CN206357241U - A kind of multilayer distributed external surface of buildings clean robot - Google Patents

Abstract

The utility model is related to high-altitude cleaning technical field of operation, more particularly to a kind of multilayer distributed external surface of buildings clean robot.The multilayer distributed external surface of buildings clean robot includes cleaning function elementary layer, middle control core layer and the rotor boosting layer set gradually, and cleaning function elementary layer includes multiple cleaning units；Pass through cleaning function elementary layer, middle control core layer and this multi-layer distributed structure of rotor boosting layer, cleaning function unit and core circuit portions are efficiently separated, it can guarantee that the middle control core layer of centre, away from complicated band liquid working surface, improves intellectuality and the stability of work；The structure of layering can reduce robot in high aerial windage area, improve job stability of the whole system in the case of having beam wind, improve operating efficiency；In terms of the adaptability of metope, the structure of layering is more beneficial for, to the pose adjustment under unit and partial control respectively and working condition, improving structure adaptability and cleaning effect.

Description

A kind of multilayer distributed external surface of buildings clean robot

Technical field

The utility model is related to high-altitude cleaning technical field of operation, more particularly to a kind of multilayer distributed external surface of buildings Clean robot.

Background technology

At present, the cleaning mode of skin mainly still has high-risk work post " spider-man " manually to clean, and just cleans Need repeatedly cleanup crew being adjusted to working region using lift in building lateral surface for process, then implement artificial Operation.There are many unsafe factors in workman, efficiency is not also high in tens meters to hundreds of meters of work high above the ground, and for industry The expenditure of this cleaning mode is also considerable for master；Another way is to substitute people using some simple mechanical structures Work cleaning operation, this mode can avoid the skyborne high-risk operations of personnel, but be limited in that high level similar at present Outer surface of building cleaning machine degree of intelligence is universal relatively low, it is necessary to manually operate to reach the function of specified location cleaning.And The intelligent glass-cleaning robot of main flow also rested in the simple scope of operation, by the use of the border of glass as robot motion from Right border, simple path planning is carried out in these a small ranges, and cleaning effect is still undesirable.

In addition, outside Wall Cleaning machine people is not widely applied also in market scope, only several domestic and international enterprises exist Structure of the research and development of small range similar to facade washing machine tool.However, just as described above, its main shortcoming can be general Include to be big by the limitation of metope feature, cleaning efficiency is low and low three aspects of intelligence degree.

Therefore, it is not enough for more than, it is desirable to provide a kind of multilayer distributed external surface of buildings clean robot.

Utility model content

(1) technical problem to be solved

It is artificial to substitute that the purpose of this utility model is to provide a kind of multilayer distributed external surface of buildings clean robot While the high-risk operations of high-altitude, intellectuality, the efficiency that building table is cleaned are improved by rational hierarchy and motion And structure adaptability.

(2) technical scheme

In order to solve the above-mentioned technical problem, the utility model provides a kind of multilayer distributed external surface of buildings cleaner Device people, it includes cleaning function elementary layer, middle control core layer and the rotor boosting layer set gradually, and cleaning function elementary layer includes Multiple cleaning units；It is described it is middle control core layer include main mounting bracket and be arranged on main mounting bracket control unit, control circuit, Circulation waterway system and lifting elements, control unit are described to follow by controlling circuit to be electrically connected with the drive part of cleaning unit Ring water circuit system is connected with the water inlet portion of the cleaning unit, and the lifting elements are connected with hanger rope；The rotor boosting layer Rotor including rotor body frame and on rotor body frame；The rotor body frame passes through unit expansion link and the cleaning unit Connection, the unit expansion link passes through the main mounting bracket；Also include the main body expansion link parallel with the unit expansion link, institute The one end for stating main body expansion link is connected and the other end of the main body expansion link and the main mounting bracket company with the rotor body frame Connect.

Wherein, the multiple cleaning unit includes rolling brush cleaning unit, suction windscreen wiper unit and negative-pressure sucking cleaning unit； Rolling brush cleaning unit and negative-pressure sucking cleaning unit are located at the both sides of suction windscreen wiper unit；Each cleaning unit passes through described in one Unit expansion link is connected to the rotor body frame.

Wherein, in addition to it is parallel with the unit expansion link and for support it is described it is middle control core layer many optical axises, institute The one end for stating optical axis is slidably inserted into the rotor body frame and the other end is fixedly connected with the cleaning unit.

Wherein, the unit expansion link is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link is Electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The unit expansion link, main body expansion link are electrically connected with described control unit Connect.

Wherein, the lifting elements include mast-up and the suspension ring on mast-up, and the suspension ring are connected with hanger rope.

Wherein, it is described it is middle control core layer also include Three Degree Of Freedom data acquisition unit, Three Degree Of Freedom data acquisition unit with Described control unit is connected；Three Degree Of Freedom data acquisition unit is located at the fore-end of the middle control core layer, Three Degree Of Freedom number Include camera, ultrasonic ranging unit and Three Degree Of Freedom drive component, the camera, ultrasonic ranging list according to collecting unit Member is successively set on Three Degree Of Freedom drive component.

Wherein, the middle control core layer also includes communication system, and the communication system is connected with described control unit.

Wherein, the circulation waterway system includes water tank and the inlet pipeline, the water return pipeline that are connected on water tank, it is described enter Water pump is provided with water lines, water return pipeline, two water tanks are symmetrically mounted at the both sides of main mounting bracket, and described in two Water tank is connected.

Wherein, the rotor boosting layer also includes Rotor thrust system and LED state shows system, the Rotor thrust system System, LED state show that system is electrically connected with described control unit, and four rotor centers are symmetrically disposed in the rotor On body frame.

Wherein, the rolling brush cleaning unit includes sealing cleaning cover, spray unit, double round brush units, negative pressure unit；It is described Spray unit includes the water pipe being arranged in the sealing cleaning cover and the shower nozzle being opened on the water pipe, described Water pipe and the circulation waterway system connectivity；Described pair of round brush unit includes the double rollings being arranged in the sealing cleaning cover The round brush actuator of the round brush is brushed and drives, the round brush actuator is connected with described control unit；The negative pressure unit is set Put at the back side of the sealing cleaning cover, and connected with the space in the sealing cleaning cover, the drive division of the negative pressure unit Divide and be connected with described control unit.

Wherein, the suction windscreen wiper unit includes windscreen wiper bar and the negative pressure recovery section being arranged at windscreen wiper bar, described negative The water return pipeline that receiving portions are pushed back with the circulation waterway system is connected；The negative-pressure sucking cleaning unit includes main frame, peace Negative-pressure sealing rag band and negative-pressure sucking part mounted in main frame bottom periphery, the water sucking mouth of negative-pressure sucking part are located at rag Near.

(3) beneficial effect

Above-mentioned technical proposal of the present utility model has the following advantages that：

Pass through cleaning function elementary layer, middle control core layer and this multi-layer distributed structure of rotor boosting layer, effective point From cleaning function unit and core circuit portions, the modular mechanism of separation can be in the smaller feelings of the influence to whole system Condition completes cleaning flow, while the middle control core layer that can guarantee that centre again improves work away from complicated band liquid working surface Intelligent and stability；The structure of layering can reduce robot in high aerial windage area, and air-flow can be more stable By fairshaped robot side, job stability of the whole system in the case of having beam wind is improved, operating efficiency is improved； In terms of the adaptability of metope, coordinate overall hoisting Design, the structure of layering is more beneficial for dividing unit and part Pose adjustment under Kong Zhi and not working, improves structure adaptability and cleaning effect.

In addition, flow is cleaned in the standardization cleaned successively by three cleaning units, while cleaning effect is improved Also the cleaning problem of marginal position is solved；Selection and arrangement by sensor, it is reliable and stable to be that control flow with the addition of Closed loop feedback link, improves intelligence degree, also provides Reliable guarantee for the trouble free service of robot；Using negative pressure and rotation The new structure that wing thrust is combined, is on the one hand effectively ensured the offer of working condition lower thrust, on the other hand also ensures more Whole robot system still has stable thrust, even running in the case of barrier.

