CN111728545A - Wall-climbing cleaning robot - Google Patents
Wall-climbing cleaning robot Download PDFInfo
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- CN111728545A CN111728545A CN202010511897.XA CN202010511897A CN111728545A CN 111728545 A CN111728545 A CN 111728545A CN 202010511897 A CN202010511897 A CN 202010511897A CN 111728545 A CN111728545 A CN 111728545A
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- 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
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- 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
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- 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
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The wall climbing cleaning robot comprises an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism. The X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the X-direction rod cylinders are fixed at two ends of the X-direction support, and an X sucker fixing plate and an X sucker are fixed at the bottom of a Z-direction cylinder rod of the X-direction rod cylinder; the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block is vertically connected with the Y-direction sliding block, the Y-direction supports are fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, and Y-direction rod cylinder Z-direction cylinder rod bottom is fixed with a Y sucker fixing plate and a Y sucker. The wall-climbing cleaning robot has the advantages of compact structure, light weight, high operation fluency, and high safety and stability.
Description
Technical Field
The invention belongs to the field of mobile robots, and particularly relates to a wall-climbing cleaning robot.
Background
With the continuous development of society, the rapid development of scientific technology and the continuous progress of human society, skyscrapers in modern cities are more and more built and higher, and the dust pollution of cities is more and more serious, under the background, people need to rely on an elevator platform to clean the wall surface of the skyscrapers layer by layer, so that not only is the time and labor wasted, but also the environment for cleaning the wall surface of the skyscrapers is more and more severe and dangerous, the course comes from the actual requirements of society, a wall-climbing robot is adopted for scrubbing, the labor intensity of cleaning workers is reduced, the working efficiency is improved, and particularly the safety is improved. Wall climbing cleaning robots have been adopted in the scientific and technological leading countries as their preferred tools for cleaning the exterior surfaces of buildings.
The wall surface cleaning robot is a wall surface moving robot for cleaning high-rise buildings, the appearance of the wall surface cleaning robot can greatly reduce the cleaning cost of the high-rise buildings, improve the labor environment of workers and improve the productivity, and the development of the cleaning industry is also certainly and greatly promoted, thereby bringing considerable social and economic benefits. Therefore, the design and research of the wall surface cleaning robot have good application prospect.
The traditional wall climbing robot has the defects of poor adaptability to wall materials and shapes, insufficient capability of crossing barriers, large volume, heavy weight and the like.
Disclosure of Invention
The invention provides a wall-climbing cleaning robot aiming at the defects in the prior art, and aims to solve the problems that the existing wall-climbing robot is not strong in adaptability to wall materials and shapes, insufficient in capability of crossing barriers, large in size, heavy in weight and the like.
The technical scheme for solving the technical problems is as follows: a wall climbing cleaning robot comprises an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism;
the X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the length directions of the X-direction rodless cylinder and the X-direction support are the same, the X-direction rod cylinders are respectively fixed at two ends of the X-direction support, the X-direction rod cylinder is provided with a Z-direction cylinder rod, an X sucker fixing plate is fixed at the bottom of the Z-direction cylinder rod of the X-direction rod cylinder, and an X sucker used for being adsorbed to a wall surface to be cleaned is fixed on the X sucker fixing plate;
the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports are respectively fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, the Y-direction rod cylinders are provided with Z-direction cylinder rods, Y sucker fixing plates are fixed at the bottoms of the Z-direction cylinder rods of the Y-direction rod cylinders, and Y suckers used for being adsorbed to a wall surface to be cleaned are fixed on the Y sucker fixing plates;
the cleaning mechanism comprises a motor fixing plate, a motor and a rolling brush, the motor fixing plate is fixed on the Y-direction rodless cylinder, the motor is fixed on the motor fixing plate, and the motor is connected with the rolling brush.
The Y-direction bracket further comprises a Y-direction main body plate, one end of the Y-direction main body plate is vertically downwards connected with a first connecting plate used for being fixed at the end part of the Y-direction rodless cylinder, the other end of the Y-direction main body plate is vertically upwards connected with a second connecting plate, the top part of the second connecting plate is vertically connected with a third connecting plate, the outer side end of the third connecting plate is vertically downwards connected with a fourth connecting plate, and the Y-direction rodless cylinder is fixed in a space among the second connecting plate, the third connecting plate and the fourth connecting plate.
The invention is further provided that the X-direction bracket comprises an X-direction main body plate and end plates vertically connected to two ends of the X-direction main body plate, and the X-direction rodless cylinder is fixed on the inner side surface of the end plates. Specifically, the front end cover and the rear end cover are fixed on the inner side surface of the end plate through screws.
The invention is further provided that the X-direction rod cylinder comprises a rear end cover, a piston rod, a buffer plunger, a cylinder barrel and a rear end cover; the rear end cover is fixed to the top of the cylinder barrel, the front end cover is fixed to the bottom of the cylinder barrel, the piston is located in an upper space in the buffering plunger, the piston rod is located in a lower space in the buffering plunger, and the outer side face of the buffering plunger moves up and down relative to the rear end cover and the inner side face of the cylinder barrel. In addition, the Y-direction rod cylinder and the X-direction rod cylinder have the same structure.
