CN110170472A - A kind of automatic obstacle-avoiding handrail cleaner - Google Patents
A kind of automatic obstacle-avoiding handrail cleaner Download PDFInfo
- Publication number
- CN110170472A CN110170472A CN201910372019.1A CN201910372019A CN110170472A CN 110170472 A CN110170472 A CN 110170472A CN 201910372019 A CN201910372019 A CN 201910372019A CN 110170472 A CN110170472 A CN 110170472A
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- Prior art keywords
- overturning
- motor
- dust
- tooth
- support
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- 230000009193 crawling Effects 0.000 claims abstract description 50
- 238000004140 cleaning Methods 0.000 claims abstract description 49
- 239000000428 dust Substances 0.000 claims abstract description 43
- 241000256247 Spodoptera exigua Species 0.000 claims abstract description 24
- 244000007853 Sarothamnus scoparius Species 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000000694 effects Effects 0.000 claims abstract description 13
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 210000000515 tooth Anatomy 0.000 description 70
- 230000004888 barrier function Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 3
- 230000002337 anti-port Effects 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002000 scavenging effect Effects 0.000 description 1
- 238000009991 scouring Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The present invention relates to stair cleaning equipment technology fields, specifically a kind of automatic obstacle-avoiding handrail cleaner, it is equipped with main body hose, it is characterized in that the middle part of the main body hose is equipped with cleaning agency, the rear and front end of main body hose is respectively equipped with driving avoidance mechanism, the cleaning agency is by support, link block, clean motor, disk broom, dust-collecting bin, dust sucting motor, dust-collecting cylinder, mobile power source and sponge brush composition, the driving avoidance mechanism is by braced frame, overturn motor, resupination framework, overturn driving tooth, overturn driven tooth, inchworm motor, crawling wheel, wheel carrier of creeping composition, crawling wheel rotation is driven by inchworm motor, then it realizes and creeps, left side avoidance is realized by the overturning driven tooth on the left of overturning motor driven, right side avoidance is realized by the overturning driven tooth on the right side of overturning motor driven, with structure letter List, cleaning effect are good, avoidance speed is fast, reduce cleaner's labor intensity, increase the advantages that working efficiency.
Description
Technical field
The present invention relates to stair cleaning equipment technology field, specifically a kind of structure is simple, cleaning effect is good, avoidance
The automatic obstacle-avoiding handrail cleaner that speed is fast, reduces cleaner's labor intensity, increases working efficiency.
Background technique
It is well known that the cleaning post heavy workload of property department, labor intensity are high, it is well-known.The cleaning of level-one property
Standard requirements, cell balustrade clean once daily.Using the pattern for manually climbing building, a people takes one brush for traditional stair cleaning
Cloth climbs a step and wipes one section, and building and scouring are climbed in repetition.Although it is simple that handrail cleans this work, a residential area may
There is the high building of more than 10 30 floor, cleans handrail just at challenge, a cleaner can climb 5 30 floors at most daily, and
And time and effort consuming, it is quite hard.
The characteristics of residential area balustrade is that just have a cross-brace connecting tube every one section；It makes in the section of handrail
Type is different, has round tube, flat tube also to have arc modeling；The diameter of handrail is also less identical；Exactly because may these originals
Cause, can not find suitable handrail cleaning equipment on the market, and existing handrail generally can all exist for reinforce handrail and handrail
Cross-brace pipe connected vertically, will generate obstacle.
Summary of the invention
Present invention aim to address above-mentioned the deficiencies in the prior art, provide that a kind of structure is simple, cleaning effect is good, avoidance
The automatic obstacle-avoiding handrail cleaner that speed is fast, reduces cleaner's labor intensity, increases working efficiency.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of automatic obstacle-avoiding handrail cleaner is equipped with main body hose, it is characterised in that the middle part of the main body hose is equipped with clear
Sweep mechanism, the rear and front end of main body hose is respectively equipped with driving avoidance mechanism, and the cleaning agency is by support, link block, clear
Sweep motor, disk broom, dust-collecting bin, dust sucting motor, dust-collecting cylinder, mobile power source and sponge brush composition, the top of the support
Front and rear sides be respectively equipped with link block, the lower end of link block is connected with support, and the upper end of link block is equipped with connecting hole, described
Main body hose pass through connecting hole realization body hose and support connection, the branch of the left and right sides of the link block of the front side
It is respectively equipped with cleaning motor on seat, cleans motor and is connected through bracket with support, the output shaft for cleaning motor passes through below support
It is connected with disk broom, is cleaned by cleaning motor driven disk broom, the support at the cleaning motor rear
Lower section is equipped with dust-collecting bin, and dust-collecting cylinder of the upper end through being equipped with above gather dust mouth and support of dust-collecting bin is connected, the dust-collecting cylinder
Top be equipped with dust sucting motor, dust is collected by dust motor, is equipped with below the support at the dust-collecting bin rear
Sponge brush, the sponge brush are connected with support, are wiped by sponge brush to handrail, the top of the support is equipped with
Mobile power source, mobile power source is connected with cleaning motor, dust sucting motor respectively realizes power supply, and the driving avoidance mechanism is by propping up
Support frame frame, overturning motor, resupination framework, overturning driving tooth, overturning driven tooth, inchworm motor, crawling wheel, wheel carrier of creeping composition,
The braced frame is located above handrail and is connected with main body hose, and the top of braced frame is equipped with overturning motor, overturning
The output shaft of motor stretches out the end of braced frame and is connected with overturning driving tooth, the left and right sides of the overturning driving tooth
Symmetrical to be equipped with overturning driven tooth, the overturning driven tooth is connected through bearing with braced frame, overturning driven tooth and overturning
Driving tooth is meshed, and the lower section of the overturning driven tooth is connected with resupination framework, and the resupination framework is set as right angle frame
One end of frame, right angle frame is connected with overturning driven tooth, and the other end of right angle frame is connected with U-shaped wheel carrier of creeping, institute
The middle part for the wheel carrier of creeping stated is equipped with crawling wheel, and the upper end of crawling wheel stretches out wheel carrier of creeping and is connected with inchworm motor, by climbing
Row motor drives crawling wheel rotation, then realizes and creeps, and realizes that left side is kept away by the overturning driven tooth on the left of overturning motor driven
Barrier realizes right side avoidance by the overturning driven tooth on the right side of overturning motor driven.
Supporting roller is equipped in driving avoidance mechanism of the present invention, the two sides of the supporting roller are respectively through strut and branch
Support frame frame is connected, and the supporting roller is in contact the rolling support realized between braced frame and handrail with handrail.
U-shaped wheel carrier of creeping on the outside of crawling wheel of the present invention is equipped with ultrasonic sensor, the braced frame
It is equipped with controller, levelness is equipped in the controller and detects gyro sensor, controller and ultrasonic sensor phase
Connection detected by ultrasonic sensor and signal passed to controller after obstacle, and controller control reversion motor is towards left
Side or right side drive and then carry out left side avoidance or right side avoidance.
It is equipped with levelness in controller of the present invention and detects gyro sensor, controller and levelness detect gyro
Instrument sensor is mutually connected to inchworm motor, when generation left and right directions is horizontal unbalance in movement, passes through internal controller
The rotational speed difference of adjustment left and right sides crawling wheel, reaches handrail cleaner dynamic equilibrium.
Tension spring, the both ends of tension spring are equipped between the overturning driven tooth of overturning driving tooth two sides of the present invention
It is connected respectively with overturning driven tooth, rollover effect is increased by the aid power that tension spring generates.
Overturning driving tooth of the present invention is set as 120 degree of overturning teeth, and the overturning driven tooth is set as 120 degree of overturnings
Tooth, it is original state that the overturning driving tooth, which is symmetrically located at towards surface, overturning driven tooth and overturns the two sides of driving tooth,
The rotation angle of the overturning driving tooth is 240 degree of ranges, i.e. overturning driving tooth is towards 120 degree of left pivot movement, towards right side
120 degree of rotation.
Overturning motor tail portion of the present invention is equipped with angular transducer, and angular transducer is connected with controller, controls
Device is connected with overturning motor, passes through the angle signal of feedback overturning tooth.
