CN206548431U - A kind of robot for cleaning wall surfaces - Google Patents

Abstract

The utility model discloses it is a kind of can cross over gap robot for cleaning wall surfaces, including：Main frame body case and the vacuum generating device located at main body enclosure, baroceptor, activity collision, driving wheel combination, control system, power-supply system and the wiper located at main body outer casing bottom of the left and right sides, wiper constitutes negative pressure cavity with vacuum generating device and the base of main frame body case, baroceptor is by detecting the change value of pressure situation of negative pressure cavity, feed back to control system and judge whether robot for cleaning wall surfaces is, by gap or vacant state, to provide follow-up action command.The utility model is realized across the gap between the interface that is connected, and its cleaning function is extended into the hard adsorbed the need for all inclinations are connected without rib compared with smooth interface.

Description

A kind of robot for cleaning wall surfaces

Technical field

The utility model is related to a kind of clean robot field.

Background technology

With the raising of scientific and technological level, people increasingly tend to using Intelligent cleaning robot come clear instead of being accomplished manually Clean work, window wiping robot is exactly one kind of current Intelligent cleaning robot, but window wiping robot in the market is all It is that can only clean one piece of window, it is being connected together, there is apertured glass and can not clean, and due to wiping the frequency of window usually Rate is not natively high so that the share that the market of window wiping robot is occupied is minimum, has greatly limited to its application and popularizations.

Therefore, designing a can clean glass, even more multi-function clean robot that polylith links together and be Industry technical problem urgently to be resolved hurrily.

The content of the invention

The utility model provides one kind for above problems of the prior art can clean divided glass, band wall The robot for cleaning wall surfaces of the multiduty needs absorption of the more smooth tilted interface of wall, hard of brick.

The utility model proposes scheme be to devise a kind of robot for cleaning wall surfaces, including：Main frame body case and it is located at The vacuum generating device of main body enclosure, baroceptor, activity collision, the driving wheel combination of the left and right sides, control system System, power-supply system and the wiper located at main body outer casing bottom, wiper and vacuum generating device and the base of main frame body case Negative pressure cavity is constituted, baroceptor feeds back to control system and judge wall by detecting the change value of pressure situation of negative pressure cavity Whether clean robot is by gap or vacant state, and to provide follow-up action command.

The driving wheel combination includes the combination of symmetrical left driving wheel and right driving for being arranged at both sides in the middle of main frame bottom Wheel combination, the left driving wheel combination includes：Left driving arm, the drive motor for being arranged at left driving arm sidepiece, it is arranged at One end is connected in motor shaft inside left driving arm driving pulley, be arranged at the other end inside left driving arm from The axle of movable belt pulley, connection driven pulley and left driving arm, is embedded in bearing, the connection driving pulley at connection driven pulley two ends The timing belt of axle, the bearing for being embedded in connection belt wheel one end, connection driving pulley and driven pulley with left driving arm, it is described Left driving arm is made up of left socle, driving arm lid, driving arm sealing note.

The right driving wheel combines, symmetrical configuration identical with left driving wheel composite configuration.

The vacuum generating device includes：Blower motor, wind page, fan supporter, fan shroud, blower motor and control system Connection.

The baroceptor is connected with negative pressure cavity, and baroceptor is connected with control system.

The activity collision includes being arranged at main frame rear and front end and structure is identical, including collides support, is arranged on collision Two jiaos of directive wheel, setting and the collision wheel of front end and both sides on collision support on support.

Compared with prior art, the utility model, which can only clean one block of glass and be improved to cleanable polylith, links together The glass blocked without rib, and by functions expanding to the more smooth wall of the hard that adsorbs the need for tilting.

Brief description of the drawings

The utility model is described in detail with reference to embodiment and accompanying drawing, wherein：

Fig. 1 is the front schematic view of robot for cleaning wall surfaces；

Fig. 2 is the bottom schematic view of robot for cleaning wall surfaces；

Fig. 3 is the interior layout figure of robot for cleaning wall surfaces；

Fig. 4 is the sectional view of robot for cleaning wall surfaces；

Fig. 5 is the vacuum generating device sectional view of robot for cleaning wall surfaces；

Fig. 6 is the left driving wheel combination diagram of robot for cleaning wall surfaces；

Fig. 7 is the left driving wheel assembled sectional view one of robot for cleaning wall surfaces；

Fig. 8 is the left driving wheel assembled sectional view two of robot for cleaning wall surfaces；

Fig. 9 is the right driving wheel combination diagram of robot for cleaning wall surfaces；

Figure 10 is the right driving wheel assembled sectional view one of robot for cleaning wall surfaces；

Figure 11 is the right driving wheel assembled sectional view two of robot for cleaning wall surfaces；

Figure 12 recharges schematic diagram for the wall of robot for cleaning wall surfaces.

Embodiment

As shown in Figure 1, 2, 3, the utility model proposes can cross over gap robot for cleaning wall surfaces, including：Main frame Body case 1 and the driving wheel combination 2 located at main body enclosure, vacuum generating device 7, baroceptor 61, activity collision 4th, control system, power-supply system and the wiper 80 located at the bottom of main frame body case 1.

As shown in Figure 1,3, the main frame body case constitutes shell body, the He of handle 14 by cover 11, base 13 from top to bottom Handle 15 it is embedded with face-piece, control panel combination 16 is also disposed on face-piece 11, power switch 17 and DC charging socket 18 The sidepiece of host housing body 1 is arranged at, the periphery of base 13 is close to VELCRO 131.

As shown in figure 1, according to the demand of actual working environment of the present utility model, appearance design of the present utility model is one Individual rectangle form.

As shown in figure 3, base 13 is provided with baroceptor 61, the baroceptor 61 is connected with negative pressure cavity 75, institute Baroceptor 61 is stated to be connected with control system.

As shown in Fig. 2,5, wiper 80 constitutes negative pressure cavity 75 with vacuum generating device 7 and base 13；By the interface that is connected Between when, by baroceptor 61 detect negative pressure cavity 75 change value of pressure situation, feed back to control system and judge wall Whether clean robot is by gap or vacant state, and to provide follow-up action command.

As shown in Fig. 2 described driving wheel combination includes left driving wheel combination 20, right driving wheel combination 29；

As shown in Fig. 6,7,8, the left driving wheel combination 20 includes：Left driving arm 22, drive motor 21, it is connected to drive The axle 27 of driving pulley 25, tape spool wheel 26, connection driven pulley 26 and left driving arm 22 on the dynamic axle of motor 21, the company of being embedded in Connect the bearing 23 at the two ends of driven pulley 26, the axle 28 of connection belt wheel 25 and left driving arm 22, be embedded in connection belt wheel 25 one end Bearing 23, connection driving pulley 25 and the timing belt 24 of driven pulley 26, drive motor 21 be connected with control system；

The left driving arm 22 is made up of left socle 221, driving arm lid 222, driving arm sealing note 223.

As shown in Fig. 9,10,11, the right driving wheel combination 201 includes：Right driving arm 29, drive motor 21, connection The axle 27 of driving pulley 25, tape spool wheel 26, connection driven pulley 26 and right driving arm 29 on the axle of drive motor 21, is embedded Bearing 23, the axle 28 of connection belt wheel 25 and right driving arm 29 at connection driven pulley 26 two ends, it is embedded in connection belt wheel 25 The bearing 23 of one end, the timing belt 24 of connection driving pulley 25 and driven pulley 26, drive motor 21 are connected with control system；

The right driving arm 29 is made up of right support 291, driving arm lid 222, driving arm sealing note 223.

It is identical, symmetrical that 20 topology layouts are combined in the right driving wheel combination 201 with left driving wheel.

The present embodiment drive part uses toothed belt transmission mode to drive robot for cleaning wall surfaces, but simultaneously not only It is limited to drive using toothed belt transmission mode, it would however also be possible to employ existing other ripe actuation techniques, such as crawler haulage technology, Gear transmission technology, belt transmission technology etc..

As shown in figure 5, the vacuum generating device includes：Motor 71, motor bracket 72, motor bracket lid 73 and it is assemblied in Wind page 74 on the axle of motor 71 is constituted, and motor 71 is connected with control system.

As shown in Figure 3,4, the activity collision 4, is distributed in robot for cleaning wall surfaces front and back end, structure is identical, including：Touch Hit support 41, the collision wheel 42 for being arranged on two jiaos of directive wheel 44 on collision support, setting and collide front end and both sides on support.

As shown in Figure 3,4, control PCB43 is arranged on the base 13 of the inner side of collision wheel 42 in activity collision 4, control PCB43 is connected with control system.

As shown in Fig. 1,12, cradle 10 is adsorbed or is fixed on working interface, is supported and is protected wall cleaning machine People does not fall out in off working state, and is charged to robot for cleaning wall surfaces.

Respectively there are two charging columns 91 robot for cleaning wall surfaces rear and front end, can when clean robot returns to cradle 10 Charged with the contact cradle 10 of charging column 91 of either end.

As shown in Fig. 1,4, the control panel combination 16 is included, display support 161, display PCB162, display board 163, Display PCB162 is connected with control system.

As shown in figure 3, the power-supply system includes：Battery 90, charging column 91, working power 17, DC charging socket 18, Each all it is connected respectively with control system.

As shown in figure 4, wiper 80 is attached on VELCRO 131, wiper 80 constitutes negative with vacuum generating device 7 and base 13 Chamber 75 is pressed, wiper 80 is breathable, so the pressure of negative pressure cavity 75 and the size of wiper 80 and the contact surface of air have Close, the gas leakage of the side of wiper 80 be can be neglected, and after being attached on clean interface, wiper 80 is essentially with air contact surfaces Zero, clean interface is air tight, therefore now pressure value is reaches maximum pressure value, while by robot for cleaning wall surfaces absorption clear On clean interface, at the gap between crossing interface, due to wiper 80 and air contact surfaces increase, the air leakage of wiper 80 adds Greatly, pressure value is produced and diminished, and feed back to control system, and the change value of pressure formed after the gas leakage by wiper 80 weighs seam The size of gap, judges whether that gap can be crossed, and is judgment standard by default limit pressure, more past can judge For gap, it is impossible to which the judgement crossed is hanging, and corresponding actions instruction is provided, robot for cleaning wall surfaces is carrying out wall cleaning When, adsorptive pressure whenever will ensure that robot for cleaning wall surfaces can not drop from clean interface.

Operation principle, the switch of robot for cleaning wall surfaces side working power 17 is opened, and now vacuum generating device 7 starts fortune Turn, baroceptor 61 enters working condition, then by start key, left driving wheel combination 20, right driving wheel combination 29 are started working, And wall cleaning is carried out according to default path planning mode, touch 4 when robot for cleaning wall surfaces activity and arrive barrier When, control PCB43 is touched in activity collision 4, and control PCB43 conductings produce signal and feed back to control system, and control wall to clean Robot carries out next step action, when robot for cleaning wall surfaces needs to cross gap between wall or be hanging, by negative Pressure chamber 75 pressure changing judges to be gap or hanging, feeds back to control system, control system sends instruction, crosses gap Or recession is turned to, whole working condition vacuum generating device 7 is constantly in operating condition.

Cradle 10 is adsorbed or is fixed on working interface, when robot for cleaning wall surfaces has cleaned working interface or electricity In the case that pond electric power is not enough, robot for cleaning wall surfaces is returned on cradle 10 and charged in time, and cradle 10 is supported and protected Shield robot for cleaning wall surfaces will not be fallen down in off working state from working interface.

Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model Any modifications, equivalent substitutions and improvements made within the spirit and principle of utility model etc., should be included in the utility model Protection domain within.

Claims (4)

1. a kind of robot for cleaning wall surfaces that may span across gap, including main frame body case and the vacuum located at main body enclosure Generating means, baroceptor, movable collision, the driving wheel combination of the left and right sides, control system, power-supply system and located at master The wiper of body fuselage bottom, it is characterised in that：Wiper constitutes negative pressure cavity with vacuum generating device and the base of main frame body case.

2. robot for cleaning wall surfaces as claimed in claim 1, it is characterised in that：The driving wheel combination includes being arranged at main frame The combination of symmetrical left driving wheel and right driving wheel combination of both sides in the middle of bottom；

The left driving wheel combination includes：Left driving arm, the drive motor for being arranged at left driving arm sidepiece, it is arranged at left drive Driving pulley that dynamic internal stent one end is connected in motor shaft, the driven belt for being arranged at the other end inside left driving arm The axle of wheel, connection driven pulley and left driving arm, is embedded in the bearing, connection driving pulley and a left side at connection driven pulley two ends The axle of driving arm, the bearing for being embedded in connection belt wheel one end, the timing belt for connecting driving pulley and driven pulley, the left drive Dynamic support is made up of left socle, driving arm lid, driving arm sealing note.

3. robot for cleaning wall surfaces as claimed in claim 1, it is characterised in that：Cradle adsorbs or is fixed on working interface On, support and protect robot for cleaning wall surfaces not fallen out in off working state, and charged to robot for cleaning wall surfaces.

4. robot for cleaning wall surfaces as claimed in claim 1, it is characterised in that：Profile is a rectangle form.