CN104013352B - Robot for cleaning window - Google Patents
Robot for cleaning window Download PDFInfo
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- CN104013352B CN104013352B CN201310062252.2A CN201310062252A CN104013352B CN 104013352 B CN104013352 B CN 104013352B CN 201310062252 A CN201310062252 A CN 201310062252A CN 104013352 B CN104013352 B CN 104013352B
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Abstract
The invention belongs to the technical field of small domestic electric appliance manufacturing, and relates to a robot for cleaning a window. The robot comprises a main machine body and a sucker. The sucker is arranged at the bottom of the main machine body. The main machine body is attached to the window through the sucker, and a fan air exhaust machine arranged on the main machine body is connected with an air pumping port of the sucker in a sealed mode and is used for generating the vacuum needed by the sucker for conducting attachment. According to the robot for cleaning the window, the fan air pumping machine can generate mass flow, the requirement for the vacuum degree of the sucker is lowered effectively, the sucking force of the sucker is reduced greatly, and the friction force is reduced, so that movement of the robot for cleaning the window is smoother; when the robot hits a barrier, the flow of the fan air pumping machine is larger, so that the speed of air pumping is far larger than that of air leakage, and the robot for cleaning the window does not fall off easily.
Description
Technical field
The invention belongs to small household appliances manufacturing technology field, it is related to a kind of glass-cleaning robot.
Background technology
Traditional glass cleaning device, such as glass-cleaning robot, can be by being fixed on the sucker of glass cleaning device bottom
Absorption is operated on glass.Common absorbing unit generally adopts vacuum air pump as vacuum source, and is carried by vacuum air pump
For sucker absorption affinity when, vacuum pump can lead to the vacuum of sucker bigger than larger (about 60kpa), absorption affinity, therefore, sucker
Frictional force ratio larger, make driving wheel difficulty in walking, meanwhile, the glass-cleaning robot using vacuum pump requires to other each side
All higher.In order to improve the locomotor activity of glass-cleaning robot, need suitably to reduce sucker vacuum, that is, reduce vaccum pump motor
Rotating speed.However, motor speed necessarily leads to after reducing, and the piston movement of vacuum pump is slack-off, the flow of vacuum pump becomes further
Little.And existing vacuum pump itself flow just smaller (being only capable of producing the flow of 10l/min), once machine is encountered on glass surface
Uneven or larger foul, sucker will occur gas leakage, because the flow of vacuum pump is much smaller than the speed of sucker gas leakage
Degree, glass-cleaning robot will fall because sucker loses vacuum rapidly, lead to potential safety hazard or damage glass-cleaning robot.
Content of the invention
For problem above, the present invention provides a kind of glass-cleaning robot, the fan air exhauster in this glass-cleaning robot
Big flow can be produced, can effectively reduce the vacuum level requirements to sucker, substantially reduce force of suction cup, reduce frictional force, make
Obtain glass cleaning device action more smooth；And when encountering barrier, due to the flow of fan air exhauster larger so that pumping
Speed be far longer than the speed of gas leakage, glass-cleaning robot is not easy to fall.
The technical problem to be solved is to be achieved through the following technical solutions:
A kind of glass-cleaning robot includes main body and sucker, and sucker is arranged on the bottom of main body, and main body passes through to inhale
Disk adsorbs on glass, and the fan air exhauster and the bleeding point of sucker that are arranged on main body are tightly connected, for producing sucker
The required vacuum of absorption.
Described fan air exhauster includes blade driving motor, blade motor seat, fan blade assembly and fan blade lid, wherein, wind
Leaf motor is fixed with blade motor seat, and the rotating shaft of blade driving motor is fixed with fan blade assembly, blade motor seat and fan blade
Lid is fixedly connected.
Blade motor seat becomes a space with fan blade cap-shaped, and fan blade assembly rotates in described interior volume.
Further, the middle part of described fan blade assembly is provided with turbine-like blade, described turbine-like blade and fan blade assembly
Upper and lower layer body forms air-out passage.
Preferably in scheme, described sucker is additionally provided with air inlet pipe, air inlet pipe and atmosphere.
Further, described main body is provided with garbage collector, and one end of garbage collector connects air inlet pipe, and rubbish is received
The suction nozzle that the other end connection of storage is contacted with glass surface.
For making garbage collector be easy to clean, air inlet pipe and suction nozzle are flexibly connected with garbage collector respectively.
For can absorb water simultaneously, described garbage collector is water tank, is provided with filtration membrane inside described water tank.
For better profiting from the vacuum source of fan air exhauster generation, described air inlet pipe is provided with relief valve, described safety
Valve is provided with two operating positions, and when the vacuum of described sucker is more than or equal to vacuum threshold, described arranged at safety valve is in opening
Position, sucker is communicated with air；When the vacuum of described sucker is less than vacuum threshold, described relief valve is in the closed position,
Sucker is not connected with air.
Further, described vacuum threshold is 30kpa.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Brief description
Fig. 1 is the fan air exhauster schematic perspective view in glass-cleaning robot of the present invention；
Fig. 2 is the fan air exhauster exploded perspective view in glass-cleaning robot of the present invention；
Fig. 3 is that glass-cleaning robot of the present invention (without garbage collector) adsorbs glass schematic diagram；
Fig. 4 is that glass-cleaning robot of the present invention (band garbage collector) adsorbs glass schematic diagram.
Reference:
1. main body 2. sucker 3. fan air exhauster
5. garbage collector 6. glass 7. suction nozzle
21. bleeding point, 22. air inlet pipe 51. filtration membrane
31. blade driving motor, 32. blade motor seat 33. fan blade assembly
34. fan blade lid, 35. air-out passage 331. turbine-like blade
Specific embodiment
As shown in figure 3, glass-cleaning robot of the present invention includes main body 1 and sucker 2, sucker 2 is arranged on the bottom of main body 1
Portion, main body 1 adsorbs on glass 6 by sucker 2, and fan air exhauster 3 is arranged on main body 1, and fan air exhauster 3 is arranged on
On main body 1, it is tightly connected with the bleeding point 21 of sucker 2, for producing the vacuum needed for sucker suction.
As shown in Figure 1-2, fan air exhauster 3 includes blade driving motor 31, blade motor seat to the structure of fan air exhauster 3
32nd, fan blade assembly 33 and fan blade lid 34, wherein, blade driving motor 31 is fixing with blade motor seat 32, blade driving motor 31
Rotating shaft and fan blade assembly 33 fixing, blade motor seat 32 is fixedly connected with fan blade lid 34, and during work, fan blade assembly 33 is in fan blade
High-speed rotation in the space that motor cabinet 32 and fan blade lid 34 are formed.
Described fan air exhauster 3 is connected with suction cup sealed, and fan blade assembly 33 includes the upper and lower layer body of circle, and connects
The turbine-like blade 331 of upper and lower layer body, described turbine-like blade 331 forms air-out passage with the upper and lower layer body of fan blade assembly 33
35, and form air outlet in the periphery of fan blade assembly 33.When blade driving motor 31 starts, motor shaft drives fan blade assembly 33
High-speed rotation, the air in sucker 2 is discharged by air-out passage 35, makes the internal generation vacuum of sucker 2.Gas in sucker 2
Discharged by gap between turbine-like blade 331 in fan blade assembly 33, the trend of air-flow is as shown by the arrows in Figure 3.
Below fan air exhauster operation principle is illustrated.
Fan air exhauster 3 is arranged on main body 1, is connected with the bleeding point 21 on sucker..Fan air exhauster 3 energising fortune
After work, meeting on the premise of main body 1 is attracted to required vacuum (about 30kpa) on glass 6, so that pumping
Flow greatly increase, even if sucker 2 has a gas leakage, but because the speed of evacuation of fan air exhauster 3 substantially exceeds sucker 2 gas leakage
Speed, still can produce enough vacuum in sucker 2 it is ensured that glass-cleaning robot adsorb on glass.
Can be further improved on the basis of technique scheme, as shown in figure 3, sucker is additionally provided with air inlet pipe 22, enter
Trachea 22 passes through inlet channel and atmosphere.When fan air exhauster 3 high power work, the vacuum in sucker 2 is easy to
The vacuum of needs when meeting absorption.But, when the vacuum degree in sucker 2 is already at higher state, blade driving electricity
Machine 31 cannot continue to aspirate air, easily cause blade driving motor 31 and lack cooling air-flow and cross cause thermal damage.When in sucker 2
After the air inlet pipe 22 drawn, on the one hand, can will not cause while suitably reducing the vacuum in sucker again clean the windows
Robot drops from glass, so that glass-cleaning robot walking is more smoothly；On the other hand it is ensured that having cold always
But air-flow enters blade driving motor 31 so that blade driving motor 31 is difficult to damage because overheated
Especially, for better profiting from the vacuum source of fan air exhauster 3 generation, safety can also be arranged on air inlet pipe 22
Valve.Relief valve is provided with two operating positions, and when the vacuum of sucker 2 is more than or equal to vacuum threshold, arranged at safety valve is in opening
Position, sucker 2 is communicated with air；When the vacuum of sucker 2 is less than vacuum threshold, relief valve is in the closed position, sucker 2 with
Air does not connect.When initial, the vacuum of sucker 2 is relatively low, and relief valve is in the closed position, fan air exhauster 3 be easy to so that
Sucker 2 produces larger vacuum；When the vacuum of sucker 2 is more than vacuum threshold such as 30kpa, arranged at safety valve is in open position
Put, extraneous air enters sucker 2 by air inlet pipe 22, thus keeping sucker 2 to be in suitable vacuum.If sucker 2 is anticipated
Encounter outward the crack on glass 6 surface or projection, the vacuum of sucker 2 reduces immediately, and relief valve is in the closed position, and fan is taken out
Mechanism of qi 3 aspirates the air-flow in sucker 2 in time, because the speed of evacuation of fan air exhauster 3 substantially exceeds the speed of sucker 2 gas leakage,
Therefore, still enough vacuum can be produced in sucker 2 it is ensured that glass-cleaning robot adsorbs on glass 6.
Further, the suction being provided using air inlet pipe 22, can also make glass-cleaning robot possess some additional functions,
The vacuum that fan air exhauster 3 produces is fully utilized, for example, suction nozzle 7 is set in air inlet pipe 22, using suction
Water on head heat absorbing glass 6 and foul.Concrete structure is as shown in figure 4, main body 1 is provided with garbage collector 5, garbage collector
5 one end connects air inlet 22, and the other end of garbage collector 5 connects the suction nozzle 7 contacting with glass surface, in machine walking
When, the rubbish on suction nozzle 7 heat absorbing glass, and by waste deposit in garbage collector 5.For making garbage collector 5 be easy to clearly
Clean, air inlet pipe 22 and suction nozzle 7 are flexibly connected with garbage collector 5 respectively, and in other words, garbage collector 5 is detachably connected
In air inlet pipe 22 and suction nozzle 7, for example, it is possible to be attached by buckle and sealing ring.
For can absorb water simultaneously, garbage collector 5 can be arranged to water tank, have ventilative and prevent the mistake into water in water tank
Filter thin film 51, water and rubbish can be isolated in water tank for filtration membrane 51, prevent entrance blade driving motor 31 motor from causing
Destroy.When glass-cleaning robot is walked, the water on glass 6 surface is sucked in water tank together with foul by suction nozzle 7.
Claims (7)
1. a kind of glass-cleaning robot, including main body (1) and sucker (2), sucker (2) is arranged on the bottom of main body (1), main
Body (1) pass through sucker (2) absorption glass (6) upper it is characterised in that: be arranged on the fan air exhauster (3) on main body (1)
It is tightly connected with the bleeding point (21) of sucker (2), for producing the vacuum needed for sucker suction；Fan air exhauster (3) includes
Blade driving motor (31), blade motor seat (32), fan blade assembly (33) and fan blade lid (34), wherein, blade driving motor
(31) fixing with blade motor seat (32), the rotating shaft of blade driving motor (31) is fixing with fan blade assembly (33), blade motor seat
(32) it is fixedly connected with fan blade lid (34)；Blade motor seat (32) and fan blade lid (34) form a space, fan blade assembly (33)
In the rotation of described interior volume；The middle part of described fan blade assembly (33) is provided with turbine-like blade (331), described turbine-like blade
(331) form air-out passage (35) with the upper and lower layer body of fan blade assembly.
2. glass-cleaning robot according to claim 1 it is characterised in that: described sucker is additionally provided with air inlet pipe (22), enters
Trachea (22) and atmosphere.
3. glass-cleaning robot according to claim 2 it is characterised in that: described main body (1) is provided with refuse collection
Device (5), one end of garbage collector (5) connects air inlet pipe (22), and the other end connection of garbage collector (5) is connect with glass surface
Tactile suction nozzle (7).
4. glass-cleaning robot according to claim 3 it is characterised in that: air inlet pipe (22) and suction nozzle (7) respectively with rubbish
Rubbish catcher (5) is flexibly connected.
5. the glass-cleaning robot according to claim 3 or 4 it is characterised in that: described garbage collector (5) be water tank,
It is provided with filtration membrane (51) inside described water tank.
6. glass-cleaning robot according to claim 2 it is characterised in that: described air inlet pipe (22) is provided with relief valve,
Described relief valve is provided with two operating positions, when the vacuum of described sucker (2) is more than or equal to vacuum threshold, described safety
Valve is in an open position, and sucker (2) is communicated with air；When the vacuum of described sucker (2) is less than vacuum threshold, described safety
Valve is in the closed position, and sucker (2) is not connected with air.
7. glass-cleaning robot according to claim 6 it is characterised in that: described vacuum threshold be 30kpa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310062252.2A CN104013352B (en) | 2013-02-28 | 2013-02-28 | Robot for cleaning window |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310062252.2A CN104013352B (en) | 2013-02-28 | 2013-02-28 | Robot for cleaning window |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104013352A CN104013352A (en) | 2014-09-03 |
| CN104013352B true CN104013352B (en) | 2017-01-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310062252.2A Active CN104013352B (en) | 2013-02-28 | 2013-02-28 | Robot for cleaning window |
Country Status (1)
| Country | Link |
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| CN (1) | CN104013352B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105286715A (en) * | 2015-11-18 | 2016-02-03 | 杭州柯元电器科技有限公司 | Window cleaning machine |
| CN105398503A (en) * | 2015-12-10 | 2016-03-16 | 华南理工大学 | Negative pressure sucking disc device |
| CN108748092A (en) * | 2016-04-30 | 2018-11-06 | 毛金霞 | Robot Anti-bumping protection type pedestal |
| CN105816108A (en) * | 2016-05-25 | 2016-08-03 | 江苏工程职业技术学院 | Wall climbing and cleaning robot |
| CN110547730B (en) * | 2019-08-30 | 2021-09-24 | 廖新明 | Traveling mechanism for glass wall cleaning robot |
| CN112590963A (en) * | 2020-12-30 | 2021-04-02 | 西安交通大学 | Foot structure of wall climbing robot |
| CN114794995A (en) * | 2022-06-28 | 2022-07-29 | 山西嘉世达机器人技术有限公司 | Method and device for adjusting negative pressure in cleaning machine, cleaning machine and storage medium |
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| CN203122277U (en) * | 2013-02-28 | 2013-08-14 | 科沃斯机器人科技(苏州)有限公司 | Glass-cleaning robot |
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|---|---|---|---|---|
| CN2034429U (en) * | 1988-04-30 | 1989-03-22 | 陶松 | Electric cleaner for window |
| JPH0810189A (en) * | 1994-06-30 | 1996-01-16 | Suzuki Motor Corp | Suction type wall face cleaning device |
| JPH08238200A (en) * | 1995-03-07 | 1996-09-17 | Toshiba Corp | Window cleaning device |
| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
| CN2512555Y (en) * | 2001-12-28 | 2002-09-25 | 吴志明 | Single sucking disc and crawler-type multiple sucking disc combined wall climbing robot |
| KR100878880B1 (en) * | 2007-09-27 | 2009-01-15 | 한국산업기술대학교산학협력단 | Cleaning robot of building outside wall |
| CN101787986B (en) * | 2010-01-28 | 2011-08-03 | 北京理工大学 | Positioning structure of negative-pressure adsorption-type wall-surface mobile robot centrifugal impeller |
| CN201641889U (en) * | 2010-04-16 | 2010-11-24 | 东南大学 | Wall cleaning robot |
| TWI434738B (en) * | 2011-08-09 | 2014-04-21 | Chi Mou Chao | Cleaner and path controlling method thereof |
| CN202665434U (en) * | 2012-06-28 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Glass-wiping robot |
| CN202751321U (en) * | 2012-08-08 | 2013-02-27 | 科沃斯机器人科技(苏州)有限公司 | Self-moving robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203122277U (en) * | 2013-02-28 | 2013-08-14 | 科沃斯机器人科技(苏州)有限公司 | Glass-cleaning robot |
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| CN104013352A (en) | 2014-09-03 |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| CB02 | Change of applicant information |
Address after: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant after: ECOVACS ROBOTICS Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS (SUZHOU) Co.,Ltd. |
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| COR | Change of bibliographic data | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160530 Address after: Wuzhong District Wuzhong Economic Development Zone Suzhou city Jiangsu province 215104 the River Street Youxiang Road No. 18 building 7 Applicant after: ECOVACS HOME ROBOT (SUZHOU) Co.,Ltd. Address before: 215168 Wuzhong District, Jiangsu, Stone Lake Road West, No. 108 Applicant before: ECOVACS ROBOTICS Co.,Ltd. |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 215104 No. 18 Youxiang Road, Yuexi Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province Patentee after: Ecovacs Robotics Co.,Ltd. Address before: 215104 No. 18 Youxiang Road, Yuexi Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province Patentee before: ECOVACS HOME ROBOT (SUZHOU) Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |