CN105212823A - A kind ofly follow movable glass clean robot based on negative-pressure adsorption - Google Patents
A kind ofly follow movable glass clean robot based on negative-pressure adsorption Download PDFInfo
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- CN105212823A CN105212823A CN201510696723.4A CN201510696723A CN105212823A CN 105212823 A CN105212823 A CN 105212823A CN 201510696723 A CN201510696723 A CN 201510696723A CN 105212823 A CN105212823 A CN 105212823A
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Abstract
The object of the present invention is to provide and a kind ofly follow movable glass clean robot based on negative-pressure adsorption, comprise the cleaning device being separately positioned on cleaned glass both sides, clean guiding device; Described cleaning device comprises robot supporter, turbofan, clean body prop carrier is all installed in the rear and front end of robot supporter, clean body prop carrier installs clean body, fixed turbine fan on robot supporter upper surface, turbofan installs direct current generator, robot supporter lower surface arranges the negative pressure cavity corresponding with turbofan, Hall element is installed in the left and right sides of robot supporter lower surface; Described clean guiding device comprises guiding clean body carrier, strong magnet fixed head, guides between clean body carrier and strong magnet fixed head and is fixed with strong magnet.The present invention can carry out wiping to two-layer inside and outside glass simultaneously, and operating efficiency is high.
Description
Technical field
What the present invention relates to is a kind of cleaning device, specifically window wiping systems.
Background technology
At present about the research of clean robot, be all be applied to skyscraper body of wall clean robot, the robot being applied to household cleaning glass is less.In daily life, cleaning for household glass, usually by using rag to clean, and for the outer surface of window, usual use rod-pulling type window wiping systems carries out wiping, especially for high-rise buildings, the outer surface using said method to clean glass is more dangerous, and arm is easily tired.
The disclosed a kind of window wiping robot of Chinese patent (CN204071933U), adsorbs on glass based on the attracting principle of magnet.Absorber on this window wiping robot is positioned at body near glass side, and absorber comprises electromagnet, and the opposite side of glass to be cleaned has permanent magnet, and described permanent magnet is placed in corresponding opposite polarity mode with described electromagnet.The locomotory apparatus be made up of multiple crawler belt moves on glass for driving window wiping robot, is adsorbed robot by movable permanent magnet iron, and guides the motion of window wiping robot.In the window wiping robot course of work, permanent magnet can not be removed, and simultaneously can only the side of cleaning glass window, and efficiency is lower.
Summary of the invention
The object of the present invention is to provide and self can be adsorbed on a kind of on glass by negative-pressure adsorption principle and follow movable glass clean robot based on negative-pressure adsorption.
The object of the present invention is achieved like this:
The present invention is a kind of follows movable glass clean robot based on negative-pressure adsorption, it is characterized in that: comprise the cleaning device being separately positioned on cleaned glass both sides, clean guiding device, described cleaning device comprises robot supporter, turbofan, negative pressure cavity, clean body prop carrier is all installed in the rear and front end of robot supporter, clean body prop carrier installs clean body, fixed turbine fan on robot supporter upper surface, turbofan installs direct current generator, robot supporter lower surface arranges the negative pressure cavity corresponding with turbofan, Hall element is installed in the left and right sides of robot supporter lower surface, robot supporter lower surface is also provided with the first-four robot movable pulley, first-four robot movable pulley connects the first-four DC servo motor respectively, described clean guiding device comprises guiding clean body carrier, strong magnet fixed head, guides between clean body carrier and strong magnet fixed head and is fixed with strong magnet.
The present invention can also comprise:
1, guide on clean body carrier and guiding clean body is installed.
Flexible sealing body is installed in the end of 2, negative pressure cavity, and clean body prop carrier is have safety rope.
Advantage of the present invention is:
1, the present invention is the cleaning glass machine people based on negative-pressure adsorption, and when robot is energized, it can self be adsorbed on glass, and clean guide body only plays guiding function to cleaning glass machine people, can not affect the absorption of cleaning glass machine people;
2, the present invention is applicable to the work of high-rise household cleaning glass, and when cleaning glass, can carry out wiping to two-layer inside and outside glass, operating efficiency is high simultaneously;
3, cleaning glass machine people is in cleaning glass window process, and the movement locus of robot is controlled, and clean guiding device can be removed disengaging glass and carry out cleaned and changed to clean body.
Accompanying drawing explanation
Fig. 1 is cleaning glass machine people front axonometric drawing;
Fig. 2 is cleaning glass machine people bottom surface axonometric drawing;
Fig. 3 is clean guiding device front section view;
Fig. 4 is clean guiding device half sectional view;
Fig. 5 is Hall element distribution and Electric Machine Control schematic diagram;
Fig. 6 a is that clean conditions schematic diagram a is followed in the guiding of cleaning glass machine people, and Fig. 6 b is that clean conditions schematic diagram b is followed in the guiding of cleaning glass machine people;
Fig. 7 is that cleaning glass machine people follows process control flow figure.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
Composition graphs 1 ~ 7, as shown in Figure 6: for following movable glass clean robot duty, wherein E is clean guide body, F is glass to be cleaned, G is cleaning glass machine people.In the course of the work, cleaning glass machine people G moves under the guiding function of clean guide body E on glass F, and then cleaning glass.But clean guide body E also can clean glass inner side while glass-guiding clean robot G carries out cleaning glass.
As depicted in figs. 1 and 2, cleaning glass machine people is made up of clean body 1, clean body prop carrier 2, connecting bolt 3, pad 4, spring shim 5, nut 6, robot supporter 7, turbofan 8, direct current generator 9, robot movable pulley 10, DC servo motor A, DC servo motor B, DC servo motor C, DC servo motor D, motor securing member 12, Hall element 13, negative pressure cavity 14, flexible sealing body 15 etc.
As shown in Figure 3 and Figure 4, clean guiding device is by guiding clean body 16, guiding clean body carrier 17, strong magnet fixed head 18, strong magnet 19 etc. to form.Strong magnet 19 is fixed in by strong magnet fixed head 18 and guides between clean body carrier 17 and strong magnet fixed head 18.
For cleaning glass machine human body, the direct current private being provided with robot movable pulley 10 is taken motor A and is fixed by motor securing member 12 pairs of motors, and motor securing member 12 and robot supporter 7 is fixed together by connecting bolt 3 and nut 6.Clean body 1 can be cleaned, and repeatedly uses, and is enclosed within clean body prop carrier 2 in use, and cover has the clean body prop carrier 2 of clean body 1 to be fixed on robot supporter 7 by connecting bolt 3.And the both lateral sides of robot supporter 7 is uniform is provided with some Hall elements 13, Hall element 13 under the induction in magnetic field by signal transmission to control system, and then control the motion of cleaning glass machine people.Transferring of robot supporter 7, negative pressure cavity 14 is installed, in order to ensure that negative pressure cavity 14 has certain seal, transferring of negative pressure cavity, flexible sealing body 15 is installed, when cleaning glass machine people is adsorbed on glass, shutoff is carried out in space between negative pressure cavity 14 and glass by flexible sealing body 15, and flexible sealing body 15 can be out of shape under stressed effect, avoid robot movable pulley 10 and depart from glass.Air in negative pressure cavity 14, under the rotation of direct current generator 9 drives, is discharged in air, thus reduces the air pressure in negative pressure cavity 14 by turbofan 8, is adsorbed on glass to be cleaned with atmospheric pressure official post glass cleaners device people by negative pressure cavity 14.Clean body prop carrier 2 can also be safety rope, prevent cleaning glass machine people operationally, because extraneous factor falls down.
And the strong magnet 19 couples of cleaning glass machine people on clean guiding device play guiding function, and guide clean body 16 can also carry out cleaning to the glass side be in contact with it in bootup process.The both lateral sides of cleaning glass machine people supporter 7 is uniform-distribution with several Hall elements 13 respectively, and Hall element 13 is a kind of Magnetic Sensors based on Hall effect, can produce low level under high-intensity magnetic field.Cleaning device guide body is separately installed with two pieces of strong magnets 19 up and down, when clean body guiding device is transferred mobile in glass robot, the Hall element 13 of robot supporter both sides distribution can produce signal under the magnetic field of strong magnet 19 generation, and by signal transmission to control system, control system controls DC servo motor A according to the signal received again, DC servo motor B, DC servo motor C, DC servo motor D, the signal that the different Hall element 13 in robot supporter 7 both sides passes to control system is different, control system can give DC servo motor A according to the unlike signal received, DC servo motor B, DC servo motor C, DC servo motor D sends different signals.
As shown in Figure 5, be Hall element and Electric Machine Control schematic diagram.From lateral motor shaft to, rotate counterclockwise as positive direction, rotate clockwise as negative direction.
Guide the guiding of cleaning device specific as follows: Hall element is under strong magnetic field action, low level can be produced, and by this signal transmission to control system, the Hall element of diverse location passes to the signal difference of control system under magnetic fields, control system is according to the signal accepted and then control DC servo motor, realizes the accompany movement of cleaning glass machine people.When the strong magnet of clean guiding device is positioned at the Hall element of 0 position, the speed of four DC servo motors is zero, when namely cleaning glass machine people is adsorbed on glass, and robot and glass geo-stationary.When strong magnet is positioned at 1 " Hall element of position time, DC servo motor A and DC servo motor B negative direction are rotated, and speed is low speed; When strong magnet is positioned at 2 " Hall element of position time, DC servo motor A and DC servo motor B negative direction are rotated, and speed be high speed; When strong magnet is positioned at the Hall element of 1' position, DC servo motor A and DC servo motor B positive direction are rotated, and speed is low speed; When strong magnet is positioned at the Hall element of 2' position, DC servo motor A and DC servo motor B positive direction are rotated, and speed is at a high speed.When strong magnet is positioned at 3 " Hall element of position time, DC servo motor C and DC servo motor D positive direction are rotated, and speed is low speed; When strong magnet is positioned at 4 " Hall element of position time, DC servo motor C and DC servo motor D positive direction are rotated, and speed be high speed; When strong magnet is positioned at the Hall element of 3' position, DC servo motor C and DC servo motor D negative direction are rotated, and speed is low speed; When strong magnet is positioned at the Hall element of 4' position, DC servo motor C and DC servo motor D negative direction are rotated, and speed is at a high speed.
When strong magnet is positioned at 1 ", 3 " position or 2 ", 4 " Hall element of position time, cleaning glass machine people moves along x positive direction, when strong magnet is positioned at the Hall element of 1', 3' position or 2', 4' position, cleaning glass machine people moves along x negative direction.When strong magnet be positioned at the homonymy of 0 position and the Hall element at diverse location place time, cleaning glass machine people realizes turning at the differential action lower-glass clean robot of robot movable pulley height low speed in moving process, on this basis, cleaning glass machine people can the whole glass of wiping.
Clean guiding device is by guiding clean body 16, guiding clean body carrier 17, strong magnet fixed head 18, strong magnet 19 etc. to form.Strong magnet 19 is fixed in by strong magnet fixed head 18 and guides between clean body carrier 17 and strong magnet fixed head 18.
For cleaning glass machine human body, the direct current private being provided with robot movable pulley 10 is taken motor B and is fixed by motor securing member 12 pairs of motors, and motor securing member 12 and robot supporter 7 is fixed together by connecting bolt 3 and nut 6.Clean body 1 can be cleaned, and repeatedly uses, and is enclosed within clean body prop carrier 2 in use, and cover has the clean body prop carrier 2 of clean body 1 to be fixed on robot supporter 7 by connecting bolt 3.And the both lateral sides of robot supporter 7 is uniform is provided with some Hall elements 13, Hall element 13 under the induction in magnetic field by signal transmission to control system, and then control the motion of cleaning glass machine people.Transferring of robot supporter 7, negative pressure cavity 14 is installed, in order to ensure that negative pressure cavity 14 has certain seal, transferring of negative pressure cavity, flexible sealing body 15 is installed, when cleaning glass machine people is adsorbed on glass, shutoff is carried out in space between negative pressure cavity 14 and glass by flexible sealing body 15, and flexible sealing body 15 can be out of shape under stressed effect, avoid robot movable pulley 10 and depart from glass.Air in negative pressure cavity 14, under the rotation of direct current generator 9 drives, is discharged in air, thus reduces the air pressure in negative pressure cavity 14 by turbofan 8, is adsorbed on glass to be cleaned with atmospheric pressure official post glass cleaners device people by negative pressure cavity 14.Clean body prop carrier 2 can also be safety rope, prevent cleaning glass machine people operationally, because extraneous factor falls down.
And the strong magnet 19 couples of cleaning glass machine people on clean guiding device play guiding function, and guide clean body 16 can also carry out cleaning to the glass side be in contact with it in bootup process.Guiding for clean guide body is specific as follows: the both lateral sides of cleaning glass machine people supporter 7 is uniform-distribution with several Hall elements 13 respectively, and Hall element 13 is a kind of Magnetic Sensors based on Hall effect, can produce low level under high-intensity magnetic field.Cleaning device guide body is separately installed with two pieces of strong magnets 19 up and down, when clean body guiding device is transferred mobile in glass robot, the Hall element 13 of robot supporter both sides distribution can produce signal under the magnetic field of strong magnet 19 generation, and by signal transmission to control system, control system controls DC servo motor A according to the signal received again, DC servo motor B, DC servo motor C, DC servo motor D, the signal that the different Hall element 13 in robot supporter 7 both sides passes to control system is different, control system can give DC servo motor A according to the unlike signal received, DC servo motor B, DC servo motor C, DC servo motor D sends different signals.
The disclosed a kind of window wiping robot carrying out adsorbing based on the attracting principle of magnet on glass of Chinese patent (CN204071933U).This window wiping robot needs permanent magnet to adsorb window wiping robot, and in the window wiping robot course of work, permanent magnet can not be removed, otherwise window wiping robot will drop.And window wiping robot simultaneously can only wiping side glass, low to the cleaning efficiency of glass.
Claims (3)
1. follow a movable glass clean robot based on negative-pressure adsorption, it is characterized in that: comprise the cleaning device being separately positioned on cleaned glass both sides, clean guiding device, described cleaning device comprises robot supporter, turbofan, negative pressure cavity, clean body prop carrier is all installed in the rear and front end of robot supporter, clean body prop carrier installs clean body, fixed turbine fan on robot supporter upper surface, turbofan installs direct current generator, robot supporter lower surface arranges the negative pressure cavity corresponding with turbofan, Hall element is installed in the left and right sides of robot supporter lower surface, robot supporter lower surface is also provided with the first-four robot movable pulley, first-four robot movable pulley connects the first-four DC servo motor respectively, described clean guiding device comprises guiding clean body carrier, strong magnet fixed head, guides between clean body carrier and strong magnet fixed head and is fixed with strong magnet.
2. according to claim 1ly a kind ofly follow movable glass clean robot based on negative-pressure adsorption, it is characterized in that: guide clean body carrier installs and guide clean body.
3. according to claim 1 and 2ly a kind ofly follow movable glass clean robot based on negative-pressure adsorption, it is characterized in that: flexible sealing body is installed in the end of negative pressure cavity, clean body prop carrier is have safety rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510696723.4A CN105212823B (en) | 2015-10-23 | 2015-10-23 | It is a kind of that movable glass clean robot is followed based on negative-pressure adsorption |
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| CN201510696723.4A CN105212823B (en) | 2015-10-23 | 2015-10-23 | It is a kind of that movable glass clean robot is followed based on negative-pressure adsorption |
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Cited By (5)
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| CN108185898A (en) * | 2018-01-16 | 2018-06-22 | 刘肖俊 | A kind of high intelligent multifunctional glass cleaning machine people |
| CN108995729A (en) * | 2017-11-23 | 2018-12-14 | 北京黑蚁兄弟科技有限公司 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
| CN109645905A (en) * | 2018-12-11 | 2019-04-19 | 安徽工程大学 | A kind of negative-pressure adsorption-type climbs wall sweeping robot |
| CN111802954A (en) * | 2020-06-04 | 2020-10-23 | 陈子涵 | Surface cleaning robot |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108995729A (en) * | 2017-11-23 | 2018-12-14 | 北京黑蚁兄弟科技有限公司 | A kind of absorption running gear suitable for moist high-altitude curtain wall |
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| CN111802954A (en) * | 2020-06-04 | 2020-10-23 | 陈子涵 | Surface cleaning robot |
| CN112009589A (en) * | 2020-09-17 | 2020-12-01 | 重庆贻晨兴工业设计有限责任公司 | Walking device and using method thereof |
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