CN105769040A - Glass wiping device with resistance strain gauge - Google Patents
Glass wiping device with resistance strain gauge Download PDFInfo
- Publication number
- CN105769040A CN105769040A CN201610239253.3A CN201610239253A CN105769040A CN 105769040 A CN105769040 A CN 105769040A CN 201610239253 A CN201610239253 A CN 201610239253A CN 105769040 A CN105769040 A CN 105769040A
- Authority
- CN
- China
- Prior art keywords
- resistance strain
- action piece
- strain gage
- spring element
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000011521 glass Substances 0.000 title claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 38
- 238000004140 cleaning Methods 0.000 claims description 20
- 230000001939 inductive effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Cleaning In General (AREA)
Abstract
The invention provides a glass wiping device with a resistance strain gauge. The glass wiping device comprises a body, a control unit and a boundary detection unit. The boundary detection unit comprises an action component, a spring element, a limiting component, a connecting rod and the resistance strain gauge; the body is provided with a detection surface, a limiting surface and a guide hole; the guide hole is formed in a position between the detection surface and the limiting surface, and the central axis of the guide hole is perpendicular to the detection surface; the spring element sleeves the action component, one end of the spring element is butted to the action component, and the other end of the spring element is butted to the guide hole; the limiting component is arranged on the action component; the action component can be driven by elastic force of the spring element to move and to be protruded out of the detection surface until the limiting component clings to the limiting surface; one end of the connecting rod is fixedly connected with the inner end of the action component, the other end of the connecting rod is fixedly connected with the body, and the connecting rod can be driven by the action component to be bent and deform. The glass wiping device has the advantages that voltages at two ends of the resistance strain gauge can be detected and compared, so that whether the glass wiping device reaches boundaries of glass or not and the depths and the widths of gaps can be judged, and the safety can be improved.
Description
Technical field
The present invention relates to automatic field, particularly a kind of glass cleaning device with resistance strain gage.
Background technology
Existing glass cleaning device, what its action piece adopted is inductive switch, and detection is switching value.When glass cleaning device is on glass, action piece compresses inductive switch, and this is first state；When glass cleaning device reaches Glazed fence, and action piece leaves glass surface, action piece does not trigger inductive switch, and this is second state.
To the open and close two states of inductive switch, prior art is by judging whether glass cleaning device reaches Glazed fence, owing to action piece need to move certain stroke, inductive switch could be triggered, for the gap that some are shallower, it it is None-identified, thus allowing machine to pass through, produce gas leakage, cause air pressure not, danger of falling.
Summary of the invention
In order to solve above-mentioned existing technical problem, the present invention provides a kind of glass cleaning device with resistance strain gage, it, by detecting the voltage at resistance strain gage two ends and comparing the size of voltage and judge whether to arrive Glazed fence and the depth in gap, width, improves safety.
This invention address that above-mentioned existing technical problem, it is provided that a kind of glass cleaning device with resistance strain gage, including main body, control unit and boundary detection unit；Described boundary detection unit includes action piece, spring element, locating part, connecting rod and resistance strain gage；Described main body has detection faces, confined planes and guide hole；Described guide hole is between described detection faces and described confined planes, and the central axis upright of described guide hole is in described detection faces；Described spring element is sheathed on described action piece, and described spring element one is connected to described action piece, other end is connected to described guide hole；Described locating part is arranged at described action piece；The elastic force of described spring element can move and protrude from described detection faces with described action piece, until described locating part is adjacent to described confined planes；One end of described connecting rod is fixed and is connected the inner of described action piece, the other end described main body of fixing connection, and described action piece can with described connecting rod flexural deformation；Described resistance strain gage is arranged along the bearing of trend of described connecting rod, and described resistance strain gage is connected with described control unit.
Further improvement of the present invention is as described below.
Described confined planes and described detection faces be arranged in parallel.
Described connecting rod and described detection faces be arranged in parallel.
The test side of described action piece is arcwall face.
Described guide hole is two-part, the position of contiguous described detection faces be enlarged diameter section, contiguous described confined planes position be reduced diameter section；Described spring element is dissolved in described enlarged diameter section.
Described action piece is inverted T-shaped.
Compared to prior art, the invention has the beneficial effects as follows: by detecting the voltage at resistance strain gage two ends and comparing the size of voltage and judge whether to arrive Glazed fence and the depth in gap, width, improve safety.
Accompanying drawing explanation
Fig. 1 is the structural representation that the present invention has the glass cleaning device of resistance strain gage.
Fig. 2 is Fig. 1 view not arriving Glazed fence.
Fig. 3 is Fig. 1 view arriving Glazed fence.
Fig. 4 is the structural representation of described main body.
