CN113090054A - Wall cleaning robot for building - Google Patents
Wall cleaning robot for building Download PDFInfo
- Publication number
- CN113090054A CN113090054A CN202110453471.8A CN202110453471A CN113090054A CN 113090054 A CN113090054 A CN 113090054A CN 202110453471 A CN202110453471 A CN 202110453471A CN 113090054 A CN113090054 A CN 113090054A
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- China
- Prior art keywords
- shell
- rotating
- motor
- rod
- retaining ring
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Classifications
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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
-
- 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
Abstract
The invention relates to the technical field of robots, in particular to a wall cleaning robot for buildings, which comprises a rotary shell, wherein two sides of the rotary shell are respectively provided with a jacking device, the lower part of the inner side of the rotary shell is provided with a moving device, the upper surface of the rotary shell is provided with a lifting device, one side of the lifting device is rotatably provided with a large arm, one side of the lifting device is provided with a second motor fixed with the large arm, one end of the large arm is rotatably provided with a small arm, one end of the small arm is rotatably provided with a rotating arm, the other end of the small arm is provided with a fourth motor fixed with the rotating arm, one end of the rotating arm is fixedly provided with a connecting plate, and one side of the connecting plate is provided with an actuating element. Compared with the prior art, the dust-free cleaning machine greatly improves the working efficiency, is convenient to use, releases workers from dust, thereby preventing the workers from being injured by the dust, and has good using effect, strong practicability and better market popularization value.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall surface cleaning robot for a building.
Background
At present, when to the building decoration, especially when decorating second-hand house building, all need clear away the coating etc. of original wall, thereby conveniently carry out the new construction of repairing, but now when clearing up the wall, all be the manual work and carry out preceding clearance with the instrument, this kind of clearance mode work efficiency is low, can produce more dust simultaneously at the in-process of clearance, be absorbed by the staff easily, cause a great deal of injury to staff's physical and mental health, in order to solve above-mentioned problem, we provide a wall clearance robot for building.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a wall surface cleaning robot for a building.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a wall clearance robot for building, includes rotatory shell, jacking system is all installed to the both sides of rotatory shell, mobile device is installed to the inboard lower part of rotatory shell, the last surface mounting of rotatory shell has elevating gear, one side of elevating gear rotates installs big arm, the second motor fixed with big arm is installed to one side of elevating gear, the one end of big arm is rotated and is installed the forearm, the third motor fixed with the forearm is installed to the one end lateral part of big arm, the one end of forearm rotates and installs the swinging boom, the fourth motor fixed with the swinging boom is installed to the other end of forearm, the one end fixed mounting of swinging boom has the connecting plate, the executive is installed to one side of connecting plate.
Preferably, the jacking device comprises a rotating pressure rod and an electric telescopic rod, the rotating pressure rod and the electric telescopic rod are rotated by the rotating shell, the electric telescopic rod is located above the rotating pressure rod, the output end of the electric telescopic rod is rotatably connected with the middle of the rotating pressure rod, a support rod is rotatably mounted at the lower end of the rotating pressure rod, and a support block is mounted at the lower end of the support rod.
Preferably, the moving device comprises a third baffle ring positioned at the lower part of the inner side of the rotating shell, a bearing is installed at the lower side of the third baffle ring, a bottom shell is arranged on the inner side of the bearing, a mounting plate is arranged on the upper part of the inner side of the bottom shell, a rotating motor is arranged in the middle of the lower side of the mounting plate, the output end of the rotating motor is fixedly connected with the rotating shell, the lower part of the outer side of the bottom shell is provided with a first baffle ring and a second baffle ring, the second retaining ring is positioned below the first retaining ring, the bearing is positioned between the third retaining ring and the first retaining ring, two rotating shafts are arranged at the lower part of the bottom shell in a penetrating way, rotating wheels are arranged at two ends of each rotating shaft, a worm wheel is arranged in the middle of any one rotating shaft, and a moving motor is installed at the lower part of the inner side of the bottom shell, and a worm meshed with the worm wheel is installed at the output end of the moving motor.
Preferably, elevating gear includes the lift shell fixed with rotatory shell, the last surface mounting of lift shell has first motor, the output of first motor is installed and is rotated the threaded rod of being connected with rotatory shell, the outside threaded connection of threaded rod has the screw thread slider, two guide bars that run through the screw thread slider are installed to the inboard of lift shell, the screw thread slider is connected with second motor and big arm.
Preferably, the executing part comprises a shell fixed with the connecting plate, a plurality of round holes are arranged at the upper part of one side of the shell, a plurality of crushing heads are arranged in the round holes, a movable plate is jointly installed at one end of each crushing head positioned in the shell, guide posts are symmetrically installed in the shell and penetrate through the movable plate, springs are sleeved at the outer sides of the guide posts and are abutted against the shell, a rectangular through hole is arranged at the upper part of one side of the shell, guide rails are symmetrically arranged in the shell, guide rail sliders are installed at the outer sides of the guide rails, a connecting rod is installed between the two guide rail sliders, a trapezoidal push block is installed at one side of the connecting rod by penetrating through the rectangular through hole, a reciprocating motor is installed at one side in the shell, a rotating shaft is installed at the output end of the reciprocating motor, and a cam and a cylindrical, the cam is abutted to the moving plate, and one side of the connecting rod is located in a groove of the cylindrical cam.
Preferably, the fixed plate is installed to the both sides of casing, the middle part threaded connection of fixed plate has the screw rod, the equal symmetry in both sides of casing rotates installs the swinging arms, the wheel is installed in the one end rotation of swinging arms, the mid-mounting of swinging arms installs the catch bar, two rotate between the catch bar and install the spiral shell piece, rotate between screw rod and the spiral shell piece and be connected.
Preferably, one end of the crushing head is of a conical structure.
The invention provides a wall surface cleaning robot for buildings, which has the beneficial effects that: the jacking device provided by the invention can quickly change the direction of the moving device to realize the movement in the direction of the robot, the crushing head on the executing part can knock and crush the wall surface, meanwhile, the trapezoidal push block can quickly push and move knocked residues out, the wheels are arranged at different positions to realize the treatment of different depths of the wall surface, the lifting device is arranged to meet the work of the robot in a wider range, the side wall can be cleaned only by tightening, and the top wall can also be cleaned.
Drawings
Fig. 1 is a schematic structural view of a wall cleaning robot for a building according to a perspective view of the invention;
FIG. 2 is a first perspective view of an actuator of the wall cleaning robot for construction according to the present invention;
FIG. 3 is a schematic structural view of a second perspective view of an actuator of the wall cleaning robot for construction according to the present invention;
FIG. 4 is a third perspective view schematically illustrating an actuator of the wall cleaning robot for construction according to the present invention;
FIG. 5 is a schematic structural view of a wall cleaning robot for construction according to the present invention;
fig. 6 is a schematic structural diagram of a part a of a wall cleaning robot for construction according to the present invention.
In the figure: a first motor 1, a threaded rod 2, a threaded slider 3, a lifting shell 4, a rotating shaft 6, a bottom shell 7, a rotating compression bar 8, a supporting block 9, a supporting rod 10, a rotating wheel 11, an electric telescopic rod 12, a rotating shell 13, a second motor 14, a big arm 15, a third motor 16, a guide rod 17, a fourth motor 18, a small arm 19, an executive component 20, a shell 201, a moving plate 202, a rotating shaft 203, a cam 204, a guide column 205, a guide rail 206 and a guide rail slider 207, the device comprises a connecting rod 208, a cylindrical cam 209, a reciprocating motor 2010, a rectangular through hole 2011, a fixing plate 2012, a screw rod 2013, a screw block 2014, a pushing rod 2015, a swinging rod 2016, a wheel 2017, a round hole 2018, a crushing head 2019, a trapezoidal push block 2020, a spring 2021, a rotating arm 21, a connecting plate 22, a moving motor 23, a rotating motor 24, a worm 25, a worm wheel 26, a mounting plate 27, a first retaining ring 28, a second retaining ring 29, a bearing 30 and a third retaining ring 31.
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.
Referring to fig. 1-6, a wall clearance robot for building, including rotatory shell 13, its characterized in that, jacking system is all installed to the both sides of rotatory shell 13, jacking system include with rotatory shell 13 pivoted rotation depression bar 8 and electric telescopic handle 12, and electric telescopic handle 12 is located the top of rotating depression bar 8, electric telescopic handle 12's output rotates with the middle part of rotating depression bar 8 and is connected, the lower extreme of rotating depression bar 8 rotates installs bracing piece 10, supporting shoe 9 is installed to the lower extreme of bracing piece 10, can conveniently change mobile device's direction, thereby realize the quick diversion of robot.
