CN105962858A - Obstacle-crossing type robot for cleaning building external wall - Google Patents
Obstacle-crossing type robot for cleaning building external wall Download PDFInfo
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- CN105962858A CN105962858A CN201610506212.6A CN201610506212A CN105962858A CN 105962858 A CN105962858 A CN 105962858A CN 201610506212 A CN201610506212 A CN 201610506212A CN 105962858 A CN105962858 A CN 105962858A
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- robot
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- sucker
- robot body
- adsorption element
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides an obstacle-crossing type robot for cleaning a building external wall. The robot comprises a robot body, an obstacle crossing mechanism and a cleaning mechanism, wherein the obstacle crossing mechanism and the cleaning mechanism are both mounted on the robot body; the obstacle crossing mechanism comprises obstacle crossing traveling devices and a climbing adsorption device which are arranged on the robot body; the obstacle crossing traveling devices are evenly distributed on two sides of the robot body; the climbing adsorption device comprises front end adsorption assemblies and bottom adsorption assemblies, the front end adsorption assemblies are rotationally arranged at the front end of the robot body, and the bottom adsorption components are arranged at the bottom of the robot body in an extensible and rotational manner. The obstacle-crossing type robot has high obstacle crossing capacity and high flexibility, thereby crossing obstacles and traveling on the building external wall flexibly and stably and realizing the effect of effectively cleaning the building external wall. The invention further aims at providing the obstacle-crossing type robot with high cleaning capacity and high safety property, so that the external wall is effectively cleaned in all directions.
Description
Technical field
The present invention relates to clean robot technical field, more particularly, it relates to a kind of obstacle crossing type robot for cleaning external wall.
Background technology
In city, the exterior wall of high buildings and large mansions typically can use ceramic paster exterior wall or glass curtain wall, needs periodically to be carried out keeping the attractive in appearance of entirety.At present, generally using rope and personnel are hung in external wall are cleaned operation, industry is referred to as " spider-man "." spider-man " that carry out external wall cleaning is breakneck work, and " spider-man " is only hung in the air with rope during cleaning operation, and not only working environment is extremely dangerous, and inefficiency.The particularly cleaning to ceramic paster exterior wall, the workload of cleaning is big and dangerous, and " spider-man " completes the most extremely difficult.Therefore it is badly in need of utilizing machine to substitute the cleaning manually carrying out high building wall.
Mostly there is the problem of obstacle climbing ability finite sum very flexible in the wall clean robot of climbing of existing use, causes arriving all of metope and be cleaned operation, still need cleaning personnel to carry out high-altitude cleaning work.Concrete defect be following some:
1, the wall clean robot of climbing of existing use relies on cable traction to overcome self gravitation mostly, and clean robot motion direction is limited causes very flexible.Being additionally, since the washing and cleaning operation of high building wall and require higher to the condition of height and obstacle detouring, therefore, occurring climbing external wall cleaning wall clean robot at present, mostly to there is obstacle climbing ability limited, causes arriving all of metope and is cleaned operation.
2, the robot being currently used for cleaning high building wall uses brush roll to coordinate with jet pipe as cleaning device mostly, and during robot ambulation, cleaning device can be followed the run trace of robot and is carried out wall.Although these cleaning devices being arranged in robot can play certain cleaning action, but owing to major part cleaning device is mounted in bottom robot, therefore when robot runs into barrier, the cleaning device of bottom easily touches barrier, cause obstacle crossing function and the motility affecting robot, thus be substantially reduced the obstacle climbing ability of robot.
3, the wall clean robot of climbing of existing use uses rope to be to be connected with robot body in a fixed manner, robot body can be fettered by rope during exterior wall walking cleaning, thus it is unfavorable for that clean robot External Wall carries out omnibearing cleaning, also largely effect on obstacle crossing function and the motility of robot.
Summary of the invention
It is an object of the invention to overcome shortcoming of the prior art with not enough, a kind of obstacle crossing type robot for cleaning external wall is provided, this obstacle crossing type robot obstacle climbing ability is strong and motility is high, thus realize obstacle crossing type robot and carry out on external wall flexibly and stably obstacle detouring walking, to reach effectively to clean the effect of external wall.Further object of the present invention is to provide the obstacle crossing type robot that a kind of cleaning capacity is strong and security performance is high, thus External Wall carries out omnibearing effective cleaning.
In order to achieve the above object, the technical scheme is that: a kind of obstacle crossing type robot for cleaning external wall, it is characterised in that: including: robot body, and the barrier getting over mechanism that is installed on robot body and cleaning mechanism；Described barrier getting over mechanism includes the obstacle-surmounting travelling gear being arranged on robot body and adsorbent equipment of creeping；Described obstacle-surmounting travelling gear is evenly distributed on the both sides of robot body；Described adsorbent equipment of creeping includes front end adsorption element and bottom adsorption element；Described front end adsorption element is rotatably arranged in the front end of robot body, and bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body.
By such scheme, the obstacle crossing type robot of the present invention, when running into obstacle, owing to front end adsorption element is rotatably arranged in the front end of robot body, therefore can control front end adsorption element and lift leaping over obstacles flexibly, move robot body simultaneously and move ahead.During obstacle detouring, obstacle-surmounting travelling gear not only can increase the robot body frictional force to wall so that robot body difficultly slips off；And may span across obstacle.Bottom adsorption element then can stretch and avoids obstacle and lift leaping over obstacles flexibly.Therefore, the present invention realizes obstacle crossing function by obstacle-surmounting travelling gear and adsorbent equipment of creeping, obstacle climbing ability and the motility of obstacle crossing type robot can be improved, thus realize obstacle crossing type robot and carry out on external wall flexibly and stably obstacle detouring walking, to reach effectively to clean the effect of external wall.
Specifically, described obstacle-surmounting travelling gear is triangle planet gear type Athey wheel；Described obstacle-surmounting travelling gear includes retainer one, is installed in the central gear on retainer one, transition gear, driving gear and Athey wheel, crawler belt and motor；Described central gear is connected with motor and is connected with transition gear engagement；Described driving gear is coaxially connected with Athey wheel, and is connected with transition gear engagement；Described crawler belt is coated on Athey wheel.
