CN105962841A - Glass wiping robot anti-falling device and method - Google Patents
Glass wiping robot anti-falling device and method Download PDFInfo
- Publication number
- CN105962841A CN105962841A CN201610456773.XA CN201610456773A CN105962841A CN 105962841 A CN105962841 A CN 105962841A CN 201610456773 A CN201610456773 A CN 201610456773A CN 105962841 A CN105962841 A CN 105962841A
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- CN
- China
- Prior art keywords
- glass
- magnet
- fall
- action piece
- cleaning robot
- 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.)
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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
- A47L3/00—Safety devices for use in window-cleaning
-
- 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
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of small household appliance manufacturing, and discloses a glass wiping robot anti-falling device and method. The anti-falling device adopted by the method comprises a machine body and a control unit, the machine body is provided with boundary detection units, each boundary detection unit comprises a microswitch, an action part and a support body, and the lower end of each action part is provided with a contact foot which abuts against the glass surface in a pressing mode; each support body is internally provided with a stepped through hole and a circular groove, the action parts are arranged in the stepped through holes and the circular grooves in a penetrating mode, and the length of each action part is larger than the height of the corresponding support body; the upper portion of each action part is limited on the outer end face of the corresponding support body through a limiting part, each action part is sleeved with a first magnet and a second magnet, each first magnet is arranged between the corresponding stepped through hole and the contact foot, and each second magnet is located in the circular groove of the corresponding support body. The glass wiping robot anti-falling device is simple in structure, low in cost, high in sensitivity and controllability and capable of effectively achieving detection on boundaries of sheet glass.
Description
Technical field
The invention belongs to domestic small electric apparatus manufacturing technology field, particularly relate to a kind of glass-cleaning robot fall-proofing device and
Method.
Background technology
Glass-cleaning robot with its small and exquisite structure and manipulates flexibly, has obtained increasingly being widely applied.Existing
The detection method on glass-cleaning robot border is: first, launching ultrasound wave with ultrasonic transmitter, then ultrasonic receiver connects
The ultrasonic signal being reflected back.By compare launch and return time measure between machine bottom surface and glass away from
From.This method hardware cost is high and ultrasonic ranging easily produces blind area when short distance is measured, and test effect is also paid no attention to
Think.
Summary of the invention
The technical problem to be solved is for the deficiencies in the prior art, it is provided that a kind of glass-cleaning robot is prevented
Falling device and method.Its simple in construction, low cost, highly sensitive, controllability is strong, effectively realizes the detection to Glazed fence.
The technical problem to be solved is achieved by the following technical solution: a kind of glass-cleaning robot is anti-to fall
Dropping control device, including body and control unit, described body is provided with boundary detection unit, and described boundary detection unit includes fine motion
Switch and action piece, the lower end of action piece is provided with the haptic element compressing glass surface, when described haptic element leaves glass surface, described
Action piece correspondence produces displacement and triggers microswitch, and described microswitch sends switching signal to described control unit, institute
State control unit control glass-cleaning robot stopping walking according to described switching signal or change direction of travel.Specifically, institute
The boundary detection unit stated also includes supporter, is provided with ladder hole and circular trough in supporter, and described action piece is located in this
In ladder hole, the length of described action piece is more than the height of supporter；Action piece top by locating part by its spacing
On the outer face of support body, action piece is arranged with Magnet 1 and Magnet 2.Magnet 1 is positioned at the upper surface of feeler, and Magnet 2 is positioned at circle
In groove.
Described Magnet 1 is one or more circular ring magnet with Magnet 2.Magnet 1 is identical with having to opposite of Magnet 2
Magnetic, be i.e. all N pole or be all S pole.
Described travel switch is arranged on support, and its connected mode with supporter is for threadeding.
For the ease of action piece stroke of knee-action in supporter is limited, described locating part and described company
Bar carries out threaded.Glass-cleaning robot fall-proofing device retraction of haptic element when retreating for convenience, according to different need
, the end surface shape of described haptic element is sphere.
In order to the border of plate glass is detected accurately, improve sensitivity and the degree of accuracy of this detecting system, institute
The quantity that arranges of the boundary detection unit stated is multiple, the inductive switch in each boundary detection unit all with described control unit
It is connected.In order to the very first time detects that Glazed fence is evaded in time, boundary detection unit is arranged on glass cleaning device body
Edge.In sum, present configuration is simple, and low cost is highly sensitive, and controllability is strong, effectively realizes plate glass
The detection on border.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Accompanying drawing explanation
Fig. 1 is the glass-cleaning robot fall-proofing device walking schematic diagram at glass surface；
Fig. 2 is that glass-cleaning robot fall-proofing device is walked the schematic diagram under glass surface；
Fig. 3 is the schematic diagram that glass-cleaning robot fall-proofing device returns on glass surface；
Fig. 4 is the structural representation of glass-cleaning robot fall-proofing device.
Detailed description of the invention
As shown in Fig. 1, a kind of glass-cleaning robot fall-proofing device, including body 1 and control unit, machine therein
Body 1 has referred to cleaning mechanism, drive mechanism etc. the overall structure at interior glass-cleaning robot fall-proofing device.
Control unit is then the overall control unit being arranged on glass-cleaning robot fall-proofing device, is used for controlling glass-cleaning robot
The respective operation of each mechanism and each mechanism coordinating operation to each other in fall-proofing device.The edge of described body 1
Being provided with boundary detection unit 10, described boundary detection unit 10 includes microswitch 11 and action piece 12, the lower end of action piece 12
Being provided with the haptic element compressing glass 20 surface, when described haptic element leaves glass 20 surface, described action piece 12 is corresponding produces displacement
And triggering microswitch 11, described microswitch 11 sends switching signal to described control unit, described control unit foundation
Described switching signal controls glass-cleaning robot and stops walking or change direction of travel.As required, described microswitch 11 is
Travel switch, described action piece 12 is connecting rod.
Specifically, described boundary detection unit 10 also includes supporter 15, is provided with ladder hole 18 in supporter 15, described
Action piece 12 is located in this ladder hole 18, and the length of described action piece 12 is more than the height of supporter 15.Action piece 12 leads to
Cross ladder hole 18 and limit it at upper and lower to moving.Action piece 12 top is spacing in support by it by locating part 14
On the outer face of body 15, to limit action piece 12 stroke of upper and lower action in supporter 15.Described locating part 14 be with
The block that action piece 12 is threaded.Also being cased with two groups of Magnet on action piece 12, proportion by subtraction is Magnet 1 and Magnet 2, Magnet 1 and magnetic
Ferrum 2 is one or more circular ring magnet.Magnet 1 is positioned on the platform of feeler upper surface, and Magnet 2 is positioned at the circle of supporter 15
In shape groove 19.And Magnet 1 is identical to the magnetic pole on opposite with Magnet 2, i.e. Magnet 1 repels each other with Magnet 2.Glass is compressed at haptic element
Time, the distance between Magnet 1 and Magnet 2 compressed, and makes to produce between Magnet 1 and Magnet 2 repulsion, make feeler all the time with glass table
Face contacts.
Glass-cleaning robot fall-proofing device retraction of haptic element when retreating for convenience, the end surface shape of described haptic element is led to
Frequently with sphere.In order to reduce frictional force, reducing cost, haptic element is ABS material or PC material.
Described supporter 15 uses to threaded with body 1 and is assembled together.
In order to the border of plate glass is detected accurately, improve the sensitivity of glass-cleaning robot fall-proofing device
And degree of accuracy, the quantity that arranges of described boundary detection unit 10 is at least 4, and the fine motion in each boundary detection unit 10 is opened
Close 11 to be all connected with described control unit.For the body 1 of different outer rim shapes, multiple boundary detection unit 10 position is set
Put and would also vary from.Such as: when body 1 is square or rectangle, can select four boundary detection unit 10
It is separately positioned on four drift angles of body.When body 1 be circular or oval time, four or the inspection of more border can be selected
Survey unit 10 to be evenly distributed on the circumference of circle or ellipse.When body 1 is irregularly shaped, can select four or
More boundary detection unit 10 is according to the direction of motion of glass-cleaning robot, such as: front inlet side, retrogressing end, or according to wiping
The general direction of glass robot fall-proofing device global shape, such as: left end, the mode of right-hand member are configured.Such as Fig. 2 institute
Show, and combine shown in Fig. 1 that glass-cleaning robot fall-proofing device uses Magnet 1, Magnet 2 and microswitch 11
Cooperate, it is achieved the glass cleaning device detection operation to border.Concrete inspection to glass-cleaning robot fall-proofing device below
Survey and course of action is described in detail: the outer rim of the glass-cleaning robot device provided in the present embodiment is shaped as pros
Shape, and this glass-cleaning robot fall-proofing device includes four boundary detection unit 10, lays respectively at glass-cleaning robot dress
On four angles put.Action piece 12 is positioned at the ladder hole 18 of detector unit supporter 15.The lower end of action piece 12 is haptic element,
In the present embodiment, haptic element be shaped as hemispherical.Magnet 1 be enclosed within action piece 12 and with the end contact at feeler place, magnetic
Ferrum 2 is arranged in the circular trough 19 in supporter 15.As shown in Fig. 1, at the normal walking states of glass-cleaning robot device
Time, Magnet 1 and Magnet 2 are owing to being homopolarity to opposite, so Magnet 1 and Magnet 2 are in state of repelling each other, haptic element props up glass 20
Surface, and the top of action piece 12 offsets with microswitch and contacts so that it is it is in closure state.Shown in Fig. 2, work as wiping
Glass device walk the edge of Rimless glass surface time, haptic element, due to the repulsive force between Magnet 1 and Magnet 2, departs from glass
The constraint on glass 20 surface.Haptic element is ejected the ladder hole 18 in supporter 15 by the repulsion of Magnet, is fixed on action piece 12 top
Locating part 14 prop up the upper surface of supporter 15, prevent action piece 12 from continuing to fall.Now, travel switch disconnects.This shape
After state is detected, control unit send stopping or retreat instruction, glass-cleaning robot can be immediately performed halt or after
The action moved back, control unit can control machine according to practical situation and rotates or fall back, as shown in Figure 3.Now at the bottom of haptic element hemispherical
Face is pushed back in ladder hole 18 by force, and fall-proofing device is in detection state again, it is to avoid window cleaning equipment device occur beyond glass
The situation fallen in 20 surfaces.
Claims (8)
1. a glass-cleaning robot fall-proofing device, including body (1) and control unit, it is characterised in that described body
(1) being provided with boundary detection unit, described boundary detection unit includes microswitch (11) and action piece (12), action piece (12)
Lower end be provided with the haptic element compressing glass surface；Described boundary detection unit also includes supporter (15), in supporter (15)
Being provided with ladder hole (18) and a circular trough (19), described action piece (12) is located in this ladder hole (18) and circular trough
(19), in, the length of described action piece (12) is more than the height of supporter (15)；Locating part (14) is passed through on action piece (12) top
It is spacing on the outer face of supporter (15), and action piece is arranged with Magnet 1(16 on (12)) and Magnet 2(17), Magnet 1
(16) between ladder hole (18) and haptic element, Magnet 2(17) it is positioned at the circular trough (19) of supporter (15)；Described fine motion is opened
Closing (11) to be arranged on support (35), support (35) is arranged on supporter (15), and described locating part (14) is screwed
On action piece (12).
2. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that described boundary detection unit
Quantity be set to multiple, the microswitch (11) in each boundary detection unit is all connected with described control unit.
3. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that described microswitch (11) is row
Cheng Kaiguan.
4. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that described action piece (12) is for even
Bar.
5. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that described boundary detection unit is arranged
Edge at body.
6. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that described supporter (15) and machine
Body (1) screw threads for fastening connects setting.
7. glass-cleaning robot fall-proofing device as claimed in claim 1, it is characterised in that the lower end of described action piece (12)
The end surface shape of the haptic element compressing glass surface is semicircle.
8. glass-cleaning robot anti-fall method as claimed in claim 1, it is characterised in that use fall-proofing device, work as wiping
Glass device walk the edge of Rimless glass surface time, haptic element, due to the repulsive force between Magnet 1 and Magnet 2, departs from glass
The constraint on glass 20 surface；Haptic element is ejected the ladder hole 18 in supporter 15 by the repulsion of Magnet, is fixed on action piece 12 top
Locating part 14 prop up the upper surface of supporter 15, prevent action piece 12 from continuing to fall；Now, travel switch disconnects；This shape
After state is detected, control unit send stopping or retreat instruction, glass-cleaning robot can be immediately performed halt or after
The action moved back, control unit can control machine according to practical situation and rotates or fall back, and now haptic element hemispherical bottom is pressed by force
Returning in ladder hole 18, fall-proofing device is in detection state again, it is to avoid occur that window cleaning equipment device occurs beyond glass 20 surface
Situation about falling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610456773.XA CN105962841A (en) | 2016-06-22 | 2016-06-22 | Glass wiping robot anti-falling device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610456773.XA CN105962841A (en) | 2016-06-22 | 2016-06-22 | Glass wiping robot anti-falling device and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105962841A true CN105962841A (en) | 2016-09-28 |
Family
ID=57022939
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610456773.XA Pending CN105962841A (en) | 2016-06-22 | 2016-06-22 | Glass wiping robot anti-falling device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105962841A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110384440A (en) * | 2018-04-19 | 2019-10-29 | 天佑电器（苏州）有限公司 | Clean robot |
| WO2020120462A3 (en) * | 2018-12-12 | 2020-08-06 | Kemaro Ag | Device for cleaning dirty surfaces |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040117064A1 (en) * | 2000-11-17 | 2004-06-17 | Mcdonald Murray | Sensors for robotic devices |
| KR20060105831A (en) * | 2005-04-04 | 2006-10-11 | 주식회사 대우일렉트로닉스 | Robot vacuum cleaner having switch type sensor |
| US20080052867A1 (en) * | 2006-09-05 | 2008-03-06 | Lg Electronics Inc. | Cleaning robot |
| CN101877291A (en) * | 2009-04-28 | 2010-11-03 | 刘伟亮 | Magnet switch |
| CN103356122A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN205994446U (en) * | 2016-06-22 | 2017-03-08 | 洛阳圣瑞智能机器人有限公司 | Glass-cleaning robot fall-proofing device |
-
2016
- 2016-06-22 CN CN201610456773.XA patent/CN105962841A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040117064A1 (en) * | 2000-11-17 | 2004-06-17 | Mcdonald Murray | Sensors for robotic devices |
| KR20060105831A (en) * | 2005-04-04 | 2006-10-11 | 주식회사 대우일렉트로닉스 | Robot vacuum cleaner having switch type sensor |
| US20080052867A1 (en) * | 2006-09-05 | 2008-03-06 | Lg Electronics Inc. | Cleaning robot |
| CN101877291A (en) * | 2009-04-28 | 2010-11-03 | 刘伟亮 | Magnet switch |
| CN103356122A (en) * | 2012-04-05 | 2013-10-23 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning device |
| CN205994446U (en) * | 2016-06-22 | 2017-03-08 | 洛阳圣瑞智能机器人有限公司 | Glass-cleaning robot fall-proofing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110384440A (en) * | 2018-04-19 | 2019-10-29 | 天佑电器（苏州）有限公司 | Clean robot |
| WO2020120462A3 (en) * | 2018-12-12 | 2020-08-06 | Kemaro Ag | Device for cleaning dirty surfaces |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160928 |