning performance be not it is especially good, especially
Minor motion adjusts difficult.
The angle that above-mentioned high-altitude cleaning robot is designed from mechanism is fixed robot using different suction types
In working face, mainly including absorption type (including vacuum suction and magnetic-adsorption) or by propeller pressure or by
Thrust mechanism acts on.But magnetic-adsorption need working face can by magnet attract or can by interior external magnetic block it
Between magnetic force and effect the inside and outside effect clamped is formed to working face；Vacuum suction, by the pressure of propeller or by pushing away
The mode energy expenditure that robot is fixed on work surface by force mechanisms effect is larger, is unfavorable for promoting on a large scale.Above-mentioned robot
It is not too convenient during cleaning, safety and flexibility are insufficient, and cleaning performance is nor too preferable.
Invention content
The purpose of the present invention is to overcome the shortcomings of above-mentioned existing high-altitude cleaning robot cleaning technique, provide a kind of adaptation
Ability is strong, movement is flexible, the cleaning of the high-altitude cleaning robot with class manual work pattern safe and reliable, cleaning performance is good
Method.
To achieve the above object, the present invention uses following technical proposals：
A kind of cleaning method of the high-altitude cleaning robot with class manual work pattern, the robot include two clearly
Clean arm, a babinet assembly, two mobile supporting mechanisms, one first cleaning actuator, one second cleaning actuator and one
A visual sensing system assembly, described two cleaning arm are by being separately fixed on babinet assembly middle case assembly shell, and first
It cleans actuator and the second cleaning actuator is corresponding in cleaning arm respectively；Two mobile supporting mechanisms are separately mounted to case
Body assembly middle case assembly shell lower end, the end of mobile supporting mechanism are provided with arc foot end anti-skid rubber cushion；Visual sensing
System synthesis is fixed on the top of babinet assembly middle case assembly shell, and the electrical equipment in above-mentioned each component is controlled by system
Device controls.
The cleaning method includes the following steps：
Roof hoisting system and two safety ropes are configured in the first step；The main rope that hoisting system stretches out and babinet assembly shell
The lifting connector of top surface connects firmly, and safety rope jointing of two safety ropes respectively with the babinet assembly shell back side connects firmly, and
Self-locking device is equipped on two safety ropes, when hoist engine failure, robot is not in rapidly to glide；
Second step, the sufficient end anti-skid rubber cushion of mobile supporting mechanism are adjacent to working face, and robot is avoided to swing；
Third walks, and the driving motor of visual sensing system assembly drives camera to swing, checks the situation of work surface respectively,
And communicate information to system controller；
4th step, under the control of system controller, the micro pump in babinet assembly is extracted from cleaning solution storage bin
Cleaning solution soaks the first cleaning arm cleaning towel in the first cleaning actuator；
5th step, first cleans what the first cleaning arm cleaning towel in actuator was detected for visual sensing system assembly
Apparent dirty work surface is tentatively wiped；
6th step removes dirt using the scraper in the second cleaning actuator；
7th step wipes clean surface using the first cleaning arm cleaning towel in the first cleaning actuator on a large scale；
8th step scrapes clean surface using the rubber strip in the first cleaning actuator；
9th step collects soiling solution using the second cleaning arm cleaning towel wiping in the second cleaning actuator, and soiling solution is via holding
Row device soiling solution out splice going splice, babinet assembly shell soiling solution recovery holes, cleaning solution storage recovery system soiling solution recovery holes flow into soiling solution
Recycling bins；
Tenth step, hoisting system action into next work surface, repeat above-mentioned cleaning process, until robot lands；
11st step, micro pump are opened to maximum, first cleaning actuator the first cleaning arm cleaning towel and the second cleaning
Actuator the second cleaning arm cleaning towel is mutually wiped, is squeezed and soiling solution is discharged into soiling solution via actuator soiling solution out splice going splice
Recycling bins.
Robot is promoted to roof by the 12nd step, hoisting system, and translation hoisting system enters next vertical work surface
Start cleaning.
In the present invention, there are one with Z for cleaning arm tool0Direction is the first revolute pair of rotary shaft, and one with X0Direction is rotation
The third revolute pair of axis, two with Y0Direction is the active degree of freedom of rotary shaft, is the second revolute pair and the 4th revolute pair respectively,
Wherein, X0、Y0、Z0It is three axial directions in Descartes's three-dimensional system of coordinate respectively.
The structure of cleaning arm, including first driving motor of cleaning arm, a cleaning arm first connecting rod, a cleaning arm
Second driving motor seat, second driving motor of cleaning arm, a cleaning arm second connecting rod connector, a cleaning arm second connect
Bar, a cleaning arm third driving motor seat, a cleaning arm third driving motor, a cleaning arm third connecting rod, one clear
Clean arm the 4th drives motor cabinet, the 4th driving motor of cleaning arm, a cleaning actuator connector；
Cleaning arm equipped with the first cleaning actuator is fixed on first clearly by the ring flange of the first driving motor of cleaning arm
On clean arm connection pedestal；Cleaning arm equipped with the second cleaning actuator is fixed on by the ring flange of the first driving motor of cleaning arm
On second cleaning arm connection pedestal；
The output shaft of the first driving motor of cleaning arm connects firmly to form the first revolute pair with cleaning arm first connecting rod；Cleaning arm
The other end of one connecting rod is connected through a screw thread with cleaning arm the second driving motor seat；
The second driving motor of cleaning arm is fixed on cleaning arm the second driving motor seat, and output shaft connects with cleaning arm second
Knock-off joint connects firmly to form the second revolute pair；One end of cleaning arm second connecting rod is connected with cleaning arm second connecting rod connector by screw thread
It connects, the other end is connected through a screw thread with cleaning arm third driving motor seat；
Cleaning arm third driving motor is fixed on cleaning arm third driving motor seat, and output shaft connects with cleaning arm third
Bar connects firmly to form third revolute pair；The other end of cleaning arm third connecting rod drives motor cabinet to connect by screw thread with cleaning arm the 4th
It connects；
The 4th driving motor of cleaning arm is fixed on cleaning arm the 4th and drives on motor cabinet, and output shaft connects with cleaning actuator
Fitting connects firmly to form the 4th revolute pair.
The first cleaning actuator structure, including two actuator cleaning solution fill nipples, one first cleaning performs
Device connecting bracket, a first cleaning arm connector, a wiper rubber stent, a rubber strip, one first cleaning
Arm cleaning towel, a first cleaning arm cleaning towel stent；One end of the first cleaning actuator connecting bracket, which is equipped with, scrapes
Hydrophone rubber strip stent, the other end are equipped with the first cleaning arm cleaning towel stent, and centre of surface position is equipped with the first cleaning thereon
Arm connector；Rubber strip is mounted on wiper rubber stent；It is clear that first cleaning arm cleaning towel is fixed on the first cleaning arm
Clean towel holder lower surface, actuator cleaning solution fill nipple are arranged on the first cleaning arm cleaning towel stent, and cleaning solution leads to
It crosses actuator cleaning solution fill nipple and soaks the first cleaning arm cleaning towel.
The second cleaning actuator structure, including an actuator soiling solution out splice going splice, the second cleaning arm connection
Part, one second cleaning actuator connecting bracket, a scraper support, a scraper, a second cleaning arm cleaning towel, one
A second cleaning arm cleaning towel stent；Described second cleaning actuator connecting bracket one end is equipped with scraper support, and the other end is set
There is the second cleaning arm cleaning towel stent, centre of surface position is equipped with the second cleaning arm connector thereon；Scraper is mounted on scraper
On stent；Second cleaning arm cleaning towel is fixed on the outer surface of the second cleaning arm cleaning towel stent；Second cleaning arm cleans
The bottom of towel holder is equipped with actuator soiling solution out splice going splice, and the second cleaning arm cleaning towel cleaning glass window curtain wall frame is remaining
Soiling solution is recycled by actuator soiling solution out splice going splice.
The structure of the babinet assembly, including a babinet assembly end cap, a babinet assembly shell, a thermal insulation board,
One system controller, a cleaning solution storage recycling system synthesis, a battery pack；Babinet assembly end cap and the total shelling of babinet
Body is bolted, and babinet assembly end cap edge is set there are six through-hole and six threaded hole phases of babinet assembly shell kind
Match；Thermal insulation board, system controller and battery pack are placed in the top of cleaning solution storage recycling system synthesis, thermal insulation board upper end card
In thermal insulation board fixed card slot, positioned at system controller and the centre of battery pack；The guiding of system controller and battery pack edge point
It is not fixed in system controller fixed card slot and battery pack fixed card slot.
The structure of the babinet assembly shell connects pedestal including second cleaning arm, a lifting connector, one every
Hot plate fixed card slot, first cleaning arm connect pedestal, a system controller fixed card slot, a cleaning solution storage recycling
The first fixed card slot of system, a housing cleaning solution delivery outlet, six threaded holes, a battery pack fixed card slot, a cleaning
Liquid stores the second fixed card slot of recovery system, a housing soiling solution recovery holes, and a mobile supporting mechanism connects pedestal, one the
One power line jack, a second source line jack, one group of cooling fin, a controller input bus jack, a controller
Output bus jack, a first safety rope jointing, a second safety rope jointing.
The back side of the babinet assembly shell is equipped with one group of cooling fin, the first safety rope jointing and the second safety rope and connects
Connector, upper surface outside are equipped with lifting connector, and thermal insulation board fixed card slot is equipped on the inside of upper surface, and lower surface outside is equipped with movement
Supporting mechanism connects pedestal, and front edge is set there are six threaded hole, and two side external surfaces are respectively equipped with the first cleaning arm linker
Seat connects pedestal with the second cleaning arm.
The system controller fixed card slot, cleaning solution storage the first fixed card slot of recovery system are each provided at the first cleaning arm
The inner surface of side where connecting pedestal.Housing cleaning solution delivery outlet, controller input bus jack and controller output bus
Jack is through side where the first cleaning arm connection pedestal, and housing cleaning solution delivery outlet stores recycling system synthesis with cleaning solution
Cleaning solution delivery outlet it is concentric, controller input bus jack and controller output bus jack are arranged on the connection of the first cleaning arm
The rear of pedestal.
The battery pack fixed card slot, cleaning solution storage the second fixed card slot of recovery system are each provided at the connection of the second cleaning arm
The inner surface of side where pedestal.Housing soiling solution recovery holes, the first power line jack and second source line jack are clear through second
Side where clean arm connection pedestal, and the center of housing soiling solution recovery holes and cleaning solution storage recycling system synthesis soiling solution recovery holes
Center overlap, the first power line jack and second source line jack are arranged on the rear of the second cleaning arm connection pedestal.
