CN108814402A - A kind of robot with cleaning function - Google Patents
A kind of robot with cleaning function Download PDFInfo
- Publication number
- CN108814402A CN108814402A CN201810539064.7A CN201810539064A CN108814402A CN 108814402 A CN108814402 A CN 108814402A CN 201810539064 A CN201810539064 A CN 201810539064A CN 108814402 A CN108814402 A CN 108814402A
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- CN
- China
- Prior art keywords
- rack
- connecting rod
- robot
- pushing meanss
- pedipulator
- 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 58
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 35
- 239000000428 dust Substances 0.000 claims description 31
- 239000007921 spray Substances 0.000 claims description 17
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 6
- 238000009688 liquid atomisation Methods 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 230000001680 brushing effect Effects 0.000 claims 1
- 239000011521 glass Substances 0.000 abstract description 60
- 230000009286 beneficial effect Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 230000005520 electrodynamics Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical group [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003292 glue Substances 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- 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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
-
- 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
-
- 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
Landscapes
- 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 By Liquid Or Steam (AREA)
Abstract
The present invention provides a kind of robots with cleaning function comprising：Rack, multipair pedipulator, multiple fastening devices, controller and cleaning device, one end of the multipair pedipulator is symmetricly set on the two sides of the rack respectively about the rack, one end of the rack is arranged in the cleaning device, the controller is arranged in the rack, the controller is connect with the cleaning device, the other end of the pedipulator, the surface fastener of the fastening device and object to be cleaned is arranged in the fastening device.Pass through the specific combination of fastening device and pedipulator, robot is allowed to adsorb and walk on the end face of glass curtain wall, by the way that cleaning device is arranged, robot cleans glass curtain wall, reduce the labor intensity of user, working efficiency is improved, the cleaning cost of glass curtain wall is reduced.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of robots with cleaning function.
Background technique
With the rapid development of economy, each public domain is provided with skyscraper, it is most of to make in skyscraper
It is glass curtain wall, in order to maintain the clean and clean and tidy of glass curtain wall, needs periodically to clean glass curtain wall, it is existing
In technology, usually manually glass curtain wall is cleaned, for the glass curtain wall of higher position, often by rope to clear
Clean personnel suspend in midair, and to realize the cleaning to glass curtain wall, high altitude operation risk is higher, the labor intensity of cleanup crew compared with
Greatly.
Summary of the invention
The technical problem to be solved by the present invention is in view of the deficiencies of the prior art, provide a kind of machine with cleaning function
Device people.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of robot with cleaning function comprising：
Rack, multipair pedipulator, multiple fastening devices, controller and cleaning device, the multipair pedipulator is respectively about the machine
Frame is symmetrical arranged, and one end of the multipair pedipulator is symmetricly set on the two sides of the rack respectively about the rack, and more
One end that the rack is arranged in cleaning device is stated, multiple fastening devices are separately positioned on the another of multiple pedipulators
End, the surface fastener of the fastening device and object to be cleaned, the controller are arranged in the rack, the controller and institute
It states cleaning device to connect and control the cleaning device opening and closing, the controller connect with the pedipulator and controls the machinery
Leg movement.
The beneficial effects of the invention are as follows：By the specific combination of fastening device and pedipulator, robot is inhaled
It is accompanied by and walks on the end face of glass curtain wall, by the way that cleaning device is arranged, robot is carried out to glass curtain wall clear
It washes, reduces the labor intensity of user, improve working efficiency, reduce the cleaning cost of glass curtain wall.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the pedipulator includes：First connecting rod, second connecting rod, third connecting rod, the first pushing meanss and
Two pushing meanss, one end of the third connecting rod are rotatably arranged on the side wall of the rack, first pushing meanss
Pedestal be arranged on rear side of the top of described third connecting rod one end, one end of the first connecting rod and the third connecting rod can be rotated
Connection, the pedestal of first pushing meanss are rotatably arranged on the side wall of the rack, first pushing meanss
It is rotatably connected in the middle part of output end and the first connecting rod, one end of the other end of the first connecting rod and the second connecting rod
It is rotatably connected, the pedestal of second pushing meanss is rotatably arranged on the first connecting rod, and described second pushes dress
The output end set is connect with the middle part of the second connecting rod, and the other end of the second connecting rod passes through universal with the fastening device
Section connection, first pushing meanss and second pushing meanss are connect with the controller.
Beneficial effect using above-mentioned further scheme is：The setting of first pushing meanss, the first pushing meanss are along machine
The axis direction swing of frame, so that third connecting rod is put under the drive of the first pushing meanss along the axis direction of rack
It is dynamic, realize the front and back walking of robot；The setting of second pushing meanss, the slide bar of the first pushing meanss and the second pushing meanss
Slide bar is pushed outwardly jointly, so that first connecting rod is in water under the using jointly of the first pushing meanss and the second pushing meanss
Level state allows robot to cross the side in glass curtain wall to improve the distance between rack and glass curtain wall end face
Frame improves the intelligence of robot, improves the adaptability of robot.
Further, first pushing meanss and second pushing meanss be the oil cylinder of same model, cylinder or
Person's air pressure pump.
Beneficial effect using above-mentioned further scheme is：First pushing meanss and the second pushing meanss be oil cylinder,
Cylinder or air pressure pump are uniformly controlled the first pushing meanss and the second pushing meanss by controller, thus
Realize different motion states.
Further, the cleaning device includes：Multiple hairbrush, motor and multiple rollers, the side wall of the motor with
One end of the rack connects, the output axis connection of the roller and the motor, and the roller is cylindrical structure, Duo Gesuo
It states roller mutually to concatenate, multiple rollers are arranged in "-" type, and the output shaft of the roller and the motor is coaxially disposed, institute
Stating hairbrush is hollow cylindrical structure, and multiple hairbrush are respectively sleeved on the lateral wall of multiple rollers.
Beneficial effect using above-mentioned further scheme is：By setting hairbrush, motor and roller, so that motor can be with
Band electric brush is rotated, and when cleaning glass curtain wall, the hairbrush outer wall of rolling is abutted with the end face of glass curtain wall, is realized to glass
The cleaning of glass curtain wall improves cleaning efficiency.
Further, the cleaning device further includes：The bottom end of the rack, institute is arranged in dust catcher, the dust catcher
The input terminal for stating dust catcher is arranged between the rack and the hairbrush, the length of the input terminal of the dust catcher and the hair
The length of brush is identical, and the input terminal of the dust catcher is more piece bar shaped dust suction nozzle.
Beneficial effect using above-mentioned further scheme is：The setting of dust catcher so that robot to glass curtain wall into
During row cleans, the dust and sundries that hairbrush is swept out are absorbed in time by dust catcher, prevent dust and sundries from falling
And disperse, the ambient enviroment of glass curtain wall is protected, the efficiency of cleaning is improved.
Further, one end of the rack is provided with baffle, the baffle is arc-shaped plate structure, the baffle
One end connect with one end of the rack, the other side of the baffle is around the outside for being located at the hairbrush.
Beneficial effect using above-mentioned further scheme is：The setting of baffle, so that robot is to the clear of glass curtain wall
During sweeping, the dust and sundries that high-speed rotating hairbrush is broken up are stopped by baffle, prevent dust and sundries from flying around
It raises.
Further, the cleaning device further includes：Water injector, the water injector are arranged on the baffle, institute
The other end of the baffle is arranged in the water spray end for stating water injector, and the water spray end of the water injector is that liquid is atomized more piece spray
The front end of the hairbrush, the length of the liquid atomization more piece nozzle hole is arranged in nozzle, the liquid atomization more piece nozzle hole
It is identical as the length of the hairbrush.
Beneficial effect using above-mentioned further scheme is：The other end of baffle is arranged in the water spray end of water injector, makes
The front end that water injector is located at robot is obtained, when cleaning to glass curtain wall, water injector is first to the end face of glass curtain wall
Carry out water spray processing, on the one hand, after water spray, cleaned convenient for more glass curtain walls；On the other hand, it after water spray, can drop
Low ash dirt and sundries fly upward degree, protect ambient enviroment.
Further, the fastening device includes：The pedestal of vacuum pump and sucker, the vacuum pump is arranged in the machine
On tool leg, the vacuum pump is connect with the controller, and through-hole, the other end of the vacuum pump are offered in the middle part of the sucker
It is connected to the through-hole of the sucker.
Beneficial effect using above-mentioned further scheme is：The setting of vacuum pump and sucker, when sucker needs are adsorbed on
When on the end face of glass curtain wall, vacuum pump is shunk, by the cavity vacuum pumping between sucker and glass curtain wall end face, so that sucker
It is adsorbed on the end face of glass curtain wall.When sucker needs are separated with the end face of glass curtain wall, vacuum pump stretches out, will be in cylinder
Air is pushed into the cavity between sucker and glass curtain wall end face, so that sucker is separated with the end face of glass curtain wall.
Further, the sucker is bowl structure, and the material of the sucker is rubber, the concave surface of the sucker with it is described
The other end of vacuum pump connects.
Beneficial effect using above-mentioned further scheme is：The sucker of rubber material, so that sucker has deformable energy
Power reduces the production cost of fastening device convenient for snapping onto sucker on the end face of glass curtain wall.
Further, further include：Multiple fan wave radar sensors and multiple cameras, multiple fan wave radar sensings
Device and multiple cameras are connect with the controller, multiple fan wave radar sensors and multiple camera shootings
Head is separately positioned in the peripheral sidewalls of the rack.
Beneficial effect using above-mentioned further scheme is：The quantity of the pedipulator is set as 3 pairs, so that working as robot
When across frame in glass curtain wall, having the fastening device on two pairs of pedipulators always is the end face snapping with glass curtain wall,
Prevent robot from falling when across frame in glass curtain wall, the fastening device on two pairs of pedipulators can be stablized and uniformly
It snaps on the end face of glass curtain wall to stress, improves machine human reriability.
Detailed description of the invention
Fig. 1 is one of the structural schematic diagram of robot provided in an embodiment of the present invention.
Fig. 2 is the second structural representation of robot provided in an embodiment of the present invention.
Fig. 3 is the third structural representation of robot provided in an embodiment of the present invention.
Fig. 4 is the four of the structural schematic diagram of robot provided in an embodiment of the present invention.
Fig. 5 is the five of the structural schematic diagram of robot provided in an embodiment of the present invention.
Fig. 6 is the six of the structural schematic diagram of robot provided in an embodiment of the present invention.
Drawing reference numeral explanation：1- rack；2- pedipulator；21- first connecting rod；22- second connecting rod；23- third connecting rod；24-
First pushing meanss；The second pushing meanss of 25-；3- fastening device；31- vacuum pump；33- sucker；4- controller；5- sanitizer cartridge
It sets；51- hairbrush；6- dust catcher；7- baffle；8- water injector.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
As shown in Figures 1 to 6, Fig. 1 is one of the structural schematic diagram of robot provided in an embodiment of the present invention.Fig. 2 is this
The second structural representation for the robot that inventive embodiments provide.Fig. 3 is that the structure of robot provided in an embodiment of the present invention is shown
The three of intention.Fig. 4 is the four of the structural schematic diagram of robot provided in an embodiment of the present invention.Fig. 5 provides for the embodiment of the present invention
Robot structural schematic diagram five.Fig. 6 is the six of the structural schematic diagram of robot provided in an embodiment of the present invention.
Embodiment 1
The present invention provides a kind of robots with cleaning function comprising：Rack 1, multipair pedipulator 2, multiple buttons
Connection device 3, controller 4 and cleaning device 5, the multipair pedipulator 2 are symmetrical arranged respectively about the rack 1, multipair institute
The one end for stating pedipulator 2 is symmetricly set on the two sides of the rack 1 respectively about the rack 1, and the cleaning device 5 is arranged
In one end of the rack 1, multiple fastening devices 3 are separately positioned on the other end of multiple pedipulators 2, the snapping
The surface fastener of device 3 and object to be cleaned, the controller 4 are arranged in the rack 1, the controller 4 and the cleaning
Device 5 connects and controls the cleaning device opening and closing, and the controller 4 connect with the pedipulator 2 and controls the pedipulator
Movement.
In above structure, the model of controller can be：MAM-100.
The making material of rack and pedipulator can be aluminium, reduce the own wt of robot.
By the specific combination of fastening device and pedipulator, robot is allowed to adsorb and walk in glass curtain wall
End face on, by be arranged cleaning device, robot is cleaned to glass curtain wall, the labour for reducing user is strong
Degree improves working efficiency, reduces the cleaning cost of glass curtain wall.
Embodiment 2
On the basis of embodiment 1, the embodiment of the present invention pedipulator 2 includes：First connecting rod 21, second connecting rod 22,
Three-link 23, the first pushing meanss 24 and the second pushing meanss 25, one end of the third connecting rod 23 are rotatably arranged in
On the side wall of the rack 1, the pedestal of first pushing meanss 24 is arranged on rear side of the top of described 23 one end of third connecting rod,
One end of the first connecting rod 21 is rotatably connected with the third connecting rod 23, and the pedestal of first pushing meanss 24 can be rotated
Ground is arranged on the side wall of the rack 1, and the middle part of the output end of first pushing meanss 24 and the first connecting rod 21 can
Rotation connection, the other end of the first connecting rod 21 and one end of the second connecting rod 22 are rotatably connected, and described second pushes
The pedestal of device 25 is rotatably arranged on the first connecting rod 221, the output end of second pushing meanss 25 with it is described
The middle part of second connecting rod 22 connects, and the other end of the second connecting rod 22 is connect with the fastening device 3 by universal joint, described
First pushing meanss 24 and second pushing meanss 25 are connect with the controller 4.
The setting of first pushing meanss, the first pushing meanss along rack axis direction swing so that third connect
Bar is swung under the drive of the first pushing meanss along the axis direction of rack, realizes the front and back walking of robot；Second pushes
The setting of device, the slide bar of the first pushing meanss and the slide bar of the second pushing meanss are pushed outwardly jointly, so that pushing first
Device and the second pushing meanss are used down jointly, and first connecting rod is in horizontality, to improve rack and glass curtain wall end
The distance between face allows robot to cross the frame in glass curtain wall, improves the intelligence of robot, improves robot
Adaptability.
Embodiment 3
On the basis of embodiment 2, the first pushing meanss of the embodiment of the present invention 24 and second pushing meanss 25 are
Oil cylinder, cylinder or the air pressure pump of same model.
Wherein, the model of electrodynamic type oil cylinder can be：mob.
First pushing meanss and the second pushing meanss are electrodynamic type oil cylinder, so that the first pushing meanss and second pushing away
Dynamic device can be uniformly controlled by controller, to realize different motion states.
Embodiment 4
On the basis of embodiment 1, the embodiment of the present invention cleaning device 5 includes：Multiple hairbrush 51, motor and multiple
Roller, the side wall of the motor are connect with one end of the rack 1, and the output axis connection of the roller and the motor is described
Roller is cylindrical structure, and multiple rollers mutually concatenate, multiple rollers in "-" type arrange, the roller with it is described
The output shaft of motor is coaxially disposed, and the hairbrush 51 is hollow cylindrical structure, and multiple hairbrush 51 are respectively sleeved at multiple
On the lateral wall of the roller.
The setting of multiple hairbrush and multiple rollers, convenient for being suitble to wall of different shapes to clear up.
By setting hairbrush, motor and roller, motor is rotated with electric brush, in cleaning glass curtain wall
When, the hairbrush outer wall of rolling is abutted with the end face of glass curtain wall, realizes the cleaning to glass curtain wall, improves cleaning efficiency.
Embodiment 5
On the basis of embodiment 4, the embodiment of the present invention cleaning device 5 further includes：Dust catcher 6, the dust catcher 6 are arranged
In the bottom end of the rack 1, the input terminal of the dust catcher 6 is arranged between the rack 1 and the hairbrush 51, the dust suction
The length of the input terminal of device 6 is identical as the length of the hairbrush 51, and the input terminal of the dust catcher 6 is more piece bar shaped sweep-up pipe
Mouthful.
The model of dust catcher can be：ZL601R.
The setting of dust catcher, so that robot is during cleaning glass curtain wall, dust that hairbrush is swept out
And sundries is absorbed in time by dust catcher, prevents dust and sundries from falling and dispersing, and protects the ambient enviroment of glass curtain wall,
Improve the efficiency of cleaning.
Embodiment 6
On the basis of embodiment 4, the present embodiment is provided with baffle 7 in one end of the rack 1, and the baffle 7 is circular arc
Shape plate structure, one end of the baffle 7 are connect with one end of the rack 1, and the other side of the baffle 7, which is surround, is located at institute
State the outside of hairbrush 51.
The setting of baffle, so that robot is in the cleaning process to glass curtain wall, ash that high-speed rotating hairbrush is broken up
Dirt and sundries are stopped by baffle, prevent dust and sundries from flying upward around.
Embodiment 7
On the basis of embodiment 6, the embodiment of the present invention cleaning device 5 further includes：Water injector 8, the water spray dress
8 settings are set on the baffle 7, the other end of the baffle 7, the water spray dress is arranged in the water spray end of the water injector 8
The water spray end for setting 8 is that liquid is atomized more piece nozzle hole, and the front end of the hairbrush 51 is arranged in the liquid atomization more piece nozzle hole,
The length of the liquid atomization more piece nozzle hole is identical as the length of the hairbrush 51.
The model of water injector can be：WQL100.
The other end of baffle is arranged in the water spray end of water injector, so that water injector is located at the front end of robot, right
When glass curtain wall is cleaned, water injector first carries out water spray processing to the end face of glass curtain wall, on the one hand, after water spray, just
It is cleaned in more glass curtain walls；On the other hand, after water spray, the degree of flying upward of dust and sundries, protection week can be reduced
Collarette border.
Embodiment 8
On the basis of embodiment 1, the embodiment of the present invention fastening device 3 includes：Vacuum pump 31 and sucker 33, it is described
The pedestal of vacuum pump 31 is arranged on the pedipulator 2, and the vacuum pump 31 is connect with the controller 4, the sucker 33
Middle part offers through-hole, and the other end of the vacuum pump 31 is connected to the through-hole of the sucker 33.
The model of vacuum pump can be JS35.
The setting of vacuum pump and sucker, when sucker needs to be adsorbed on the end face of glass curtain wall, vacuum pump is shunk, will
Cavity vacuum pumping between sucker and glass curtain wall end face, so that sucker suction is on the end face of glass curtain wall.When sucker needs
When separating with the end face of glass curtain wall, vacuum pump stretches out, by the air push-in sucker in cylinder and between glass curtain wall end face
Cavity in so that sucker is separated with the end face of glass curtain wall.
Embodiment 9
On the basis of embodiment 8, the embodiment of the present invention sucker 33 is bowl structure, and the material of the sucker 33 is rubber
Glue, the concave surface of the sucker 33 are connect with the other end of the vacuum pump 31.
The sucker of rubber material, so that sucker has deformable ability, convenient for sucker to be snapped onto the end of glass curtain wall
On face, the production cost of fastening device is reduced.
Embodiment 10
On the basis of embodiment 1, further include：Multiple fan wave radar sensors and multiple cameras, multiple fans
Wave radar sensor and multiple cameras are connect with the controller 4, multiple fan wave radar sensors and
Multiple cameras are separately positioned in the peripheral sidewalls of the rack 1.
The quantity of the embodiment of the present invention pedipulator 2 is 3 pairs.
The quantity of the pedipulator is set as 3 pairs, so that having two always when the frame in glass curtain wall is crossed over by robot
It is the end face snapping with glass curtain wall to the fastening device on pedipulator, prevents robot in the frame crossed in glass curtain wall
When fall, the fastening device on two pairs of pedipulators can stablize and uniform stressed snap on the end face of glass curtain wall, mention
High machine human reriability.
Those of ordinary skill in the art will appreciate that：Realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned includes：ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that：Its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of robot with cleaning function, which is characterized in that including：Rack (1), multipair pedipulator (2), multiple snappings
Device (3), controller (4) and cleaning device (5),
The multipair pedipulator (2) is symmetrical arranged respectively about the rack (1), one end difference of the multipair pedipulator (2)
The two sides of the rack (1) are symmetricly set on about the rack (1), the cleaning device (5) is arranged in the rack (1)
One end, multiple fastening devices (3) are separately positioned on the other end of multiple pedipulators (2), the fastening device (3) with
The surface fastener of object to be cleaned；The controller (4) is arranged on the rack (1), the controller (4) and the sanitizer cartridge
It sets (5) to connect and control the cleaning device opening and closing, the controller (4) connect with the pedipulator (2) and controls the machine
The movement of tool leg.
2. a kind of robot with cleaning function according to claim 1, which is characterized in that pedipulator (2) packet
It includes：First connecting rod (21), second connecting rod (22), third connecting rod (23), the first pushing meanss (24) and the second pushing meanss
(25),
One end of the third connecting rod (23) is rotatably arranged on the side wall of the rack (1), the first connecting rod (21)
One end be rotatably connected with the third connecting rod (23), the pedestal of first pushing meanss (24) is rotatably arranged in institute
On the side wall for stating rack (1), the pedestal of first pushing meanss (24) is arranged in the top of the third connecting rod (23) one end
Rear side is rotatably connected in the middle part of the output end of first pushing meanss (24) and the first connecting rod (21), and described first
The other end of connecting rod (21) and one end of the second connecting rod (22) are rotatably connected, the pedestal of second pushing meanss (25)
It is rotatably arranged on the first connecting rod (21), the output end and the second connecting rod of second pushing meanss (25)
(22) middle part connection, the other end of the second connecting rod (22) connect with the fastening device (3) by universal joint, and described the
One pushing meanss (24) and second pushing meanss (25) are connect with the controller (4).
3. a kind of robot with cleaning function according to claim 2, which is characterized in that first pushing meanss
(24 pumps.
4. a kind of robot with cleaning function according to claim 1, which is characterized in that the cleaning device (5)
Including：Multiple hairbrush (51), motor and multiple rollers,
The side wall of the motor is connect with the one end of the rack (1), the output axis connection of the roller and the motor, described
Roller is cylindrical structure, and multiple rollers mutually concatenate, multiple rollers in "-" type arrange, the roller with it is described
The output shaft of motor is coaxially disposed, and the hairbrush (51) is hollow cylindrical structure, and multiple hairbrush (51) are respectively sleeved at
On the lateral wall of multiple rollers.
5. a kind of robot with cleaning function according to claim 4, which is characterized in that the cleaning device (5)
Further include：Dust catcher (6), the dust catcher (6) are arranged in the bottom end of the rack (1), and the input terminal of the dust catcher (6) is set
It sets between the rack (1) and the hairbrush (51), length and the hairbrush (51) of the input terminal of the dust catcher (6)
Length is identical, and the input terminal of the dust catcher (6) is more piece bar shaped dust suction nozzle.
6. a kind of robot with cleaning function according to claim 4, which is characterized in that in the rack (1)
One end is provided with baffle (7), and the baffle (7) is arc-shaped plate structure, one end and the rack (1) of the baffle (7)
One end connection, the other side of the baffle (7) is around the outside for being located at the hairbrush (51).
7. a kind of robot with cleaning function according to claim 6, which is characterized in that the cleaning device (5)
Further include：Water injector (8), the water injector (8) are arranged on the baffle (7), the water spray end of the water injector (8)
The other end in the baffle (7) is set, and the water spray end of the water injector (8) is that liquid is atomized more piece nozzle hole, the liquid
Body is atomized the setting of more piece nozzle hole in the front end of the hairbrush (51), the length of the liquid atomization more piece nozzle hole and the hair
The length for brushing (51) is identical.
8. a kind of robot with cleaning function according to claim 1, which is characterized in that the fastening device (3)
Including：The pedestal of vacuum pump (31) and sucker (33), the vacuum pump (31) is arranged on the pedipulator (2), described true
Sky pump (31) is connect with the controller (4), offers through-hole in the middle part of the sucker (33), the vacuum pump (31) it is another
End is connected to the through-hole of the sucker (33).
9. a kind of robot with cleaning function according to claim 8, which is characterized in that the sucker (33) is bowl
Shape structure, the material of the sucker (33) are rubber, and the concave surface of the sucker (33) and the other end of the vacuum pump (31) connect
It connects.
10. a kind of robot with cleaning function according to claim 1, which is characterized in that further include：Multiple fan waves
Radar sensor and multiple cameras, multiple fan wave radar sensors and multiple cameras with the control
Device (4) connection, multiple fan wave radar sensors and multiple cameras are separately positioned on the periphery of the rack (1)
On side wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810539064.7A CN108814402A (en) | 2018-05-30 | 2018-05-30 | A kind of robot with cleaning function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810539064.7A CN108814402A (en) | 2018-05-30 | 2018-05-30 | A kind of robot with cleaning function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108814402A true CN108814402A (en) | 2018-11-16 |
Family
ID=64146400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810539064.7A Pending CN108814402A (en) | 2018-05-30 | 2018-05-30 | A kind of robot with cleaning function |
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| Country | Link |
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| CN (1) | CN108814402A (en) |
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| CN111493766A (en) * | 2020-05-06 | 2020-08-07 | 广州连进玻璃科技有限公司 | Automatic climbing and wiping device for building curtain wall glass |
| CN112741535A (en) * | 2021-01-15 | 2021-05-04 | 北京工业大学 | Photovoltaic curtain wall cavity cleaning robot |
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