CN108729683B - Spider-shaped glass cleaning robot - Google Patents
Spider-shaped glass cleaning robot Download PDFInfo
- Publication number
- CN108729683B CN108729683B CN201810548139.8A CN201810548139A CN108729683B CN 108729683 B CN108729683 B CN 108729683B CN 201810548139 A CN201810548139 A CN 201810548139A CN 108729683 B CN108729683 B CN 108729683B
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- fixed
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- main body
- spider
- cleaning robot
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- 239000011521 glass Substances 0.000 title claims abstract description 41
- 238000004140 cleaning Methods 0.000 title claims abstract description 30
- 241000252254 Catostomidae Species 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 210000002105 tongue Anatomy 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241000239290 Araneae Species 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
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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
- 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
- A47L11/4011—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
- A47L11/4063—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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
本发明公开了一种蜘蛛形玻璃清洁机器人，包括主体和可伸缩轨道滑扣，可伸缩轨道滑扣设置于主体内表面的四个拐角上，可伸缩轨道滑扣，包括固定在主体内表面上的底盘，每个底盘中心处固定有伸缩杆，每个伸缩杆的端部固定有固定环，还包括平行设置的第一轨道和第二轨道，第一轨道和第二轨道的两端通过平行设置的连接杆连接，每个连接杆内套有转轴，每个转轴的两端均通过竖直设置的支杆连接有防滑吸盘，主体内表面中心处还设置有机械手臂刷，主体内表面上设置有控制机构、驱动机构、空气泵和图像采集设备。该机器人能在玻璃窗体上任意方向进行运行，且机械手臂刷具有高度灵活性，可以无死角的擦洗玻璃窗体的任意位置。
The invention discloses a spider-shaped glass cleaning robot, comprising a main body and a retractable rail slide buckle, the retractable rail slide buckle is arranged on the four corners of the inner surface of the main body, and the retractable rail slide buckle comprises a fixed on the inner surface of the main body. The chassis, the center of each chassis is fixed with a telescopic rod, the end of each telescopic rod is fixed with a fixing ring, and also includes a first track and a second track arranged in parallel, the two ends of the first track and the second track are parallel The provided connecting rods are connected, each connecting rod is sleeved with a rotating shaft, both ends of each rotating shaft are connected with anti-skid suction cups through vertically arranged support rods, and a mechanical arm brush is also set at the center of the inner surface of the main body. A control mechanism, a driving mechanism, an air pump and an image acquisition device are provided. The robot can run in any direction on the glass window, and the mechanical arm brush has high flexibility, and can scrub any position of the glass window without dead ends.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a spider-shaped glass cleaning robot.
Background
In recent years, the glass curtain wall is mainly cleaned manually, and particularly, people who often see some body ropes in a large city, wear safety helmets and hang water buckets on the bodies and hold cleaning tools in hands can work from top to bottom on the outer wall of a high-rise building, so that the people are called as urban spiders. The work of the urban spider man is dangerous, and the working efficiency is low. The cost of manual cleaning is high, the requirement on environmental conditions such as weather is high, the higher the floor is, the smaller the required wind speed is, the proper air temperature is, and the operation cannot be carried out in rainy weather.
In order to reduce the problem of artificial safety, robots capable of replacing manual cleaning of glass outer walls appear in the market. Although the risk of working by workers is reduced, there are some disadvantages. First, the robot is bulky and heavy, and is difficult to move smoothly along a wall surface when stably adsorbed on an outer wall, and may fall off to cause an accident when the adsorption force is unstable. In addition, most of the existing robots are in a semi-automatic state, the robots are poor in flexibility and adaptability, weak in self-control and adjustment capacity, and poor in cleaning efficiency.
Disclosure of Invention
The invention aims to provide a spider-shaped glass cleaning robot, which realizes safe and efficient cleaning of high-rise glass.
The invention adopts the technical scheme that the spider-shaped glass cleaning robot comprises a main body and telescopic rail sliding buckles, wherein the telescopic rail sliding buckles are arranged on four corners of the inner surface of the main body, each telescopic rail sliding buckle comprises a chassis fixed on the inner surface of the main body, a telescopic rod is fixed at the center of each chassis, a fixing ring is fixed at the end part of each telescopic rod, the spider-shaped glass cleaning robot also comprises a first rail and a second rail which are arranged in parallel, two ends of each first rail and two ends of each second rail penetrate through the fixing rings, a rack is also arranged in each first rail, two ends of each first rail and two ends of each second rail are connected through connecting rods arranged in parallel, a rotating shaft is sleeved in each connecting rod, two ends of each rotating shaft are connected with anti-skidding suckers through support rods arranged vertically, a rotating base is also arranged at the center of the inner surface of the main body, and, the inner surface of the main body is provided with a control mechanism, a driving mechanism, an air pump and an image acquisition device.
