CN203711415U - Adsorption movable wall-climbing bi-directional cleaning robot - Google Patents
Adsorption movable wall-climbing bi-directional cleaning robot Download PDFInfo
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- CN203711415U CN203711415U CN201320885854.3U CN201320885854U CN203711415U CN 203711415 U CN203711415 U CN 203711415U CN 201320885854 U CN201320885854 U CN 201320885854U CN 203711415 U CN203711415 U CN 203711415U
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Abstract
The utility model discloses an adsorption movable wall-climbing bi-directional cleaning robot, and belongs to the technical field of cleaning and spraying robots. The adsorption movable wall-climbing bi-directional cleaning robot comprises a main body driving part, a turning part, an adsorption part, a cleaning part, a water circulation part and a pressure application part. The adsorption movable wall-climbing bi-directional cleaning robot has the advantages that a movable framework is provided and can adjust the direction and change routes conveniently; the main body adopts a framework structure, has space expansibility and can carry various instruments; the robot has a bidirectional cleaning mode, so that work efficiency is largely improved; a water circulation processing system is provided, loss of working water is lowered, and the utilization rate of the working water is improved; the robot is convenient to use, simple in structure, stable and reliable in operation and convenient to popularize and apply.
Description
Technical field
The utility model relates to cleaning, spray robot technical field, and specifically a kind of absorption movable type is climbed the two-way clean robot of wall.
Background technology
Along with the continuous quickening of urbanization process in recent years, skyscraper increases increasingly, but efficient, safe high building glass curtain wall or the ceramic tile metope cleaning operation of carrying out how brought into schedule by people gradually.The clean of high-building glass wall curtain is an operation having a large capacity and a wide range, and substantially also rests at present the stage of manual cleaning both at home and abroad.Not only inefficiency of this cleaning mode, and there is potential safety hazard.Although also there are some wall-climbing cleaning robots, mostly because bulky, high in cost of production element and cannot promoting the use of.
Utility model content
For solving the problems of the technologies described above, the utility model provides a kind of absorption movable type to climb the two-way clean robot of wall.
The utility model is achieved through the following technical solutions: a kind of absorption movable type is climbed the two-way clean robot of wall, comprises drive unit and is connected to the cleaning device on drive unit;
Described drive unit comprises framework and pin dish; Be fixed with sucker group I in the bottom surface of described framework, on framework, be fixed with vacuum air pump I and the magnetic valve I of controlling sucker group I, an each slide plate and tooth bar of being longitudinally fixed with also on the centre position at framework two ends; On described slide plate, be respectively provided with a slip support coordinating with slide plate; Under described slip support, offer the chute coordinating with slide plate, on slip support, be fixed with synchronous motor; Described synchronous motor is connected with the travelling gear engaging with tooth bar;
Between two described slip supports, be also horizontally connected with drive screw; Described drive screw is connected between two slip supports by axle bed, and its one end is connected with drive motors, on drive screw, coordinates transmission nut is installed; Under described transmission nut, be fixed with pin dish; Under described pin dish, be fixed with sucker group II, on pin dish, be fixed with vacuum air pump II and the electromagnetic valve II of controlling sucker group II;
Described cleaning device comprises side link, support, water tank, round brush and device for exerting; Described support is fixedly connected with framework by side link; Described water tank is fixed on support, and water outlet of water tank is connected with water pump; Described round brush is fixed on support, and round brush rotating shaft is connected with high-speed electric expreess locomotive, and round brush top is provided with washes away that nozzle, left side are provided with nozzle I, right side is provided with nozzle II; The support in described nozzle I left side is provided with unidirectional scraper plate; The support on described nozzle II right side is provided with V-type scraper plate; The V-type opening of described V-type scraper plate is positioned at water tank opening;
Described device for exerting comprises the pull bar being vertically fixed on support; On described pull bar, cover has guide pin bushing; On described guide pin bushing, be wound with spring; Support is withstood in described spring lower end, upper end is pressed with depression bar; Described depression bar is arranged on pull bar by adjusting nut, and depression bar one end is fixed on framework.
It is further: in described water tank, be provided with filter screen, water tank one side is fixed with reserve tank.
Described nozzle I is the cylinder that is fixed on one end sealing on support, and drum surface offers hole for water spraying, and nozzle I is connected to water pump; Described to wash away nozzle arrangements identical with nozzle I, and it is fixed on support and one end is connected to water pump; Described nozzle II structure is identical with nozzle I, and it is fixed on support and one end is connected to water pump.
The utility model is mainly made up of main body drive part, break-in part, absorbed portion, cleaning part, water circulation part, the part of exerting pressure.Wherein, main body drive part is made up of framework, slide plate, slip support, drive motors, drive screw, transmission nut, chute, axle bed.The function of this part is to realize lasting mobile effect on whole device busy face.Break-in part is by tooth bar, travelling gear, and synchronous motor forms.The function of this part realizes flexible break-in, easily effect of obstacle detouring.Absorbed portion is made up of sucker group I, electromagnetic valve I, vavuum pump I, framework, sucker group II, electromagnetic valve II, vavuum pump II, pin dish.The function of this part is the effect that realizes stable absorption and in good time pine dish, ensures whole device safety moving on vertical operation face.Cleaning part by side link, support, nozzle I, wash away nozzle, nozzle II, water pump, high-speed electric expreess locomotive, round brush and form.The function of this part is to realize the function of efficient rapid decontamination.Water circulation part is made up of unidirectional scraper plate, V-type scraper plate, water tank, filter screen, reserve tank.The function of this part is to realize recycling of work water, strengthens the practicality of cleaning device, the effect of increasing work efficiency.The part of exerting pressure is made up of pull bar, adjusting nut, depression bar, spring, guide pin bushing.The function of this part is to realize guarantee cleaning device normally to work, effect of timely adjustment normal pressure.
The beneficial effects of the utility model are:
(1) there is movable framework, be convenient to adjust direction and change path.
(2) body uses frame structure, and it has spatial spread, the multiple instrument and equipment of portability.
(3) there is two-way cleaning model, greatly increase work efficiency.
(5) there is water circulation processing system, not only reduce the loss of work water, and improved the utilization rate of work water.
(5) easy-to-use, simple in structure, stable and reliable operation, is easy to be extended and applied.
Brief description of the drawings
Fig. 1 is utility model structural representation;
Fig. 2 is top view in Fig. 1.
In figure: 1, framework; 2, sucker group I; 3, magnetic valve I; 4, vacuum air pump I; 5, slide plate; 6, tooth bar; 7, travelling gear; 8, synchronous motor; 9, slip support; 10, drive motors; 11, drive screw; 12, transmission nut; 13, sucker group II; 14, vavuum pump II; 15, electromagnetic valve II; 16, axle bed; 17, chute; 18, pin dish, 19, side link; 20, support; 21, unidirectional scraper plate; 22, nozzle I; 23, wash away nozzle; 24, high-speed electric expreess locomotive; 25, round brush; 26 nozzle II; 27, V-type scraper plate; 28, water tank; 29, filter screen; 30, water pump; 31, reserve tank; 32, pull bar; 33, adjusting nut; 34, depression bar; 35, spring; 36, guide pin bushing.
Detailed description of the invention
Be below a specific embodiment of the present utility model, now by reference to the accompanying drawings the utility model be described further.
As depicted in figs. 1 and 2, a kind of absorption movable type is climbed the two-way clean robot of wall, comprises drive unit and is connected to the cleaning device on drive unit; Drive unit comprises framework 1 and pin dish 18; Be fixed with sucker group I2 in the bottom surface of framework 1, on framework 1, be fixed with vacuum air pump I4 and the magnetic valve I 3 of controlling sucker group I2, an each slide plate 5 and tooth bar 6 of being longitudinally fixed with also on the centre position at framework 1 two ends; On slide plate 5, be respectively provided with a slip support 9 coordinating with slide plate 5; Slip support offers the chute 17 coordinating with slide plate 5 for 9 times, is fixed with synchronous motor 8 on slip support 9; Synchronous motor 8 is connected with the travelling gear 7 engaging with tooth bar 6; Between two slip supports 9, be also horizontally connected with drive screw 11; Drive screw 11 is connected between two slip supports 9 by axle bed 16, and its one end is connected with drive motors 10, on drive screw 11, coordinates transmission nut 12 is installed; Transmission nut is fixed with pin dish 18 12 times; Pin dish is fixed with sucker group II13 for 18 times, is fixed with vacuum air pump II14 and the electromagnetic valve II 15 of controlling sucker group II13 on pin dish 18.
Cleaning device comprises side link 19, support 20, water tank 28, round brush 25 and device for exerting; Support 20 is fixedly connected with framework 1 by side link 19; Water tank 28 is fixed on support 20, is provided with filter screen 29 in water tank 28, and water tank 28 1 sides are fixed with reserve tank 31, and water tank 28 delivery ports are connected with water pump 30; Round brush 25 is fixed on support 20, and round brush 25 rotating shafts are connected with high-speed electric expreess locomotive 24, and round brush 25 tops are provided with washes away that nozzle 23, left side are provided with nozzle I22, right side is provided with nozzle II26; Nozzle I22 is the cylinder that is fixed on one end sealing on support 20, and drum surface offers hole for water spraying, and nozzle I22 is connected to water pump 30; Described nozzle 23 structures of washing away are identical with nozzle I22, and it is fixed on support 20 and one end is connected to water pump 30; Described nozzle II26 structure is identical with nozzle I22, and it is fixed on support 20 and one end is connected to water pump 30; The support 20 in nozzle I22 left side is provided with unidirectional scraper plate 21; The support 20 on nozzle II26 right side is provided with V-type scraper plate 27; The V-type opening of described V-type scraper plate 27 is positioned at water tank 28 openings.
Device for exerting comprises the pull bar 32 being vertically fixed on support 20; On described pull bar 32, cover has guide pin bushing 36; On described guide pin bushing 36, be wound with spring 35; Support 20 is withstood in described spring 35 lower ends, upper end is pressed with depression bar 34; Described depression bar 34 is arranged on pull bar 32 by adjusting nut 33, and depression bar 34 one end are fixed on framework 1.
The utility model is mainly made up of main body drive part, break-in part, absorbed portion, cleaning part, water circulation part, the part of exerting pressure.Wherein, main body drive part is made up of framework I, slide plate 5, slip support 9, drive motors 10, drive screw 11, transmission nut 12, chute 17, axle bed 16.In the time moving on whole device busy face, in the situation that transmission nut 12 is positioned on working face by absorbed portion, drive motors 10 starts, and drives drive screw 11 to rotate by rotating shaft.Maintain static according to relative motion principle transmission nut 12, drive screw 11 is subject to the reaction force of transmission nut 12, does counter motion.Framework 1 is indirectly connected on drive screw 11 by slip support 9, and therefore drive screw 11, in the time that transmission nut 12 is moved, drives framework 1 to move linearly.In the time that drive screw 11 moves to maximum length.Drive motors 10 quits work, absorbed portion work on framework 1, outside framework 1 is stablized to be adsorbed on working face, the absorbed portion work of transmission nut 12 belows subsequently, the part being connected with transmission nut 12 is departed from from working face, subsequently, drive motors 10 starts again, drive drive screw 11 to move by through-drive, according to active force and reaction force principle, under the adsorption system effect of drive screw 11 on framework 1, be fixed on working face, now transmission nut 12 is subject to the active force of drive screw 11, move along drive screw direction, in the time that transmission nut 12 moves to extreme position, drive motors 10 quits work, under the effect of adsorption system, transmission nut 12 is positioned on working face again.The function of this part is to realize lasting mobile effect on whole device busy face.
Break-in part is made up of tooth bar 6, travelling gear 7, synchronous motor 8.In the time running into barrier, transmission nut 12 parts are fixed on working face under adsorption system effect, under adsorption system effect, framework 1 part departs from working face, now synchronous motor 8 is worked, by through-drive, the drive gear 7 of passing on Gong moves, according to active force and reaction force principle, tooth bar 6 is subject to the effect of travelling gear 7, the support 9 that now slides is subject to tooth bar 6 and passes to the reaction force of synchronous motor 8, on slide plate 5, move, in the time that travelling gear 7 moves to maximum position on tooth bar 6, synchronous motor 8 quits work, the now adsorption system work on framework 1, make that framework 1 is partially stabilized to be adsorbed on working face.Subsequently, the adsorption system work of transmission nut 12 belows, makes this part depart from working face.Subsequently, synchronous motor 8 starts again, and travelling gear 7 engages and rotates with tooth bar 6, and according to relative motion principle, framework 1 maintains static, and slip support 9 is subject to the power that synchronous motor 8 transmits and moves on slide plate 5, carries transmission nut 12 parts simultaneously and moves.Alternately absorption of two large divisions, motion, until avoiding obstacles, this motion can be used as the second and carries out mode, is also the motion mode of changing path.The function of this part is to realize flexible break-in, the light function more hindering.
Absorbed portion is made up of sucker group I 2, electromagnetic valve I 3, vavuum pump I 4, framework 1, sucker group II13, electromagnetic valve II 15, vavuum pump II14, pin dish 18.In the time that sucker group is adsorbed task, first magnetic valve starts working, and starts subsequently vavuum pump, form certain negative pressure in sucker group time, and first shut electromagnetic valve, then close vavuum pump, now, sucker group is in adsorbed state.In the time that sucker group is carried out loose dish task, only need open magnetic valve, make sucker group inner and outer air pressure in balance, now, sucker group is in loose plate-like state.The function of this part is to realize stable absorption and in good time pine dish, ensures effect of whole device safety moving on vertical operation face.
Cleaning part by side link 19, support 20, nozzle I22, wash away nozzle 23, nozzle II26, water pump 30, high-speed electric expreess locomotive 24, round brush 25 and form.The Main Function of nozzle II26 is dirt removal scale removal, and the effect of washing away nozzle 23 is the dirts that wash away on round brush 25, and high-speed electric expreess locomotive 24 drives the dirt in the efficient brushing of round brush 25 High Rotation Speed.The function of this part is to realize effect of efficient rapid decontamination.
Water circulation part is made up of unidirectional scraper plate 21, V-type scraper plate 27, water tank 28, filter screen 29, reserve tank 31.Reserve tank 31 is fixed on water tank 28 1 sides, and its Main Function is storage cleaning solution.Unidirectional scraper plate 21 not only has the effect of collecting sewage with V-shaped scraper plate 27, and the effect of cleaning face in addition, water tank 28 effects are storage sewage and clear water, filter screen 29 effects are that sewage water filtration is become to clear water, realizing water circulation uses, the clear water that subsequent filtration is good adds from the cleaning solution in reserve tank 31, then is transported to cleaning part use by water pump 30.The function of this part is to realize recycling of work water, strengthens the practicality of cleaning device, the effect of increasing work efficiency.
Exert pressure part by pull bar 32, adjusting nut 33, depression bar 34 springs 35,, guide pin bushing 36 forms.The function of this part is to realize guarantee cleaning device normally to work, effect of timely adjustment normal pressure.
Concrete using method: first, make a kind of absorption movable type climb two sucker groups of the two-way clean robot of wall and be adsorbed on completely on working face.Restart the electromagnetic valve II 15 on framework 1, make framework 1 part in departing from working face state, restart drive motors 10, the exercise effect being produced by drive screw 11 and transmission nut 12, in the time that drive screw 11 moves to maximum position, drive motors 10 quits work, now, electromagnetic valve I 3 is opened, subsequently, sucker group I2 is adsorbed on working face under vavuum pump I4 effect, thereby framework 1 is fixed on working face, secondly, electromagnetic valve II 15 starts, make sucker group II13 in loose plate-like state, thereby make transmission nut 12 parts depart from working face, restart again drive motors 10, according to relative motion principle, framework 1 is fixing, under drive screw 11 and transmission nut 12 interact, transmission nut 12 parts are along guide post 20 rectilinear motions.Two large divisions is absorption and motion alternately, can realize whole device rectilinear motion on vertical operation face.Run into obstacle in motion process time, in the time that obstacle can be avoided, make framework 1 be fixed on working face, transmission nut 12 parts depart from working face, start synchronous motor 8, according to active force and reaction force principle, moving slip support 9 drives transmission nut 12 parts on drive screw 11 to move, in the time that travelling gear 7 moves to tooth bar 6 port, synchronous motor 8 quits work, and now, electromagnetic valve II 15 is opened, sucker group II13 is adsorbed on working face under vavuum pump II14 effect, thereby makes on travelling nut 12 partial fixing working faces.Alternately absorption is mobile under synchronous motor 8 effects for two large divisions, thus avoiding obstacles.The sustainable work of cleaning device in the time that robot body moves in vertical direction, when robot body is when on working face, level is changed, switching off the pump 30 quits work cleaning device.In the time that cleaning device needs suitable normal pressure to working face, can use the adjusting nut 33 of the part of exerting pressure to regulate.
Claims (3)
1. absorption movable type is climbed the two-way clean robot of wall, comprises drive unit and is connected to the cleaning device on drive unit;
Described drive unit comprises framework (1) and pin dish (18); Be fixed with sucker group I(2 in the bottom surface of described framework (1)), on framework (1), be fixed with and control sucker group I(2) vacuum air pump I(4) and magnetic valve I (3), an each slide plate (5) and tooth bar (6) of being longitudinally fixed with also on the centre position at framework (1) two ends; On described slide plate (5), be respectively provided with a slip support (9) coordinating with slide plate (5); Under described slip support (9), offer the chute (17) coordinating with slide plate (5), on slip support (9), be fixed with synchronous motor (8); Described synchronous motor (8) is connected with the travelling gear (7) engaging with tooth bar (6); It is characterized in that:
Between two described slip supports (9), be also horizontally connected with drive screw (11); Described drive screw (11) is connected between two slip supports (9) by axle bed (16), and its one end is connected with drive motors (10), and upper cooperation of drive screw (11) is provided with transmission nut (12); Under described transmission nut (12), be fixed with pin dish (18); Under described pin dish (18), be fixed with sucker group II(13), on pin dish (18), be fixed with and control sucker group II(13) vacuum air pump II(14) and electromagnetic valve II (15);
Described cleaning device comprises side link (19), support (20), water tank (28), round brush (25) and device for exerting; Described support (20) is fixedly connected with framework (1) by side link (19); It is upper that described water tank (28) is fixed on support (20), and water tank (28) delivery port is connected with water pump (30); Described round brush (25) is fixed on that support (20) is upper, and round brush (25) rotating shaft is connected with high-speed electric expreess locomotive (24), round brush (25) top be provided with wash away nozzle (23), left side is provided with nozzle I(22), right side is provided with nozzle II(26); Described nozzle I(22) left side support (20) be provided with unidirectional scraper plate (21); Described nozzle II(26) support (20) on right side is provided with V-type scraper plate (27); The V-type opening of described V-type scraper plate (27) is positioned at water tank (28) opening;
Described device for exerting comprises the pull bar (32) being vertically fixed on support (20); The upper cover of described pull bar (32) has guide pin bushing (36); On described guide pin bushing (36), be wound with spring (35); Support (20) is withstood in described spring (35) lower end, upper end is pressed with depression bar (34); It is upper that described depression bar (34) is arranged on pull bar (32) by adjusting nut (33), and depression bar (34) one end is fixed on framework (1).
2. a kind of absorption movable type according to claim 1 is climbed the two-way clean robot of wall, it is characterized in that: in described water tank (28), be provided with filter screen (29), water tank (28) one sides are fixed with reserve tank (31).
3. a kind of absorption movable type according to claim 1 is climbed the two-way clean robot of wall, it is characterized in that: described nozzle I(22) be the cylinder that is fixed on one end sealing on support (20), drum surface offers hole for water spraying, nozzle I(22) be connected to water pump (30); Described nozzle (23) structure and the nozzle I(22 of washing away) identical, it is fixed on the upper and one end of support (20) and is connected to water pump (30); Described nozzle II(26) structure and nozzle I(22) identical, it is fixed on support (20) above and one end is connected to water pump (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885854.3U CN203711415U (en) | 2013-12-31 | 2013-12-31 | Adsorption movable wall-climbing bi-directional cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320885854.3U CN203711415U (en) | 2013-12-31 | 2013-12-31 | Adsorption movable wall-climbing bi-directional cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN203711415U true CN203711415U (en) | 2014-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320885854.3U Expired - Fee Related CN203711415U (en) | 2013-12-31 | 2013-12-31 | Adsorption movable wall-climbing bi-directional cleaning robot |
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| CN (1) | CN203711415U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105457923A (en) * | 2016-01-14 | 2016-04-06 | 国网山东省电力公司龙口市供电公司 | Cleaning device for electrical equipment |
| CN108316407A (en) * | 2018-04-17 | 2018-07-24 | 苏州科技大学 | A kind of nuclear power is inspected and cleaning device and method with feed-tank wall surface |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN109300389A (en) * | 2018-11-23 | 2019-02-01 | 广西科技大学 | A kind of cylinder wall cleaning simulator |
| CN109975212A (en) * | 2019-05-05 | 2019-07-05 | 南京光声超构材料研究院有限公司 | Mobile device and surface detection apparatus |
| CN110181533A (en) * | 2019-06-24 | 2019-08-30 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| CN110897564A (en) * | 2019-11-27 | 2020-03-24 | 江苏金猫机器人科技有限公司 | Intelligent cleaning robot for high-rise glass curtain wall |
| CN113945768A (en) * | 2021-10-15 | 2022-01-18 | 沈阳建筑大学 | Adsorption type insulator pollution online removing device and method |
-
2013
- 2013-12-31 CN CN201320885854.3U patent/CN203711415U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105457923B (en) * | 2016-01-14 | 2017-06-23 | 国网山东省电力公司龙口市供电公司 | A kind of electric power cleaning device |
| CN105457923A (en) * | 2016-01-14 | 2016-04-06 | 国网山东省电力公司龙口市供电公司 | Cleaning device for electrical equipment |
| CN108316407B (en) * | 2018-04-17 | 2023-08-11 | 苏州科技大学 | Device and method for inspecting and cleaning wall surface of water supply tank for nuclear power |
| CN108316407A (en) * | 2018-04-17 | 2018-07-24 | 苏州科技大学 | A kind of nuclear power is inspected and cleaning device and method with feed-tank wall surface |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN109300389A (en) * | 2018-11-23 | 2019-02-01 | 广西科技大学 | A kind of cylinder wall cleaning simulator |
| CN109300389B (en) * | 2018-11-23 | 2023-09-12 | 广西科技大学 | Cylindrical wall body washs analogue means |
| CN109975212A (en) * | 2019-05-05 | 2019-07-05 | 南京光声超构材料研究院有限公司 | Mobile device and surface detection apparatus |
| CN110181533A (en) * | 2019-06-24 | 2019-08-30 | 北京史河科技有限公司 | Cleaning plant and cleaning robot |
| CN110897564B (en) * | 2019-11-27 | 2021-03-26 | 江苏金猫机器人科技有限公司 | Intelligent cleaning robot for high-rise glass curtain wall |
| CN110897564A (en) * | 2019-11-27 | 2020-03-24 | 江苏金猫机器人科技有限公司 | Intelligent cleaning robot for high-rise glass curtain wall |
| CN113945768A (en) * | 2021-10-15 | 2022-01-18 | 沈阳建筑大学 | Adsorption type insulator pollution online removing device and method |
| CN113945768B (en) * | 2021-10-15 | 2024-02-09 | 沈阳建筑大学 | Online cleaning device and method for dirt of adsorption type insulator |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140716 Termination date: 20141231 |
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| EXPY | Termination of patent right or utility model |