阅读说明：本技术 一种可跨越和爬行玻璃墙幕的清洗机器人 (A kind of cleaning robot for the glass wall curtain that may span across and creep ) 是由 黄建龙 刘勇 李海洋 于 2019-09-02 设计创作，主要内容包括：本发明公开了一种可跨越和爬行玻璃墙幕的清洗机器人,包括顶壳和主体板,所述主体板设置在所述顶壳的内部,所述的主体板顶部设置有两个伸缩移动顶部推杆和一个单片机,所述的主体板底部设置有四个伸缩移动底部推杆,所述的伸缩移动底部推杆底部均固定安装有清洗安装板。本发明与现有技术相比的优点在于：遇到障碍物时可以识别前方复杂障碍物做出相应躲避或绕过的动作,并且机器人的爬行机构可以有力的吸附在地上,对一些爬壁的高危险动作轻松搞定,机器人通过内部程序人工调控可以做出相应反应,完成我们的预期效果,可以完成跨越障碍物,爬楼梯,爬壁,拖重载重。(The invention discloses a kind of cleaning robots of glass wall curtain that may span across and creep, including top shell and main board, the inside of the top shell is arranged in the main board, there are two push rod at the top of telescopic moving and a single-chip microcontrollers for setting at the top of the main board, there are four telescopic moving bottom push rods for the main board bottom setting, and the telescopic moving bottom push rod bottom is fixedly installed with cleaning mounting plate.The advantages of the present invention over the prior art are that: it can identify that front complex barrier object makes the movement accordingly hidden or bypassed when encountering barrier, and the climbing mechanism of robot can be strong absorption on the ground, some high-risk movements for climbing wall are easily settled, robot can make respective reaction by internal processes artificial regulatory, our desired effect is completed, across obstacle, stair climbing can be completed, wall is climbed, heavy duty weight is dragged.)

1. a kind of cleaning robot for the glass wall curtain that may span across and creep, it is characterised in that: including top shell and main board, the master The inside of the top shell is arranged in body plate, and there are two push rod at the top of telescopic moving and one are always single for setting at the top of the main board Piece machine, there are four telescopic moving bottom push rod, the telescopic moving bottom push rod bottom is equal for the main board bottom setting It is fixedly installed with cleaning mounting plate, the cleaning mounting plate bottom top surface center is provided with central gear, the central gear Outside is uniformly arranged three transition gears, and the transition gear is meshed with the central gear, the cleaning peace There are three edge gears for the setting of loading board bottom edge, and the edge gear is meshed with three transition gears respectively, described One of them in three transition gears is provided with cleaning motor, and the bottom surface center of the cleaning mounting plate is provided with and the center The central brushing tool that gear is fixedly connected, the bottom edge of the cleaning mounting plate, which is provided with, to be fixedly connected with the edge gear Edge brushing tool, the cleaning motor, telescopic moving top push rod, telescopic moving bottom push rod are electromechanical with total monolithic Property connection, battery, push rod, telescopic moving bottom at the top of the cleaning motor, telescopic moving are provided in the top shell Push rod, total single-chip microcontroller are electrically connected with the battery, are provided with cleaning single-chip microcontroller on the cleaning mounting plate, described It cleans motor, cleaning solution bottle to be electrically connected with the cleaning single-chip microcontroller, the cleaning single-chip microcontroller and total monolithic Machine is electrically connected.

2. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described Central brushing tool center be provided with vacuum chuck.

3. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described It is provided with cleaning solution bottle at the top of cleaning mounting plate, the cleaning mounting plate side is equipped with protection box.

4. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described Total single-chip microcontroller be STM32.

Technical field

The present invention relates to robotic technology field, in particular to a kind of cleaning robots for the glass wall curtain that may span across and creep People.

Background technique

In recent years, robot development is burning hot, more and more enterprises take up exploitation can replace people do it is some multiple The robot that general labourer makees, especially this kind of dangerous work of high altitude operation, however high altitude operation considers many fermentation again, such as The problems such as safety and railing leap etc..

Summary of the invention

Present invention aim to address mentioning in background technique, a kind of glass wall curtain that may span across and creep is provided Cleaning robot.

In order to solve the above technical problems, technical solution provided by the invention are as follows: a kind of glass wall curtain that may span across and creep Cleaning robot, it is characterised in that: including top shell and main board, the inside of the top shell is arranged in the main board, described There are two push rod at the top of telescopic moving and a total single-chip microcontrollers for setting at the top of main board, and there are four the main board bottom settings Telescopic moving bottom push rod, the telescopic moving bottom push rod bottom are fixedly installed with cleaning mounting plate, the cleaning Mounting plate bottom top surface center is provided with central gear, is uniformly arranged three transition gears on the outside of the central gear, described Transition gear is meshed with the central gear, and the cleaning mounting plate bottom surface edge is arranged there are three edge gear, The edge gear is meshed with three transition gears respectively, one of them in three transition gears is provided with cleaning The bottom surface center of motor, the cleaning mounting plate is provided with the central brushing tool being fixedly connected with the central gear, the cleaning The bottom edge of mounting plate is provided with the edge brushing tool being fixedly connected with the edge gear, the cleaning motor, flexible shifting Dynamic top push rod, telescopic moving bottom push rod are electrically connected with total single-chip microcontroller, are provided with electric power storage in the top shell Pond, the cleaning motor, at the top of telescopic moving push rod, telescopic moving bottom push rod, total single-chip microcontroller with the battery Be electrically connected, be provided with cleaning single-chip microcontroller on the cleaning mounting plate, it is described clean motor, cleaning solution bottle with it is described clear Single-chip microcontroller electric connection is washed, the cleaning single-chip microcontroller is electrically connected with total single-chip microcontroller.

As a preferred embodiment, the central brushing tool center is provided with vacuum chuck.

As a preferred embodiment, cleaning solution bottle, the cleaning mounting plate are provided at the top of the cleaning mounting plate Side is equipped with protection box.

As a preferred embodiment, total single-chip microcontroller is STM32.

The advantages of the present invention over the prior art are that: it can identify that front complex barrier object is made when encountering barrier The movement accordingly hidden or bypassed, and the absorption that the climbing mechanism of robot can be strong is on the ground, to some height for climbing wall Dangerous play is easily settled, and robot can make respective reaction by internal processes artificial regulatory, completes our expected effect Fruit can complete across obstacle, and stair climbing climbs wall, drag heavy duty weight.

Detailed description of the invention

Fig. 1 is explosive view one of the invention.

Fig. 2 is explosive view two of the invention.

Fig. 3 is explosive view three of the invention.

Fig. 4 is the structural schematic diagram after present invention integration.

Fig. 5 is partial exploded view of the invention.

Fig. 6 is the schematic diagram of step 1.

Fig. 7 is the schematic diagram of step 2.

Fig. 8 is the schematic diagram of step 3.

Fig. 9 is the schematic diagram of step 4.

Figure 10 is the schematic diagram of step 5.

Figure 11 is the schematic diagram of step 6.

Figure 12 is the schematic diagram of step 7.

Figure 13 is the schematic diagram of step 8.

It is as shown in the figure: 1, top shell, 2, main board, 3, telescopic moving top push rod, 4, total single-chip microcontroller, 5, telescopic moving bottom Push rod, 6, cleaning mounting plate, 7, central gear, 8, transition gear, 9, edge gear, 10, cleaning motor, 11, central brushing tool, 12, edge brushing tool, 13, battery, 14, vacuum chuck, 15, cleaning solution bottle, 16, protection box.

Specific embodiment

Present invention will be described in further detail below with reference to the accompanying drawings.

In conjunction with attached drawing 1- Fig. 3, a kind of cleaning robot for the glass wall curtain that may span across and creep, including top shell 1 and main board 2, the inside of the top shell 1 is arranged in the main board 2, and there are two push away at the top of telescopic moving for setting at the top of the main board 2 Bar 3 and a total single-chip microcontroller 4, there are four telescopic moving bottom push rod 5, the flexible shiftings for 2 bottom of the main board setting Dynamic 5 bottom of bottom push rod is fixedly installed with cleaning mounting plate 6, during the 6 bottom top surface center of cleaning mounting plate is provided with Entreat gear 7, be uniformly arranged three transition gears 8 on the outside of the central gear 7, the transition gear 8 with the center Gear 7 is meshed, and there are three edge gear 9, the edge gear 9 is distinguished for 6 bottom edge of the cleaning mounting plate setting It is meshed with three transition gears 8, one of them in three transition gears 8 is provided with cleaning motor 10, the cleaning The bottom surface center of mounting plate 6 is provided with the central brushing tool 11 being fixedly connected with the central gear 7, the cleaning mounting plate 6 Bottom edge is provided with the edge brushing tool 12 being fixedly connected with the edge gear 9, the cleaning motor 10, telescopic moving top Portion's push rod 3, telescopic moving bottom push rod 5 are electrically connected with total single-chip microcontroller 4, are provided with electric power storage in the top shell 1 Pond 13, the cleaning motor 10, at the top of telescopic moving push rod 3, telescopic moving bottom push rod 5, total single-chip microcontroller 4 with it is described Battery 13 is electrically connected, and 11 center of central brushing tool is provided with vacuum chuck 14, and the top of the cleaning mounting plate 6 is equal It is provided with cleaning solution bottle 15,6 side of cleaning mounting plate is equipped with protection box 16, and total single-chip microcontroller 4 is STM32, institute State cleaning mounting plate 6 on be provided with cleaning single-chip microcontroller 17, the cleaning motor 10, cleaning solution bottle 15 with the cleaning list Piece machine 17 is electrically connected, and the cleaning single-chip microcontroller 17 is electrically connected with total single-chip microcontroller 4.

17 indicate preceding 1 foot in Fig. 4, and 18 indicate preceding 2 foot, 3 feet after 19 expressions, 4 feet after 20 expressions.

The present invention is in the specific implementation:

Step 1: when barrier is encountered by robot, cognitive disorders object rises fuselage；(such as Fig. 6)

Step 2: preceding 1 foot is retracted sucker using lifting electric putter, is extended foot forward using horizontal electric push rod, It puts down sucker and fixes；(such as Fig. 7)

Step 3: preceding 2 foot is retracted sucker using lifting electric putter, is extended foot forward using horizontal electric push rod, It puts down sucker and fixes, barrier is located at below fuselage by nearby 1,2 foot at this time；(such as Fig. 8)

Step 4: preceding 1, the horizontal electric pusher retracted original length of 2 feet, while by the horizontal electric push rod of rear 3,4 feet Elongation pushes main machine body to move forward；(such as Fig. 9)

Step 5: rear 3 foot is retracted sucker using lifting electric putter, is retracted foot using horizontal electric push rod, is put down Sucker is simultaneously fixed；(such as Figure 10)

Step 6: rear 4 foot is retracted sucker using lifting electric putter, is retracted foot using horizontal electric push rod, is put down Sucker is simultaneously fixed；(such as Figure 11)

Step 7: repeating two to six step of front, and barrier is located at below fuselage at this time, and preceding 1,2 feet are across barrier； (such as Figure 12)

Step 8: robot persistently creeps cleaning, until rear 3,4 feet encounter barrier, repeats two to six step of front, across Cross barrier.(such as Figure 13)

The present invention and its embodiments have been described above, this description is no restricted, shown in the drawings Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase As frame mode and embodiment, be within the scope of protection of the invention.