CN205994461U - A kind of clean robot based on bernoulli principle - Google Patents
A kind of clean robot based on bernoulli principle Download PDFInfo
- Publication number
- CN205994461U CN205994461U CN201620547943.0U CN201620547943U CN205994461U CN 205994461 U CN205994461 U CN 205994461U CN 201620547943 U CN201620547943 U CN 201620547943U CN 205994461 U CN205994461 U CN 205994461U
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- water
- clean robot
- bernoulli principle
- washing
- robot based
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Abstract
The utility model discloses a kind of clean robot based on bernoulli principle, including vehicle body, vehicle body is provided with absorption climbing mechanism, drive mechanism, washing and cleaning operation mechanism and power supply, absorption climbing mechanism includes centrifugal fan and sucker, the high velocity air being produced by centrifugal fan, to maintain negative pressure in sucker, thus being attached on wall, climbing is realized by drive mechanism and turns to, by washing and cleaning operation, mechanism is carried out to wall, and power supply provides power for absorption climbing mechanism, drive mechanism and washing and cleaning operation mechanism.Can quickly, convenient and safe cleaning high building curtain wall, easy to control, structure is simple, replaces workman's work high above the ground it is ensured that the safety of staff, reduces the generation of peril, high working efficiency.
Description
Technical field
This utility model is related to high building cleaning device technical field and in particular to a kind of cleaner based on bernoulli principle
Device people.
Background technology
With economic continuous development, many new decorative materials arise at the historic moment, as wide in glass curtain wall, ceramic tile etc.
General use, these materials bring topic between some cleanings.Through exposing to the sun and rain, weathering, particularly atmosphere pollution
(as CO2Deng gas) erosion, outer wall material dirt deposits and air slaking, more or less spot is occurred on metope.These materials
Surface or inside, due to absorbing moisture in the cyclic process that frost is thawed, easily make building be subject to destroy (during water freezing
Volumetric expansion), the total surface of building appearance dirt particles is more much greater than original surface in addition, therefore, after making moist, dirty
The dirty shell surface moisture time is longer than original surface, increases the destructiveness to construction material.And clear up glass curtain wall, ceramic tile, no
Only play the effect beautified the environment, the effect of building can also be protected.
This kind of cleaning major part is still taken hanging basket by workman and is carried out work high above the ground to complete at present, the building ring of workman
Border is severe, inefficiency, task are heavy, and has very high danger.Clean a building building surface and expend time length, cost
Huge.
For solving the above problems, now urgently need at present to seek the cleaning dress that a kind of replacement manually carries out high building glass curtain wall
Put, it can be in glass curtain wall, and on the smooth surface such as ceramic tile, absorption climbing, completes basic cleaning.
Content of the invention
The technical problems to be solved in the utility model is, in view of the foregoing defects the prior art has, there is provided Yi Zhongji
In the clean robot of bernoulli principle, can quickly, convenient and safe cleaning high building curtain wall, easy to control, structure is simple,
Replace workman's work high above the ground it is ensured that the safety of staff, reduce the generation of peril, high working efficiency.
This utility model be employed technical scheme comprise that by solving above-mentioned technical problem：
A kind of clean robot based on bernoulli principle, including vehicle body, vehicle body is provided with absorption climbing mechanism, driving machine
Structure, washing and cleaning operation mechanism and power supply, absorption climbing mechanism includes centrifugal fan and sucker, the height being produced by centrifugal fan
Fast air-flow, to maintain negative pressure in sucker, thus being attached on wall, realizing climbing by drive mechanism and moving ahead and turn to, passing through
Washing and cleaning operation mechanism is carried out to wall, and power supply provides power for absorption climbing mechanism, drive mechanism and washing and cleaning operation mechanism.
Connect technique scheme, absorption climbing mechanism also includes direct current generator, by DC motor Driver centrifugal fan
Rotate.
Connect technique scheme, drive mechanism includes direct current generator and universal wheel, universal wheel is provided with rubber tyre, direct current
Motor drive universal wheel rotates, and so that described clean robot is moved.
Connect technique scheme, washing and cleaning operation mechanism includes Pneumatic power elevator apparatus, brushing device and water spray water absorber, gas
Dynamic lowering or hoisting gear is connected with brushing device, drives brushing device lifting, and water spray water absorber cleans offer water for brushing device.
