CN111938491A - Obstacle crossing method of high-altitude operation robot - Google Patents
Obstacle crossing method of high-altitude operation robot Download PDFInfo
- Publication number
- CN111938491A CN111938491A CN202010813581.6A CN202010813581A CN111938491A CN 111938491 A CN111938491 A CN 111938491A CN 202010813581 A CN202010813581 A CN 202010813581A CN 111938491 A CN111938491 A CN 111938491A
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- China
- Prior art keywords
- obstacle
- connecting rod
- glass wall
- trolley
- supporting connecting
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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
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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 invention provides an obstacle crossing method of a high-altitude operation robot, and relates to the technical field of high-altitude operation robots. According to the obstacle crossing method of the high-altitude operation robot, one end of a second supporting connecting rod is connected with a rotating slip ring through a first supporting connecting rod, and the other end of the second supporting connecting rod is connected with a rubber sucker through a third supporting connecting rod. Can lift up the rubber suction cup through first torque motor and second torque motor to the height that is higher than the barrier and cross the barrier, then fix the back on glass wall through the rubber suction cup, the rethread first torque motor and second torque motor will be used the robot dolly and also lift up the height that is higher than the barrier and cross the barrier, accomplish and cross the barrier action, just so can make the obstacle crossing ability of working the robot dolly stronger, and the structure is simpler, it is more simple to cross the mode that the barrier removed, it is also quicker to remove, be worth wideling popularize.
Description
Technical Field
The invention relates to the technical field of high-altitude operation robots, in particular to an obstacle crossing method of a high-altitude operation robot.
Background
With the rapid development of urban construction, more and more high-rise buildings come up on the ground, the vigorous development of the high-rise outer wall surface cleaning industry is followed, the common high-rise outer wall surface cleaning work is still carried out manually at present, but with the rapid development of scientific technology, high-altitude operation robots capable of walking on vertical glass curtain walls and carrying out cleaning work begin to appear on the market.
The existing high-altitude operation robot usually adopts a mode of alternately and reciprocally crawling by adopting a multi-foot sucker to cross obstacles, but the obstacle crossing capability of the obstacle crossing mode is poor, only certain obstacles with lower heights can be crossed, the structure is too complex, and the intermittent moving mode is very slow.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides an obstacle crossing method of a high-altitude operation robot, and solves the problems of poor obstacle crossing capability, complex structure and slow movement of the conventional high-altitude operation robot.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: one end of a second supporting connecting rod is connected with a rotary slip ring through a first supporting connecting rod, and the other end of the second supporting connecting rod is connected with a rubber sucker through a third supporting connecting rod;
s1, lifting a rubber sucker after an obstacle is detected when an operating robot trolley works on a glass wall;
s2, the operation robot trolley continues to move towards the obstacle, and automatically crosses the rubber sucker over the obstacle;
s3, automatically placing the rubber sucker on the glass wall after crossing the barrier;
s4, automatically and tightly adsorbing the rubber sucker on the glass wall;
s5, automatically lifting the trolley of the working robot to a height higher than the height of the barrier;
s6, enabling the trolley of the working robot to cross the obstacle;
s7, automatically placing the operation robot trolley on the glass wall;
and S8, finally, automatically separating the rubber sucker from the glass wall body and lifting the rubber sucker, so that obstacle crossing is completed.
Preferably, in S1, the trolley of the working robot detects an obstacle through a laser ranging sensor fixedly connected to one side of the front end of the trolley, and then starts the torque motor to enable the second supporting connecting rod and the third supporting connecting rod to lift the rubber suction cup to a height higher than the obstacle.
Preferably, in S2, the working robot cart detects the distance to the obstacle by a laser ranging sensor fixedly connected to one side of the front end, moves the working robot cart to a position close to the obstacle, and moves the rubber suction cup over the obstacle to the other side of the obstacle.
Preferably, in S3, the torque motor is started to enable the second support connecting rod and the third support connecting rod to place the rubber suction cup on the glass wall on the other side of the obstacle, and the rubber suction cup is confirmed to be tightly attached to the glass wall by the laser ranging sensor on the rubber suction cup.