The structure of cleaning solution storage recycling system synthesis, including a soiling solution recovery holes, a cleaning solution storage bin,
One soiling solution recycling bins, a cleaning solution delivery outlet, a soiling solution recycling bins sealing cover, cleaning solution storage recovery system the
One guiding edge, a dirty liquid filter, a micro pump, the cleaning solution storage guiding of recovery system second edge, one
Cleaning solution sealing cover.
The cleaning solution storage bin is connected with soiling solution recycling bins by dirty liquid filter, cleaning solution storage bin and soiling solution
Recycling bins both sides are respectively equipped with cleaning solution delivery outlet and soiling solution recovery holes, and micro pump is equipped in cleaning solution storage bin.
It cleans the soiling solution that is formed in the process and flows into soiling solution recycling bins by soiling solution recovery holes, the soiling solution after precipitation passes through dirty liquid filter
Into cleaning solution storage bin, under the action of micro pump, cleaning solution passes through the actuator cleaning solution in the first cleaning actuator
Fill nipple infiltrates the first cleaning arm cleaning towel.
Cleaning solution storage recovery system second is respectively equipped at the top of cleaning solution storage bin and soiling solution recycling bins lateral surface to be oriented to
Edge and cleaning solution storage recovery system first are oriented to edge, for fixing cleaning solution storage recycling system synthesis in babinet assembly shell
In position, top be respectively equipped with cleaning solution sealing cover and soiling solution recycling bins sealing cover, for preventing from cleaning in the course of work
The leakage of liquid and soiling solution.
There are one with X for the mobile supporting mechanism tool0Mobile supporting mechanism first revolute pair of the direction for rotary shaft, two
With Y0Direction is the active degree of freedom of rotary shaft, is that mobile the second revolute pair of supporting mechanism and mobile supporting mechanism third turn respectively
Dynamic pair, structure, including first driving motor of mobile supporting mechanism, a mobile supporting mechanism first connecting rod, a shifting
Dynamic supporting mechanism the second driving motor seat, second driving motor of mobile supporting mechanism, a mobile supporting mechanism second connect
Knock-off joint, a mobile supporting mechanism second connecting rod, a mobile supporting mechanism third driving motor seat, a mobile support machine
Structure third driving motor, a mobile supporting mechanism third connecting rod connector, a mobile supporting mechanism third connecting rod, an arc
Mobile supporting mechanism foot end, an arc foot end anti-skid rubber cushion.Mobile supporting mechanism foot end and the anti-skid rubber cushion design of sufficient end
Camber increases Y0The frictional resistance in direction, but do not influence X0、Z0The movement in direction.
First driving motor of mobile supporting mechanism is fixed in babinet assembly shell mobile supporting mechanism connection pedestal
Side, output shaft connects firmly to form mobile the first revolute pair of supporting mechanism with mobile supporting mechanism first connecting rod.Mobile support
The other end of mechanism first connecting rod is threadedly coupled with mobile supporting mechanism the second driving motor seat.
Mobile the second driving motor of supporting mechanism is fixed on mobile the second driving motor of supporting mechanism seat, output shaft with
Mobile supporting mechanism second connecting rod connector connects firmly to form mobile the second revolute pair of supporting mechanism.Mobile supporting mechanism second connecting rod
One end is connect with mobile supporting mechanism second connecting rod joint screw thread, the other end and mobile supporting mechanism third driving motor seat screw thread
Connection.
Mobile supporting mechanism third driving motor is fixed on mobile supporting mechanism third driving motor seat, output shaft with
Mobile supporting mechanism third connecting rod connector connects firmly to form mobile supporting mechanism third revolute pair.Mobile supporting mechanism third connecting rod
One end is connect with mobile supporting mechanism third connecting rod joint screw thread, and the other end is threadedly coupled with arc movement supporting mechanism foot end.
The structure of the visual sensing system assembly, including camera, camera first support, camera first connects
Head, camera second support, the first driving motor, the second jointing of camera, visual sensing system pedestal, the second driving electricity
Machine.The visual sensing system pedestal is fixed on the upper surface of babinet assembly shell.Second driving motor is fixed on visual sensing
In system base, output shaft is connected firmly with the second jointing of camera.The ring flange of the second jointing of camera and camera shooting
The lower surface of head second support is threadedly coupled, and the second driving motor drives camera second support to realize with Z0Direction is rotary shaft
Rotation.First driving motor is fixed on the side of camera second support, and output shaft is consolidated with the first jointing of camera
Connection.The ring flange of the first jointing of camera is threadedly coupled with camera first support, and the first driving motor drives camera
First support is realized with Y0Direction is the rotation of rotary shaft.Camera is fixed in camera first support.
The present invention has the characteristics that compared with prior art：
(1) there is the cleaning mode of class manual work, consuming little energy, simple in structure, movement are flexibly, securely and reliably；
(2) there is vision feedback system, adaptable, high degree of automation；
(3) there is soiling solution recovery system, it is free from environmental pollution, and two cleaning actuators have mutual clean function.
