CN101508114B - Push-pressure absorption type high-altitude cleaning robot - Google Patents
Push-pressure absorption type high-altitude cleaning robot Download PDFInfo
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- CN101508114B CN101508114B CN200910058652XA CN200910058652A CN101508114B CN 101508114 B CN101508114 B CN 101508114B CN 200910058652X A CN200910058652X A CN 200910058652XA CN 200910058652 A CN200910058652 A CN 200910058652A CN 101508114 B CN101508114 B CN 101508114B
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Abstract
The invention discloses a push adsorption type high altitude cleaning robot, and relates to a cleaning robot, in particular to a robot capable of cleaning outdoor walls. The robot consists of a robot body and a fence-sitting trolley; an alternate adsorption walking system, a dust removal and suction system, and an air distribution system of the robot body are arranged on a frame of the robot body respectively; a hoisting system of the fence-sitting trolley is arranged above a stander, and a horizontal driving system is arranged on the stander through a fastening mechanism; and a cable of the hoisting system is connected with the frame of the robot body. The robot solves the problems that the prior wall cleaning robot has complicated structure, poor adaptive capacity, obstacle-climbing capability and safe reliability, large volume, heavy weight, high cost, inconvenient operation, and the like.
Description
Technical field
The present invention relates to a kind of clean robot, particularly a kind of robot that can the clean room external wall.
Background technology
Along with the development of urban construction, the skyscraper emerge in multitude because of its outer surface exposes throughout the year, is very easily polluted, especially the outer surface of materials such as glass, ceramic tile, marble.And the active demand of skyscraper outer surface cleaning, the problem of skyscraper outer surface cleaning that Here it is have been brought to architectural appearance requirement attractive in appearance and to the needs of glass daylighting in the city.Up to the present, the most methods that address this problem are artificial cleanings.This kind method danger is high, labour intensity is big, efficient is low, it is many to cost.Clean robot is the important channel that changes this situation.
The research of clean robot research has at home and abroad had phase of history.Clean robot can clean external surface of buildings, and its precondition is that robot can keep in touch constantly with working face.Traditional method has: the pushing of the negative-pressure adsorption of vacuum cup, thrust blower fan is adhered to magnetic attached.Number of patent application is 200510027326.4, publication number is CN1709654A, open day be on December 21st, 2005 described " based on the attached crawler belt climbing robot of the magnetic of synchronous cog belt " and number of patent application be 200510086383.X, Granted publication number be that CN1321781C, Granted publication day are on June 20th, 2007 described " a kind of non-contact magnetically adsorbed robot ", adopt the attached mode of magnetic, and exhausted at present big portion building constructions does not have magnetic conductivity, therefore this method narrow application range.Number of patent application is 200710072319.5, publication number is CN101058321A, open day be that on October 24th, 2007 described " based on the mini micro-acoustic wall-climbing robot of vacuum adsorption principle " and number of patent application are 200610151073.6, publication number is CN1994805A, was on 07 11st, 2007 described " based on the small-sized wall-climbing robot of negative-pressure adsorption principle " in open day, what adopt is negative-pressure adsorption, good sealing is the adequate condition of its absorption, so it is applicable to more smooth even curface.Adopt the robot of thrust blower fan, because its pushing force by blower fan contacts with working face, be subjected to extraneous interference easily, when cable length was longer, the body instability can not be worked effectively reliably.Number of patent application is 200810064947.3, publication number is CN101317744A, open day be the method that adopts the negative-pressure adsorption of screw propulsive thrust and centrifugal blower on December 10th, 2008 described " based on the robot for cleaning wall surfaces of positive-negative pressure adsorption principle ", because screw and two power of centrifugal blower separate, pushing force and absorption affinity are simple superposition, its energy consumption is big, and its no cable structure can not be applied to various environment safely and reliably.Therefore there is complex structure in existing clean robot, is suitable for shortcomings such as ability, security reliability difference.
Summary of the invention
For solving the problem that prior art exists, the invention provides a kind of push-pressure absorption type high-altitude cleaning robot.The invention solves poor, the problems such as obstacle climbing ability is poor, security reliability is poor, volume is big, weight is big, cost is high, inconvenient operation of complex structure, adaptive capacity that existing robot for cleaning wall surfaces exists.