The present invention uses triangle planet gear type Athey wheel as obstacle-surmounting travelling gear, it is by driving gear driven Athey wheel, and Athey wheel drives crawler belt, therefore there is good obstacle climbing ability, fit applications crawler belt again, it can be avoided that raising robot body's chassis height is to cross over higher obstacle, thus improve the obstacle performance of obstacle crossing type robot.In addition caterpillar belt structure form adhesion property more wheeled than triangle is more superior, increases the robot frictional force to wall, so that making robot difficultly slip off.
Described front end adsorption element includes front terminal sucker, connecting rod and front terminal sucker bar；Described front terminal sucker bar one end is connected with front terminal sucker, the other end and rod hinge connection；Described connecting rod is hinged with robot body away from one end of front terminal sucker bar；
Described front end adsorption element also includes angle steering wheel one and angle steering wheel two；Described angle steering wheel one is arranged on the front end of robot body, and is connected with the pin joint of connecting rod and robot body；Described angle steering wheel two is arranged on connecting rod, and is connected with the pin joint of connecting rod and front terminal sucker bar；
Described front end adsorption element is rotatably arranged in the front end of robot body and refers to: described angle steering wheel one drive link rotates, and angle steering wheel two drives front terminal sucker bar to rotate, it is achieved front terminal sucker is rotatably arranged in the front end of robot body；
Described barrier getting over mechanism include at least two front end adsorption element, for make connecting rod synchronization action in the adsorption element of each front end cross bar one and before making in the adsorption element of each front end the cross bar two of terminal sucker bar synchronization action；Described cross bar one is connected with the connecting rod in the adsorption element of each front end respectively；Described cross bar two is connected with the front terminal sucker bar in the adsorption element of each front end respectively.The setting of cross bar one and cross bar two can improve the synchronicity of multiple front ends adsorption element.
The present invention is hinged with front terminal sucker bar by connecting rod, and with realize before terminal sucker flexibly lift hinged with robot body is creeped, thus across obstacle easily.This angle steering wheel one is the rotational angle for controlling connecting rod, and angle steering wheel two is the rotational angle for controlling front terminal sucker bar, thus improves motility and the obstacle climbing ability of obstacle crossing type robot further.
Described bottom adsorption element includes middle-end adsorption element and the rear end adsorption element being arranged on middle-end and rear end bottom robot body；Described middle-end adsorption element and rear end adsorption element all include sucker, for the gas bar driving sucker to stretch and sucker hinge；Described sucker is connected with gas bar, and is arranged on the bottom of robot body by gas bar；Described sucker hinge is hinged with sucker；
Described bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body and refers to: described gas bar drives sucker to stretch, and it is scalable and be rotatably arranged at the bottom of robot body that sucker and sucker hinge realize sucker.
Described cleaning mechanism includes scraping and water injector for drum apparatus, the water dust on exterior wall or dirt wiped；Described water injector is arranged on the front end of robot body；Described drum apparatus is arranged on the underface of both sides, robot body front end obstacle-surmounting travelling gear line；Described water is scraped and is arranged on bottom the rear end of robot body, and includes removing device, and described removing device can be arranged on water scrape to elastic rotation.
The drum apparatus of the present invention is arranged on the underface of both sides, robot body front end obstacle-surmounting travelling gear line, to avoid drum apparatus to collide with barrier during robot obstacle detouring.Simultaneously, removing device can be arranged on water scrape to elastic rotation, removing device is not only made to be pressed in all the time on exterior wall, the obstacle crossing type robot cleaning effect to high building wall can be greatly enhanced, and in robot during obstacle detouring, removing device can press against barrier and realize obstacle detouring, it is possible to avoids barrier that it is occurred rigid collision, thus is greatly improved obstacle climbing ability and the motility of barrier-surpassing robot.
Described water is scraped and is also included bracing frame and spring；Support frame as described above one end is connected bottom robot body rear end, and the other end is connected with removing device；Described removing device can be arranged on water elastic rotation and scrape and refer to: described spring is arranged between bracing frame and removing device, and removing device is by the compression of spring or resets and realizes being arranged on the bracing frame that water is scraped elastic rotation.The present invention adds shock mount between removing device and bracing frame, removing device is made to have certain rotational angle, under spring force, removing device is pressed on the wall all the time, during obstacle detouring, removing device can press against barrier and realize obstacle detouring, at obstacle detouring with it can be avoided that there is rigid collision to it in barrier.
Described removing device includes retainer two and scraper plate；Described scraper plate one end is internal with retainer two to be connected, and the other end stretches out outside retainer two；Described spring one end is connected with scraper plate, and the other end stretches out retainer two outside and offsets with bracing frame；
Support frame as described above includes that support body, support body one end are provided with for the nut fixing with robot body, and the other end is provided with the fastener for being connected together with removing device；The cross section of described fastener is circular arc, the locating part that fastener both ends rotate as removing device.
Scraper plate one end of the present invention is connected with retainer two, and it is outer for the sewage on external wall or dirt are struck off that the other end stretches out retainer two.The rotational angle of removing device is carried out the most spacing by the two of fastener ends by the present invention.
Present invention additionally comprises the protection mechanism being arranged on robot body；Described protection mechanism includes that the retainer three being arranged on robot body, containment vessel, rope and the rope for discharging rope or reclaim control device；Described containment vessel is rotatably arranged on retainer three, and is provided with wire guide；Described rope controls device and is arranged on the roof of building；Described rope one end controls device with rope and is connected, and the other end is connected through wire guide with containment vessel；
Described containment vessel is provided with receiving chamber, accommodates intracavity and is provided with guide roller and cross bar；Described guide roller is arranged in receiving cavity by cross bar；Described rope one end and rope control device and are connected, and the other end is connected with containment vessel through wire guide and refers to: described rope one end is connected with rope control device, and the other end passes wire guide and is connected with containment vessel with guide roller winding realization.
The rope of the present invention controls device and can discharge rope or reclaim; and containment vessel is connected with the retainer three being arranged on robot body, thus when robot falls, this protection mechanism can effectively prevent robot falling from high altitude; play a protective role, improve security performance.Simultaneously; containment vessel is rotatably arranged on retainer three so that rope will not be fixed the constraint in direction to robot, thus do not affect robot exterior wall up walk; be conducive to robot External Wall to carry out omnibearing cleaning, be greatly improved the robot cleaning quality to high building wall.And guide roller is used for its guiding function of the direction in rope moving process, thus reduce the rope constraint to robot.
