CN206777275U - Endless track type cleaning robot with modularization, detachable sucker structure - Google Patents

Endless track type cleaning robot with modularization, detachable sucker structure Download PDF

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Publication number
CN206777275U
CN206777275U CN201621061269.1U CN201621061269U CN206777275U CN 206777275 U CN206777275 U CN 206777275U CN 201621061269 U CN201621061269 U CN 201621061269U CN 206777275 U CN206777275 U CN 206777275U
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CN
China
Prior art keywords
sucker
cleaning
base
modularization
agent
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Expired - Fee Related
Application number
CN201621061269.1U
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Chinese (zh)
Inventor
吴旭东
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吴旭东
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Priority to CN201621061269.1U priority Critical patent/CN206777275U/en
Application granted granted Critical
Publication of CN206777275U publication Critical patent/CN206777275U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model provides a kind of with modularization, the endless track type cleaning robot of detachable sucker structure, including agent structure, caterpillar drive structure, the cleaning mechanism in the agent structure, sucker structure and hitch structure located at track surface, the agent structure is driven by the caterpillar drive structure and advanced;The caterpillar drive structure adsorbs target to be cleaned by the sucker structure;The agent structure is drawn by the hitch structure;The sucker structure includes base and the disk body being removably mounted on base, and the base is connected to the crawler belt, and the base connects vavuum pump.

Description

Endless track type cleaning robot with modularization, detachable sucker structure
Technical field
Automated cleaning field is the utility model is related to, more particularly to it is a kind of with modularization, the shoe of detachable sucker structure Belt clean robot.
Background technology
Conventional cleaning glass machine people is applied to indoor glass cleaning more at present, the low cleaning force of operating efficiency be present Degree is poor, body flexibility ratio is poor, automaticity is low and the problems such as throwing over barrier ability.The family of the buildings such as office building Outer cleaning glass uses manual work more, and safety coefficient is low, clean-up performance is poor and cleaning cost is high.
Utility model content
In order to solve above-mentioned technical problem, the utility model provides a kind of with modularization, detachable sucker The endless track type cleaning robot of structure, including agent structure, caterpillar drive structure, the cleaner in the agent structure Structure, sucker structure and hitch structure located at track surface, the agent structure are driven by the caterpillar drive structure and advanced; The caterpillar drive structure adsorbs target to be cleaned by the sucker structure;The agent structure passes through the hitch structure quilt Traction;The sucker structure includes base and the disk body being removably mounted on base, and the base is connected to the crawler belt, institute State base connection vavuum pump.
Optionally, sucker structure described in one group is disposed with along the width of crawler belt, and sucker structure described in same group connects Connect the same vavuum pump.
Optionally, the quantity of sucker structure described in every group is two.
Optionally, the base is fixedly installed in the crawler belt by screw nut assembly.
Optionally, the cleaning structure is stretched by an expansion link relative to the agent structure.
Optionally, the described endless track type cleaning robot with modularization, detachable sucker structure also includes cleaning fortune Motivation structure, the cleaning structure are driven along subject surface to be cleaned by the cleaning movement mechanism and moved.
Optionally, it is described that there is modularization, the endless track type cleaning robot of detachable sucker structure also to include mechanical arm Structure, the mechanical arm configuration can drive the cleaning structure respectively along rotating vertically to rotation and along horizontal axis.
Optionally, the cleaning structure includes main element and along the outer peripheral polishing piece of the main element, described Polishing piece is located at the side of the cleaning object to be cleaned of the main element, and the one of the cleaning object to be cleaned of the main element Groove is also formed among side, the groove is provided with vapours extraction structure and/or bath of glass extraction structure.
The caterpillar walking manner of the utility model is combined with adsorption piece so that endless track type cleaning robot can be along Object, such as window movement are cleaned, furthermore, it is understood that in order to ensure absorption affinity, the utility model also introduces hitch structure;More Importantly, the utility model has carried out the design of modular removable to the sucker of caterpillar robot, replacing is greatly reduced The cost of consumptive material.
Brief description of the drawings
Fig. 1 is the structural representation of endless track type cleaning robot in the alternative embodiment of the utility model one;
Fig. 2 is sucker scheme of installation in the alternative embodiment of the utility model one;
Fig. 3 is the schematic diagram of hitch structure in the alternative embodiment of the utility model one;
Fig. 4 is the schematic diagram of swing boom configuration in the alternative embodiment of the utility model one;
Fig. 5 is the schematic diagram of cleaning structure in the alternative embodiment of the utility model one;
In figure, 1- agent structures;2- vavuum pumps;3- sucker structures;4- expansion links;5- workbench main bodys;6- turning arm knots Structure;7- cleaning structures;8- crawler belts;9- screw rods;10- nuts;11- bases;12- connecting tubes;13- disk bodies;14- vavuum pumps;In 15- Between structure;16- pull ropes;17- motors;18- main shafts;19- springs;20- controllers;21- limit switches;22- traction guides; 23- draws sliding block;24- sliding blocks;25- slide rails;26- turning arms;The rotating disks of 27- first;28- connecting portions;The rotating disks of 29- second;30- is limited Position groove;31- locating parts;32- vapours extraction structures;33- main elements;34- polishing pieces;35- grooves;36- baths of glass are emitted Structure.
Embodiment
There is modularization, the crawler type of detachable sucker structure to provided by the utility model below with reference to Fig. 1 to Fig. 5 Clean robot is described in detail, and it is the utility model optional embodiment, it is believed that those skilled in the art exist In the range of not changing the utility model spirit and content, it is modified and polished.
The utility model provide it is a kind of have modularization, the endless track type cleaning robot of detachable sucker structure, including Agent structure 1, caterpillar drive structure, the cleaning mechanism 7 in the agent structure, the sucker structure 3 located at the surface of crawler belt 8 And hitch structure, the agent structure 1 are driven by the caterpillar drive structure and advanced;The caterpillar drive structure passes through described Sucker structure 3 adsorbs target to be cleaned;The agent structure 1 is drawn by the hitch structure;The sucker structure 3 includes Base 11 and the disk body 13 being removably mounted on base 11, the base 11 are connected to the crawler belt 8, and the base 8 connects Vavuum pump 2.
It refer to Fig. 2, in further alternative embodiment, sucker knot described in one group be disposed with along the width of crawler belt 8 Structure 3, and sucker structure 3 described in same group connects the same vavuum pump 2.In the embodiment that Fig. 1 shows, sucker knot described in every group The quantity of structure 3 is two.
In further alternative embodiment, one group of sucker 3 is connected to vavuum pump 2 by connecting tube.The sucker 3 passes through screw rod spiral shell Female component is fixedly installed in the crawler belt 8.The screw nut assembly includes nut 10 and screw rod 9, and screw rod 9 can be fixed in bottom Seat 11, the connection chamber in base 11 are respectively communicated with disk body 13 and connecting tube 12.The disk body 13 can use the material of rubber.
In the utility model optional embodiment, the cleaning structure 7 is by an expansion link 4 relative to the body junction Structure 1 is stretched.Expansion link 4 driven relative to cleaning sliding block 25 do it is flexible, its specific implementation can use leading screw, spiral shell Female and motor combination.Certainly, in further alternative embodiment, in addition to cleaning movement mechanism, the cleaning structure 7 Driven along subject surface to be cleaned and move by the cleaning movement mechanism.Furthermore, it is understood that the cleaning movement mechanism includes Sliding block 25 and cleaning slide rail 24 are cleaned, cleaning slide rail 24 is located at agent structure 1, and cleaning sliding block 25 is moved by drives edge cleaning slide rail 24 It is dynamic, and then drive expansion link 4 thereon to move.
In the utility model optional embodiment, furthermore, it is understood that also include workbench main body 5, the mechanical arm configuration 6 Including the first rotating disk 27, connecting portion 28, the rotating disk 29 of turning arm 262 and second, the connecting portion 28 is located at first rotating disk 27 On, the turning arm 26 is rotatably connected is provided with second rotating disk 29, institute in the connecting portion 28, the end of the turning arm 26 State cleaning structure 7 and be located at second rotating disk 29.So cleaning structure 7 can realize the rotation of multiple dimensions.
Relevant hitch structure:
Fig. 3 is refer to, the hitch structure includes intermediate structure 15, pull rope 16, traction drive structure and traction detection Structure, the pull rope 16 connect outside and described intermediate structure 15, and the agent structure 1 and caterpillar drive structure thereon are hung In the intermediate structure 15, the traction detects the relative position described in structure detection between agent structure 1 and intermediate structure 15 Or relative stress, the traction drive structure according to the traction detect structure detection to situation driving pull rope 16 work.
Relevant traction drive structure therein, the traction drive structure include winding the He of main shaft 18 of the pull rope 16 The motor 17 for driving the main shaft 18 to rotate, and the motor 17 is driven by controller 20, controller 20 connects limit switch 21.
Relevant traction detection structure therein, the traction detection structure include spring 19 and limit switch 21, the bullet The both ends of spring 19 connect the intermediate structure 15 and agent structure 1 respectively, when the spring 19 compresses or be stretched to ad-hoc location When, the limit switch 21 is triggered, and so as to feed back to the traction drive structure, makes it drive pull rope 16 to work.It is described Limit switch includes traction unwrapping wire limit switch, take-up limit switch and stop spacing switch.
In the utility model optional embodiment, refer to Fig. 5, the cleaning structure 7 include main element 33 and along The outer peripheral polishing piece 34 of main element 33, the polishing piece 34 are located at the cleaning object to be cleaned of the main element 33 Side, be also formed with groove 35 among the side of the cleaning object to be cleaned of the main element 33, the groove 35 is provided with Vapours extraction structure 32 and/or bath of glass extraction structure 36.The polishing piece 34 includes scraping article and/or scrapes head.Certainly, heat is steamed Vapour extraction structure 32 also matches the device for being provided with steam and bath of glass with bath of glass extraction structure 36, those skilled in the art according to It can be designed according to demand, so, expansion narration is not done, also in the absence of the situation of insufficient disclosure, and does not depart from the present invention Scope.
In summary, the caterpillar walking manner of the utility model is combined with adsorption piece so that endless track type cleaning machine People can be along cleaning object, such as window movement, furthermore, it is understood that in order to ensure absorption affinity, the utility model also introduces Hitch structure;Importantly, the utility model has carried out the design of modular removable to the sucker of caterpillar robot, significantly Reduce the cost for changing consumptive material.

Claims (4)

1. a kind of have modularization, the endless track type cleaning robot of detachable sucker structure, it is characterised in that:Including body junction Structure, caterpillar drive structure, the cleaning mechanism in the agent structure, the sucker structure located at track surface and traction knot Structure, the agent structure are driven by the caterpillar drive structure and advanced;The caterpillar drive structure passes through the sucker structure Adsorb target to be cleaned;The agent structure is drawn by the hitch structure;The sucker structure includes base and removable The disk body being installed on base is unloaded, the base is connected to the crawler belt, and the base connects vavuum pump;
Sucker structure described in one group is disposed with along the width of crawler belt, and sucker structure connection is same described described in same group Vavuum pump;The base is fixedly installed in the crawler belt by screw nut assembly.
2. having modularization, the endless track type cleaning robot of detachable sucker structure as claimed in claim 1, its feature exists In:The quantity of sucker structure described in every group is two.
3. having modularization, the endless track type cleaning robot of detachable sucker structure as claimed in claim 1, its feature exists In:Also include cleaning movement mechanism, the cleaning structure is driven along subject surface to be cleaned by the cleaning movement mechanism and transported It is dynamic.
4. having modularization, the endless track type cleaning robot of detachable sucker structure as claimed in claim 1, its feature exists In:The cleaning structure includes main element and is located at institute along the outer peripheral polishing piece of the main element, the polishing piece The side of the cleaning object to be cleaned of main element is stated, is also formed among the side of the cleaning object to be cleaned of the main element Fluted, the groove is provided with vapours extraction structure and/or bath of glass extraction structure.
CN201621061269.1U 2016-09-19 2016-09-19 Endless track type cleaning robot with modularization, detachable sucker structure Expired - Fee Related CN206777275U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621061269.1U CN206777275U (en) 2016-09-19 2016-09-19 Endless track type cleaning robot with modularization, detachable sucker structure

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621061269.1U CN206777275U (en) 2016-09-19 2016-09-19 Endless track type cleaning robot with modularization, detachable sucker structure

Publications (1)

Publication Number Publication Date
CN206777275U true CN206777275U (en) 2017-12-22

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621061269.1U Expired - Fee Related CN206777275U (en) 2016-09-19 2016-09-19 Endless track type cleaning robot with modularization, detachable sucker structure

Country Status (1)

Country Link
CN (1) CN206777275U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110326995A (en) * 2019-07-22 2019-10-15 河海大学常州校区 A kind of crawler belt sucker type glass cleaning robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110326995A (en) * 2019-07-22 2019-10-15 河海大学常州校区 A kind of crawler belt sucker type glass cleaning robot

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GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20171222

Termination date: 20180919

CF01 Termination of patent right due to non-payment of annual fee