CN105816096A - Automatic window wiping robot - Google Patents
Automatic window wiping robot Download PDFInfo
- Publication number
- CN105816096A CN105816096A CN201610317072.8A CN201610317072A CN105816096A CN 105816096 A CN105816096 A CN 105816096A CN 201610317072 A CN201610317072 A CN 201610317072A CN 105816096 A CN105816096 A CN 105816096A
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- Prior art keywords
- fixing bar
- robot
- fixed arm
- cylinder
- fixed
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- 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
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Abstract
The invention discloses an automatic window wiping robot which comprises a hoisting mechanism and a robot body. The positioning and moving work of the robot body is completed by the hoisting mechanism. The robot body comprises a fixing mechanism and a wiping mechanism. The fixing mechanism is composed of two fixing arms installed on a fixing rod. The wiping mechanism is installed on a lead screw of the fixing rod. The automatic wiping process is achieved for outer surface glass of a high-rise building, high-risk and high-intensity work of manual wiping is avoided, and work efficiency is greatly improved; the robot has high mobility and universality and can be suitable for about 50% of high-rise buildings, and cost is far lower than the cost for reserving rails and manufacturing window wiping machines in the building constructing process.
Description
Technical field
The present invention relates to a kind of robot wiping window, be specifically automatic window-cleaning family robot a kind of with low cost, that working performance is high.
Background technology
The cleaning method of skyscraper glass mainly has two kinds at present: a kind of is to carry cleaner by hoistable platform or hanging basket to carry out the cleaning of glass curtain wall, though simple and easy to do, labor intensity is big, there is the biggest danger.Another kind is with the track and sling system being arranged on roof, window cleaning equipment to be directed at window to carry out automatic scrubbing, and the first cost of investment of this mode is higher.
The most existing automatic window wiping robot, is mainly directed towards domestic consumer, it is impossible to realize crossing over the movement of window frame, it is necessary to by manually moving on another sheet glass after a piece of glass wipes.
Summary of the invention
For solving the problem that background technology is mentioned, the present invention proposes a kind of with low cost, and the automatic window-cleaning family robot that working performance is high adopts the following technical scheme that:
A kind of automatic window-cleaning family robot, including derricking gear and robot body, described robot body includes fixing bar, and fixed mechanism, walking mechanism and the scrubbing mechanism being connected with fixing bar, wherein, fixed mechanism includes the fixed arm being hinged on fixing bar two ends, and any of which fixed arm is provided with controlling organization, described controlling organization controls fixed arm and rotates with the pin joint of fixing bar around it, makes the end of fixed arm be stuck in the upper and lower edge of window；Walking mechanism is arranged on fixed arm end, and described walking mechanism includes the wheel driven by running motor, and is located at lateral wheel, and coaxial with wheel inflation lid is constituted；Described inflation lid is connected with trachea, and the trachea other end connects air supply system；Scrubbing mechanism connects fixing bar by cylinder, and can be along fixing bar translation.
Further, derricking gear includes two lifting machines, and lifting machine is fixed on the balcony both sides of building by fixed mount, and lifting machine is connected with the fixing bar of robot body by lifting rope, two lifting machine coordinated, complete the location to robot body, mobile working.
Further, the controlling organization of fixed arm includes that worm gear and cylinder that the worm screw driven from motor coordinates with worm screw are constituted, and worm gear and cylinder are linked by gear train, and the traction steel wire on cylinder has two strands, is drawn two fixed arms respectively by pulley.Two fixed arm ends are equipped with the return spring connected with fixing bar, and when controlling organization works, along with the rotation of fixed arm, return spring is stretched, and play cushioning effect；When controlling organization quits work, return spring shrinks, and fixed arm and traction steel wire is resetted.
Further, described scrubbing mechanism includes with the scouring plate that cylinder head portions is hinged, cleans the upper and lower both sides of plate and is provided with scouring silica gel strip, cleans and is also equipped with pressure transducer on plate；Cleaning plate surrounding and be additionally provided with some sparge pipes, the sparge pipe other end connects water system.
Further, the cylinder of scrubbing mechanism is connected on the screw mandrel on fixing bar, and screw mandrel is driven by the lead screw motor of its end.
The present invention is directed to the outer surface glass of high-rise construction, it is achieved the process of automatic scrubbing, it is to avoid artificial scouring is high-risk, the operation of high intensity, substantially increases working performance；There is good movement and versatility (being applicable to the skyscraper of about 50%), far below reserved track during Jian Lou and making window cleaning equipment on cost.
Accompanying drawing illustrates:
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the structural representation of the robot body of the present invention；
Fig. 3 is fixing bar and the fixed arm junction schematic enlarged-scale view of the present invention；
Fig. 4 is the controlling organization structural representation of fixed arm of the present invention；
Fig. 5 is Fig. 4 B B-section sectional view；
Fig. 6 is walking mechanism structural representation of the present invention；
Fig. 7 is scrubbing mechanism structural representation of the present invention.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below the invention will be further described:
Shown in Fig. 1, a kind of automatic window-cleaning family robot, including derricking gear and robot body, derricking gear includes two lifting machines (1), lifting machine (1) is fixed on the balcony both sides of building (2) by fixed mount, lifting machine (1) is connected with robot body by lifting rope, and two lifting machine (1) coordinated complete the location to robot body, mobile working.
Shown in Fig. 2-3, robot body includes fixing bar (3), fixing bar (3) end is provided with the pulley assembly (11) connected with the lifting rope of lifting machine (1), each hinged fixed arm (4) in fixing bar (3) two ends；Fixed arm (4) is provided with controlling organization (5), described controlling organization (5) is as illustrated in figures 4-5, the worm gear (53) coordinated with worm screw (52) including the worm screw (52) driven from fixing motor (51) and cylinder (54) are constituted, and worm gear (53) and cylinder (54) are linked by gear train (55).Traction steel wire on cylinder (54) has two strands, two fixed arms (4) are drawn respectively by pulley (31), (32), when fixing horse (51) reaches work, traction steel wire two fixed arms (4) of traction, make it rotate around the pin joint with fixing bar (3), make the end of fixed arm (4) be stuck in the upper and lower edge of window.
Two fixed arm (4) ends are equipped with the return spring (56) with fixing bar (3) connects, (57), when controlling organization (5) works, rotation along with fixed arm (4), return spring (56), (57) are stretched, and play cushioning effect；When controlling organization quits work, return spring (56), (57) are shunk, and fixed arm (4) and traction steel wire are resetted.
The end of two fixed arms (4) is equipped with walking mechanism (6), described walking mechanism (6) is as shown in Figure 6, including connector (61), wheel (62) transfer axle (65) connects, and rotating shaft (65) is arranged on connector (61) side by bearing (63).
Described wheel (62) one side has the groove (64) of circle, groove (64) connects with rotating shaft (65) internal cavities of wheel (62), inflation lid (66) is arranged in groove (64), trachea (67) is connected by the cavity in gas-tpe fitting (610) transfer axle (65), and the gas outlet of rotating shaft (65) internal cavities is just to inflation lid (66) back.
Canine tooth wheel disc (68) transfer axle (65) is fixed, and the little toothed disc (69) coordinated with gear wheel (68) dish is driven by running motor (60), thus band motor car wheel (62) rotates.
During work, two wheels (62) are respectively with the upper and lower edge contact of window, and wheel (62) is parallel with glass.Blow to trachea (67) now by air supply system (7), air flows to surrounding under the guiding of inflation lid (66), thus forming Bernoulli effect so that wheel (62) adsorbs at glass surface, but will not be with glass contact.Wheel is (60) under the driving of running motor, can move along windowsill, complete the translation motion to robot body.
Scrubbing mechanism (9) is connected with fixing bar (3) by cylinder (8), and cylinder is arranged on the screw mandrel on fixing bar (3), and screw mandrel is driven by the lead screw motor of its end.Described scrubbing mechanism (9) is as shown in Figure 7, including with the hinged scouring plate (91) in cylinder (8) end, clean plate (91) both sides up and down and be provided with scouring silica gel strip (93), clean and be also equipped with pressure transducer on plate (91)；Cleaning plate (91) surrounding and be additionally provided with some sparge pipes (92), sparge pipe (92) other end connects water system (10).
After two fixed arms (4) are fixing with the upper and lower edge of window, cylinder (8) works, and will clean plate (91) and withstand on glass surface.When pressure arrives 5.5N, cylinder (8) quits work.Now sparge pipe (92) starts water spray, and lead screw motor drives scrubbing mechanism to move up and down, and completes a scouring process.
By the way of explanation, only describe some one exemplary embodiment of the present invention above, undoubtedly, for those of ordinary skill in the art, in the case of without departing from the spirit and scope of the present invention, by various different modes, described embodiment can be modified.Therefore, above-mentioned accompanying drawing and description are the most illustrative, should not be construed as the restriction to the claims in the present invention protection domain.
Claims (6)
1. an automatic window-cleaning family robot, including derricking gear and robot body, it is characterized in that, described robot body includes fixing bar, and fixed mechanism, walking mechanism and the scrubbing mechanism being connected with fixing bar, wherein, fixed mechanism includes the fixed arm being hinged on fixing bar two ends, and arbitrary fixed arm is provided with controlling organization, described controlling organization controls fixed arm and rotates with the pin joint of fixing bar around it, makes the end of fixed arm be stuck in the upper and lower edge of window；Walking mechanism is arranged on fixed arm end, and described walking mechanism includes the roller driven by running motor, and is located at outside roller, and coaxial with roller inflation lid is constituted；Described inflation lid is connected with trachea, and the trachea other end connects air supply system；Scrubbing mechanism connects fixing bar by cylinder, and can be along fixing bar translation.
A kind of automatic window-cleaning family robot the most according to claim 1, it is further characterized in that, derricking gear includes two lifting machines, lifting machine is fixed on the balcony both sides of building by fixed mount, lifting machine is connected with the fixing bar of robot body by lifting rope, two lifting machine coordinated, complete the location to robot body, mobile working.
A kind of automatic window-cleaning family robot the most according to claim 1, it is further characterized in that, the controlling organization of fixed arm includes that worm gear and cylinder that the worm screw driven from motor coordinates with worm screw are constituted, worm gear and cylinder are linked by gear train, traction steel wire on cylinder has two strands, is drawn two fixed arms respectively by pulley.
A kind of automatic window-cleaning family robot the most according to claim 3, is further characterized in that, two fixed arm ends are equipped with the return spring connected with fixing bar.
A kind of automatic window-cleaning family robot the most according to claim 1, is further characterized in that, described scrubbing mechanism includes with the scouring plate that cylinder head portions is hinged, cleans the upper and lower both sides of plate and be provided with scouring silica gel strip, clean and be also equipped with pressure transducer on plate；Cleaning plate surrounding and be additionally provided with some sparge pipes, the sparge pipe other end connects water system.
A kind of automatic window-cleaning family robot the most according to claim 1, is further characterized in that, the cylinder of scrubbing mechanism is connected on the screw mandrel on fixing bar, and screw mandrel is driven by the lead screw motor of its end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317072.8A CN105816096B (en) | 2016-05-13 | 2016-05-13 | A kind of automatic window-cleaning family robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610317072.8A CN105816096B (en) | 2016-05-13 | 2016-05-13 | A kind of automatic window-cleaning family robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105816096A true CN105816096A (en) | 2016-08-03 |
| CN105816096B CN105816096B (en) | 2018-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610317072.8A Active CN105816096B (en) | 2016-05-13 | 2016-05-13 | A kind of automatic window-cleaning family robot |
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| Country | Link |
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| CN (1) | CN105816096B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108553015A (en) * | 2018-06-11 | 2018-09-21 | 杨俊杰 | Window wiping robot outside a kind of building that convenience and high-efficiency is unattended |
| CN108771509A (en) * | 2018-04-23 | 2018-11-09 | 昆明理工大学 | A kind of glass curtain wall cleaning machine device people |
| CN110840343A (en) * | 2019-11-19 | 2020-02-28 | 中船重工(重庆)西南装备研究院有限公司 | Thin grid sundry cleaning robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1114926A (en) * | 1995-01-19 | 1996-01-17 | 太原工业大学 | Robot walking in pipe |
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| JP2010142545A (en) * | 2008-12-22 | 2010-07-01 | Ihi Aerospace Co Ltd | Movable body |
| KR20110003848U (en) * | 2009-10-13 | 2011-04-20 | 황인주 | Window washing system |
| CN103892769A (en) * | 2012-12-24 | 2014-07-02 | 白恩庆 | Glass wiping lifting support |
| CN205885366U (en) * | 2016-05-13 | 2017-01-18 | 芜湖海博特机器人有限公司 | Automatic wipe window robot |
-
2016
- 2016-05-13 CN CN201610317072.8A patent/CN105816096B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1114926A (en) * | 1995-01-19 | 1996-01-17 | 太原工业大学 | Robot walking in pipe |
| CN101386174A (en) * | 2008-10-17 | 2009-03-18 | 西安电子科技大学 | Spherical robot with inside and outside driving |
| JP2010142545A (en) * | 2008-12-22 | 2010-07-01 | Ihi Aerospace Co Ltd | Movable body |
| KR20110003848U (en) * | 2009-10-13 | 2011-04-20 | 황인주 | Window washing system |
| CN103892769A (en) * | 2012-12-24 | 2014-07-02 | 白恩庆 | Glass wiping lifting support |
| CN205885366U (en) * | 2016-05-13 | 2017-01-18 | 芜湖海博特机器人有限公司 | Automatic wipe window robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108771509A (en) * | 2018-04-23 | 2018-11-09 | 昆明理工大学 | A kind of glass curtain wall cleaning machine device people |
| CN108771509B (en) * | 2018-04-23 | 2023-12-22 | 昆明理工大学 | Glass curtain wall cleaning robot |
| CN108553015A (en) * | 2018-06-11 | 2018-09-21 | 杨俊杰 | Window wiping robot outside a kind of building that convenience and high-efficiency is unattended |
| CN110840343A (en) * | 2019-11-19 | 2020-02-28 | 中船重工(重庆)西南装备研究院有限公司 | Thin grid sundry cleaning robot |
| CN110840343B (en) * | 2019-11-19 | 2021-09-21 | 中船重工(重庆)西南装备研究院有限公司 | Thin grid sundry cleaning robot |
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| Publication number | Publication date |
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| CN105816096B (en) | 2018-04-24 |
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| CB03 | Change of inventor or designer information |
Inventor after: Huang Wei Inventor after: Wu Hongyu Inventor after: Ye Cheng Inventor before: Huang Wei Inventor before: Wu Hongyu Inventor before: Ding Hailang Inventor before: Gui Min Inventor before: Zhou Jia Inventor before: Rao Huachun Inventor before: Zhang Yue |
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| CB03 | Change of inventor or designer information | ||
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Inventor after: Ye Cheng Inventor after: Wu Hongyu Inventor before: Huang Wei Inventor before: Wu Hongyu Inventor before: Ye Cheng |
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