Push-pressure absorption type high-altitude cleaning robot of the present invention is made of robot body and fence-sitting trolley; Robot body comprises and alternately adsorbs running gear, dedusting dust collecting system, air distribution system and robot body framework, alternately adsorbs running gear, dedusting dust collecting system, air distribution system and is installed in respectively on the robot body framework; Fence-sitting trolley comprises horizontal driving system, hoisting system, frame and retention mechanism, and hoisting system is installed in above the frame, and horizontal driving system is installed on the frame by retention mechanism; The hawser of hoisting system connects the robot body framework.Air distribution system comprises blower fan, separates pressure electromagnetic valve and air guide magnetic valve; Blower fan connects two groups of suckers up and down by two groups of pipelines separating pressure electromagnetic valve, air guide magnetic valve are installed respectively.
The present invention has following beneficial effect:
Utilize blower fan pushing and sucker to adsorb interactional principle, make robot can be suitable for complicated coarse working environment, the negative pressure of sucker is from blower fan, and pushing force and negative-pressure adsorption power effectively combine by air distribution system, simplify the robot overall structure, and made full use of the energy.
Alternately adsorb walking mechanism under the situation about driving that do not need to walk, can adsorb effectively, walking and obstacle detouring, improved the suitable ability and the obstacle climbing ability of robot.
Adopt the cleaning mode of polished, alleviated the weight of robot, robot can be worked for a long time incessantly, and simplified the robot architecture, reduced the cost of robot.
Adopt fence-sitting trolley to replace traditional roof servo-actuated dolly, made full use of the buildings' features that parapet is arranged, guarantee that whole system is safe and reliable, simplified robot construction greatly, also alleviated weight, handled easily and the control of robot greatly.
Push-pressure absorption type high-altitude cleaning robot of the present invention is applicable to the cleaning of the external surface of buildings of multiple materials such as flat glass curtain wall, ceramic tile wall, building stones wall and coating wall to belong to the specialized robot technical field.
Description of drawings
Fig. 1 is a general structure side schematic view of the present invention;
Fig. 2 is a front view of the present invention;
Fig. 3 is for alternately adsorbing the walking mechanism structural representation;
Fig. 4 is for alternately adsorbing the walking mechanism structural representation;
Fig. 5 is a dedusting dust collecting system structural representation;
Fig. 6 is the air distribution system schematic diagram;
Fig. 7 is the left view of fence-sitting trolley;
Fig. 8 is the vertical view of fence-sitting trolley.
The specific embodiment
Below in conjunction with accompanying drawing and with illustrated embodiments the present invention is done detailed explanation.
Consult Fig. 1-Fig. 8, push-pressure absorption type high-altitude cleaning robot is made of robot body 1 and fence-sitting trolley 2; Robot body 1 comprises and alternately adsorbs running gear 3, dedusting dust collecting system 4, air distribution system 5 and robot body framework 10, alternately adsorbs running gear 3, dedusting dust collecting system 4, air distribution system 5 and is installed in respectively on the robot body framework 10; Fence-sitting trolley 2 comprises horizontal driving system 6, hoisting system 7, frame 8 and retention mechanism 9, and hoisting system 7 is installed in above the frame 8, and horizontal driving system 6 is installed on the frame 8 by retention mechanism 9; The hawser 7-3 of hoisting system 7 connects robot body framework 10.
Alternately adsorbing running gear 3 comprises sucker 3-1, sucker rod member 3-2, slide rail 3-3, upward draws back-moving spring 3-7, sucker foot intermediate reset spring 3-8 and sucker foot to draw back-moving spring 3-9 on electromagnet 3-4, lower electromagnet 3-5, sucker group returning spring 3-6, the sucker foot; Two groups of sucker 3-1 are installed in respectively on two sucker rod member 3-2 up and down; Last electromagnet 3-4 and lower electromagnet 3-5 and two vertical slide rail 3-3 that are provided with are slidingly matched; Last electromagnet 3-4 is connected two sucker rod member 3-2 up and down by sucker group returning spring 3-6 respectively with lower electromagnet 3-5; Be connected with sucker foot intermediate reset spring 3-8 between two sucker rod member 3-2 up and down, last sucker rod member 3-2 top connects on the sucker foot draws back-moving spring 3-7, and following sucker rod member 3-2 below connects the sucker foot and draws back-moving spring 3-9; Draw back-moving spring 3-7 to draw back-moving spring 3-9 to be connected on slide rail 3-3, the sucker foot with robot body framework 10 with the sucker foot.
