CN108553016A - A kind of outer wall cleaning robots people - Google Patents
A kind of outer wall cleaning robots people Download PDFInfo
- Publication number
- CN108553016A CN108553016A CN201810681268.4A CN201810681268A CN108553016A CN 108553016 A CN108553016 A CN 108553016A CN 201810681268 A CN201810681268 A CN 201810681268A CN 108553016 A CN108553016 A CN 108553016A
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- China
- Prior art keywords
- wall cleaning
- cleaning robots
- brush
- robots people
- connection
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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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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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
- 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
Abstract
The present invention relates to robot fields, it is proposed that a kind of outer wall cleaning robots people, the outer wall cleaning robots people include support plate, roller brush assembly, spray assembly, traction component, telescopic component and PLC.The support plate is equipped with spray assembly, traction component, telescopic component and PLC, and the telescopic component connects roller brush assembly.For cleaning, the traction component is moved for drawing robot on glass curtain wall the roller brush assembly, and the telescopic component is used to control the flexible of roller brush assembly.The roller brush assembly can be adaptively adjusted the order of contact with metope.Outer wall cleaning robots people proposed by the present invention can carry out periodically effectively cleaning to specified metope, it can be applied to the needs such as airport, hospital, commercial real estate, star hotel, 4 S auto shop often clean low clearance glass curtain wall, substitute artificial progress metope cleaning, eliminate high risk when artificial cleaning, efficiency is improved, it is cost-effective.
Description
Technical field
The present invention relates to robot field more particularly to a kind of outer wall cleaning robots people.
Background technology
With the development of the city, there are much buildings with glass curtain wall.Because of the requirement of city appearance standard, this
A little glass curtain walls must clean once every year.It is time-consuming and laborious to clean glass curtain wall, and dangerous big, it is of high cost.By now average
Often 4.5 yuan of calculating of flat cleaning charge, about 18000 squares of the building gross area of 30 floor heights, the cleaning cost of the buildings Zheng Dong one time
It it is 81000 yuan, cleaning cost is very high.And the building quantity of Our Country Primary Cities is more, now generally using artificial cleaning, not only
Cost is higher, is also easy to happen danger.
When manually clean, the most commonly used is outside Wall Cleanings with ship is hung, and outside Wall Cleaning is high with the ship same price is hung, into
One step improves the cost of outside Wall Cleaning, a set of standard device for reaching national standard about 800,000 yuan one, import at 1,000,000 yuan
More than.And outside Wall Cleaning hangs each use of ship and all must repeated for installing, and because equipment is complicated, certain installations for hanging ship need
Want time-consuming a couple of days so that cleaning time extends, time-consuming and laborious, can not rapid cleaning glass curtain wall.
Because working at height is dangerous big, it is easy to happen contingency, it is all that the personnel for hanging ship operation are used in outside Wall Cleaning
It is required for working at height card, therefore the personnel that can carry out high-altitude cleaning operation are less.Nevertheless, still can occur every year
Accident leads to casualties.And because high-risk working environment, the number newly entered a profession are reduced every year, but to the glass in building
The requirement for cleaning of glass curtain wall can't be reduced, and be increasing every year on the contrary.To the high request of cleanup crew, the missing of cleanup crew
With the increase of demand so that notch occurs in high-altitude cleaning market, and existing cleanup crew is likely difficult to afford entire high-altitude clear
The high-altitude cleaning in clean market works.
Invention content
The technical problem to be solved by the present invention is to the high problems of artificial cleaning outer wall metope risk.In order to solve above-mentioned ask
Topic, the present invention propose a kind of outer wall cleaning robots people.The present invention is specifically to be realized with following technical solution：
The present invention proposes a kind of outer wall cleaning robots people, the outer wall cleaning robots people include support plate, roller brush assembly,
Spray assembly, traction component, telescopic component and PLC；
The support plate is in " several " font, and the support plate is equipped with spray assembly, traction component, telescopic component and PLC,
The telescopic component connects roller brush assembly, and the support plate is equipped with battery, power is provided for robot；
The quadrangle of the support plate is equipped with retaining ring, and the traction component connects retaining ring；
The roller brush assembly includes round brush, belt pulley, brush motor and brush motor controller, and the round brush connects belt
Wheel, the belt pulley connect brush motor, and the brush motor connects brush motor controller；
The telescopic component includes ball-screw, stepper motor and link assembly, and the round brush passes through belt pulley and connecting rod
Component connects, and the link assembly can drive round brush to be moved on metope.
Further, the outer wall cleaning robots people further includes current divider, and the current divider connects brush motor, the brush
Sub-motor is used to keep and the order of contact of metope, different electric currents is generated from the order of contact of metope according to round brush, according to electric current
Change the order of contact with metope to control round brush.
Further, the telescopic component further includes top shoe, sliding block and close switch, the top shoe and sliding block
Link assembly is connected, the ball-screw includes positive tooth leading screw and reversed tooth leading screw, the forward direction tooth leading screw connection stepping electricity
Machine, the positive tooth leading screw of top shoe connection, the sliding block connect reversed tooth leading screw, and the forward direction tooth leading screw is equipped with first
Close to switch, the reversed tooth leading screw is equipped with second close to switch；
When ball screw turns, top shoe and sliding block are moved to opposite both direction.
Further, the link assembly includes connecting plate, big connecting rod, small rod, guide sleeve, guide post, link block and steering
Axis, the connecting plate connect big connecting rod, and the big connecting rod is connect with link block, and the link block connects steering shaft, the little Lian
Bar is arranged on big connecting rod.
Further, one end of each big connecting rod is connect by connecting plate with sliding block, the other end of the big connecting rod
It is linked together by square shaft；
The small rod is symmetricly set on the both sides of big connecting rod, and one end of the small rod is separately connected big connecting rod, another
End connection guide sleeve.
Specifically, the top shoe connects a connecting plate, and the sliding block connects a connecting plate, the connecting plate
Respectively one big connecting rod of connection, i.e., the described big connecting rod are connect by connecting plate with the sliding block in telescopic component at both ends.The big connecting rod
On be additionally provided with small rod, there are four the small rods, two be one group of both sides for being symmetricly set on big connecting rod, every group of little Lian
One end of bar is separately connected two big connecting rods, and on guide sleeve, the guide post passes through guide sleeve, is fixed on guide sleeve for other end interconnection
On.The small rod is combined with guide pillars and bushes, for limiting deflection so that round brush can only horizontal motion.The guide post
For a part for sensor holder, guide post is an entirety with sensor.Steering shaft is equipped between the link block and round brush, it is described
Steering shaft also can be used in the direction of fixing rolling brush so that round brush can only horizontal motion.
Further, the outer wall cleaning robots people further includes pressure sensor module, and the pressure sensor module includes passing
Sensor seat, pressure sensor and signal amplifier；
The sensor holder is arranged on square shaft, and the pressure sensor is arranged on sensor holder, the signal amplification
Device connects PLC.
The junction tool of described two Dalian bar assemblies is fixed there are one square shaft.The first sensor seat and described second
For sensor holder by forming an entirety after screw connection, centre is provided with rectangular slot.After being inserted into square shaft, in rectangular slot
It is encased inside sheet rubber.In stress, sheet rubber becomes flat.
First sensor seat and second sensor seat and setting in square shaft are inserted into the circular hole there are two perforative circular hole
Pedestal rotates to limit the horizontal direction of square shaft.
The pressure information that the pressure sensor obtains is transmitted in signal amplifier, and carrying out signal by signal amplifier puts
It is transferred in PLC (programmable logic controller (PLC)) after big, adjustment of the auxiliary brush electric machine controller to round brush and metope order of contact.
Further, the traction component includes cable wire, pulley, thread reaming machine and switch board；
The switch board connects thread reaming machine, and the thread reaming machine connection cable wire and pulley, the cable wire connect in support plate
Retaining ring；
The switch board controls thread reaming machine, and thread reaming machine passes through cable traction outer wall cleaning robots people.
Specifically, the thread reaming machine includes pulley, leading screw, capstan winch, hank knotting motor, sliding block, linear guides and fixed pedestal.
The pulley is fixed on thread reaming machine, and pulley is located proximate to capstan winch edge.The leading screw connects capstan winch, and the capstan winch connection twists
Silk motor, the capstan winch are arranged on sliding block, and the sliding block is arranged on linear guides, and the linear guides setting is in fixed base
On seat, the sliding block can be moved along linear guides.The cable wire is wrapped on capstan winch, and is drawn by pulley.Thread reaming machine
When rotation, hank knotting motor is moved left and right with capstan winch along leading screw in the horizontal direction, adjusts the position of capstan winch so that cable wire wire outlet position
It is always fixed pulley position to set.
Further, the spray assembly includes water tank, nozzle and water pump；
On the supporting plate, the water tank connects water pump for the water tank setting, and the water pump connects nozzle, the nozzle setting
On round brush.
