CN109381132A - A kind of high-altitude cleaning robot - Google Patents
A kind of high-altitude cleaning robot Download PDFInfo
- Publication number
- CN109381132A CN109381132A CN201710657680.8A CN201710657680A CN109381132A CN 109381132 A CN109381132 A CN 109381132A CN 201710657680 A CN201710657680 A CN 201710657680A CN 109381132 A CN109381132 A CN 109381132A
- Authority
- CN
- China
- Prior art keywords
- cleaning robot
- altitude cleaning
- altitude
- guiding plate
- linking arm
- 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
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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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Abstract
The invention discloses a kind of high-altitude cleaning robots, belong to clean robot field, it solves existing to connect the low technical problem of high and medium clean robot applicability, high-altitude cleaning robot provided by the invention includes body and the control system that is arranged on body, the bottom of body is equipped with cloths for cleaning, body is equipped with the axial-flow type negative-pressure air fan connecting with control system, the lateral walking mechanism that driving body lateral line is walked, the longitudinal traveling mechanism that driving body lengthwise rows are walked, the thrust generated under axial-flow type negative-pressure air fan working condition is in body, it is tightly attached to high-altitude cleaning robot on vertical working face.
Description
[technical field]
The present invention relates to a kind of high-altitude cleaning robots.
[background technique]
There are many clean robot now on the market, just from the point of view of current research conditions both domestic and external, this robot master point
For three classes.The first kind is high-altitude wall surface rail mounted, usually when building building just by high-altitude wall surface track installation to exterior wall high-altitude wall surface
On, when carrying out outer high-altitude wall surface washing and cleaning operation, the jib crane device by being fixed on roof, which drags, makes cleaning robot edge
High-altitude wall surface guide rail move up and down to complete cleaning, however the track for being mounted on exterior wall high-altitude wall surface but limits high building
Structure and greatly affected the appearance of monolithic architecture, while also limiting the application range of cleaning robot；Second class is
Robot is adsorbed on the wall surface of exterior wall high-altitude by vacuum chuck, passes through the shifting of itself by vacuum suction high-altitude cleaning robot
Motivation structure moves to complete cleaning on the wall surface of high-altitude, and this robot can be divided into the single sucking disc and two kinds of multi-sucker absorption again
Move mode however method due to being vacuumized using vacuum pump, so that the sealing requirements to vacuum chuck are higher, structure is multiple
Reliability and also poor to the adaptability of high-altitude wall surface that is miscellaneous, involving great expense, and work.Third class is magnetic suck high-altitude cleaning
Robot, this cleaning robot are adsorbed on the wall surface of high-altitude by magnetic enclosure material, are usually had stronger adsorption capacity, are led to
It is mobile to cross the absorption that magnetic track, wheel, sucker or sufficient formula structure may be implemented on the wall surface of high-altitude, and completes washing and cleaning operation,
But this robot can only be in the high-altitude wall general work of certain material, thus application range is greatly limited.
[summary of the invention]
The technical problem to be solved by the present invention is to provide a kind of high-altitude cleaning robots, adapt to the operating condition of multiplicity.
In order to solve the above technical problems, the present invention adopts the following technical scheme:
A kind of high-altitude cleaning robot, including body and the control system being arranged on body, the bottom of the body is set
There are cloths for cleaning, the cross that the body is equipped with the axial-flow type negative-pressure air fan connecting with control system, driving body lateral line is walked
To walking mechanism, the longitudinal traveling mechanism for driving body lengthwise rows to walk, generated under the axial-flow type negative-pressure air fan working condition
Thrust is tightly attached to high-altitude cleaning robot on vertical working face in body.
Further, the high-altitude cleaning robot further includes fastener, and the fastener includes matrix, is arranged on matrix
Buckle and ratchet mechanism, described matrix are equipped with shaft, and the ratchet mechanism includes that the ratchet being arranged in shaft and setting exist
Pawl on matrix, drawstring is wound in the shaft, and the drawstring connects the body.
Further, the longitudinal traveling mechanism includes the output motor of traveling wheel and driving traveling wheel.
Further, the lateral walking mechanism includes driving motor, output shaft, bearing block and is arranged on bearing block
Idler wheel, the idler wheel are equipped with crawler belt, and the upper end of the bearing block is rotatably connected to the first linking arm, the lower end of the bearing block
It is rotatably connected to the second linking arm, the top rotation connection of first linking arm and body, second linking arm and body
Lower rotational connection, hydraulic stem, the hydraulic stem and the rotation connection of the first linking arm are rotatably connected on the body, it is described
Output shaft is connect with driving motor and idler wheel by universal joint.
Further, the axial-flow type negative-pressure air fan includes motor and the wind wheel that is connected to motor, and the wind wheel includes interior
The blade of wheel hub and setting inner wheel hub circumferential direction, the windup-degree D of the blade meet following formula:
Wherein, R1 is length of blade, and R2 is inner wheel hub radius, and H is blade height.
Further, the body is equipped with fluid reservoir and hydraulic pump, and the circumferential side wall of the body is equipped at intervals with several
Apopore, the hydraulic pump connect the fluid reservoir and apopore by water pipe.
Further, the deflector for guiding fuel injection dispersion of flow is equipped at the apopore.
Further, the deflector includes the front flow guiding plate extended by the body outer wall, and the apopore is extremely
Small part is located at the front flow guiding plate in the orthographic projection of body inner wall, and the front flow guiding plate is in arc from its middle part to circumferential both ends
Shape extends.
Further, the front flow guiding plate is equipped at least one for guiding fuel injection water flow week towards the apopore side
To the guide face of diffusion, the guide face is inclined-plane or curved surface.
Further, the deflector further includes the side baffle for being connected to the front flow guiding plate two sides, the preceding water conservancy diversion
Spacing between the side baffle of plate two sides is gradually increased along injection water direction.
Beneficial effects of the present invention:
High-altitude cleaning robot of the invention, including body and the control system being arranged on body, the bottom of body is set
There are cloths for cleaning, the lateral line that body is equipped with the axial-flow type negative-pressure air fan connecting with control system, driving body lateral line is walked
Walk mechanism, the longitudinal traveling mechanism that driving body lengthwise rows are walked, the thrust generated under axial-flow type negative-pressure air fan working condition
High-altitude cleaning robot is tightly attached on vertical working face in body 2.It is driven by lateral walking mechanism or longitudinal traveling mechanism 8
Working face is cleaned in the movement of motivation body.The robot, which both needs to have, can learn to be suitable for all kinds of building walls, have
Stronger versatility, adaptability and higher cleaning efficiency.
These features and advantages of the invention will the detailed exposure in following specific embodiment, attached drawing.
[Detailed description of the invention]
Following further describes the present invention with reference to the drawings:
Fig. 1 is top view of the invention；
Fig. 2 is bottom view of the invention；
Fig. 3 is the structural schematic diagram of lateral walking mechanism in the present invention；
Fig. 4 is the structural schematic diagram of fastener in the present invention；
Fig. 5 is the structural schematic diagram of deflector in the present invention.
[specific embodiment]
The technical solution of the embodiment of the present invention is explained and illustrated below with reference to the attached drawing of the embodiment of the present invention, but under
Stating embodiment is only the preferred embodiment of the present invention, and not all.Based on the implementation example in the implementation mode, those skilled in the art
Member's obtained other embodiments without making creative work, belong to protection scope of the present invention.
With reference to 1 and Fig. 2, shown in a kind of high-altitude cleaning robot, including body 2 and the control system being arranged on body 2
System 6 and switch 1, switch 1 control control system 6, and the bottom of body 2 is equipped with cloths for cleaning 9, and body 2 is equipped with and control system 6
The axial-flow type negative-pressure air fan 4 of connection, the lateral walking mechanism 3 for driving body 2 laterally to walk, driving body 2 are longitudinally walked vertical
To walking mechanism 8, the thrust generated under 4 working condition of axial-flow type negative-pressure air fan keeps high-altitude cleaning robot tight in body 2
It is attached on vertical working face.Drive body 2 is mobile to carry out to working face by lateral walking mechanism 3 or longitudinal traveling mechanism 8
Cleaning.The robot both need have can learn be suitable for all kinds of building walls, have stronger versatility, adaptability and compared with
High cleaning efficiency.
With reference to Fig. 4, failure is adsorbed to prevent clean robot from encountering unpredictable situation in operation process, to height
Pedestrian under bottom of the building threatens.High-altitude cleaning robot further includes fastener 10.1, and fastener includes matrix, is arranged on matrix
Buckle and ratchet mechanism, matrix are equipped with shaft, and ratchet mechanism includes the ratchet 10.2 being arranged in shaft and is arranged in matrix
Upper pawl 10.3, drawstring is wound in shaft, and drawstring connects body 2.Fastener is fixed together with fixture, high-altitude cleaning machine
When whereabouts outside people's will, the blocking due to pawl 10.3 to ratchet 10.2, drawstring will not be stretched, and high-altitude cleaning robot will not
It falls on ground.
Longitudinal traveling mechanism 8 includes traveling wheel and the output motor 5 for driving idler wheel rotation, output motor driving in the present invention
Traveling wheel is rolled to drive body 2 to walk.
