CN205306885U - Intelligence climbing cleaning machines people - Google Patents
Intelligence climbing cleaning machines people Download PDFInfo
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- CN205306885U CN205306885U CN201521036324.7U CN201521036324U CN205306885U CN 205306885 U CN205306885 U CN 205306885U CN 201521036324 U CN201521036324 U CN 201521036324U CN 205306885 U CN205306885 U CN 205306885U
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Abstract
The utility model provides a can be used for the multiple intelligence climbing cleaning machines people who is cleaned the body, it has the robot, track and central controller, be formed with a plurality of atmospheric pressure storehouses in the robot's inside, the atmospheric pressure storehouse forms the opening in the robot's bottom, install the atmospheric pressure that goes on the atmospheric pressure storehouse and carry out the atmospheric pressure adjustment mechanism that adjusts on the robot, atmospheric pressure adjustment mechanism includes rotating electrical machines and the blade of being connected with the rotating electrical machines, crawler -belt mounting is in the robot's bottom, be located the both sides in a plurality of atmospheric pressure storehouses, be used for making intelligence climbing cleaning machines people to go forward or retreat, central controller installs and controls intelligence climbing cleaning machines people's whole in the robot.
Description
Technical field
The present invention relates to a kind of intelligence climbing clean robot.
Background technology
Along with urbanization must be raised speed, being on the increase of skyscraper, clean day by day urgent outside the window in skyscraper. Current usually by being manually cleaned, there is great Personal Risk in such artificial cleaning. It addition, the architectural design of many venues have employed large-area glass outer wall in order to attractive in appearance, add cleaning difficulty, and adopt manual wipping consuming time longer, be therefore badly in need of the intelligentized instrument of mechanization and replace artificial.
The domestic not too many correlation technique about climbing clean robot at present. Although wherein there being part climbing robot, but focus mostly in the structure of easily climbing, such as wind tower rod (publication number CN102887186B), inner-walls of duct (publication number CN103615630B), hydraulically rough surface (publication number CN104354780A) can, in these situations all easily by the grip that the design forming of frame for movement is suitable complete climbing. These are unsuitable for climbing on the body surface of grasping lacking on glass surface or wall face.
It addition, current market starts a small amount of climbing robot for glass wiping occur. but this current technology is still at an early stage, yet suffer from much following problem, 1) can only one window of wiping, window frame can not be crossed, need manually to take off and be installed on an other window again, so that user experience is poor, this robot is not intended to the occasion that window face is more, 2) robot adopts electromagnetic adsorption technology or static air pressure adsorption technology at present, the former operating difficulties, cannot be used for relatively heavy sheet glass, the latter requires that glass surface is smooth can not ripple style, these requirements limit the use of current robot, 3) there is certain requirement in current robot for glass surface moisture, if moisture is too many, robot will skid and even come off. therefore, current climbing robot, to higher by the requirement of wiping body, uses narrow range, inefficiency.
Summary of the invention
The present invention be directed to problems of the prior art and propose, its object is to provide a kind of and can be used in the multiple intelligence by wiping body and climb clean robot.
Adopt the following technical scheme that for realizing the purpose of the present invention.
The intelligence climbing clean robot of technical scheme 1, there is robot body, crawler belt and central controller, it has been internally formed multiple air pressure storehouse at described robot body, described air pressure storehouse forms opening in the bottom of described robot body, described robot body is provided with the Pneumatic adjusting mechanism Pneumatic adjusting mechanism that the air pressure to described air pressure storehouse regulates and controls, described Pneumatic adjusting mechanism includes electric rotating machine and the blade being connected with described electric rotating machine, described crawler belt is arranged on the bottom of described robot body, it is positioned at the both sides in multiple described air pressure storehouse, for making described intelligence climbing clean robot advance or retreat, the entirety that described central controller is arranged in described robot body and described intelligence is climbed clean robot is controlled.
The intelligence climbing clean robot of technical scheme 2, intelligence in technical scheme 1 is climbed in clean robot, described crawler belt is connected with track drive motor, and described crawler belt is made up of bottom, skid resistant course and the flexible electrode between described bottom and described skid resistant course.
The intelligence climbing clean robot of technical scheme 3, intelligence in technical scheme 1 or 2 is climbed in clean robot, described robot body has multiple, multiple described robot bodies are arranged side by side and connect by crossing over controlling organization, described leap controlling organization includes obstacle detecting device, the mechanical arm that adjacent described robot body is connected and the multiple mechanical arm drive motors being driven described mechanical arm to rotate, one end of described mechanical arm connects via one end on direct of travel of described mechanical arm drive motor and the bottom surface of a described robot body, the other end of described mechanical arm is connected with the other end on direct of travel of the bottom surface of robot body another described via described mechanical arm drive motor, described obstacle detecting device is arranged on the periphery wall of described robot body, when described obstacle detector detects and there is barrier, described central controller drives described mechanical arm drive motor to make a part of robot body rise or fall by described mechanical arm lifting.
The intelligence climbing clean robot of technical scheme 4, intelligence in technical scheme 2 is climbed in clean robot, described robot body has 2,2 crawler belts in the outside being arranged in the crawler belt of the bottom of 2 described robot bodies are actively crawler belt, and 2 crawler belts of the inner side being arranged in the crawler belt of the bottom of 2 described robot bodies are driven crawler belt.
The intelligence climbing clean robot of technical scheme 5, the intelligence in technical scheme 4 is climbed in clean robot, by 1 Pneumatic adjusting mechanism, the air pressure in multiple described air pressure storehouses is adjusted.
Compared with prior art, the present invention has following beneficial effect.
Intelligence climbing clean robot according to technical scheme 1, it has robot body, crawler belt and central controller, it has been internally formed multiple air pressure storehouse at robot body, by Pneumatic adjusting mechanism, the air pressure in air pressure storehouse is adjusted, crawler belt is installed in the bottom of robot body, makes intelligence climbing clean robot advance or retreat.
By such intelligence climbing clean robot, in the course of the work, electric rotating machine band moving vane carries out high speed rotating, thus form high velocity air in bottom, then will produce draught head and thing followed absorption affinity. Compared with the static air pressure suction type of current many employings, static air pressure absorption needs the air-tightness of strict guarantee air cavity, so being not applied for rough surface, and the method for the dynamic air pressure absorption of the present invention, enough suction can be remained in that when air-tightness is not as, so may be used for rough surface, widen the working range of climbing robot.
Additionally, compared with the electromagnetic adsorption mode of current use, electromagnetism intelligence acts on ferromagnetic material surface, so if it is desired to the words being adsorbed on glass need to apply the electromagnetism of opposite polarity on the two sides of glass simultaneously, thus producing holding power, but this requires can touch on two surfaces of glass simultaneously, so can not wiping some can only touch the glass on a surface. The air adsorption method that the present invention adopts is absent from this problem, and the surface touching glass is only required in its work.
Additionally, owing to being divided into multiple independent air pressure storehouse in the bottom of robot body, so when through crack or through hole, air pressure in this crack or the single air pressure storehouse of through hole can reduce suddenly, this machine can only cut out this air pressure storehouse, keeping the normal suction in other air pressure storehouses, thus keeping the powerful absorption affinity of whole robot body, the inefficacy of entirety will not be caused because of single gap or through hole.
Therefore, the glass with decorative pattern or surface irregularity can be carried out wiping by the intelligence climbing clean robot of the present invention, it is possible to be suitable for more situation, applied range.
It addition, the intelligence according to technical scheme 2 climbs clean robot, crawler belt bottom, skid resistant course and the flexible electrode between bottom and skid resistant course are constituted. So by electrode release voltage, thus stronger absorption affinity can be produced on crawler belt, now when glass surface relatively moistens, it also is able to ensure that intelligence climbing clean robot is reliably adsorbed on glass, prevent from skidding, therefore expand the scope of application of glass further, apply wider.
Additionally, intelligence climbing clean robot according to technical scheme 3, robot body has multiple, these robot bodies are arranged side by side and connect by crossing over controlling organization, cross over controlling organization and include mechanical arm and mechanical arm drive motor, one end of mechanical arm connects via one end on direct of travel of the bottom surface of mechanical arm drive motor and a robot body, and the other end of mechanical arm is connected via the other end on direct of travel of mechanical arm drive motor with the bottom surface of another robot body.
By such leap controlling organization, cross over mechanism and adopt two motor-driven mechanical arms to cross over window frame. In leap process, position by the infrared distance measurement of the surrounding and lower section that are arranged in robot body and touch sensor detection barrier (window frame), controller controls two motors and cooperates, keep the absorption of a robot body, another robot body of lifting, across after body will be adsorbed on new glass or metope, the robot body on original surface is transferred, thus realizing the leap of barrier.
Thus compared with prior art, the intelligence climbing clean robot of the present invention can browse the barriers such as window frame, it is not necessary to manually taking off and be installed on other window again, it is possible to carry out continuously performing wiping, work efficiency is high.
It addition, the intelligence according to technical scheme 4 climbs clean robot, robot body has 2, and the crawler belt in outside is active crawler belt, and the crawler belt of inner side is driven crawler belt. It is thus possible to use minimum track drive motor to realize walking, alleviating the weight that intelligence climbing clean robot is overall, more easily adsorb, stability is higher, lower in cost.
It addition, the intelligence according to technical scheme 5 climbs clean robot, by 1 Pneumatic adjusting mechanism, the air pressure in multiple air pressure storehouses is adjusted. The quantity of Pneumatic adjusting mechanism so when realizing stable pressure regulation, can be reduced, reduce further the weight that intelligence climbing clean robot is overall, add stability, reduce cost.
Accompanying drawing explanation
Fig. 1 indicates that the schematic top plan view of the intelligence climbing clean robot of the present invention.
Fig. 2 indicates that the elevational schematic view of the intelligence climbing clean robot of the present invention.
Fig. 3 indicates that the schematic side view of the intelligence climbing clean robot of the present invention.
Fig. 4 indicates that the schematic diagram of the dynamic adsorption mode of the intelligence climbing clean robot of the present invention.
Fig. 5 indicates that the structure for amplifying schematic diagram of the crawler belt of the intelligence climbing clean robot of the present invention.
Fig. 6 indicates that the principle schematic crossing over controlling organization of the intelligence climbing clean robot of the present invention.
Detailed description of the invention
Below, the intelligence climbing clean robot of an example as the present invention is described based on accompanying drawing.
Fig. 1 indicates that the schematic top plan view of the intelligence climbing clean robot of the present invention.Fig. 2 indicates that the elevational schematic view of the intelligence climbing clean robot of the present invention. Fig. 3 indicates that the schematic side view of the intelligence climbing clean robot of the present invention. Fig. 4 indicates that the schematic diagram of the dynamic adsorption mode of the intelligence climbing clean robot of the present invention. Fig. 5 indicates that the structural representation of the crawler belt of the intelligence climbing clean robot of the present invention. Fig. 6 indicates that the principle schematic crossing over controlling organization of the intelligence climbing clean robot of the present invention.
As shown in Figures 1 to 6, the intelligence climbing clean robot of the present invention has robot body 10, crawler belt 20 and central controller (not shown).
It has been internally formed multiple air pressure storehouse 11 at robot body 10, air pressure storehouse 11 forms opening in the bottom of robot body 10, robot body 10 is provided with the Pneumatic adjusting mechanism 30 that the air pressure to air pressure storehouse 11 is adjusted, Pneumatic adjusting mechanism 30 includes electric rotating machine and the blade being connected with electric rotating machine, furthermore it is also possible to use electromagnetic valve to carry out auxiliary adjustment.
Crawler belt 20 is arranged on the bottom of robot body 10, is positioned at the both sides in multiple air pressure storehouse 11, is used for making intelligence climbing clean robot advance or retreat.
Central controller be arranged in robot body to intelligence climb clean robot entirety be controlled.
According to above-mentioned intelligence climbing clean robot, it has robot body, crawler belt and central controller, it has been internally formed multiple air pressure storehouse at robot body, by Pneumatic adjusting mechanism, the air pressure in air pressure storehouse is adjusted, crawler belt is installed in the bottom of robot body, makes intelligence climbing clean robot advance or retreat.
By such intelligence climbing clean robot, in the course of the work, electric rotating machine band moving vane carries out high speed rotating, thus form high velocity air in bottom, then will produce draught head and thing followed absorption affinity. Compared with the static air pressure suction type of current many employings, static air pressure absorption needs the air-tightness of strict guarantee air cavity, so being not applied for rough surface, and the method for the dynamic air pressure absorption of the present invention, enough suction can be remained in that when air-tightness is not as, so may be used for rough surface, widen the working range of climbing robot.
Additionally, compared with the electromagnetic adsorption mode of current use, electromagnetism intelligence acts on ferromagnetic material surface, so if it is desired to the words being adsorbed on glass need to apply the electromagnetism of opposite polarity on the two sides of glass simultaneously, thus producing holding power, but this requires can touch on two surfaces of glass simultaneously, so can not wiping some can only touch the glass on a surface. The air adsorption method that the present invention adopts is absent from this problem, and the surface touching glass is only required in its work.
Additionally, owing to being divided into multiple independent air pressure storehouse in the bottom of robot body, so when through crack or through hole, air pressure in this crack or the single air pressure storehouse of through hole can reduce suddenly, this machine can only cut out this air pressure storehouse, keeping the normal suction in other air pressure storehouses, thus keeping the powerful absorption affinity of whole robot body, the inefficacy of entirety will not be caused because of single gap or through hole.
Therefore, the glass with decorative pattern or surface irregularity can be carried out wiping by the intelligence climbing clean robot of the present invention, it is possible to be suitable for more situation, applied range.
It addition, crawler belt 20 is connected with track drive motor, crawler belt 20 can be made up of bottom 21, skid resistant course 22 and the flexible electrode between bottom 21 and skid resistant course 22 23. Such as, bottom is made up of common crawler belt rubber and fiber, and intermediate layer is formed (ultra-thin metal forming cutting forms or conductive liquid printing forms) by flexible electrode, and outermost layer is the anti-slip rubber of insulating properties. By imposing the high-tension electricity of 0.4 to 5kV to electrode, it will produce stronger absorption affinity. So by electrode release voltage, thus stronger absorption affinity can be produced on crawler belt, now when glass surface relatively moistens, it also is able to ensure that intelligence climbing clean robot is reliably adsorbed on glass, prevent from skidding, therefore expand the scope of application of glass further, apply wider.
Additionally, robot body 10 can have multiple, multiple robot bodies 10 are arranged side by side and connect by crossing over controlling organization 40, cross over controlling organization 40 and include obstacle detecting device, the mechanical arm 41 connected by adjacent robot body and the multiple mechanical arm drive motors 42 driving mechanical arm 41 to rotate.
One end of mechanical arm 41 is connected via one end on direct of travel of mechanical arm drive motor 42 with the bottom surface of a robot body 10, and the other end of mechanical arm 41 is connected via the other end on direct of travel of mechanical arm drive motor 42 with the bottom surface of another robot body 10.
Obstacle detecting device is arranged on the periphery wall of robot body, and when obstacle detector detects and there is barrier, central controller drives mechanical arm drive motor to make a part of robot body rise or fall by mechanical arm lifting.
By such leap controlling organization, cross over mechanism and adopt two motor-driven mechanical arms to cross over window frame. In leap process, position by obstacle detecting device detection barrier (window frame) M such as the infrared distance measurement of the surrounding and lower section that are arranged in robot body and touch sensors, controller controls two motors and cooperates, keep the absorption of a robot body, another robot body of lifting, across after body will be adsorbed on new glass or metope, the robot body on original surface is transferred, thus realizing the leap of barrier.
Thus compared with prior art, the intelligence climbing clean robot of the present invention can browse the barriers such as window frame, it is not necessary to manually taking off and be installed on other window again, it is possible to carry out continuously performing wiping, work efficiency is high.
It addition, robot body 10 can have 2,2 crawler belts in the outside being arranged in the crawler belt 20 of the bottom of 2 robot bodies 10 are actively crawler belt, and 2 crawler belts of the inner side being arranged in the crawler belt of the bottom of 2 robot bodies are driven crawler belt.
Specifically, drive system of robot is made up of two motors and four crawler belts. Two crawler belts in outside are active crawler belts, it is possible to by motor-driven rotation, two crawler belts near inner side are driven crawler belts, are not driven. Two motors drive respectively two actively crawler belts complete the motion of all directions of robot. When robot advances or retreats, two actively synchronized in the same direction motions of crawler belt, when robot turns, two actively crawler belt is reverse or differential speed rotation. The motion of two motors is controlled by central controller. Central controller carries out path planning according to the environmental information obtained by infrared distance sensor and touch sensor, to control forward-reverse and the rotation of robot. It is thus possible to use minimum track drive motor to realize walking, alleviating the weight that intelligence climbing clean robot is overall, more easily adsorb, stability is higher, lower in cost.
It addition, the air pressure in multiple air pressure storehouses is adjusted by 1 Pneumatic adjusting mechanism.The quantity of Pneumatic adjusting mechanism so when realizing stable pressure regulation, can be reduced, reduce further the weight that intelligence climbing clean robot is overall, add stability, reduce cost.
It addition, the intelligence climbing clean robot of the present invention, it is possible to it is made up of more than 2 interconnective robot bodies, as long as making robot body carry out crossing over by control.
Furthermore it is possible to arrange Pneumatic adjusting mechanism corresponding to each air pressure storehouse, it is also possible to carrying out pressure regulation by a multiple air pressure storehouse of Pneumatic adjusting mechanism team, adsorbing as long as being capable of dynamic air pressure.
It addition, the intelligence climbing clean robot of the present invention, it is possible to formed by above-mentioned various structural groupings, above-mentioned effect can be played equally.
Above the intelligence of the preferred embodiment of the present invention is climbed clean robot to be illustrated, but, the present invention is not limited to above-mentioned specific embodiment, without departing from scope of the claims, it is possible to carry out various deformation or change. Present invention resides in the various deformation in scope of the claims and change.
Claims (5)
1. an intelligence climbing clean robot, it is characterised in that
There is robot body, crawler belt and central controller,
It has been internally formed multiple air pressure storehouse at described robot body, described air pressure storehouse forms opening in the bottom of described robot body, described robot body is provided with the Pneumatic adjusting mechanism that the air pressure to described air pressure storehouse Pneumatic adjusting mechanism regulates and controls, described Pneumatic adjusting mechanism includes electric rotating machine and the blade being connected with described electric rotating machine
Described crawler belt is arranged on the bottom of described robot body, is positioned at the both sides in multiple described air pressure storehouse, is used for making described intelligence climbing clean robot advance or retreat,
The entirety that described central controller is arranged in described robot body and described intelligence is climbed clean robot is controlled.
2. intelligence climbing clean robot according to claim 1, it is characterised in that described crawler belt is connected with track drive motor, and described crawler belt is made up of bottom, skid resistant course and the flexible electrode between described bottom and described skid resistant course.
3. intelligence climbing clean robot according to claim 1 and 2, it is characterised in that
Described robot body has multiple, multiple described robot bodies are arranged side by side and connect by crossing over controlling organization, described leap controlling organization includes obstacle detecting device, the mechanical arm connected by adjacent described robot body and the multiple mechanical arm drive motors driving described mechanical arm to rotate
One end of described mechanical arm connects via one end on direct of travel of described mechanical arm drive motor and the bottom surface of a described robot body, the other end of described mechanical arm is connected with the other end on direct of travel of the bottom surface of robot body another described via described mechanical arm drive motor
Described obstacle detecting device is arranged on the periphery wall of described robot body, when described obstacle detector detects and there is barrier, described central controller drives described mechanical arm drive motor to make a part of robot body rise or fall by described mechanical arm lifting.
4. intelligence climbing clean robot according to claim 2, it is characterized in that, described robot body has 2,2 crawler belts in the outside being arranged in the crawler belt of the bottom of 2 described robot bodies are actively crawler belt, and 2 crawler belts of the inner side being arranged in the crawler belt of the bottom of 2 described robot bodies are driven crawler belt.
5. intelligence climbing clean robot according to claim 4, it is characterised in that the air pressure in multiple described air pressure storehouses is adjusted by 1 Pneumatic adjusting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521036324.7U CN205306885U (en) | 2015-12-10 | 2015-12-10 | Intelligence climbing cleaning machines people |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201521036324.7U CN205306885U (en) | 2015-12-10 | 2015-12-10 | Intelligence climbing cleaning machines people |
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| CN205306885U true CN205306885U (en) | 2016-06-15 |
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| CN201521036324.7U Active CN205306885U (en) | 2015-12-10 | 2015-12-10 | Intelligence climbing cleaning machines people |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
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- 2015-12-10 CN CN201521036324.7U patent/CN205306885U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
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