Description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention；
Fig. 2 is the structure diagram of cleaning arm in the present invention；
Fig. 3 is the structure diagram that cleaning arm first cleans actuator in the present invention；
Fig. 4 is the structure diagram that cleaning arm second cleans actuator in the present invention；
Fig. 5 is the structure diagram of middle case assembly of the present invention；
Fig. 6 is middle case assembly shell dimensional structure diagram of the present invention；
Fig. 7 is middle case assembly shell right side structural representation of the present invention；
Fig. 8 is middle case assembly shell main structure diagram of the present invention；
Fig. 9 is middle case assembly shell left view structural representation of the present invention；
Figure 10 is cleaning solution storage recycling system synthesis right side structural representation in the present invention；
Figure 11 is cleaning solution storage recycling system synthesis main structure diagram in the present invention；
Figure 12 is cleaning solution storage recycling system synthesis left view structural representation in the present invention；
Figure 13 is A-A profile structure diagram in Figure 11；
Figure 14 is the structure diagram of mobile supporting mechanism in the present invention；
Figure 15 is the structure diagram of visual sensing system assembly in the present invention；
Wherein, 11. cleaning arm, 12. babinet assemblies, 13. movement supporting mechanisms, 14. first cleaning actuators, 15. second
Clean actuator, 16. visual sensing system assemblies；
21. the first driving motor of cleaning arm, 22. cleaning arm first connecting rods, 23. cleaning arm the second driving motor seats, 24. is clear
Clean the second driving motor of arm, 25. cleaning arm second connecting rod connectors, 26. cleaning arm second connecting rods, 27. cleaning arm thirds driving electricity
Engine base, 28. cleaning arm third driving motors, 29. cleaning arm third connecting rods, 210. cleaning arm the 4th driving motor cabinet, 211. is clear
Clean the 4th driving motor of arm, 212. cleaning actuator connectors, 213. the 4th revolute pairs, 214. third revolute pairs, 215. second
Revolute pair, 216. first revolute pairs；
31. actuator cleaning solution fill nipple, 32. first cleaning actuator connecting brackets, the connection of 33. first cleaning arm
Part, 34. wiper rubber stents, 35. rubber strips, 36. first cleaning arm cleaning towels, 37. first cleaning arm cleaning towels
Stent.
41. actuator soiling solution out splice going splice, 42. second cleaning arm connectors, 43. second cleaning actuator connecting brackets,
44. scraper support, 45. scrapers, 46. second cleaning arm cleaning towels, 47. second cleaning arm cleaning towel stents；
51. babinet assembly end cap, 52. babinet assembly shells, 53. thermal insulation boards, 54. system controllers, the storage of 55. cleaning solutions
Recovery system assembly, 56. battery packs；
61. the second cleaning arm connects pedestal, 62. lifting connectors, 63. thermal insulation board fixed card slots, the connection of 64. first cleaning arm
Pedestal, 65. system controller fixed card slots, 66. cleaning solutions storage the first fixed card slot of recovery system, 67. housing cleaning solutions are defeated
Portal, 68. threaded holes, 69. battery pack fixed card slots, 610. cleaning solutions storage the second fixed card slot of recovery system, 611. housings
Soiling solution recovery holes, 612. movement supporting mechanism connection pedestals, 613. first power line jacks, 614. second source line jacks,
615. cooling fins, 616. controller input bus jacks, 617. controller output bus jacks, the connection of 618. first safety ropes
Connector, 619. second safety rope jointings；
71. soiling solution recovery holes, 72. cleaning solution storage bins, 73. soiling solution recycling bins, 74. cleaning solution delivery outlets, 75. soiling solutions return
Case sealing cover is received, 76. cleaning solutions storage recovery system first is oriented to edge, and 77. dirty liquid filters, 78. micro pumps, 79. is clear
Clean liquid storage recovery system second is oriented to edge, 710. cleaning solution sealing covers；
81. the first driving motor of supporting mechanism is moved, 82. movement supporting mechanism first connecting rods, 83. movement supporting mechanisms the
Two driving motor seats, 84. movement the second driving motors of supporting mechanism, 85. movement supporting mechanism second connecting rod connectors, 86. movements
Supporting mechanism second connecting rod, 87. movement supporting mechanism third driving motor seats, 88. movement supporting mechanism third driving motors,
89. supporting mechanism third connecting rod connector is moved, 810. movement supporting mechanism third connecting rods, 811. arcs movement supporting mechanism foot
End, 812. arc foot end anti-skid rubber cushions, 813. movement supporting mechanism third revolute pairs, 814. second turn of supporting mechanisms of movement
Dynamic pair, 815. movement the first revolute pairs of supporting mechanism；
91. camera, 92. camera first supports, 93. the first jointings of camera, 94. camera second supports,
95. the first driving motor, 96. the second jointings of camera, 97. visual sensing system pedestals, 98. second driving motors.
Specific embodiment
The present invention is further described with reference to the accompanying drawings and examples.
Structure, ratio, size depicted in this specification institute accompanying drawings etc., only to coordinate specification it is revealed in
Hold, so that those skilled in the art understands and reads, be not limited to the enforceable qualifications of the present invention, therefore do not have skill
Essential meaning in art, the modification of any structure, the change of proportionate relationship or the adjustment of size can be produced not influencing the present invention
Under the effect of raw and the purpose that can reach, should all still it fall in the range of disclosed technology contents are obtained and can be covered.
