CN111956118A

CN111956118A - Walking robot

Info

Publication number: CN111956118A
Application number: CN202010788527.0A
Authority: CN
Inventors: 黄进土
Original assignee: Dingxing Lingnuo Trade Co ltd
Current assignee: Nanjing Niebo IOT Technology Co Ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2020-11-20
Anticipated expiration: 2040-08-07
Also published as: CN111956118B

Abstract

The invention discloses a walking robot, which comprises a robot body, an adaptor, a cleaning mechanism and an adsorption climbing wheel, wherein the adaptor is arranged at the front end of the robot body, the adsorption climbing wheel is movably clamped with the robot body, the cleaning mechanism is fixedly connected with the adaptor, the side surface of the cleaning mechanism is controlled by a ground user to continuously extrude a wall surface which is higher around a glass included angle, so that an extrusion block on a washing mechanism slides inwards along an outer frame, a push rod can synchronously slide along the inner frame, cleaning liquid in a liquid storage cavity can be sprayed to the included angle of a glass window through a liquid spraying port, the side surface of the cleaning mechanism continuously extrudes the glass included angle, an erasing block can extend into the glass included angle to erase impurities which are not easy to be washed, and the side surface of the cleaning mechanism continuously extrudes the glass included angle, so that two erasing blocks can be unfolded towards two sides along a bottom block, so that the included angle of the glass can be further wiped.

Description

Walking robot

Technical Field

The invention relates to the field of robots, in particular to a walking robot.

Background

The outer wall cleaning walking robot is mainly used for cleaning equipment of building outer walls, can move on the outer wall through adsorbing the climbing wheel, thereby the cleaning head of front end can clean the outer wall and clean, extensive application and the cleaning work of high-rise building outer wall, based on the above description the inventor finds that the existing walking robot mainly has the following defects, for example:

because the glass window on some building outer walls and building outer wall are not on same horizontal plane, but fall into inside the outer wall to when outer wall cleaning walking robot cleaned the glass window, the cleaning head can be blocked by the wall that the glass window is higher all around, leads to the cleaning head can't clean four contained angles of glass window.

Disclosure of Invention

In view of the above problems, the present invention provides a walking robot.

In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a walking robot, its structure includes organism, adapter, clean mechanism, adsorbs creeping wheel, the adapter is installed in the front end position of organism, adsorb creeping wheel and organism activity block, clean mechanism is connected with the adapter is inlayed admittedly.

As a further optimization of the invention, the cleaning mechanism comprises a liquid storage cylinder, a washing mechanism and a wiping mechanism, the liquid storage cylinder is connected with the washing mechanism through bolts, the wiping mechanism is arranged at the lower end position of the washing mechanism, and the wiping mechanism adopts wear-resistant polyether sponge.

As a further optimization of the invention, the flushing mechanism comprises an outer frame, a liquid storage cavity, an inner frame, an elastic strip, a sealing block, an extrusion block, a push rod, a liquid spraying port and a liquid guide pipe, wherein the liquid storage cavity and the outer frame are of an integrated structure, the inner frame is arranged at an inner position of the outer frame, the elastic strip is arranged inside the inner frame, the sealing block is fixedly embedded and connected with the inner wall of the inner frame, the extrusion block is movably clamped with the outer frame, the push rod is in clearance fit with the inner frame, the liquid spraying port is connected with the inner frame through the liquid guide pipe, and the liquid spraying port is of a trapezoidal structure.

As a further optimization of the invention, the liquid spraying port comprises a frame body, a blocking plate, a return spring piece and a support rod, wherein the blocking plate is hinged with the support rod, the return spring piece is arranged between the blocking plate and the support rod, the support rod is fixedly connected with the frame body in an embedded manner, and the return spring piece is made of spring steel with strong elasticity.

As a further optimization of the invention, the barrier plate comprises a bottom plate, a force increasing surface and a stirring brush, wherein the force increasing surface and the bottom plate are of an integrated structure, the stirring brush is embedded at the bottom of the force increasing surface, and the stirring brush is made of nylon with high toughness.

