CN1277662C - Double sucker negative adsorption unit with obstacle crossing function - Google Patents
Double sucker negative adsorption unit with obstacle crossing function Download PDFInfo
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- CN1277662C CN1277662C CN 200410025218 CN200410025218A CN1277662C CN 1277662 C CN1277662 C CN 1277662C CN 200410025218 CN200410025218 CN 200410025218 CN 200410025218 A CN200410025218 A CN 200410025218A CN 1277662 C CN1277662 C CN 1277662C
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Abstract
The present invention relates to a double-sucker negative pressure adsorbing unit having the obstacle surmounting function used for a wall surface washing robot, and ventilation guiding mechanisms are arranged at the four corners of an H-shaped negative pressure generating chamber. Two cuboidal suckers with a single side opening are vertically and symmetrically arranged at both ends of the negative pressure generating chamber, and the hermetization of the circumference of each sucker is realized; four following rollers are arranged on each sucker, and a sliding pair is composed of a guide cylinder in each sucker and cylinder sleeves at the four corners of the H-shaped negative pressure generating chamber; the gas path communication between each sucker and the negative pressure generating chamber is realized by the guide cylinder, and two brake pads driven by an air cylinder are respectively arranged in each sucker so as to control the on-off of the sucker and the negative pressure generating chamber. The negative pressure of the adsorbing unit is changed by adjusting the rotary speed of a blower, and the adsorbing unit can downwards slide along a curtain wall under the condition of reliable adsorption; obstacle detecting sensors which are vertical to a wall surface and are arranged at both sides of the two suckers are used for detecting obstacles, and the protrusion and the retraction of each sucker is driven by the air cylinder so as to cross the obstacles. The negative pressure adsorbing unit can not only reliably adsorb, but also rapidly cross the obstacles, and the present invention has the advantages of convenient manufacture and low cost.
Description
Technical field
The present invention relates to a kind of double suction dish negative-pressure adsorption unit, be used for the high building wall surface cleaning robot, belong to field of special robots with obstacle detouring function.
Background technology
Climbing robot is to be adsorbed in vertical or inclined wall, and can carry out a class specialized robot of certain function.Absorbing unit is a very important part of climbing robot, and it provides absorption affinity for robot, and climbing robot can be adsorbed on the wall reliably.The quality of absorbing unit directly has influence on machine human efficiency, performance and wall adaptability etc.Therefore, absorbing unit reasonable in design is a key technology in the climbing robot design.
The high building wall surface cleaning robot is a kind of of climbing robot, operates mainly on the glass or ceramic tile curtain wall of high-rise building, and it has some different requirements again to absorbing unit.Since the non-magnetic conduction of work wall, thus can not be attached with magnetic, often adopt the negative-pressure adsorption mode.Again because glass and ceramic tile wall have window frame unavoidably, so usually require absorbing unit will have the ability of barriers such as higher leap window frame.
In the prior art, the absorbing unit of high building wall surface cleaning robot mainly contains two big classes, and a class is the single sucking disc negative-pressure adsorption unit, and another kind of is polypody multi-sucker negative-pressure adsorption unit.The negative-pressure adsorption unit of a kind of wall surface cleaning robot of Lanxing Harbin Polytechnical Uinv. Robot Tech. Co., Ltd., Beijing's development (patent No.: ZL01202018.4) adopt the single sucking disc negative-pressure adsorption unit, sucker is a lid of last face closure, the sucker periphery of lid is provided with a circle air bag, one cavity is arranged in the middle of air bag and the lid, blower fan is contained on the lid, drives running gear and is arranged in the sucker.This absorbing unit cost simple in structure is low, can realize the fast moving of wall surface cleaning robot, and cleaning efficiency is higher, but can't cross over obstacles such as instrument bezel, and ring wear is serious.(patent No.: ZL00201085.2) adopt polypody multi-sucker negative-pressure adsorption unit, main body is a crossing skeleton, and head respectively has one group of small sucker in a kind of wiping robot of BJ University of Aeronautics ﹠ Astronautics development.X to Y to an air cylinder driven is arranged respectively, each is stretched out every group of sucker by an air cylinder driven and withdraws, itself does not have depression generator absorbing unit.This absorbing unit has certain adaptability to obstacles such as window frames, but the slow efficient of translational speed is low, and complex structure cost height.
Prior art is all less than reliable absorption, fast moving and the leaping over obstacles of effectively realizing cleaning robot.It is artificial to make city high rise building outside wall surface washing and cleaning operation still depends at present, and automation is far from realizing.Therefore, how developing a kind of absorbing unit, can reliably adsorb and leaping over obstacles fast, is the key point of problem.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, design a kind of double suction dish negative-pressure adsorption unit that is used for the high building wall surface cleaning robot, make robot can reliably be adsorbed in wall, can realize quick leaping over obstacles easily again with obstacle detouring function.
For realizing such purpose, the double suction dish negative-pressure adsorption unit of the present invention's design comprises that negative pressure part, double suction disc portion takes place, be communicated with targeting part and survey barrier obstacle detouring part.H shape negative pressure generation chamber is installed the ventilation guiding mechanism for four jiaos, the rectangular sucking of two single face openings is symmetrically arranged in the two ends of negative pressure generation chamber up and down, realize sealing around the sucker, four follower rollers are arranged on each sucker, guide cylinder in the sucker and the jacket casing in four angles of H shape negative pressure generation chamber are formed sliding pair, sucker realizes that by guide cylinder gas circuit is communicated with the negative pressure generation chamber, respectively there are two brake linings by air cylinder driven sucker inside, break-make with control sucker and negative pressure generation chamber, regulate rotation speed of fan to change the absorbing unit negative pressure, realize that absorbing unit can glide along curtain wall under the situation of reliable absorption, the survey barrier sensor that is installed in two sucker both sides perpendicular to wall is used to detect obstacle, stretches out and withdraw with the realization leaping over obstacles by the air cylinder driven sucker.
Concrete structure of the present invention is: a kind of double suction dish negative-pressure adsorption unit with obstacle detouring function that is used for the high building wall surface cleaning robot comprises that negative pressure part, double suction disc portion takes place, be communicated with targeting part and survey barrier obstacle detouring part.The negative pressure generation chamber is made H shape, and the ventilation guiding mechanisms are installed at four angles, above the room two typhoon machines are installed, below the room place the water tank that cleans usefulness.Two suckers are symmetrically arranged in the two ends of negative pressure generation chamber up and down, and the double suction dish is the cuboid of single face opening, and the sealing ring with the rubber material around the sucker opening surface is realized sealing.Two follower rollers are respectively installed in the two sides of each sucker.Being communicated with targeting part mainly is made up of ventilation guiding mechanism and brake lining mechanism.Ventilation two of guiding mechanism down ventilation guide cylinder and two go up the ventilation guide cylinder respectively correspondence be fixed on down in sucker and the last sucker, four ventilation guide cylinders all with separately jacket casing composition sliding pair, four jacket casings are installed in four angles of H shape negative pressure generation chamber.Sucker is realized being communicated with of gas circuit with H shape negative pressure generation chamber by the full communication between the higher and lower levels guide cylinder up and down.Brake lining mechanism is made up of lower brake pad, upper brake pad and lower brake pad guide rail, upper brake pad guide rail, and correspondence is installed in two suckers respectively, and each brake lining drives cylinder control by a brake lining respectively and opens and closes.Surveying barrier obstacle detouring part surveys barrier sensor, two down by two and goes up and survey barrier sensor and two following suckers and drive cylinder, two and go up sucker and drive cylinder and form.Upper and lower survey barrier sensor is installed in the corresponding both sides of two suckers up and down perpendicular to wall.Upper and lower sucker drives cylinder block and is installed in H shape negative pressure generation chamber both sides, and cylinder piston rod is fixed on two sucker backs, stretches out and withdraws to drive two suckers.Two suspension ring are installed in H shape negative pressure generation chamber both sides, are used for lifting.The room is used to install wiper mechanism between two suckers.
During work, fan starting makes the negative pressure generation chamber produce negative pressure, produces in the negative pressure generation chamber after enough negative pressure, and sucker driving cylinder moves simultaneously up and down, and making up and down, sucker stretches out.After sucker stretches out, the sealing ring of rubber material contact wall.Then, last lower brake pad drives cylinder and moves simultaneously, and the last lower brake pad in two suckers is opened, and two suckers are communicated with H shape negative pressure generation chamber by the full communication between the higher and lower levels guide cylinder.Sucker produces absorption affinity, and robot is adsorbed on the wall.Under the self gravitation effect, robot glides along wall.After running into horizontal frame obstacle, following survey barrier sensor detects obstacle earlier, and lower brake pad drives the air cylinder driven lower brake pad and closes down the ventilation guide cylinder, and the sucker withdrawal is to avoid obstacle, through after a while, after following sucker strides across obstacle fully under the following sucker driving air cylinder driven.Following sucker drives that sucker stretches out under the air cylinder driven, and lower brake pad drives the air cylinder driven lower brake pad and opens down the ventilation guide cylinder, makes down sucker and the conducting of negative pressure generation chamber, generation negative pressure in the sucker, following sucker generation absorption affinity, this at present sucker finish obstacle detouring and move.Robot continues to move down, and after last survey barrier sensor detected obstacle, last sucker and upper brake pad were carried out same operation, also finish the obstacle detouring action until last sucker, and whole obstacle detouring process is finished.
The present invention had both had that the single sucking disc negative-pressure adsorption mechanism absorption affinity is big, the advantage of adsorption reliability, flexible, the adaptable advantage of multi-sucker negative-pressure adsorption mechanism obstacle detouring is arranged again, and it is easily manufactured, with low cost, control is reliable, effectively overcome the contradiction between reliable absorption of wall surface cleaning robot and the fast obstacle, solved a key technology in the wall surface cleaning robot design, provided powerful support for for the automation of city high rise building wall washing and cleaning operation provides.
Description of drawings
Fig. 1 is the three-dimensional structure schematic diagram (front) of absorbing unit of the present invention.
Fig. 2 is the three-dimensional structure schematic diagram (back side) of absorbing unit of the present invention.
In Fig. 1, Fig. 2:
1: following sucker, 2: lower seal, 3: lower brake pad drives cylinder, 4: lower brake pad, 5: lower brake pad guide rail, 6: the guide cylinder of ventilating down, 7: following sucker roller, 8: survey the barrier sensor down, 9: go up sucker, 10: go up sealing ring, 11: upper brake pad drives cylinder, 12: upper brake pad, 13: the upper brake pad guide rail, 14: on the guide cylinder of ventilating, 15: go up and survey the barrier sensor, 16: go up the sucker roller, 17: suspension ring, 18:H shape negative pressure generation chamber, 19: blower fan, 20: go up sucker and drive cylinder, 21: following sucker drives cylinder.
Fig. 3 is the schematic diagram of gas circuit of absorbing unit of the present invention.
In Fig. 3:
22: source of the gas, 23: gate valve, 24: air cleaner, 25: pressure-reducing valve, 26: separator, 27: muffler, 28: magnetic valve one, 29: magnetic valve two, 30: magnetic valve three, 31: magnetic valve four, 32: one-way throttle valve.
The specific embodiment
Further specify concrete structure of the present invention and embodiment below in conjunction with accompanying drawing.
The double suction dish negative-pressure adsorption cellular construction with obstacle detouring function of the present invention's design comprises that mainly negative pressure part, double suction disc portion takes place, be communicated with targeting part and survey barrier obstacle detouring part as shown in Figures 1 and 2.Part takes place and is made up of H shape negative pressure generation chamber 18 and two typhoon machines 19 in negative pressure.Negative pressure generation chamber 18 is made H shape, and the ventilation guiding mechanisms are installed at four angles, above the room two typhoon machines 19 are installed, below the room place the water tank that cleans usefulness.Sucker 1 was symmetrically arranged in the two ends of negative pressure generation chamber 18 under last sucker 9 reached, and two suckers are the cuboid of 800 * 200 * 100 millimeters single face openings of size, used the sealing ring 10,2 of rubber material to realize sealing around the upper and lower sucker opening surface respectively.Two follower rollers 7,16 are respectively installed in two sides of each sucker.Being communicated with targeting part mainly is made up of ventilation guiding mechanism and brake lining mechanism.Ventilation two of guiding mechanism down ventilation guide cylinder 6 and two go up ventilation guide cylinder 14 respectively correspondence be fixed on down in sucker 1 and the last sucker 9, four ventilation guide cylinders are all formed sliding pair with jacket casing separately, and four jacket casings are installed in four angles of H shape negative pressure generation chamber.Sucker is realized being communicated with of gas circuit with H shape negative pressure generation chamber 18 by the full communication between the higher and lower levels guide cylinder up and down simultaneously.Brake lining mechanism is made up of lower brake pad 4, upper brake pad 12 and lower brake pad guide rail 5, upper brake pad guide rail 13, and correspondence is installed in two suckers respectively, and lower brake pad 4, upper brake pad 12 drive cylinder 11 controls by lower brake pad driving cylinder 3, upper brake pad respectively and open or close.Surveying barrier obstacle detouring part surveys barrier sensor 8, two down by two and goes up and survey barrier sensor 15 and two following suckers and drive cylinder 21, two and go up sucker and drive cylinder 20 and form.Upper and lower survey barrier sensor is installed in the corresponding both sides of two suckers up and down perpendicular to wall.Upper and lower sucker drives cylinder block and is installed in H shape negative pressure generation chamber 18 both sides, and cylinder piston rod is fixed on two sucker backs, stretches out and withdraws to drive two suckers.Two suspension ring 17 are installed in H shape negative pressure generation chamber both sides, are used for lifting.The room is used to install wiper mechanism between two suckers.
Fig. 3 is the schematic diagram of gas circuit of absorbing unit of the present invention.Each pneumatic element connects by the tracheae of φ 6, the air inlet of gate valve 23 connects source of the gas, the gas outlet connects air cleaner 24, air cleaner 24 connects oil mist separator 26, four magnetic valves 28,29,30,31 of the parallel connection in oil mist separator 26 gas outlets, each is connected each magnetic valve with the driving cylinder through two one-way throttle valves 32.Magnetic valve 1 drives cylinder 21 through one-way throttle valve and following sucker and is connected, magnetic valve 2 29 drives cylinder 20 through one-way throttle valve and last sucker and is connected, magnetic valve 3 30 drives cylinder 3 through one-way throttle valve and lower brake pad and is connected, and magnetic valve 4 31 drives cylinder 11 through one-way throttle valve and upper brake pad and is connected.Compressed air comes out from gate valve 23, carries out entering four magnetic valves respectively after source of the gas handles through air cleaner 24, pressure-reducing valve 25 and oil mist separator 26, flows into the respective drive cylinder through one-way throttle valve separately then.Magnetic valve 1 control suckers down drives cylinder 21 to realize down stretching out and withdrawing of sucker.Magnetic valve 2 29 control is gone up sucker and is driven cylinder 20 to realize stretching out and withdrawing of sucker.Magnetic valve 3 30 control lower brake pads drive cylinder 3 to realize the opening and closing of lower brake pad.Magnetic valve 4 31 control upper brake pads drive cylinder 11 to realize the opening and closing of upper brake pad.
Survey barrier sensor of the present invention can adopt reflection-type cylinder photoelectric sensor, and effectively detecting distance is 200 millimeters.
The course of work of absorbing unit of the present invention is as follows:
Entire mechanism is drawn by hoisting system, makes adsorbent equipment be parallel to vertical walls, and two suckers of original state are in retracted position, and brake lining is closed the ventilation guide cylinder.When starting working, blower fan 19 starts, and begins to produce negative pressure in the negative pressure generation chamber.Through after a while (about about 10s), produce in the negative pressure generation chamber after enough negative pressure, following sucker drives cylinder 21 and last sucker driving cylinder 20 moves simultaneously, and sucker 1 and last sucker 9 are stretched out.The cylinder stroke is 75mm, after sucker stretches out, and the sealing strip of rubber material contact wall.Then, lower brake pad drives cylinder 3 and upper brake pad driving cylinder 11 moves simultaneously, and lower brake pad 4 and upper brake pad 12 in two suckers are opened, and two suckers are by ventilation guide cylinder 6 and last ventilation guide cylinder 14 are communicated with H shape negative pressure generation chamber 18 down.Because negative pressure generation chamber volumetric ratio sucker volume is much bigger, thus sucker with after the negative pressure generation chamber is communicated with, the instantaneous system negative pressure can not reduce a lot, sucker produces absorption affinity immediately, and robot is adsorbed on the wall.
Sucker is adsorbed in after the wall, and hoisting system begins to transfer robot with constant speed, and under the self gravitation effect, robot is implemented in uniform motion straight down on the wall by being installed in eight supporting rollers on the sucker.After running into horizontal frame obstacle, following survey barrier sensor 8 detects obstacle earlier, master controller is carried out the obstacle detouring program: lower brake pad drives cylinder 3 driving lower brake pads 4 and closes down ventilation guide cylinder 6, following sucker drives cylinder 21 and drives sucker 1 withdrawal down to avoid obstacle, through after a while, after following sucker 1 strides across obstacle fully.Sucker 1 stretched out under following sucker driving cylinder 21 drove, and lower brake pad drives cylinder 3 driving lower brake pads 4 and opens down the guide cylinder 6 of ventilating, and makes down sucker 1 and 18 conductings of negative pressure generation chamber, the interior negative pressure that produces of sucker, following sucker 1 generation absorption affinity.Robot continues to move down, last survey hinders sensor 15 and detects obstacle, and upper brake pad driving cylinder 11 drives upper brake pads 12 passes and closes ventilation guide cylinder 14, and 20 drivings of last sucker driving cylinder are gone up sucker 9 and withdrawn to avoid obstacle, through after a while, after last sucker 9 strides across obstacle fully.20 drivings of last sucker driving cylinder are gone up sucker 9 and are stretched out, and upper brake pad drives cylinder 11 driving upper brake pads 12 and opens the guide cylinder 14 of ventilating, and makes sucker 9 and 18 conductings of negative pressure generation chamber, produces negative pressure in the sucker, last sucker 9 generation absorption affinities.So far, whole obstacle detouring process is finished.
The theoretical analysis and actual tests, absorbing unit of the present invention can be crossed over high 50 millimeters, wide 50～70 millimeters horizontal frame obstacle.
Claims (2)
1, a kind of double suction dish negative-pressure adsorption unit with obstacle detouring function, comprise that negative pressure part, double suction disc portion takes place, be communicated with targeting part and survey barrier obstacle detouring part, it is characterized in that negative pressure part takes place is made up of H shape negative pressure generation chamber (18) and two typhoon machines (19), the ventilation guiding mechanism is installed at four angles of H shape negative pressure generation chamber (18), two typhoon machines (19) are installed in the top room of described H shape negative pressure generation chamber (18), and the water tank that cleans usefulness is placed in the following room of described H shape negative pressure generation chamber (18); Sucker (1) was symmetrically arranged in the two ends of H shape negative pressure generation chamber (18) under last sucker (9) reached, described upward sucker (9) and following sucker (1) are the cuboid of single face opening, realize sealing with the sealing ring of rubber material respectively around the opening surface of each sucker, two follower rollers are respectively installed in the two sides of each sucker; Being communicated with targeting part is made up of ventilation guiding mechanism and brake lining mechanism, ventilation two of guiding mechanism down ventilation guide cylinder (6) and two go up ventilate guide cylinder (14) respectively correspondence be fixed on down in sucker (1) and the last sucker (9), four ventilation guide cylinders are all formed sliding pair with jacket casing separately, four jacket casings are installed in four angles of H shape negative pressure generation chamber (18), and described upper and lower sucker is realized being communicated with of gas circuit with H shape negative pressure generation chamber (18) by described upper and lower ventilation guide cylinder; Brake lining mechanism is made up of lower brake pad (4), upper brake pad (12) and lower brake pad guide rail (5), upper brake pad guide rail (13), correspondence is installed in two suckers respectively, and lower brake pad (4), upper brake pad (12) are driven cylinder (11) control and opened or closed by lower brake pad driving cylinder (3), upper brake pad respectively; Surveying barrier obstacle detouring part surveys barrier sensor (8), two down by two and goes up and survey barrier sensor (15) and two following suckers and drive cylinder (21), two and go up sucker and drive cylinder (20) and form, upper and lower survey barrier sensor is installed in corresponding described upper and lower sucker both sides perpendicular to wall, upper and lower sucker drives cylinder block and is installed in H shape negative pressure generation chamber (18) both sides, cylinder piston rod is fixed on two sucker backs, stretches out and withdraws to drive two suckers.
2, the double suction dish negative-pressure adsorption unit with obstacle detouring function as claimed in claim 1 is characterized in that described survey barrier sensor adopts reflection-type cylinder photoelectric sensor, and effectively detecting distance is 200 millimeters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410025218 CN1277662C (en) | 2004-06-17 | 2004-06-17 | Double sucker negative adsorption unit with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410025218 CN1277662C (en) | 2004-06-17 | 2004-06-17 | Double sucker negative adsorption unit with obstacle crossing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1594006A CN1594006A (en) | 2005-03-16 |
| CN1277662C true CN1277662C (en) | 2006-10-04 |
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ID=34663609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410025218 Expired - Fee Related CN1277662C (en) | 2004-06-17 | 2004-06-17 | Double sucker negative adsorption unit with obstacle crossing function |
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| Country | Link |
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| CN (1) | CN1277662C (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100382933C (en) * | 2006-06-22 | 2008-04-23 | 上海交通大学 | Wheel leg traction type flat curtain cleaning robot |
| CN104887145A (en) * | 2015-03-04 | 2015-09-09 | 哈尔滨理工大学 | Novel glass and car wiping domestic robot |
| CN106267641A (en) * | 2015-06-03 | 2017-01-04 | 齐鲁工业大学 | Wall fire fighting truck climbed by adsorption-type high building |
| CN106049272B (en) * | 2016-07-29 | 2017-12-29 | 温岭市创嘉信息科技有限公司 | A kind of negative pressure adsorption equipment for detecting robot |
| CN106264308A (en) * | 2016-09-08 | 2017-01-04 | 肇庆市小凡人科技有限公司 | A kind of collapsible climbing device of glass curtain wall clean robot |
| CN106388726A (en) * | 2016-12-01 | 2017-02-15 | 郑州游爱网络技术有限公司 | Vertical wall face cleaning device |
| CN107149443B (en) * | 2017-06-29 | 2023-12-26 | 厦门华蔚物联网科技有限公司 | Sliding sucking disc capable of passing over ridge and curtain wall cleaning robot using same |
| CN110308725B (en) * | 2019-07-04 | 2022-07-12 | 广东电网有限责任公司 | GIS maintenance robot and adsorption force control method and related device thereof |
-
2004
- 2004-06-17 CN CN 200410025218 patent/CN1277662C/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN1594006A (en) | 2005-03-16 |
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Granted publication date: 20061004 |