Meanwhile cited such as " on ", " under " in this specification, "left", "right", " centre " and " one " term, be merely convenient to
Narration understand rather than to limit the enforceable range of the present invention, relativeness is altered or modified, without substantive change
Under technology contents, when being also considered as the enforceable scope of the present invention.
As shown in Figure 1, a kind of high-altitude cleaning robot with class manual work pattern of the present invention, including two cleanings
Arm 11, a babinet assembly 12, two mobile supporting mechanisms 13, one first cleaning actuator 14, one second cleaning perform
Device 15, a visual sensing system assembly 16.The flange that described two cleaning arm 11 pass through its first driving motor of cleaning arm 21
The second cleaning arm connection pedestal 61 that disk is separately fixed at 12 middle case assembly shell 52 of babinet assembly is connected with the first cleaning arm
On pedestal 64, the first cleaning actuator 14 is separately mounted to the first cleaning arm with the second cleaning actuator 15 and connects 64 He of pedestal
On the cleaning actuator connector 212 of second cleaning arm connection 61 corresponding cleaning arm 11 of pedestal.Two mobile supporting mechanisms point
Not An Zhuan 12 middle case assembly shell 52 of babinet assembly mobile supporting mechanism connection pedestal 612 both ends.Visual sensing system
System assembly 16 is fixed on the top of 12 middle case assembly shell 52 of babinet assembly.
Clean method includes the following steps：
Roof hoisting system and two safety ropes, the main rope that hoisting system stretches out and babinet assembly shell is configured in the first step
The lifting connector 52 of 52 top surfaces connects firmly, two safety ropes respectively with the first safety rope jointing at 52 back side of babinet assembly shell
618 and second safety rope jointing 619 connect firmly, and self-locking device is equipped on two safety ropes, when hoist engine failure
When, robot is not in rapidly to glide.
Second step, machine man-hour, arc foot end anti-skid rubber cushion 812 and the work face paste of mobile supporting mechanism 13
Tightly, robot is avoided to swing.
Third walks, and the second driving motor 98 and the first driving motor 95 of visual sensing system assembly 16 drive camera shooting respectively
First 91 with Z0And Y0Direction is swung for rotary shaft, checks the situation of work surface, and communicate information to system controller 54；
4th step, under the control of system controller 54, micro pump 78 extracts cleaning solution from cleaning solution storage bin 72,
Via cleaning solution delivery outlet 74, housing cleaning solution delivery outlet 67, actuator cleaning solution fill nipple 31, it is clear to soak the first cleaning arm
Clean towel 36；
5th step, first cleans the first cleaning arm cleaning towel 36 in actuator 14 examines for visual sensing system assembly 16
The apparent dirty work surface measured is tentatively wiped；
6th step removes dirt using scraper 45 in the second cleaning actuator 15；
7th step wipes clean surface using the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 on a large scale
It wipes；
8th step scrapes clean surface using rubber strip 35 in the first cleaning actuator 14；
9th step, using second cleaning actuator 15 in the second cleaning arm cleaning towel wiping collect soiling solution, soiling solution via
Actuator soiling solution out splice going splice 41,52 housing soiling solution recovery holes 611 of babinet assembly shell, cleaning solution storage recovery system soiling solution return
Batter 71 flows into soiling solution recycling bins 73；
Tenth step, hoisting system action into next work surface, repeat above-mentioned cleaning process, until robot lands；
11st step, micro pump 78 are opened to maximum, the first cleaning 14 first cleaning arm cleaning towel 36 of actuator and the
Two cleaning actuators, 15 second cleaning arm cleaning towel 46 mutually wiping, extruding simultaneously connect soiling solution via the output of actuator soiling solution
First 41 are discharged into soiling solution recycling bins 73.
Robot is promoted to roof by the 12nd step, hoisting system, and translation hoisting system enters next vertical work surface
Start cleaning.
There are one with Z for the tool of cleaning arm 110Direction is the first revolute pair 216 of rotary shaft, and one with X0Direction is rotary shaft
Third revolute pair 214, two with Y0Direction is the active degree of freedom of rotary shaft, is the second revolute pair 215 and the 4th rotation respectively
Pair 213.Wherein, X0、Y0、Z0It is three axial directions in Descartes's three-dimensional system of coordinate respectively.
As shown in Fig. 2, including first driving motor of cleaning arm 21, a cleaning arm first connects the structure of cleaning arm 11
Bar 22, the second driving motor of cleaning arm seat 23, second driving motor of cleaning arm 24, a cleaning arm second connecting rod connect
First 25, a cleaning arm second connecting rod 26, a cleaning arm third driving motor seat 27, a cleaning arm third driving motor
28, a cleaning arm third connecting rod 29 a, cleaning arm the 4th drives motor cabinet 210, the 4th driving motor of cleaning arm
211, a cleaning actuator connector 212.
Cleaning arm 11 equipped with the first cleaning actuator 14 is fixed on by the ring flange of the first driving motor of cleaning arm 21
On first cleaning arm connection pedestal 64；
Cleaning arm 11 equipped with the second cleaning actuator 15 is fixed on by the ring flange of the first driving motor of cleaning arm 21
On second cleaning arm connection pedestal 61.
The output shaft of the first driving motor of cleaning arm 21 connects firmly to form the first revolute pair 216 with cleaning arm first connecting rod 22.
