CN2512558Y

CN2512558Y - Crawler-type multiple sucking disc wall climbing robot

Info

Publication number: CN2512558Y
Application number: CN 01274756
Authority: CN
Inventors: 吴志明
Original assignee: Individual
Current assignee: Individual
Priority date: 2001-12-28
Filing date: 2001-12-28
Publication date: 2002-09-25
Anticipated expiration: 2011-12-28

Abstract

The utility model discloses a crawler-type multiple sucking disc wall climbing robot. The robot comprises a body taking a vacuum sucking disc and a crawler-type multiple sucking disc driving/converting mechanism as main elements and a cleaning mechanism taking a backpitch structure rolling brush and a water collecting device as main elements. The difficult problems that the robot is disengaged from the wall because of the vacuum leak of the single sucking disc in the process of the wall climbing robot discontinuously spanning obstacles or slots with a slow speed, and the seal difficulty of the sucking discs is large in the process of the suction can be solved. The crawler-type multiple sucking disc wall climbing robot is applicable to clean or spray the smooth surface of the high building, and is particularly suitable for the cleanness of glass curtain walls of the high buildings.

Description

The crawler multi-sucker climbing robot

Technical field

The utility model relates to a kind of crawler multi-sucker climbing robot, belongs to cleaning, spray robot field.

Background technology

Beijing space flight and aviation university discloses the building cleaning robot of a kind of " the clean scholar in blue sky " by name, this robot has adopted the suction type of multi-sucker, can cross over certain obstacle, but can not carry out continuous wash in alternately moving, climbing ability is poor, can not satisfy the cleaning of skyscraper

CN97121896 discloses a kind of " climbing robot ", described robot comprises that screw or ducted fan, power, travel mechanism, control box etc. partly constitute, screw or ducted fan produce the thrust of pointing to wall under power drive, make robot be affixed on wall, travel mechanism is under the manipulation of control box, driven machine people creeps and thinks that this climbing robot can be used for the operation of various pile wall at wall, and this robot cleaning performance is poor, can not leaping over obstacles.

CN96205687.1 discloses a kind of " skyscraper metope automatic flushing device ", this device has adopted the suction type of multi-sucker, not independently between each sucker, when one of them sucker leaks, will influence the vacuum reduction of whole sucker and cause cleaning device can not rest on the wall, therefore can not leaping over obstacles, each sucker connects a vacuum tube, and pipeline is various.

Researcher of the present utility model finds, similar machine people above-mentioned and of the prior art exists that pipeline is more, climbing ability is poor, can not be continuously or can not leaping over obstacles.

Summary of the invention

Main purpose of the present utility model is to provide a kind of crawler multi-sucker climbing robot, thereby has overcome climbing robot above shortcomings in the prior art.

The purpose of this utility model can be achieved in the following manner, and the utility model robot comprises robot body.

Wherein, form by miniature turbo-jet formula engine 1, miniature air compression pump 2, crawler multi-sucker driving/switching mechanism, vacuum cup 12 etc.Miniature turbo-jet formula engine 1 is by miniature air compression pump starting 2, produce certain normal pressure by 1 pair of robot body of miniature turbo-jet formula engine, the sucker 12 that is installed on the crawler belt is formed certain vacuum, by crawler multi-sucker driving/switching mechanism, realization has so just realized the driving to robot body to alternately absorption and disengaging between rotation, sucker and the wall of multi-sucker crawler belt.

Description of drawings

Accompanying drawing 1 is the schematic perspective view of crawler multi-sucker climbing robot described in the utility model;

Accompanying drawing 2 is that the three-view diagram of crawler multi-sucker climbing robot described in the utility model can be clearly seen that the overall structure of robot body and the schematic diagram of associated components;

Accompanying drawing 3 is vacuum cup schematic diagrames of crawler multi-sucker climbing robot described in the utility model;

Accompanying drawing 4 is schematic diagrames of the crawler multi-sucker switching mechanism of crawler multi-sucker climbing robot described in the utility model;

Schematic diagram when accompanying drawing the 5, the 6th, the vacuum cup of crawler multi-sucker climbing robot described in the utility model are in absorption and disengaged position;

Specific embodiments

When robot described in the utility model starts working, battery 57 begins controller 47 power supplies, miniature air compression pump 2 starts turbo-jet formula engine 1 by oil inlet pipe 59 fuel feeding of fuel tank 52, robot body is produced certain normal pressure, it acts on the crawler multi-sucker 12, owing to be subjected to the effect of certain normal pressure, the vacuum chamber volume-diminished of multi-sucker, get rid of most gases, in the vacuum chamber of multi-sucker, form certain vacuum like this, the wall of 12 pairs of contacts of vacuum cup produces suction-operated like this, and robot will obtain enough absorption affinities, guarantees that robot is adsorbed on the wall reliably.Drive driving wheel 25 by AC servo motor 30, under the effect of master 25, driven pulley 26, by crawler multi-sucker switching mechanism.When the sucker on the crawler belt enters wall, upstream end at sucker, the commutation sheet 29 that is fixed on this body support frame is in off-position, and at the disengaging end of sucker, commutation sheet 29 is in "on" position, the on/off electricity of commutation sheet 29 is controlled by relay, when the commutation sheet 23 on the sucker when commutation sheet 29 on this body support frame 31 contacts, coil 24 also is in off-position, so sucker electronic switch maintenance original state, still closes, when sucker is static with respect to wall, because the positive pressure that miniature turbo-jet formula engine 1 produces is on sucker, sucker just is adsorbed on the wall, referring to Fig. 5; When sucker breaks away from wall, disengaging end at sucker, the commutation sheet 29 that is fixed on this body support frame 31 is in "on" position, when the commutation sheet 23 on the sucker when commutation sheet 29 on this body support frame 31 contacts, coil 24 is in "on" position, coil 24 energisings produce constant magnetic field, plunger 22 is opened the sucker electronic switch under the effect in magnetic field, the sucker vacuum chamber is by plunger 22 and gross blow hole conducting, therefore sucker vacuum begins to descend, the also corresponding minimizing of sucker relative wall's absorption affinity, along with absorption affinity reduces, sucker breaks away from wall gradually.The absorption and the disengaging that go round and begin again on crawler belt of sucker like this guarantees robot continuous motion on wall, referring to Fig. 6; The compressed air of miniature air compression pump 2 is stored into 5 li of compressed air reservoirs by air inlet pipe 53, the escape pipe 40 that connects air accumulator 5 is divided into two-way by threeway snap joint 54, the pressure-reducing valve 55 of leading up to connects the startup tracheae 56 of miniature turbo-jet formula engine 1, another road is connected with water tank 11 by tracheae 7 by two-bit triplet magnetic valve 9, when robot cleans, effect by two-bit triplet magnetic valve 9, water tank feeds compressed air for 11 li, the water pipe 60 and the sparge pipe that connect water tank 11 communicate, water by 11 li in pressure differential water tank just is sprayed onto on the wall from sparge pipe like this, alternating current generator 6 is by being with 48 synchronously, gear 44 drives backpitch structure rolling-brush 3 and does rotation at a high speed, near round brush water is assembled to the centre like this, the non-drive motors end of round brush 3 is by gear 39, reduction gearing 58, be with the flexible suction of 37 drivings roller 42 to do clockwise low speed rotation synchronously, and the rinse water on the wall picked up, the flexible suction of extruding roller 42 by rigidity water squeezing roller 43, just water is extruded by the distortion of flexibility suction roller 42 like this, and the current intake chamber of under the effect of water collecting plate 46 and Wiper blade 60, extruding 10, by water pipe 38 valves 8 tank 10 and water tank 11 are coupled together, liquid level by 10 li of liquid level sensor control tanks, when the water that tank is 10 li reaches predetermined fluid level, controller 47 is by controlling the state of magnetic valve 9 and water valve 8 to the processing of the feedback signal of liquid level sensor, at this moment magnetic valve 9 produces action and makes compressed air hose connection atmosphere, leak the compressed air of 11 li in water tank, water valve 8 is opened then, the water that tank is 10 li is at the dirty inlet water tank 11 of gravity effect, when controller 47 receives the feedback signal of liquid level sensor, water valve 8 cuts out, magnetic valve 9 recovers original state then, finish the cleaning of robot smoothly, referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4.

Advantage as the climbing robot that the single sucking disc described in the utility model and crawler multi-sucker are combined specifically is summarised as:

1. the robot architecture is simple, and volume is little, and is in light weight

2. miniature turbo-jet formula engine normal pressure that robot body is produced has nothing to do with the situation of wall, so normal pressure is stable, guarantees that crawler multi-sucker is adsorbed on the wall

3. interambulacrum was independently when crawler multi-sucker adsorbed, even the part sucker does not adsorb, other sucker still can adsorb, and guaranteed the good leaping over obstacles of robot

4. climbing ability and driving force are strong, and translational speed is fast

Claims

1. one kind is used the described crawler multi-sucker climbing robot of claim 1, it is characterized in that described body and robot washer structure;

(1) robot body is made up of miniature turbo-jet formula engine 1, miniature air compression pump 2, vacuum cup 12, crawler multi-sucker driving/switching mechanism etc.

(2) wiper mechanism is made up of backpitch structure rolling-brush 3, water collection device 4, compression barrel 5, alternating current generator 6, sparge pipe 7, tracheae 51, water valve 8, two-bit triplet magnetic valve 9, tank 10, water tank 11;

Wherein, miniature turbo-jet formula engine 1 is by 2 startings of miniature air compression pump, produce certain normal pressure by 1 pair of robot body of miniature turbo-jet formula engine, the sucker that is installed on the crawler belt 36 is formed certain vacuum, drive switching mechanism by crawler multi-sucker, realization has so just realized the driving to robot body to alternately absorption and disengaging between rotation, sucker and the wall of multi-sucker crawler belt; Compression barrel 5 is connected with water tank 11 by tracheae 13, two-bit triplet magnetic valve 9, the water that water tank is 11 li is pressed onto sparge pipe 7 by compressed air and sprays water, backpitch structure rolling-brush 3 is done rotation at a high speed under alternating current generator 6 drives, by water collection device 4 rinse water is recovered to 10 li of tanks, tank 10 is connected with water tank 11 by water pipe 7, water valve 8.

2. robot according to claim 1, it is characterized in that vacuum cup 12, the vacuum cup 12 that couples together by nut connecting rod 14 and crawler belt 16, cupule head 17 is fixed on the sucker 19 by clip 18, the sucker electronic switch is by return spring 20, sealing ring 21, plunger 22, commutation sheet 23 and coil 24 are formed, sealing ring 21 is embedded on the plunger 22, return spring 20 1 ends are pressed on the plunger 22, one end is pressed on the nut connecting rod 14, and commutation sheet 23, coil 24 are fixed on the sucker 19 by connecting plate 15.

3. robot according to claim 1 is characterized in that crawler multi-sucker conversion/driving mechanism, is made up of driving wheel 25, driven opinion 26, synchronous pulley 27, commutation sheet 29, vacuum cup 15 AC servo motors 30 and crawler belt 16.AC servo motor 30 is fixed on this body support frame 31, is connected with driving wheel 25 in coaxial mode, and driving wheel 25 links to each other with rear bearing sheet 28 by bearing, and driven pulley 26 is installed on this body support frame 31 and the front end panel 32 by bearing 51; Front and back synchronous pulley 27 is installed on front end panel 34, rear bearing sheet 28 and this body support frame 31 by deep groove ball bearing 33, circlip for shaft 49, the circlip for hole 50 of band dust cap, commutation sheet 29 is fixed on the gripper shoe 32,31 of front and back by the screw 35 that has pad, crawler belt 36 is installed on driving wheel 25, driven pulley 26 and the front and back synchronous pulley 27, has so just constituted crawler multi-sucker driving/switching mechanism.

4. robot according to claim 1, it is characterized in that water collection device 41, by flexibility suction roller 42, rigidity water squeezing roller 43, reduction gearing 44, synchronous pulley 45, water collecting plate 46, tank 10 is formed, the axle of flexible roller 42 of absorbing water is gone up cover one deck sponge, flexible suction roller 42 two ends by bearing fixing on this body support frame 31, wherein an end is by reduction gearing 44, be with 48 to be connected synchronously with backpitch structure rolling-brush 3 non-motor-driven ends, rigidity water squeezing roller 43 is fixed on this body support frame 31, tank 10 is below rigidity water squeezing roller 43, water collecting plate 46 is embedded on the tank 10, and with ground excellent contact is arranged.