CN108478088A - A kind of glass outer wall cleaning robot based on vacuum cup control - Google Patents
A kind of glass outer wall cleaning robot based on vacuum cup control Download PDFInfo
- Publication number
- CN108478088A CN108478088A CN201810165485.8A CN201810165485A CN108478088A CN 108478088 A CN108478088 A CN 108478088A CN 201810165485 A CN201810165485 A CN 201810165485A CN 108478088 A CN108478088 A CN 108478088A
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- China
- Prior art keywords
- face
- hole
- curved track
- set casing
- sucker
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to glass cleaning machine people's technical fields, more particularly to a kind of glass outer wall cleaning robot based on vacuum cup control, it includes first pipe, the first sucker, rail mechanism, the first circular hole, the second sucker, third sucker, second pipe, the 4th sucker, third pipeline, set casing, the second circular hole, first hole, the first half slot, second hole, third circular hole etc., is wherein provided with first hole on set casing end face；Set casing is opened and is provided with the first half slot on the end face of first hole, and the first half slot is located on the downside of first hole；The end face that set casing opens first hole is symmetrically provided with two group of second circular hole in both sides up and down.Sensing device mounted on set casing open the effect on the end face of second hole be induction cleaning robot robot mechanism be turning or across obstacle.Equipment in the present invention plays the role of while the glass on cleaning high building exterior wall with the metope and same cleaning metope across obstacle for automatically switching cleaning.
Description
Technical field
Outside the invention belongs to glass cleaning machine people technical field more particularly to a kind of glass based on vacuum cup control
Wall cleaning robot.
Background technology
Current existing glass cleaning machine people is simple in structure, generally mostly uses the mode that steel wire rope is fished and carries out outside high building
The washing and cleaning operation of glass on wall, there are very big security risks for this fixed form, because to cleaning robot in the height of high building
Guiding is fixed in people, under gravity, it will so that cleaning robot is swung to and fro, while when cleaning robot into
When the switching in row different work face, traditional cleaning robot is switched over by steel wire rope, will make cleaning robot in this way
People rock situation will bigger, the cleaning robot rocked in this way will encounter aerial barrier, it will to cleaning robot
People and barrier all damage, and to form unnecessary loss, in order to avoid the generation of such phenomenon, design one kind is based on
The glass outer wall cleaning robot of vacuum cup control is necessary.
The present invention design a kind of glass outer wall cleaning robot controlled based on vacuum cup solve the problems, such as it is as above.
Invention content
To solve drawbacks described above in the prior art, it is clear that the present invention discloses a kind of glass outer wall controlled based on vacuum cup
Robot is washed, it is realized using following technical scheme.
A kind of glass outer wall cleaning robot based on vacuum cup control, it is characterised in that：Rectangular-ambulatory-plane fixed plate is installed
On the upside of high building；Rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower face；The of perforation is provided on first T-shaped block end face
One T-slot；First T-shaped block is installed by the first T-slot and the cooperation of rectangular-ambulatory-plane T-bar；Steel wire rope one end is mounted on the first T-shaped block
On end face；Cleaning robot robot mechanism is mounted on steel wire rope, and cleaning robot robot mechanism coordinates with high building.
Above-mentioned cleaning robot robot mechanism includes first pipe, the first sucker, rail mechanism, the first circular hole, the second sucker,
Three suckers, second pipe, the 4th sucker, third pipeline, set casing, the second circular hole, first hole, the first half slot, second party
Hole, third circular hole, the second half slot, narrow slot, the first cleaning agency, the second cleaning agency, vacuum plant, sensing device, wherein
Set casing is provided with first hole on end face；Set casing is opened and is provided with the first half slot on the end face of first hole, and the first half slot
On the downside of first hole；The end face that set casing opens first hole is symmetrically provided with two group of second circular hole in both sides up and down；In every group
Two the second circular holes are distributed about set casing end surface symmetric；Second hole is provided on set casing end face, and set casing opens second party
The end face that first hole is opened on the end face in hole and set casing is in 90 degree of angles；It is provided with narrow slot on the upper surface of second hole；It is fixed
Shell is opened and is provided with the second half slot on the end face of second hole, and the second half slot is located on the downside of second hole；Set casing opens second
The end face of square hole is symmetrically provided with two groups of third circular holes in both sides up and down；Two third circular holes in every group are about set casing end surface symmetric
Distribution；Set casing upper surface is mounted on steel wire rope lower end, and first hole coordinates with the glass surface on high building；4 first pipes
Road is installed on set casing end face, and each first pipe is communicated with corresponding second circular hole respectively；4 third pipeline one end
It is installed on set casing end face, and each third pipeline is communicated with corresponding third circular hole respectively；The end of each first pipe
The first sucker is mounted on face；It is mounted on the 4th sucker on the end face of each third pipeline；First sucker and first pipe
It communicates；4th sucker is communicated with third pipeline；The end face of first sucker and the 4th sucker with the glass batch on high building exterior wall；
Rail mechanism is mounted on set casing；Two the second cleaning agencies open first hole end face both sides mounted on set casing；Two
One cleaning agency opens second hole end face both sides mounted on set casing；Sensing device is mounted on the end face that set casing opens second hole
On；Vacuum plant is mounted in set casing.
Above-mentioned rail mechanism includes the first curved track, third curved track, the second curved track, the first spring, the first square groove, the
Three T-shaped blocks, gas passage, the 4th T-shaped block, the second square groove, third square groove, the first arc-shaped slot, the first T shape arcs slot, the first electricity
Magnet, the first fixture block, third spring, the second electromagnet, the 4th spring, the second fixture block, the 4th square groove, the second curved channel,
Two T shape arcs slots, the second driving gear, the first driving gear, hold-down support, the first motor, fixing axle, first bevel gear, the
One motor shaft, the second motor, the second motor shaft, the first magnet, the second magnet, second bevel gear, wherein the first curved track end
The second curved channel being not penetrated is provided on face；The end face of second curved channel is provided with the 2nd T shape arc slots that both ends penetrate through；The
The 4th square groove is provided on one curved track upper surface, and the 4th square groove is communicated with the 2nd T shape arc slots；First curved track keeps away from second
First circular hole there are two being opened on the end face of curved channel；It is provided with teeth on the lower face of first curved track；First curved track is installed
In first hole and second hole；Two second sucker one end are mounted on the first curved track end face, and two the second suckers
It is communicated with corresponding first circular hole；Second motor is mounted on the second half slot side；First driving gear one end is mounted on the
On two motor shafts；First motor is mounted on the second half slot far from the second motor side；First bevel gear one end is mounted on
In first motor axial end；It is opened on the end face of first hole mounted on set casing hold-down support one end；Fixing axle, which is mounted on, fixes
On bearing；Second bevel gear one end is mounted in fixed axial end, and second bevel gear is engaged with first bevel gear；Second driving
Gear one end is mounted in fixed axial end, and the lower face of the second driving gear and the first curved track coordinates；Second curved track
The first curved channel of perforation is provided on end face；The first T shape arc slots are provided on the upper surface of first curved channel；Second curved track
Teeth are provided on lower face；Second curved track upper surface side is provided with third square groove, and third square groove and the first T shape arc slot phases
It is logical；It is provided with the second square groove on 4th T-shaped block upper surface；4th T-shaped block lower face is mounted on the second curved track upper surface, and the
Four T-shaped blocks are far from third square groove；Second curved track is installed by the 4th T-shaped block and the cooperation of the 2nd T shape arc slots；Under third curved track
Teeth are provided on end face；Gas passage there are two being opened on third curved track end face；Third T-shaped block is provided with first party on upper surface
Slot；Third T-shaped block lower face is mounted on third curved track upper surface；Two second pipes are mounted on third curved track end face
On, and two second pipes are communicated with corresponding gas passage；Third sucker is mounted on the end face of two second pipes, and
Third sucker is communicated with second pipe；Third curved track is installed by third T-shaped block and the cooperation of the first T shape arc slots；First spring
One end is mounted on the second curved channel end face, and the other end is mounted on third curved track end face；Two third springs are respectively positioned on
In first square groove, third spring one end is mounted on the first square groove end face；First fixture block is located in the first square groove, the first fixture block
Lower face is mounted on third spring；First magnet is mounted in third square groove；First electromagnet one end is fixedly mounted on third
In square groove；Two the 4th springs are respectively positioned in the second square groove, and the 4th spring one end is mounted on the second square groove end face；Second fixture block
In the second square groove, the lower face of the second fixture block is mounted on the 4th spring；Second magnet is mounted in the 4th square groove；Second
Electromagnet one end is fixedly mounted in the 4th square groove.
