CN108116523A - Clean climbing robot - Google Patents
Clean climbing robot Download PDFInfo
- Publication number
- CN108116523A CN108116523A CN201711430462.7A CN201711430462A CN108116523A CN 108116523 A CN108116523 A CN 108116523A CN 201711430462 A CN201711430462 A CN 201711430462A CN 108116523 A CN108116523 A CN 108116523A
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- CN
- China
- Prior art keywords
- walking
- shaft
- gear
- cleaning
- leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to robot fields, relate to a kind of cleaning climbing robot, including cleaning device and two walking-legs, walking-leg includes walking thigh, walking shank, adsorbent equipment and the sucker arranged successively, two walking thighs are rotatablely connected by waist shaft, walking thigh is rotationally connected with walking shank by lifting leg shaft, walking shank is rotationally connected with one end of adsorbent equipment by turning shaft, parallel to the length direction of walking-leg, the other end of adsorbent equipment is fixedly connected turning shaft with sucker；Cleaning device includes linking arm and cleaning turntable, and one end of linking arm is connected to waist shaft, and the other end is connected to cleaning turntable.The cleaning climbing robot of the present invention is provided with two walking-legs and cleaning device, the action that two walking-legs can imitate mankind's walking is advanced, the exterior wall and glass of manpower cleaning skyscraper are replaced with this, and its walking-leg used is capable of providing enough obstacle climbing abilities, can walk in special building wall surface.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of cleaning climbing robot.
Background technology
The window of skyscraper and glass outer wall are typically all to be cleaned by manpower at present, and labor intensity is big, efficiency is low.It removes
It is cleaned using manpower, is also exactly to be cleaned using robot.However the window of some buildings and the shape of glass outer wall
Structure is more special, and current clean robot can not cause such due to obstacle climbing ability is insufficient by building special wall surface
The practicability deficiency of clean robot, it is impossible to be widely applied.
The content of the invention
The object of the present invention is to provide a kind of cleaning climbing robot, two walking-legs and cleaning device are provided with, two
The action that walking-leg can imitate mankind's walking is advanced, and the exterior wall and glass of manpower cleaning skyscraper, Er Qieqi are replaced with this
The walking-leg of use is capable of providing enough obstacle climbing abilities, can walk in special building wall surface.
To solve the above-mentioned problems, it is flat including cleaning device and two the present invention provides a kind of cleaning climbing robot
The walking-leg that row is set, the walking-leg include walking thigh, walking shank, adsorbent equipment and the sucker arranged successively, two
The walking thigh is rotatablely connected by waist shaft, and to be rotationally connected with the walking small by lifting leg shaft for the walking thigh
Leg, the length direction for lifting leg shaft perpendicular to the walking-leg, the walking shank are rotationally connected with by turning shaft
One end of the adsorbent equipment, the turning shaft parallel to the walking-leg length direction, the adsorbent equipment it is another
End is fixedly connected with the sucker, and the adsorbent equipment can be by the sucker suction on the wall surface of building；The sanitizer cartridge
It puts including linking arm and cleaning turntable, one end of the linking arm is connected to the waist shaft, and the other end is connected to described clear
Clean turntable.
As preference, one end of the waist shaft is fixedly connected on one of them described walking thigh, the waist
The other end of shaft is rotationally connected with another walking thigh, is rotationally connected with the walking thigh of the waist shaft
The swinging kick gear with waist shaft coaxial arrangement is equipped with, the middle part of the waist shaft is equipped with first driving means, institute
The output shaft for stating first driving means is equipped with first gear, the first gear and the engagement of swinging kick gear.
As preference, one end that the linking arm is connected with the cleaning turntable is equipped with the second driving device, described the
The output shaft of two driving devices is connected to the center of the cleaning turntable.
As preference, being installed with the first lift leg gear on the walking shank, the first lift leg gear and lift leg turn
Axis is coaxially disposed, and the walking thigh is equipped with the 3rd driving device, and the output shaft of the 3rd driving device is equipped with second
Gear, the second gear and the first lift leg gear engagement；The both ends of the turning shaft are respectively fixedly connected in the walking
Shank and adsorbent equipment.
