CN2406781Y

CN2406781Y - Cleaning robot

Info

Publication number: CN2406781Y
Application number: CN00201085U
Authority: CN
Inventors: 宗光华; 刘荣; 孙杏初; 吴星明; 欧阳守新; 张厚祥; 王巍
Original assignee: Beihang University
Current assignee: Beihang University; Beijing University of Aeronautics and Astronautics
Priority date: 2000-01-27
Filing date: 2000-01-27
Publication date: 2000-11-22
Anticipated expiration: 2010-01-27

Abstract

The utility model relates to a scrubbing robot which is used for cleaning the surface of the outer walls of high building, composed of a scrubbing and walking main body, a building top safeguard device and a small ground assistant car. A skeleton of the scrubbing and walking main body is composed of an X directional cylinder and a Y directional cylinder which are vertical with each other; rack bars and gears are arranged at one side of the X directional cylinder and a Y directional cylinder. The X directional cylinder and a Y directional cylinder are connected into one body with a middle waist joint. Walking and scrub are all completed by the cylinders and suction discs. The utility model adopts the structure of full automation, sucking disc adsorption, multi-sensor fusion and computer intelligent control. The scrubbing robot can creep automatically on vertical or inclined wall surfaces, detect obstacles and get over the obstacles. The scrubbing robot can reclaim and process sewage in the process of scrub. The utility model has the advantage of environmental pollution prevention.

Description

The wiping robot

The utility model relates to a kind of wiping robot that is used to clean the external wall of high-rise building surface.

Along with the continuous increase of skyscraper, the peripheral structure of building has adopted the form of glass curtain wall or colored exterior wall mostly for daylighting and reason attractive in appearance.Along with the increase of time and the factor of environmental pollution have caused the skin surface to put aside a large amount of dusts and dirt, make its outward appearance and urban environment very not attractive in appearance, this just needs frequent its surface is cleaned.It is a not only heavy but also dangerous job.Except artificial cleaning, also has a kind of scouring manipulator at present, this manipulator mainly is to make working arm and motion arm by quadric chain, need the people at indoor pull operation arm wiping window during scouring, this mechanical arm is just powerless away from the external wall of window for those; And the swab of another little moushroom valve body, though can creep, it can not go beyond obstacle, can only clean the window and the wall of those flat surfaces, as runs into window frame and rough metope then can not use.

The purpose of this utility model is to make a kind of wiping robot that can use equally when running into window frame and rough metope.

Technical solution of the present utility model is, main body, roof safety guard and Ground Support dolly are formed by cleaning, walking, its skeleton of cleaning the walking main body is made up of to cylinder to cylinder and Y the X that two orthogonal sides have rack and pinion, fuse with middle waist joint between two cylinders, X installs Z to cylinder by X cylinder joint and Y cylinder joint to, Y respectively to the cylinder two ends, and Z is equipped with corresponding X sucker stand and Y sucker stand to the lower end of cylinder; The lower end of X sucker stand and Y sucker stand is equipped with sucker separately; X respectively is equipped with the brush cylinder to the both sides of cylinder, and the front end of cylinder is provided with sonac, and the lower end connects the wiping brush.

Technology pneumatic entirely, that sucker adsorbs, the Multi-sensor Fusion computer intelligence is controlled that the utility model adopts, can on the metope on vertical or inclined-plane, independently creep, to window frame or adhesive tape can detect automatically, obstacle detouring, and can clean automatically according to predetermined movement locus metope, in the scouring process sewage is recycled, do not pollute the environment.Because the utility model has adopted structural framework and driving element integrated, wiper mechanism and climbing mechanism are integrated, and the complete pneumatic and automatic version of rotating in orientation is so action in light weight is flexible, easy to use.

Fig. 1 is for the utility model is cleaned, walking agent structure schematic diagram.

Main framing among the figure is fused by middle whirligig 6 to cylinder 5 with Y to cylinder 7 by two orthogonal cylinder: X; Respectively by X cylinder joint 9 with Y cylinder joint 4 Zs being installed to, Y to the cylinder two ends at X (is the example explanation with a side structure only to cylinder 3 and 10, opposite side is identical with it, left-right symmetry), Z is equipped with Y sucker stand 2 to cylinder 3 lower ends, and Z is equipped with X sucker stand 13 to cylinder 10 lower ends; To the side of cylinder 5 tooth bar 16 and corresponding gear 15 all are housed with Y to cylinder 7 at X, on the axle of gear 15 optical code disk are housed, take this displacement of detection machine people on X, Y direction so that accurately control the position of robot body; Y sucker stand 2 is equipped with 4 suckers 1 and 14 respectively with X sucker stand 13, and the side of X cylinder joint 9 is equipped with the cylinder 11 of driven brush 8, and sonac 12 is equipped with in the upper end of cylinder 11.

When robot when metope is worked, Z can make sucker adsorb metope downwards or upwards breaks away from metope to the driving of cylinder 3,10, can realize robot crawling exercises on metope to cylinder 7 and Y to the alternating movement of cylinder 5 and the alternately absorption of their corresponding suckers in lower end by X; Need in the motion of Y direction as robot, then Y drives Y to sucker 1 absorption metope to the Z at cylinder 5 two ends to cylinder 3, and X drives X to the Z at cylinder 7 two ends to cylinder 10 and breaks away from metopes to sucker 14 and upwards lift, and Y cylinder 5 drives and makes X move along Y direction to cylinder 7; When needing cleaning, X cleans brush 8 to cylinder 11 drivings of cylinder 7 both sides and compresses metope, and this moment, X moved back and forth to cylinder 7, realized the scouring of 8 pairs of metopes of cleaning brush; Otherwise, if Y moves along directions X to cylinder 5 integral body, then need drive X this moment makes Y move in the X-axis direction to cylinder 5 to cylinder 7, and Z drives X to sucker 14 absorption metopes to cylinder 10, Z drives Y to cylinder 3 and breaks away from metope to sucker 1, makes robot body to move at metope.

When main body is subjected to extraneous various interference, cause robot to depart from the direction of motion of former setting as the influence of factors such as wind-force, eccentric gravity, pipe cable traction power, middle whirligig 6 can be corrected unnecessary deviation.Sonac 12 is used for detecting obstacles such as window frame or adhesive tape, when running into obstacle, to cylinder 3,10 sucker is promoted the disengaging metope by Z and realizes.

Claims

1, a kind ofly forms the wiping robot by cleaning walking main body, roof safety guard and Ground Support dolly, it is characterized in that, cleaning the skeleton of walking main body is made up of to cylinder to cylinder and Y the X that two orthogonal sides have rack and pinion, fuse with middle whirligig between two cylinders, X installs Z to cylinder by X cylinder joint and Y cylinder joint to, Y respectively to the cylinder two ends, and Z is equipped with corresponding X sucker stand and Y sucker stand to the lower end of cylinder; The lower end of X sucker stand and Y sucker stand is equipped with sucker separately; X is equipped with the cylinder of driven brush respectively to the both sides of cylinder, and the front end of cylinder is provided with sonac, and the lower end connects the wiping brush.