CN110292333A - One kind climbing wall high-pressure wash machine people - Google Patents

One kind climbing wall high-pressure wash machine people Download PDF

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Publication number
CN110292333A
CN110292333A CN201810246747.3A CN201810246747A CN110292333A CN 110292333 A CN110292333 A CN 110292333A CN 201810246747 A CN201810246747 A CN 201810246747A CN 110292333 A CN110292333 A CN 110292333A
Authority
CN
China
Prior art keywords
robot
metope
servo motor
unit
master board
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
Application number
CN201810246747.3A
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Chinese (zh)
Inventor
韩杰
唐杰辉
王红燕
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI YILI ELECTRIC CO Ltd
Original Assignee
SHANGHAI YILI ELECTRIC CO Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SHANGHAI YILI ELECTRIC CO Ltd filed Critical SHANGHAI YILI ELECTRIC CO Ltd
Priority to CN201810246747.3A priority Critical patent/CN110292333A/en
Publication of CN110292333A publication Critical patent/CN110292333A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • AHUMAN NECESSITIES
    • A47FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47LDOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40Parts 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
    • A47L11/4063Driving means; Transmission means therefor
    • A47L11/4066Propulsion of the whole machine

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  • Cleaning By Liquid Or Steam (AREA)

Abstract

The present invention provides one kind to climb wall high-pressure wash machine people, including absorption metope unit, motion profile unit and high pressure cleaning unit, wherein, the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to firm compression on metope;The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, TRAJECTORY CONTROL part includes master board, servo motor and sensor, signal is passed to master board by sensor, master board will control signal and pass to servo motor, and servo motor drives track motion parts to move in " bow " zag trajectory;The high pressure cleaning unit sprays high pressure water by high pressure nozzle, then is wiped off sewage by water scraping blade.Cleaning robot provided by the present invention, cleaning thoroughly, are able to solve the problem of leakage is washed.

Description

One kind climbing wall high-pressure wash machine people
Technical field
The present invention relates to cleaning machine technical fields, and in particular, to one kind climbs wall high-pressure wash machine people.
Background technique
There are two types of modes for the cleaning of Climbing Robot currently on the market: 1, product movement rail is controlled by the way of remote control Mark, the mode that water is scraped after metope is drenched in ejection with hairbrush+water inside spray orifice or water is scraped clean metope;2, using setting in advance The mode of control program controls the motion profile of product, cleans metope using mode same with front.
The above-mentioned prior art have the shortcomings that one it is common: the water of ejection is entirely low pressure water, and cleaning effect is very bad. Meanwhile the motion profile of above two mode is easy offset direction, causes thoroughly clean all metopes.And use remote control side Formula higher cost.Using program controlled mode, work could be started after row input data again after need to measuring according to on-site actual situations Make, causes the working time that can extend very much.The control route of control panel is relative complex simultaneously, causes manufacturing cost very high.
Summary of the invention
For above-mentioned defect in the prior art, the object of the present invention is to provide a kind of Climbing Robot jetting machine, Cleaning thoroughly, solves the problems, such as that leakage is washed.
In order to achieve the above objectives, the technical solution adopted in the present invention is as follows:
One kind climbing wall high-pressure wash machine people, including absorption metope unit, motion profile unit and high pressure cleaning unit, Wherein, the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to firm compression in wall On face;The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, TRAJECTORY CONTROL part include master board, Signal is passed to master board by servo motor and sensor, sensor, and master board passes to servo motor, servo for signal is controlled Motor driven track motion parts are moved in " bow " zag trajectory;The high pressure cleaning unit sprays high pressure by high pressure nozzle Water, then wiped off sewage by water scraping blade.
The absorption metope unit includes two absorption motors, after adsorbing motor unlatching, between robot and metope Parital vacuum is formed, for the suction which generates by robot to wall-attached, the absorption metope unit further includes setting Set 4 tapered hollow flexible glue suckers being distributed respectively on robot two sides of the bottom, when adsorb motor open after by robot to When wall-attached, sucker is deformed, while hollow space air being squeezed out outward, thus by robot firm compression in wall It not will pop up on face.
The track motion parts include the four rolling of two sides of the bottom setting, and the roller surface has the staggered ditch of height Slot, with guarantee robot increase during exercise with the frictional force of metope, to guarantee that robot can move freely on metope.
The idler wheel connects servo motor by gear and rack teeth mechanism, and servo motor driving wheel drives the centre tooth on idler wheel Wheel shaft rotation, to control the direction of idler wheel rotation.
The sensor is two, is mounted at left and right sides of robot, and the servo motor is two, is translated in robot When to the turning of metope, sensor collides with the step of corner, and sensor passes to collision alarm in master board, main One end of control panel is connected with sensor, and one end connects servo motor one, when the signal on sensor passes in master board, Control panel passes to turn signal on servo motor one, and servo motor one starts, and servo motor one is under the control of master board 90 ° of rotation, while master board controls an other servo motor two and idler wheel is driven to move down the distance set, it After servo motor one is again started up 90 ° of revolution afterwards, servo motor two is closed, and robot is mobile to original opposite direction.
Motion profile is realized using remote control mode.
The high-pressure wash part includes a high-pressure wash electric-motor pump, and the high pressure nozzle is high pressure fan nozzle, There are four robot is each side installed, the cleaning angle of the fan nozzle is preselect, and when starting, electric-motor pump opens simultaneously Dynamic, nozzle is emitted into fan-shaped high pressure water, and dirty by metope plays and be dissolved into water, and then water scraping blade wipes sewage off, together When the other side fan nozzle remaining spot is washed out again, to achieve the effect that thoroughly to clean metope.
It further include auxiliary unit, the auxiliary unit includes rope when in use will with the latch closure being arranged in robot Rope is fixed on the wall after rope passes through latch closure, centre pulley transition, so that during the decline of robot at work, rope Rope can be fixed.
It further include the water pipe connect in robot water inlet, to guarantee to cut off the water supply in use.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, in water spray effect, high-tension electricity pump is increased, so that the metope of building is dirty under the impact of high pressure water It is all taken away, to reach thorough clean effect.
2, in terms of motion profile, by the sensor of product side, when product encounters wall, sensor passes signal It is sent on the simple control panel inside machine, control panel, which transmits information to direct current, waits upon and take on motor, and motor drives idler wheel to realize It turns to and is reversely translated after the mobile a certain distance in 90 degree of directions.Thus it moves back and forth until the cleaning of entire metope finishes.It is this Mode eliminate the uncertainty of the distance as machine when moving and caused by leakage wash problem.Product bottom passes through dust catcher Machine is adsorbed on metope by the parital vacuum formed after starting.To the sucker with movement machine two sides, sucker is firmly adsorbed On metope.Idler wheel servo motor and control route under the action of can be comprehensive movement, the sensor in the left and right sides It can be oriented under effect and set a distance is mobile.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is robot bottom substance schematic diagram provided by the present invention;
Fig. 2 is the right view of Fig. 1.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention Protection scope.
As shown in Figure 1 and Figure 2, provided by the present invention to climb wall high-pressure wash machine people, including following four unit:
1, metope unit is adsorbed;2, motion profile unit;3, high pressure cleaning unit;4, auxiliary unit.
Wherein:
1, metope unit is adsorbed:
Absorption metope unit is divided into two parts again:
1.1 using dust catcher principles by machine towards metope direction absorbed portion;
It can be adsorbed on wall completely to realize product when in use, this product vacuumizes principle using dust catcher.It opens After machine, two absorption motors 6 are opened on product, in product with forming parital vacuum between metope, the suction of this partial vacuum generation Power is by entire product to wall-attached;
1.2 products are adsorbed on the mechanism of metope;
4 tapered hollow flexible glue suckers 1 of unilateral distribution in the two sides of the bottom of product.By product after adsorbing motor 1 and opening When to wall-attached, sucker 1 is deformed, while hollow space air being squeezed out outward, is produced after air is extruded completely Product are just firmly extruded on metope by atmospheric pressure completely and not will pop up.
2, motion profile unit:
Motion profile unit is divided into following two part:
2.1 track motion parts:
2.1.1 product two sides of the bottom are there are four idler wheel 5, and there is the staggered groove of height on 5 surface of idler wheel, it is ensured that product exists Increase the frictional force with metope when movement, to guarantee that product can move freely on metope;
2.1.2 idler wheel is connected by gear and rack teeth mechanism with servo motor.Servo motor driving wheel can drive idler wheel On sun gear shaft rotation, thus control idler wheel rotation direction;
2.1.3 motion profile of the entire product on metope is in " bow " font.
2.2 TRAJECTORY CONTROL part:
It is surveyed on product in left and right two and is respectively provided with two sensors 9, product is initially set translation during exercise, in product When moving to the turning of metope, sensor 9 collides with the step of corner, and collision alarm is passed to master board by sensor On 10, one end of master board 10 is connected with sensor 9, and one end connects servo motor 1.When the signal on sensor passes to master When on control panel 10, master board 10 passes to turn signal on servo motor 1, and servo motor 1 starts.Servo motor one 4 have a circular gear 3, and the centre of idler wheel 3 is connected again with gear with rack gear 2 among the two.Servo motor 1 is in master control Servo motor is closed after rotating 90 ° under the control of making sheet.Meanwhile master board 10 controls an other servo motor 2 11 and drives Idler wheel 3 moves down the distance set, and servo motor 1 is again started up 90 ° of revolution later, and servo motor 2 11 closes It closes, it is mobile to original opposite direction.
3, high pressure cleaning unit:
One high-pressure wash electric-motor pump 12 is installed on the product.The discharge pressure of electric-motor pump is up to 7MPa.On a product left side Respectively there are four high pressure fan nozzles 8 for dress on right two sides, and a draining scraping blade 7 is respectively assembled in product two sides of the bottom.Fan nozzle 8 it is clear Washing angle is to select in advance, and when machine startup, electric-motor pump starts simultaneously, and nozzle is emitted into the sector of 30 °~60 ° angles High pressure water, dirty by metope play and are dissolved into water, and then water scraping blade 7 wipes sewage off.The fan-shaped spray of the other side simultaneously Mouth 8 again washes out remaining spot.To achieve the effect that thoroughly to clean metope.
4, auxiliary unit:
Product when in use, for prevention product under something unexpected happened automatic shutdown and cause that product is fallen down from high-altitude and It causes unnecessary injury or breaks machine, a latch closure (not illustrating in figure) is devised on product.When in use by one Rope is fixed on the wall after sufficiently long rope (not illustrating in figure) passes through latch closure.Centre pulley transition.So that product is in work During decline when making.Rope can determine product.The water inlet in product is connect with a water pipe (not illustrating in figure) simultaneously, It will not be cut off the water supply with guaranteeing product in use.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase Mutually combination.