The invention is also characterized in that:
the control mechanism comprises an embedded system and a motor drive plate, wherein wireless transmitting and receiving equipment is integrated in the embedded system, and the embedded system is electrically connected with the motor drive plate.
The driving mechanism comprises two speed reducing motors which are arranged on the inner surface of the main body from top to bottom, and further comprises gears, the gears are respectively arranged on the two speed reducing motors, and one of the gears is meshed with the rack in the first track.
The end surface of the rotating base penetrating out of the inner surface of the main body is also fixed with a vacuum chuck.
The mechanical arm brush comprises a mechanical arm rotating base fixedly connected to the rotating base, a first mechanical arm is movably and fixedly connected to the mechanical arm rotating base, the first mechanical arm is movably connected with a second mechanical arm through a joint, the second mechanical arm is movably and fixedly connected with a rotating disc, and a brush head is arranged on the outer surface of the rotating disc.
Each telescopic link is a three-section telescopic link.
And a locking device is also arranged on one fixing ring through which the first track passes.
The locking ware, including fixing the support body on solid fixed ring, be the vertical dead lever that sets up of symmetry in the support body, two dead levers are provided with the connecting plate through the level and connect, and dead lever one end is fixed at the support body top, the dead lever other end passes the connecting plate bottom, connecting plate bottom outward appearance is the vertical spring bolt that is fixed with of symmetry, can block on the rack in first track when the spring bolt wears out the support body bottom, the support body top is fixed with DC motor, be fixed with the hob on DC motor's the motor shaft, the hob passes the center department of connecting plate.
The invention has the beneficial effects that: the robot can run on the glass window body in any direction, and the mechanical arm brush has high flexibility and can scrub any position of the glass window body without dead angles.
Drawings
FIG. 1 is a schematic view of a spider-type glass cleaning robot according to the present invention;
FIG. 2 is a schematic structural view of a retractable rail slider of a spider-shaped glass cleaning robot according to the present invention;
FIG. 3 is a top view of a spider-shaped glass cleaning robot of the present invention;
FIG. 4 is a bottom view of a spider-shaped glass cleaning robot of the present invention;
FIG. 5 is a schematic view of a lock of a spider-shaped glass cleaning robot according to the present invention;
FIG. 6 is a schematic view of a latch locking track in a spider-type glass cleaning robot of the present invention.
In the figure, 1, a main body, 2, a telescopic rail slide fastener, 3, a chassis, 4, a telescopic rod, 5, a fixing ring, 6, a locking device, 7, a first rail, 8, a second rail, 9, a connecting rod, 10, an anti-skidding sucker, 11, a support rod, 12, a rotating shaft, 13, a mechanical arm brush, 14, a rotating base, 15, a first mechanical arm, 16, a second mechanical arm, 17, a mechanical arm rotating base, 18, a rotating disc, 19, a brush head, 20, an air pump, 21, an embedded system, 22, a motor driving plate, 23, a vacuum sucker, 24, a speed reduction motor, 25, a cleaning liquid tank, 26, image acquisition equipment, 27, a water storage tank, 28, a direct current motor, 29, a bolt, 30, a connecting plate, 31, a spiral rod, 32, a fixing rod and 33 are frame bodies.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a spider-shaped glass cleaning robot, which comprises a main body 1 and a telescopic rail slide fastener 2, wherein the telescopic rail slide fastener 2 is arranged on four corners of the inner surface of the main body 1, the telescopic rail slide fastener 2 comprises a chassis 3 fixed on the inner surface of the main body 1, as shown in figure 2, a telescopic rod 4 is fixed at the center of each chassis 3, each telescopic rod 4 is a three-section telescopic rod, each telescopic rod 4 is respectively and electrically connected with a first control unit, a fixing ring 5 is fixed at the end part of each telescopic rod 4, the spider-shaped glass cleaning robot also comprises a first rail 7 and a second rail 8 which are arranged in parallel, two ends of the first rail 7 and the second rail 8 respectively penetrate through the fixing ring 5, a rack is also arranged in the first rail 7, two ends of the first rail 7 and the second rail 8 are connected through a connecting rod 9 which is arranged in parallel, the connecting rod 9 is respectively vertical to the first rail 7 and the, a rotating shaft 12 is sleeved in each connecting rod 9, two ends of each rotating shaft 12 are connected with anti-skid suckers 10 through vertically arranged support rods 11, a rotating base 14 is further arranged at the center of the inner surface of the main body 1, the rotating base 14 penetrates out of the inner surface of the main body 1, a mechanical arm brush 13 is fixed on the end face of the rotating base 14 located on the inner surface of the main body 1, the mechanical arm brush 13 comprises a mechanical arm rotating base 17 fixedly connected on the rotating base 14, a first mechanical arm 15 is movably and fixedly connected on the mechanical arm rotating base 17, the first mechanical arm 15 is movably connected with a second mechanical arm 16 through a joint, the second mechanical arm 16 is movably and fixedly connected with a rotating disc 18, a brush head 19 is arranged on the outer surface of the rotating disc 18, and the first mechanical arm 15 and the second mechanical;
as shown in fig. 3, the inner surface of the main body 1 is provided with a control mechanism, a driving mechanism, an air pump 20 and an image acquisition device 26;
the control mechanism comprises an embedded system 21, and wireless transceiving equipment is integrated in the embedded system 21 and used for controlling the motion of the robot; the embedded system 21 is electrically connected with the motor driving plate 22;
the driving mechanism comprises two speed reducing motors 24 which are vertically arranged on the inner surface of the main body 1, gears and a gear, wherein the two speed reducing motors 24 are positioned between the two fixing rings 5 which are penetrated by the first track 7, the gears are respectively arranged on the two speed reducing motors 24, and one of the gears is meshed with the rack in the first track 7; the two speed reducing motors 24 are respectively and electrically connected with the motor driving plate 22;
the first control unit, the second control unit, the air pump 20 and the image acquisition device 26 are respectively electrically connected with the embedded system 21;
as shown in fig. 4, a vacuum chuck 23 is further fixed on the end surface of the rotating base 14 penetrating out of the inner surface of the main body 1;
as shown in fig. 5 and 6, a fixing ring 5 through which the first rail 7 passes is further provided with a locking device 6, the locking device 6 comprises a frame body 33 fixed on the fixing ring 5, the frame body 33 is hollow at the inner part and the bottom surface, fixing rods 32 are symmetrically and vertically arranged in the frame body 33, the two fixing rods 32 are connected through a connecting plate 30 horizontally arranged, and the connecting plate 30 is movably fixed on the fixing rod 32, one end of the fixing rod 32 is fixed at the top of the frame body 33, the other end of the fixing rod 32 penetrates through the bottom of the connecting plate 30, the lock tongues 29 are symmetrically and vertically fixed on the outer surface of the bottom of the connecting plate 30, the lock tongues 29 can be clamped on the racks in the first track 7 when penetrating out of the bottom of the frame body 33, the direct current motor 28 is fixed at the top of the frame body 33, the direct current motor 28 is electrically connected with the first control unit, a screw rod 31 is fixed on a motor shaft of the direct current motor 28, and the screw rod 31.
The inner surface of the main body 1 is also provided with a water storage tank 25 and a cleaning liquid tank 27;
the length of the rack is consistent with that of the first track 7, and the lengths of the first track 7 and the second track 8 are 3 times of that of the main body 1;
the invention relates to a spider-shaped glass cleaning robot, which specifically adopts the working principle that:
when the cleaning operation is carried out, the main body 1 is adsorbed on glass through the four anti-skid suckers 10 and the vacuum suckers 23, the surrounding environment information is obtained through the image acquisition equipment 26, then the information is transmitted to the embedding system 21, when the starting position is the upper left corner, the equipment tries to move to the upper left corner, in the process, the camera continuously acquires images and transmits the images to the embedding system 21 to judge whether the images arrive, and the mechanical arm brush 13 does not work in the process.