Above-mentioned first circular hole, the second circular hole, third circular hole, gas passage are connected by pipeline with vacuum plant；Induction
Device is connected by electric line with the first motor and the second motor；When third curved track does not move out with the second curved track
When the first curved track, the first driving gear at this time is engaged with the teeth opened on the lower face of third curved track；Second driving
Gear is engaged with the teeth opened on the first curved track lower face.
As being further improved for this technology, there are friction force effects between above-mentioned first magnet and third square groove；The
There are friction force effects between two magnet and the 4th square groove.
As being further improved for this technology, above-mentioned first sucker, the second sucker, third sucker, the 4th sucker size
Size is identical.
As being further improved for this technology, above-mentioned third spring and the 4th spring are compressed spring；First spring is
Extension spring.
As being further improved for this technology, above-mentioned fixing axle is mounted on by bearing on hold-down support.
As being further improved for this technology, solid lubrication oil is coated between above-mentioned first T-slot and rectangular-ambulatory-plane T-bar.
Relative to traditional glass cleaning machine people's technology, rectangular-ambulatory-plane fixed plate of the present invention is mounted on the effect on the upside of high building
It is easy for fixed rectangular-ambulatory-plane T-bar；The effect that rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower face is easy for the first T
The first T-slot that shape block is opened on it under the mating reaction of rectangular-ambulatory-plane T-bar, can allow the first T-bar along returning
Font T-bar moves, so that steel wire rope can drive cleaning robot preferably to clean the glass outer wall on the outside of high building；The
One T-shaped block is easy for fixed steel wire rope by the effect of the first T-slot and the cooperation installation of rectangular-ambulatory-plane T-bar；Pacify steel wire rope one end
Effect on the first T-shaped block end face is easy for fixed cleaning robot, so that cleaning robot can be comprehensively clear
Wash the glass outer wall on the outside of high building；Cleaning robot robot mechanism is mounted on steel wire rope, and cleaning robot robot mechanism coordinates with high building
Effect be easy for cleaning high building glass outer wall.
In the present invention effect of cleaning robot robot mechanism be easy for cleaning high building exterior wall glass, while again can automatically across
The metope of barrier and automatic conversion cleaning more on glass outer wall.The effect that first hole is provided on set casing end face is easy for
First curved track is installed；Set casing is opened and is provided with the first half slot on the end face of first hole, and the first half slot is located at first party
The movement that effect on the downside of hole drives gear convenient for second；The end face that set casing opens first hole is symmetrically provided with two groups in both sides up and down
The effect of second circular hole is easy for the flowing of the gas in vacuum plant；Second hole is provided on set casing end face, and set casing is opened
The end face that first hole is opened on the end face of second hole and set casing is easy for fixing the first curved track in the effect of 90 degree of angles,
The effect for the distribution that first hole is presented 90 degree with second hole simultaneously is easy for cleaning robot robot mechanism after automatic turning, again
It can continue to clean the glass outer wall on high building；The effect that narrow slot is provided on the upper surface of second hole is easy for the second electricity of installation
Magnet；Set casing is opened and is provided with the second half slot on the end face of second hole, and the second half slot is located at the work on the downside of second hole
With being easy for fixing the first motor and the second motor；The end face that set casing opens second hole is provided with the works of two groups of third circular holes
With the into or out third pipeline of the gas being easy in vacuum plant；Set casing upper surface is mounted on steel wire rope lower end,
And the effect of first hole and the glass surface cooperation on high building is easy for the first cleaning agency and the second cleaning agency cleans high building
Glass outer wall；The effect that 4 first pipes are installed on set casing end face, which is easy for vacuum plant, can absorb the first suction
Gas in disk；The effect that 4 third pipeline one end are installed on set casing end face is easy for vacuum plant and absorbs the 4th suction
Gas in disk；The end face of first sucker and the 4th sucker is easy for clean with the effect of the glass batch on high building exterior wall
Robot mechanism is fixed on the glass outer wall on high building, to achieve the purpose that stable cleaning robot robot mechanism；Rail mechanism
Effect on set casing, which is easy for cleaning robot robot mechanism, can smoothly turn and across obstacle；Two second cleanings
The effect that mechanism opens first hole end face both sides mounted on set casing is easy for cleaning the glass outer wall of high building；Two first cleanings
It is to facilitate the cleaning robot robot mechanism after turning that can clean that mechanism, which is mounted on set casing and opens the effect of second hole end face both sides,
The glass outer wall in the face；It is that induction cleaning robot is man-machine that sensing device opens the effect on the end face of second hole mounted on set casing
Structure is turning or across obstacle, to achieve the purpose that control the first motor or the second motor movement；Vacuum holding
The effect in set casing is set to be easy for forming vacuum shape to the first sucker, the second sucker, third sucker and the 4th sucker
State, so that cleaning robot robot mechanism can be fixed on the glass on high building exterior wall.
The effect of middle orbit mechanism of the present invention is easy for cleaning robot robot mechanism can smoothly across obstacle or completion
Turning motion；The effect that the second curved channel being not penetrated is provided on first curved track end face is easy for accommodating the second curved track；
The effect that the end face of second curved channel is provided with the 2nd T shape arc slots that both ends penetrate through is and on the second curved track
Four T shapes open forms are at being slidably matched；The 4th square groove, and the 4th square groove and the 2nd T shape arc slot phases are provided on first curved track upper surface
Logical effect is easy for the second electromagnet of installation, while the 4th square groove coordinates with the second fixture block on the second curved track；
Under the action of the second fixture block and four square grooves, achieve the purpose that limit the movement of the second curved track；First curved track keeps away from
The effect of the first circular hole is easy for the effect of the second sucker of vacuum plant pair there are two being opened on the end face of two curved channels so that second
Air in sucker enters in vacuum plant；The effect that teeth are provided on the lower face of first curved track is easy for the second sliding tooth
The first curved track of wheel drive moves；First curved track is mounted on first hole and is easy for cleaning robot with the effect in second hole
The purpose of turning may be implemented in robot mechanism；The effect that two second sucker one end are mounted on the first curved track end face be easy for by
First curved track is fixed on the glass on high building exterior wall；The effect that second motor is mounted on the second half slot side is easy for
Driving the first driving gear movement；The effect that first driving gear one end is mounted on the second motor shaft is easy for driving third arc
Shape rail moves；First motor is easy for driving the first cone tooth mounted on effect of second half slot far from the second motor side
Wheel movement；The effect that first bevel gear one end is mounted in first motor axial end is to be transmitted to the movement on the first motor
In second bevel gear；The effect on the end face of first hole is opened mounted on set casing and is easy for installation fixation in hold-down support one end
Axis；The effect that fixing axle is mounted on hold-down support is easy for fixed second bevel gear and the second driving gear；Second bevel gear
One end is mounted in fixed axial end, and the effect that second bevel gear is engaged with first bevel gear is easy for driving fixing axle fortune
It is dynamic；Second driving gear one end is mounted in fixed axial end, and the lower face of the second driving gear and the first curved track coordinates
Effect be easy for second the first curved track of sliding tooth wheel drive movement；The first arc of perforation is provided on second curved track end face
The effect in channel is easy for accommodating third curved track；The effect of the first T shape arc slots is provided on the upper surface of first curved channel is
It is slidably matched with the third T-shaped block formation on third curved track, to achieve the purpose that guide the movement of third curved track；
The effect that teeth are provided on second curved track lower face is easy for the movement of first the second curved track of sliding tooth wheel drive；Second arc
Rail upper surface side is provided with third square groove, and the effect that is communicated with the first T shape arc slots of third square groove be with mounted on third arc
The first fixture block cooperation on rail, to achieve the purpose that limit the movement of third curved track；It is provided with second on 4th T-shaped block upper surface
The effect of square groove is easy for the secondth fixture block of installation；Second curved track is installed by the 4th T-shaped block and the cooperation of the 2nd T shape arc slots
Effect is easy for cleaning robot robot mechanism turning motion；The effect that teeth are provided on third curved track lower face is easy for the first drive
Moving teeth wheel drive third curved track moves；The effect of gas passage is easy for third sucker there are two being opened on third curved track end face
Interior gas enters in vacuum plant；The effect that the first square groove is provided on third T-shaped block upper surface is easy for the first fixture block of installation；
Third sucker is mounted on the end face of two second pipes, and the effect that third sucker is communicated with second pipe is easy for
Three curved tracks are fixed on the glass outer wall of high building；Third curved track is installed by third T-shaped block and the cooperation of the first T shape arc slots
Effect, which is robot mechanism easy to clean, to turn；First spring one end is mounted on the second curved channel end face, the other end
Effect on third curved track end face is to give third curved track or the first curved track one recovery force effect；First electricity
There are the effect of friction force effect it is so that the first magnet under gravity will not be along the between magnet and third square groove
Three square groove directions move；Between second magnet and the 4th square groove there are friction force effect effect be so that the second electromagnet exists
It will not be moved along the 4th square groove direction under the action of gravity；The size of first sucker, the second sucker, third sucker, the 4th sucker
The identical effect of size be so that the first sucker, the second sucker, third sucker, the 4th sucker to the glass on high building exterior wall
Adsorption capacity is identical.
In use, rectangular-ambulatory-plane fixed plate is mounted on high building first；Rectangular-ambulatory-plane T-bar is solid mounted on rectangular-ambulatory-plane
On fixed board；First T-shaped block is installed by the first T-slot and the cooperation of rectangular-ambulatory-plane T-bar；Steel wire rope one end is mounted on the first T-shaped block
On；Cleaning robot robot mechanism is mounted on steel wire rope；The exterior wall that cleaning robot robot mechanism is mounted on to high building at this time needs to clean
Glass on；Rail mechanism at this time is in set casing；When the sensing device on cleaning robot robot mechanism senses cleaning machine
When device robot mechanism needs turning, the second sucker will be adsorbed under the action of vacuum plant on the glass of high building；Sense at this time
Answer mechanism that signal will be passed to the second motor；First motor will not move；Second motor shaft will drive the first drive
Moving gear moves, and the first driving gear will drive third curved track to move, when third curved track moves 90 degree, at this time the
One fixture block will be moved into third square groove and coordinate with the first magnet under the action of third spring, third arc at this time
Rail will will not continue to move under the action of the first fixture block；The first driving gear at this time will drive the second curved track to continue
Movement, when the second curved track moves 90 degree, the second fixture block at this time will be moved into the 4th under the action of four springs
Coordinate with the second magnet in square groove, the second curved track at this time will will not continue to move under the action of the second fixture block；When
When glass contact on three suckers and high building, third sucker at this time will be adsorbed under the action of vacuum plant on high building
On glass, rail mechanism is adsorbed on the corner of high building exterior wall at this time；Vacuum plant at this time will make the first sucker to glass
The adsorption capacity of exterior wall disappears, and direction of rotation when the second motor at this time will come out relative to rail mechanism is on the contrary, at this time
In the teeth that protective shell will be opened under the action of the first driving gear along the second curved track and third curved track lower face
Movement, when sensing device senses that turning is completed in set casing, sensing device will control the first electromagnet and the second electromagnetism
Tie Tong electricity, the first electromagnet and the second electromagnet at this time will have magnetism, and the first electromagnet will be to the first magnet one
Repel force effect, the first magnet will push the first fixture block to move；The first fixture block at this time will move out third square groove；Second
Electromagnet will be given to one repulsion force effect of the second magnet, and the second magnet will push the second fixture block to move；The second card at this time
Block will move out the 4th square groove；The first curved track and the second curved track at this time will be moved under the action of the first spring into
Enter in set casing；Cleaning robot robot mechanism will complete turning motion；When cleaning robot robot mechanism need to back within it is original
When on the side of high building, third sucker will be adsorbed under the action of vacuum plant on the glass on high building；Induction at this time
Device will control the first motor movement, and the first motor axis of movement will drive first bevel gear to move, first bevel gear
Second bevel gear will be driven to move, second bevel gear will drive fixing axle to move, and fixing axle will drive the second sliding tooth
Wheel movement, the second driving gear will drive the first curved track to move, the first curved track will after 90 degree of movement, at this time the
Two fixture blocks will be moved into the 4th square groove and coordinate with the second magnet under the action of four springs, the first arc at this time
Rail will will not continue to move under the action of the second fixture block；The second driving gear at this time continues to the second curved track of driving
Movement, when the second curved track moves 90 degree, the first fixture block at this time will be moved into third under the action of third spring
Coordinate with the first magnet in square groove, the second curved track at this time will will not continue to move under the action of the first fixture block；Second
Sucker will be adsorbed under the action of vacuum plant on the glass of high building；Rail mechanism will complete the trackwork of turning,
Set casing at this time will move under the action of the second driving gear along the second curved track and the first curved track, work as cleaning robot
Robot mechanism successfully complete direction turning when, under the action of sensing device, the first electromagnet and the second electromagnet, the first fixture block and
Second fixture block will lose the restriction effect to the second curved track and third curved track, and third curved track at this time is in the second arc
Rail will move under the action of the first spring in set casing, and cleaning robot robot mechanism at this time will complete the mesh of U-turn
's；By the turning flow of above cleaning robot robot mechanism it is recognised that when the rail mechanism fortune on cleaning robot robot mechanism
When moving 180 degree, cleaning robot robot mechanism at this time can smoothly cross over the barrier between glass adjacent on high building exterior wall.
Description of the drawings
Fig. 1 is global facility distribution schematic diagram.
Fig. 2 is rectangular-ambulatory-plane T-bar mounting structure schematic diagram.
Fig. 3 is cleaning robot robot mechanism mounting structure schematic diagram.
Fig. 4 is steel wire rope mounting structure schematic diagram.
Fig. 5 is the first T-shaped block structural schematic diagram.
Fig. 6 is the first sucker mounting structure schematic diagram.
Fig. 7 is fixed shell structure (one) schematic diagram.
Fig. 8 is fixed shell structure (two) schematic diagram.
Fig. 9 is the second sucker mounting structure schematic diagram.
Figure 10 is the second driving gear installation structure schematic diagram.
Figure 11 is the first driving gear installation structure schematic diagram.
Figure 12 is the first spring mounting structure schematic diagram.
Figure 13 is third curved track structural schematic diagram.
Figure 14 is second curved track structure (one) schematic diagram.
Figure 15 is second curved track structure (two) schematic diagram.
Figure 16 is the first electromagnet mounting structure schematic diagram.
Figure 17 is the first electromagnet mounting structure schematic diagram.
Figure 18 is first curved track structure (one) schematic diagram.
Figure 19 is first curved track structure (two) schematic diagram.
Figure 20 is cleaning robot robot mechanism turning process schematic.
Figure 21 is cleaning robot robot mechanism across obstacle process schematic.
Figure label title：1, the first T-shaped block；2, rectangular-ambulatory-plane fixed plate；3, rectangular-ambulatory-plane T-bar；4, high building；5, steel wire
Rope；6, cleaning robot robot mechanism；8, the first T-slot；9, first pipe；10, the first sucker；11, rail mechanism；12, the first circle
Hole；13, the second sucker；14, third sucker；15, second pipe；17, the 4th sucker；18, third pipeline；19, set casing；20、
Second circular hole；21, first hole；22, the first half slot；23, second hole；24, third circular hole；25, the second half slot；26、
Narrow slot；28, the first cleaning agency；29, the second cleaning agency；30, vacuum plant；33, the first curved track；34, the second sliding tooth
Wheel；35, the first driving gear；36, hold-down support；37, the first motor；38, fixing axle；39, first bevel gear；41, third
Curved track；44, the second curved track；48, first motor axis；49, the second motor；50, the second motor shaft；52, the first spring；
53, the first square groove；54, third T-shaped block；55, gas passage；60, the 4th T-shaped block；61, the second square groove；62, third square groove；63、
First arc-shaped slot；64, the first T shape arc slots；65, the first electromagnet；66, the first fixture block；67, third spring；70, the second electromagnetism
Iron；71, the 4th spring；72, the second fixture block；73, the 4th square groove；74, the second curved channel；75, the 2nd T shape arc slots；83, obstacle
Object；84, sensing device；88, second bevel gear；92, the first magnet；93, the second magnet.
Specific implementation mode
As shown in Figure 1, rectangular-ambulatory-plane fixed plate 2 is mounted on 4 upside of high building；As shown in Fig. 2, rectangular-ambulatory-plane T-bar 3 is mounted on back
On 2 lower face of font fixed plate；As shown in figure 5, being provided with the first T-slot 8 of perforation on 1 end face of the first T-shaped block；As shown in Figure 1,
First T-shaped block 1 is installed by the first T-slot 8 and the cooperation of rectangular-ambulatory-plane T-bar 3；As shown in figure 4,5 one end of steel wire rope is mounted on the
On one T-shaped block, 1 end face；As shown in figure 3, cleaning robot robot mechanism 6 is mounted on steel wire rope 5, and cleaning robot robot mechanism 6 and height
Building 4 coordinates.
As shown in fig. 6, above-mentioned cleaning robot robot mechanism 6 includes first pipe 9, the first sucker 10, rail mechanism 11, first
Circular hole 12, the second sucker 13, third sucker 14, second pipe 15, the 4th sucker 17, third pipeline 18, set casing 19, second are justified
Hole 20, first hole 21, the first half slot 22, second hole 23, third circular hole 24, the second half slot 25, narrow slot 26, first are clear
Mechanism 28, the second cleaning agency 29, vacuum plant 30, sensing device 84 are swept, as shown in Figure 7,8, wherein on 19 end face of set casing
It is provided with first hole 21；As shown in Figure 7,8, set casing 19 is opened and is provided with the first half slot 22, and on the end face of first hole 21
One half slot 22 is located at 21 downside of first hole；As shown in Figure 7,8, set casing 19 opens the end face of first hole 21 or more both sides pair
Title is provided with two group of second circular hole 20；As shown in Figure 7,8, two the second circular holes 20 in every group are about 19 end surface symmetric of set casing point
Cloth；As shown in Figure 7,8, second hole 23 is provided on 19 end face of set casing, and set casing 19 is opened the end face of second hole 23 and consolidated
The end face for determining to open first hole 21 on shell 19 is in 90 degree of angles；As shown in Figure 7,8, it is provided with narrow slot on the upper surface of second hole 23
26；As shown in Figure 7,8, set casing 19 is opened and is provided with the second half slot 25, and the second half slot 25 on the end face of second hole 23
In 23 downside of second hole；As shown in Figure 7,8, set casing 19 opens the end face of second hole 23 both sides is symmetrically provided with two groups the up and down
Three circular holes 24；Two third circular holes 24 in every group are distributed about 19 end surface symmetric of set casing；As shown in Figure 1, on set casing 19
End face is mounted on 5 lower end of steel wire rope, and first hole 21 coordinates with the glass surface on high building 4；As shown in fig. 6,4 first pipes
Road 9 is installed on 19 end face of set casing, and each first pipe 9 is communicated with corresponding second circular hole 20 respectively；Such as Fig. 6 institutes
Show, 4 18 one end of third pipeline are installed on 19 end face of set casing, and each third pipeline 18 is justified with corresponding third respectively
Hole 24 communicates；As shown in fig. 6, being mounted on the first sucker 10 on the end face of each first pipe 9；As shown in fig. 6, each third
The 4th sucker 17 is mounted on the end face of pipeline 18；First sucker 10 is communicated with first pipe 9；As shown in fig. 6, the 4th sucker
17 communicate with third pipeline 18；The end face of first sucker 10 and the 4th sucker 17 with the glass batch on 4 exterior wall of high building；Such as figure
Shown in 6, rail mechanism 11 is mounted on set casing 19；As shown in figure 9, two the second cleaning agencies 29 are opened mounted on set casing 19
21 end face both sides of first hole；As shown in fig. 6, two the first cleaning agencies 28 open 23 end face of second hole mounted on set casing 19
Both sides；As shown in fig. 6, sensing device 84 is opened mounted on set casing 19 on the end face of second hole 23；As shown in Fig. 6,9, vacuum
Device 30 is mounted in set casing 19.