Claims (9)

1. one kind climbs wall high-pressure wash machine people, which is characterized in that including absorption metope unit, motion profile unit and high pressure Cleaning unit, wherein the absorption metope unit vacuumizes principle using dust catcher, and robot to wall-attached and is led to secured It is extruded on metope;The motion profile unit includes TRAJECTORY CONTROL part and track motion parts, and TRAJECTORY CONTROL part includes Signal is passed to master board by master board, servo motor and sensor, sensor, and master board passes to servo for signal is controlled Motor, servo motor drive track motion parts to move in " bow " zag trajectory;The high pressure cleaning unit passes through high pressure nozzle High pressure water is sprayed, then is wiped off sewage by water scraping blade.
2. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the absorption metope unit includes Two absorption motors form parital vacuum after adsorbing motor unlatching between robot and metope, what which generated For suction by robot to wall-attached, the absorption metope unit further includes being arranged on robot two sides of the bottom to be distributed respectively 4 tapered hollow flexible glue suckers, after adsorbing motor and opening by robot to wall-attached when, sucker is deformed, simultaneously Hollow space air is squeezed out outward, so that robot firm compression not will pop up on metope.
3. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the track motion parts include The four rolling of two sides of the bottom setting, the roller surface has the staggered groove of height, to guarantee that robot increases during exercise With the frictional force of metope, to guarantee that robot can move freely on metope.
4. according to claim 3 climb wall high-pressure wash machine people, which is characterized in that the idler wheel passes through rack-and-pinion Mechanism connects servo motor, and servo motor driving wheel drives the sun gear shaft rotation on idler wheel, to control idler wheel rotation Direction.
5. according to claim 3 climb wall high-pressure wash machine people, which is characterized in that the sensor is two, peace At left and right sides of robot, the servo motor is two, and when robot moves to the turning of metope, sensor is with turning The step at place collides, and sensor passes to collision alarm in master board, and one end of master board is connected with sensor, and one End connection servo motor one, when the signal on sensor passes in master board, turn signal is passed to servo electricity by control panel On machine one, servo motor one starts, and servo motor one rotates 90 ° under the control of master board, while master board control is another An outer servo motor two drives idler wheel to move down the distance set, and servo motor one is again started up revolution later After 90 °, servo motor two is closed, and robot is mobile to original opposite direction.
6. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that motion profile uses remote control mode It realizes.
7. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that the high-pressure wash part includes One high-pressure wash electric-motor pump, the high pressure nozzle be high pressure fan nozzle, each side installed in robot there are four, institute The cleaning angle for stating fan nozzle is preselect, and when starting, electric-motor pump starts simultaneously, and nozzle is emitted into fan-shaped high pressure water, by wall The dirty of face plays and is dissolved into water, and then water scraping blade wipes sewage off, while the fan nozzle of the other side again will be residual The spot stayed is washed out, to achieve the effect that thoroughly to clean metope.
8. according to claim 1 climb wall high-pressure wash machine people, which is characterized in that it further include auxiliary unit, it is described Auxiliary unit, which includes rope, is fixed on wall across rope after latch closure for rope when in use with the latch closure being arranged in robot On, centre pulley transition, so that rope can be fixed during the decline of robot at work.
9. according to claim 8 climb wall high-pressure wash machine people, which is characterized in that further include connecing to intake in robot The water pipe of mouth, to guarantee to cut off the water supply in use.
CN201810246747.3A 2018-03-23 2018-03-23 One kind climbing wall high-pressure wash machine people Pending CN110292333A (en)

Priority Applications (1)

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CN201810246747.3A CN110292333A (en) 2018-03-23 2018-03-23 One kind climbing wall high-pressure wash machine people

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Application Number Priority Date Filing Date Title
CN201810246747.3A CN110292333A (en) 2018-03-23 2018-03-23 One kind climbing wall high-pressure wash machine people

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Publication Number Publication Date
CN110292333A true CN110292333A (en) 2019-10-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111975794A (en) * 2020-08-18 2020-11-24 南通大学 Walking type solar cell module cleaning robot

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CN101822513A (en) * 2010-04-16 2010-09-08 东南大学 Robot for cleaning wall surfaces
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CN105935272A (en) * 2016-06-21 2016-09-14 深圳市博飞航空科技有限公司 Climbing control method and system for wall climbing device
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JPH02249518A (en) * 1989-03-23 1990-10-05 Mitsubishi Electric Corp Control method for self-traveling vacuum cleaner
CN1864940A (en) * 2006-06-22 2006-11-22 上海交通大学 Wheel leg traction type flat curtain cleaning robot
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CN202875237U (en) * 2012-08-17 2013-04-17 杨金亮 Automatic cleaning machine for high-altitude walls
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111975794A (en) * 2020-08-18 2020-11-24 南通大学 Walking type solar cell module cleaning robot

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