CN108497989A - A kind of spider-shaped glass-cleaning robot - Google Patents
A kind of spider-shaped glass-cleaning robot Download PDFInfo
- Publication number
- CN108497989A CN108497989A CN201810453666.0A CN201810453666A CN108497989A CN 108497989 A CN108497989 A CN 108497989A CN 201810453666 A CN201810453666 A CN 201810453666A CN 108497989 A CN108497989 A CN 108497989A
- Authority
- CN
- China
- Prior art keywords
- shell
- link
- shaft
- stepper motor
- pinion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 60
- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 239000011521 glass Substances 0.000 claims abstract description 12
- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 210000003464 cuspid Anatomy 0.000 claims description 14
- 239000012208 gear oil Substances 0.000 claims description 13
- 239000003921 oil Substances 0.000 claims description 13
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- 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
- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- 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
- A47L11/4072—Arrangement of castors or wheels
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of spider-shaped glass-cleaning robots, belong to field in intelligent robotics, and the present invention includes shell, four ground-engaging elements, adsorption element, cleaning component, intelligent recognition control system；Cleaning component is equipped in the shell, the cover top portion installs intelligent recognition control system, and the adsorption element is located at the both sides external of shell, and four ground-engaging elements are separately mounted on four angles of shell.The multivariant ground-engaging element of the present invention can make the walking of robot more convenient flexibly, and the sucker I of ground-engaging element lower part setting plays auxiliary absorption and support, four vacuum Spring suction cups II of the present invention can make whole device firmly be adsorbed on glass surface progress operation, three cleaning disks rotate simultaneously, can make to clean the windows rapider；Structure of the invention is reasonable, and reliably, use scope is wide.
Description
Technical field
The present invention relates to a kind of spider-shaped glass-cleaning robots, belong to field in intelligent robotics.
Background technology
With the rapid development of science and technology, more and more machines get their way into people's lives, especially intelligent machine in recent years
Tool is of increased attention, such as sweeping robot, dining room service robot one kind can only robot constantly expose, replace
In generation, manually carries out some dangerous, cumbersome work.
Invention content
The purpose of the present invention is to provide a kind of spider-shaped glass-cleaning robot, multivariant ground-engaging element of the invention
The walking of robot can be made more convenient flexibly, four vacuum Spring suction cups II of the invention can be such that whole device is firmly adsorbed on
Glass surface carries out operation, and three cleaning disks rotate simultaneously, can make to clean the windows rapider.
The present invention is realized by following technical scheme：A kind of spider-shaped glass-cleaning robot, including shell, four running parts
Part, adsorption element, cleaning component, intelligent recognition control system；
Cleaning component is equipped in the shell, the cover top portion installs intelligent recognition control system, and the adsorption element is located at
The both sides external of shell, four ground-engaging elements are separately mounted on four angles of shell.
The shell include outer housing, chassis, four rocker bar bearings, more than one screw I, motor fixing sleeve, one
Above screw II；
The bottom of the outer housing is connect by more than one screw I with chassis, and four rocker bar bearings are mounted on described
On four angles on chassis, the rocker bar bearing both upper ends thereof has hole I, and the motor fixing sleeve passes through more than one spiral shell
Nail II is mounted on the top of outer housing.
The structure of four ground-engaging elements is identical, and each ground-engaging element includes connecting rod I, stepper motor I, stepper motor
II, hinge, sucker I, pin, flange bearing, connecting rod II, stepper motor III, connecting rod III；
The connecting rod I includes two connecting plates, is fixedly connected at the top of described two connecting plates, the bottom of described two connecting plates
It is connect at the top of the rocker bar bearing of shell, the stepper motor I, stepper motor II and stepper motor III are dual-axle motor, institute
The hole I of the both sides on the rocker bar bearing of shell of stepper motor I is stated, it is coaxial with hole I, and two axis of the stepper motor I point
Not Chuan Guo the connecting rod I two connecting plates bottom, the upper part both ends of two connecting plates of the connecting rod I have hole
II, the stepper motor II is mounted in hole II, coaxial with hole II, and the connecting rod III includes link I, connecting pole I, link
II, the bottom of the link I is located at the both sides at I top of connecting rod, and the top of the link I is connect with one end of connecting pole I,
The other end of the connecting pole I is connect with one end of link II, and two output shafts of the stepper motor II are each passed through institute
I bottom both ends of link are stated, the other end of the link II is connect with the top of connecting rod II, on the both ends of the link II
Hole III is had, the stepper motor III is mounted in hole III, coaxial with hole III, and the connecting rod II includes link III, connects
Column II, link IV are connect, two output shafts of the stepper motor III stretch out the both ends of link IV, the link IV respectively
The both ends of bottom are provided with through-hole, and the top of the hinge is located in link IV, and the hinge top is equipped with through-hole, the company
One end through-hole for connecing frame IV is externally provided with flange bearing, and the flange bearing passes through the through-hole and hinge at IV both ends of the link
The through-hole at top, the pin are pressed into flange bearing, and the bottom of the hinge is connect with the top of sucker I.
