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A platform for research: civil engineering, architecture and urbanism
Cleaning robot capable of climbing over different vertical faces in air and cleaning method of cleaning robot
The invention discloses a cleaning robot capable of climbing over different vertical faces in the air. The cleaning robot comprises a cleaning robot body and one or more obstacle climbing mechanisms installed on the robot body. The obstacle climbing mechanism comprises a center rod piece, two sets of connecting rods, two sets of movable supporting rods, two sets of obstacle climbing wheel sets, a limiting assembly and an obstacle climbing control assembly. The two sets of connecting rods are symmetrically arranged on the two sides of the center rod piece, the first ends of the connecting rods are hinged to the center rod piece, and the first ends of the two sets of movable supporting rods are hinged to the second ends of the two sets of connecting rods respectively. The two obstacle climbing wheel sets are connected with the second ends of the two movable supporting rods correspondingly. The first end of the limiting assembly is fixed to the rack, the second end of the limiting assembly is hinged to the first end of the movable supporting rod, and the obstacle climbing control assembly controls the center rod piece to move. The invention further discloses a method for the cleaning robot to climb over different vertical faces for cleaning. The obstacle climbing mechanism is simple and light in structure, can be quickly mounted on the robot body, and can clean different vertical faces while climbing the different vertical faces.
本发明公开了一种可实现空中爬越不同立面的清洗机器人，包括：清洗机器人本体及一个或数个安装于机器人本体上的爬障机构；爬障机构包括中心杆件、两组连接杆、两组活动撑杆、两组爬障轮组、限制组件及爬障控制组件；两组连接杆对称设置于中心杆件的两侧，连接杆的第一端与中心杆件相铰接，两组活动撑杆的第一端分别与两组连接杆的第二端相铰接；两组爬障轮组分别与两组活动撑杆的第二端连接；限制组件的第一端固定于机架上，限制组件的第二端与活动撑杆的第一端铰接，所述爬障控制组件控制中心杆件移动。本发明还公开了上述清洗机器人爬越不同立面进行清洗的方法。本发明爬障机构结构简单，轻便，可快速安装于机器人本体上，可实现在爬越不同立面的过程中同时对不同立面进行清洗。
Cleaning robot capable of climbing over different vertical faces in air and cleaning method of cleaning robot
The invention discloses a cleaning robot capable of climbing over different vertical faces in the air. The cleaning robot comprises a cleaning robot body and one or more obstacle climbing mechanisms installed on the robot body. The obstacle climbing mechanism comprises a center rod piece, two sets of connecting rods, two sets of movable supporting rods, two sets of obstacle climbing wheel sets, a limiting assembly and an obstacle climbing control assembly. The two sets of connecting rods are symmetrically arranged on the two sides of the center rod piece, the first ends of the connecting rods are hinged to the center rod piece, and the first ends of the two sets of movable supporting rods are hinged to the second ends of the two sets of connecting rods respectively. The two obstacle climbing wheel sets are connected with the second ends of the two movable supporting rods correspondingly. The first end of the limiting assembly is fixed to the rack, the second end of the limiting assembly is hinged to the first end of the movable supporting rod, and the obstacle climbing control assembly controls the center rod piece to move. The invention further discloses a method for the cleaning robot to climb over different vertical faces for cleaning. The obstacle climbing mechanism is simple and light in structure, can be quickly mounted on the robot body, and can clean different vertical faces while climbing the different vertical faces.
本发明公开了一种可实现空中爬越不同立面的清洗机器人，包括：清洗机器人本体及一个或数个安装于机器人本体上的爬障机构；爬障机构包括中心杆件、两组连接杆、两组活动撑杆、两组爬障轮组、限制组件及爬障控制组件；两组连接杆对称设置于中心杆件的两侧，连接杆的第一端与中心杆件相铰接，两组活动撑杆的第一端分别与两组连接杆的第二端相铰接；两组爬障轮组分别与两组活动撑杆的第二端连接；限制组件的第一端固定于机架上，限制组件的第二端与活动撑杆的第一端铰接，所述爬障控制组件控制中心杆件移动。本发明还公开了上述清洗机器人爬越不同立面进行清洗的方法。本发明爬障机构结构简单，轻便，可快速安装于机器人本体上，可实现在爬越不同立面的过程中同时对不同立面进行清洗。
Cleaning robot capable of climbing over different vertical faces in air and cleaning method of cleaning robot
一种可实现空中爬越不同立面的清洗机器人及其清洗的方法
LIU CHANGZHEN (author)
2024-07-02
Patent
Electronic Resource
Chinese