Brief description of the drawings

Fig. 1 is the side view of the multilayer distributed external surface of buildings clean robot of the utility model embodiment；

Fig. 2 is the solid at a visual angle of the multilayer distributed external surface of buildings clean robot of the utility model embodiment Structure chart；

Fig. 3 is the upward view of the multilayer distributed external surface of buildings clean robot of the utility model embodiment；

Fig. 4 is the top view of the multilayer distributed external surface of buildings clean robot of the utility model embodiment；

Fig. 5 is rolling brush cleaning unit in the multilayer distributed external surface of buildings clean robot of the utility model embodiment Dimensional structure diagram；

Fig. 6 is rolling brush cleaning unit in the multilayer distributed external surface of buildings clean robot of the utility model embodiment Side view；

Fig. 7 is the type of drive schematic diagram of auxiliary wheel in the utility model embodiment composite multifunction negative pressure cleaning device；

Fig. 8 is the knot of Three Degree Of Freedom data acquisition unit in the utility model embodiment composite multifunction negative pressure cleaning device Structure schematic diagram.

In figure, 1：Cleaning function elementary layer；2：Middle control core layer；3：Rotor boosting layer；4：Rolling brush cleaning unit；5：Suction Windscreen wiper unit；6：Negative-pressure sucking cleaning unit；7：Scram button；8：Negative pressure fan；9：Suspension ring；10：Mast-up；11：Water tank enters Air valve；12：Optical axis；13：Unit expansion link；14：Windscreen wiper fixed plate；15：Windscreen wiper suction tube；16：Windscreen wiper bar；17：Stroke wheel； 18：Crawler attachment；19：Negative-pressure sealing rag band；20：Windscreen wiper steering-engine；21：Transmission belt；22：Spray unit；23：Auxiliary Wheel；24：Round brush；25：Touching formula photoelectric sensor；26：Rotor thrust system；27：LED state shows system；28：Water tank；29： Before renovate；30：Before renovate actuator；31：Three Degree Of Freedom data acquisition unit；32：Front end ultrasonic distance measuring module；33：Main body Expansion link；34：Round brush actuator；35：After renovate；36：Seal cleaning cover；37：Preceding contact probe sensor；38：It is followed by feeler inspection Pin sensor；39：Push contact sensor；40：Receipts stretch motor；41：Corner pieces；42：Screw mandrel；43：Screw；44：Rise and fall Bar；45：Camera；46：Ultrasonic ranging unit；47：Steering wheel fixed mount；48：First actuator driving plate；49；Second steering wheel drives Dynamic plate；50：3rd actuator driving plate.

Embodiment

Embodiment of the present utility model is described in further detail with reference to the accompanying drawings and examples.Following reality Applying example is used to illustrate the utility model, but is not limited to scope of the present utility model.

In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ", The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " are Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate Or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that For to limitation of the present utility model.In addition, term " first ", " second " be only used for describe purpose, and it is not intended that indicate or Imply relative importance.

, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition Concrete meaning of the language in the utility model.

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the multilayer distributed external surface of buildings cleaning machine that the utility model is provided People includes cleaning function elementary layer 1, middle control core layer 2 and the rotor boosting layer 3 set gradually, and cleaning function elementary layer 1 includes Multiple cleaning units；The middle control core layer 2 includes main mounting bracket and the control unit being arranged on main mounting bracket, control electricity Road, circulation waterway system and lifting elements, control unit, control circuit, circulation waterway system have corresponding installation warehouse, control Unit processed controls cleaning unit to perform cleaning, institute by controlling circuit to be electrically connected with the drive part of cleaning unit The water inlet portion that circulation waterway system is stated with the cleaning unit is connected, and clean water, the lifting elements are provided for cleaning unit It is connected with hanger rope, to realize lifting of the hanger rope to overall robot；The rotor boosting layer 3 includes rotor body frame and installed in rotation Rotor on wing body frame, can make whole robot preferably recline clean surface by rotor；The rotor body frame passes through unit Expansion link 13 is connected with the cleaning unit, and the unit expansion link 13 passes through the main mounting bracket；Also include and the unit The parallel main body expansion link 33 of expansion link 13, one end of the main body expansion link 33 is connected and the main body with the rotor body frame The other end of expansion link 33 is connected with the main mounting bracket.Wherein, scram button 7, scram button 7 and control are set on main mounting bracket Unit connection processed, can carry out jerk operation during failure.

In above-described embodiment, pass through cleaning function elementary layer 1, middle control core layer 2 and rotor boosting 3 this Multi-layers distributing of layer Formula structure, has efficiently separated cleaning function unit and core circuit portions, the modular mechanism of separation can be to whole system The situation that the influence of system is smaller completes cleaning flow, while can guarantee that the middle control core layer 2 of centre away from complicated band liquid work again Make surface, improve intellectuality and the stability of work；The structure of layering can reduce robot in high aerial windage area, gas Stream can improve working stability of the whole system in the case of having beam wind more smoothly by fairshaped robot side Property, improve operating efficiency；In terms of the adaptability of metope, coordinate overall hoisting Design, the structure of layering is more beneficial for each Pose adjustment under individual unit and partial control respectively and work, improves structure adaptability and cleaning effect.

Specifically, the multiple cleaning unit includes rolling brush cleaning unit 4, suction windscreen wiper unit 5 and negative-pressure sucking cleaning Unit 6；Rolling brush cleaning unit 4 and negative-pressure sucking cleaning unit 6 are located at the both sides of suction windscreen wiper unit 5, and rolling brush cleaning unit 4 can To be cleaned to glass frame (dead angle) position, suction windscreen wiper unit 5 can carry out secondary cleaning, and windscreen wiper collection is returned Water is reclaimed, and negative-pressure sucking cleaning unit 6 can improve the efficiency and effect of cleaning；So, drawing for cleaning unit has been refined Point, flow is cleaned in the standardization cleaned successively by Unit three, and marginal position is also solved while cleaning effect is improved Cleaning problem.

Specifically, each cleaning unit is connected to the rotor body frame by a unit expansion link 13, and unit is stretched Contracting bar 13 is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；In the presence of unit expansion link 13, round brush can be promoted to clean Unit 4, suction windscreen wiper unit 5 or negative-pressure sucking cleaning unit 6 stretch to clean surface or control core layer 2 and rotor boosting layer to middle 3 withdraw；Robot can according to the specific apart from dimensional conditions of metope and glass surface, stretch out cleaning unit and relative to hanging point It is adjusted in the position of complete machine, to reach the purpose of adjustment.Wherein, by main body expansion link 33, rotor body frame is adjusted With main mounting bracket, and then position to hanging point relative to complete machine is adjusted.

Specifically, the main body expansion link 33 is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The unit stretches Bar 13, main body expansion link 33 are electrically connected with described control unit.

Specifically, in addition to it is parallel with the unit expansion link 13 and for support in control core layer 2 many optical axises 12, One end of the optical axis 12 is slidably inserted into the rotor body frame and the other end is fixedly connected with cleaning unit.Pass through optical axis 12 setting, controls core layer 2 on the one hand can reliably supporting, cleaning unit and rotor body frame are supported in other words；The opposing party Face, because one end of optical axis 12 is slidably inserted into ground rotor body frame, in the driving cleaning unit axial movement of unit expansion link 13 When, optical axis 12 does not interfere with the relative movement of cleaning unit and rotor body frame, equally, does not interfere with main body expansion link 33 yet Adjustment to main mounting bracket and rotor body frame position.

Specifically, the lifting elements include mast-up 10 and the suspension ring 9 on mast-up 10, suspension ring 9 and hanger rope Connection, by the cooperation of hanger rope and suspension ring 9, is realized to the overall suspension operation of whole clean robot.

Preferably, the middle control core layer 2 also includes Three Degree Of Freedom data acquisition unit 31, Three Degree Of Freedom data acquisition list Member 31 is connected with described control unit；Three Degree Of Freedom data acquisition unit 31 is located at the fore-end of the middle control core layer 2, three Free degree data acquisition unit 31 includes camera 45, ultrasonic ranging unit 46 and Three Degree Of Freedom drive component, the shooting First 45, ultrasonic ranging unit 46 is successively set on Three Degree Of Freedom drive component；Specifically, Three Degree Of Freedom drive component includes Steering wheel fixed mount 47, the first free degree steering wheel, the second free degree steering wheel, Three Degree Of Freedom steering wheel, the first actuator driving plate 48, Two actuator driving plates 49, the 3rd actuator driving plate 50；First free degree steering wheel is fixed on steering wheel fixed mount 47, and the first steering wheel drives Dynamic plate is by the first free degree servo driving and rotate-stationary mode；Second free degree steering wheel is fixed on the first actuator driving plate 48, Second actuator driving plate 49 is by the second free degree servo driving and foldable sport；Three Degree Of Freedom steering wheel is fixed on the second steering wheel In driving plate, the 3rd actuator driving plate is by Three Degree Of Freedom servo driving and foldable sport；Camera is fixed on the 3rd steering wheel In driving plate, ultrasonic ranging unit 46 is fixed on the second actuator driving plate；So as to pass through camera and supersonic sounding unit Working face can not only be efficiently identified, and collect the space of working face and non-working surface curvature in three-dimensional space motion The relevant information of distribution, the cleaning speed for drastically increasing high-rise curtain wall robot has saved time cost.