The material of the sucker I is TPU environment-friendly materials.
The adsorption element includes the identical vacuum pump component of four groups of structures, and four groups of vacuum pump components are separately mounted to
The chassis both sides of shell, and two groups of vacuum pump components are installed in every side on the chassis of shell, every group of vacuum pump component includes true
Sky pump fixing piece, more than one screw III, vacuum pump, Spring suction cup II, gas circuit；
The vacuum pump is mounted on the chassis of shell, and the vacuum pump fixing piece is located at vacuum pump front end and vacuum pump fixing piece
Both ends be separately fixed on the chassis of shell by more than one screw III, one end of the gas circuit and the vacuum pump connect
Logical, the other end of the gas circuit is connect with the top of Spring suction cup II, and the bottom of the Spring suction cup II is adsorbed on glass.
The cleaning component includes a canine tooth wheel assembly and two pinion assemblies, and the canine tooth wheel assembly includes servo
Motor, shaft coupling, Large Gear Shaft, big bearing snap spring, big bearing, gear wheel, block I, cleaning disk I, gear wheel oil baffle disc, it is described
Large Gear Shaft passes through the center of gear wheel, and the top of the Large Gear Shaft is connected by the output shaft of shaft coupling and servo motor
It connecing, the top of the servo motor and the motor fixing sleeve of shell connect, the Large Gear Shaft top installation gear wheel oil baffle disc,
Big bearing snap spring and big bearing, the big bearing are located above gear wheel oil baffle disc, and the big bearing snap spring is located on big bearing
Block I is installed in the lower end of side, the Large Gear Shaft, and the cleaning disk I is connect by block I with the bottom of Large Gear Shaft；
The structure of described two pinion assemblies is identical, and each pinion assemblies include block II, cleaning disk II, pinion gear, small
Gear oil baffle disc, small bearing, small bearing snap spring, pinion shaft；
The pinion shaft passes through the middle part of pinion gear, the top installation pinion gear oil baffle disc of the pinion shaft, small bearing and
Small bearing snap spring, the small bearing are located above pinion gear oil baffle disc, and the small bearing snap spring is located above small bearing, described small
The lower end installation block II of gear shaft connects, and the cleaning disk II is connect by block II with the bottom of pinion shaft；
Described two pinion assemblies are located at canine tooth wheel assembly both sides, the pinion gears of described two pinion assemblies respectively with
The gear wheel of canine tooth wheel assembly engages.
The Large Gear Shaft, pinion shaft are multi-diameter shaft, and the gear wheel oil baffle disc is mounted on the Large Gear Shaft
At second multi-diameter shaft, the pinion gear oil baffle disc is mounted at the second multi-diameter shaft of the pinion shaft.
The intelligent recognition control system passes through the conducting wire vacuum with the cleaning servo motor of component, adsorption element respectively
Pump, the connection of the stepper motor I of ground-engaging element, stepper motor II, stepper motor III, the intelligent recognition control system can be planned
The travelling route of entire robot, controls the work and stopping of each motor of entire robot and vacuum pump.
The course of work of the present invention is as follows：
（1）Preparation：Before cleaning the windows using robot, rag is first respectively sleeved in cleaning component cleaning disk I and two
It cleans on disk II；
（2）Clean the windows flow：Adsorption element is started to work first, and after II fixation of Spring suction cup of adsorption element, intelligence is known
Servo motor is started to work in other control system driving cleaning component, and rotation is passed to gear wheel by servo motor by shaft coupling
Axis, and then rotation is transmitted to by the pinion gear engaged respectively at both ends by gear wheel, finally drive cleaning disk I and two cleaning disks II
Rotation cleans on disk I and two cleaning disks II and is cased with rag, to achieve the purpose that clean glass, cleaned a coordinate points
Afterwards, intelligent recognition control system driving ground-engaging element work, Driving Stepping Motor I and stepper motor II start work when transverse shifting
Make, drive link I and connecting rod III expand coordinate range, and homonymy（With left, same right）Two legs be synchronous working, when side
After two legs complete movement, the two legs of the other side start to walk according to same working method, and the sucker I of leg designs TPU
Environment-friendly materials while reduction to glass surface pressure, play the purpose of auxiliary absorption, it is ensured that robot is in the steady of moving process
It is qualitative, when longitudinal movement, intelligent recognition control system can automatic Driving Stepping Motor III run, drive connecting rod II to carry out longitudinal seat
Mark variation, same homonymy（Ibid, under）Two legs operation be synchronous, by continuous horizontal and vertical movement, reach
Clean the purpose of whole blocks glass, the ground-engaging element of link-type so that it is with certain obstacle climbing ability, when running to edge
When, intelligent recognition control system can control the side motor and be stopped accordingly, avoid the occurrence of unnecessary damage.
The beneficial effects of the invention are as follows：
（1）The independent driving of four of the present invention and multivariant ground-engaging element can realize omnibearing movable, and movement is flexible,
It is simple in structure, and the sucker I of ground-engaging element lower part setting plays auxiliary absorption and support.
（2）Four minipump cooperation Spring suction cups II of the present invention use, and can reach good adsorption effect.
（3）Structure of the invention is reasonable, and reliably, use scope is wide.
Description of the drawings
Fig. 1 is the external structure schematic diagram of the present invention；
Fig. 2 is the internal structure schematic diagram of the present invention；
Fig. 3 is the shell mechanism upper left axonometric drawing of the present invention；
Fig. 4 is the shell mechanism top right plot of the present invention；
Fig. 5 is the shell mechanism bottom right axonometric drawing of the present invention；
Fig. 6 is the structural schematic diagram of ground-engaging element of the present invention；
Fig. 7 is minipump component structure diagram of the present invention；
Fig. 8 is the structural schematic diagram of present invention cleaning component；
In figure respectively marked as：1- shells, 2- ground-engaging elements, 3- adsorption elements, 4- cleaning component, 5- intelligent recognition control systems,
6- outer housings, the chassis 7-, 8- rocker bar bearings, 9- screws I, 10- motors fixing sleeve, 11- screws II, 12- connecting rods I, 13- stepping electricity
Machine I, 14- stepper motors II, 15- hinges, 16- suckers I, 17- pins, 18- flange bearings, 19- connecting rods II, 20- stepper motors
III, 21- connecting rods III, the holes 22- I, the holes 23- II, the holes 24- III, 25- vacuum pumps fixing piece, 26- screws III, 27- vacuum pumps, 28- bullets
Spring sucker II, 29- gas circuits, 30- servo motors, 31- shaft couplings, 32- Large Gear Shafts, the big bearing snap springs of 33-, the big bearings of 34-,
35- gear wheels, 36- blocks I, 37- cleanings disk I, 38- blocks II, 39- cleanings disk II, 40- pinion gears, 41- pinion gears gear oil
The small bearing of disk, 42-, the small bearing snap springs of 43-, 44- pinion shafts, 45- gear wheel oil baffle discs.
Specific implementation mode
With reference to the accompanying drawings and examples, the invention will be further described, but present disclosure be not limited to it is described
Range.
Embodiment 1：As shown in Fig. 1 ~ 8, a kind of spider-shaped glass-cleaning robot, including 1, four ground-engaging element 2 of shell, suction
Attached component 3, cleaning component 4, intelligent recognition control system 5；
Cleaning component 4 is equipped in the shell 1, intelligent recognition control system 5, the adsorption element 3 are installed in 1 top of the shell
Positioned at the both sides external of shell 1, four ground-engaging elements 2 are separately mounted on four angles of shell 1.
The shell 1 includes 10,2 outer housing 6,7, four, chassis, 8,4 screws I 9 of rocker bar bearing, motor fixing sleeve spiral shells
Follow closely II 11；
The bottom of the outer housing 6 is connect by 4 screws I 9 with chassis 7, and four rocker bar bearings 8 are mounted on the chassis
On 7 four angles, 8 both upper ends thereof of the rocker bar bearing has hole I 22, and the motor fixing sleeve 10 passes through 2 screws II
11 are mounted on the top of outer housing 6.
The structure of four ground-engaging elements 2 is identical, and each ground-engaging element 2 includes connecting rod I 12, stepper motor I 13, step
Stepper motor II 14, hinge 15, sucker I 16, pin 17, flange bearing 18, connecting rod II 19, stepper motor III 20, connecting rod III 21；
The connecting rod I 12 includes two connecting plates, is fixedly connected at the top of described two connecting plates, the bottom of described two connecting plates
Portion is connect with 8 top of rocker bar bearing of shell 1, and the stepper motor I 13, stepper motor II 14 and stepper motor III 20 are double
Spindle motor, the stepper motor I 13 pass through the hole I 22 of both sides on the rocker bar bearing 8 of shell 1, and the two of the stepper motor I 13
Root axis is each passed through the bottom of two connecting plates of the connecting rod I 12, the upper part both ends of two connecting plates of the connecting rod I 12
Hole II 23 is had, the stepper motor II 14 is mounted in hole II 23, and the connecting rod III 21 includes link I 46, connection
Column I 47, link II 48, the bottom of the link I 46 are located at the both sides at I 12 top of connecting rod, the top of the link I 46
It is connect with one end of connecting pole I 47, the other end of the connecting pole I 47 is connect with one end of link II 48, the stepping electricity
Two output shafts of machine II 14 are each passed through I 46 bottom both ends of the link, the other end and connecting rod of the link II 48
II 19 top connects, and hole III 24 is had on the both ends of the link II 48, and the stepper motor III 20 is mounted on hole
In III 24, the connecting rod II 19 include link III 49, connecting pole II 50, link IV 51, the two of the stepper motor III 20
Root output shaft stretches out the both ends of link IV 51 respectively, and the both ends of IV 51 bottom of the link are provided with through-hole, the hinge 15
Top be located in link IV 51, and the top of the hinge 15 is equipped with through-hole, one end through-hole peripheral hardware of the link IV 51
There are flange bearing 18, the flange bearing 18 to pass through the through-hole of the through-hole at IV 51 both ends of the link and the top of hinge 15,
The pin 17 is pressed into flange bearing 18, and the bottom of the hinge 15 is connect with the top of sucker I 16.
The adsorption element 3 includes the identical vacuum pump component of four groups of structures, and four groups of vacuum pump components are installed respectively
In 7 both sides of the chassis of shell 1, and two groups of vacuum pump components, every group of vacuum pump component are installed in every side on the chassis 7 of shell 1
Including vacuum pump fixing piece 25,16 screws III 26, vacuum pump 27, Spring suction cup II 28, gas circuits 29；
The vacuum pump 27 is mounted on the chassis 7 of shell 1, and the vacuum pump fixing piece 25 is located at 27 front end of vacuum pump and vacuum
The both ends of pump fixing piece 25 are separately fixed at by 2 screws III 26 on the chassis 7 of shell 1, one end of the gas circuit 29 and institute
The connection of vacuum pump 27 is stated, the other end of the gas circuit 29 is connect with the top of Spring suction cup II 28, the Spring suction cup II 28
Bottom is adsorbed on glass.
The cleaning component 4 includes a canine tooth wheel assembly and two pinion assemblies, and the canine tooth wheel assembly includes watching
Take motor 30, shaft coupling 31, Large Gear Shaft 32, big bearing snap spring 33, big bearing 34, gear wheel 35, block I 36, cleaning disk I
37, gear wheel oil baffle disc 45, the Large Gear Shaft 32 passes through the center of gear wheel 35, and the top of the Large Gear Shaft 32 passes through
The output axis connection of shaft coupling 31 and servo motor 30, the top of the servo motor 30 connect with the motor fixing sleeve 10 of shell 1
It connects, gear wheel oil baffle disc 45, big bearing snap spring 33 and big bearing 34 are installed in 32 top of the Large Gear Shaft, and three is coaxial, institute
It states big bearing 34 and is located at 45 top of gear wheel oil baffle disc, the big bearing snap spring 33 is located at 34 top of big bearing, the gear wheel
The lower end of axis 32 is connect by screw thread with block I 36, and the cleaning disk I 37 is connected by the bottom of block I 36 and Large Gear Shaft 32
It connects；
The structure of described two pinion assemblies is identical, and each pinion assemblies include block II 38, cleaning disk II 39, pinion gear
40, pinion gear oil baffle disc 41, small bearing 42, small bearing snap spring 43, pinion shaft 44；
The pinion shaft 44 passes through the middle part of pinion gear 40, the top installation pinion gear oil baffle disc 41 of the pinion shaft 44,
Small bearing 42 and small bearing snap spring 43, and three is coaxial, the small bearing 42 is located at 41 top of pinion gear oil baffle disc, the small axis
It holds clamp spring 43 and is located at 42 top of small bearing, the used screw thread in lower end of the pinion shaft 44 is connect with block II 38, the cleaning
Disk II 39 is connect by block II 38 with the bottom of pinion shaft 44；
Described two pinion assemblies are located at canine tooth wheel assembly both sides, and the pinion gear 40 of described two pinion assemblies is distinguished
It is engaged with the gear wheel 35 of canine tooth wheel assembly.
The Large Gear Shaft 32, pinion shaft 44 are multi-diameter shaft, and the gear wheel oil baffle disc 45 is mounted on the canine tooth
At second multi-diameter shaft of wheel shaft 32, the pinion gear oil baffle disc 41 is mounted at the second multi-diameter shaft of the pinion shaft 44.
The intelligent recognition control system 5 by conducting wire respectively with the cleaning servo motor 30 of component, adsorption element it is true
Sky pump 27, the stepper motor I 13 of ground-engaging element, stepper motor II 14, stepper motor III 20 connect.
The course of work of the present embodiment is as follows：
（1）Preparation：Before being cleaned the windows using robot, rag is first respectively sleeved in cleaning component 4 and cleans disk I 37 and two
On a cleaning disk II 39；
（2）Clean the windows flow：Adsorption element 3 is started to work first, after II 28 fixation of Spring suction cup of adsorption element, intelligence
Servo motor 30 is started to work in the driving cleaning component 4 of control system for identifying 5, and servo motor 30 is passed rotation by shaft coupling 31
Large Gear Shaft 32 is passed, and then rotation is transmitted to by the pinion gear 40 engaged respectively at both ends by gear wheel 35, finally drives cleaning
Disk I 37 and two cleaning disks II 39 rotate, and clean on disk I 37 and two cleaning disks II 39 and are cased with rag, to reach cleaning glass
The purpose of glass, after having cleaned a coordinate points, intelligent recognition control system 5 drives ground-engaging element 2 to work, and when transverse shifting drives
Stepper motor I 13 and stepper motor II 14 are started to work, and drive link I 12 and connecting rod III 21 expand coordinate range, and homonymy（Together
It is left, same right）Two legs be synchronous working, after the two legs of side complete mobile, the two legs of the other side start according to same
The working method of sample is walked, and the sucker I of leg designs TPU environment-friendly materials, while reduction to glass surface pressure, plays auxiliary
The purpose of absorption, it is ensured that robot is in the stability of moving process, and when longitudinal movement, intelligent recognition control system 5 can drive automatically
Dynamic stepper motor III 20 is run, and connecting rod II 19 is driven to carry out longitudinal coordinate variation, same homonymy（Ibid, under）Two legs fortune
Row is synchronous, by continuous horizontal and vertical movement, achievees the purpose that clean whole blocks glass, the running part of link-type
Part so that it is with certain obstacle climbing ability, and when running to edge, intelligent recognition control system 5 can control the side accordingly
Motor is stopped, and avoids the occurrence of unnecessary damage.
Claims (7)
1. a kind of spider-shaped glass-cleaning robot, which is characterized in that including shell（1）, four ground-engaging elements（2）, adsorption element
（3）, cleaning component（4）, intelligent recognition control system（5）；
The shell（1）It is interior to be equipped with cleaning component（4）, the shell（1）Top is installed by intelligent recognition control system（5）, described
Adsorption element（3）Positioned at shell（1）Both sides external, four ground-engaging elements（2）It is separately mounted to shell（1）Four angles
On.
2. spider-shaped glass-cleaning robot according to claim 1, it is characterised in that：The shell（1）Including outer housing
（6）, chassis（7）, four rocker bar bearings（8）, more than one screw I（9）, motor fixing sleeve（10）, more than one screw
Ⅱ（11）；
The outer housing（6）Bottom pass through more than one screw I（9）With chassis（7）Connection, four rocker bar bearings
（8）Mounted on the chassis（7）Four angles on, the rocker bar bearing（8）Both upper ends thereof has hole I（22）, the electricity
Machine fixing sleeve（10）Pass through more than one screw II（11）Mounted on outer housing（6）Top.
