CN106388690B - A kind of civic building field window wiping robot - Google Patents
A kind of civic building field window wiping robot Download PDFInfo
- Publication number
- CN106388690B CN106388690B CN201610961653.5A CN201610961653A CN106388690B CN 106388690 B CN106388690 B CN 106388690B CN 201610961653 A CN201610961653 A CN 201610961653A CN 106388690 B CN106388690 B CN 106388690B
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- China
- Prior art keywords
- guide rod
- shaft
- guide
- sleeve
- slide bar
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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
Abstract
The invention discloses a kind of civic building field window wiping robots, including rack, the rack is square, the rack includes four columns being located on square four angles and the first guide rod being connected between adjacent upright posts, second guide rod, third guide rod, 4th guide rod, first guide rod and third guide rod are arranged in parallel, second guide rod and the 4th guide rod are arranged in parallel, sliding sleeve is equipped with the first guide sleeve on first guide rod, the bottom face of first guide sleeve is equipped with wiper and the first vacuum cup, the side of first guide sleeve is equipped with the first slide bar, first slide bar is arranged towards third guide rod and perpendicular to the first guide rod, being located at the first guide rod top for the rack is equipped with the crossbeam parallel with the first guide rod, in the middle part of the crossbeam vertical beam is equipped with towards frame central direction, the vertical beam is equipped with first rotating shaft.The present invention drives gantry motion by vacuum cup alternating sorbent, by runner, so that it may realize movement of the robot in rack, be simple and efficient, good stability.
Description
Technical field
The present invention relates to robotic technology fields, particularly relate to a kind of civic building field window wiping robot.
Background technology
Windowpane in civic building has inside and outside two faces, and windowpane outwardly is not easy to scrub very much, and
There are the risks of working at height, are badly in need of a kind of robot of research and development and replace manual work.
Invention content
It is existing to solve technical problem to be solved by the invention is to provide a kind of civic building field window wiping robot
The big technical problem of clean glass window difficulty in technology.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of civic building field window wiping robot, packet
Including rack, the rack is square, and the rack includes four columns being located on square four angles and is connected to phase
The first guide rod, the second guide rod, third guide rod, the 4th guide rod between adjacent column, first guide rod is parallel with third guide rod to be set
It sets, second guide rod and the 4th guide rod are arranged in parallel, and sliding sleeve is equipped with the first guide sleeve on first guide rod, and described first leads
The bottom face of set is equipped with wiper and the first vacuum cup, and the side of first guide sleeve is equipped with the first slide bar, first slide bar
Be arranged towards third guide rod and perpendicular to the first guide rod, the rack be located above the first guide rod place equipped with and the first guide rod phase
Parallel crossbeam is equipped with vertical beam in the middle part of the crossbeam towards frame central direction, and the vertical beam is equipped with first rotating shaft, and described first
Shaft is overlapped with frame central, is equipped with the first follower lever and the second follower lever in the first rotating shaft successively, described first is driven
The angle of bar and the second follower lever is 90 °, and first slide bar is equipped with the first sliding sleeve, and the top of first sliding sleeve is equipped with the
One end of two shafts, first follower lever is equipped with the first sets of holes, and first sets of holes are connected in the second shaft, described perpendicular
Runner is additionally provided on beam, the runner is driven by motor, and the runner is equipped with third shaft close to edge, the crossbeam
Middle part is equipped with driving lever, and the middle part of the driving lever is equipped with the first bar-shaped trough, and the third shaft is installed in the first bar-shaped trough,
First follower lever is equipped with the second bar-shaped trough, and second bar-shaped trough is located at the medium position and first set of the first follower lever
Between hole, the outer end of the driving lever is equipped with the 4th shaft, and the 4th shaft is installed in the second bar-shaped trough, and described first
The other end of follower lever is equipped with third sets of holes, and sliding sleeve is equipped with third guide sleeve, the bottom of the third guide sleeve on the third guide rod
End face is equipped with wiper and the second vacuum cup, and the side of the third guide sleeve is equipped with third slide bar, and the third slide bar is towards the
One guide rod is arranged and perpendicular to third guide rod, and the third slide bar is equipped with third sliding sleeve, and the third sliding sleeve is equipped with the 5th
Shaft, the third sets of holes are installed in the 5th shaft；Sliding sleeve is equipped with the second guide sleeve on second guide rod, and described second leads
The bottom face of set is equipped with wiper, and the side of second guide sleeve is equipped with the second slide bar, and second slide bar is set towards the 4th guide rod
It sets and perpendicular to the second guide rod, second slide bar is equipped with the second sliding sleeve, and second sliding sleeve is equipped with the 6th shaft, described
The both ends of second follower lever are respectively equipped with the second sets of holes and the 4th sets of holes, and second sets of holes are installed in the 6th shaft；It is described
Sliding sleeve is equipped with the 4th guide sleeve on 4th guide rod, and the bottom face of the 4th guide sleeve is equipped with wiper, the side of the 4th guide sleeve
Equipped with the 4th slide bar, the 4th slide bar is arranged towards the second guide rod and perpendicular to the 4th guide rod, and the 4th slide bar is equipped with
4th sliding sleeve, the 4th sliding sleeve are equipped with the 7th shaft, and the 4th sets of holes are installed in the 7th shaft；
The lower face of second follower lever is equipped with several hole for water sprayings, and the lower face on first follower lever is equipped with several
Hot gas venthole is for drying.
Wherein, first vacuum cup and the second vacuum cup alternate run are to drive rack to be moved on windowpane.
Wherein, the driving lever is made of stainless steel material.
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In said program, the present invention is since the first follower lever and the second follower lever are connected and are in 90 ° of designs, when first
Follower lever drives the first guide sleeve and third guide sleeve respectively when being moved back and forth on the first guide rod and third guide rod, the second follower lever
The second guide sleeve and the 4th guide sleeve can be driven to be moved back and forth on the second guide rod and the 4th guide rod respectively；Therefore four wipers are only by one
A runner driving can carry out cleaning to glass surface simultaneously, efficient；By vacuum cup alternating sorbent, driven by runner
Gantry motion, so that it may realize movement of the robot in rack, be simple and efficient, good stability.
Description of the drawings
Fig. 1 is the vertical view of the present invention.
Fig. 2 is the stereogram one of the present invention.
Fig. 3 is the stereogram two of the present invention.
Specific implementation mode
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
As shown in Figure 1 to Figure 3, the embodiment of the present invention provides a kind of civic building field window wiping robot, including rack,
The rack is square, and the rack includes four columns 1 being located on square four angles and is connected to adjacent upright posts 1
Between the first guide rod 2, the second guide rod 3, third guide rod 4, the 4th guide rod 5, four guide rods are isometric, the one side being respectively square,
First guide rod 2 and third guide rod 4 are arranged in parallel, and second guide rod, 3 and the 4th guide rod 5 is arranged in parallel, and the first guide rod 2 hangs down
Directly in the second guide rod 3.Sliding sleeve is equipped with the first guide sleeve 21 on first guide rod 2, and the bottom face of first guide sleeve 21 is equipped with
Wiper 7 and the first vacuum cup 61, the side of first guide sleeve 21 are equipped with the first slide bar 22, and first slide bar 22 is towards the
Three guide rods 4 are arranged and perpendicular to the first guide rods 2, and the rack is located at 2 top of the first guide rod equipped with equal with the first guide rod 2
Capable crossbeam 8, the aerial setting of crossbeam 8, therefore will not interference with the movement of the first guide sleeve 21, towards rack in the middle part of the crossbeam 8
Center position is equipped with vertical beam 9, and the vertical beam 9 is equipped with first rotating shaft 10, first rotating shaft 10 and 9 perpendicular setting of vertical beam, and first
Shaft 10 can rotate on vertical beam 9, and bearing connection can be used, and the first rotating shaft 10 is overlapped with frame central point；Described first
The first follower lever 11 and the second follower lever 12 are equipped in shaft 10 successively, the first follower lever 11 and the second follower lever 12 are isometric, and
Axis of the central point of 12 respective both ends line of first follower lever 11 and the second follower lever with first rotating shaft 10 coincides, the
One follower lever 11 and the second follower lever 12 is spaced apart is fixed in first rotating shaft 10, first follower lever 11 and second
The angle of follower lever 12 is 90 °.
First slide bar 22 is equipped with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after by outer power drive
The top of sliding, first sliding sleeve 23 is equipped with the second shaft 24, and the second shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Such as use bearing connection type；One end of first follower lever 11 is equipped with the first sets of holes 111, and first sets of holes 111 connect
It is connected in the second shaft 24, the first sets of holes 111 can be fixedly connected with 24 phase of the second shaft in the present embodiment；On the vertical beam 9 also
Equipped with runner 13, the runner 13 is equipped with third shaft 14 by motor driving (not shown), the runner 13 close to edge,
Third shaft 14 is located on the eccentric position of runner 13, and third shaft 14 can rotate on runner 13, is connected for example, by using bearing
Mode；The middle part of the crossbeam 8 is equipped with driving lever 15, and one end of driving lever 15 is articulated on the medium position of crossbeam 8；The master
The middle part of lever 15 is equipped with the first bar-shaped trough 151, and the third shaft 14 is installed in the first bar-shaped trough 151, third shaft 14
The way of contact with the first bar-shaped trough 151 is rolling friction.
First follower lever 11 is equipped with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the first follower lever 11
Medium position and the first sets of holes 111 between, the outer end of the driving lever 15 is equipped with the 4th shaft 152, and the 4th shaft 152 can
It is rotated on the outer end of driving lever 15, for example, by using bearing connection type；4th shaft 152 is installed on the second bar-shaped trough
In 113, the way of contact of the 4th shaft 152 and the second bar-shaped trough 113 is rolling friction, the other end of first follower lever 11
Equipped with third sets of holes 112, sliding sleeve is equipped with third guide sleeve 41 on the third guide rod 4, and the bottom face of the third guide sleeve 41 is set
There are wiper 7 and the second vacuum cup 62, the side of the third guide sleeve 41 to be equipped with third slide bar 42,42 direction of third slide bar
First guide rod 2 is arranged and perpendicular to third guide rod 4, and the third slide bar 42 is equipped with third sliding sleeve 43, the third sliding sleeve 43
It is equipped with the 5th shaft 44, the 5th shaft 44 can be in the rotary-top of third sliding sleeve 43, for example, by using bearing connection type；It is described
Third sets of holes 112 are installed in the 5th shaft 44, and third sets of holes 112 can be fixedly connected with 44 phase of the 5th shaft in the present embodiment.
Symmetrical centered on first guide sleeve 21, the first slide bar 22 and third guide sleeve 41, third slide bar 42, symmetrical centre point is located at first rotating shaft
On 10 place axis.
Sliding sleeve is equipped with the second guide sleeve 31 on second guide rod 3, and the bottom face of second guide sleeve 31 is equipped with wiper 7,
The side of second guide sleeve 31 is equipped with the second slide bar 32, and second slide bar 32 is arranged towards the 4th guide rod 5 and perpendicular to the
Two guide rods 3, second slide bar 32 be equipped with the second sliding sleeve 33, second sliding sleeve 33 be equipped with the 6th shaft 34, the 6th turn
Axis 34 can be in the rotary-top of the second sliding sleeve 33, for example, by using bearing connection type；Distinguish at the both ends of second follower lever 12
Equipped with the second sets of holes 121 and the 4th sets of holes 122, second sets of holes 121 are installed in the 6th shaft 34, second in the present embodiment
Sets of holes 121 can be fixedly connected with 34 phase of the 6th shaft；On 4th guide rod 5 sliding sleeve be equipped with the 4th guide sleeve 51, the described 4th
The bottom face of guide sleeve 51 is equipped with wiper 7, and the side of the 4th guide sleeve 51 is equipped with the 4th slide bar 52,52 direction of the 4th slide bar
Second guide rod 3 is arranged and perpendicular to the 4th guide rod 5, and the 4th slide bar 52 is equipped with the 4th sliding sleeve 53, the 4th sliding sleeve 53
It is equipped with the 7th shaft 54, the 7th shaft 54 can be in the rotary-top of the 4th sliding sleeve 53, for example, by using bearing connection type；It is described
4th sets of holes 122 are installed in the 7th shaft 54, and the 4th sets of holes 122 can be fixedly connected with 54 phase of the 7th shaft in the present embodiment.
