High-altitude cleaning robot

Abstract

The high-altitude cleaning robot comprises a machine body, a hoisting assembly, an adsorption assembly, a plurality of cleaning machine heads and a grabbing mechanism, and the hoisting assembly is arranged on the machine body and used for being fixed to a bearing object to drive the machine body to ascend or descend; the adsorption assembly is arranged on the side face of the machine body and used for adsorbing and fixing the machine body when the hoisting assembly hoists the machine body to a to-be-cleaned position; the multiple cleaning machine heads are arranged on the machine body and used for being adsorbed to the position to be cleaned through negative pressure so as to conduct movable cleaning. The grabbing mechanism is arranged on the machine body, located among the multiple cleaning machine heads and used for grabbing the cleaning machine heads to the to-be-cleaned positions when the adsorption assembly adsorbs and fixes the machine body. Manual participation can be reduced, automatic cleaning can be achieved, falling can be prevented through the hoisting assembly and the adsorption assembly, double protection on the machine body is achieved, and the overall safety is higher.

Description

Technical Field

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

[0002] Currently, pollutants such as dust, smog, sandstorms, and bird droppings accumulate on the surface of glass curtain walls, significantly affecting the aesthetics and light transmission of buildings. Therefore, regular cleaning of glass curtain walls is necessary. However, existing high-altitude cleaning robots struggle to achieve autonomous cleaning of glass curtain walls, and ensuring the robot's safety during the cleaning process remains a challenge. 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 robot, comprising:

[0004] Organism;

[0005] A hoisting assembly, which is mounted on the machine body and is used to fix it to a load to drive the machine body to rise or fall;

[0006] An adsorption component is provided on the side of the machine body and is used to adsorb and fix the machine body when the hoisting component hoists the machine body to the position to be cleaned;

[0007] Multiple cleaning heads are provided on the machine body and are used to be vacuum-adsorbed to the position to be cleaned for moving and cleaning.

[0008] A gripping mechanism is provided on the body and located among the plurality of cleaning heads, for gripping the cleaning heads to the position to be cleaned when the adsorption assembly adsorbs and fixes the body.

[0009] Preferably, the hoisting assembly includes:

[0010] A pulley system, wherein the pulley system is mounted on the machine body;

[0011] An electric motor, which is connected to the pulley block, is used to drive the pulley block to rotate;

[0012] The suspension rope has a first end for fixing to the load and a second end connected to the pulley block.

[0013] Preferably, the body is further provided with a limiting component, the limiting component comprising:

[0014] A support plate, which is disposed on the body;

[0015] A limiting wheel is rotatably mounted on the support plate, and the suspension rope is wound around the limiting wheel.

[0016] Preferably, the adsorption component includes:

[0017] A connecting seat, the first end of which is fixed to the body of the machine body, and the second end of which extends through the body of the machine body;

[0018] A vacuum pump is located at the first end of the connecting seat and is connected to the connecting seat;

[0019] The suction cup is located at the second end of the connector and is connected to the vacuum pump via the connector.

[0020] Preferably, the gripping mechanism includes:

[0021] Mounting base, the mounting base being disposed on the machine body;

[0022] A robotic arm, one end of which is rotatably mounted on the mounting base;

[0023] 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.

[0024] Preferably, the gripper assembly includes:

[0025] A fixing plate is disposed at the second end of the robotic arm;

[0026] A cylinder, wherein the cylinder is mounted on the fixed plate;

[0027] The gripper is mounted on the cylinder and is driven by the cylinder to open or close in a first direction.

[0028] 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.

[0029] Preferably, the fixed plate is further provided with a first vision module, which faces the gripping direction of the gripper; the body is further provided with a second vision module, which faces the working direction of the robotic arm.

[0030] Preferably, the cleaning head is equipped with a safety rope, one end of which is connected to the cleaning head, and the other end is wound up in the machine body via a reel.

[0031] Preferably, the machine body is further provided with a control box, which is electrically connected to the cleaning head, the reel, the hoisting assembly, the adsorption assembly and the gripping mechanism.

[0032] The above-described solution of this utility model has at least the following beneficial effects:

[0033] The high-altitude cleaning robot provided by this utility model can be fixed to a carrier by a hoisting component and driven to rise or fall. After the robot is driven to the cleaning position, it can be fixed by an adsorption component. After the robot is fixed by adsorption, the gripping mechanism can grab multiple cleaning heads and place them at the cleaning position, so that multiple cleaning heads can be moved and cleaned by negative pressure adsorption at the cleaning position. After cleaning, the cleaning heads can be grabbed from the cleaning position and placed back on the robot by the gripping mechanism. This reduces manual intervention, not only achieving autonomous cleaning, but also preventing falls through the hoisting and adsorption components, achieving double protection for the robot and higher overall safety.

[0034] 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

[0035] 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.

[0036] Figure 1 This is a schematic diagram of the high-altitude cleaning mechanism provided in the embodiments of this utility model;

[0037] Figure 2 This is a structural schematic diagram of the hoisting assembly and the limiting assembly provided in the embodiments of this utility model;

[0038] Figure 3 This is a cross-sectional view of the hoisting assembly provided in the embodiments of this utility model;

[0039] Figure 4 This is a schematic diagram of the structure of the adsorption component provided in the embodiment of this utility model;

[0040] Figure 5 This is a schematic diagram of the gripping mechanism provided in the embodiments of this utility model;

[0041] Figure 6This is a schematic diagram of the internal structure of the machine body provided in the embodiment of this utility model;

[0042] Figure 7 This is another structural schematic diagram of the high-altitude cleaning mechanism provided in this embodiment of the utility model;

[0043] Explanation of icon numbers:

[0044] 10. Organism;

[0045] 20. Lifting assembly; 21. Pulley block; 211. Locking wheel; 212. Pulley; 22. Motor; 23. Lifting rope;

[0046] 30. Adsorption assembly; 31. Connector; 32. Vacuum pump; 33. Suction cup;

[0047] 40. Cleaning head; 41. Safety rope; 42. Cable reel;

[0048] 50. Gripping mechanism; 51. Mounting base; 52. Robotic arm; 53. Gripper assembly; 531. Fixing plate; 532. Cylinder; 533. Gripper; 534. Force sensor; 54. First vision module;

[0049] 60. Limiting component; 61. Support plate; 62. Limiting wheel;

[0050] 70. Second vision module; 80. Control box.

[0051] 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

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The high-altitude cleaning robot of this utility model embodiment is described in detail below with reference to the accompanying drawings.

[0058] like Figure 1As shown, the high-altitude cleaning robot provided in this embodiment of the present invention includes: a body 10, a hoisting assembly 20, an adsorption assembly 30, multiple cleaning heads 40, and a gripping mechanism 50. The hoisting assembly 20 is disposed on the body 10 and is used to fix it to a load to drive the body 10 to rise or fall. The adsorption assembly 30 is disposed on the side of the body 10 and is used to adsorb and fix the body 10 when the hoisting assembly 20 hoists the body 10 to the position to be cleaned. The multiple cleaning heads 40 are disposed on the body 10 and are used to adsorb to the position to be cleaned under negative pressure for moving and cleaning. The gripping mechanism 50 is disposed on the body 10 and located between the multiple cleaning heads 40, and is used to grip the cleaning heads 40 to the position to be cleaned when the adsorption assembly 30 adsorbs and fixes the body 10.

[0059] The aforementioned high-altitude cleaning robot can be controlled remotely, such as via a remote control or a terminal APP, or it can be autonomously controlled using a pre-set program. For example, it can use visual algorithms to identify, grasp, and place the cleaning head 40. The location to be cleaned can be a glass curtain wall or similar location. The cleaning head 40 can be a negative pressure chamber cleaning robot. Those skilled in the art will understand that a negative pressure chamber cleaning robot can use existing autonomous path planning methods for movement and cleaning, which will not be elaborated upon here.

[0060] The high-altitude cleaning robot provided by this utility model can be fixed on a carrier by the hoisting component 20 and drive the body 10 to rise or fall. After the body 10 is driven to the cleaning position, it can be fixed by the adsorption component 30. After the body 10 is fixed by adsorption, the gripping mechanism 50 can grip and place multiple cleaning heads 40 at the cleaning position, so that the multiple cleaning heads 40 can be negatively adsorbed at the cleaning position for moving and cleaning. After cleaning, the gripping mechanism 50 can again grip the cleaning heads 40 from the cleaning position and place them on the body 10. This reduces manual intervention, not only achieving autonomous cleaning, but also preventing falls through the hoisting component 20 and adsorption component 30, achieving double protection for the body 10 and higher overall safety.

[0061] like Figure 2 and Figure 3 As shown, the hoisting assembly 20 includes: a pulley block 21, a motor 22, and a hoisting rope 23. The pulley block 21 is mounted on the machine body 10. The motor 22 is connected to the pulley block 21 and is used to drive the pulley block 21 to rotate. The first end of the hoisting rope 23 is used to fix it to the load, and the second end is connected to the pulley block 21. Further, the pulley block 21 includes a locking wheel 211 and a pulley 212. The locking wheel 211 is locked to the second end of the hoisting rope 23 and is driven to rotate by the motor 22. The hoisting rope 23 is wound around the pulley 212 and connected to the machine body 10.

[0062] In this embodiment, the support can be a rooftop, and the first end of the safety rope 41 can be fixed to the rooftop. When the motor 22 drives the locking wheel 211 to rotate, the safety rope 41 can be driven to raise or lower the machine body 10. For example, when the locking wheel 211 rotates clockwise, the safety rope 41 raises the machine body 10, and when the locking wheel 211 rotates counterclockwise, the safety rope 41 lowers the machine body 10. Alternatively, when the locking wheel 211 rotates clockwise, the safety rope 41 lowers the machine body 10, and when the locking wheel 211 rotates counterclockwise, the safety rope 41 raises the machine body 10. The pulley 212 can be a fixed pulley 212, used to guide the safety rope 41 onto the machine body 10, so that the safety rope 41 can be fixed to the machine body 10. Thus, when the locking wheel 211 rotates clockwise or counterclockwise, it can raise or lower the machine body 10 to prevent the machine body 10 from falling, thus improving safety.

[0063] In a preferred embodiment, the body 10 is further provided with a limiting component 60, which includes a support plate 61 and a limiting wheel 62. The support plate 61 is provided on the body 10; the limiting wheel 62 is rotatably provided on the support plate 61, and the suspension rope 23 is wound around the limiting wheel 62.

[0064] In this embodiment, the safety rope 41 is limited by the limiting wheel 62, making the connection between the safety rope 41 and the machine body 10 more stable. When the safety rope 41 is driven, it can be stably wound or released. During the transmission and conveying process, the safety rope 41 can make the overall stability stronger.

[0065] like Figure 4 As shown, the adsorption assembly 30 includes: a connecting seat 31, a vacuum pump 32, and a suction cup 33. The first end of the connecting seat 31 is fixed inside the body 10, and the second end extends through to the outside of the body 10. The vacuum pump 32 is located at the first end of the connecting seat 31 and is connected to the connecting seat 31. The vacuum pump 32 is located at the second end of the connecting seat 31 and is connected to the vacuum pump 32 via the connecting seat 31.

[0066] In this embodiment, after the machine body 10 is hoisted to the cleaning position, the suction cup 33 can be placed close to the glass curtain wall. At the same time, the vacuum pump 32 performs a vacuuming operation on the suction cup 33, so that the suction cup 33 can be tightly attached to the glass curtain wall to ensure better stability. After cleaning is completed, the vacuum pump 32 can stop vacuuming to make the internal and external pressure of the suction cup 33 uniform and detach it from the glass curtain wall. Then, the machine body 10 can be moved to other cleaning positions for cleaning, making the cleaning operation simpler, more stable, and reducing manual intervention.

[0067] like Figure 5As shown, in a specific embodiment, the gripping mechanism 50 includes: a mounting base 51, a robotic arm 52, and a gripper assembly 53. The mounting base 51 is disposed on the body 10; one end of the robotic arm 52 is rotatably disposed on the mounting base 51; the gripper assembly 53 is disposed on the other end of the robotic arm 52 and clamps and fixes the cleaning head 40 as the robotic arm 52 is driven.

[0068] In this embodiment, the robotic arm 52 can be a six-axis robotic arm 52 or the like. The robotic arm 52 drives the gripper assembly 53 to move. After the gripper assembly 53 grabs the cleaning head 40, it can drive the cleaning head 40 to rotate to the position to be cleaned, so that the cleaning head 40 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.

[0069] Specifically, the gripper assembly 53 includes: a fixed plate 531, a cylinder 532, and a gripper 533. The fixed plate 531 is located at the second end of the robotic arm 52; the cylinder 532 is located on the fixed plate 531; and the gripper 533 is located on the cylinder 532 and is driven by the cylinder 532 to open or close in a first direction.

[0070] In this embodiment, a cylinder 532 can be used to drive the gripper 533 to open or close, so that the gripper 533 can be tightly attached to the cleaning head 40 when open and clamp the cleaning head 40 when closed. Then, the robotic arm 52 can drive the cleaning head 40 to rotate freely to the cleaning position. After the cleaning head 40 is suctioned to the cleaning position by negative pressure, the gripper 533 can be released and the robotic arm 52 can reset the gripper 533 to the initial position. After the cleaning head 40 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.

[0071] like Figure 7 As shown, the fixing plate 531 is provided with a force sensor 534 along the second direction. The force sensor 534 is used to detect the gripping force of the gripper 533 on the cleaning head 40, and the second direction is perpendicular to the first direction in the same plane. Furthermore, the fixing plate 531 is also provided with a first vision module 54, which faces the gripping direction of the gripper 533. The body 10 is also provided with a second vision module 70, which faces the working direction of the robotic arm 52.

[0072] Specifically, the first vision module 54 can detect and position the cleaning head 40, while the force sensor 534 detects whether the gripper 533 is properly clamped. This ensures accurate clamping and fixation of the cleaning head 40, making it more stable and reliable when moving. The first vision module 54 can operate using a pre-set vision algorithm, accurately identifying and clamping the cleaning head 40 when the robotic arm 52 starts working, thus increasing the overall automation level. Furthermore, the second vision module 70 can be positioned relative to the robotic arm 52 and the cleaning location. After the robotic arm 52 moves the cleaning head 40 to the cleaning location, the second vision module 70 can visually inspect the cleaning head 40. After cleaning, the gripper 533 can promptly remove the cleaning head 40 and reset it, enabling autonomous cleaning and reducing manual intervention.

[0073] like Figure 6 As shown, a safety rope 41 is provided on the cleaning head 40. One end of the safety rope 41 is connected to the cleaning head 40, and the other end is wound up inside the machine body 10 via a reel 42. The safety rope 41 can be wound up via the reel 42, allowing it to be released when the cleaning head 40 is away from the machine body 10 and wound up to shorten when the cleaning head 40 is close to the machine body 10. This allows the cleaning head 40 to be tightened and secured in case of malfunction, preventing safety issues.

[0074] Preferably, the machine body 10 is also provided with a control box 80, which is electrically connected to the cleaning head 40, the reel 42, the hoisting assembly 20, the adsorption assembly 30 and the gripping mechanism 50 respectively.

[0075] The control box 80 may be equipped with a control module, a communication module, etc., so that it can be remotely controlled during operation, so that the cleaning head 40, the reel 42, the hoisting assembly 20 and the adsorption assembly 30 can receive the corresponding control signals to operate.

[0076] 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.

[0077] 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. An aerial cleaning robot, characterized in that, include: Organism; A hoisting assembly, which is mounted on the machine body and is used to fix it to a load to drive the machine body to rise or fall; An adsorption component is provided on the side of the machine body and is used to adsorb and fix the machine body when the hoisting component hoists the machine body to the position to be cleaned; Multiple cleaning heads are provided on the machine body and are used to be vacuum-adsorbed to the position to be cleaned for moving and cleaning. A gripping mechanism is provided on the body and located among the plurality of cleaning heads, for gripping the cleaning heads to the position to be cleaned when the adsorption assembly adsorbs and fixes the body.

2. The high-rise washing robot according to claim 1, characterized in that, The hoisting assembly includes: A pulley system, wherein the pulley system is mounted on the machine body; An electric motor, which is connected to the pulley block, is used to drive the pulley block to rotate; The suspension rope has a first end for fixing to the load and a second end connected to the pulley block.

3. The high-rise washing robot according to claim 2, characterized in that, The body is also provided with a limiting component, which includes: A support plate, which is disposed on the body; A limiting wheel is rotatably mounted on the support plate, and the suspension rope is wound around the limiting wheel.

4. The high-rise washing robot according to claim 1, characterized in that, The adsorption component includes: A connecting seat, the first end of which is fixed to the body of the machine body, and the second end of which extends through the body of the machine body; A vacuum pump is located at the first end of the connecting seat and is connected to the connecting seat; The suction cup is located at the second end of the connector and is connected to the vacuum pump via the connector.

5. The high-rise washing robot according to claim 1, characterized in that, 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.

6. The high-rise washing robot according to claim 5, characterized in that, 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.

7. The high-rise washing robot according to claim 6, 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.

8. The high-rise washing robot according to claim 6, characterized in that, The fixed plate is also provided with a first vision module, which faces the gripping direction of the gripper; the body is also provided with a second vision module, which faces the working direction of the robotic arm.

9. The high-rise washing robot according to claim 1, characterized in that, The cleaning head is equipped with a safety rope, one end of which is connected to the cleaning head, and the other end is wound up inside the machine body via a reel.

10. The high-rise washing robot according to claim 9, characterized in that, The machine body is also equipped with a control box, which is electrically connected to the cleaning head, the reel, the hoisting assembly, the adsorption assembly, and the gripping mechanism.

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