CN208867167U - The robot of three-dimensional space flexible operating - Google Patents
The robot of three-dimensional space flexible operating Download PDFInfo
- Publication number
- CN208867167U CN208867167U CN201821197993.6U CN201821197993U CN208867167U CN 208867167 U CN208867167 U CN 208867167U CN 201821197993 U CN201821197993 U CN 201821197993U CN 208867167 U CN208867167 U CN 208867167U
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- China
- Prior art keywords
- support frame
- tool
- robot
- dimensional space
- frame
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Abstract
The utility model discloses a kind of robots of three-dimensional space flexible operating, including support frame, the controller on support frame, the power supply for power supply, wireless transceiver, m group rotor, the m first motor for driving each group rotor wing rotation respectively, m undercarriage and n cleaning operation tool；The shaft of each first motor is connect with each rotor respectively, and each undercarriage is connect with support frame lower surface；Support frame is equipped with n pressure sensor and ranging sensing device, and each undercarriage is in tubaeform, each undercarriage from top to bottom lateral bend into support frame of dehiscing downwards.The utility model has safety good, and cleaning effect is good, the high feature of cleaning efficiency.
Description
Technical field
The utility model relates to air vehicle technique fields, good more particularly, to a kind of safety, the high three-dimensional of cleaning efficiency
The robot of space flexible operating.
Background technique
Present building curtain wall is substantially " spider-man " cleaning, abnormally dangerous；
The current cleaning device in relation to curtain wall, needs hawser to draw, and needs to be laid out hawser and peace in roof in advance before use
Fill associated anchor；
The current cleaning device in relation to curtain wall, independence is poor, and safety is poor, and working efficiency is low, and job costs are high.
Summary of the invention
The purpose of the invention of the present invention is to overcome building curtain wall in the prior art to need artificial cleaning, safety
The deficiency of difference, provides that a kind of safety is good, the robot of the high three-dimensional space flexible operating of cleaning efficiency.
To achieve the goals above, the utility model uses following technical scheme:
A kind of robot of three-dimensional space flexible operating, including support frame, controller on support frame, for powering
Power supply, wireless transceiver, m group rotor, the m first motor for driving each group rotor wing rotation respectively, m undercarriage and n
A cleaning operation tool；The shaft of each first motor is connect with each rotor respectively, each undercarriage with support frame following table
Face connection；Support frame is equipped with n pressure sensor and ranging sensing device, and each undercarriage is in the loudspeaker dehisced downwards
Shape, each undercarriage from top to bottom lateral bend into support frame；Controller respectively with each first motor, wireless transceiver,
Each pressure sensor and the electrical connection of ranging sensing device, m > n > 1；Wireless transceiver and remote controler are wirelessly connected.
User plans unmanned plane operating path, is worked using remote control control controller, and controller control is each
A first motor drives rotor wing rotation respectively, controls the revolving speed of rotor, and each pressure sensor is respectively used to detection cleaning operation
Whether tool has been adjacent to work surface, and ranging sensing device is for detecting unmanned plane at a distance from work surface, to effectively control
Unmanned plane processed moves up and down and translational motion, and the utility model independence is good, can intelligent cleaning curtain wall.
Preferably, each undercarriage includes two pieces of arc panels, two pieces of arc panel tops are connect with support frame, two pieces
It is connected between arc panel lower part by fixed column, each undercarriage is located at each motor lower portion.
Preferably, support frame as described above includes rectangular frame, 2 companies being respectively equipped on 2 groups of relative angles of rectangular frame
Extension bar；Intersection in the middle part of 2 connecting rods, controller and power supply are respectively positioned on the intersection area of 2 connecting rods, and m is even number, the rotation of m/2 group
The wing is located at the left part of 2 connecting rods, and in addition m/2 group rotor is located at the right part of 2 connecting rods, each cleaning operation work
Tool is respectively positioned on rectangular frame.
Preferably, the cleaning operation tool includes tool mounting rack, cleaning cloth tool, glass scraper tool or hairbrush
Tool；Tool mounting rack is connect with rectangular frame.
Preferably, the tool mounting rack includes fixed plate, and 2 in fixed plate tool mounting block, mounting plate,
2 springs between fixed plate and mounting plate；Connector, 2 companies are equipped on fixed plate and the opposite surface of mounting plate
Fitting is connected by shaft, and 2 tool mounting blocks connect with rectangular frame and are detachably connected.
Preferably, support frame and each undercarriage are all made of carbon fibre material and are made.
Preferably, the cleaning cloth tool includes U-shaped frame, the in U-shaped frame first movable swivel nut, is set to U-shaped frame
On support shaft, set on roller in support shaft and the cleaning cloth on roller；First movable swivel nut is connect with rectangular frame.
Preferably, glass scraper tool includes the second movable swivel nut and the glass scraper plate that connect with the second movable swivel nut；
Brush tool includes third activity swivel nut and the hairbrush that connect with third activity swivel nut.
Preferably, the tool mounting block is equipped with U-shaped opening slot, the internal groove side wall of U-shaped opening slot is convex equipped with two
Muscle, U-shaped opening slot are equipped with wing nut.
Preferably, ranging sensing device includes infrared sensor and ultrasonic sensor, infrared sensor and ultrasonic wave
Sensor is respectively positioned on platform, and the second motor is additionally provided on support frame, and the shaft of the second motor is connect with platform, the second motor,
Infrared sensor and ultrasonic sensor are electrically connected with the controller.
After ultrasonic sensor detects work surface, controller judges work surface using the signal of infrared sensor detection
Locate it is no have barrier, if after not having barrier, controller control unmanned plane lifting and move left and right carry out normal use operation.
Therefore, the utility model has the following beneficial effects: safety is good, cleaning effect is good, cleaning efficiency it is high, it can be achieved that
It automatically controls, is that the cleaning band of glass curtain wall carrys out epoch-making mechanical revolution.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the utility model；
Fig. 2 is a kind of side view of the utility model；
Fig. 3 is a kind of top view of the utility model；
Fig. 4 is a kind of side view of the cleaning operation tool of the utility model；
Fig. 5 is a kind of structural schematic diagram of the cleaning operation tool of the utility model；
Fig. 6 is a kind of structural schematic diagram of the glass scraper tool of the utility model.
In figure: support frame 1, controller 2, rotor 3, first motor 4, undercarriage 5, cleaning operation tool 6, rectangular frame
11, connecting rod 12, tool mounting rack 61, cleaning cloth tool 62, glass scraper tool 63, fixed plate 611, tool mounting block
6111, the movable swivel nut 621 of mounting plate 612, spring 613, connector 614, shaft 615, U-shaped frame 622, first, support shaft 623,
Roller 624, cleaning cloth 625, second movable swivel nut 631, glass scraper plate 632, U-shaped opening slot 61111, convex ribs 61112, butterfly-type spiral shell
Mother 61113.
Specific embodiment
The utility model is further described with reference to the accompanying drawings and detailed description.
Embodiment as shown in Figure 1, Figure 2, Figure 3 shows is a kind of robot of three-dimensional space flexible operating, including support frame 1,
Controller 2 on support frame, wireless transceiver, 4 groups of rotors 3, is used to drive each group rotor respectively the power supply for power supply
4 first motors, 4,4 undercarriage 5 and 3 cleaning operation tools 6 of rotation；The shaft of each first motor respectively with it is each
Rotor connection, each undercarriage are connect with support frame lower surface；Each undercarriage is in tubaeform, the Ge Geqi that dehisces downwards
Fall the frame from top to bottom lateral bend into support frame；Support frame is equipped with n pressure sensor and ranging sensing device, controller
It is electrically connected respectively with each first motor, wireless transceiver, each pressure sensor and ranging sensing device；Wireless transceiver with
Remote controler is wirelessly connected.
Each undercarriage includes two pieces of arc panels, and two pieces of arc panel tops are connect with support frame, under two pieces of arc panels
It is connected between portion by fixed column, each undercarriage is located at each motor lower portion.
Support frame includes rectangular frame 11,2 connecting rods 12 being respectively equipped on 2 groups of relative angles of rectangular frame；2 companies
Intersection in the middle part of extension bar, controller and power supply are respectively positioned on the intersection area of 2 connecting rods, and 2 groups of rotors are located at 2 connecting rods
Left part, in addition 2 groups of rotors are located at the right part of 2 connecting rods, and each cleaning operation tool is respectively positioned on rectangular frame.
Cleaning operation tool as shown in Figure 4 includes tool mounting rack 61, cleaning cloth tool 62 and glass scraper tool 63；
Tool mounting rack is connect with rectangular frame.
Tool mounting rack includes fixed plate 611,2 tool mounting blocks 6111 in fixed plate, mounting plate 612, if
2 springs 613 between fixed plate and mounting plate；Connector 614,2 is equipped on fixed plate and the opposite surface of mounting plate
A connector is connected by shaft 615, and 2 tool mounting blocks connect with rectangular frame and are detachably connected.It is set on tool mounting block
There is U-shaped opening slot 61111, the internal groove side wall of U-shaped opening slot is equipped with two convex ribs 61112, and U-shaped opening slot is equipped with wing nut
61113。
Support frame and each undercarriage are all made of carbon fibre material and are made.
As shown in figure 5, cleaning cloth tool includes U-shaped frame 622, the in U-shaped frame first movable swivel nut 621, is set to U-shaped
Support shaft 623 on frame, set on roller 624 in support shaft and the cleaning cloth 625 on roller；First movable swivel nut and rectangle
Frame connection.
As shown in fig. 6, glass scraper tool includes the second movable swivel nut 631 and the glass scraper that connect with the second movable swivel nut
Plate 632.Brush tool includes third activity swivel nut and the hairbrush that connect with third activity swivel nut.
Ranging sensing device includes infrared sensor and ultrasonic sensor, infrared sensor and the equal position of ultrasonic sensor
In being additionally provided with the second motor on platform, on support frame, the shaft of the second motor is connect with platform, the second motor, infrared sensor
It is electrically connected with the controller with ultrasonic sensor.
The course of work of the utility model is as follows:
Unmanned plane is arranged in opening, the cleaning operation tool on unmanned plane is installed；
User plans unmanned plane operating path, is worked using remote control control controller, and controller control is each
A first motor drives rotor wing rotation respectively, controls the revolving speed of rotor,
Controller controls the second motor band moving platform and rotates, to make the probe pair of infrared sensor and ultrasonic sensor
Quasi- work surface；
After ultrasonic sensor detects work surface, controller judges work surface using the signal of infrared sensor detection
Whether place has barrier；
Each pressure sensor detects whether cleaning operation tool has been adjacent to work surface respectively,
During operation, controller control unmanned plane is constantly moved, and is cleaned；
After unmanned plane completes phase targets task, ground is returned to, staff replaces power supply, burnisher, waits next
A job instruction.
It should be understood that the present embodiment is merely to illustrate the utility model rather than limitation the scope of the utility model.Furthermore
It should be understood that after reading the content taught by the present invention, those skilled in the art can make the utility model various
Change or modification, these equivalent forms also fall within the scope of the appended claims of the present application.
Claims (10)
1. a kind of robot of three-dimensional space flexible operating, characterized in that the control including support frame (1), on support frame
Device (2), the power supply for power supply, wireless transceiver, m group rotor (3), m first for driving each group rotor wing rotation respectively
Motor (4), m undercarriage (5) and n cleaning operation tool (6)；The shaft of each first motor connects with each rotor respectively
It connects, each undercarriage is connect with support frame lower surface；Support frame is equipped with n pressure sensor and ranging sensing device, respectively
A undercarriage is in tubaeform, each undercarriage from top to bottom lateral bend into support frame of dehiscing downwards；Controller difference
It is electrically connected with each first motor, wireless transceiver, each pressure sensor and ranging sensing device, m > n > 1；Wireless receiving and dispatching
Device and remote controler are wirelessly connected.
2. the robot of three-dimensional space flexible operating according to claim 1, characterized in that each undercarriage includes two
Block arc panel, two pieces of arc panel tops are connect with support frame, are connected between two pieces of arc panel lower parts by fixed column, Ge Geqi
It falls frame and is located at each motor lower portion.
3. the robot of three-dimensional space flexible operating according to claim 1, characterized in that support frame as described above includes rectangle
Frame (11), 2 connecting rods (12) being respectively equipped on 2 groups of relative angles of rectangular frame；Intersection in the middle part of 2 connecting rods, control
Device and power supply are respectively positioned on the intersection area of 2 connecting rods, and m is even number, and m/2 group rotor is located at the left part of 2 connecting rods, separately
Outer m/2 group rotor is located at the right part of 2 connecting rods, and each cleaning operation tool is respectively positioned on rectangular frame.
4. the robot of three-dimensional space flexible operating according to claim 3, characterized in that the cleaning operation kit
It includes tool mounting rack (61), cleaning cloth tool (62), glass scraper tool (63) or brush tool；Tool mounting rack and rectangle frame
Frame connection.
5. the robot of three-dimensional space flexible operating according to claim 3, characterized in that the tool mounting rack includes
Fixed plate (611), 2 tool mounting blocks (6111) in fixed plate, mounting plate (612) are set to fixed plate and mounting plate
Between 2 springs (613)；It is equipped with connector (614) on fixed plate and the opposite surface of mounting plate, 2 connectors pass through
Shaft (615) connection, 2 tool mounting blocks connect with rectangular frame and are detachably connected.
6. the robot of three-dimensional space flexible operating according to claim 1, characterized in that support frame and each undercarriage
Carbon fibre material is all made of to be made.
7. the robot of three-dimensional space flexible operating according to claim 4, characterized in that the cleaning cloth tool includes
U-shaped frame (622), the in U-shaped frame first movable swivel nut (621), the support shaft (623) in U-shaped frame, are set to support shaft
Upper roller (624) and the cleaning cloth (625) on roller；First movable swivel nut is connect with rectangular frame.
8. the robot of three-dimensional space flexible operating according to claim 3, characterized in that glass scraper tool includes the
Two movable swivel nuts (631) and the glass scraper plate (632) being connect with the second movable swivel nut；Brush tool include third activity swivel nut and
The hairbrush being connect with third activity swivel nut.
9. the robot of three-dimensional space flexible operating according to claim 5, characterized in that set on the tool mounting block
Have U-shaped opening slot (61111), the internal groove side wall of U-shaped opening slot is equipped with two convex ribs (61112), and U-shaped opening slot is equipped with butterfly-type
Nut (61113).
10. the robot of three-dimensional space flexible operating described according to claim 1 or 2 or 3 or 4 or 5 or 6 or 7 or 8 or 9,
It is characterized in, ranging sensing device includes infrared sensor and ultrasonic sensor, infrared sensor and the equal position of ultrasonic sensor
In being additionally provided with the second motor on platform, on support frame, the shaft of the second motor is connect with platform, the second motor, infrared sensor
It is electrically connected with the controller with ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821197993.6U CN208867167U (en) | 2018-07-26 | 2018-07-26 | The robot of three-dimensional space flexible operating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821197993.6U CN208867167U (en) | 2018-07-26 | 2018-07-26 | The robot of three-dimensional space flexible operating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208867167U true CN208867167U (en) | 2019-05-17 |
Family
ID=66463650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821197993.6U Expired - Fee Related CN208867167U (en) | 2018-07-26 | 2018-07-26 | The robot of three-dimensional space flexible operating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208867167U (en) |
-
2018
- 2018-07-26 CN CN201821197993.6U patent/CN208867167U/en not_active Expired - Fee Related
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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: 20190517 Termination date: 20210726 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |