CN216797521U - Cleaning robot for door gap of elevator - Google Patents
Cleaning robot for door gap of elevator Download PDFInfo
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- CN216797521U CN216797521U CN202122962612.7U CN202122962612U CN216797521U CN 216797521 U CN216797521 U CN 216797521U CN 202122962612 U CN202122962612 U CN 202122962612U CN 216797521 U CN216797521 U CN 216797521U
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Abstract
The utility model relates to a cleaning robot for a door crack of a lifter, which comprises a cleaning device, a door crack cleaning device and a control device, wherein the cleaning device is used for cleaning the door crack; the cleaning device is arranged on the automatic navigation trolley; the detection measurement device is used for determining the position of the door gap and measuring the depth of the door gap; the detection measuring device is arranged on the automatic navigation trolley; the adjusting module is used for adjusting the position of a cleaning end of the cleaning device; the adjusting module is arranged on the automatic navigation trolley; the control system is used for controlling the automatic navigation trolley, the cleaning device and the adjusting module and receiving and processing information fed back by the analysis and detection measuring device; the control system is arranged on the automatic navigation trolley; the automatic navigation trolley is used for loading the cleaning device, the detection and measurement device, the adjusting module and the control system and arriving at a destination along a set route track. The elevator door crack cleaning robot can automatically and efficiently clean the door crack, has good cleaning cleanliness and saves manpower.
Description
Technical Field
The utility model relates to a cleaning robot, in particular to a cleaning robot for a door slot of an elevator.
Background
The elevator is basically necessary equipment for each building, and a user can easily and quickly reach a required floor through the elevator; because elevators are frequently used, regular maintenance and cleaning of the elevators is required to ensure their normal and safe operation. In the daily regular maintenance process, workers need to clean the door seams of the elevator to ensure that the door body can be normally opened and closed; however, the door gap is narrow, the cleaning difficulty is high, and the cleanness is difficult to guarantee. If the task of cleaning the door gap is completed by the intelligent robot, the labor can be saved, and the cleaning quality can be effectively ensured; therefore, it is necessary to design a robot capable of cleaning the door crack.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects in the prior art and provide the elevator door crack cleaning robot which can automatically and efficiently clean the door crack, has good cleaning cleanliness and saves manpower.
The purpose of the utility model is realized as follows:
a cleaning robot for the door slot of elevator is composed of a robot body,
the cleaning device is used for cleaning the door crack; the cleaning device is arranged on the automatic navigation trolley;
the detection measurement device is used for determining the door gap position and measuring the door gap depth; the detection measuring device is arranged on the automatic navigation trolley;
the adjusting module is used for adjusting the position of a cleaning end of the cleaning device; the adjusting module is arranged on the automatic navigation trolley;
the control system is used for controlling the automatic navigation trolley, the cleaning device and the adjusting module and receiving and processing information fed back by the analysis and detection measuring device; the control system is arranged on the automatic navigation trolley;
and the automatic navigation trolley is used for loading the cleaning device, the detection measuring device, the adjusting module and the control system and reaching a destination along a set route track.
The device also comprises a tracking camera module used for identifying the extending track of the door gap, and the tracking camera module is connected with the cleaning end of the cleaning device and synchronously moves with the cleaning end of the cleaning device; and the control system controls the cleaning device to move along the extending track through the adjusting module according to the information collected by the tracking camera module.
The measurement device is coupled to the cleaning end of the cleaning device and moves in synchronism with each other.
The adjusting module comprises a transverse shifting component for driving the cleaning end of the cleaning device to move transversely and a vertical shifting component for driving the cleaning end of the cleaning device to move vertically; the transverse shifting assembly and the vertical shifting assembly are respectively controlled by a control system.
The transverse shifting assembly is arranged on the automatic navigation trolley; the vertical shifting assembly is arranged on the transverse shifting assembly and is driven by the transverse shifting assembly to move transversely; the cleaning end of the cleaning device is connected with the vertical transfer assembly.
