Double-suction-cup connecting rod type wall face cleaning robot

A cleaning robot, link-type technology, applied in the field of cleaning robots, can solve problems such as inability to complete obstacle-crossing actions, achieve good promotion and use value, and solve the effect of poor obstacle-crossing ability

Inactive Publication Date: 2016-09-28
武汉市享昱科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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  • Double-suction-cup connecting rod type wall face cleaning robot
  • Double-suction-cup connecting rod type wall face cleaning robot
  • Double-suction-cup connecting rod type wall face cleaning robot

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Embodiment Construction

[0024] combine figure 1 -8 The present invention is further described in detail.

[0025] figure 1 It is an overall structure diagram of a double-suction-cup link-type wall cleaning robot, which consists of two suction cups (11), including an upper end cover (5) and a lower end cover (9), a vacuum pump (4), and a four-link Mechanism (2), 2 stepping motors (10) and stepping motor reducer (8), steering gear bracket (3), 3 steering gears (14) and steering gear reducer (1), cleaning box (13 ), a throttle valve (7), a circular housing (12), an encoder (6) and a safety rope (15).

[0026] figure 2 It is a schematic diagram of the robot’s walking and wiping trajectory. (a) is the overall wiping and walking trajectory of the robot, which clearly shows that when the cleaning robot cleans the wall, it wipes from top to bottom, from left to right, and from right to left. (b) is the local wiping trajectory map of the robot, which walks and wipes in a spiral trajectory. The wiping tr...

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Abstract

The invention provides a double-suction-cup connecting rod type wall face cleaning robot and belongs to the field of specialized robots. The double-suction-cup connecting rod type wall face cleaning robot is characterized by comprising an adsorption device, a walking obstacle crossing device, a power device, a control device, a cleaning device and a safety device. The adsorption device is composed of a vacuum pump, a vacuum cavity and a suction cup. The walking obstacle crossing device is composed of a suction cup and a four-connecting-rod mechanism. Power is provided by a stepping motor and a steering engine. The control device comprises a single-chip microcomputer, a pressure sensor, an angle sensor and an infrared sensor. The cleaning device is composed of a cleaning box, cleaning cloth, a throttling valve and the like. The cleaning robot is wholly adsorbed on a wall face through the suction cups, alternate adsorption is achieved through the suction cups, and advancing wiping and obstacle crossing of the robot are achieved in cooperation with rotation of four connecting rods. The wall face cleaning robot can carry out safe and efficient cleaning work on high-rise outer walls (ceramic tiles or glass curtain walls or laid aluminum-plastic panel structures), and has the advantages of being stable in adsorption force, high in obstacle crossing capacity, high in wiping efficiency, high in wind load resistance, light, simple in structure, convenient to control and the like.

Description

technical field [0001] The invention relates to a special robot in the technical field of cleaning robots, in particular to a cleaning robot for walls of high-rise buildings. Background technique [0002] Wall cleaning robots include giant wall spraying, tile installation, wall cleaning and glass wiping robots in the construction industry, as well as visual inspection of nuclear waste storage tanks in the nuclear industry, thickness measurement and weld seam flaw detection robots, etc. Robots in petrochemical enterprises that inspect the inner and outer walls of large cylindrical tanks or spherical tanks, or perform sandblasting, derusting, and painting anti-corrosion robots. For the wall cleaning in the construction industry at present, this type of work is still carried out by cleaners on a hanging basket for high-altitude operations. On the one hand, the working environment of the workers is harsh, dangerous, and the work efficiency is very low. On the other hand, cleani...

Claims

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Application Information

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IPC IPC(8): A47L11/38A47L11/40E04G23/00
CPCA47L11/38A47L11/40A47L11/4011A47L11/4061A47L11/4063E04G23/002
Inventor 柯文李喜艳屈春雷李超肖力凡陈俊方凡涛卢昱华陈建友
Owner 武汉市享昱科技有限公司
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