The other end of cleaning arm first connecting rod 22 is connected through a screw thread with the second driving motor of cleaning arm seat 23.
The second driving motor of cleaning arm 24 is fixed on the second driving motor of cleaning arm seat 23, output shaft and cleaning arm the
Two linkage connectors 25 connect firmly to form the second revolute pair 215.One end of cleaning arm second connecting rod 26 and cleaning arm second connecting rod connector
25 are connected through a screw thread, and the other end is connected through a screw thread with cleaning arm third driving motor seat 27.
Cleaning arm third driving motor 28 is fixed on cleaning arm third driving motor seat 27, output shaft and cleaning arm the
Three-link 29 connects firmly to form third revolute pair 214.The other end of cleaning arm third connecting rod 29 drives motor cabinet with cleaning arm the 4th
210 are connected through a screw thread.
The 4th driving motor 211 of cleaning arm is fixed on cleaning arm the 4th and drives on motor cabinet 210, and output shaft is held with cleaning
Row device connector 212 connects firmly to form the 4th revolute pair 213.
First cleaning 14 structure of actuator is as shown in figure 3, including two actuator cleaning solution fill nipples 31, one first
Clean actuator connecting bracket 32, a first cleaning arm connector 33, a wiper rubber stent 34, a rubber strip
35, a first cleaning arm cleaning towel 36, a first cleaning arm cleaning towel stent 37.The first cleaning actuator connects
The one end for connecing stent 32 is equipped with wiper rubber stent 34, and the other end is equipped with the first cleaning arm cleaning towel stent 37, thereon
Centre of surface position is equipped with the first cleaning arm connector 33.Rubber strip 35 is mounted on wiper rubber stent 34.First is clear
Clean arm cleaning towel 36 is fixed on 37 lower surface of the first cleaning arm cleaning towel stent, and actuator cleaning solution fill nipple 31 is set
On the first cleaning arm cleaning towel stent 37, it is clear that cleaning solution by actuator cleaning solution fill nipple 31 soaks the first cleaning arm
Clean towel 36.
For second cleaning 15 structure of actuator as shown in figure 4, including an actuator soiling solution out splice going splice 41, one second clear
Clean arm connector 42, one second cleaning actuator connecting bracket 43, a scraper support 44, a scraper 45, one second
Cleaning arm cleaning towel 46, a second cleaning arm cleaning towel stent 47.The second cleaning actuator connecting bracket 43 1
End is equipped with scraper support 44, and the other end is equipped with the second cleaning arm cleaning towel stent 47, and centre of surface position is equipped with second thereon
Cleaning arm connector 42.Scraper 45 is mounted on scraper support 44.Second cleaning arm cleaning towel 46 is fixed on the second cleaning arm
The outer surface of cleaning towel stent 47.The bottom of second cleaning arm cleaning towel stent 47 is equipped with actuator soiling solution out splice going splice
41, the 46 remaining soiling solution of cleaning glass window curtain wall frame of the second cleaning arm cleaning towel is returned by actuator soiling solution out splice going splice 41
It receives.
The structure of babinet assembly 12 is as shown in figure 5, including a babinet assembly end cap 51, a babinet assembly shell 52,
One thermal insulation board 53, a system controller 54, a cleaning solution storage recycling system synthesis 55, a battery pack 56.Babinet
Assembly end cap 51 is bolted with babinet assembly shell 52,51 edge of babinet assembly end cap set there are six through-hole and babinet it is total
Match into 52 kinds of six threaded holes 68 of housing.Thermal insulation board 53, system controller 54 and battery pack 56 are placed in cleaning solution
The top of storage recycling system synthesis 55,53 upper end of thermal insulation board is stuck in thermal insulation board fixed card slot 63, positioned at system controller 54
With the centre of battery pack 56.The guiding of system controller 54 and battery pack 56 edge is separately fixed at system controller fixed card slot 65
In battery pack fixed card slot 69.
The structure of babinet assembly shell 52 connects pedestal 61 as shown in Fig. 6-Fig. 9, including second cleaning arm, and one is hung
Joint 62, a thermal insulation board fixed card slot 63, first cleaning arm connect pedestal 64, a system controller fixed card slot
65, first fixed card slot of cleaning solution storage recovery system 66, a housing cleaning solution delivery outlet 67, six threaded holes 68,
One battery pack fixed card slot 69, second fixed card slot of cleaning solution storage recovery system 610, a housing soiling solution recovery holes
611, a mobile supporting mechanism connection pedestal 612, first power line jack 613, a second source line jack 614,
One group of cooling fin 615, a controller input bus jack 616, a controller output bus jack 617, one first peace
Full rope jointing 618, a second safety rope jointing 619.
The back side of babinet assembly shell 52 is equipped with one group of cooling fin 615, the first safety rope jointing 618 and the second safety
Rope jointing 619, outer side surface, which is equipped with, thereon lifts connector 62, and inner side surface is equipped with thermal insulation board fixed card slot 63 thereon,
Mobile supporting mechanism is equipped on the outside of lower surface and connects pedestal 612, front edge sets that there are six threaded hole 68, two side external surfaces
It is respectively equipped with the first cleaning arm connection pedestal 64 and connects pedestal 61 with the second cleaning arm.
System controller fixed card slot 65, the first fixed card slot of cleaning solution storage recovery system 66 are each provided at the first cleaning arm
Connect the inner surface of 64 place side of pedestal.Housing cleaning solution delivery outlet 67, controller input bus jack 616 and controller are defeated
Go out total line jack 617 through 64 place side of the first cleaning arm connection pedestal, and housing cleaning solution delivery outlet 67 is deposited with cleaning solution
The cleaning solution delivery outlet 74 for storing up recovery system assembly 55 is concentric, and controller input bus jack 616 and controller output bus are inserted
Hole 617 is arranged on the rear of the first cleaning arm connection pedestal 64.
Battery pack fixed card slot 69, the second fixed card slot of cleaning solution storage recovery system 610 are each provided at the second cleaning arm company
Connect the inner surface of 61 place side of pedestal.Housing soiling solution recovery holes 611, the first power line jack 613 and second source line jack
614 through 61 place side of the second cleaning arm connection pedestal, and the center of housing soiling solution recovery holes 611 is stored back into cleaning solution
The center for receiving 55 soiling solution recovery holes 71 of system synthesis overlaps, and the first power line jack 613 and second source line jack 614 are arranged on
Second cleaning arm connects the rear of pedestal 61.
The structure of cleaning solution storage recycling system synthesis 55 is as shown in Figure 10-Figure 13, including a soiling solution recovery holes 71, one
A cleaning solution storage bin 72, a soiling solution recycling bins 73, a cleaning solution delivery outlet 74, a soiling solution recycling bins sealing cover 75,
One cleaning solution storage recovery system first is oriented to along 76, dirty liquid filters 77, a micro pump 78, a cleaning
Liquid storage recovery system second is oriented to along 79, cleaning solution sealing covers 710.
Cleaning solution storage bin 72 is connected with soiling solution recycling bins 73 by dirty liquid filter 77, and both sides are respectively equipped with clearly
Clean liquid delivery outlet 74 and soiling solution recovery holes 71, and micro pump 78 is equipped in cleaning solution storage bin 72.Shape during cleaning
Into soiling solution flow into soiling solution recycling bins 73 by soiling solution recovery holes 71, the soiling solution after precipitation is entered clear by dirty liquid filter 77
Clean liquid storage bin 72, under the action of micro pump 78, cleaning solution passes through the actuator cleaning solution in the first cleaning actuator 14
Fill nipple 31 infiltrates the first cleaning arm cleaning towel.It is set respectively at the top of cleaning solution storage bin 72 and 73 lateral surface of soiling solution recycling bins
There is cleaning solution storage recovery system second to be oriented to along 79 and cleaning solution storage recovery system first to be oriented to along 76, be cleaned for fixed
Position of the liquid storage recycling system synthesis 55 in babinet assembly shell 52, top is respectively equipped with 710 He of cleaning solution sealing cover
Soiling solution recycling bins sealing cover 75, for preventing the leakage of cleaning solution and soiling solution in the course of work.
There are one with X for the mobile tool of supporting mechanism 130Mobile supporting mechanism first revolute pair 815 of the direction for rotary shaft, two
It is a with Y0Direction is the active degree of freedom of rotary shaft, is mobile the second revolute pair of supporting mechanism 814 and mobile supporting mechanism respectively
Third revolute pair 813, structure is as shown in figure 14, including first driving motor of mobile supporting mechanism 81, a mobile branch
Support mechanism first connecting rod 82, the second driving motor of mobile supporting mechanism seat 83, a mobile supporting mechanism second drive electricity
Machine 84, a mobile supporting mechanism second connecting rod connector 85, a mobile supporting mechanism second connecting rod 86, a mobile support
Mechanism third driving motor seat 87, a mobile supporting mechanism third driving motor 88, a mobile supporting mechanism third connecting rod
Connector 89, a mobile supporting mechanism third connecting rod 810, an arc movement supporting mechanism foot end 811, an arc foot end is prevented
Sliding rubber pad 812.
First driving motor of mobile supporting mechanism 81 is fixed in babinet assembly shell 52 mobile supporting mechanism connection
The side of pedestal 612, output shaft connect firmly to form mobile the first revolute pair of supporting mechanism with mobile supporting mechanism first connecting rod 82
815.The other end of mobile supporting mechanism first connecting rod 82 is threadedly coupled with mobile the second driving motor of supporting mechanism seat 83.
The second driving motor of mobile supporting mechanism 84 is fixed on mobile the second driving motor of supporting mechanism seat 83, is exported
Axis connects firmly to form mobile the second revolute pair of supporting mechanism 814 with mobile supporting mechanism second connecting rod connector 85.Mobile supporting mechanism
One end of second connecting rod 86 is threadedly coupled with mobile supporting mechanism second connecting rod connector 85, the other end and mobile supporting mechanism third
Driving motor seat 87 is threadedly coupled.
Mobile supporting mechanism third driving motor 88 is fixed on mobile supporting mechanism third driving motor seat 87, is exported
Axis connects firmly to form mobile supporting mechanism third revolute pair 813 with mobile supporting mechanism third connecting rod connector 89.Mobile supporting mechanism
One end of third connecting rod 810 is threadedly coupled with mobile supporting mechanism third connecting rod connector 89, and the other end moves support machine with arc
Structure foot end 811 is threadedly coupled.Arc foot end anti-skid rubber cushion 812 is fixed on the end at arc movement supporting mechanism foot end 811.It moves
Dynamic supporting mechanism foot end and sufficient end anti-skid rubber cushion design camber increase Y0The frictional resistance in direction, but do not influence X0、 Z0
The movement in direction.