Preferably, in S4, the suction motor on the rubber suction cup is started to make the rubber suction cup firmly adhere to the glass wall.
Preferably, in S5, the negative pressure adsorption mechanism at the bottom of the working robot cart is first closed to separate the working robot cart from the glass wall, and then the torque motor is started to lift the working robot cart to a height higher than the obstacle by the second support connecting rod and the first support connecting rod.
Preferably, in S6, the rotating motor is started to make the third supporting connecting rod drive the second supporting connecting rod to rotate, so that the working robot cart is rotated above the other side of the obstacle through the first supporting connecting rod and the rotating slip ring.
Preferably, the torque motor is started in S7 to enable the second support connecting rod and the first support connecting rod to place the working robot trolley on the glass wall, and then the negative pressure adsorption mechanism is started to enable the working robot trolley to be adsorbed on the glass wall.
Preferably: and in the step S8, the air suction motor is closed, the air discharge valve is opened to separate the rubber suction cup from the glass wall, and then the torque motor is started to enable the second support connecting rod and the third support connecting rod to lift the rubber suction cup, so that obstacle crossing is completed.
(III) advantageous effects
The invention provides an obstacle crossing method of a high-altitude operation robot. The method has the following beneficial effects:
according to the invention, the rubber sucker can be lifted to a height higher than the height of the obstacle and cross the obstacle through the first torque motor and the second torque motor, then after the rubber sucker is fixed on the glass wall, the working robot trolley is also lifted to a height higher than the height of the obstacle and cross the obstacle through the first torque motor and the second torque motor, and then obstacle crossing action can be completed, so that the obstacle crossing capability of the working robot trolley is stronger, the structure is simpler, the obstacle crossing movement mode is simpler and more convenient, the movement is quicker, and the device is worth popularizing.
Drawings
FIG. 1 is a schematic structural diagram of an obstacle crossing device according to the present invention;
FIG. 2 is a schematic diagram of an obstacle crossing state according to the present invention;
FIG. 3 is a schematic diagram of an obstacle crossing state of the present invention;
FIG. 4 is a schematic diagram of an obstacle crossing state according to the present invention;
FIG. 5 is a diagram illustrating an obstacle crossing state of the present invention;
FIG. 6 is a schematic diagram of an obstacle crossing state of the present invention;
fig. 7 is a sixth schematic view of an obstacle crossing state according to the present invention.
Wherein, 1, rotating slip ring; 2. a first support link; 3. a second support link; 4. a third support link; 5. a rubber sucker.
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.
Example (b):
as shown in fig. 1-7, the embodiment of the invention provides an obstacle crossing method for an overhead working robot, which includes a second support connecting rod 3, wherein one end of the second support connecting rod 3 is connected with a rotating slip ring 1 through a first support connecting rod 2, and the other end of the second support connecting rod 3 is connected with a rubber sucker 5 through a third support connecting rod 4;
s1, lifting a rubber sucker 5 after an obstacle is detected when a working robot trolley works on a glass wall;
s2, the operation robot trolley continues to move towards the barrier, and automatically enables the rubber sucker 5 to cross the barrier;
s3, automatically placing the rubber sucker 5 on the glass wall after crossing the obstacle;
s4, automatically and tightly adsorbing the rubber sucker 5 on the glass wall;
s5, automatically lifting the trolley of the working robot to a height higher than the height of the barrier;
s6, enabling the trolley of the working robot to cross the obstacle;
s7, automatically placing the operation robot trolley on the glass wall;
and S8, finally, automatically separating the rubber sucker 5 from the glass wall body and lifting the rubber sucker, so that obstacle crossing is completed.
In the S1, the operating robot trolley detects an obstacle through the laser ranging sensor fixedly connected with one side of the front end, then the torque motor is started to enable the second supporting connecting rod 3 and the third supporting connecting rod 4 to lift the rubber sucker 5 to a height higher than the obstacle, the laser ranging sensor on the operating robot trolley can detect the distance between the operating robot trolley and the obstacle, and the operating robot trolley can be close to the obstacle after the obstacle is detected but cannot collide with the obstacle.
In the S2, the distance between the trolley of the working robot and the obstacle is detected by the laser ranging sensor fixedly connected with one side of the front end, the trolley of the working robot is moved to a position close to the obstacle, and the rubber sucker 5 passes over the obstacle to reach the other side of the obstacle.
The torque motor is started in the S3, so that the second supporting connecting rod 3 and the third supporting connecting rod 4 place the rubber sucker 5 on the glass wall on the other side of the obstacle, the laser ranging sensor on the rubber sucker 5 confirms that the rubber sucker 5 is tightly attached to the glass wall, the laser ranging sensor on the rubber sucker 5 can detect the distance between the rubber sucker 5 and the glass wall, and the rubber sucker 5 is more attached to the glass wall when being placed on the glass wall.
And S4, starting the air exhaust motor on the rubber sucker 5 to enable the rubber sucker 5 to be firmly adsorbed on the glass wall, and exhausting air in the rubber sucker 5 through the air exhaust motor, so that the rubber sucker 5 is tightly adsorbed on the glass wall.
In S5, the negative pressure adsorption mechanism at the bottom of the operation robot trolley is firstly closed to separate the operation robot trolley from the glass wall, then the torque motor is started to enable the second support connecting rod 3 and the first support connecting rod 2 to lift the operation robot trolley to a height higher than the obstacle, and the negative pressure adsorption mechanism can adsorb the operation robot trolley on the glass wall.
And S6, the rotating motor is started to enable the third supporting connecting rod 4 to drive the second supporting connecting rod 3 to rotate, and then the trolley of the working robot is enabled to rotate above the other side of the obstacle through the first supporting connecting rod 2 and the rotating slip ring 1.
And S7, starting the torque motor to enable the second support connecting rod 3 and the first support connecting rod 2 to place the operation robot trolley on the glass wall, and then starting the negative pressure adsorption mechanism to enable the operation robot trolley to be adsorbed on the glass wall.
And S8, the air suction motor is turned off, the air discharge valve is opened to separate the rubber suction cup 5 from the glass wall, then the torque motor is started to enable the second support connecting rod 3 and the third support connecting rod 4 to lift the rubber suction cup 5, namely obstacle crossing is completed, air in the rubber suction cup 5 can be discharged through the air discharge valve, and the rubber suction cup 5 is separated from the glass wall.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. An obstacle crossing method of a high-altitude operation robot is characterized in that:
one end of a second supporting connecting rod (3) is connected with a rotating slip ring (1) through a first supporting connecting rod (2), and the other end of the second supporting connecting rod (3) is connected with a rubber sucker (5) through a third supporting connecting rod (4);
s1, lifting a rubber sucker (5) after an obstacle is detected when a working robot trolley works on a glass wall;
s2, the operation robot trolley continues to move towards the obstacle, and automatically crosses the rubber sucker (5) over the obstacle;
s3, automatically placing the rubber sucker (5) on the glass wall after crossing the obstacle;
s4, automatically and tightly adsorbing the rubber sucker (5) on the glass wall;
s5, automatically lifting the trolley of the working robot to a height higher than the height of the barrier;
s6, enabling the trolley of the working robot to cross the obstacle;
s7, automatically placing the operation robot trolley on the glass wall;
and S8, finally, automatically separating the rubber sucker (5) from the glass wall body and lifting the rubber sucker, so that obstacle crossing is completed.
2. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S1, the trolley of the working robot detects the obstacle through the laser ranging sensor fixedly connected with one side of the front end, and then the torque motor is started to enable the second supporting connecting rod (3) and the third supporting connecting rod (4) to lift the rubber sucker (5) to a height higher than the obstacle.
3. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S2, the distance between the operating robot trolley and the obstacle is detected through the laser ranging sensor fixedly connected with one side of the front end, the operating robot trolley is moved to a position close to the obstacle, and the rubber suction cup (5) passes over the obstacle to reach the position above the other side of the obstacle.
4. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S3, the torque motor is started to enable the second supporting connecting rod (3) and the third supporting connecting rod (4) to place the rubber sucker (5) on the glass wall body on the other side of the obstacle, and the rubber sucker (5) is confirmed to be tightly attached to the glass wall body through the laser ranging sensor on the rubber sucker (5).
5. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S4, starting an air suction motor on the rubber suction cup (5) to enable the rubber suction cup (5) to be firmly adsorbed on the glass wall.
6. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: in the S5, the negative pressure adsorption mechanism at the bottom of the operation robot trolley is firstly closed to separate the operation robot trolley from the glass wall, and then the torque motor is started to enable the second support connecting rod (3) and the first support connecting rod (2) to lift the operation robot trolley to a height higher than the obstacle.
7. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S6, the rotating motor is started to enable the third supporting connecting rod (4) to drive the second supporting connecting rod (3) to rotate, and then the operating robot trolley is enabled to rotate above the other side of the obstacle through the first supporting connecting rod (2) and the rotating sliding ring (1).
8. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S7, the torque motor is started to enable the second supporting connecting rod (3) and the first supporting connecting rod (2) to place the operating robot trolley on the glass wall, and then the negative pressure adsorption mechanism is started to enable the operating robot trolley to be adsorbed on the glass wall.
9. An obstacle crossing method for a high-altitude operation robot according to claim 1, wherein: and in the S8, the air suction motor is closed, the air discharge valve is opened to separate the rubber suction cup (5) from the glass wall, and then the torque motor is started to lift the rubber suction cup (5) by the second support connecting rod (3) and the third support connecting rod (4), so that obstacle crossing is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813581.6A CN111938491A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing method of high-altitude operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010813581.6A CN111938491A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing method of high-altitude operation robot |
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| Publication Number | Publication Date |
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| CN111938491A true CN111938491A (en) | 2020-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010813581.6A Pending CN111938491A (en) | 2020-08-13 | 2020-08-13 | Obstacle crossing method of high-altitude operation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113928439A (en) * | 2021-11-25 | 2022-01-14 | 国网四川省电力公司南充供电公司 | Climbing device with obstacle crossing function |
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| JP2004161462A (en) * | 2002-11-14 | 2004-06-10 | Toshiba Elevator Co Ltd | Exterior windowpane cleaning device of elevator for observation |
| CN203852288U (en) * | 2014-05-13 | 2014-10-01 | 西北农林科技大学 | Obstacle-surmounting device for glass cleaning robot |
| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
| CN206166840U (en) * | 2016-05-22 | 2017-05-17 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning machines people that can hinder more |
| CN106725081A (en) * | 2017-02-06 | 2017-05-31 | 赵东来 | The control method of glass-cleaning robot and its obstacle detouring pattern |
| CN108338733A (en) * | 2017-01-22 | 2018-07-31 | 张威 | It is a kind of can obstacle detouring small-size glass scrubbing machine people |
| CN111067404A (en) * | 2020-01-09 | 2020-04-28 | 天津大学 | Two-foot wall surface cleaning robot body |
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2020
- 2020-08-13 CN CN202010813581.6A patent/CN111938491A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004161462A (en) * | 2002-11-14 | 2004-06-10 | Toshiba Elevator Co Ltd | Exterior windowpane cleaning device of elevator for observation |
| CN203852288U (en) * | 2014-05-13 | 2014-10-01 | 西北农林科技大学 | Obstacle-surmounting device for glass cleaning robot |
| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
| CN206166840U (en) * | 2016-05-22 | 2017-05-17 | 武汉市享昱科技有限公司 | Glass curtain wall cleaning machines people that can hinder more |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113928439A (en) * | 2021-11-25 | 2022-01-14 | 国网四川省电力公司南充供电公司 | Climbing device with obstacle crossing function |
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Application publication date: 20201117 |
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