Symmetrical centered on second guide sleeve 31, the second slide bar 32 and the 4th guide sleeve 51, the 4th slide bar 52, symmetrical centre point is located at first rotating shaft
On 10 place axis.
The operation principle and process of the present invention is as follows：When original state, rack and glass planar are placed in parallel, has and wipes
The one of cloth is adsorbed on by the first vacuum cup and the second vacuum cup on glass facing towards glass, and after start-up operation, first is true
Suction disk does not adsorb, and the second vacuum cup continues to adsorb, and runner rotation drives the third shaft on runner to move in a circle, the
Three shafts drive driving lever to swing back and forth, and driving lever is using crossbeam center as swing pivot, the 4th shaft on driving lever movable end
It drives the first follower lever to move, so that the first follower lever is swung back and forth by swing pivot of frame central, the first follower lever is by setting
The second shaft in end drives the first guide sleeve to do linear reciprocating motion on the first guide rod, and the wiper on the first guide sleeve can be used to
Clean glass window, when the first guide sleeve moves to the other end from the first guide rod, the absorption of the first vacuum cup, the second vacuum cup
It does not adsorb, the first vacuum cup and the second vacuum cup alternating sorbent can be such that rack moves on the glass surface；Due to first from
Lever is connected with the second follower lever and is in 90 ° of designs, therefore when the first follower lever drives the first guide sleeve and third guide sleeve to exist respectively
When being moved back and forth on the first guide rod and third guide rod, the second follower lever can also drive the second guide sleeve and the 4th guide sleeve respectively second
It is moved back and forth on guide rod and the 4th guide rod.Therefore four wipers are only driven by a runner, can be carried out simultaneously to glass surface clear
Clean work, it is efficient；By vacuum cup alternating sorbent, gantry motion is driven by runner, so that it may realize robot on windowpane
Movement, be simple and efficient, good stability.
In actual mechanical process, wiper on the first guide sleeve and third guide sleeve can be touched on the two sides of glass, because
This is in manufacture so that the spacing between the first guide sleeve and two outer ends of third guide sleeve is identical as glass width so that the device
The cleaning of this sheet glass once can be completed in work.
The lower face of second follower lever 12 is equipped with several hole for water sprayings 124, the lower face on first follower lever 11
Equipped with several hot gas ventholes 114 for drying.Water tank can be set up to supply water to hole for water spraying in rack, electric power storage can be set
Pond and hot gas feedway provide hot gas, and above-mentioned is that this will not be repeated here for the prior art.
The driving lever 15 is made of stainless steel material.It is not easy to get rusty, and service life is long.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of civic building field window wiping robot, which is characterized in that including rack, the rack is square, described
Rack includes four columns being located on square four angles and the first guide rod being connected between adjacent upright posts, second leads
Bar, third guide rod, the 4th guide rod, first guide rod and third guide rod are arranged in parallel, and second guide rod and the 4th guide rod are flat
Row is arranged, and sliding sleeve is equipped with the first guide sleeve on first guide rod, and the bottom face of first guide sleeve is equipped with wiper and first very
Suction disk, the side of first guide sleeve are equipped with the first slide bar, and first slide bar is arranged towards third guide rod and perpendicular to the
One guide rod, being located at the first guide rod top for the rack are equipped with the crossbeam parallel with the first guide rod, court in the middle part of the crossbeam
Frame central direction is equipped with vertical beam, and the vertical beam is equipped with first rotating shaft, and the first rotating shaft overlaps with frame central, and described the
The first follower lever and the second follower lever are equipped in one shaft successively, the angle of first follower lever and the second follower lever is 90 °,
First slide bar is equipped with the first sliding sleeve, and the top of first sliding sleeve is equipped with the second shaft, and the one of first follower lever
End is equipped with the first sets of holes, and first sets of holes are connected in the second shaft, and runner is additionally provided on the vertical beam, and the runner is logical
