CN211408904U

CN211408904U - Curtain wall cleaning robot

Info

Publication number: CN211408904U
Application number: CN201921181788.5U
Authority: CN
Inventors: 苏恒; 高君玉; 钱晓玟
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2019-07-25
Filing date: 2019-07-25
Publication date: 2020-09-04
Anticipated expiration: 2029-07-25

Abstract

The utility model discloses a curtain wall cleaning robot, which comprises a main body; four fixed shaft sleeves in a rectangular array are fixed on the outer side of the machine body main body, a bionic foot rotating shaft is arranged in each fixed shaft sleeve, and a bionic foot used for moving the machine body main body is fixed on the outer wall of each bionic foot rotating shaft; the lower side of the machine body main body is also provided with a cleaning system, and the cleaning system comprises two cleaning sheets attached to the bottom side of the machine body main body and a plurality of dust scraping strips fixed to the bottom side of the machine body main body; when the curtain wall cleaning robot works downwards, water stains remained on the wall surface can be scraped downwards along the wall surface only by the dust scraping strip; when the curtain wall cleaning robot works upwards, the centrifugal fan can suck residual water stains on the wall surface into the machine body main body; can retrieve sewage like this, can prevent simultaneously again that remaining water stain of wall from avoiding secondary pollution, greatly increased curtain cleaning machines people's work efficiency.

Description

Curtain wall cleaning robot

Technical Field

The utility model relates to a mechanical cleaning field especially involves a curtain cleaning machines people.

Background

Although the research on the curtain wall cleaning robot starts late in China, the related technology of China also makes breakthrough progress in recent years along with the continuous efforts of Chinese researchers.

Firstly, the aerospace research institute of Beijing developed "blue sky Jieshi series" and "blue sky Jiebao". The 'Lantian Jieshi series' adopts a cylinder-driven wheel-leg type moving mode and a vacuum chuck adsorption mode; the 'Lantian Jiebao' adopts an adsorption mode that the blade rotates to form negative pressure to generate adsorption force. "Lantian Jieshi" is composed of three parts: the curtain wall autonomous crawling system comprises a curtain wall autonomous crawling main body, a curtain wall roof suspension system and a ground support system. The robot consists of a roof suspension system and a hanging basket type robot body. Compared with the 'blue sky cleaner', the 'blue sky cleaner' has the advantage that no requirement is made on the roughness of the surface of the curtain wall. In addition, hong Kong city university has designed the wall climbing robot of a bionic tank type, and the function of walking can be accomplished in the removal cooperation sucking disc's of track alternative absorption on the wall through a plurality of vacuum chuck absorption on the track to this robot. Later, Donghua university improves on the basis, develops two-sided track sucking disc formula walking structure, and this structure can guarantee that all have six at least sucking discs to be in the adsorption state at any moment, has greatly increased the stability of machine. In addition, Beijing university of nursing Engineers invented a track sucking disc formula wall cleaning robot, and the difference of this robot compared above two types of robots lies in that the track sucking disc is connected with the vacuum pump, forms local vacuum through bleeding to produce the negative pressure, reaches the adsorbed purpose in this way.

At present, the moving mode for the curtain wall cleaning robot is mainly as follows: wheel type, crawler type, bionic foot type and wheel leg type. The wheel type curtain wall has the advantages of simple structure, easy control, high speed and high flexibility, and the defect that the wheel type curtain wall cannot be well applied to the working environment of the curtain wall; the crawler-type structure is an adsorption and moving device formed by combining a plurality of suckers and a crawler, has the advantages of large contact area with a wall surface, stronger bearing capacity and stability, and has the defects of insufficient flexibility and complex structure; the bionic foot type has the advantages of being suitable for working environments with various wall surfaces and strong in stability, and has the defects of low efficiency caused by complex control system and weak motion continuity; the wheel-leg type robot has the advantages of simple structure, high flexibility and convenience in operation, and has the defect that the center of gravity of the robot is unstable in the moving process.

The present invention is an improvement to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a curtain cleaning machines people, what this curtain cleaning machines people adopted is the bionic design of bionical spider, controls the health through every leg and accomplishes and turn to, removes a series of actions such as to make the more flexibility of robot.

The utility model discloses a solve the technical scheme that its technical problem adopted and be:

a curtain wall cleaning robot comprises a main body.

Four fixed shaft sleeves in a rectangular array are fixed on the outer side of the machine body main body, a bionic foot rotating shaft is arranged in each fixed shaft sleeve, and a bionic foot used for moving the machine body main body is fixed on the outer wall of each bionic foot rotating shaft; the cleaning system comprises two cleaning sheets attached to the bottom side of the machine body and a plurality of dust scraping strips fixed to the bottom side of the machine body.

Furthermore, a vacuum chuck is fixed at the bottom of the bionic foot.

Further, the bionic foot comprises an installation shell fixed on the outer wall of a rotating shaft of the bionic foot, a first rotating shaft is connected to the inner side of the installation shell, a first bionic foot main body is sleeved on the first rotating shaft, a second bionic foot second main body is hinged to the outer side of the first bionic foot main body through a second rotating shaft, and the vacuum chuck is fixed at the lower end of the second bionic foot main body.

Furthermore, the machine body main body is of a cuboid structure, and a dust holding space is formed inside the machine body main body; the improved air suction device is characterized in that two centrifugal fans are fixed in the machine body, two air suction areas are arranged on the lower side of the machine body, each air suction area is composed of a plurality of air suction holes, and the air suction areas correspond to the centrifugal fans.

Furthermore, the two cleaning sheets are composed of rectangular dust removal cleaning rags, and semicircular grooves are formed in the inner side ends of the two cleaning sheets and are matched with the air suction area.

Furthermore, the plurality of dust scraping strips comprise a first dust scraping strip, a second dust scraping strip, a third dust scraping strip and a fourth dust scraping strip; the first dust scraping strip and the fourth dust scraping strip are located on two opposite sides of the machine body main body, and the second dust scraping strip and the third dust scraping strip are located between the two cleaning sheets.

Furthermore, a machine body main body shell used for protecting the machine body main body is fixed on the machine body main body, and a bionic foot shell used for protecting the bionic foot is fixed on the bionic foot through screws.

The utility model has the advantages that:

when the curtain wall cleaning robot works downwards, water stains remained on the wall surface can be scraped downwards along the wall surface only by the dust scraping strip; when the curtain wall cleaning robot works upwards, the centrifugal fan can suck residual water stains on the wall surface into the machine body main body; therefore, sewage can be recycled, and secondary pollution to water stains remained on the wall surface can be avoided, so that the working efficiency of the curtain wall cleaning robot is greatly improved; according to the curtain wall cleaning robot, through optimization of an adsorption mode and a moving mode, suckers are additionally arranged on four bionic foot bottoms, so that the adsorption force and the stability of the curtain wall cleaning robot are improved, and the cleaning efficiency and the adaptability of a working environment of the curtain wall cleaning robot are improved; the robot is provided with the bionic feet, so that the robot is more flexible in moving and steering.

Drawings

Fig. 1 is a front view of a curtain wall cleaning robot provided by the present invention;

fig. 2 is a side view of the cleaning robot;

fig. 3 is a schematic structural view of a bionic foot in the cleaning robot.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention will be further described with reference to the drawings and the specific embodiments.

As shown in fig. 1 to 3, the curtain wall cleaning robot provided by the present invention comprises a main body 1; four fixed shaft sleeves 2 in a rectangular array are fixed on the outer side of the machine body main body 1, a bionic foot rotating shaft 3 is arranged in each fixed shaft sleeve 2, and a bionic foot 4 used for moving the machine body main body 1 is fixed on the outer wall of each bionic foot rotating shaft 3; the cleaning device is characterized in that a cleaning system is further arranged on the lower side of the machine body 1 and comprises two cleaning sheets 5 attached to the bottom side of the machine body 1 and a plurality of dust scraping strips 6 fixed to the bottom side of the machine body 1.

Through adopting above-mentioned technical scheme, through the bionical sufficient action of drive to drive the fuselage main part and remove, through the setting of the cleaning sheet in the clean system and scraping the dirt strip, make better cleaning work that carries on of this robot.

The utility model discloses a further set up to: and a vacuum sucker 7 is fixed at the bottom of the bionic foot 4. Through adopting above-mentioned technical scheme, through set up the sucking disc on bionical foot for the removal of this robot on the curtain is more stable.

The utility model discloses a further set up to: bionic foot 4 is including being fixed in the installation shell 31 of 3 outer walls of bionic foot pivot, the installation shell 31 internal rotation is connected with first rotation axis 41, the cover is equipped with the first main part 42 of bionic foot on the first rotation axis 41, the first main part 42 outside of bionic foot articulates through second rotation axis 43 has the second main part 44 of bionic foot, vacuum chuck 7 is fixed in the lower extreme of the second main part 44 of bionic foot. By adopting the technical scheme, the extending end of the first main body of the bionic foot extends towards the upper oblique side, and the extending end of the second main body of the bionic foot extends towards the lower side; through the arrangement of the first bionic foot main body, the second bionic foot main body, the first rotating shaft, the second rotating shaft and the bionic foot rotating shaft, the four bionic feet can flexibly drive the machine body main body to move and can control the height of the machine body main body. The first rotating shaft and the second rotating shaft are controlled to rotate through the steering engines, a controller is fixed in the machine body main body and used for controlling the steering engines.

The utility model discloses a further set up to: the machine body main body 1 is of a cuboid structure, and a dust containing space is formed inside the machine body main body 1; the improved air suction device is characterized in that two centrifugal fans are fixed in the machine body 1, two air suction areas are arranged on the lower side of the machine body 1 and are formed by a plurality of air suction holes, and the air suction areas correspond to the centrifugal fans. Through adopting above-mentioned technical scheme, inhale dust and water stain in the fuselage main part through centrifugal fan.

The utility model discloses a further set up to: the two cleaning sheets 5 are formed by rectangular dust removal cleaning rags, and semicircular grooves are formed in the inner side ends of the two cleaning sheets and are matched with the air suction area. Through adopting above-mentioned technical scheme, through the setting of half slot on the cleaning sheet for the suction area can not be sheltered from to the cleaning sheet, thereby can not influence the work of off-line fan.

The utility model discloses a further set up to: the dust scraping strips 6 comprise a first dust scraping strip, a second dust scraping strip, a third dust scraping strip and a fourth dust scraping strip; the first dust scraping strip and the fourth dust scraping strip are located on two opposite sides of the machine body main body, and the second dust scraping strip and the third dust scraping strip are located between the two cleaning sheets 5. Through adopting above-mentioned technical scheme, scrape the setting that dirt strip, third scraped dirt strip and fourth scraped the dirt strip through first scraping dirt strip, second for the cleaning work of this robot need not carry on repeatedly just can clean good curtain.

The utility model discloses a further set up to: the bionic foot protection device is characterized in that a machine body main body shell 8 used for protecting the machine body main body 1 is fixed on the machine body main body 1, and a bionic foot shell 9 used for protecting the bionic foot 4 is fixed on the bionic foot 4 through screws. By adopting the technical scheme, the machine body is protected by the machine body main body shell, and the bionic feet are protected by the bionic foot shell, so that the cleaning robot is not easy to damage.

The curtain wall cleaning robot is made of the following materials: the main body part of the machine body adopts aluminum alloy as a constituent material; the cleaning sheet adopts superfine synthetic fiber as a constituent material; the dust scraping strip adopts rubber as a constituent material.

The utility model discloses a theory of operation:

the utility model provides a pair of curtain cleaning machines people is through the bionical sufficient action of drive to drive the fuselage main part and remove, through the cleaning sheet in the clean system and the setting of scraping the dirt strip, make the better cleaning work that carries on of this robot.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to let the technical personnel in the field understand the contents of the present invention and implement the present invention, and the protection scope of the present invention can not be limited thereby, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.

Claims

1. The utility model provides a curtain cleaning machines people, includes fuselage main part (1), its characterized in that:

four fixed shaft sleeves (2) in a rectangular array are fixed on the outer side of the machine body main body (1), a bionic foot rotating shaft (3) is arranged in each fixed shaft sleeve (2), and a bionic foot (4) used for moving the machine body main body (1) is fixed on the outer wall of each bionic foot rotating shaft (3); the cleaning device is characterized in that a cleaning system is further arranged on the lower side of the machine body main body (1), and the cleaning system comprises two cleaning sheets (5) attached to the bottom side of the machine body main body (1) and a plurality of dust scraping strips (6) fixed to the bottom side of the machine body main body (1).

2. The curtain wall cleaning robot of claim 1, wherein: the bottom of the bionic foot (4) is fixed with a vacuum chuck (7).

3. The curtain wall cleaning robot of claim 2, wherein: bionic foot (4) is including being fixed in installation shell (31) of bionic foot pivot (3) outer wall, installation shell (31) internal rotation is connected with first rotation axis (41), the cover is equipped with bionic foot first main part (42) on first rotation axis (41), it has bionic foot second main part (44) to articulate through second rotation axis (43) in the bionic foot first main part (42) outside, vacuum chuck (7) are fixed in bionic foot second main part (44) lower extreme.

4. The curtain wall cleaning robot of claim 1, wherein: the machine body main body (1) is of a cuboid structure, and a dust containing space is formed inside the machine body main body; the novel air suction machine is characterized in that two centrifugal fans are fixed in the machine body main body (1), two air suction areas are arranged on the lower side of the machine body main body (1), each air suction area is composed of a plurality of air suction holes, and each air suction area corresponds to one centrifugal fan.

5. A curtain wall cleaning robot as claimed in claim 4, wherein: the two cleaning sheets (5) are composed of rectangular dust removal cleaning rags, and semicircular grooves are formed in the inner side ends of the two cleaning sheets and are matched with the air suction area.

6. The curtain wall cleaning robot of claim 1, wherein: the dust scraping strips (6) comprise a first dust scraping strip, a second dust scraping strip, a third dust scraping strip and a fourth dust scraping strip; the first dust scraping strip and the fourth dust scraping strip are located on two opposite sides of the machine body main body, and the second dust scraping strip and the third dust scraping strip are located between the two cleaning sheets (5).

7. The curtain wall cleaning robot of claim 1, wherein: the bionic foot protection device is characterized in that a machine body main body shell (8) used for protecting the machine body main body (1) is fixed on the machine body main body (1), and a bionic foot shell (9) used for protecting the bionic foot (4) is fixed on the bionic foot (4) through screws.