CN104146652A - Robot for wiping surfaces of window glass - Google Patents
Robot for wiping surfaces of window glass Download PDFInfo
- Publication number
- CN104146652A CN104146652A CN201410274136.1A CN201410274136A CN104146652A CN 104146652 A CN104146652 A CN 104146652A CN 201410274136 A CN201410274136 A CN 201410274136A CN 104146652 A CN104146652 A CN 104146652A
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- mechanical arm
- connecting portion
- wiping
- column spinner
- robot
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Abstract
The invention discloses a robot for wiping the surfaces of window glass. The robot comprises a base, wherein a controller, a first motor, a water tank and a water pump are arranged in the base. A lifting lead screw is arranged on a rotating column, one end of the lifting lead screw is fixedly connected with a connecting portion, a pressure pump and a second motor are arranged in the connecting portion, a camera and a transverse rotating shaft are arranged on the connecting portion, and a first mechanical arm is movably connected onto the transverse rotating shaft. A pressure rod is fixedly connected between the outer wall of the first mechanical arm and the side wall of the connecting portion, and a third motor and a longitudinal rotating shaft are arranged on the first mechanical arm. A second mechanical arm is movably connected onto the longitudinal rotating shaft, a water spraying nozzle is formed in the second mechanical arm, a miniature camera is fixedly connected to the position close to a wiping block, of the second mechanical arm in a detachable mode, a counter weight platform is arranged on the side wall away from a deviation position of the rotating column, of the base, and walking devices are arranged on two sides of the base. After the structure is adopted, the robot can wipe two surfaces of the window glass simultaneously, and the working efficiency is improved.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of robot for wiping window-glass surface.
Background technology
Robot a kind ofly can repeatedly programme or have several functions, is used for the manipulator of materials hauling, part instrument, or has that can adapt and specialized system action able to programme in order to carry out different tasks.Robot has operation and the locomotive function of automatic control, is therefore usually used in dangerous work field or replaces manpower to increase work efficiency in some field.Daily life often need to be carried out wiping to the surface of object and for example car surface be carried out to wiping with the light that ensures body surface, computer screen is carried out to wiping, glass surface is carried out to wiping etc., and family often can clear away, when cleaning, need to wipe window, therefore need cleaning glass window surface, and in prior art wiping window towards indoor one side comparatively easily but wiping window is cumbersome towards outdoor one side, although had and a kind ofly can be adsorbed on the robot of advancing and carrying out wiping on glass, but the speed of travel is slower, need to be adsorbed on glass always and once can only carry out wiping to the one side of window, energy resource consumption is large, efficiency is low.
Summary of the invention
The problem window wiping robot of the prior art that the object of the invention is to solve can only carry out wiping to the one side of window again and again.
The technical solution used in the present invention is: for the robot on wiping window-glass surface, comprise base, in described base, be provided with controller, the first motor, water tank and water pump, water pump is connected with water tank by pipeline, on described base, be connected with the column spinner that is offset to base one side, described column spinner inner hollow and inwall are provided with screw thread, column spinner is provided with elevating screw, the external diameter of elevating screw and the internal diameter of column spinner is suitable and one end of lifting column is connected with the feed screw nut suitable with column spinner internal whorl, described elevating screw is connected with connecting portion away from one end of feed screw nut, in connecting portion, be provided with compression pump and the second motor, connecting portion roof is near the detachable camera that is fixed with of length direction centerline of roof, the two ends of connecting portion are provided with lateral rotation axle, on each lateral rotation axle, be all connected with the first mechanical arm, between the first mechanical arm outer wall and the sidewall of connecting portion, be connected with press rods, described press rods is connected with the compression pump in connecting portion by pipeline, in the first mechanical arm, be provided with the 3rd motor, on each the first mechanical arm, be equipped with longitudinal turning cylinder, on each longitudinal turning cylinder, be all connected with the second mechanical arm, the second mechanical arm away from longitudinal turning cylinder be provided with water jet and with the detachable wiping block being connected of the second mechanical arm, water jet is communicated with cistern tube by pipeline, described the second mechanical arm is near the detachable minisize pick-up head that is fixed with in wiping block place, described base is provided with counterweight platform away from the sidewall of column spinner offset position, described base both sides are provided with running gear, running gear be universal wheel or Athey wheel.
As a further improvement on the present invention, described connecting portion is fixed with clamping block on the sidewall of the second mechanical arm, and clamping block sidewall is provided with track, and on clamping block, being connected with can be along the claw of rail moving.
As a further improvement on the present invention, described base is provided with the groove suitable with column spinner, connecting portion, the first mechanical arm, the second mechanical arm, clamping block, claw, and when elevating screw is declined, above-mentioned parts are positioned at groove.
The beneficial effect that the present invention adopts is: the present invention has adopted after this structure, when wiping window, can better be fixed on window, and can carry out the two sides wiping of window-glass simultaneously, has improved operating efficiency.
Brief description of the drawings
Fig. 1 is schematic diagram of the present invention.
Shown in figure: 1 base, 2 column spinners, 3 elevating screws, 4 connecting portions, 5 cameras, 6 lateral rotation axles, 7 first mechanical arms, 8 press rods, 9 longitudinal turning cylinders, 10 second mechanical arms, 11 water jets, 12 wiping blocks, 13 minisize pick-up heads, 14 clamping blocks, 15 claws, 16 counterweight platforms, 17 running gears.
Detailed description of the invention
Below in conjunction with Fig. 1, the present invention is described further.
As shown in Figure 1, the general embodiment of the present invention: for the robot on wiping window-glass surface, comprise base 1, in described base, be provided with controller, the first motor, water tank and water pump, water pump is connected with water tank by pipeline, on described base, be connected with the column spinner 2 that is offset to base one side, described column spinner 2 inner hollow and inwall are provided with screw thread, column spinner is provided with elevating screw 3, internal diameter one end suitable and lifting column of the external diameter of elevating screw 3 and column spinner 2 is connected with the feed screw nut suitable with column spinner internal whorl, described elevating screw 3 is connected with connecting portion 4 away from one end of feed screw nut, in connecting portion 4, be provided with compression pump and the second motor, connecting portion roof is near the detachable camera 5 that is fixed with of length direction centerline of roof, the two ends of connecting portion are provided with lateral rotation axle 6, on each lateral rotation axle, be all connected with the first mechanical arm 7, between the first mechanical arm 7 outer walls and the sidewall of connecting portion 4, be connected with press rods 8, described press rods 8 is connected with the compression pump in connecting portion by pipeline, in the first mechanical arm 7, be provided with the 3rd motor, on each the first mechanical arm, be equipped with longitudinal turning cylinder 9, on each longitudinal turning cylinder 9, be all connected with the second mechanical arm 10, the second mechanical arm 10 away from longitudinal turning cylinder be provided with water jet 11 and with the detachable wiping block being connected 12 of the second mechanical arm, water jet is communicated with cistern tube by pipeline, described the second mechanical arm is near the detachable minisize pick-up head 13 that is fixed with in wiping block place, described base is provided with counterweight platform 16 away from the sidewall of column spinner offset position, described base both sides are provided with running gear 17, running gear be universal wheel or Athey wheel.
As shown in Figure 1, preference of the present invention: for the robot on wiping window-glass surface, comprise base 1, in described base, be provided with controller, the first motor, water tank and water pump, water pump is connected with water tank by pipeline, on described base, be connected with the column spinner 2 that is offset to base one side, described column spinner 2 inner hollow and inwall are provided with screw thread, column spinner is provided with elevating screw 3, internal diameter one end suitable and lifting column of the external diameter of elevating screw 3 and column spinner 2 is connected with the feed screw nut suitable with column spinner internal whorl, described elevating screw 3 is connected with connecting portion 4 away from one end of feed screw nut, in connecting portion 4, be provided with compression pump and the second motor, connecting portion roof is near the detachable camera 5 that is fixed with of length direction centerline of roof, the two ends of connecting portion are provided with lateral rotation axle 6, on each lateral rotation axle, be all connected with the first mechanical arm 7, between the first mechanical arm 7 outer walls and the sidewall of connecting portion 4, be connected with press rods 8, described press rods 8 is connected with the compression pump in connecting portion by pipeline, in the first mechanical arm 7, be provided with the 3rd motor, on each the first mechanical arm, be equipped with longitudinal turning cylinder 9, on each longitudinal turning cylinder 9, be all connected with the second mechanical arm 10, the second mechanical arm 10 away from longitudinal turning cylinder be provided with water jet 11 and with the detachable wiping block being connected 12 of the second mechanical arm, water jet is communicated with cistern tube by pipeline, described the second mechanical arm is near the detachable minisize pick-up head 13 that is fixed with in wiping block place, described base is provided with counterweight platform 16 away from the sidewall of column spinner offset position, described base both sides are provided with running gear 17, running gear be universal wheel or Athey wheel, described connecting portion is fixed with clamping block 14 on the sidewall of the second mechanical arm, clamping block sidewall is provided with track, on clamping block, being connected with can be along the claw of rail moving 15, described base is provided with and column spinner, connecting portion, the first mechanical arm, the second mechanical arm, clamping block, the groove that claw is suitable, when elevating screw is declined, above-mentioned parts are positioned at groove.
In the present invention, the first motor both can rotate by driven rotary post 2, also can drive feed screw nut to control the lifting of elevating screw 3, the spacing (not having clamping block 14 and claw 15 can be used for driving the lifting of elevating screw) that 2 claws on the second Electric Machine Control clamping piece 14 are 15, swinging up and down of the 3rd Electric Machine Control the second mechanical arm 10, compression pump in connecting portion 4 drives press rods 8 and then controls the first mechanical arm 7 and swings, camera, minisize pick-up head is for judging the position of robot, controller and the first motor, the second motor, the 3rd motor, water pump, compression pump, camera, minisize pick-up head, running gear signal connects, to control the motion of all parts, both can adopt manual remote control to control also and can control by programming, for example running gear adopts manual remote control, other members are by programme-control, by camera, minisize pick-up head judges the position of robot and the position of the second mechanical arm, simultaneously thereby the position minisize pick-up head of the second mechanical arm also can be used for photometry and determine whether to continue wiping with the bright degree on judgment object surface.Control the first mechanical arm 7 and swing to control the distance of 7 of 2 the first mechanical arms before wiping according to the size of window, according to the height control of window according to the lifting of elevating screw 3, in the time carrying out wiping operation, (wiping block can be rag or sponge etc. to wiping block 12 with window-glass Surface Contact, can on two the second mechanical arms 10, different wiping blocks be set), water in water tank sprays from water jet, thereby swinging up and down of the 3rd Electric Machine Control the second mechanical arm 10 realizes glass surface wiping, because column spinner 2 is offset to base one side, so base is provided with counterweight platform 16 away from the sidewall of column spinner offset position, when use, weight can be placed on counterweight platform 16 for preventing from toppling over.The present invention can carry out wiping to two planes simultaneously, also can realize plane of 2 the second mechanical arm wipings simultaneously by adjusting the position of elevating screw, the first mechanical arm, the second mechanical arm.Preference of the present invention is to further improvement of the present invention, the convenient wiping to window-glass surface after employing preference, when use, make it possible to be fixed on easily the wiping of carrying out to glass surface on window sidewall according to the spacing of 15 of 2 claws of THICKNESS CONTROL of window, described base is provided with the groove suitable with column spinner, connecting portion, the first mechanical arm, the second mechanical arm, clamping block, claw, when elevating screw is declined, above-mentioned parts are positioned at groove, thus the small volume that robot is taken in the time not using.The present invention not only can carry out wiping to window-glass surface, can also utilize method of the present invention to carry out wiping to other object planes.
Those skilled in the art should know; protection scheme of the present invention is not limited only to the above embodiments; can also on the basis of above-described embodiment, carry out various permutation and combination and conversion; under the prerequisite without prejudice to spirit of the present invention, the various conversion that the present invention is carried out all drop in protection scope of the present invention.
Claims (3)
1. for the robot on wiping window-glass surface, comprise base (1), it is characterized in that being provided with controller in described base, the first motor, water tank and water pump, water pump is connected with water tank by pipeline, on described base, be connected with the column spinner (2) that is offset to base one side, described column spinner (2) inner hollow and inwall are provided with screw thread, column spinner is provided with elevating screw (3), internal diameter one end suitable and lifting column of the external diameter of elevating screw (3) and column spinner (2) is connected with the feed screw nut suitable with column spinner internal whorl, described elevating screw (3) is connected with connecting portion (4) away from one end of feed screw nut, in connecting portion (4), be provided with compression pump and the second motor, connecting portion roof is near the detachable camera (5) that is fixed with of length direction centerline of roof, the two ends of connecting portion are provided with lateral rotation axle (6), on each lateral rotation axle, be all connected with the first mechanical arm (7), between the sidewall of the first mechanical arm (7) outer wall and connecting portion (4), be connected with press rods (8), described press rods (8) is connected with the compression pump in connecting portion by pipeline, in the first mechanical arm (7), be provided with the 3rd motor, on each the first mechanical arm, be equipped with longitudinal turning cylinder (9), on each longitudinal turning cylinder (9), be all connected with the second mechanical arm (10), the second mechanical arm (10) away from longitudinal turning cylinder be provided with water jet (11) and with the detachable wiping block being connected of the second mechanical arm (12), water jet is communicated with cistern tube by pipeline, described the second mechanical arm is near the detachable minisize pick-up head (13) that is fixed with in wiping block place, described base is provided with counterweight platform (16) away from the sidewall of column spinner offset position, described base both sides are provided with running gear (17), running gear be universal wheel or Athey wheel.
2. the robot for wiping window-glass surface according to claim 1, it is characterized in that described connecting portion is fixed with clamping block (14) on the sidewall of the second mechanical arm, clamping block sidewall is provided with track, and on clamping block, being connected with can be along the claw of rail moving (15).
3. the robot for wiping window-glass surface according to claim 2, it is characterized in that described base is provided with the groove suitable with column spinner, connecting portion, the first mechanical arm, the second mechanical arm, clamping block, claw, when elevating screw is declined, above-mentioned parts are positioned at groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410274136.1A CN104146652A (en) | 2014-06-19 | 2014-06-19 | Robot for wiping surfaces of window glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410274136.1A CN104146652A (en) | 2014-06-19 | 2014-06-19 | Robot for wiping surfaces of window glass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104146652A true CN104146652A (en) | 2014-11-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410274136.1A Pending CN104146652A (en) | 2014-06-19 | 2014-06-19 | Robot for wiping surfaces of window glass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104146652A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105147188A (en) * | 2015-08-28 | 2015-12-16 | 广西大学 | Adjustable wiping device |
| CN105167701A (en) * | 2015-08-28 | 2015-12-23 | 广西大学 | Portable and multi-freedom-degree glass wiping device |
| CN106005083A (en) * | 2016-07-11 | 2016-10-12 | 安徽升隆电气有限公司 | Wall climbing robot for glass curtain wall cleaning |
| CN106379288A (en) * | 2016-10-18 | 2017-02-08 | 河池学院 | Automatic car wiping system with robot |
| CN107824492A (en) * | 2017-11-24 | 2018-03-23 | 苏州弘瀚自动化科技有限公司 | A kind of automatic cleaning machine |
| CN108015777A (en) * | 2016-06-28 | 2018-05-11 | 汪红 | A kind of high-altitude hanging full glass curtain wall wipes cleaning intelligence equipment |
| CN108030441A (en) * | 2017-11-07 | 2018-05-15 | 上海曼斐电器贸易有限公司 | A kind of interior sliding door double-face cleaning device |
| CN109250148A (en) * | 2018-08-14 | 2019-01-22 | 安徽信息工程学院 | Using omnidirectional's aircraft floor workbench of Mecanum wheel |
| CN109412933A (en) * | 2018-09-29 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of robot and its information interacting method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB149750A (en) * | 1919-05-15 | 1920-08-16 | James Edwin Gee | Improvements in or relating to window-cleaning devices |
| CN2057842U (en) * | 1989-01-24 | 1990-06-06 | 沈阳冶金机械专科学校 | Portable glass wiper |
| CN2131439Y (en) * | 1992-04-05 | 1993-05-05 | 齐梓凡 | Double-side cleaning glass device |
| KR200305524Y1 (en) * | 2002-10-22 | 2003-03-03 | 주식회사 지.에스.피 | Clean apparatus for both faces of a window |
| CN201303911Y (en) * | 2008-11-14 | 2009-09-09 | 郑达 | Home-use high altitude window cleaner |
| CN102133067A (en) * | 2011-03-17 | 2011-07-27 | 任涛 | Window cleaning robot |
| CN203369855U (en) * | 2013-06-27 | 2014-01-01 | 中国人民解放军国防科学技术大学 | Robot capable of crossing over barrier to clean two faces of glass |
| CN203524574U (en) * | 2013-11-10 | 2014-04-09 | 黄雪梅 | Double-faced glass wiper with spanning device |
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2014
- 2014-06-19 CN CN201410274136.1A patent/CN104146652A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB149750A (en) * | 1919-05-15 | 1920-08-16 | James Edwin Gee | Improvements in or relating to window-cleaning devices |
| CN2057842U (en) * | 1989-01-24 | 1990-06-06 | 沈阳冶金机械专科学校 | Portable glass wiper |
| CN2131439Y (en) * | 1992-04-05 | 1993-05-05 | 齐梓凡 | Double-side cleaning glass device |
| KR200305524Y1 (en) * | 2002-10-22 | 2003-03-03 | 주식회사 지.에스.피 | Clean apparatus for both faces of a window |
| CN201303911Y (en) * | 2008-11-14 | 2009-09-09 | 郑达 | Home-use high altitude window cleaner |
| CN102133067A (en) * | 2011-03-17 | 2011-07-27 | 任涛 | Window cleaning robot |
| CN203369855U (en) * | 2013-06-27 | 2014-01-01 | 中国人民解放军国防科学技术大学 | Robot capable of crossing over barrier to clean two faces of glass |
| CN203524574U (en) * | 2013-11-10 | 2014-04-09 | 黄雪梅 | Double-faced glass wiper with spanning device |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105147188A (en) * | 2015-08-28 | 2015-12-16 | 广西大学 | Adjustable wiping device |
| CN105167701A (en) * | 2015-08-28 | 2015-12-23 | 广西大学 | Portable and multi-freedom-degree glass wiping device |
| CN105167701B (en) * | 2015-08-28 | 2017-06-13 | 广西大学 | A kind of portable multiple freedom glass wiping device |
| CN108015777A (en) * | 2016-06-28 | 2018-05-11 | 汪红 | A kind of high-altitude hanging full glass curtain wall wipes cleaning intelligence equipment |
| CN106005083A (en) * | 2016-07-11 | 2016-10-12 | 安徽升隆电气有限公司 | Wall climbing robot for glass curtain wall cleaning |
| CN106379288A (en) * | 2016-10-18 | 2017-02-08 | 河池学院 | Automatic car wiping system with robot |
| CN108030441A (en) * | 2017-11-07 | 2018-05-15 | 上海曼斐电器贸易有限公司 | A kind of interior sliding door double-face cleaning device |
| CN107824492A (en) * | 2017-11-24 | 2018-03-23 | 苏州弘瀚自动化科技有限公司 | A kind of automatic cleaning machine |
| CN109250148A (en) * | 2018-08-14 | 2019-01-22 | 安徽信息工程学院 | Using omnidirectional's aircraft floor workbench of Mecanum wheel |
| CN109412933A (en) * | 2018-09-29 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of robot and its information interacting method |
| CN109412933B (en) * | 2018-09-29 | 2021-04-20 | 苏州博众机器人有限公司 | Robot and information interaction method thereof |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141119 |
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| WD01 | Invention patent application deemed withdrawn after publication |