Further, the outer wall cleaning robots people further includes radio-frequency module, and the radio-frequency module is arranged on connecting plate,
The radio-frequency module is for receiving remote signal.
Further, the outer wall cleaning robots people further includes sonac, and the sonac setting is supporting
On plate, the sonac is for incuding barrier.
Using above-mentioned technical proposal, a kind of outer wall cleaning robots people of the present invention has the advantages that：
1) outer wall cleaning robots people proposed by the present invention can carry out periodically effectively cleaning to specified metope, can be applied to machine
Often clean low clearance glass curtain wall, replacement manually carry out the needs such as field, hospital, commercial real estate, star hotel, 4 S auto shop
Metope cleans, and eliminates high risk when artificial cleaning.
2) outer wall cleaning robots people proposed by the present invention have whole cleaning and it is daily can maintenance function and certain remote
Journey state recording and abnormal conditions processing capacity can adaptively handle barrier, adjustment and metope during cleaning
Order of contact etc..
3) outer wall cleaning robots people proposed by the present invention is simple in structure, and control logic understands, improves cleaning efficiency, saves
Cost of labor.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of outer wall cleaning robots people provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of the telescopic component of outer wall cleaning robots people provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram for the structure that a kind of outer wall cleaning robots people provided in an embodiment of the present invention maintains round brush level；
Fig. 4 is a kind of schematic diagram of the link assembly of outer wall cleaning robots people provided in an embodiment of the present invention；
Fig. 5 is a kind of schematic diagram of the traction component of outer wall cleaning robots people provided in an embodiment of the present invention；
Fig. 6 is a kind of thread reaming machine structural schematic diagram of outer wall cleaning robots people provided in an embodiment of the present invention：
Fig. 7 is a kind of position view of the sonac of outer wall cleaning robots people provided in an embodiment of the present invention.
It remarks additionally below to attached drawing：
1- cable wires, 2-1- pulleys, 2-2- pulleys, 3-1- thread reaming machines, 3-2- thread reaming machines, 4- switch boards, 5- support plates, 6- brushes
Sub-motor controller, 7- ball-screws (7-1- forward direction tooth leading screws, the reversed tooth leading screws of 7-2-), 8- stepper motors, 9- retaining rings, 10-
Brush motor, 11- belt pulleys, 12- round brush, 13- water tanks, 14- water pumps, 15- batteries, 16- nozzles, 17-PLC, 18- radio frequency moulds
Block, 19- signal amplifiers, 20-1- top shoes, 20-2- sliding blocks, 21-1- is close to switch, and 21-2- is close to be switched, 22- connections
Plate, 23- link blocks, 24- small rods, 25- big connecting rods, 26- guide posts, 27- guide sleeves, 28- connectors, 29- pedestals, 30- pivoted housings,
31- shafts, 32-1- sensor holders, 32-2- sensor holders, 33- square shafts, 34-1- sonacs, 34-2- sonacs,
35- current dividers, 36- leading screws, 37- linear guides, 38- fixed pedestals, 39- sliding blocks, 40- hank knotting motors, 41- capstan winches.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art obtained without making creative work it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment 1：
A kind of outer wall cleaning robots people is provided in the embodiment of the present invention, the outer wall cleaning robots people includes cleaning device
And control device, the cleaning device include roller brush assembly, spray assembly and traction component, the control device includes that PLC (can
Programmed logic controller) 17 and telescopic component.The outer wall cleaning robots people further includes support plate 5, and the support plate 5 is in " several "
Font.The support plate 5 is equipped with battery 15, and power is provided for robot.
The support plate 5 is equipped with spray assembly, traction component, telescopic component and PLC, and the telescopic component connects round brush
Component；
The quadrangle of the support plate 5 is equipped with retaining ring 9, and the traction component connects retaining ring 9；
The roller brush assembly includes round brush 12, belt pulley 11, brush motor 10 and brush motor controller 6, the round brush
12 connection belt pulleys 11, the belt pulley 11 connect brush motor 10, and the brush motor 10 connects brush motor controller 6；
The telescopic component includes ball-screw 7, stepper motor 8 and link assembly, and the round brush 12 passes through belt pulley 11
It is connected with link assembly, the link assembly can drive round brush 12 to be moved on metope.
