High-altitude cleaning mechanism and robot

Abstract

The utility model discloses a high-altitude cleaning mechanism and a robot, the high-altitude cleaning mechanism comprises a machine body, a grabbing mechanism and a plurality of cleaning machine heads, the grabbing mechanism is arranged on the machine body and is used for freely grabbing during working; the multiple cleaning machine heads are arranged on the machine body, located on the two sides of the grabbing mechanism and used for being grabbed by the grabbing mechanism to a to-be-cleaned position and adsorbed to the to-be-cleaned position through negative pressure for movable cleaning. According to the automatic cleaning device, manual participation can be reduced, automatic cleaning can be achieved, and the automation degree is higher.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a high-altitude cleaning mechanism and robot. Background Technology

[0002] Because pollutants such as dust, smog, sandstorms, and bird droppings accumulate on the surface of glass curtain walls, significantly affecting the building's aesthetics and light transmission, regular cleaning of glass curtain walls is necessary. However, existing high-altitude cleaning services lack the capability for autonomous cleaning and are not sufficiently automated. Utility Model Content

[0003] This utility model aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this utility model is to provide a high-altitude cleaning mechanism, comprising:

[0004] Organism;

[0005] A gripping mechanism, which is mounted on the machine body, is used to grip freely during operation;

[0006] Multiple cleaning heads are disposed on the machine body and located on both sides of the gripping mechanism. They are used to be gripped by the gripping mechanism and moved to the cleaning position by negative pressure adsorption.

[0007] Preferably, the gripping mechanism includes:

[0008] Mounting base, the mounting base being disposed on the machine body;

[0009] A robotic arm, one end of which is rotatably mounted on the mounting base;

[0010] A gripper assembly is located at the other end of the robotic arm and is driven by the robotic arm to clamp and fix the cleaning head.

[0011] Preferably, the gripper assembly includes:

[0012] A fixing plate is disposed at the second end of the robotic arm;

[0013] A cylinder, wherein the cylinder is mounted on the fixed plate;

[0014] The gripper is mounted on the cylinder and is driven by the cylinder to open or close in a first direction.

[0015] Preferably, the fixing plate is provided with a force sensor along the second direction, the force sensor being used to detect the gripping force of the gripper on the cleaning head, and the second direction and the first direction are in the same plane and perpendicular to each other.

[0016] Preferably, the fixing plate is further provided with a first vision module, which faces the gripping direction of the gripper.

[0017] Preferably, the machine body is further provided with a second vision module, which faces the working direction of the robotic arm.

[0018] Preferably, the shooting angle of the second visual module is greater than or equal to that of the horizontal plane.

[0019] Preferably, the cleaning head is provided with a safety rope, one end of which is connected to the cleaning head, and the other end is retractably connected to the machine body.

[0020] Another objective of this invention is to provide a robot, including the high-altitude cleaning mechanism described above.

[0021] The high-altitude cleaning mechanism provided by this utility model can grab multiple cleaning heads one by one to the cleaning position through the gripping mechanism, so that the cleaning heads can be attached to the cleaning position for moving and cleaning. After cleaning, the cleaning heads can be grabbed from the cleaning position and placed on the machine body again through the gripping mechanism. This can reduce manual intervention and achieve autonomous cleaning with a higher degree of automation.

[0022] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the high-altitude cleaning mechanism provided in the embodiments of this utility model;

[0025] Figure 2 This is a schematic diagram of the gripping mechanism provided in the embodiments of this utility model;

[0026] Figure 3 This is a partial structural schematic diagram of the high-altitude cleaning mechanism provided in the embodiments of this utility model;

[0027] Explanation of icon numbers:

[0028] 10. Body; 20. Gripping mechanism; 21. Mounting base; 22. Robotic arm; 23. Gripper assembly; 231. Fixing plate; 232. Cylinder; 233. Gripper; 234. Force sensor; 24. First vision module; 30. Cleaning head; 31. Safety rope; 40. Second vision module.

[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0031] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0033] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0034] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] The high-altitude cleaning mechanism and robot of this utility model are described in detail below with reference to the accompanying drawings.

[0036] Reference Figure 1 As shown, the high-altitude cleaning mechanism provided by this utility model includes: a body 10, a gripping mechanism 20 and multiple cleaning heads 30. The gripping mechanism 20 is disposed on the body 10 and is used to grip freely during operation. The multiple cleaning heads 30 are disposed on the body 10 and located on both sides of the gripping mechanism 20, and are used to be gripped by the gripping mechanism 20 to the position to be cleaned, and then moved and cleaned by negative pressure adsorption to the position to be cleaned.

[0037] The gripping mechanism 20 can be controlled remotely or autonomously using a pre-set program. For example, it can use visual algorithms to identify, grip, and place the cleaning head 30. The cleaning location can be a glass curtain wall or similar location. The cleaning head 30 can be a negative pressure chamber cleaning robot. Those skilled in the art will understand that the negative pressure chamber cleaning robot can use existing autonomous path planning methods for mobile cleaning, which will not be elaborated here.

[0038] The high-altitude cleaning mechanism provided by this utility model can use the gripping mechanism 20 to grab multiple cleaning heads 30 one by one to the position to be cleaned, so that the cleaning heads 30 can be adsorbed on the position to be cleaned and moved for cleaning. After cleaning, the gripping mechanism 20 can grab the cleaning heads 30 from the position to be cleaned and place them on the machine body 10 again. This can reduce manual intervention and achieve autonomous cleaning with a higher degree of automation.

[0039] Reference Figure 2 As shown, the gripping mechanism 20 includes: a mounting base 21, a robotic arm 22, and a gripper assembly 23. The mounting base 21 is mounted on the body 10. One end of the robotic arm 22 is rotatably mounted on the mounting base 21. The gripper assembly 23 is mounted on the other end of the robotic arm 22 and clamps and fixes the cleaning head 30 as the robotic arm 22 is driven.

[0040] In this embodiment, the robotic arm 22 can be a six-axis robotic arm 22 or the like. The robotic arm 22 drives the gripper assembly 23 to move. After the gripper assembly 23 grabs the cleaning head 30, it can drive the cleaning head 30 to rotate to the position to be cleaned, so that the cleaning head 30 can be adsorbed and fixed at the position to be cleaned, and move autonomously to complete the cleaning operation, with a higher degree of automation.

[0041] Furthermore, the gripper assembly 23 includes: a fixed plate 231, a cylinder 232, and a gripper 233. The fixed plate 231 is located at the second end of the robotic arm 22; the cylinder 232 is located on the fixed plate 231; and the gripper 233 is located on the cylinder 232 and is used to be driven by the cylinder 232 to open or close in a first direction.

[0042] In this embodiment, a cylinder 232 can be used to drive the gripper 233 to open or close, so that the gripper 233 can be tightly attached to the cleaning head 30 when open and clamp the cleaning head 30 when closed. Then, the robotic arm 22 can drive the cleaning head 30 to rotate freely to the cleaning position. After the cleaning head 30 is suctioned to the cleaning position by negative pressure, the gripper 233 can be released and the robotic arm 22 can reset the gripper 233 to the initial position. After the cleaning head 30 is cleaned, it can be clamped again and placed on the machine body 10. Thus, no manual intervention is required, and the degree of automation is higher.

[0043] In one specific embodiment, the fixing plate 231 is provided with a force sensor 234 along the second direction. The force sensor 234 is used to detect the gripping force of the gripper 233 on the cleaning head 30, and the second direction is perpendicular to the first direction in the same plane. Furthermore, the fixing plate 231 is also provided with a first vision module 24, which faces the gripping direction of the gripper 233.

[0044] Specifically, the first vision module 24 can detect and position the cleaning head 30, while the force sensor 234 can detect whether the gripper 233 is clamped in place. This can accurately clamp and fix the cleaning head 30, ensuring greater stability and reliability when moving the cleaning head 30. It is understood that the first vision module 24 can work using a pre-set vision algorithm, so that when the robotic arm 22 starts working, it can accurately identify the cleaning head 30 and clamp it, making the overall level of automation higher.

[0045] Reference Figure 3 As shown, the body 10 is also provided with a second vision module 40, which faces the working direction of the robotic arm 22; furthermore, the shooting angle of the second vision module 40 is greater than or equal to the horizontal plane direction.

[0046] In this embodiment, the second vision module 40 can be directed toward the position of the robotic arm 22 and the position to be cleaned. After the robotic arm 22 moves the cleaning head 30 to the position to be cleaned, the second vision module 40 can perform visual inspection on the cleaning head 30. After cleaning is completed, the cleaning head 30 can be removed in time by the gripper 233 and the reset operation can be completed. This enables the whole process to be cleaned autonomously, reducing human intervention.

[0047] Specifically, the cleaning head 30 is equipped with a safety rope 31. One end of the safety rope 31 is connected to the cleaning head 30, and the other end is retractably connected to the machine body 10. The safety rope 31 can be wound up using a reel, allowing it to be released when the cleaning head 30 is away from the machine body 10 and wound up to shorten when the cleaning head 30 is close to the machine body 10. This allows the cleaning head 30 to be tightened and secured in case of malfunction, preventing safety issues.

[0048] The robot proposed in the embodiments of this utility model includes the high-altitude cleaning mechanism described above. The robot can use the gripping mechanism 20 to grasp multiple cleaning heads 30 one by one and place them at the cleaning location, allowing the cleaning heads 30 to adhere to the location and move for cleaning. After cleaning, the gripping mechanism 20 can again grasp the cleaning heads 30 from the cleaning location and place them on the robot body 10. This reduces manual intervention and enables autonomous cleaning, resulting in a higher degree of automation.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A high-altitude cleaning mechanism, characterized by, include: Organism; A gripping mechanism, which is mounted on the machine body, is used to grip freely during operation; Multiple cleaning heads are disposed on the machine body and located on both sides of the gripping mechanism. They are used to be gripped by the gripping mechanism and moved to the cleaning position by negative pressure adsorption.

2. The high-altitude washing mechanism according to claim 1, characterized by, The grasping mechanism includes: Mounting base, the mounting base being disposed on the machine body; A robotic arm, one end of which is rotatably mounted on the mounting base; A gripper assembly is located at the other end of the robotic arm and is driven by the robotic arm to clamp and fix the cleaning head.

3. The high-altitude washing mechanism according to claim 2, characterized by, The gripper assembly includes: A fixing plate is disposed at the second end of the robotic arm; A cylinder, wherein the cylinder is mounted on the fixed plate; The gripper is mounted on the cylinder and is driven by the cylinder to open or close in a first direction.

4. The high-altitude washing mechanism according to claim 3, characterized in that, The fixing plate is provided with a force sensor along the second direction. The force sensor is used to detect the gripping force of the gripper on the cleaning head, and the second direction is perpendicular to the first direction in the same plane.

5. The high-altitude washing mechanism according to claim 3, wherein The fixing plate is also provided with a first vision module, which faces the gripping direction of the gripper.

6. The high-altitude washing mechanism according to claim 2, wherein The machine body is also equipped with a second vision module, which faces the working direction of the robotic arm.

7. The high-altitude washing mechanism according to claim 6, wherein The shooting angle of the second visual module is greater than or equal to that of the horizontal plane.

8. The high-altitude washing mechanism according to claim 1, wherein The cleaning head is equipped with a safety rope, one end of which is connected to the cleaning head, and the other end is retractably connected to the machine body.

9. A robot, characterized in that Includes the high-altitude cleaning mechanism as described in any one of claims 1 to 8.

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