CN113040672A - High-altitude operation robot - Google Patents
High-altitude operation robot Download PDFInfo
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- CN113040672A CN113040672A CN202010740301.3A CN202010740301A CN113040672A CN 113040672 A CN113040672 A CN 113040672A CN 202010740301 A CN202010740301 A CN 202010740301A CN 113040672 A CN113040672 A CN 113040672A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06C—LADDERS
- E06C1/00—Ladders in general
- E06C1/02—Ladders in general with rigid longitudinal member or members
- E06C1/38—Special constructions of ladders, e.g. ladders with more or less than two longitudinal members, ladders with movable rungs or other treads, longitudinally-foldable ladders
- E06C1/383—Foldable ladders in which the longitudinal members are brought together on folding
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-altitude operation robot which comprises a body and a travelling mechanism, wherein the travelling mechanism comprises a travelling mechanical arm and an adsorption mechanism, the body is connected with a plurality of travelling mechanical arms, the adsorption mechanism comprises a turbofan, a vacuum box and a sucker, the vacuum box is arranged on the body, the turbofan is connected with the vacuum box, and the travelling mechanical arm is elastically and rotatably connected with the sucker; the vacuum box is connected with the sucker; the high-altitude operation robot further comprises a folding ladder and a winch which are arranged in the body, the folding ladder comprises a plurality of layers of U-shaped frames wrapped layer by layer from inside to outside, and the U-shaped frame located on the innermost layer is connected with the body. The invention realizes the high-altitude cleaning operation, has wide operation range and high operation efficiency, can be suitable for the operation of uneven wall surfaces, improves the application range and realizes multi-environment operation.
Description
Technical Field
The invention relates to the technical field of high-altitude operation equipment, in particular to a high-altitude operation robot.
Background
The existing magnetic adsorption high-altitude cleaning robot is adsorbed to a high-altitude wall surface by a magnetic adsorption material, generally has stronger adsorption force, realizes adsorption and movement on the high-altitude wall surface, and completes cleaning operation. The cleaning mechanism on the existing cleaning robot is fixed in structure, only can realize cleaning operation in a small range after one-time stopping, is low in cleaning efficiency and long in operation time, and the existing cleaning robot is not suitable for cleaning operation of uneven wall surfaces and is limited in operation environment.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the overhead working robot, which realizes overhead cleaning operation, has wide operation range and high operation efficiency, can be suitable for operation on uneven wall surfaces, improves the application range and realizes multi-environment operation.
In order to achieve the purpose, the invention provides a high-altitude operation robot which comprises a body and a travelling mechanism, wherein the travelling mechanism comprises travelling mechanical arms and an adsorption mechanism, the body is connected with a plurality of the travelling mechanical arms, the adsorption mechanism comprises a turbofan, a vacuum box and a sucker, the vacuum box is arranged on the body, the turbofan is connected with the vacuum box, and the travelling mechanical arms are elastically and rotatably connected with the sucker; the vacuum box is connected with the sucker;
the high-altitude operation robot further comprises a first linear driving part, a cleaning mechanism and a water supply mechanism, and the water supply mechanism is installed on the body; one side of the body, which is close to the wall surface, is provided with an accommodating groove for accommodating the cleaning mechanism; the first linear driving piece is arranged in the accommodating groove; the cleaning mechanism comprises a first motor, a driving gear, a driven gear ring, a swinging shaft, a special-shaped shaft, a second linear driving piece, a cleaning brush head and a second motor, wherein the first motor is connected with the first linear driving piece; the driving gear is mounted on the output shaft of the first motor, the special-shaped shaft is formed by connecting a square cylinder and a cylinder, a square groove matched with the square cylinder is formed in the bottom of the accommodating groove of the body, the square cylinder is inserted into the square groove, the driven gear ring is mounted on the cylinder, and the driven gear ring is connected with one end of the oscillating shaft; the other end of the swinging shaft is connected with the second linear driving piece; the second linear driving piece is connected with the second motor; the second motor is hinged with the cleaning brush head ball; the cleaning mechanism is accommodated in the accommodating groove when not used; the water supply mechanism conveys cleaning water to the cleaning brush head.
Furthermore, the walking mechanical arm comprises a joint, a large arm, a small arm, a first driving motor, a second driving motor and a third driving motor, wherein one end of the joint is rotatably connected with the body, and the first driving motor is arranged on the body and connected with one end of the joint; the other end of the joint is rotatably connected with one end of the large arm, and the second driving motor is arranged on the joint and connected with one end of the large arm; the other end of the large arm is rotatably connected with one end of the small arm, and the third driving motor is arranged on the large arm and connected with one end of the small arm; the other end of the small arm is elastically and rotatably connected with the sucker.
Furthermore, a boss is arranged on the sucker, a plurality of T-shaped grooves are formed in the boss, an inner groove is formed in the other end of the small arm, and a plurality of T-shaped heads which are opposite to the boss in position and are the same in number are arranged in the inner groove; the boss is arranged in the inner groove, the T-shaped head is arranged in the T-shaped groove, and a buffer spring is sleeved outside the T-shaped head between the boss table surface and the bottom of the inner groove; the inner diameter of the inner groove is larger than the outer diameter of the boss.
Furthermore, the stand columns positioned on two sides of the outermost U-shaped frame are provided with hook blocks, the end part of the steel wire rope of the winch is connected with a hook, and the hook blocks are hooked by the hook blocks.
The high-altitude operation robot further comprises a folding ladder and a winch which are arranged in the body, wherein the folding ladder comprises a plurality of layers of U-shaped frames wrapped layer by layer from inside to outside, the U-shaped frame positioned on the innermost layer is connected with the body, and the U-shaped frame comprises a flat plate and four stand columns which are respectively and vertically arranged at four corners of the flat plate; t-shaped strip grooves are formed in the four stand columns of the U-shaped frame positioned on the innermost layer; t-shaped strip grooves are formed in the four stand columns of the U-shaped frames on the other layers, T-shaped slide blocks are connected to the four stand columns of the U-shaped frames on the other layers through the switching edges, and the T-shaped slide blocks between the adjacent U-shaped frames are movably matched and installed in the T-shaped strip grooves; the stand columns positioned on two sides of the outermost layer U-shaped frame are connected with the steel wire rope of the winch; and a door capable of being opened/closed is arranged on the side surface below the body.
When the robot is used, walking is realized through the walking mechanical arm, the walking mechanical arm is effectively adsorbed on a wall surface through the adsorption mechanism in the walking process, and high-altitude stable crawling of the robot is realized, wherein the walking mechanical arm is elastically and rotatably connected with the sucker, so that the robot is suitable for operation on uneven wall surfaces, the application range is expanded, and multi-environment operation is realized.
When the wall surface is required to be cleaned aloft for operation, the first linear driving piece drives the cleaning mechanism to move out of the accommodating groove, the driving gear and the driven gear ring are driven to rotate through the rotation of the first motor, the swinging of the swinging shaft is realized, and the swinging of the cleaning brush head is realized; the telescopic length of the cleaning mechanism is adjusted through the second linear driving piece, so that the cleaning range of the cleaning brush head is greatly improved, and the cleaning efficiency is high; when cleaning, the second motor drives the cleaning brush head to rotate so as to realize the cleaning operation of the wall surface. Wherein the second motor is articulated with the brush head ball of washing, realizes the rotation of washing the brush head to can adapt to the washing operation of unsmooth wall.
The folding ladder is stored in the body when not in use; when the folding ladder is used, a door below the body is opened, the winch releases the steel wire rope, the multi-layer U-shaped frames are mutually unfolded, the T-shaped sliding block moves relative to the T-shaped strip groove, the folding ladder is extended downwards, and high-altitude rescue and other operations can be realized through the folding ladder; when the folding ladder is folded and stored, the steel wire rope is collected by the winch, the folding ladder is folded, the multi-layer U-shaped frame is of a layer-by-layer wrapping structure from inside to outside, the occupied space is small, and the folding ladder is quite convenient to use.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a perspective view of the walking robot arm and suction cup assembly of the present invention.
Fig. 3 is a cut-away perspective view of the lower arm and suction cup of fig. 2.
Fig. 4 is a schematic view showing the structure of the folding ladder and the winding machine according to the present invention.
FIG. 5 is a schematic structural view of the innermost U-shaped frame of the present invention.
Fig. 6 is a top view of fig. 5.
Fig. 7 is a left side view of fig. 5.
FIG. 8 is a schematic structural view of the multi-layer U-shaped frame of the present invention during layer-by-layer wrapping.
Fig. 9 is a top view of fig. 8.
FIG. 10 is a schematic structural view of the remaining U-shaped frame of the present invention.
Fig. 11 is a bottom view of fig. 10.
Fig. 12 is a sectional view a-a of fig. 10.
Fig. 13 is a schematic view showing the structure at the cleaning mechanism of the present invention.
Fig. 14 is a schematic view showing the structure at the cleaning mechanism of the present invention.
The above reference numerals:
1 body, 20 walking mechanical arms, 210 turbo fans, 211 vacuum boxes, 212 suckers, 213 air suction pipes, 201 joints, 202 large arms, 203 small arms, 220T-shaped heads, 221 buffer springs, 2030 inner grooves, 2020 bosses, 2120-1T-shaped grooves, 10 connecting columns, 30U-shaped frames, 31 winches, 310 steel wire ropes, 32 hook strips, 4 doors, 301 flat plates, 302 upright columns, 3001T strip-shaped grooves, 303T-shaped sliding blocks, 304 connecting sides, 305 pulleys, 101 accommodating grooves, 50 driving gears, 51 driven gear rings, 52 swinging shafts, 53 second linear driving pieces, 54 cleaning brush heads, 55 first linear driving pieces, 56 first motors, 57 second motors, 58 ball joints, 59 ball heads, 601 cylinders, 602 square cylinders and 102 square grooves.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 14, the high-altitude operation robot provided by the present embodiment includes a body 1 and a traveling mechanism, the traveling mechanism includes a traveling mechanical arm 20 and an adsorption mechanism, the body 1 is connected with a plurality of the traveling mechanical arms 20, the adsorption mechanism includes a turbo fan 210, a vacuum box 211 and a suction cup 212, the vacuum box 211 is arranged on the body 1, the turbo fan 210 is connected with the vacuum box, and the traveling mechanical arm 20 is elastically and rotatably connected with the suction cup 212; the vacuum box 211 is connected to the suction cup 212. Wherein the vacuum box 211 is connected with the suction cup 212 through a suction duct 213.
When the robot is used, walking is achieved through the walking mechanical arm 20, the walking mechanical arm 20 is effectively adsorbed on the wall through the adsorption mechanism in the walking process, stable crawling of the robot in high altitude is achieved, the walking mechanical arm 20 is connected with the sucker 212 in an elastic rotation mode, the robot can be suitable for operation on uneven walls, the application range is widened, and multi-environment operation is achieved.
In this embodiment, the walking robot arm 20 preferably includes a joint 201, a large arm 202, a small arm 203, a first driving motor, a second driving motor, and a third driving motor, wherein one end of the joint 201 is rotatably connected to the body 1, and the first driving motor is mounted on the body 1 and connected to one end of the joint 201; the other end of the joint 201 is rotatably connected with one end of the large arm 202, and the second driving motor is mounted on the joint 201 and connected with one end of the large arm 202; the other end of the large arm 202 is rotatably connected with one end of the small arm 203, and the third driving motor is mounted on the large arm 202 and connected with one end of the small arm 203; the other end of the small arm 203 is elastically and rotatably connected with the suction cup 212.
In this embodiment, preferably, a boss 2120 is disposed on the suction cup 212, a plurality of T-shaped grooves 2120-1 are disposed on the boss 2120, an inner groove 2030 is disposed at the other end of the small arm 203, and a plurality of T-shaped heads 220 opposite to the boss 2120 and having the same number are disposed at the inner groove 2030; the boss 2120 is mounted in the inner groove 2030, the T-shaped head 220 is mounted in the T-shaped groove 2120-1, and the T-shaped head 220 is sleeved with a buffer spring 221 between the boss 2120 and the bottom of the inner groove 2030; the inner groove 2030 has an inner diameter dimension larger than an outer diameter dimension of the boss 2120.
In this embodiment, it is further preferable that the high-altitude operation robot further includes a folding ladder and a winding machine 31 installed in the body 1, the folding ladder includes a plurality of layers of U-shaped frames 30 wrapped layer by layer from inside to outside, the U-shaped frame 30 located at the innermost layer is connected to the body 1, specifically, the U-shaped frame 30 located at the innermost layer is connected to the connecting column 10 in the body 1; the U-shaped frame 30 comprises a flat plate 301 and four upright posts 302 respectively vertically arranged at four corners of the flat plate 301; the four upright posts 302 of the innermost U-shaped frame 30 are provided with T-shaped strip grooves 3001; the four upright posts 302 of the U-shaped frames 30 on the other layers are all provided with T-shaped strip grooves 3001, the four upright posts 302 of the U-shaped frames 30 on the other layers are all connected with T-shaped sliding blocks 303 through the transfer edges 304, and the T-shaped sliding blocks 303 between the adjacent U-shaped frames 30 are movably matched and installed in the T-shaped strip grooves 3001; the upright posts 302 positioned at two sides of the outermost U-shaped frame 30 are connected with the steel wire rope 310 of the winch 31; the side surface below the body 1 is provided with a door 4 which can be opened/closed.
The folding ladder of the embodiment is stored in the body 1 when not in use; when the folding ladder is used, the door 4 below the body 1 is opened, the winch 31 releases the steel wire rope 310, the multi-layer U-shaped frames 30 are mutually unfolded, the T-shaped sliding block 303 moves relative to the T-shaped strip groove 3001, the folding ladder is extended downwards, and high-altitude rescue and other operations can be realized through the folding ladder; when the folding ladder is folded and stored, the winch 31 is used for collecting the steel wire rope 310, the multi-layer U-shaped frames 30 are stored, the T-shaped sliding blocks 303 move relative to the T-shaped strip grooves 3001, after the folding ladder is folded, the multi-layer U-shaped frames 30 are of a layer-by-layer wrapping structure from inside to outside, the occupied space is small, the folding ladder is quite convenient to use, and after the folding ladder is stored in the body 1, the door 4 is closed. The door 4 of the present embodiment adopts two doors and is in a structural form of being rotated outward to open, and the doors are conventional in the art and therefore are not described in detail.
In this embodiment, the T-shaped slider 303 is provided with a pulley to improve the flexibility of movement of the T-shaped slider 303 with respect to the T-shaped groove 3001.
In this embodiment, it is preferable that the upright columns 302 at both sides of the outermost U-shaped frame 30 are provided with hook blocks 32, and the end of the steel wire rope 310 of the winch 31 is connected with a hook which hooks the hook blocks 32.
Further preferably in this embodiment, the high-altitude operation robot comprises a first linear driving member 55, a cleaning mechanism and a water supply mechanism, the water supply mechanism being mounted on the body 1; one side of the body 1 close to the wall surface is provided with an accommodating groove 101 for accommodating the cleaning mechanism; the first linear driving member 55 is mounted in the accommodating recess 101; the cleaning mechanism comprises a first motor 56, a driving gear 50, a driven gear ring 51, a swing shaft 52, a special shaft, a second linear driving piece 53, a cleaning brush head 54 and a second motor 57, wherein the first motor 56 is connected with the first linear driving piece 55; the driving gear 50 is mounted on the output shaft of the first motor 56, the special-shaped shaft is formed by connecting a square cylinder 602 and a cylinder 601, a square groove 102 matched with the square cylinder 602 is formed in the bottom of the accommodating groove 101 of the body 1, the square cylinder 602 is inserted into the square groove 102, the driven gear ring 51 is mounted on the cylinder 601, and the driven gear ring 51 is connected with one end of the swinging shaft 52; the other end of the swinging shaft 52 is connected with the second linear driving element 53; the second linear driving member 53 is connected with the second motor 57; the second motor 57 is in ball joint with the cleaning brush head 54; the cleaning mechanism is accommodated in the accommodating groove 101 when not in use; the water supply mechanism delivers cleaning water to the cleaning head 54.
In this embodiment, when the wall surface needs to be cleaned aloft, the first linear driving member 55 drives the cleaning mechanism to move out of the accommodating groove 101, and the driving gear 50 and the driven gear ring 51 are driven to rotate by the rotation of the first motor 56, so as to realize the swing of the swing shaft 52, and thus, the swing of the cleaning brush head 54 is realized; the adjustment of the telescopic length of the cleaning mechanism is realized through the second linear driving piece 53, so that the cleaning range of the cleaning brush head 54 is greatly improved, and the cleaning efficiency is high; during cleaning, the second motor 57 drives the cleaning brush head 54 to rotate, so as to clean the wall surface. Wherein the second motor 57 is ball-hinged to the cleaning brush head to effect rotation of the cleaning brush head 54 to accommodate cleaning operations on uneven walls. Wherein the water supply mechanism continuously supplies washing water to the washing brush head 54 during washing.
The design of this embodiment dysmorphism axle has not only realized the removal of driven ring gear 51 for the body 1, still guarantees the rotary motion of driven ring gear 51 for the body 1, moves and moves out and hold recess 101 when first linear driving spare 55 drive wiper mechanism promptly, and square cylinder 602 removes for square groove 102, and when first motor 56 rotation drive driving gear 50 and driven ring gear 51 were rotatory, driven ring gear 51 was rotatory for cylinder 601.
In the present embodiment, the first linear actuator 55 and the second linear actuator 53 are implemented by conventional linear actuators such as an oil cylinder, an air cylinder, and an electric push rod.
This embodiment water supply mechanism includes the water tank, the water pump that is connected with the water tank, the shower nozzle that is connected with the water pump, and this embodiment water supply mechanism is current conventional technology, so do not do too much to describe.
In this embodiment, the output shaft of the second motor 57 is connected to a ball joint 58, the ball joint 58 is provided with a spherical groove, the cleaning brush head 54 is connected to a ball head 59, and the ball head 59 is mounted in the spherical groove.
The body 1 of the embodiment is provided with a plurality of cleaning mechanisms, so that the working efficiency is greatly improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A high-altitude operation robot is characterized by comprising a body and a walking mechanism, wherein the walking mechanism comprises walking mechanical arms and an adsorption mechanism, the body is connected with a plurality of walking mechanical arms, the adsorption mechanism comprises a turbine fan, a vacuum box and a sucker, the vacuum box is arranged on the body, the turbine fan is connected with the vacuum box, and the walking mechanical arms are elastically and rotatably connected with the sucker; the vacuum box is connected with the sucker;
the high-altitude operation robot further comprises a first linear driving part, a cleaning mechanism and a water supply mechanism, and the water supply mechanism is installed on the body; one side of the body, which is close to the wall surface, is provided with an accommodating groove for accommodating the cleaning mechanism; the first linear driving piece is arranged in the accommodating groove; the cleaning mechanism comprises a first motor, a driving gear, a driven gear ring, a swinging shaft, a special-shaped shaft, a second linear driving piece, a cleaning brush head and a second motor, wherein the first motor is connected with the first linear driving piece; the driving gear is mounted on the output shaft of the first motor, the special-shaped shaft is formed by connecting a square cylinder and a cylinder, a square groove matched with the square cylinder is formed in the bottom of the accommodating groove of the body, the square cylinder is inserted into the square groove, the driven gear ring is mounted on the cylinder, and the driven gear ring is connected with one end of the oscillating shaft; the other end of the swinging shaft is connected with the second linear driving piece; the second linear driving piece is connected with the second motor; the second motor is hinged with the cleaning brush head ball; the cleaning mechanism is accommodated in the accommodating groove when not used; the water supply mechanism conveys cleaning water to the cleaning brush head.
2. The overhead working robot according to claim 1, wherein the walking mechanical arm comprises a joint, a large arm, a small arm, a first driving motor, a second driving motor and a third driving motor, one end of the joint is rotatably connected with the body, and the first driving motor is mounted on the body and connected with one end of the joint; the other end of the joint is rotatably connected with one end of the large arm, and the second driving motor is arranged on the joint and connected with one end of the large arm; the other end of the large arm is rotatably connected with one end of the small arm, and the third driving motor is arranged on the large arm and connected with one end of the small arm; the other end of the small arm is elastically and rotatably connected with the sucker.
3. The high-altitude operation robot as claimed in claim 2, wherein the suction disc is provided with a boss, the boss is provided with a plurality of T-shaped grooves, the other end of the small arm is provided with an inner groove, and a plurality of T-shaped heads which are opposite to the boss in position and are the same in number are arranged at the position of the inner groove; the boss is arranged in the inner groove, the T-shaped head is arranged in the T-shaped groove, and a buffer spring is sleeved outside the T-shaped head between the boss table surface and the bottom of the inner groove; the inner diameter of the inner groove is larger than the outer diameter of the boss.
4. The high-altitude operation robot as claimed in claim 1, further comprising a folding ladder and a winch which are arranged in the body, wherein the folding ladder comprises a plurality of layers of U-shaped frames which are wrapped layer by layer from inside to outside, the U-shaped frame at the innermost layer is connected with the body, and the U-shaped frame comprises a flat plate and four upright posts which are respectively and vertically arranged at four corners of the flat plate; t-shaped strip grooves are formed in the four stand columns of the U-shaped frame positioned on the innermost layer; t-shaped strip grooves are formed in the four stand columns of the U-shaped frames on the other layers, T-shaped slide blocks are connected to the four stand columns of the U-shaped frames on the other layers through the switching edges, and the T-shaped slide blocks between the adjacent U-shaped frames are movably matched and installed in the T-shaped strip grooves; the stand columns positioned on two sides of the outermost layer U-shaped frame are connected with the steel wire rope of the winch; and a door capable of being opened/closed is arranged on the side surface below the body.
5. The overhead working robot as claimed in claim 4, wherein the columns on both sides of the outermost U-shaped frame are provided with hook blocks, and the end of the wire rope of the winch is connected with a hook which hooks the hook blocks.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740301.3A CN113040672A (en) | 2020-07-28 | 2020-07-28 | High-altitude operation robot |
| CN202110754210.XA CN113261889B (en) | 2020-07-28 | 2021-07-01 | High altitude wall cleaning equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010740301.3A CN113040672A (en) | 2020-07-28 | 2020-07-28 | High-altitude operation robot |
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| CN113040672A true CN113040672A (en) | 2021-06-29 |
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| CN202010740301.3A Withdrawn CN113040672A (en) | 2020-07-28 | 2020-07-28 | High-altitude operation robot |
| CN202110754210.XA Active CN113261889B (en) | 2020-07-28 | 2021-07-01 | High altitude wall cleaning equipment |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110754210.XA Active CN113261889B (en) | 2020-07-28 | 2021-07-01 | High altitude wall cleaning equipment |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1814325A (en) * | 2005-02-05 | 2006-08-09 | 周路定 | Cable ladder device for high-rise rescue |
| CN102274590B (en) * | 2011-05-31 | 2013-06-12 | 罗兴玖 | High-rise emergency escape ladder |
| JP6182497B2 (en) * | 2014-04-16 | 2017-08-16 | 株式会社日立製作所 | Elevator rescue support device |
| CN207532359U (en) * | 2017-06-13 | 2018-06-26 | 李姗姗 | A kind of building wall cleaning device easy to remove |
| CN109760759A (en) * | 2017-11-09 | 2019-05-17 | 西安丁子电子信息科技有限公司 | A kind of Ca Qiang robot |
| CN108284720A (en) * | 2018-02-28 | 2018-07-17 | 佛山市神风航空科技有限公司 | A kind of rescue flight automobile |
| CN208755850U (en) * | 2018-05-31 | 2019-04-19 | 新安洁环境卫生股份有限公司 | A kind of high-rise glass cleaner |
| CN108542303A (en) * | 2018-06-12 | 2018-09-18 | 广州市拓致房屋安全鉴定有限公司 | Cladding glass cleaning robot |
| CN108742283A (en) * | 2018-07-30 | 2018-11-06 | 竺灵云 | A kind of Clean- French window family intelligence cleaning robot of high-rise building |
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| CN113261889B (en) | 2022-08-16 |
| CN113261889A (en) | 2021-08-17 |
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Application publication date: 20210629 |
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| WW01 | Invention patent application withdrawn after publication |