Specifically, the roller brush assembly includes round brush 12, belt pulley 11, brush motor 10 and brush motor controller 6.Institute
It states round brush 12 and brush motor 10 is connected by belt pulley 11, the brush motor 10 connects brush motor controller 6, the brush
Electric machine controller 6 connects PLC (programmable logic controller (PLC)) 17.
The brush motor controller 6 is used to control the order of contact of round brush 12 and metope.The brush motor 10 is also connected with
Current divider 35, according to the order of contact of round brush 12 and metope, brush motor 10 will produce different torque currents.Brush motor controls
Device 6 according to curent change control round brush 12 and metope order of contact, with holding reasonably with metope order of contact.
Further, two round brush 12 are equipped with spring, and spring connect with link assembly, for assisting round brush 12 to keep and
Metope is horizontal, and when roller brush assembly pushes metope to, under the pressure to metope, roller brush assembly, which is automatically kept, is parallel to metope.
The telescopic component includes stepper motor 8, ball-screw 7 and link assembly, the stepper motor 8 and ball-screw
7 are arranged in the recess of " several " font support plate 5, and the link assembly includes connecting plate 22, big connecting rod 25, small rod 24, connects
Connect block 23 and steering shaft.The round brush 12 connects link assembly, and the link assembly connects ball-screw 7, the ball-screw 7
Stepper motor 8 is connected, the stepper motor 8 connects PLC (programmable logic controller (PLC)) 17.The ball-screw 7 can control
Round brush 12 stretches.The ball-screw 7 is forward direction tooth leading screw 7-1 and reversed tooth leading screw 7-2 compositions, the stepper motor 8
Top shoe 20-1 is set on connection positive tooth leading screw 7-1, the forward direction tooth leading screw 7-1, the forward direction tooth leading screw 7-1 connections are reversed
Sliding block 20-2 is set on tooth leading screw 7-2, the reversed tooth leading screw 7-2.The lower section of the top shoe 20-1 has first to approach
The lower section of switch 21-1, the sliding block 20-2 have second close to switch 21-2, and the close switch 21 is for incuding upper cunning
Block 20-1 and sliding block 20-2 judges whether top shoe 20-1 and sliding block 20-2 are moved to the limit from close to a distance from switch 21
Position.When ball-screw 7 rotates, top shoe 20-1 and sliding block 20-2 are moved to relative to both direction.
Described one connecting plate 22 of top shoe 20-1 connections, described one connecting plate 22 of sliding block 20-2 connections, the company
Respectively one big connecting rod 25 of connection, i.e., the described big connecting rod 25 are connected by the sliding block 20 in connecting plate and telescopic component at the both ends of fishplate bar 22
It connects.Small rod 24 is additionally provided on the big connecting rod 25, there are four the small rods 24, and two are symmetricly set on big connecting rod for one group
One end of 25 both sides, every group of small rod 24 is separately connected two big connecting rods 25, other end interconnection on guide sleeve 27,
The guide post 26 passes through guide sleeve 27, is fixed on guide sleeve 27.The small rod 24 is combined with guide post 26 and guide sleeve 27, for limiting
Deflection so that round brush 12 can only horizontal motion.The guide post 26 is a part for sensor holder 32, guide post 26 and sensor
32 be an entirety.Steering shaft is equipped between the link block 23 and round brush 12, the steering shaft also can be used in fixing rolling brush
12 direction so that round brush 12 can only horizontal motion.
Pressure sensor can be set on the big connecting rod 25, and the pressure sensor is arranged on sensor holder 32.Institute
The pressure information for stating pressure sensor acquisition is transmitted in signal amplifier 19, is passed after carrying out signal amplification by signal amplifier 19
It is defeated to arrive in PLC (programmable logic controller (PLC)) 17, adjustment of the auxiliary brush electric machine controller 6 to round brush 12 and metope order of contact.
The pressure sensor plays a protective effect, and current divider judges by brush curent change to do, in battery capacity deficiency
In the case of be possible to fail.As long as pressure is more than the preset value of pressure sensor, round brush is packed up.
The junction of described two big connecting rods is set to be fixed there are one square shaft 33, and the square shaft 33 both ends are cylinder, even
Big connecting rod 25 is connect, centre is cuboid, for connecting sensor holder.The first sensor seat 32-1 and the second sensor
For seat 32-2 by forming an entirety after screw connection, centre is provided with rectangular slot.After being inserted into square shaft 33, in rectangular slot
It is encased inside sheet rubber.In stress, sheet rubber becomes flat.
There are two perforative circular holes with setting in square shaft 33 by first sensor seat 32-1 and second sensor seat 32-2, described
Pedestal 29 is inserted into circular hole to limit the horizontal direction rotation of square shaft 33.
When that sensor need not be arranged, the sensor holder 32, square shaft 33 and guide post 26 can portions as a whole
Part only serves the effect being connected and fixed.
The spray assembly includes water tank 13 and nozzle 16.The hydraulic pressure control component includes water pump 14.The water tank 13
Water pump 14 is connected, the water pump 14 connects nozzle 16, and the nozzle 16 is Fan-shaped Spray Atomizer, and the extraction of the water pump 14 is stored in
Cleaning solution in water tank 13 is sprayed onto by nozzle 16 on metope to be cleaned.
The traction component includes cable wire 1, pulley 2, thread reaming machine 3 and switch board 4, and the retaining ring 9 is arranged in robot
Quadrangle, the retaining ring 9 connect cable wire 1, and the cable wire 1 passes through pulley 2 by the position of 9 stationary machines people of retaining ring, the cable wire 1
It is connected on thread reaming machine 3, the thread reaming machine 3 connects switch board 4, is controlled the control of cabinet 4.
The thread reaming machine 3 includes pulley 2, leading screw 36, capstan winch 41, hank knotting motor 40, sliding block 39, linear guides 37 and fixes
Pedestal 38.The pulley 2 is fixed on thread reaming machine 3, and pulley 2 is located proximate to 41 edge of capstan winch.The leading screw 36 connects capstan winch
41, the capstan winch 41 connects hank knotting motor 40, and the capstan winch 41 is arranged on sliding block 39, and the sliding block 39 is arranged in linear guides
On 37, the linear guides 37 are arranged on fixed pedestal 38, and the sliding block 39 can be moved along linear guides 37.The steel
Rope 1 is wrapped on capstan winch 41, and is drawn by pulley 2.When thread reaming machine 3 rotates, hank knotting motor 40 is with capstan winch 41 along leading screw 36
It moves left and right in the horizontal direction, adjusts the position of capstan winch 41 so that 1 outgoing line position of cable wire is always 2 position of fixed pulley.
Also there is the outer wall cleaning robots people radio-frequency module 18, the radio-frequency module 18 can receive radiofrequency signal, because
This described outer wall cleaning robots people can be by user's remote control.
A kind of outer wall cleaning robots people that the present embodiment proposes have whole cleaning and it is daily can maintenance function and certain
Remote status record and abnormal conditions processing capacity.The outer wall cleaning robots people can carry out specified metope periodically effective
Cleaning, can be applied to the needs such as airport, hospital, commercial real estate, star hotel, 4 S auto shop often clean low clearance glass curtain
Wall substitutes the artificial metope cleaning for carrying out 30-100 square meters or so.The outer wall cleaning robots people is simple in structure, and control logic is clear
Chu has certain adaptivity, can reduce the risk that artificial cleaning band comes, while improving efficiency, cost-effective.
Embodiment 2：
The embodiment of the present invention proposes a kind of outer wall cleaning robots people with obstacle crossing function, the outer wall cleaning robots people
Including cleaning device and control device, the cleaning device includes roller brush assembly, spray assembly and traction component, the control dress
It sets including PLC (programmable logic controller (PLC)) 17 and telescopic component.The outer wall cleaning robots people further includes support plate 5, described
Support plate 5 is in " several " font.The support plate 5 is equipped with battery 15, and power is provided for robot.
The support plate 5 is equipped with spray assembly, traction component, telescopic component and PLC, and the telescopic component connects round brush
Component；
The quadrangle of the support plate 5 is equipped with retaining ring 9, and the traction component connects retaining ring 9；
The roller brush assembly includes round brush 12, belt pulley 11, brush motor 10 and brush motor controller 6, the round brush
12 connection belt pulleys 11, the belt pulley 11 connect brush motor 10, and the brush motor 10 connects brush motor controller 6；
The telescopic component includes ball-screw 7, stepper motor 8 and link assembly, and the round brush 12 passes through belt pulley 11
It is connected with link assembly, the link assembly can drive round brush 12 to move.
Specifically, the roller brush assembly includes round brush 12, belt pulley 11, brush motor 10 and brush motor controller 6.Institute
It states round brush 12 and brush motor 10 is connected by belt pulley 11, the brush motor 10 connects brush motor controller 6, the brush
Electric machine controller 6 connects PLC (programmable logic controller (PLC)) 17.There are two round brush 12, and two round brush 12 are arranged side by side, each round brush 12
End be equipped with belt pulley 11, the belt pulley 11 is connected on the axis among two round brush 12, and the axis is equipped with brush electricity
Machine 10.The brush motor 10 is connect with link assembly again.
The brush motor controller 6 is used to control the order of contact of round brush 12 and metope.The brush motor 10 is also connected with
Current divider 35, according to the order of contact of round brush 12 and metope, brush motor 10 will produce different torque currents.Brush motor controls
Device 6 according to curent change control round brush 12 and metope order of contact, with holding reasonably with metope order of contact.
The spray assembly includes water tank 13, nozzle 16 and water pump 14.The water tank 13 connects water pump 14, the water pump 14
Nozzle 16 is connected, the nozzle 16 is Fan-shaped Spray Atomizer, and the water pump 14 extracts the cleaning solution being stored in water tank 13, passes through
Nozzle 16 is sprayed onto on metope to be cleaned.
The traction component includes retaining ring 9, cable wire 1, pulley 2, thread reaming machine 3 and switch board 4, and the retaining ring 9 is arranged in machine
The quadrangle of device people, the retaining ring 9 connect cable wire 1, and for the cable wire 1 by the position of 9 stationary machines people of retaining ring, the cable wire 1 is logical
It crosses pulley 2 to be connected on thread reaming machine 3, the thread reaming machine 3 connects switch board 4, is controlled the control of cabinet 4.
The thread reaming machine 3 includes pulley 2, leading screw 36, capstan winch 41, hank knotting motor 40, sliding block 39, linear guides 37 and fixes
Pedestal 38.The pulley 2 is fixed on thread reaming machine 3, and pulley 2 is located proximate to 41 edge of capstan winch.The leading screw 36 connects capstan winch
41, the capstan winch 41 connects hank knotting motor 40, and the capstan winch 41 is arranged on sliding block 39, and the sliding block 39 is arranged in linear guides
On 37, the linear guides 37 are arranged on fixed pedestal 38, and the sliding block 39 can be moved along linear guides 37.The steel
Rope 1 is wrapped on capstan winch 41, and is drawn by pulley 2.When thread reaming machine 3 rotates, hank knotting motor 40 is with capstan winch 41 along leading screw 36
It moves left and right in the horizontal direction, adjusts the position of capstan winch 41 so that 1 outgoing line position of cable wire is always 2 position of fixed pulley.
Also there is the outer wall cleaning robots people radio-frequency module 18, the radio-frequency module 18 can receive radiofrequency signal, because
This described outer wall cleaning robots people can be by user's remote control.
The outer wall cleaning robots people also has obstacle crossing function.The outer wall cleaning robots people's is surrounded by ultrasonic sensing
Device 34 stops thread reaming machine 3 and rotates when any one sensor perceives preceding object, and lifts roller brush assembly until on more
Platform.Sonac 34 is perceived in range less than 1 second after obstacle, and thread reaming machine 3 restores motion control.
When roller brush assembly passes through obstacle, the roller brush assembly is provided in roller brush assembly bottom by the criterion of obstacle
The sensor in portion all perceives obstacle and passes through, and stops thread reaming machine 3 at this time and rotates, roller brush assembly is put down until touching new wall
Face, 35 automatic sensing of current divider, roller brush assembly adaptively with the order of contact of metope, thread reaming machine 3 restore motion control.
A kind of outer wall cleaning robots people that the present embodiment proposes have whole cleaning and it is daily can maintenance function, and it is certain
Remote status record and abnormal conditions processing capacity, and have the ability of certain identification and leap to barrier.The exterior wall
Clean robot can carry out specified metope periodically effectively cleaning, can be applied to airport, hospital, commercial real estate, star hotel,
Often clean low clearance glass curtain wall, the metope for substituting artificial progress 30-100 square meters or so clean the needs such as 4 S auto shop.
The outer wall cleaning robots people is simple in structure, and control logic understands, has certain adaptivity, can reduce artificial cleaning band
The risk come, while efficiency is improved, it is cost-effective.
Embodiment 3：
The embodiment of the present invention proposes a kind of control device of outer wall cleaning robots people.The control device includes that PLC (can
Programmed logic controller) 17, water pump 14, pressure sensor module, brush motor 10, brush motor controller 6, telescopic component, steel
Rope 1, thread reaming machine 3 and switch board 4.
The 17 control pressure sensory package of PLC (programmable logic controller (PLC)), brush motor 10, brush motor controller
6, telescopic component, cable wire 1, thread reaming machine 3 and switch board 4.The PLC (programmable logic controller (PLC)) 17 is also connected with a radio frequency mould
Block 18, the radio-frequency module 18 can receive signal, therefore user being capable of remote control PLC (programmable logic controller (PLC))
17。
The pressure sensor module includes sensor holder 32, pressure sensor and signal amplifier 19, the sensor holder
32 are arranged on big connecting rod 25, and the pressure sensor is arranged on sensor holder 32, and the pressure sensor module is for obtaining
The pressure of the application of round brush 12 is simultaneously amplified by signal amplifier 19.The pressure sensor module carries out pressure judgement for assisting.
The brush motor 10 and brush motor controller 6 are used to control the order of contact of round brush 12 and metope, and can be certainly
Adaptively it is adjusted.Different torque currents, the brush motor are generated with the brush motor 10 that moves of round brush 12
Controller 6 judges the motion state of round brush 12 at this time according to different torque currents, adaptively adjusts.
The telescopic component includes stepper motor 8, ball-screw 7 and link assembly, the stepper motor 8, ball-screw 7
Flexible for controlling round brush 12 with link assembly, the ball-screw 7 and stepper motor 8 are realized by Dalian bar assembly to round brush
The control of 12 telescopic levels.
For the water pump 14 for pumping out cleaning solution from water tank 13, the water pump 14 extracts cleaning solution from water tank 13,
And it is sprayed at and is needed on clean metope by nozzle 16.
The cable wire 1, thread reaming machine 3 and switch board 4 are moved integrally for drawing robot on exterior wall.The switch board 4
Thread reaming machine 3 is controlled, the thread reaming machine 3 is built-in with capstan winch, winds cable wire 1 on capstan winch, the thread reaming machine 3 can control cable wire 1
Outlet.Cable wire 1 is connected on outer wall cleaning robots people, controls the movement of outer wall cleaning robots people.In the traction control component
Switch board 4 on also be provided with PLC (programmable logic controller (PLC)) 17 and radio-frequency module 18, therefore traction control component can also be by
User's remote control.
Further, also there is the outer wall cleaning robots people obstacle crossing function, the obstacle crossing function to be cleaned by control exterior wall
The PLC (programmable logic controller (PLC)) 17 and switch board 4 of robot motion are realized jointly.The surrounding of the outer wall cleaning robots people
Equipped with sonac 34, when any one sensor perceives preceding object, PLC (programmable logic controls are transmitted signals to
Device processed) 17 and switch board 4, switch board 4 stops thread reaming machine 3 and rotates, and PLC (programmable logic controller (PLC)) 17 controls robot and lifts
Roller brush assembly is until more upper mounting plate.Sonac 34 is perceived in range less than 1 second after obstacle, and switch board 4 controls thread reaming machine 3
Restore motion control.
When roller brush assembly passes through obstacle, the roller brush assembly is provided in roller brush assembly bottom by the criterion of obstacle
The sensor in portion all perceives obstacle and passes through, and stops thread reaming machine 3 at this time and rotates, roller brush assembly is put down until touching new wall
Face, 35 automatic sensing of current divider, roller brush assembly adaptively with the order of contact of metope, thread reaming machine 3 restore motion control.
A kind of control device for outer wall cleaning robots people that the present embodiment proposes is for controlling outer wall cleaning robots people to referring to
Determine metope carry out periodically effectively cleaning, the outer wall cleaning robots people can be applied to airport, hospital, commercial real estate, star hotel,
Often clean low clearance glass curtain wall, the metope for substituting artificial progress 30-100 square meters or so clean the needs such as 4 S auto shop.
The outer wall cleaning robots people is simple in structure, and control logic understands, has certain adaptivity, can reduce artificial cleaning band
The risk come, while efficiency is improved, it is cost-effective.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of outer wall cleaning robots people, which is characterized in that the outer wall cleaning robots people include support plate (5), roller brush assembly,
Spray assembly, traction component, telescopic component and PLC (17)；
The support plate (5) is equipped with spray assembly, traction component, telescopic component and PLC (17), the telescopic component connection rolling
Brush assemblies；
The quadrangle of the support plate (5) is equipped with retaining ring (9), the traction component connection retaining ring (9)；
The roller brush assembly includes round brush (12), belt pulley (11), brush motor (10) and brush motor controller (6), described
Round brush (12) connects belt pulley (11), belt pulley (11) the connection brush motor (10), brush motor (10) the connection brush
Sub-motor controller (6)；
The telescopic component includes ball-screw (7), stepper motor (8) and link assembly, and the round brush (12) passes through belt pulley
(11) it is connected with link assembly, the link assembly can drive round brush (12) to be moved on metope.
2. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the outer wall cleaning robots people also wraps
Current divider (35), current divider (35) the connection brush motor (10) are included, the brush motor (10) is used to keep and metope
Order of contact generates different electric currents from the order of contact of metope according to round brush (12), round brush (12) is controlled according to the variation of electric current
The order of contact with metope.
3. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the telescopic component further includes upper cunning
Block (20-1), sliding block (20-2) and close switch (21), the top shoe (20-1) and sliding block (20-2) connect connection rod set
Part, the ball-screw (7) include positive tooth leading screw (7-1) and reversed tooth leading screw (7-2), and the forward direction tooth leading screw (7-1) is even
Stepper motor (8), the positive tooth leading screw (7-1) of top shoe (20-1) connection are connect, the sliding block (20-2) connects reversed tooth
Leading screw (7-2), the forward direction tooth leading screw (7-1) are equipped with first close to (21-1) is switched, are set on the reversed tooth leading screw (7-2)
There is the second close switch (21-2)；
When ball-screw (7) rotate, top shoe (20-1) and sliding block (20-2) are moved to opposite both direction.
4. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the link assembly includes connecting plate
(22), big connecting rod (25), square shaft (33), guide sleeve (27), small rod (24), link block (23) and steering shaft, the connecting plate
(22) connection big connecting rod (25), the big connecting rod (25) connect with link block (23), and the link block (23) connects steering shaft, institute
Small rod (24) is stated to be arranged on big connecting rod (25).
5. a kind of outer wall cleaning robots people according to claim 4, which is characterized in that the one of each big connecting rod (25)
End is connect by connecting plate (22) with sliding block (20), and the other end of the big connecting rod (25) is linked together by square shaft (33)；
The small rod (24) is symmetricly set on the both sides of big connecting rod (25), and one end of the small rod (24) connects big connecting rod
(25), other end connection guide sleeve (27).
6. a kind of outer wall cleaning robots people according to claim 5, which is characterized in that the outer wall cleaning robots people also wraps
Pressure sensor module is included, the pressure sensor module includes sensor holder (32), pressure sensor and signal amplifier (19)；
The sensor holder (32) is arranged on square shaft (33), and the pressure sensor is arranged on sensor holder (32), described
Signal amplifier (19) connects PLC (17).
7. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the traction component includes cable wire
(1), pulley (2), thread reaming machine (3) and switch board (4)；
Switch board (4) the connection thread reaming machine (3), thread reaming machine (3) the connection cable wire (1) and pulley (2), the cable wire (1)
Connect the retaining ring (9) in support plate (5)；
Switch board (4) the control thread reaming machine (3), thread reaming machine (3) draw outer wall cleaning robots people by cable wire (1).
8. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the spray assembly includes water tank
(13), nozzle (16) and water pump (14)；
The water tank (13) is arranged in support plate (5), water tank (13) the connection water pump (14), water pump (14) the connection spray
Mouth (16), the nozzle (16) are arranged on round brush (12).
9. a kind of outer wall cleaning robots people according to claim 1, the outer wall cleaning robots people further includes radio-frequency module
(18), the radio-frequency module (18) is arranged on connecting plate (22), and the radio-frequency module (18) is for receiving remote signal.
10. a kind of outer wall cleaning robots people according to claim 1, which is characterized in that the outer wall cleaning robots people is also
Including sonac (34), the sonac (34) is arranged in support plate (5), and the sonac (34) is used for
Incude barrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810681268.4A CN108553016A (en) | 2018-06-27 | 2018-06-27 | A kind of outer wall cleaning robots people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810681268.4A CN108553016A (en) | 2018-06-27 | 2018-06-27 | A kind of outer wall cleaning robots people |
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| Publication Number | Publication Date |
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| CN108553016A true CN108553016A (en) | 2018-09-21 |
Family
ID=63554882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810681268.4A Pending CN108553016A (en) | 2018-06-27 | 2018-06-27 | A kind of outer wall cleaning robots people |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113133729A (en) * | 2021-04-15 | 2021-07-20 | 中原动力智能机器人有限公司 | Curtain wall cleaning robot |
| WO2023133615A1 (en) * | 2022-01-13 | 2023-07-20 | Melro Correa Marcelo De Freitas | Machine for cleaning façades |
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