The lower part of the inner side of the rotating shell 13 is provided with a moving device, the moving device comprises a third retaining ring 31 positioned at the lower part of the inner side of the rotating shell 13, a bearing 30 is arranged at the lower side of the third retaining ring 31, the bottom shell 7 is arranged at the inner side of the bearing 30, a mounting plate 27 is arranged at the upper part of the inner side of the bottom shell 7, a rotating motor 24 is arranged at the middle part of the lower side of the mounting plate 27, the output end of the rotating motor 24 is fixedly connected with the rotating shell 13, a first retaining ring 28 and a second retaining ring 29 are arranged at the lower part of the outer side of the bottom shell 7, the second retaining ring 29 is positioned below the first retaining ring 28, the bearing 30 is positioned between the third retaining ring 31 and the first retaining ring 28, two rotating shafts 6 are arranged at the lower part of the bottom shell 7 in a penetrating way, rotating wheels 11 are arranged at two ends of the rotating shafts 6, a worm wheel 26 is, simple structure, convenient to use, the removal of the robot of being convenient for.
Last surface mounting of rotating housing 13 has elevating gear, elevating gear includes the lift shell 4 fixed with rotating housing 13, the last surface mounting of lift shell 4 has first motor 1, the output of first motor 1 is installed and is rotated threaded rod 2 of being connected with rotating housing 13, the outside threaded connection of threaded rod 2 has screw slider 3, two guide bars 17 that run through screw slider 3 are installed to the inboard of lift shell 4, screw slider 3 is connected with second motor 14 and big arm 15, the working range of robot can be enlarged, the practicality is better.
One side of the lifting device is rotatably provided with a large arm 15, one side of the lifting device is provided with a second motor 14 fixed with the large arm 15, one end of the large arm 15 is rotatably provided with a small arm 19, one end of the large arm 15 is provided with a third motor 16 fixed with the small arm 19 on the side, one end of the small arm 19 is rotatably provided with a rotating arm 21, the other end of the small arm 19 is provided with a fourth motor 18 fixed with the rotating arm 21, one end of the rotating arm 21 is fixedly provided with a connecting plate 22, one side of the connecting plate 22 is provided with an executive component 20, the executive component 20 comprises a shell 201 fixed with the connecting plate 22, two sides of the shell 201 are provided with fixing plates 2012, the middle parts of the fixing plates 2012 are in threaded connection with screw rods 2013, two sides of the shell 201 are symmetrically rotatably provided with swinging rods 2016, one end of each swinging rod 2016 is rotatably provided with a wheel 2017, the middle part of each swinging rod 2016, the screw rod 2013 is rotatably connected with the screw block 2014, so that the adjustment of wall surface treatment at different depths can be realized, and the requirements on the aspects of wall surface treatment in different depths are met.
A plurality of round holes 2018 are formed in the upper portion of one side of the shell 201, a plurality of crushing heads 2019 are mounted inside the round holes 2018, one end of each crushing head 2019 is of a conical structure, and working efficiency is greatly improved.
The movable plate 202 is installed together at one end of the crushing head 2019 located inside the shell 201, the guide posts 205 are installed symmetrically inside the shell 201, the guide posts 205 penetrate through the movable plate 202, the spring 2021 is sleeved outside the guide posts 205, the spring 2021 abuts against the shell 201, the rectangular through hole 2011 is formed in the upper portion of one side of the shell 201, the guide rails 206 are symmetrically arranged inside the shell 201, the guide rail sliders 207 are installed on the outer sides of the guide rails 206, the connecting rod 208 is installed between the two guide rail sliders 207, the trapezoidal push block 2020 is installed on one side of the connecting rod 208 through the rectangular through hole 2011, the reciprocating motor 2010 is installed on one side inside the shell 201, the rotating shaft 203 is installed at the output end of the reciprocating motor 2010, the cam 204 and the cylindrical cam 209 are installed on the outer side of the rotating shaft 203, the cam 204 abuts against the movable plate 202, one side, and impurities on the wall surface are removed.
The working principle is as follows: when the robot is used, the electric telescopic rod 12 is started, the electric telescopic rod 12 drives the rotating pressure rod 8, the rotating pressure rod 8 drives the supporting block 9 and the supporting rod 10, the supporting block 9 is in contact with the ground, the rotating motor 24 is started, the rotating motor 24 can drive the bottom shell 7 to rotate, the moving motor 23 is started, the moving motor 23 drives the worm 25, the worm 25 drives the worm wheel 26, the worm wheel 26 drives the rotating shaft 6 and the rotating wheel 11, the robot can rapidly change and move in different directions, the first motor 1 is started, the first motor 1 drives the threaded rod 2 to rotate, the threaded rod 2 drives the threaded slider 3 to move, the second motor 14 is arranged to drive the large arm 15 to rotate, the third motor 16 drives the small arm 19 to rotate, the fourth motor 18 drives the rotating arm 21, the connecting plate 21 drives the connecting plate 22, the connecting plate 22 drives the executing part 20, the executing part 20 is moved to, the reciprocating motor 2010 that is equipped with drives the pivot 203 and rotates, pivot 203 drives cam 204 and cylinder cam 209 and rotates, cylinder cam 209 drives connecting rod 208 reciprocating motion, thereby realize the reciprocating motion of trapezoidal ejector pad 2020, cam 204 drives movable plate 202, simultaneously under the effect of spring 2021, reciprocating motion is realized to movable plate 202, movable plate 202 drives crushing head 2019 reciprocating motion, realize the clearance to the strike of wall and broken back impurity, it rotates to be equipped with screw rod 2013, screw rod 2013 drives the spiral shell 2014 and removes, spiral shell 2014 passes through catch 2015, swinging arms 2016 drives the change of wheel 2017 position, wheel 2017 and wall contact, consequently, the distance of crushing head 2019 and wall changes, thereby realize the processing of crushing head 2019 to the different degree of depth of wall.
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 (7)
1. The utility model provides a wall clearance robot for building, includes rotatory shell (13), its characterized in that, the jack-up device is all installed to the both sides of rotatory shell (13), the mobile device is installed to the inboard lower part of rotatory shell (13), the last surface mounting of rotatory shell (13) has elevating gear, one side of elevating gear is rotated and is installed big arm (15), second motor (14) fixed with big arm (15) are installed to one side of elevating gear, the one end of big arm (15) is rotated and is installed forearm (19), the third motor (16) fixed with forearm (19) are installed to the one end lateral part of big arm (15), the one end of forearm (19) is rotated and is installed swinging boom (21), the other end of forearm (19) is installed and is rotated fourth motor (18) fixed with swinging boom (21), the one end fixed mounting of swinging boom (21) has connecting plate (22), an actuating piece (20) is arranged on one side of the connecting plate (22).
2. A wall surface cleaning robot for building according to claim 1, characterized in that the jacking device comprises a rotary pressure rod (8) and an electric telescopic rod (12) which rotate with the rotary shell (13), the electric telescopic rod (12) is positioned above the rotary pressure rod (8), the output end of the electric telescopic rod (12) is rotatably connected with the middle part of the rotary pressure rod (8), the lower end of the rotary pressure rod (8) is rotatably provided with a support rod (10), and the lower end of the support rod (10) is provided with a support block (9).
3. The wall surface cleaning robot for the building is characterized in that the moving device comprises a third retaining ring (31) positioned at the lower part of the inner side of the rotating shell (13), a bearing (30) is installed at the lower side of the third retaining ring (31), a bottom shell (7) is installed at the inner side of the bearing (30), a mounting plate (27) is installed at the upper part of the inner side of the bottom shell (7), a rotating motor (24) is installed at the middle part of the lower side of the mounting plate (27), the output end of the rotating motor (24) is fixedly connected with the rotating shell (13), a first retaining ring (28) and a second retaining ring (29) are installed at the lower part of the outer side of the bottom shell (7), the second retaining ring (29) is positioned below the first retaining ring (28), the bearing (30) is positioned between the third retaining ring (31) and the first retaining ring (28), and two rotating shafts (6) are installed at the lower part of the bottom shell (7) in a penetrating manner, the two ends of the rotating shaft (6) are provided with rotating wheels (11), any one of the rotating wheels is provided with a worm wheel (26), the lower part of the inner side of the bottom shell (7) is provided with a moving motor (23), and the output end of the moving motor (23) is provided with a worm (25) meshed with the worm wheel (26).
4. The wall surface cleaning robot for the building is characterized in that the lifting device comprises a lifting shell (4) fixed with a rotating shell (13), a first motor (1) is mounted on the upper surface of the lifting shell (4), a threaded rod (2) rotatably connected with the rotating shell (13) is mounted at the output end of the first motor (1), a threaded slider (3) is connected to the outer side of the threaded rod (2) in a threaded manner, two guide rods (17) penetrating through the threaded slider (3) are mounted on the inner side of the lifting shell (4), and the threaded slider (3) is connected with a second motor (14) and a large arm (15).