As preference, the adsorbent equipment includes vacuum pump, the vacuum pump is equipped with air inlet and gas outlet, the suction
It is set on disk there are two gas guide nozzle, two gas guide nozzles are respectively communicated in the air inlet and gas outlet.
As preference, the lift leg shaft is fixedly connected on the walking shank, the lift leg shaft is rotationally connected with
The walking thigh, described lift are rotatably provided with the second lift leg gear for being coaxial therewith setting, the walking shank in leg shaft
Turning gear is equipped with, the turning gear is coaxially connected in one end of the turning shaft, the other end of the turning shaft
The adsorbent equipment is connected to, the 3rd gear is engaged in the second lift leg gear；The walking thigh is equipped with the 4th
Driving device, the output shaft of the four-drive device are equipped with the 3rd gear, and the second lift leg gear is engaged in described turn
Curved gear；The first brake apparatus relatively rotated for both lockings is equipped between the lift leg shaft and walking thigh, it is described
The second brake apparatus relatively rotated for both lockings is equipped between turning shaft and walking shank.
As preference, first brake apparatus and the second brake apparatus are electromagnetic brake.
As preference, the output shaft of the four-drive device is perpendicular to the lift leg shaft.
The cleaning climbing robot of the present invention is provided with two walking-legs and cleaning device, and walking-leg is filled by adsorbing
Absorption is put on the wall surface of skyscraper, the external surface of building is walked in a manner of walking, and using cleaning turntable to building
It builds exterior wall and window is cleaned；The robot can replace the exterior wall and window of manpower cleaning skyscraper, and its walking-leg
Enough obstacle climbing abilities are capable of providing, can be walked in the building wall surface of special construction.
Description of the drawings
Fig. 1 is the schematic elevation view of the cleaning climbing robot of the embodiment of the present invention；
Fig. 2 is the schematic side view of the cleaning climbing robot of the embodiment of the present invention.
Wherein, 1, cleaning device；11st, linking arm；12nd, turntable is cleaned；13rd, the second driving device；2nd, walking-leg；3rd, walking
Thigh；31st, swinging kick gear；32nd, the 3rd driving device；33rd, second gear；34th, four-drive device；35th, the 3rd gear；4th, walk
Row shank；41st, the first lift leg gear；5th, adsorbent equipment；51st, vacuum pump；511st, air inlet；512nd, gas outlet；6th, sucker；61、
Gas guide nozzle；7th, leg shaft is lifted；71st, the second lift leg gear；8th, turning shaft；81st, turning gear；9th, waist shaft；91st, first drive
Dynamic device；92nd, first gear；A, the first brake apparatus；B, the second brake apparatus.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
With reference to shown in Fig. 1 and Fig. 2, the cleaning climbing robot of the present invention is schematically showed, including 1 He of cleaning device
Two walking-legs 2 being arranged in parallel, walking-leg 2 include the walking thigh 3 arranged successively, walking shank 4, adsorbent equipment 5 and inhale
Disk 6, wherein one end of two walking thighs 3 are rotatablely connected by waist shaft 9, and waist shaft 9 is perpendicular to the length of walking thigh 3
Direction is spent, the other end of walking thigh 3 is rotationally connected with walking shank 4 by lifting leg shaft 7, and lift leg shaft 7 is also perpendicularly to walk
The length direction of row thigh 3.Cleaning device 1 includes linking arm 11 and cleaning turntable 12, and one end of linking arm 11 is connected to waist
Shaft 9, the other end are connected to cleaning turntable 12.Walking shank 4 is rotationally connected with one end of adsorbent equipment 5 by turning shaft 8,
Turning shaft 8 is parallel to the length direction of walking-leg 2, and the other end of adsorbent equipment 5 is fixedly connected with sucker 6, and adsorbent equipment 5 can
It is adsorbed by sucker 6 on the wall surface of building so that the robot can walk on the external surface of building and clean its approach
External wall wall surface, by the cooperation of walking thigh 3, walking shank 4 and adsorbent equipment 5, the walking of the mankind can be imitated
Posture is to cross or leaping over obstacles.For climbing robot compared to tripodia, four-footed even more polypody, wall machine is climbed in biped cleaning
Device people is the stability that can guarantee its walking, and can also reduce the difficulty of its gesture stability to the greatest extent.
In the present embodiment, one end of waist shaft 9 is fixedly connected on one of walking thigh 3, waist shaft 9 it is another
One end is rotationally connected with another walking thigh 3, and the walking thigh 3 for being rotationally connected with waist shaft 9 is equipped with and waist shaft 9
The swinging kick gear 31 of coaxial arrangement, the middle part of waist shaft 9 are equipped with first driving means 91, the output shaft of first driving means 91
First gear 92 is equipped with, first gear 92 and swinging kick gear 31 engage, under the driving of first driving means 91, two walkings
Thigh 3 is mutually swung around waist shaft 9.
One end that linking arm 11 is connected with the cleaning turntable 12 is equipped with the second driving device 13, the second driving device 13
Output shaft is connected to the center of cleaning turntable 12, and cleaning turntable 12 ceaselessly rotates under the driving of the second driving device 13, with
Wipe the external surface of building.Adsorbent equipment 5 includes vacuum pump 51, and vacuum pump 51 is equipped with air inlet 511 and gas outlet 512, inhales
It is set on disk 6 there are two gas guide nozzle 61, two gas guide nozzles 61 are respectively communicated in air inlet 511 and gas outlet 512；Utilize vacuum pump 51
Aspirate the air in sucker 6 so that sucker 6 can be adsorbed on the wall surface of external wall.
For a long time working at height cleaning climbing robot first have to ensure structure stability, however complexity
Machinery, stability are more difficult to guarantee.Therefore among the present embodiment, two walking-legs 2 of the robot a, wherein walking-leg
The attitudes vibration of 2 responsible straight line movings, and another walking-leg 2 is also responsible for while the attitudes vibration of straight line moving is responsible for
The steering pose adjustment of the robot.Mobilizable zero is reduced to the greatest extent on the basis of the demand that adjusts meeting basic row and walking about
Part (only having a walking-leg 2 that can make steering pose adjustment rather than two walking-legs 2 can make and turn to pose adjustment),
In order to avoid senile abrasion occurs for mobilizable parts after long-time service, robot pendant out of control in working at height is ultimately resulted in
Fall.
Specifically, the first lift leg gear 41 is installed on the walking shank 4 of wherein one walking-leg 2, the first lift leg gear
41 and lift leg shaft 7 be coaxially disposed, walking thigh 3 is equipped with the 3rd driving device 32, on the output shaft of the 3rd driving device 32
Equipped with second gear 33, second gear 33 and first is lifted leg gear 41 and is engaged, and the both ends of turning shaft 8 are respectively fixedly connected in step
Row shank 4 and adsorbent equipment 5.The 3rd driving device 32 driving second gear 33 on walking thigh 3 rotates, and second gear 33 will
Power is transferred to walking shank 4 from the first lift leg gear 41, so that relative swing occurs for walking thigh 3 and walking shank 4,
That is the walking-leg 2 is merely responsible for the attitudes vibration of straight line moving.
The lift leg shaft 7 of another walking-leg 2 is fixedly connected on walking shank 4, and it is big that lift leg shaft 7 is rotationally connected with walking
Leg 3 is lifted and the second lift leg gear 71 for being coaxial therewith setting is rotatably provided in leg shaft 7, and walking shank 4 is equipped with turning gear
81, turning gear 81 is coaxially connected in one end of turning shaft 8, and the other end of turning shaft 8 is connected to adsorbent equipment 5, and the 3rd
Gear 35 is engaged in the second lift leg gear 71.Wherein, walking thigh 3 is equipped with four-drive device 34, four-drive device 34
Output shaft be equipped with the 3rd gear 35, the second lift leg gear 71 is engaged in the turning gear 81.Four-drive device 34
Output shaft is perpendicular to the lift leg shaft 7, i.e. the length side of the output shaft length direction of four-drive device 34 and walking thigh 3
To consistent, it is mounted on convenient for four-drive device 34 in walking thigh 3.It is equipped with to lock between lift leg shaft 7 and walking thigh 3
The first brake apparatus A that only the two relatively rotates is equipped between turning shaft 8 and walking shank 4 and is used for opposite turn of both lockings
The second dynamic brake apparatus B.First brake apparatus A and the second brake apparatus B can be used for the four-drive device in the robot
34 lock the walking thigh 3 and the relative rotation of walking shank 4 and the phase of walking shank 4 and adsorbent equipment 5 in time when out of control
To rotating.Meanwhile a drive can be achieved in the mutual cooperation of the first brake apparatus A, the second brake apparatus B and four-drive device 34
Dynamic device driving walking thigh 3 and the relative rotation of walking shank 4 and the relative rotation of walking shank 4 and adsorbent equipment 5.Tool
Body, when the relative rotation of the first brake apparatus A locking walkings thigh 3 and walking shank 4, the driving of four-drive device 34 the 3rd
Gear 35 rotates, and power is transferred to turning gear 81 by the 3rd gear 35 from the second lift leg gear 71, and turning gear 81 is by turning
Curving axis 8 drives adsorbent equipment 5 to be rotated relative to walking shank 4, realizes the steering pose adjustment of the walking-leg 2；When the second braking
The relative rotation of device B locking walkings shank 4 and adsorbent equipment 5, since turning shaft 8 can not be rotated relative to walking shank 4, because
This turning gear 81 and the second lift leg gear 71 engaged can not all rotate, and four-drive device 34 drives the 3rd gear
35 when rotating, and the meshing relation of the 3rd gear 35 and the second lift leg gear 71 can cause the opposite of walking thigh 3 and walking shank 4
It rotates.Preferably, the first brake apparatus A and the second brake apparatus B is electromagnetic brake, and electromagnetic brake is compared to traditional
Gear lockable mechanism is compacter in structure, is suitble to be installed in small, the light-weight cleaning climbing robot of such pursuit
On.
In conclusion the cleaning climbing robot of the present invention is provided with two walking-legs and cleaning device, walking-leg
By adsorbent equipment absorption on the wall surface of skyscraper, the external surface of building is walked in a manner of walking, and using clear
Clean turntable cleans external wall and window；The robot can replace the exterior wall and window of manpower cleaning skyscraper, and
And its walking-leg is capable of providing enough obstacle climbing abilities, can walk in the building wall surface of special construction.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and replacement can also be made, these improve and replace
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of cleaning climbing robot, which is characterized in that including cleaning device and two walking-legs being arranged in parallel, the step
Row leg includes walking thigh, walking shank, adsorbent equipment and the sucker arranged successively, and two walking thighs are turned by waist
Axis is rotatablely connected, and the walking thigh is rotationally connected with the walking shank by lifting leg shaft, the lift leg shaft perpendicular to
The length direction of the walking-leg, the walking shank are rotationally connected with one end of the adsorbent equipment, institute by turning shaft
Length direction of the turning shaft parallel to the walking-leg is stated, the other end of the adsorbent equipment is fixedly connected with the sucker,
The adsorbent equipment can be by the sucker suction on the wall surface of building；The cleaning device includes linking arm and cleaning turns
Disk, one end of the linking arm are connected to the waist shaft, and the other end is connected to the cleaning turntable.
2. cleaning climbing robot according to claim 1, which is characterized in that one end of the waist shaft is fixedly connected
In one of them walking thigh, the other end of the waist shaft is rotationally connected with another walking thigh, rotates
The walking thigh for being connected to the waist shaft is equipped with the swinging kick gear being coaxially disposed with the waist shaft, the waist
The middle part of portion's shaft is equipped with first driving means, and the output shafts of the first driving means is equipped with first gear, and described first
Gear and the engagement of swinging kick gear.
3. cleaning climbing robot according to claim 1, which is characterized in that the linking arm is connected with the cleaning and turns
One end of disk is equipped with the second driving device, and the output shaft of second driving device is connected to the center of the cleaning turntable.
4. cleaning climbing robot according to claim 1, which is characterized in that be installed with the first lift on the walking shank
Leg gear, the first lift leg gear and the shaft coaxial arrangement of lift leg, the walking thigh is equipped with the 3rd driving device, described
The output shaft of 3rd driving device is equipped with second gear, the second gear and the first lift leg gear engagement；It is described to turn
The both ends of axis are respectively fixedly connected in the walking shank and adsorbent equipment.
5. cleaning climbing robot according to claim 1, which is characterized in that the adsorbent equipment includes vacuum pump, institute
Vacuum pump is stated equipped with air inlet and gas outlet, is set on the sucker there are two gas guide nozzle, two gas guide nozzles be respectively communicated in
The air inlet and gas outlet.
6. cleaning climbing robot according to claim 1, which is characterized in that the lift leg shaft is fixedly connected on described
Walking shank, the lift leg shaft are rotationally connected with the walking thigh, are rotatably provided with and are coaxial therewith in the lift leg shaft
The the second lift leg gear set, the walking shank are equipped with turning gear, and the turning gear is coaxially connected in the turning
One end of shaft, the other end of the turning shaft are connected to the adsorbent equipment, and the 3rd gear is engaged in described second
Lift leg gear；The walking thigh is equipped with four-drive device, and the output shaft of the four-drive device is equipped with the 3rd tooth
Wheel, the second lift leg gear are engaged in the turning gear；It is equipped between the lift leg shaft and walking thigh for locking
The first brake apparatus that the two relatively rotates is equipped between the turning shaft and walking shank for both locking relative rotations
The second brake apparatus.
7. cleaning climbing robot according to claim 6, which is characterized in that first brake apparatus and the second braking
Device is electromagnetic brake.
8. cleaning climbing robot according to claim 6, which is characterized in that the output shaft of the four-drive device hangs down
Directly in the lift leg shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430462.7A CN108116523A (en) | 2017-12-22 | 2017-12-22 | Clean climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711430462.7A CN108116523A (en) | 2017-12-22 | 2017-12-22 | Clean climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108116523A true CN108116523A (en) | 2018-06-05 |
Family
ID=62231746
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711430462.7A Pending CN108116523A (en) | 2017-12-22 | 2017-12-22 | Clean climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116523A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01150042A (en) * | 1987-12-03 | 1989-06-13 | Toshiba Corp | Manipulator joint mechanism |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| JP2002200367A (en) * | 2000-12-29 | 2002-07-16 | Yuukashiya:Kk | Drive module for two-foot walking toy |
| US20110180333A1 (en) * | 2008-10-06 | 2011-07-28 | Anton Niederberger | Mobile climbing robot and service system having a climbing robot |
| CN103010330A (en) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | Biped walking robot |
| CN105438312A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Automatic walking robot |
| US20170106924A1 (en) * | 2015-10-16 | 2017-04-20 | The Boeing Company | Walking Robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN107042505A (en) * | 2017-05-04 | 2017-08-15 | 徐荣华 | A kind of humanoid Intelligent transfer robot |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| CN207889861U (en) * | 2017-12-22 | 2018-09-21 | 华南理工大学广州学院 | Clean climbing robot |
-
2017
- 2017-12-22 CN CN201711430462.7A patent/CN108116523A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01150042A (en) * | 1987-12-03 | 1989-06-13 | Toshiba Corp | Manipulator joint mechanism |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| JP2002200367A (en) * | 2000-12-29 | 2002-07-16 | Yuukashiya:Kk | Drive module for two-foot walking toy |
| US20110180333A1 (en) * | 2008-10-06 | 2011-07-28 | Anton Niederberger | Mobile climbing robot and service system having a climbing robot |
| CN103010330A (en) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | Biped walking robot |
| US20170106924A1 (en) * | 2015-10-16 | 2017-04-20 | The Boeing Company | Walking Robot |
| CN105438312A (en) * | 2015-12-17 | 2016-03-30 | 佛山市新鹏机器人技术有限公司 | Automatic walking robot |
| CN106725140A (en) * | 2016-12-22 | 2017-05-31 | 山西万立科技有限公司 | High-altitude outside Wall Cleaning machine people |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| CN107042505A (en) * | 2017-05-04 | 2017-08-15 | 徐荣华 | A kind of humanoid Intelligent transfer robot |
| CN207889861U (en) * | 2017-12-22 | 2018-09-21 | 华南理工大学广州学院 | Clean climbing robot |
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