CN109381103A

CN109381103A - It is a kind of can be to the soft robot that skyscraper glass is cleared up

Info

Publication number: CN109381103A
Application number: CN201811370007.7A
Authority: CN
Inventors: 洪颖; 龙紫云
Original assignee: Dongguan University of Technology
Current assignee: Dongguan University of Technology
Priority date: 2018-11-17
Filing date: 2018-11-17
Publication date: 2019-02-26

Abstract

The present invention relates to one kind can be to the soft robot that skyscraper glass is cleared up, including body and rotary shaft, the upper end two sides of the body are connected with hanging ring, and the outer wall setting of body is equipped with Air Filter, the rotary shaft is embedded in the outer wall surrounding of body, running through in the middle part of the outer wall of the body has air inlet, the lower end two sides of the body are inlaid with runing rest, and the lower end inside of runing rest is fixed with shaft, hairbrush is provided in the middle part of the outer wall of the shaft, the present invention passes through the setting of body and Air Filter, the arc-shaped shape distribution of the outer wall surrounding of body, the outer wall of body is designed using cambered surface, it can effectively prevent the case where scratching user in use, dust-proof net surface is distributed a large amount of said minuscule holes simultaneously, play good heat dissipation effect, when the intracorporal each drive mechanism of machine is worked, it will give out a large amount of Thermal energy, Air Filter can effectively accelerate the intracorporal air velocity of machine, play certain cooling effect.

Description

It is a kind of can be to the soft robot that skyscraper glass is cleared up

Technical field

The present invention relates to soft robot technical field, specially one kind can be cleared up skyscraper glass soft Body robot.

Background technique

Soft robot is a kind of Flexiable robot, can only be driven with air, scientist's current research it is soft Body robot is made of can be bent, reverse and pick up more than 100 times of own wt of object, software using papery and silicon rubber The design inspiration of robot is to imitate internal structure or shape framework of insect of the mankind etc., and soft robot is applied in high-altitude glass Glass cleaning equipment mostly uses greatly artificial cleaning using less, and cleaning difficulty is big, and danger coefficient is high, makes troubles to user.

A kind of binary channels software finger and soft disclosed in Chinese invention patent application prospectus CN106003131A Body robot although the invention uses air-flow conducting valve and the connection with twin-channel software finger, and is equipped with bracket, realizes String row, circumference pick up object, refer to soft robot crawl " various " workpiece, suitable for " various " environment to reach more, double The software finger in channel is made of silicon rubber, not disfiguring workpiece, simultaneously to people also safety, but in use can not be effectively right High-altitude glass is cleared up, and is needed to clean personnel and is cleaned to glass, while suction of the soft robot to glass in use Attached ability is lower, can not effectively bear the weight of cleaning equipment.

Summary of the invention

The purpose of the present invention is to provide one kind can be to the soft robot that skyscraper glass is cleared up, to solve It is mentioned above in the background art it is existing effectively high-altitude glass can not be cleared up in use, need to clean personnel to glass Glass is cleaned, while soft robot is lower to the adsorption capacity of glass in use, can not effectively bear cleaning equipment The problem of weight.

To achieve the above object, the invention provides the following technical scheme: one kind can clear up skyscraper glass Soft robot, including body and rotary shaft, the upper end two sides of the body are connected with hanging ring, and peace is arranged in the outer wall of body Equipped with Air Filter, the rotary shaft is embedded in the outer wall surrounding of body, and running through in the middle part of the outer wall of the body has air inlet, described The lower end two sides of body are inlaid with runing rest, and the lower end inside of runing rest is fixed with shaft, in the outer wall of the shaft Portion is provided with hairbrush, and the left side outer wall of shaft is connected with the first belt pulley, and the middle inside of first belt pulley is equipped with Connect belt.

Preferably, the arc-shaped shape distribution of the outer wall surrounding of the body, and be bonded to each other between body and Air Filter.

Preferably, motor is installed on the left of the inner wall of the body, and the top of motor is inlaid with transmission gear, institute It states and is fixed with connection gear on the right side of transmission gear, and the lower end of connection gear is provided with transmission shaft, the two sides of the transmission shaft Be connected with the second belt pulley, the hairbrush is bonded to each other along the outer wall of shaft, and shaft by the first belt pulley, connection belt, Second belt pulley, transmission shaft, connection gear, transmission gear and motor drive mechanism are at drive mechanism.

Preferably, the middle inside of the body is equipped with double end air pump, and the outer wall surrounding of double end air pump inlay it is limited Position block, the outer wall two sides of the double end air pump are fixed with connecting tube, and the outer wall of connecting tube is through having electromagnetic valve, the connection The right end of pipe is provided with platform, and spring hose is connected on the right side of platform, outer wall of the limited block along double end air pump Surrounding is uniformly distributed, and is distributed between limited block and limited block in coplanar shape.

Preferably, the hanging ring is symmetrical along the vertical central axes of body, and is welded between hanging ring and body Change structure.

Preferably, it is rotational structure between the runing rest and body, and is in I-shaped shape between runing rest and shaft Distribution.

Preferably, the left distal end of the rotary shaft is fixed with emulation haptic element, setting in the middle part of the lower end of the emulation haptic element There is electric pushrod, and the lower end of electric pushrod is connected with rotating arm, the emulation haptic element is by rotary shaft along the outer wall four of body Week is uniformly distributed, and emulates haptic element and be rotated up and down by electric pushrod along the outer wall two sides of body.

Preferably, the inner wall bottom of the emulation haptic element is equipped with sucker, and the middle inside of sucker is inlaid with air inlet, The equidistant inner wall bottom for being evenly distributed on emulation haptic element of the sucker, and sucker is bonded to each other with emulation haptic element.

Preferably, it is distributed between the electric pushrod, emulation haptic element and body three in triangular shape, and electric pushrod passes through Rotating arm and body constitute rotational structure.

Compared with prior art, beneficial effects of the present invention are as follows:

1, the present invention passes through the setting of body and Air Filter, the arc-shaped shape distribution of the outer wall surrounding of body, and body and Air Filter Between be bonded to each other, the outer wall of body is designed using cambered surface, can effectively prevent the case where scratching user in use, simultaneously Dust-proof net surface is distributed a large amount of said minuscule holes, plays good heat dissipation effect, when the intracorporal each drive mechanism of machine is worked, A large amount of thermal energy will be given out, Air Filter can effectively accelerate the intracorporal air velocity of machine, play certain cooling effect.

2, the present invention passes through the setting of hanging ring and Air Filter, and hanging ring is symmetrical along the vertical central axes of body, and hanging ring It is weldedization structure between body, guarantor can be fixed to body by penetrating nylon rope in hanging ring in user Shield, prevents sucker in use not to be fixed with glass securely, is pullled by nylon rope body, protected, prevented Occur sucker in use to fall off, causes body to fall from above, body is caused to damage.

3, the present invention passes through the setting of body and runing rest, is rotational structure between runing rest and body, and rotate It is distributed between bracket and shaft in I-shaped shape, when user needs to be fixed between hairbrush and glass, user can lead to Overwinding turns runing rest, and runing rest drives shaft to carry out circle rotation along the outer wall surrounding of body, due to connection belt rotation Radius has not been changed, therefore without being adjusted to connection belt in, it is user-friendly.

4, the present invention passes through body, rotary shaft, the setting for emulating haptic element, rotating arm and electric pushrod, the left side of rotary shaft End is fixed with emulation haptic element, and electric pushrod, and the lower end connection of electric pushrod are provided in the middle part of the lower end of the emulation haptic element There is rotating arm, outer wall surrounding of the emulation haptic element by rotary shaft along body is uniformly distributed, and is emulated haptic element and pushed away by electronic Bar is rotated up and down along the outer wall two sides of body, when user, which needs to emulate haptic element, to be moved forward, controls electric pushrod in use It to external extension, drives emulation haptic element to rotate upwards, is used in combination by more electric pushrods, to reach emulation haptic element as gecko one Sample crawls on glass, more safe and reliable using the soft robot relative to human body cleaning glass window, while the emulation Haptic element is made of silica gel material, and surface has good elasticity, is not easy to scratch glass.

5, the present invention setting by body, double end air pump, limited block, connecting tube, spring hose, platform and electromagnetic valve It sets, the middle inside of body is equipped with double end air pump, and the outer wall surrounding of double end air pump is inlaid with limited block, the double end air pump Outer wall two sides be fixed with connecting tube, and the outer wall of connecting tube is through having electromagnetic valve, the right end setting of the connecting tube There is platform, and be connected with spring hose on the right side of platform, the limited block is uniformly distributed along the outer wall surrounding of double end air pump, and is limited It is distributed between position block and limited block in coplanar shape, limited block plays good fixed position-limiting action, can effectively ensure that double end Air pump at work, with the horizontal distribution of body, guarantees that whole device is in run under normal condition, while four electromagnetism are arranged Valve, to control sucker air inlet and the outlet in emulation haptic element, arrived emulation haptic element and glass by controlling each electromagnetic valve Glass is bonded to each other, and body is fixed.

Detailed description of the invention

Fig. 1 is that one kind of the present invention can illustrate the external structure for the soft robot that skyscraper glass is cleared up Figure；

Fig. 2 is that one kind of the present invention can be to the schematic diagram of internal structure for the soft robot that skyscraper glass is cleared up；

Fig. 3 be one kind of the present invention can the emulation haptic element rotational structure to the soft robot that skyscraper glass is cleared up show It is intended to；

Fig. 4 be one kind of the present invention can the emulation haptic element bottom structure to the soft robot that skyscraper glass is cleared up show It is intended to；

Fig. 5 is that one kind of the present invention can electric-motor drive structural representation to the soft robot that skyscraper glass is cleared up Figure.

In figure: 1, body；2, hanging ring；3, Air Filter；4, air inlet；5, runing rest；6, shaft；7, hairbrush；8, first Belt pulley；9, belt is connected；10, rotary shaft；11, haptic element is emulated；12, rotating arm；13, electric pushrod；14, motor；15, it passes Moving gear；16, connection gear；17, transmission shaft；18, the second belt pulley；19, double end air pump；20, limited block；21, connecting tube； 22, spring hose；23, platform；24, electromagnetic valve；25, sucker；26, air inlet.

Specific embodiment

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 description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments, is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1-5 is please referred to, the present invention provides a kind of technical solution: one kind can clear up skyscraper glass soft Body robot, including body 1, hanging ring 2, Air Filter 3, air inlet 4, runing rest 5, shaft 6, hairbrush 7, the first belt pulley 8, company Lace 9, rotary shaft 10, emulation haptic element 11, rotating arm 12, electric pushrod 13, motor 14, transmission gear 15, connection gear 16, transmission shaft 17, the second belt pulley 18, double end air pump 19, limited block 20, connecting tube 21, spring hose 22, platform 23, electromagnetism Valve 24, sucker 25 and air inlet 26, the upper end two sides of body 1 are connected with hanging ring 2, and the outer wall setting of body 1 be equipped with it is anti- Dirt net 3, the arc-shaped shape distribution of the outer wall surrounding of body 1, and be bonded to each other between body 1 and Air Filter 3, the outer wall of body 1 is adopted It is designed with cambered surface, the case where scratching user in use can be effectively prevent, while 3 surface of Air Filter is distributed a large amount of Small Holes Good heat dissipation effect is played in hole, when each drive mechanism in body 1 is worked, it will gives out a large amount of thermal energy, prevents Dirt net 3 can effectively accelerate the air velocity in body 1, play certain cooling effect, vertical axis of the hanging ring 2 along body 1 Line is symmetrical, and is weldedization structure between hanging ring 2 and body 1, and user can be by penetrating nylon in hanging ring 2 Protection is fixed to body 1 in rope, prevents sucker 25 in use not to be fixed with glass securely, by nylon rope to body 1 is pullled, is protected, and prevents from occurring sucker 25 in use falling off, and causes body 1 to fall from above, body 1 is caused to damage, Rotary shaft 10 is embedded in the outer wall surrounding of body 1, and running through in the middle part of the outer wall of body 1 has air inlet 4, the lower end two sides edge of body 1 Lower end inside embedded with runing rest 5, and runing rest 5 is fixed with shaft 6, is rotation knot between runing rest 5 and body 1 Structure, and be distributed between runing rest 5 and shaft 6 in I-shaped shape, when user needs to be fixed between hairbrush 7 and glass, User can be by rotating runing rest 5, and runing rest 5 drives shaft 6 to carry out circle rotation along the outer wall surrounding of body 1, It is user-friendly since connection 9 radius of turn of belt has not been changed, therefore without being adjusted to connection belt 9 in, turn It is provided with hairbrush 7 in the middle part of the outer wall of axis 6, and the left side outer wall of shaft 6 is connected with the first belt pulley 8, the inside of the first belt pulley 8 Middle part is equipped with connection belt 9；

The left distal end of rotary shaft 10 is fixed with emulation haptic element 11, emulates and is provided with electric pushrod 13 in the middle part of the lower end of haptic element 11, And the lower end of electric pushrod 13 is connected with rotating arm 12, emulation haptic element 11 is uniform along the outer wall surrounding of body 1 by rotary shaft 10 Distribution, and emulate haptic element 11 and be rotated up and down by electric pushrod 13 along the outer wall two sides of body 1, when user needs to emulate haptic element When 11 forward movement, control electric pushrod 13 drives the rotation upwards of emulation haptic element 11 to external extension in use, electronic by more Push rod 13 is used in combination, and is crawled on glass as gecko with reaching emulation haptic element 11, relative to human body cleaning glass window, It is more safe and reliable using the soft robot, while the emulation haptic element 11 is made of silica gel material, surface has good Elasticity is not easy to scratch glass；

The inner wall bottom of emulation haptic element 11 is equipped with sucker 25, and the middle inside of sucker 25 is inlaid with air inlet 26, sucker 25 The equidistant inner wall bottom for being evenly distributed on emulation haptic element 11, and sucker 25 is bonded to each other with emulation haptic element 11, when double end air pump 19 inside air-breathings, electromagnetic valve 24 control the inside air-breathing of spring hose 22, and sucker 25 and the glass of surface spray water are bonded to each other, Body 1 is fixed by the suction of sucker 25, prevents body 1 from falling, and is respectively provided in every emulation haptic element 11 multiple Sucker 25, can firmly will emulation haptic element 11 be fixed in glass, electric pushrod 13, emulation haptic element 11 and 1 three of body it Between be distributed in triangular shape, and electric pushrod 13 constitutes rotational structure, electric pushrod 13, emulation touching by rotating arm 12 and body 1 Foot 11 and body 1 are distributed in triangular shape, can guarantee the structure when fixed, and the stability of structure is not susceptible to structure confusion, Cause emulation haptic element 11 effectively body 1 not to be fixed, while when electric pushrod 13 stretches, electric pushrod will not occur 13 with 1 junction of body due to electric pushrod 13 angular force, cause electric pushrod 13 be broken the case where；

Motor 14 is installed on the left of the inner wall of body 1, and the top of motor 14 is inlaid with transmission gear 15, transmission gear 15 Right side be fixed with connection gear 16, and the lower end of connection gear 16 is provided with transmission shaft 17, and the two sides of transmission shaft 17 are connected with Second belt pulley 18, hairbrush 7 are bonded to each other along the outer wall of shaft 6, and shaft 6 passes through the first belt pulley 8, connection belt 9, second Belt pulley 18, transmission shaft 17, connection gear 16, transmission gear 15 and motor 14 constitute drive mechanism, when user needs hair When brushing 7 pairs of glass and cleaning, user can be by opening motor 14, and motor 14 is rotated with nutating gear 15, even Connecing gear 16 drives transmission shaft 17 to rotate, and second belt pulley 18 at both ends drives connection belt 9 to rotate, and the first belt pulley 8 drives 7 high-speed rotation of hairbrush, the hairbrush 7 in high-speed rotation clears up glass surface, while the second belt pulley 18 is along transmission shaft 17 Central axes it is symmetrical, can effectively ensure that when transmission shaft 17 drive the second belt pulley 18 rotation when, the torsion at 6 both ends of shaft It is identical, reduce unnecessary abrasion；

The middle inside of body 1 is equipped with double end air pump 19, and the outer wall surrounding of double end air pump 19 is inlaid with limited block 20, double end The outer wall two sides of air pump 19 are fixed with connecting tube 21, and the outer wall of connecting tube 21 is through having electromagnetic valve 24, the right side of connecting tube 21 Side end is provided with platform 23, and the right side of platform 23 is connected with spring hose 22, outer wall of the limited block 20 along double end air pump 19 Surrounding is uniformly distributed, and is distributed between limited block 20 and limited block 20 in coplanar shape, and limited block 20 plays good fixed limit Position effect, can effectively ensure that double end air pump 19 at work, with the horizontal distribution of body 1, guarantee whole device in normal It is run under state, while four electromagnetic valves 24 is set, by controlling each electromagnetic valve 24, to control in emulation haptic element 11 25 air inlet of sucker and outlet arrived emulation haptic element 11 and are bonded to each other with glass, body 1 is fixed.

The working principle of the present embodiment: this can be to the soft robot that skyscraper glass is cleared up, when in use Glass surface for clearance is first filled with water (can also install sprinkler on the soft robot surface, fixed convenient for sucker 25), Body 1 is placed in glass by user at this time, while user is by opening motor 14,14 model YE2- of motor 132S-4, motor 14 are rotated with nutating gear 15, and connection gear 16 drives transmission shaft 17 to rotate, second belt pulley at both ends 18 drive connection belts 9 to rotate, and the first belt pulley 8 is with 7 high-speed rotation of electric brush, and the hairbrush 7 in high-speed rotation is to glass surface It is cleared up, while the second belt pulley 18 is symmetrical along the central axes of transmission shaft 17, can effectively ensure that when 17 band of transmission shaft When dynamic second belt pulley 18 rotation, the torsion at 6 both ends of shaft is identical, reduces unnecessary abrasion, and subsequent user needs to emulate When haptic element 11 moves forward, control electric pushrod 13 is to external extension in use, the model YS-NZ100-12A of electric pushrod 13, It drives emulation haptic element 11 to rotate upwards, while opening double end air pump 19, the model DA40DC-TH of double end air pump 19 works as use When person needs upper end right side emulation haptic element 11 and glass to be bonded to each other, corresponding electromagnetic valve 24 is controlled, to control emulation haptic element 25 air inlet of sucker and outlet in 11, when emulating the 25 inside air-breathing of sucker in haptic element 11, sucker 25 is closely mutual with glass Fitting emulates haptic element 11 as gecko in glass to reach by being used in combination for more electric pushrods 13 and electromagnetic valve 24 Crawled on glass, hairbrush 7 glass surface is cleared up, finally when user needs to take out body 1 out of glass, User is sling body 1, user takes to body 1 upwards by pulling nylon rope.

Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc. With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this Within the protection scope of invention.

Claims

1. one kind can be special to the soft robot that skyscraper glass is cleared up, including body (1) and rotary shaft (10) Sign is: the upper end two sides of the body (1) are connected with hanging ring (2), and the outer wall setting of body (1) is equipped with Air Filter (3), The rotary shaft (10) is embedded in the outer wall surrounding of body (1), and running through in the middle part of the outer wall of the body (1) has air inlet (4), institute The lower end two sides for stating body (1) are inlaid with runing rest (5), and the lower end inside of runing rest (5) is fixed with shaft (6), institute It states and is provided with hairbrush (7) in the middle part of the outer wall of shaft (6), and the left side outer wall of shaft (6) is connected with the first belt pulley (8), it is described The middle inside of first belt pulley (8) is equipped with connection belt (9).

2. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: the arc-shaped shape distribution of the outer wall surrounding of the body (1), and be bonded to each other between body (1) and Air Filter (3).

3. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: it is equipped with motor (14) on the left of the inner wall of the body (1), and the top of motor (14) is inlaid with transmission gear (15), it is fixed with connection gear (16) on the right side of the transmission gear (15), and the lower end of connection gear (16) is provided with transmission The two sides of axis (17), the transmission shaft (17) are connected with the second belt pulley (18), outer wall phase of the hairbrush (7) along shaft (6) Mutually fitting, and shaft (6) passes through the first belt pulley (8), connection belt (9), the second belt pulley (18), transmission shaft (17), connection Gear (16), transmission gear (15) and motor (14) constitute drive mechanism.

4. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: the middle inside of the body (1) is equipped with double end air pump (19), and the outer wall surrounding of double end air pump (19) is inlaid with limit The outer wall two sides of block (20), the double end air pump (19) are fixed with connecting tube (21), and the outer wall of connecting tube (21) is through there is electricity The right end of magnet valve door (24), the connecting tube (21) is provided with platform (23), and is connected with spring on the right side of platform (23) Hose (22), the limited block (20) is uniformly distributed along the outer wall surrounding of double end air pump (19), and limited block (20) and limited block (20) it is distributed between in coplanar shape.

5. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: the hanging ring (2) is symmetrical along the vertical central axes of body (1), and is welded between hanging ring (2) and body (1) Change structure.

6. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: it is rotational structure between the runing rest (5) and body (1), and is in I-shaped shape between runing rest (5) and shaft (6) Distribution.

7. one kind according to claim 1 can exist to the soft robot that skyscraper glass is cleared up, feature In: the left distal end of the rotary shaft (10) is fixed with emulation haptic element (11), setting in the middle part of the lower end of emulation haptic element (11) Have electric pushrod (13), and the lower end of electric pushrod (13) is connected with rotating arm (12), the emulation haptic element (11) passes through rotation Axis (10) is uniformly distributed along the outer wall surrounding of body (1), and emulates haptic element (11) by electric pushrod (13) along the outer of body (1) Wall two sides are rotated up and down.

8. one kind according to claim 7 can exist to the soft robot that skyscraper glass is cleared up, feature In: the inner wall bottom of emulation haptic element (11) is equipped with sucker (25), and the middle inside of sucker (25) is inlaid with air inlet (26), the equidistant inner wall bottom for being evenly distributed on emulation haptic element (11) of the sucker (25), and sucker (25) and emulation haptic element (11) it is bonded to each other.

9. one kind according to claim 7 can exist to the soft robot that skyscraper glass is cleared up, feature In: it is distributed between the electric pushrod (13), emulation haptic element (11) and body (1) three in triangular shape, and electric pushrod (13) Rotational structure is constituted by rotating arm (12) and body (1).