CN204541965U - A kind of building outside wall surface cleaning robot system control device - Google Patents
A kind of building outside wall surface cleaning robot system control device Download PDFInfo
- Publication number
- CN204541965U CN204541965U CN201520144137.4U CN201520144137U CN204541965U CN 204541965 U CN204541965 U CN 204541965U CN 201520144137 U CN201520144137 U CN 201520144137U CN 204541965 U CN204541965 U CN 204541965U
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- CN
- China
- Prior art keywords
- wall surface
- surface cleaning
- outside wall
- wireless remote
- system control
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of building outside wall surface cleaning robot system control device, relate to external wall cleaning device technical field, comprise suspension obstacle surmounting device and robot body's device, the suspension hook lifting robot body device of the movable pulley photoelectric encoder set composite of suspension obstacle surmounting device, also comprises wireless remote control barrier getting over mechanism, servo follow-up tracing servo control mechanism, agent set non-standard state deviation correction mechanism, wireless monitor mechanism, lighting mechanism.This device control effects is good, achieves Automated condtrol.
Description
Technical field
The utility model relates to external wall cleaning device technical field.
Background technology
At present, along with the continuous expansion of city size, skyscraper is more and more, more and more higher, take glass wall as the main flow that the wall structure of representative becomes urban skyscraper gradually.The exterior wall of these skyscrapers is cleaned by spider-man mostly, not only inefficiency, and very dangerous.And in today of social civilization high development, unprecedented height is reached to the love of life, require to stop using the cry of spider-man can be heard without end, therefore for keeping urban architecture, especially external wall of high-rise building cleans, the cleaning machine of inevitable requirement development of new, to adapt to the needs of this emerging industry.
The utility model is to provide a kind of control system for controlling building outside wall surface cleaning robot.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of building outside wall surface cleaning robot system control device, and this device control effects is good, achieves Automated condtrol.
For solving the problems of the technologies described above, technical solution adopted in the utility model is: a kind of building outside wall surface cleaning robot system control device, comprise suspension obstacle surmounting device and robot body's device, the suspension hook lifting robot body device of the movable pulley photoelectric encoder set composite of suspension obstacle surmounting device, also comprises wireless remote control barrier getting over mechanism, servo follow-up tracing servo control mechanism, agent set non-standard state deviation correction mechanism, wireless monitor mechanism, lighting mechanism.
Preferably, the movable pulley rotating shaft of movable pulley photoelectric encoder set composite and photoelectric encoder axle, photoelectric encoder shell and being between the thin walled aperture outer sleeve being located at movable pulley outer wall is fixedly connected with, and outer sleeve is provided with can the hoop of undergauge.
Preferably, the wireless remote control emitter in wireless remote control barrier getting over mechanism with between wireless remote controlled receiver for radio wave is connected, wireless remote controlled receiver, the second frequency converter, lifting elevator motor are electrically connected successively; Wireless remote controlled receiver, relay, pitching elevator motor are electrically connected successively; Wireless remote controlled receiver, negative pressure generator motor are electrically connected.
Preferably, the photoelectric encoder in servo follow-up tracing servo control mechanism, the first programmable PLC, the first frequency converter, lifting elevator motor are electrically connected successively.
Preferably, the obliquity sensor in agent set non-standard state deviation correction mechanism, the second programmable PLC, the 3rd frequency converter, negative pressure generator motor are electrically connected successively, and obliquity sensor is horizontal or vertical to be fixed in agent set.
Preferably, lighting device is fixed on above agent set outer casing back, above oblique pre-irradiation.
Preferably, the monitoring camera of wireless monitor mechanism is fixed on above agent set outer casing back, and the cleanliness factor in the face of keeping a public place clean of supervisory-controlled robot agent set front upper place, monitoring camera feeds back on display screen with radio wave form.
The beneficial effect adopting technique scheme to produce is: the photoelectric encoder 1, on movable pulley photoelectric encoder set composite, is converted into the moving direction and speed experiencing movable pulley the signal of telecommunication and feeds back to programmable PLC, determines rotating speed and turns to; 2, wireless remote control barrier getting over mechanism controls the bowing/face upward of suspension arm, the opening/stop and body apparatus lifting/lowering of negative pressure generator motor by wireless remote control transmitter and receiver, realizes robot body's device obstacle detouring object.3, the obliquity sensor of the non-standard state deviation correction mechanism of agent set feeds back to PLC the signal of telecommunication of inclination angle degree, adjustment negative pressure sucker movement velocity.4, lighting device is fixed on agent set, illumination is provided to the flooring scrubbed, 5, wireless monitor camera monitors situation and the cleaning quality of building outside wall surface, and the picture of detection is real-time transmitted on display screen, and driver reaches safe and efficient object of keeping a public place clean according to monitoring image controlling equipment.
Accompanying drawing explanation
Fig. 1 keeps a public place clean machine system and device figure;
The theory diagram of Fig. 2 wireless remote control barrier getting over mechanism;
The theory diagram of Fig. 3 wireless monitor mechanism;
The theory diagram of Fig. 4 agent set non-standard state deviation correction mechanism.
Wherein, 1, photoelectric encoder, the 2, first programmable PLC, 3, the first frequency converter, 4, lifting elevator motor, 5, wireless remote control emitter, 6, wireless remote controlled receiver, the 7, second frequency converter, 8, relay, 9, negative pressure generator motor, 10, pitching elevator motor, 11, monitoring camera, 12, display screen, 13, obliquity sensor, the 14, second programmable PLC, the 15, the 3rd frequency converter.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, as shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of building outside wall surface cleaning robot system control device, comprise suspension obstacle surmounting device and robot body's device, the suspension hook lifting robot body device of the movable pulley photoelectric encoder set composite of suspension obstacle surmounting device, also comprises wireless remote control barrier getting over mechanism, servo follow-up tracing servo control mechanism, agent set non-standard state deviation correction mechanism, wireless monitor mechanism, lighting mechanism.Robot body's device is for cleaning the outer wall in building, and suspension obstacle surmounting device is located at for suspending robot body's device in midair on roof, the suspension arm that suspension obstacle surmounting device can regulate with the angle of pitch, and suspension arm connects pitching elevator motor 10.Movable pulley with photoelectric encoder 1 is called movable pulley photoelectric encoder set composite, with suspension hook below it, for hanging robot body's device.
The movable pulley rotating shaft of movable pulley photoelectric encoder set composite and photoelectric encoder axle, photoelectric encoder 1 shell is fixedly connected with being between the thin walled aperture outer sleeve being located at movable pulley outer wall, outer sleeve is provided with can the hoop of undergauge, movable pulley rotates and is used for boom hoist cable, photoelectric encoder 1 is located on the protective cover of movable pulley, and the axle of photoelectric encoder 1 is connected with movable pulley center, the rotating speed of movable pulley can be experienced and turn to, and the shell of photoelectric encoder 1 is fixed on protective cover, protective cover is provided with the outer sleeve with opening, photoelectric encoder 1 is placed on the inside and is fixed by hoop.Wireless remote control emitter 5 in described wireless remote control barrier getting over mechanism with between wireless remote controlled receiver 6 for radio wave is connected, wireless remote controlled receiver 6, second frequency converter 7, lifting elevator motor 4 electrically connect successively; Wireless remote controlled receiver 6, relay 8, pitching elevator motor 10 are electrically connected successively; Wireless remote controlled receiver 6, negative pressure generator motor 9 are electrically connected.
Photoelectric encoder 1, first programmable PLC 2, first frequency converter 3 in servo follow-up tracing servo control mechanism, lifting elevator motor 4 are electrically connected successively.Obliquity sensor 13, second programmable PLC 14 in described agent set non-standard state deviation correction mechanism, the 3rd frequency converter 15, negative pressure generator motor 9 are electrically connected successively, and obliquity sensor 13 is horizontal or vertical to be fixed in agent set.
Lighting device is fixed on above agent set outer casing back, above oblique pre-irradiation.The monitoring camera 11 of described wireless monitor mechanism is fixed on above agent set outer casing back, and the cleanliness factor in the face of keeping a public place clean of supervisory-controlled robot agent set front upper place, monitoring camera 11 feeds back on display screen 12 with radio wave form.
When using this device, the photoelectric encoder 1 of movable pulley photoelectric encoder set composite is connected with movable pulley, detect turning to and rotating speed of movable pulley, and the signal detected is passed through the first programmable PLC 2, lifting elevator motor 4 passed to by first frequency converter 3, photoelectric encoder 1 feeds back to the first programmable PLC 2 the direction of movable pulley movement and acceleration magnitude, first programmable PLC 2 instruction first frequency converter 3 realizes the servo follow-up tracing SERVO CONTROL speed of lifting elevator motor 4, lifting elevator motor 4 controls movable pulley, if it is slack-off that too fast photoelectric encoder 1 can detect that signal controls lifting elevator motor 4, vice versa.Wireless remote control barrier getting over mechanism sends signal, wireless remote controlled receiver 6 Received signal strength by wireless remote control emitter 5, passes to relay 8, adjusts pitching elevator motor 10 by relay 8.The output of pitching elevator motor 10 connects suspension arm, and suspension arm is hinged, and it can pull suspension arm to adjust suspension arm and to bow/elevation angle degree, and the obstacle detouring of realization body device, also can control lifting elevator motor 4 and negative pressure generator motor 9 by it simultaneously.The obliquity sensor 13 of agent set non-standard state deviation correction mechanism feeds back to the second programmable PLC 14 the signal of telecommunication, negative pressure generator motor 9 is controlled by the 3rd frequency converter 15, the negative pressure sucker of negative pressure generator motor 9 on control subject device, negative pressure sucker is for together with being attracted with wall by robot body's device, and control the walking speed of negative pressure sucker on flooring by negative pressure generator motor 9, so negative pressure sucker servo follow-up tracing servo, accelerate or slow down the speed of negative pressure sucker when needing to regulate non-standard state, reach and ensure that robot body's device is in the effect of level all the time.Lighting device is fixed on agent set, keep a public place clean for night shift and illumination is provided, the monitoring camera 11 of wireless monitor mechanism is shown to cleaning interface, building quality of keeping a public place clean on display screen 12 in real time, and driver/owner all can realize safe and efficient object of keeping a public place clean according to the cleanliness factor situation of monitoring display.
The control device of building outside wall surface cleaning robot system comprehensively merges the wireless monitoring technology in the present age, wireless remote control technology, servo follow-up tracing servo techniques emphasis solve robot body's device obstacle detouring difficult problem and intelligently run a difficult problem.He thoroughly frees the workman that keeps a public place clean from high-risk adverse circumstances, achieves safe and efficient economizing on resources and the multipurpose of protection of the environment.
The building outside wall surface cleaning robot speed of service is 8 meters to 12 meters per minute, and clean effective fabric width 1.5 meters and survive for twice one on the other, efficiency of keeping a public place clean for 8 hours is 3600 square metres.
In sum, the utility model has the advantage that structure is simple, easy to make, with low cost, operating efficiency is high, and structural design is simply compact, has very strong practicality, easy to utilize.
Claims (7)
1. a building outside wall surface cleaning robot system control device, comprise suspension obstacle surmounting device and robot body's device, it is characterized in that: the suspension hook lifting robot body device of the movable pulley photoelectric encoder set composite of suspension obstacle surmounting device, also comprises wireless remote control barrier getting over mechanism, servo follow-up tracing servo control mechanism, agent set non-standard state deviation correction mechanism, wireless monitor mechanism, lighting mechanism.
2. a kind of building according to claim 1 outside wall surface cleaning robot system control device, it is characterized in that: the movable pulley rotating shaft of movable pulley photoelectric encoder set composite and photoelectric encoder axle, photoelectric encoder (1) shell and being between the thin walled aperture outer sleeve being located at movable pulley outer wall is fixedly connected with, outer sleeve is provided with can the hoop of undergauge.
3. a kind of building according to claim 1 outside wall surface cleaning robot system control device, it is characterized in that: the wireless remote control emitter (5) in wireless remote control barrier getting over mechanism with between wireless remote controlled receiver (6) for radio wave is connected, wireless remote controlled receiver (6) respectively with the second frequency converter (7), be elevated elevator motor (4) and electrically connect successively; Wireless remote controlled receiver (6), relay (8), pitching elevator motor (10) are electrically connected successively; Wireless remote controlled receiver (6), negative pressure generator motor (9) are electrically connected.
4. a kind of building according to claim 1 outside wall surface cleaning robot system control device, is characterized in that: the photoelectric encoder (1) in servo follow-up tracing servo control mechanism, the first programmable PLC (2), the first frequency converter (3), lifting elevator motor (4) are electrically connected successively.
5. a kind of building according to claim 1 outside wall surface cleaning robot system control device, it is characterized in that: the obliquity sensor (13) in agent set non-standard state deviation correction mechanism, the second programmable PLC (14), the 3rd frequency converter (15), negative pressure generator motor (9) are electrically connected successively, and obliquity sensor (13) is horizontal or vertical to be fixed in agent set.
6. a kind of building according to claim 1 outside wall surface cleaning robot system control device, is characterized in that: lighting device is fixed on above agent set outer casing back, above oblique pre-irradiation.
7. a kind of building according to claim 1 outside wall surface cleaning robot system control device, it is characterized in that: the monitoring camera (11) of wireless monitor mechanism is fixed on above agent set outer casing back, the cleanliness factor in the face of keeping a public place clean of supervisory-controlled robot agent set front upper place, monitoring camera (11) feeds back on display screen (12) with radio wave form.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520144137.4U CN204541965U (en) | 2015-03-15 | 2015-03-15 | A kind of building outside wall surface cleaning robot system control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520144137.4U CN204541965U (en) | 2015-03-15 | 2015-03-15 | A kind of building outside wall surface cleaning robot system control device |
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| Publication Number | Publication Date |
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| CN204541965U true CN204541965U (en) | 2015-08-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520144137.4U Expired - Fee Related CN204541965U (en) | 2015-03-15 | 2015-03-15 | A kind of building outside wall surface cleaning robot system control device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104665714A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Building external wall surface cleaning robot system control device |
-
2015
- 2015-03-15 CN CN201520144137.4U patent/CN204541965U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104665714A (en) * | 2015-03-15 | 2015-06-03 | 邯郸开发区开元科技发展有限公司 | Building external wall surface cleaning robot system control device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20150812 Termination date: 20170315 |
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| CF01 | Termination of patent right due to non-payment of annual fee |