Specifically, the middle control core layer 2 also includes communication system, and communication system is connected with control unit.Pass through communication The setting of system, can be sent to host computer, so as to more accurate to clean robot by the working condition of clean robot in time Control and operation.

Specifically, the circulation waterway system includes water tank 28 and the inlet pipeline, the water return pipeline that are connected on water tank 28, Water pump is provided with the inlet pipeline, water return pipeline, two water tanks 28 are symmetrically mounted at the both sides of main mounting bracket, and Two water tanks 28 are connected, and the intake valve 11 of water tank 28 are offered on the water tank 28, during backwater, by opening water The intake valve 11 of case 28, makes to be in atmospheric pressure in water tank 28, it is to avoid backwater resistance, reduces the load of back water pump.Pass through circulation waterway System realizes the supply intake to cleaning unit and the timely recovery to sewage.

Preferably, the rotor boosting layer 3 also includes Rotor thrust system 26 and LED state shows system 27, and rotor is pushed away Force system 26, LED state show that system 27 is electrically connected with control unit, and four rotor centers are symmetrically disposed in the rotor On body frame.When Rotor thrust system 26 works, negative pressure can be produced between rotor and working face, lasting thrust branch can be provided Hold, can effectively ensure that the thrust under working condition is provided, also can guarantee that robot system still has surely in the case of obstacle detouring Fixed thrust, even running；Show that system 27 can show the working condition of robot in real time by LED state, when appearance event During barrier, LED state shows that system 27 can send indicating fault prompting, to facilitate control unit to control associated components to be stopped, Avoid the damage of associated components.

Specifically, as shown in Figure 5 and Figure 6, rolling brush cleaning unit 4 includes sealing cleaning cover 36, spray unit 22, double round brush Unit, negative pressure unit；Spray unit 22 includes the water pipe being arranged in sealing cleaning cover 36 and is opened on water pipe Shower nozzle, water pipe and circulation waterway system connectivity；Double round brush units include the double round brush being arranged in sealing cleaning cover 36 24 are connected with the round brush actuator 34 for driving round brush 24, round brush actuator 34 with control unit, and the actuator of round brush 24 is specially to drive Dynamic motor, motor is connected by the transmission of transmission belt 21 with round brush 24；Negative pressure unit is arranged on the back side of sealing cleaning cover 36, And connected with the space in sealing cleaning cover 36, the drive part of negative pressure unit is connected with control unit, specifically negative pressure unit Including negative-pressure air duct and the negative pressure fan 8 being arranged on negative-pressure air duct, negative pressure fan 8 is connected with control unit.Pass through negative pressure wind The suction of pipe, the round brush 24 that sealing cleaning cover 36 is in negative pressure state, sealing cleaning cover 36 can preferably be adjacent to clean surface face, Further increase the effect that round brush 24 cleans glass surface.

Specifically, sealing cleaning cover 36 renovates 29 and 35 is renovated with after before having, and preceding actuator 30 of renovating renovates driving with after Part is arranged on the back side of sealing cleaning cover 36；Before renovate 29 and after renovate 35 be respectively hinged at sealing cleaning cover 36 front portion and after Portion, and actuator driving is renovated with after by preceding renovating actuator respectively.Before renovate 29 leading flanks and be provided with front end ultrasonic ranging Module 32, to detect preceding object in obstacle detouring.