Described containment vessel is rotatably arranged on retainer three and refers to: also include fixture；Described fixture one end passes retainer three, is provided with installing hole bottom containment vessel, and installing hole is set in one end of fixture, it is achieved be rotatably arranged on retainer three；
The bar portion of described fixture passes retainer three, the rotating shaft that bar portion rotates as containment vessel from the bottom of retainer three；Described containment vessel is made up of two symmetrical housing splicings；Two housing bottoms all offer semicircle orifice；Described installing hole is spliced to form by the semicircle orifice bottom two asymmetric housings.
The containment vessel of the present invention can directly be set on fixture, and along with the realization that pulls of rope rotates, so that rope does not affect robot walking on exterior wall on retainer.And this design is the most ingenious and simple, fixture is used to can be used as the installed part that containment vessel is arranged on retainer three, it is possible to the rotating shaft rotated as containment vessel.And, this design can be greatly simplified the installation steps of protection mechanism: after installing fixture, directly then can conveniently realize containment vessel by two housing splicings and be set in the bar portion of fixture.
Present invention additionally comprises the gray-scale sensor for detecting wall gray value, for detecting the ultrasonic sensor of barrier or wall edge, the gyro sensor whether being in level for measuring robots body and the controller being connected respectively with barrier getting over mechanism and cleaning mechanism signal；Described gray-scale sensor is arranged on the front end of robot body and is connected with controller signals；Described ultrasonic sensor is connected with robot body by pole and is arranged on the front of front end adsorption element, and ultrasonic sensor is connected with controller signals；Described gyro sensor is arranged on robot body and is connected with controller signals.
The present invention in the barrier getting over mechanism cleaning external wall obstacle crossing type robot before terminal sucker, bottom adsorption element sucker by a control Air Valve Control sucker work whether, i.e. control whether to produce vacuum.This barrier getting over mechanism being used for cleaning external wall obstacle crossing type robot is so work:
1, front end adsorption element: the present invention is hinged with front terminal sucker bar by connecting rod, and hinged with robot body lift flexibly and creep realizing front terminal sucker, thus across obstacle easily.And angle steering wheel one is the rotational angle for controlling connecting rod, angle steering wheel two is the rotational angle for controlling front terminal sucker bar, thus improves motility and the obstacle climbing ability of obstacle crossing type robot further.
2, bottom adsorption element: during obstacle detouring, robot body can have a certain degree with wall inclination, sucker has a certain degree as well as robot body, in order to make chuck surface parallel with wall all the time, therefore designing sucker when, a sucker hinge is added, allow sucker can have certain rotational angle, to keep absorption wall during obstacle detouring.And the effect of gas bar is to make sucker have Telescopic, during obstacle detouring, in order to ensure avoiding sucker collision obstacle, it is retracted to bottom robot body when sucker does not works, extends parallel with obstacle-surmounting travelling gear during work.
3, obstacle-surmounting travelling gear: rotated by driven by motor central gear, drives transition gear by gear engagement and drives pinion rotation, drives gear driven Athey wheel to rotate coaxially around gear shaft.Drive gear to be connected by gear shaft with Athey wheel in drive system, be finally reached Athey wheel and rotate around central gear.Obstacle crossing type robot is when normally travelling, and in train, any two Athey wheel contacts wall (i.e. retainer one does not rotates, and Athey wheel drives crawler belt to rotate) relative to wall simultaneously, to realize straight line moving.When robot runs into barrier when, according to gear drive relation, retainer one drives whole train to rotate around central gear, what central gear was formed rotates with bar contact point around train, (i.e. retainer one rotates relative to wall with Athey wheel simultaneously), the train now driving gear to be formed develops into planet circular system, completes to overturn obstacle motion.
The present invention is such that for the obstacle detouring process cleaning external wall obstacle crossing type robot
1, when ultrasonic sensor has detected obstacle, controller controls this robot and enters obstacle detouring operation.The rotation of front terminal sucker is controlled, to the height higher than barrier before making front terminal sucker lift by angle steering wheel one and angle steering wheel two.Now motor simultaneously drives central gear, and robot is moved ahead by obstacle-surmounting travelling gear.When front terminal sucker clears the jumps, angle steering wheel one and angle steering wheel two control the rotation of front terminal sucker, make front terminal sucker again near wall, and during until front terminal sucker bottom surface is back to overlap with wall, control air valve is opened, front end sucker suction wall.During this, the sucker of middle-end adsorption element and rear end adsorption element all adsorbs on wall.
2, robot body is moved on by obstacle-surmounting travelling gear.
3, when the obstacle-surmounting travelling gear of front end nearly touches obstacle, control air valve closes the sucker of middle-end adsorption element, the gas bar work of this two sucker, drives sucker to be retracted to the bottom of robot body simultaneously, and robot body carries out the leap of barrier by the obstacle-surmounting travelling gear of front end.During this, the sucker of front terminal sucker and rear end adsorption element all adsorbs on wall.After robot body is surmounted obstacles by the obstacle-surmounting travelling gear of front end, the sucker of middle-end adsorption element drives elongation to be back to overlap with wall by gas bar, and control air valve is opened, the sucker suction wall of middle-end adsorption element.
4, when the obstacle-surmounting travelling gear of rear end nearly touches obstacle, control air valve closes the sucker of rear end adsorption element, the gas bar work of this two sucker, drives sucker to be retracted to the bottom of robot body simultaneously, and robot body carries out the leap of barrier by the obstacle-surmounting travelling gear of rear end.During this, the sucker of front terminal sucker and middle-end adsorption element all adsorbs on wall.After robot body is surmounted obstacles by the obstacle-surmounting travelling gear of rear end, the sucker of rear end adsorption element drives elongation to be back to overlap with wall by gas bar, and control air valve is opened, the sucker suction wall of rear end adsorption element.
Therefore, the present invention can at least be operated by 4 suckers in any time of obstacle detouring for cleaning external wall obstacle crossing type robot, thus is greatly improved stability and the reliability that robot is cleaned in high-altitude.
It addition, the present invention is used for cleaning external wall obstacle crossing type robot also has a following functions:
1, when wall is dirtier, color can be deeper than clean place, height by gray-scale sensor detection wall gray value, judge whether wall cleanliness factor reaches predetermined value: the color of wall is less than predetermined value if detecting, then by the motor speed in obstacle-surmounting travelling gear that slows down, realize slowing down speed that robot moves ahead to extend cleaning time, to improve the cleaning quality of wall.
2, the ultrasound wave of ultrasonic sensor encounters impurity or separating surface can produce significantly to reflect to form and be reflected into echo, when barrier occurs in front, ultrasound wave changes with the distance of wall, and now echo is also with changing, use this principle, to realize the detection to preceding object thing.When detecting wall edge, application mode is in like manner.Robot detects wall edge automatically by ultrasonic sensor, when detect the end or unsettled time, robot can be carried out by intelligent decision, and turning around in reserved enough spaces, carries out the cleaning of next column.
3, in order to allow the robot to reach straight line moving to ensure cleaning quality; built-in in robot add a gyro sensor; in real time the level of robot can be monitored; when robot front end is towards the when of deflecting away from predetermined value; sensor then can feed back to controller; the rotating speed of the motor in obstacle-surmounting travelling gear is adjusted by controller, to guarantee that robot keeps straight line moving cleaning.
Compared with prior art, the invention have the advantages that and beneficial effect:
1, the present invention is used for cleaning that external wall obstacle crossing type robot obstacle climbing ability is strong and motility is high, thus realizes obstacle crossing type robot and carry out on external wall flexibly and stably obstacle detouring walking, to reach effectively to clean the effect of external wall.
2, the cleaning mechanism of obstacle crossing type robot of the present invention not only can be greatly enhanced the obstacle crossing type robot cleaning effect to high building wall, and there is obstacle crossing function, it can be avoided that barrier occurs rigid collision to it, thus it is greatly improved obstacle climbing ability and the motility of barrier-surpassing robot.
3, the protection mechanism of obstacle crossing type robot of the present invention not only can effectively prevent robot falling from high altitude, thus plays a protective role, and improves the security performance of robot；And do not affect robot exterior wall up walk, beneficially robot External Wall carries out omnibearing cleaning, thus is greatly improved the robot cleaning quality to high building wall.
Accompanying drawing explanation
Fig. 1 is the present invention for cleaning the schematic diagram of external wall obstacle crossing type robot；
Fig. 2 is the present invention for cleaning the schematic internal view of external wall obstacle crossing type robot；
Fig. 3 is the present invention for cleaning the bottom schematic view of external wall obstacle crossing type robot；
Fig. 4 is the explosive view of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention；
Fig. 5 is the structure diagram one of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention；
Fig. 6 is the structure diagram two of obstacle-surmounting travelling gear in obstacle crossing type robot of the present invention；
Fig. 7 is the structural representation of bottom adsorption element in obstacle crossing type robot of the present invention；
Fig. 8 is that in obstacle crossing type robot of the present invention, the water of cleaning mechanism scrapes schematic diagram；
Fig. 9 is that in obstacle crossing type robot of the present invention, the water of cleaning mechanism scrapes schematic internal view；
Figure 10 is the position view of obstacle crossing type robot of the present invention intermediate roll device and obstacle-surmounting travelling gear；
Figure 11 is the present invention for cleaning the crawling process schematic diagram of external wall obstacle crossing type robot；
Figure 12 is the present invention for cleaning external wall obstacle crossing type robot work process schematic diagram；
Figure 13 is containment vessel and the schematic diagram of retainer two in obstacle crossing type robot of the present invention；
Figure 14 is containment vessel and the explosive view of retainer two of obstacle crossing type robot in embodiment one；
Figure 15 is the schematic diagram that in obstacle crossing type robot of the present invention protection mechanism, rope controls device；
Figure 16 (a)-16 (h) is obstacle crossing type robot of the present invention obstacle detouring procedure chart；
Figure 17 is containment vessel and the schematic internal view of retainer two of obstacle crossing type robot in embodiment two；
nullWherein，1 is robot body、2 is barrier getting over mechanism、2.2 is retainer one、Gear centered by 2.3、2.4 is transition gear、2.5 for driving gear、2.6 is Athey wheel、2.7 is crawler belt、2.8 is motor one、2.9 is front terminal sucker、2.10 be connecting rod、2.11 is front terminal sucker bar、2.12 be hinge、2.13 is angle steering wheel one、2.14 is angle steering wheel two、2.15 is cross bar one、2.16 is cross bar two、2.17 be sucker、2.18 is gas bar、2.19 is sucker hinge、2.20 be gear shaft、3 is cleaning mechanism、3.2 is drum apparatus、3.3 scrape for water、3.4 is bracing frame、3.5 is spring、3.6 is retainer two、3.7 is scraper plate、3.8 is nut、3.9 is fastener、3.10 be locating part、3.11 be water injector、4 is protection mechanism、4.2 is retainer three、4.3 is containment vessel、4.4 is rope、4.5 control device for rope、4.6 is wire guide、4.7 is guide roller、4.8 is cross bar、4.9 is fixture、4.10 be installing hole、4.11 be exterior wall、4.12 be flange bolt、4.13 be shell、4.14 is cylinder two、4.15 is motor three、4.16 be signal receiver、4.17 is pad one、4.18 is pad two、5 is gray-scale sensor、6 is ultrasonic sensor、7 is gyro sensor、8 is pole、9 is barrier.
Detailed description of the invention
The present invention is described in further detail with detailed description of the invention below in conjunction with the accompanying drawings.
Embodiment one
If Fig. 1 is to shown in 15, a kind of obstacle crossing type robot for cleaning external wall of the present invention includes: robot body 1, and the barrier getting over mechanism 2 that is installed on robot body 1 and cleaning mechanism 3, also include the gray-scale sensor 5 for detecting wall gray value, for detecting the ultrasonic sensor 6 of barrier or wall edge, the gyro sensor 7 whether being in level for measuring robots body 1 and the controller being connected respectively with barrier getting over mechanism 2 and cleaning mechanism 3 signal.Wherein, barrier getting over mechanism 2 includes four obstacle-surmounting travelling gears being arranged on robot body 1 and adsorbent equipment of creeping.Four obstacle-surmounting travelling gears are evenly distributed on the both sides of robot body 1, adsorbent equipment of creeping includes two front end adsorption elements and four bottom adsorption elements, wherein, two front end adsorption elements are rotatably arranged in the front end of robot body 1, and four bottom adsorption elements are scalable and are rotatably arranged at the bottom of robot body 1.Gray-scale sensor 5 is arranged on the front end of robot body 1 and is connected with controller signals, ultrasonic sensor 6 is connected with robot body 1 by pole 8 and is arranged on the front of two front end adsorption elements, ultrasonic sensor 6 is connected with controller signals, and gyro sensor 7 is arranged on robot body 1 and is connected with controller signals.
Each obstacle-surmounting travelling gear of the present invention is triangle planet gear type Athey wheel, and include retainer 1, the central gear 2.3 being installed on retainer 1, transition gear 2.4, drive gear 2.5 and Athey wheel 2.6, crawler belt 2.7 and motor 1, wherein, central gear 2.3 is connected with motor 1 and is connected with transition gear 2.4 engagement, drive gear 2.5 and Athey wheel 2.6 coaxially connected by gear shaft 2.20, and be connected with transition gear 2.4 engagement, and crawler belt 2.7 is coated on Athey wheel 2.6, transition gear 2.4 is evenly distributed on the circumference of central gear 2.3 centered by central gear 2.3.
And each front end adsorption element includes front terminal sucker 2.9, connecting rod 2.10 and front terminal sucker bar 2.11, wherein, front terminal sucker bar 2.11 one end is connected with front terminal sucker 2.9, the other end is hinged with connecting rod 2.10 by hinge 2.12, and connecting rod 2.10 is hinged with robot body 1 by hinge 2.12 away from one end of front terminal sucker bar 2.11.Front end adsorption element also includes angle steering wheel 1, angle steering wheel 2 2.14, for make connecting rod 2.10 synchronization action in the adsorption element of each front end cross bar 1 and before making in the adsorption element of each front end the cross bar 2 2.16 of terminal sucker bar 2.11 synchronization action, wherein, angle steering wheel 1 is arranged on the front end of robot body 1, and be connected with the pin joint of connecting rod 2.10 and robot body 1, angle steering wheel 2 2.14 is arranged on connecting rod 2.10, and be connected with the pin joint of connecting rod 2.10 and front terminal sucker bar 11, so, angle steering wheel 1 drive link 2.10 rotates, before angle steering wheel 2 2.14 drives, terminal sucker bar 2.11 rotates, realize
Front terminal sucker 2.9 is rotatably arranged in the front end of robot body 1.Cross bar 1 is connected with the connecting rod 2.10 in the adsorption element of each front end respectively, and cross bar 2 2.16 is connected with the front terminal sucker bar 2.11 in the adsorption element of each front end respectively, thus can improve the synchronicity of two front end adsorption elements.
The bottom adsorption element of the present invention includes middle-end adsorption element and the rear end adsorption element being arranged on middle-end and rear end bottom robot body 1, this middle-end adsorption element and rear end adsorption element all include sucker 2.17, for driving sucker 2.17 flexible gas bar 2.18 and sucker hinge 2.19, wherein, sucker 2.17 is connected with gas bar 2.18, and the bottom of robot body 1 it is arranged on by gas bar 2.18, and sucker hinge 2.19 is hinged with sucker 2.17, so, gas bar 2.18 drives sucker 2.17 to stretch, sucker 2.17 is hinged with sucker hinge 2.19, and to realize sucker 2.17 scalable and be rotatably arranged at the bottom of robot body 1.The present embodiment uses external vacuum pump connected by trachea and control sucker 2.17.
Cleaning mechanism 3 of the present invention includes that the drum apparatus 3.2 for the dust on exterior wall or dirt being wiped, water scrape 3.3 and water injector 3.11, wherein, water injector 3.11 is arranged on the front end of robot body 1, drum apparatus 3.2 is arranged on the underface of both sides, robot body 1 front end obstacle-surmounting travelling gear line, water is scraped bottom 3.3 rear ends being arranged on robot body 1, and including removing device, this removing device can be arranged on water scrape on 3.3 to elastic rotation.
The water of the present invention is scraped 3.3 and is also included that bracing frame 3.4 and spring 3.5, bracing frame 3.4 one end are connected bottom robot body 1 rear end, and the other end is connected with removing device.And above-mentioned removing device can be arranged on water elastic rotation and scrape and refer on 3.3: spring 3.5 is arranged between bracing frame 3.4 and removing device, removing device realizes being arranged on water by the compression of spring 3.5 or reset elastic rotation and scrapes on the bracing frame 3.4 of 3.3.
Wherein, removing device includes retainer 2 3.6 and scraper plate 3.7, and scraper plate 3.7 one end is internal with retainer 2 3.6 to be connected, and the other end stretches out outside retainer 2 3.6.Bracing frame 3.4 includes that support body, support body one end are provided with the nut 3.8 for fixing with robot body 1, and the other end is provided with the fastener 3.9 for being connected together with removing device.The cross section of fastener 3.9 is circular arc, the locating part 3.10 that fastener 3.9 both ends rotate as removing device.And spring 3.5 one end is connected with scraper plate 3.7, the other end stretches out outside and with bracing frame 3.4 fastener 3.9 inwall of retainer 2 3.6 and offsets.
The drum apparatus 3.2 of the present invention includes cylinder one and for the motor two driving cylinder one to rotate, and motor two is connected with cylinder one.This cylinder one can be sponge rag round brush, or cylinder one can be hard fibre round brush.The water injector 3.11 of the present invention is atomizing sparge pipe, and it is arranged on the front end of robot body 1, the outlet of this water injector 3.11 is down, the most then can be after External Wall sprinkles water, scrubbed by drum apparatus 3.2, scrape 3.3 finally by the water bottom robot body 1 rear end and dirt or sewage are struck off.
The drum apparatus 3.2 of the present invention is arranged on the underface of the front end walking axle of robot body 1, to avoid drum apparatus 3.2 to collide with barrier during robot obstacle detouring.Its principle is such that as shown in Figure 10, when after robot body 1 leaping over obstacles, the obstacle-surmounting travelling gear of robot is when crossing over blockage, drum apparatus 3.2 remains in the circle of dotted line, i.e. obstacle-surmounting travelling gear is when crossing over blockage, it is possible to ensure that drum apparatus 3.2 does not collides with barrier.Simultaneously, removing device can be arranged on water scrape on 3.3 to elastic rotation, removing device is not only made to be pressed in all the time on exterior wall, the obstacle crossing type robot cleaning effect to high building wall can be greatly enhanced, and in robot during obstacle detouring, removing device can press against barrier and realize obstacle detouring, it is possible to avoids barrier that it is occurred rigid collision, thus is greatly improved obstacle climbing ability and the motility of barrier-surpassing robot.
The robot of the present invention also includes the protection mechanism 4 being arranged on robot body 1; this protection mechanism 4 includes that the retainer 3 4.2 being arranged on robot body 1, containment vessel 4.3, rope 4.4 and the rope for discharging rope 4.4 or reclaim control device 4.5; wherein; containment vessel 4.3 is rotatably arranged on retainer 3 4.2; and it is provided with wire guide 4.6; rope controls device 4.5 and is arranged on the roof of building; rope 4.4 one end controls device 4.5 with rope and is connected, and the other end is connected through wire guide 4.6 with containment vessel 4.3.And containment vessel 4.3 is provided with receiving chamber, accommodating intracavity and be provided with guide roller 4.7 and cross bar 4.8, wire, 4.7 are arranged on receiving intracavity by cross bar 4.8.Rope 4.4 one end and rope control device 4.5 and are connected, and the other end is connected with containment vessel 4.3 through wire guide 4.6 and refers to: rope 4.4 one end controls device 4.5 with rope and is connected, and the other end passes wire guide 4.6 and is connected with containment vessel 4.3 with guide roller 4.7 winding realization.
The containment vessel 4.3 of the present invention is rotatably arranged on retainer 3 4.2 and refers to: also include fixture 4.9; fixture 4.9 one end passes retainer 3 4.2; installing hole 4.10 it is provided with bottom containment vessel 4.3; installing hole 4.10 is set in one end of fixture 4.9, it is achieved be rotatably arranged on retainer 3 4.2.Containment vessel 4.3 can directly be set on fixture 4.9, and along with the realization that pulls of rope 4.4 rotates, so that rope 4.4 does not affect robot walking on exterior wall 4.11 on retainer 3 4.2.The bar portion of the fixture 4.9 of the present invention passes retainer 3 4.2 from the bottom of retainer 3 4.2; the rotating shaft that bar portion rotates as containment vessel 4.3; so fixture 4.9 can be used as the installed part that containment vessel 4.3 is arranged on retainer 3 4.2, it is possible to the rotating shaft rotated as containment vessel 4.3.And containment vessel 4.3 is made up of two symmetrical housing splicings, two housing bottoms all offer semicircle orifice, and installing hole 4.10 is spliced to form by the semicircle orifice bottom two asymmetric housings.This design can be greatly simplified the installation steps of protection mechanism: after installing fixture 4.9, directly then can conveniently realize containment vessel 4.3 by two housing splicings and be set in the bar portion of fixture 4.9.
The rope of the present embodiment controls device 4.5 and includes shell 4.13, the cylinder 2 4.14 being wound with rope 4.4, discharges information or rope 4 reclaims the signal receiver 4.16 of information for the motor 3 4.15 driving cylinder 2 4.14 to rotate with for receiving rope 4.4, wherein, cylinder 2 4.14 is arranged on shell 4.13 and is connected with motor 3 4.15, signal receiver 4.16 is connected with motor 3 4.15, for receiving signal that robot body 1 sends to control the forward or reverse of motor 3 4.15.Rope controls device 4.5 and receives rope release signal or rope recovery signal by signal receiver 4.16, controls the forward or reverse of motor 3 4.15, thus drives cylinder 2 4.14 forward or reverse to realize rope 4.4 and discharge or reclaim.When robot is in up process, this rope controls the rope 4.4 of the recyclable additional length of device 4.5, puts the height falling down longer to robot and is just drawn by rope 4.4, causes shock floor surface；Equally, robot descending cleaning process, this rope controls the releasable rope 4.4 of device 4.5.Regaining and during release rope 4.4, should ensure that rope 4.4 has the surplus length of about 1 meter, in case rope 4.4 is tightened, affect robot and normally work.
The rope of the present invention controls device 4.5 and can discharge rope 4.4 or reclaim; and containment vessel 4.3 is connected with the retainer 3 4.2 being arranged on robot body 1; thus when robot falls, this protection mechanism can effectively prevent robot falling from high altitude, plays a protective role.Simultaneously; containment vessel 4.3 is rotatably arranged on retainer 3 4.2; make rope 4.4 that robot will not be fixed the constraint in direction; thus do not affect robot and walk on exterior wall 4.11; be conducive to robot External Wall 4.11 to carry out omnibearing cleaning, be greatly improved the robot cleaning quality to high building wall.
The present invention in the barrier getting over mechanism cleaning external wall obstacle crossing type robot before terminal sucker 9, bottom adsorption element sucker 17 by a control Air Valve Control sucker work whether, i.e. control whether to produce vacuum.This barrier getting over mechanism being used for cleaning external wall obstacle crossing type robot is so work:
1, front end adsorption element: the present invention is hinged with front terminal sucker bar 2.11 by connecting rod 2.10, and hinged with robot body 1 lift flexibly and creep realizing front terminal sucker 2.9, thus across obstacle easily.And angle steering wheel 1 is the rotational angle for controlling connecting rod 2.10, angle steering wheel 2 2.14 is the rotational angle for controlling front terminal sucker bar 2.11, thus improves motility and the obstacle climbing ability of obstacle crossing type robot further.
2, bottom adsorption element: during obstacle detouring, robot body 1 can have a certain degree with wall inclination, sucker 2.17 has a certain degree as well as robot body 1, in order to make sucker 2.17 surface parallel with wall all the time, therefore designing sucker 2.17 when, a sucker hinge 2.19 is added, allow sucker 2.17 can have certain rotational angle, to keep absorption wall during obstacle detouring.And the effect of gas bar 2.18 is to make sucker 2.17 have Telescopic, during obstacle detouring, in order to ensure avoiding sucker 2.17 collision obstacle, sucker 2.17 is retracted to when not working bottom robot body 1, extends parallel with obstacle-surmounting travelling gear during work.
3, obstacle-surmounting travelling gear: driven central gear 2.3 to rotate by motor 1, drives transition gear 2.4 by gear engagement and drives gear 2.5 to rotate, driving gear 2.5 to drive Athey wheel 2.6 to rotate coaxially around gear shaft 2.20.Drive gear 2.5 to be connected by gear shaft 2.20 with Athey wheel 2.6 in drive system, be finally reached Athey wheel 2.6 and rotate around central gear 2.3.Obstacle crossing type robot is when normally travelling, and in train, any two Athey wheel 2.6 contacts wall (i.e. retainer 1 does not rotates, and Athey wheel 2.6 drives crawler belt 2.7 to rotate) relative to wall simultaneously, to realize straight line moving.When robot runs into barrier when, according to gear drive relation, retainer 1 drives whole train to rotate around central gear 2.3, what central gear 2.3 was formed rotates with bar contact point around train, (i.e. retainer 1 rotates relative to wall with Athey wheel 2.6 simultaneously), the train now driving gear 2.5 to be formed develops into planet circular system, completes to overturn obstacle motion.
The present invention is such (such as Figure 16 (a)-16 (h)) for cleaning the obstacle detouring process of external wall obstacle crossing type robot:
1, when ultrasonic sensor 6 has detected obstacle, controller controls this robot and enters obstacle detouring operation.The rotation of terminal sucker 2.9 before being controlled by angle steering wheel 1 and angle steering wheel 2 2.14, to the height higher than barrier before making front terminal sucker 2.9 lift.Now motor 1 simultaneously drives central gear 2.3, and robot is moved ahead by obstacle-surmounting travelling gear.When front terminal sucker 2.9 clears the jumps, angle steering wheel 1 and angle steering wheel 2 2.14 control before the rotation of terminal sucker 2.9, make front terminal sucker 2.9 again near wall, during until front terminal sucker 2.9 bottom surface is back to overlap with wall, control air valve is opened, and front terminal sucker 2.9 adsorbs wall.During this, the sucker 2.17 of middle-end adsorption element and rear end adsorption element all adsorbs on wall.
2, robot body 1 is moved on by obstacle-surmounting travelling gear.
3, when the obstacle-surmounting travelling gear of front end nearly touches obstacle, control air valve closes the sucker 2.17 of middle-end adsorption element, the gas bar 2.18 of this two sucker 2.17 works simultaneously, driving sucker 2.17 to be retracted to the bottom of robot body 1, robot body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of front end.During this, the sucker 2.17 of front terminal sucker 2.9 and rear end adsorption element all adsorbs on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of front end, the sucker 2.17 of middle-end adsorption element drives elongation to be back to wall by gas bar 2.18 and overlaps, and control air valve is opened, and the sucker 2.17 of middle-end adsorption element adsorbs wall.
4, when the obstacle-surmounting travelling gear of rear end nearly touches obstacle, control air valve closes the sucker 2.17 of rear end adsorption element, the gas bar 2.18 of this two sucker 2.17 works simultaneously, driving sucker 2.17 to be retracted to the bottom of robot body 1, robot body 1 carries out the leap of barrier by the obstacle-surmounting travelling gear of rear end.During this, the sucker 2.17 of front terminal sucker 2.9 and middle-end adsorption element all adsorbs on wall.After robot body 1 is surmounted obstacles by the obstacle-surmounting travelling gear of rear end, the sucker 2.17 of rear end adsorption element drives elongation to be back to wall by gas bar 2.18 and overlaps, and control air valve is opened, and the sucker 2.17 of rear end adsorption element adsorbs wall.
Therefore, the present invention can at least be operated by 4 suckers in any time of obstacle detouring for cleaning external wall obstacle crossing type robot, thus is greatly improved stability and the reliability that robot is cleaned in high-altitude.
It addition, the present invention is used for cleaning external wall obstacle crossing type robot also has a following functions:
1, when wall is dirtier, color can be deeper than clean place, the height of wall gray value is detected by gray-scale sensor 5, judge whether wall cleanliness factor reaches predetermined value: the color of wall is less than predetermined value if detecting, then by motor 1 rotating speed in obstacle-surmounting travelling gear that slows down, realize slowing down speed that robot moves ahead to extend cleaning time, to improve the cleaning quality of wall.
2, the ultrasound wave of ultrasonic sensor 6 encounters impurity or separating surface can produce significantly to reflect to form and be reflected into echo, when barrier occurs in front, ultrasound wave changes with the distance of wall, and now echo is also with changing, use this principle, to realize the detection to preceding object thing.When detecting wall edge, application mode is in like manner.Robot detects wall edge automatically by ultrasonic sensor 6, when detect the end or unsettled time, robot can be carried out by intelligent decision, and turning around in reserved enough spaces, carries out the cleaning of next column.
3, in order to allow the robot to reach straight line moving to ensure cleaning quality; built-in in robot add a gyro sensor 7; in real time the level of robot can be monitored; when robot front end is towards the when of deflecting away from predetermined value; gyro sensor 7 then can feed back to controller; the rotating speed of the motor 1 in obstacle-surmounting travelling gear is adjusted by controller, to guarantee that robot keeps straight line moving cleaning.
Embodiment two
The present embodiment the difference is that only with embodiment one: as shown in figure 17, the protection mechanism of the present invention also includes for fixing containment vessel 4.3 and limiting the flange bolt 4.12 that containment vessel 4.3 in axial direction moves, for adjusting the pad 1 of flange bolt 4.12 and containment vessel 4.3 gap, and for reducing the pad 2 4.18 of friction between containment vessel 4.3 and retainer 3 4.2, wherein, flange bolt 4.12 is threadeded with fixture 4.9 and compresses containment vessel 4.3, pad 1 is arranged between flange bolt 4.12 and containment vessel 4.3, rock preventing excesssive gap between the two from causing.And pad 2 4.18 is arranged between containment vessel 4.3 and retainer 3 4.2, to avoid containment vessel 4.3 directly to contact with retainer 3 4.2 when rotating.
Other structure of the present embodiment is consistent with embodiment one.
Embodiment three
The present embodiment the difference is that only with embodiment one: the present embodiment can arrange two, six or the obstacle-surmounting travelling gear of more than eight according to the size of robot body, and obstacle-surmounting travelling gear is evenly distributed on the both sides of robot body.Simultaneously, it is possible to the front end adsorption element of or more than three is set according to the actual requirements, the bottom adsorption element of two or more than six is set.
Other structure of the present embodiment is consistent with embodiment one.
Above-described embodiment is the present invention preferably embodiment; but embodiments of the present invention are also not restricted to the described embodiments; the change made under other any spirit without departing from the present invention and principle, modify, substitute, combine, simplify; all should be the substitute mode of equivalence, within being included in protection scope of the present invention.