Since the middle part of the main body hose is equipped with cleaning agency, the rear and front end of main body hose is respectively equipped with the present invention
Avoidance mechanism is driven, the cleaning agency is by support, link block, cleaning motor, disk broom, dust-collecting bin, dust sucting motor, collection
Dirt barrel, mobile power source and sponge brush composition, the front and rear sides of the top of the support are respectively equipped with link block, under link block
End is connected with support, and the upper end of link block is equipped with connecting hole, the main body hose pass through connecting hole realization body hose and
The connection of support is respectively equipped with cleaning motor on the support of the left and right sides of the link block of the front side, cleans motor through propping up
Frame is connected with support, and the output shaft for cleaning motor, which passes through, to be connected below support with disk broom, by cleaning motor driven
Disk broom is cleaned, and the lower section of the support at the cleaning motor rear is equipped with dust-collecting bin, and the upper end of dust-collecting bin is through gathering dust
The dust-collecting cylinder being equipped with above mouth and support is connected, and the top of the dust-collecting cylinder is equipped with dust sucting motor, passes through dust motor pair
Dust is collected, and sponge brush is equipped with below the support at the dust-collecting bin rear, and the sponge brush is connected with support, is led to
Sponge brush is crossed to wipe handrail, the top of the support is equipped with mobile power source, mobile power source respectively with clean motor, inhale
Dirt motor, which is connected, realizes power supply, and the driving avoidance mechanism is by braced frame, overturning motor, resupination framework, overturning active
Tooth, overturning driven tooth, inchworm motor, crawling wheel, wheel carrier of creeping composition, the braced frame is located above handrail and and main body
Hose is connected, and the top of braced frame is equipped with overturning motor, overturn motor output shaft stretch out braced frame end and with
Overturning driving tooth is connected, and the medianly zygomorphic of the described overturning driving tooth is equipped with overturning driven tooth, the overturning from
Movable tooth is connected through bearing with braced frame, and overturning driven tooth is meshed with overturning driving tooth, under the overturning driven tooth
Side is connected with resupination framework, and the resupination framework is set as right angle frame, and one end of right angle frame is connected with overturning driven tooth
It connects, the other end of right angle frame is connected with U-shaped wheel carrier of creeping, and the middle part of the wheel carrier of creeping is equipped with crawling wheel, creeps
The upper end of wheel stretches out wheel carrier of creeping and is connected with inchworm motor, drives crawling wheel rotation by inchworm motor, then realizes and creep,
Left side avoidance is realized by the overturning driven tooth on the left of overturning motor driven, passes through the overturning driven tooth on the right side of overturning motor driven
It realizes right side avoidance, supporting roller is equipped in the driving avoidance mechanism, the two sides of the supporting roller are respectively through strut and branch
Support frame frame is connected, and the supporting roller is in contact the rolling support realized between braced frame and handrail with handrail, described
For U-shaped wheel carrier of creeping on the outside of crawling wheel equipped with ultrasonic sensor, the braced frame is equipped with controller, the control
It is equipped with levelness in device processed and detects gyro sensor, controller is connected with ultrasonic sensor, passes through ultrasonic sensor
It detects and signal is passed into controller after obstacle, controller control reversion motor drives towards left or right side and then carries out left
Side avoidance or right side avoidance, the interior levelness that is equipped with of the controller detect gyro sensor, and controller and levelness are examined
It surveys gyro sensor to be mutually connected to inchworm motor, when generation left and right directions is horizontal unbalance in movement, passes through inside
The rotational speed difference of controller adjustment left and right sides crawling wheel, reaches handrail cleaner dynamic equilibrium, the overturning driving tooth two sides
Overturning driven tooth between be equipped with tension spring, the both ends of tension spring respectively with overturning driven tooth be connected, pass through pulling force bullet
The aid power that spring generates increases rollover effect, and the overturning driving tooth is set as 120 degree of overturning teeth, and the overturning driven tooth is set
For 120 degree of overturning teeth, the overturning driving tooth is symmetrically located at the two sides of overturning driving tooth towards surface, overturning driven tooth
Rotation angle for original state, the overturning driving tooth is 240 degree of ranges, that is, overturns driving tooth towards left pivot movement 120
Degree rotates 120 degree towards right side, and the overturning motor tail portion is equipped with angular transducer, and angular transducer is connected with controller
It connects, controller is connected with overturning motor, by the angle signal of feedback overturning tooth, with structure is simple, cleaning effect is good, keeps away
The advantages that hindering fast speed, reduction cleaner's labor intensity, increase working efficiency.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of other direction of the present invention.
Fig. 3 is clamp position structural schematic diagram of the present invention.
Fig. 4 is crawling wheel rollover states figure in the present invention.
Fig. 5 is avoidance state diagram in the present invention.
Fig. 6 is the structural schematic diagram of cleaning agency in the present invention.
Specific embodiment
The following further describes the present invention with reference to the drawings:
As shown in the picture, a kind of automatic obstacle-avoiding handrail cleaner is equipped with main body hose 1, it is characterised in that the main body hose 1
Middle part be equipped with cleaning agency, the rear and front end of main body hose 1 be respectively equipped with driving avoidance mechanism, the cleaning agency is by propping up
Seat 2, cleans motor 4, disk broom 5, dust-collecting bin 6, dust sucting motor 7, dust-collecting cylinder 8, mobile power source 9 and sponge brush 10 at link block 3
Composition, the front and rear sides of the top of the support 2 are respectively equipped with link block 3, and the lower end of link block 3 is connected with support 2, even
The upper end for connecing block 3 is equipped with connecting hole, and the main body hose 1 passes through the connection of connecting hole realization body hose 1 and support 2, institute
It is respectively equipped on the support 2 of the left and right sides of the link block 3 for the front side stated and cleans motor 4, clean motor 4 through bracket and support 2
It is connected, the output shaft for cleaning motor 4 passes through 2 lower section of support and is connected with disk broom 5, drives disk by cleaning motor 4
Broom 5 is cleaned, and the lower section of the support 2 at cleaning 4 rear of motor is equipped with dust-collecting bin 6, and the upper end of dust-collecting bin 6 is through gathering dust
Mouth is connected with the dust-collecting cylinder 8 being equipped with above support 2, and the top of the dust-collecting cylinder 8 is equipped with dust sucting motor 7, passes through dust electricity
Machine is collected dust, and sponge brush 10, the sponge brush 10 and branch are equipped with below the support 2 at 6 rear of dust-collecting bin
Seat 2 is connected, and is wiped by sponge brush 10 to handrail, and the top of the support 2 is equipped with mobile power source 9, mobile power source 9
Be connected with cleaning motor 4, dust sucting motor 7 realization power supply respectively, and the driving avoidance mechanism is by braced frame 11, overturning electricity
Machine 12, resupination framework 13, overturning driving tooth 14, overturning driven tooth 15, inchworm motor 16, crawling wheel 17, wheel carrier 18 of creeping composition,
The braced frame 11 is located above handrail and is connected with main body hose 1, and the top of braced frame 11 is equipped with overturning motor
12, the output shaft of overturning motor 12 stretches out the end of braced frame 11 and is connected with overturning driving tooth 14, the overturning master
The medianly zygomorphic of movable tooth 14 is equipped with overturning driven tooth 15, and the overturning driven tooth 15 is through bearing and 11 phase of braced frame
Connection, overturning driven tooth 15 are meshed with overturning driving tooth 14, lower section and 13 phase of resupination framework of the overturning driven tooth 15
Connection, the resupination framework 13 are set as right angle frame, and one end of right angle frame is connected with overturning driven tooth 15, right angle frame
The other end be connected with U-shaped wheel carrier 18 of creeping, the middle part of the wheel carrier 18 of creeping is equipped with crawling wheel 17, crawling wheel 17
Upper end stretches out wheel carrier 18 of creeping and is connected with inchworm motor 16, drives crawling wheel 17 to rotate by inchworm motor 16, then realizes
It creeps, left side avoidance is realized by the overturning driven tooth 15 in the overturning driving of motor 12 left side, passes through the overturning driving of motor 12 right side
Overturning driven tooth 15 realize right side avoidance, supporting roller 19 is equipped in the driving avoidance mechanism, the supporting roller 19
Two sides are connected through strut with braced frame 11 respectively, and the supporting roller 19 is in contact with handrail to be realized braced frame 11 and help
Rolling support between hand, the U-shaped wheel carrier 18 of creeping in 17 outside of crawling wheel are described equipped with ultrasonic sensor 20
Braced frame 11 is equipped with controller 21, is equipped with levelness in the controller 21 and detects gyro sensor, controller 21
It is connected with ultrasonic sensor 20, is detected by ultrasonic sensor 20 and signal is passed into controller 21 after obstacle, controlled
The control of device 21 reversion motor processed drives towards left or right side and then carries out left side avoidance or right side avoidance, the controller
It is equipped with levelness in 21 and detects gyro sensor, controller 21 mutually gives inchworm motor 16 with levelness detection gyro sensor
It is connected, when generation left and right directions is horizontal unbalance in movement, passes through internal controller 21 and adjust left and right sides crawling wheel
17 rotational speed difference reaches handrail cleaner dynamic equilibrium, sets between the overturning driven tooth 15 of 14 two sides of overturning driving tooth
There is tension spring 22, the both ends of tension spring 22 are connected with overturning driven tooth 15 respectively, add by what tension spring 22 generated
Holding force increases rollover effect, and the overturning driving tooth 14 is set as 120 degree of overturning teeth, and the overturning driven tooth 15 is set as 120
Degree overturning tooth, the overturning driving tooth 14 are symmetrically located at the two of overturning driving tooth 14 towards surface, overturning driven tooth 15
Side is original state, and the rotation angle of the overturning driving tooth 14 is 240 degree of ranges, i.e. overturning driving tooth 14 turns towards left side
It is 120 degree dynamic, 120 degree are rotated towards right side, 12 tail portion of overturning motor is equipped with angular transducer, angular transducer and control
Device 21 is connected, and controller 21 is connected with overturning motor 12, passes through the angle signal of feedback overturning tooth.
In the use of the present invention, the cleaner is placed on handrail first, the driving avoidance mechanism of front side and the drive of rear side
Crawling wheel 17 in dynamic avoidance mechanism is connected to the two sides of handrail, then starts inchworm motor 16, dust sucting motor 7, cleans motor 4
It works, when encountering obstacle, ultrasonic sensor 20 senses that obstacle just overturns the crawling wheel 17 of the side, at this time
Starting overturning motor 12, overturning motor 12 drives the overturning driven tooth 15 of the side to be overturn, and then carries out avoidance, and avoidance is completed
Overturning motor 12 turns round afterwards, re-starts driving, and the main body hose 1 in automatic obstacle-avoiding handrail cleaner uses wired hose, makes
The driving avoidance mechanism of front and back can be arbitrarily bent with handrail moulding, and gyroscope built in controller 21 can be automatic during creeping
Balance is kept, handrail cross-brace connecting tube is encountered in creep can carry out evacuation with automatic turning unilateral side crawling wheel 17 and move ahead,
Crawling wheel 17 is connected with the inchworm motor 16 at top；There is the inclination of 1mm thickness opposite direction on 17 surface of crawling wheel of the right and left
Texture is arranged at positive and negative 25 degree, this structure of crawling wheel 17, can be risen by the rotational speed difference of control left and right sides crawling wheel 17
To the effect of correction, when crawling wheel 17 revolving speed in left side is higher than right side, handrail cleaning fuselage left and right horizontal tilts to the right.Work as the right side
When crawling wheel 17 revolving speed in side is higher than left side, handrail cleaning fuselage left and right horizontal tilts to the left, drives and is equipped with control in avoidance mechanism
Device 21 processed has inside controller 21 levelness to detect gyro sensor, when left and right directions water occurs in the movement of handrail cleaner
When putting down unbalance, the rotational speed difference of left and right sides crawling wheel 17 is adjusted by internal controller 21, reaches handrail cleaner dynamic
It balances, is fitted with ultrasonic sensor 20 on the outside of 4 crawling wheels 17 before and after handrail cleaner.In crawling process, when a certain
The ultrasonic sensor 20 in a 17 outside of crawling wheel, when detecting arm supports connector or barrier, which is being turned over
It turns over to turn 90 degrees under the driving of rotating motor 12 and be avoided, handrail cleaner slides from handrail in order to prevent, handrail cleaner
The setting of 21 internal processes of controller, handrail cleaner can only have a crawling wheel 17 to overturn at any time, and other three are creeped
Wheel 17 is in clamp position, and crawling wheel 17 and inchworm motor 16 are mounted on and creep on wheel carrier 18, creep wheel carrier 18 and resupination framework
13 are connected, and resupination framework 13 is connected with overturning driven tooth 15, the overturning driven tooths 15 of two sides pass through tension spring 22 generate to
Interior chucking power is equipped with ultrasonic sensor 20 on the outside of the crawling wheel 17 of two sides for detecting barrier, overturns 12 tail of motor
Portion is equipped with angular transducer for feeding back the angle signal of overturning tooth, when the ultrasonic sensor on the right side of front climbing mechanism
20 when detecting barrier, which reaches controller 21, the driving overturning motor 12 of controller 21, and overturning motor 12 drives overturning
Driving tooth 14 deflects to the right, to drive the overturning driven tooth 15 of the side, and the turning frame being connected with overturning driven tooth 15
Frame 13 and wheel carrier 18 of creeping, after overturning motor 12, which runs to 120 °, overturns stop position to the right, right side is turned to crawling wheel 17
Horizontal position, overturning motor 12 shut down, and other three crawling wheels 17 continue to creep, and controller 21 is delayed a set time
Avoiding obstacles afterwards overturn 12 antiport of motor, so that the crawling wheel 17 of the side be driven to fall, overturning driving tooth 14 is rotated to
Be zeroed stop position after, overturning 12 tail portion of motor angular transducer feedback angle signal arrive controller 21, controller 21 control turn over
Rotating motor 12 stops, and the rotation angle for overturning tooth is 240 degree of ranges, and 0 degree is zero stop position, and 120 degree stop for left overturning
Position, -120 degree are right overturning stop position, which can be set by automatic mode and adjustment modes by control panel
It is fixed.When running automatic mode, when two ultrasonic sensors 20 when handrail cleaner front are detected simultaneously by barrier,
System thinks that handrail cleaner has crawled into roof, can be in the end of handrail if handrail end is connect with wall
Block is placed, after when handrail cleaner front two, ultrasonic sensor 20 is detected simultaneously by barrier, feedback signal to control
Device 21, system starting are shut down procedure, and are stopped gathering dust after delay 2 seconds and are cleaned the operation of cleaning motor 4 in storehouse, are then delayed 2 seconds and start
Program downstairs, 4 17 antiports of crawling wheel are to downstairs creeping, and dust-collecting bin 6 is the body structure of lower opening, before dust-collecting bin 6
Two sets of disk brooms 5 are installed by motor driven by portion, and two sets of disk brooms 5, which rotate inward, cleans the dust on handrail,
It is focused under dust absorption fan suction inside dust-collecting cylinder 8 simultaneously, dust absorption fan, filter assemblies, collection are arranged in 6 top of dust-collecting bin
Dirt barrel 8,6 tail portion of dust-collecting bin is equipped with 10 component of sponge brush, and is bonded with handrail, the working principle that handrail cleaner gathers dust
Be: after the starting of handrail cleaner, two sets of disk brooms 5 of 6 front of dust-collecting bin intersect under the drive of the motor to be rotated inward；Simultaneously
Dust absorption fan operates, and generates inside suction at 6 front opening of dust-collecting bin；The disk broom 5 on the left side rotates counterclockwise, the right
Disk broom 5 rotates clockwise；Two sets of intersections of disk broom 5 rotate inward, and the effect inwardly cleaned is generated to the dust on handrail
Fruit, for two sets of left and right disk broom 5 in positive and negative 25 degree inclination arrangements, the package of 180 degree can be carried out to handrail top by cleaning bristle
It cleans, the dust after cleaning enters dust-collecting bin 6, while entering dust-collecting cylinder 8 under dust absorption fan effect, what dust absorption fan generated
Air-flow is discharged after filter assemblies, and the sponge brush 10 of 6 tail portion of dust-collecting bin is slightly aqueous, belongs to leather hard.After scavenging machine movement
Dust-collecting bin 6 is driven to advance, while the sponge brush 10 for dragging 6 tail portion of dust-collecting bin carries out scrub clean to handrail, the present invention is by institute
The middle part for the main body hose 1 stated is equipped with cleaning agency, and the rear and front end of main body hose 1 is respectively equipped with driving avoidance mechanism, described
Cleaning agency by support 2, link block 3, clean motor 4, disk broom 5, dust-collecting bin 6, dust sucting motor 7, dust-collecting cylinder 8, mobile
Power supply 9 and sponge brush 10 form, and the front and rear sides of the top of the support 2 are respectively equipped with link block 3, the lower end of link block 3
It is connected with support 2, the upper end of link block 3 is equipped with connecting hole, and the main body hose 1 passes through connecting hole realization body hose 1
It with the connection of support 2, is respectively equipped on the support 2 of the left and right sides of the link block 3 of the front side and cleans motor 4, clean electricity
Machine 4 is connected through bracket with support 2, and the output shaft for cleaning motor 4 passes through 2 lower section of support and is connected with disk broom 5, by clear
Sweeping motor 4 drives disk broom 5 to be cleaned, and the lower section of the support 2 at cleaning 4 rear of motor is equipped with dust-collecting bin 6, gathers dust
Dust-collecting cylinder 8 of the upper end in storehouse 6 through being equipped with above gather dust mouth and support 2 is connected, and the top of the dust-collecting cylinder 8 is equipped with dust suction electricity
Machine 7 is collected dust by dust motor, and sponge brush 10 is equipped with below the support 2 at 6 rear of dust-collecting bin, described
Sponge brush 10 be connected with support 2, handrail is wiped by sponge brush 10, the top of the support 2 is equipped with movement
Power supply 9, mobile power source 9 is connected with cleaning motor 4, dust sucting motor 7 respectively realizes power supply, and the driving avoidance mechanism is by propping up
Support frame frame 11, overturning motor 12, resupination framework 13, overturning driving tooth 14, overturning driven tooth 15, inchworm motor 16, crawling wheel 17,
Wheel carrier 18 of creeping composition, the braced frame 11 are located above handrail and are connected with main body hose 1, braced frame 11 it is upper
Side is equipped with overturning motor 12, and the output shaft of overturning motor 12 stretches out the end of braced frame 11 and is connected with overturning driving tooth 14
It connects, the medianly zygomorphic of the overturning driving tooth 14 is equipped with overturning driven tooth 15,15 warp beam of overturning driven tooth
It holds and is connected with braced frame 11, overturning driven tooth 15 is meshed with overturning driving tooth 14, under the overturning driven tooth 15
Side is connected with resupination framework 13, and the resupination framework 13 is set as right angle frame, one end of right angle frame and overturning driven tooth
15 are connected, and the other end of right angle frame is connected with U-shaped wheel carrier 18 of creeping, and the middle part of the wheel carrier 18 of creeping, which is equipped with, to be climbed
Row wheel 17, the upper end of crawling wheel 17 stretch out wheel carrier 18 of creeping and are connected with inchworm motor 16, creeped by the drive of inchworm motor 16
17 rotation of wheel, then realizes and creeps, and left side avoidance is realized by the overturning driven tooth 15 in the overturning driving of motor 12 left side, by turning over
The overturning driven tooth 15 on the driving of rotating motor 12 right side realizes right side avoidance, is equipped with supporting roller 19 in the driving avoidance mechanism,
The two sides of the supporting roller 19 are connected through strut with braced frame 11 respectively, and the supporting roller 19 is in contact reality with handrail
The U-shaped wheel carrier 18 of creeping of rolling support between existing braced frame 11 and handrail, 17 outside of crawling wheel is equipped with ultrasound
Wave sensor 20, the braced frame 11 are equipped with controller 21, are equipped with levelness in the controller 21 and detect gyro
Instrument sensor, controller 21 are connected with ultrasonic sensor 20, are detected after obstacle by ultrasonic sensor 20 by signal
Controller 21 is passed to, the control reversion motor of controller 21 drives towards left or right side and then carries out left side avoidance or right side
Avoidance, the interior levelness that is equipped with of the controller 21 detect gyro sensor, controller 21 and levelness detection gyroscope biography
Sensor is mutually connected to inchworm motor 16, when generation left and right directions is horizontal unbalance in movement, passes through internal controller 21
The rotational speed difference of adjustment left and right sides crawling wheel 17 reaches handrail cleaner dynamic equilibrium, overturning 14 two sides of driving tooth
It overturns and is equipped with tension spring 22 between driven tooth 15, the both ends of tension spring 22 are connected with overturning driven tooth 15 respectively, pass through
The aid power that tension spring 22 generates increases rollover effect, and the overturning driving tooth 14 is set as 120 degree of overturning teeth, and described turns over
Turn driven tooth 15 and be set as 120 degree of overturning teeth, the overturning driving tooth 14 is symmetrically located at towards surface, overturning driven tooth 15
The two sides for overturning driving tooth 14 are original state, and the rotation angle of the overturning driving tooth 14 is 240 degree of ranges, i.e. overturning master
Movable tooth 14 rotates 120 degree towards 120 degree of left pivot movement, towards right side, and 12 tail portion of overturning motor is equipped with angular transducer,
Angular transducer is connected with controller 21, and controller 21 is connected with overturning motor 12, is believed by the angle of feedback overturning tooth
Number, have many advantages, such as that structure is simple, cleaning effect is good, avoidance speed is fast, reduces cleaner's labor intensity, increases working efficiency.
Claims (7)
1. a kind of automatic obstacle-avoiding handrail cleaner is equipped with main body hose, it is characterised in that the middle part of the main body hose is equipped with
Cleaning agency, the rear and front end of main body hose be respectively equipped with driving avoidance mechanism, the cleaning agency by support, link block,
Clean motor, disk broom, dust-collecting bin, dust sucting motor, dust-collecting cylinder, mobile power source and sponge brush composition, the support it is upper
The front and rear sides of side are respectively equipped with link block, and the lower end of link block is connected with support, and the upper end of link block is equipped with connecting hole, institute
The main body hose stated passes through the connection of connecting hole realization body hose and support, the left and right sides of the link block of the front side
It is respectively equipped with cleaning motor on support, cleans motor and is connected through bracket with support, the output shaft for cleaning motor passes through under support
Side is connected with disk broom, is cleaned by cleaning motor driven disk broom, the support at the cleaning motor rear
Lower section be equipped with dust-collecting bin, the upper end of the dust-collecting bin mouth that gathered dust is connected with the dust-collecting cylinder that support top is equipped with, the dust
The top of cylinder is equipped with dust sucting motor, is collected by dust motor to dust, sets below the support at the dust-collecting bin rear
There is sponge brush, the sponge brush is connected with support, wipes by sponge brush to handrail, sets above the support
Have a mobile power source, mobile power source respectively with clean motor, dust sucting motor is connected realization power supply, the driving avoidance mechanism by
Braced frame, overturning motor, resupination framework, overturning driving tooth, overturning driven tooth, inchworm motor, crawling wheel, wheel carrier group of creeping
At the braced frame is located above handrail and is connected with main body hose, and the top of braced frame is equipped with overturning motor, turns over
The output shaft of rotating motor stretches out the end of braced frame and is connected with overturning driving tooth, the left and right two of the overturning driving tooth
Side is symmetrically equipped with overturning driven tooth, and the overturning driven tooth is connected through bearing with braced frame, overturns driven tooth and turns over
Turn driving tooth to be meshed, the lower section of the overturning driven tooth is connected with resupination framework, and the resupination framework is set as right angle
One end of frame, right angle frame is connected with overturning driven tooth, and the other end of right angle frame is connected with U-shaped wheel carrier of creeping,
The middle part of the wheel carrier of creeping is equipped with crawling wheel, and the upper end of crawling wheel stretches out wheel carrier of creeping and is connected with inchworm motor, passes through
Inchworm motor drives crawling wheel rotation, then realizes and creeps, and realizes left side by the overturning driven tooth on the left of overturning motor driven
Avoidance realizes right side avoidance by the overturning driven tooth on the right side of overturning motor driven.
2. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that the driving avoidance mechanism
In be equipped with supporting roller, the two sides of the supporting roller are connected through strut with braced frame respectively, the supporting roller and handrail
Be in contact the rolling support realized between braced frame and handrail.
3. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that the U on the outside of the crawling wheel
Type creeps wheel carrier equipped with ultrasonic sensor, and the braced frame is equipped with controller, is equipped with water in the controller
Pingdu detects gyro sensor, and controller is connected with ultrasonic sensor, after detecting obstacle by ultrasonic sensor
Signal is passed into controller, controller control reversion motor drives towards left or right side and then carries out left side avoidance or the right side
Side avoidance.
4. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that be equipped in the controller
Levelness detects gyro sensor, and controller is mutually connected to inchworm motor with levelness detection gyro sensor, works as fortune
When generation left and right directions is horizontal unbalance in dynamic, the rotational speed difference of left and right sides crawling wheel is adjusted by internal controller, is reached
Handrail cleaner dynamic equilibrium.
5. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that the overturning driving tooth two
Tension spring is equipped between the overturning driven tooth of side, the both ends of tension spring are connected with overturning driven tooth respectively, pass through pulling force
The aid power that spring generates increases rollover effect.
6. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that the overturning driving tooth is set
For 120 degree of overturning teeth, the overturning driven tooth is set as 120 degree of overturning teeth, and the overturning driving tooth is towards surface, overturning
The two sides that driven tooth is symmetrically located at overturning driving tooth are original state, and the rotation angle of the overturning driving tooth is 240 degree
Range, i.e. overturning driving tooth rotate 120 degree towards 120 degree of left pivot movement, towards right side.
7. a kind of automatic obstacle-avoiding handrail cleaner according to claim 1, it is characterised in that the overturning motor tail portion
Equipped with angular transducer, angular transducer is connected with controller, and controller is connected with overturning motor, overturns tooth by feedback
Angle signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910372019.1A CN110170472A (en) | 2019-05-06 | 2019-05-06 | A kind of automatic obstacle-avoiding handrail cleaner |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910372019.1A CN110170472A (en) | 2019-05-06 | 2019-05-06 | A kind of automatic obstacle-avoiding handrail cleaner |
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| CN110170472A true CN110170472A (en) | 2019-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910372019.1A Pending CN110170472A (en) | 2019-05-06 | 2019-05-06 | A kind of automatic obstacle-avoiding handrail cleaner |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840332A (en) * | 2019-10-16 | 2020-02-28 | 肇庆学院 | Intelligent cleaning robot for stair handrail |
| CN112296055A (en) * | 2020-09-09 | 2021-02-02 | 浙江农林大学暨阳学院 | Sock workshop dirty-suction vehicle is knitted to intelligence |
| CN112536899A (en) * | 2020-11-18 | 2021-03-23 | 广东博智林机器人有限公司 | Stair mould treatment facility |
-
2019
- 2019-05-06 CN CN201910372019.1A patent/CN110170472A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840332A (en) * | 2019-10-16 | 2020-02-28 | 肇庆学院 | Intelligent cleaning robot for stair handrail |
| CN110840332B (en) * | 2019-10-16 | 2021-05-14 | 肇庆学院 | Intelligent cleaning robot for stair handrail |
| CN112296055A (en) * | 2020-09-09 | 2021-02-02 | 浙江农林大学暨阳学院 | Sock workshop dirty-suction vehicle is knitted to intelligence |
| CN112296055B (en) * | 2020-09-09 | 2021-09-14 | 浙江农林大学暨阳学院 | Sock workshop dirty-suction vehicle is knitted to intelligence |
| CN112536899A (en) * | 2020-11-18 | 2021-03-23 | 广东博智林机器人有限公司 | Stair mould treatment facility |
| CN112536899B (en) * | 2020-11-18 | 2022-06-28 | 广东博智林机器人有限公司 | Stair mould treatment facility |
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