5. The wall cleaning robot for the building as recited in claim 1, wherein the actuating member (20) comprises a housing (201) fixed to a connecting plate (22), a plurality of round holes (2018) are formed in an upper portion of one side of the housing (201), a plurality of crushing heads (2019) are installed inside the round holes (2018), a moving plate (202) is installed at one end of each crushing head (2019) located inside the housing (201), guide columns (205) are symmetrically installed inside the housing (201), the guide columns (205) penetrate through the moving plate (202), springs (2021) are sleeved outside the guide columns (205), the springs (2021) abut against the housing (201), rectangular through holes (2011) are formed in an upper portion of one side of the housing (201), guide rails (206) are symmetrically installed inside the housing (201), and guide rail sliders (207) are installed outside the guide rails (206), two install connecting rod (208) between guide rail slider (207), one side of connecting rod (208) is run through rectangle through-hole (2011) and is installed trapezoidal ejector pad (2020), reciprocating motor (2010) are installed to inside one side of casing (201), pivot (203) are installed to the output of reciprocating motor (2010), cam (204) and cylinder cam (209) are installed in the outside of pivot (203), cam (204) are contradicted with movable plate (202), one side of connecting rod (208) is located the recess of cylinder cam (209).
6. The wall surface cleaning robot for the building is characterized in that fixing plates (2012) are installed on two sides of a shell (201), a screw rod (2013) is connected to the middle of each fixing plate (2012) through threads, swing rods (2016) are installed on two sides of the shell (201) in a symmetrical and rotating mode, wheels (2017) are installed on one ends of the swing rods (2016) in a rotating mode, push rods (2015) are installed on the middle of the swing rods (2016) in a rotating mode, screw blocks (2014) are installed between the two push rods (2015) in a rotating mode, and the screw rod (2013) is connected with the screw blocks (2014) in a rotating mode.
7. A wall clearing robot for building according to claim 5 characterized in that one end of said crushing head (2019) is cone shaped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110453471.8A CN113090054A (en) | 2021-04-26 | 2021-04-26 | Wall cleaning robot for building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110453471.8A CN113090054A (en) | 2021-04-26 | 2021-04-26 | Wall cleaning robot for building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113090054A true CN113090054A (en) | 2021-07-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110453471.8A Pending CN113090054A (en) | 2021-04-26 | 2021-04-26 | Wall cleaning robot for building |
Country Status (1)
| Country | Link |
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| CN (1) | CN113090054A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114109063A (en) * | 2021-12-17 | 2022-03-01 | 马鞍山南马智能制造研究所有限公司 | Robot end device for cleaning wall surface |
| CN115182356A (en) * | 2022-06-30 | 2022-10-14 | 上安实业江苏有限公司 | Foundation pit supporting and protecting device |
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| CN104723190A (en) * | 2015-03-19 | 2015-06-24 | 沈金才 | Wall face and ceiling polishing machine |
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| CN111716179A (en) * | 2020-06-18 | 2020-09-29 | 上海机器人产业技术研究院有限公司 | Intelligence polishing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08312162A (en) * | 1995-05-17 | 1996-11-26 | Tagawa Kogyo Kk | Method of structure overhauling construction |
| US9689170B1 (en) * | 2004-11-05 | 2017-06-27 | Pachanga Holdings, Llc | Method for cleaning surfaces |
| CN104723190A (en) * | 2015-03-19 | 2015-06-24 | 沈金才 | Wall face and ceiling polishing machine |
| CN106737560A (en) * | 2017-03-13 | 2017-05-31 | 蒋学凯 | Building decoration intelligent robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114109063A (en) * | 2021-12-17 | 2022-03-01 | 马鞍山南马智能制造研究所有限公司 | Robot end device for cleaning wall surface |
| CN115182356A (en) * | 2022-06-30 | 2022-10-14 | 上安实业江苏有限公司 | Foundation pit supporting and protecting device |
| CN115182356B (en) * | 2022-06-30 | 2024-01-26 | 上安实业江苏有限公司 | Foundation pit supporting and protecting device |
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Application publication date: 20210709 |
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| RJ01 | Rejection of invention patent application after publication |