Main body 1 detection faces 11
Confined planes 12
Guide hole 13
Boundary detection unit 2 action piece 201 test side 2011
Spring element 202
Locating part 203
Connecting rod 204
Resistance strain gage 205
Glass 3
Detailed description of the invention
Illustrate below in conjunction with accompanying drawing and detailed description of the invention the present invention is further described.
As shown in Figures 1 to 4, a kind of glass cleaning device with resistance strain gage, including main body 1, control unit and boundary detection unit 2, the signal of boundary detection unit 2 transmits to control unit, control unit export control command.Boundary detection unit 2 includes action piece 201, spring element 202, locating part 203, connecting rod 204 and resistance strain gage 205, and action piece 201 can move, and this degree of depth moved can interpolate that the depth with or without glass 3 or gap；Spring element 202 provides elastic force；The position of locating part 203 determines the stroke of action piece 201；Connecting rod 204 and resistance strain gage 205 are for detecting the amount of movement.Main body 1 has detection faces 11, confined planes 12 and guide hole 13, and detection faces 11 and glass 3 are fitted, and resistance plane is used for stopping locating part 203, and guide hole 13 moves for the linear of action piece 201.Guide hole 13 is between detection faces 11 and confined planes 12, and the central axis upright of guide hole 13 is in detection faces 11；Spring element 202 is sheathed on action piece 201, and spring element 202 1 is connected to action piece 201, other end is connected to guide hole 13；Locating part 203 is arranged at action piece 201；The elastic force of spring element 202 can move and protrude from detection faces 11 with action piece 201, until locating part 203 is adjacent to confined planes 12；The inner of connecting moves part 201 is fixed in one end of connecting rod 204, the other end is fixing connects main body 1, and action piece 201 can with connecting rod 204 flexural deformation；Resistance strain gage 205 is arranged along the bearing of trend of connecting rod 204, and resistance strain gage 205 is connected with control unit.By gathering the voltage at resistance strain gage 205 two ends, control unit compares the size of voltage to judge whether glass cleaning device arrives glass 3 border and the depth in gap, width.The voltage detected is a continually varying physical quantity, and it is higher to the judgement degree of accuracy of glass 3 structure.
Confined planes 12 of the present invention be arranged in parallel with detection faces 11, and meanwhile, connecting rod 204 and detection faces 11 also be arranged in parallel.
The test side 2011 of action piece 201 of the present invention is arcwall face, facilitates and smoothly transits during sliding.
The guide hole 13 of the present invention is two-part, the position in proximity detection face 11 be enlarged diameter section, contiguous confined planes 12 position be reduced diameter section；Spring element 202 is dissolved in enlarged diameter section.The action piece 201 of the present invention is in inverted T-shaped.This inverted T-shaped bottom and enlarged diameter section are matched in clearance.
The locating part 203 of the present invention is arranged at the inner of action piece 201, and the position of this locating part 203 can be adjusted, to tackle the gap of different size.
The glass cleaning device of the present invention, is possible not only to judge whether arrive glass 3 border, it is also possible to the amplitude according to change in voltage, judges the depth in the gap that glass cleaning device runs into and the width in gap.If gap compares shallower, the change of voltage is just smaller；Whereas if gap is deep, the change of voltage is just obvious.Thus, judge whether to continue to allow glass cleaning device to move on according to the amplitude of change in voltage.
Above content is in conjunction with concrete preferred implementation further description made for the present invention, it is impossible to assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, it is also possible to make some simple deduction or replace, protection scope of the present invention all should be considered as belonging to.
Claims (6)
1. there is a glass cleaning device for resistance strain gage, including main body, control unit and boundary detection unit；It is characterized in that: described boundary detection unit includes action piece, spring element, locating part, connecting rod and resistance strain gage；
Described main body has detection faces, confined planes and guide hole；Described guide hole is between described detection faces and described confined planes, and the central axis upright of described guide hole is in described detection faces；
Described spring element is sheathed on described action piece, and described spring element one is connected to described action piece, other end is connected to described guide hole；Described locating part is arranged at described action piece；The elastic force of described spring element can move and protrude from described detection faces with described action piece, until described locating part is adjacent to described confined planes；
One end of described connecting rod is fixed and is connected the inner of described action piece, the other end described main body of fixing connection, and described action piece can with described connecting rod flexural deformation；
Described resistance strain gage is arranged along the bearing of trend of described connecting rod, and described resistance strain gage is connected with described control unit.
2. the glass cleaning device with resistance strain gage according to claim 1, it is characterised in that: described confined planes and described detection faces be arranged in parallel.
3. the glass cleaning device with resistance strain gage according to claim 2, it is characterised in that: described connecting rod and described detection faces be arranged in parallel.
4. the glass cleaning device with resistance strain gage according to claim 3, it is characterised in that: the test side of described action piece is arcwall face.
5. the glass cleaning device with resistance strain gage according to claim 4, it is characterised in that: described guide hole is two-part, the position of contiguous described detection faces be enlarged diameter section, contiguous described confined planes position be reduced diameter section；Described spring element is dissolved in described enlarged diameter section.
6. the glass cleaning device with resistance strain gage according to claim 1 to 5 any one, it is characterised in that: described action piece is inverted T-shaped.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015210497631 | 2015-12-15 | ||
| CN201521049763 | 2015-12-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105769040A true CN105769040A (en) | 2016-07-20 |
| CN105769040B CN105769040B (en) | 2018-09-07 |
Family
ID=56396867
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620317826.5U Withdrawn - After Issue CN205903217U (en) | 2015-12-15 | 2016-04-15 | Glass cleaning device with resistance strain gauge |
| CN201610239253.3A Active CN105769040B (en) | 2015-12-15 | 2016-04-15 | Glass cleaning device with resistance strain gage |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620317826.5U Withdrawn - After Issue CN205903217U (en) | 2015-12-15 | 2016-04-15 | Glass cleaning device with resistance strain gauge |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN205903217U (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205903217U (en) * | 2015-12-15 | 2017-01-25 | 广东宝乐机器人股份有限公司 | Glass cleaning device with resistance strain gauge |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2055396U (en) * | 1989-04-19 | 1990-04-04 | 温州市华润电子测力器厂 | Boxing mechanism of electronic numerical display type boxing machine |
| EP1994992A1 (en) * | 2007-05-21 | 2008-11-26 | Aerial Brush B.V. | System for cleaning outside walls |
| CN201635754U (en) * | 2010-01-29 | 2010-11-17 | 西安科技大学 | Force measurement anchor device for analog simulation experiment |
| CN102252790A (en) * | 2011-05-31 | 2011-11-23 | 上海交通大学 | Flow adjustable reciprocating pump crankshaft impact load on-line real-time detection device |
| CN202537389U (en) * | 2012-04-05 | 2012-11-21 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN205903217U (en) * | 2015-12-15 | 2017-01-25 | 广东宝乐机器人股份有限公司 | Glass cleaning device with resistance strain gauge |
-
2016
- 2016-04-15 CN CN201620317826.5U patent/CN205903217U/en not_active Withdrawn - After Issue
- 2016-04-15 CN CN201610239253.3A patent/CN105769040B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2055396U (en) * | 1989-04-19 | 1990-04-04 | 温州市华润电子测力器厂 | Boxing mechanism of electronic numerical display type boxing machine |
| EP1994992A1 (en) * | 2007-05-21 | 2008-11-26 | Aerial Brush B.V. | System for cleaning outside walls |
| CN201635754U (en) * | 2010-01-29 | 2010-11-17 | 西安科技大学 | Force measurement anchor device for analog simulation experiment |
| CN102252790A (en) * | 2011-05-31 | 2011-11-23 | 上海交通大学 | Flow adjustable reciprocating pump crankshaft impact load on-line real-time detection device |
| CN202537389U (en) * | 2012-04-05 | 2012-11-21 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN205903217U (en) * | 2015-12-15 | 2017-01-25 | 广东宝乐机器人股份有限公司 | Glass cleaning device with resistance strain gauge |
Also Published As
| Publication number | Publication date |
|---|---|
| CN205903217U (en) | 2017-01-25 |
| CN105769040B (en) | 2018-09-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20160912 Address after: 518000 Guangdong city of Shenzhen province Baoan District manholes Donghuan Road No. 438 D block two or three layer Applicant after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 2-3, building 518104, block D, 438 East Ring Road, manhole, Baoan District, Guangdong, Shenzhen Applicant before: SHENZHEN BAOLE ROBOT TECHNOLOGY CO.,LTD. |
|
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee after: GUANGDONG BONA ROBOT Corp.,Ltd. Address before: 518000, Shenzhen, Guangdong, Baoan District Province, manhole Road, No. 438, block two or three Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200925 Address after: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU COAYU ROBOT Co.,Ltd. Address before: 510000 No.30 haogang Avenue, Dagang Town, Nansha District, Guangzhou City, Guangdong Province (plant a, B, c) Patentee before: GUANGDONG BONA ROBOT Corp.,Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Glass wiping device with resistance strain gauge Effective date of registration: 20211223 Granted publication date: 20180907 Pledgee: Shanghai Pudong Development Bank Limited by Share Ltd. Guangzhou branch Pledgor: GUANGZHOU COAYU ROBOT Co.,Ltd. Registration number: Y2021440000397 |
|
| PP01 | Preservation of patent right | ||
| PP01 | Preservation of patent right |
Effective date of registration: 20230320 Granted publication date: 20180907 |