The structure of visual sensing system assembly 16 is as shown in figure 15, including camera 91, camera first support 92, camera shooting
First first jointing 93, camera second support 94, the first driving motor 95, the second jointing of camera 96, vision pass
Sensing system pedestal 97, the second driving motor 98.The visual sensing system pedestal 97 is fixed on the upper table of babinet assembly shell 52
Face.Second driving motor 98 is fixed on visual sensing system pedestal 97, and output shaft is solid with the second jointing of camera 96
Connection.The ring flange of the second jointing of camera 96 is threadedly coupled with the lower surface of camera second support 94, the second driving electricity
Machine 98 drives camera second support 94 to realize with Z0Direction is the rotation of rotary shaft.First driving motor 95 is fixed on camera shooting
The side of head second support 94, output shaft are connected firmly with the first jointing of camera 93.The first jointing of camera 93
Ring flange is threadedly coupled with camera first support 92, and the first driving motor 95 drives camera first support 92 to realize with Y0Side
To the rotation for rotary shaft.Camera 91 is fixed in camera first support 92.
A kind of high-altitude cleaning robot power with class manual work pattern of the present invention is provided by battery pack 56, elevator system
System power is provided by external power supply.The reception of information, processing is controlled to have system controller 54 to complete with sending.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (1)
1. a kind of cleaning method of the high-altitude cleaning robot with class manual work pattern, it is characterized in that, the robot packet
Two cleaning arm are included, a babinet assembly, two mobile supporting mechanisms, one first is cleaned actuator, and one second cleaning is held
Row device and a visual sensing system assembly, described two cleaning arm are by being separately fixed at babinet assembly middle case assembly shell
On, the first cleaning actuator and the second cleaning actuator are corresponding in cleaning arm respectively；Two mobile supporting mechanism difference
Mounted on babinet assembly middle case assembly shell lower end, the end of mobile supporting mechanism is fixed with arc foot end anti-skid rubber cushion；
Visual sensing system assembly is fixed on the top of babinet assembly middle case assembly shell, the electrical equipment in above-mentioned each component by
System controller controls；
The cleaning method includes the following steps：
Roof hoisting system and two safety ropes are configured in the first step；The main rope that hoisting system stretches out and babinet assembly shell top surface
Lifting connector connect firmly, safety rope jointing of two safety ropes respectively with the babinet assembly shell back side connects firmly, and two
Self-locking device is equipped on safety rope, when hoist engine failure, robot is not in rapidly to glide；
Second step, the sufficient end anti-skid rubber cushion of mobile supporting mechanism are adjacent to working face, and robot is avoided to swing；
Third walks, and the driving motor of visual sensing system assembly drives camera to swing respectively, checks the situation of work surface, and will
Information sends system controller to；
4th step, under the control of system controller, the micro pump in babinet assembly extracts cleaning from cleaning solution storage bin
Liquid soaks the first cleaning arm cleaning towel in the first cleaning actuator；
5th step, first cleaning actuator in the first cleaning arm cleaning towel detected for visual sensing system assembly it is apparent
Dirty work surface is tentatively wiped；
6th step removes dirt using the scraper in the second cleaning actuator；
7th step wipes clean surface using the first cleaning arm cleaning towel in the first cleaning actuator on a large scale；
8th step scrapes clean surface using the rubber strip in the first cleaning actuator；
9th step collects soiling solution using the second cleaning arm cleaning towel wiping in the second cleaning actuator, and soiling solution is via actuator
Soiling solution out splice going splice, babinet assembly shell soiling solution recovery holes, cleaning solution storage recovery system soiling solution recovery holes flow into soiling solution recycling
Case；
Tenth step, hoisting system action into next work surface, repeat above-mentioned cleaning process, until robot lands；
11st step, micro pump are opened to maximum, and first cleaning actuator the first cleaning arm cleaning towel and the second cleaning perform
Device the second cleaning arm cleaning towel is mutually wiped, is squeezed and soiling solution is discharged into soiling solution recycling via actuator soiling solution out splice going splice
Case；
Robot is promoted to roof by the 12nd step, hoisting system, and translation hoisting system starts into next vertical work surface
Cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009600.2A CN108143363B (en) | 2018-01-05 | 2018-01-05 | Cleaning method of high-altitude cleaning robot with humanoid working industry mode |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810009600.2A CN108143363B (en) | 2018-01-05 | 2018-01-05 | Cleaning method of high-altitude cleaning robot with humanoid working industry mode |
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| CN108143363B CN108143363B (en) | 2022-10-21 |
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| CN109795575A (en) * | 2019-02-26 | 2019-05-24 | 华南理工大学 | Hexapod robot system and its motion control method for glass curtain wall detection |
| CN114376449A (en) * | 2022-02-20 | 2022-04-22 | 山东交通学院 | Robot for cleaning stair steps and guardrails and cleaning method thereof |
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| CN114376449A (en) * | 2022-02-20 | 2022-04-22 | 山东交通学院 | Robot for cleaning stair steps and guardrails and cleaning method thereof |
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| Publication number | Publication date |
|---|---|
| CN108143363B (en) | 2022-10-21 |
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