When the user starts to walk horizontally, the embedded system 21 acquires the current gravity and then releases the four anti-skid suction cups 10 to separate from the surface of the glass wall and rotate outwards to lift the anti-skid suction cups 10, the rotating base 14 adjusts the direction of the main body 1 to enable the main body to horizontally face, the vacuum suction cups 23 are firmly adsorbed on the surface of the glass, then the driving mechanism works, the speed reducing motor 24 on the inner surface of the main body 1 starts to work to push the first rail 7 and the second rail 8 forwards, after the anti-skid suction cups 10 are put down after moving to the designated position, the air pump 25 is driven to tightly adsorb the anti-skid suction cups 10 on the surface of the glass wall, the screw rod 31 is driven to rotate by the rotation of the direct current motor 28 in the locker 6, the screw rod 31 rotates to push the connecting plate 30 together with the bolt 29, the first rail 7 and the second rail 8 are locked on the fixing ring 5 by clamping the bolt 29 into the rack on the first, when the vacuum chuck 23 is detached from the glass wall surface, the telescopic rod 4 is retracted to make the main body 1 completely detached from the glass surface and have a height that can be used to span an obstacle of a certain size, such as a glass frame. When the speed reducing motor 24 contacts the first rail 7 again, the direct current motor 28 in the locking device 6 rotates reversely to withdraw the locking tongue 29, so that the main body 1 can move on the first rail 7 and the second rail 8, when the main body 1 moves to a specified position, after the locking device 6 locks a certain position of the main body 1 on the first rail 7 and the second rail 8, the telescopic rod 4 starts to extend, and after the vacuum suction cup 23 contacts the glass surface, the glass surface is firmly adsorbed on the glass surface. The robotic arm brush 13 may then be driven for scrubbing or for further movement.
Walking in the vertical direction or walking in any direction is similar to walking in the horizontal direction.
When the embedded system 21 detects a window bar or an obstacle through an image acquired by the camera, it can be determined whether the obstacle can cross, the lengths of the first rail 7 and the second rail 8 are 3 times of the length of the main body, i.e., the width of the obstacle that can cross should be smaller than the width of the main body 1, and the telescopic rod 4 is a three-section telescopic rod, so the height of the obstacle that can cross should be smaller than the maximum variable range of the telescopic rod 4, and the obstacle whose width and height are within the range can cross, otherwise, the obstacle cannot cross.
When the robot reaches the initial position, the glass brushing work is carried out, and the walking method is as described above, when the robot brushes at a determined working point, the anti-skid suction cups 10 and the vacuum suction cups 23 of the robot stably adsorb, and then the embedded system 21 controls the mechanical arm brush 13 to brush the surrounding glass. When the main body 1 moves or travels on the first rail 7 and the second rail 8, the robot arm brush 13 does not operate.
The robot can be operated remotely, when the robot works at high altitude or at a long distance, an operator utilizes an APP or a remote controller to send out a series of control information wirelessly, a wireless receiving module on the robot main body 1 receives the control information and transmits the control information to the embedded system 21, and the embedded system 21 controls the motion of the embedded system according to the control information.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548139.8A CN108729683B (en) | 2018-05-31 | 2018-05-31 | Spider-shaped glass cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810548139.8A CN108729683B (en) | 2018-05-31 | 2018-05-31 | Spider-shaped glass cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108729683A CN108729683A (en) | 2018-11-02 |
| CN108729683B true CN108729683B (en) | 2021-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810548139.8A Active CN108729683B (en) | 2018-05-31 | 2018-05-31 | Spider-shaped glass cleaning robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631633B (en) * | 2019-03-01 | 2021-09-07 | 厦门华蔚物联网科技有限公司 | Curtain wall obstacle crossing robot with telescopic climbing arm |
| CN110359721B (en) * | 2019-07-25 | 2021-05-25 | 张亦军 | Vapour-pressure type glass cleaning device |
| WO2021134537A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Window cleaning robot |
| CN114509771A (en) * | 2020-11-17 | 2022-05-17 | 智慧式有限公司 | Method for identifying distance between intelligent terminal and glass |
| CN112401733A (en) * | 2020-11-30 | 2021-02-26 | 安徽信息工程学院 | Curtain wall cleaning robot |
| CN112914446A (en) * | 2021-01-27 | 2021-06-08 | 江门职业技术学院 | Cleaning robot |
| CN113445708A (en) * | 2021-08-11 | 2021-09-28 | 合肥工业大学 | Windproof intelligent wall surface spraying robot for high-rise building |
| GR20220100165A (en) * | 2022-02-24 | 2023-09-08 | Κορρες, Δημητριος Ιωαννη | Cleaning system practicable for the external surface of buildings |
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| EP0401120A1 (en) * | 1989-06-02 | 1990-12-05 | Bouygues | Remote-controlled mobile robot for working surfaces, particularly for cleaning glass-walls |
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