CN212415600U

CN212415600U - High-altitude cleaning robot

Info

Publication number: CN212415600U
Application number: CN202020805646.8U
Authority: CN
Inventors: 张建华; 卢存壮; 于鲁川; 宋国豪; 胡向义; 傅振升
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2021-01-29
Anticipated expiration: 2030-05-14

Abstract

The utility model relates to a high-altitude cleaning robot, which comprises a main body, wherein two walking feet are respectively rotatably arranged on two sides of the main body, one end of each walking foot, which is far away from the main body, is connected with a first vacuum sucker component, and a cleaning component is arranged at the side part of the main body, which is close to the first vacuum sucker, so that the surface of glass is cleaned in the walking process of the main body; the side part of the machine body, which is close to the first vacuum chuck, is provided with an electric push rod, a rod sleeve of the electric push rod is rotatably installed in an inner cavity of the machine body, and an extension rod of the electric push rod can extend out of the machine body and is connected with the second vacuum chuck component. The utility model discloses well high altitude cleaning machines people can be applicable to the surface cleaning of a plurality of occasions such as horizontal floor tile and high altitude glass, is convenient for realize the high altitude cleaning machines people along the motion conversion between sharp walking and the turn.

Description

High-altitude cleaning robot

Technical Field

The utility model belongs to the technical field of the robot, concretely relates to high altitude cleaning machines people.

Background

Along with the continuous aggravation of the modernization process, the buildings made of glass as the outer wall materials are scaled and compared, the buildings add modernization interest to our cities, and meanwhile, some outstanding problems are brought, such as high-altitude cleaning, high-altitude building construction, high-altitude fire-fighting rescue inconvenience and the like.

The inventor knows that, regarding the cleaning problem, the prior art is a manual operation mode mainly using hanging basket suspension and hydraulic lifting platform lifting, which is not only labor-intensive and inefficient in cleaning, but also does not guarantee the safety of workers.

In the structural design of some existing cleaning robots, a crawler-type traveling mechanism or a multi-foot traveling mechanism is generally adopted to drive a robot body to travel on the surface of glass, and in the crawler-type traveling mechanism, a group of vacuum suckers are arranged at each crawler plate, so that the number of the required vacuum suckers is large; in the multi-foot walking mechanism, because the requirement of steering the machine body is met, the joint pair of the multi-foot walking mechanism is more, a large number of steering engines are required to be arranged, and the cleaning robot is overlarge in weight, large in size and high in cost.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the deficiencies of the prior art, providing a high altitude cleaning robot, can be under the condition that realizes the walking of fuselage body, reduce the quantity of vacuum chuck or joint pair and steering wheel.

In order to achieve the above purpose, the present invention provides, in one or more embodiments, a high-altitude cleaning robot, which includes a main body, two walking feet are respectively rotatably mounted on two sides of the main body, one end of each walking foot, which is far away from the main body, is connected to a first vacuum chuck assembly, and the walking feet can drive the main body to walk in a straight line direction; the side of the machine body close to the first vacuum sucker component is provided with a cleaning component to clean the surface of glass in the walking process of the machine body.

The vacuum sucker component is characterized in that an electric push rod is arranged at the side, close to the first vacuum sucker component, of the machine body main body, a rod sleeve of the electric push rod is rotatably installed in an inner cavity of the machine body main body, an extension rod of the electric push rod can extend out of the machine body main body and is connected with the second vacuum sucker component, a driving part is arranged in the machine body main body, and the driving part can drive the machine body main body to rotate along the axis of the electric push rod.

The beneficial effects of one or more of the above technical solutions are as follows:

two walking feet are respectively arranged on two sides of the machine body main body, namely four walking feet are needed totally, four vacuum suction cups are needed, and compared with a crawler-type driving mechanism, the crawler-type driving mechanism reduces the using number of the vacuum suction cups, is convenient to save cost and reduce the size of the cleaning robot.

Compared with the existing multi-foot walking robot, the walking foot has the function of steering; the utility model discloses sufficient only drive fuselage main part of well walking is along the functional demand of rectilinear direction walking for the sufficient joint pair quantity of department of walking reduces, and the use quantity of steering wheel reduces, is convenient for save the cost and reduce the volume of robot.

The electric push rod and the second vacuum sucker component are matched for use, so that the machine body can be jacked up when the steering is needed, the machine body is driven by the driving component to rotate along the central axis of the electric push rod, and the steering of the machine body can be completed. That is to say, the straight line walking function and the steering function of the fuselage main body are separated, the complexity of the structure is greatly reduced, and the occupied space is favorably reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is an axonometric view of the whole structure in embodiment 1 of the present invention;

fig. 2 is an axonometric view of the overall structure in another viewing direction in embodiment 1 of the present invention;

fig. 3 is a schematic view of a main body of a fuselage according to embodiment 1 of the present invention;

fig. 4 is a schematic view of the walking foot and the first vacuum chuck assembly in embodiment 1 of the present invention;

fig. 5 is a schematic view of the structural connection between the solar panel and the storage battery in embodiment 1 of the present invention;

fig. 6 is a schematic structural view of a cleaning sponge and a clamping groove in embodiment 1 of the present invention;

fig. 7 is a schematic structural view of the electric putter and the motor according to embodiment 1 of the present invention.

In the figure: 1. a main body of the body; 2. walking feet; 3. a distance sensor; 4. a solar power panel; 5. a cleaning assembly; 6. an extension bar; 7. a camera; 8. a top cover; 9. a housing; 10. a power switch; 11. an electric quantity display screen; 12. a speaker; 13. a steering engine; 14. a support leg; 15. a steering engine accessory; 16. a first vacuum chuck assembly; 17. cleaning the sponge; 18. a card slot; 19. an electric push rod; 20. a first gear; 21. a second vacuum chuck assembly; 22. an electric motor.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up, down, left, right" in the present invention, if appearing, are intended to correspond only to the upper, lower, left, right directions of the drawings themselves, not to limit the structure, but merely to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.

In a typical embodiment of the utility model, as shown in fig. 1-7, a high-altitude cleaning robot comprises a main body 1, two walking feet 2 are respectively rotatably mounted on two sides of the main body 1, one ends of the walking feet 2 far away from the main body 1 are connected with a first vacuum chuck assembly, and the walking feet 2 can drive the main body 1 to walk along a straight line direction; the side of the machine body 1 close to the first vacuum sucker component is provided with a cleaning component 5, so that the glass surface is cleaned in the walking process of the machine body 1.

The vacuum chuck device is characterized in that an electric push rod 19 is arranged on the side face, close to the first vacuum chuck component, of the body main body 1, a rod sleeve of the electric push rod 19 is rotatably installed in an inner cavity of the body main body 1, an extension rod 6 of the electric push rod 19 can extend out of the body main body 1 and is connected with the second vacuum chuck component, a driving part is arranged in the body main body 1, and the driving part can drive the body main body 1 to rotate along the axis of the electric push rod 19.

In the present embodiment, the cleaning assembly 5 employs a cleaning sponge 17, and the cleaning sponge 17 is symmetrically disposed about the electric push rod 19. The cleaning sponge 17 has compressibility, and the cleaning of the glass surface is facilitated by the friction between the cleaning sponge 17 and the glass surface

It can be understood that before the cleaning sponge 17 rubs with the glass, a certain amount of water mist can be sprayed to the area to be cleaned by the spray head, and the cleaning effect of the sponge can be increased by the water spray. Inevitably, when the spray head is adopted to spray water mist, the water tank and the water pump are required to be arranged at the machine body 1. The specific structural arrangement can be set by a person skilled in the art, and is not described in detail herein.

Or, similar to the floor cleaning robot, the side surface of the machine body 1 close to the first vacuum sucker component is preliminarily cleaned by using a rotating broom, so that larger dust and dirt on glass are reduced.

The outside of rod cover is connected with fuselage main part 1 through the bearing frame rotation, the outside fixed cover of rod cover is equipped with first gear 20, the fixed motor 22 that is provided with in the inner chamber of fuselage main part 1, the output shaft and the coaxial fixed of second gear of motor 22, first gear 20 and the meshing of second gear to drive fuselage main part 1 and rotate along electric putter 19's axis.

It can be understood that when the second vacuum chuck assembly is adsorbed on the surface of the glass, the second vacuum chuck assembly and the electric push rod 19 are fixed, and simultaneously, because the extension rod 6 in the electric push rod 19 extends out, the main body 1, the walking foot 2 and the first vacuum chuck assembly are jacked up and suspended, and when the motor 22 rotates, the main body 1 can rotate along the electric push rod 19 to complete the steering operation.

The side department that is close to clean subassembly 5 in the fuselage main part 1 is provided with the subassembly of making a video recording, the subassembly of making a video recording can shoot the surface of treating cleaning, the subassembly of making a video recording can be through communication assembly with image information transfer to remote control terminal.

It can be understood that, in this embodiment, the camera assembly may employ the camera 7, and a corresponding cradle head may be further provided to reduce the shake. The specific structure may be set by one skilled in the art and will not be described in detail herein but should not be considered as being clear.

In this embodiment, a controller is arranged in the main body 1, the controller communicates with a remote control terminal through a communication module, a distance sensor 3 is arranged on a side surface of the main body 1, and the distance sensor 3 can measure a distance between a peripheral obstacle and the main body 1 so as to avoid collision of the main body 1 with the obstacle when walking.

In this embodiment, the outer side surface of the main body 1 of the body can be provided with the loudspeaker 12, the loudspeaker 12 can perform electric quantity early warning when the device is started, and the high-altitude glass cleaning is performed by using the device under the condition of avoiding insufficient electric quantity.

The body 1 is of a box-shaped structure, a solar power generation panel 4 is arranged on at least one side surface of the body 1, and the solar power generation panel 4 is electrically connected with a storage battery so as to realize the storage of the storage battery.

It should be pointed out that fuselage main part 1 is the box structure, and is concrete, and fuselage main part 1 is the cuboid structure in this embodiment, and fuselage main part 1 should have shell 9 promptly, and shell 9 is a plurality of curb plate concatenation formation, can adopt six curb plates all to separate the setting, then during the use through the mode of buckle or bolt assembly, also can adopt wherein partial curb plate integrated into one piece, reserves two or other quantity's curb plates, reduces the time that consumes when assembling. In the present embodiment, the solar power generation panel 4 is provided at the top cover 8 of the body main body 1.

First vacuum chuck subassembly and second vacuum chuck subassembly all include vacuum chuck, and vacuum chuck's inner chamber passes through pipeline and vacuum pump intercommunication.

It can be understood that, in this embodiment, the first vacuum chuck assembly and the second vacuum chuck assembly are mentioned, the specific structural arrangement of the vacuum chuck assembly belongs to the prior art, and those skilled in the art should know that the vacuum chuck assembly includes specific structural members such as a vacuum chuck, an air pipe, a valve, and an air pump, and that the further structural connection mode and how to charge and discharge air to achieve the adsorption and relaxation of the vacuum chuck belong to the common general knowledge in the art, and are not described herein again. When in this embodiment reference is made to the walking foot being connected to the first suction cup assembly and the extension bar being connected to the second suction cup assembly, this should be interpreted as being connected to the outer side of the vacuum suction cup.

In some embodiments, the walking foot 2 has a plurality of legs 14, a joint is formed between adjacent legs 14, a steering engine 13 is arranged at each joint, and the steering engine 13 can drive the walking foot 2 to walk in a straight line direction. It will be appreciated that in the prior art there are multiple biomimetic mechanical feet, such as the Bigdog robot from boston power company, usa, which has four biomimetic feet, each with a plurality of legs 14, with joint pairs formed between adjacent legs 14, with corresponding drive components such as steering engines 13.

Or, in this embodiment, the walking feet 2 are only used for walking in a linear direction, in one arrangement mode, each walking foot 2 only includes one supporting leg 14, a mounting hole is formed in the middle of each supporting leg 14, a groove is formed in the excircle of each mounting hole, a steering engine accessory 15 with a fitting shape is arranged in each mounting hole, a shaft hole is formed in each steering engine accessory 15, and the shaft hole is connected with an output shaft of the steering engine 13 through a key so as to limit rotation of the steering engine and the steering engine in the axial direction. The ends of the legs 14 are hinged to the outer side of the vacuum cups in the first vacuum cup assembly.

Specifically, in one of the walking modes, in an initial state, the vacuum suction cups at the lower ends of the four walking feet 2 are all in an adsorption state, for convenience of description, two walking feet 2 facing the advancing direction are defined as front walking feet 2, the other two walking feet 2 are defined as rear walking feet 2, the vacuum suction cups at the front walking feet 2 are out of contact, and then are lifted forward by a certain angle, and the steering engine 13 at the rear walking feet 2 rotates to drive the machine body 1 to move by a certain angle in the advancing direction until the vacuum suction cups at the front walking feet 2 are in contact with the glass again.

Then the vacuum chuck at the walking foot 2 at the back side is separated from contact and rotates backwards; the front walking foot 2 rotates to drive the machine body main body 1 to further move forwards until the front walking foot 2 is perpendicular to the glass, the rear walking foot 2 is put down, and the vacuum chuck on the rear walking foot 2 adsorbs the glass.

The lateral surface of fuselage main part 1 is provided with switch 10 and electric quantity display screen 11, switch 10, electric quantity display screen 11 respectively with controller signal connection.

It will be appreciated that in this embodiment the cleaning sponge 17 is fixedly mounted at the side of the support plate facing away from the main body 1 of the machine, the support plate being fixedly connected to the main body 1 of the machine. In this embodiment, the side of the supporting plate is provided with a clamping groove 17, a groove is provided at the corresponding side of the main body 1, and the side wall of the groove is provided with a corresponding protrusion to be matched with the clamping groove 17.

The working principle is as follows: the operation principle of the embodiment is as follows: the power switch 10 is turned on, the motor 22 drives the machine body main body 1 to run, the four walking feet 2 are utilized to complete the walking of the machine body main body 1 along the linear direction, negative air pressure is generated in the first vacuum sucker component, the robot can be firmly adsorbed on glass, and the cleaning sponge 17 is used for cleaning the glass in the moving process. Two cleaning sponges 17 are arranged at a certain vertical distance, so that the shortage of the cleaning amount of one cleaning sponge 17 can be supplemented.

When the robot needs to turn, firstly, the electric push rod 19 drives the second vacuum sucker component to move towards the glass, then the high-altitude cleaning robot jacks up, the motor 22 is used for driving the gear to rotate, and then the steering is realized through gear meshing.

Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.

Claims

1. A high-altitude cleaning robot is characterized by comprising a robot body, wherein two walking feet are respectively and rotatably arranged on two sides of the robot body, one ends of the walking feet, far away from the robot body, are connected with a first vacuum chuck assembly, and the walking feet can drive the robot body to walk in a linear direction;

a cleaning assembly is arranged on the side surface of the machine body close to the first vacuum chuck, so that the surface of the glass is cleaned in the walking process of the machine body;

the vacuum suction machine is characterized in that an electric push rod is arranged on the side face, close to the first vacuum suction cup, of the machine body main body, a rod sleeve of the electric push rod is rotatably installed in an inner cavity of the machine body main body, an extension rod of the electric push rod can extend out of the machine body main body and is connected with the second vacuum suction cup assembly, a driving part is arranged in the machine body main body, and the driving part can drive the machine body main body to rotate along the axis of the electric push rod.

2. The high altitude cleaning robot as claimed in claim 1, wherein the cleaning assembly comprises a cleaning sponge, and the cleaning sponge is symmetrically arranged about the electric push rod.

3. The high altitude cleaning robot as claimed in claim 2, wherein the cleaning sponge is fixedly mounted on the side of the support plate away from the main body of the robot body, and the support plate is fixedly connected with the main body of the robot body.

4. The high altitude cleaning robot as claimed in claim 1, wherein the rod sleeve is connected with the main body through a bearing seat in a rotating manner, a first gear is fixedly sleeved on the outer portion of the rod sleeve, a motor is fixedly arranged in the inner cavity of the main body, an output shaft of the motor is coaxially fixed with a second gear, and the first gear is meshed with the second gear to drive the main body to rotate along the axis of the electric push rod.

5. The high altitude cleaning robot as claimed in claim 1, wherein a camera assembly capable of photographing a surface to be cleaned is provided in the main body at a side close to the cleaning assembly, and the camera assembly is capable of transmitting image information to a remote control terminal through a communication assembly.

6. The high altitude cleaning robot as claimed in claim 1, wherein the main body is a box-shaped structure, and a solar power generation panel is provided at least one side surface of the main body, and the solar power generation panel is electrically connected to the storage battery to realize the storage of the storage battery.

7. The high altitude cleaning robot as claimed in claim 1, wherein the first vacuum chuck assembly and the second vacuum chuck assembly each comprise a vacuum chuck, and the inner cavity of the vacuum chuck is communicated with the vacuum pump through a pipeline.

8. The high-altitude cleaning robot as claimed in claim 1, wherein the walking foot is provided with a plurality of supporting legs, a joint is formed between every two adjacent supporting legs, a steering engine is arranged at each joint, and the steering engine can drive the walking foot to walk in a linear direction.

9. The high-altitude cleaning robot as claimed in claim 1, further comprising a controller, wherein the controller is in communication with a remote control terminal through a communication module, a distance sensor is arranged on the side face of the main body, and the distance sensor can measure the distance between a peripheral obstacle of the main body and the main body so as to avoid collision of the main body with the obstacle when the main body walks.

10. The high altitude cleaning robot as claimed in claim 9, wherein a power switch and a power display screen are arranged on the outer side surface of the main body, and the power switch and the power display screen are respectively in signal connection with the controller.