Four-rotor traction type obstacle-crossing wall-climbing cleaning robot

Abstract

The invention relates to a four-rotor traction type obstacle-crossing wall-climbing cleaning robot which comprises a walking mechanism, a swing arm mechanism, a thrust mechanism and a cleaning mechanism; the walking mechanism comprises walking units symmetrically arranged on the two sides of a robot body, and each walking unit comprises a driving wheel, a main idle wheel, a main crawler belt and adriving wheel shaft fixedly connected with the driving wheel; the swing arm mechanism comprises a swing arm unit connected with the walking unit, werein the swing arm unit comprises an auxiliary idler wheel, a small idler wheel, a main idler wheel shaft and a swing arm, wherein t connection with the walking unit means that the auxiliary idler wheel in the swing arm unit is driven by the main idler wheel through a connecting shaft, and the main idler wheel and the auxiliary idler wheel are both movably connected with a main idler wheel shaft through rolling bearings; and the thrust mechanism is arranged above the robot body and comprises a connecting base fixed above the robot body, and a propeller is arranged on the connecting base and driven by a driving motor I. By means of the robot, the robot can cross obstacles rapidly, and meanwhile, high cleaning efficiency is achieved while continuous movement is kept.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a four-rotor traction type obstacle-climbing and wall-climbing cleaning robot. Background technique [0002] In developed cities, as the population density increases and the number of technology companies increases, so does the number of high-rise office buildings. In high-rise office buildings, due to the good light transmission ability of glass, it can also play a role in moisture-proof and moisture-proof. Glasses of different colors can also beautify the building. Therefore, more and more high-rise office buildings use glass curtain wall structures for their exterior walls. At the same time, in order to maintain the beauty for a long time, the glass curtain wall must be cleaned frequently, so the task of cleaning the glass curtain wall is very heavy. At present, the cleaning of the glass curtain wall is mainly done by manpower, that is, cleaning workers are suspended by ropes to ...

AI Technical Summary

Problems solved by technology

In high-rise office buildings, due to the good light transmission ability of glass, it can also play a role in moisture-proof and moisture-proof. Glasses of different colors can also beautify the building. Therefore, more and more high-rise office buildings use glass curtain wall structures for their exterior walls. At the same time, in order to maintain the beauty for a long time, the glass curtain wall must be cleaned frequently, so the task of cleaning the glass curtain wall is very heavy. At present, the cleaning of the glass curtain wall is mainly done by manpower, that is, cleaning workers are suspended by ropes to clean the glass surface. Although the "one person, one brush" cleaning method is relatively simple to operate, it has a high risk factor, and the cleaning speed and efficiency are relatively low. It is a dangerous operation and has great hidden dangers to the safety of the cleaning staff and the glass surface. Therefore, major universities and scientific research institutions at home and abroad are working hard to develop glass curtain wall cleaning robots to replace traditional manual cleaning operations, improve production efficiency, save cleaning costs, and release workers from dangerous working environments.

[0003] At present, there are mainly three types of wall cleaning robot prototypes developed and formed: wheel type, foot type and crawler type. Among them, the wheel type cleaning robot has high cleaning efficiency, but the movement efficiency and the ability to maintain vacuum when overcoming obstacles are poor, while The foot cleaning robot has strong wall adaptability and obstacle surmounting ability, but due to its discontinuous movement, the cleaning efficiency is low

The utility model patent with the publication number CN209518822U is a fully automatic window-cleaning robot that can overcome obstacles. Realization, the control is more complex, time-consuming, and continuous movement cannot be performed after crossing, resulting in low cleaning efficiency

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