The transverse shifting component comprises a transverse shifting motor, a transverse shifting nut and a transverse shifting screw rod; the transverse shifting motor is fixedly arranged on the automatic navigation trolley, and a motor shaft of the transverse shifting motor is in transmission connection with the transverse shifting screw rod so as to drive the transverse shifting screw rod to transversely rotate relative to the automatic navigation trolley; the transverse shifting nut is in threaded connection with the transverse shifting screw rod; the vertical shifting assembly is arranged on the transverse shifting nut.
The vertical shifting component comprises a vertical shifting motor, a vertical shifting nut and a vertical shifting screw rod; the vertical shifting motor is fixedly arranged relative to the transverse shifting nut, and a motor shaft of the vertical shifting motor is in transmission connection with the vertical shifting screw rod so as to drive the vertical shifting screw rod to vertically rotate relative to the transverse shifting nut; the vertical shifting nut is in threaded connection with the vertical shifting screw rod; the vertical shifting nut is connected with the cleaning end of the cleaning device through a connecting rod.
The power supply module is used for supplying required electric energy to each electric element and is electrically connected with the control system.
The wireless communication system also comprises a communication module for realizing wireless communication, and the communication module is in communication connection with the control system; and the control system is communicated and interconnected with the control terminal at the cloud end through the communication module.
The cleaning device comprises a dust collector body for generating suction negative pressure and a dust collection gun with a gas path communicated with the suction end of the dust collector body; the cleaning end of the cleaning device is the dust collection gun.
The utility model has the following beneficial effects:
the robot can automatically reach a corresponding cleaning site, can also automatically determine the door gap position and automatically measure the door gap depth, and effectively control the cleaning device to effectively clean the door gap according to various related data; in addition, the extension track of the door gap can be effectively recognized through the tracking camera module, and then the cleaning end of the cleaning device is controlled to move along the extension track of the door gap, so that the cleaning effect of the door gap is guaranteed. Through the application to this lift crack cleaning machines people, make crack cleaning work can be accomplished by the full automation of robot, alleviateed staff's work load greatly, shorten operating time, and can effectively guarantee that the crack is clean and tidy, ensure that the quick-witted door of lift normally opens and shuts, can collect relevant data simultaneously and analyze and maintain with the cooperation staff.
Drawings
Fig. 1 is an exploded view of an elevator door crack cleaning robot according to an embodiment of the present invention.
Fig. 2 is an assembly view of the robot for cleaning the gap between the elevator doors according to an embodiment of the present invention.
FIG. 3 is a schematic diagram of a metrology process performed by the slot cleaning robot of the elevator in accordance with one embodiment of the present invention.
Fig. 4 is a schematic diagram of an elevator door slot cleaning robot performing a cleaning process according to an embodiment of the present invention.
Fig. 5 is a cross-sectional view illustrating an operation state of the robot for cleaning gaps between doors of the elevator according to an embodiment of the present invention.
Fig. 6 is a measurement graph plotting a situation-operation state of the elevator door crack cleaning robot in accordance with an embodiment of the present invention.
Fig. 7 is a cross-sectional view of a second working state of the robot for cleaning gaps between doors of the elevator according to an embodiment of the present invention.
Fig. 8 is a measurement graph of a second operating state of the elevator door crack cleaning robot according to an embodiment of the present invention.
Fig. 9 is a cross-sectional view of a scenario three-operation state of the robot for cleaning a gap between doors of the elevator according to an embodiment of the present invention.
Fig. 10 is a measurement graph of three operating states of the robot for cleaning elevator door crevices according to an embodiment of the present invention.
Detailed Description
The utility model is further described with reference to the following figures and examples.
Referring to fig. 1 to 10, the present embodiment relates to an elevator door crack cleaning robot including,
a cleaning device for cleaning the door gap 2301, the cleaning object being debris, dust, etc. in the door gap 2301 that may prevent the door 24 from opening or closing; the cleaning device is arranged on the automatic navigation trolley 1;
a detection measurement device 9 for determining the position of the door seam 2301 and measuring the depth of the door seam 2301; the detection measuring device 9 is arranged on the automatic navigation trolley 1; specifically, the detection measurement device 9 according to the embodiment can monitor the distance between the cleaning end (dust collection gun 8) of the cleaning device and the floor 21 in real time by using an infrared ray transmitting and receiving principle, so as to ensure that the cleaning end (dust collection gun 8) of the cleaning device can accurately reach a position close to the crack rail (bottom) for dust collection and cleaning; in addition, the detection and measurement device 9 can also measure the distance between the built-in ground 23 and the floor 21 (influenced by various external factors, the distance between the built-in ground 23 and the floor 21 can be three situations, namely a situation that the built-in ground 23 and the floor 21 are flush with each other, a situation that the built-in ground 23 is lower than the floor 21 and the distance between the built-in ground 23 and the floor 21 is t1, and a situation that the built-in ground 23 is higher than the floor 21 and the distance between the built-in ground 23 and the floor 21 is t 2), so that the stop position of the elevator at each floor is within the reasonable working range of the robot;
the adjusting module is used for adjusting the position of the cleaning end of the cleaning device, namely adjusting the position of the cleaning end of the cleaning device according to the data monitored by the detection measuring device 9, ensuring that the cleaning end corresponds to the door seam 2301, and controlling the cleaning end to extend into the door seam 2301 to implement cleaning; the adjusting module is arranged on the automatic navigation trolley 1;
the control system is used for controlling the automatic navigation trolley 1, the cleaning device and the adjusting module, and is used for receiving and processing information fed back by the analysis and detection measuring device 9; the control system is arranged on the automatic navigation trolley 1;
the automatic navigation trolley 1 is used for loading a cleaning device, a detection measuring device 9, an adjusting module and a control system and reaching a destination along a set route track; in particular, the automatic guided vehicle 1 in the present embodiment is preferably an RGV vehicle which can move according to a set route to automatically reach different sites.
Furthermore, the robot also comprises a tracking camera module 10 for identifying the extension track B of the door slot 2301, wherein the tracking camera module 10 is connected with the cleaning end of the cleaning device and synchronously moves with the cleaning end of the cleaning device; the control system controls the cleaning device to move along the extending track B through the adjusting module according to the information collected by the tracking camera module 10. Specifically, the tracking camera module 10 may identify an extension track B of the door crack 2301, so that the control system controls the cleaning end to move to a reasonable distance range for cleaning according to the extension track B, and controls the cleaning end to precisely align with the door crack 2301 for cleaning; in the cleaning process, the control system processes and analyzes the image information fed back by the tracking camera module 10, and identifies and plans the extension track B in real time, and the automatic navigation trolley 1 and the adjusting module are matched with each other to control the cleaning end to move along the extension track B, so that the cleaning effect of the door crack 2301 is ensured. Specifically, the tracking camera module 10 may identify an extension track B of the door crack 2301, so that the robot may control the cleaning end to move along the extension track B, thereby ensuring that the cleaning end is cleaned within an effective range; the tracking camera module 10 can transmit the images shot by the high-definition camera to a control terminal at the cloud end in real time through a wireless network (5G, 4G, etc.) for monitoring, analyzing, and the like, and meanwhile. And an operator on the control terminal can monitor the robot through a wireless network to ensure that the robot works normally.
Further, the measuring detection device 9 is connected to the cleaning end of the cleaning device and moves synchronously with each other. That is, the adjusting device can simultaneously adjust the position of the measuring device 9 to achieve the purposes of determining the position of the door gap 2301 and measuring the depth of the door gap 2301.
Furthermore, the adjusting module comprises a transverse shifting component for driving the cleaning end of the cleaning device to move transversely and a vertical shifting component for driving the cleaning end of the cleaning device to move vertically; the transverse shifting assembly and the vertical shifting assembly are respectively controlled by a control system. The transverse driving of the transverse shifting assembly, the vertical driving of the vertical shifting assembly and the back-and-forth movement of the automatic navigation trolley 1 are matched together, so that the cleaning end can move freely to a required position, and the cleaning requirements of different positions are met. The transverse shifting assembly can drive the cleaning end to transversely move so as to achieve more accurate positioning and cleaning; the vertical shifting assembly can perform effective height compensation aiming at the height difference between the floor 21 and the built-in ground 23.
Further, the transverse shifting assembly is arranged at the top of the automatic navigation trolley 1; the vertical shifting assembly is arranged on the transverse shifting assembly and is driven by the transverse shifting assembly to move transversely; the cleaning end of the cleaning device is connected with the vertical transfer component. Specifically, the transverse shifting assembly drives the vertical shifting assembly to transversely move, and the cleaning end transversely moves along with the vertical shifting assembly; the vertical shifting assembly directly drives the cleaning end to vertically move.
Further, the transverse shifting component comprises a transverse shifting motor 2, a first fixed seat 3, a transverse shifting nut 4 and a transverse shifting screw rod 5; the first fixed seat 3 is fixedly arranged at the top of the automatic navigation trolley 1, the transverse transfer motor 2 is fixed at the end part of the first fixed seat 3 and is further relatively and fixedly arranged on the automatic navigation trolley 1, and the transverse transfer motor 2 is controlled and controlled by a control system; the transverse shifting screw 5 is transversely positioned and rotatably arranged on the first fixed seat 3, and a motor shaft of the transverse shifting motor 2 is in transmission connection with the transverse shifting screw 5 so as to drive the transverse shifting screw 5 to transversely rotate relative to the automatic navigation trolley 1; the transverse shifting nut 4 is in threaded connection with the transverse shifting screw rod 5; the vertical shifting assembly is arranged on the transverse shifting nut 4. When the transverse shifting motor 2 is electrified, the transverse shifting screw rod 5 is driven to transversely rotate, and the transverse shifting nut 4 transversely moves under the action of the threads, so that the vertical shifting assembly is driven to transversely move.
Further, the vertical shifting component comprises a vertical shifting motor 14, a vertical shifting nut 15, a second fixed seat 16 and a vertical shifting screw rod 17; the second fixed seat 16 is fixedly arranged on the transverse shifting nut 4, the vertical shifting motor 14 is fixedly arranged at the top of the second fixed seat 16 and further fixedly arranged relative to the transverse shifting nut 4, and the vertical shifting motor 14 is controlled by a control system; the vertical shifting screw 17 is vertically and rotationally positioned on the second fixed seat 16, and a motor shaft of the vertical shifting motor 14 is in transmission connection with the vertical shifting screw 17 so as to drive the vertical shifting screw 17 to vertically rotate relative to the transverse shifting nut 4; the vertical shifting nut 15 is in threaded connection with the vertical shifting screw 17; the vertical shifting nut 15 is connected with the cleaning end of the cleaning device through a connecting rod 13, and the end part of the connecting rod 13 is provided with a clamping structure 12 used for connecting the cleaning end. The vertical shifting motor 14 drives the vertical shifting screw rod 17 to vertically rotate when being electrified, and the vertical shifting nut 15 vertically moves under the action of threads, so that the connecting rod 13 drives the cleaning end to vertically move.
Furthermore, in order to meet the working effect of the robot without a power line, the robot also comprises a power supply module for supplying required electric energy to each electric element, and the power supply module is electrically connected with the control system; the power supply module is preferably a rechargeable battery.
Furthermore, in order to meet the working effect of the wireless communication of the robot, the robot also comprises a communication module for realizing the wireless communication, and the communication module is in communication connection with the control system; the control system is communicated and interconnected with a control terminal of the cloud through a communication module; the control terminal can send commands such as control instructions and walking routes to the robot through a wireless communication technology, or obtain information such as related detection data from the robot.
Further, the control system, the power supply module, the communication module and other electrical elements are integrated in the electric cabinet 11 together, and the electric cabinet 11 is fixedly arranged on the automatic navigation trolley 1.
Further, the cleaning device comprises a dust collector body 7 for generating suction negative pressure and a dust collection gun 8 with an air passage communicated with the suction end of the dust collector body 7, and a dust collection opening at the bottom of the dust collection gun 8 is suitable for extending into the door slot 2301; the cleaning end of the cleaning device is a dust absorption gun 8; the cleaning device in the embodiment effectively cleans the door crack 2301 in a dust collection mode; in addition, the cleaning device may be a device that performs cleaning by means of a brush, a wiper, or the like.
Referring to fig. 3 and 4, in the existing structure, an avoidance gap 22 is formed between a floor 21 and a car, so that the car is prevented from being influenced when ascending and descending, and the avoidance gap 22 is always bottomless, so that the car is basically not required to be cleaned; a linearly extending door gap 2301 is formed in the inner ground 23 of the car, the bottom of the machine door 24 at least partially extends into the door gap 2301 to guide the machine door 24 to slide to realize opening and closing, and the door gap 2301 is a position where garbage is easily collected, so that regular cleaning is needed.
Principle of operation
The measuring process, (see fig. 3) the control system drives the measuring device 9 to move transversely through the transverse transfer component, and the movement track of the measuring device generally needs to pass through the door gap 2301; in the moving process, the detection measuring device 9 vertically emits infrared laser 901 downwards, the infrared laser 901 falls on the floor 21 and the floor 23 in the machine and forms an infrared moving track 902, and the infrared moving track 902 passes through the door gap 2301; the control system receives the reflected infrared laser 901, and generates a corresponding frequency spectrum curve graph A through analysis and processing;
cleaning process, (see fig. 4) the control system identifies the position and depth of the door seam 2301 according to the frequency spectrum graph a, the control system adjusts the dust collection gun 8 to move to the position above the door seam 2301 through the transverse shifting assembly and the automatic navigation trolley 1, then drives the dust collection opening of the dust collection gun 8 to enter the door seam 2301 through the vertical shifting assembly and to be close to the inner bottom surface of the door seam 2301 as much as possible, and then starts the dust collector body 7 to start cleaning; at this time, the tracking camera module 10 shoots downwards to obtain an image of the door gap 2301, the related image is fed back to the control system, the control system analyzes and processes the image to plan an extending track B of the door gap 2301, and the control system drives the dust collection gun 8 to move along the extending track B through the automatic navigation trolley 1 so as to completely clean the garbage in the door gap 2301.
Referring to fig. 5 and 6, ideally, the floor 21 and the floor 23 are flush with each other, and the height from the initial position of the dust collection gun 8 to the floor 21 or the floor 23 is h; the depth of the door gap 2301 is fixed to be L; namely, the control system needs to control the dust collection gun 8 to descend d1, and d1= h + L. In the corresponding spectrum graph a, the section a1 is a curve corresponding to the avoidance gap 22, and the section a2 is a curve corresponding to the door gap 2301.
Referring to fig. 7 and 8, when the floor 21 is higher than the floor 23 by t1, the height from the initial position of the dust gun 8 to the floor 21 is h, that is, the height from the initial position of the dust gun 8 to the floor 23 is h + t 1; the depth of the door gap 2301 is fixed to L; namely, the control system needs to control the dust collection gun 8 to descend d2, d2= h + t1+ L. In the corresponding spectrum graph a, the section a1 is a curve corresponding to the avoidance gap 22, and the section a2 is a curve corresponding to the door gap 2301.
Referring to fig. 9 and 10, when the floor 23 is higher than the floor 21 by t2, the height of the initial position of the dust gun 8 from the floor 21 is h, i.e. the height of the initial position of the dust gun 8 from the floor 23 is h-t 2; the depth of the door gap 2301 is fixed to be L; namely, the control system needs to control the dust collection gun 8 to descend d3, and d3= h-t2+ L. In the corresponding spectrum graph a, the section a1 is a curve corresponding to the avoidance gap 22, and the section a2 is a curve corresponding to the door gap 2301.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the utility model are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the utility model, but that various changes and modifications may be made without departing from the spirit and scope of the utility model, and the utility model is intended to be protected by the following claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a lift crack cleaning machines people which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
a cleaning device for cleaning the door slot (2301); the cleaning device is arranged on the automatic navigation trolley (1);
a detection measurement device (9) for determining the position of the door seam (2301) and measuring the depth of the door seam (2301); the detection measuring device (9) is arranged on the automatic navigation trolley (1);
the adjusting module is used for adjusting the position of a cleaning end of the cleaning device; the adjusting module is arranged on the automatic navigation trolley (1);
the control system is used for controlling the automatic navigation trolley (1), the cleaning device and the adjusting module and receiving and processing information fed back by the analysis and detection measuring device (9); the control system is arranged on the automatic navigation trolley (1);
the automatic navigation trolley (1) is used for loading the cleaning device, the detection measuring device (9), the adjusting module and the control system and reaching a destination along a set route track.
2. The elevator slot cleaning robot of claim 1, wherein: the cleaning device also comprises a tracking camera module (10) used for identifying an extending track (B) of the door gap (2301), wherein the tracking camera module (10) is connected with the cleaning end of the cleaning device and synchronously moves with the cleaning end of the cleaning device; the control system controls the cleaning device to move along the extending track (B) through the adjusting module according to the information collected by the tracking camera module (10).
3. The elevator slot cleaning robot of claim 1, wherein: the measuring device (9) is connected to the cleaning end of the cleaning device and moves synchronously with each other.
4. The elevator slot cleaning robot of claim 1, wherein: the adjusting module comprises a transverse shifting component for driving the cleaning end of the cleaning device to move transversely and a vertical shifting component for driving the cleaning end of the cleaning device to move vertically; the transverse shifting assembly and the vertical shifting assembly are respectively controlled by a control system.
5. The elevator door crack cleaning robot of claim 4, wherein: the transverse shifting assembly is arranged on the automatic navigation trolley (1); the vertical shifting assembly is arranged on the transverse shifting assembly and is driven by the transverse shifting assembly to move transversely; the cleaning end of the cleaning device is connected with the vertical transfer assembly.
6. The elevator slot cleaning robot of claim 5, wherein: the transverse shifting component comprises a transverse shifting motor (2), a transverse shifting nut (4) and a transverse shifting screw rod (5); the transverse shifting motor (2) is fixedly arranged on the automatic navigation trolley (1), and a motor shaft of the transverse shifting motor (2) is in transmission connection with a transverse shifting screw rod (5) so as to drive the transverse shifting screw rod (5) to transversely rotate relative to the automatic navigation trolley (1); the transverse shifting nut (4) is in threaded connection with the transverse shifting screw rod (5); the vertical shifting assembly is arranged on the transverse shifting nut (4).
7. The elevator slot cleaning robot of claim 6, wherein: the vertical shifting component comprises a vertical shifting motor (14), a vertical shifting nut (15) and a vertical shifting screw rod (17); the vertical shifting motor (14) is fixedly arranged relative to the transverse shifting nut (4), and a motor shaft of the vertical shifting motor (14) is in transmission connection with the vertical shifting screw rod (17) so as to drive the vertical shifting screw rod (17) to vertically rotate relative to the transverse shifting nut (4); the vertical shifting nut (15) is in threaded connection with the vertical shifting screw rod (17); the vertical shifting nut (15) is connected with the cleaning end of the cleaning device through a connecting rod (13).
8. The elevator slot cleaning robot of claim 1, wherein: the power supply module is used for supplying required electric energy to each electric element and is electrically connected with the control system.
9. The elevator slot cleaning robot of claim 1, wherein: the wireless communication system also comprises a communication module for realizing wireless communication, and the communication module is in communication connection with the control system; and the control system is communicated and interconnected with the control terminal at the cloud end through the communication module.
10. The elevator door crack cleaning robot as claimed in any one of claims 1 to 9, wherein: the cleaning device comprises a dust collector body (7) for generating suction negative pressure and a dust collection gun (8) with a gas path communicated with the suction end of the dust collector body (7); the cleaning end of the cleaning device is the dust absorption gun (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122962612.7U CN216797521U (en) | 2021-11-29 | 2021-11-29 | Cleaning robot for door gap of elevator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122962612.7U CN216797521U (en) | 2021-11-29 | 2021-11-29 | Cleaning robot for door gap of elevator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216797521U true CN216797521U (en) | 2022-06-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122962612.7U Active CN216797521U (en) | 2021-11-29 | 2021-11-29 | Cleaning robot for door gap of elevator |
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| Country | Link |
|---|---|
| CN (1) | CN216797521U (en) |
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2021
- 2021-11-29 CN CN202122962612.7U patent/CN216797521U/en active Active
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