CN107813317A - A kind of ancient building window lattice clears up robot - Google Patents

Abstract

The invention provides a window lattice cleaning robot of ancient buildings, which includes a Y-axis base placed on a table, an X-axis sliding platform vertically arranged on the Y-axis base, a Z-axis sliding platform arranged vertically to the X-axis sliding platform, and a Y-axis base including The first Y-axis base and the second Y-axis base are arranged parallel to each other. The first Y-axis base is provided with a first XY slider. The upper part of the first XY slider is connected to the bottom of the X-axis slider. The X-axis slider There is an XZ slider that can be driven by an XZ motor, and the bottom of the Z-axis slider is connected to the XZ slider. A Z slider is set on the Z-axis slider. The Z slider is driven by the Z motor, and the outside of the Z slider A mounting plate and an ultrasonic sensor, a cleaning brush, a motor connected with the cleaning brush, and a dust suction part arranged on the mounting plate are fixed on the wall. The equipment provided by the embodiments of the present invention can efficiently complete the cleaning work of the window lattices of ancient buildings, effectively saving the workload and time of manual cleaning.

Description

An ancient building window lattice cleaning robot

technical field

The invention relates to the technical field of cleaning robots, in particular to a cleaning robot for window lattices of ancient buildings.

Background technique

Window lattice has always been known as the beautiful eyes of Chinese architecture. Just as mahogany classical furniture has an irreplaceable position in the history of Chinese furniture culture, doors and windows also contain extensive and profound cultural meaning in the history of Chinese architectural decoration culture. Regardless of whether it is a bungalow or a palace or temple, the production of windows is mostly very complicated, especially the carving of patterns, such as dozens of rhombus patterns. And the decorative pattern will make the wooden lattice of the window particularly dense, making the light in the house not bright enough. If the dust accumulated on the windows is not cleaned in time, it will inevitably affect the lighting effect even more. Because the window lattices of many cultural relics and ancient buildings are mostly wooden structures, and a large amount of dust is easily accumulated on the window lattices, which affects the aesthetics of the buildings. Due to the complexity of the window lattice structure, it needs to be cleaned one by one, which is time-consuming and laborious.

Contents of the invention

In order to solve the above-mentioned problems existing in the prior art, the present invention provides an ancient building window lattice cleaning robot, which is characterized in that it includes a Y-axis base placed on the table, located on the Y-axis base and perpendicular to the The X-axis slide table provided on the Y-axis base, the Z-axis slide table located on the X-axis slide table and arranged in the vertical direction, the Y-axis base includes a first Y-axis base and a second Y-axis base arranged parallel to each other The shaft base and the first Y-axis base are provided with a first XY slider, which can slide linearly on the first Y-axis base driven by an XY motor, and the upper part of the first XY slider is in contact with the The bottom of the X-axis slide table is connected, and the X-axis slide table is provided with an XZ slide block that can linearly move thereon, and the XZ slide block is driven by an XZ motor, and the bottom of the Z-axis slide table is connected to the The connection of the XZ slider, the Z-axis slide table is provided with a Z slider that can slide linearly thereon, the Z slider is driven by a Z motor, and the outer wall of the Z slider is fixed with a mounting plate And the ultrasonic sensor for detecting the window mullion structure, the cleaning brush for cleaning the window mullion structure, the motor connected with the cleaning brush and providing power to it, and the suction for collecting the cleaned dust are arranged on the installation plate. dust department.

Further, the second Y-axis base is provided with a second XY slider that can slide linearly, the upper part of the second XY slider is connected to the bottom of the X-axis slide table, and the first Y-axis A synchronous bar is arranged between the base and the second Y-axis base, the synchronous bar is coaxially connected with the motor shaft of the XY motor, and the synchronous bar is used to make the XY motor simultaneously move the first XY slider And the second XY slider provides power.

Further, the first Y-axis base and the second Y-axis base are respectively provided with belts, and the XY motor drives the belts to drive the first XY slider and the second XY slider to slide, The X-axis slide table is provided with a belt, and the XZ motor drives the belt to drive the XZ slider to slide, and the Z-axis slide table is provided with a belt, and the Z motor drives the belt to drive the Z slide block to slide.

Further, the end of the first Y-axis base and the second Y-axis base away from the synchronous bar is provided with a Y-axis limit switch, and the end of the X-axis slide table away from the XZ motor is provided with an X-axis A limit switch, the top of the Z-axis slide table is provided with a Z-axis limit switch.

Further, the XZ slide block is slidably connected to the side of the X-axis slide table facing the Y-axis limit switch.

Further, the Z motor is provided with a brake part.

Further, the mounting plate is vertically fixed to the side wall of the Z slider, the dust suction part is fixed to the mounting plate, the cleaning brush is arranged under the dust suction part, and the ultrasonic sensor passes through The fixing plate is fixed on the installation plate and is located below the cleaning brush.

Further, one of the Y motor, the X motor and the Z motor is a stepper motor.

Beneficial effect:

An ancient building window lattice cleaning robot provided by an embodiment of the present invention uses an ultrasonic sensor to detect the hollow structure of the window lattice to design a motion path, thereby assisting in controlling the operation of the sweeping head, so as to realize the automatic cleaning of the window lattice by the robot, and efficiently complete the cleaning of the ancient building window lattice The cleaning work effectively saves the workload and time of manual cleaning, and mainly has the following advantages:

1. Set the running code, no human operation is required, and the equipment can run automatically;

2. Save manpower and material resources, shorten the cleaning cycle, and facilitate equipment maintenance;

3. Reduce labor costs, improve its feasibility, and meet the frequent cleaning needs of ancient building window lattices or similar objects.

Description of drawings

Fig. 1 is the front view of a kind of ancient building window lattice cleaning robot of the present invention;

Fig. 2 is the top view of a kind of ancient building window lattice cleaning robot of the present invention;

Fig. 3 is the right side view of a kind of ancient building window lattice cleaning robot of the present invention;

Fig. 4 is an enlarged view of a Z slide block of an ancient building window lattice cleaning robot according to the present invention.

in:

111-X-axis sliding table; 112-XZ slider; 113-XZ stepping motor; 114-X-axis limit switch; 121-first Y-axis base; 122-first XY slider; 123-second Y-axis Base; 124-the second XY slide block; 125-XY stepper motor; 126-synchronous bar; 127-Y axis limit switch; 131-Z axis slide table; 132-Z slide block; 134-braking part; 135-Z-axis limit switch; 21-installation plate; 22-vacuum suction part; 23-cleaning brush; 24-ultrasonic sensor;

Detailed ways

The technical scheme of the present invention will be described in detail below in conjunction with the accompanying drawings.

Example 1

As shown in Figures 1 to 4, an ancient building window lattice cleaning robot defines the front side of the equipment facing the main view, and the rear side facing away from the main view.

An ancient building window lattice cleaning robot, including a Y-axis base placed on a table, an X-axis slide 111 located on the Y-axis base and perpendicular to the Y-axis base, and a X-axis slide 111 located on the Y-axis base. Z-axis slide table 131 arranged on the upper and vertical direction;

The Y-axis base includes a first Y-axis base 121 and a second Y-axis base 123 arranged parallel to each other. The first Y-axis base 121 is provided with a first XY slider 122, which can be driven by an XY motor The first Y-axis base 121 slides linearly, and the upper part of the first XY slider 122 is connected to the bottom of the X-axis slide 111;

The X-axis slide table 111 is provided with an XZ slide block 112 linearly movable thereon, and the XZ slide block 112 is driven by an XZ motor, and the bottom of the Z-axis slide table 131 is in contact with the XZ slide block. 112 connections;

The Z-axis slide table 131 is provided with a Z slide block 132 linearly slidable thereon, the Z slide block 132 is driven by a Z motor, and the outer wall of the Z slide block 132 is fixedly provided with a mounting plate 21 and a Ultrasonic sensors 24 for detecting window lattice structures on the mounting plate 21, cleaning brushes 23 for cleaning window lattice structures, motors connected to and powered by the cleaning brushes 23 and used for collecting and cleaning dust The dust collection part 22.

Further, the bottom of the first Y-axis base 121 and the second Y-axis base 123 is provided with a support frame, and the first Y-axis base 121 and the second Y-axis base 123 are horizontally placed on the table through the support frame .

One of the XY motor, the XZ motor, and the Z motor is a stepper motor.

Further, the XY motor, the XZ motor, and the Z motor are all stepping motors, that is, the XY stepping motor 125 , the XZ stepping motor 113 , and the Z stepping motor 133 .

Further, the first XY slider 122 is slidably connected to the top surface of the first Y-axis base 121 .

The second Y-axis base 123 is provided with a second XY slider 124 capable of linear sliding, the upper part of the second XY slider 124 is connected to the bottom of the X-axis slide 111, and the first Y A synchronous bar 126 is arranged between the shaft base 121 and the second Y-axis base 123, and the synchronous bar 126 is coaxially connected with the motor shaft of the XY motor, and the synchronous bar 126 is used to make the XY motor simultaneously The power provided by the first XY slider 122 and the second XY slider 124.

Further, the XZ sliding block 112 is slidably connected to the front side wall of the X-axis sliding table 111 . The bottom of the Z slide 131 is connected to the top of the XZ slide 112 .

Further, the second XY slider 124 is slidably connected to the top surface of the second Y-axis base 123 .

The first Y-axis base 121 and the second Y-axis base 123 are respectively provided with belts, and the XY stepping motor 125 drives the first XY slider 122 and the second XY slider 122 by driving the belt. The block 124 slides, the X-axis sliding table 111 is provided with a belt, and the XZ stepping motor 113 drives the belt to drive the XZ slider 112 to slide, the Z-axis sliding table 131 is provided with a belt, and the Z stepping motor 133 passes through The belt is driven to drive the Z slider 132 to slide.

Further, a Y-axis left belt is arranged around the first Y-axis base 121, and the Y-axis left belt is connected with the first XY slider 122 for driving the first XY slider 122 along the extending direction of the first Y-axis base 121 Linear sliding, the Y-axis left belt is set in the belt groove. The second Y-axis base 123, the second XY slider 124, the right belt of the Y-axis, and the belt groove are arranged in the same way, and then can drive the X-axis slide table arranged on the top of the first XY slider 122 and the second XY slider 124 111 slides. A belt is provided around the side of the X-axis sliding table 111, and the belt is connected with the XZ sliding block 112. The belt is used to drive the XZ sliding block 112 to slide left and right along the X-axis sliding table 111, and then drive the Z-axis to slide along the X-axis sliding table 111. Sliding left and right, the belt is arranged in the belt groove of the X-axis slide table 111. The belt arranged around the Z-axis slide table 131 and connected with the Z slide block 132, the belt is used to drive the Z slide block 132 to slide up and down along the Z-axis slide table 131, and the belt is arranged in the belt groove of the Z-axis slide table 131 Inside.

Further, the XY stepping motor 125 is vertically arranged on the rear left side wall of the first Y-axis base 121, and the XZ stepping motor 113 is vertically arranged on the left top surface of the X-axis sliding table 111, The Z stepping motor 133 is disposed on the top of the Z-axis sliding table 131 and is perpendicular to the right side wall of the Z-axis sliding table 131 .

A brake portion 134 is provided on the Z stepping motor 133 .

The end of the first Y-axis base 121 and the second Y-axis base 123 away from the synchronous bar 126 is provided with a Y-axis limit switch 127, and the X-axis slide 111 is far away from the end of the XZ stepping motor 113. An X-axis limit switch 114 is provided at one end, and a Z-axis limit switch 135 is provided at the top of the Z-axis sliding table 131 .

Further, the Y-axis limit switch 127 includes two, which are respectively vertically arranged on the front top of the first Y-axis base 121 and the front end of the second Y-axis base 123 . The X-axis limit switch 114 is vertically arranged on the top surface of the right end of the X-axis sliding table 111 . The Z-axis limit switch 135 is vertically arranged on the top front side wall of the Z-axis sliding table 131 .

The XZ sliding block 112 is slidably connected to the side of the X-axis sliding table 111 facing the Y-axis limit switch 127 , that is, connected to the front side wall of the X-axis sliding table 111 .

The mounting plate 21 is vertically fixed to the side wall of the Z slider 132, the dust suction part 22 is fixed to the mounting plate 21, and the cleaning brush 23 is arranged below the dust suction part 22. The ultrasonic sensor 24 is fixed on the mounting plate 21 through a fixing plate 25 and is located below the cleaning brush 23 .

Further, the mounting plate 21 is fixed on the side wall of the Z slider facing the window mullion.

Further, the motor is preferably a high-speed rotating motor 26 .

Further, the right side of the dust suction part 22 is fixed on the left side of the mounting plate 21, and the suction port is forward.

Further, the cleaning brush 23 is fixed directly below the dust suction part 22 , and the cleaning brush 23 is connected with a high-speed rotating motor 26 .

Further, the detection direction of the ultrasonic sensor 24 is forward.

Described a kind of window lattice cleaning robot of ancient building also comprises control part, and described control part comprises equipment power supply, switch, host computer, and host computer communicates with each stepper motor, each limit switch, dust-absorbing part 22, high-speed rotating motor 26, The ultrasonic sensor 24 is electrically connected.

During work, the window mullion is placed between the first Y-axis base 121 and the second Y-axis base 123 of the gantry robot, on the bracket in front of the Z-axis sliding table 131, so that the length and height of the window mullion correspond to the X-axis slide of the gantry robot respectively. Table 111 and Z-axis slide table 131.

After the power is turned on, each limit switch is turned on, and the host computer (including any processor with data processing function or a single-chip microcomputer integrated on the circuit board) sends a control signal to the ultrasonic sensor 24 to control the ultrasonic sensor 24 to carry out the process on the window hollow structure. Detection, get the detection data of the window mullion and window frame structure, the host computer plans the cleaning path according to the detection data, and sends a control signal to the gantry manipulator, and the gantry manipulator cleans the corresponding position of the window mullion according to the control signal (the window mullion is cleaned under the control of the host machine) The cleaning of the corresponding position specifically includes position adjustment, rotating head operation and turning on the dust suction device), when the X-axis sliding table 111 of the gantry table, the first Y-axis base 122, the second Y-axis base 123 and the Z-axis sliding table 131 move to the limit When the limit switch is at the limit switch, the limit switch sends a stop signal to the host, and the gantry robot stops moving;

The XY stepper motor 125 turns on and rotates counterclockwise, driving the Y-axis left belt and the Y-axis right belt to move, the first XY slider 122 and the second XY slider 124 move with the Y-axis left belt and the Y-axis right belt, and then drive The X-axis sliding table 111 and the Z-axis sliding table 131 move to the front of the window mullion. The window mullion is scanned by the ultrasonic sensor 24. In order to improve the detection accuracy and reduce the detection range of the ultrasonic sensor 24, the window mullion is divided into three parts from top to bottom for scanning. When scanning the first part, the XZ slider 112 and the Z slider 132 move to the maximum stroke respectively. Stop running after touching the X-axis limit switch 114 and the Z-axis limit switch 135. During the operation of the XZ slider 112 and the Z slider 132 , the ultrasonic sensor 24 installed on the Z slider 132 detects the first part of the window mullion structure. The second and third parts are completed through a round trip, and the principle is the same as above. After completing the detection of the window frame, the gantry robot returns to the initial position. And according to the data obtained through the ultrasonic sensor 24, the hollow position is judged and then the cleaning process is carried out.

During cleaning, first, according to the distance measurement result of the ultrasonic sensor 24, the XY stepping motor 125 is started to drive the X-axis sliding table 111 and the Z-axis sliding table 131 to move to the cleaning range. The XZ stepping motor 113 drives the Z-axis sliding table 131 to move left and right through the belt and the XZ slider 112 . The Z stepper motor 133 drives the Z slider 132 and the mounting plate 21, the dust collector 22, the high-speed rotating motor 26, the cleaning brush 23, the fixed plate 25, and the ultrasonic sensor 24 arranged on the Z slider 132 to move up and down through the belt, When the Z slider 132 moves to the designated position, after the Z stepping motor 133 stops, the brake part 134 starts, and the transmission shaft of the Z stepping motor 133 is locked to prevent the Z slider 132 from falling. When the Z stepping motor 133 starts , the brake part 134 stops working, that is, the transmission shaft resumes free movement. The X-axis sliding table 111 cooperates with the Z-axis sliding table 131 to realize the movement of the Z sliding block 132 in the plane formed by the X-axis sliding table 111 and the Z-axis sliding table 131 . According to the detection result of the ultrasonic sensor 24, the Z slide block 132 moves to the first hollow, and then the Y-axis moving part moves forward, so that the cleaning brush 23 completely enters the hollow structure. The high-speed rotating motor 26 is opened, drives the cleaning brush 23 to rotate at a high speed, and cleans along the edge of the hollowed out place. Simultaneously, the dust collection part 22 is opened to perform secondary treatment on the dust generated by cleaning. When the first hollow is cleaned, the Y-axis moving part moves backward to make the Z slider 132 break away from the first hollow, and then cleans the next hollow. The specific movement process is the same as above. When all the hollow structures are cleaned, the Y-axis moving part moves backward until it touches the Y-axis limit switch 127 at the rear end and stops, and the cleaning work ends;

Stepper motor drive and servo motor drive. Considering that the cleaning of the window lattices of ancient buildings has high requirements for the accuracy of the X, Y, and Z axes of the gantry robot, in order to achieve the best cleaning effect, the drive mode of the stepping motor is adopted. The pulse signal is converted into an open-loop control motor for angular displacement or linear displacement. In the case of non-overload, the speed and stop position of the motor only depend on the frequency and number of pulses of the pulse signal, and are not affected by the load change. When the stepper driver receives a pulse signal, it will drive the stepper motor to press The set direction rotates a fixed angle, which is called "step angle", and its rotation runs step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so as to achieve the purpose of accurate positioning; at the same time, the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, so as to achieve the purpose of speed regulation. The stepper motor is a kind of induction motor. Its working principle is to use the electronic circuit to convert the direct current into a time-sharing power supply. The multi-phase sequence controls the current. Using this current to power the stepper motor, the stepper motor can work normally. The driver is a time-sharing power supply for the stepper motor, a multi-phase timing controller. Finally, the stepper motor drive is selected as the drive mode of the device. And chose the 57 series two stepper motors of the times and the two stepper motor drivers of TOSHIBA's TB6560AHQ.

Ultrasonic sensors are sensors that convert ultrasonic signals into other energy signals, usually electrical signals. Ultrasound is a mechanical wave with a vibration frequency higher than 20KHz20kHz. It has the characteristics of high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and can become ray and directional propagation. The invention mainly uses the ultrasonic sensor to judge the distance between the Y axis and the window frame and distinguish the structure of the window frame and the window mullion. The ultrasonic sensor of the present invention is a 16mm ultrasonic sensor of Risym.

An ancient building window lattice cleaning robot provided by an embodiment of the present invention uses an ultrasonic sensor to detect the hollow structure of the window lattice to design a motion path, thereby assisting in controlling the operation of the sweeping head, so as to realize the automatic cleaning of the window lattice by the robot and efficiently complete the ancient building window lattice The cleaning work effectively saves the workload and time of manual cleaning, and mainly has the following advantages:

1. Set the running code, no human operation is required, and the equipment can run automatically;

2. Save manpower and material resources, shorten the cleaning cycle, and facilitate equipment maintenance;

3. Reduce labor costs, improve its feasibility, and meet the frequent cleaning needs of ancient building window lattices or similar objects.

Finally, it should be noted that: the above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it still The technical solutions recorded in the foregoing embodiments may be modified, or some technical features thereof may be equivalently replaced. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (8)

1. a kind of ancient building window lattice clears up robot, it is characterised in that including the Y-axis base being placed on tables, positioned at the Y-axis The X-axis slide unit (111) set on base and perpendicular to the Y-axis base, on the X-axis slide unit (111) and in vertical side The Z axis slide unit (131) set up；

The Y-axis base includes the first Y-axis base (121) and the second Y-axis base (123), the first Y arranged in parallel Axle base (121) is provided with the first XY sliding blocks (122), can be reached the standard grade under the driving of XY motors in the first Y-axis base (121) Property slide, the top of the first XY sliding blocks (122) is connected with the bottom of the X-axis slide unit (111)；

The X-axis slide unit (111), which is provided with, to pass through XZ in linearly moving XZ sliding blocks (112) thereon, the XZ sliding blocks (112) Motor drives, and the bottom of the Z axis slide unit (131) is connected with the XZ sliding blocks (112)；

The Z axis slide unit (131) is provided with can be in the Z sliding blocks (132) of linear slide thereon, and the Z sliding blocks (132) are by Z motors Driving, be fixed with installing plate (21) on Z sliding blocks (132) lateral wall and be arranged on the installing plate (21) for visiting Survey the ultrasonic sensor (24), the cleaning brush (23) for cleaning window lattice structure and the cleaning brush (23) of window lattice structure even Connect and the motor of power is provided it and the dust collecting port (22) of dust is swept out for collecting.

A kind of 2. ancient building window lattice cleaning robot according to claim 1, it is characterised in that the second Y-axis base (123) the 2nd XY sliding blocks (124) of linear slide can be done by being provided with, and top and the X-axis of the 2nd XY sliding blocks (124) are slided The bottom connection of platform (111), synchronous thick stick is provided between the first Y-axis base (121) and the second Y-axis base (123) (126), the synchronous thick stick (126) and the motor shaft of the XY motors are coaxially connected, and the synchronous thick stick (126) is used to make XY motors The power provided simultaneously the first XY sliding blocks (122) and the 2nd XY sliding blocks (124).

A kind of 3. ancient building window lattice cleaning robot according to claim 2, it is characterised in that the first Y-axis base (121) belt and on the second Y-axis base (123) is respectively arranged with, the XY motors drive institute by driving belt State the first XY sliding blocks (122) and the 2nd XY sliding blocks (124) are slided, the X-axis slide unit (111) is provided with belt, XZ motors The XZ sliding blocks (112) are driven to slide by driving belt, the Z axis slide unit (131) is provided with belt, and Z motors pass through Drive belt and then drive the Z sliding blocks (132) to slide.

A kind of 4. ancient building window lattice cleaning robot according to claim 2, it is characterised in that the first Y-axis base (121) and the one end of the second Y-axis base (123) away from the synchronous thick stick (126) is provided with Y-axis limit switch (127), institute State the one end of X-axis slide unit (111) away from the XZ motors and be provided with X-axis limit switch (114), the top of the Z axis slide unit (131) End is provided with Z axis limit switch (135).

5. a kind of ancient building window lattice cleaning robot according to claim, it is characterised in that the XZ sliding blocks (112) are sliding The dynamic X-axis slide unit (111) that is connected to is towards on the side of Y-axis limit switch (127).

6. a kind of ancient building window lattice cleaning robot according to claim 1, it is characterised in that set on the Z motors There is brake portion (134).

7. a kind of ancient building window lattice cleaning robot according to claim 1, it is characterised in that the installing plate (21) is hung down The side wall of the Z sliding blocks (132) is directly fixed on, the dust collecting port (22) is fixed on the installing plate (21), the cleaning brush (23) lower section of the dust collecting port (22) is arranged on, the ultrasonic sensor (24) is fixed on the peace by fixed plate (25) Loading board (21), and positioned at the lower section of the cleaning brush (23).

8. a kind of ancient building window lattice cleaning robot according to claim 1, it is characterised in that the Y-motor, the X Motor, the Z motors thrin are stepper motor.