Motor driving is crossed, the runner is equipped with third shaft close to edge, and the middle part of the crossbeam is equipped with driving lever, the driving lever
Middle part be equipped with the first bar-shaped trough, the third shaft is installed in the first bar-shaped trough, and first follower lever is equipped with second
Bar-shaped trough, second bar-shaped trough are located between the medium position and the first sets of holes of the first follower lever, the outer end of the driving lever
Portion is equipped with the 4th shaft, and the 4th shaft is installed in the second bar-shaped trough, and the other end of first follower lever is equipped with third
Sets of holes, sliding sleeve is equipped with third guide sleeve on the third guide rod, and the bottom face of the third guide sleeve is equipped with wiper and the second vacuum
The side of sucker, the third guide sleeve is equipped with third slide bar, and the third slide bar is arranged towards the first guide rod and perpendicular to third
Guide rod, the third slide bar are equipped with third sliding sleeve, and the third sliding sleeve is equipped with the 5th shaft, and the third sets of holes are installed on
In 5th shaft；Sliding sleeve is equipped with the second guide sleeve on second guide rod, and the bottom face of second guide sleeve is equipped with wiper, described
The side of second guide sleeve is equipped with the second slide bar, and second slide bar is arranged towards the 4th guide rod and perpendicular to the second guide rod, described
Second slide bar is equipped with the second sliding sleeve, and second sliding sleeve is equipped with the 6th shaft, and the both ends of second follower lever are set respectively
There are the second sets of holes and the 4th sets of holes, second sets of holes to be installed in the 6th shaft；Sliding sleeve is equipped with the on 4th guide rod
The bottom face of four guide sleeves, the 4th guide sleeve is equipped with wiper, and the side of the 4th guide sleeve is equipped with the 4th slide bar, and the described 4th slides
Bar is arranged towards the second guide rod and perpendicular to the 4th guide rod, and the 4th slide bar is equipped with the 4th sliding sleeve, on the 4th sliding sleeve
Equipped with the 7th shaft, the 4th sets of holes are installed in the 7th shaft；
The lower face of second follower lever is equipped with several hole for water sprayings, and the lower face on first follower lever is equipped with several hot gas
Venthole is for drying.
2. civic building field according to claim 1 window wiping robot, which is characterized in that first vacuum cup
With the second vacuum cup alternate run to drive rack to be moved on windowpane.
3. civic building field according to claim 2 window wiping robot, which is characterized in that the driving lever is by stainless
Steel material is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610961653.5A CN106388690B (en) | 2016-11-04 | 2016-11-04 | A kind of civic building field window wiping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610961653.5A CN106388690B (en) | 2016-11-04 | 2016-11-04 | A kind of civic building field window wiping robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106388690A CN106388690A (en) | 2017-02-15 |
| CN106388690B true CN106388690B (en) | 2018-10-09 |
Family
ID=58014811
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610961653.5A Active CN106388690B (en) | 2016-11-04 | 2016-11-04 | A kind of civic building field window wiping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106388690B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1546285A (en) * | 2003-12-05 | 2004-11-17 | 北京航空航天大学 | Self-climbing curved face cleaning robot |
| KR101312872B1 (en) * | 2011-03-08 | 2013-09-30 | 고려대학교 산학협력단 | Moving modular and outer wall climbing robot using it |
| JP2012224326A (en) * | 2011-04-04 | 2012-11-15 | Kenji Hayashi | Wall climbing robot |
| CN202765130U (en) * | 2012-05-31 | 2013-03-06 | 王进军 | Suction disc type wall climbing robot |
| CN105064556A (en) * | 2015-07-11 | 2015-11-18 | 李伦伟 | Glass curtain wall cleaning device |
-
2016
- 2016-11-04 CN CN201610961653.5A patent/CN106388690B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106388690A (en) | 2017-02-15 |
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| TR01 | Transfer of patent right |
Effective date of registration: 20181210 Address after: 102618 No. 15 Qingyuan North Road, Daxing District, Beijing Co-patentee after: CHINA CONSTRUCTION FIRST BUILDING (GROUP) CORPORATION LIMITED Patentee after: China Construction First Group the Second Construction Co., Ltd. Address before: 315700 Danfeng District, Dandong Street, Xiangshan County, Ningbo City, Zhejiang Province, 39 Patentee before: Shu Dandan |
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| TR01 | Transfer of patent right |