CN108143363B - Cleaning method of high-altitude cleaning robot with humanoid working industry mode - Google Patents

Cleaning method of high-altitude cleaning robot with humanoid working industry mode Download PDF

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Publication number
CN108143363B
CN108143363B CN201810009600.2A CN201810009600A CN108143363B CN 108143363 B CN108143363 B CN 108143363B CN 201810009600 A CN201810009600 A CN 201810009600A CN 108143363 B CN108143363 B CN 108143363B
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cleaning
actuator
arm
assembly
robot
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CN108143363A (en
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王海燕
阮久宏
杨福广
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Shandong Jiaotong University
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Shandong Jiaotong University
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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
    • 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
    • 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
    • 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
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • 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
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
    • 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
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • 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
    • E04G23/004—Arrangements for cleaning building facades with arrangements for collecting waste water or cleaning products
    • 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
    • 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
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

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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)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Sustainable Development (AREA)
  • Cleaning By Liquid Or Steam (AREA)

Abstract

The invention discloses a cleaning method of a high-altitude cleaning robot with a human-like working mode, which is characterized in that a roof hoisting system and two safety ropes are fixedly connected with a box body assembly shell; the foot end anti-skid rubber pad of the movable supporting mechanism is tightly attached to the working surface; the visual sensing system checks the condition of the operation surface and transmits the information to the system controller; wetting a first cleaning arm cleaning towel for preliminary wiping; removing the contaminants with a scraper in a second cleaning actuator; the first cleaning arm cleans the towel to wipe in a large range; scraping the cleaning surface with a rubber strip in a first cleaning actuator; wiping and collecting the dirty liquid flowing into the dirty liquid recovery box by using a second cleaning arm cleaning towel; the hoisting system acts to enter the next working surface, and the cleaning process is repeated until the robot falls to the ground; the first cleaning arm cleaning towel and the second cleaning arm cleaning towel are mutually wiped and extruded, dirty liquid is discharged into the dirty liquid recycling box, and the robot is lifted to the top of the building by the hoisting system to enter the next cleaning work.

Description

Cleaning method of high-altitude cleaning robot with humanoid working industry mode
Technical Field
The invention relates to a robot technology, in particular to a cleaning method of a high-altitude cleaning robot with a humanoid working mode for high-altitude cleaning.
Background
With the rapid development of economic construction in China, high-rise buildings such as bamboo shoots in spring after raining are all the same. However, the building design is not standardized, so at present, the cleaning of most domestic high-rise buildings is finished manually. The defects of high labor cost, high labor intensity of workers, high danger and the like exist in both hanging plate type cleaning, hanging basket type cleaning and lifting table type cleaning. Therefore, there is a need for a robot that can automatically perform a cleaning work instead of a manual work, from the viewpoint of economy and safety.
Chinese patent application 201510824734.6 discloses a cleaning robot, comprising a robot body and a roof safety lifting cable car, wherein the robot body comprises an adsorption device, a cleaning system, a power supply system and a recovery system; the robot body controls the lifting height through a roof safety lifting cable car to reach a cleaning position, the robot body is fixed on a glass curtain wall by the adsorption device, the cleaning system cleans glass, the recovery system recovers dirt after the glass is cleaned, and the power supply system is used for supplying power to the adsorption device, the cleaning system and the recovery system. However, through reading the entire patent document, the patent application only gives a general technical idea, and has no specific technical feature description, and has no corresponding technical drawings, and for those skilled in the art, the technical solution cannot be directly implemented, and the technical solution must be created again to be able to be implemented, that is, the patent application is a conceptual idea, and lacks a specific implementation technical solution.
Chinese patent application 201510258869.0 discloses a climbing fire-extinguishing and cleaning robot, the body structure of which is composed of a swing link mechanism, a walking mechanism, a transmission system, an adsorption device, a fire-extinguishing device, a cleaning device and a camera unit. The swing rod mechanism consists of a crank, a connecting rod and a swing rod, and the swing rod can swing at any angle by adopting a spherical pair connection mode, so that the cleaning of the glass curtain wall and the fire extinguishing function of a high-rise building are realized. The running mechanism adopts a crawler-type running mode. The transmission system adopts a gear meshing mode to realize power transmission. The adsorption device consists of a fan, a wind bowl and an exhaust hole, and the robot is attached to the wall by adopting the adsorption principle. The fire extinguishing device adopts a mode of spraying carbon dioxide to a fire source to extinguish fire. The cleaning device is cleaned by a freely rotatable cleaning brush. The robot is attached to the wall by adopting the adsorption principle. The camera shooting unit feeds back the working condition of the robot on the ground in real time, so that the ground personnel can conveniently control the robot remotely. The technical scheme of this patent application is complicated, and clean arm and running gear's mobility is relatively poor, does not have the revolute pair, is unfavorable for action adjustment, is difficult to accomplish the implementation of small action.
Chinese patent application 201510578552.5 discloses a high altitude cleaning robot, installs sucking disc group on the robot track, through the adsorption efficiency of sucking disc, makes high altitude cleaning robot can carry out perpendicular climbing on high-rise building's outer wall, and this robot technical scheme is complicated, adopts crawler-type structure, is difficult to accomplish the type people operation mode, is unfavorable for the implementation of small action.
Chinese patent application 201610048950.0 discloses an automatic high-altitude glass wiping robot, which comprises a base, a control system, a small air pump, a circular suction cup, a trapezoidal suction cup, a water reservoir, a sprinkler, a wiper and a sponge cleaning block, wherein the control system, the small air pump, the water reservoir and the sprinkler are mounted on the base; the control system is electrically connected with the small air pump, the water storage device and the sprinkler respectively; a first cylinder is arranged at the bottom of the base, a first spring is embedded into the first cylinder, and one end of the first spring is connected with a wiper; a second column body is arranged on the side face of the tail of the base, a second spring is embedded in the second column body, and the second spring is connected with the arc-shaped rod; the bottom of the arc-shaped rod is connected with the sponge cleaning block. The small-size air pump is started in the during operation, makes the robot adsorb on the glass wall automatically under the effect of circular sucking disc and trapezoidal sucking disc. The patent is a miniature high-altitude operation robot, the degree of freedom of a cleaning part of the robot is poor, the flexibility is insufficient, the simulation and implementation of human-like actions are difficult to realize, and the robot is not suitable for scrubbing complex areas in the environment to work.
Chinese patent application 201611194695.7 discloses a high altitude outer wall cleaning robot, including crawling device and cleaning device, cleaning device is located one side of crawling the device, the device of crawling includes the robot fuselage, is equipped with four hip joints on the robot fuselage, and every hip joint is connected with the mechanical leg, and every mechanical leg bottom is connected with the vacuum chuck who is used for adsorbing glass, and cleaning device includes clean arm, clean base, first roating seat and second roating seat, and first roating seat and clean base swing joint are passed through to the one end of clean arm, and the other end of clean arm passes through the activity of second roating seat and sets up on the robot. This patent application has adopted vacuum adsorption's mechanical leg mode, is convenient for stride across the obstacle, nevertheless because air compressor places subaerial, compressed air remote transmission energy loss is great, and the robot operation scope is limited. This patent adopts the creeping mode of four-footed quiet gait or dynamic gait, and when the robot walked, the relative motion through between cleaning base and the glass cleaned, was not good enough in dirt collection, in the aspect of clean effect considered, was difficult to reach the humanoid operation effect.
Chinese patent application 201710109588.8 discloses a double suction disc glass curtain wall cleaning robot, including drive mechanism, hoisting mechanism, reversing mechanism, power unit, cleaning device, adsorption equipment and safety device, drive mechanism is convoluteed by two wire rope and is constituteed with linear guide mechanism, hoisting mechanism comprises little worm wheel and little worm, reversing mechanism comprises big worm wheel and big worm, power is provided by direct current motor, cleaning device comprises rotatory brush and spring telescopic machanism, adsorption equipment comprises sucking disc and air-blower, safety device comprises safety ring and safety rope, the robot adsorbs in the glass curtain wall surface through adsorption equipment, utilize drive mechanism to realize advancing, cleaning device keeps rotatory the cleaning simultaneously. The patent application can not realize multi-free rotation, and is difficult to implement fine motion.
Chinese patent application 201611264150.9 discloses a glass cleaning robot, which comprises a detergent circulator, an external cleaner arranged outside the glass and an internal driver arranged inside the glass, wherein the external cleaner comprises an inner frame, a cleaning disc assembly arranged on the inner frame and attached to the glass wall, and an external magnetic block embedded on the inner frame, an internal magnetic block for magnetic attraction in opposite position with the external magnetic block is arranged in the internal driver, and the detergent circulator is communicated with the cleaning disc assembly through a detergent hose. Magnetic force and effect between the external magnetic block and the internal magnetic block are utilized to form an internal and external clamping effect on the glass, and a cleaner drives the external cleaner to carry out movable cleaning along the glass by moving the internal driver in a house. The patent application technology is not suitable for cleaning the outer surface of glass of a high-rise building, and especially the outer glass of a plurality of high-rise curtain walls cannot be opened and closed at present and is difficult to adapt.
Chinese patent document 201510246660.2 discloses a tracked robot for cleaning high-altitude curtain walls, which comprises two fixing frames, a first chain, a horizontal moving device, a second chain, a robot body, a power supply and a controller; the two ends of the first chain are respectively fixedly connected with the two fixing frames, the horizontal moving device comprises a first flywheel motor, a first driven gear and a second driven gear which are arranged in the horizontal moving device, and the first chain is meshed with the first flywheel motor, the first driven gear and the second driven gear in sequence; one end of the second chain is fixedly connected with the side part of the horizontal moving device; the robot body comprises a flight control device, a vertical moving device, a crawler trolley and at least two wiping discs. When the glass cleaning trolley works, the trolley is enabled to move close to the glass by the pressure of the propeller. The patent has complex structure and poor cleaning effect, and particularly adopts the crawler movement, so the degree of freedom is low and the fine adjustment of the movement is not ideal.
Chinese patent application 201511029515.5 discloses an overhead outer wall multifunctional robot, which comprises a frame and a controller, wherein at least one thrust mechanism is arranged in the frame, traveling mechanisms are arranged on two sides of the frame, an induction device is arranged in the advancing direction of the frame, and the controller is connected with the thrust mechanism and the traveling mechanisms. And the multifunctional robot for the high-altitude outer wall is attached to the surface of the outer wall through a counterforce by adopting a thrust mechanism. The patent technology is simple, the cleaning effect is not particularly good, and especially the micro-motion is difficult to adjust.
From the perspective of mechanism design, the high-altitude cleaning robot adopts different adsorption modes to fix the robot on a working surface, and mainly comprises an adsorption mode (including vacuum adsorption and magnetic adsorption), or a mode of acting by means of the pressure of a propeller, or a mode of acting by means of a thrust mechanism. However, magnetic attraction requires that the working surface can be attracted by a magnet or an internal and external clamping effect can be formed on the working surface through the magnetic force and effect between the internal and external magnetic blocks; the mode that vacuum adsorption, with the help of the pressure of screw, perhaps with the help of the thrust mechanism effect with the robot fix the operation face consumes energy great, is unfavorable for promoting on a large scale. The robot is not very convenient to clean, has insufficient safety and flexibility, and has a not ideal cleaning effect.
Disclosure of Invention
The invention aims to overcome the defects of the existing high-altitude cleaning robot cleaning technology and provides a high-altitude cleaning robot cleaning method which has the advantages of strong adaptability, flexible movement, safety, reliability and good cleaning effect and has a human-like working mode.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning method of a high-altitude cleaning robot with a human-like working industry mode comprises two cleaning arms, a box body assembly, two moving supporting mechanisms, a first cleaning actuator, a second cleaning actuator and a visual sensing system assembly, wherein the two cleaning arms are respectively fixed on a shell of the box body assembly in the box body assembly, and the first cleaning actuator and the second cleaning actuator are respectively and correspondingly arranged on the cleaning arms; the two movable supporting mechanisms are respectively arranged at the lower end of a box body assembly shell in the box body assembly, and the tail ends of the movable supporting mechanisms are provided with arc-shaped foot-end anti-skid rubber pads; the visual sensing system assembly is fixed on the top of the shell of the box body assembly in the box body assembly, and the electric elements in the components are controlled by the system controller.
The cleaning method comprises the following steps:
step one, configuring a roof hoisting system and two safety ropes; the main rope extending out of the hoisting system is fixedly connected with a hoisting joint on the top surface of the case assembly shell, the two safety ropes are respectively fixedly connected with a safety rope connecting joint on the back surface of the case assembly shell, and the two safety ropes are respectively provided with a self-locking device, so that when the hoisting machine fails, the robot cannot slide down rapidly;
secondly, the foot end anti-skid rubber pad of the movable supporting mechanism is tightly attached to the working surface, so that the robot is prevented from swinging left and right;
thirdly, driving the camera to swing by a driving motor of the visual sensing system assembly, checking the condition of the working surface and transmitting the information to a system controller;
fourthly, under the control of the system controller, a miniature water pump in the box body assembly extracts the cleaning liquid from a cleaning liquid storage tank and wets a first cleaning arm cleaning towel in a first cleaning actuator;
fifthly, a first cleaning arm cleaning towel in the first cleaning actuator performs preliminary wiping on the obviously dirty working face detected by the vision sensing system assembly;
sixthly, removing dirt by using a scraper in the second cleaning actuator;
seventhly, wiping the cleaning surface in a large range by using a first cleaning arm cleaning towel in the first cleaning actuator;
eighthly, scraping the cleaning surface by using a rubber strip in the first cleaning actuator;
a ninth step, wiping and collecting dirty liquid by using a second cleaning arm cleaning towel in a second cleaning actuator, wherein the dirty liquid flows into a dirty liquid recovery box through an actuator dirty liquid output connector, a box assembly shell dirty liquid recovery hole and a cleaning liquid storage and recovery system dirty liquid recovery hole;
step ten, the winch system acts to enter the next working surface, and the cleaning process is repeated until the robot falls to the ground;
and step eleven, the micro water pump is started to the maximum, the first cleaning arm cleaning towel of the first cleaning actuator and the second cleaning arm cleaning towel of the second cleaning actuator are mutually wiped and extruded, and dirty liquid is discharged into the dirty liquid recovery box through the dirty liquid output joint of the actuators.
And twelfth, lifting the robot to the top of the building by the hoisting system, and moving the hoisting system horizontally to enter the next vertical working surface to start cleaning.
In the present invention, the cleaning arm has one arm Z 0 A first rotary pair with X direction as rotation axis 0 A third revolute pair with the direction of rotation axis of two pairs 0 The direction is the active degree of freedom of the rotating shaft and is respectively a second revolute pair and a fourth revolute pair, wherein X 0 、Y 0 、Z 0 Respectively three axes in a cartesian three-dimensional coordinate system.
The structure of the cleaning arm comprises a cleaning arm first driving motor, a cleaning arm first connecting rod, a cleaning arm second driving motor base, a cleaning arm second driving motor, a cleaning arm second connecting rod joint, a cleaning arm second connecting rod, a cleaning arm third driving motor base, a cleaning arm third driving motor, a cleaning arm third connecting rod, a cleaning arm fourth driving motor base, a cleaning arm fourth driving motor and a cleaning actuator connecting piece;
the cleaning arm provided with the first cleaning actuator is fixed on the first cleaning arm connecting base through a flange plate of a first driving motor of the cleaning arm; the cleaning arm provided with a second cleaning actuator is fixed on the second cleaning arm connecting base through a flange of a first driving motor of the cleaning arm;
an output shaft of a first driving motor of the cleaning arm is fixedly connected with a first connecting rod of the cleaning arm to form a first rotating pair; the other end of the first connecting rod of the cleaning arm is connected with a second driving motor base of the cleaning arm through threads;
the second driving motor of the cleaning arm is fixed on the second driving motor base of the cleaning arm, and the output shaft of the second driving motor is fixedly connected with the second connecting rod joint of the cleaning arm to form a second revolute pair; one end of the second cleaning arm connecting rod is connected with the second cleaning arm connecting rod joint through threads, and the other end of the second cleaning arm connecting rod is connected with the third cleaning arm driving motor base through threads;
the third driving motor of the cleaning arm is fixed on the third driving motor base of the cleaning arm, and the output shaft of the third driving motor is fixedly connected with the third connecting rod of the cleaning arm to form a third revolute pair; the other end of the third connecting rod of the cleaning arm is connected with a fourth driving motor base of the cleaning arm through threads;
the fourth driving motor of the cleaning arm is fixed on the base of the fourth driving motor of the cleaning arm, and the output shaft of the fourth driving motor of the cleaning arm is fixedly connected with the connecting piece of the cleaning actuator to form a fourth revolute pair.
The first cleaning actuator structure comprises two actuator cleaning liquid injection joints, a first cleaning actuator connecting support, a first cleaning arm connecting piece, a wiper rubber strip support, a rubber strip, a first cleaning arm cleaning towel and a first cleaning arm cleaning towel support; a wiper rubber strip support is arranged at one end of the first cleaning actuator connecting support, a first cleaning arm cleaning towel support is arranged at the other end of the first cleaning actuator connecting support, and a first cleaning arm connecting piece is arranged at the center of the upper surface of the first cleaning actuator connecting support; the rubber strip is arranged on the wiper rubber strip bracket; the clean towel of first clean arm is fixed at first clean arm clean towel support lower surface, and executor cleaning solution injection joint sets up on first clean arm clean towel support, and the cleaning solution soaks the clean towel of first clean arm through executor cleaning solution injection joint.
The second cleaning actuator structure comprises an actuator foul solution output connector, a second cleaning arm connecting piece, a second cleaning actuator connecting support, a scraper, a second cleaning arm cleaning towel and a second cleaning arm cleaning towel support; one end of the second cleaning actuator connecting support is provided with a scraper support, the other end of the second cleaning actuator connecting support is provided with a second cleaning arm cleaning towel support, and the center of the upper surface of the second cleaning actuator connecting support is provided with a second cleaning arm connecting piece; the scraper is arranged on the scraper bracket; the second cleaning arm cleaning towel is fixed on the outer surface of the second cleaning arm cleaning towel support; the bottom of the second cleaning arm cleaning towel support is provided with an executor dirty liquid output connector, and the dirty liquid remained on the frame of the glass curtain wall cleaned by the second cleaning arm cleaning towel is recovered through the executor dirty liquid output connector.
The structure of the tank assembly comprises a tank assembly end cover, a tank assembly shell, a heat insulation plate, a system controller, a cleaning solution storage and recovery system assembly and a battery pack; the box body assembly end cover and the box body assembly shell are fixed through bolts, and six through holes are formed in the edge of the box body assembly end cover and matched with six threaded holes in the box body assembly shell; the heat insulation plate, the system controller and the battery pack are all arranged above the cleaning solution storage and recovery system assembly, and the upper end of the heat insulation plate is clamped in the heat insulation plate fixing clamping groove and is positioned between the system controller and the battery pack; the guide edges of the system controller and the battery pack are respectively fixed in the system controller fixing clamping groove and the battery pack fixing clamping groove.
The structure of the box body assembly shell comprises a second cleaning arm connecting base, a hoisting connector, a heat insulation plate fixing clamping groove, a first cleaning arm connecting base, a system controller fixing clamping groove, a cleaning solution storage and recovery system first fixing clamping groove, a shell cleaning solution output hole, six threaded holes, a battery pack fixing clamping groove, a cleaning solution storage and recovery system second fixing clamping groove, a shell dirty solution recovery hole, a movable supporting mechanism connecting base, a first power line jack, a second power line jack, a group of radiating fins, a controller input bus jack, a controller output bus jack, a first safety rope connecting connector and a second safety rope connecting connector.
The box assembly comprises a box assembly shell and is characterized in that a group of cooling fins, a first safety rope connecting joint and a second safety rope connecting joint are arranged on the back face of the box assembly shell, a hoisting joint is arranged on the outer side of the upper surface, a heat insulation plate fixing clamping groove is formed in the inner side of the upper surface, a movable supporting mechanism connecting base is arranged on the outer side of the lower surface, six threaded holes are formed in the edge of the front surface of the movable supporting mechanism connecting base, and a first cleaning arm connecting base and a second cleaning arm connecting base are arranged on the outer surfaces of the two sides of the movable supporting mechanism connecting base respectively.
The system controller fixing clamping groove and the cleaning solution storage and recovery system first fixing clamping groove are formed in the inner surface of the side face where the first cleaning arm connecting base is located. The shell cleaning solution output hole, the controller input bus jack and the controller output bus jack penetrate through the side face where the first cleaning arm connecting base is located, the shell cleaning solution output hole is concentric with the cleaning solution output hole of the cleaning solution storage and recovery system assembly, and the controller input bus jack and the controller output bus jack are arranged behind the first cleaning arm connecting base.
The internal surface in clean arm connection base place side of second is all established to group battery fixed slot, cleaning solution storage recovery system second fixed slot. The dirty liquid recovery hole of casing, first power cord jack and second power cord jack run through the clean arm connection base place side of second, and the center in dirty liquid recovery hole of casing and the center coincidence in cleaning solution storage recovery system assembly dirty liquid recovery hole, first power cord jack and the setting of second power cord jack are in the clean arm connection base's of second rear.
The structure of cleaning solution storage recovery system assembly, including a foul solution recovery hole, a cleaning solution bin, a foul solution recovery box, a cleaning solution delivery outlet, the sealed lid of a foul solution recovery box, the first direction of a cleaning solution storage recovery system is followed, a foul solution filter equipment, a miniature pump, the second direction of a cleaning solution storage recovery system is followed, the sealed lid of a cleaning solution.
Cleaning solution bin and foul solution collection box are linked together through foul solution filter equipment, and cleaning solution bin and foul solution collection box both sides are equipped with cleaning solution delivery outlet and foul solution recovery hole respectively to be equipped with micro-water pump in the cleaning solution bin. Dirty liquid that forms in the cleaning process flows into dirty liquid recovery box through dirty liquid recovery hole, and dirty liquid after the sediment passes through dirty liquid filter equipment and gets into the cleaning solution bin, and under the effect of miniature water pump, the cleaning solution passes through the executor cleaning solution injection joint among the first clean executor and soaks the clean towel of first cleaning arm.
Cleaning solution bin and foul solution recovery box lateral surface top are equipped with cleaning solution storage recovery system second direction respectively and follow and the first direction of cleaning solution storage recovery system is followed for the position of fixed cleaning solution storage recovery system assembly in box assembly casing, its top is equipped with the sealed lid of cleaning solution sealing cover and the sealed lid of foul solution recovery box respectively, is used for preventing revealing of cleaning solution and foul solution in the course of the work.
The movable support mechanism has a support arm with an X 0 A moving support mechanism with a first rotary pair and a second rotary pair, the first rotary pair and the second rotary pair are of a rotary shaft direction 0 The structure comprises a first driving motor of the movable supporting mechanism, a first connecting rod of the movable supporting mechanism, a second driving motor seat of the movable supporting mechanism, a second driving motor of the movable supporting mechanism, a second connecting rod joint of the movable supporting mechanism, a second connecting rod of the movable supporting mechanism, a third driving motor seat of the movable supporting mechanism, a third connecting rod joint of the movable supporting mechanism, a third connecting rod of the arc-shaped movable supporting mechanism and an anti-skid rubber pad of the arc-shaped foot end. Movable supporting mechanism foot end and foot end anti-slip rubberThe pad is designed into an arc shape to increase Y 0 Frictional resistance in direction, but not affecting X 0 、Z 0 The movement of the direction.
The first driving motor of the movable supporting mechanism is fixed on one side of the movable supporting mechanism connecting base in the box body assembly shell, and an output shaft of the first driving motor of the movable supporting mechanism is fixedly connected with the first connecting rod of the movable supporting mechanism to form a first rotating pair of the movable supporting mechanism. The other end of the first connecting rod of the movable supporting mechanism is in threaded connection with a second driving motor seat of the movable supporting mechanism.
The second driving motor of the movable supporting mechanism is fixed on the second driving motor seat of the movable supporting mechanism, and an output shaft of the second driving motor is fixedly connected with the second connecting rod joint of the movable supporting mechanism to form a second rotating pair of the movable supporting mechanism. One end of a second connecting rod of the movable supporting mechanism is in threaded connection with a second connecting rod joint of the movable supporting mechanism, and the other end of the second connecting rod of the movable supporting mechanism is in threaded connection with a third driving motor base of the movable supporting mechanism.
And a third driving motor of the movable supporting mechanism is fixed on a third driving motor seat of the movable supporting mechanism, and an output shaft of the third driving motor is fixedly connected with a third connecting rod joint of the movable supporting mechanism to form a third rotating pair of the movable supporting mechanism. One end of a third connecting rod of the movable supporting mechanism is in threaded connection with a third connecting rod joint of the movable supporting mechanism, and the other end of the third connecting rod of the movable supporting mechanism is in threaded connection with the foot end of the arc-shaped movable supporting mechanism.
The structure of the visual sensing system assembly comprises a camera, a first camera support, a first camera connecting joint, a second camera support, a first driving motor, a second camera connecting joint, a visual sensing system base and a second driving motor. The visual sensing system base is fixed on the upper surface of the box body assembly shell. The second driving motor is fixed on the visual sensing system base, and an output shaft of the second driving motor is fixedly connected with the second connecting joint of the camera. The flange plate of the second camera connecting joint is in threaded connection with the lower surface of the second camera support, and the second driving motor drives the second camera support to realize Z-axis drive 0 The direction is the rotation of the rotating shaft. The first driving motor is fixed on the side surface of the second camera support, and an output shaft of the first driving motor is fixedly connected with the first camera connecting joint. The flange plate of the first camera connecting joint is in threaded connection with the first camera supportThe first driving motor drives the first support of the camera to realize Y 0 The direction is the rotation of the rotating shaft. The camera is fixed on the first support of camera.
Compared with the prior art, the invention has the following characteristics:
(1) The cleaning device has a cleaning mode similar to manual operation, and is low in energy consumption, simple in structure, flexible in movement, safe and reliable;
(2) The system has a visual feedback system, strong adaptability and high automation degree;
(3) The device has a dirty liquid recovery system, does not pollute the environment, and the two cleaning actuators have the function of mutual cleaning.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot according to the present invention;
FIG. 2 is a schematic view of the construction of the cleaning arm of the present invention;
FIG. 3 is a schematic view of a first cleaning actuator of the cleaning arm of the present invention;
FIG. 4 is a schematic diagram of a second cleaning actuator of the cleaning arm of the present invention;
FIG. 5 is a schematic view of the construction of the tank assembly of the present invention;
FIG. 6 is a schematic perspective view of the housing assembly of the present invention;
FIG. 7 is a right side view of the housing assembly of the present invention;
FIG. 8 is a front view of the housing of the container assembly of the present invention;
FIG. 9 is a left side view of the housing of the container assembly of the present invention;
FIG. 10 is a schematic diagram of the right side view of the cleaning solution storage and recovery system assembly according to the present invention;
FIG. 11 is a schematic front view of a cleaning solution storage and recovery system according to the present invention;
FIG. 12 is a schematic left side view of the cleaning solution storage and recovery system assembly of the present invention;
FIG. 13 isbase:Sub>A schematic sectional view taken along line A-A of FIG. 11;
FIG. 14 is a schematic view of the structure of the moving support mechanism of the present invention;
FIG. 15 is a schematic diagram of a vision sensing system assembly of the present invention;
the cleaning device comprises a cleaning arm 11, a box body assembly 12, a movable supporting mechanism 13, a first cleaning actuator 14, a second cleaning actuator 15 and a visual sensing system assembly 16, wherein the box body assembly is arranged in the box body;
21. a cleaning arm first drive motor, 22, a cleaning arm first link, 23, a cleaning arm second drive motor mount, 24, a cleaning arm second drive motor, 25, a cleaning arm second link joint, 26, a cleaning arm second link, 27, a cleaning arm third drive motor mount, 28, a cleaning arm third drive motor, 29, a cleaning arm third link, 210, a cleaning arm fourth drive motor mount, 211, a cleaning arm fourth drive motor, 212, a cleaning actuator connection, 213, a fourth revolute pair, 214, a third revolute pair, 215, a second revolute pair, 216, a first revolute pair;
31. actuator cleaning fluid injection fitting, 32, first cleaning actuator attachment bracket, 33, first cleaning arm attachment member, 34, wiper rubber strip bracket, 35, rubber strip, 36, first cleaning arm cleaning towel, 37, first cleaning arm cleaning towel bracket.
41. The cleaning device comprises an actuator dirty liquid output joint, 42, a second cleaning arm connecting piece, 43, a second cleaning actuator connecting support, 44, a scraper support, 45, a scraper, 46, a second cleaning arm cleaning towel, 47 and a second cleaning arm cleaning towel support;
51. a box assembly end cover 52, a box assembly shell 53, a heat insulation plate 54, a system controller 55, a cleaning liquid storage and recovery system assembly 56, and a battery pack;
61. a second cleaning arm connecting base, 62, a hoisting joint, 63, a heat insulation plate fixing clamping groove, 64, a first cleaning arm connecting base, 65, a system controller fixing clamping groove, 66, a cleaning solution storage and recovery system first fixing clamping groove, 67, a shell cleaning solution output hole, 68, a threaded hole, 69, a battery pack fixing clamping groove, 610, a cleaning solution storage and recovery system second fixing clamping groove, 611, a housing sewage recovery hole, 612, a mobile support mechanism connecting base, 613, a first power line jack, 614, a second power line jack, 615, a heat sink, 616, a controller input bus jack, 617, a controller output bus jack, 618, a first safety rope connecting joint, 619, a second safety rope connecting joint;
71. dirty liquid recycling hole, 72 cleaning liquid storage tank, 73 dirty liquid recycling tank, 74 cleaning liquid output hole, 75 dirty liquid recycling tank sealing cover, 76 cleaning liquid storage recycling system first guiding edge, 77, a dirty liquid filtering device, 78, a micro water pump, 79, a second guide edge of the cleaning liquid storage and recovery system, 710, a cleaning liquid sealing cover;
81. the device comprises a movable support mechanism, a movable support mechanism first driving motor, 82, a movable support mechanism first connecting rod, 83, a movable support mechanism second driving motor base, 84, a movable support mechanism second driving motor, 85, a movable support mechanism second connecting rod joint, 86, a movable support mechanism second connecting rod, 87, a movable support mechanism third driving motor base, 88, a movable support mechanism third driving motor, 89, a movable support mechanism third connecting rod joint, 810, a movable support mechanism third connecting rod, 811, an arc-shaped movable support mechanism foot end, 812, an arc-shaped foot end anti-skid rubber pad, 813, a movable support mechanism third rotating pair, 814, a movable support mechanism second rotating pair, 815 and a movable support mechanism first rotating pair;
91. the vision sensing system comprises a camera, a camera 92, a camera first support, a camera 93, a camera first connecting joint, a camera 94, a camera second support, a camera 95, a first driving motor, a camera 96, a camera second connecting joint, a vision sensing system base 97 and a second driving motor 98.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.
As shown in FIG. 1, the high-altitude cleaning robot with the human-like working mode comprises two cleaning arms 11, a box assembly 12, two movable supporting mechanisms 13, a first cleaning actuator 14, a second cleaning actuator 15 and a vision sensing system assembly 16. The two cleaning arms 11 are respectively fixed on the second cleaning arm connecting base 61 and the first cleaning arm connecting base 64 of the box assembly housing 52 in the box assembly 12 through the flange of the cleaning arm first driving motor 21, and the first cleaning actuator 14 and the second cleaning actuator 15 are respectively installed on the cleaning actuator connecting piece 212 of the cleaning arm 11 corresponding to the first cleaning arm connecting base 64 and the second cleaning arm connecting base 61. The two movable supporting mechanisms are respectively arranged at two ends of the movable supporting mechanism connecting base 612 of the box assembly shell 52 in the box assembly 12. The vision sensing system assembly 16 is secured to the top of the housing assembly housing 52 in the housing assembly 12.
The cleaning method comprises the following steps:
the first step, dispose the hoist system of the roof and two safety ropes, the main rope that the hoist system stretches out is connected fixedly with the hoist and mount joint 52 on the top surface of the casing 52 of the tank assembly, two safety ropes are connected fixedly with the first safety rope connection joint 618 and the second safety rope connection joint 619 on the back of the casing 52 of the tank assembly respectively, and there are self-lock devices on two safety ropes, when the hoist engine is out of order, the robot will not slide down rapidly.
In the second step, when the robot works, the arc-shaped foot-end anti-skid rubber pad 812 of the movable supporting mechanism 13 is tightly attached to the working surface, so that the robot is prevented from swinging left and right.
Thirdly, the second driving motor 98 and the first driving motor 95 of the vision sensing system assembly 16 respectively drive the camera 91 to rotate in Z 0 And Y 0 The direction is the swing of the rotating shaft, the condition of the working face is checked, and the information is transmitted to the system controller 54;
fourth, under the control of the system controller 54, the micro-pump 78 pumps the cleaning solution from the cleaning solution storage tank 72, via the cleaning solution output hole 74, the housing cleaning solution output hole 67, and the actuator cleaning solution injection fitting 31, to wet the first cleaning arm cleaning towel 36;
fifthly, the first cleaning arm cleaning towel 36 in the first cleaning actuator 14 performs preliminary wiping on the obviously dirty working surface detected by the vision sensing system assembly 16;
sixthly, removing dirt by using a scraper 45 in the second cleaning actuator 15;
seventhly, wiping the cleaning surface in a large range by using the first cleaning arm cleaning towel 36 in the first cleaning actuator 14;
eighth, scraping the cleaning surface with the rubber strip 35 in the first cleaning actuator 14;
ninth, wiping and collecting the dirty liquid by using a second cleaning arm cleaning towel in the second cleaning actuator 15, wherein the dirty liquid flows into the dirty liquid recovery tank 73 through the actuator dirty liquid output connector 41, the housing dirty liquid recovery hole 611 of the housing assembly housing 52 and the dirty liquid recovery hole 71 of the cleaning liquid storage and recovery system;
step ten, the winch system acts to enter the next working surface, and the cleaning process is repeated until the robot falls to the ground;
in the tenth step, the micro water pump 78 is turned on to the maximum, the first cleaning actuator 14 wipes and presses the first cleaning arm cleaning towel 36 and the second cleaning actuator 15 and the second cleaning arm cleaning towel 46 against each other, and discharges the dirty liquid into the dirty liquid recycling tank 73 through the actuator dirty liquid outlet connector 41.
And twelfth, lifting the robot to the top of the building by the hoisting system, and moving the hoisting system horizontally to enter the next vertical working surface to start cleaning.
The cleaning arm 11 has a length Z 0 A first rotary pair 216 with an X-axis as a rotation axis 0 Third revolute pair 214 with direction of rotation axis, two with Y 0 The directions are the active degrees of freedom of the rotation axis, respectively the second revolute pair 215 and the fourth revolute pair 213. Wherein, X 0 、Y 0 、Z 0 Respectively three axes in a cartesian three-dimensional coordinate system.
The cleaning arm 11 is constructed as shown in FIG. 2 and includes a cleaning arm first drive motor 21, a cleaning arm first link 22, a cleaning arm second drive motor mount 23, a cleaning arm second drive motor 24, a cleaning arm second link joint 25, a cleaning arm second link 26, a cleaning arm third drive motor mount 27, a cleaning arm third drive motor 28, a cleaning arm third link 29, a cleaning arm fourth drive motor mount 210, a cleaning arm fourth drive motor 211, and a cleaning actuator attachment 212.
The cleaning arm 11 provided with the first cleaning actuator 14 is fixed on the first cleaning arm connecting base 64 through a flange of the cleaning arm first driving motor 21;
the cleaning arm 11 with the second cleaning actuator 15 attached thereto is fixed to the second cleaning arm attachment base 61 via a flange of the cleaning arm first drive motor 21.
The output shaft of the first drive motor 21 is fixedly connected with the first link 22 to form a first rotating pair 216. The other end of the first link 22 is connected with the second driving motor base 23 through screw thread.
The cleaning arm second drive motor 24 is fixed to the cleaning arm second drive motor mount 23, and its output shaft is fixedly connected to the cleaning arm second link joint 25 to form a second revolute pair 215. One end of the cleaning arm second link 26 is connected with the cleaning arm second link joint 25 through a screw thread, and the other end is connected with the cleaning arm third driving motor base 27 through a screw thread.
The third cleaning arm drive motor 28 is fixed to the third cleaning arm drive motor mount 27, and its output shaft is fixedly connected to the third cleaning arm link 29 to form a third revolute pair 214. The other end of the cleaning arm third link 29 is threadedly connected to the cleaning arm fourth drive motor mount 210.
The cleaning arm fourth drive motor 211 is fixed to the cleaning arm fourth drive motor base 210, and its output shaft is fixedly connected to the cleaning actuator connection member 212 to form a fourth revolute pair 213.
The first cleaning actuator 14 is constructed as shown in fig. 3 and includes two actuator cleaning fluid injection fittings 31, a first cleaning actuator attachment bracket 32, a first cleaning arm attachment member 33, a wiper rubber strip bracket 34, a rubber strip 35, a first cleaning arm cleaning towel 36, and a first cleaning arm cleaning towel bracket 37. One end of the first cleaning actuator connecting bracket 32 is provided with a wiper rubber strip bracket 34, the other end is provided with a first cleaning arm cleaning towel bracket 37, and the center position of the upper surface of the first cleaning actuator connecting bracket is provided with a first cleaning arm connecting piece 33. The rubber strip 35 is mounted on the wiper rubber strip holder 34. The first cleaning arm cleaning towel 36 is fixed to the lower surface of the first cleaning arm cleaning towel holder 37, the actuator cleaning liquid injection joint 31 is provided on the first cleaning arm cleaning towel holder 37, and the cleaning liquid wets the first cleaning arm cleaning towel 36 through the actuator cleaning liquid injection joint 31.
The second cleaning actuator 15 is constructed as shown in fig. 4 and includes an actuator waste fluid outlet connector 41, a second cleaning arm connector 42, a second cleaning actuator connector bracket 43, a scraper bracket 44, a scraper 45, a second cleaning arm cleaning towel 46, and a second cleaning arm cleaning towel bracket 47. One end of the second cleaning actuator connecting bracket 43 is provided with a scraper bracket 44, the other end is provided with a second cleaning arm cleaning towel bracket 47, and the center position of the upper surface of the second cleaning actuator connecting bracket is provided with a second cleaning arm connecting piece 42. The scraper 45 is mounted on a scraper support 44. The second cleaning arm cleaning towel 46 is secured to the outer surface of the second cleaning arm cleaning towel holder 47. The actuator dirty liquid output joint 41 is arranged at the bottom of the second cleaning arm cleaning towel support 47, and the dirty liquid left after the second cleaning arm cleaning towel 46 wipes the glass curtain wall frame is recovered through the actuator dirty liquid output joint 41.
The tank assembly 12 is constructed as shown in FIG. 5 and includes a tank assembly end cap 51, a tank assembly housing 52, a heat shield 53, a system controller 54, a cleaning solution storage and recovery system assembly 55, and a battery pack 56. The box assembly end cover 51 is fixed with the box assembly shell 52 through bolts, and six through holes are formed in the edge of the box assembly end cover 51 and matched with six threaded holes 68 of the box assembly shell 52. The heat insulation plate 53, the system controller 54 and the battery pack 56 are all arranged above the cleaning liquid storage and recovery system assembly 55, and the upper end of the heat insulation plate 53 is clamped in the heat insulation plate fixing clamping groove 63 and is positioned between the system controller 54 and the battery pack 56. The leading edges of the system controller 54 and battery pack 56 are secured within the system controller mounting slot 65 and battery pack mounting slot 69, respectively.
The housing 52 of the tank assembly is constructed as shown in fig. 6-9 and includes a second cleaning arm attachment base 61, a lifting connector 62, a heat shield attachment slot 63, a first cleaning arm attachment base 64, a system controller attachment slot 65, a cleaning fluid storage and recovery system first attachment slot 66, a housing cleaning fluid outlet 67, six threaded holes 68, a battery pack attachment slot 69, a cleaning fluid storage and recovery system second attachment slot 610, a housing waste fluid recovery hole 611, a movable support mechanism attachment base 612, a first power cord receptacle 613, a second power cord receptacle 614, a set of heat sinks 615, a controller input bus receptacle 616, a controller output bus receptacle 617, a first safety cord attachment connector 618, and a second safety cord attachment connector 619.
The back of the case assembly housing 52 is provided with a set of heat sink fins 615, a first safety rope connection joint 618 and a second safety rope connection joint 619, the outer side of the upper surface thereof is provided with a hoisting joint 62, the inner side of the upper surface thereof is provided with a heat insulation board fixing clamping groove 63, the outer side of the lower surface thereof is provided with a movable support mechanism connection base 612, the edge of the front surface thereof is provided with six threaded holes 68, and the outer surfaces of both sides thereof are respectively provided with a first cleaning arm connection base 64 and a second cleaning arm connection base 61.
The system controller fixing groove 65 and the cleaning solution storage and recovery system first fixing groove 66 are formed on the inner surface of the side surface of the first cleaning arm connecting base 64. The housing cleaning solution outlet hole 67, the controller input bus jack 616 and the controller output bus jack 617 penetrate the side of the first cleaning arm connecting base 64, the housing cleaning solution outlet hole 67 is concentric with the cleaning solution outlet hole 74 of the cleaning solution storage and recovery system assembly 55, and the controller input bus jack 616 and the controller output bus jack 617 are disposed behind the first cleaning arm connecting base 64.
The battery pack fixing groove 69 and the cleaning solution storage and recovery system second fixing groove 610 are formed in the inner surface of the side surface of the second cleaning arm connecting base 61. The housing waste liquid recovery hole 611, the first power line socket 613 and the second power line socket 614 penetrate the side of the second cleaning arm connecting base 61, the center of the housing waste liquid recovery hole 611 coincides with the center of the waste liquid recovery hole 71 of the cleaning liquid storage and recovery system assembly 55, and the first power line socket 613 and the second power line socket 614 are disposed behind the second cleaning arm connecting base 61.
The cleaning solution storage and recovery system assembly 55 is constructed as shown in fig. 10-13, and comprises a dirty solution recovery hole 71, a cleaning solution storage tank 72, a dirty solution recovery tank 73, a cleaning solution output hole 74, a dirty solution recovery tank sealing cover 75, a cleaning solution storage and recovery system first guide edge 76, a dirty solution filtering device 77, a micro-pump 78, a cleaning solution storage and recovery system second guide edge 79 and a cleaning solution sealing cover 710.
The cleaning liquid storage tank 72 and the dirty liquid recovery tank 73 are communicated through a dirty liquid filtering device 77, both sides thereof are respectively provided with a cleaning liquid output hole 74 and a dirty liquid recovery hole 71, and a micro-water pump 78 is provided in the cleaning liquid storage tank 72. Dirty liquid that forms in the cleaning process flows into dirty liquid recovery case 73 through dirty liquid recovery hole 71, and dirty liquid after the sediment passes through dirty liquid filter equipment 77 and gets into cleaning solution storage tank 72, and under micro-water pump 78's effect, the cleaning solution is through the executor cleaning solution injection joint 31 among the first cleaning executor 14 infiltration first cleaning arm cleaning towel. Cleaning solution storage tank 72 and foul solution recovery tank 73 lateral surface top are equipped with cleaning solution storage recovery system second direction respectively and follow 79 and the first direction of cleaning solution storage recovery system is followed 76 for the position of fixed cleaning solution storage recovery system assembly 55 in box assembly casing 52, its top is equipped with the sealed lid of cleaning solution 710 and the sealed lid 75 of foul solution recovery tank respectively, is used for preventing revealing of cleaning solution and foul solution in the course of the work.
The moving support mechanism 13 has a shaft X 0 A first rotating pair 815 of a moving support mechanism with a direction as a rotating shaft, two of which are Y 0 The direction is the active degree of freedom of the rotation axis, which is the second rotating pair 814 of the moving support mechanism and the third rotating pair 813 of the moving support mechanism, and the structure is shown in fig. 14As shown, it includes a moving support mechanism first driving motor 81, a moving support mechanism first link 82, a moving support mechanism second driving motor base 83, a moving support mechanism second driving motor 84, a moving support mechanism second link joint 85, a moving support mechanism second link 86, a moving support mechanism third driving motor base 87, a moving support mechanism third driving motor 88, a moving support mechanism third link joint 89, a moving support mechanism third link 810, an arc-shaped moving support mechanism foot end 811, and an arc-shaped foot end anti-skid rubber pad 812.
The first driving motor 81 of the moving support mechanism is fixed on one side of the moving support mechanism connecting base 612 in the box assembly housing 52, and an output shaft thereof is fixedly connected with the first connecting rod 82 of the moving support mechanism to form a first rotating pair 815 of the moving support mechanism. The other end of the first connecting rod 82 of the movable supporting mechanism is connected with the second driving motor seat 83 of the movable supporting mechanism in a threaded manner.
The second driving motor 84 of the movable supporting mechanism is fixed on the second driving motor base 83 of the movable supporting mechanism, and an output shaft of the second driving motor is fixedly connected with the second connecting rod joint 85 of the movable supporting mechanism to form a second rotating pair 814 of the movable supporting mechanism. One end of the second link 86 of the movable support mechanism is in threaded connection with the second link joint 85 of the movable support mechanism, and the other end is in threaded connection with the third driving motor base 87 of the movable support mechanism.
The third driving motor 88 of the movable supporting mechanism is fixed on the third driving motor seat 87 of the movable supporting mechanism, and the output shaft of the third driving motor is fixedly connected with the third connecting rod joint 89 of the movable supporting mechanism to form a third rotating pair 813 of the movable supporting mechanism. One end of the third link 810 of the moving support mechanism is in threaded connection with the third link joint 89 of the moving support mechanism, and the other end is in threaded connection with the foot end 811 of the arc-shaped moving support mechanism. An arcuate foot end anti-slip rubber pad 812 is secured to the end of the arcuate motion support mechanism foot end 811. The foot end of the movable supporting mechanism and the anti-skid rubber pad at the foot end are designed into arc shapes, so that Y is increased 0 Frictional resistance in direction, but not affecting X 0 、Z 0 The movement of the direction.
The structure of the vision sensing system assembly 16 is shown in FIG. 15 and includesThe camera comprises a camera 91, a first camera support 92, a first camera connecting joint 93, a second camera support 94, a first driving motor 95, a second camera connecting joint 96, a vision sensing system base 97 and a second driving motor 98. The vision sensing system base 97 is secured to the upper surface of the housing 52 of the bin assembly. The second driving motor 98 is fixed on the visual sensing system base 97, and its output shaft is fixedly connected with the second camera connecting joint 96. The flange of the second camera connector 96 is in threaded connection with the lower surface of the second camera support 94, and the second driving motor 98 drives the second camera support 94 to realize Z-axis rotation 0 The direction is the rotation of the rotating shaft. The first driving motor 95 is fixed to the side of the second camera bracket 94, and its output shaft is fixedly connected to the first camera connecting joint 93. The flange of the first camera connector 93 is in threaded connection with the first camera support 92, and the first driving motor 95 drives the first camera support 92 to realize Y-shaped connection 0 The direction is the rotation of the rotating shaft. The camera 91 is fixed to the camera first bracket 92.
The power of the high-altitude cleaning robot with the human-like working mode is provided by the battery pack 56, and the power of the hoisting system is provided by an external power supply. The reception, processing, and transmission of control information are all accomplished by the system controller 54.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.

Claims (1)

1. A cleaning method of a high-altitude cleaning robot with a human-like working industry mode is characterized in that the robot comprises two cleaning arms, a box body assembly, two movable supporting mechanisms, a first cleaning actuator, a second cleaning actuator and a visual sensing system assembly, the two cleaning arms are respectively fixed on a shell of the box body assembly in the box body assembly, and the first cleaning actuator and the second cleaning actuator are respectively and correspondingly arranged on the cleaning arms; the two movable supporting mechanisms are respectively arranged at the lower end of a shell of the box body assembly in the box body assembly, and an arc-shaped foot end anti-skidding rubber pad is fixed at the tail end of each movable supporting mechanism; the visual sensing system assembly is fixed on the top of a box assembly shell in the box assembly, and electrical elements in the cleaning arm, the box assembly, the movable supporting mechanism and the visual sensing system assembly are all controlled by a system controller;
the cleaning method comprises the following steps:
firstly, configuring a roof hoisting system and two safety ropes; the main rope extending out of the hoisting system is fixedly connected with a hoisting joint on the top surface of the case assembly shell, the two safety ropes are respectively fixedly connected with a safety rope connecting joint on the back surface of the case assembly shell, and the two safety ropes are respectively provided with a self-locking device, so that when the hoisting machine fails, the robot cannot slide down rapidly;
secondly, the foot end anti-skid rubber pad of the movable supporting mechanism is tightly attached to the working surface, so that the robot is prevented from swinging left and right;
thirdly, driving a camera to swing by a driving motor of the visual sensing system assembly, checking the condition of the working face and transmitting information to a system controller;
fourthly, under the control of the system controller, a miniature water pump in the box body assembly extracts the cleaning liquid from a cleaning liquid storage box to soak a first cleaning arm cleaning towel in a first cleaning actuator;
fifthly, a first cleaning arm cleaning towel in the first cleaning actuator performs preliminary wiping on the obviously dirty working face detected by the vision sensing system assembly;
sixthly, removing dirt by using a scraper in the second cleaning actuator;
seventhly, wiping the cleaning surface in a large range by using a cleaning towel of a first cleaning arm in the first cleaning actuator;
eighthly, scraping the cleaning surface by using a rubber strip in the first cleaning actuator;
a second cleaning arm cleaning towel in a second cleaning actuator is used for wiping and collecting dirty liquid, and the dirty liquid flows into a dirty liquid recovery box through an actuator dirty liquid output connector, a box assembly shell dirty liquid recovery hole and a cleaning liquid storage and recovery system dirty liquid recovery hole;
the tenth step, the winch system acts to enter the next working face, and the cleaning processes from the second step to the ninth step are repeated until the robot falls to the ground;
the eleventh step, the micro water pump is started to the maximum, the first cleaning actuator, the first cleaning arm cleaning towel and the second cleaning actuator, the second cleaning arm cleaning towel wipe and squeeze each other, and dirty liquid is discharged into a dirty liquid recovery box through an actuator dirty liquid output joint;
and twelfth, lifting the robot to the top of the building by the hoisting system, and moving the hoisting system horizontally to enter the next vertical working surface to start cleaning.
CN201810009600.2A 2018-01-05 2018-01-05 Cleaning method of high-altitude cleaning robot with humanoid working industry mode Active CN108143363B (en)

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CN108143363A (en) 2018-06-12

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