As shown in Figure 10,11, above-mentioned rail mechanism 11 includes the first curved track 33, third curved track 41, the second curved track
44, the first spring 52, the first square groove 53, third T-shaped block 54, gas passage 55, the 4th T-shaped block 60, the second square groove 61, third party
Slot 62, the first arc-shaped slot 63, the first T shape arcs slot 64, the first electromagnet 65, the first fixture block 66, third spring 67, the second electromagnetism
Iron 70, the 4th spring 71, the second fixture block 72, the 4th square groove 73, the second curved channel 74, the 2nd T shape arcs slot 75, the second sliding tooth
The 34, first driving of wheel gear 35, hold-down support 36, the first motor 37, fixing axle 38, first bevel gear 39, first motor axis
48, the second motor 49, the second motor shaft 50, the first magnet 92, the second magnet 93, second bevel gear 88, such as Figure 18,19 institutes
Show, wherein being provided with the second curved channel 74 being not penetrated on 33 end face of the first curved track；As shown in Figure 18,19, the second arc is logical
The end face in road 74 is provided with the 2nd T shape arcs slot 75 that both ends penetrate through；As shown in figure 18, is provided on 33 upper surface of the first curved track
Four square grooves 73, and the 4th square groove 73 is communicated with the 2nd T shape arcs slot 75；As shown in figure 19, the first curved track 33 keeps away from the second arc
First circular hole 12 there are two being opened on the end face in shape channel 74；It is provided with teeth on the lower face of first curved track 33；As shown in fig. 6,
First curved track 33 is mounted in first hole 21 and second hole 23；As shown in Figure 10, two 13 one end of the second sucker installations
On 33 end face of the first curved track, and two the second suckers 13 are communicated with corresponding first circular hole 12；As shown in fig. 6, the second electricity
Motivation 49 is mounted on 25 side of the second half slot；As shown in figure 11, first 35 one end of driving gear is mounted on the second motor shaft 50
On；As shown in fig. 6, the first motor 37 is mounted on the second half slot 25 far from 49 side of the second motor；As shown in figure 11,
One bevel gear, 39 one end is mounted on 48 end face of first motor axis；First hole is opened mounted on set casing 19 in 36 one end of hold-down support
On 21 end face；Fixing axle 38 is mounted on hold-down support 36；As shown in figure 11,88 one end of second bevel gear is mounted on fixing axle
On 38 end faces, and second bevel gear 88 is engaged with first bevel gear 39；As shown in figure 11, second 34 one end of driving gear is mounted on
On 38 end face of fixing axle, and the lower face of the second driving gear 34 and the first curved track 33 coordinates；As shown in Figure 14,15, second
The first curved channel of perforation is provided on 44 end face of curved track；As shown in figure 14, is provided on the upper surface of the first curved channel
One T shape arcs slot 64；Second curved track is provided with teeth on 44 lower face；As shown in figure 15,44 upper surface side of the second curved track is opened
There is third square groove 62, and third square groove 62 is communicated with the first T shape arcs slot 64；As shown in figure 15, it is opened on 60 upper surface of the 4th T-shaped block
There is the second square groove 61；As shown in figure 15,60 lower face of the 4th T-shaped block is mounted on 44 upper surface of the second curved track, and the 4th T shapes
Block 60 is far from third square groove 62；As shown in figure 11, the second curved track 44 is coordinated by the 4th T-shaped block 60 and the 2nd T shape arcs slot 75
Installation；Third curved track is provided with teeth on 41 lower face；As shown in figure 13, gas is logical there are two being opened on 41 end face of third curved track
Road 55；As shown in figure 13, it is provided with the first square groove 53 on 54 upper surface of third T-shaped block；As shown in figure 13,54 lower end of third T-shaped block
Face is mounted on 41 upper surface of third curved track；Two second pipes 15 are mounted on 41 end face of third curved track, and two the
Two pipelines 15 are communicated with corresponding gas passage 55；As shown in figure 11, it is mounted on third on the end face of two second pipes 15
Sucker 14, and third sucker 14 is communicated with second pipe 15；As shown in figure 11, third curved track 41 by third T-shaped block 54 with
The cooperation installation of first T shape arcs slot 64；As shown in figure 12,52 one end of the first spring is mounted on 74 end face of the second curved channel, separately
One end is mounted on 41 end face of third curved track；As shown in figure 16, two third springs 67 are respectively positioned in the first square groove 53, third
67 one end of spring is mounted on 53 end face of the first square groove；As shown in figure 16, the first fixture block 66 is located in the first square groove 53, the first card
The lower face of block 66 is mounted on third spring 67；As shown in figure 16, the first magnet 92 is mounted in third square groove 62；Such as Figure 16
Shown, 65 one end of the first electromagnet is fixedly mounted in third square groove 62；As shown in figure 17, two the 4th springs 71 are respectively positioned on
In two square grooves 61,71 one end of the 4th spring is mounted on 61 end face of the second square groove；As shown in figure 17, the second fixture block 72 is located at second
In square groove 61, the lower face of the second fixture block 72 is mounted on the 4th spring 71；As shown in figure 17, the second magnet 93 is mounted on the 4th
In square groove 73；Second electromagnet, 70 one end is fixedly mounted in the 4th square groove 73.
Above-mentioned first circular hole 12, the second circular hole 20, third circular hole 24, gas passage 55 pass through pipeline and vacuum plant 30
It is connected；Sensing device 84 is connected by electric line with the first motor 37 and the second motor 49；When third curved track 41 and
When two curved tracks 44 do not move out the first curved track 33, the lower face of the first driving gear 35 and third curved track 41 at this time
On opened teeth engagement；Second driving gear 34 is engaged with the teeth opened on 33 lower face of the first curved track.
There are friction force effects between above-mentioned first magnet 92 and third square groove 62；Second magnet 93 and the 4th square groove 73
Between there are friction force effect.
Above-mentioned first sucker 10, the second sucker 13, third sucker 14, the size of the 4th sucker 17 are identical.
67 and the 4th spring 71 of above-mentioned third spring is compressed spring；First spring 52 is extension spring.
Above-mentioned fixing axle 38 is mounted on by bearing on hold-down support 36.
Solid lubrication oil is coated between above-mentioned first T-slot 8 and rectangular-ambulatory-plane T-bar 3.
In summary：
The effect that rectangular-ambulatory-plane fixed plate 2 of the present invention is mounted on 4 upside of high building is easy for fixed rectangular-ambulatory-plane T-bar 3；Rectangular-ambulatory-plane
The effect that T-bar 3 is mounted on 2 lower face of rectangular-ambulatory-plane fixed plate is easy for the first T-slot 8 that the first T-shaped block 1 is opened on it
Under mating reaction with rectangular-ambulatory-plane T-bar 3, the first T-bar can be allow to be moved along rectangular-ambulatory-plane T-bar 3, so that steel
Cord 5 can drive cleaning robot preferably to clean the glass outer wall on the outside of high building 4；First T-shaped block 1 passes through the first T-slot 8
Effect with the cooperation installation of rectangular-ambulatory-plane T-bar 3 is easy for fixed steel wire rope 5；5 one end of steel wire rope is mounted on 1 end face of the first T-shaped block
On effect be easy for fixed cleaning robot so that cleaning robot can comprehensively clean the glass in 4 outside of high building
Exterior wall；Cleaning robot robot mechanism 6 is mounted on steel wire rope 5, and the effect that cleaning robot robot mechanism 6 coordinates with high building 4 is easy for
Clean the glass outer wall of high building 4.
The effect of cleaning robot robot mechanism 6 is easy for the glass of cleaning 4 exterior wall of high building in the present invention, while again can be automatic
Across the metope of barrier 83 and automatic conversion cleaning on glass outer wall.The work of first hole 21 is provided on 19 end face of set casing
Be easy for installation the first curved track 33；Set casing 19 is opened and is provided with the first half slot 22, and first on the end face of first hole 21
Half slot 22 is located at movement of the effect of 21 downside of first hole convenient for the second driving gear 34；Set casing 19 opens first hole 21
Both sides are symmetrically provided with the effect of two group of second circular hole 20 and are easy for gas in vacuum plant 30 and flow up and down for end face；Set casing
It is provided with second hole 23 on 19 end faces, and set casing 19 is opened and opens first hole 21 on the end face and set casing 19 of second hole 23
End face is easy for fixing the first curved track 33 in the effect of 90 degree of angles, while first hole 21 is presented 90 degree with second hole 23
The effect of distribution be easy for cleaning robot robot mechanism 6 after automatic turning, and can continue to clean outside the glass on high building 4
Wall；The effect that narrow slot 26 is provided on the upper surface of second hole 23 is easy for the second electromagnet 70 of installation；Set casing 19 opens second
The second half slot 25 is provided on the end face of square hole 23, and the second half slot 25 is located at the effect on the downside of second hole 23 and is easy for admittedly
Fixed first motor 37 and the second motor 49；The end face that set casing 19 opens second hole 23 is provided with the works of two groups of third circular holes 24
With the into or out third pipeline of the gas being easy in vacuum plant 30 18；19 upper surface of set casing is mounted on steel wire rope 5
On lower end, and first hole 21 and the effect of the glass surface cooperation on high building 4 are easy for the cleaning of the first cleaning agency 28 and second
Mechanism 29 cleans the glass outer wall of high building 4；The effect that 4 first pipes 9 are installed on 19 end face of set casing is easy for vacuum
Device 30 can absorb the gas in the first sucker 10；4 18 one end of third pipeline are installed in the work on 19 end face of set casing
With the gas being easy in the 4th sucker 17 of absorption of vacuum plant 30；The end face of first sucker 10 and the 4th sucker 17 is and high building
The effect of glass batch on 4 exterior walls is easy on the glass outer wall that cleaning robot robot mechanism 6 is fixed on high building 4, to
Achieve the purpose that stable cleaning robot robot mechanism 6；The effect that rail mechanism 11 is mounted on set casing 19 is easy for cleaning robot
Robot mechanism 6 can smoothly turn and across obstacle 83；Two the second cleaning agencies 29 open first hole mounted on set casing 19
The effect of 21 end faces both sides is easy for the glass outer wall of cleaning high building 4；Two the first cleaning agencies 28 are opened mounted on set casing 19
The effect of 23 end face both sides of second hole is the glass outer wall for facilitating the cleaning robot robot mechanism 6 after turning that can clean the face；
Mounted on set casing 19, to open the effect on the end face of second hole 23 be induction cleaning robot robot mechanism 6 to sensing device 84 is turning
Or across obstacle 83, to achieve the purpose that control the first motor 37 or the movement of the second motor 49；Vacuum plant
30 effects being mounted in set casing 19 are easy for the first sucker 10, the second sucker 13, third sucker 14 and the 4th sucker 17
Vacuum state is formed, so that cleaning robot robot mechanism 6 can be fixed on the glass on 4 exterior wall of high building.
The effect of middle orbit mechanism 11 of the present invention be easy for cleaning robot robot mechanism 6 can smoothly across obstacle 83 or
Complete turning motion；The effect that the second curved channel 74 being not penetrated is provided on first curved track, 33 end face is easy for receiving second
Curved track 44；The effect that the end face of second curved channel 74 is provided with the 2nd T shape arcs slot 75 that both ends penetrate through be with mounted on
The 4th T shapes open form on two curved tracks 44 is at being slidably matched；The 4th square groove 73, and the 4th are provided on first curved track, 33 upper surface
The effect that square groove 73 is communicated with the 2nd T shape arcs slot 75 be easy for installation the second electromagnet 70, while the 4th square groove 73 be mounted on
The second fixture block 72 cooperation on second curved track 44；Under the action of the second fixture block 72 and the 4th square groove 73, reach limitation second
The purpose that curved track 44 moves；First curved track 33, which is kept away from, opens that there are two the first circular holes 12 on the end face of the second curved channel 74
Effect be easy for vacuum plant 30 second sucker 13 acted on so that the air in the second sucker 13 enters vacuum plant 30
It is interior；The effect that teeth are provided on the lower face of first curved track 33 is easy for the second driving gear 34 driving the first curved track 33 fortune
It is dynamic；The effect that first curved track 33 is mounted in first hole 21 and second hole 23 is easy for cleaning robot robot mechanism 6 can be with
Realize the purpose of turning；The effect that two 13 one end of the second sucker are mounted on 33 end face of the first curved track is easy for the first arc
Shape rail 33 is fixed on the glass on 4 exterior wall of high building；The effect that second motor 49 is mounted on 25 side of the second half slot is just
It is moved in driving the first driving gear 35；The effect that first 35 one end of driving gear is mounted on the second motor shaft 50 is easy for driving
Dynamic third curved track 41 moves；First motor 37 is mounted on effect of second half slot 25 far from 49 side of the second motor
It is moved convenient for driving first bevel gear 39；The effect that 39 one end of first bevel gear is mounted on 48 end face of first motor axis is by the
Movement on one motor 37 is transmitted in second bevel gear 88；First hole is opened mounted on set casing 19 in 36 one end of hold-down support
Effect on 21 end face is easy for installation fixing axle 38；The effect that fixing axle 38 is mounted on hold-down support 36 is easy for fixing
Second bevel gear 88 and second drives gear 34；88 one end of second bevel gear is mounted on 38 end face of fixing axle, and the second cone tooth
The effect that wheel 88 is engaged with first bevel gear 39 is easy for driving fixing axle 38 and moves；Second 34 one end of driving gear is mounted on solid
On 38 end face of dead axle, and the effect of the lower face cooperation of the second driving gear 34 and the first curved track 33 is easy for the second sliding tooth
34 driving the first curved track 33 movement of wheel；The effect that the first curved channel of perforation is provided on second curved track, 44 end face is easy for
Accommodate third curved track 41；The effect that the first T shape arcs slot 64 is provided on the upper surface of first curved channel be with mounted on third
The formation of third T-shaped block 54 on curved track 41 is slidably matched, to achieve the purpose that third curved track 41 is guided to move；Second arc
The effect that teeth are provided on 44 lower face of shape rail is easy for driving the second curved track 44 movement of the first driving gear 35；Second arc
44 upper surface side of rail is provided with third square groove 62, and the effect that is communicated with the first T shape arcs slot 64 of third square groove 62 be with mounted on
The first fixture block 66 cooperation on third curved track 41 moves to achieve the purpose that limit third curved track 41；4th T-shaped block 60
The effect that the second square groove 61 is provided on upper surface is easy for the secondth fixture block 72 of installation；Second curved track 44 passes through the 4th T-shaped block
60 and the 2nd T shape arcs slot 75 cooperation installation effect be easy for 6 turning motion of cleaning robot robot mechanism；41 lower end of third curved track
The effect that teeth are provided on face is easy for 41 movement of the first driving gear 35 driving third curved track；On 41 end face of third curved track
The gas being easy in third sucker 14 there are two the effect of gas passage 55 is opened to enter in vacuum plant 30；Third T-shaped block 54
The effect that the first square groove 53 is provided on upper surface is easy for the first fixture block 66 of installation；It is respectively mounted on the end face of two second pipes 15
There is third sucker 14, and the effect that third sucker 14 is communicated with second pipe 15 is easy for third curved track 41 being fixed on high building
On 4 glass outer wall；Third curved track 41 is convenient by the effect of third T-shaped block 54 and the cooperation installation of the first T shape arcs slot 64
Cleaning robot robot mechanism 6 can turn；First spring, 52 one end is mounted on 74 end face of the second curved channel, and the other end is mounted on
Effect on 41 end face of third curved track is to give third curved track 41 or the first curved track 33 1 recovery force effects；First electricity
There are the effect of friction force effect be between magnet 65 and third square groove 62 so that the first magnet 92 under gravity not
It can be moved along 62 direction of third square groove；Between second magnet 93 and the 4th square groove 73 there are friction force effect effect be so that
Second electromagnet 70 will not move under gravity along 73 direction of the 4th square groove；First sucker 10, the second sucker 13, third
Sucker 14, the effect that the size of the 4th sucker 17 is identical are so that the first sucker 10, the second sucker 13, third sucker
14, the 4th sucker 17 is identical to the glass adsorption capacity on 4 exterior wall of high building.
Specific implementation mode is that rectangular-ambulatory-plane fixed plate 2 is mounted on high building 4 first；Rectangular-ambulatory-plane T-bar 3 is mounted on back
In font fixed plate 2；First T-shaped block 1 is installed by the first T-slot 8 and the cooperation of rectangular-ambulatory-plane T-bar 3；It installs 5 one end of steel wire rope
In the first T-shaped block 1；Cleaning robot robot mechanism 6 is mounted on steel wire rope 5；Cleaning robot robot mechanism 6 is mounted on high building at this time
4 exterior wall needs on the glass cleaned；Rail mechanism 11 at this time is in set casing 19；As illustrated in fig. 20, work as cleaning robot
When sensing device 84 on robot mechanism 6 senses that cleaning robot robot mechanism 6 needs turning, the second sucker 13 will be in vacuum plant
It is adsorbed under the action of 30 on the glass of high building 4；Signal will be passed to the second motor 49 by induction mechanism at this time；First
Motor 37 will not move；Second motor shaft 50 will drive the first driving gear 35 to move, and the first driving gear 35 will drive
Dynamic third curved track 41 moves, and when third curved track 41 moves 90 degree, the first fixture block 66 at this time will be in third spring 67
Under the action of, it is moved into third square groove 62 and coordinates with the first magnet 92, third curved track 41 at this time will be in the first card
It will not continue to move under the action of block 66；The first driving gear 35 at this time will drive the second curved track 44 to continue to move, when
When second curved track 44 moves 90 degree, the second fixture block 72 at this time will be moved into the 4th under the action of the 4th spring 71
Coordinate with the second magnet 93 in square groove 73, the second curved track 44 at this time will will not continue to transport under the action of the second fixture block 72
It is dynamic；When the glass contact on third sucker 14 and high building 4, as shown in fig. 20b, third sucker 14 at this time will be in vacuum holding
It sets on the glass being adsorbed under the action of 30 on high building 4, rail mechanism 11 is adsorbed on the corner of 4 exterior wall of high building at this time；At this time
Vacuum plant 30 the first sucker 10 will be made to disappear the adsorption capacity of glass outer wall, the second motor 49 at this time will be opposite
Direction of rotation when rail mechanism 11 comes out is on the contrary, protective shell at this time will be under the action of the first driving gear 35 along second
Curved track 44 is moved in the teeth opened on 41 lower face of third curved track, when sensing device 84 senses that set casing 19 is complete
When at turning, sensing device 84 will control the first electromagnet 65 and the second electromagnet 70 is powered, the first electromagnet 65 at this time
Will have magnetism, the first electromagnet 65 that will give to 92 1 repulsion force effects of the first magnet, the first magnetic with the second electromagnet 70
Iron 92 will push the first fixture block 66 to move；The first fixture block 66 at this time will move out third square groove 62；Second electromagnet 70
It will give to 93 1 repulsion force effects of the second magnet, the second magnet 93 will push the second fixture block 72 to move；The second card at this time
Block 72 will move out the 4th square groove 73；As shown in Figure 20 c, the first curved track 33 and the second curved track 44 at this time will be
It is moved into set casing 19 under the action of one spring 52；Cleaning robot robot mechanism 6 will complete turning motion；Work as cleaning robot
When mechanism 6 needs to back on the side of original high building 4, third sucker 14 will be inhaled under the action of vacuum plant 30
It is attached on the glass on high building 4；Sensing device 84 at this time will control the movement of the first motor 37, the first motor axis of movement
48 will drive first bevel gear 39 to move, and first bevel gear 39 will drive second bevel gear 88 to move, second bevel gear 88
Fixing axle 38 will be driven to move, fixing axle 38 will drive the second driving gear 34 to move, and the second driving gear 34 will drive
Dynamic first curved track 33 movement, the first curved track 33 will be after 90 degree of movements, and the second fixture block 72 at this time will be in the 4th bullet
It under the action of spring 71, is moved into the 4th square groove 73 and coordinates with the second magnet 93, the first curved track 33 at this time will be the
It will not continue to move under the action of two fixture blocks 72；The second driving gear 34 at this time continues to driving the second curved track 44 fortune
Dynamic, when the second curved track 44 moves 90 degree, the first fixture block 66 at this time will be moved under the action of third spring 67
Coordinate with the first magnet 92 in third square groove 62, the second curved track 44 at this time will will not be after under the action of the first fixture block 66
Reforwarding is dynamic；Second sucker 13 will be adsorbed under the action of vacuum plant 30 on the glass of high building 4；Rail mechanism 11 will be complete
At the trackwork of turning, set casing 19 at this time will be under the action of the second driving gear 34 along the second curved track 44 and the
One curved track 33 moves, when cleaning robot robot mechanism 6 successfully completes direction turning, in sensing device 84, the first electromagnet 65
Under the action of the second electromagnet 70, the first fixture block 66 and the second fixture block 72 will lose to the second curved track 44 and third arc
The restriction effect of rail 41, third curved track 41 at this time will be moved in the second curved track 44 under the action of the first spring 52
In set casing 19, cleaning robot robot mechanism 6 at this time will complete the purpose of U-turn；As shown in Figure 21 a, 21b, 21c, pass through
The turning flow of above cleaning robot robot mechanism 6 is it is recognised that the rail mechanism 11 on cleaning robot robot mechanism 6 moves to
When 180 degree, cleaning robot robot mechanism 6 at this time can smoothly cross over the barrier 83 between glass adjacent on 4 exterior wall of high building.
Claims (6)
1. a kind of glass outer wall cleaning robot based on vacuum cup control, it is characterised in that：Rectangular-ambulatory-plane fixed plate is mounted on
On the upside of high building；Rectangular-ambulatory-plane T-bar is mounted on rectangular-ambulatory-plane fixed plate lower face；The first T of perforation is provided on first T-shaped block end face
Shape slot；First T-shaped block is installed by the first T-slot and the cooperation of rectangular-ambulatory-plane T-bar；Steel wire rope one end is mounted on the first T-shaped block end
On face；Cleaning robot robot mechanism is mounted on steel wire rope, and cleaning robot robot mechanism coordinates with high building；
Above-mentioned cleaning robot robot mechanism includes first pipe, the first sucker, rail mechanism, the first circular hole, the second sucker, third suction
Disk, second pipe, the 4th sucker, third pipeline, set casing, the second circular hole, first hole, the first half slot, second hole,
Three circular holes, the second half slot, narrow slot, the first cleaning agency, the second cleaning agency, vacuum plant, sensing device, wherein set casing
First hole is provided on end face；Set casing is opened and is provided with the first half slot on the end face of first hole, and the first half slot is located at the
On the downside of one square hole；The end face that set casing opens first hole is symmetrically provided with two group of second circular hole in both sides up and down；Two in every group
Two circular holes are distributed about set casing end surface symmetric；Second hole is provided on set casing end face, and set casing opens the end of second hole
The end face that first hole is opened on face and set casing is in 90 degree of angles；It is provided with narrow slot on the upper surface of second hole；Set casing opens
The second half slot is provided on the end face of two square holes, and the second half slot is located on the downside of second hole；Set casing opens second hole
End face is symmetrically provided with two groups of third circular holes in both sides up and down；Two third circular holes in every group are distributed about set casing end surface symmetric；
Set casing upper surface is mounted on steel wire rope lower end, and first hole coordinates with the glass surface on high building；4 first pipes are pacified
On set casing end face, and each first pipe is communicated with corresponding second circular hole respectively；4 third pipeline one end are respectively mounted
On set casing end face, and each third pipeline is communicated with corresponding third circular hole respectively；On the end face of each first pipe
First sucker is installed；It is mounted on the 4th sucker on the end face of each third pipeline；First sucker is communicated with first pipe；The
Four suckers are communicated with third pipeline；The end face of first sucker and the 4th sucker with the glass batch on high building exterior wall；Track machine
Structure is mounted on set casing；Two the second cleaning agencies open first hole end face both sides mounted on set casing；Two first cleanings
Mechanism opens second hole end face both sides mounted on set casing；Sensing device is opened mounted on set casing on the end face of second hole；Very
Empty device is mounted in set casing；
Above-mentioned rail mechanism includes the first curved track, third curved track, the second curved track, the first spring, the first square groove, the 3rd T
Shape block, gas passage, the 4th T-shaped block, the second square groove, third square groove, the first arc-shaped slot, the first T shape arcs slot, the first electromagnetism
Iron, the first fixture block, third spring, the second electromagnet, the 4th spring, the second fixture block, the 4th square groove, the second curved channel, the 2nd T
Shape arc slot, the second driving gear, the first driving gear, hold-down support, the first motor, fixing axle, first bevel gear, the first electricity
Arbor, the second motor, the second motor shaft, the first magnet, the second magnet, second bevel gear, wherein on the first curved track end face
It is provided with the second curved channel being not penetrated；The end face of second curved channel is provided with the 2nd T shape arc slots that both ends penetrate through；First arc
The 4th square groove is provided on shape rail upper surface, and the 4th square groove is communicated with the 2nd T shape arc slots；First curved track keeps away from the second arc
First circular hole there are two being opened on the end face in channel；It is provided with teeth on the lower face of first curved track；First curved track is mounted on the
In one square hole and second hole；Two second sucker one end are mounted on the first curved track end face, and two the second suckers and phase
The first circular hole answered communicates；Second motor is mounted on the second half slot side；First driving gear one end is mounted on the second electricity
On arbor；First motor is mounted on the second half slot far from the second motor side；First bevel gear one end is mounted on first
On sealing of motor spindle end face；It is opened on the end face of first hole mounted on set casing hold-down support one end；Fixing axle is mounted on hold-down support
On；Second bevel gear one end is mounted in fixed axial end, and second bevel gear is engaged with first bevel gear；Second driving gear
One end is mounted in fixed axial end, and the lower face of the second driving gear and the first curved track coordinates；Second curved track end face
On be provided with the first curved channel of perforation；The first T shape arc slots are provided on the upper surface of first curved channel；Second curved track lower end
Teeth are provided on face；Second curved track upper surface side is provided with third square groove, and third square groove is communicated with the first T shape arc slots；The
It is provided with the second square groove on four T-shaped block upper surfaces；4th T-shaped block lower face is mounted on the second curved track upper surface, and the 4th T shapes
Block is far from third square groove；Second curved track is installed by the 4th T-shaped block and the cooperation of the 2nd T shape arc slots；Third curved track lower face
On be provided with teeth；Gas passage there are two being opened on third curved track end face；Third T-shaped block is provided with the first square groove on upper surface；The
Three T-shaped block lower faces are mounted on third curved track upper surface；Two second pipes are mounted on third curved track end face, and two
A second pipe is communicated with corresponding gas passage；Third sucker is mounted on the end face of two second pipes, and third is inhaled
Disk is communicated with second pipe；Third curved track is installed by third T-shaped block and the cooperation of the first T shape arc slots；First spring one end is pacified
On the second curved channel end face, the other end is mounted on third curved track end face；Two third springs are respectively positioned on first party
In slot, third spring one end is mounted on the first square groove end face；First fixture block is located in the first square groove, the lower face of the first fixture block
On third spring；First magnet is mounted in third square groove；First electromagnet one end is fixedly mounted in third square groove；
Two the 4th springs are respectively positioned in the second square groove, and the 4th spring one end is mounted on the second square groove end face；Second fixture block is located at the
In two square grooves, the lower face of the second fixture block is mounted on the 4th spring；Second magnet is mounted in the 4th square groove；Second electromagnet
One end is fixedly mounted in the 4th square groove；
Above-mentioned first circular hole, the second circular hole, third circular hole, gas passage are connected by pipeline with vacuum plant；Sensing device
It is connected with the first motor and the second motor by electric line；When third curved track and the second curved track do not move out first
When curved track, the first driving gear at this time is engaged with the teeth opened on the lower face of third curved track；Second driving gear
It is engaged with the teeth opened on the first curved track lower face.
2. a kind of glass outer wall cleaning robot based on vacuum cup control according to claim 1, it is characterised in that：
There are friction force effects between above-mentioned first magnet and third square groove；There are frictional force between second magnet and the 4th square groove
Effect.
3. a kind of glass outer wall cleaning robot based on vacuum cup control according to claim 1, it is characterised in that：
Above-mentioned first sucker, the second sucker, third sucker, the size of the 4th sucker are identical.
4. a kind of glass outer wall cleaning robot based on vacuum cup control according to claim 1, it is characterised in that：
Above-mentioned third spring and the 4th spring are compressed spring；First spring is extension spring.
5. a kind of glass outer wall cleaning robot based on vacuum cup control according to claim 1, it is characterised in that：
Above-mentioned fixing axle is mounted on by bearing on hold-down support.
6. a kind of glass outer wall cleaning robot based on vacuum cup control according to claim 1, it is characterised in that：
Solid lubrication oil is coated between above-mentioned first T-slot and rectangular-ambulatory-plane T-bar.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165485.8A CN108478088A (en) | 2018-02-28 | 2018-02-28 | A kind of glass outer wall cleaning robot based on vacuum cup control |
| CN201810996811.XA CN108992005B (en) | 2018-02-28 | 2018-08-29 | Glass outer wall cleaning robot based on vacuum chuck control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810165485.8A CN108478088A (en) | 2018-02-28 | 2018-02-28 | A kind of glass outer wall cleaning robot based on vacuum cup control |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108478088A true CN108478088A (en) | 2018-09-04 |
Family
ID=63340855
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810165485.8A Pending CN108478088A (en) | 2018-02-28 | 2018-02-28 | A kind of glass outer wall cleaning robot based on vacuum cup control |
| CN201810996811.XA Active CN108992005B (en) | 2018-02-28 | 2018-08-29 | Glass outer wall cleaning robot based on vacuum chuck control |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810996811.XA Active CN108992005B (en) | 2018-02-28 | 2018-08-29 | Glass outer wall cleaning robot based on vacuum chuck control |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108478088A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768428A (en) * | 2021-09-14 | 2021-12-10 | 林独强 | Equipment for cleaning outer wall of high-rise glass |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2647840A1 (en) * | 1989-06-02 | 1990-12-07 | Bouygues Sa | VENTOUS DEVICE FOR CARRYING AND MOVING A MEANS OF INTERVENTION ON A SURFACE, IN PARTICULAR ON A BUILDING FACADE |
| CN103909991B (en) * | 2014-04-01 | 2016-02-10 | 南京赫曼机器人自动化有限公司 | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof |
| CN106264309A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of multifunctional glass glass-wall cleaning robot |
| CN206964598U (en) * | 2016-12-22 | 2018-02-06 | 山西万立科技有限公司 | A kind of high-altitude outside Wall Cleaning machine people |
-
2018
- 2018-02-28 CN CN201810165485.8A patent/CN108478088A/en active Pending
- 2018-08-29 CN CN201810996811.XA patent/CN108992005B/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768428A (en) * | 2021-09-14 | 2021-12-10 | 林独强 | Equipment for cleaning outer wall of high-rise glass |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108992005B (en) | 2021-07-09 |
| CN108992005A (en) | 2018-12-14 |
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Application publication date: 20180904 |