Dedusting dust collecting system 4 comprises dust catcher 4-1, Clean cover 4-2, cleaning motor 4-3 and cleaning head 4-4; Dust catcher 4-1 connects Clean cover 4-2 by pipeline, and cleaning head 4-4 is arranged on Clean cover 4-2 inside, and the spindle nose of cleaning head 4-4 connects cleaning motor 4-3.
Push-pressure absorption type high-altitude cleaning robot of the present invention is made up of robot body and fence-sitting trolley two parts.The mode that pushing absorption high-altitude cleaning robot adopts air pushing force and sucker absorption affinity to combine, realize robot body adhering on working face, by fence-sitting trolley on parapet walking and to the control of hawser, realize that robot body moves on working face, this clean robot is applicable to the cleaning of the wall of the high building exterior wall glass of parapet and multiple material.
Utilize described blower fan, sucker and air distribution system to form a passage, extraneous air-flow enters blower fan via sucker and air distribution system, discharges at a high speed then, and when sucker contacted with wall, the blower fan air inlet was obstructed, and the inner negative pressure that produces is adsorbed on the wall sucker; When sucker broke away from wall, a large amount of air inlets of blower fan produced thrust, thereby the high-altitude cleaning robot body is had on the wall of gully or fenestrate rib attached to out-of-flatness.
Utilize the described multiple walking mechanism of alternately inhaling, realize two groups of sucker groups alternately absorption and walking, robot can be remained in the continuous walking process with the tight of working face contact.
Utilize the clean method of polished, the high speed rotation by cleaning head separates dust on the working face and dirt, and dust catcher filters collection by high velocity air with dust and the dirt that separates.
Utilize described air distribution system, by the switch of magnetic valve, the sucker group that makes robot when walking with the blower fan disconnection, during absorption and blower fan UNICOM.
Utilize described fence-sitting trolley to support the work of robot body, the walking in a horizontal state during fence-sitting trolley work on parapet drives body moving in the horizontal direction; Hoisting mechanism can hawser be received and is put, drive moving on the vertical direction of body, thereby has realized body moving on the whole.
The method that robot body utilizes the blower fan pushing force to combine with the sucker absorption affinity, robot body is kept in touch with working face all the time, make the dedusting dust collecting system carry out cleaning effectively reliably, solved the problem of existing like product adaptive capacity difference.At the machine man-hour, when sucker and working face disengaging, because this moment, the sucker air inlet was not obstructed, air inflow is very big, and the exhaust of blower fan high speed can produce propulsive thrust, and robot body is pressed against on the working face; When sucker contacted closely with working face after, because air inlet is obstructed, the inner negative pressure that produces of blower fan under the externally atmospheric effect of sucker, was adsorbed on the working face; Under the acting in conjunction of blower fan pushing force and sucker absorption affinity, robot body can adapt to multiple material, circumstance complication, the working face that out-of-flatness is smooth.
Robot body alternately adsorbs walking mechanism by two groups and is implemented in the process that moves continuously and keeps absorption with working face all the time; Alternately adsorbing walking mechanism makes robot body have obstacle climbing ability;
Sucker and blower fan are coupled to each other by air distribution system, and two groups of sucker groups are alternately walking when working and adsorb, any one moment in work, and have at least a sucker group to be in adsorbed state, the sucker group of walking then disconnects with blower fan;
The air distribution system work principle: robot body has two groups of suckers, and every group of sucker has four suckers at least.The wireway of every group of sucker gathers at last, links by an air valve and blower fan.Air distribution system mainly is made up of two valves, distributing valve of every group of sucker.Two distributing valves are under Electronic Control, and alternately Push And Release cooperates the sucker group to realize alternately absorption walking.
Alternately adsorb walking mechanism, mainly form by two sucker groups.Each sucker group has 4 suckers at least.In the absorption walking mechanism, pass through electromagnet or telescopic cylinder, sucker group and fixed mount are linked together by the bottom of slide bar sucker group.Compress spring with two tools that also have of sucker set associative.When sucker group disconnection air-flow, when preparing walking, electromagnet is mentioned the sucker group.So the sucker group under the effect of walking pulling spring, begins walking, has walked behind the stroke, electromagnet puts down the sucker group, and another one sucker group is mentioned by electromagnet and begun walking then.Electromagnet and fixed bar can move along slide rail, and slide track bar is fixed on the frame.So sucker group and electromagnet can relatively move on the direction perpendicular to working face, sucker group electromagnet can be parallel on the direction of working face with motion with frame.
When robot work was ready, upper and lower sucker group was in adsorbed state simultaneously.If next upwards work of robot, upwards alternately absorption walking circulation is as follows: go up the sucker group and disconnect air-flow and the atmosphere decompress(ion) that communicates down, last electromagnet will be gone up the sucker group and mention, so go up the sucker group under last effect of drawing spring, random device human body frame moves upward; When last sucker group walked one apart from S after, last electromagnet will be gone up the sucker group and put down, last sucker group contacts with working face again, last magnetic valve will be gone up sucker group air-flow and connect, last sucker group restarts to adsorb; Following magnetic valve will descend sucker group air-flow to disconnect, and make it to communicate with atmosphere, lower electromagnet will descend the sucker group to mention, under the restoring force effect of middle springs, lower electromagnet will descend the sucker group to put down then apart from S in one of following sucker group follow-up, and following sucker group contacts with working face again, following distributing valve will descend sucker group and blower fan UNICOM, and following sucker group is recovered absorption.Return to dotted state so alternately adsorb the motion state of walking mechanism, and entered next alternately absorption walking circulation.During work downwards, the job order of each parts is the reversed in order when upwards working just.
Robot adopts the polished clean method, and the cleaning head by rotating at a high speed separates dust and dirt from working face, utilizes dust catcher that dust and the dirt that separates filtered collection.Adopt the method for " doing brush ", can simplify the robot architecture, reduce robot volume, alleviate robot weight, reduce the cost of robot.And the time of continuous firing is longer.At different cleaning faces, adopt different cleaning heads, prevented of the corrosion of traditional cleaning solution to work.
Fence-sitting trolley structure and operation principle detailed annotation:
Fence-sitting trolley mainly is made up of walking driving mechanism, hoisting mechanism, clamp mechanism, retention mechanism and frame etc.During work, dolly is placed on the parapet, the span of dolly can be adjusted.After span is adjusted, retention mechanism locking, driving mechanism acts on the horizontal plane of parapet, and clamp mechanism acts on two sides of parapet, and the assurance fence-sitting trolley can not toppled over or overturn.Driving mechanism drives the entire machine people and advances or retreat along parapet in the horizontal direction.Hoisting mechanism is under the drive of motor, and with Cable taking up or relieving, machine body moves upward when packing up, and during relieving, robot body moves downward.
Claims (5)
1. push-pressure absorption type high-altitude cleaning robot is characterized in that, is made of robot body (1) and fence-sitting trolley (2); Robot body (1) comprises and alternately adsorbs running gear (3), dedusting dust collecting system (4), air distribution system (5) and robot body framework (10), alternately adsorbs running gear (3), dedusting dust collecting system (4), air distribution system (5) and is installed in respectively on the robot body framework (10); Fence-sitting trolley (2) comprises horizontal driving system (6), hoisting system (7), frame (8) and retention mechanism (9), and hoisting system (7) is installed in above the frame (8), and horizontal driving system (6) is installed on the frame (8) by retention mechanism (9); The hawser (7-3) of hoisting system (7) connects robot body framework (10); Air distribution system (5) comprises blower fan (5-1), separates pressure electromagnetic valve (5-2) and air guide magnetic valve (5-3); Blower fan (5-1) connects two groups of suckers (3-1) up and down by two groups of pipelines separating pressure electromagnetic valve (5-2), air guide magnetic valve (5-3) are installed respectively.
2. push-pressure absorption type high-altitude cleaning robot according to claim 1, it is characterized in that, alternately adsorb running gear (3) and comprise sucker (3-1), sucker rod member (3-2), slide rail (3-3), upward draw back-moving spring (3-7), sucker foot intermediate reset spring (3-8) and sucker foot to draw back-moving spring (3-9) on electromagnet (3-4), lower electromagnet (3-5), sucker group returning spring (3-6), the sucker foot; Two groups of suckers (3-1) are installed in respectively on two sucker rod members (3-2) up and down; Last electromagnet (3-4) and lower electromagnet (3-5) are slidingly matched with two vertical slide rails (3-3) that are provided with; Last electromagnet (3-4) is connected two sucker rod members (3-2) up and down by sucker group returning spring (3-6) respectively with lower electromagnet (3-5); Be connected with sucker foot intermediate reset spring (3-8) up and down between two sucker rod members (3-2), last sucker rod member (3-2) top connects on the sucker foot draws back-moving spring (3-7), and following sucker rod member (3-2) below connects the sucker foot and draws back-moving spring (3-9); Draw back-moving spring (3-7) to draw back-moving spring (3-9) to be connected on slide rail (3-3), the sucker foot with robot body framework (10) with the sucker foot.
3. push-pressure absorption type high-altitude cleaning robot according to claim 1 is characterized in that, dedusting dust collecting system (4) comprises dust catcher (4-1), Clean cover (4-2), cleaning motor (4-3) and cleaning head (4-4); Dust catcher (4-1) connects Clean cover (4-2) by pipeline, and cleaning head (4-4) is arranged on Clean cover (4-2) inside, and the spindle nose of cleaning head (4-4) connects cleaning motor (4-3).
4. push-pressure absorption type high-altitude cleaning robot according to claim 1, it is characterized in that, hoisting system (7) comprises capstan (7-1), elevator motor (7-2) and hawser (7-3), and elevator motor (7-2) connects capstan (7-1), and hawser (7-3) is arranged in the capstan (7-1).
5. push-pressure absorption type high-altitude cleaning robot according to claim 1 is characterized in that horizontal driving system (6) comprises bogie (6-1), horizontal drive motor (6-2), crawler belt (6-3), Athey wheel (6-4) and clamp mechanism (6-5); Two bogies (6-1) are installed on the frame (8) by retention mechanism (9), and clamp mechanism (6-5) and Athey wheel (6-4) are installed on each bogie, and crawler belt (6-3) is installed on Athey wheel (6-4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910058652XA CN101508114B (en) | 2009-03-19 | 2009-03-19 | Push-pressure absorption type high-altitude cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910058652XA CN101508114B (en) | 2009-03-19 | 2009-03-19 | Push-pressure absorption type high-altitude cleaning robot |
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| CN101508114A CN101508114A (en) | 2009-08-19 |
| CN101508114B true CN101508114B (en) | 2010-08-11 |
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| CN102826136B (en) * | 2012-09-07 | 2014-10-22 | 周若飞 | Belt rope type obstacle crossing robot |
| CN105107807B (en) * | 2015-09-14 | 2017-04-05 | 中国矿业大学 | A kind of circumference drives high-pressure water jet coal bunker product coal cleaning plant and method for cleaning |
| CN105619420B (en) * | 2016-03-22 | 2018-02-02 | 深圳市百事达卓越科技股份有限公司 | For transforming explosion prevention robot and the oil tank retrofit work station of oil tank |
| CN106076896B (en) * | 2016-06-06 | 2018-04-20 | 东华大学 | A kind of automatic flushing device of elasticizer joint sealing groove |
| CN106677497A (en) * | 2017-01-11 | 2017-05-17 | 唐山学院 | High-rise building outer wall spraying device |
| CN107028567B (en) * | 2017-04-28 | 2020-10-27 | 国网河南邓州市供电公司 | Hard thing cleaning device of electric power glass wall |
| CN106943091B (en) * | 2017-05-10 | 2022-04-05 | 西安工业大学 | Automatic cleaning robot for high-rise glass curtain wall and method thereof |
| CN106976002B (en) * | 2017-05-17 | 2023-02-17 | 湖南大学 | Wall-climbing cleaning robot for ship and naval vessel wall surface |
| CN108125629B (en) * | 2017-12-22 | 2021-02-05 | 烟台华发七弦琴知识产权运营有限公司 | Cleaning and sterilizing robot for toilet |
| CN109124455B (en) * | 2018-10-30 | 2023-04-18 | 吉林大学 | Building external glass wiping robot with self-recognition and obstacle avoidance capabilities and control method thereof |
| CN109747726A (en) * | 2019-03-04 | 2019-05-14 | 安徽理工大学 | A kind of Novel sucker group |
| CN110755003B (en) * | 2019-11-01 | 2023-05-30 | 杭州埃欧珞机器人科技有限公司 | High-altitude glass curtain wall cleaning device based on duct fan |
| CN110882971A (en) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | Photovoltaic cleaning robot with distributed adsorption assembly |
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