Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Wall surface cleaning robot and method thereof for cleaning and moving on wall surface
The invention discloses a wall surface cleaning robot and a method thereof for cleaning and moving on a wall surface. The wall surface cleaning robot comprises a left machine body, a right machine body, a double-arm mechanism, a lifting mechanism, a translation mechanism, a cleaning mechanism and a vacuum adsorption mechanism, two left long arms and two right long arms of the double-arm mechanism are hinged to the left fuselage and the right fuselage through spherical surfaces; the gears and the racks are matched to adjust the positions of the two left long arms and the two right long arms, and advancing, retreating and lifting of the two left long arms and the two right long arms are achieved. The first vacuum pump and the second vacuum pump adsorb air in the bottom suckers and the crawling foot suckers, so that the robot is stably adsorbed on the wall surface; the first electric cylinder, the second electric cylinder, the fifth motor and the sixth motor are matched to achieve left-right transverse movement of the robot. The third motor and the third connecting rod achieve revolution of the brush, and the fourth motor achieves autorotation of the brush. The two left long arms and the two right long arms are large in motion space, flexible and changeable, the robot can advance, retreat and transversely move, stability is good, work is efficient, and wall cleaning work can be conducted.
本发明公开了一种墙面清洗机器人及其在墙面进行清洁与移动的方法，包括左机身、右机身、双臂机构、升降机构、平移机构、清洁机构和真空吸附机构；双臂机构的两个左长臂和两个右长臂通过球面铰接在左、右机身上；齿轮与齿条配合调整两个左长臂和两个右长臂位置，实现两个左长臂和两个右长臂的前进、后退与升降；真空泵一和真空泵二吸附底部吸盘和爬行脚吸盘内空气，使机器人稳定吸附在墙面；电动缸一、电动缸二、电机五和电机六配合实现机器人的左、右横移；电机三和连杆三实现毛刷公转，电机四实现毛刷自转。本发明的两个左长臂和两个右长臂运动空间大，灵活多变，能实现机器人前进、后退与横移，稳定性好、工作高效，可进行墙面清理工作。
Wall surface cleaning robot and method thereof for cleaning and moving on wall surface
The invention discloses a wall surface cleaning robot and a method thereof for cleaning and moving on a wall surface. The wall surface cleaning robot comprises a left machine body, a right machine body, a double-arm mechanism, a lifting mechanism, a translation mechanism, a cleaning mechanism and a vacuum adsorption mechanism, two left long arms and two right long arms of the double-arm mechanism are hinged to the left fuselage and the right fuselage through spherical surfaces; the gears and the racks are matched to adjust the positions of the two left long arms and the two right long arms, and advancing, retreating and lifting of the two left long arms and the two right long arms are achieved. The first vacuum pump and the second vacuum pump adsorb air in the bottom suckers and the crawling foot suckers, so that the robot is stably adsorbed on the wall surface; the first electric cylinder, the second electric cylinder, the fifth motor and the sixth motor are matched to achieve left-right transverse movement of the robot. The third motor and the third connecting rod achieve revolution of the brush, and the fourth motor achieves autorotation of the brush. The two left long arms and the two right long arms are large in motion space, flexible and changeable, the robot can advance, retreat and transversely move, stability is good, work is efficient, and wall cleaning work can be conducted.
本发明公开了一种墙面清洗机器人及其在墙面进行清洁与移动的方法，包括左机身、右机身、双臂机构、升降机构、平移机构、清洁机构和真空吸附机构；双臂机构的两个左长臂和两个右长臂通过球面铰接在左、右机身上；齿轮与齿条配合调整两个左长臂和两个右长臂位置，实现两个左长臂和两个右长臂的前进、后退与升降；真空泵一和真空泵二吸附底部吸盘和爬行脚吸盘内空气，使机器人稳定吸附在墙面；电动缸一、电动缸二、电机五和电机六配合实现机器人的左、右横移；电机三和连杆三实现毛刷公转，电机四实现毛刷自转。本发明的两个左长臂和两个右长臂运动空间大，灵活多变，能实现机器人前进、后退与横移，稳定性好、工作高效，可进行墙面清理工作。
Wall surface cleaning robot and method thereof for cleaning and moving on wall surface
一种墙面清洗机器人及其在墙面进行清洁与移动的方法
CHAO YAN (Autor:in) / HUANG WEIYE (Autor:in)
11.03.2022
Patent
Elektronische Ressource
Chinesisch
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