The form of above-mentioned round brush 24, it is preceding renovate 29 and after renovate 35 setting and mainly consider negative pressure cleaning device obstacle detouring Need, when glass surface does not have obstacle detouring, preceding round brush 24 and rear round brush 24 attach glass surface normal wash, and before renovate 29 and after Renovate 35 to be closed, cavity body is formed together with sealing cleaning cover 36, in the presence of negative pressure unit, overall negative pressure Cleaning device has certain suction with glass surface, and round brush 24 carries out cleaning operation；It is preceding to renovate 29 when running into glass frame (obstacle) Open, negative pressure cleaning device is moved ahead, and the preceding round brush 24 on the inside of it is fitted with the one side of glass frame, during obstacle detouring, The dirty point of (the dead angle position of obstacle side) is removed at the one side that preceding round brush 24 will have glass frame, afterwards, negative pressure cleaning dress Put withdrawal, continue obstacle detouring and move ahead and (moved ahead in obstacle top surface), cover after obstacle, i.e., in front of glass be in the inner side of blocking surface, Now, 35 openings are renovated after, negative pressure cleaning device is moved ahead, and rear round brush 24 is fitted with glass frame another side, by (obstacle at this The dead angle position of opposite side) dirty point remove, so, during obstacle detouring, the dead angle position of obstacle both sides has been carried out clearly Wash.

Specifically, suction windscreen wiper unit 5 includes windscreen wiper bar 16 and the negative pressure recovery section being arranged at windscreen wiper bar 16, negative pressure Recovery section is connected with the water return pipeline of circulation waterway system, is entered the water collected at windscreen wiper bar 16 by way of negative-pressure sucking Row is reclaimed, and improves cleaning effect；Specifically, negative pressure recovery section includes windscreen wiper fixed plate 14 and windscreen wiper suction tube 15, windscreen wiper bar 16 are arranged in windscreen wiper fixed plate 14, and water sucking mouth is provided with windscreen wiper fixed plate 14, and water sucking mouth passes through windscreen wiper suction tube 15 and water tank 28 connections, specifically the peace turn of windscreen wiper fixed plate 14 is on windscreen wiper steering-engine 20, to facilitate windscreen wiper to turn to.

The negative-pressure sucking cleaning unit 6 includes main frame, the negative-pressure sealing rag band installed in main frame bottom periphery 19 and negative-pressure sucking part, the water sucking mouth of negative-pressure sucking part is located near rag, and stroke wheel is additionally provided with below main frame 17, the lower section crawler attachment 18 of main frame, it is ensured that it is steady that negative-pressure sucking cleaning unit 6 is run；By way of negative-pressure sucking The water that spills when being cleaned at rag is reclaimed, preferably reclined clean surface while being also beneficial to rag band；Also set under main frame Touching formula photoelectric sensor 25 is put, to detect rag band and the situation that reclines of work clean surface.

In addition, by foregoing description, in terms of the positive operating pressure offer of cleaning flow, this Analysis of Nested Design is using negative Press the new structure being combined with Rotor thrust；The negative pressure fan 8 of rolling brush cleaning unit 4, the negative pressure of negative-pressure sucking cleaning unit 6 Suction portion can be provided efficiently in the state of robot work for robot, stable positive operating pressure, it is ensured that cleaning Mechanism can preferably touch surface to be cleaned, but have the disadvantage when clean surface is not ideal plane but with windowsill or During the complex plane of other obstacles, negative pressure mechanism can discontinuity failure, the influence stability of a system；And Rotor thrust mentioned above System 26 can provide lasting thrust and support, although the thrust of offer and overall transformation efficiency are relatively low, but can be special Ensure the overall stable operation of robot under operating mode；The means used cooperatively using negative pressure and rotor can effectively ensure work shape Thrust under state is provided, and also can guarantee that robot system still has stable thrust even running in the case of obstacle detouring.

Further, it is preceding renovate actuator, after renovate actuator, preceding round brush actuator, rear round brush actuator with control Unit is electrically connected.35 and front and rear round brush 24 are renovated before and after being controlled by control unit, co-operating is realized；Described control unit has Body includes control circuit, and the back side of sealing cleaning cover 36 is provided with control circuit storehouse, for accommodating control circuit；Also set up in addition There is circuit trace storehouse, facilitate cabling.