As a further optimization of the invention, the wiping mechanism comprises four bottom blocks, a damage prevention surface, two erasing blocks and elastic pieces, wherein the four damage prevention surfaces are connected with the erasing blocks, the other two erasing blocks are fixedly connected with the bottom blocks, the erasing blocks and the bottom blocks are of an integrated structure, the elastic pieces are arranged between the two damage prevention surfaces, and the damage prevention surface is made of nitrile rubber with high toughness.

As a further optimization of the invention, the erasing block comprises a contact surface and a combination block, the contact surface and the combination block are of an integrated structure, and the contact surface is in a continuous triangular groove form.

As a further optimization of the invention, the contact surface comprises movable beads, a reset sheet, a gasket and a block body, wherein the movable beads are in clearance fit with the block body, one end of the reset sheet is fixedly embedded and connected with the reset sheet, the other end of the reset sheet is connected with the gasket, the gasket is arranged in the block body, and the reset sheet is made of corrosion-resistant stainless steel.

The invention has the following beneficial effects:

1. when cleaning mechanism need wash glass contained angle department, the side through the clean mechanism of ground user control lasts the extrusion to the wall that exceeds around the glass contained angle, thereby the extrusion piece that the messenger washed on the mechanism slides along the frame is inwards slided, thereby makes the catch bar slide in step along the inside casing, so make the cleaning solution that holds the liquid intracavity can spout the contained angle department to the glass window through the hydrojet mouth, so that can wash the glass contained angle through hydrojet mouth spun cleaning solution.

2. The side through clean mechanism is to the continuous extrusion of glass contained angle department, can make the erasing block stretch into glass contained angle department and erase the impurity that is difficult to wash on it to the side through clean mechanism is to the continuous extrusion of glass contained angle, can make two erasing blocks expand to both sides along the bottom block, so that can further clean the glass contained angle, the effectual condition of having avoided the cleaning solution can't wash the impurity that the glass contained angle upper portion adheres.

Drawings

Fig. 1 is a schematic structural view of a walking robot of the present invention.

Fig. 2 is a front view of the cleaning mechanism of the present invention.

Fig. 3 is a schematic partial top view of the flushing mechanism of the present invention.

FIG. 4 is a schematic top view of a liquid nozzle according to the present invention.

FIG. 5 is a schematic top view of a barrier plate according to the present invention.

FIG. 6 is a partial bottom view of the wiping mechanism of the present invention.

FIG. 7 is a block diagram of an erase block according to the present invention.

FIG. 8 is a side view of a contact surface of the present invention.

In the figure: a machine body-1, an adapter-2, a cleaning mechanism-3, an adsorption climbing wheel-4, a liquid storage cylinder-31, a flushing mechanism-32, a wiping mechanism-33, an outer frame-a 1, a liquid storage cavity-a 2, an inner frame-a 3, an elastic strip-a 4, a sealing block-a 5, an extrusion block-a 6, a push rod-a 7, a liquid spraying port-a 8, a liquid guide pipe-a 9 and a frame-a 81, the device comprises a barrier plate-a 82, a rebound sheet-a 83, a support rod-a 84, a bottom plate-b 1, a force increasing surface-b 2, a stirring brush-b 3, a bottom block-c 1, a damage preventing surface-c 2, an erasing block-c 3, an elastic sheet-c 4, a contact surface-c 31, a combination block-c 32, a movable bead-d 1, a reset sheet-d 2, a gasket-d 3 and a block-d 4.

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 1

As shown in fig. 1-5:

the invention provides a walking robot, which structurally comprises a robot body 1, an adapter 2, a cleaning mechanism 3 and an adsorption climbing wheel 4, wherein the adapter 2 is installed at the front end of the robot body 1, the adsorption climbing wheel 4 is movably clamped with the robot body 1, and the cleaning mechanism 3 is fixedly connected with the adapter 2.

Wherein, clean mechanism 3 includes liquid storage cylinder 31, washes mechanism 32, wiping mechanism 33, liquid storage cylinder 31 with wash mechanism 32 bolted connection, wiping mechanism 33 installs in the lower extreme position that washes mechanism 32, wiping mechanism 33 adopts wear-resisting polyether sponge, through the continuous removal of mechanism on the wall to make wiping mechanism 33 laminate the object surface and wash.