Connect technique scheme, Pneumatic power elevator apparatus include telescopic cylinder, telescopic cylinder is connected with vehicle body, flexible gas
The piston rod of cylinder is connected with brushing device.
Connect technique scheme, brushing device includes bracing frame, round brush, direct current generator and synchronous pulley, round brush and direct current
Motor may be contained within, on bracing frame, being connected with vehicle body inside bracing frame, and direct current generator drives round brush to rotate by synchronous pulley, makes
Round brush with wall friction and then reaches cleaning purpose, and water spray water absorber includes nozzle, before nozzle is arranged at round brush in front of round brush
Side.
Connect technique scheme, water spray water absorber also includes water tank and water pump, and water tank and water pump are all built in vehicle body,
Water pump is connected with water tank and nozzle by pipeline；Before washing and cleaning operation, operator are passed through water or cleanout fluid, operation into water tank
When, the water in water tank is drawn by water pump, is sprayed by nozzle.
Connect technique scheme, round brush is provided with flexible cleaning material, round brush rear is provided with rubber flap.
Connect technique scheme, described cleaning robot also includes controller, controller includes single-chip microcomputer, Motor drive mould
Block, detection module and power module, single-chip microcomputer passes through motor drive module and absorption climbing mechanism, drive mechanism and washing and cleaning operation
Mechanism connects, and single-chip microcomputer is connected with power supply by power module, and detection module is connected with single-chip microcomputer；
Detection module includes optical pickocff and infrared sensor, and controller passes through optical pickocff and working surface is examined
Survey, and then judge whether the surface after cleaning reaches requirement and robot whether in the working region setting, controller
The projection foreign body whether having in working face beyond set point being detected by infrared sensor, if having, being evaded.
Connect technique scheme, also include communication module, communication module includes communicating bluetooth；Controller passes through to communicate bluetooth
Accept the instruction that operator sends to robot, around water source, be provided with radio signal, accept aerogram by communicating bluetooth
Number determine water source position, and then be automatically performed the purpose of automatic water supplement.
This utility model has the advantages that：
Negative pressure is produced by centrifugal fan, maintains negative pressure in sucker so that clean robot can be attached using bernoulli principle
On wall, and then sufficiently large normal pressure is produced to clean robot, make drive mechanism be obtained in that enough frictional force and
Realize locomotive function, can quickly, convenient and safe cleaning high building curtain wall, easy to control, structure is simple, replaces workman high-altitude
Operation, it is ensured that the safety of staff, reduces the generation of peril, high working efficiency.
Brief description
Fig. 1 is the facade of the clean robot in this utility model embodiment based on bernoulli principle；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the structural representation adsorbing climbing mechanism in this utility model embodiment；
Fig. 4 is the upward view of Fig. 3；
Fig. 5 is the elevation of centrifugal fan in this utility model embodiment；
Fig. 6 is the elevation of washing and cleaning operation mechanism in this utility model embodiment；
Fig. 7 is the front view of Fig. 6；
In figure, 1- telescopic cylinder, 2- round brush, 3- nozzle, 4- vehicle body, 5- bracing frame, 6- synchronous pulley, 7- rubber flap,
8- first dc motor, 9- centrifugal fan, 10- second dc motor, 11- sucker, 12- impeller.
Specific embodiment
With reference to the accompanying drawings and examples this utility model is described in detail.
With reference to the cleaner based on bernoulli principle shown in Fig. 1～Fig. 7, in the embodiment that this utility model provides
Device people, including vehicle body 4, vehicle body 4 is provided with absorption climbing mechanism, drive mechanism, washing and cleaning operation mechanism and power supply, adsorbs climbing machine
Structure includes centrifugal fan 9 and sucker 11, the high velocity air being produced by impeller 12 high-speed rotation of centrifugal fan 9, to tie up
Holding negative pressure in sucker 11, thus being attached on wall, and then the normal pressure perpendicular to wall being formed to clean robot, by driving
Motivation structure is realized climbing and is moved ahead and turn to, and by washing and cleaning operation, mechanism is carried out to wall, and power supply is absorption climbing mechanism, drive
Motivation structure and washing and cleaning operation mechanism provide power；Negative pressure is produced by centrifugal fan 9, maintains sucker 11 using bernoulli principle
Interior negative pressure makes clean robot can be attached on wall, and then produces sufficiently large normal pressure to clean robot, makes driving machine
Structure is obtained in that enough frictional force realizes locomotive function, can quickly, convenient and safe cleaning high building curtain wall, controlling party
Just, structure is simple, replaces workman's work high above the ground, reduces the generation of peril, high working efficiency.
Further, absorption climbing mechanism also includes the second dc motor 10, is driven by the second dc motor 10
Impeller 12 high-speed rotation of centrifugal fan 9 produces high velocity air.
Further, drive mechanism includes direct current generator and universal wheel, and universal wheel is provided with rubber tyre, and direct current generator drives
Dynamic universal wheel rotates, and so that described clean robot is moved.
Further, washing and cleaning operation mechanism includes Pneumatic power elevator apparatus, brushing device and water spray water absorber, Pneumatic elevation
Device is connected with brushing device, drives brushing device lifting, and water spray water absorber cleans offer water for brushing device；When right
When wall is carried out, Pneumatic power elevator apparatus decline makes brushing device contact with wall, the Pneumatic power elevator apparatus when not being carried out
Rising makes brushing device raise not contact with wall.
Further, Pneumatic power elevator apparatus include telescopic cylinder 1, and telescopic cylinder 1 is connected with vehicle body 4, telescopic cylinder 1
Piston rod be connected with brushing device；Using quadric chain principle, when telescopic cylinder 1 shrinks, brushing device rises.
Further, brushing device includes bracing frame 5, round brush 2, the first dc motor 8 and synchronous pulley 6, round brush 2 He
First dc motor 8 may be contained within bracing frame 5, and bracing frame 5 inner side is connected with vehicle body 4, and the first dc motor 8 passes through same
Step belt wheel 6 drives round brush 2 to rotate, and makes round brush 2 with wall friction and then reach cleaning purpose, and water spray water absorber includes nozzle 3,
Nozzle 3 is arranged in front of round brush 2 front round brush 2.
Further, brushing device also includes driving gear set, and the first dc motor 8 is driven same by driving gear set
Step belt wheel 6, obtains suitable speed reducing ratio by the reasonable disposition of driving gear set, obtains suitable rotary speed to meet cleaning
The requirement of frequency, smart structural design, it is fully able to meet the requirement of actual job.
Further, nozzle 3 is uniformly distributed along the axial direction of round brush 2.
Further, water spray water absorber also includes water tank and water pump, and water tank and water pump are all built in vehicle body 4, water pump
It is connected with water tank and nozzle 3 by pipeline；Before washing and cleaning operation, operator are passed through water or cleanout fluid, during operation, water into water tank
Water in water tank is drawn by pump, is sprayed by nozzle 3.
Further, round brush 2 is provided with flexible cleaning material, and round brush 2 rear is provided with rubber flap 7.
Further, described cleaning robot also includes controller, and controller includes single-chip microcomputer, motor drive module, inspection
Survey module and power module, single-chip microcomputer passes through motor drive module and absorption climbing mechanism, drive mechanism and washing and cleaning operation mechanism
Connect, single-chip microcomputer is connected with power supply by power module, and detection module is connected with single-chip microcomputer；
Detection module includes optical pickocff and infrared sensor, and controller passes through optical pickocff and working surface is examined
Survey, and then judge whether the surface after cleaning reaches requirement and robot whether in the working region setting, controller
The projection foreign body whether having in working face beyond set point being detected by infrared sensor, if having, being evaded.
Further, also include communication module, communication module includes communicating bluetooth；Controller accepts behaviour by communicating bluetooth
Make the instruction that Human-to-Machine people sends, around water source (water source is bucket in specific embodiment), be provided with radio signal, by logical
News bluetooth accepts radio signal and determines water source position, and then is automatically performed the purpose of automatic water supplement.
In an embodiment of the present utility model, operation principle of the present utility model：
This utility model patent, by the way of batch (-type) operation, from top to bottom cleans when cleaning glass curtain wall, by red
Outer sensor identifies cleaning path, when reaching lowermost layer, the Bluetooth signal that detection bucket sends, determines bucket position, automatic row
Sail to above bucket, rotate in place to tail down, stretch out the pipeline that draws water and draw water to inner water-tank, return again to top, by infrared
The value of feedback of sensor and optical pickocff carries out path planning, continues cleaning, until designated area curtain wall reaches setting
Cleaning require.
During washing and cleaning operation, nozzle 3 Jiang Shui and the mixture (cleaning solution) of water cleaning agent agent is used to spray with vaporific form first
It is mapped to glass wall, round brush 2 is depressed into glass wall, round brush 2 quick rotation under DC motor Driver by cylinder, and dirt is gone
Fall, finally with rubber flap 7 (in specific embodiment, rubber flap 7 is double-deck scraper plate), metope is shaved, cleaning performance is good, efficiency
Height, does not just have water stain when such high building glass curtain wall cleaning device is by the wall that cleaned, be not in beat when mobile yet
The phenomenon such as sliding.
When high building glass curtain wall cleaning device is in no clean operation process, remain that round brush 2 lifts, in order to avoid by round brush
2 and glass curtain wall make dirty again, and reducing friction resistance is thus reduce load during robot ride.
Above be only preferred embodiment of the present utility model, certainly the power of this utility model can not be limited with this
Sharp scope, the equivalence changes therefore made according to this utility model claim, still belong to protection domain of the present utility model.
Claims (10)
1. a kind of clean robot based on bernoulli principle, including vehicle body it is characterised in that vehicle body is provided with absorption climbing machine
Structure, drive mechanism, washing and cleaning operation mechanism and power supply, absorption climbing mechanism includes centrifugal fan and sucker, by centrifugal wind
Machine produce high velocity air, to maintain negative pressure in sucker, thus being attached on wall, by drive mechanism realize climbing move ahead and
Turn to, by washing and cleaning operation, mechanism is carried out to wall, power supply is absorption climbing mechanism, drive mechanism and washing and cleaning operation mechanism
Power is provided.
2. the clean robot based on bernoulli principle according to claim 1 is it is characterised in that adsorb climbing mechanism also
Including direct current generator, rotated by DC motor Driver centrifugal fan.
3. the clean robot based on bernoulli principle according to claim 1 is it is characterised in that drive mechanism includes directly
Stream motor and universal wheel, universal wheel is provided with rubber tyre, and DC motor Driver universal wheel rotates, and so that described clean robot is moved
Dynamic.
4. the clean robot based on bernoulli principle according to claim 1 is it is characterised in that washing and cleaning operation mechanism wraps
Include Pneumatic power elevator apparatus, brushing device and water spray water absorber, Pneumatic power elevator apparatus are connected with brushing device, drive brushing device
Lifting, water spray water absorber cleans offer water for brushing device.
5. the clean robot based on bernoulli principle according to claim 4 is it is characterised in that Pneumatic power elevator apparatus bag
Include telescopic cylinder, telescopic cylinder is connected with vehicle body, the piston rod of telescopic cylinder is connected with brushing device.
6. the clean robot based on bernoulli principle according to claim 4 is it is characterised in that brushing device includes propping up
Support, round brush, direct current generator and synchronous pulley, round brush and direct current generator may be contained within bracing frame, inside bracing frame and vehicle body
Connect, direct current generator drives round brush to rotate by synchronous pulley, make round brush with wall friction and then reach cleaning purpose, water spray is inhaled
Water installations include nozzle, and nozzle is arranged in front of round brush in front of round brush.
7. the clean robot based on bernoulli principle according to claim 6 is it is characterised in that spray water water absorber also
Including water tank and water pump, water tank and water pump are all built in vehicle body, and water pump is connected with water tank and nozzle by pipeline；Washing and cleaning operation
Before, operator are passed through water or cleanout fluid into water tank, and during operation, the water in water tank is drawn by water pump, is sprayed by nozzle.
8. the clean robot based on bernoulli principle according to claim 6 is it is characterised in that round brush is provided with flexibility
Cleaning material, round brush rear is provided with rubber flap.
9. the clean robot based on bernoulli principle according to claim 1 is it is characterised in that described cleaning robot
Also include controller, controller includes single-chip microcomputer, motor drive module, detection module and power module, single-chip microcomputer passes through motor
Drive module is connected with absorption climbing mechanism, drive mechanism and washing and cleaning operation mechanism, and single-chip microcomputer passes through power module with power supply even
Connect, detection module is connected with single-chip microcomputer；
Detection module includes optical pickocff and infrared sensor, and controller passes through optical pickocff and working surface is detected, enters
And whether the surface after judging to clear up reaches requirement and whether robot is located in the working region setting, controller passes through red
Outer sensor detects the projection foreign body whether having in working face beyond set point, if having, is evaded.
10. the clean robot based on bernoulli principle according to claim 9 is it is characterised in that also include communicating mould
Block, communication module includes communicating bluetooth；Controller accepts the instruction that operator sends, water source week to robot by communicating bluetooth
Enclose and be provided with radio signal, radio signal is accepted by communication bluetooth and determines water source position, and then be automatically performed automatic water supplement
Purpose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620547943.0U CN205994461U (en) | 2016-06-06 | 2016-06-06 | A kind of clean robot based on bernoulli principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620547943.0U CN205994461U (en) | 2016-06-06 | 2016-06-06 | A kind of clean robot based on bernoulli principle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205994461U true CN205994461U (en) | 2017-03-08 |
Family
ID=58204218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620547943.0U Expired - Fee Related CN205994461U (en) | 2016-06-06 | 2016-06-06 | A kind of clean robot based on bernoulli principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205994461U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107184161A (en) * | 2017-07-17 | 2017-09-22 | 西安石油大学 | Intelligent robot is painted in a kind of high-wall cleaning |
| CN108283469A (en) * | 2018-01-30 | 2018-07-17 | 荆门宁杰机电技术服务有限公司 | A kind of environment-friendly engineering stair refuse cleaner |
| CN108771509A (en) * | 2018-04-23 | 2018-11-09 | 昆明理工大学 | A kind of glass curtain wall cleaning machine device people |
| CN109235915A (en) * | 2018-09-14 | 2019-01-18 | 东莞方凡智能科技有限公司 | A kind of external hanging type intelligentized Furniture of exterior wall capable of washing |
| CN109577670A (en) * | 2019-01-17 | 2019-04-05 | 南京思创机器人有限公司 | A kind of high building exterior wall cleaning equipment |
| CN109620071A (en) * | 2018-12-26 | 2019-04-16 | 深兰科技（上海）有限公司 | The walking mechanism of clean robot and the traveling method of clean robot |
| CN110962134A (en) * | 2018-09-29 | 2020-04-07 | 浙江维思无线网络技术有限公司 | Robot for cleaning inner wall of converter valve hall |
| CN111074960A (en) * | 2020-01-02 | 2020-04-28 | 赵九千 | Sludge extraction device for river channel restoration based on Bernoulli principle |
| CN113116244A (en) * | 2021-04-25 | 2021-07-16 | 北京黑蚁兄弟科技有限公司 | Robot device capable of cleaning through seam and seam-passing method thereof |
-
2016
- 2016-06-06 CN CN201620547943.0U patent/CN205994461U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107184161A (en) * | 2017-07-17 | 2017-09-22 | 西安石油大学 | Intelligent robot is painted in a kind of high-wall cleaning |
| CN107184161B (en) * | 2017-07-17 | 2023-09-19 | 西安石油大学 | Intelligent robot device for high-wall cleaning and painting |
| CN108283469A (en) * | 2018-01-30 | 2018-07-17 | 荆门宁杰机电技术服务有限公司 | A kind of environment-friendly engineering stair refuse cleaner |
| CN108771509A (en) * | 2018-04-23 | 2018-11-09 | 昆明理工大学 | A kind of glass curtain wall cleaning machine device people |
| CN108771509B (en) * | 2018-04-23 | 2023-12-22 | 昆明理工大学 | Glass curtain wall cleaning robot |
| CN109235915A (en) * | 2018-09-14 | 2019-01-18 | 东莞方凡智能科技有限公司 | A kind of external hanging type intelligentized Furniture of exterior wall capable of washing |
| CN110962134A (en) * | 2018-09-29 | 2020-04-07 | 浙江维思无线网络技术有限公司 | Robot for cleaning inner wall of converter valve hall |
| CN109620071A (en) * | 2018-12-26 | 2019-04-16 | 深兰科技（上海）有限公司 | The walking mechanism of clean robot and the traveling method of clean robot |
| CN109577670A (en) * | 2019-01-17 | 2019-04-05 | 南京思创机器人有限公司 | A kind of high building exterior wall cleaning equipment |
| CN111074960A (en) * | 2020-01-02 | 2020-04-28 | 赵九千 | Sludge extraction device for river channel restoration based on Bernoulli principle |
| CN113116244A (en) * | 2021-04-25 | 2021-07-16 | 北京黑蚁兄弟科技有限公司 | Robot device capable of cleaning through seam and seam-passing method thereof |
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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: 20170308 Termination date: 20170606 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |