CN213606091U

CN213606091U - Wall-climbing cleaning robot

Info

Publication number: CN213606091U
Application number: CN202022159484.8U
Authority: CN
Inventors: 张艳丽; 杨俊超; 姚逸帆
Original assignee: Xian Unversity of Arts and Science
Current assignee: Xian Unversity of Arts and Science; Xian University
Priority date: 2020-09-27
Filing date: 2020-09-27
Publication date: 2021-07-06
Anticipated expiration: 2030-09-27

Abstract

The utility model discloses a wall climbing cleaning robot, the utility model discloses a claw type sucking disc adsorbs with glass, drives the sucking disc through cylinder control four-bar linkage support and removes to realize this device and remove on glass, this device carries out bionical design according to polypod insect model, has improved mechanical structure's flexibility, controllability and stability, reduces the manufacturing degree of difficulty when lightening and wipe glass device self quality, easily production and use.

Description

Wall-climbing cleaning robot

Technical Field

The utility model belongs to glass cleaning machine field, concretely relates to wall climbing cleaning robot.

Background

In recent years, in the field of glass cleaning devices, domestic and foreign experts and scholars have made relevant studies, and the study on glass cleaning devices has appeared in japan at the earliest, and in the sixties of the twentieth century, japan has made studies on glass cleaning devices. And secondly, the cleaning of the wall surface is mainly performed in the United states, Germany and Britain, and the domestic research on the cleaning is later. Today, there are some common glass cleaning robots on the market, such as the BOBOBOT brand in the United states, the Hobot brand in Germany, the Cowss brand in China, and so on. In recent years, more and more brands are coming into the market, and therefore, the demand of the society for glass cleaning robots is also increasing. Such as the wallwalker glass wiping robot in japan, the Hobot glass wiping robot in germany glass girl, and the like.

The existing glass cleaning robot has the advantages and disadvantages that:

1) german glass girl Hobot glass wiping robot;

the advantages are that: the rotary wiping is adopted, so that the cleaning force is strong, the rotary wiping can be stopped immediately when the suction force is insufficient, a Z-shaped cleaning route is adopted, areas such as smooth tiles, glass and flat table tops can be cleaned, the size is small, and the weight is light.

The disadvantages are as follows: adopt circular cleaning plate, the unable cleanness in glass four corners utilizes high-speed centrifugal pump to adsorb, can only be detained 20 minutes on glass after the outage, and the time overlength can drop, has the potential safety hazard, and the noise of production is great.

2) Kowss glass wiping robot WRN 60;

the advantages are that: the vacuum adsorption type structure is adopted, the thickness of glass is not limited, the dead angle of the glass can be cleaned in a square shape, the crawler wheels made of soft silica gel materials are adopted, the skid resistance can be effectively realized, the moving road is cleaned back and forth by the aid of the zigzag, and the cleaning effect is good.

The disadvantages are as follows: the power consumption is big, the noise is big, the crawler-type removes the flexibility poor, and the turn is slow, and the adsorption mode requires highly to glass cleanliness factor, if there is little sand grain on the glass, probably leads to the adsorption efficiency not good.

The research on the above glass wiping device found that the cleaning robot fails to spread over the market to have the following problems:

firstly, the cleaning effect is poor, and the dead angle needs to be cleaned manually by people for the second time, such as a German Hobot glass cleaning robot; secondly, the adsorption mode has potential safety hazard, and the glass can only stay on the glass for 20 minutes after power failure; thirdly, the cost performance is not high, most of the prices of window cleaning robots in the market are between 1800 and 6000, and common people are difficult to consume.

Disclosure of Invention

An object of the utility model is to overcome above-mentioned not enough, provide a wall climbing cleaning robot, adopt the cylinder to promote, a plurality of sucking discs adsorb glass and accomplish the operation of integrated device.

In order to achieve the purpose, the utility model comprises a machine body, wherein the front part of the machine body is provided with a water spraying device, the rear part of the machine body is provided with a rolling brush device, and two sides of the machine body are provided with at least two groups of claw-shaped suckers;

the claw-shaped sucker comprises a four-bar linkage support, the four-bar linkage support is fixed on the side face of the machine body, an air cylinder seat is arranged on the four-bar linkage support, an air cylinder is arranged between the air cylinder seat and the four-bar linkage support, a sucker is arranged at the end part of the four-bar linkage support, the sucker is connected with a vacuum pump, and the air cylinder is controlled by a PLC.

The four-bar support is provided with a cylinder connecting block, the cylinder is hinged on the cylinder connecting block, and a cylinder rod of the cylinder is hinged on the cylinder seat.

The end part of the four-bar support is provided with a tee joint which is connected with the sucking disc and the vacuum pump.

The water spraying device comprises a control rod hinged to the machine body, the control rod is connected with a connecting rod, the control rod is connected with the connecting rod through a control cylinder, a spraying rod is arranged at the end of the connecting rod, a plurality of spray heads are arranged on the spraying rod, and the spraying rod is connected with a water tank.

The rolling brush device comprises a support frame and a rolling brush, the support frame is fixed at the tail of the machine body, and the rolling brush is fixed on the support frame through a rolling brush shaft.

The roller brush is driven by a motor.

Compared with the prior art, the utility model discloses a claw type sucking disc adsorbs with glass, drives the sucking disc through cylinder control four-bar linkage support and removes to realize this device and remove on glass, this device carries out bionical design according to polypod insect model, has improved mechanical structure's flexibility, controllability and stability, reduces the manufacturing degree of difficulty when lightening and wipe glass device self quality, easily production and use.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the claw-shaped suction cup of the present invention;

FIG. 3 is a schematic structural view of the water spraying device of the present invention;

FIG. 4 is a schematic structural view of the rolling brush device of the present invention;

the device comprises a sucker 1, a sucker 2, a tee joint 3, a cylinder connecting block 4, a cylinder rod 5, a cylinder seat 6, a cylinder seat 7, a four-bar support 8, a machine body 9, a control rod 10, a connecting rod 11, a spray rod 12, a spray head 13, a control cylinder 14, a support frame 15, a rolling brush 16 and a rolling brush shaft.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Referring to fig. 1, the portable water spraying device comprises a machine body 8, wherein a water spraying device is arranged at the front part of the machine body 8, a rolling brush device is arranged at the rear part of the machine body 8, and at least two groups of claw-shaped suckers are arranged at two sides of the machine body 8;

referring to fig. 2, the claw-shaped sucker comprises a four-bar support 7, the four-bar support 7 is fixed on the side face of the machine body 8, an air cylinder seat 6 is arranged on the four-bar support 7, an air cylinder 4 is arranged between the air cylinder seat 6 and the four-bar support 7, a sucker 1 is arranged at the end of the four-bar support 7, the sucker 1 is connected with a vacuum pump, and the air cylinder 4 is controlled by a PLC. The four-bar support 7 is provided with a cylinder connecting block 3, a cylinder 4 is hinged on the cylinder connecting block 3, and a cylinder rod 5 of the cylinder is hinged on a cylinder seat 6. The end part of the four-bar support 7 is provided with a tee joint 2, and the tee joint 2 is connected with the sucker 1 and the vacuum pump.

The sucking disc 1 is used for adsorbing on the wall surface, and the robot can work normally, and the tee joint 2 is used for connecting the short shaft of the four-bar support 7 with the sucking disc 1. The cylinder connecting block 3 connects the cylinder 4 with the long shaft of the four-bar linkage bracket 7, and further drives the sucker 1 to lift up and fall down, move forward and move backward, and the like. The air cylinder 4 is used for controlling all operations of the whole claw disc, and the robot is ensured to work normally. The cylinder rod 5 and the cylinder block 6 serve to fix the cylinder 4 in place. The four-bar linkage bracket 7 is an important means of connecting the entire claw disk to the body.

Referring to fig. 3, the water spraying device comprises a control rod 9 hinged on the machine body 8, the control rod 9 is connected with a connecting rod 10, the control rod 9 is connected with the connecting rod 10 through a control cylinder 13, a spray rod 11 is arranged at the end part of the connecting rod 10, a plurality of spray heads 12 are arranged on the spray rod 11, and the spray rod 11 is connected with a water tank.

Referring to fig. 4, the rolling brush device comprises a support frame 14 and a rolling brush 15, the support frame 14 is fixed at the tail of the machine body 8, the rolling brush 15 is fixed on the support frame 14 through a rolling brush shaft 16, and the rolling brush 15 is driven by a motor.

In the water jet device, water is sent to the spray head 12 through a motor, a water pump and a thin hose to carry out cleaning treatment, and mist cleaning is completed. Meanwhile, in the water spraying device, the PLC is adopted to control the electromagnetic valve, and then the control cylinder 13 in the equipment is controlled, so that the spray head 12 can complete cleaning operation at different positions and different angles. When the water spraying device works, the rear rolling brush device drives the rolling brush 15 to rotate by using a motor, and the wall surface which is cleaned is wiped when the rolling brush 15 is in a rotating state.

The utility model discloses a running gear comprises six claw type sucking discs. Six sucking discs can be lifted and fall down, and move forward and backward, and the sucking discs on the uneven wall surface can be lifted and fall down. In the process of advancing, three sucking discs adsorb the wall surface, and fix the robot. The other three suckers are driven by the cylinder to lift and fall and move forwards or backwards to finish one-time walking. When the foot is lifted, the sucker is cut off, so that the sucker can move freely, and when the foot is fixed on a wall, the sucker is ventilated, so that the robot is fixed on the wall. When the cylinder contracts, the sucking disc can be lifted to cross the encountered obstacle, and the maximum height when the sucking disc is lifted is the maximum stroke which can be executed by the current cylinder. The whole device controls the electromagnetic valve through the PLC and then controls six suckers on the air cylinder to move.

Claims

1. A wall-climbing cleaning robot is characterized by comprising a machine body (8), wherein the front part of the machine body (8) is provided with a water spraying device, the rear part of the machine body (8) is provided with a rolling brush device, and two sides of the machine body (8) are provided with at least two groups of claw-shaped suckers;

the claw-shaped sucker comprises a four-bar support (7), the four-bar support (7) is fixed on the side face of a machine body (8), an air cylinder seat (6) is arranged on the four-bar support (7), an air cylinder (4) is arranged between the air cylinder seat (6) and the four-bar support (7), a sucker (1) is arranged at the end of the four-bar support (7), the sucker (1) is connected with a vacuum pump, and the air cylinder (4) is controlled through a PLC.

2. A wall-climbing cleaning robot as claimed in claim 1, characterized in that the four-bar linkage bracket (7) is provided with a cylinder connecting block (3), the cylinder (4) is hinged on the cylinder connecting block (3), and the cylinder rod (5) of the cylinder is hinged on the cylinder seat (6).

3. A wall-climbing cleaning robot as claimed in claim 1, characterized in that the end of the four-bar linkage support (7) is provided with a tee (2), and the tee (2) connects the suction cup (1) and the vacuum pump.

4. The wall-climbing cleaning robot as claimed in claim 1, wherein the water spraying device comprises a control rod (9) hinged on the body (8), the control rod (9) is connected with a connecting rod (10), the control rod (9) is connected with the connecting rod (10) through a control cylinder (13), a spray rod (11) is arranged at the end part of the connecting rod (10), a plurality of spray heads (12) are arranged on the spray rod (11), and the spray rod (11) is connected with the water tank.

5. A wall-climbing cleaning robot as claimed in claim 1, characterized in that the roller brush device comprises a support frame (14) and a roller brush (15), the support frame (14) is fixed at the tail of the machine body (8), and the roller brush (15) is fixed on the support frame (14) through a roller brush shaft (16).

6. A wall-climbing washing robot as claimed in claim 5, characterized in that the roller brush (15) is driven by a motor.