Wherein, the flushing mechanism 32 comprises an outer frame a1, a liquid storage chamber a2, an inner frame a3, an elastic strip a4, a sealing block a5, a pressing block a6, a push rod a7, a liquid spraying port a7 and a liquid guide tube a7, the liquid storage chamber a7 and the outer frame a7 are integrated, the inner frame a7 is arranged at the inner position of the outer frame a7, the elastic strip a7 is arranged inside the inner frame a7, the sealing block a7 is fixedly connected with the inner wall of the inner frame a7, the pressing block a7 is movably clamped with the outer frame a7, the push rod a7 is in clearance fit with the inner frame a7, the liquid spraying port a7 is connected with the inner frame a7 through the liquid guide tube a7, when the mechanism cannot clean four corners of the glass window, the cleaning liquid is continuously pressed by the control mechanism on the periphery of the glass window, the pressing block a7 can slide inwards along the liquid storage chamber a7 along the inner frame 7, so that the liquid guide tube a7 can be synchronously pressed into the liquid storage chamber 7, so that the liquid spraying port a8 can spray the cleaning liquid in the liquid guide pipe a9 to the included angle of the glass window, the liquid spraying port a8 is in a trapezoidal structure, the speed of the cleaning liquid sprayed out from the liquid spraying port a8 can be increased, and the included angle of the glass window can be cleaned.

The liquid spraying port a8 comprises a frame body a81, a blocking plate a82, a resilient piece a83 and a support rod a84, the blocking plate a82 is hinged to the support rod a84, the resilient piece a83 is installed between the blocking plate a82 and the support rod a84, the support rod a84 is fixedly connected with the frame body a81, the blocking plate a82 generates outward thrust by sprayed cleaning liquid, the two blocking plates a82 can be closed along the support rod a84, so that the cleaning liquid can be sprayed out from an opening between the blocking plate a82 and the frame body a81, and the resilient piece a83 is made of spring steel with strong elasticity, so that when the blocking plate a82 loses external force, the two blocking plates a82 can be pushed to be unfolded and reset along the support rod a84, and therefore foreign matters such as external dust can be prevented from entering the inside of the frame body a 81.

Wherein, baffle a82 includes bottom plate b1, increase power face b2, stirring brush b3, increase power face b2 and bottom plate b1 structure as an organic whole, stirring brush b3 inlays the bottom position in increase power face b2, stirring brush b3 adopts the nylon material that toughness is stronger, can stir the cleaning solution of process to make the dilution degree of cleaning solution improve, be favorable to the cleaning solution to wash the glass contained angle.

The detailed use method and action of the embodiment are as follows:

in the invention, because the glass windows on the outer wall of part of buildings are not on the same horizontal plane with the outer wall of the building but are sunk into the outer wall, when the cleaning mechanism 3 cleans the glass windows, the cleaning mechanism 3 can be blocked by the wall surface with the periphery of the glass windows being higher, so that the cleaning mechanism 3 can not clean the four included angles of the glass windows, the problems can be effectively solved by the flushing mechanism 32 on the cleaning mechanism 3, the cleaning liquid in the cleaning mechanism can be guided into the liquid storage cavity a2 on the flushing mechanism 32 through the liquid storage cylinder 31, so that the cleaning liquid can permeate into the cleaning mechanism 33, the cleaning mechanism 33 can be attached and cleaned to the wall surface through the continuous movement of the adsorption climbing wheel 4 on the wall surface, when the cleaning mechanism 3 needs to clean the included angles of the glass, the side surface of the cleaning mechanism 3 is controlled by a user on the ground to continuously extrude the periphery of the included angles of the glass, so that the squeezing block a6 on the flushing mechanism 32 can slide inwards along the outer frame a1, and the push rod a7 can slide synchronously along the inner frame a3, so that the cleaning liquid in the liquid storage cavity a2 can be guided into the liquid guide pipe a9 through the inner frame a3, and then the cleaning liquid is squeezed into the liquid spraying opening a8 through the liquid guide pipe a9, the cleaning liquid generates outward thrust on the baffle plate a82 in the liquid spraying opening a8, the two baffle plates a82 can be closed along the support rod a84, so that the cleaning liquid can be sprayed out from the opening between the baffle plate a82 and the frame a81, the glass included angle can be cleaned by the cleaning liquid sprayed out from the liquid spraying opening a8, and the two baffle plates a82 can be pushed to expand and reset by the support rod a84 on the liquid spraying opening a8 when the thrust of the cleaning liquid on the baffle plate a82 is lost, thereby avoiding the situation that foreign matters such as dust and the like from entering the inside of the frame a81, and can stir the cleaning solution of process through stirring brush b3 on the baffle a82 to make the dilution degree of cleaning solution improve, be favorable to the cleaning solution to wash the glass contained angle.

Example 2

As shown in fig. 6-8:

the wiping mechanism 33 comprises a bottom block c1, a damage-proof surface c2, an erasing block c3 and elastic pieces c4, the number of the damage-proof surfaces c2 is four, two of the damage-proof surfaces c2 are connected with the erasing block c3, the other two of the damage-proof surfaces c2 are fixedly connected with the bottom block c1, the erasing block c3 and the bottom block c1 are of an integrated structure, the elastic pieces c4 are installed between the two damage-proof surfaces c2, the erasing block c3 and the bottom block c1 are made of polyether sponge materials, the control mechanism extrudes the glass included angle, the erasing block c3 can extend into the glass included angle to wipe impurities which are not easy to wash away, the mechanism continuously extrudes the glass included angle, the two erasing blocks c3 can be unfolded towards two sides along the bottom block c1 to further wipe the glass included angle, the damage-proof surface c2 is made of nitrile rubber with high toughness, and the elastic pieces 4 can be prevented from unfolding when the erasing block c3, penetrating into the bottom block c1 and the erase block c 3.

The wiping block c3 comprises a contact surface c31 and a combination block c32, the contact surface c31 and the combination block c32 are of an integrated structure, the contact surface c31 is in a continuous triangular groove form, and can collect wiped impurities in a groove on the contact surface c31, when the mechanism continuously presses the included angle of the glass, the contact surface c31 and the combination block c32 can be pressed and deformed by the reverse thrust generated by the mechanism at the included angle of the glass, so that the impurities in the groove on the contact surface c31 can be flushed by the cleaning liquid squeezed between the contact surface c31 and the combination block c 32.

Wherein the contact surface c31 comprises a movable bead d1, a reset sheet d2, a gasket d3 and a block body d4, the movable bead d1 is in clearance fit with the block body d4, one end of the reset sheet d2 is fixedly connected with the reset sheet d2, the other end of the reset sheet d2 is connected with a gasket d3, the gasket d3 is installed at the inner position of the block body d4, the reset sheet d2 is made of corrosion-resistant stainless steel, when the b4 is pressed and closed by external force, the block d2 is matched with the movable bead d1, the closed block d4 can be pushed to separate when the block d4 loses the external force for pressing, the cleaning liquid extruded by the block d4 is prevented from adhering the closed block d4 to be difficult to unfold, the gasket d3 is made of nitrile rubber with strong toughness, and the gasket d3 is in a porous form, so that the block d4 can be prevented from being pierced by the reset plate d2 without affecting the squeezing out of the cleaning liquid by the block d 4.

The detailed use method and action of the embodiment are as follows:

in the invention, because the impurities are adhered to the surface of the glass included angle and are difficult to remove by washing of the cleaning liquid, the cleaning effect of the washing mechanism 32 on the glass included angle is reduced, the problem can be effectively solved by the wiping block c3 on the wiping mechanism 33, the squeezing block a6 is not connected with the wiping mechanism 33, so that the wiping block c3 on the wiping mechanism 33 can extend into the glass included angle to wipe the impurities which are difficult to wash on the glass included angle by continuously squeezing the glass included angle by the side surface of the cleaning mechanism 3, two wiping blocks c3 can be unfolded towards two sides along the bottom block c1, so that the glass included angle can be further wiped, the condition that the cleaning liquid cannot wash the impurities adhered to the upper part of the glass included angle is effectively avoided, the wiped impurities can be collected in the groove on the contact surface c31 by the contact surface c31 on the wiping block c3, when the side of the cleaning mechanism 3 continuously extrudes the glass included angle, the wiping block c3 can be extruded and deformed by the reverse thrust generated by the wiping mechanism 33 at the glass included angle, so that the cleaning liquid extruded by the wiping block c3 can flush out impurities in the groove on the contact surface c31, and when the groove on the contact surface c31 is extruded and closed, the closed groove can be pushed to separate when the contact surface c31 loses external force extrusion through the matching of the reset sheet d2 and the movable bead d1, and the situation that the cleaning liquid extruded by the wiping block c3 can adhere to the closed groove on the contact surface c31 and is not easy to unfold is avoided.

The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention to achieve the above technical effects.

Claims

1. The utility model provides a walking robot, its structure includes organism (1), adapter (2), clean mechanism (3), adsorbs climbs wheel (4), the front end position in organism (1) is installed in adapter (2), adsorb climbs wheel (4) and organism (1) activity block, its characterized in that: the cleaning mechanism (3) is fixedly connected with the joint head (2).

2. The walking robot of claim 1, wherein: clean mechanism (3) include liquid storage cylinder (31), wash mechanism (32), clean mechanism (33), liquid storage cylinder (31) with wash mechanism (32) bolted connection, clean mechanism (33) and install in the lower extreme position that washes mechanism (32).

3. The walking robot of claim 2, wherein: the flushing mechanism (32) comprises an outer frame (a1), a liquid storage cavity (a2), an inner frame (a3), an elastic strip (a4), a sealing block (a5), a pressing block (a6), a push rod (a7), a liquid spraying port (a8) and a liquid guide pipe (a9), wherein the liquid storage cavity (a2) and the outer frame (a1) are of an integrated structure, the inner frame (a3) is installed at the inner position of the outer frame (a1), the elastic strip (a4) is arranged inside the inner frame (a3), the sealing block (a5) is fixedly embedded and connected with the inner wall of the inner frame (a3), the pressing block (a6) is movably clamped with the outer frame (a1), the push rod (a7) is in clearance fit with the inner frame (a3), and the liquid spraying port (a8) is connected with the inner frame (a3) through the liquid guide pipe (a 9).

4. A walking robot as claimed in claim 3, wherein: the liquid spraying port (a8) comprises a frame body (a81), a blocking plate (a82), a rebound sheet (a83) and a support rod (a84), wherein the blocking plate (a82) is connected with the support rod (a84) in a hinged mode, the rebound sheet (a83) is installed between the blocking plate (a82) and the support rod (a84), and the support rod (a84) is fixedly connected with the frame body (a81) in an embedded mode.

5. The walking robot of claim 4, wherein: the baffle plate (a82) comprises a bottom plate (b1), a force increasing surface (b2) and a stirring brush (b3), wherein the force increasing surface (b2) and the bottom plate (b1) are of an integrated structure, and the stirring brush (b3) is embedded at the bottom position of the force increasing surface (b 2).

6. The walking robot of claim 2, wherein: wiping mechanism (33) are including bottom block (c1), loss prevention face (c2), erase block (c3), elasticity piece (c4), loss prevention face (c2) are equipped with four, and two are connected with erase block (c3), and two are connected with bottom block (c1) built-in, erase block (c3) and bottom block (c1) are the integral structure, elasticity piece (c4) are installed between two loss prevention faces (c 2).

7. The walking robot of claim 6, wherein: the erasing block (c3) comprises a contact surface (c31) and a combination block (c32), wherein the contact surface (c31) and the combination block (c32) are of an integrated structure.

8. The walking robot of claim 7, wherein: contact surface (c31) are including activity pearl (d1), reset piece (d2), gasket (d3), block (d4), activity pearl (d1) and block (d4) clearance fit, reset piece (d2) one end and reset piece (d2) are embedded and are connected, and reset piece (d2) the other end and gasket (d3) be connected, the inside position in block (d4) is installed in gasket (d 3).