CN105167708A - Intelligent double-side glass wiping robot - Google Patents

Intelligent double-side glass wiping robot Download PDF

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Publication number
CN105167708A
CN105167708A CN201510613236.7A CN201510613236A CN105167708A CN 105167708 A CN105167708 A CN 105167708A CN 201510613236 A CN201510613236 A CN 201510613236A CN 105167708 A CN105167708 A CN 105167708A
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CN
China
Prior art keywords
active
servo
actuated
placement rack
chassis
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Granted
Application number
CN201510613236.7A
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Chinese (zh)
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CN105167708B (en
Inventor
李辉
张建华
曹剑锋
张明路
张小俊
郝建龙
徐良君
张庆华
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Luoyang Shengrui Intelligent Robot Co Ltd
Hebei University of Technology
Original Assignee
Luoyang Shengrui Intelligent Robot Co Ltd
Hebei University of Technology
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Application filed by Luoyang Shengrui Intelligent Robot Co Ltd, Hebei University of Technology filed Critical Luoyang Shengrui Intelligent Robot Co Ltd
Priority to CN201510613236.7A priority Critical patent/CN105167708B/en
Publication of CN105167708A publication Critical patent/CN105167708A/en
Application granted granted Critical
Publication of CN105167708B publication Critical patent/CN105167708B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses an intelligent double-side glass wiping robot. The robot comprises a driving machine, a follow-up machine and a control device. The driving machine comprises a driving machine body, an active walking device and an active attraction device, the active walking device and the active attraction device are located in the driving machine body, the active attraction device is connected with a lifting device and ascends or descends through the lifting device, and a wiping piece is arranged on the bottom surface of the driving machine body. The follow-up machine comprises a follow-up machine body, a follow-up walking device and a follow-up attraction device, the follow-up walking device and the follow-up attraction device are located in the follow-up machine body, the follow-up attraction device and the active attraction device attract each other, and a wiping piece is arranged on the bottom surface of the follow-up machine body. The control device is connected to the active walking device and controls the active walking device to walk. By arranging the driving machine, the follow-up machine and the corresponding attraction devices, the robot can attract glass and wipe double sides of the glass; by arranging the lifting device in the driving machine body, attraction force between the active attraction device and the follow-up attraction device can be adjusted, and then the robot can attract glass of different thicknesses. The robot has the advantages of being simple in structure and low in cost.

