CN206934059U - It is classified obstacle crossing type cleaning robot - Google Patents
It is classified obstacle crossing type cleaning robot Download PDFInfo
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- CN206934059U CN206934059U CN201621225353.2U CN201621225353U CN206934059U CN 206934059 U CN206934059 U CN 206934059U CN 201621225353 U CN201621225353 U CN 201621225353U CN 206934059 U CN206934059 U CN 206934059U
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Abstract
The utility model discloses a kind of classification obstacle crossing type cleaning robot, the classification obstacle crossing type cleaning robot includes rotor assembly, the cleaning main body being connected with hanger rope, three cleaning units and three unit expansion links being parallel to each other, one end of the unit expansion link is connected with the rotor assembly and the other end is connected with the cleaning unit, the every unit expansion link connects a cleaning unit, and the cleaning main body is slided between the rotor assembly and the cleaning unit along the unit expansion link.The stretching of three cleaning units is respectively controlled with shrinking by three root unit expansion links in classification obstacle crossing type cleaning robot of the present utility model, simply lightly, operating efficiency is high and obstacle climbing ability is strong, the power consumption needed during obstacle detouring is relatively low, control mode is simple simultaneously, the stability and reliability of whole device are higher, greatly improve the practicality of cleaning robot.
Description
Technical field
It the utility model is related to outside Wall Cleaning technical field, more particularly to a kind of classification obstacle crossing type cleaning robot.
Background technology
The exterior wall pattern of existing skyscraper is various, and most of exterior walls are not all glass surface again, the cleaning machine in cleaning
Device needs the ability of obstacle detouring.At present, the cleaning robot moved on metope has following several obstacle detouring modes：Crawler type, crawler belt
Installed in the lower section of suction tray, turned to using differential fashion, it is simple in construction, but can not be only limitted to substantially by metope obstacle
Moved in the metope of flat smooth；Bionic leg formula, generally installs sucker on leg, the step of animal is imitated during motion, although energy
Overcome most metope obstacle, but because the free degree of leg is relatively more, therefore control mode is more complicated, cost is also very
It is high；Rail mounted, generally fix one in the boss of metope using claw hook or two guide rails, cleaning robot are done in orbit
Under, move left and right, but want track to be limited by the distribution of metope boss, adaptability is poor.
Utility model content
Main purpose of the present utility model is to provide a kind of preferable and simple to operate classification obstacle crossing type cleaning of obstacle climbing ability
Machine.
To achieve the above object, the utility model proposes classification obstacle crossing type cleaning robot include rotor assembly and hanger rope
The cleaning main body of connection, three cleaning units and three unit expansion links being parallel to each other, one end of the unit expansion link
It is connected with the rotor assembly and the other end is connected with the cleaning unit, the every unit expansion link connection one is described clear
Unit is washed, the cleaning main body is slided between the rotor assembly and the cleaning unit along the unit expansion link.
Preferably, three mounting holes are offered in the cleaning main body, the every unit expansion link is through described in one
Mounting hole, three mounting holes are uniformly distributed in the cleaning main body along the vertical direction.
Preferably, the classification obstacle crossing type cleaning robot also includes parallel with the unit expansion link and described for supporting
More optical axises of main body are cleaned, one end of the optical axis is slidably inserted into the rotor assembly and the other end and the cleaning are single
Member is fixedly connected.
Preferably, three cleaning units are respectively rag component, round brush component and scrape bar assembly.
Preferably, the classification obstacle crossing type cleaning robot also includes the main body expansion link parallel with the unit expansion link,
One end of the main body expansion link is connected with the rotor assembly and the other end of the main body expansion link and the cleaning main body
Connection.
Preferably, the unit expansion link is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link
For electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder.
Preferably, the unit expansion link and the main body expansion link are electric expansion bar；
The classification obstacle crossing type cleaning robot also includes control unit and the detection unit for detecting cleaning obstacle, institute
Control unit is stated to electrically connect with the unit expansion link, the main body expansion link and the detection unit respectively.
Preferably, the detection unit is photoelectric sensor.
Preferably, it is provided with gyroscope in the cleaning main body.
Preferably, the rotor assembly includes rotor wings frame and the rotor being installed on the rotor wings frame, the unit are stretched
One end of contracting bar is installed on the rotor wings frame.
In the above-mentioned technical solutions, the stretching of three cleaning units is controlled respectively with shrinking by three root unit expansion links
System.When first cleaning unit first encounters obstacle, corresponding unit expansion link controls the cleaning unit to stretch, now cleaning machine
The center of gravity of device can produce skew, because cleaning main body can be slided between rotor assembly and cleaning unit, so as to adjust cleaning
The position of centre of gravity of machine, prevent cleaning robot from upset occurs (this is first order obstacle detouring).Then, when second cleaning unit is encountered
During obstacle, corresponding unit expansion link controls the cleaning unit to stretch, and the position of adjustment cleaning main body again so that cleaning machine
Think highly of and be newly in poised state (this is second level obstacle detouring).Finally, when the 3rd cleaning unit encounters obstacle, corresponding unit
Expansion link is adjusted successively with cleaning main body so that cleaning robot is surmounted obstacles (this is third level obstacle detouring) using poised state.
Classification obstacle crossing type cleaning robot of the present utility model, simply lightly, operating efficiency is high and obstacle climbing ability is strong, is needed during obstacle detouring
Power consumption it is relatively low, while control mode is simple, and the stability and reliability of whole device are higher, greatly improve cleaning robot
Practicality.
Brief description of the drawings
, below will be to implementing in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in mode or description of the prior art, it should be apparent that, drawings in the following description
Only some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creative work
On the premise of, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the front view of classification obstacle crossing type cleaning robot of the present utility model；
Fig. 2 is the stereogram of classification obstacle crossing type cleaning robot of the present utility model；
Fig. 3 is the working state schematic representation of classification obstacle crossing type cleaning robot of the present utility model.
Drawing reference numeral explanation：
| Label | Title | Label | Title |
| 1 | Fixed mount | 11 | Rotor wings frame |
| 12 | Rotor | 2 | Clean main body |
| 3 | Cleaning unit | 31 | Round brush component |
| 32 | Rag component | 33 | Scrape bar assembly |
| 4 | Unit expansion link | 5 | Main body expansion link |
| 6 | Hanger rope | 7 | Optical axis |
Realization, functional characteristics and the advantage of the utility model purpose will combine embodiment, make referring to the drawings furtherly
It is bright.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, to the technical scheme in the utility model embodiment
It is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present utility model, and
The embodiment being not all of.Based on the embodiment in the utility model, those of ordinary skill in the art are not making wound
The every other embodiment that the property made is obtained on the premise of working, belong to the scope of the utility model protection.
It is to be appreciated that in the utility model embodiment institute it is directional instruction (such as upper and lower, left and right, it is preceding,
It is only used for explaining the relative position relation under a certain particular pose (as shown in drawings) between each part afterwards ...), moves feelings
Condition etc., if the particular pose changes, directionality instruction also correspondingly changes therewith.
In addition, and it can not be managed in the utility model such as relating to the description of " first ", " second " etc. is only used for describing purpose
Solve to indicate or implying its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".It is " more in description of the present utility model
It is individual " it is meant that at least two, such as two, three etc., unless otherwise specifically defined.
In the utility model, unless otherwise clearly defined and limited, term " connection ", " fixation " etc. should make broad sense reason
Solution, for example, " fixation " can be fixedly connected or be detachably connected, or integrally；Can mechanically connect, also may be used
Be electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be the connection of two element internals
Or the interaction relationship of two elements, limited unless otherwise clear and definite.For the ordinary skill in the art, can be with
Concrete meaning of the above-mentioned term in the utility model is understood as the case may be.
In addition, the technical scheme between each embodiment of the utility model can be combined with each other, but must be with this
Field those of ordinary skill can be implemented as basis, should recognize when the combination appearance of technical scheme is conflicting or can not realize
Combination for this technical scheme is not present, also not within the protection domain of the requires of the utility model.
The classification obstacle crossing type cleaning robot preferable and simple to operate the utility model proposes a kind of obstacle climbing ability.
Referring to Fig.1 and 2, in a kind of embodiment of the present utility model, the classification obstacle crossing type cleaning robot includes
Rotor assembly 1,2, three cleaning units 3 of cleaning main body being connected with hanger rope 6 and three unit expansion links 4 being parallel to each other,
One end of unit expansion link 4 is connected with rotor assembly 1 and the other end is connected with cleaning unit 3, and one is connected per root unit expansion link 4
Individual cleaning unit 3, cleaning main body 2 are slided between rotor assembly 1 and cleaning unit 3 along unit expansion link 4, so as to adjust cleaning
The position of centre of gravity of machine, make cleaning main body 2 and exterior wall keeping parallelism, prevent cleaning robot from overturning, ensure cleaning robot energy
Cleaning is enough normally completed, and then the operating efficiency of cleaning robot is substantially improved.
Wherein, three cleaning units can be respectively rag component 32, round brush component 31 and scrape bar assembly 33.Rag component
32 can be on External Wall dust wiped, round brush component 31 can adsorb dust in a manner of driving round brush to roll, and scrape
Bar assembly 33 can make scraping article be bonded with exterior wall and strike off the dust on exterior wall.
In the above-mentioned technical solutions, the stretching of three cleaning units 3 is carried out respectively with shrinking by three root unit expansion links 4
Control.Referring to Fig. 2 and Fig. 3, when first cleaning unit (i.e. round brush component 31) first encounters obstacle, corresponding unit expansion link
4 control the cleaning unit 3 flexible, and now the center of gravity of cleaning robot can produce skew, because cleaning main body 2 can be in rotor assembly
Slided between 1 and cleaning unit 3, so as to adjust the position of centre of gravity of cleaning robot, prevent that (this is first for cleaning robot generation upset
Level obstacle detouring).Then, when second cleaning unit (scraping bar assembly 33) encounters obstacle, the corresponding control of unit expansion link 4 should
Cleaning unit 3 is flexible, and the position of adjustment cleaning main body 2 again so that in poised state, (this is second to cleaning robot again
Level obstacle detouring).Finally, when the 3rd cleaning unit (i.e. rag component 32) encounters obstacle, corresponding unit expansion link 4 and cleaning
Main body 2 is adjusted successively so that cleaning robot is surmounted obstacles (this is third level obstacle detouring) using poised state.It is of the present utility model
Obstacle crossing type cleaning robot is classified, simply lightly, operating efficiency is high and obstacle climbing ability is strong, and the power consumption needed during obstacle detouring is relatively low,
Control mode is simple simultaneously, and the stability and reliability of whole device are higher, greatly improve the practicality of cleaning robot.
Further, the installation form of cleaning main body 2 can also have a variety of, for example, cleaning main body 2 is set up in unit and stretched
On bar 4, or, unit expansion link 4 passes through out of cleaning main body 2.As shown in Fig. 2 cleaning main body 2 includes the framework of annular (not
Sign) (water tank etc. is provided with framework) and the supporting plate (not indicating) that is arranged in framework.Wherein, in cleaning main body 2
Three mounting holes (not indicating) are offered in supporting plate, pass through a mounting hole per root unit expansion link 4, the aperture of mounting hole is big
In the maximum outside diameter of unit expansion link 4, so as in the case where not influenceing to clean main body 2, realize the adjustment to cleaning unit 3.
Three mounting holes are uniformly distributed in cleaning main body 2 along the vertical direction, i.e. and three cleaning units 3 are uniformly distributed along the vertical direction,
When cleaning robot is hung on exterior wall by hanger rope 6, three cleaning units 3 are respectively in the presence of corresponding unit expansion link 4
Stretch or shrink successively.In addition, being additionally provided with suspension ring (not shown) on the framework of cleaning main body 2, cable 6 is worn from suspension ring
Cross, so as to be hung to cleaning robot.
In addition, as a preferred embodiment, classification obstacle crossing type cleaning robot is also including parallel with unit expansion link 4
And for supporting more optical axises 7 of cleaning main body 2, one end of optical axis 7 is slidably inserted into rotor assembly 1, and (that is, optical axis 7 can
Moved relative to rotor assembly 1) and the other end be fixedly connected with cleaning unit 3.Specifically, in the supporting plate of cleaning main body 2
Multiple optical axis holes (not indicating) are offered, the aperture in optical axis hole is slightly larger than the external diameter of optical axis 7, and optical axis 7 is worn from optical axis hole respectively
Cross, so as to be supported to cleaning main body 2 and cleaning main body 2 is slided on optical axis 7.In order to single to cleaning
Member 3 and cleaning main body 2 are carried out stablizing support, and each cleaning unit 3 is fixedly connected with two optical axises 7, and this two optical axises 7
It is distributed in the both sides of corresponding unit expansion link 4.
Wherein, cleaning slip of the main body 2 between rotor assembly 1 and cleaning unit 3 can be accomplished in several ways, example
Such as, motor drive mode, the push rod way of propelling even manual mode etc..As shown in figure 1, as a preferred embodiment,
Classification obstacle crossing type cleaning robot also includes the main body expansion link 5 parallel with unit expansion link 4, one end of main body expansion link 5 and rotation
Wing assembly 1 is connected and the other end of main body expansion link 5 is connected with cleaning main body 2, by main body expansion link 5 cleaning can be driven to lead
Body 2 with rotor assembly 1 slide relatively, so as to be adjusted during obstacle detouring is classified to the center of gravity of cleaning robot
It is whole.
In order to be more easily adjusted to each cleaning unit 3 and cleaning main body 2, unit expansion link 4 can be
Electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder etc., similarly, main body expansion link 5 can also be electric expansion bar, pneumatically stretch
Contracting cylinder or hydraulic cylinder etc..Pass through the machine that these can realize straight reciprocating motion and can accurately control linear motion distance
Structure, the handling and accuracy that centre of gravity adjustment is carried out to cleaning robot can be lifted.
In one embodiment, unit expansion link 4 is both preferably electric expansion bar with main body expansion link 5.Moreover, classification
Obstacle crossing type cleaning robot also includes control unit (not shown) and the detection unit (not shown) for detecting cleaning obstacle, control
Unit processed electrically connects with unit expansion link 4, main body expansion link 5 and detection unit respectively.When detection unit is detected on exterior wall
When having obstacle, the position signalling of obstacle is sent to control unit, control unit controls corresponding unit expansion link 4 to stretch successively
Or shrink to enable three cleaning units 3 to surmount obstacles successively, meanwhile, also control main body expansion link 5 to stretch or receive
Contracting, to clean the position of main body 2 by adjusting to adjust the center of gravity of cleaning robot, make cleaning main body 2 and exterior wall keeping parallelism, from
And prevent cleaning robot from being overturn in obstacle detouring.Wherein, detection unit can be various photoelectric sensors, for example, infrared anti-
Penetrate combination of sensor or photosensitive transmitter and photoreceiver etc..
Further, clean in main body 2 and be additionally provided with gyroscope.Gyroscope is a kind of angular movement detection means, by clear
Wash gyroscope entrained in main body 2 and judge whether cleaning main body 2 is parallel with working face, if it is, closing down main body expansion link
5, now cleaning robot continue to pass beyond obstacle, until detected cross obstacle, be again turned on normal mode of operation.
In addition, in the above-described embodiment, rotor assembly 1 includes rotor wings frame 11 and the rotor being installed on rotor wings frame 11
12, one end of unit expansion link 4 is installed on rotor wings frame 11 and the other end of unit expansion link 4 is connected with cleaning unit 3.Clear
In the washing machine device course of work, rotor 12 rotates and can produce the thrust towards exterior wall so that each cleaning unit 3 can with it is outer
Wall is in close contact, so as to lift the cleaning performance of cleaning robot.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits patent model of the present utility model
Enclose, it is every under utility model of the present utility model design, made using the utility model specification and accompanying drawing content equivalent
Structural Transformation, or directly/being used in other related technical areas is included in scope of patent protection of the present utility model indirectly
It is interior.
Claims (9)
1. one kind classification obstacle crossing type cleaning robot, it is characterised in that the classification obstacle crossing type cleaning robot includes rotor assembly
(1) cleaning main body (2), three cleaning units (3) and the three unit expansion links being parallel to each other, being connected with hanger rope (6)
(4), one end of the unit expansion link (4) is connected with the rotor assembly (1) and the other end connects with the cleaning unit (3)
Connect, the every unit expansion link (4) connects a cleaning unit (3), and the cleaning main body (2) is in the rotor assembly
(1) slided between the cleaning unit (3) along the unit expansion link (4), wherein, the classification obstacle crossing type cleaning robot is also
Including the main body expansion link (5) parallel with the unit expansion link (4), one end and the rotor of the main body expansion link (5)
Assembly (1) is connected and the other end of the main body expansion link (5) is connected with the cleaning main body (2).
2. classification obstacle crossing type cleaning robot according to claim 1, it is characterised in that opened up on the cleaning main body (2)
There are three mounting holes, the every unit expansion link (4) passes through a mounting hole, and three mounting holes are along the vertical direction
It is uniformly distributed on the cleaning main body (2).
3. classification obstacle crossing type cleaning robot according to claim 1, it is characterised in that the classification obstacle crossing type cleaning robot
Also include parallel with the unit expansion link (4) and be used for more optical axises (7) for supporting the cleaning main body (2), the optical axis
(7) one end is slidably inserted into the rotor assembly (1) and the other end is fixedly connected with the cleaning unit (3).
4. classification obstacle crossing type cleaning robot according to claim 1, it is characterised in that three cleaning units are respectively
Rag component (32), round brush component (31) and scrape bar assembly (33).
5. the classification obstacle crossing type cleaning robot according to any one of claim 1-4, it is characterised in that the unit stretches
Bar (4) is electric expansion bar, Pneumatic extension cylinder or hydraulic cylinder；The main body expansion link (5) is electric expansion bar, Pneumatic extension
Cylinder or hydraulic cylinder.
6. classification obstacle crossing type cleaning robot according to claim 5, it is characterised in that the unit expansion link (4) and institute
It is electric expansion bar to state main body expansion link (5)；
The classification obstacle crossing type cleaning robot also includes control unit and the detection unit for detecting cleaning obstacle, the control
Unit processed electrically connects with the unit expansion link (4), the main body expansion link (5) and the detection unit respectively.
7. classification obstacle crossing type cleaning robot according to claim 6, it is characterised in that the detection unit is photoelectric sensing
Device.
8. the classification obstacle crossing type cleaning robot according to any one of claim 1-4, it is characterised in that the cleaning main body
(2) gyroscope is provided with.
9. the classification obstacle crossing type cleaning robot according to any one of claim 1-4, it is characterised in that the rotor assembly
(1) rotor wings frame (11) and the rotor (12) being installed on the rotor wings frame (11), one end of the unit expansion link (4) are included
It is installed on the rotor wings frame (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225353.2U CN206934059U (en) | 2016-11-15 | 2016-11-15 | It is classified obstacle crossing type cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621225353.2U CN206934059U (en) | 2016-11-15 | 2016-11-15 | It is classified obstacle crossing type cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN206934059U true CN206934059U (en) | 2018-01-30 |
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ID=61356286
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621225353.2U Active CN206934059U (en) | 2016-11-15 | 2016-11-15 | It is classified obstacle crossing type cleaning robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
| CN109512314A (en) * | 2018-12-06 | 2019-03-26 | 北京工业大学 | A kind of high altitude operation special type service robot |
| WO2020057184A1 (en) * | 2018-09-18 | 2020-03-26 | 上海霄卓机器人有限公司 | Aloft working robot |
| US20220267002A1 (en) * | 2019-08-19 | 2022-08-25 | Ivesky Co., Ltd. | Drone for cleaning outer wall of high-rise building |
| CN115202381A (en) * | 2022-07-12 | 2022-10-18 | 杭州艺会智能科技有限公司 | Unmanned aerial vehicle system for roaming operation on vertical elevation and method for constructing environment model |
| US11529036B2 (en) | 2018-04-20 | 2022-12-20 | Bofill Strauss Llc | Robotic cleaning apparatus and system |
-
2016
- 2016-11-15 CN CN201621225353.2U patent/CN206934059U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11529036B2 (en) | 2018-04-20 | 2022-12-20 | Bofill Strauss Llc | Robotic cleaning apparatus and system |
| CN109008763A (en) * | 2018-07-12 | 2018-12-18 | 上海医修哥网络科技股份有限公司 | A kind of outdoor window wiping robot and its obstacle-detouring method for crossing limbic disorder |
| WO2020057184A1 (en) * | 2018-09-18 | 2020-03-26 | 上海霄卓机器人有限公司 | Aloft working robot |
| CN109512314A (en) * | 2018-12-06 | 2019-03-26 | 北京工业大学 | A kind of high altitude operation special type service robot |
| US20220267002A1 (en) * | 2019-08-19 | 2022-08-25 | Ivesky Co., Ltd. | Drone for cleaning outer wall of high-rise building |
| CN115202381A (en) * | 2022-07-12 | 2022-10-18 | 杭州艺会智能科技有限公司 | Unmanned aerial vehicle system for roaming operation on vertical elevation and method for constructing environment model |
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