CN206938904U - A kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall - Google Patents
A kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall Download PDFInfo
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- CN206938904U CN206938904U CN201621289786.4U CN201621289786U CN206938904U CN 206938904 U CN206938904 U CN 206938904U CN 201621289786 U CN201621289786 U CN 201621289786U CN 206938904 U CN206938904 U CN 206938904U
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- exterior wall
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Abstract
It the utility model is related to a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall, including overhead support bracket, walking mechanism, cleaning plant, blast adsorbent equipment and robot device, the walking mechanism includes guide rail and is capable of the mobile device of side-to-side movement, the mobile device is arranged on guide rail, and institute's mobile device is connected to overhead support bracket by hawser；The blast adsorbent equipment is arranged on overhead support bracket, for adsorbing metope；The cleaning plant is arranged on overhead support bracket, for clearing up exterior wall；The robot device is arranged on overhead support bracket, for clearing up and repairing exterior wall.The utility model greatlys save manpower, prevent danger during manual working, so as to improve security and cleaning efficiency, and be different from common high-rise cleaner device people, it is also configured with to clean and repairing the robot device of exterior wall in addition to being cleared up provided with rotary broom.
Description
Technical field
It the utility model is related to cleaning field, particularly a kind of Internet of Things spider machine for cleaning and safeguarding for high building exterior wall
Device people.
Background technology
With the fast development and the improvement of people's living standards of China's economy, urban architecture is also rapidly towards high aerial hair
Exhibition.Skyscraper emerges in an endless stream, and numerous electronic products generates a large amount of electrostatic in skyscraper, the exterior wall of building and
Glass is influenceed to have adsorbed substantial amounts of dust by electrostatic, year in and year out, Exposure to Sunlight, wind, is drenched with rain, and a lot of dirt is left on exterior wall
Mark, building is not only damaged, and also affected the attractive in appearance and appearance of the city in city.
To keep the cleaning of urban skyscraper exterior wall, inevitable requirement is developed new cleaning machine, can especially substituted
The machinery that people's External Wall is cleaned automatically, to adapt to the needs of this emerging industry.Because the exterior wall that foreign countries succeed in developing is clear
Washing machine equipment complexity is expensive, is also introduced into China market, and China also essentially stays at artificial wash phase at present, tradition
Artificial cleaning high building exterior wall mode the high-risk operations of people's cleaning are hung for a rope and one block of plate, operating efficiency is low, dangerous big,
Therefore there is an urgent need to realize mechanized operation, the exterior wall cleaning machine for being adapted to China's building is designed.
The content of the invention
In view of the above, the utility model provides a kind of Internet of Things spider machine for cleaning and safeguarding for high building exterior wall
Device people, efficiently solves above mentioned problem.
Technical scheme is used by order to realize the purpose of this utility model：
It is a kind of for high building exterior wall clean and safeguard Internet of Things spider robot, including overhead support bracket, walking mechanism,
Cleaning plant, blast adsorbent equipment and robot device, the walking mechanism include guide rail and are capable of the mobile dress of side-to-side movement
Put, the mobile device is arranged on guide rail, and institute's mobile device is connected to overhead support bracket by hawser；The blast absorption dress
Put and be arranged on overhead support bracket, for adsorbing metope；The cleaning plant is arranged on overhead support bracket, outer for clearing up
Wall；The robot device is arranged on overhead support bracket, for clearing up and repairing exterior wall.
In some embodiments, be provided with the first controller on the overhead support bracket, first controller it is defeated
Go out end and cleaning plant, blast adsorbent equipment and robot device are connected to by wire.
In some embodiments, internet of things data acquisition and transmission module are provided with the overhead support bracket, it is described
Internet of things data acquisition sets the input that the first controller is connected to by wire with transmission module.
Further, the mobile device includes housing, second controller, the motor with rotating shaft, power transmission shaft and actinobacillus wheel,
Cavity is set in the housing, the second controller is set in the cavities, and the second controller and the first controller pass through indigo plant
Tooth or wireless device connection, the output end of the second controller are connected to motor by wire；The power transmission shaft runs through housing
And roller is provided with both ends, the roller is located in guide rail, and the axle body that the power transmission shaft is located in cavity is provided with vertically
And the first gear set；The motor includes the first motor and the second motor, and first motor and the second motor are fixed on sky
In chamber, the rotating shaft of first motor is provided with the second gear coordinated with first gear；The rotating shaft of second motor passes through sky
Chamber is exposed outside；The actinobacillus wheel is arranged in the exposed rotating shaft of the second motor, and connection suspention is wound with the line wheel
The hawser of support frame.
In some embodiments, the hawser is located at the center of overhead support bracket upper end, thus, is easy to balance outstanding
Hang support frame.
In some embodiments, the cleaning plant includes casing, water pump, the 3rd motor, rotary broom with rotating shaft
And heat gun, the casing are arranged on suspension strut plate, the box house is provided with the cavity with water inlet and delivery port；Institute
Water pump is stated to be fixed on casing and be connected to delivery port by conduit；3rd motor is fixed on casing and connected by rotating shaft
Then rotary broom；The heat gun is arranged on casing；The water pump, the 3rd motor and heat gun are connected to first by wire
The output end of controller.
In some embodiments, the blast adsorbent equipment includes vavuum pump and negative pressure sucker, the vavuum pump and negative
Pressure sucker is arranged on overhead support bracket, and the vavuum pump is connected to the output end of the first controller, the vacuum by wire
Pump is connected to negative pressure sucker by conduit, thus, by the air in vacuum pumped negative pressure sucker, promotes overhead support bracket energy
It is enough to be firmly adjacent to wall, it is convenient to clean.
In some embodiments, the robot device is provided with more than one, and it is symmetrically distributed on overhead support bracket,
The robot device includes joint steering wheel and cleaning rod, and the joint steering wheel and cleaning rod are provided with more than one, one
Joint steering wheel is arranged on overhead support bracket, and the joint steering wheel and cleaning rod are linked in sequence successively, and the joint steering wheel passes through
Wire is connected to the output end of the first controller, thus, is easy to control whole robot device by joint steering wheel and cleaning rod
Motion.
In some embodiments, the cavity for putting quick-drying gelatin is provided with inside the cleaning rod, the cavity is provided with one
Electronic nozzle, the electronic nozzle are connected to the output end of the first controller by wire, thus, can be sprayed by electronic nozzle
Go out quick-drying gelatin.
In some embodiments, the cleaning rod is provided with least one cleaning head, and the cleaning head is transported in cleaning rod
Auxiliary cleaning can be carried out when dynamic.
In some embodiments, in addition to integrated sensor module, the integrated sensor module are arranged on suspention branch
Be connected to the input of the first controller on support and by wire, the integrated sensor module be integrated with high-definition camera,
Acceleration transducer, three-dimensional perspective sensor, voltage-current sensor, temperature sensor, wind sensor, pulling force sensor and
One or more in height sensor.
The utility model is that investment is small, and cost is low, and securely and reliably, the high full-automatic external wall of high-rise building of operating efficiency is clear
Machine；It is the special equipment of modern high-rise building outside Wall Cleaning, and people is not directly involved in cleaning, greatlys save manpower,
Prevent danger during manual working, so as to improve security and cleaning efficiency, and be different from common high-rise cleaner
Device people, it is also configured with to clean and repairing the robot device of exterior wall in addition to being cleared up provided with rotary broom.
Brief description of the drawings
Fig. 1 is the utility model structure diagram.
Fig. 2 is assembling schematic diagram at first gear and second gear
Fig. 3 is cleaning rod structural representation.
Fig. 4 is the utility model FB(flow block).
In figure, 1- rollers, 2- housings, 3- actinobacillus wheels, 4- guide rails, 5- joints steering wheel, 6- cleaning rods, 7- vavuum pumps, 8- are born
Press sucker, 9- rotary brooms, 10- heat guns, the motors of 11- second, 12- second gears, 13- rotating shafts, 14- first gears, 15- empty
The electronic nozzle of chamber, 16-, 17- cleaning heads.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and detailed description.
Embodiment 1
As illustrated, a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall, including overhead support bracket,
Walking mechanism, cleaning plant, blast adsorbent equipment and robot device, the cleaning plant, blast adsorbent equipment and manipulator
Device is arranged on overhead support bracket, and the first controller, internet of things data acquisition and biography are additionally provided with the overhead support bracket
Defeated module and integrated sensor module.
As illustrated, the walking mechanism includes guide rail and is capable of the mobile device of side-to-side movement, the mobile device bag
Housing, second controller, the motor with rotating shaft, power transmission shaft and actinobacillus wheel are included, the housing can be square or rectangular
Shape, according to the actual requirements depending on, be not restricted here, the enclosure interior forms cavity；The second controller is fixed on
In cavity, it is attached with the first controller by bluetooth or wireless device；The power transmission shaft has two, the power transmission shaft
Roller is provided with through housing and at both ends, the roller is located in guide rail, in the presence of guide rail left and right move back and forth, it is described its
In a power transmission shaft be located at axle body in cavity and be provided with first gear vertically；The structure of two power transmission shafts and four rolling
Make and play a part of supporting and drive housing movement；The motor includes the first motor and the second motor, first motor and
Second motor is all stepper motor, and first motor and the second motor are fixed in the cavities and be connected to the second control by wire
The output end of device processed, the rotating shaft of first motor are provided with the second gear coordinated with first gear, thus, in first gear and
In the presence of second gear, the first motor can drive drive axis；The rotating shaft of second motor through cavity it is exposed
Outside；The actinobacillus wheel is arranged in the exposed rotating shaft of the second motor, and connection overhead support bracket is wound with the actinobacillus wheel
Hawser, thus, under the drive of the second motor, can extend and the hawser that bounces back.
In the present embodiment, the first controller and second controller can use the serial embedded microprocessors of STM32, example
Such as, the first controller is STM32F429IGT6, second controller STM32F103ZET6, but is not limited only to this, can equally be adopted
With the embedded microprocessor or single-chip microcomputer of other series and model.
The blast adsorbent equipment includes vavuum pump and negative pressure sucker, and the vavuum pump and negative pressure sucker are arranged on suspention branch
On support, the vavuum pump is connected to the output end of the first controller by wire, and the vavuum pump is connected to bear by conduit
Sucker is pressed, thus, when overhead support bracket is attached to metope or glass surface, the first controller sends a signal to vavuum pump, vacuum
Pump continues to extract out the air in negative pressure sucker after receiving signal by conduit, promotes negative pressure sucker and metope or glass surface
Upper formation vacuum or pseudo- vacuum, so as to be adjacent to wall, slow down the pulling force that hawser is born.
The cleaning plant includes casing, water pump, the 3rd motor, rotary broom and heat gun with rotating shaft, the casing
It is arranged on suspension supporting frame, the box house is provided with the cavity with water inlet and delivery port；The water pump is fixed on casing
Above and by conduit it is connected to delivery port；3rd motor is fixed on casing and is connected to rotary broom by rotating shaft；It is described
Heat gun is arranged on casing；The water pump, the 3rd motor and heat gun are connected to the output end of the first controller by wire,
Thus, in the presence of the first controller, water pump can draw water from casing drenches rotary broom, metope or glass surface；3rd
Motor can drive rotary broom cleaning metope or glass surface；Heat gun can spray hot blast, by the metope or glass after cleaning
Glass ground drying.
In the present embodiment, for the aesthetic property of entirety, water pump, heat gun can be embedded in casing, motor and rotary broom
Partly it is embedded in casing.
The robot device is provided with four, and it is symmetrically distributed on four angles of overhead support bracket, the manipulator dress
Put including joint steering wheel and cleaning rod, the joint steering wheel and cleaning rod are provided with two and be linked in sequence successively, one pass
Section steering wheel is fixed on overhead support bracket, and the cavity for putting quick-drying gelatin is provided with inside the cleaning rod, and the cavity is provided with one
Electronic nozzle, the electronic nozzle are connected to the output end of the first controller by wire, thus, can be sprayed by electronic nozzle
Go out quick-drying gelatin, the crack of metope is filled；Multiple cleaning heads are additionally provided with the cleaning rod, the cleaning head is in cleaning rod
Auxiliary cleaning can be carried out during motion, the joint steering wheel is connected to the output end of the first controller by wire, thus, is easy to
The motion of whole robot device is controlled by joint steering wheel and cleaning rod.
In the present embodiment, joint steering wheel is existing product, is widely used in control machine people's motion；Cleaning head can be
It is raised made of elastomeric material, play the purpose of friction metope or glass surface.
The internet of things data acquisition is connected to the input of the first controller, the Internet of Things with transmission module by wire
It is ESP8266 serial ports WIFI Internet of Things modules that network data, which is gathered with transmission module, and it is connected by being established with mobile terminals such as mobile phones
Connect, realize data interchange, remote control can be realized.
The integrated sensor module is arranged on overhead support bracket and the input of the first controller is connected to by wire
End, the integrated sensor module are integrated with high-definition camera, acceleration transducer, three-dimensional perspective sensor, wind sensor
And height sensor；In the presence of high-definition camera, it is capable of the situation of Real Time Observation metope and glass surface, is cleared up；Add
Velocity sensor, three-dimensional perspective sensor, wind sensor and height sensor play the work of detection overhead support bracket balance
With.
In the utility model, assembled between all parts using clamping or bolt fixed mode, this is this area
The technological means that technical staff commonly uses.
Some embodiments of the present utility model are these are only, to those skilled in the art, are not being departed from
On the premise of the utility model creates design, several modifications and improvements can be also carried out, these belong to the utility model protection model
Enclose.
Claims (9)
1. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall, including it is overhead support bracket, walking mechanism, clear
Device, blast adsorbent equipment and robot device are managed, the walking mechanism includes guide rail and is capable of the mobile device of side-to-side movement,
The mobile device is arranged on guide rail, and institute's mobile device is connected to overhead support bracket by hawser；The cleaning plant, blast
Adsorbent equipment and robot device are arranged on overhead support bracket, and the first controller is provided with the overhead support bracket, described
The output end of first controller is connected to cleaning plant, blast adsorbent equipment and robot device, the suspention branch by wire
Internet of things data acquisition and transmission module are additionally provided with support, the internet of things data acquisition is connected with transmission module by wire
Then the input of the first controller.
2. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 1, its feature
It is：The mobile device includes housing, second controller, the motor with rotating shaft, power transmission shaft and actinobacillus wheel, in the housing
If cavity, the second controller is set in the cavities, and the second controller is with the first controller by bluetooth or without traditional thread binding
Connection is put, the output end of the second controller is connected to motor by wire；The power transmission shaft is set through housing and at both ends
There is roller, the roller is located in guide rail, and the axle body that the power transmission shaft is located in cavity is provided with first vertically set
Gear；The motor includes the first motor and the second motor, and first motor and the second motor are fixed in the cavities, and described the
The rotating shaft of one motor is provided with the second gear coordinated with first gear；The rotating shaft of second motor is exposed outside through cavity；
The actinobacillus wheel is arranged in the exposed rotating shaft of the second motor, and the cable of connection overhead support bracket is wound with the line wheel
Rope.
3. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 2, its feature
It is：The hawser is located at the center of overhead support bracket upper end.
4. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 1, its feature
It is：The cleaning plant includes casing, water pump, the 3rd motor, rotary broom and heat gun with rotating shaft, and the casing is set
On suspension strut plate, the box house is provided with the cavity with water inlet and delivery port；The water pump is fixed on casing simultaneously
Delivery port is connected to by conduit；3rd motor is fixed on casing and is connected to rotary broom by rotating shaft；The hot blast
Rifle is arranged on casing；The water pump, the 3rd motor and heat gun are connected to the output end of the first controller by wire.
5. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 1, its feature
It is：The blast adsorbent equipment includes vavuum pump and negative pressure sucker, and the vavuum pump and negative pressure sucker are arranged on framework, institute
The output end that vavuum pump is connected to the first controller by wire is stated, the vavuum pump is connected to negative pressure sucker by conduit.
6. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 1, its feature
It is：The robot device is provided with more than one, and it is symmetrically distributed on framework, and the robot device includes joint steering wheel
And cleaning rod, the joint steering wheel and cleaning rod are provided with more than one, one joint steering wheel is arranged on framework, the pass
Section steering wheel and cleaning rod are linked in sequence successively, and the joint steering wheel is connected to the output end of the first controller by wire.
7. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 5, its feature
It is：The cavity for putting quick-drying gelatin is provided with inside the cleaning rod, the cavity is provided with an electronic nozzle, the electronic nozzle
The output end of the first controller is connected to by wire.
8. a kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall according to claim 5, its feature
It is：The cleaning rod is provided with least one cleaning head.
A kind of 9. Internet of Things spider machine for cleaning and safeguarding for high building exterior wall according to any one of claim 1-7
People, it is characterised in that：Also include integrated sensor module, the integrated sensor module is arranged on overhead support bracket and passed through
Wire is connected to the input of the first controller, the integrated sensor module be integrated with high-definition camera, acceleration transducer,
In three-dimensional perspective sensor, voltage-current sensor, temperature sensor, wind sensor, pulling force sensor and height sensor
One or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621289786.4U CN206938904U (en) | 2016-11-29 | 2016-11-29 | A kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621289786.4U CN206938904U (en) | 2016-11-29 | 2016-11-29 | A kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206938904U true CN206938904U (en) | 2018-01-30 |
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ID=61356404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621289786.4U Expired - Fee Related CN206938904U (en) | 2016-11-29 | 2016-11-29 | A kind of Internet of Things spider robot for cleaning and safeguarding for high building exterior wall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206938904U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672103A (en) * | 2016-11-29 | 2017-05-17 | 湖北第二师范学院 | Internet-of-Things spider robot for cleaning and maintaining outer walls of tall buildings |
| CN108313237A (en) * | 2018-02-11 | 2018-07-24 | 哈尔滨工业大学 | A kind of sucked type climbs wall shot-peening robot control system and control method |
-
2016
- 2016-11-29 CN CN201621289786.4U patent/CN206938904U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106672103A (en) * | 2016-11-29 | 2017-05-17 | 湖北第二师范学院 | Internet-of-Things spider robot for cleaning and maintaining outer walls of tall buildings |
| CN106672103B (en) * | 2016-11-29 | 2023-01-24 | 湖北第二师范学院 | Internet of things spider robot for cleaning and maintaining outer wall of high building |
| CN108313237A (en) * | 2018-02-11 | 2018-07-24 | 哈尔滨工业大学 | A kind of sucked type climbs wall shot-peening robot control system and control method |
| CN108313237B (en) * | 2018-02-11 | 2019-08-23 | 哈尔滨工业大学 | A kind of sucked type climbs wall shot-peening robot control system and control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180130 Termination date: 20191129 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |