Metro platform screen door wall-climbing cleaning robot with crossing function

Abstract

The utility model discloses a metro platform screen door wall-climbing cleaning robot with a crossing function, and relates to the technical field of wall-climbing cleaning robots. Comprising a base, an adsorption unit is arranged in the center of the upper portion of the base, driving units, cleaning units and a crossing unit are arranged on the periphery of the adsorption unit and connected with the base, the driving units are symmetrically distributed on the two sides of the base, and the cleaning units are symmetrically distributed on the two sides of the base. A lifting structure and a rotating structure are arranged on the crossing unit, a sliding block is arranged on the rotating structure, a guide rail is arranged on the lifting structure, and the lifting structure and the rotating structure are connected through the sliding block and the guide rail; according to the wall-climbing cleaning robot with the crossing function for the metro platform screen door, step distance crossing between a fixed door and a sliding door on the metro platform screen door is achieved, the whole metro platform screen door can be continuously and seamlessly cleaned, and the cleaning efficiency and the flexibility degree are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to wall cleaning robot technology field especially a subway shield door wall cleaning robot with cross function. BACKGROUND

[0002] As an important facility of subway station, the cleaning condition of subway shield door not only affects the aesthetic degree of station, but also relates to the visual experience of passengers and the overall image of subway operation. At present, the traditional cleaning mode mainly relies on manual work. The manual cleaning of subway shield door with large area not only consumes a large amount of manpower and time cost, but also is difficult to carry out comprehensive and timely cleaning work during the subway operation period, which leads to limited cleaning frequency and easy accumulation of dirt on the shield door. In addition, manual cleaning requires workers to work near the track, and the subway operation environment is complex, which makes the cleaning personnel face great safety risks.

[0003] The existing cleaning equipment has obvious defects in dealing with the special structure of subway shield door. There is a step distance between the fixed door and the sliding door on the shield door. This structural difference makes it difficult for ordinary cleaning equipment to cross the obstacle, and it is impossible to continuously and seamlessly clean the entire shield door, resulting in dead angles in cleaning work and affecting the cleaning effect. Although automatic cleaning equipment is gradually applied in various fields, there is still a lack of wall cleaning robots specially designed for subway shield doors with special structures and cleaning requirements. SUMMARY

[0004] The utility model aims at providing a subway shield door wall cleaning robot with cross function, which realizes the crossing of the step distance between the fixed door and the sliding door on the subway shield door, can continuously and seamlessly clean the entire shield door, and effectively improves the cleaning efficiency and flexibility.

[0005] To achieve the above purpose, the utility model provides a subway shield door wall cleaning robot with cross function, which comprises a base, an adsorption unit is arranged at the center position of the upper side of the base, driving units, cleaning units and crossing units are arranged around the adsorption unit respectively, the driving units, the cleaning units and the crossing units are connected with the base, the driving units are symmetrically distributed on both sides of the base, a lifting structure and a rotating structure are arranged on the crossing unit, a sliding block is arranged on the rotating structure, a guide rail is arranged on the lifting structure, and the two are connected through the sliding block and the guide rail.

[0006] Preferably, the adsorption unit comprises a DC motor, a motor fixing seat, a centrifugal fan and a main suction disc are sequentially arranged at the bottom of the DC motor, and a sealing ring is arranged on the circular edge of the main suction disc.

[0007] Preferably, the driving unit comprises a first pulse motor, an output end of the first pulse motor is provided with a first shaft joint, the first shaft joint is connected with a driving wheel through a bearing seat arranged at the output end of the first shaft joint, the driving wheel is connected with a first belt pulley through a bearing seat, the first belt pulley is provided with a synchronous belt, the driving wheel is connected with a second belt pulley through the first belt pulley and the synchronous belt, and the second belt pulley is connected with a driven wheel through a bearing seat.

[0008] Preferably, the guide rail is provided with a lifting belt in the middle, the lifting belt is provided with a belt fixing sheet and is fixed on the rotating structure, the lifting belt is provided with a first lifting wheel and a second lifting wheel at two ends respectively, the first lifting wheel at the bottom is connected with a second pulse motor, L-shaped guide rail connecting frames are arranged at two sides of the second pulse motor, one end of the L-shaped guide rail connecting frame is fixed on the guide rail, the other end of the L-shaped guide rail connecting frame is fixed on the base, the second lifting wheel is connected with a pulley fixing seat, and the pulley fixing seat is arranged at the top of the guide rail.

[0009] Preferably, the rotating structure comprises a stepped frame, and the stepped frame is sequentially provided with an air pump, a rotating rudder, a second shaft joint and an auxiliary suction cup from top to bottom.

[0010] Therefore, the subway shield door wall cleaning robot with the spanning function has the following beneficial effects compared with the prior art by adopting the above structure:

[0011] 1. The spanning function design enables the wall cleaning robot to continuously clean on multiple planes of the subway shield door, and the cleaning is fast, the working efficiency and flexibility are also high.

[0012] 2. The adsorption unit design ensures the stable working state of the wall cleaning robot on the vertical wall surface during movement and spanning.

[0013] The technical scheme of the utility model will be further described in detail below with reference to the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 FIG. 1 is a whole structure diagram of the subway shield door wall cleaning robot with the spanning function according to the utility model;

[0015] Figure 2 FIG. 2 is an adsorption unit structure diagram of the subway shield door wall cleaning robot with the spanning function according to the utility model;

[0016] Figure 3 FIG. 3 is a driving unit structure diagram of the subway shield door wall cleaning robot with the spanning function according to the utility model;

[0017] Figure 4 Figure 1 is a schematic diagram of the lifting structure of an embodiment of the subway shield door wall-climbing cleaning robot with crossing function of the utility model;

[0018] Figure 5 Figure 2 is a schematic diagram of the rotating structure of an embodiment of the subway shield door wall-climbing cleaning robot with crossing function of the utility model;

[0019] Reference signs

[0020] 1, base; 2, suction unit; 3, driving unit; 4, cleaning unit; 5, crossing unit; 201, DC motor; 202, motor fixing seat; 203, centrifugal fan; 204, main suction disc; 205, sealing ring; 301, first pulse motor; 302, first coupling; 303, bearing seat; 304, driving wheel; 305, first belt pulley; 306, synchronous belt; 307, second belt pulley; 308, driven wheel; 51, lifting structure; 501, L-shaped guide rail connecting frame; 502, second pulse motor; 503, lifting belt pulley; 504, lifting belt; 505, guide rail; 506, belt fixing plate; 52, rotating structure; 521, sliding block; 522, air pump; 523, rotating rudder; 524, second coupling; 525, auxiliary suction disc. DETAILED DESCRIPTION

[0021] Embodiment

[0022] In the description of the utility model, it needs to be explained that the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the utility model product is used, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the utility model.

[0023] As Figures 1-5 shown, the utility model discloses a subway shield door wall-climbing cleaning robot with crossing function, which comprises a base 1, a suction unit 2 is arranged at the upper center position of the base 1, driving units 3, cleaning units 4 and crossing units 5 are arranged around the suction unit 2 respectively, the driving units 3, the cleaning units 4 and the crossing units 5 are connected with the base 1, the driving units 3 are symmetrically distributed on both sides of the base 1, the crossing units 5 are provided with lifting structures 51 and rotating structures 52, the rotating structures 52 are provided with sliding blocks 521, the lifting structures 51 are provided with guide rails 505, and the two are connected through the sliding blocks 521 and the guide rails.

[0024] The adsorption unit 2 comprises a direct current motor 201, the bottom of the direct current motor 201 is sequentially provided with a motor fixing seat 202, a centrifugal fan 203 and a main suction cup 204, a sealing ring 205 is arranged on the circular edge of the main suction cup 204, the centrifugal fan 203 serves as a negative pressure generating component of the adsorption unit 2, air in a negative pressure cavity is extracted through rotation to form an internal and external pressure difference, and stable adsorption effect is ensured; the direct current motor 201 is connected with the centrifugal fan 203 through the motor fixing seat 202, the size of the pressure difference depends on the size of the rotating speed of the centrifugal fan 203, the faster the rotating speed of the centrifugal fan 203, the greater the internal and external pressure difference in the negative pressure cavity, and the greater the load capacity of the wall-climbing robot.

[0025] The driving unit 3 comprises a first pulse motor 301, the output end of the first pulse motor 301 is provided with a first shaft joint 302, the first shaft joint 302 is connected with a driving wheel 304 through a bearing seat 303 arranged at the output end of the first shaft joint 302, the driving wheel 304 is connected with a first belt pulley 305 through the bearing seat 303, the first belt pulley 305 is provided with a synchronous belt 306, the driving wheel 304 is connected with a second belt pulley 307 through the first belt pulley 305 and the synchronous belt 306, and the second belt pulley 307 is connected with a driven wheel 308 through the bearing seat 303; the driving unit 3 is provided with two first pulse motors 301, two synchronous belts 306, two pairs of belt pulleys and eight bearing seats 303, the two first pulse motors 301 drive the left and right driving wheels 304 respectively, the driving wheels 304 are connected with the driven wheel 308 through the synchronous belt 306, and the differential speed between the two driving wheels 304 is controlled to realize turning.

[0026] The guide rail 505 is provided with a lifting belt in the middle, the lifting belt is provided with a belt fixing sheet 506 and is fixed on the rotating structure 52, the lifting belt is provided with a first lifting wheel and a second lifting wheel at two ends respectively, the first lifting wheel at the bottom is connected with a second pulse motor 502, the two sides of the second pulse motor 502 are provided with L-shaped guide rail 505 connecting frames 501, one end of the L-shaped guide rail 505 connecting frame 501 is fixed on the guide rail 505, the other end of the L-shaped guide rail 505 connecting frame 501 is fixed on the base 1, the second lifting wheel is connected with a pulley fixing seat, and the pulley fixing seat is arranged at the top of the guide rail 505.

[0027] The rotating structure 52 comprises a stepped frame, the stepped frame is sequentially provided with an air pump 522, a rotating rudder 523, a second shaft joint 524 and an auxiliary suction cup 525 from top to bottom, when a step between a fixed door and a sliding door on a shielding door is encountered, the lifting structure 51 lifts or lowers the robot main body, the rotating structure 52 adjusts the position of the wall-climbing cleaning robot, so that the wall-climbing cleaning robot can smoothly cross the step, and the auxiliary suction cup 525 provides temporary adsorption force when the main suction cup 204 temporarily stops working, thereby ensuring the safety and stability of the crossing process.

[0028] In the implementation process, first, the step distance between the fixed door and the movable door on the subway shield door is determined to determine the working stroke of the lifting structure in the crossing unit; when the wall-climbing cleaning robot works on the fixed door to the edge of the step, it needs to cross to the sliding door, and the crossing unit is ensured to be above the sliding door; the lifting structure is started, the auxiliary suction cup of the rotating structure is pressed on the sliding door, then the air pump is started, the air in the auxiliary suction cup is pumped out, the auxiliary suction cup is tightly adsorbed on the sliding door, temporary adsorption force is provided for the subsequent temporary stop of the adsorption unit, the work of the adsorption unit is temporarily stopped, the rotating rudder of the rotating structure in the crossing unit is started, the wall-climbing cleaning robot is rotated by 180°, at this time, the wall-climbing cleaning robot has been transferred to the sliding door area; the wall-climbing cleaning robot is lowered to the surface of the sliding door by the lifting structure; the main suction cup in the adsorption unit is restarted, then the air pump is started, the auxiliary suction cup is smoothly inflated, and the auxiliary suction cup is separated from the surface of the sliding door; when the wall-climbing cleaning robot crosses from the sliding door to the fixed door for work, the same operation is adopted.

[0029] Therefore, the wall-climbing cleaning robot with the crossing function for the subway shield door has the step distance between the fixed door and the sliding door on the subway shield door, can continuously and seamlessly clean the entire shield door, and effectively improves the cleaning efficiency and flexibility.

[0030] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the utility model and not to limit them, although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: it can still modify or equivalently replace the technical solutions of the utility model, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the utility model.

Claims

1. A subway platform screen door climbing and cleaning robot with traversing capabilities, characterized in that: The device includes a base, with an adsorption unit positioned at the center of the base. Around the adsorption unit are a drive unit, a cleaning unit, and a crossing unit, which are connected to the base. The drive units are symmetrically distributed on both sides of the base. The crossing unit has a lifting structure and a rotating structure. The rotating structure has a slider, and the lifting structure has a guide rail. The two are connected by the slider and the guide rail.

2. The subway platform screen door climbing and cleaning robot with crossing function according to claim 1, characterized in that: The adsorption unit includes a DC motor, and a motor mounting base, a centrifugal fan, and a main suction cup are arranged sequentially at the bottom of the DC motor. A sealing ring is provided on the circular edge of the main suction cup.

3. A subway platform screen door climbing and cleaning robot with crossing function as described in claim 2, characterized in that: The drive unit includes a first pulse motor, the output end of which is provided with a first coupling. The first coupling is connected to a drive wheel via a bearing housing at its output end. The drive wheel is connected to a first pulley via the bearing housing. A synchronous belt is provided on the first pulley. The drive wheel is connected to a second pulley via the first pulley and the synchronous belt. The second pulley is connected to a driven wheel via a bearing housing.

4. A subway platform screen door climbing and cleaning robot with crossing function as described in claim 3, characterized in that: A lifting belt is provided in the middle of the guide rail. The lifting belt is provided with a belt fixing piece and fixed to the rotating structure. A first lifting wheel and a second lifting wheel are respectively provided at both ends of the lifting belt. The first lifting wheel at the bottom is connected to a second pulse motor. L-shaped guide rail connecting frames are provided on both sides of the second pulse motor. One end of the L-shaped guide rail connecting frame is fixed to the guide rail, and the other end of the L-shaped guide rail connecting frame is fixed to the base. The second lifting wheel is connected to a pulley fixing seat, and the pulley fixing seat is located at the top of the guide rail.

5. A subway platform screen door climbing and cleaning robot with crossing function according to claim 4, characterized in that: The rotating structure includes a stepped frame, from top to bottom, which is equipped with an air pump, a rotary servo motor, a second coupling, and an auxiliary suction cup.

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