CN106108768B - Glass-cleaning robot with lift walking mechanism and its method that cleans the windows - Google Patents
Glass-cleaning robot with lift walking mechanism and its method that cleans the windows Download PDFInfo
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- CN106108768B CN106108768B CN201610653110.7A CN201610653110A CN106108768B CN 106108768 B CN106108768 B CN 106108768B CN 201610653110 A CN201610653110 A CN 201610653110A CN 106108768 B CN106108768 B CN 106108768B
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- follower
- initiative part
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- driven
- initiative
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of glass-cleaning robots with lift walking mechanism, including initiative part, follower and safety power supply dual-purpose line；Initiative part includes initiative part bottom plate and the initiative part shell that is connected at the top of initiative part bottom plate, and first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part controller and initiative part energy source, initiative part rag and initiative part magnetic patch are connected on the bottom surface of initiative part bottom plate；Follower includes follower bottom plate and the follower shell that is connected at the top of follower bottom plate, and first driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower controller, follower energy source and magnetic force adjusting apparatus, follower rag is connected on the bottom surface of follower bottom plate；The invention also discloses a kind of methods that cleans the windows of the glass-cleaning robot with lift walking mechanism.It is of the invention novel in design reasonable, it cleans the windows efficient, it is safe and convenient to use.
Description
Technical field
The invention belongs to attracting cleaner for window glass to have technical field, and in particular to a kind of wiping glass with lift walking mechanism
Glass robot and its method that cleans the windows.
Background technology
In daily life, people wipe indoor glass with rag；But for outdoor glass, especially skyscraper, people
If standing cleans glass outside window, operating process it is not only dangerous but also be not easy to wipe it is complete, clean.Have a kind of double-face window cleaner now, leads to
It crosses and the window-cleaning device of two carry magnets is clamped to glass to be wiped, when indoor window-cleaning device works, outside cleans the windows
Device indoor window-cleaning device movement since magnetic action follows, may be implemented to clean while two sides inside and outside glass, but this double
Face window cleaner is mostly that manually, operation is laborious, and wipes window process arbitrariness is also big, can cause some regions nuzzle up multipass, certain
The problem of a little region leakages are wiped.And current automatic double-sided window cleaner, i.e. glass-cleaning robot, exist by the positive and negative rotation of driving motor
Glass surface moves forward or back, and realizes and turns to by the differential of driving motor, and commutate underaction, keeps its motion path limited greatly
System causes some regions to repeat to wipe, and is unfavorable for wiping the raising of window efficiency；It is larger for area and need the region that wipes only
There are the glass of sub-fraction and the rectangular area of glass, defect to become apparent.
Invention content
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that it is new to provide a kind of design
It is clever, compact-sized rationally, use simple operation, highly practical, convenient for promoting the use of the wiping glass with lift walking mechanism
Glass robot.
In order to solve the above technical problems, the technical solution adopted by the present invention is：A kind of wiping with lift walking mechanism
Glass robot, it is characterised in that：Including being used to be separately positioned on glass inner side and glass outer side and mutually matched initiative part
And follower, and the safety power supply dual-purpose line for security protection and for powering for initiative part and follower；
The initiative part includes initiative part bottom plate and the initiative part shell that is fixedly connected at the top of initiative part bottom plate, Yi Ji
One active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part controller and initiative part energy
Amount source is fixedly connected with initiative part rag and initiative part magnetic patch on the bottom surface of the initiative part bottom plate；First active wheels
Including the first active support plate and it is respectively fixedly connected with the first motor and the second motor at the both ends in the first active support plate,
It is fixedly connected with the first driving wheel on the output shaft of the first motor, is fixedly connected on the output shaft of second motor
Two driving wheels, the first active support plate, first motor and the second motor are arranged in initiative part shell, first master
Driving wheel and the second driving wheel are exposed at outside initiative part shell；Second active wheels include the second active support plate and difference
It is fixedly connected on the third motor and the 4th motor at both ends in the second active support plate, the second active support plate is located at first
The top of active support plate and it is arranged with the first active support plate right-angled intersection, is fixedly connected on the output shaft of the third motor
There is third driving wheel, the 4th driving wheel, the second active support plate, are fixedly connected on the output shaft of the 4th motor
Three motors and the 4th motor are arranged in initiative part shell, and the third driving wheel and the 4th driving wheel are exposed at outside initiative part
Outside shell；The initiative part lifting unit includes the initiative part bobbin being fixedly connected on initiative part bottom plate and is mounted on actively
Initiative part electromagnetic coil, the first spring of initiative part on portion's bobbin and initiative part second spring, the first spring of the initiative part
One end withstand on initiative part electromagnetic coil lower part, the other end of the first spring of the initiative part withstands on the top of the first active support plate
The one end in portion, the initiative part second spring withstands on initiative part electromagnetic coil top, the other end of the initiative part second spring
Withstand on the bottom of the second active support plate；The initiative part sensing unit includes initiative part pressure sensor, initiative part rotating speed biography
Sensor and the initiative part obliquity sensor being detected for the inclination angle to initiative part, the quantity of the initiative part pressure sensor
It it is eight, the both sides side at four angles of the initiative part outer casing bottom is each provided with an initiative part pressure sensor, the master
The quantity of dynamic portion's speed probe is four, and one is each provided on first motor, the second motor, third motor and the 4th motor
Initiative part speed probe, the initiative part obliquity sensor are arranged in initiative part bottom base plate middle position；The active
Portion's pressure sensor, initiative part speed probe and initiative part obliquity sensor are connect with the input terminal of initiative part controller,
The first motor, the second motor, third motor and the 4th motor are connect with the output end of initiative part controller, the active
The output end of portion's controller is further connected with to return for being switched on or switched off the power supply that initiative part energy source is initiative part solenoid
The initiative part relay on road；
The follower includes follower bottom plate and the follower shell that is fixedly connected at the top of follower bottom plate, Yi Ji
One driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower controller, follower energy
Source and magnetic force adjusting apparatus are fixedly connected with follower rag on the bottom surface of the follower bottom plate；First driven wheels
The first driven wheel being rotatably connected on including the first driven support plate, by first driven shaft outside first driven support plate one end
With the second driven wheel being connected to by second driven shaft outside the first driven support plate other end, the first driven support plate
It is arranged in follower shell, first driven wheel and the second driven wheel are exposed at outside follower shell；Described second is driven
The third that wheel group includes the second driven support plate, is rotatably connected on by third driven shaft outside second driven support plate one end from
Driving wheel and the 4th driven wheel outside the second driven support plate other end, the second driven branch are connected to by the 4th driven shaft
Fagging is located at the top of the first driven support plate and is arranged with the first driven support plate right-angled intersection, the second driven support plate
It is arranged in follower shell, the third driven wheel and the 4th driven wheel are exposed at outside follower shell；The follower liter
It includes the follower bobbin being fixedly connected on follower bottom plate and driven on follower bobbin to drop unit
Portion's electromagnetic coil, the first spring of follower and follower second spring, one end of the first spring of the follower withstand on follower
Electromagnetic coil lower part, the other end of the first spring of the follower withstand on the top of the first driven support plate, the follower
One end of two springs withstands on follower electromagnetic coil top, and the other end of the follower second spring withstands on the second driven support
The bottom of plate；The follower sensing unit includes follower pressure sensor, follower speed probe and is used for driven
The quantity of the follower obliquity sensor that the inclination angle in portion is detected, the follower pressure sensor is eight, described driven
The both sides side at four angles of portion's outer casing bottom is each provided with a follower pressure sensor, the follower speed probe
Quantity is four, be each provided on the first driven shaft, second driven shaft, third driven shaft and the 4th driven shaft one it is driven
Portion's speed probe, the follower obliquity sensor are arranged in follower bottom base plate middle position；The follower pressure
Force snesor, follower speed probe and follower obliquity sensor are connect with the input terminal of follower controller, described
The output end of follower controller is further connected with for being switched on or switched off the confession that follower energy source is follower solenoid
The follower relay of electrical circuit；The magnetic force adjusting apparatus includes the magnetic force adjustment branch being erected at outside follower bobbin
Frame, the magnetic force adjustment cradle top, which is threaded with, to be connect with follower outer casing screw and stretches out outside follower cover top portion
Magnetic force adjusts knob, and the magnetic force adjustment frame bottom is fixedly connected with the follower magnetic patch stretched out outside follower outer casing bottom.
The above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part energy source is
Rechargeable battery, the initiative part sensing unit include the initiative part electric power detection electricity being detected for the electricity to rechargeable battery
Road, the initiative part electric quantity detecting circuit are arranged at the top of initiative part energy source；The follower energy source is rechargeable battery,
The follower sensing unit includes the follower electric quantity detecting circuit being detected for the electricity to rechargeable battery, it is described from
Dynamic portion's electric quantity detecting circuit is arranged at the top of follower energy source.
The above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The number of the initiative part magnetic patch
Amount is 4~20 pieces, and the follower magnetic patch is equal with the quantity of initiative part magnetic patch and installation site corresponds.
The above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The number of the initiative part rag
Amount and the quantity of follower rag are one or more.
The above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part controller packet
The initiative part communication module for including initiative part micro controller module and connecting with initiative part micro controller module, the initiative part micro-control
The output of device module processed is terminated with motor drive module and initiative part alarm module, the initiative part pressure sensor, initiative part
Speed probe and initiative part obliquity sensor are connect with the input terminal of initiative part micro controller module, the initiative part relay
Device is connect with the output end of initiative part micro controller module, and the first motor, the second motor, third motor and the 4th motor are equal
It is connect with the output end of motor drive module；The follower controller includes follower micro controller module and micro- with follower
Controller module connects and the follower communication module for being communicated with initiative part communication module, the follower microcontroller mould
The output of block is terminated with follower alarm module, and the follower pressure sensor, follower speed probe and follower incline
Angle transducer is connect with the input terminal of follower micro controller module, the follower relay and follower battery capacity indication lamp
It is connect with the output end of follower micro controller module.
The above-mentioned glass-cleaning robot with lift walking mechanism, it is characterised in that：The initiative part communication module
It is infrared communication module, radio communication module or bluetooth communication with follower communication module.
Realizing that convenient, clean the windows the efficient glass cleaning machine with lift walking mechanism the present invention also provides a kind of
The method that cleans the windows of device people, which is characterized in that this approach includes the following steps：
Step 1: initiative part and follower to be separately placed in the both side surface corresponding position of glass, the magnetic is rotated
The magnetic force of force adjusting device adjusts knob, so that initiative part and follower is adsorbed every glass and fixes, and follower can be with actively
Portion moves；
Step 2: starting initiative part, at this point, initiative part relay access failure initiative part energy source is initiative part electromagnetic coil
The current supply circuit of power supply, initiative part controller control first motor and the according to preset glass-cleaning robot operational mode
Two motors rotate, first motor drive the first driving wheel rotation, the second motor drive the second driving wheel rotation, the first driving wheel and
Second driving wheel is contacted with one side surface of glass, and initiative part is made to walk in one side surface of glass；At the same time, follower controller
Access failure follower energy source is the current supply circuit of follower solenoid, the first driven wheel and the second driven wheel and glass
Another side surface contact makes follower walk under the magnetic force in another side surface of glass with initiative part；Initiative part
In follower walking process, when initiative part pressure sensor or follower pressure sensor generation collision sensing signal, hold
Row step 3；When the initiative part pressure sensor of the single side of initiative part or the single follower pressure of the single side of follower pass
When sensor generates collision sensing signal, step 4 is executed；When initiative part obliquity sensor or follower obliquity sensor provide it is non-
When 0 °, 90 °, 180 ° or 270 ° of signal, step 4 is executed, when four initiative part speed probes and four follower rotating speeds pass
Sensor executes step 5 when rotating speed is inconsistent always at the appointed time；When initiative part electric quantity detecting circuit or follower electricity
When detection circuit shows not enough power supply, step 5 is executed；Otherwise, step 6 is executed；
Step 3: the initiative part controller, which exports control signal, gives initiative part relay, to the master in initiative part shell
Dynamic portion's electromagnetic coil is powered, will be together with first active wheels inhale with second active wheels so that described first leads
Driving wheel group leaves glass surface, while second active wheels contact glass surface；Initiative part controller controls third motor
It rotates in the forward direction or reversely rotates with the 4th motor；Meanwhile the initiative part controller output signal gives follower controller, from
Dynamic portion's controller exports control signal according to received signal and is powered to the follower electromagnetic coil in follower shell, by institute
It states together with the first driven wheels and second driven wheels inhale so that first driven wheels leave glass surface, together
The second driven wheels of Shi Suoshu contact glass surface, start to rotate with initiative part；Realize the go to action of robot；
Step 4: the initiative part controller control first motor and the second motor are rotate in same direction by different rotating speeds, realize
The differential of initiative part rotates；Meanwhile follower is moved with initiative part, realizes the direction adjustment of robot；
Step 5: the initiative part controller control first motor and the second motor stalls, and controlled to follower
Device sends the control instruction being stopped, and initiative part and follower are stopped；
Step 6: it is constant to maintain the original state, continue to move ahead.
Realizing that convenient, clean the windows the efficient glass cleaning machine with lift walking mechanism the present invention also provides a kind of
The method that cleans the windows of device people, which is characterized in that this approach includes the following steps：
Step 1: initiative part and follower to be separately placed in the both side surface corresponding position of glass, the magnetic is rotated
The magnetic force of force adjusting device adjusts knob, so that initiative part and follower is adsorbed every glass and fixes, and follower can be with actively
Portion moves；
Step 2: starting initiative part, at this point, it is initiative part electromagnetic coil that initiative part relay, which has connected initiative part energy source,
The current supply circuit of power supply, initiative part controller control third motor and the according to preset glass-cleaning robot operational mode
Four motors rotate, third motor drive third driving wheel rotation, the 4th motor drive the 4th driving wheel rotation, third driving wheel and
4th driving wheel is contacted with one side surface of glass, and initiative part is made to walk in one side surface of glass；At the same time, follower controller
The current supply circuit that follower energy source is follower solenoid, third driven wheel and the 4th driven wheel and glass are connected
Another side surface contact makes follower walk under the magnetic force in another side surface of glass with initiative part；Initiative part
In follower walking process, when initiative part pressure sensor or follower pressure sensor generation collision sensing signal, hold
Row step 3；When the initiative part pressure sensor of the single side of initiative part or the single follower pressure of the single side of follower pass
When sensor generates collision sensing signal, step 4 is executed；When initiative part obliquity sensor or follower obliquity sensor provide it is non-
When 0 °, 90 °, 180 ° or 2 ° of signal, step 4 is executed, when four initiative part speed probes and four follower revolution speed sensings
Device executes step 5 when rotating speed is inconsistent always at the appointed time；When initiative part electric quantity detecting circuit or follower electricity are examined
When slowdown monitoring circuit shows not enough power supply, step 5 is executed；Otherwise, step 6 is executed；
Step 3: the initiative part controller, which exports control signal, gives initiative part relay, to the master in initiative part shell
Dynamic portion's electromagnetic coil is powered, will be together with first active wheels inhale with second active wheels so that described second leads
Driving wheel group leaves glass surface, while first active wheels contact glass surface；Initiative part controller controls first motor
It rotates in the forward direction or reversely rotates with the second motor；Meanwhile the initiative part controller output signal gives follower controller, from
Dynamic portion's controller exports control signal according to received signal and is powered to the follower electromagnetic coil in follower shell, by institute
It states together with the first driven wheels and second driven wheels inhale so that second driven wheels leave glass surface, together
The first driven wheels of Shi Suoshu contact glass surface, start to rotate with initiative part；Realize the go to action of robot；
Step 4: the initiative part controller control third motor and the 4th motor are rotate in same direction by different rotating speeds, realize
The differential of initiative part rotates；Meanwhile follower is moved with initiative part, realizes the direction adjustment of robot；
Step 5: the initiative part controller control third motor and the 4th motor stalls, and controlled to follower
Device sends the control instruction being stopped, and initiative part and follower are stopped；
Step 6: it is constant to maintain the original state, continue to move ahead.
Compared with the prior art, the present invention has the following advantages：
1, the novel design of glass-cleaning robot of the present invention with lift walking mechanism, simple in structure, compact in design
Rationally, processing and fabricating is convenient.
2,90 ° steerings of the glass-cleaning robot at window jamb may be implemented in the present invention, greatly improve the machine that cleans the windows
The walking flexibility of people contributes to the movement locus for optimizing robot, glass-cleaning robot can be made to smoothly complete to right angle area
The cleaning in domain improves cleaning efficiency.
3, the present invention can be automatically performed the scouring work of glass, and intelligence degree is high, realizes uniform cleaning glass window, does not leak
Phenomenon is wiped, large area is also avoided and repeats to wipe, the working strength of labourer can be mitigated, when avoiding user's scouring glass pane
Potential danger, so that glass wiping efficiency is greatly improved.
4, the present invention can be such that glass-cleaning robot is avoided in traveling by the reasonable setting of number of sensors and type
Barrier ensure that the smooth operation of whole process.
5, the present invention can be fallen to avoid glass-cleaning robot during advancing by the setting of safety power supply dual-purpose line
Injure other people by a crashing object, ensure that its job safety.
6, the present invention is light small and exquisite, and cost of implementation is low, using flexible, is used convenient for family.
It rationally cleans the windows efficient in conclusion the present invention is novel in design, it is safe and convenient to use, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Description of the drawings
Fig. 1 is the structural schematic diagram of glass-cleaning robot of the present invention with lift walking mechanism.
Fig. 2 is initiative part of the present invention from the structural schematic diagram in terms of top down.
Fig. 3 is that initiative part of the present invention removes the structural schematic diagram after initiative part shell.
Fig. 4 is the structural schematic diagram that initiative part of the present invention is seen bottom-up.
Fig. 5 is the sectional view of initiative part when initiative part electromagnetic coil of the present invention powers off.
Fig. 6 is the sectional view of initiative part when initiative part electromagnetic coil of the present invention is powered.
Fig. 7 is follower of the present invention from the structural schematic diagram in terms of top down.
Fig. 8 is that follower of the present invention removes the structural schematic diagram after follower shell.
Fig. 9 is the structural schematic diagram that follower of the present invention is seen bottom-up.
Figure 10 is the sectional view of follower when follower electromagnetic coil of the present invention powers off.
Figure 11 is that initiative part controller of the present invention and follower controller and the circuit connecting relation of other each elements are illustrated
Figure.
Reference sign:
1-initiative part；1-1 initiative part shells；
The second driving wheels of 1-201-；The first driving wheels of 1-202-；
1-203-the first active support plates；1-204-first motor；
The second motors of 1-205-；1-301-third driving wheel；
The 4th driving wheels of 1-302-；1-303-the second active support plates；
1-304-third motor；The 4th motors of 1-305-；1-4-initiative part bottom plate；
1-5-initiative part controller；1-51-initiative part micro controller module；
1-52-initiative part communication module；1-53-motor drive module；
1-54-initiative part alarm module；1-6-initiative part alarm module；
1-601-initiative part bobbin；1-602-initiative part electromagnetic coil；
The first spring of 1-603-initiative part；1-604-initiative part second spring；
1-701-initiative part pressure sensor；1-702-initiative part speed probe；
1-703-initiative part obliquity sensor；1-704-initiative part electric quantity detecting circuit；
1-705-initiative part battery capacity indication lamp；1-8-initiative part energy source；
1-9-initiative part rag；1-10-initiative part magnetic patch；2-followers；
2-1-follower shell；2-101-magnetic force adjusts knob；
2-102-magnetic force adjusts holder；2-103-follower magnetic patch；
The first driven wheels of 2-201-；The second driven wheels of 2-202-；
The first driven support plates of 2-203-；The 4th driven wheels of 2-204-；
2-301-third driven wheel；The 4th driven wheels of 2-302-；
The second driven support plates of 2-303-；2-4-follower bottom plate；
2-5-follower controller；2-51-follower micro controller module；
2-52-follower communication module；2-601-follower bobbin；
2-602-follower electromagnetic coil；The first spring of 2-603-follower；
2-604-follower second spring；2-701-follower pressure sensor；
2-702-follower speed probe；2-703-follower obliquity sensor；
2-704-follower electric quantity detecting circuit；2-705-follower battery capacity indication lamp；
2-8-follower energy source；2-9-follower rag；
2-11-follower relay；3-glass；4-glass frames；
5-columns；6-nylon grumes；7-safety power supply dual-purpose lines.
Specific implementation mode
As shown in Figure 1, the glass-cleaning robot with lift walking mechanism of the present invention, including be used to be separately positioned on
3 inside of glass and 3 outside of glass and mutually matched initiative part 1 and follower 2, and for security protection and for for actively
The safety power supply dual-purpose line 7 that portion 1 and follower 2 are powered；
As shown in Fig. 2~Fig. 6, the initiative part 1 includes initiative part bottom plate 1-4 and is fixedly connected on initiative part bottom plate 1-4
The initiative part shell 1-1 at top and the first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing are single
Member, initiative part controller 1-5 and initiative part energy source 1-8 are fixedly connected with initiative part on the bottom surface of the initiative part bottom plate 1-4
Rag 1-9 and initiative part magnetic patch 1-10；First active wheels are fixed including the first active support plate 1-203 and respectively to be connected
It is connected on the first motor 1-204 at both ends and the second motor 1-205, the first motor 1-204 on the first active support plate 1-203
Output shaft on be fixedly connected with the first driving wheel 1-202, be fixedly connected with second on the output shaft of the second motor 1-205
Driving wheel 1-201, the first active support plate 1-203, first motor 1-204 and the second motor 1-205 are arranged at actively
In portion shell 1-1, the first driving wheel 1-202 and the second driving wheel 1-201 are exposed at outside initiative part shell 1-1；Described
Two active wheels are including the second active support plate 1-303 and are respectively fixedly connected with the both ends on the second active support plate 1-303
Third motor 1-304 and the 4th motor 1-305, the second active support plate 1-303 is located at the first active support plate 1-203
Top and be arranged with the first active support plate 1-203 right-angled intersections, be fixedly connected on the output shaft of the third motor 1-304
There is third driving wheel 1-301, is fixedly connected with the 4th driving wheel 1-302 on the output shaft of the 4th motor 1-305, described
Two active support plate 1-303, third motor 1-304 and the 4th motor 1-305 are arranged in initiative part shell 1-1, and described
Three driving wheel 1-301 and the 4th driving wheel 1-302 are exposed at outside initiative part shell 1-1；The initiative part lifting unit includes solid
Surely the initiative part bobbin 1-601 being connected on initiative part bottom plate 1-4 and the active on initiative part bobbin 1-601
Portion electromagnetic coil 1-602, initiative part the first spring 1-603 and initiative part second spring 1-604, the first spring of initiative part 1-
603 one end withstands on the lower parts initiative part electromagnetic coil 1-602, and the other end of the first spring of initiative part 1-603 withstands on first
The one end at the top of active support plate 1-203, the initiative part second spring 1-604 is withstood on initiative part electromagnetic coil 1-602
Portion, the other end of the initiative part second spring 1-604 withstand on the bottom of the second active support plate 1-303；The initiative part passes
Sense unit include initiative part pressure sensor 1-701, initiative part speed probe 1-702 and for the inclination angle to initiative part 1 into
The quantity of initiative part the obliquity sensor 1-703, the initiative part pressure sensor 1-701 of row detection are eight, the active
The both sides side at the angle of the portion bottoms shell 1-1 four is each provided with an initiative part pressure sensor 1-701, the initiative part rotating speed
The quantity of sensor 1-702 is four, first motor 1-204, the second motor 1-205, third motor 1-304 and the 4th motor 1-
An initiative part speed probe 1-702 is each provided on 305, the initiative part obliquity sensor 1-703 settings are in initiative part
The bottoms bottom plate 1-4 middle position；As shown in figure 11, the initiative part pressure sensor 1-701, initiative part speed probe 1-
702 and initiative part obliquity sensor 1-703 is connect with the input terminal of initiative part controller 1-5, the first motor 1-204,
Second motor 1-205, third motor 1-304 and the 4th motor 1-305 are connect with the output end of initiative part controller 1-5, institute
The output end for stating initiative part controller 1-5 is further connected with for being switched on or switched off initiative part energy source 1-8 for initiative part electromagnetic coil
The initiative part relay 1-11 of the current supply circuit of 1-602 power supplies；When it is implemented, the initiative part shell 1-1 is solid by screw
Surely it is connected at the top of initiative part bottom plate 1-4, the initiative part rag 1-9 and initiative part magnetic patch 1-10 are bonded in initiative part bottom plate
On the bottom surface of 1-4；The initiative part bobbin 1-601 is fixedly connected on by screw on initiative part bottom plate 1-4；The initiative part
Controller 1-5 and initiative part energy source 1-8 are fixedly connected on by screw on initiative part bottom plate 1-4；
As shown in Fig. 7~Figure 10, the follower 2 includes follower bottom plate 2-4 and is fixedly connected on follower bottom plate 2-4
The follower shell 2-1 at top and the first driven wheels, the second driven wheels, follower lifting unit, follower sensing are single
Member, follower controller 2-5, follower energy source 2-8 and magnetic force adjusting apparatus, it is solid on the bottom surface of the follower bottom plate 2-4
Surely it is connected with follower rag 2-9；First driven wheels include the first driven support plate 2-203, pass through first driven shaft
It the first driven wheel 2-201 for being rotatably connected on outside first one end driven support plate 2-203 and is connected to by second driven shaft
The second driven wheel 2-202 outside the first driven support plate 2-203 other ends, the first driven support plate 2-203 settings exist
In follower shell 2-1, the first driven wheel 2-201 and the second driven wheel 2-202 are exposed at outside follower shell 2-1；Institute
The second driven wheels are stated to include the second driven support plate 2-303, be rotatably connected on the second driven support plate by third driven shaft
Third driven wheel 2-301 outside the one end 2-303 and the second driven support plate 2-303 other ends are connected to by the 4th driven shaft
The 4th external driven wheel 2-302, the second driven support plate 2-303 be located at the top of the first driven support plate 2-203 and
It is arranged with the first driven support plate 2-203 right-angled intersections, the second driven support plate 2-303 is arranged in follower shell 2-1
Interior, the third driven wheel 2-301 and the 4th driven wheel 2-302 are exposed at outside follower shell 2-1；The follower lifting is single
Member includes being fixedly connected on follower bobbin 2-601 on follower bottom plate 2-4 and being mounted on follower bobbin 2-601
On follower electromagnetic coil 2-602, follower the first spring 2-603 and follower second spring 2-604, the follower
One end of one spring 2-603 withstands on the lower parts follower electromagnetic coil 2-602, the other end of the first spring of follower 2-603
The top of the first driven support plate 2-203 is withstood on, one end of the follower second spring 2-604 withstands on follower electromagnetic coil
The tops 2-602, the other end of the follower second spring 2-604 withstand on the bottom of the second driven support plate 2-303；It is described from
Dynamic portion's sensing unit includes follower pressure sensor 2-701, follower speed probe 2-702 and for follower 2
The quantity for follower the obliquity sensor 2-703, the follower pressure sensor 2-701 that inclination angle is detected is eight, institute
The both sides side for stating the bottoms four follower shell 2-1 angle is each provided with a follower pressure sensor 2-701, described driven
The quantity of portion speed probe 2-702 is four, and the first driven shaft, second driven shaft, third driven shaft and the 4th are driven
A follower speed probe 2-702 is each provided on axis, the follower obliquity sensor 2-703 settings are at follower bottom
The bottoms plate 2-4 middle position；As shown in figure 11, the follower pressure sensor 2-701, follower speed probe 2-
702 and follower obliquity sensor 2-703 is connect with the input terminal of follower controller 2-5, the follower controller 2-5
Output end be further connected with and returned for being switched on or switched off the power supply that follower energy source 2-8 is follower electromagnetic coil 2-602 power supply
The follower relay 2-11 on road；The magnetic force adjusting apparatus includes the magnetic force tune being erected at outside follower bobbin 2-601
Whole holder 2-102, the magnetic force adjustment holder 2-102 screw tops, which are connected with, to be threadedly coupled and stretches out with follower shell 2-1
The bottoms magnetic force adjustment knob 2-101, the magnetic force adjustment holder 2-102 outside at the top of follower shell 2-1, which are fixedly connected with, stretches
Go out the follower magnetic patch 2-103 outside the bottoms follower shell 2-1.
When it is implemented, the follower shell 2-1 is fixedly connected on by screw at the top of follower bottom plate 2-4, it is described
Follower rag 2-9 is bonded on the bottom surface of follower bottom plate 2-4；The follower bobbin 2-601 is fixed by screw to be connected
It is connected on follower bottom plate 2-4；The follower controller 2-5 and follower energy source 2-8 are fixedly connected on by screw
On follower bottom plate 2-4；The follower magnetic patch 2-103 is fixedly connected on magnetic force by screw and adjusts the bottoms holder 2-102.
When it is implemented, the safety power supply dual-purpose line 7 both can be used for connecting power supply, for the glass-cleaning robot operation
Power supply, and safety rope is may be used as, as shown in Figure 1, by the winding of nylon grume 6 indoors a certain column 5, prevent the wiping glass
Glass robot damages due to surprisingly falling.The length of safety power supply dual-purpose line 7 is freely adjustable, and glass 3 is mounted on glass
In frame 4.
In the present embodiment, as shown in figure 11, the initiative part energy source 1-8 is rechargeable battery, and the initiative part sensing is single
Member includes the initiative part electric quantity detecting circuit 1-704 being detected for the electricity to rechargeable battery, the initiative part electricity inspection
Slowdown monitoring circuit 1-704 is arranged at the top of initiative part energy source 1-8；The follower energy source 2-8 is rechargeable battery, described driven
Portion's sensing unit includes the follower electric quantity detecting circuit 2-704 being detected for the electricity to rechargeable battery, described driven
Portion electric quantity detecting circuit 2-704 is arranged at the top of follower energy source 2-8.When it is implemented, the rechargeable battery is ni-mh
Rechargeable battery or Li-Ion rechargeable battery.
In the present embodiment, the quantity of the initiative part magnetic patch 1-10 is 4~20 pieces, the follower magnetic patch 2-103 and master
The quantity of dynamic portion magnetic patch 1-10 is equal and installation site corresponds.Such set-up mode so that initiative part 1 and follower 2
After being installed inside and outside glass 3 respectively, it can ensure that follower 2 follows initiative part 1 to move in real time always；By turning magnetic force
Knob 2-101 is adjusted, the distance between follower magnetic patch 2-103 and initiative part magnetic patch 1-10 can be adjusted, and then being capable of basis
3 thickness of glass adjusts the magnetic force size between follower magnetic patch 2-103 and initiative part magnetic patch 1-10.
In the present embodiment, the quantity of the initiative part rag 1-9 and the quantity of follower rag 2-9 are one piece or more
Block.Preferably polylith.When it is implemented, should ensure that initiative part magnetic patch 1-10 is not blocked after the 1-9 installations of initiative part rag, and it is main
When dynamic portion rag 1-9 contacts 3 face of glass, the first driving wheel 1-202 and the second driving wheel 1-201 or third driving wheel 1-301
3 face of glass is also touched with the 4th driving wheel 1-302 simultaneously；Follower magnetic patch 2-103 is should ensure that after the 2-9 installations of follower rag
It is not blocked, and when contact 3 face of glass follower rag 2-9, the first driven wheel 2-201 and the second driven wheel 2-202 or the
Three driven wheel 2-301 and the 4th driven wheel 2-302 also touch 3 face of glass simultaneously.
In the present embodiment, as shown in figure 11, the initiative part controller 1-5 include initiative part micro controller module 1-51 and
The initiative part communication module 1-52 to connect with initiative part micro controller module 1-51, the initiative part micro controller module 1-51's
Output is terminated with motor drive module 1-53 and initiative part alarm module 1-54, the initiative part pressure sensor 1-701, active
Portion speed probe 1-702 and initiative part obliquity sensor 1-703 connects with the input terminal of initiative part micro controller module 1-51
It connects, the initiative part relay 1-11 is connect with the output end of initiative part micro controller module 1-51, the first motor 1-
204, the second motor 1-205, third motor 1-304 and the 4th motor 1-305 connect with the output end of motor drive module 1-53
It connects；The follower controller 2-5 include follower micro controller module 2-51 and with follower micro controller module 2-51 phases
Follower the communication module 2-52, the follower micro controller module 2- for connecing and being used to communicate with initiative part communication module 1-52
51 output is terminated with follower alarm module 2-54, the follower pressure sensor 2-701, follower speed probe 2-
702 and follower obliquity sensor 2-703 is connect with the input terminal of follower micro controller module 2-51, the follower after
Electric appliance 2-11 and follower battery capacity indication lamp 2-705 are connect with the output end of follower micro controller module 2-51.
In the present embodiment, the initiative part communication module 1-52 and follower communication module 2-52 are infrared communication mould
Block, radio communication module or bluetooth communication.Initiative part 1 and follower 2 can by initiative part communication module 1-52 and
Follower communication module 2-52 is communicated, what follower controller 2-5 can be arrived according to the follower sensing unit senses
The status information that information obtains follower 2 is sent to initiative part controller 1-5, and initiative part controller 1-5 can will control driven
The control information that portion 2 works is sent to follower controller 2-5.
The method that cleans the windows of glass-cleaning robot of the first of the present invention with lift walking mechanism, including following step
Suddenly：
Step 1: initiative part 1 and follower 2 to be separately placed in the both side surface corresponding position of glass 3, described in rotation
The magnetic force of magnetic force adjusting apparatus adjusts knob 2-101, so that initiative part 1 and follower 2 is adsorbed every glass 3 and fixes, and follower 2
It can be moved with initiative part 1；
Step 2: starting initiative part 1, at this point, initiative part relay 1-11 access failure initiative part energy sources 1-8 is initiative part
The current supply circuit of electromagnetic coil 1-602 power supplies, initiative part controller 1-5 is according to preset glass-cleaning robot operational mode
First motor 1-204 and the second motor 1-205 rotations are controlled, first motor 1-204 drives the first driving wheel 1-202 rotations, the
Two motor 1-205 drive the second driving wheel 1-201 rotations, the first driving wheel 1-202 and the second driving wheel 1-201 and glass 3 one
Side surface contacts, and initiative part 1 is made to walk in 3 one side surface of glass；At the same time, follower controller 2-5 access failure followers
Energy source 2-8 is the current supply circuit of follower electromagnetic coil 2-602 power supplies, the first driven wheel 2-201 and the second driven wheel 2-202
It is contacted with 3 another side surface of glass, makes follower 2 under the magnetic force with initiative part 1 in 3 another side surface row of glass
It walks；In 2 walking process of initiative part 1 and follower, as initiative part pressure sensor 1-701 or follower pressure sensor 2-701
When generating collision sensing signal, step 3 is executed；As the initiative part pressure sensor 1-701 or driven of 1 single side of initiative part
When the single follower pressure sensor 2-701 of 2 single side of portion generates collision sensing signal, step 4 is executed；Work as initiative part
Obliquity sensor 1-703 or follower obliquity sensor 2-703 provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, execute step
Rapid four, when rotating speed begins four initiative part speed probe 1-702 and four follower speed probe 2-702 at the appointed time
When inconsistent eventually, step 5 is executed；When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 are shown
When not enough power supply, step 5 is executed；Otherwise, step 6 is executed；
Step 3: the initiative part controller 1-5, which exports control signal, gives initiative part relay 1-11, initiative part shell is given
Initiative part electromagnetic coil 1-602 in 1-1 is powered, will together with first active wheels and second active wheels suction,
So that first active wheels leave 3 surface of glass, while second active wheels contact glass, 3 surface；Initiative part control
Device 1-5 controls third motor 1-304 and the 4th motor 1-305 processed is rotated in the forward direction or is reversely rotated；Meanwhile the initiative part control
Device 1-5 processed outputs signal to follower controller 2-5, follower controller 2-5 and exports control signal according to received signal
It is powered to the follower electromagnetic coil 2-602 in follower shell 2-1, by first driven wheels and second driven wheel
Group is inhaled together so that first driven wheels leave 3 surface of glass, while second driven wheels contact 3 table of glass
Face starts to rotate with initiative part 1；Realize the go to action of robot；
Step 4: the initiative part controller 1-5 controls first motor 1-204 and the second motor 1-205 presses different rotating speeds
It rotates in same direction, realizes the differential rotation of initiative part 1；Meanwhile follower 2 is moved with initiative part 1, realizes the direction tune of robot
It is whole；
Step 5: the initiative part controller 1-5 controls first motor 1-204 and the second motor 1-205 stops operating, and
The control instruction being stopped is sent to follower controller 2-5, initiative part 1 and follower 2 are stopped；When it is implemented,
The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5
Alarm signal is sent out, operating personnel are reminded；
Step 6: it is constant to maintain the original state, continue to move ahead.
The method that cleans the windows of glass-cleaning robot of second of the present invention with lift walking mechanism, including following step
Suddenly：
Step 1: initiative part 1 and follower 2 to be separately placed in the both side surface corresponding position of glass 3, described in rotation
The magnetic force of magnetic force adjusting apparatus adjusts knob 2-101, so that initiative part 1 and follower 2 is adsorbed every glass 3 and fixes, and follower 2
It can be moved with initiative part 1；
Step 2: starting initiative part 1, at this point, it is initiative part that initiative part relay 1-11, which has connected initiative part energy source 1-8,
The current supply circuit of electromagnetic coil 1-602 power supplies, initiative part controller 1-5 is according to preset glass-cleaning robot operational mode
Third motor 1-304 and the 4th motor 1-305 rotations are controlled, third motor 1-304 drives the 1-301 rotations of third driving wheel, the
Four motor 1-305 drive the 4th driving wheel 1-302 rotations, third driving wheel 1-301 and the 4th driving wheel 1-302 and glass 3 one
Side surface contacts, and initiative part 1 is made to walk in 3 one side surface of glass；At the same time, follower controller 2-5 has connected follower
Energy source 2-8 is the current supply circuit of follower electromagnetic coil 2-602 power supplies, third driven wheel 2-203 and the 4th driven wheel 2-204
It is contacted with 3 another side surface of glass, makes follower 2 under the magnetic force with initiative part 1 in 3 another side surface row of glass
It walks；In 2 walking process of initiative part 1 and follower, as initiative part pressure sensor 1-701 or follower pressure sensor 2-701
When generating collision sensing signal, step 3 is executed；As the initiative part pressure sensor 1-701 or driven of 1 single side of initiative part
When the single follower pressure sensor 2-701 of 2 single side of portion generates collision sensing signal, step 4 is executed；Work as initiative part
Obliquity sensor 1-703 or follower obliquity sensor 2-703 provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, execute step
Rapid four, when rotating speed begins four initiative part speed probe 1-702 and four follower speed probe 2-702 at the appointed time
When inconsistent eventually, step 5 is executed；When initiative part electric quantity detecting circuit 1-704 or follower electric quantity detecting circuit 2-704 are shown
When not enough power supply, step 5 is executed；Otherwise, step 6 is executed；
Step 3: the initiative part controller 1-5, which exports control signal, gives initiative part relay 1-11, initiative part shell is given
Initiative part electromagnetic coil 1-602 in 1-1 is powered, will together with first active wheels and second active wheels suction,
So that second active wheels leave 3 surface of glass, while first active wheels contact glass, 3 surface；Initiative part control
Device 1-5 controls first motor 1-204 and the second motor 1-205 processed is rotated in the forward direction or is reversely rotated；Meanwhile the initiative part control
Device 1-5 processed outputs signal to follower controller 2-5, follower controller 2-5 and exports control signal according to received signal
It is powered to the follower electromagnetic coil 2-602 in follower shell 2-1, by first driven wheels and second driven wheel
Group is inhaled together so that second driven wheels leave 3 surface of glass, while first driven wheels contact 3 table of glass
Face starts to rotate with initiative part 1；Realize the go to action of robot；
Step 4: the initiative part controller 1-5 controls third motor 1-304 and the 4th motor 1-305 presses different rotating speeds
It rotates in same direction, realizes the differential rotation of initiative part 1；Meanwhile follower 2 is moved with initiative part 1, realizes the direction tune of robot
It is whole；
Step 5: the initiative part controller 1-5 controls third motor 1-304 and the 4th motor 1-305 stops operating, and
The control instruction being stopped is sent to follower controller 2-5, initiative part 1 and follower 2 are stopped；When it is implemented,
The follower alarm module 2-54 in initiative part alarm module 1-54 and follower controller 2-5 in initiative part controller 1-5
Alarm signal is sent out, operating personnel are reminded；
Step 6: it is constant to maintain the original state, continue to move ahead.
The above is only presently preferred embodiments of the present invention, is not imposed any restrictions to the present invention, every according to the present invention
Technical spirit changes any simple modification, change and equivalent structure made by above example, still falls within skill of the present invention
In the protection domain of art scheme.
Claims (5)
1. a kind of glass-cleaning robot with lift walking mechanism, it is characterised in that：Including being used to be separately positioned on glass
(3) inside and glass (3) outside and mutually matched initiative part (1) and follower (2), and for security protection and for being
The safety power supply dual-purpose line (7) of initiative part (1) and follower (2) power supply；
The initiative part (1) includes outside initiative part bottom plate (1-4) and the initiative part being fixedly connected at the top of initiative part bottom plate (1-4)
Shell (1-1) and the first active wheels, the second active wheels, initiative part lifting unit, initiative part sensing unit, initiative part control
Device (1-5) processed and initiative part energy source (1-8) are fixedly connected with initiative part rag on the bottom surface of the initiative part bottom plate (1-4)
(1-9) and initiative part magnetic patch (1-10)；First active wheels include the first active support plate (1-203) and fix respectively
It is connected to the first motor (1-204) and the second motor (1-205) at both ends in the first active support plate (1-203), described first
The first driving wheel (1-202), the output shaft of second motor (1-205) are fixedly connected on the output shaft of motor (1-204)
On be fixedly connected with the second driving wheel (1-201), the first active support plate (1-203), first motor (1-204) and second
Motor (1-205) is arranged in initiative part shell (1-1), first driving wheel (1-202) and the second driving wheel (1-201)
It is exposed at initiative part shell (1-1) outside；Second active wheels include the second active support plate (1-303) and fix respectively
It is connected to the third motor (1-304) and the 4th motor (1-305) at both ends in the second active support plate (1-303), described second
Active support plate (1-303) be located at the top of the first active support plate (1-203) and with first active support plate (1-203) cross
It is arranged in a crossed manner, third driving wheel (1-301), the 4th electricity are fixedly connected on the output shaft of the third motor (1-304)
The 4th driving wheel (1-302), the second active support plate (1-303), third are fixedly connected on the output shaft of machine (1-305)
Motor (1-304) and the 4th motor (1-305) are arranged in initiative part shell (1-1), the third driving wheel (1-301) and
4th driving wheel (1-302) is exposed at initiative part shell (1-1) outside；The initiative part lifting unit includes being fixedly connected on actively
Initiative part bobbin (1-601) on portion's bottom plate (1-4) and the initiative part electromagnetism on initiative part bobbin (1-601)
Coil (1-602), the first spring of initiative part (1-603) and initiative part second spring (1-604), the first spring of the initiative part
The one end of (1-603) withstands on the lower part initiative part electromagnetic coil (1-602), the other end of the first spring of the initiative part (1-603)
The top of the first active support plate (1-203) is withstood on, one end of the initiative part second spring (1-604) withstands on initiative part electromagnetism
The other end on the top coil (1-602), the initiative part second spring (1-604) withstands on the second active support plate (1-303)
Bottom；The initiative part sensing unit include initiative part pressure sensor (1-701), initiative part speed probe (1-702) and
For the initiative part obliquity sensor (1-703) that the inclination angle to initiative part (1) is detected, the initiative part pressure sensor
The quantity of (1-701) is eight, and the both sides side at initiative part shell (1-1) bottom four angle is each provided with an initiative part
Pressure sensor (1-701), the quantity of the initiative part speed probe (1-702) are four, first motor (1-204), the
It is each provided with an initiative part speed probe on two motors (1-205), third motor (1-304) and the 4th motor (1-305)
(1-702), the initiative part obliquity sensor (1-703) are arranged in the bottom initiative part bottom plate (1-4) middle position；The master
Dynamic portion's pressure sensor (1-701), initiative part speed probe (1-702) and initiative part obliquity sensor (1-703) with master
The input terminal connection of dynamic portion's controller (1-5), the first motor (1-204), the second motor (1-205), third motor (1-
304) it is connect with the output end of initiative part controller (1-5) with the 4th motor (1-305), the initiative part controller (1-5)
Output end be further connected with for be switched on or switched off initiative part energy source (1-8) be initiative part electromagnetic coil (1-602) power supply confession
The initiative part relay (1-11) of electrical circuit；
The follower (2) includes outside follower bottom plate (2-4) and the follower being fixedly connected at the top of follower bottom plate (2-4)
Shell (2-1) and the first driven wheels, the second driven wheels, follower lifting unit, follower sensing unit, follower control
Device (2-5), follower energy source (2-8) and magnetic force adjusting apparatus processed are fixedly connected on the bottom surface of the follower bottom plate (2-4)
There is follower rag (2-9)；First driven wheels include the first driven support plate (2-203), are turned by first driven shaft
Dynamic the first driven wheel (2-201) being connected to outside first driven support plate (2-203) one end is connected with by second driven shaft
The second driven wheel (2-202) outside first driven support plate (2-203) other end, the first driven support plate (2-
203) setting is in the follower shell (2-1), first driven wheel (2-201) and the second driven wheel (2-202) be exposed at from
Dynamic portion's shell (2-1) is outside；Second driven wheels include the second driven support plate (2-303), are rotated by third driven shaft
It the third driven wheel (2-301) that is connected to outside second driven support plate (2-303) one end and is connected to by the 4th driven shaft
The 4th driven wheel (2-302) outside second driven support plate (2-303) other end, the second driven support plate (2-303)
It is arranged positioned at the top of the first driven support plate (2-203) and with the first driven support plate (2-203) right-angled intersection, described second
Driven support plate (2-303) setting is in follower shell (2-1), the third driven wheel (2-301) and the 4th driven wheel (2-
302) it is exposed at follower shell (2-1) outside；The follower lifting unit includes being fixedly connected on follower bottom plate (2-4)
Follower bobbin (2-601) and follower electromagnetic coil (2-602) on the follower bobbin (2-601),
The first spring of follower (2-603) and follower second spring (2-604), one end of the first spring of the follower (2-603)
The lower part follower electromagnetic coil (2-602) is withstood on, the other end of the first spring of the follower (2-603) withstands on the first driven branch
The one end at the top of fagging (2-203), the follower second spring (2-604) is withstood on follower electromagnetic coil (2-602)
Portion, the other end of the follower second spring (2-604) withstand on the bottom of the second driven support plate (2-303)；It is described driven
Portion's sensing unit includes follower pressure sensor (2-701), follower speed probe (2-702) and is used for follower
(2) the follower obliquity sensor (2-703) that inclination angle is detected, the quantity of the follower pressure sensor (2-701)
It it is eight, the both sides side at follower shell (2-1) bottom four angle is each provided with a follower pressure sensor (2-
701), the quantity of the follower speed probe (2-702) be four, the first driven shaft, second driven shaft, third from
A follower speed probe (2-702), the follower obliquity sensor (2- are each provided on moving axis and the 4th driven shaft
703) it is arranged in the bottom follower bottom plate (2-4) middle position；The follower pressure sensor (2-701), follower turn
Fast sensor (2-702) and follower obliquity sensor (2-703) are connect with the input terminal of follower controller (2-5), institute
The output end for stating follower controller (2-5) is further connected with for being switched on or switched off follower energy source (2-8) for follower electromagnetism
The follower relay (2-11) of the current supply circuit of coil (2-602) power supply；The magnetic force adjusting apparatus is driven including being erected at
The external magnetic force adjustment holder (2-102) of portion's bobbin (2-601), magnetic force adjustment holder (2-102) screw top connection
There is the magnetic force adjustment knob (2-101) for being threadedly coupled and stretching out with follower shell (2-1) outside at the top of follower shell (2-1),
Magnetic force adjustment bottom holder (2-102) is fixedly connected with the follower magnetic patch (2- stretched out outside the bottom follower shell (2-1)
103)；
The initiative part energy source (1-8) is rechargeable battery, and the initiative part sensing unit includes for the electricity to rechargeable battery
The initiative part electric quantity detecting circuit (1-704) being detected is measured, initiative part electric quantity detecting circuit (1-704) setting is actively
The top of portion's energy source (1-8), the input terminal of the initiative part electric quantity detecting circuit (1-704) and initiative part controller (1-5)
Connection, the output of the initiative part controller (1-5) are terminated with initiative part battery capacity indication lamp (1-705)；The follower energy
Source (2-8) is rechargeable battery, and the follower sensing unit includes the follower being detected for the electricity to rechargeable battery
Electric quantity detecting circuit (2-704), the follower electric quantity detecting circuit (2-704) are arranged on the top of follower energy source (2-8)
Portion, the follower electric quantity detecting circuit (2-704) connect with the input terminal of follower controller (2-5), the follower control
The output of device (2-5) processed is terminated with follower battery capacity indication lamp (2-705)；
The quantity of the initiative part magnetic patch (1-10) is 4~20 pieces, the follower magnetic patch (2-103) and initiative part magnetic patch (1-
10) quantity is equal and installation site corresponds.
2. the glass-cleaning robot described in accordance with the claim 1 with lift walking mechanism, it is characterised in that：The active
The quantity of portion's rag (1-9) and the quantity of follower rag (2-9) are one or more.
3. the glass-cleaning robot described in accordance with the claim 1 with lift walking mechanism, it is characterised in that：The active
Portion's controller (1-5) includes initiative part micro controller module (1-51) and the master that connects with initiative part micro controller module (1-51)
Dynamic portion's communication module (1-52), the output of the initiative part micro controller module (1-51) are terminated with motor drive module (1-53)
With initiative part alarm module (1-54), the initiative part pressure sensor (1-701), initiative part speed probe (1-702), master
Dynamic portion's obliquity sensor (1-703) and initiative part electric quantity detecting circuit (1-704) with initiative part micro controller module (1-51)
Input terminal connection, the initiative part relay (1-11) and initiative part battery capacity indication lamp (1-705) with initiative part microcontroller
The output end of device module (1-51) connects, the first motor (1-204), the second motor (1-205), third motor (1-304)
It is connect with the output end of motor drive module (1-53) with the 4th motor (1-305)；The follower controller (2-5) includes
Follower micro controller module (2-51) and connect with follower micro controller module (2-51) and for initiative part communicating mould
The follower communication module (2-52) of block (1-52) communication, the output of the follower micro controller module (2-51) be terminated with from
Dynamic portion's alarm module (2-54), the follower pressure sensor (2-701), follower speed probe (2-702), follower
Obliquity sensor (2-703) and follower electric quantity detecting circuit (2-704) are defeated with follower micro controller module (2-51)
Enter end connection, the follower relay (2-11) and follower battery capacity indication lamp (2-705) with follower microcontroller mould
The output end of block (2-51) connects.
4. the glass-cleaning robot described in accordance with the claim 3 with lift walking mechanism, it is characterised in that：The active
Portion's communication module (1-52) and follower communication module (2-52) are that infrared communication module, radio communication module or bluetooth are logical
Believe module.
5. a kind of method that cleans the windows using the glass-cleaning robot as described in claim 1 with lift walking mechanism,
It is characterized in that, this approach includes the following steps：
Step 1: initiative part (1) and follower (2) to be separately placed in the both side surface corresponding position of glass (3), institute is rotated
The magnetic force adjustment knob (2-101) for stating magnetic force adjusting apparatus makes initiative part (1) and follower (2) that can be adsorbed every glass (3) solid
It is fixed, and follower (2) can be moved with initiative part (1)；
Step 2: starting initiative part (1), at this point, initiative part relay (1-11) access failure initiative part energy source (1-8) is actively
The current supply circuit of portion's electromagnetic coil (1-602) power supply, initiative part controller (1-5) are transported according to preset glass-cleaning robot
Row scheme control first motor (1-204) and the second motor (1-205) rotation, first motor (1-204) drive the first driving wheel
(1-202) rotates, and the second motor (1-205) drives the second driving wheel (1-201) to rotate, the first driving wheel (1-202) and second
Driving wheel (1-201) is contacted with (3) one side surface of glass, and initiative part (1) is made to walk in (3) one side surface of glass；At the same time,
Follower controller (2-5) access failure follower energy source (2-8) is that the power supply of follower electromagnetic coil (2-602) power supply is returned
Road, the first driven wheel (2-201) and the second driven wheel (2-202) are contacted with glass (3) another side surface, and follower (2) is made to exist
It walks in another side surface of glass (3) with initiative part (1) under the action of magnetic force；Initiative part (1) and follower (2) were walked
Cheng Zhong is held when initiative part pressure sensor (1-701) or follower pressure sensor (2-701) generation collision sensing signal
Row step 3；When the initiative part pressure sensor (1-701) of initiative part (1) single side or the list of follower (2) single side
When a follower pressure sensor (2-701) generates collision sensing signal, step 4 is executed；As initiative part obliquity sensor (1-
703) or follower obliquity sensor (2-703) provide not 0 deg., 90 deg, 180 ° or 270 ° signal when, step 4 is executed, when four
Rotating speed is not always at the appointed time for a initiative part speed probe (1-702) and four follower speed probes (2-702)
When consistent, step 5 is executed；When initiative part electric quantity detecting circuit (1-704) or follower electric quantity detecting circuit (2-704) are shown
When not enough power supply, step 5 is executed；Otherwise, step 6 is executed；
Step 3: the initiative part controller (1-5), which exports control signal, gives initiative part relay (1-11), initiative part shell is given
Initiative part electromagnetic coil (1-602) in (1-1) is powered, and first active wheels and second active wheels are inhaled one
It rises so that first active wheels leave glass (3) surface, while second active wheels contact glass (3) surface；It is main
Dynamic portion's controller (1-5) control third motor (1-304) and the 4th motor (1-305) are rotated in the forward direction or are reversely rotated；Meanwhile
The initiative part controller (1-5) outputs signal to follower controller (2-5), and follower controller (2-5) is according to being received
Signal export control signal in follower shell (2-1) follower electromagnetic coil (2-602) be powered, by described first from
Together with driving wheel group is inhaled with second driven wheels so that first driven wheels leave glass (3) surface, while described
Second driven wheels contact glass (3) surface, start to rotate with initiative part (1)；Realize the go to action of robot；
Step 4: initiative part controller (1-5) the control first motor (1-204) and the second motor (1-205) are turned as different
Speed rotates in same direction, and realizes the differential rotation of initiative part (1)；Meanwhile follower (2) is moved with initiative part (1), realizes robot
Direction adjusts；
Step 5: initiative part controller (1-5) the control first motor (1-204) and the second motor (1-205) stop operating,
And the control instruction being stopped is sent to follower controller (2-5), initiative part (1) and follower (2) are stopped；
Step 6: it is constant to maintain the original state, continue to move ahead.
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