Claims (10)
1. the obstacle crossing type robot being used for cleaning external wall, it is characterised in that: including: robot is originally
Body, and the barrier getting over mechanism that is installed on robot body and cleaning mechanism；Described barrier getting over mechanism includes all
The obstacle-surmounting travelling gear being arranged on robot body and adsorbent equipment of creeping；Described obstacle-surmounting travelling gear is uniform
It is distributed in the both sides of robot body；Described adsorbent equipment of creeping includes front end adsorption element and adsorption section, bottom
Part；Described front end adsorption element is rotatably arranged in the front end of robot body, and bottom adsorption element can be stretched
Contract and be rotatably arranged at the bottom of robot body.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: described obstacle-surmounting travelling gear is triangle planet gear type Athey wheel；Described obstacle-surmounting travelling gear includes retainer
One, be installed in the central gear on retainer one, transition gear, driving gear and Athey wheel, crawler belt with
And motor；Described central gear is connected with motor and is connected with transition gear engagement；Described driving gear and shoe
Belt wheel is coaxially connected, and is connected with transition gear engagement；Described crawler belt is coated on Athey wheel.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: described front end adsorption element includes front terminal sucker, connecting rod and front terminal sucker bar；Described front terminal sucker bar one
End is connected with front terminal sucker, the other end and rod hinge connection；Described connecting rod is away from one end of front terminal sucker bar and machine
Device human body is hinged；
Described front end adsorption element also includes angle steering wheel one and angle steering wheel two；Described angle steering wheel one is arranged
In the front end of robot body, and it is connected with the pin joint of connecting rod and robot body；Described angle steering wheel two
It is arranged on connecting rod, and is connected with the pin joint of connecting rod and front terminal sucker bar；
Described front end adsorption element is rotatably arranged in the front end of robot body and refers to: described angle steering wheel
One drive link rotates, and angle steering wheel two drives front terminal sucker bar to rotate, it is achieved front terminal sucker sets rotationally
Put the front end at robot body；
Described barrier getting over mechanism includes at least two front end adsorption element, connects in the adsorption element of each front end for making
The cross bar one of bar synchronization action and for making the horizontal stroke of terminal sucker bar synchronization action before in the adsorption element of each front end
Bar two；Described cross bar one is connected with the connecting rod in the adsorption element of each front end respectively；Described cross bar two respectively with respectively
Front terminal sucker bar in the adsorption element of front end connects.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: described bottom adsorption element includes the middle-end adsorption element being arranged on middle-end and rear end bottom robot body
With rear end adsorption element；Described middle-end adsorption element and rear end adsorption element all include sucker, for driving suction
Gas bar that dish is flexible and sucker hinge；Described sucker is connected with gas bar, and is arranged on robot originally by gas bar
The bottom of body；Described sucker hinge is hinged with sucker；
Described bottom adsorption element is scalable and is rotatably arranged at the bottom of robot body and refers to: described gas
Bar drives sucker to stretch, and it is scalable and be rotatably arranged at robot that sucker and sucker hinge realize sucker
The bottom of body.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: described cleaning mechanism includes scraping for drum apparatus, the water dust on exterior wall or dirt wiped and spraying
Water device；Described water injector is arranged on the front end of robot body；Described drum apparatus is arranged on robot
The underface of both sides, body front end obstacle-surmounting travelling gear line；Described water scrapes the rear end being arranged on robot body
Bottom, and include removing device, described removing device can be arranged on water scrape to elastic rotation.
Obstacle crossing type robot for cleaning external wall the most according to claim 5, its feature exists
In: described water is scraped and is also included bracing frame and spring；Support frame as described above one end connects bottom robot body rear end
Connecing, the other end is connected with removing device；Described removing device can be arranged on water elastic rotation and scrape and refer to:
Described spring is arranged between bracing frame and removing device, and removing device is realized by compression or the reset of spring
Can be arranged on the bracing frame that water is scraped elastic rotation.
Obstacle crossing type robot for cleaning external wall the most according to claim 6, its feature exists
In: described removing device includes retainer two and scraper plate；Described scraper plate one end is internal with retainer two to be connected,
The other end stretches out outside retainer two；Described spring one end is connected with scraper plate, and it is outside that the other end stretches out retainer two
And offset with bracing frame；
Support frame as described above includes that support body, support body one end are provided with for the nut fixing with robot body, separately
One end is provided with the fastener for being connected together with removing device；The cross section of described fastener is circular arc, card
The locating part that part both ends rotate as removing device.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: also include the protection mechanism being arranged on robot body；Described protection mechanism includes being arranged on robot
Retainer three, containment vessel, rope and the rope for discharging rope or reclaim on body control dress
Put；Described containment vessel is rotatably arranged on retainer three, and is provided with wire guide；Described rope controls
Device is arranged on the roof of building；Described rope one end controls device with rope and is connected, and the other end passes wire
Hole is connected with containment vessel；
Described containment vessel is provided with receiving chamber, accommodates intracavity and is provided with guide roller and cross bar；Described guide roller leads to
Cross cross bar to be arranged in receiving cavity；Described rope one end controls device with rope and is connected, and the other end is through leading
String holes is connected with containment vessel and refers to: described rope one end controls device with rope and is connected, and the other end is through wire
Hole is wound around with guide roller and realizes being connected with containment vessel.
Obstacle crossing type robot for cleaning external wall the most according to claim 8, its feature exists
In: described containment vessel is rotatably arranged on retainer three and refers to: also include fixture；Described fixture
One end passes retainer three, is provided with installing hole bottom containment vessel, and installing hole is set in one end of fixture,
Realization is rotatably arranged on retainer three；
The bar portion of described fixture is from the bottom of retainer three through retainer three, and bar portion rotates as containment vessel
Rotating shaft；Described containment vessel is made up of two symmetrical housing splicings；Two housing bottoms all offer semicircle
Hole；Described installing hole is spliced to form by the semicircle orifice bottom two asymmetric housings.
Obstacle crossing type robot for cleaning external wall the most according to claim 1, its feature exists
In: also include the gray-scale sensor for detecting wall gray value, for detecting barrier or wall edge
Ultrasonic sensor, whether be in for measuring robots body level gyro sensor and
The controller being connected with barrier getting over mechanism and cleaning mechanism signal respectively；Described gray-scale sensor is arranged on robot
The front end of body is also connected with controller signals；Described ultrasonic sensor is by pole with robot body even
Connecing and be arranged on the front of front end adsorption element, ultrasonic sensor is connected with controller signals；Described gyro
Instrument sensor is arranged on robot body and is connected with controller signals.
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Effective date of registration: 20191111 Address after: Room 105-1238, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Patentee after: Zhuhai hexinzhimei Construction Technology Co., Ltd Address before: 528011 No. 18, Jiangwan Road, Chancheng District, Guangdong, Foshan Patentee before: Foshan Science &. Technology College |