Description

Intelligent double-sided glass-cleaning robot
Technical field
The present invention relates to one to clean the windows equipment, particularly relate to a kind of intelligent double-sided glass-cleaning robot.
Background technology
Along with the development of urban modernization, increasing local-style dwelling houses skyscraper stands erect in each big city, adds the air pollution problems inherent such as present stage haze, allows glass window be more prone to dirty, and the more difficult cleaning of dirt, make the cleaning of glass window heavier.Present stage for the mode of the clean employing manual cleaning of glass window, but manual cleaning mode not only the amount of labour is large, efficiency is low, somewhat expensive, and cleaning efficiency is low, operation is very dangerous.
Also have some to be cleaned by glass-cleaning robot, it has higher automaticity, but it mostly can only the one side of cleaning glass window, wiping cannot be carried out to glass two sides simultaneously, and high cost, expensive, cannot be promoted the use of on a large scale.
Summary of the invention
The object of the present invention is to provide a kind of intelligent double-sided glass-cleaning robot, the wiping while of can being adsorbed on glass and carrying out double-sided glass, structure is simple, and cost is low.
For reaching this object, the present invention by the following technical solutions: a kind of intelligent double-sided glass-cleaning robot, comprising:
Driving machine, comprises driving body, and be positioned at the active running gear and active adsorbent equipment that drive body, described active adsorbent equipment is connected with lowering or hoisting gear and is elevated by described lowering or hoisting gear, and described driving body bottom surface is provided with polishing piece;
Follower, comprises servo-actuated body, is positioned at the following walking device of servo-actuated body and servo-actuated adsorbent equipment, and described servo-actuated adsorbent equipment and described active adsorbent equipment adsorb mutually, and described servo-actuated body bottom surface is provided with polishing piece;
Control device, is connected to described active running gear, controls the walking of described active running gear.
As preferably, described active adsorbent equipment comprises initiatively magnet placement rack and is embedded in the active magnet of initiatively magnet placement rack, and described active magnet placement rack middle part offers through screwed hole.
As preferably, described lowering or hoisting gear comprises support body, threaded rod and knob, and described support body comprises the transverse slat being fixed in and driving the riser on body chassis and be fixed on riser, and initiatively magnet placement rack to be placed in support body and to be elevated along riser height direction; Described transverse slat middle part is provided with bearing, threaded rod is threaded through the screwed hole of bearing with active magnet placement rack, described knob be positioned at drive body top cover on and affixed with threaded rod one end, rotate knob, the active magnet placement rack be threaded with threaded rod is elevated along riser.
As preferably, described active running gear comprises the motor cabinet being installed in and driving both sides, body chassis, be positioned at the drive motors on motor cabinet, and be installed in the adhesion wheel of drive motors output, described adhesion wheel partially passes through the chassis driving body, and described drive motors is connected to control device and controls running by described control device.
As preferably, described following walking device comprises symmetry and is installed in holder on servo-actuated body chassis, described holder is provided with connecting axle, and described connecting axle is arranged with servo-actuated wheel, and described servo-actuated wheel rotates around connecting axle and partially passes through the chassis of servo-actuated body.
As preferably, described servo-actuated adsorbent equipment comprise be installed on servo-actuated body chassis with moving magnet placement rack and be arranged on in moving magnet placement rack with moving magnet, described relative with initiatively magnet placement rack and establish with moving magnet placement rack, make mutually to adsorb with moving magnet and active magnet.
As preferably, described driving body and servo-actuated body every two sidewalls crossing the formed seamed edge adjacent with chassis are provided with directive wheel.
As preferably, four corners on the chassis of described driving body and the chassis of servo-actuated body are evenly equipped with the small-sized magnet of absorption mutually.
As preferably, described active magnet placement rack is I-shaped structure, and initiatively magnet is installed at its two ends, and middle part is connected with cylindrical piece, and described screwed hole is opened in the middle part of cylindrical piece.
As preferably, the both sides of described active magnet placement rack are also provided with limiting plate.
Beneficial effect of the present invention: by arranging driving machine and follower and respective adsorbent equipment, the absorption to glass and two-sided wiping can be realized, and lowering or hoisting gear is set in driving machine, the absorption affinity initiatively between adsorbent equipment and servo-actuated adsorbent equipment can be regulated, for the absorption of the glass of different-thickness, there is structure simple, the advantage that cost is low.
Accompanying drawing explanation
Fig. 1 is the top view of driving machine of the present invention;
Fig. 2 is that the A-A of Fig. 1 of the present invention is to sectional view;
Fig. 3 is the internal structure schematic diagram of driving machine of the present invention;
Fig. 4 is the top view of follower of the present invention;
Fig. 5 is that the B-B of Fig. 4 of the present invention is to sectional view;
Fig. 6 is the internal structure schematic diagram of the servo-actuated motivation of the present invention;
Fig. 7 is the structural representation of the active adsorbent equipment of driving machine of the present invention;
Fig. 8 is the structural representation of the lowering or hoisting gear of driving machine of the present invention;
In figure:
1, body is driven; 2, servo-actuated body; 3, directive wheel; 31, motor cabinet; 32, drive motors; 33, adhesion wheel; 41, active magnet placement rack; 42, active magnet; 43, cylindrical piece; 44, limiting plate; 51, support body; 52, threaded rod; 53, knob; 54, bearing; 61, holder; 62, servo-actuated wheel; 63, connecting axle; 71, with moving magnet placement rack; 72, with moving magnet; 511, riser; 512, transverse slat.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
The invention provides a kind of intelligent double-sided glass-cleaning robot, for the wiping to glass window, and achieve wiping while of glass two-sided, there is wiping efficiency high, the feature that the simple cost of structure is low, concrete, intelligent double-sided glass-cleaning robot of the present invention includes driving machine and follower, in use, driving machine and follower are placed on the two sides of glass respectively, realize the wiping to glass two sides.
With reference to Fig. 1-3, the driving machine of the present embodiment comprises driving body 1, is provided with polishing piece, for the wiping to glass driving the bottom surface of body 1; Be provided with initiatively running gear and initiatively adsorbent equipment in driving body 1 inside, wherein initiatively adsorbent equipment is connected with lowering or hoisting gear, and this lowering or hoisting gear can drive initiatively adsorbent equipment to be elevated; Initiatively running gear is for the walking of whole driving machine on glass, with the wiping of complete pair glass diverse location.
With reference to Fig. 2-6, the follower of the present embodiment comprises servo-actuated body 2, is provided with polishing piece equally in the bottom surface of servo-actuated body 2; In servo-actuated body 2, be provided with following walking device and servo-actuated adsorbent equipment, wherein the active adsorbent equipment of servo-actuated adsorbent equipment and driving machine adsorbs mutually, and follower all can be adsorbed on glass with driving machine under the effect of absorption affinity; Following walking device is then for the walking of follower, concrete, and when active running gear is walked, following walking device is by the mutual absorption of servo-actuated adsorbent equipment with active adsorbent equipment, quilt active running gear drive walking.
Control device, is connected to initiatively running gear, controls the walking of initiatively running gear, specifically realize the control (be prior art, repeated no more) to active running gear by remote control technology.
In the present embodiment, with reference to Fig. 2, Fig. 3 and Fig. 7, initiatively adsorbent equipment comprises active magnet placement rack 41 and is embedded in the active magnet 42 of initiatively magnet placement rack 41, wherein initiatively magnet placement rack 41 is arranged on the chassis of driving body 1, offers through screwed hole in the middle part of active magnet placement rack 41.Concrete, initiatively magnet placement rack 41 is in I-shaped structure, its two ends are provided with groove, initiatively magnet 42 is arranged in this groove, be connected with cylindrical piece 43 in the middle part of active magnet placement rack 41, above-mentioned screwed hole is opened in the middle part of cylindrical piece 43 and runs through whole active magnet placement rack 41.
With reference to Fig. 2, Fig. 3 and Fig. 8, lowering or hoisting gear includes support body 51, threaded rod 52 and knob 53, wherein initiatively magnet placement rack 41 is placed in support body 51 inside, support body 51 comprises the transverse slat 512 being fixed in and driving the riser 511 on body 1 chassis and be fixed on riser 511, concrete riser 511 is set to four, and make for angle bar material, initiatively the corner of magnet placement rack 41 is just positioned at the right angle of riser 511, and transverse slat 512 is welded on the top of riser 511; Transverse slat 512 middle part has hole, bearing 54 is installed in this hole, threaded rod 52 is threaded through the screwed hole of bearing 54 with active magnet placement rack 41, knob 53 is fixedly connected with one end of threaded rod 52, and knob 53 is positioned on the top cover of driving body 1, particularly some is located on top cover.When needing the height of adjustment active magnet placement rack 41, rotate knob 53, threaded rod 52 can rotate with knob 53, the active magnet placement rack 41 be now threaded with threaded rod 52 can not be able to rotate due to the spacing of riser 511, and be fixed on support body 51 by bearing 54 due to threaded rod 52, make initiatively to produce relative movement between magnet placement rack 41 and threaded rod 52, namely initiatively magnet placement rack 41 can only threadingly move up and down by bar 52, and can be elevated under the right angle of riser 511 guiding.And then enable glass-cleaning robot adapt to the glass of different-thickness, effectively can solve robot and cannot be able to move or the too small problem swung back and forth of suction because of suction is excessive in the process of walking.
The present embodiment is in order to better realize the guiding to active magnet placement rack 41, and the both sides of installing initiatively magnet 42 at active magnet placement rack 41 arrange limiting plate 44, and as shown in Figure 3, this limiting plate 44 is installed on the chassis of driving body 1.
With reference to Fig. 3, the active running gear of the present embodiment comprises the motor cabinet 31 being installed in and driving both sides, body 1 chassis, motor cabinet 31 is placed with drive motors 32, the output of drive motors 32 is connected with adhesion wheel 33, drive motors 32 is connected to control device and controls running by control device, namely control drive motors 32 by control device to rotate, drive motors 32 drives adhesion wheel 33 to rotate, and then driving machine can be walked on glass.In the present embodiment, adhesion wheel 33 partially passes through the chassis driving body 1, concrete, is to offer hole on the chassis driving body 1, and adhesion wheel 33 is placed on glass through hole.It should be noted that, adhesion wheel 33 can not be too high through the height on driving body 1 chassis, it needs to ensure that the polishing piece be arranged on undersurface of bottom disc can wipe glass, the concrete height of polishing piece can being set to exceeds adhesion wheel 33 part a little, when driving machine and follower are adsorbed on glass, can ensure that polishing piece wipes glass.The present embodiment is walked by the mode of adhesion wheel 33, has structure simple, the advantage that the flexibility of straight line moving and turning is high.
In the present embodiment, above-mentioned motor cabinet 31, drive motors 32 and adhesion wheel 33 can be set to many groups and the paired both sides being arranged on chassis, namely often group has included motor cabinet 31, drive motors 32 and adhesion wheel 33, the unsynchronized revolution and each drive motors 32 operates all alone, driving machine is made to have turning function, particularly different by the rotating speed of the drive motors 32 of both sides, realize the differential of both sides drive motors 32, make driving machine complete the function of turning.In the present embodiment, motor cabinet 31, drive motors 32 and adhesion wheel 33 can be set to two groups.Two drive motors 32 that simultaneously can also control often pair rotates forward simultaneously and or reversion, also can a rotating forward reversion, can also rotate with different speed, thus ensure that driving machine has multiple walking posture on the glass surface, complete scouring task smoothly.
With reference to Fig. 5 and Fig. 6, the following walking device of this follower comprises symmetry and is installed in holder 61 on servo-actuated body 2 chassis, and holder 61 is provided with connecting axle 63, connecting axle 63 is arranged with servo-actuated wheel 62, servo-actuated wheel 62 can rotate around connecting axle 63.Servo-actuated wheel 62 partially passes through the chassis of servo-actuated body 2, specifically as shown in Figure 6, offer hole on servo-actuated body 2 chassis, holder 61 is equipped with in the both sides in hole, connecting axle 63 two ends are fixed on holder 61, servo-actuated wheel 62 to be set on connecting axle 63 and to partially pass through hole, can be placed on glass, glass is walked.Same, servo-actuated wheel 62 can not be too high through the height on servo-actuated body 2 chassis, and it needs to ensure that the polishing piece be arranged on undersurface of bottom disc can wipe glass.
As shown in Figure 5 and Figure 6, the servo-actuated adsorbent equipment of follower comprise be installed on servo-actuated body 2 chassis with moving magnet placement rack 71 and be arranged on in moving magnet placement rack 71 with moving magnet 72, be somebody's turn to do relative with active magnet placement rack 41 with moving magnet placement rack 71 and establish, namely both are relative in the position of driving body 1 and servo-actuated body 2, and then can ensure mutually to adsorb with moving magnet 72 and active magnet 42.
In the present embodiment, body 1 and servo-actuated body 2 is driven to include chassis, top cover, and the sidewall between chassis and top cover.As depicted in figs. 1 and 2, every two sidewalls crossing the formed seamed edge adjacent with driving body 1 chassis is provided with directive wheel 3, can when driving machine walks window corner, contact with window corner, process auxiliary drive machine completes and turns to, and can avoid the friction of glass-cleaning robot body and window jamb.Same, every two sidewalls crossing the formed seamed edge adjacent with servo-actuated body 2 chassis is also provided with directive wheel 3, as shown in Figure 4 and Figure 5.
As preferred technical scheme, small-sized magnet is evenly equipped with driving four corners on the chassis of body 1 and the chassis of servo-actuated body 2, small-sized magnet on two bodies adsorbs mutually, for the auxiliary absorption of driving machine and follower, prevent when regulating initiatively magnet 42 and with absorption affinity between moving magnet 72, the change because of absorption affinity causes dropping of driving machine or follower.
In the present embodiment, the undersurface of bottom disc driving body 1 and servo-actuated body 2 arranges some mounting grooves, for the installation of polishing piece.Polishing piece can select sponge, rubber scraping article or fiber cleaning cloth etc., can select as required and change, such as when glass is too dirty and by thicker spot, the part first can installing the advanced row spot of rubber scraping article is struck off, and carries out wiping more subsequently by fiber cleaning cloth.Also one in front and one in back rubber scraping article and spacing cleaning cloth can be installed, the wiping of complete pair glass simultaneously.
The intelligent double-sided glass-cleaning robot of the present embodiment is when carrying out wiping, first, driving machine drives follower to advance from window side frame and arrives the wiping of rectangular area predeterminated position accomplish linear, carries out rotation afterwards turn round by two drive motors 32 of active running gear in differential mode; Paste with the top margin frame of window after driving machine is turned together and halt, march to rectangular area to opposite direction, so that wiping rectangular area is not by the dead angle clipped; Behind the complete dead angle of driving machine wiping, advance to positive direction in continuation.To be circulated wiping by above-mentioned steps, finally complete the wiping to window-glass.The track route of the glass-cleaning robot of the present embodiment can be first " it " font wiping, then around window jamb wiping in a week.
Obviously, the above embodiment of the present invention is only used to clearly demonstrate example of the present invention, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All any amendments done within the spirit and principles in the present invention, equivalent to replace and improvement etc., within the protection domain that all should be included in the claims in the present invention.

Claims (10)

1. an intelligent double-sided glass-cleaning robot, is characterized in that, comprising:
Driving machine, comprise and drive body (1), be positioned at the active running gear and active adsorbent equipment that drive body (1), described active adsorbent equipment is connected with lowering or hoisting gear and is elevated by described lowering or hoisting gear, and described driving body (1) bottom surface is provided with polishing piece;
Follower, comprise servo-actuated body (2), be positioned at the following walking device of servo-actuated body (2) and servo-actuated adsorbent equipment, described servo-actuated adsorbent equipment and described active adsorbent equipment adsorb mutually, and described servo-actuated body (1) bottom surface is provided with polishing piece;
Control device, is connected to described active running gear, controls the walking of described active running gear.
2. intelligent double-sided glass-cleaning robot according to claim 1, it is characterized in that, described active adsorbent equipment comprises active magnet placement rack (41) and is embedded in the active magnet (42) of initiatively magnet placement rack (41), and described active magnet placement rack (41) middle part offers through screwed hole.
3. intelligent double-sided glass-cleaning robot according to claim 2, it is characterized in that, described lowering or hoisting gear comprises support body (51), threaded rod (52) and knob (53), described support body (51) comprises the transverse slat (512) being fixed in and driving the riser (511) on body (1) chassis and be fixed on riser (511), and initiatively magnet placement rack (41) to be placed in support body (51) and to be elevated along riser height direction (511); Described transverse slat (512) middle part is provided with bearing (54), threaded rod (52) is threaded through the screwed hole of bearing (54) with active magnet placement rack (41), described knob (53) be positioned at drive body (1) top cover on and affixed with threaded rod (52) one end, rotate knob (53), the active magnet placement rack (41) be threaded with threaded rod (52) is elevated along riser (511).
4. intelligent double-sided glass-cleaning robot according to claim 3, it is characterized in that, described active running gear comprises the motor cabinet (31) being installed in and driving body (1) both sides, chassis, be positioned at the drive motors (32) on motor cabinet (31), and be installed in the adhesion wheel (33) of drive motors (32) output, described adhesion wheel (33) partially passes through the chassis driving body (1), and described drive motors (32) is connected to control device and controls running by described control device.
5. according to the arbitrary described intelligent double-sided glass-cleaning robot of claim 2-4, it is characterized in that, described following walking device comprises symmetry and is installed in holder (61) on servo-actuated body (2) chassis, described holder (61) is provided with connecting axle (63), described connecting axle (63) is arranged with servo-actuated wheel (62), described servo-actuated wheel (62) rotates around connecting axle (63) and partially passes through the chassis of servo-actuated body (2).
6. intelligent double-sided glass-cleaning robot according to claim 5, it is characterized in that, described servo-actuated adsorbent equipment (7) comprise be installed on servo-actuated body (2) chassis with moving magnet placement rack (71) and be arranged on in moving magnet placement rack (71) with moving magnet (72), described relative with initiatively magnet placement rack (41) and establish with moving magnet placement rack (71), make mutually to adsorb with moving magnet (72) and active magnet (42).
7. intelligent double-sided glass-cleaning robot according to claim 6, it is characterized in that, described driving body (1) and servo-actuated body (2) every two sidewalls crossing the formed seamed edge adjacent with chassis are provided with directive wheel (3).
8. intelligent double-sided glass-cleaning robot according to claim 7, is characterized in that, four corners on the chassis of described driving body (1) and the chassis of servo-actuated body (2) are evenly equipped with the small-sized magnet of absorption mutually.
9. the intelligent double-sided glass-cleaning robot according to Claims 2 or 3, it is characterized in that, described active magnet placement rack (41) is in I-shaped structure, initiatively magnet (42) is installed at its two ends, middle part is connected with cylindrical piece (43), and described screwed hole is opened in the middle part of cylindrical piece (43).
10. intelligent double-sided glass-cleaning robot according to claim 9, is characterized in that, the both sides of described active magnet placement rack (41) are also provided with limiting plate (44).
CN201510613236.7A 2015-09-22 2015-09-22 Intelligent double-sided glass-cleaning robot Expired - Fee Related CN105167708B (en)

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CN105167708B CN105167708B (en) 2018-05-15

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Cited By (4)

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Publication number Priority date Publication date Assignee Title
CN106859474A (en) * 2017-04-20 2017-06-20 洛阳圣瑞智能机器人有限公司 A kind of intelligent glass-cleaning robot active surface of magnetic suck
CN108356666A (en) * 2018-03-20 2018-08-03 张鑫祥 A kind of new micro vehicle glass cleaning robot device
CN109008775A (en) * 2018-09-05 2018-12-18 东阳市天杨建筑工程设计有限公司 Skyscraper device for cleaning glass
CN112998571A (en) * 2021-02-26 2021-06-22 淮南师范学院 Intelligent glass wiping robot

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CN109008775A (en) * 2018-09-05 2018-12-18 东阳市天杨建筑工程设计有限公司 Skyscraper device for cleaning glass
CN112998571A (en) * 2021-02-26 2021-06-22 淮南师范学院 Intelligent glass wiping robot

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