CN109744930A - A kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people - Google Patents
A kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people Download PDFInfo
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- CN109744930A CN109744930A CN201711082337.1A CN201711082337A CN109744930A CN 109744930 A CN109744930 A CN 109744930A CN 201711082337 A CN201711082337 A CN 201711082337A CN 109744930 A CN109744930 A CN 109744930A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 127
- 239000011521 glass Substances 0.000 title claims abstract description 33
- 230000001360 synchronised effect Effects 0.000 claims abstract description 65
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 238000004891 communication Methods 0.000 claims abstract description 15
- 239000010865 sewage Substances 0.000 claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims description 53
- 229920001296 polysiloxane Polymers 0.000 claims description 11
- 238000005086 pumping Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 229920000742 Cotton Polymers 0.000 claims 1
- 238000009434 installation Methods 0.000 claims 1
- NLYAJNPCOHFWQQ-UHFFFAOYSA-N kaolin Chemical group O.O.O=[Al]O[Si](=O)O[Si](=O)O[Al]=O NLYAJNPCOHFWQQ-UHFFFAOYSA-N 0.000 claims 1
- 238000010521 absorption reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000001179 sorption measurement Methods 0.000 description 7
- 230000009194 climbing Effects 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000003137 locomotive effect Effects 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000002351 wastewater Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005201 scrubbing Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000002594 sorbent Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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Abstract
The present invention relates to a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people, including absorption-mobile system, control-communication system, sensor-based system, five degree of freedom cleaning machine hand and sewage recovering mechanism.Control-communication system connects with absorption-mobile system, sensor-based system, five degree of freedom cleaning machine palmistry respectively；Five degree of freedom cleaning machine hand is connected with sewage recovering mechanism；Absorption-mobile system includes the framework for setting slide unit；Stepper motor, air cylinder group and platform are set in framework；Framework bottom sets slide bar；There is vacuum chuck on slide unit；Vacuum chuck is connected with air cylinder group one-to-one correspondence；Slide unit both sides set synchronous belt；Synchronous belt engages synchronizing wheel；Synchronizing wheel is nested in slide bar；The minipump being connected with tracheae group, Mini-size inflation pump are set on platform；Tracheae group is connected with air cylinder group；In the middle part of framework and slide unit top sets water tank；Five degree of freedom cleaning machine hand is connected on water tank.Highly-safe, wall surface adaptability of the invention and flexibility is good, operating efficiency is high.
Description
Technical field
The present invention relates to cleaning robot technical field more particularly to a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine devices
People.
Background technique
With the development of the city, external wall gradually adopts glass curtain wall, such as airport, station, museum, library, body
Educate the glass curtain wall that the buildings such as shop, office building mostly use large area.According to statistics, it is flat to be cured 500,000,000 for glass curtain wall total amount in China's
Square rice, the 85% of Zhan Quanqiu total amount.Glass curtain wall total amount rapid development, moulding become increasingly complex, thus the cleaning of glass curtain wall at
For an important topic.
Currently, there are mainly two types of modes for the curtain cleaning of urban architecture: one is by hoistable platform or hanging basket carrying cleaning
Work carries out the cleaning of glass curtain wall, though simple and easy to do, large labor intensity, there is very big risk；Another kind is with peace
Window cleaning equipment alignment window is carried out automatic scrubbing by track and sling system mounted in roof.This first cost of investment of mode compared with
Height, and require to consider to wipe window system at the beginning of Building Design, thus limit its use.Therefore it is badly in need of a kind of energy generation
For people and there is the automaton of certain flexibility and applicability to work to complete this.
High-altitude glass curtain wall cleaning machine device people is a kind of equipment that can carry out on the vertical plane washing and cleaning operation, it must have
Three basic functions: adsorption function, locomotive function and cleaning function.Usually there are three types of modes for adsorption function: vacuum suction, magnetic
Echo thrust absorption.Usually there are three types of modes for locomotive function: sufficient formula movement, wheel type mobile and crawler-type mobile.Cleaning function is logical
Often realized by the wiper mechanism being fixed on cleaning robot human body.
For adsorption function, the curtain cleaning robot adsorption capacity of vacuum suction is provided by sucker, reliable and stable, is adapted to
Property is strong but higher to wall surface flatness requirement；The curtain cleaning robot of magnetic suck is simply possible to use in metal wall surface, applicability compared with
Difference；The air-negative-pressure that the curtain cleaning robot of thrust absorption relies on fan to generate, poor reliability.
For locomotive function, wheeled and crawler type has movement speed fast, moves the features such as steady, but leaping over obstacles energy
Power is poor.Though sufficient formula is mobile slower, obstacle crossing ability is strong, and adaptability is preferable.And curtain cleaning robot is high aerial
Operation is slower, and is needed when cleaning framework formula glass curtain wall across window frame, therefore general clear using sufficient formula movable glass curtain wall
Wash robot.
For cleaning function, the wiper mechanism being fixed on robot cleaning ontology is non-adjustable relative to robot, difficult
To adapt to complicated wall surface environment, flexibility is poor.
The applying date is on September 21st, 2010, and application No. is " the multi-cavity negatives that 201020537859.3 patent document is related to
Absorbent-type climbing robot ", technical solution are as follows: including depression generator and drive part, depression generator includes one
A main depression generator and removable multiple auxiliary depression generators, depression generator housing depth is adjustable and at it
It is inside provided with the ac motor of fan, elastic sealing gasket is installed in the bottom of depression generator, on elastic sealing gasket
Install ball additional.Such design, adsorption capacity size influenced by wall surface it is smaller, can a variety of surface of wall complete inhale
Attached movement.But its weight is big, structure is complicated, poor reliability, is easy to fall off from wall surface.
The applying date is on May 15th, 2014, and application No. is " the crawler belt suckers that 201410204990.0 patent document is related to
Formula climbing robot ", technical solution are as follows: robot shares 16 groups of suckers, and sucker is uniformly fixed on crawler belt, is climbing wall machine
Sucker is moved with crawler belt during device is manually made, and the vacuum suction mode of sucker is mutually tied with crawler-type mobile mode
It closes, crawler belt is engaged with driving wheel and driven wheel respectively by rack gear to be connected, and enables machine people steadily rapidly on wall surface
It is mobile.The operation stability and working efficiency of this robot are higher, but can not cross over window frame, and cornering difficulties.
It sums up, glass curtain wall cleaning machine device people mainly faces following technological difficulties at present:
1. absorption and sealing technique: in face of complicated wall surface environment, it is desirable that adsorbing mechanism has to generate certain adsorption capacity, and
It is able to maintain that it, is adsorbed on robot security reliably on work wall surface.
2. mobile technology: mobile mechanism wants small-sized, efficient, moves robot on wall surface, and can flexibly, freely
Speed and the direction for adjusting walking, have stronger obstacle climbing ability.
3. control technology: must assure that real-time, the reliability of signal communication.The overall work of robot is controlled, is carried out
The co-ordination and cooperation of robot each section are realized in fault diagnosis and integrated management.
4. the design of wiper mechanism: the effective wiper mechanism of design safety identifies cleaning quality, reaches satisfactory clear
Wash effect.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of high security, good wall surface adaptability and flexibility,
The high multi-sucker formula high-altitude glass curtain wall cleaning machine device people of operating efficiency.
To solve the above problems, a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people of the present invention, including inhale
Attached-mobile system, control-communication system, sensor-based system, five degree of freedom cleaning machine hand and sewage recovering mechanism, feature exist
In: the control-communication system respectively with the absorption-mobile system, the sensor-based system, the five degree of freedom cleaning machine
Palmistry connects；The five degree of freedom cleaning machine hand is connected with the sewage recovering mechanism；Absorption-the mobile system includes bottom
Framework equipped with horizontal slide unit and longitudinal slide unit；The framework is equipped with horizontal stepper motor, longitudinal stepper motor, lateral cylinder
Group, longitudinal cylinder group and platform；Each side bottom of the framework is respectively equipped with horizontal sliding bar I, horizontal sliding bar II, longitudinally slides
Bar I, longitudinal slide bar II；6 lateral vacuum chucks, and the circle that the horizontal slide unit passes through end are symmetrically arranged in the horizontal slide unit
Cylinder I is nested with longitudinal slide bar I, longitudinal slide bar II；Each lateral vacuum chuck and the lateral cylinder group one are a pair of
It should be connected；The both sides of the horizontal slide unit are respectively equipped with longitudinal synchronous belt I, longitudinal synchronous belt II；The two of the longitudinal direction synchronous belt I
End is engaged with longitudinal synchronizing wheel I, longitudinal synchronizing wheel III respectively；The both ends of the longitudinal direction synchronous belt II are engaged with longitudinal synchronization respectively
Wheel II, longitudinal synchronizing wheel IV；The longitudinal direction synchronizing wheel I and longitudinal fixation of synchronizing wheel II are nested on the horizontal sliding bar I；
The longitudinal direction synchronizing wheel III and longitudinal fixation of synchronizing wheel IV are nested on the horizontal sliding bar II；It is right in the longitudinal slide unit
Claim to be equipped with 6 longitudinal vacuum chucks, and the cylinder II and the horizontal sliding bar I, horizontal sliding bar II that the longitudinal slide unit passes through end
It is nested；Each longitudinal vacuum chuck is connected with longitudinal cylinder group one-to-one correspondence；Distinguish on the both sides of the longitudinal slide unit
Equipped with synchronous cross band I, synchronous cross band II；The both ends of the synchronous cross band I are engaged with synchronous cross wheel I, transverse direction respectively
Synchronizing wheel III；The both ends of the synchronous cross band II are engaged with synchronous cross wheel II, synchronous cross wheel IV respectively；The transverse direction is same
Step wheel I and the synchronous cross wheel II, which are fixed, to be nested on longitudinal slide bar I；The synchronous cross wheel III and the transverse direction are same
Step wheel IV is fixed to be nested on longitudinal slide bar II；Minipump I, Mini-size inflation pump I, micro- is respectively equipped on the platform
Type inflator pump II, minipump II；The minipump I divides through solenoid valve I, the Mini-size inflation pump I through solenoid valve II
It is not connected with tracheae group I；The tracheae group I is connected with the longitudinal cylinder group；The Mini-size inflation pump II is through solenoid valve III, institute
It states minipump II and is connected respectively with tracheae group II through solenoid valve IV；The tracheae group II is connected with the lateral cylinder group；
The output shaft I of the horizontal stepper motor is equipped with driving gear I, which engages with the gear wheel I of reduction gearing I；
The pinion gear I of the reduction gearing I is engaged with the gear wheel II of reduction gearing II, and the pinion gear II of the reduction gearing II is engaged with
Driven gear I；The reduction gearing I is mounted on gear fixed frame I with the reduction gearing II；The driven gear I is fixed
It is nested on the horizontal sliding bar II, and longitudinal synchronizing wheel IV is installed；The output shaft II of the longitudinal direction stepper motor
It is equipped with driving gear II, which engages with the gear wheel III of reduction gearing III；The small tooth of the reduction gearing III
Wheel III is engaged with the gear wheel IV of reduction gearing IV, and the pinion gear IV of the reduction gearing IV is engaged with driven gear II；It is described to subtract
Fast gear III is mounted on the fixed clamping frame II of gear with the reduction gearing IV；The driven gear II is fixed to be nested in described indulge
To on slide bar I, and the synchronous cross wheel II is installed；The middle part of the framework and the horizontal slide unit and the longitudinal direction are sliding
The top of platform is equipped with water tank；The water tank is equipped with the upper cover with circle shell；The five degree of freedom cleaner is connected on the round shell
Tool hand.
Lateral vacuum chuck I, lateral vacuum chuck II, lateral vacuum chuck III, cross are symmetrically arranged in the horizontal slide unit
To vacuum chuck IV, lateral vacuum chuck V, lateral vacuum chuck VI, and the both ends of the horizontal slide unit are sliding with the longitudinal direction respectively
Bar I and longitudinal slide bar II are connected.
It is symmetrically arranged with longitudinal vacuum chuck I in the longitudinal slide unit, longitudinal vacuum chuck II, longitudinal vacuum chuck III, indulges
It is laterally slided with described respectively to vacuum chuck IV, longitudinal vacuum chuck V, longitudinal vacuum chuck VI, and the both ends of the longitudinal slide unit
Bar I and the horizontal sliding bar II are connected.
The solenoid valve I is connected with the air inlet I of the minipump I.
The solenoid valve II is connected with the venthole I of the Mini-size inflation pump I.
The solenoid valve III is connected with the venthole II of the Mini-size inflation pump II.
The solenoid valve IV is connected with the air inlet II of the minipump II.
The longitudinal cylinder group is by longitudinal cylinder I, longitudinal cylinder II, longitudinal cylinder III, longitudinal cylinder IV, longitudinal cylinder
V, longitudinal cylinder VI forms, which longitudinal cylinder II, longitudinal cylinder III, longitudinal cylinder IV, longitudinal cylinder V, indulges
It is connected to cylinder VI with 6 longitudinal vacuum chuck one-to-one correspondence.
The lateral cylinder group is by lateral cylinder I, lateral cylinder II, lateral cylinder III, lateral cylinder IV, lateral cylinder
V, lateral cylinder VI, the lateral cylinder I, lateral cylinder II, lateral cylinder III, lateral cylinder IV, lateral cylinder V, lateral gas
Cylinder VI is connected with 6 lateral vacuum chuck one-to-one correspondence.
The five degree of freedom cleaning machine hand includes the rotation shaft step motor and endless screw support being connected with the water tank, with
And rotating platform, large arm, forearm, cleaning head shell equipped with driving arm seat；The rotation shaft step motor is connected with by worm screw
Flange plate, the flange plate are fixed on the endless screw support；The worm screw is engaged with the worm gear, which is nested in rotary shaft
On；Rotary shaft lower bearing and rotary shaft lower flange are sheathed between the rotary shaft and the water tank；It is nested in the rotary shaft
There is locking flange, the locking flange and the worm gear are connected；The top of the rotary shaft is fixedly connected described by lock-screw
Rotating platform, and it is nested with the rotary shaft upper bearing (metal) for being placed in the round shell upper surface center, which is fixed with rotation
Shaft upper flange；The side of the driving arm seat is equipped with small arm link steering engine, and the other side is equipped with big arm link steering engine；The drive
Large arm bearing I, large arm bearing II are symmetrically installed at the top of swing arm seat, the large arm bearing I, large arm bearing II are connected with large arm respectively
Bearing flange I, large arm bearing flange II；The large arm bearing flange I, large arm bearing flange II are connected with the large arm；It is described
Small arm link steering engine is connected with the forearm through forearm driving rocker, connecting rod bearing cap III, small arm link；The big arm link steering engine
It is connected with big arm link through large arm driving rocker, crank, which is fixed in the large arm；It is respectively equipped on the crank
Connecting rod bearing cap I, connecting rod bearing cap II；The end symmetrical of the large arm is equipped with forearm bearing I, forearm bearing II, the forearm
Bearing I, forearm bearing II are connected separately with forearm bearing flange I, forearm bearing flange II；The forearm bearing flange I and institute
It states forearm bearing flange II and is connected with forearm arm seat, be fixed with the forearm on the forearm arm seat；The forearm end is equipped with one
Cleaning head rotate steering wheel is fixedly mounted on the short U bracket for a short U bracket；The cleaning head rotate steering wheel passes through steering wheel I, steering wheel
II connects long U bracket, is respectively fixed with rope motor, the cleaning head shell on the long U bracket；The cleaning head shell
Lower left quarter and right lower quadrant are respectively fixed with support shaft, and bottom centre is equipped with fixed frame connecting shaft；It is set on the rope motor
There is drawstring axis, the drawstring axis hinge rope；The other end of the rope is fixed in the fixed frame connecting shaft；It is described clear
Clean head outer casing bottom is symmetrically arranged with cleaning collodion fixed frame, and the cleaning collodion fixed frame connects axis connection by the fixed frame
Together；The cleaning collodion fixed frame is equipped with cleaning collodion；The support shaft is equipped with support crank, the support crank
One end is connected with the cleaning collodion fixed frame；Gap between the cleaning collodion fixed frame and the cleaning collodion, which is run through, to be had
The cleaning head interior of shell is fixed at elastic string, the both ends of the elastic string；The top of the cleaning head shell is equipped with water guide column,
The water guide column is connected with the sewage recovering mechanism.
The sewage recovering mechanism includes silicone tube I, silicone tube II, filter and the water tank；The one of the silicone tube I
End connects the water guide column, and the other end connects the pump mouth of Miniature water-pumping pump, and the water outlet of Miniature water-pumping pump is through the filtering
Device is connected with the water tank；The silicone tube II is connected between the miniature jet water pump and the cleaning collodion.
Control-the communication system includes a remote controllers, the microprocessor being placed in inside the upper cover and one
Wireless router and a wireless video transmission system, the image being placed in the middle part of the arm of the five degree of freedom cleaning machine hand are adopted
Collect module；The microprocessor is connected with the sensor-based system, described image acquisition module, the wireless router respectively；Institute
It states wireless video transmission system to be connected with the wireless router, the wireless router and the remote controllers are wirelessly connected.
The sensor-based system includes being placed in the infrared distance sensor of the framework bottom and ultrasonic sensor, being placed in institute
It states the gyroscope inside upper cover and digital three axle Gravity accelerometers, be placed in the tracheae group I and the tracheae group II
Baroceptor, the pressure sensor for being placed in the cleaning collodion surface, the infrared photoelectric sensor that is placed in the water tank；
The infrared distance sensor, ultrasonic sensor, gyroscope, digital three axle Gravity accelerometers, baroceptor, pressure
Force snesor, infrared photoelectric sensor are connected with the control-communication system respectively.
Compared with the prior art, the present invention has the following advantages:
1, the present invention uses multi-sucker alternating sorbent mode, adsorption reliability, safety coefficient height.
2, the present invention drives slide unit to move up and down indirectly using two stepper motor positive and negative rotations, and positioning accuracy is high, can
To realize that robot omnibearing is mobile.
3, sucker of the present invention can be moved up and down by the flexible of cylinder relative to slide unit, and overcoming sucker can not be relative to
Slide unit moves up and down and can only be tightly attached to wall surface causes frictional resistance too big, and sucker can not be parallel to the mobile difficulty of wall surface,
And it can be across the obstacle of the certain altitudes such as window frame.
4, there are five freedom degrees for arm of cleaning of the present invention, can adjust operation posture, flexibility ratio relative to robot body
Height, operating efficiency are high.
5, the present invention has waste water recovery system, had both eliminated the sewage on wall surface, wall surface is prevented to be secondary polluted, and mentioned
The high utilization rate of water, extends the activity duration of curtain cleaning robot.
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing.
Fig. 1 is front view of the invention.
Fig. 2 is that isometric of the invention regards structural schematic diagram I.
Fig. 3 is the partial view of actuating arm seat mechanism of the present invention.
Fig. 4 is that isometric of the invention regards structural schematic diagram II.
Fig. 5 is the schematic diagram that the present invention works on glass curtain wall.
Fig. 6 is the schematic diagram of rotating mechanism of the present invention.
Fig. 7 is the partial view of rotating mechanism of the present invention.
Fig. 8 is rotating platform schematic diagram of the present invention.
Fig. 9 is that present invention absorption and the isometric of mobile mechanism regard structural schematic diagram.
Figure 10 is that the isometric after present invention absorption and mobile mechanism's removal framework regards structural schematic diagram.
Figure 11 is the top view of present invention absorption and mobile mechanism.
Figure 12 is the cross section A-A view of present invention absorption and mobile mechanism.
Figure 13 is the bottom view of bottom chuck group of the present invention.
Figure 14 is the left view of present invention cleaning end.
Figure 15 is the section B-B view of present invention cleaning end.
Figure 16 is the front view of present invention cleaning end.
Figure 17 is the section C-C view of present invention cleaning end.
In figure: 1. frameworks；201. lateral vacuum chucks I；202. lateral vacuum chucks II；203. lateral vacuum chucks III；
204. lateral vacuum chucks IV；205. lateral vacuum chucks V；206. lateral vacuum chucks VI；301. longitudinal vacuum chucks I；
302. longitudinal vacuum chucks II；303. longitudinal vacuum chucks III；304. longitudinal vacuum chucks IV；305. longitudinal vacuum chucks V；
306. longitudinal vacuum chucks VI；401. longitudinal synchronizing wheels I；402. longitudinal synchronizing wheels II；403. longitudinal synchronizing wheels III；404. longitudinal
Synchronizing wheel IV；501. synchronous cross wheels I；502. synchronous cross wheels II；503. synchronous cross wheels III；504. synchronous cross wheels IV；
601. synchronous cross bands I；602. synchronous cross bands II；701. longitudinal synchronous belts I；702. longitudinal synchronous belts II；801. is laterally sliding
Bar I；802. horizontal sliding bars II；901. longitudinal slide bars I；902. longitudinal slide bars II；10. horizontal slide unit；11. longitudinal slide unit；1201.
Lateral cylinder I；1202. lateral cylinder II；1203. lateral cylinder III；1204. lateral cylinder IV；1205. lateral cylinder V；
1206. lateral cylinder VI；1301. longitudinal cylinder I；1302. longitudinal cylinder II；1303. longitudinal cylinder III；1304. longitudinal cylinder
Ⅳ；14. horizontal stepper motor；15. longitudinal stepper motor；16. minipump I；17. solenoid valve I；18. solenoid valve II；19.
Mini-size inflation pump I；20. Mini-size inflation pump II；21. solenoid valve III；22. solenoid valve IV；23. minipump II；24. tracheae group
Ⅰ；25. tracheae group II；2601. driving gears I；2602. reduction gearing I；2603. reduction gearing II；2604. driven gear I；
2701. driving gears II；2702. reduction gearing III；2703. reduction gearing IV；2704. driven gear II；28. gear fixed frame
Ⅰ；29. gear fixes clamping frame II；30. platform；31. water tank；32. upper cover；33. circle shell；34. endless screw support；35. rotary shaft；36.
Rotary shaft lower bearing；37. rotary shaft lower flange；38. worm gear；39. worm screw；40. flange plate；41. rotating shaft step motor；42.
Lock flange；43. rotary shaft upper flange；44. rotary shaft upper bearing (metal)；45. lock-screw；46. rotating platform；47. driving arm seat；
48. big arm link steering engine；49. small arm link steering engine；50. large arm driving rocker；51. forearm driving rocker；52. crank；53. connecting
Rod bearing lid I；54. connecting rod bearing cap II；55. connecting rod bearing cap III；56. big arm link；57. small arm link；58. large arm bearing
Ⅰ；59. large arm bearing II；60. large arm bearing flange I；61. large arm bearing flange II；62. large arm；63. forearm arm seat；64. small
Arm axle holds I；65. forearm bearing II；66. forearm bearing flange I；67. forearm bearing flange II；68. forearm；69. short U bracket；
70. cleaning head rotate steering wheel；71. steering wheel I；72. steering wheel II；73. long U bracket；74. rope motor；75. drawstring axis；76. mentioning
Drawstring；77. cleaning head shell；78. cleaning collodion；79. cleaning collodion fixed frame；80. fixed frame connecting shaft；81. supporting crank；
82. support shaft；83. elastic string.
Specific embodiment
As shown in Fig. 1 ~ 17, a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people, including absorption-mobile system, control
System-communication system, sensor-based system, five degree of freedom cleaning machine hand and sewage recovering mechanism.Control-communication system respectively with suction
Attached-mobile system, sensor-based system, five degree of freedom cleaning machine palmistry connect；Five degree of freedom cleaning machine hand and sewage recovering mechanism
It is connected.
Absorption-mobile system includes the framework 1 that bottom is equipped with horizontal slide unit 10 and longitudinal slide unit 11；Framework 1 is equipped with cross
To stepper motor 14, longitudinal stepper motor 15, lateral cylinder group, longitudinal cylinder group and platform 30；Each side bottom of framework 1
It is respectively equipped with horizontal sliding bar I 801, horizontal sliding bar II 802, longitudinal slide bar I 901, longitudinal slide bar II 902；It is right in horizontal slide unit 10
Claim to be equipped with 6 lateral vacuum chucks, and the horizontal slide unit 10 passes through the cylinder I of end and longitudinal slide bar I 901, longitudinal slide bar II
902 is nested；Each transverse direction vacuum chuck is connected with lateral cylinder group one-to-one correspondence；The both sides of horizontal slide unit 10 are respectively equipped with longitudinal direction
Synchronous belt I 701, longitudinal synchronous belt II 702；The both ends of longitudinal synchronous belt I 701 are engaged with longitudinal synchronizing wheel I 401, longitudinal direction respectively
Synchronizing wheel III 403；The both ends of longitudinal synchronous belt II 702 are engaged with longitudinal synchronizing wheel II 402, longitudinal synchronizing wheel IV 404 respectively；It is vertical
It is nested on horizontal sliding bar I 801 to synchronizing wheel I 401 and longitudinal fixation of synchronizing wheel II 402；Longitudinal synchronizing wheel III 403 and longitudinal direction are same
IV 404 fixation of step wheel is nested on horizontal sliding bar II 802；6 longitudinal vacuum chucks are symmetrically arranged in longitudinal slide unit 11, and this is vertical
It is nested with horizontal sliding bar I 801, horizontal sliding bar II 802 by the cylinder II of end to slide unit 11；Vacuum chuck and vertical longitudinally in each
It corresponds and is connected to air cylinder group；The both sides of longitudinal slide unit 11 are respectively equipped with synchronous cross band I 601, synchronous cross band II 602；
The both ends of synchronous cross band I 601 are engaged with synchronous cross wheel I 501, synchronous cross wheel III 503 respectively；Synchronous cross band II 602
Both ends be engaged with synchronous cross wheel II 502, synchronous cross wheel IV 504 respectively；Synchronous cross wheel I 501 and synchronous cross wheel II
502 fixations are nested on longitudinal slide bar I 901；Synchronous cross wheel III 503 and the fixation of synchronous cross wheel IV 504 are nested in longitudinal cunning
On bar II 902；Minipump I 16, Mini-size inflation pump I 19, Mini-size inflation pump II 20, micro vacuum are respectively equipped on platform 30
Pump II 23；Minipump I 16 is connected with tracheae group I 24 through solenoid valve I 17, Mini-size inflation pump I 19 through solenoid valve II 18 respectively；
Tracheae group I 24 is connected with longitudinal cylinder group；Mini-size inflation pump II 20 is through solenoid valve III 21, minipump II 23 through solenoid valve IV
22 are connected with tracheae group II 25 respectively；Tracheae group II 25 is connected with lateral cylinder group；It is set on the output shaft I of horizontal stepper motor 14
There is driving gear I 2601, which engages with the gear wheel I of reduction gearing I 2602；Reduction gearing I 2602 it is small
Gear I is engaged with the gear wheel II of reduction gearing II 2603, and the pinion gear II of the reduction gearing II 2603 is engaged with driven gear I
2604；Reduction gearing I 2602 and reduction gearing II 2603 are mounted on gear fixed frame I 28；Driven gear I 2604 is fixed nested
In on horizontal sliding bar II 802, and longitudinal synchronizing wheel IV 404 is installed；The output shaft II of longitudinal stepper motor 15, which is equipped with, to be driven
Moving gear II 2701, the driving gear II 2701 are engaged with the gear wheel III of reduction gearing III 2702；Reduction gearing III 2702
Pinion gear III is engaged with the gear wheel IV of reduction gearing IV 2703, and the pinion gear IV of the reduction gearing IV 2703 is engaged with driven tooth
Take turns II 2704；Reduction gearing III 2702 and reduction gearing IV 2703 are mounted on the fixed clamping frame II 29 of gear；Driven gear II
2704 fixations are nested on longitudinal slide bar I 901, and are equipped with synchronous cross wheel II 502；The middle part of framework 1 and horizontal slide unit
10 and longitudinal slide unit 11 top be equipped with water tank 31；Water tank 31 is equipped with the upper cover 32 with circle shell 33；Five are connected on circle shell 33 certainly
By degree cleaning machine hand.
Lateral vacuum chuck I 201, lateral vacuum chuck II 202, lateral vacuum chuck III are symmetrically arranged in horizontal slide unit 10
203, lateral vacuum chuck IV 204, lateral vacuum chuck V 205, lateral vacuum chuck VI 206, and the two of the horizontal slide unit 10
End is connected with longitudinal slide bar I 901 and longitudinal slide bar II 902 respectively.
Longitudinal vacuum chuck I 301, longitudinal vacuum chuck II 302, longitudinal vacuum chuck III are symmetrically arranged in longitudinal slide unit 11
303, longitudinal vacuum chuck IV 304, longitudinal vacuum chuck V 305, longitudinal vacuum chuck VI 306, and the two of the longitudinal slide unit 11
End is connected with horizontal sliding bar I 801 and horizontal sliding bar II 802 respectively.
Solenoid valve I 17 is connected with the air inlet I of minipump I 16.
Solenoid valve II 18 is connected with the venthole I of Mini-size inflation pump I 19.
Solenoid valve III 21 is connected with the venthole II of Mini-size inflation pump II 20.
Solenoid valve IV 22 is connected with the air inlet II of minipump II 23.
Longitudinal cylinder group is by longitudinal cylinder I 1301, longitudinal cylinder II 1302, longitudinal cylinder III 1303, longitudinal cylinder IV
1304, longitudinal cylinder V, longitudinal cylinder VI form, the longitudinal cylinder I 1301, longitudinal cylinder II 1302, longitudinal cylinder III 1303,
Longitudinal cylinder IV 1304, longitudinal cylinder V, longitudinal cylinder VI are connected with 6 longitudinal vacuum chuck one-to-one correspondence.
Lateral cylinder group is by lateral cylinder I 1201, lateral cylinder II 1202, lateral cylinder III 1203, lateral cylinder IV
1204, lateral cylinder V 1205, lateral cylinder VI 1206, the lateral cylinder I 1201, lateral cylinder II 1202, lateral cylinder III
1203, the lateral vacuum chuck of lateral cylinder IV 1204, lateral cylinder V 1205, lateral cylinder VI 1206 and 6 corresponds phase
Even.
Five degree of freedom cleaning machine hand includes the rotation shaft step motor 41 and endless screw support 34 being connected with water tank 31, and
Rotating platform 46, large arm 62, forearm 68, cleaning head shell 77 equipped with driving arm seat 47；Rotation shaft step motor 41 passes through snail
Bar 39 is connected with flange plate 40, which is fixed on endless screw support 34；Worm screw 39 is engaged with the worm gear 38, the worm gear 38
It is nested in rotary shaft 35；Rotary shaft lower bearing 36 and rotary shaft lower flange 37 are sheathed between rotary shaft 35 and water tank 31；Rotation
Locking flange 42 is nested in shaft 35, the locking flange 42 and worm gear 38 are connected；The top of rotary shaft 35 passes through lock-screw
45 are fixedly connected with rotating platform 46, and are nested with the rotary shaft upper bearing (metal) 44 for being placed in round 33 upper surface center of shell, in the rotary shaft
Bearing 44 is fixed with rotary shaft upper flange 43；The side of arm seat 47 is driven to be equipped with small arm link steering engine 49, the other side is equipped with big
Arm link steering engine 48；The top of driving arm seat 47 is symmetrically installed with large arm bearing I 58, large arm bearing II 59, the large arm bearing I
58, large arm bearing II 59 is connected with large arm bearing flange I 60, large arm bearing flange II 61 respectively；Large arm bearing flange I 60, large arm
Bearing flange II 61 is connected with large arm 62；Small arm link steering engine 49 connects through forearm driving rocker 51, connecting rod bearing cap III 55, forearm
Bar 57 is connected with forearm 68；Big arm link steering engine 48 is connected with big arm link 56 through large arm driving rocker 50, crank 52, the big arm link
56 are fixed in large arm 62；Connecting rod bearing cap I 53, connecting rod bearing cap II 54 are respectively equipped on crank 52；The end pair of large arm 62
Title is equipped with forearm bearing I 64, forearm bearing II 65, and the forearm bearing I 64, forearm bearing II 65 are connected separately with forearm bearing
Flange I 66, forearm bearing flange II 67；Forearm bearing flange I 66 and forearm bearing flange II 67 are connected with forearm arm seat 63, this is small
Forearm 68 is fixed on arm arm seat 30；68 end of forearm is equipped with one short U bracket 69, is fixedly mounted on the short U bracket 69 clear
Clean head rotate steering wheel 70；Cleaning head rotate steering wheel 70 connects long U bracket 73, the long U bracket 73 by steering wheel I 71, steering wheel II 72
On be respectively fixed with rope motor 74, cleaning head shell 77；The lower left quarter and right lower quadrant of cleaning head shell 77 are respectively fixed with
Support shaft 82, bottom centre are equipped with fixed frame connecting shaft 80；Rope motor 74 is equipped with drawstring axis 75, the drawstring axis 75 hinge
Even rope 76；The other end of rope 76 is fixed in fixed frame connecting shaft 80；77 bottom symmetrical of cleaning head shell is equipped with clear
Clean collodion fixed frame 79, and the cleaning collodion fixed frame 79 is linked together by fixed frame connecting shaft 80；Cleaning collodion is fixed
Frame 79 is equipped with cleaning collodion 78；Support shaft 82 is equipped with support crank 81, and one end of the support crank 81 and cleaning collodion are solid
Determine frame 79 to be connected；Flexible rope 83 is run through in the gap cleaning collodion fixed frame 79 and cleaning between collodion 78, the elastic string 83
Both ends are fixed on inside cleaning head shell 77；The top of cleaning head shell 77 is equipped with water guide column, the water guide column and sewage recycling machine
Structure is connected.
Sewage recovering mechanism includes silicone tube I, silicone tube II, filter and water tank 31.One end of silicone tube I connects water guide
Column, the other end connect the pump mouth of Miniature water-pumping pump, and the water outlet of Miniature water-pumping pump is connected through filter with water tank 31；Silica gel
Pipe II is connected between miniature jet water pump and cleaning collodion 78.
Control-communication system includes a remote controllers, the microprocessor being placed in inside upper cover 32 and one without route
By device and a wireless video transmission system, the image capture module being placed in the middle part of the arm of five degree of freedom cleaning machine hand；It is micro-
Processor is connected with sensor-based system, image capture module, wireless router respectively；Wireless video transmission system and wireless router
It is connected, the wireless router and remote controllers are wirelessly connected.
Sensor-based system includes being placed in the infrared distance sensor of 1 bottom of framework and ultrasonic sensor, being placed in upper cover 32
The gyroscope in portion and digital three axle Gravity accelerometers, the baroceptor being placed in tracheae group I 24 and tracheae group II 25,
The pressure sensor for being placed in cleaning 78 surface of collodion, the infrared photoelectric sensor being placed in water tank 31；Infrared distance sensor surpasses
Sonic sensor, gyroscope, digital three axle Gravity accelerometers, baroceptor, pressure sensor, infrared photoelectric sensing
Device is connected with control-communication system respectively.
When work, original state, minipump I 16 is opened with minipump II 23, and Mini-size inflation pump I 19 is filled with miniature
Air pump II 20 is turned off, and solenoid valve I 17 is turned on solenoid valve IV 22, and solenoid valve II 18 is closed with solenoid valve III 21, laterally
The pneumatic circuit of the pneumatic circuit of vacuum chuck and longitudinal vacuum chuck is in pumping state, and lateral vacuum chuck and longitudinal direction are true
Suction disk adsorbs on wall surface.
The first step closes minipump II 23 and solenoid valve IV 22, opens Mini-size inflation pump II 20 and solenoid valve III 21,
The pneumatic circuit of lateral vacuum chuck is in inflated condition at this time, and the pneumatic circuit of longitudinal vacuum chuck is in pumping state, horizontal
It is put on to vacuum chuck by the piston of cylinder and is detached from wall surface, longitudinal vacuum chuck is adsorbed in wall surface.
Second step, horizontal stepper motor 14 rotate clockwise, and are driven by reduction gearing I 2602, reduction gearing II 2603
Driven gear I 2604 rotates, and driven gear I 2604 drives horizontal sliding bar II 802 to rotate, and the drive of horizontal sliding bar II 802 is fixed on
Longitudinal synchronizing wheel III 403 and longitudinal synchronizing wheel IV 404 thereon rotates, longitudinal synchronizing wheel III 403 and longitudinal IV 404 points of synchronizing wheel
Do not drive longitudinal synchronous belt I 701 for being engaged with and the rotation counterclockwise of longitudinal synchronous belt II 702, longitudinal synchronous belt I 701 with it is vertical
Horizontal slide unit 10 is driven to slide relative to longitudinal slide bar I 901 and longitudinal slide bar II 902 to synchronous belt II 702, to realize cross
It is moved up to slide unit relative to robot framework.
Third step opens minipump II 23 and solenoid valve IV 22, closes Mini-size inflation pump II 20 and solenoid valve III 21,
Mini-size inflation pump I 19 and solenoid valve II 18 are opened, minipump I 16 and solenoid valve I 17 are closed, at this time longitudinal vacuum chuck
Pneumatic circuit is in inflated condition, and the pneumatic circuit of lateral vacuum chuck is in pumping state, and longitudinal vacuum chuck is by cylinder
Piston, which is put on, is detached from wall surface, and lateral vacuum chuck is adsorbed in wall surface.
4th step, horizontal stepper motor 14 rotate counterclockwise, are driven by reduction gearing I 2602, reduction gearing II 2603
Driven gear I 2604 rotates, and driven gear I 2604 drives horizontal sliding bar II 802 to rotate, and the drive of horizontal sliding bar II 802 is fixed on
Longitudinal synchronizing wheel III 403 and longitudinal synchronizing wheel IV 404 thereon rotates, longitudinal synchronizing wheel III 403 and longitudinal IV 404 points of synchronizing wheel
Do not drive the longitudinal synchronous belt I 701 being engaged with to rotate clockwise with longitudinal synchronous belt II 702, longitudinal synchronous belt I 701 with it is vertical
Horizontal slide unit 10 is driven to slide relative to longitudinal slide bar I 901 and longitudinal slide bar II 902 to synchronous belt II 702, to realize cross
It is moved down to slide unit relative to robot framework, i.e. robot framework is moved up relative to horizontal slide unit.
Repeating the above steps can be realized curtain cleaning robot and constantly moves up.Downwards similarly to from left to right.To
Realize curtain cleaning robot all-around mobile up and down on glass wall.
Big arm link steering engine 48 and small arm link steering engine 49 drive large arm by big arm link 56 and small arm link 57 respectively
62 and forearm 68 rotate, cleaning head rotate steering wheel 70 by long U bracket 73 drive cleaning head shell 77 rotate；Big arm link steering engine
48, small arm link steering engine 49 and cleaning head rotate steering wheel 70 cooperate, adjustable large arm 62, forearm 68 and cleaning head shell
The angle of 77 opposite frameworks 1 is tightly attached to cleaning collodion 78 in parallel and needs clean wall surface；Rotation shaft step motor 41 passes through snail
Wheel 38 and worm screw 39 drive rotating platform 46 to rotate, and rotating platform 46 drives cleaning machinery by driving arm seat 47 connected therewith
Arm rotation；The cleaning collodion 78 of rotation cleans the dirt of removal wall surface；Sewage during cleaning is returned by waste water recovery system
Filtering is received to recycle；Each system of robot cooperates, and can be realized safe and efficient clear on high building glass curtain wall
Wash operation.
Claims (13)
1. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people, including absorption-mobile system, control-communication system, sensing
System, five degree of freedom cleaning machine hand and sewage recovering mechanism, it is characterised in that: the control-communication system respectively with it is described
Absorption-mobile system, the sensor-based system, the five degree of freedom cleaning machine palmistry connect；The five degree of freedom cleaning machine hand
It is connected with the sewage recovering mechanism；Absorption-the mobile system includes that bottom is equipped with horizontal slide unit (10) and longitudinal slide unit
(11) framework (1)；The framework (1) be equipped with horizontal stepper motor (14), longitudinal stepper motor (15), lateral cylinder group,
Longitudinal cylinder group and platform (30)；Each side bottom of the framework (1) is respectively equipped with horizontal sliding bar I (801), horizontal sliding bar
II (802), longitudinal slide bar I (901), longitudinal slide bar II (902)；6 lateral vacuum are symmetrically arranged on the horizontal slide unit (10)
Sucker, and the horizontal slide unit (10) is nested with longitudinal slide bar I (901), longitudinal slide bar II (902) by the cylinder I of end；
Each lateral vacuum chuck is connected with lateral cylinder group one-to-one correspondence；The both sides of the horizontal slide unit (10) are set respectively
There are longitudinal synchronous belt I (701), longitudinal synchronous belt II (702)；The both ends of the longitudinal direction synchronous belt I (701) are engaged with longitudinal direction respectively
Synchronizing wheel I (401), longitudinal synchronizing wheel III (403)；The both ends of the longitudinal direction synchronous belt II (702) are engaged with longitudinal synchronization respectively
Take turns II (402), longitudinal synchronizing wheel IV (404)；The longitudinal direction synchronizing wheel I (401) and longitudinal synchronizing wheel II (402) fixation are embedding
It is placed on the horizontal sliding bar I (801)；The longitudinal direction synchronizing wheel III (403) is nested with longitudinal synchronizing wheel IV (404) fixation
In on the horizontal sliding bar II (802)；6 longitudinal vacuum chucks are symmetrically arranged on the longitudinal slide unit (11), and this is longitudinally sliding
Platform (11) is nested with the horizontal sliding bar I (801), horizontal sliding bar II (802) by the cylinder II of end；Each longitudinal direction is true
Suction disk is connected with longitudinal cylinder group one-to-one correspondence；The both sides of the longitudinal slide unit (11) are respectively equipped with synchronous cross band I
(601), synchronous cross band II (602)；The both ends of the synchronous cross band I (601) be engaged with respectively synchronous cross wheel I (501),
Synchronous cross wheel III (503)；The both ends of the synchronous cross band II (602) are engaged with synchronous cross wheel II (502), transverse direction respectively
Synchronizing wheel IV (504)；The synchronous cross wheel I (501) and the synchronous cross wheel II (502) fixation are nested in described longitudinal sliding
On bar I (901)；The synchronous cross wheel III (503) and the synchronous cross wheel IV (504), which are fixed, is nested in longitudinal slide bar
On II (902)；Minipump I (16), Mini-size inflation pump I (19), Mini-size inflation pump II are respectively equipped on the platform (30)
(20), minipump II (23)；The minipump I (16) passes through through solenoid valve I (17), the Mini-size inflation pump I (19)
Solenoid valve II (18) is connected with tracheae group I (24) respectively；The tracheae group I (24) is connected with the longitudinal cylinder group；It is described micro-
Type inflator pump II (20) through solenoid valve III (21), the minipump II (23) through solenoid valve IV (22) respectively with tracheae group II
(25) it is connected；The tracheae group II (25) is connected with the lateral cylinder group；On the output shaft I of the horizontal stepper motor (14)
Equipped with driving gear I (2601), which engages with the gear wheel I of reduction gearing I (2602)；The deceleration
The pinion gear I of gear I (2602) is engaged with the gear wheel II of reduction gearing II (2603), the small tooth of the reduction gearing II (2603)
Wheel II is engaged with driven gear I (2604)；The reduction gearing I (2602) and the reduction gearing II (2603) are mounted on gear
On fixed frame I (28)；Driven gear I (2604) fixation is nested on the horizontal sliding bar II (802), and is equipped with described
Longitudinal synchronizing wheel IV (404)；The output shaft II of the longitudinal direction stepper motor (15) is equipped with driving gear II (2701), the drive
Moving gear II (2701) is engaged with the gear wheel III of reduction gearing III (2702)；The pinion gear III of the reduction gearing III (2702)
It is engaged with the gear wheel IV of reduction gearing IV (2703), the pinion gear IV of the reduction gearing IV (2703) is engaged with driven gear II
(2704)；The reduction gearing III (2702) and the reduction gearing IV (2703) are mounted on gear fixed clamping frame II (29)；
The driven gear II (2704) is fixed to be nested on longitudinal slide bar I (901), and is equipped with the synchronous cross wheel II
(502)；The middle part of the framework (1) and the top of the horizontal slide unit (10) and the longitudinal slide unit (11) are equipped with water tank
(31)；The water tank (31) is equipped with the upper cover (32) with circle shell (33)；It is clear that the five degree of freedom is connected on the round shell (33)
Clean manipulator.
2. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the transverse direction
Be symmetrically arranged on slide unit (10) lateral vacuum chuck I (201), lateral vacuum chuck II (202), lateral vacuum chuck III (203),
Lateral vacuum chuck IV (204), lateral vacuum chuck V (205), lateral vacuum chuck VI (206), and the horizontal slide unit (10)
Both ends be connected respectively with longitudinal slide bar I (901) and longitudinal slide bar II (902).
3. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the longitudinal direction
Be symmetrically arranged on slide unit (11) longitudinal vacuum chuck I (301), longitudinal vacuum chuck II (302), longitudinal vacuum chuck III (303),
Longitudinal vacuum chuck IV (304), longitudinal vacuum chuck V (305), longitudinal vacuum chuck VI (306), and the longitudinal slide unit (11)
Both ends be connected respectively with the horizontal sliding bar I (801) and the horizontal sliding bar II (802).
4. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the electromagnetism
Valve I (17) is connected with the air inlet I of the minipump I (16).
5. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the electromagnetism
Valve II (18) is connected with the venthole I of the Mini-size inflation pump I (19).
6. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the electromagnetism
Valve III (21) is connected with the venthole II of the Mini-size inflation pump II (20).
7. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the electromagnetism
Valve IV (22) is connected with the air inlet II of the minipump II (23).
8. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the longitudinal direction
Air cylinder group is by longitudinal cylinder I (1301), longitudinal cylinder II (1302), longitudinal cylinder III (1303), longitudinal cylinder IV (1304), vertical
To cylinder V, longitudinal cylinder VI form, the longitudinal cylinder I (1301), longitudinal cylinder II (1302), longitudinal cylinder III (1303),
Longitudinal cylinder IV (1304), longitudinal cylinder V, longitudinal cylinder VI are connected with 6 longitudinal vacuum chuck one-to-one correspondence.
9. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the transverse direction
Air cylinder group is by lateral cylinder I (1201), lateral cylinder II (1202), lateral cylinder III (1203), lateral cylinder IV (1204), cross
To cylinder V (1205), lateral cylinder VI (1206), the lateral cylinder I (1201), lateral cylinder II (1202), lateral cylinder III
(1203), lateral cylinder IV (1204), lateral cylinder V (1205), lateral cylinder VI (1206) and 6 lateral vacuum are inhaled
Disk, which corresponds, to be connected.
10. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: described five
Freedom degree cleaning machine hand includes the rotation shaft step motor (41) and endless screw support (34) being connected with the water tank (31), and
Rotating platform (46), large arm (62), forearm (68), cleaning head shell (77) equipped with driving arm seat (47)；The rotary shaft step
Flange plate (40) are connected with by worm screw (39) into motor (41), which is fixed on the endless screw support (34)；Institute
It states worm screw (39) and is engaged with the worm gear (38), which is nested on rotary shaft (35)；The rotary shaft (35) and institute
It states and is sheathed with rotary shaft lower bearing (36) and rotary shaft lower flange (37) between water tank (31)；It is nested on the rotary shaft (35)
It locks flange (42), the locking flange (42) and the worm gear (38) are connected；The top of the rotary shaft (35) passes through locking screw
Nail (45) is fixedly connected with the rotating platform (46), and is nested with axis in the rotary shaft for being placed in round shell (33) the upper surface center
(44) are held, which is fixed with rotary shaft upper flange (43)；The side of driving arm seat (47) is equipped with small
Arm link steering engine (49), the other side are equipped with big arm link steering engine (48)；It is symmetrically installed at the top of the driving arm seat (47)
Large arm bearing I (58), large arm bearing II (59), the large arm bearing I (58), large arm bearing II (59) are connected with large arm bearing method respectively
Blue I (60), large arm bearing flange II (61)；The large arm bearing flange I (60), large arm bearing flange II (61) and the large arm
(62) it is connected；The small arm link steering engine (49) is through forearm driving rocker (51), connecting rod bearing cap III (55), small arm link (57)
It is connected with the forearm (68)；The big arm link steering engine (48) is connected with big arm link through large arm driving rocker (50), crank (52)
(56), which is fixed on the large arm (62)；Connecting rod bearing cap I is respectively equipped on the crank (52)
(53), connecting rod bearing cap II (54)；The end symmetrical of the large arm (62) is equipped with forearm bearing I (64), forearm bearing II
(65), the forearm bearing I (64), forearm bearing II (65) are connected separately with forearm bearing flange I (66), forearm bearing flange II
(67)；The forearm bearing flange I (66) and the forearm bearing flange II (67) are connected with forearm arm seat (63), the forearm arm seat
(30) forearm (68) are fixed on；Forearm (68) end is equipped with one short U bracket (69), the short U bracket (69)
Upper fixed installation cleaning head rotate steering wheel (70)；The cleaning head rotate steering wheel (70) is connected by steering wheel I (71), steering wheel II (72)
Spreading U bracket (73) is respectively fixed with rope motor (74), the cleaning head shell (77) on the long U bracket (73)；It is described
The lower left quarter and right lower quadrant of cleaning head shell (77) are respectively fixed with support shaft (82), and bottom centre is equipped with fixed frame connecting shaft
(80)；The rope motor (74) is equipped with drawstring axis (75), drawstring axis (75) the hinge rope (76)；The rope
(76) the other end is fixed on the fixed frame connecting shaft (80)；Cleaning head shell (77) bottom symmetrical is equipped with cleaning rubber
Cotton fixed frame (79), and the cleaning collodion fixed frame (79) is linked together by the fixed frame connecting shaft (80)；It is described clear
Clean collodion fixed frame (79) is equipped with cleaning collodion (78)；The support shaft (82) is equipped with support crank (81), and the support is bent
One end of handle (81) is connected with the cleaning collodion fixed frame (79)；The cleaning collodion fixed frame (79) and the cleaning collodion
(78) flexible rope (83) is run through in the gap between, and the both ends of the elastic string (83) are fixed in the cleaning head shell (77)
Portion；The top of the cleaning head shell (77) is equipped with water guide column, which is connected with the sewage recovering mechanism.
11. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as claimed in claim 10, it is characterised in that: the dirt
Regenerated water recovering machine structure includes silicone tube I, silicone tube II, filter and the water tank (31)；Described in one end connection of the silicone tube I
Water guide column, the other end connect the pump mouth of Miniature water-pumping pump, and the water outlet of Miniature water-pumping pump is through the filter and the water
Case (31) is connected；The silicone tube II is connected between the miniature jet water pump and the cleaning collodion (78).
12. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the control
System-communication system includes a remote controllers, is placed in the upper cover (32) internal microprocessor and a wireless router
And a wireless video transmission system, the image capture module that is placed in the middle part of the arm of the five degree of freedom cleaning machine hand；Institute
Microprocessor is stated to be connected with the sensor-based system, described image acquisition module, the wireless router respectively；The wireless video
Transmission system is connected with the wireless router, and the wireless router and the remote controllers are wirelessly connected.
13. a kind of multi-sucker formula high-altitude glass curtain wall cleaning machine device people as described in claim 1, it is characterised in that: the biography
Sensing system includes being placed in the infrared distance sensor of the framework (1) bottom and ultrasonic sensor, being placed in the upper cover (32)
Internal gyroscope and digital three axle Gravity accelerometers are placed in the tracheae group I (24) and the tracheae group II (25)
Interior baroceptor, the pressure sensor for being placed in described cleaning collodion (78) surface, be placed in it is infrared in the water tank (31)
Photoelectric sensor；The infrared distance sensor, ultrasonic sensor, gyroscope, digital three axle Gravity accelerometers, gas
Pressure sensor, pressure sensor, infrared photoelectric sensor are connected with the control-communication system respectively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082337.1A CN109744930B (en) | 2017-11-07 | 2017-11-07 | Many sucking discs formula high altitude glass curtain wall cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711082337.1A CN109744930B (en) | 2017-11-07 | 2017-11-07 | Many sucking discs formula high altitude glass curtain wall cleaning robot |
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| Publication Number | Publication Date |
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| CN109744930A true CN109744930A (en) | 2019-05-14 |
| CN109744930B CN109744930B (en) | 2024-04-26 |
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| CN201711082337.1A Active CN109744930B (en) | 2017-11-07 | 2017-11-07 | Many sucking discs formula high altitude glass curtain wall cleaning robot |
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| CN110151071A (en) * | 2019-06-14 | 2019-08-23 | 合肥尘洁清洁技术服务有限公司 | A kind of robot for cleaning wall surface |
| CN110236458A (en) * | 2019-06-24 | 2019-09-17 | 上海大学 | A kind of intelligence clearing apparatus |
| CN110680226A (en) * | 2019-10-31 | 2020-01-14 | 长春汽车工业高等专科学校 | Intelligent and efficient cleaning robot |
| CN112716399A (en) * | 2021-01-15 | 2021-04-30 | 北京工业大学 | Clean adsorption equipment of photovoltaic curtain cavity cleaning machines people |
| CN112756290A (en) * | 2021-01-11 | 2021-05-07 | 史琼 | Multifunctional high-altitude robot |
| CN114403738A (en) * | 2022-01-20 | 2022-04-29 | 北京国家速滑馆经营有限责任公司 | Be used for abluent arm of curtain and equipment |
| WO2023192854A3 (en) * | 2022-04-01 | 2023-12-14 | Smart Step Surgical LLC | Processor controlled surgical step stool with automatic height adjustment, vaccum attachment, and electronic foot switches |
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| Publication number | Publication date |
|---|---|
| CN109744930B (en) | 2024-04-26 |
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