The invention is further arranged in that two clamping rings are connected to the outer side face of the piston rod, the buffer plunger piston comprises an upper section, a middle section and a lower section, the outer diameters of the upper section and the lower section are smaller than that of the middle section, the rear end covers are positioned outside the upper section and on the middle section, and the inner side faces of the upper section and the middle section are consistent with the outer side face of the piston rod in shape.
The invention is further provided that the angle of the rear end cover contacting the upper section and the lower section is provided with an L-shaped groove, and a first piston sealing ring is fixed on the L-shaped groove; the outer side of the upper part of the middle section is provided with an annular groove which is provided with a second piston sealing ring, the middle of the middle part of the middle section is fixed with a magnetic ring, the outer side of the middle part of the middle section is fixed with a guide ring, and the outer side of the lower part of the middle section is provided with an annular groove which is provided with a third piston sealing ring.
The invention is further arranged in that the motor fixing plate is detachably connected with a pipeline, the bottom of the pipeline is fixedly provided with a spray head, and the spray head inclines towards the rolling brush.
The invention is further provided that the brush hair of the rolling brush is made of metal, rubber, plastic or wood fiber.
The X-directional bracket and the Y-directional bracket are made of ZAlCu5Mn, the surfaces of the X-directional bracket and the Y-directional bracket are coated with anti-rust paint coatings, the wall climbing cleaning robot has a weight of 20kg, three X suction cups are fixed on each X suction cup fixing plate, three Y suction cups are fixed on each Y suction cup fixing plate, and the diameters of the X suction cups and the Y suction cups are greater than or equal to 50 mm.
The invention is further provided that all the X suckers are connected with one two-position three-way electromagnetic valve through a pipeline, all the Y suckers are connected with the other two-position three-way electromagnetic valve through a pipeline, the two-position three-way electromagnetic valves are connected with one-way valves through pipelines, the one-way valves are connected with an oil atomizer through pipelines, the oil atomizer is connected with a throttle valve through a pipeline, the throttle valve is connected with a filter through a pipeline, and the filter is connected with a vacuum pump through a pipeline.
The invention is further set up in that the X-direction rodless cylinder is connected with a three-position five-way electromagnetic valve through a pipeline, the Y-direction rodless cylinder is connected with a three-position five-way electromagnetic valve through a pipeline, all the X-direction rodless cylinders are connected with a three-position five-way electromagnetic valve through a pipeline, all the Y-direction rodless cylinders are connected with a three-position five-way electromagnetic valve through a pipeline, all the three-position five-way electromagnetic valves are connected with an oil atomizer through a pipeline, the oil atomizer is connected with a throttle valve through a pipeline, the throttle valve is connected with a filter through a pipeline, and the filter is connected with a pneumatic pump through a pipeline.
In conclusion, the invention has the following beneficial effects:
(1) the wall-climbing cleaning robot adopts a cross framework, realizes movement by connecting with various air cylinders, has a compact structure, and is as simple as possible on the basis of meeting all functions. In addition, the X-direction support and the Y-direction support are made of light aluminum materials, so that the overall weight is light;
(2) the wall-climbing cleaning robot adopts a cross framework, realizes controllable operation and continuous movement through the connection of various cylinders, and can clean the wall surface to be cleaned in all directions and at all angles; furthermore, a control system of an adsorption part and a cylinder movement part is additionally arranged, so that the controllability of the whole movement process is high, and the movement fluency is greatly improved;
(3) the sucking discs adopted by the wall-climbing cleaning robot can be made of different materials, and are applied to various environments, and the adsorption force of the sucking discs is stable and reliable;
(4) the rolling brush of the wall climbing cleaning robot can be made of various materials, so that the wall climbing cleaning robot is suitable for cleaning wall surfaces with different smoothness and roughness. A spray head can be additionally arranged to be applied to a wall surface needing water for cleaning;
(5) the wall-climbing cleaning robot can be additionally provided with interlocking control during operation, thereby further reducing the falling of the robot and the occurrence of misoperation and improving the safety and the stability of the operation.
Drawings
FIG. 1 is a front sectional view of an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
FIG. 3 is a left side view of an embodiment of the present invention;
FIG. 4 is a top view of an embodiment of the present invention;
FIG. 5 is a view of the gas path of the adsorption part;
FIG. 6 is a gas path diagram of a moving part of the cylinder;
FIG. 7 is a PLC control panel;
FIG. 8 is an I/O port assignment diagram for a PLC;
FIG. 9 is one of the PLC ladder diagrams;
FIG. 10 is a second PLC ladder diagram;
FIG. 11 is a third ladder diagram of a PLC;
FIG. 12 is a fourth PLC ladder diagram;
FIG. 13 is a fifth PLC ladder diagram;
FIG. 14 is a sixth of the PLC ladder diagram.
100, a vacuum pump; 200. a filter; 300. a throttle valve; 400. an oil atomizer; 500. a one-way valve; 600. an X sucker; 700. a Y sucker; 800. a pneumatic pump;
1. an X-direction rod cylinder; 1-1, a front end cover; 1-2, a piston; 1-3, a piston rod;
1-4, buffer plunger; 1-4-1, upper section; 1-4-2, middle section; 1-4-3, lower segment; 1-5, a cylinder barrel; 1-6, a rear end cover; 1-7, a first piston seal ring; 1-8, a second piston seal ring; 1-9, a magnetic ring; 1-10 parts of a guide ring; 1-11, a third piston seal ring;
2. an X-direction rodless cylinder; 3. a Y-direction rod cylinder; 4. a Y-direction rodless cylinder; 5. an X-direction bracket; 5-1, X-direction main body plate; 5-2, end plates; 6. an X sucker fixing plate;
7. a Y-direction bracket; 7-1, Y-direction main body plate; 7-2, a first connecting plate; 7-3, a second connecting plate; 7-4, a third connecting plate; 7-5, a fourth connecting plate;
8. a Y sucker fixing plate; 9. a motor fixing plate; 10. a motor; 11. a coupling; 12. rolling and brushing; 13. A pipeline; 14. and (4) a spray head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, 3 and 4, the present invention provides a wall climbing cleaning robot including an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism. Wherein, X is to moving mechanism including an X to support 5, an X to no pole cylinder 2, two X to there being pole cylinder 1, X is fixed under X to support 5 and X is unanimous to the length direction of no pole cylinder 2 and X to support 5 to no pole cylinder 2, X is fixed respectively at X to there being pole cylinder 1 to the both ends of support 5, X has Z to the pole cylinder pole to there being pole cylinder 1, X is fixed with X sucking disc fixed plate 6 to the bottom of the Z to the cylinder pole of having pole cylinder 1, be fixed with X sucking disc 600 that is used for adsorbing on waiting to clean the wall on the X sucking disc fixed plate 6. The Y-direction moving mechanism comprises two Y-direction supports 7, a Y-direction rodless cylinder 4 and two Y-direction rod cylinders 3, the X-direction rodless cylinder 2 is provided with an X-direction sliding block, the Y-direction rodless cylinder 4 is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports 7 are respectively fixed at two ends of the Y-direction rodless cylinder 4, the Y-direction rod cylinder 3 is fixed on the Y-direction supports 7, the Y-direction rod cylinder 3 is provided with a Z-direction cylinder rod, a Y sucker fixing plate 8 is fixed at the bottom of the Z-direction cylinder rod of the Y-direction rod cylinder 3, and a Y sucker 700 used for being adsorbed to a wall surface to be cleaned is fixed on the Y sucker fixing. The cleaning mechanism comprises a motor fixing plate 9, a motor 10 and a rolling brush 12, wherein the motor fixing plate 9 is fixed on the Y-direction rodless cylinder 4, the motor 10 is fixed on the motor fixing plate 9, and the motor 10 is connected with the rolling brush 12.
The working process of the wall-climbing cleaning robot in the embodiment is as follows: (1) the moving mechanism of the wall-climbing cleaning robot adopts an X-direction slide block and a Y-direction slide block of an X-direction rodless cylinder 2 and a Y-direction rodless cylinder 4 to realize the movement in four directions, namely up, down, left and right. Specifically, taking fig. 4 as an example, taking the movement to the right side of the X-direction bracket 5 as an example, the Y-direction rod cylinder 3 contracts, the X-suction cup 600 is sucked to the wall surface and fixed, the Y-direction moving mechanism and the cleaning mechanism move to the right along the X-direction bracket 5 along with the X-direction slider, then, the Y-direction rod cylinder 3 extends, the Y-suction cup 700 is sucked to the wall surface and fixed, the X-direction rod cylinder 1 contracts, and the X-direction bracket 5 moves to the right. Likewise, the movement to the left of the X-direction support 5 is in the same principle. Taking the example of moving upward of the Y-direction support 7, the Y-direction rod cylinder 3 contracts, the X-suction cup 600 is fixed by being sucked to the wall surface, the Y-direction moving mechanism and the cleaning mechanism move upward along the Y-direction support 7 along with the Y-direction slider, then the Y-direction rod cylinder 3 extends, the Y-suction cup 700 is fixed by being sucked to the wall surface, the X-direction rod cylinder 1 contracts, and the X-direction moving mechanism moves upward along the Y-direction support 7 relative to the Y-direction slider. Similarly, the movement to the lower side of the Y-direction holder 7 is performed in the same manner. The upper, lower, left and right are described by referring to drawings, so that the wall is flexible in actual work and is not limited to the upper, lower, left and right of an actual wall. (2) When the cleaning mechanism is brought to any one position, the motor 10 is activated and the roll brush 12 performs cleaning.
The wall-climbing cleaning robot comprises an X-direction moving mechanism and a Y-direction moving mechanism, and the cleaning mechanism is carried in the working process and adsorbed on the wall surface of a building, so that the function of cleaning the wall surface of the building is realized. The main body part of the wall-climbing cleaning robot is composed of two cross-shaped frames which can translate mutually, wherein any one frame can translate relative to the other frame, precisely, two moving supports are connected with an X-direction sliding block on an X-direction rodless cylinder 2 and a Y-direction sliding block on a Y-direction rodless cylinder 4 to move, and each frame is provided with a 'leg and foot structure' which can be controlled independently in a group. The 'leg-foot structure' comprises an X-direction rod cylinder 1 and a Y-direction rod cylinder 3, and the extension and retraction of a Z-direction cylinder rod enable the robot body to be lifted up and down. Along with the alternate absorption of the legs and the relative motion of the frame body, the robot realizes the function of freely moving the wall surface. The frame structure mainly depends on the structures of the degrees of freedom of the X-direction support 5 and the Y-direction support 7 and the degrees of freedom of the X-direction rod cylinder 1 and the Y-direction rod cylinder 3, and each part has a simple structure and meets the requirements of flexibility and maneuverability. For example, if it is actually required that the wall-climbing washing robot can cross an obstacle of 50mm, the capability of raising by at least 50mm is required for the X-direction rod cylinder 1 and the Y-direction rod cylinder 3.
The wall-climbing cleaning robot can be applied to various wall surfaces to be cleaned, such as rough wall surfaces, including cement wall surfaces, concrete wall surfaces and the like, and the brush bristles of the rolling brush 12 used at the moment are made of metal preferably and have good abrasion resistance. For a relatively smooth glass or metal wall surface, the rolling brush 12 made of rubber, plastic or wood fiber can be used.
During operation, some wall surfaces can be cleaned only by the rotating motion of the rolling brush 12, the construction requirements are met, and the cleanliness of some wall surfaces is high, so that an external water source can be introduced. Specifically, a pipeline 13 is detachably connected to the motor fixing plate 9, a spray head 14 is fixed to the bottom of the pipeline 13, and the spray head 14 is inclined towards the rolling brush 12. When the rolling brush 12 is used for cleaning, the spray head 14 sprays water for cleaning, and different requirements are met. The spray head 14 can be fixed on the motor fixing plate 9 through screws and can be detached when not in use, so that the dead weight of the wall climbing cleaning robot can be reduced as much as possible. The rolling brush 12 in the cleaning operation mode is directly connected by the motor 10 through the coupling 11 to realize the rotary motion. The power supply and the water source of the spraying system are connected externally, so that the size and the weight of the wall-climbing cleaning robot can be further reduced, and the working time of the wall-climbing cleaning robot can be prolonged. Specifically, the motor 10 of the present invention may be a 90BF003 reaction type stepping motor.
The material of the sucking disc (including the X sucking disc and the Y sucking disc) can be made of nitrile rubber, and the tearing force is large. Compared to the magnetic attraction type, it is the cheapest method to attract an object to a wall surface by a suction cup. The suction cup made of rubber can be operated at high temperature, and is very suitable for grasping products with rough surfaces; suction cups made of polyurethane are very durable. In addition, in actual production, if oil resistance is required for the suction cup, it is conceivable to manufacture the suction cup using a material such as polyurethane, nitrile rubber, or a vinyl-containing polymer. In general, in order to prevent the surface of the glass wall from being scratched, it is preferable to select a suction cup with bellows made of nitrile rubber or silicone rubber.
Although the wall materials of buildings are diversified, most of the wall materials are not magnetic materials such as glass, ceramic tiles, paint and the like, so the adsorption mode adopts vacuum adsorption. Although a sucking disc simple structure, easy control can reduce climbing wall cleaning robot and moving obstacle-crossing ability and reliability of process, can adopt the form of sucking disc group, for example fixed 3 sucking discs about on a sucking disc fixed plate, sucking disc group structural style uses sucking disc elastic deformation, improves obstacle-crossing ability, ensures that sucking disc and wall adsorb, improves the security and the reliability of climbing wall cleaning robot work. The frame structure enables the robot to be compact in structure, the wall climbing cleaning robot can complete the moving and adsorbing process on the premise of ensuring rigidity, and the wall climbing cleaning robot can move freely.
Specifically, referring to fig. 3, the Y-directional bracket 7 includes a Y-directional main body plate 7-1, one end of the Y-directional main body plate 7-1 is vertically connected downward to a first connecting plate 7-2 for fixing to the end of the Y-directional rodless cylinder 4, the other end of the Y-directional main body plate 7-1 is vertically connected upward to a second connecting plate 7-3, the top of the second connecting plate 7-3 is vertically connected to a third connecting plate 7-4, the outer end of the third connecting plate 7-4 is vertically connected downward to a fourth connecting plate 7-5, and the Y-directional rodless cylinder 4 is fixed in the space among the second connecting plate 7-3, the third connecting plate 7-4 and the fourth connecting plate 7-5.
Specifically, referring to fig. 1 and 2, the X-direction bracket 5 includes an X-direction body plate 5-1 and end plates 5-2 vertically connected to both ends of the X-direction body plate 5-1, and the X-direction rodless cylinder 2 is fixed to an inner side surface of the end plate 5-2. Specifically, the front end cover 1-1 and the rear end cover 1-6 are fixed to the inner side surface of the end plate 5-2 by screws.
Further, referring to fig. 1 and 2, the X-direction rod cylinder 1 comprises a rear end cover 1-6, a piston 1-2, a piston rod 1-3, a buffer plunger 1-4, a cylinder barrel 1-5 and a rear end cover 1-6; the rear end cover 1-6 is fixed on the top of the cylinder barrel 1-5, the front end cover 1-1 is fixed on the bottom of the cylinder barrel 1-5, the piston 1-2 is positioned in the upper space in the buffering plunger 1-4, the piston rod 1-3 is positioned in the lower space in the buffering plunger 1-4, and the outer side face of the buffering plunger 1-4 moves up and down relative to the inner side faces of the rear end cover 1-6 and the cylinder barrel 1-5. Further, the Y-direction rod cylinder 3 has the same structure as the X-direction rod cylinder 1. Furthermore, the outer side face of the piston rod 1-3 is connected with two clamping rings, the buffering plunger piston 1-4 comprises an upper section 1-4-1, a middle section 1-4-2 and a lower section 1-4-3, the outer diameters of the upper section 1-4-1 and the lower section 1-4-3 are smaller than the outer diameter of the middle section 1-4-2, the rear end cover 1-6 is positioned outside the upper section 1-4-1 and on the middle section 1-4-2, and the inner side faces of the upper section 1-4-1 and the middle section 1-4-2 are consistent with the outer side face of the piston rod 1-3 in shape. An L-shaped groove is formed in the corner of the rear end cover 1-6, which is in contact with the upper section 1-4-1 and the lower section 1-4-3, and a first piston sealing ring 1-7 is fixed on the L-shaped groove; the outer side of the upper part of the middle section 1-4-2 is provided with an annular groove which is provided with a second piston sealing ring 1-8, the middle of the middle part of the middle section 1-4-2 is fixed with a magnetic ring 1-9, the outer side of the middle part of the middle section 1-4-2 is fixed with a guide ring 1-10, and the outer side of the lower part of the middle section 1-4-2 is provided with an annular groove which is provided with a third piston sealing ring 1-11.
The material of the X-direction bracket 5 and the Y-direction bracket 7 is preferably ZAlCu5Mn, ZAlCu5Mn can be strengthened by heat treatment, the strength is high after heat treatment, the plasticity, the toughness, the welding performance and the machinability are good, and the heat resistance and the strength are the best in cast aluminum alloy. Because the bracket structure as the wall climbing cleaning robot can be contacted with water frequently, even if the probability of oxidation is not very high for high-strength aluminum alloy, the bracket structure can be oxidized after long time, and the bracket parts are not easy to replace. Therefore, after the cutting process, a rust inhibitive paint coating is required to be applied to the surface of the part to prevent the above situation.
As a specific implementation manner, assuming that the weight of the wall-climbing cleaning robot is 20kg and the load is 15kg, three X suction cups 600 are fixed on each X suction cup fixing plate 6, three Y suction cups 700 are fixed on each Y suction cup fixing plate 8, and the diameters of the X suction cups 600 and the Y suction cups 700 are greater than or equal to 50 mm. The specific theoretical verification calculation mode is as follows: sucker diameter formula:
in the formula: m-bearing mass;
s is the suction coefficient of the suction cup, and the vertical suction S is 8;
p-vacuum pressure (-KPa);
n is the number of the suckers.
TABLE 1 suction cup parameters
The data obtained in Table 1 were substituted for formula (1):
the suction area is smaller than the diameter of the suction cup because the vacuum pressure deforms the suction cup. The degree of deformation differs depending on the material and shape of the suction cup and the hardness of the rubber, and therefore, a margin is required to be left when calculating the diameter of the suction cup. The safety factor includes a deformed portion.
Adsorption area:
A＝3.14*D2/(4*100)(2)
in the formula: a-adsorption area (cm)2)；
D-sucker diameter (mm).
Substituting the formula (2) to obtain:
Amin＝3.14*40.22/(4*100)＝12.69cm2
although the diameter of the suction cup indicates the outer diameter of the suction cup, when an object is sucked by vacuum pressure, the rubber is deformed by the vacuum pressure, and the suction area is reduced accordingly. The reduced area is called the effective suction area, and the diameter of the sucker at the moment is called the effective sucker diameter.
According to the difference of vacuum pressure, the thickness of the rubber of the sucker, the friction coefficient with an adsorbed object and the like, the effective diameter of the sucker also has difference, and the general situation can be estimated to be reduced by 10%.
Selecting a sucker with the diameter D equal to 50 mm:
Ais effective＝3.14*502/(4*100)*90％＝17.66cm2＞Amin
So a 50mm chuck is feasible.
TABLE 2 theoretical lifting force of each diameter of suction cup
The invention adopts the electromagnetic valve to control the work of the adsorption part (comprising an X sucker 600 and a Y sucker 700) and the cylinder motion part (comprising an X-direction rodless cylinder 2, a Y-direction rodless cylinder 4, an X-direction rod cylinder 1 and a Y-direction rod cylinder 3). The electromagnetic valve is structurally characterized in that a closed cavity is arranged in the electromagnetic valve, each hole is opened at different positions, a passage is formed by connecting different air pipes, two electromagnets are arranged on the upper surface of the electromagnetic valve, if a left electromagnetic valve coil is electrified, the valve body can be sucked towards the left side, and if a right electromagnetic valve coil is electrified, the valve body can be sucked towards the left side, so that the expected passage can be controlled by the operation (namely, an air hole which is not required to be used is blocked, and an air hole which is required to be used is opened). If the air inlet is normally open, the air flow can judge the air path to be communicated through the action of the electromagnet, and then the piston rod 1-3 is pushed, so that the air cylinder can carry out the desired operation. This is the use of a cylinder and solenoid valve in mechanical motion.
For the adsorption section: all the X suckers 600 are connected with one two-position three-way electromagnetic valve through pipelines, all the Y suckers 700 are connected with the other two-position three-way electromagnetic valve through pipelines, the two-position three-way electromagnetic valves are connected with one-way valves 500 through pipelines, the one-way valves 500 are connected with an oil atomizer 400 through pipelines, the oil atomizer 400 is connected with a throttle valve 300 through pipelines, the throttle valve 300 is connected with a filter 200 through pipelines, and the filter 200 is connected with a vacuum pump 100 through pipelines.
From fig. 5, it can be seen that the working principle of the pneumatic circuit of the adsorption part is as follows: the vacuum pump 100 is turned on to separate moisture from the air through the check valve 500, the filter 200, the throttle valve 300 and the oil mist device 400, so that the air is kept dry during operation. When the button is not operated, the corresponding X sucker 600 or Y sucker 700 is in a released state, and when the suction button is pressed, namely the two-position three-way solenoid valve (YA1 or YA2) is electrified, the two-position three-way solenoid valve (YA1 or YA2) is switched to the left position, so that the corresponding X sucker 600 or Y sucker 700 is sucked. The specific operation control design of the suction cup is partially detailed in fig. 8.
For the cylinder moving part: the X-direction rodless cylinder 2 is connected with a three-position five-way electromagnetic valve through a pipeline, the Y-direction rodless cylinder 4 is connected with a three-position five-way electromagnetic valve through a pipeline, all the X-direction rod cylinders 1 are connected with a three-position five-way electromagnetic valve through a pipeline, all the Y-direction rod cylinders 3 are connected with a three-position five-way electromagnetic valve through a pipeline, all the three-position five-way electromagnetic valves are connected with an oil atomizer 400 through a pipeline, the oil atomizer 400 is connected with a throttle valve 300 through a pipeline, the throttle valve 300 is connected with a filter 200 through a pipeline, and the filter 200 is connected with a pneumatic pump 800 through a pipeline.
Fig. 6 shows that the pneumatic circuit of the moving part works according to the following principle: the air pressure pump 800 is opened to pass through the filter 200, the throttle valve 300 and the oil mist device 400, and the moisture in the air is separated, so that the air is kept dry during operation. When the button is not operated, the air cylinder is in a static state, and when the lifting button is pressed, namely the electromagnetism YA4 and YA6 are electrified, the electromagnetic valve is switched to the right position, so that the Z-direction air cylinder rod extends out; when the descending button is pressed, namely the electromagnetism YA3 and YA5 are electrified, the electromagnetic valve is switched to the left position, and the Z-direction air cylinder rod is retracted; when a left button is pressed, namely the electromagnetic YA9 is electrified, the electromagnetic valve is switched to the right position, so that the X sliding block is driven to the left, and the Y-direction support 7 is driven to the left; when a right button is pressed, namely the electromagnetism YA10 is electrified, the electromagnetic valve is switched to the left position, the X slide block is enabled to be right, and the Y-direction support 7 is driven to be right; when the upward button is pressed, namely the electromagnetic YA7 is electrified, the electromagnetic valve is switched to the right position, so that the Y slide block is upward to drive the X-direction bracket 5 to be upward; when the down button is pressed, namely the electromagnet YA8 is electrified, the electromagnetic valve is switched to the left position, the Y slide block is enabled to move downwards, and the X-direction support 5 is driven to move downwards. (the upper, lower, left and right are referenced by wall, and the figure is used as auxiliary explanation, and all the electromagnetism are three-position five-way electromagnetic valves).
The present invention utilizes two partial loops: an adsorption part and a cylinder moving part. In the pneumatic circuit of the adsorption part, a one-way valve 500 is adopted to prevent the insufficient vacuum degree in the sucker from causing that the adsorption force does not reach the value of the design requirement. A three-position five-way electromagnetic valve is adopted in the moving part of the cylinder, so that the movement of the cylinder meets the movement requirement. In both parts, pneumatic elements (filter 200, throttle 300 and atomizer 400) are installed to ensure that the air in the circuit is dry.
Regarding the I/O port assignment of the PLC in the present invention, the actions to be controlled by the robot are first analyzed to obtain the operation control of the input port and the execution operation of the output port, which are detailed in table 3.
TABLE 3I/O Port Allocation for PLC
According to the number of I/O ports in the table 3, FX1N-24MR-001 of Mitsubishi is selected for PLC model selection, and the number of input points is as follows: 24; and (4) outputting points: 16. FX1N-24MR-001 Mitsubishi PLC FX1N series is a card-sized PLC suitable for control in small environments.
In designing the control panel, in order to allow the operator to intuitively know the operation of the robot through the operation panel, the buttons (SB9, SB10, SB11, SB12) for controlling the direction are made in the shape of direction keys, so that the operation is easy to understand. See figure 7 for details. The wiring is done on the PLC combining the contents of table 3 and fig. 7, see fig. 8 for details.
Because the control of this design wall climbing cleaning robot is artifical and operates on ground, because of the consideration of safety, have some interlocking links in the programming to prevent dropping and the maloperation of robot.
As shown in fig. 9, the operation is that the electromagnets YA1 and YA2 are powered by pressing SB1 and SB3 respectively, the suction cup is sucked by the vacuum pump 100 and self-locking is realized, and the electromagnets YA1 and YA2 are powered off by pressing SB2 and SB4 respectively, and the suction cup is released.
As shown in fig. 10, this operation is such that pressing SB5 energizes electromagnet YA3 and raises the X to the rod cylinder 1 only when the Y suction cup 700 is sucked and the Y cylinder is lowered; pressing SB6 energizes electromagnet YA4 and only lowers the X-direction rod cylinder 1 when the Y-chuck 700 is holding and the Y-direction rod cylinder 3 is lowering. And respectively realize self-locking.
As shown in fig. 11, this operation is such that pressing SB7 energizes electromagnet YA5 and raises Y to the rod cylinder 3 only when the X sucker 600 is sucked and the X is lowered to the rod cylinder 1; pressing SB8 energizes electromagnet YA6 and only lowers the Y-direction rod cylinder 3 when the X-suction cup 600 is sucked and the X-direction rod cylinder 1 is lowered. And respectively realize self-locking.
As shown in fig. 12, this operation is to press SB9 to energize the electromagnet YA10 and to cause the X to move to the left toward the rodless cylinder 2 only when the Y is raised toward the rodless cylinder 3, the Y suction cup 700 is sucking, and the X is lowered toward the rodless cylinder 1; pressing SB10 energizes electromagnetic YA9, and only when Y is raised to the rodless cylinder 2, Y is sucked by the Y suction cup 700, and X is lowered to the rodless cylinder 1, can X be moved to the right. And respectively realize self-locking.
As shown in fig. 13, this operation is to press SB11 to energize the electromagnet YA8 and to bring the Y direction rodless cylinder 4 upward only when the X direction rodless cylinder 1 is raised, the X suction cup 600 is sucked, and the Y direction rodless cylinder 3 is lowered; pressing SB12 energizes electromagnetic YA7, and only when the X-direction rod cylinder 1 is raised, the X-suction cup 600 is sucked, and the Y-direction rod cylinder 3 is lowered, can the Y-direction rodless cylinder 4 be lowered. And respectively realize self-locking.
As shown in fig. 14, when the X-direction rod cylinder 1 and the Y-direction rod cylinder 3 on the four legs are both contracted (i.e., when the wall-climbing cleaning robot is put down as a whole), the motor 10 rotates forward, the spraying starts, and the self-locking is realized.
The control part of the wall-climbing cleaning robot adopts a simple and convenient control panel so that people can get on the hands quickly. Secondly, from the safety aspect of the operation, several controlled interlocks are used to prevent the robot from falling and running unreasonably.
Claims (10)
1. A wall climbing cleaning robot is characterized by comprising an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism;
the X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the length directions of the X-direction rodless cylinder and the X-direction support are the same, the X-direction rod cylinders are respectively fixed at two ends of the X-direction support, the X-direction rod cylinder is provided with a Z-direction cylinder rod, an X sucker fixing plate is fixed at the bottom of the Z-direction cylinder rod of the X-direction rod cylinder, and an X sucker used for being sucked onto a wall surface to be cleaned is fixed on the X sucker fixing plate;
the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports are respectively fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, the Y-direction rod cylinders are provided with Z-direction cylinder rods, Y sucker fixing plates are fixed at the bottoms of the Z-direction cylinder rods of the Y-direction rod cylinders, and Y suckers for being adsorbed on a wall surface to be cleaned are fixed on the Y sucker fixing plates;
the cleaning mechanism comprises a motor fixing plate, a motor and a rolling brush, the motor fixing plate is fixed on the Y-direction rodless cylinder, the motor is fixed on the motor fixing plate, and the motor is connected with the rolling brush.
2. The wall-climbing cleaning robot as claimed in claim 1, wherein the Y-direction bracket comprises a Y-direction main body plate, one end of the Y-direction main body plate is vertically connected downwards to a first connecting plate fixed at the end of the Y-direction rodless cylinder, the other end of the Y-direction main body plate is vertically connected upwards to a second connecting plate, the top of the second connecting plate is vertically connected to a third connecting plate, the outer end of the third connecting plate is vertically connected downwards to a fourth connecting plate, and the Y-direction rodless cylinder is fixed in the space among the second connecting plate, the third connecting plate and the fourth connecting plate.
3. The wall-climbing cleaning robot as claimed in claim 1, wherein the X-direction bracket includes an X-direction main body plate and end plates vertically connected to both ends of the X-direction main body plate, and the X-direction rodless cylinder is fixed to an inner side surface of the end plates.
4. The wall-climbing cleaning robot as claimed in claim 3, wherein the X-direction rod cylinder comprises a rear end cover, a piston rod, a buffer plunger, a cylinder barrel and a rear end cover; the rear end cover is fixed to the top of the cylinder barrel, the front end cover is fixed to the bottom of the cylinder barrel, the piston is located in an upper space in the buffering plunger, the piston rod is located in a lower space in the buffering plunger, and the outer side face of the buffering plunger moves up and down relative to the rear end cover and the inner side face of the cylinder barrel.
5. The wall-climbing cleaning robot according to claim 4, wherein two snap rings are connected to the outer side surface of the piston rod, the buffer plunger comprises an upper section, a middle section and a lower section, the outer diameters of the upper section and the lower section are smaller than that of the middle section, the rear end cover is positioned outside the upper section and on the middle section, and the inner side surfaces of the upper section and the middle section are consistent with the outer side surface of the piston rod in shape.
6. The wall-climbing cleaning robot as recited in claim 5, wherein an L-shaped groove is formed in a corner of the rear end cover, which is in contact with the upper section and the lower section, and a first piston sealing ring is fixed on the L-shaped groove; the upper portion outside of middle section is opened there is the ring channel and is equipped with the second piston sealing washer, be fixed with the magnetic ring in the middle of the middle part of middle section, the middle part outside of middle section is fixed with the guide ring, the lower part outside of middle section is opened has the ring channel and is equipped with the third piston sealing washer.
7. The wall-climbing cleaning robot as recited in claim 1, wherein a pipe is detachably connected to the motor fixing plate, and a nozzle is fixed to a bottom of the pipe and inclined toward the roller brush.
8. The wall-climbing cleaning robot as claimed in claim 1, wherein the X-directional bracket and the Y-directional bracket are made of ZAlCu5Mn, and the surfaces of the X-directional bracket and the Y-directional bracket are coated with anti-rust paint coatings; the weight of climbing wall cleaning robot is 20kg, each be fixed with threely on the X sucking disc fixed plate the X sucking disc, each be fixed with threely on the Y sucking disc fixed plate the Y sucking disc, the X sucking disc with the diameter more than or equal to 50mm of Y sucking disc.
9. The wall-climbing cleaning robot as claimed in claim 1, wherein all the X suckers are connected to one two-position three-way solenoid valve through a pipeline, all the Y suckers are connected to the other two-position three-way solenoid valve through a pipeline, two of the two-position three-way solenoid valves are connected to a check valve through a pipeline, the check valve is connected to an oil atomizer through a pipeline, the oil atomizer is connected to a throttle valve through a pipeline, the throttle valve is connected to a filter through a pipeline, and the filter is connected to a vacuum pump through a pipeline.
10. The climbing wall cleaning robot according to claim 1, wherein the X-direction rodless cylinder is connected with a three-position five-way solenoid valve through a pipeline, the Y-direction rodless cylinder is connected with a three-position five-way solenoid valve through a pipeline, all the X-direction rod-containing cylinders are connected with a three-position five-way solenoid valve through a pipeline, all the Y-direction rod-containing cylinders are connected with a three-position five-way solenoid valve through a pipeline, all the three-position five-way solenoid valves are connected with an oil atomizer through a pipeline, the oil atomizer is connected with a throttle valve through a pipeline, the throttle valve is connected with a filter through a pipeline, and the filter is connected with a pneumatic pump through a pipeline.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890655A (en) * | 2021-02-04 | 2021-06-04 | 安徽工程大学 | Robot for cleaning glass wall and using method thereof |
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Address after: No.33 Jinniu Road, Jianshan New District, Haining City, Jiaxing City, Zhejiang Province Applicant after: Yuansheng Hufang (Zhejiang) Construction Technology Co.,Ltd. Address before: No.33 Jinniu Road, Jianshan New District, Haining City, Jiaxing City, Zhejiang Province Applicant before: Zhejiang Shengdiya Construction Technology Co.,Ltd. |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20201002 |