CN206964598U - A kind of high-altitude outside Wall Cleaning machine people - Google Patents
A kind of high-altitude outside Wall Cleaning machine people Download PDFInfo
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- CN206964598U CN206964598U CN201621411328.3U CN201621411328U CN206964598U CN 206964598 U CN206964598 U CN 206964598U CN 201621411328 U CN201621411328 U CN 201621411328U CN 206964598 U CN206964598 U CN 206964598U
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Abstract
The utility model belongs to the technical field of robot, and in particular to a kind of high-altitude outside Wall Cleaning machine people；The technical problem of solution is：There is provided a kind of can carry out cleaning on the exterior wall of high-altitude and may span across the robot of barrier；The technical scheme used for：A kind of high-altitude outside Wall Cleaning machine people, including crawling device and cleaning device, the cleaning device is located at the side of crawling device, the crawling device includes robot fuselage, the robot fuselage is provided with four hip joints, each hip joint is connected with pedipulator, and each pedipulator bottom is connected with the vacuum cup for adsorbing glass；The cleaning device includes cleaning arm, cleaning pedestal, the first rotating seat and the second rotating seat, one end of the cleaning arm is connected by the first rotating seat with cleaning base runner, and the other end of the cleaning arm is movably arranged on robot fuselage by the second rotating seat；The utility model is applied to robot field.
Description
Technical field
The utility model belongs to the technical field of robot, and in particular to a kind of high-altitude outside Wall Cleaning machine people.
Background technology
At present, high building stands in great numbers in city, and the scouring of high-altitude glass turns into a great problem, the cleaning way primarily now used
For the cleaning of artificial hanging basket or lifting platform cleaning, both modes labour is big, and danger coefficient is high.
Patent No.：201410013150.6 utility model patent disclose a kind of a kind of " Pneumatic high-altitude glass cleaning machine
Device people ", the robot using four bar structures as ground-engaging element, using compressed air as drive energy, using PLC or single-chip microcomputer skill
Art is controlled, and realizes that the glass outer wall in high vacant building is climbed, while carries out scrub-up to wall.But should
Robot is not across barrier（For example cross over wall）, the cleaning of glass under clear environment can only be realized；Using tradition
Four bar structures, motion it is dumb；Cleaning module is simple, it is impossible to realizes 360 degrees omnidirection cleaning function, and cleaning performance is not
It is good.
Utility model content
The utility model overcomes the shortcomings of the prior art, and technical problem to be solved is：There is provided one kind can be
Cleaning is carried out on the exterior wall of high-altitude and may span across the robot of barrier.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model is：A kind of high-altitude outside Wall Cleaning machine
People, including crawling device and cleaning device, the cleaning device are located at the side of crawling device；
The crawling device includes robot fuselage, and the robot fuselage is provided with four hip joints, each hip
Joint is connected with pedipulator, and each pedipulator bottom is connected with the vacuum cup for adsorbing exterior wall；The cleaning device
Including cleaning arm, cleaning pedestal, the first rotating seat and the second rotating seat, one end of the cleaning arm by the first rotating seat with it is clear
Clean base runner connection, the other end of the cleaning arm are movably arranged on robot fuselage by the second rotating seat.
Also include control device, the control device is arranged in robot fuselage, the control device using single-chip microcomputer,
FPGA or dsp chip are controlled to robot.
Also include device for visual identification, the device for visual identification is arranged on robot fuselage, the visual identity dress
The output end put is connected with the input of control device；The device for visual identification includes image capture module and image procossing mould
Block, described image acquisition module electrically connect with image processing module.
Also include Pneumatic vacuum module, the Pneumatic vacuum module includes air compressor and vacuum generator, the sky
Air compressor is placed on ground, and the vacuum generator is arranged in robot fuselage, the output end of the air compressor with
The input of vacuum generator is connected, and the output end of the vacuum generator is connected with vacuum cup.
Each pedipulator includes being used to drive the thigh drive device of thigh motion in pedipulator, for driving machinery
The shank drive device that shank moves in leg and the distance control device for control machine people fuselage and glass surface distance, it is described
Thigh is connected by the first rotary shaft with the shank.
The cleaning arm includes being used to drive the large arm drive device of large arm motion in cleaning arm, for driving in cleaning arm
The forearm drive device of arm movements and the balance control device for controlling cleaning pedestal and glass surface keep level are described big
Arm is connected by the second rotary shaft with the forearm.
The thigh drive device, shank drive device, distance control device, large arm drive device, forearm drive device
Include electric cylinders with balance control device.
The vacuum cup is adsorbable in glass, or is adsorbed in the high-altitude such as ceramic tile, stone material exterior wall.
The cleaning pedestal includes atomizer, a free wool brush roll and two cleaning cotton brush rolls.
The reptile fashion of the robot is that the quiet gait of four-footed is creeped or Dynamic gait is creeped.
The utility model has the advantages that compared with prior art：
1st, a kind of high-altitude outside Wall Cleaning machine people of the utility model, including crawling device and cleaning device, the sanitizer cartridge
Setting in the side of crawling device, the pedipulator in the utility model includes thigh drive device, shank drive device and distance
Control device, compared with traditional four bar structures, motion is flexible, may span across barrier, can effectively improve the cleaning effect of robot
Rate.
2nd, cleaning arm includes large arm drive device, forearm drive device and balance control device in the utility model, jointly
The control in robot cleaner arm direction is realized, cleaning pedestal includes atomizer, a free wool brush roll and two cleaning cotton brushes
Roller, during robot ambulation, wiped by the relative movement cleaned between pedestal and glass, make action and cleaning integration, side
Just it is quick.
Brief description of the drawings
The utility model is described in more detail below in conjunction with the accompanying drawings；
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of the utility model cleaning arm；
Fig. 3 is the structural representation of the utility model pedipulator；
Fig. 4 is electrical block diagram of the present utility model；
In figure：1 is crawling device, and 11 be robot fuselage, and 111 be control device, and 112 be device for visual identification, 1121
It is image processing module for image capture module, 1122,113 be Pneumatic vacuum module, and 1131 be air compressor, and 1132 be true
Empty generator, 12 be hip joint, and 13 be pedipulator, and 131 be thigh drive device, and 132 be shank drive device, and 133 be distance
Control device, 134 be the first rotary shaft, and 14 be vacuum cup, and 2 be cleaning device, and 21 be cleaning arm, and 211 be large arm driving dress
Put, 212 be forearm drive device, and 213 be balance control device, and 214 be the second rotary shaft, and 22 be cleaning pedestal, and 23 be first
Rotating seat, 24 be the second rotating seat.
Embodiment
, below will be to the utility model to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Technical scheme in embodiment is clearly and completely described, it is clear that described embodiment is a part of the present utility model
Embodiment, rather than whole embodiments；Based on the embodiment in the utility model, those of ordinary skill in the art are not making
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1 to Fig. 3 is the structural representation for the embodiment one that a kind of high-altitude outside Wall Cleaning machine people of the utility model provides,
As shown in Figure 1 to Figure 3, a kind of high-altitude outside Wall Cleaning machine people, including crawling device 1 and cleaning device 2, the cleaning device 2
Positioned at the side of crawling device 1；
The crawling device 1 includes robot fuselage 11, and the robot fuselage 11 is provided with four hip joints 12, each
The hip joint 12 is connected with pedipulator 13, and the pedipulator 13 can be rotated around hip joint 12, realize robot
Walk up and down；Each bottom of pedipulator 13 is connected with the vacuum cup 14 for adsorbing the objects such as glass, ceramic tile；It is described clear
Clean device 2 includes cleaning arm 21, cleaning pedestal 22, the first rotating seat 23 and the second rotating seat 24, one end of the cleaning arm 21
It is flexibly connected by the first rotating seat 23 with cleaning pedestal 22, is provided with adjustable speed motor in first rotating seat 23, can drive
Dynamic cleaning pedestal 22 carries out 360 degree of rotations around the first rotating seat 23, and the other end of the cleaning arm 21 passes through the second rotating seat 24
It is movably arranged on robot fuselage 11, adjustable speed motor is provided with second rotating seat 24, cleanable arm 21 is around second
Rotating seat 24 carries out flexible rotating, realizes the comprehensive cleaning of glass, and the cleaning pedestal 22 includes atomizer, a cleaning
Brush roll and two cleaning cotton brush rolls.
Each pedipulator 13 includes being used to drive the thigh drive device 131 of thigh motion in pedipulator 13, is used for
Drive shank moves in pedipulator 13 shank drive device 132 and for control machine people fuselage 11 and glass surface distance away from
From control device 133, by distance control device 133 can flexibly the distance between control machine people fuselage and glass surface, have
Function is crossed over beneficial to the barrier for realizing robot, the thigh is connected by the first rotary shaft 134 with the shank.
The cleaning arm 21 includes being used to drive the large arm drive device 211 of large arm motion in cleaning arm 21, for driving
The forearm drive device 212 of arm movements and the balance for controlling cleaning pedestal 22 and glass surface keep level in cleaning arm 21
Control device 213, it can make cleaning pedestal 22 all the time with glass keeping parallelism by balance control device 213, it is optimal with holding
Cleaning state；The large arm is connected by the second rotary shaft 214 with the forearm.
The thigh drive device 131, shank drive device 132, distance control device 133, large arm drive device 211,
Forearm drive device 212 and balance control device 213 include electric cylinders.
The vacuum cup 14 can be not only adsorbed on glass, and it is shaggy can also to be adsorbed in ceramic tile, stone material etc.
On the exterior wall of high-altitude, robot across obstacle is contributed to realize the continuous wash of the high-altitude such as high-altitude glass, ceramic tile exterior wall.
The reptile fashion of the high-altitude glass-cleaning robot is that the quiet gait of four-footed is creeped or Dynamic gait is creeped, specifically, quiet
In gait crawling process, there are three pedipulators 13 to be in holding state (if absorption is in glass in four pedipulators 13 of robot all the time
On glass), only one leg is in " lift-falling " state, it is assumed that robot right front leg, right rear leg, left back leg, left front leg are pressed
It is 1,2,3,4 according to clockwise direction number consecutively, robot carries out quiet gait in the way of 1-3-2-4 and creeped：Left front leg 1 is first
Lift, the support of other legs 2,3,4, after and then left front leg 1 is fallen, right rear leg 3 is lifted, the support of other legs 1,2,4, successively class
Push away, realize the walking of robot and across function.In Dynamic gait crawling process, there are two all the time in four pedipulators 13 of robot
Pedipulator 13 is in holding state（It is adsorbed on glass）, two other pedipulator 13 is in " lift-falling " state, equally
Assuming that robot right front leg, right rear leg, left back leg, left front leg are 1,2,3,4 according to clockwise direction number consecutively, wherein 1,3
It is respectively a pair of legs with 2,4, robot creeps according to trot gait, and when 1,3 legs lift, 2,4 legs support, and then 1,3 leg
Falling turns into supporting leg, and 2,4 legs lift, the like, realize the walking of robot and across function.
Fig. 4 is the electrical block diagram for the embodiment two that a kind of high-altitude outside Wall Cleaning machine people of the utility model provides,
As shown in figure 4, on the basis of embodiment one, high-altitude glass-cleaning robot also includes control device 111, the control device
111 are arranged in robot fuselage 11, and the control device 111 is compiled by entering line program to chips such as single-chip microcomputer, FPGA or DSP
System, realizes the control to robot crawling device and cleaning device.
Also include device for visual identification 112, the device for visual identification 112 is arranged on robot fuselage 11, described to regard
Feel that the output end of identification device 112 is connected with the input of control device 111；The device for visual identification 112 is adopted including image
Collection module 1121 and image processing module 1122, described image acquisition module 1121 electrically connect with image processing module 1122, institute
State the IMAQ that image capture module 1121 realizes surface to be cleaned and surrounding environment using high-definition camera；At described image
Reason module 1122 analyzes and processes to the image collected, realizes high-altitude exterior wall surface foul identification, obstacle recognition and road
The visual identity functions such as footpath identification.
Also include Pneumatic vacuum module 113, the Pneumatic vacuum module 113 includes air compressor 1131 and vacuum occurs
Device 1132, the air compressor 1131 are placed on ground, and the vacuum generator 1132 is arranged in robot fuselage, described
The output end of air compressor 1131 is connected with the input of vacuum generator 1132, the output end of the vacuum generator 1132
It is connected with vacuum cup 14.
Specifically, image is carried out to glass surface and surrounding environment by the high-definition camera in image capture module 1121
Information gathering, and the image information collected is sent to image processing module 1122；Then, image processing module 1122 is to adopting
The image information collected is analyzed and processed, and obtains glass surface cleannes information, obstacle information and routing information, and will be upper
To state information and be sent to control device 111, the information that control device 111 provides according to device for visual identification 112 carries out path planning,
The working method of crawling device 1 and cleaning device 2 is controlled, so as to realize the high-altitude outside Wall Cleaning function of robot.
A kind of high-altitude outside Wall Cleaning machine people of the utility model, the extremity body structures for imitating animal are designed, with tradition four
Bar structure is compared, and motion is flexible, may span across barrier；Cleaning arm can surround robot fuselage and carry out flexible rotating, realize glass
Comprehensive cleaning, it is practical；Vacuum cup can not only be adsorbed in glass, and it is shaggy can also to be adsorbed in ceramic tile etc.
On the exterior wall of high-altitude, robot across obstacle is contributed to realize the continuous wash of the high-altitude such as high-altitude glass, ceramic tile exterior wall；Vision is known
Other device can realize the visual identity functions such as high-altitude glass and exterior wall surface foul identification, obstacle recognition and Path Recognition.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. high-altitude outside Wall Cleaning machine people, it is characterised in that：Including crawling device（1）And cleaning device（2）, the cleaning Device（2）Positioned at crawling device（1）Side；The crawling device（1）Including robot fuselage（11）, the robot fuselage（11）It is provided with four hip joints（12）, Each hip joint（12）It is connected with pedipulator（13）, each pedipulator（13）Bottom is connected with for adsorbing exterior wall Vacuum cup（14）；The cleaning device（2）Including cleaning arm（21）, cleaning pedestal（22）, the first rotating seat（23）With second Rotating seat（24）, the cleaning arm（21）One end pass through the first rotating seat（23）With cleaning pedestal（22）It is flexibly connected, it is described Cleaning arm（21）The other end pass through the second rotating seat（24）It is movably arranged on robot fuselage（11）On.
- A kind of 2. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：Also include control device （111）, the control device（111）It is arranged on robot fuselage（11）It is interior, the control device（111）Using single-chip microcomputer, FPGA or dsp chip are controlled to robot.
- A kind of 3. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：Also include device for visual identification （112）, the device for visual identification（112）It is arranged on robot fuselage（11）On, the device for visual identification（112）Output End and control device（111）Input be connected；The device for visual identification（112）Including image capture module（1121）And figure As processing module（1122）, described image acquisition module（1121）With image processing module（1122）Electrical connection.
- A kind of 4. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：Also include Pneumatic vacuum module （113）, the Pneumatic vacuum module（113）Including air compressor（1131）And vacuum generator（1132）, the air pressure Contracting machine（1131）It is placed on ground, the vacuum generator（1132）It is arranged in robot fuselage, the air compressor （1131）Output end and vacuum generator（1132）Input be connected, the vacuum generator（1132）Output end with it is true Suction disk（14）It is connected.
- A kind of 5. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：Each pedipulator（13） Including for driving pedipulator（13）The thigh drive device of middle thigh motion（131）, for driving pedipulator（13）Middle shank The shank drive device of motion（132）With for control machine people's fuselage（11）With the distance control device of glass surface distance （133）, the thigh passes through the first rotary shaft（134）It is connected with the shank.
- A kind of 6. high-altitude outside Wall Cleaning machine people according to claim 5, it is characterised in that：The cleaning arm（21）Including For driving cleaning arm（21）The large arm drive device of middle large arm motion（211）, for driving cleaning arm（21）Middle arm movements Forearm drive device（212）Pedestal is cleaned with for controlling（22）With the balance control device of glass surface keep level（213）, The large arm passes through the second rotary shaft（214）It is connected with the forearm.
- A kind of 7. high-altitude outside Wall Cleaning machine people according to claim 6, it is characterised in that：The thigh drive device （131）, shank drive device（132）, distance control device（133）, large arm drive device（211）, forearm drive device（212） And balance control device（213）Include electric cylinders.
- A kind of 8. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：The vacuum cup（14）Can Glass is adsorbed in, or is adsorbed in the high-altitude such as ceramic tile, stone material exterior wall.
- A kind of 9. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：The cleaning pedestal（22）Bag Include atomizer, a free wool brush roll and two cleaning cotton brush rolls.
- A kind of 10. high-altitude outside Wall Cleaning machine people according to claim 1, it is characterised in that：The robot creeps Mode is that the quiet gait of four-footed is creeped or Dynamic gait is creeped.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621411328.3U CN206964598U (en) | 2016-12-22 | 2016-12-22 | A kind of high-altitude outside Wall Cleaning machine people |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621411328.3U CN206964598U (en) | 2016-12-22 | 2016-12-22 | A kind of high-altitude outside Wall Cleaning machine people |
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| CN206964598U true CN206964598U (en) | 2018-02-06 |
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| CN201621411328.3U Active CN206964598U (en) | 2016-12-22 | 2016-12-22 | A kind of high-altitude outside Wall Cleaning machine people |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN108378765A (en) * | 2018-02-28 | 2018-08-10 | 贾国媛 | A kind of sucker type glass curtain cleaning device |
| CN108992005A (en) * | 2018-02-28 | 2018-12-14 | 盛世瑶兰（深圳）科技有限公司 | A kind of glass outer wall cleaning robot based on vacuum chuck control |
-
2016
- 2016-12-22 CN CN201621411328.3U patent/CN206964598U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN108378765A (en) * | 2018-02-28 | 2018-08-10 | 贾国媛 | A kind of sucker type glass curtain cleaning device |
| CN108992005A (en) * | 2018-02-28 | 2018-12-14 | 盛世瑶兰（深圳）科技有限公司 | A kind of glass outer wall cleaning robot based on vacuum chuck control |
| CN108378765B (en) * | 2018-02-28 | 2020-06-23 | 深圳华加日幕墙科技有限公司 | Sucking disc formula glass curtain wall belt cleaning device |
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