Referring to figs. 2 and 3, lateral walking mechanism 3 includes driving motor, output shaft 33, bearing block 32 and is arranged in bearing
Idler wheel on seat 32, idler wheel are equipped with crawler belt 7, and the upper end of bearing block 32 is rotatably connected to the first linking arm 31, bearing block 32
Lower end is rotatably connected to the second linking arm 35, and the top of the first linking arm 31 and body 2 is rotatablely connected, the second linking arm 35 and machine
The lower rotational of body 2 connects, and hydraulic stem 34 is rotatably connected on body 2, hydraulic stem 34 and the first linking arm 31 are rotatablely connected, defeated
Shaft 33 is connect with driving motor and idler wheel by universal joint.Hydraulic stem 34 drives the first linking arm 31 to rotate down, and first
Linking arm 31 drives bearing block 32 and 7 downward actuation of idler wheel and crawler belt thereon, so that the bottom surface of crawler belt 7 is lower than traveling wheel
Bottom surface, driving motor drives idler wheel and crawler belt 7 by output shaft 33 at this time, and lateral walking mechanism 3 can drive body 2 mobile；When
Hydraulic stem 34 drives the first linking arm 31 to be rotated up, and the first linking arm 31 drives bearing block 32 and idler wheel and crawler belt thereon
7 movements upwards drive body 2 mobile by longitudinal traveling mechanism 8 at this time so that the bottom surface of crawler belt 7 is higher than the bottom surface of traveling wheel.It is excellent
When the work of choosing, when working properly, control system controls 4 persistent movement of axial-flow type negative-pressure air fan；After crawler belt 7 declines, crawler belt 7
After operating makes body 2 move downward 1 meter, crawler belt 7 is risen；After traveling wheel drives body 2 to move upwards 30 centimetres, crawler belt 7 declines,
The operating of crawler belt 7 makes body 2 move right 1 meter, and crawler belt 7 rises, and traveling wheel drives body 2 to move upwards 30 centimetres, and so on
Movement.
Wherein, axial-flow type negative-pressure air fan 4 includes motor and the wind wheel being connected to motor, and wind wheel includes in inner wheel hub and setting
The windup-degree D of the blade of wheel hub circumferential direction, blade meets following formula:
Wherein, R1 is length of blade, and R2 is inner wheel hub radius, and H is blade height.
Negative-pressure air power when axial-flow type negative-pressure air fan 4 works under the state is most strong, more fitting aerodynamic condition, can reduce
The generation of blade vortex is effectively promoted with the fan delivery under dimensions, and fractional energy savings improves 10%~15%, promotes blower effect
Rate,
With reference to Fig. 5, also in body, it is equipped with fluid reservoir and hydraulic pump, the circumferential side wall of body is equipped at intervals with several water outlets
Hole 21, hydraulic pump connect fluid reservoir and apopore 21 by water pipe.Hydraulic pump works to be discharged in the cleaning solution in fluid reservoir
Hole is spouting, washes away to working face.
And the deflector circumferentially spread for guiding fuel injection water flow is equipped at apopore 21.The cleaning solution of injection is by leading
The blocking and guidance for flowing mechanism are so that dispersion of flow, cleans bigger region.
Deflector includes the front flow guiding plate 22 extended by 2 outer wall of body, and apopore 21 is at least partially disposed at preceding water conservancy diversion
Plate 22 is in the orthographic projection of 2 outer wall of body, and front flow guiding plate 22 is from its middle part to the arc-shaped extension in circumferential both ends.Therefore apopore 21
When injection water, front flow guiding plate 22 can generate barrier effect at least partly water flow, to influence flow velocity and the direction of injection water.
The middle part of front flow guiding plate 22 and apopore 21 are opposite, and the injection water of apopore 21 is first contacted with the middle part of front flow guiding plate 22, by
In front flow guiding plate 22 be arc, therefore be conducive to water flow towards front flow guiding plate 22 both ends spread, water flow along front flow guiding plate 22 extend and
Increase the width of water flow.
Front flow guiding plate 22 is equipped at least one towards 21 side of apopore and is used for the water conservancy diversion that guiding fuel injection water flow is circumferentially spread
Face 222, guide face 222 are inclined-plane or curved surface.Front flow guiding plate 22, which can be formed the water flow that spray apertures are sprayed, to be stopped, and leading
Flowing plate 22 is able to guide the injection direction of water flow.
And deflector further includes the side baffle 23 for being connected to 22 two sides of front flow guiding plate, the side baffle of 22 two sides of front flow guiding plate
Spacing between 23 is gradually increased along injection water direction.Therefore the width of bootable water flow gradually extends.
Through the foregoing embodiment, the purpose of the present invention is completely and effectively reached.One of ordinary skilled in the art
It should be understood that the present invention including but not limited to attached drawing and above content described in specific embodiment.It is any without departing from the present invention
The modification of function and structure principle be intended to be included in the range of claims.
Claims (10)
1. a kind of high-altitude cleaning robot, it is characterised in that: including body and the control system being arranged on body, the body
Bottom be equipped with cloths for cleaning, the body be equipped with connect with control system axial-flow type negative-pressure air fan, driving body transverse direction
The longitudinal traveling mechanism that lateral walking mechanism, the driving body lengthwise rows of walking are walked, the axial-flow type negative-pressure air fan working condition
The thrust of lower generation is tightly attached to high-altitude cleaning robot on vertical working face in body.
2. high-altitude cleaning robot as described in claim 1, it is characterised in that: the high-altitude cleaning robot further includes button
Part, the fastener include matrix, the buckle and ratchet mechanism that are arranged on matrix, and described matrix is equipped with shaft, the ratchet
Mechanism includes the ratchet being arranged in shaft and pawl is arranged on matrix, and drawstring is wound in the shaft, and the drawstring connects
Connect the body.
3. high-altitude cleaning robot as described in claim 1, it is characterised in that: the longitudinal traveling mechanism include traveling wheel and
Drive the output motor of traveling wheel.
4. high-altitude cleaning robot as described in claim 1, it is characterised in that: the transverse direction walking mechanism includes driving electricity
Machine, output shaft, bearing block and the idler wheel being arranged on bearing block, the idler wheel are equipped with crawler belt, and the upper end of the bearing block turns
Dynamic to be connected with the first linking arm, the lower end of the bearing block is rotatably connected to the second linking arm, first linking arm and body
Top rotation connection, the lower rotational of second linking arm and body connects, be rotatably connected to hydraulic stem on the body,
The hydraulic stem and the first linking arm are rotatablely connected, and the output shaft is connect with driving motor and idler wheel by universal joint.
5. high-altitude cleaning robot as described in claim 1, it is characterised in that: the axial-flow type negative-pressure air fan include motor and
The wind wheel being connected to motor, the wind wheel include the blade of inner wheel hub and setting inner wheel hub circumferential direction, the windup-degree D of the blade
Meet following formula:
Wherein, R1 is length of blade, and R2 is inner wheel hub radius, and H is blade height.
6. the high-altitude cleaning robot as described in claim 1 to 5, it is characterised in that: the body is equipped with fluid reservoir and liquid
Press pump, the circumferential side wall of the body are equipped at intervals with several apopores, the hydraulic pump by water pipe connect the fluid reservoir and
Apopore.
7. high-altitude cleaning robot as claimed in claim 6, it is characterised in that: be equipped at the apopore and be used for guiding fuel injection
The deflector of dispersion of flow.
8. high-altitude cleaning robot as claimed in claim 7, it is characterised in that: the deflector include by the body outside
The front flow guiding plate that wall extends, the apopore are at least partially disposed at the front flow guiding plate in the orthographic projection on body inner wall,
The front flow guiding plate is from its middle part to the arc-shaped extension in circumferential both ends.
9. high-altitude cleaning robot as claimed in claim 8, it is characterised in that: the front flow guiding plate is towards the apopore one
Side is equipped at least one and is used for the guide face that guiding fuel injection water flow is circumferentially spread, and the guide face is inclined-plane or curved surface.
10. high-altitude cleaning robot as claimed in claim 9, it is characterised in that: the deflector further includes being connected to institute
State the side baffle of front flow guiding plate two sides, the spacing between the side baffle of the front flow guiding plate two sides along injection water direction gradually
Increase.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657680.8A CN109381132A (en) | 2017-08-03 | 2017-08-03 | A kind of high-altitude cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657680.8A CN109381132A (en) | 2017-08-03 | 2017-08-03 | A kind of high-altitude cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109381132A true CN109381132A (en) | 2019-02-26 |
Family
ID=65413037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710657680.8A Pending CN109381132A (en) | 2017-08-03 | 2017-08-03 | A kind of high-altitude cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109381132A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069053A (en) * | 2021-04-25 | 2021-07-06 | 上海建桥学院有限责任公司 | Unmanned aerial vehicle high building cleaning device |
-
2017
- 2017-08-03 CN CN201710657680.8A patent/CN109381132A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069053A (en) * | 2021-04-25 | 2021-07-06 | 上海建桥学院有限责任公司 | Unmanned aerial vehicle high building cleaning device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190226 |