Preferably, in addition to control unit the preceding contact probe sensor 37 and rear contact probe sensor 38 being connected, Sealing cleaning cover 36 has left cap and right cap, and preceding contact probe sensor 37 is arranged on the front end of left cap or right cap, With round brush 24 before detecting and the attaching state on front side of obstacle face；Contact probe sensor 38 is arranged on left cap or right cap afterwards Rear end, with the attaching state on rear side of round brush after detection 24 and obstacle face；Also contact sense is pushed including what is be connected with control unit Device 39, pushes contact sensor 39 installed in the lower end of left cap or right cap, with detect preceding round brush 24 and rear round brush 24 with clearly The attaching state of face cleaning.By preceding contact probe sensor 37, rear contact probe sensor 38 and push contact sensor 39 The work of feedack, control unit and then controllable round brush 24 and flip, improves whole negative pressure cleaning device operation The intelligent and degree of accuracy.

Whole system has done above-mentioned unique design in terms of the selection of sensor and arrangement, and as control flow with the addition of surely Fixed reliable closed loop feedback link improves intelligence degree, also provides Reliable guarantee for the trouble free service of robot.

Further, as shown in fig. 7, also stretching actuator including auxiliary wheel 23 and receipts, auxiliary wheel 23 is arranged on sealing cleaning In cover 36, receipts are stretched actuator and are connected with auxiliary wheel 23, so that auxiliary wheel 23 withdraws or stretched out.Specifically, receipts, which stretch actuator, includes Receipts stretch motor 40, corner pieces 41, screw mandrel 42 and screw 43, and the one end for receiving the drive end and screw mandrel 42 of stretching motor 40 connects Connect, screw 43 coordinates with the screw thread of screw mandrel 42；Corner pieces 41 are hinged on sealing cleaning cover 6, and the upper end of corner pieces 41 offers cunning Projection is fixed with groove, screw 43, to coordinate with slide and drive corner pieces to rotate.Corner pieces are especially by lifting lever 44 It is connected with auxiliary wheel 23；In normal wash operation, in the presence of receipts stretch actuator, auxiliary wheel 23 is packed up, when switching to more During barrier pattern, auxiliary wheel 23 stretches out；Different pass-through modes can so be switched according to the difference of building surface material, except Normal cleaning is by outer, and in-house auxiliary wheel 23 can be particulate form in building surface or not washable white There is provided stable operation support during lime wall.

In summary, multilayer distributed external surface of buildings clean robot of the present utility model has advantages below：

1st, using multi-layer distributed structure, cleaning function unit and core circuit portions have been efficiently separated；The list of separation On the one hand first formula cleaning unit can complete cleaning flow in the case of smaller on the influence of whole robot system, while another Aspect can guarantee that the middle control core layer 2 of centre away from complicated band liquid working surface again, it is ensured that the safety and stability of middle control core layer 2 Operation.

2nd, the structure of layering can reduce robot in high aerial windage area, and air-flow more can smoothly pass through stream The robot side of line style, improves job stability of the whole robot system in the case of having beam wind.

3rd, in terms of the adaptability of metope, coordinate overall hoisting Design, the structure of layering be more beneficial for cleaning unit, in Control the pose adjustment under the control and work respectively of core layer 2 and rotor boosting layer 3；Robot can be according to metope and glass surface It is specific apart from dimensional conditions, stretch out cleaning unit and the position to hanging point relative to complete machine be adjusted, to reach regulation The purpose of balance.

4th, the division of cleaning unit has been refined, flow is cleaned in the standardization cleaned successively by three cleaning units, is being carried Also the cleaning problem of marginal position is solved while high cleaning effect.

5th, the selection by sensor and arrangement, are that control flow with the addition of reliable and stable closed loop feedback link, are improved Intelligence degree, also provides Reliable guarantee for the trouble free service of robot.

6th, in terms of the positive operating pressure offer of cleaning flow, what this Analysis of Nested Design was combined using negative pressure with Rotor thrust New structure, is on the one hand effectively ensured the offer of working condition lower thrust, on the other hand also ensures whole in the case of obstacle detouring Robot system still has stable thrust, even running.

Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art For art personnel, on the premise of the utility model technical principle is not departed from, some improvement and modification can also be made, these change Enter and protection domain of the present utility model is also should be regarded as with modification.

Claims (10)

1. a kind of multilayer distributed external surface of buildings clean robot, it is characterised in that：Including the cleaning function set gradually Elementary layer, middle control core layer and rotor boosting layer, cleaning function elementary layer include multiple cleaning units；The middle control core layer bag Control unit, control circuit, circulation waterway system and the lifting elements for including main mounting bracket and being arranged on main mounting bracket, control are single Member is by controlling circuit to be electrically connected with the drive part of cleaning unit, the circulation waterway system and the water inlet of the cleaning unit Part is connected, and the lifting elements are connected with hanger rope；The rotor boosting layer includes rotor body frame and on rotor body frame Rotor；The rotor body frame is connected by unit expansion link with the cleaning unit, and the unit expansion link passes through the master Mounting bracket；Also include the main body expansion link parallel with the unit expansion link, one end and the rotor of the main body expansion link Body frame is connected and the other end of the main body expansion link is connected with the main mounting bracket.

2. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：It is the multiple Cleaning unit includes rolling brush cleaning unit, suction windscreen wiper unit and negative-pressure sucking cleaning unit；Rolling brush cleaning unit and negative pressure are inhaled Power cleaning unit is located at the both sides of suction windscreen wiper unit；Each cleaning unit is connected to described by a unit expansion link Rotor body frame.

3. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：Also include with The unit expansion link is parallel and for supporting the middle many optical axises for controlling core layer, and one end of the optical axis is slideably inserted Enter the rotor body frame and the other end is fixedly connected with the cleaning unit.

4. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The unit Expansion link is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link is electric expansion bar, Pneumatic extension cylinder Or hydraulic cylinder；The unit expansion link, main body expansion link are electrically connected with described control unit.

5. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The lifting Unit includes mast-up and the suspension ring on mast-up, and the suspension ring are connected with hanger rope；The middle control core layer also includes Communication system, the communication system is connected with described control unit.

6. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The middle control Core layer also includes Three Degree Of Freedom data acquisition unit, and Three Degree Of Freedom data acquisition unit is connected with described control unit；Three certainly By degrees of data collecting unit be located at it is described it is middle control core layer fore-end, Three Degree Of Freedom data acquisition unit include camera, Ultrasonic ranging unit and Three Degree Of Freedom drive component, the camera, ultrasonic ranging unit are successively set on Three Degree Of Freedom On drive component.

7. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The circulation Water circuit system includes setting on water tank and the inlet pipeline, the water return pipeline that are connected on water tank, the inlet pipeline, water return pipeline There is water pump, two water tanks are symmetrically mounted at the both sides of main mounting bracket, and two water tanks are connected.

8. multilayer distributed external surface of buildings clean robot according to claim 1, it is characterised in that：The rotor Boosting layer also includes Rotor thrust system and LED state shows system, and the Rotor thrust system, LED state show that system is equal Electrically connected with described control unit, four rotor centers are symmetrically disposed on the rotor body frame.

9. multilayer distributed external surface of buildings clean robot according to claim 2, it is characterised in that：The round brush Cleaning unit includes sealing cleaning cover, spray unit, double round brush units, negative pressure unit；The spray unit includes being arranged on institute State the water pipe in sealing cleaning cover and the shower nozzle being opened on the water pipe, the water pipe and the recirculated water Road system connectivity；Described pair of round brush unit includes the double round brush being arranged in the sealing cleaning cover and the rolling for driving the round brush Brush actuator, the round brush actuator is connected with described control unit；The negative pressure unit is arranged on the sealing cleaning cover The back side, and connected with the space in the sealing cleaning cover, the drive part of the negative pressure unit is connected with described control unit.

10. multilayer distributed external surface of buildings clean robot according to claim 2, it is characterised in that：It is described to inhale Power windscreen wiper unit includes windscreen wiper bar and the negative pressure recovery section being arranged at windscreen wiper bar, the negative pressure recovery section and the circulation The water return pipeline connection of water circuit system；The negative-pressure sucking cleaning unit includes main frame, installed in main frame bottom periphery Negative-pressure sealing rag band and negative-pressure sucking part, the water sucking mouth of negative-pressure sucking part are located near rag.