High-altitude cleaning robot

Abstract

A high-altitude cleaning robot, comprising a support, a climbing mechanism, a power battery unit, a suction mechanism and a rotating arm cleaning mechanism. The climbing mechanism is mounted on the support, and the climbing mechanism adjusts the height of the support by pulling a lifting rope. A front end of the support is connected to a back face of the suction mechanism, and a front face of the suction mechanism is used to suction to a glass curtain wall. The rotating arm cleaning mechanism comprises a mechanical arm, as well as a cleaning head mounted at an upper end of the mechanical arm, a lower end of the mechanical arm being connected to the back face of the suction mechanism by means of a rotating driver. The rotating driver drives the mechanical arm to swing, so as to cause the cleaning head tightly against to the glass curtain wall to move relative to the glass curtain wall. Cleaning work for a large area can be completed by means of moving the rotating arm cleaning mechanism, expanding a cleaning range; replacing reciprocating motion of a robot body with reciprocating motion of a rotating arm increases cleaning efficiency, saves energy, improves cleaning effects, and decreases the risk to high-altitude workers.

Description

A high-altitude cleaning robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 27, 2023, with application number 202311265451.3 and invention name “A High-altitude Cleaning Robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of robots, in particular to a high-altitude cleaning robot. Background Art

[0003] Currently, cleaning of higher floors is usually done manually. Spider-Man faces high risks, low efficiency and high costs during the operation. The various disadvantages of manual operation have given rise to the birth of various cleaning robots.

[0004] Existing cleaning robots typically consist of a main body and a cleaning assembly mounted on its underside. This assembly is positioned against the glass curtain wall, and the movement of the main body drives the cleaning assembly relative to the glass curtain wall, achieving high-altitude cleaning of the glass curtain wall. However, this cleaning method has a limited working range. Because the main body and cleaning assembly move synchronously, the body must be moved repeatedly to ensure effective cleaning, resulting in low cleaning efficiency and energy waste. Furthermore, obstacles cannot be quickly circumvented, making it inconvenient to use.

[0005] Therefore, it is a technical problem that those skilled in the art currently need to solve to provide a high-altitude cleaning robot that is stable, efficient, safe and has the ability to overcome obstacles.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide a high-altitude cleaning robot, which expands the cleaning range through a rotating arm cleaning mechanism, improves cleaning efficiency, saves energy, enhances cleaning effects, and reduces the risks of high-altitude workers.

[0008] In order to solve the above technical problems, the present invention provides a high-altitude cleaning robot, comprising a bracket, a climbing mechanism, a power battery unit, an adsorption mechanism and a rotating arm cleaning mechanism, wherein the climbing mechanism is installed on the bracket, and the climbing mechanism adjusts the height of the bracket by pulling a suspension rope, the front end of the bracket is connected to the back side of the adsorption mechanism, and the front side of the adsorption mechanism is used to adsorb the glass curtain wall, and the rotating arm cleaning mechanism comprises a mechanical arm and a cleaning head installed at the upper end of the mechanical arm, the lower end of the mechanical arm is connected to the back side of the adsorption mechanism through a rotary drive, and the rotary drive drives the mechanical arm to swing so that the cleaning head close to the glass curtain wall moves relative to the glass curtain wall.

[0009] Preferably, the climbing mechanism is installed at the middle of the bracket, and the power battery unit is installed at the rear end of the bracket.

[0010] Preferably, the bracket includes two longitudinal beams parallel to each other, the front end of the longitudinal beams is connected to the adsorption mechanism, a cross beam is connected between the two longitudinal beams, the climbing mechanism is installed above the cross beam, a power supply mounting plate is connected between the two longitudinal beams, and the power battery unit is installed above the power supply mounting plate.

[0011] Preferably, the climbing mechanism includes a vertical rod and two oblique rods, the lower end of the vertical rod is connected to the bracket, the upper end of the vertical rod is connected to the lower ends of the two oblique rods, the upper ends of the two oblique rods are extended outward, and the upper ends of the oblique rods are installed with guide rollers, and a roller mounting plate is provided in the middle of the vertical rod, and power rollers and climbing drives are provided at both ends of the roller mounting plate, the guide roller and the power roller on the same side are connected to the same lifting rope, and the two lifting ropes are symmetrically arranged on both sides of the climbing mechanism.

[0012] Preferably, a locking member for tightening the sling is installed on the roller mounting plate.

[0013] Preferably, the adsorption mechanism includes a base and a plurality of lower suction cups installed on the front side of the base.

[0014] Preferably, the robotic arm includes a lower arm and an upper arm, the lower end of the lower arm is connected to the rotation drive through a lower angle adjustment drive, the upper end of the lower arm is hinged to the lower end of the upper arm, and an upper angle adjustment drive is arranged between the two, the upper end of the upper arm is hinged to a head mounting seat, the cleaning head is mounted on the head mounting seat, and the lower angle adjustment drive and the upper angle adjustment drive can drive the lower arm and the upper arm to fold or unfold each other.

[0015] Preferably, an upper suction cup is mounted on the head mounting seat.

[0016] Preferably, a cleaning nozzle facing the glass curtain wall is installed on the head mounting seat.

[0017] Preferably, two groups of the rotating arm cleaning mechanisms are symmetrically arranged and respectively installed on both sides of the back side of the adsorption mechanism.

[0018] The present invention provides a high-altitude cleaning robot, which includes a bracket, a climbing mechanism, a power battery unit, an adsorption mechanism and a rotating arm cleaning mechanism. The climbing mechanism is installed on the bracket, and the climbing mechanism adjusts the height of the bracket by pulling a suspension rope. The front end of the bracket is connected to the back of the adsorption mechanism, and the front of the adsorption mechanism is used to adsorb a glass curtain wall. The rotating arm cleaning mechanism includes a mechanical arm and a cleaning head installed at the upper end of the mechanical arm. The lower end of the mechanical arm is connected to the back of the adsorption mechanism via a rotary drive, and the rotary drive drives the mechanical arm to swing, so that the cleaning head close to the glass curtain wall moves relative to the glass curtain wall.

[0019] It adopts simulation method and has high self-planning, self-organization and self-adaptation capabilities. It is suitable for areas on high floors outdoors that cannot be reached by humans without external force. By moving the rotating arm cleaning mechanism, it can complete the cleaning work of a larger area, expand the cleaning range, and the reciprocating movement of the rotating arm cleaning mechanism replaces the reciprocating movement of the machine body, thereby improving cleaning efficiency, saving energy, improving cleaning effects, and reducing the risks of height workers.

[0020] Furthermore, when encountering an obstacle, one can quickly bypass it by walking, which is convenient and quick to use, and improves convenience and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic structural diagram of a specific embodiment of the high-altitude cleaning robot provided by the present invention;

[0022] FIG2 is a schematic structural diagram from another perspective of a specific embodiment of the high-altitude cleaning robot provided by the present invention;

[0023] FIG3 is a partial enlarged view of a cleaning head of a specific embodiment of the high-altitude cleaning robot provided by the present invention;

[0024] FIG4 is a schematic diagram of the left arm swing of a specific embodiment of the high-altitude cleaning robot provided by the present invention;

[0025] FIG5 is a schematic diagram of the swinging of the right arm of a specific embodiment of the high-altitude cleaning robot provided by the present invention;

[0026] FIG6 is a schematic diagram of the simultaneous swinging of two arms of a specific embodiment of the high-altitude cleaning robot provided by the present invention.

[0027] Among them, the bracket 1, the longitudinal beam 11, the cross beam 12, the power supply mounting plate 13, the climbing mechanism 2, the lifting rope 21, the vertical rod 22, the diagonal rod 23, the guide roller 24, the power guide wheel 25, the horizontal support rod 26, the diagonal support rod 27, the power battery unit 3, the adsorption mechanism 4, the base 41, the lower suction cup 42, the rotating arm cleaning mechanism 5, the cleaning head 51, the rotating drive 52, the lower arm 53, the upper arm 54, the lower angle adjustment drive 55, the upper angle adjustment drive 56, the head mounting seat 57, the upper suction cup 58, the cleaning nozzle 59, and the glass curtain wall 6. DETAILED DESCRIPTION

[0028] The core of the present invention is to provide a high-altitude cleaning robot, which expands the cleaning range through a rotating arm cleaning mechanism, improves cleaning efficiency, saves energy, enhances cleaning effects, and reduces the risks of high-altitude workers.

[0029] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0030] A specific embodiment of the present invention provides a high-altitude cleaning robot, comprising a bracket 1, a climbing mechanism 2, a power battery unit 3, an adsorption mechanism 4, and a rotating arm cleaning mechanism 5, wherein the climbing mechanism 2 is mounted on the bracket 1, and the climbing mechanism 2 adjusts the height of the bracket 1 by pulling the suspension rope 21. The end of the bracket 1 close to the glass curtain wall 6 is the front end, and the end of the bracket 1 away from the glass curtain wall 6 is the rear end. The same applies to other components. The front end of the bracket 1 is connected to the back of the adsorption mechanism 4, and the front of the adsorption mechanism 4 is used to adsorb the glass curtain wall 6. The rotating arm cleaning mechanism 5 includes a robotic arm and a cleaning head 51 mounted on the upper end of the robotic arm. The lower end of the robotic arm is connected to a rotary driver 52, which is connected to the back of the adsorption mechanism 4 through the rotary driver 52. The rotary driver 52 drives the robotic arm to swing so that the cleaning head 51 close to the glass curtain wall 6 moves relative to the glass curtain wall 6.

[0031] During the working process, the climbing mechanism 2 climbs upward along the suspension rope 21, raising the height of the bracket 1 and other components. After reaching the predetermined height, it begins to prepare for the cleaning operation. First, the adsorption mechanism 4 is used to fix the equipment in the working area, and then the suspension rope 21 of the climbing mechanism 2 is used as an auxiliary to stabilize the machine in a fixed position, thereby achieving the relative stability of the robot. After stabilization, the robotic arm is swung to make the cleaning head 51 move relative to the glass curtain wall 6. The cleaning head 51 rubs against the glass curtain wall 6 to achieve the purpose of cleaning the glass curtain wall 6. After completion, the climbing mechanism 2 is used to transfer and overcome obstacles to clean the next area.

[0032] It adopts simulation method and has high self-planning, self-organization and self-adaptation capabilities. It is suitable for areas on high floors outdoors that cannot be reached by humans without external force. By moving the rotating arm cleaning mechanism 5, it can complete the cleaning work of a larger area, expand the cleaning range, and the reciprocating movement of the rotating arm cleaning mechanism 5 replaces the reciprocating movement of the machine body, thereby improving cleaning efficiency, saving energy, improving cleaning effects, and reducing the risks of high-altitude workers.

[0033] In order to ensure the balance of the various components on the bracket 1, the climbing mechanism 2 is installed in the middle of the bracket 1, and the power battery unit 3 is installed at the rear end of the bracket 1 to achieve reasonable weight balance. The power battery unit 3 can also be installed at other positions of the bracket 1, wherein the power battery unit 3 can also adopt various forms, such as an external power supply or a mobile power supply, all of which are within the scope of protection of the present invention. Specifically, the bracket 1 includes two parallel longitudinal beams 11, and the longitudinal beams 11 are perpendicular to the glass curtain wall 6. Of course, the longitudinal beams 11 can also be set at a certain angle with the glass curtain wall 6. The specific angle is adjusted according to actual usage. The front end of the longitudinal beam 11 is connected to the adsorption mechanism 4. A plurality of cross beams 12 are connected between the two longitudinal beams 11. The cross beams 12 are perpendicular to the extension direction of the longitudinal beams 11 and are located in the middle of the longitudinal beams 11. The climbing mechanism 2 is installed above the cross beam 12. A power supply mounting plate 13 is connected between the two longitudinal beams 11. The power supply mounting plate 13 is located at the rear end of the longitudinal beam 11. The power battery unit 3 is installed above the power supply mounting plate 13. Wherein, sleeves are provided at both ends of the crossbeam 12, and the two longitudinal beams 11 pass through the sleeves at both ends and can be fixed by screws. Further, a controller with a display screen can also be installed in the middle of the longitudinal beam 11.

[0034] In the high-altitude cleaning robot provided in the specific embodiment of the present invention, in Example 1, the climbing mechanism 2 includes a vertical rod 22 and two oblique rods 23, and the three rods form a Y-shaped support structure, wherein the lower end of the vertical rod 22 is connected to the crossbeam 12 of the bracket 1, and the upper end of the vertical rod 22 is connected to the lower ends of the two oblique rods 23. The upper ends of the two oblique rods 23 are extended outward, and the upper ends of the oblique rods 23 are installed with guide rollers 24. A roller mounting plate is provided in the middle of the vertical rod 22, and power rollers 25 and climbing drives are provided at both ends of the roller mounting plate. The climbing drive drives the power roller 25 to rotate, and the guide rollers 24 and power rollers 25 on the same side are connected to the same suspension rope 21. The two suspension ropes 21 are symmetrically arranged on both sides of the climbing mechanism 2. In the second embodiment, the climbing mechanism 2 includes a vertical rod and a horizontal rod, forming a T-shaped support structure, wherein the lower end of the vertical rod is connected to the crossbeam 12 of the bracket 1, and the upper end of the vertical rod is connected to the middle of the horizontal rod. Guide rollers 24 are installed at both ends of the horizontal rod to guide the suspension rope 21. For other connection and layout methods, refer to the first embodiment. In the third embodiment, the climbing mechanism 2 includes two vertical rods arranged crosswise to form an X-shaped support structure, wherein the lower ends of the two vertical rods are connected to the bracket 1, and the upper ends of the two vertical rods are installed with guide rollers 24. For other connection and layout methods, refer to the first embodiment. Other structural support methods can also be used, all within the scope of protection of the present invention.

[0035] Furthermore, a locking member for tightening the suspension rope 21 is installed on the roller mounting plate to assist in fixing the position of the robot when the adsorption mechanism 4 is fixed. A horizontal support rod 26 and an oblique support rod 27 can also be provided. One end of the horizontal support rod 26 is connected to the vertical rod 22, and the other end of the horizontal support rod 26 is connected to the back of the adsorption mechanism 4. The upper end of the oblique support rod 27 is connected to the vertical rod 22, and the lower end of the oblique support rod 27 is connected to the crossbeam 12. The horizontal support rod 26 and the oblique support rod 27 can be telescopic rods. When adjusting the position of the climbing mechanism 2, the length of the horizontal support rod 26 and the oblique support rod 27 can be adjusted to adapt to the positioning of the climbing mechanism 2.

[0036] The suction mechanism 4 includes a base 41 and a plurality of lower suction cups 42 mounted on the front of the base 41. Specifically, the base 41 is a flat box body, the back of which is connected to the bracket 1 and the rotating arm cleaning cabinet. The front of the box body is aligned with the glass curtain wall 6. When a fixed position is required, the lower suction cups 42 mounted on the front of the box body adsorb the glass curtain wall 6. The front of the box body is rectangular, and the four lower suction cups 42 are arranged at the four corners of the rectangle. Of course, the shape of the base 41, the number and arrangement of the lower suction cups 42 can also be adjusted, all within the scope of protection of the present invention.

[0037] Based on the high-altitude cleaning robots provided in the above-mentioned specific embodiments, the robotic arm includes a lower arm 53 and an upper arm 54, and also includes a rotary driver 52, a lower angle adjustment driver 55, an upper angle adjustment driver 56, a head mounting seat 57 and a cleaning head 51. The rotary driver 52 is mounted on the back of the adsorption mechanism 4, and the rotation axis of the rotary driver 52 is perpendicular to the glass curtain wall 6. The rotary driver 52 is mounted on an arm mounting seat. When the rotary driver 52 is started, the arm mounting seat and the robotic arm are driven to swing around the rotation axis, and the swing trajectory of the robotic arm is located in a plane parallel to the glass curtain wall 6. The lower end of the lower arm 53 is articulated to the arm mounting seat, and the articulation axis is horizontal and parallel to the glass curtain wall 6. At the same time, the lower angle adjustment driver 55 is connected between the lower arm 53 and the arm mounting seat. When the lower angle adjustment driver 55 is started, it drives the lower arm 53 to swing around the articulation axis to adjust the angle between the lower arm 53 and the glass curtain wall 6. The upper end of the lower arm 53 is hinged to the lower end of the upper arm 54, and the hinge axis is horizontal and parallel to the glass curtain wall 6. An upper angle adjustment driver 56 is provided between the upper arm 54 and the lower arm 53. When the upper angle adjustment driver 56 is started, it drives the upper arm 54 to swing around the hinge axis, adjusts the angle between the upper arm 54 and the lower arm 53, and drives the lower arm 53 and the upper arm 54 to fold or unfold relative to each other. The upper end of the upper arm 54 is hinged with a head mounting seat 57, and the hinge axis is horizontal and parallel to the glass curtain wall 6. The cleaning head 51 is mounted on the head mounting seat 57. During operation, the lower angle adjustment driver 55 drives the angle between the lower arm 53 and the glass curtain wall 6 to become smaller, and the upper angle adjustment driver 56 drives the angle between the upper arm 54 and the lower arm 53 to become larger. The V-folded mechanical arm is in an extended state, so that the cleaning head 51 is close to the glass curtain wall 6. At the same time, due to the hinged state of the head mounting seat 57, when the angle of the upper arm 54 changes, the head mounting seat 57 adapts to the rotation, and the cleaning head 51 remains in a close state.

[0038] Furthermore, an upper suction cup 58 is mounted on the head mounting base 57 for crossing obstacles. When crossing an obstacle, the lower suction cup 42 of the suction mechanism 4 stops working, the upper suction cup 58 starts sucking, the lower angle adjustment driver 55 drives the angle between the lower arm 53 and the glass curtain wall 6 to decrease, and the upper angle adjustment driver 56 drives the angle between the upper arm 54 and the lower arm 53 to increase. During this process, the suction mechanism 4 separates from the glass curtain wall 6, and the climbing mechanism 2 is activated. The lower angle adjustment driver 55 drives the angle between the lower arm 53 and the glass curtain wall 6 to increase, and the upper angle adjustment driver 56 drives the angle between the upper arm 54 and the lower arm 53 to decrease, causing the suction mechanism 4 to move upward and approach the glass curtain wall 6, thereby crossing the obstacle. The lower suction cup 42 then starts sucking, and the upper suction cup 58 stops working. The rotation driver 52 can be a motor, and the lower angle adjustment driver 55 and the upper angle adjustment driver 56 can be electric cylinders, or they can be pneumatic cylinders or hydraulic cylinders, all of which are within the scope of protection of the present invention.

[0039] In the high-altitude cleaning robot provided in this embodiment of the present invention, a cleaning nozzle 59 is mounted on a head mounting base 57, facing the glass curtain wall 6. The robot is also equipped with components such as a control valve and a power pump to spray cleaning agent onto the glass curtain wall 6. During cleaning, the cleaning head 51 swings along with the robot arm, rubbing against the glass curtain wall 6 to clean it. To ensure sufficient cleaning fluid, the robot can be equipped with a liquid reservoir, which can be stored in the reservoir, or connected to an external cleaning container via piping.

[0040] Specifically, it includes two sets of symmetrically arranged rotating arm cleaning mechanisms 5, which are respectively installed on both sides of the back of the adsorption mechanism 4. During the cleaning process, a single rotating arm cleaning mechanism 5 can be swung to one side, or two rotating arm cleaning mechanisms 5 can be swung at the same time. Furthermore, the two rotating arm cleaning mechanisms 5 can move in the same direction or move relative to each other in two directions, which is similar to the structure and movement of a windshield wiper.

[0041] The above is a detailed introduction to the high-altitude cleaning robot provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core ideas of the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A high-altitude cleaning robot, characterized in that: The invention comprises a support (1), a climbing mechanism (2), a power battery unit (3), an adsorption mechanism (4) and a rotating arm cleaning mechanism (5), wherein the climbing mechanism (2) is mounted on the support (1), the climbing mechanism (2) adjusts the height of the support (1) by pulling a suspension rope (21), the front end of the support (1) is connected to the back of the adsorption mechanism (4), the front of the adsorption mechanism (4) is used to adsorb a glass curtain wall (6), and the rotating arm cleaning mechanism (5) comprises a mechanical arm and a cleaning head (51) mounted on the upper end of the mechanical arm, the lower end of the mechanical arm is connected to the back of the adsorption mechanism (4) via a rotating driver (52), and the rotating driver (52) drives the mechanical arm to swing so that the cleaning head (51) close to the glass curtain wall (6) moves relative to the glass curtain wall (6).

2. The high-altitude cleaning robot according to claim 1, characterized in that: The climbing mechanism (2) is installed at the middle part of the bracket (1), and the power battery unit (3) is installed at the rear end of the bracket (1).

3. The high-altitude cleaning robot according to claim 2, characterized in that: The bracket (1) comprises two longitudinal beams (11) parallel to each other, the front end of the longitudinal beam (11) is connected to the adsorption mechanism (4), a cross beam (12) is connected between the two longitudinal beams (11), the climbing mechanism (2) is installed above the cross beam (12), a power supply mounting plate (13) is connected between the two longitudinal beams (11), and the power battery unit (3) is installed above the power supply mounting plate (13).

4. The high-altitude cleaning robot according to claim 1, characterized in that: The climbing mechanism (2) comprises a vertical rod (22) and two oblique rods (23); the lower end of the vertical rod (22) is connected to the bracket (1); the upper end of the vertical rod (22) is connected to the lower ends of the two oblique rods (23); the upper ends of the two oblique rods (23) are extended outwards, and the upper ends of the oblique rods (23) are installed with guide rollers (24); a roller mounting plate is arranged in the middle of the vertical rod (22); both ends of the roller mounting plate are provided with power rollers (25) and a climbing drive; the guide roller (24) and the power roller (25) on the same side are connected to the same suspension rope (21); and the two suspension ropes (21) are symmetrically arranged on both sides of the climbing mechanism (2).

5. The high-altitude cleaning robot according to claim 4, characterized in that: A locking piece for pressing the suspension rope (21) is installed on the roller mounting plate.

6. The high-altitude cleaning robot according to claim 1, characterized in that: The adsorption mechanism (4) comprises a base (41) and a plurality of lower suction cups (42) mounted on the front side of the base (41).

7. The high-altitude cleaning robot according to any one of claims 1 to 6, characterized in that: The mechanical arm comprises a lower arm (53) and an upper arm (54); the lower end of the lower arm (53) is connected to the rotation driver (52) via a lower angle adjustment driver (55); the upper end of the lower arm (53) is hinged to the lower end of the upper arm (54), and an upper angle adjustment driver (56) is arranged between the two; the upper end of the upper arm (54) is hinged to a head mounting seat (57), and the cleaning head (51) is mounted on the head mounting seat (57); the lower angle adjustment driver (55) and the upper angle adjustment driver (56) can drive the lower arm (53) and the upper arm (54) to fold or unfold relative to each other.

8. The high-altitude cleaning robot according to claim 7, characterized in that: An upper suction cup (58) is mounted on the head mounting seat (57).

9. The high-altitude cleaning robot according to claim 7, characterized in that: The head mounting seat (57) is provided with a cleaning nozzle (59) facing the glass curtain wall (6).

10. The high-altitude cleaning robot according to claim 7, characterized in that: It comprises two groups of rotating arm cleaning mechanisms (5) which are symmetrically arranged and are respectively installed on two sides of the back side of the adsorption mechanism (4).

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