CN212650794U - Wall-climbing cleaning robot - Google Patents
Wall-climbing cleaning robot Download PDFInfo
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- CN212650794U CN212650794U CN202021031229.9U CN202021031229U CN212650794U CN 212650794 U CN212650794 U CN 212650794U CN 202021031229 U CN202021031229 U CN 202021031229U CN 212650794 U CN212650794 U CN 212650794U
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Abstract
The utility model discloses a wall climbing cleaning robot, include X to moving mechanism, Y to moving mechanism and clean the mechanism. The X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the X-direction rod cylinders are fixed at two ends of the X-direction support, and an X sucker fixing plate and an X sucker are fixed at the bottom of a Z-direction cylinder rod of the X-direction rod cylinder; the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block is vertically connected with the Y-direction sliding block, the Y-direction supports are fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, and Y-direction rod cylinder Z-direction cylinder rod bottom is fixed with a Y sucker fixing plate and a Y sucker. The utility model discloses a wall climbing cleaning robot, compact structure, the quality is light, and the operation smoothness nature is high, and security and stability are high.
Description
Technical Field
The utility model belongs to the mobile robot field, concretely relates to wall climbing cleaning robot.
Background
With the continuous development of society, the rapid development of scientific technology and the continuous progress of human society, skyscrapers in modern cities are more and more built and higher, and the dust pollution of cities is more and more serious, under the background, people need to rely on an elevator platform to clean the wall surface of the skyscrapers layer by layer, so that not only is the time and labor wasted, but also the environment for cleaning the wall surface of the skyscrapers is more and more severe and dangerous, the problem comes from the actual requirements of society, a wall-climbing robot is adopted for scrubbing, the labor intensity of cleaning workers is reduced, the working efficiency is improved, and particularly, the safety is improved. Wall climbing cleaning robots have been adopted in the scientific and technological leading countries as their preferred tools for cleaning the exterior surfaces of buildings.
The wall surface cleaning robot is a wall surface moving robot for cleaning high-rise buildings, the appearance of the wall surface cleaning robot can greatly reduce the cleaning cost of the high-rise buildings, improve the labor environment of workers and improve the productivity, and the development of the cleaning industry is also certainly and greatly promoted, thereby bringing considerable social and economic benefits. Therefore, the design and research of the wall surface cleaning robot have good application prospect.
The traditional wall climbing robot has the defects of poor adaptability to wall materials and shapes, insufficient capability of crossing barriers, large volume, heavy weight and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses not enough to prior art exists, provide a wall climbing cleaning robot to solve current wall climbing robot not strong to the adaptability of wall material and shape, the ability of strideing across the barrier is not enough, and the volume is great, the heavier scheduling problem of quality.
The utility model provides an above-mentioned technical problem's technical scheme as follows: a wall climbing cleaning robot comprises an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism;
the X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the length directions of the X-direction rodless cylinder and the X-direction support are the same, the X-direction rod cylinders are respectively fixed at two ends of the X-direction support, the X-direction rod cylinder is provided with a Z-direction cylinder rod, an X sucker fixing plate is fixed at the bottom of the Z-direction cylinder rod of the X-direction rod cylinder, and an X sucker used for being sucked onto a wall surface to be cleaned is fixed on the X sucker fixing plate;
the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports are respectively fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, the Y-direction rod cylinders are provided with Z-direction cylinder rods, Y sucker fixing plates are fixed at the bottoms of the Z-direction cylinder rods of the Y-direction rod cylinders, and Y suckers for being adsorbed on a wall surface to be cleaned are fixed on the Y sucker fixing plates;
the cleaning mechanism comprises a motor fixing plate, a motor and a rolling brush, the motor fixing plate is fixed on the Y-direction rodless cylinder, the motor is fixed on the motor fixing plate, and the motor is connected with the rolling brush.
The utility model discloses further set up to, Y includes Y to the main part board to the support, Y is connected with perpendicularly downwards to the one end of main part board and is used for fixing Y is to the first connecting plate of rodless cylinder tip, Y upwards is connected with the second connecting plate perpendicularly to the other end of main part board, the top of second connecting plate is connected with the third connecting plate perpendicularly, the outside end of third connecting plate is connected with the fourth connecting plate perpendicularly downwards, Y is fixed to rodless cylinder in the space of second connecting plate, third connecting plate and fourth connecting plate.
The utility model discloses further set up to, X includes to the support that X is in to main part board and perpendicular X is to the end plate at main part board both ends, X is fixed to rodless cylinder on the medial surface of end plate. Specifically, the front end cover and the rear end cover are fixed on the inner side surface of the end plate through screws.
The utility model is further arranged in that the X-direction rod cylinder comprises a front end cover, a piston rod, a buffer plunger, a cylinder barrel and a rear end cover; the rear end cover is fixed to the top of the cylinder barrel, the front end cover is fixed to the bottom of the cylinder barrel, the piston is located in an upper space in the buffering plunger, the piston rod is located in a lower space in the buffering plunger, and the outer side face of the buffering plunger moves up and down relative to the rear end cover and the inner side face of the cylinder barrel. In addition, the Y-direction rod cylinder and the X-direction rod cylinder have the same structure.
The utility model discloses further set up to, be connected with two snap rings on the lateral surface of piston rod, the buffering plunger includes upper segment, middle section and hypomere, the upper segment with the external diameter of hypomere is less than the external diameter in middle section, the rear end cap is located outside the upper segment and on the middle section, the upper segment with the medial surface in middle section with the lateral surface shape of piston rod is unanimous.
The utility model is further arranged that the angle of the rear end cover contacting with the upper section and the lower section is provided with an L-shaped groove, and a first piston sealing ring is fixed on the L-shaped groove; the upper portion outside of middle section is opened there is the ring channel and is equipped with the second piston sealing washer, be fixed with the magnetic ring in the middle of the middle part of middle section, the middle part outside of middle section is fixed with the guide ring, the lower part outside of middle section is opened has the ring channel and is equipped with the third piston sealing washer.
The utility model discloses further set up to, detachably is connected with the pipeline on the motor fixed plate, the bottom of pipeline is fixed with the shower nozzle, the shower nozzle to the round brush slope.
The utility model discloses further set up as, the brush hair material of round brush is metal, rubber, plastics or wood fibre.
The utility model discloses set up further to, X to the support with Y is ZAlCu5Mn to the material of support, X to the support with Y scribbles the anti-rust paint coating to the surface of support, the weight of climbing wall cleaning robot is 20kg, each be fixed with threely on the X sucking disc fixed plate X sucking disc, each be fixed with threely on the Y sucking disc fixed plate the Y sucking disc, the X sucking disc with the diameter more than or equal to 50mm of Y sucking disc.
The utility model discloses further set up to, all the X sucking disc is passing through two three way solenoid valves of tube coupling, all the Y sucking disc is passing through another two three way solenoid valves of tube coupling, two three way solenoid valves are passing through the check valve of tube coupling, the check valve is passing through the tube coupling and is being oiled fog the ware, the oiled fog ware is passing through the tube coupling and is being throttled, the choke valve is passing through the tube coupling and is being filtered, the filter is passing through the tube coupling and is being evacuated the pump.
The utility model discloses further set up to, X is passing through a tribit five-way solenoid valve to rodless cylinder through the tube coupling, Y is passing through a tribit five-way solenoid valve, all to rodless cylinder X is passing through a tribit five-way solenoid valve, all to having the pole cylinder to pass through a tube coupling tribit five-way solenoid valve, all the tribit five-way solenoid valve is passing through the tube coupling oil atomizer, the oil atomizer is passing through the tube coupling choke valve, the choke valve is passing through the tube coupling filter, the filter is passing through the tube coupling pneumatic pump.
To sum up, the utility model discloses following beneficial effect has:
(1) the utility model discloses a wall climbing cleaning robot has adopted the criss-cross framework, realizes through being connected with various cylinders and removes, and compact structure is as simple as possible on the basis that satisfies all functions. In addition, the X-direction support and the Y-direction support are made of light aluminum materials, so that the overall weight is light;
(2) the wall-climbing cleaning robot of the utility model adopts a cross framework, realizes controllable operation and continuous movement through the connection of various cylinders, and can clean all angles of the wall surface to be cleaned; furthermore, a control system of an adsorption part and a cylinder movement part is additionally arranged, so that the controllability of the whole movement process is high, and the movement fluency is greatly improved;
(3) the sucking discs adopted by the wall-climbing cleaning robot can be made of different materials, and are applied to various environments, and the adsorption force of the sucking discs is stable and reliable;
(4) the utility model discloses wall climbing cleaning robot's round brush can adopt various materials to it is clean to be applicable to the wall of different finishments and roughness. A spray head can be additionally arranged to be applied to the wall surface needing water for cleaning;
(5) the utility model discloses a wall climbing cleaning robot can add interlocking control when the operation, can further reduce dropping and the emergence of maloperation of robot, improves the security and the stability of operation.
Drawings
FIG. 1 is a front sectional view of an embodiment of the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1;
fig. 3 is a left side view of an embodiment of the present invention;
fig. 4 is a top view of an embodiment of the present invention;
FIG. 5 is a view of the gas path of the adsorption part;
FIG. 6 is a gas path diagram of a moving part of the cylinder;
FIG. 7 is a PLC control panel;
FIG. 8 is an I/O port assignment diagram for a PLC;
FIG. 9 is one of the PLC ladder diagrams;
FIG. 10 is a second PLC ladder diagram;
FIG. 11 is a third ladder diagram of a PLC;
FIG. 12 is a fourth PLC ladder diagram;
FIG. 13 is a fifth PLC ladder diagram;
FIG. 14 is a sixth of the PLC ladder diagram.
100, a vacuum pump; 200. a filter; 300. a throttle valve; 400. an oil atomizer; 500. a one-way valve; 600. an X sucker; 700. a Y sucker; 800. a pneumatic pump;
1. an X-direction rod cylinder; 1-1, a front end cover; 1-2, a piston; 1-3, a piston rod;
1-4, buffer plunger; 1-4-1, upper section; 1-4-2, middle section; 1-4-3, lower segment; 1-5, a cylinder barrel; 1-6, a rear end cover; 1-7, a first piston seal ring; 1-8, a second piston seal ring; 1-9, a magnetic ring; 1-10 parts of a guide ring; 1-11, a third piston seal ring;
2. an X-direction rodless cylinder; 3. a Y-direction rod cylinder; 4. a Y-direction rodless cylinder; 5. an X-direction bracket; 5-1, X-direction main body plate; 5-2, end plates; 6. an X sucker fixing plate;
7. a Y-direction bracket; 7-1, Y-direction main body plate; 7-2, a first connecting plate; 7-3, a second connecting plate; 7-4, a third connecting plate; 7-5, a fourth connecting plate;
8. a Y sucker fixing plate; 9. a motor fixing plate; 10. a motor; 11. a coupling; 12. rolling and brushing; 13. A pipeline; 14. and (4) a spray head.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As an embodiment of the present invention, see fig. 1, fig. 3 and fig. 4, the present invention provides a wall-climbing cleaning robot, which includes an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism. Wherein, X is to moving mechanism including an X to support 5, an X to no pole cylinder 2, two X to there being pole cylinder 1, X is fixed under X to support 5 and X is unanimous to the length direction of no pole cylinder 2 and X to support 5 to no pole cylinder 2, X is fixed respectively at X to there being pole cylinder 1 to the both ends of support 5, X has Z to the pole cylinder pole to there being pole cylinder 1, X is fixed with X sucking disc fixed plate 6 to the bottom of the Z to the cylinder pole of having pole cylinder 1, be fixed with on the X sucking disc fixed plate 6 and be used for adsorbing the X sucking disc 600 on treating the clean wall. The Y-direction moving mechanism comprises two Y-direction supports 7, a Y-direction rodless cylinder 4 and two Y-direction rod-containing cylinders 3, the X-direction rodless cylinder 2 is provided with an X-direction sliding block, the Y-direction rodless cylinder 4 is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports 7 are respectively fixed at two ends of the Y-direction rodless cylinder 4, the Y-direction rod-containing cylinder 3 is fixed on the Y-direction supports 7, the Y-direction rod-containing cylinder 3 is provided with a Z-direction cylinder rod, a Y sucker fixing plate 8 is fixed at the bottom of the Z-direction cylinder rod of the Y-direction rod-containing cylinder 3, and a Y sucker 700 used for being adsorbed on a wall surface. The cleaning mechanism comprises a motor fixing plate 9, a motor 10 and a rolling brush 12, wherein the motor fixing plate 9 is fixed on the Y-direction rodless cylinder 4, the motor 10 is fixed on the motor fixing plate 9, and the motor 10 is connected with the rolling brush 12.
The working process of the wall-climbing cleaning robot in the embodiment is as follows: (1) the moving mechanism of the wall-climbing cleaning robot adopts an X-direction slide block and a Y-direction slide block of an X-direction rodless cylinder 2 and a Y-direction rodless cylinder 4 to realize the movement in four directions, namely up, down, left and right. Specifically, taking fig. 4 as an example, taking the movement to the right side of the X-direction bracket 5 as an example, the Y-direction rod cylinder 3 contracts, the X-suction cup 600 is sucked to the wall surface and fixed, the Y-direction moving mechanism and the cleaning mechanism move to the right along the X-direction bracket 5 along with the X-direction slider, then, the Y-direction rod cylinder 3 extends, the Y-suction cup 700 is sucked to the wall surface and fixed, the X-direction rod cylinder 1 contracts, and the X-direction bracket 5 moves to the right. Likewise, the movement to the left of the X-direction support 5 is in the same principle. Taking the example of moving upward of the Y-direction support 7, the Y-direction rod cylinder 3 contracts, the X-suction cup 600 is fixed by being sucked to the wall surface, the Y-direction moving mechanism and the cleaning mechanism move upward along the Y-direction support 7 along with the Y-direction slider, then the Y-direction rod cylinder 3 extends, the Y-suction cup 700 is fixed by being sucked to the wall surface, the X-direction rod cylinder 1 contracts, and the X-direction moving mechanism moves upward along the Y-direction support 7 relative to the Y-direction slider. Similarly, the movement to the lower side of the Y-direction holder 7 is performed in the same manner. The upper, lower, left and right are described by referring to drawings, so that the wall is flexible in actual work and is not limited to the upper, lower, left and right of an actual wall. (2) When the cleaning mechanism is brought to any one position, the motor 10 is activated and the roll brush 12 performs cleaning.
The utility model discloses a wall climbing cleaning robot, including X to moving mechanism and Y to moving mechanism, carry in the course of the work and clean the mechanism, adsorb on the building wall, realize the abluent function of building wall. The main body part of the wall-climbing cleaning robot is composed of two cross-shaped frames which can translate mutually, wherein any one frame can translate relative to the other frame, precisely, two moving supports are connected with an X-direction sliding block on an X-direction rodless cylinder 2 and a Y-direction sliding block on a Y-direction rodless cylinder 4 to move, and each frame is provided with a 'leg and foot structure' which can be controlled independently in a group. The 'leg-foot structure' comprises an X-direction rod cylinder 1 and a Y-direction rod cylinder 3, and the extension and retraction of a Z-direction cylinder rod enable the robot body to be lifted up and down. Along with the alternate absorption of the legs and the relative motion of the frame body, the robot realizes the function of freely moving the wall surface. The frame structure mainly depends on the structures of the degrees of freedom of the X-direction support 5 and the Y-direction support 7 and the degrees of freedom of the X-direction rod cylinder 1 and the Y-direction rod cylinder 3, and each part has a simple structure and meets the requirements of flexibility and maneuverability. For example, if it is actually required that the wall-climbing washing robot can cross an obstacle of 50mm, the capability of raising by at least 50mm is required for the X-direction rod cylinder 1 and the Y-direction rod cylinder 3.
The utility model discloses a wall climbing cleaning robot can be applied to the multiple wall of waiting to wash, for example the hair wall, including cement, concrete wall etc. the brush hair material of round brush 12 that uses at this time is the metal preferred, and the wearability is good. For a relatively smooth glass or metal wall surface, the rolling brush 12 made of rubber, plastic or wood fiber can be used.
During operation, some walls can be cleaned only by rotating the rolling brush 12, construction requirements are met, cleanliness of some walls is high, and external water sources can be introduced. Specifically, a pipeline 13 is detachably connected to the motor fixing plate 9, a spray head 14 is fixed to the bottom of the pipeline 13, and the spray head 14 is inclined towards the rolling brush 12. When the rolling brush 12 is used for cleaning, the spray head 14 sprays water for cleaning, so that different requirements are met. The spray head 14 can be fixed on the motor fixing plate 9 through screws and can be detached when not in use, so that the dead weight of the wall climbing cleaning robot can be reduced as much as possible. The rolling brush 12 in the cleaning operation mode is directly connected by the motor 10 through the coupling 11 to realize the rotary motion. The power supply and the water source of the spraying system are connected externally, so that the size and the weight of the wall-climbing cleaning robot can be further reduced, and the working time of the wall-climbing cleaning robot can be prolonged. Specifically, the utility model discloses a 90BF003 reaction formula step motor can be selected to motor 10.
The material of the sucker (including the X sucker and the Y sucker) in the utility model can be made of nitrile rubber, and has larger breaking force. Compared to the magnetic attraction type, it is the cheapest method to attract an object to a wall surface by a suction cup. The sucking discs made of the rubber can be operated at high temperature, and the sucking discs made of the silicon rubber are very suitable for grabbing products with rough surfaces; suction cups made of polyurethane are very durable. In actual production, if oil resistance is required for the suction cup, it is conceivable to manufacture the suction cup using a material such as polyurethane, nitrile rubber, or a vinyl-containing polymer. In general, in order to prevent the surface of the glass wall from being scratched, it is preferable to select a suction cup with bellows made of nitrile rubber or silicone rubber.
Although the wall materials of buildings are diversified, most of the wall materials are not magnetic materials such as glass, ceramic tiles, paint and the like, so the adsorption mode adopts vacuum adsorption. Although a sucking disc simple structure, easy control can reduce climbing wall cleaning robot and moving obstacle-crossing ability and reliability of process, can adopt the form of sucking disc group, for example fixed 3 sucking discs about on a sucking disc fixed plate, sucking disc elastic deformation is used to sucking disc group structural style, improves obstacle-crossing ability, ensures that sucking disc and wall adsorb, improves climbing wall cleaning robot's security and reliability of working. The frame structure enables the robot to be compact in structure, the wall climbing cleaning robot can complete the moving and adsorbing process on the premise of ensuring rigidity, and the wall climbing cleaning robot can move freely.
Specifically, referring to fig. 3, the Y-directional bracket 7 includes a Y-directional main body plate 7-1, one end of the Y-directional main body plate 7-1 is vertically connected downward to a first connecting plate 7-2 for fixing to the end of the Y-directional rodless cylinder 4, the other end of the Y-directional main body plate 7-1 is vertically connected upward to a second connecting plate 7-3, the top of the second connecting plate 7-3 is vertically connected to a third connecting plate 7-4, the outer end of the third connecting plate 7-4 is vertically connected downward to a fourth connecting plate 7-5, and the Y-directional rodless cylinder 4 is fixed in the space among the second connecting plate 7-3, the third connecting plate 7-4 and the fourth connecting plate 7-5.
Specifically, referring to fig. 1 and 2, the X-direction bracket 5 includes an X-direction main body plate 5-1 and end plates 5-2 vertically connected to both ends of the X-direction main body plate 5-1, and the X-direction rodless cylinder 2 is fixed to an inner side surface of the end plate 5-2. Specifically, the front end cover 1-1 and the rear end cover 1-6 are fixed to the inner side surface of the end plate 5-2 by screws.
Further, referring to fig. 1 and 2, the X-direction rod cylinder 1 comprises a front end cover 1-1, a piston 1-2, a piston rod 1-3, a buffer plunger 1-4, a cylinder barrel 1-5 and a rear end cover 1-6; the rear end cover 1-6 is fixed on the top of the cylinder barrel 1-5, the front end cover 1-1 is fixed on the bottom of the cylinder barrel 1-5, the piston 1-2 is positioned in the upper space in the buffering plunger 1-4, the piston rod 1-3 is positioned in the lower space in the buffering plunger 1-4, and the outer side face of the buffering plunger 1-4 moves up and down relative to the inner side faces of the rear end cover 1-6 and the cylinder barrel 1-5. Further, the Y-direction rod cylinder 3 has the same structure as the X-direction rod cylinder 1. Furthermore, the outer side face of the piston rod 1-3 is connected with two clamping rings, the buffering plunger piston 1-4 comprises an upper section 1-4-1, a middle section 1-4-2 and a lower section 1-4-3, the outer diameters of the upper section 1-4-1 and the lower section 1-4-3 are smaller than the outer diameter of the middle section 1-4-2, the rear end cover 1-6 is positioned outside the upper section 1-4-1 and on the middle section 1-4-2, and the inner side faces of the upper section 1-4-1 and the middle section 1-4-2 are consistent with the outer side face of the piston rod 1-3 in shape. An L-shaped groove is formed in the corner of the rear end cover 1-6, which is in contact with the upper section 1-4-1 and the lower section 1-4-3, and a first piston sealing ring 1-7 is fixed on the L-shaped groove; the outer side of the upper part of the middle section 1-4-2 is provided with an annular groove which is provided with a second piston sealing ring 1-8, the middle of the middle part of the middle section 1-4-2 is fixed with a magnetic ring 1-9, the outer side of the middle part of the middle section 1-4-2 is fixed with a guide ring 1-10, and the outer side of the lower part of the middle section 1-4-2 is provided with an annular groove which is provided with a third piston sealing ring 1-11.
The material of the X-direction bracket 5 and the Y-direction bracket 7 is preferably ZAlCu5Mn, ZAlCu5Mn can be strengthened by heat treatment, the strength is high after the heat treatment, the plasticity, the toughness, the welding performance and the machinability are good, and the heat resistance and the strength are the best in cast aluminum alloy. Because the support structure used as the wall climbing cleaning robot is likely to be contacted with water frequently, even if the probability of oxidation is not very high for high-strength aluminum alloy, the support structure can be oxidized after a long time, and the support parts are not easy to replace. Therefore, after the cutting process, a rust inhibitive paint coating is required to be coated on the surface of the part to prevent the above situation.
As a specific implementation manner, assuming that the weight of the wall-climbing cleaning robot is 20kg and the load is 15kg, three X suction cups 600 are fixed on each X suction cup fixing plate 6, three Y suction cups 700 are fixed on each Y suction cup fixing plate 8, and the diameters of the X suction cups 600 and the Y suction cups 700 are greater than or equal to 50 mm. The specific theoretical verification calculation mode is as follows: sucker diameter formula:
in the formula: m-bearing mass;
s is the suction coefficient of the suction cup, and the vertical suction S is 8;
p-vacuum pressure (-KPa);
n is the number of the suckers.
TABLE 1 suction cup parameters
The data obtained in Table 1 were substituted for formula (1):
the suction area is smaller than the diameter of the suction cup because the vacuum pressure deforms the suction cup. The degree of deformation differs depending on the material and shape of the suction cup and the hardness of the rubber, and therefore, a margin is required for calculating the diameter of the suction cup. The safety factor includes a deformed portion.
Adsorption area:
A＝3.14*D2/(4*100) (2)
in the formula: a-adsorption area (cm)2)；
D-sucker diameter (mm).
Substituting the formula (2) to obtain:
Amin＝3.14*40.22/(4*100)＝12.69cm2
although the diameter of the suction cup indicates the outer diameter of the suction cup, when an object is sucked by vacuum pressure, the rubber is deformed by the vacuum pressure, and the suction area is reduced accordingly. The reduced area is called the effective suction area, and the diameter of the sucker at the moment is called the effective sucker diameter.
According to the difference of vacuum pressure, the thickness of the rubber of the sucker, the friction coefficient with an adsorbed object and the like, the effective diameter of the sucker also has difference, and the general situation can be estimated to be reduced by 10%.
Selecting a sucker with the diameter D equal to 50 mm:
Ais effective＝3.14*502/(4*100)*90％＝17.66cm2＞Amin
So a 50mm chuck is feasible.
TABLE 2 theoretical lifting force of each diameter of suction cup
The utility model discloses a work that the solenoid valve comes control adsorption component (including X sucking disc 600, Y sucking disc 700) and cylinder motion part (including X to no pole cylinder 2, Y to no pole cylinder 4, X to having pole cylinder 1, Y to having pole cylinder 3). The electromagnetic valve is structurally characterized in that a closed cavity is arranged in the electromagnetic valve, each hole is opened at different positions, a passage is formed by connecting different air pipes, two electromagnets are arranged on the two sides, if a left electromagnetic valve coil is electrified, the valve body can be sucked towards the left side, and if a right electromagnetic valve coil is electrified, the valve body can be sucked towards the left side, so that the expected passage can be controlled by the operation (namely, an air hole which is not required to be used is blocked, and the air hole which is required to be used is opened). If the air inlet is normally open, the air flow can judge the air path to be communicated through the action of the electromagnet, and then the piston rod 1-3 is pushed, so that the air cylinder can carry out the desired operation. This is the use of a cylinder and solenoid valve in mechanical motion.
For the adsorption section: all the X suckers 600 are connected with one two-position three-way electromagnetic valve through pipelines, all the Y suckers 700 are connected with the other two-position three-way electromagnetic valve through pipelines, the two-position three-way electromagnetic valves are connected with one-way valves 500 through pipelines, the one-way valves 500 are connected with the oil atomizer 400 through pipelines, the oil atomizer 400 is connected with a throttle valve 300 through pipelines, the throttle valve 300 is connected with a filter 200 through pipelines, and the filter 200 is connected with a vacuum pump 100 through pipelines.
From fig. 5, it can be seen that the working principle of the pneumatic circuit of the adsorption part is as follows: the vacuum pump 100 is turned on to separate moisture from the air by passing through the check valve 500, the filter 200, the throttle valve 300 and the oil mist device 400, so that the air is kept dry during operation. When the button is not operated, the corresponding X sucker 600 or Y sucker 700 is in a released state, and when the suction button is pressed, namely the two-position three-way solenoid valve (YA1 or YA2) is electrified, the two-position three-way solenoid valve (YA1 or YA2) is switched to the left position, so that the corresponding X sucker 600 or Y sucker 700 is sucked. The specific operation control design of the suction cup is partially detailed in fig. 8.
For the cylinder moving part: the X-direction rodless cylinder 2 is connected with a three-position five-way electromagnetic valve through a pipeline, the Y-direction rodless cylinder 4 is connected with a three-position five-way electromagnetic valve through a pipeline, all the X-direction rod-containing cylinders 1 are connected with a three-position five-way electromagnetic valve through a pipeline, all the Y-direction rod-containing cylinders 3 are connected with a three-position five-way electromagnetic valve through a pipeline, all the three-position five-way electromagnetic valves are connected with an oil atomizer 400 through a pipeline, the oil atomizer 400 is connected with a throttle valve 300 through a pipeline, the throttle valve 300 is connected with a filter 200 through a pipeline, and the filter 200 is connected with a pneumatic pump 800 through.
Fig. 6 shows that the pneumatic circuit of the moving part works according to the following principle: the air pressure pump 800 is opened to pass through the filter 200, the throttle valve 300 and the oil mist device 400, and the moisture in the air is separated, so that the air is kept dry during operation. When the button is not operated, the air cylinder is in a static state, and when the lifting button is pressed, namely the electromagnetism YA4 and YA6 are electrified, the electromagnetic valve is switched to the right position, so that the Z-direction air cylinder rod extends out; when the descending button is pressed, namely the electromagnetism YA3 and YA5 are electrified, the electromagnetic valve is switched to the left position, and the Z-direction cylinder rod retracts; when a left button is pressed, namely the electromagnetic YA9 is electrified, the electromagnetic valve is switched to the right position, so that the X sliding block is driven to the left, and the Y-direction support 7 is driven to the left; when a right button is pressed, namely the electromagnetism YA10 is electrified, the electromagnetic valve is switched to the left position, the X sliding block is enabled to be right, and the Y-direction support 7 is driven to be right; when the upward button is pressed, namely the electromagnetic YA7 is electrified, the electromagnetic valve is switched to the right position, so that the Y slide block is upward to drive the X-direction bracket 5 to be upward; when the down button is pressed, namely the electromagnet YA8 is electrified, the electromagnetic valve is switched to the left position, the Y slide block is enabled to move downwards, and the X-direction support 5 is driven to move downwards. (the upper, lower, left and right are referenced by wall, and the figure is used as auxiliary explanation, and all the electromagnetism are three-position five-way electromagnetic valves).
The utility model discloses the return circuit of two parts has been applied: an adsorption part and a cylinder moving part. In the pneumatic circuit of the adsorption part, a one-way valve 500 is adopted to prevent the insufficient vacuum degree in the sucker from causing that the adsorption force does not reach the value of the design requirement. A three-position five-way electromagnetic valve is adopted in the moving part of the cylinder, so that the movement of the cylinder meets the movement requirement. In both parts, pneumatic elements (filter 200, throttle 300 and atomizer 400) are installed to ensure that the air in the circuit is dry.
About PLC's IO mouth distributes, at first carries out the analysis to the action that the robot needs to control, reachs the executive operation of the operation control of input port and output port, sees table 3 for the details.
TABLE 3I/O Port Allocation for PLC
And (3) performing PLC model selection according to the number of I/O ports in the table 3, selecting FX1N-24MR-001 of Mitsubishi, and inputting the number of points: 24; and (4) outputting points: 16. FX1N-24MR-001 Mitsubishi PLC FX1N series is a card-sized PLC suitable for control in small environments.
In designing the control panel, in order to allow the operator to intuitively know the operation of the robot through the operation panel, the buttons (SB9, SB10, SB11, SB12) for controlling the direction are made in the shape of direction keys, so that the operation is easy to understand. See figure 7 for details. The wiring is done on the PLC combining table 7 with the contents of fig. 7, see fig. 8 for details.
Because the control of this design wall climbing cleaning robot is artifical and operates on ground, because of the consideration of safety, have some interlocking links in the programming to prevent dropping and the maloperation of robot.
As shown in fig. 9, the operation is that the electromagnets YA1 and YA2 are powered by pressing SB1 and SB3 respectively, the suction cup is sucked by the vacuum pump 100 and self-locking is realized, and the electromagnets YA1 and YA2 are powered off by pressing SB2 and SB4 respectively, and the suction cup is released.
As shown in fig. 10, this operation is to press SB5 to energize electromagnet YA3 and only raise the X to the rod cylinder 1 when the Y suction cup 700 is sucked and the Y cylinder is lowered; pressing SB6 energizes electromagnet YA4 and only lowers the X-direction rod cylinder 1 when the Y-chuck 700 is holding and the Y-direction rod cylinder 3 is lowering. And respectively realize self-locking.
As shown in fig. 11, this operation is such that pressing SB7 energizes electromagnet YA5 and raises Y to the rod cylinder 3 only when the X suction cup 600 is sucked and the X is lowered to the rod cylinder 1; pressing SB8 energizes electromagnet YA6 and only lowers the Y-direction rod cylinder 3 when the X-suction cup 600 is sucked and the X-direction rod cylinder 1 is lowered. And respectively realize self-locking.
As shown in fig. 12, this operation is to press SB9 to energize the electromagnet YA10 and to cause the X to move to the left toward the rodless cylinder 2 only when the Y is raised toward the rodless cylinder 3, the Y suction cup 700 is sucking, and the X is lowered toward the rodless cylinder 1; pressing SB10 energizes electromagnetic YA9, and only when Y is raised to the rodless cylinder 2, Y is sucked by the Y suction cup 700, and X is lowered to the rodless cylinder 1, can X be moved to the right. And respectively realize self-locking.
As shown in fig. 13, this operation is to press SB11 to energize the electromagnet YA8 and to bring the Y-direction rodless cylinder 4 upward only when the X-direction rodless cylinder 1 is raised, the X-suction cup 600 is sucked, and the Y-direction rodless cylinder 3 is lowered; pressing SB12 energizes electromagnetic YA7, and only when the X-direction rod cylinder 1 is raised, the X-suction cup 600 is sucked, and the Y-direction rod cylinder 3 is lowered, can the Y-direction rodless cylinder 4 be lowered. And respectively realize self-locking.
As shown in fig. 14, when the X-direction rod cylinder 1 and the Y-direction rod cylinder 3 on the four legs are both contracted (i.e., when the wall-climbing cleaning robot is put down as a whole), the motor 10 rotates forward, the spraying starts, and self-locking is realized.
The utility model discloses a control part of climbing wall cleaning machines people adopts simple and convenient control panel so that people get on hand fast. Secondly, from the safety aspect of the operation, several controlled interlocks are used to prevent the robot from falling and running unreasonably.
Claims (10)
1. A wall climbing cleaning robot is characterized by comprising an X-direction moving mechanism, a Y-direction moving mechanism and a cleaning mechanism;
the X-direction moving mechanism comprises an X-direction support, an X-direction rodless cylinder and two X-direction rod cylinders, the X-direction rodless cylinder is fixed below the X-direction support, the length directions of the X-direction rodless cylinder and the X-direction support are the same, the X-direction rod cylinders are respectively fixed at two ends of the X-direction support, the X-direction rod cylinder is provided with a Z-direction cylinder rod, an X sucker fixing plate is fixed at the bottom of the Z-direction cylinder rod of the X-direction rod cylinder, and an X sucker used for being sucked onto a wall surface to be cleaned is fixed on the X sucker fixing plate;
the Y-direction moving mechanism comprises two Y-direction supports, a Y-direction rodless cylinder and two Y-direction rod cylinders, the X-direction rodless cylinder is provided with an X-direction sliding block, the Y-direction rodless cylinder is provided with a Y-direction sliding block, the X-direction sliding block and the Y-direction sliding block are vertically connected together, the Y-direction supports are respectively fixed at two ends of the Y-direction rodless cylinder, the Y-direction rod cylinders are fixed on the Y-direction supports, the Y-direction rod cylinders are provided with Z-direction cylinder rods, Y sucker fixing plates are fixed at the bottoms of the Z-direction cylinder rods of the Y-direction rod cylinders, and Y suckers for being adsorbed on a wall surface to be cleaned are fixed on the Y sucker fixing plates;
the cleaning mechanism comprises a motor fixing plate, a motor and a rolling brush, the motor fixing plate is fixed on the Y-direction rodless cylinder, the motor is fixed on the motor fixing plate, and the motor is connected with the rolling brush.
2. The wall-climbing cleaning robot as claimed in claim 1, wherein the Y-direction bracket comprises a Y-direction main body plate, one end of the Y-direction main body plate is vertically connected downwards to a first connecting plate fixed at the end of the Y-direction rodless cylinder, the other end of the Y-direction main body plate is vertically connected upwards to a second connecting plate, the top of the second connecting plate is vertically connected to a third connecting plate, the outer end of the third connecting plate is vertically connected downwards to a fourth connecting plate, and the Y-direction rodless cylinder is fixed in the space among the second connecting plate, the third connecting plate and the fourth connecting plate.
3. The wall-climbing cleaning robot as claimed in claim 1, wherein the X-direction bracket includes an X-direction main body plate and end plates vertically connected to both ends of the X-direction main body plate, and the X-direction rodless cylinder is fixed to an inner side surface of the end plates.
4. The wall-climbing cleaning robot as claimed in claim 3, wherein the X-direction rod cylinder comprises a front end cover, a piston rod, a buffer plunger, a cylinder barrel and a rear end cover; the rear end cover is fixed to the top of the cylinder barrel, the front end cover is fixed to the bottom of the cylinder barrel, the piston is located in an upper space in the buffering plunger, the piston rod is located in a lower space in the buffering plunger, and the outer side face of the buffering plunger moves up and down relative to the rear end cover and the inner side face of the cylinder barrel.
5. The wall-climbing cleaning robot according to claim 4, wherein two snap rings are connected to the outer side surface of the piston rod, the buffer plunger comprises an upper section, a middle section and a lower section, the outer diameters of the upper section and the lower section are smaller than that of the middle section, the rear end cover is positioned outside the upper section and on the middle section, and the inner side surfaces of the upper section and the middle section are consistent with the outer side surface of the piston rod in shape.
6. The wall-climbing cleaning robot as recited in claim 5, wherein an L-shaped groove is formed in a corner of the rear end cover, which is in contact with the upper section and the lower section, and a first piston sealing ring is fixed on the L-shaped groove; the upper portion outside of middle section is opened there is the ring channel and is equipped with the second piston sealing washer, be fixed with the magnetic ring in the middle of the middle part of middle section, the middle part outside of middle section is fixed with the guide ring, the lower part outside of middle section is opened has the ring channel and is equipped with the third piston sealing washer.
7. The wall-climbing cleaning robot as recited in claim 1, wherein a pipe is detachably connected to the motor fixing plate, and a nozzle is fixed to a bottom of the pipe and inclined toward the roller brush.
8. The wall-climbing cleaning robot as claimed in claim 1, wherein the X-directional bracket and the Y-directional bracket are made of ZAlCu5Mn, and the surfaces of the X-directional bracket and the Y-directional bracket are coated with anti-rust paint coatings; the weight of climbing wall cleaning robot is 20kg, each be fixed with threely on the X sucking disc fixed plate the X sucking disc, each be fixed with threely on the Y sucking disc fixed plate the Y sucking disc, the X sucking disc with the diameter more than or equal to 50mm of Y sucking disc.
9. The wall-climbing cleaning robot as claimed in claim 1, wherein all the X suckers are connected to one two-position three-way solenoid valve through a pipeline, all the Y suckers are connected to the other two-position three-way solenoid valve through a pipeline, two of the two-position three-way solenoid valves are connected to a check valve through a pipeline, the check valve is connected to an oil atomizer through a pipeline, the oil atomizer is connected to a throttle valve through a pipeline, the throttle valve is connected to a filter through a pipeline, and the filter is connected to a vacuum pump through a pipeline.
10. The climbing wall cleaning robot according to claim 1, wherein the X-direction rodless cylinder is connected with a three-position five-way solenoid valve through a pipeline, the Y-direction rodless cylinder is connected with a three-position five-way solenoid valve through a pipeline, all the X-direction rod-containing cylinders are connected with a three-position five-way solenoid valve through a pipeline, all the Y-direction rod-containing cylinders are connected with a three-position five-way solenoid valve through a pipeline, all the three-position five-way solenoid valves are connected with an oil atomizer through a pipeline, the oil atomizer is connected with a throttle valve through a pipeline, the throttle valve is connected with a filter through a pipeline, and the filter is connected with a pneumatic pump through a pipeline.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021031229.9U CN212650794U (en) | 2020-06-08 | 2020-06-08 | Wall-climbing cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021031229.9U CN212650794U (en) | 2020-06-08 | 2020-06-08 | Wall-climbing cleaning robot |
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| CN212650794U true CN212650794U (en) | 2021-03-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111728545A (en) * | 2020-06-08 | 2020-10-02 | 浙江圣帝亚建筑科技有限公司 | Wall-climbing cleaning robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111728545A (en) * | 2020-06-08 | 2020-10-02 | 浙江圣帝亚建筑科技有限公司 | Wall-climbing cleaning robot |
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