CN215605462U - High-altitude wall surface cleaning robot - Google Patents
High-altitude wall surface cleaning robot Download PDFInfo
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- CN215605462U CN215605462U CN202121736713.6U CN202121736713U CN215605462U CN 215605462 U CN215605462 U CN 215605462U CN 202121736713 U CN202121736713 U CN 202121736713U CN 215605462 U CN215605462 U CN 215605462U
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Abstract
The utility model discloses a high-altitude wall surface cleaning robot, which comprises: a housing; the controller is arranged on the shell; the cleaning system is arranged on the shell and is connected with the controller; the adsorption system is arranged on the shell and is connected with the controller; the housing includes: the bottom plate is provided with a plurality of vent holes; the negative pressure bin is arranged on the bottom plate; the adsorption system comprises: the fan adsorption component is arranged in the negative pressure bin; and the vacuum pump adsorption component is arranged on the bottom plate. The utility model adopts two adsorption components for adsorption, and adopts the fan adsorption component for adsorbing dust and sundries, thereby realizing the cleaning effect. If when meetting the barrier or the corner of wall, adopt the vacuum pump to adsorb the subassembly and adsorb wall or barrier, the robot can adjust the position as required to avoid meetting barrier or corner, lead to the problem that the robot breaks away from the wall, ensure the security of robot.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a high-altitude wall surface cleaning robot.
Background
The robot for high-altitude operation is defined as being capable of freely moving on a wall surface and performing certain functions regardless of domestic and foreign countries. Because the high-altitude robot is generally attached to a wall, two functions are required: an adsorption function and a movement function. Therefore, the device can be classified according to the adsorption mode and the moving mode, and can be divided into the following steps according to the difference of the adsorption modes: negative pressure adsorption, magnetic adsorption and thrust adsorption; the method is divided into the following steps according to the moving mode: wheel type, crawler type, foot type. The high-altitude wall surface robot with different functions and purposes can be formed according to different attaching modes and moving modes.
In the prior art, when a robot encounters a barrier or a corner of a wall surface, the whole machine is easy to separate from the wall surface, and the safety of the whole machine is poor.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a high-altitude wall surface cleaning robot is provided aiming at overcoming the defects in the prior art and solving the problem that the robot is easy to separate from the wall surface in the prior art.
The technical scheme adopted by the utility model for solving the technical problem is as follows:
an overhead wall cleaning robot comprising: a housing; a controller disposed at the housing; the cleaning system is arranged on the shell and is connected with the controller; the adsorption system is arranged on the shell and is connected with the controller; wherein the housing includes:
the bottom plate is provided with a plurality of vent holes;
the negative pressure bin is arranged on the bottom plate;
the adsorption system comprises:
the fan adsorption component is arranged on the negative pressure bin;
and the vacuum pump adsorption component is arranged on the bottom plate.
The high-altitude wall surface cleaning robot is characterized in that the number of the vacuum pump adsorption components is at least two; the vacuum pump adsorption assembly includes:
the steering engine is arranged on the bottom plate;
the vacuum pump is arranged on the bottom plate;
and the sucking disc is rotatably connected with the bottom plate, and the sucking disc is connected with the steering engine and the vacuum pump.
The high-altitude wall surface cleaning robot is characterized in that a sealing skirt is arranged around the bottom plate;
the fan adsorption component comprises:
a first driving member;
and the impeller is connected with the rotating shaft of the first driving piece.
The high-altitude wall surface cleaning robot is characterized in that the negative pressure bin and the suckers are internally provided with pressure sensors, and the pressure sensors are connected with the controller.
High altitude wall cleaning machines people, wherein, high altitude wall cleaning machines people still includes: the moving system is arranged on the shell and is connected with the controller; the mobile system includes:
the Mecanum wheels are arranged on the bottom plate;
and the second driving piece is arranged on the bottom plate and used for driving the Mecanum wheel.
High altitude wall cleaning machines people, wherein, high altitude wall cleaning machines people still includes:
an ultrasonic module disposed on the housing;
a camera disposed in the housing.
High altitude wall cleaning machines people, wherein, high altitude wall cleaning machines people still includes:
and the communication system is arranged on the shell and is connected with the controller.
The high altitude wall surface cleaning robot, wherein the communication system includes: and the wireless module is connected with the camera.
High altitude wall cleaning machines people, wherein, high altitude wall cleaning machines people still includes:
a rechargeable power source connected with the controller, the cleaning system, the movement system, the communication system, and the adsorption system.
The high altitude wall surface cleaning robot, wherein, the cleaning system includes:
a roller brush located outside the housing;
the running water pump is positioned in the shell;
and the spray head is positioned outside the shell and is connected with the running water pump.
Has the advantages that: the utility model adopts two adsorption components for adsorption, and adopts the fan adsorption component for adsorbing dust and sundries, thereby realizing the cleaning effect. If when meetting the barrier or the corner of wall, adopt the vacuum pump to adsorb the subassembly and adsorb wall or barrier, the robot can adjust the position as required to avoid meetting barrier or corner, lead to the problem that the robot breaks away from the wall, ensure the security of robot.
Drawings
Fig. 1 is a perspective view of the high altitude wall cleaning robot of the present invention.
Fig. 2 is a bottom view of the high altitude wall cleaning robot of the present invention.
Fig. 3 is a functional structure block diagram of the high-altitude wall surface cleaning robot of the present invention.
Description of reference numerals:
11. a base plate; 12. a negative pressure bin; 21. a suction cup; 22. a rotating member; 221. a base; 222. a horizontal rotation section; 223. a first vertical rotation section; 224. a second vertical rotating section; 31. a Mecanum wheel; 41. and (7) rolling and brushing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
Referring to fig. 1-3, the present invention provides a robot for cleaning a high-altitude wall surface.
As shown in fig. 1 and 2, the high altitude wall cleaning robot includes: a housing; a controller disposed at the housing; the cleaning system is arranged on the shell and is connected with the controller; the adsorption system is arranged on the shell and is connected with the controller; the housing includes:
the base plate 11 is provided with a plurality of vent holes;
the negative pressure bin 12 is arranged on the bottom plate 11;
the adsorption system comprises:
the fan adsorption component is arranged on the negative pressure bin 12;
and the vacuum pump adsorption component is arranged on the bottom plate 11.
It is worth explaining that the utility model adopts two adsorption components for adsorption, and adopts the fan adsorption component for adsorbing dust and sundries, thereby realizing the cleaning effect. If when meetting the barrier or the corner of wall, adopt the vacuum pump to adsorb the subassembly and adsorb wall or barrier, the robot can adjust the position as required to avoid meetting barrier or corner, lead to the problem that the robot breaks away from the wall, ensure the security of robot.
It can be understood that two sets of negative pressure systems are formed by the fan adsorption component and the vacuum pump adsorption component, the adsorption capacity of the fan adsorption component is weaker, and the adsorption capacity of the vacuum pump adsorption component is stronger, so that the fan adsorption component can be used for adsorbing dust and sundries, and the vacuum pump adsorption component can be used for adsorbing walls or obstacles.
It should be noted that, in order to ensure the adsorption effect of the vacuum pump adsorption assembly, the adsorption assembly can be firstly adopted to clean the wall surface, then the vacuum pump adsorption assembly is adopted to adsorb the cleaned wall surface, dust and impurities on the wall surface are removed, and the adsorption effect of the vacuum pump assembly cannot be influenced.
Specifically, the fan adsorption component is used for forming negative pressure in the negative pressure bin 12, air flows to the negative pressure bin 12 through the vent hole, and dust and sundries can enter the negative pressure bin 12 through the vent hole, so that the aim of cleaning is fulfilled. The vacuum pump adsorption component is used for enabling the robot to be adsorbed on the wall surface or the barrier.
The controller is used for controlling the cleaning system and the adsorption system,
in a preferred embodiment of the present invention, referring to fig. 1-2, at least two vacuum pump suction assemblies are provided; the vacuum pump adsorption assembly includes:
the steering engine is arranged on the bottom plate 11;
a vacuum pump disposed on the bottom plate 11;
and the sucking disc 21 is rotatably connected with the bottom plate 11, and the sucking disc 21 is connected with the steering engine and the vacuum pump.
Specifically, in order to adjust the orientation of the suction cup 21, the suction cup 21 is rotatably disposed on the bottom plate 11, the steering engine is used for driving the suction cup 21 to rotate, the vacuum pump is used for enabling the suction cup 21 to be in a vacuum state, when the steering engine is used for driving the suction cup 21 to cover a wall surface, the vacuum pump absorbs air in the suction cup 21 and enables the interior of the suction cup 21 to be in the vacuum state, and therefore the suction cup 21 is attached to the wall surface through atmospheric pressure.
The suction cup 21 is rotatably connected to the base plate 11 via a rotating member 22, and the rotating member 22 includes:
a base 221 provided on the bottom plate 11;
a horizontal rotation part 222 rotatably connected to the base part 221;
a first vertical rotating part 223 rotatably connected to the horizontal rotating part 222;
and a second vertical rotation part 224 rotatably coupled to the first vertical rotation part 223.
The sucking position of the suction cup 21 can be adjusted by the rotation member 22, specifically, the horizontal rotation portion 222 is rotatably connected to the base portion 221 to adjust the sucking position of the suction cup 21 in the horizontal direction, and the first vertical rotation portion 223 and the second vertical rotation portion 224 are rotatably connected to adjust the sucking position of the suction cup 21 in the vertical direction.
The vacuum pump adsorption assemblies are at least two, for example, two vacuum pump adsorption assemblies are adopted, and are respectively positioned on two sides of the bottom plate 11. The adoption of at least two vacuum pump adsorption components can ensure that the robot is stably adsorbed on the wall surface or the barrier. And at least two vacuum pump absorption subassemblies can adsorb in turn to the robot can continuously adsorb on wall or barrier in the removal process.
In a preferred embodiment of the present invention, referring to fig. 1-2, in order to increase the cleaning ability of the fan suction assembly, the bottom plate 11 is surrounded by a sealing skirt, so that a cleaning space is formed in the sealing skirt, and the fan suction assembly only sucks dust or debris in the cleaning space, so as to more thoroughly suck the dust or debris in the cleaning space.
In a preferred embodiment of the present invention, referring to fig. 1-2, the fan adsorption assembly includes:
a first driving member;
and the impeller is connected with the rotating shaft of the first driving piece.
Specifically, the first driving member is disposed on the bottom plate 11, the first driving member is used for driving the impeller to rotate, the impeller is used for forming negative pressure in the negative pressure bin 12, and dust or impurities can enter the negative pressure bin 12 through the vent hole. The first driving member and the impeller form a negative pressure fan having a wind collecting opening for preventing gas from flowing backward and forming high-speed airflow.
In a preferred embodiment of the present invention, referring to fig. 1-2, pressure sensors are disposed in the negative pressure chamber 12 and the suction cup 21, and the pressure sensors are connected to the controller.
Specifically, pressure sensors are arranged in the negative pressure bin 12 and the suction cup 21, pressure values in the negative pressure bin 12 and the suction cup 21 can be detected through the pressure sensors, and the controller can control the cleaning system and the adsorption system according to the pressure values detected by the pressure sensors. For example, when the pressure in the negative pressure chamber 12 is low, it indicates that the cleaning system is adsorbing dust and debris, and when the pressure in the suction cup 21 is low, it indicates that the suction cup 21 has been attached to a wall or an obstacle.
In a preferred embodiment of the present invention, referring to fig. 1-2, the robot for cleaning high-altitude wall surface further comprises: the moving system is arranged on the shell and is connected with the controller; the mobile system includes:
a mecanum wheel 31 provided on the base plate 11;
and a second driving member disposed on the bottom plate 11 and used for driving the mecanum wheel 31.
Specifically, the mecanum wheel 31 is an omni-directional wheel, and based on the technology of the mecanum wheel 31, the motion modes such as forward movement, transverse movement, oblique movement, rotation, and combinations thereof can be realized. That is, with mecanum wheel 31, it can be moved in any direction as desired to facilitate cleaning.
There may be a plurality of mecanum wheels 31 and second drive members, for example, as shown in fig. 2, there are 3 mecanum wheels 31, and 3 mecanum wheels 31 are arranged in an isosceles triangle.
In a preferred embodiment of the present invention, the high altitude wall cleaning robot further includes:
an ultrasonic module disposed on the housing;
a camera disposed in the housing.
Specifically, the ultrasonic module may emit ultrasonic waves and receive the returned ultrasonic waves, for example, if there is an obstacle in front, the returned ultrasonic waves may be received quickly. The camera can shoot images, particularly sundries and stains on the wall surface, and can recognize the images, so that the sundries and the stains are cleaned.
In a preferred embodiment of the present invention, the high altitude wall cleaning robot further includes:
and the communication system is arranged on the shell and is connected with the controller.
Specifically, the communication system is communicated with the mobile phone end application, the data collected by the robot can be transmitted to the mobile phone end application, and the data in the mobile phone end application APP can also be transmitted to the robot.
In a preferred embodiment of the present invention, the communication system includes: and the wireless module is connected with the camera.
Specifically, can also communicate with cell-phone end application through wireless module, can be with data transmission to cell-phone end application that the robot gathered, also can with data transfer to the robot in the cell-phone end application APP.
In a preferred embodiment of the present invention, the high altitude wall cleaning robot further includes:
a rechargeable power source connected with the controller, the cleaning system, the movement system, the communication system, and the adsorption system.
Specifically, the robot further comprises a power supply which supplies power to the controller, the cleaning system, the moving system, the communication system and the adsorption system. The power supply may be a rechargeable power supply.
In a preferred embodiment of the present invention, referring to fig. 1-2, the cleaning system comprises:
a roller brush 41 located outside the housing;
the running water pump is positioned in the shell;
and the spray head is positioned outside the shell and is connected with the running water pump.
Specifically, in order to improve the cleaning capability of the robot, on the basis of the fan adsorption assembly, the rolling brush 41 is arranged on the bottom plate 11, dust, sundries or dirt can be adhered to the rolling brush 41, and the cleaning capability is improved by the mutual matching of the fan adsorption assembly and the rolling brush 41. The dust or the foreign materials or the stains may be sprayed with water using the spray head and then cleaned using the roll brush 41.
It should be noted that the cleaning system further includes: and the rotating shaft of the third driving part is connected with the rolling brush so as to drive the rolling brush to rotate, and the third driving part can adopt a pneumatic motor.
According to the wall cleaning device, the complete machine can be prevented from being separated from the wall through the two sets of negative pressure systems, the safety of the complete machine is improved, the motion in multiple directions can be realized, the complete machine is stronger in moving flexibility and higher in stability, the operation is more convenient, the labor intensity is effectively reduced, the working efficiency of wall cleaning is improved, and the wall cleaning device has the advantages of small size, light weight and strong functions.
As shown in fig. 3, the processor module of the controller is STM32F407ZGT6, and communicates with the mobile phone side application through the communication system and the SX1278 wireless communication module.
The working process of the high-altitude cleaning robot is as follows:
firstly, collecting data by using a main drilling camera, an ultrasonic module and a pressure sensor and sending the data to an STM32F407ZGT6 singlechip;
secondly, the single chip microcomputer sends corresponding control signals to the vacuum pump and the steering engine according to the acquired information, and meanwhile, the suction disc is controlled to be rotationally adsorbed on the wall according to data in the pressure sensor;
thirdly, when a corner is met, a vacuum pump is used for adsorbing the wall body, the wall body is crossed over the corner in a turnover mode, and the impeller stops rotating in the adsorption process;
fourthly, cleaning corresponding stains by the corresponding spray heads and the rolling brushes under the control of the single chip microcomputer according to the signals acquired by the camera;
in the block diagram shown in fig. 3, according to different wall bodies, different data read by the pressure sensor are transmitted to the single chip microcomputer, the single chip microcomputer controls the brushless motor to generate different rotating speeds so as to be adsorbed in different wall bodies, after adsorption is completed, the camera can collect surrounding patterns and find stains in the wall bodies through a binarization method, at the moment, the single chip microcomputer controls the spray head to spray cleaning liquid, and a rolling brush is used for cleaning, so that fixed-point stain cleaning is realized. When meeting the barrier, the vacuum pump can be adopted for adsorption, and the overturning is carried out so as to bypass the barrier.
It is to be understood that the utility model is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the utility model as defined by the appended claims.
Claims (10)
1. An overhead wall cleaning robot comprising: a housing; a controller disposed at the housing; the cleaning system is arranged on the shell and is connected with the controller; the adsorption system is arranged on the shell and is connected with the controller; characterized in that the housing comprises:
the bottom plate is provided with a plurality of vent holes;
the negative pressure bin is arranged on the bottom plate;
the adsorption system comprises:
the fan adsorption component is arranged on the negative pressure bin;
and the vacuum pump adsorption component is arranged on the bottom plate.
2. The high altitude wall surface cleaning robot according to claim 1, wherein there are at least two vacuum pump suction assemblies; the vacuum pump adsorption assembly includes:
the steering engine is arranged on the bottom plate;
the vacuum pump is arranged on the bottom plate;
and the sucking disc is rotatably connected with the bottom plate, and the sucking disc is connected with the steering engine and the vacuum pump.
3. The high altitude wall surface cleaning robot according to claim 2,
the bottom plate is provided with a sealing skirt;
the fan adsorption component comprises:
a first driving member;
and the impeller is connected with the rotating shaft of the first driving piece.
4. The high-altitude wall surface cleaning robot as claimed in claim 3, wherein pressure sensors are arranged in the negative pressure cabin and the sucker, and the pressure sensors are connected with the controller.
5. The overhead wall cleaning robot according to claim 1, further comprising: the moving system is arranged on the shell and is connected with the controller; the mobile system includes:
the Mecanum wheels are arranged on the bottom plate;
and the second driving piece is arranged on the bottom plate and used for driving the Mecanum wheel.
6. The overhead wall cleaning robot according to claim 5, further comprising:
an ultrasonic module disposed on the housing;
a camera disposed in the housing.
7. The overhead wall cleaning robot according to claim 6, further comprising:
and the communication system is arranged on the shell and is connected with the controller.
8. The overhead wall cleaning robot of claim 7, wherein the communication system comprises: and the wireless module is connected with the camera.
9. The overhead wall cleaning robot according to claim 8, further comprising:
a rechargeable power source connected with the controller, the cleaning system, the movement system, the communication system, and the adsorption system.
10. An overhead wall cleaning robot as claimed in any one of claims 1 to 9 wherein the cleaning system comprises:
a roller brush located outside the housing;
the running water pump is positioned in the shell;
and the spray head is positioned outside the shell and is connected with the running water pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121736713.6U CN215605462U (en) | 2021-07-28 | 2021-07-28 | High-altitude wall surface cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121736713.6U CN215605462U (en) | 2021-07-28 | 2021-07-28 | High-altitude wall surface cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215605462U true CN215605462U (en) | 2022-01-25 |
Family
ID=79893005
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121736713.6U Active CN215605462U (en) | 2021-07-28 | 2021-07-28 | High-altitude wall surface cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215605462U (en) |
-
2021
- 2021-07-28 CN CN202121736713.6U patent/CN215605462U/en active Active
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