CN205251438U - Climb wall and clean machine people - Google Patents
Climb wall and clean machine people Download PDFInfo
- Publication number
- CN205251438U CN205251438U CN201521056064.XU CN201521056064U CN205251438U CN 205251438 U CN205251438 U CN 205251438U CN 201521056064 U CN201521056064 U CN 201521056064U CN 205251438 U CN205251438 U CN 205251438U
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- CN
- China
- Prior art keywords
- fuselage
- output shaft
- steering wheel
- sides
- motion steering
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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 provides a climb wall and clean machine people, includes the fuselage, the fuselage comprises fuselage board (13) and horn board (5), gear motor (12) set up in the positive centre of fuselage board (13), and gear motor (12) link to each other with screw nut (3), and the drive is cleaned the subassembly and is done the elevating movement, two minipump (10) symmetry sets up in gear motor (12) both sides, two dual output axle motion steering wheels (9) difference horizontal installation is in fuselage both sides horn board (5) upper end, two single -output axle motion steering wheels (6) are installed perpendicularly respectively at fuselage both sides horn board (5) lower extreme, and single -output axle motion steering wheel (6) below is provided with vacuum chuck (4), and vacuum chuck (4) link to each other through soft trachea and minipump (10). The utility model discloses mould apery arm joint structure utilizes screw nut structure for certain obstacle can be crossed by the robot, has overcome the problem that general wall walking robot obstacle climbing ability is not enough. This robot is particularly suitable for cleaning of high -rise building glass wall.
Description
Technical field
The utility model relates to Robotics field, relates in particular to one and climbs wall sweeping robot.
Background technology
Due to getting more and more of skyscraper, the hydraulically smooth surface of glass uses also more and more wider under construction, and metope cleaning in high-altitude also will be subject to people's attention, have broad application prospects and society, and economic benefit.
Notification number is that the utility model patent of CN202080361 discloses " a kind of climbing mechanism for glass curtain wall crawling robot ", described robot displacement is large, flexible and quick, but its fuselage height is limited, also very limited to the leap of obstacle, while running in conjunction with junctions such as crossbeams on glass curtain wall, just possibly cannot cross over. For another example the application for a patent for invention that publication number is CN104015832A discloses a kind of " pneumatic Climbing Robot ". Described Climbing Robot is by front dividing plate, intermediary movements plate, post-mounting structure plate, front and back guiding mechanism, cylinder, left and right guiding mechanism, steering wheel, Suction cup assembly and driving Control Component, although this robot mobility is better, translational speed is slower.
Utility model content
The purpose of this utility model is to overcome the deficiency that prior art exists, and provides one to climb wall sweeping robot, simple and reasonable, realizes walking on smooth glass metope also can complete the tasks such as cleaning and supervision by suction-operated.
One is climbed wall sweeping robot, comprises fuselage, and fuselage is made up of body plate 13 and horn plate 5; Reducing motor 12 is arranged on the middle of body plate 13, and down, reducing motor 12 is connected with feed screw nut 3 output shaft, drives cleaning assembly to move up and down;
Two minipumps 10 are symmetricly set on reducing motor 12 both sides, and the base 11 of minipump 10 is arranged on body plate 13;
Two double output shaft motion steering wheels 9 respectively level are arranged on horn plate 5 upper ends, fuselage both sides, and the double output shaft of double output shaft motion steering wheel 9 is connected with fuselage both sides by tray joint shaft 8, and drive body plate 13 rotates;
Two single output shaft motion steering wheels 6 are vertically mounted on respectively horn plate 5 lower ends, fuselage both sides, and down, single output shaft motion steering wheel 6 belows are provided with vacuum cup 4 to output shaft direction, and vacuum cup 4 is connected with minipump 10 by soft air pipe;
Single output shaft motion steering wheel 6 is vertical with the output shaft direction of double output shaft motion steering wheel 9.
Described body plate 13 is also provided with lifting groove 14, for matching with cleaning assembly.
Described cleaning assembly comprises cleaning steering wheel 2, rain brush seat 15 and brush 1.
On described horn plate 5, be also provided with camera 7.
Compared with prior art, the beneficial effects of the utility model are:
One, robot of the present utility model adopts the air-breathing and exhaust of controlling two asepwirator pumps that one robotic arm is fixed, another robotic arm makes whole fuselage lift under the drive of double output shaft steering wheel, feed screw nut drives clearing apparatus lifting, realizes robot and stride across the function of obstacle. This obstacle detouring mode is simple in structure flexibly, convenient.
Two, robot of the present utility model adopts and controls the air-breathing of two asepwirator pumps and stop suction to make two suckers alternately adsorb the object that reaches motion, and simple in structure, cost of manufacture is low.
Three, adopt cleaning steering wheel to drive brush that it is swung and can complete the cleaning of smooth glass metope.
Brief description of the drawings
Fig. 1 is the overall structure schematic diagram of the utility model device.
Fig. 2 is horn structural representation.
Fig. 3 is obstacle detouring view.
Fig. 4 is the structural representation of lifting groove.
Fig. 5 is the structural representation of vavuum pump base.
Fig. 6 is the structural representation of rain brush seat.
Fig. 7 is the structural representation of horn plate.
Fig. 8 is the structural representation of vacuum cup.
Fig. 9 is the structural representation of tray joint shaft.
In figure, 1 is brush, and 2 is cleaning steering wheel, 3 is feed screw nut, and 4 is vacuum cup, and 5 is horn plate, 6 is single output shaft motion steering wheel, and 7 is camera, and 8 is tray joint shaft, 9 is double output shaft motion steering wheel, and 10 is minipump, and 11 is base, 12 is reducing motor, 13 is body plate, and 14 is lifting groove, and 15 is rain brush seat.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described. As shown in Fig. 1-Fig. 9, one is climbed wall sweeping robot, comprises fuselage, and fuselage is made up of body plate 13 and horn plate 5; Reducing motor 12 is arranged on the middle of body plate 13, and down, reducing motor 12 is connected with feed screw nut 3 output shaft, drives cleaning assembly to move up and down;
Two minipumps 10 are symmetricly set on reducing motor 12 both sides, and the base 11 of minipump 10 is arranged on body plate 13;
Two double output shaft motion steering wheels 9 respectively level are arranged on horn plate 5 upper ends, fuselage both sides, and the double output shaft of double output shaft motion steering wheel 9 is connected with fuselage both sides by tray joint shaft 8, and drive body plate 13 rotates;
Two single output shaft motion steering wheels 6 are vertically mounted on respectively horn plate 5 lower ends, fuselage both sides, and down, single output shaft motion steering wheel 6 belows are provided with vacuum cup 4 to output shaft direction, and vacuum cup 4 is connected with minipump 10 by soft air pipe;
Single output shaft motion steering wheel 6 is vertical with the output shaft direction of double output shaft motion steering wheel 9.
Described body plate 13 is also provided with lifting groove 14, for matching with cleaning assembly.
Described cleaning assembly comprises cleaning steering wheel 2, rain brush seat 15 and brush 1.
On described horn plate 5, be also provided with camera 7.
The utility model is achieved in that
Two minipumps 10 are connected by flexible pipe with two vacuum cups 4, by controlling the power failure state that obtains of two minipumps 10, complete vavuum pump to the bleeding and exhaust of sucker 4, thereby ensure that climbing wall sweeping robot can lean on vacuum cup 4 to be adsorbed on smooth glass metope.
The concrete scheme of motion: the first step, when obtaining the electric vacuum cup 4 that makes, a side minipump 10 adsorbs after glass metope, 5 upper end double output shaft motion steering wheels 9 rotations of this side horn plate make opposite side not adsorb end to lift, then do not adsorb the single output shaft motion in terminal arm plate 5 lower ends steering wheel 6 and rotate, fuselage is advanced; Second step, absorption end vavuum pump 10 does not obtain electric bleeding, and makes vacuum cup 4 adsorb metope, repeats the first step, so realizes toward complex Alternating and adsorbs and advance.
The concrete scheme of obstacle detouring: in the time running into obstacle, robot one side is fixed by vacuum cup 4, this lateral movement steering wheel 9 lifts the opposite side of robot and makes not adsorb end by 6 rotations of motion steering wheel first to surmount obstacles, when not adsorbing that side surmounts obstacles and being held after metope by vacuum cup 4, then make in the same way former absorption side surmount obstacles.
Advance and be hampered for cleaning assembly, can make reducing motor 12 work and promote cleaning steering wheel 2 and brush 1 surmounts obstacles by feed screw nut 3, be convenient to follow-up cleaning works completing after obstacle detouring again the height that reduces cleaning assemblies by feed screw nut 3.
Claims (4)
1. climb a wall sweeping robot, comprise fuselage, fuselage is made up of body plate (13) and horn plate (5); It is characterized in that: reducing motor (12) is arranged on the middle of body plate (13), down, reducing motor (12) is connected with feed screw nut (3) output shaft, drives cleaning assembly to move up and down;
Two minipumps (10) are symmetricly set on reducing motor (12) both sides, and the base (11) of minipump (10) is arranged on body plate (13);
Two double output shaft motion steering wheels (9) respectively level are arranged on fuselage both sides horn plates (5) upper end, the double output shaft of double output shaft motion steering wheel (9) is connected with fuselage both sides by tray joint shaft (8), drives body plate (13) to rotate;
Two single output shaft motion steering wheels (6) are vertically mounted on respectively fuselage both sides horn plates (5) lower end, output shaft direction down, single output shaft motion steering wheel (6) below is provided with vacuum cup (4), and vacuum cup (4) is connected with minipump (10) by soft air pipe;
Single output shaft motion steering wheel (6) is vertical with the output shaft direction of double output shaft motion steering wheel (9).
2. the wall sweeping robot of climbing as claimed in claim 1, is characterized in that: described body plate (13) is also provided with lifting groove (14), for matching with cleaning assembly.
3. the wall sweeping robot of climbing as claimed in claim 1, is characterized in that: described cleaning assembly comprises cleaning steering wheel (2), rain brush seat (15) and brush (1).
4. the wall sweeping robot of climbing as claimed in claim 1, is characterized in that: on described horn plate (5), be also provided with camera (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521056064.XU CN205251438U (en) | 2015-12-17 | 2015-12-17 | Climb wall and clean machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521056064.XU CN205251438U (en) | 2015-12-17 | 2015-12-17 | Climb wall and clean machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205251438U true CN205251438U (en) | 2016-05-25 |
Family
ID=55992993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521056064.XU Expired - Fee Related CN205251438U (en) | 2015-12-17 | 2015-12-17 | Climb wall and clean machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205251438U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN107662213A (en) * | 2016-07-28 | 2018-02-06 | 天津创来智能光伏科技有限公司 | A kind of intelligent mobile robot and the intelligent robot for cleaning |
| RU221076U1 (en) * | 2023-05-26 | 2023-10-17 | Федеральное государственное автономное образовательное учреждение высшего образования "Московский политехнический университет" (Московский Политех) | Vertical pedipulator robot |
-
2015
- 2015-12-17 CN CN201521056064.XU patent/CN205251438U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN107662213A (en) * | 2016-07-28 | 2018-02-06 | 天津创来智能光伏科技有限公司 | A kind of intelligent mobile robot and the intelligent robot for cleaning |
| RU221076U1 (en) * | 2023-05-26 | 2023-10-17 | Федеральное государственное автономное образовательное учреждение высшего образования "Московский политехнический университет" (Московский Политех) | Vertical pedipulator robot |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160525 Termination date: 20171217 |