CN112790688B - High-altitude glass cleaning six-foot wall-climbing robot - Google Patents
High-altitude glass cleaning six-foot wall-climbing robot Download PDFInfo
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- CN112790688B CN112790688B CN202110175907.1A CN202110175907A CN112790688B CN 112790688 B CN112790688 B CN 112790688B CN 202110175907 A CN202110175907 A CN 202110175907A CN 112790688 B CN112790688 B CN 112790688B
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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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- 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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- 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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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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Abstract
The invention discloses a high-altitude glass cleaning six-foot wall-climbing robot, which belongs to the technical field of wall-climbing robots and comprises a main machine body and a cleaning device; six mechanical legs are arranged on the whole body of the main machine body; each mechanical leg consists of a moving frame, a mechanical leg part and a mechanical foot part. The invention provides a high-altitude glass cleaning six-foot wall-climbing robot which can work on a complex wall surface efficiently and has high working stability.
Description
Technical Field
The invention belongs to the technical field of wall-climbing robots, and particularly relates to a high-altitude glass cleaning six-foot wall-climbing robot.
Background
Under the continuous modernization development and the accelerated urbanization of cities, more and more glass wall buildings are built by people, and the buildings look very spectacular, but the problem of difficult wall cleaning also occurs. At present, the main cleaning mode is that the glass curtain wall is cleaned manually by a lifting platform or a hanging basket, the working efficiency is low, the labor intensity is high, and the cleaning mode is unsafe. Therefore, the high-altitude smooth wall surface operation becomes a problem to be regarded as important. In order to relieve people from high-altitude operation and avoid safety accidents, a robot which can replace people and has certain flexibility and adaptability is needed to complete the work.
Currently, most wall-climbing robots have three types of adsorption modes: vacuum adsorption, magnetic adsorption and thrust adsorption. The vacuum adsorption structure is simple, stable and reliable, is particularly suitable for glass curtain walls with smooth wall surfaces, and has higher requirements on the air tightness of the vacuum sucker; the magnetic adsorption is mainly suitable for metal surfaces, has large adsorption force and strong bearing capacity, but has special requirements on the materials of the adsorption surfaces; the thrust adsorption uses the fan to generate airflow negative pressure, has the advantages of the former two, but requires large fan power and heavier whole mass.
The motion modes of the wall-climbing robot are mainly divided into four major types, namely a wheel type, a crawler type, a frame type foot type and a foot type. The wheel type and crawler type moving speed is high, the movement is stable, but the self mass is large, and the adaptability to uneven wall surfaces is poor; the frame-type moving mode is simple and quick, but has requirements on installation. The traditional foot type robot is light in weight, strong in adaptability to complex wall surfaces, slow in movement and low in efficiency. Therefore, the traditional robot cannot completely meet the requirements under various wall surface environments.
Disclosure of Invention
The invention aims to provide a high-altitude glass cleaning six-foot wall-climbing robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a high-altitude glass cleaning six-foot wall-climbing robot comprises a main body and a cleaning device; six mechanical legs are arranged on the whole body of the main machine body; each mechanical leg consists of a moving frame, a mechanical leg part and a mechanical foot part; the main body comprises a body, and a control panel and a laser radar are arranged on the body; the machine body and the laser radar; the cleaning machine is characterized in that four safety rings are further mounted on the side body of the machine body, a water tank and a battery bin are mounted at the bottom of the machine body, a main shaft motor bin is further arranged between the water tank and the battery bin, one end of the main shaft motor bin is communicated with the inner wall of a main shaft sleeve, one end of the main shaft sleeve is connected to the bottom of the machine body, and the other end of the main shaft sleeve is connected with a cleaning device;
the cleaning device comprises a spindle motor and a reversing bevel gear, wherein the spindle motor and the reversing bevel gear are placed in a spindle motor bin; the reversing bevel gear is respectively connected with the spindle motor and the cleaning brush disc rotating shaft; the cleaning brush disc rotating shaft is connected with the cleaning brush disc;
the movable frame comprises a main gear and an auxiliary gear, the main gear is connected with the steering engine, the auxiliary gear is connected with the movable frame body through a connecting key, and a guide rail fixing frame is further arranged in the movable frame body; the guide rail fixing frame is fixedly provided with a first lead screw through a connecting bearing; one end of the first lead screw is connected with a first stepping motor through a gear pair;
the mechanical leg comprises a leg end cover and a positioning piece sliding block, a leg main body is connected to the lower side of the positioning piece, the leg end cover is connected with the positioning piece sliding block, the positioning piece sliding block can slide between the positioning piece and the leg main body, a clamping block is further arranged in the positioning piece, the clamping block is embedded into a clamping groove of the positioning piece, a crank is further connected into a sliding way of the clamping block, and the other side of the crank is connected with a lifting steering engine;
the mechanical foot comprises a foot upper end cover, a foot clamping piece and a foot main body, wherein a positioning clamping piece is arranged on the lower side of the foot upper end cover, the lower part of the positioning clamping piece is connected to the pressure bin upper end cover, and a pressure bin lower end cover, a piston and a piston guide rail are arranged in the foot main body; the piston is fixed by the piston guide rail, and the middle part of piston is embedded with the piston sealing member.
Further, a machine body cover is further mounted on the machine body; a charging port is formed in the edge of the battery bin; two groups of water tank heaters are also arranged in the water tank; the edge of the water tank is also provided with a water injection pipe and three water outlet pipes.
Further, a high-pressure water pump and a cleaning device shell are also arranged on the cleaning device; the high-pressure water pump pumps water from the water outlet pipe and sends the water into an annular water tank on the shell of the cleaning device through a high-pressure water pipe, and three atomizing nozzles which are arranged at equal intervals are further arranged at the bottom of the shell of the cleaning device.
Furthermore, two lead screw guide rails are fixed on the guide rail fixing frame; the two lead screw guide rails are also connected with lead screw sliding blocks, and the lead screw sliding blocks can complete translation through rotation of the first lead screw; the lower part of the lead screw sliding block is also provided with a joint; the joint is used for connecting the moving frame and the mechanical leg.
Furthermore, a second stepping motor is arranged at the upper part of the foot main body, and a foot sucker is arranged at the lower part of the foot main body; a second lead screw penetrates through the middle of the piston sealing element; the middle of the piston sealing element is provided with a special thread, and the upper end of the second lead screw is connected through a gear and driven to rotate by a second stepping motor; the foot sucker is fixed at the bottom of the mechanical foot through the matching of a bolt and a nut, and the piston and a lower end cover of the pressure bin form an air cylinder.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a high-altitude glass cleaning six-foot wall climbing robot which can work efficiently on a complex wall surface and has high working stability, the high-altitude glass cleaning six-foot wall climbing robot combines the characteristics of a foot type mobile robot and a frame type mobile robot, so that the high-altitude glass cleaning six-foot wall climbing robot has better adaptability on the complex wall surface, when the high-altitude glass cleaning six-foot wall climbing robot faces to an uneven and special-shaped glass wall surface, the adsorption stability can be ensured by using the special structure of the foot of the robot, meanwhile, the leg position can be adjusted by adjusting a leg lifting steering engine and matching with a joint, so that the whole machine is in a stable position, the stability of the whole machine is enhanced, and in addition, the self frame is used for realizing rapid and stable movement during movement, and the efficiency of the whole machine is improved. In the aspect of steering, six legs around the robot body can move independently, the steering engine is utilized to drive the moving frame to rotate to a proper angle, and then the whole machine is pulled by the screw rod to complete steering. The robot has small overall structure size, safety rings are assembled around the robot body and used for additionally installing safety ropes, and a built-in battery is adopted for power supply, so that the robot is safe and stable in work. The inside heater that sets up of water tank, during operation use high pressure water to produce water smoke through atomizer, and special sanitizer and rotatory brush dish are cooperated, improve clean effect. And sensors such as a laser radar and the like are additionally arranged on the top of the machine body, so that real-time feedback and danger early warning on high-altitude conditions are realized.
Drawings
Fig. 1 is a schematic overall structure diagram of the high-altitude glass cleaning six-foot wall-climbing robot.
Fig. 2 is a sectional bottom view of the high-altitude glass cleaning six-foot wall-climbing robot.
FIG. 3 is a side view of the high-altitude glass cleaning hexapod wall-climbing robot of the present invention.
Fig. 4 is a bottom view of the cleaning device of the high-altitude glass cleaning six-foot wall-climbing robot.
FIG. 5 is a top view of the high-altitude glass cleaning hexapod wall-climbing robot of the present invention.
Fig. 6 is a schematic sectional connection diagram of the moving frame and the mechanical legs of the high-altitude glass cleaning hexapod wall-climbing robot.
Fig. 7 is a schematic cross-sectional view of a mechanical foot of the high-altitude glass cleaning six-foot wall-climbing robot.
Fig. 8 is a bottom view of the mechanical foot of the high-altitude glass cleaning six-foot wall-climbing robot.
In the figure: 1-main body, 2-cleaning device, 3-moving frame, 4-mechanical leg, 5-mechanical foot, 101-control panel, 102-laser radar, 103-safety ring, 104-body cover, 105-body, 106-water tank heater, 107-water injection pipe, 108-water outlet pipe, 109-water tank, 110-battery bin, 111-charging port, 112-spindle motor bin, 113-spindle sleeve, 201-spindle motor, 202-reversing bevel gear, 203-cleaning brush rotating shaft, 204-high pressure water pump, 205-high pressure water pipe, 206-cleaning device shell, 207-cleaning brush disk, 208-annular water tank, 209-atomizing nozzle, 301-main gear, 302-auxiliary gear, 303-connecting key, 304-moving frame body, 305-screw guide rail, 306-screw slide block, 307-first screw, 308-joint, 309-first stepping motor, 310-guide rail fixing frame, 401-leg end cover, 402-positioning piece slide block, 403-leg body, 404-positioning piece, 405-clamping block, 406-crank, 501-foot upper end cover, 502-foot clamping piece, 503-foot body, 504-piston guide rail, 505-second screw, 506-piston, 507-pressure chamber lower end cover, 508-foot suction cup, 509-bolt, 510-nut, 511-gas cylinder, 512-piston sealing piece, 513-pressure chamber upper end cover, 514-positioning clamping piece and 515-second stepping motor.
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.
The invention is described in further detail below with reference to the drawings. Please refer to fig. 1-8 of the specification.
The overall structure schematic diagram of the hexapod wall-climbing robot designed by the invention is shown in fig. 1-2, a control panel 101 and a laser radar 102 are arranged on a main body 1 part, four safety rings 103 are arranged on the side body of the body 105, a body cover 104 is arranged on the body 105, a water tank 109 and a battery bin 110 are arranged at the bottom of the body 105, a charging port 111 is positioned at the edge of the battery bin, two groups of water tank heaters 106 are arranged in the water tank 109, a water injection pipe 107 and three water outlet pipes 108 are arranged at the edge of the water tank 109, a spindle motor bin 112 is positioned between the water tank 109 and the battery bin 110, one end of the spindle motor bin is communicated with the inner wall of a spindle sleeve 113, one end of the spindle sleeve 113 is connected to the bottom of the body 105, and the other end is connected with a cleaning device 2.
The structural schematic diagram of the six-legged wall-climbing robot cleaning device designed by the invention is shown in fig. 3-4, the cleaning device 2 part comprises a spindle motor 201 and a group of reversing bevel gears 202 which are arranged in a spindle motor bin 112, the spindle motor 201 and a cleaning brush disc rotating shaft 203 are respectively connected, the cleaning brush disc rotating shaft 203 is connected with a cleaning brush disc 207, a high-pressure water pump 204 pumps water through a water pipe 108 and sends the water into an annular water tank 208 on a cleaning device shell 206 through a high-pressure water pipe 205, three atomizing nozzles 209 with equal intervals are arranged at the bottom of the cleaning device shell 206, and the cleaning brush disc 207 rotates to be matched with water mist sprayed by the atomizing nozzles 209 to clean more thoroughly and efficiently during work.
The structural schematic diagrams of the moving frame and the mechanical leg of the hexapod wall-climbing robot designed by the invention are shown in fig. 5-6, a part of the moving frame 3 comprises a main gear 301 and a pinion 302, wherein the main gear 301 is connected with a steering engine, the pinion 302 is connected with a moving frame main body 304 through a connecting key 303, two ends of a first lead screw 307 are connected with bearings and fixed on a guide rail fixing frame 310, one end of the first lead screw 307 is connected with a first stepping motor 309 through a gear pair, two lead screw guide rails 305 are fixed through the guide rail fixing frame 310, a lead screw slider 306 is connected with the two lead screw guide rails 305, the lead screw slider 306 can rotate through the first lead screw 307 to complete translation, and a joint 308 is used for connecting the moving frame 3 and the mechanical leg 4.
The mechanical leg part 4 comprises a leg end cover 401 and a positioning piece sliding block 402, the lower side of a positioning piece 404 is connected with a leg main body 403, the leg end cover 401 is connected with the positioning piece sliding block 402, the sliding block 402 can slide between the positioning piece 404 and the leg main body 403, a clamping block 405 is embedded into a clamping groove of the positioning piece 404, one side of a crank 406 is connected with a lifting steering engine, and the other side of the crank 406 is embedded into a sliding way of the clamping block 405.
The structural schematic diagram of the mechanical foot part of the six-foot wall-climbing robot designed by the invention is shown in fig. 7-8, the mechanical foot part 5 comprises a foot upper end cover 501, a foot clamping piece 502 and a foot main body 503, a positioning clamping piece 514 is arranged on the lower side of the foot upper end cover 501 and connected with a pressure chamber upper end cover 513, a pressure chamber lower end cover 507 is arranged in the foot main body, a piston 506 is fixed by a piston guide rail 504, a piston sealing element 512 is embedded in the middle of the piston 506, a second lead screw 505 penetrates through the piston sealing element 512, a gear is connected to the upper end of the second lead screw 505 and is driven to rotate by a second stepping motor 515, a foot suction cup 508 is fixed at the bottom of the mechanical foot part 5 by matching of a bolt 509 and a nut 510, and the piston 506 and the pressure chamber lower end cover 507 form an air cylinder 511.
When the mechanical foot 5 device works, the second stepping motor 515 drives the second lead screw 505 to rotate, so that the piston 506 ascends or descends along with the rotation of the second lead screw 505, at the beginning stage, the piston is positioned at the lowest end of the air cylinder 511, the second lead screw 505 rotates to drive the piston 506 to ascend, the volume of a cavity at the lower side of the piston 506 is increased, because the air tightness of the piston 50 is good, air at the upper side of the piston 506 cannot enter the lower side of the piston 506, the air pressure of the air at the lower side of the piston 506 is reduced, and because the air pressure forms an internal and external pressure difference with the external atmospheric pressure, the external atmospheric pressure can press a system to be attached to a wall surface, so that the suction cup 508 is tightly attached to the wall surface to achieve the adsorption effect. When the piston 506 is positioned at the uppermost end of the cylinder 511, the pressure difference is maximized and the adsorption force is maximized. When the adsorption state needs to be released, the second stepping motor 515 rotates reversely to lower the piston 506, and when the piston 506 moves to the lowermost layer, the air pressure returns to the atmospheric pressure level, and the difference between the internal pressure and the external pressure disappears, so that the air cylinder 511 loses the adsorption effect, and leaves the wall surface.
When the mechanical leg 4 device works, the lower part of the leg end cover 401 is not attached to the upper part of the leg main body 403, and the crank 406 is controlled by the lifting steering engine to rotate so as to drive the leg main body 403 to move up and down, so that the mechanical leg 5 can be integrally lifted up and down.
When the moving frame 3 device works, the first stepping motor 309 drives the first lead screw 307 to rotate, so that the lead screw slider 306 advances or retreats along with the rotation of the first lead screw 307, and the lead screw slider 306 is connected with the mechanical leg 4 and the mechanical foot 5 through the joint 308 to drive the whole body to translate. Meanwhile, the steering engine enables the movable frame body 304 to rotate through the matching of the main gear 301 and the auxiliary gear 302, and the steering is completed through the matching of the whole steering engine.
The six mechanical legs of the robot are basically the same in structure, the six legs of the robot are divided into two groups (three legs which are not adjacent to each other are a group), a worker starts the robot beside the robot and places the robot at a proper position, the six mechanical legs are tightly adsorbed to the wall surface, a control command is sent to the robot through a remote controller, and the robot starts to work. And two groups of mechanical legs move alternately, wherein one group of mechanical feet 5 releases the adsorption state, the mechanical feet 5 are lifted by the mechanical legs 4, meanwhile, the second screw rods 309 in the moving frame 3 rotate to drive the whole legs to move to the next preset position, the mechanical legs 4 fall down the mechanical feet 5 and complete adsorption again (the other group of legs keep the adsorption state in the process), then the other group of legs are lifted, the second screw rods 309 in the two groups of moving frames 3 pull the whole machine to move to the preset position, the second group of legs fall down to complete adsorption, and the process is repeated to realize the movement of the whole machine. In the moving process, the steering engine can control the moving frame 3 to rotate so as to determine the next moving direction and finish the adjustment of the moving direction. When a wall surface with an inclined angle is met, the position of the robot can be adjusted by controlling the vertical distance between each leg and the wall surface through the cooperation of the crank 406 and the joint 308, in the process, the six legs work cooperatively to complete the lifting, falling, moving and rotating of each mechanical leg, and the requirements of various motion modes are met through the cooperative control of the two groups of mechanical legs.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (1)
1. A high-altitude glass cleaning six-foot wall-climbing robot is characterized by comprising a main body (1) and a cleaning device (2); six mechanical legs are arranged on the whole body of the main machine body (1); each mechanical leg consists of a moving frame (3), a mechanical leg part (4) and a mechanical foot part (5); the main machine body (1) comprises a machine body (105), wherein a control panel (101) and a laser radar (102) are arranged on the machine body (105); the body (105) and a lidar (102); the cleaning machine is characterized in that four safety rings (103) are further mounted on one side of the machine body (105), a water tank (109) and a battery bin (110) are mounted at the bottom of the machine body (105), a spindle motor bin (112) is further arranged between the water tank (109) and the battery bin (110), one end of the spindle motor bin (112) is communicated with the inner wall of a spindle sleeve (113), one end of the spindle sleeve (113) is connected to the bottom of the machine body (105), and the other end of the spindle sleeve is connected with the cleaning device (2);
the cleaning device (2) comprises a spindle motor (201) and a reversing bevel gear (202) which are arranged in a spindle motor bin (112); the reversing bevel gear (202) is respectively connected with a spindle motor (201) and a cleaning brush disc rotating shaft (203); the cleaning brush disc rotating shaft (203) is connected with the cleaning brush disc (207);
the movable frame (3) comprises a main gear (301) and an auxiliary gear (302), the main gear (301) is connected with a steering engine, the auxiliary gear (302) is connected with a movable frame main body (304) through a connecting key (303), and a guide rail fixing frame (310) is further arranged in the movable frame main body (304); a first lead screw (307) is fixed on the guide rail fixing frame (310) through a connecting bearing; one end of the first lead screw (307) is connected with a first stepping motor (309) through a gear pair;
the mechanical leg part (4) comprises a leg end cover (401) and a positioning piece sliding block (402), a leg main body (403) is connected to the lower side of the positioning piece (404), the leg end cover (401) is connected with the positioning piece sliding block (402), the positioning piece sliding block (402) can slide between the positioning piece (404) and the leg main body (403), a clamping block (405) is further arranged in the positioning piece (404), the clamping block (405) is embedded into a clamping groove of the positioning piece (404), a crank (406) is further connected in a sliding way of the clamping block (405), and the other side of the crank (406) is connected with a lifting steering engine;
the mechanical foot (5) comprises a foot upper end cover (501), a foot fastener (502) and a foot main body (503),
a positioning clamping piece (514) is installed on the lower side of the foot upper end cover (501), the lower part of the positioning clamping piece (514) is connected to the pressure chamber upper end cover (513), and a pressure chamber lower end cover (507), a piston (506) and a piston guide rail (504) are installed inside the foot main body (503); the piston (506) is fixed by a piston guide rail (504), and a piston sealing piece (512) is embedded in the middle of the piston (506);
the machine body (105) is also provided with a machine body cover (104); a charging port (111) is arranged at the edge of the battery bin (110); two groups of water tank heaters (106) are also arranged in the water tank (109); the edge of the water tank (109) is also provided with a water injection pipe (107) and three water outlet pipes (108);
the cleaning device (2) is also provided with a high-pressure water pump (204) and a cleaning device shell (206); the high-pressure water pump (204) pumps water from the water outlet pipe (108) and sends the water into an annular water tank (208) positioned on a cleaning device shell (206) through a high-pressure water pipe (205), and three atomizing nozzles (209) which are arranged at equal intervals are further arranged at the bottom of the cleaning device shell (206);
two lead screw guide rails (305) are fixed on the guide rail fixing frame (310); the two lead screw guide rails (305) are also connected with lead screw sliding blocks (306), and the lead screw sliding blocks (306) can complete translation through rotation of a first lead screw (307); the lower part of the screw rod sliding block (306) is also provided with a joint (308); the joint (308) is used for connecting the moving frame (3) and the mechanical leg (4);
the upper part of the foot main body (503) is provided with a second stepping motor (515), and the lower part of the foot main body is provided with a foot sucker (508); a second lead screw (505) penetrates through the middle of the piston sealing element (512); the middle of the piston sealing element (512) is provided with special threads, and the upper end of the second lead screw (505) is connected through a gear and driven to rotate by a second stepping motor (515); the foot suction cup (508) is fixed at the bottom of the mechanical foot (5) through a bolt (509) and a nut (510) in a matching mode, and the piston (506) and a lower end cover (507) of the pressure bin form an air cylinder (511).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110175907.1A CN112790688B (en) | 2021-02-06 | 2021-02-06 | High-altitude glass cleaning six-foot wall-climbing robot |
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| CN202110175907.1A CN112790688B (en) | 2021-02-06 | 2021-02-06 | High-altitude glass cleaning six-foot wall-climbing robot |
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| CN112790688A CN112790688A (en) | 2021-05-14 |
| CN112790688B true CN112790688B (en) | 2021-11-23 |
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| CN106419722A (en) * | 2016-10-28 | 2017-02-22 | 唐山新禾智能科技有限公司 | Automatic glass cleaning robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN107928536A (en) * | 2017-12-29 | 2018-04-20 | 南京工程学院 | Spider-shaped glass outer wall clears up robot |
| CN109820448A (en) * | 2019-03-25 | 2019-05-31 | 哈尔滨工程大学 | A kind of novel glass cleaning machine people |
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