3. spider-shaped glass-cleaning robot according to claim 1, it is characterised in that：Four ground-engaging elements（2）'s
Structure is identical, and each ground-engaging element（2）Including connecting rod I（12）, stepper motor I（13）, stepper motor II（14）, hinge
（15）, sucker I（16）, pin（17）, flange bearing（18）, connecting rod II（19）, stepper motor III（20）, connecting rod III（21）；
The connecting rod I（12）Including two connecting plates, it is fixedly connected at the top of described two connecting plates, described two connecting plates
Bottom and shell（1）Rocker bar bearing（8）Top connects, the stepper motor I（13）, stepper motor II（14）And stepper motor
Ⅲ（20）It is dual-axle motor, the stepper motor I（13）Across shell（1）Rocker bar bearing（8）The hole I of upper both sides（22）,
And the stepper motor I（13）Two axis be each passed through the connecting rod I（12）Two connecting plates bottom, the connecting rod I
（12）The upper part both ends of two connecting plates have hole II（23）, the stepper motor II（14）Mounted on hole II（23）
It is interior, the connecting rod III（21）Including link I（46）, connecting pole I（47）, link II（48）, the link I（46）Bottom
Portion is located at connecting rod I（12）The both sides at top, the link I（46）Top and connecting pole I（47）One end connection, the company
Connect column I（47）The other end and link II（48）One end connection, the stepper motor II（14）Two output shafts difference
Across the link I（46）Bottom both ends, the link II（48）The other end and connecting rod II（19）Top connection, institute
State link II（48）Both ends on have hole III（24）, the stepper motor III（20）Mounted on hole III（24）It is interior, institute
State connecting rod II（19）Including link III（49）, connecting pole II（50）, link IV（51）, the stepper motor III（20）Two
Root output shaft stretches out link IV respectively（51）Both ends, the link IV（51）The both ends of bottom are provided with through-hole, the hinge
Chain（15）Top be located at link IV（51）It is interior, and the hinge（15）Top is equipped with through-hole, the link IV（51）'s
One end through-hole is externally provided with flange bearing（18）, the flange bearing（18）Across the link IV（51）The through-hole and hinge at both ends
Chain（15）Top through-hole, the pin（17）It is pressed into flange bearing（18）In, the hinge（15）Bottom and sucker I
（16）Top connection.
4. spider-shaped glass-cleaning robot according to claim 1, it is characterised in that：The adsorption element（3）Including four
The identical vacuum pump component of group structure, four groups of vacuum pump components are separately mounted to shell（1）Chassis（7）Both sides, and it is outer
Shell（1）Chassis（7）Every side install two groups of vacuum pump components, every group of vacuum pump component includes vacuum pump fixing piece
（25）, more than one screw III（26）, vacuum pump（27）, Spring suction cup II（28）, gas circuit（29）；
The vacuum pump（27）Mounted on shell（1）Chassis（7）On, the vacuum pump fixing piece（25）Positioned at vacuum pump（27）
Front end and vacuum pump fixing piece（25）Both ends pass through more than one screw III（26）It is separately fixed at shell（1）Chassis
（7）On, the gas circuit（29）One end and the vacuum pump（27）Connection, the gas circuit（29）The other end and Spring suction cup II
（28）Top connection, the Spring suction cup II（28）Bottom be adsorbed on glass.
5. spider-shaped glass-cleaning robot according to claim 1, it is characterised in that：The cleaning component（4）Including one
A canine tooth wheel assembly and two pinion assemblies, the canine tooth wheel assembly includes servo motor（30）, shaft coupling（31）, gear wheel
Axis（32）, big bearing snap spring（33）, big bearing（34）, gear wheel（35）, block I（36）, cleaning disk I（37）, canine tooth catch oil
Disk（45）, the Large Gear Shaft（32）Across gear wheel（35）Center, and the Large Gear Shaft（32）Top pass through shaft coupling
Device（31）With servo motor（30）Output axis connection, the servo motor（30）Top and shell（1）Motor fixing sleeve
（10）Connection, the Large Gear Shaft（32）Top is installed by gear wheel oil baffle disc（45）, big bearing snap spring（33）With big bearing（34）,
The big bearing（34）Positioned at gear wheel oil baffle disc（45）Top, the big bearing snap spring（33）Positioned at big bearing（34）Top,
The Large Gear Shaft（32）Lower end install block I（36）, the cleaning disk I（37）Pass through block I（36）With Large Gear Shaft
（32）Bottom connection；
The structure of described two pinion assemblies is identical, and each pinion assemblies include block II（38）, cleaning disk II（39）, it is small
Gear（40）, pinion gear oil baffle disc（41）, small bearing（42）, small bearing snap spring（43）, pinion shaft（44）；
The pinion shaft（44）Across pinion gear（40）Middle part, the pinion shaft（44）Top installation pinion gear gear oil
Disk（41）, small bearing（42）With small bearing snap spring（43）, the small bearing（42）Positioned at pinion gear oil baffle disc（41）Top, it is described
Small bearing snap spring（43）Positioned at small bearing（42）Top, the pinion shaft（44）Lower end install block II（38）Connection, institute
State cleaning disk II（39）Pass through block II（38）With pinion shaft（44）Bottom connection；
Described two pinion assemblies are located at canine tooth wheel assembly both sides, the pinion gear of described two pinion assemblies（40）Point
Not with the gear wheel of canine tooth wheel assembly（35）Engagement.
6. spider-shaped glass-cleaning robot according to claim 5, it is characterised in that：The Large Gear Shaft（32）, small tooth
Wheel shaft（44）It is multi-diameter shaft, the gear wheel oil baffle disc（45）Mounted on the Large Gear Shaft（32）The second multi-diameter shaft at,
The pinion gear oil baffle disc（41）Mounted on the pinion shaft（44）The second multi-diameter shaft at.
7. spider-shaped glass-cleaning robot according to claim 1, it is characterised in that：The intelligent recognition control system
（5）By conducting wire respectively with cleaning component servo motor（30）, adsorption element vacuum pump（27）, ground-engaging element stepping electricity
Machine I（13）, stepper motor II（14）, stepper motor III（20）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453666.0A CN108497989A (en) | 2018-05-14 | 2018-05-14 | A kind of spider-shaped glass-cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810453666.0A CN108497989A (en) | 2018-05-14 | 2018-05-14 | A kind of spider-shaped glass-cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108497989A true CN108497989A (en) | 2018-09-07 |
Family
ID=63400429
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810453666.0A Pending CN108497989A (en) | 2018-05-14 | 2018-05-14 | A kind of spider-shaped glass-cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108497989A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110080139A (en) * | 2019-05-08 | 2019-08-02 | 机械科学研究总院海西（福建）分院有限公司 | A kind of highway profile band automatic cleaning apparatus |
| CN111946778A (en) * | 2020-08-17 | 2020-11-17 | 谭世昌 | Four-shaft type output exchanging device for transmission linkage |
| CN112493914A (en) * | 2020-12-15 | 2021-03-16 | 宁波星宏智能技术有限公司 | Automatic cleaning device for household doors and windows |
| CN113173214A (en) * | 2021-04-21 | 2021-07-27 | 昆明理工大学 | Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same |
| CN114987713A (en) * | 2022-05-11 | 2022-09-02 | 郜士叶 | Underwater ship bottom cleaning robot |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202505274U (en) * | 2011-12-29 | 2012-10-31 | 刘骞生 | Height glass wipe robot |
| CN103356117A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN203693504U (en) * | 2014-01-27 | 2014-07-09 | 王�华 | Outer wall cleaning and maintaining robot |
| CN104460672A (en) * | 2014-11-17 | 2015-03-25 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
| CN104799756A (en) * | 2014-01-27 | 2015-07-29 | 王�华 | Exterior wall cleaning and maintaining robot |
| CN204765401U (en) * | 2015-07-17 | 2015-11-18 | 山东理工职业学院 | Spider formula glass clean robot |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN205729254U (en) * | 2016-04-27 | 2016-11-30 | 大连科技学院 | A kind of clean robot |
| CN106314584A (en) * | 2016-09-23 | 2017-01-11 | 靳奉熹 | Cleaning and maintenance robot for high-rise buildings |
| CN106913277A (en) * | 2017-04-17 | 2017-07-04 | 河北工业大学 | A kind of double leval jib glass-cleaning robot |
| CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
| CN107307799A (en) * | 2017-08-29 | 2017-11-03 | 李阳 | A kind of construction wall decorated glass curtain wall automatic cleaning machine |
| CN206643042U (en) * | 2017-04-05 | 2017-11-17 | 北华航天工业学院 | Solar panel Intelligent cleaning robot |
| CN107625478A (en) * | 2017-10-27 | 2018-01-26 | 孙洪军 | A kind of good intelligent glass-cleaning robot of cleaning effect based on Internet of Things |
| CN207202824U (en) * | 2017-02-17 | 2018-04-10 | 深圳信息职业技术学院 | Automatic window-cleaning machine |
| CN209107158U (en) * | 2018-05-14 | 2019-07-16 | 昆明理工大学 | A kind of spider-shaped glass-cleaning robot |
-
2018
- 2018-05-14 CN CN201810453666.0A patent/CN108497989A/en active Pending
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202505274U (en) * | 2011-12-29 | 2012-10-31 | 刘骞生 | Height glass wipe robot |
| CN103356117A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN203693504U (en) * | 2014-01-27 | 2014-07-09 | 王�华 | Outer wall cleaning and maintaining robot |
| CN104799756A (en) * | 2014-01-27 | 2015-07-29 | 王�华 | Exterior wall cleaning and maintaining robot |
| CN104460672A (en) * | 2014-11-17 | 2015-03-25 | 哈尔滨理工大学 | Bionic hexapod robot control system and control method |
| CN204765401U (en) * | 2015-07-17 | 2015-11-18 | 山东理工职业学院 | Spider formula glass clean robot |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN205729254U (en) * | 2016-04-27 | 2016-11-30 | 大连科技学院 | A kind of clean robot |
| CN106314584A (en) * | 2016-09-23 | 2017-01-11 | 靳奉熹 | Cleaning and maintenance robot for high-rise buildings |
| CN207202824U (en) * | 2017-02-17 | 2018-04-10 | 深圳信息职业技术学院 | Automatic window-cleaning machine |
| CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
| CN206643042U (en) * | 2017-04-05 | 2017-11-17 | 北华航天工业学院 | Solar panel Intelligent cleaning robot |
| CN106913277A (en) * | 2017-04-17 | 2017-07-04 | 河北工业大学 | A kind of double leval jib glass-cleaning robot |
| CN107307799A (en) * | 2017-08-29 | 2017-11-03 | 李阳 | A kind of construction wall decorated glass curtain wall automatic cleaning machine |
| CN107625478A (en) * | 2017-10-27 | 2018-01-26 | 孙洪军 | A kind of good intelligent glass-cleaning robot of cleaning effect based on Internet of Things |
| CN209107158U (en) * | 2018-05-14 | 2019-07-16 | 昆明理工大学 | A kind of spider-shaped glass-cleaning robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110080139A (en) * | 2019-05-08 | 2019-08-02 | 机械科学研究总院海西（福建）分院有限公司 | A kind of highway profile band automatic cleaning apparatus |
| CN110080139B (en) * | 2019-05-08 | 2020-11-24 | 机械科学研究总院海西（福建）分院有限公司 | Automatic cleaning device for contour belt of highway |
| CN111946778A (en) * | 2020-08-17 | 2020-11-17 | 谭世昌 | Four-shaft type output exchanging device for transmission linkage |
| CN111946778B (en) * | 2020-08-17 | 2022-11-15 | 南昌妆孜科技有限公司 | Four-shaft type output exchanging device for transmission linkage |
| CN112493914A (en) * | 2020-12-15 | 2021-03-16 | 宁波星宏智能技术有限公司 | Automatic cleaning device for household doors and windows |
| CN112493914B (en) * | 2020-12-15 | 2022-03-04 | 宁波星宏智能技术有限公司 | Automatic cleaning device for household doors and windows |
| CN113173214A (en) * | 2021-04-21 | 2021-07-27 | 昆明理工大学 | Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same |
| CN114987713A (en) * | 2022-05-11 | 2022-09-02 | 郜士叶 | Underwater ship bottom cleaning robot |
| CN114987713B (en) * | 2022-05-11 | 2024-05-03 | 南京美佳莱科技服务有限公司 | Underwater ship bottom cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108497989A (en) | A kind of spider-shaped glass-cleaning robot | |
| CN209107158U (en) | A kind of spider-shaped glass-cleaning robot | |
| CN108964602B (en) | Efficient solar panel cleaning equipment | |
| CN108435616A (en) | A kind of outdoor LED screen auto dust cleaning machine | |
| CN110916555A (en) | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck | |
| CN108326868A (en) | A kind of intelligent piping lane crusing robot with clearing function | |
| CN106805852A (en) | A kind of small cleaning robot | |
| CN107017827A (en) | A kind of photovoltaic power generation equipment for improving generating efficiency | |
| CN2822807Y (en) | Machine for washing and cleaning fire hose | |
| CN111760832A (en) | Automatic cleaning equipment for flywheel | |
| CN209712762U (en) | A kind of clean robot | |
| CN109698152B (en) | Solar cell panel lifting and grabbing method | |
| CN206185862U (en) | Parallel robot | |
| CN110252706A (en) | Solar energy photovoltaic panel automatic cleaning equipment and its running gear | |
| CN112401732B (en) | Multi-degree-of-freedom omnibearing glass wiping machine and using method thereof | |
| CN210383783U (en) | Mop driving mechanism on automatic mopping machine | |
| CN211704428U (en) | Glass curtain wall cleaning robot | |
| CN207858854U (en) | A kind of intelligent piping lane crusing robot with clearing function | |
| CN209644818U (en) | Magnetic adsorption flexible climbs wall and cleans trolley | |
| CN109261599B (en) | Automatic processing equipment for remanufacturing of automobile crankshaft and automatic processing technology of crankshaft | |
| CN113897892B (en) | Single-drive double-output water adding and draining workstation | |
| CN2399120Y (en) | Curtain wall automatic cleaner for grand building | |
| CN106690356A (en) | Efficient environment-friendly vegetable cleaning device for agricultural field | |
| CN220763134U (en) | Dust treatment equipment for stone material processing | |
| CN221060568U (en) | High-efficient dust absorption robot of sweeping floor automatically |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |