CN206262894U - A kind of truss clean robot - Google Patents
A kind of truss clean robot Download PDFInfo
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- CN206262894U CN206262894U CN201621280063.8U CN201621280063U CN206262894U CN 206262894 U CN206262894 U CN 206262894U CN 201621280063 U CN201621280063 U CN 201621280063U CN 206262894 U CN206262894 U CN 206262894U
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Abstract
The utility model discloses a kind of truss clean robot, including moving parts, suction and discharge control unit, hollow adsorption element, described moving parts includes 2 annulus and many bars in two ends, described many bars are connected between 2 edges of annulus and rotary is into hyperboloid, described annulus and motor drive connection；Described suction and discharge control unit is arranged in hyperboloid, including the elastic suction nozzle with suction hole, weight linear meter, two-way gas outlet, described weight linear meter is movably arranged on the hyperboloid axis, the elastic suction nozzle is close to the hyperboloid that bar is formed, and described two-way gas outlet is connected with the cavity of adsorption element；Described adsorption element is symmetricly set on 2 annulus outsides, including has articulate pin, the sucker located at the pin end.The characteristics of there is the utility model simple for structure, vdiverse in function, adaptation truss and pipe diameter to change, its cleaning for being applied to various curved surfaces.
Description
Technical field
The utility model is related to cleaning device, more particularly, to a kind of robot suitable for truss cleaning.
Background technology
The mankind increase sharply facing urban population, and after the nervous predicament of land used, skyscraper undoubtedly expands into developing
The certainty of living space.Aerial final truss, pipeline, exterior wall, the glass for being accumulated in building that drift but dust debris raise up with the wind
On glass, the habitation environment quality of surrounding will be made to be affected.The problem that presently, there are is as follows：
First, the long-term unmanned cleaning in the position such as the truss and pipeline at airport high ferro station, or the portion for only cleaning lower position
Part, its reason be lack it is corresponding adapt to that position is high, thickness is different, it is various to move towards, intermesh, the cleaner of truss
Tool, has that the amount of labour is big and dangerous.Feature has：1st, position is high；2nd, shape is indefinite；3rd, size is indefinite；3rd, quantity
It is many；4th, material is various；5th, there is barrier；7th, space moves towards complicated.
Secondly, high-altitude cleaning mode common at present includes：Artificial lifting rope work high above the ground（Spider-man）, by lifting tool
Manual work（Curved arm vehicle, lift truck hang ship etc.）, there is the amount of labour with the high-altitude cleaning of upper type big and dangerous high ask
Topic, also often has the case that falling from high altitude occurs in cleaning window and occurs.
At present, Simple hand hold/vehicle-mounted pole cleaner is common instrument, its advantage is low cost, simple to operate, and
Recently cleaning head also being realized on the basis of original simple machine can be selected according to cleaning object difference, be configured collection
Funnel carries out the functions such as dust collection, hand-held pole be scalable.The shortcoming that Simple hand holds pole cleaner is cannot to tackle truss knot
Structure quantity is more, position is high, it is different the features such as, use that human cost is higher, security is poor.
High-altitude cleaning robot is a kind of device for realizing high-altitude cleaning operation.Just current research conditions both domestic and external come
See, this robot is broadly divided into three classes.The first kind is high-altitude wall rail mounted, just by high-altitude wall track generally when building is built
It is installed on the wall of exterior wall high-altitude, the shortcoming of the program is that influence building is attractive in appearance and cleaning area is narrow；Equations of The Second Kind is that vacuum is inhaled
Attached high-altitude cleaning robot, the shortcoming of the program is, complex structure higher to the sealing requirements of vacuum cup, is involved great expense,
And the reliability and also poor to the adaptability of high-altitude wall of work.3rd class is magnetic suck high-altitude cleaning robot, the party
The shortcoming of case is that this robot can only be in the high-altitude wall general work of certain material such as steel.
Under this background, cleaning device that is new, adapting to truss and high-altitude（Robot）, adapt to high-altitude truss,
The cleaning operation of pipeline, the function with walking, cleaning and obstacle detouring on truss or pipeline, with substantial worth.
Comparatively speaking, the advantage of clean robot is automatic climbing, remote-controlled, and flexibility ratio is higher.But in mesh
The characteristics of solving the problems, such as truss or pipeline particularly variable diameters, and absorption wall, leaping over obstacles are needed on the basis of preceding technology
The not enough problems of function such as thing, self adjustment balance.Carried out there is presently no the clean robot specially to being cleaned for truss
Research, than it is relatively similar and with reference value be high-altitude outer wall cleaning robots people research contents.High-altitude exterior wall is cleaned
The research of robot is concentrated mainly on wall adsorption, the certainly aspect such as climbing, kinetic control system.
Under this background, clean robot that is new, adapting to truss and high-altitude（Device）In requisition for meeting following skill
Art demand：1）Adapt to the change within the specific limits of the diameter of truss and pipeline；1）Suitable for non-metal surfaces；2）Structure letter
Clean, cleaning capacity is strong and energy consumption is low；3）Self adjustment balances to avoid tumbling.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of clean robot of the truss for adapting to diameter change,
It possesses the function of profile variable curvature and self adjustment balance, make clean robot can with it is safe efficient clean it is certain straight
The health of the truss eminence in the range of footpath.
The utility model solves the technical scheme that its technical problem used：
A kind of truss clean robot, including moving parts, suction and discharge control unit, hollow adsorption element, it is described
Moving parts includes 2 annulus and many bars in two ends, and described many bars are connected between 2 edges of annulus and revolve
Turn to form hyperboloid, described annulus and motor drive connection；Described suction and discharge control unit is arranged in hyperboloid,
Including the elastic suction nozzle with suction hole, weight linear meter, two-way gas outlet, described weight linear meter is movably arranged on the hyperboloid
On axis, the elastic suction nozzle is close to the hyperboloid that bar is formed, and described two-way gas outlet is connected with the cavity of adsorption element
It is logical；Described adsorption element is symmetricly set on 2 annulus outsides, including has articulate pin, the sucker located at the pin end.
Further, the weight linear meter of the suction and discharge control unit keeps level, and matches somebody with somebody during according to robot run-off the straight
Weight bar determines the discharge directions of two-way gas outlet with the variable angle of annulus axis.
Further, with bar to be flexibly connected, the rotation of the annulus makes the angle of bar to the annulus of described moving parts
Change and cause the Curvature varying of hyperboloid.
Further, the quantity of the bar is 10 to 50.
Further, the quantity of the bar is the 80% ~ 120% of the diameter value of annulus, and the diameter value unit of the annulus is
mm。
Further, described bar with diameter greater than 1mm.
Further, the surface of described bar is provided with increasing and rubs material.
Further, described increasing rubs material including rubber.
Further, described sucker is made of flexible material, and is provided with the arcuate structure on the face of cylinder that can fit.
Compared to existing technology, the beneficial effects of the utility model are：
The crawler belt and profile of varistructure are realized using effect " hyperboloid of revolution ", is adapted to up in the truss of different-diameter
Walk and clean so that a kind of robot adapts to various truss external diameters, reduce the species and quantity of truss clean robot, because
And reduces cost and be easily managed.
When there is distance between adsorption element and the center of gravity of robot and produce torque, there is tendency of toppling in robot.
At this moment its sliding force is balanced by adsorption element with the frictional force of wall, if but contended with only by absorption affinity for power of toppling, institute
The absorption affinity for needing will be very big, and along with Work machine weight, this power of toppling is just bigger, so that stabilization sucker is difficult to.
Therefore, it is designed as being adjusted by the air-flow of suction and discharge control unit, strengthens absorption affinity, power of toppling of contending with increases reliability.
Vacuum suction, dust suction cleaning, three targets of autobalance are realized by suction and discharge control unit simultaneously, biography is changed
The complexity that three targets described in the design of system need three kinds of different institutions to realize and bring increases problem, and simplification finishes
Structure, reduces robot weight and cost, and improves security because the loss that causes from high falling of lighter object compared with
It is few.
Using rotatable joint so that clean robot can flexibly be moved and turned to, crossed over for barrier and premise is provided
Condition, the cleaning that can so make it be applied to various curved surfaces.
Realize that absorption climbing causes that robot can be suitably used for non-metal surfaces by vacuum adsorption principle.
Brief description of the drawings
Fig. 1 is the cross section structure diagram of the utility model embodiment.
Fig. 2 is the schematic front view of the utility model embodiment.
Fig. 3 is the schematic top plan view of the utility model embodiment.
Fig. 4 is the left view schematic diagram of the utility model embodiment.
Fig. 5 is the axonometric schematic diagram of the utility model embodiment.
Shown in figure：1- bars；2- annulus；3- elastic suction nozzles；4- suction holes；5- weight linear meters；The two-way gas outlets of 6-；7- pin；
8- joints；9- suckers.
Specific embodiment
The utility model is further illustrated with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, it is a kind of truss clean robot, including moving parts, suction and discharge control unit, hollow
Adsorption element, described moving parts includes that the axis of 1,2 annulus 2 of 2 annulus 2 and many bars in two ends overlaps, bar
It is parallel to each other between 1, is evenly arranged between annulus 2, described many bars 1 is connected between 2 edges of annulus 2 and rotates
Form hyperboloid, described annulus 2 and motor drive connection；Described suction and discharge control unit is arranged in hyperboloid,
Including the elastic suction nozzle 3 with suction hole 4, weight linear meter 5, two-way gas outlet 6, described weight linear meter 5 is movably arranged on described double
On curved surface body axis, the elastic suction nozzle 3 is close to the hyperboloid that bar 1 is formed, described two-way gas outlet 6 and adsorption element
Cavity is connected；Described adsorption element is symmetricly set on the outside of 2 annulus 2, including the pin 7 with joint 8, located at the pin
The sucker 9 of 7 ends.
The weight linear meter 5 of the suction and discharge control unit keeps level, and weight linear meter 5 and circle during according to robot run-off the straight
The variable angle of the axis of ring 2 determines the discharge directions of two-way gas outlet 6., to be flexibly connected, being allowed to can be by gravity for weight linear meter 5
Holding level.When robot is present topples tendency, the weight linear meter 5 and axis for keeping level produce angle, when described angle
During more than certain quantity, the action for blocking or opening is produced to the gas flow loop in suction and discharge control unit, make airflow direction
Change with to anchorage.
The annulus 2 of described moving parts and bar 1 to be flexibly connected, when annulus 2 by motor in figure of the present utility model
When being not drawn into driving rotation, its rotation makes the angle change of bar 1 and causes the Curvature varying of hyperboloid, to adapt to different-diameter
Truss.
Described bar 1 with diameter greater than 1mm, its quantity is 10 to 50, preferably the 80% ~ 120% of the diameter value of annulus 2,
The diameter value unit of the annulus 2 is mm.The surface of bar 1 is made using the big material of coefficient of friction, such as rubber, to increase row
The stability entered, and increase wiped clean ability simultaneously.
Described sucker 9 is made of flexible material, and is provided with the arcuate structure on the face of cylinder that can fit, to strengthen absorption
Power.
The truss clean robot of the present embodiment is realized using the curved surface that effect " hyperboloid of revolution " is made up of cluster straight line
The crawler belt and profile of varistructure, adapt to be walked on the truss of different-diameter and cleaned.Its adsorption element and moving parts can
There are the relative changes of position, four absorption of sucker 9 are advanced when holding truss tightly by moving parts.By absorption and movement
Alternating, the function that will not fall again while realizing that truss cleaner robot advances.The present embodiment is made using vacuum suction
Obtain sucker 9 and be more stably adsorbed in clean surface, inclination angle is distinguished by weight linear meter, real-time adjustment airflow direction realizes that self is adjusted
Balance is avoiding tumbling.Therefore, vacuum suction, dust suction are realized by the vacuum and gas flow optimized of suction and discharge control unit simultaneously
Cleaning, autobalance these three targets.
Foregoing the utility model can be made it is many modification and without departing from scope of the present utility model.For example, no matter
Bar is which kind of form is placed, including is horizontally or vertically placed, and which kind of increase and decrease is the quantity of bar make, all in the protection domain of patent
It is interior.How diameter and the thickness of depth, hose regardless of suction hole change, all in the protection domain of patent.
Above-described embodiment of the present utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to implementation method of the present utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other changes in different forms.There is no need and unable to be exhaustive to all of implementation method.
All any modification, equivalent and improvement made within spirit of the present utility model and principle etc., should be included in this reality
Within new scope of the claims.
Claims (9)
1. a kind of truss clean robot, including moving parts, suction and discharge control unit, hollow adsorption element, its feature exist
In：
Described moving parts includes (2) individual annulus (2) and many bars (1) in two ends, and described many bars (1) are connected to
Between 2 edges of annulus (2) and rotary is into hyperboloid, described annulus (2) and motor drive connection；
Described suction and discharge control unit is arranged in hyperboloid, including elastic suction nozzle (3), counterweight with suction hole (4)
Bar (5), two-way gas outlet (6), described weight linear meter (5) are movably arranged on the hyperboloid axis, the elastic suction nozzle
(3) it is close to the hyperboloid that bar (1) is formed, described two-way gas outlet (6) is connected with the cavity of adsorption element；
Described adsorption element is symmetricly set on 2 annulus (2) outside, including the pin (7) with joint (8), located at the pin
(7) sucker (9) of end.
2. truss clean robot according to claim 1, it is characterised in that：The weight linear meter of the suction and discharge control unit
(5) level is kept, and weight linear meter (5) is two-way to determine with the variable angle of annulus (2) axis during according to robot run-off the straight
The discharge directions of gas outlet (6).
3. truss clean robot according to claim 1, it is characterised in that：The annulus (2) of described moving parts with
To be flexibly connected, the rotation of the annulus (2) makes the angle change of bar (1) and causes the Curvature varying of hyperboloid bar (1).
4. truss clean robot according to claim 1, it is characterised in that：The quantity of the bar (1) is 10 to 50.
5. truss clean robot according to claim 1, it is characterised in that：The quantity of the bar (1) is annulus (2)
The 80% ~ 120% of diameter value, the diameter value unit of the annulus (2) is mm.
6. truss clean robot according to claim 1, it is characterised in that：Described bar (1) with diameter greater than 1mm.
7. truss clean robot according to claim 1, it is characterised in that：The surface of described bar (1) is provided with increasing
Rub material.
8. truss clean robot according to claim 7, it is characterised in that：Described increasing rubs material including rubber.
9. truss clean robot according to claim 1, it is characterised in that：Described sucker (9) uses flexible material
It is made, and is provided with the arcuate structure on the face of cylinder that can fit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280063.8U CN206262894U (en) | 2016-11-28 | 2016-11-28 | A kind of truss clean robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280063.8U CN206262894U (en) | 2016-11-28 | 2016-11-28 | A kind of truss clean robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206262894U true CN206262894U (en) | 2017-06-20 |
Family
ID=59042901
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621280063.8U Active CN206262894U (en) | 2016-11-28 | 2016-11-28 | A kind of truss clean robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206262894U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483739A (en) * | 2017-06-26 | 2019-03-19 | 达秦智能科技（上海）股份有限公司 | The ambulation control method of intelligent spider formula robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
-
2016
- 2016-11-28 CN CN201621280063.8U patent/CN206262894U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109483739A (en) * | 2017-06-26 | 2019-03-19 | 达秦智能科技（上海）股份有限公司 | The ambulation control method of intelligent spider formula robot |
| CN115682649A (en) * | 2022-10-24 | 2023-02-03 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
| CN115682649B (en) * | 2022-10-24 | 2023-08-08 | 深圳市行知行机器人技术有限公司 | Wiping mechanism and cleaning device |
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