CN106419723A - Window wiping robot for building - Google Patents
Window wiping robot for building Download PDFInfo
- Publication number
- CN106419723A CN106419723A CN201610962214.6A CN201610962214A CN106419723A CN 106419723 A CN106419723 A CN 106419723A CN 201610962214 A CN201610962214 A CN 201610962214A CN 106419723 A CN106419723 A CN 106419723A
- Authority
- CN
- China
- Prior art keywords
- guide rod
- rotating shaft
- bar
- pin bushing
- guide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a window wiping robot for a building. The window wiping robot comprises a rack. The rack is square. The rack comprises four vertical columns, a first guide rod, a second guide rod, a third guide rod and a fourth guide rod. The four vertical columns are located in the four corners of the square, and the first guide rod, the second guide rod, the third guide rod and the fourth guide rod are connected between the adjacent vertical columns. The first guide rod and the third guide rod are arranged in parallel, the second guide rod and the fourth guide rod are arranged in parallel, the first guide rod is sleeved with a first guide sleeve in a sliding mode, a wiping cloth installing plate and a first vacuum sucker are arranged on the bottom end face of the first guide sleeve, a first sliding rod is arranged on the side edge of the first guide sleeve, and the first sliding rod is arranged towards the third guide rod and is vertical to the first guide rod. A cross beam parallel to the first guide rod is arranged at the position, located above the first guide rod, of the rack, a vertical beam is arranged at the position, towards the center of the rack, of the middle of the cross beam, and a first rotary shaft is arranged on the vertical beam. The window wiping robot is adsorbed alternately by the vacuum suckers, the rack is driven by a runner to move, the robot can move on the rack, and the wind wiping robot is simple, efficient and good in stability.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of window wiping robot for building.
Background technology
There is difficulty in architectural windowpane in cleaning, manual cleaning efficiency is low, be badly in need of a kind of research and development robot generation
For manual work.
Content of the invention
The technical problem to be solved is to provide a kind of window wiping robot for building, to solve people in prior art
Work industry carrys out the technical problem of clean glass window inefficiency.
For solving above-mentioned technical problem, embodiments of the invention provide a kind of window wiping robot for building, including frame, institute
State that frame is square, the frame includes four columns on square four angles and is connected between adjacent upright posts
The first guide rod, the second guide rod, the 3rd guide rod, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, described second
Guide rod and the 4th guide rod be arranged in parallel, and sliding on first guide rod is arranged with the first guide pin bushing, the bottom face of first guide pin bushing
Wiper installing plate and the first vacuum cup is provided with, the side of first guide pin bushing is provided with the first slide bar, the first slide bar direction
3rd guide rod is arranged and perpendicular to the first guide rod, and being provided with positioned at place above the first guide rod for the frame is parallel with the first guide rod
Crossbeam, be provided with vertical beam towards frame central direction in the middle part of the crossbeam, the vertical beam is provided with first rotating shaft, the first rotating shaft
Overlap with frame central, the first rotating shaft is provided with follower lever, first slide bar is provided with the first sliding sleeve, described first slides
The top of set is provided with the second rotating shaft, and one end of the follower lever is provided with first set hole, and the first set hole is connected to second turn
On axle, on the vertical beam, runner is additionally provided with, the runner passes through Motor drive, the runner is provided with the 3rd turn near edge
Axle, the middle part of the crossbeam is provided with driving lever, and the middle part of the driving lever is provided with the first bar-shaped trough, and the 3rd rotating shaft is installed on
In first bar-shaped trough, the follower lever is provided with the second bar-shaped trough, second bar-shaped trough be located at follower lever medium position with
Between first set hole, the outer end of the driving lever is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, institute
The other end for stating follower lever is provided with the 3rd set of hole, and sliding on the 3rd guide rod is arranged with the 3rd guide pin bushing, the 3rd guide pin bushing
Bottom face is provided with wiper installing plate and the second vacuum cup, and the side of the 3rd guide pin bushing is provided with the 3rd slide bar, and the described 3rd slides
Bar is arranged towards the first guide rod and perpendicular to the 3rd guide rod, and the 3rd slide bar is provided with the 3rd sliding sleeve, on the 3rd sliding sleeve
The 5th rotating shaft is provided with, the 3rd set of hole is installed in the 5th rotating shaft；The bottom surface of the wiper installing plate is provided with wiper.
Wherein, first vacuum cup and the second vacuum cup alternate run are to drive frame to move on windowpane.
Wherein, the runner is made up of stainless steel material.
The having the beneficial effect that of the technique scheme of the present invention：
In such scheme, the present invention drives the first guide pin bushing and the 3rd guide pin bushing respectively in the first guide rod and the 3rd by follower lever
Move back and forth on guide rod, 2 wipers are only driven by a runner, can carry out high-efficiency cleaning work to glass surface；Inhaled by vacuum
Disk alternating sorbent, drives gantry motion by runner, so that it may realize motion of the robot in frame, simple efficient, good stability.
Description of the drawings
Fig. 1 is the axonometric chart one of the present invention.
Fig. 2 is the axonometric chart two of the present invention.
Specific embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
In text, described bottom refers to the one side that robot is contacted with glass.
As depicted in figs. 1 and 2, the embodiment of the present invention provides a kind of window wiping robot for building, including frame, the frame
Square, the frame includes four columns 1 on square four angles and be connected between adjacent upright posts 1 the
One guide rod 2, the second guide rod 3, the 3rd guide rod 4, the 4th guide rod 5, four guide rods are isometric, respectively for foursquare, described first
Guide rod 2 and the 3rd guide rod 4 be arranged in parallel, and second guide rod 3 and the 4th guide rod 5 be arranged in parallel, and the first guide rod 2 is perpendicular to second
Guide rod 3.Slide on first guide rod 2 and the first guide pin bushing 21 is arranged with, the bottom face of first guide pin bushing 21 is provided with wiper installation
Plate 7 and the first vacuum cup 61, the side of first guide pin bushing 21 is provided with the first slide bar 22, and first slide bar 22 is towards the 3rd
Guide rod 4 is arranged and perpendicular to the first guide rod 2, and being provided with 2 top of the first guide rod for the frame is parallel with the first guide rod 2
Crossbeam 8, crossbeam 8 is built on stilts to be arranged, and therefore will not interference with the motion of the first guide pin bushing 21, and 8 middle part of the crossbeam is towards in frame
Heart direction is provided with vertical beam 9, and the vertical beam 9 is provided with first rotating shaft 10, first rotating shaft 10 and the perpendicular setting of vertical beam 9, first turn
Axle 10 can be rotated on vertical beam 9, can be connected using bearing, and the first rotating shaft 10 is overlapped with frame central point；Described first turn
Axle 10 is provided with follower lever 11.
First slide bar 22 is provided with the first sliding sleeve 23, and the first sliding sleeve 23 can be on the first slide bar 22 after being driven by external force
Slide, the top of first sliding sleeve 23 is provided with the second rotating shaft 24, and the second rotating shaft 24 can be in the rotary-top of the first sliding sleeve 23, example
Bearing connected mode is such as adopted；One end of the follower lever 11 is provided with first set hole, and the first set hole is connected to second turn
On axle 24, in the present embodiment, first set hole can be mutually fixedly connected with the second rotating shaft 24；Runner 13, institute is additionally provided with the vertical beam 9
State runner 13 to drive by motor is (not shown), the runner 13 is provided with the 3rd rotating shaft 14, the 3rd rotating shaft 14 near edge
On the eccentric position of runner 13, the 3rd rotating shaft 14 can be rotated on runner 13, for example with bearing connected mode；The crossbeam
8 middle part is provided with driving lever 15, and one end of driving lever 15 is articulated with the medium position of crossbeam 8；The middle part of the driving lever 15
The first bar-shaped trough 151 is provided with, the 3rd rotating shaft 14 is installed in the first bar-shaped trough 151, the 3rd rotating shaft 14 and the first bar-shaped trough
151 way of contact is rolling friction.
The follower lever 11 is provided with the second bar-shaped trough 113, and second bar-shaped trough 113 is located at the middle position of follower lever 11
Put between first set hole, the outer end of the driving lever 15 is provided with the 4th rotating shaft 152, and the 4th rotating shaft 152 can be in driving lever 15
Outer end on rotate, for example with bearing connected mode；4th rotating shaft 152 is installed in the second bar-shaped trough 113, and the 4th
Rotating shaft 152 and the way of contact of the second bar-shaped trough 113 are that rolling friction, the other end of the follower lever 11 is provided with the 3rd set of hole,
Slide on 3rd guide rod 4 and be arranged with the 3rd guide pin bushing 41, the bottom face of the 3rd guide pin bushing 41 is provided with wiper installing plate 7 and the
Two vacuum cups 62, the side of the 3rd guide pin bushing 41 is provided with the 3rd slide bar 42, and the 3rd slide bar 42 is set towards the first guide rod 2
Put and perpendicular to the 3rd guide rod 4, the 3rd slide bar 42 is provided with the 3rd sliding sleeve 43, and the 3rd sliding sleeve 43 is provided with the 5th turn
Axle 44, the 5th rotating shaft 44 can be in the rotary-top of the 3rd sliding sleeve 43, for example with bearing connected mode；The 3rd set of hole is installed
In the 5th rotating shaft 44, the 3rd set of the 5th rotating shaft 44 of Kong Keyu in the present embodiment is mutually fixedly connected.First guide pin bushing 21, the first slide bar
22 and the 3rd guide pin bushing 41, the 3rd slide bar 42 centered on symmetrical, symmetrical centre point is located on 10 place axis of first rotating shaft.The wiping
The bottom surface of cloth installing plate 7 is provided with wiper.
The operation principle and process of the present invention is as follows：During original state, frame is placed in parallel with glass planar, with wiping
The one of cloth relies on the first vacuum cup and the second vacuum cup to adsorb on glass facing to glass, and after start-up operation, first is true
Suction disk does not adsorb, and the second vacuum cup continues absorption, and runner is rotated, and drives the 3rd rotating shaft on runner to move in a circle, the
Three rotating shafts drive driving lever to swing back and forth, fourth rotating shaft of the driving lever with crossbeam center as swing pivot, on driving lever movable end
Follower lever motion is driven, so that follower lever is swung back and forth as swing pivot with frame central, follower lever is by being located at the second of end
Rotating shaft drives the first guide pin bushing to do linear reciprocating motion on the first guide rod, and the wiper on the first guide pin bushing can be used to clean glass window, when
First guide pin bushing from the first guide rod move to the other end when, the first vacuum cup adsorbs, and the second vacuum cup do not adsorb, first
Vacuum cup and the second vacuum cup alternating sorbent, can make frame move on the glass surface；Therefore 2 wipers are only turned by one
Wheel drive, can be while be cleaned work, efficiency high to glass surface；By vacuum cup alternating sorbent, frame is driven by runner
Motion, so that it may realize motion of the robot in frame, simple efficient, good stability.
The runner 13 is made up of stainless steel material.Which is difficult to get rusty, long service life.
The present invention by follower lever drive the first guide pin bushing and the 3rd guide pin bushing respectively on the first guide rod and the 3rd guide rod reciprocal
Motion, 2 wipers are only driven by a runner, can carry out high-efficiency cleaning work to glass surface；By vacuum cup alternating sorbent,
Gantry motion is driven by runner, so that it may motion of the robot on windowpane is realized, simple efficient, good stability.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, some improvements and modifications can also be made, these improvements and modifications
Should be regarded as protection scope of the present invention.
Claims (3)
1. a kind of window wiping robot for building, it is characterised in that including frame, the frame is square, and the frame includes
Four columns and the first guide rod being connected between adjacent upright posts, the second guide rod on square four angles, the 3rd lead
Bar, the 4th guide rod, first guide rod and the 3rd guide rod be arranged in parallel, and second guide rod and the 4th guide rod be arranged in parallel, institute
Stating slides on the first guide rod is arranged with the first guide pin bushing, and the bottom face of first guide pin bushing is provided with wiper installing plate and the suction of the first vacuum
Disk, the side of first guide pin bushing is provided with the first slide bar, and first slide bar is arranged towards the 3rd guide rod and led perpendicular to first
Bar, the frame be provided with the crossbeam parallel with the first guide rod positioned at place above the first guide rod, towards frame in the middle part of the crossbeam
Center position is provided with vertical beam, and the vertical beam is provided with first rotating shaft, and the first rotating shaft is overlapped with frame central, described first turn
Axle is provided with follower lever, and first slide bar is provided with the first sliding sleeve, and the top of first sliding sleeve is provided with the second rotating shaft, described
One end of follower lever is provided with first set hole, and the first set hole is connected in the second rotating shaft, is additionally provided with runner on the vertical beam,
The runner passes through Motor drive, and the runner is provided with the 3rd rotating shaft near edge, and the middle part of the crossbeam is provided with driving lever,
The middle part of the driving lever is provided with the first bar-shaped trough, and the 3rd rotating shaft is installed in the first bar-shaped trough, is set on the follower lever
There is the second bar-shaped trough, second bar-shaped trough is located between the medium position of follower lever and first set hole, outside the driving lever
End is provided with the 4th rotating shaft, and the 4th rotating shaft is installed in the second bar-shaped trough, and the other end of the follower lever is provided with the 3rd set
Hole, slides on the 3rd guide rod and is arranged with the 3rd guide pin bushing, and the bottom face of the 3rd guide pin bushing is provided with wiper installing plate and second
Vacuum cup, the side of the 3rd guide pin bushing is provided with the 3rd slide bar, the 3rd slide bar arrange towards the first guide rod and perpendicular to
3rd guide rod, the 3rd slide bar is provided with the 3rd sliding sleeve, and the 3rd sliding sleeve is provided with the 5th rotating shaft, the 3rd set of Kong An
Loaded in the 5th rotating shaft；The bottom surface of the wiper installing plate is provided with wiper.
2. window wiping robot for building according to claim 1, it is characterised in that first vacuum cup and second true
Suction disk alternate run is moved on windowpane with driving frame.
3. runner according to claim 2, it is characterised in that the runner is made up of stainless steel material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610962214.6A CN106419723A (en) | 2016-11-04 | 2016-11-04 | Window wiping robot for building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610962214.6A CN106419723A (en) | 2016-11-04 | 2016-11-04 | Window wiping robot for building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106419723A true CN106419723A (en) | 2017-02-22 |
Family
ID=58179720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610962214.6A Pending CN106419723A (en) | 2016-11-04 | 2016-11-04 | Window wiping robot for building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106419723A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920339A (en) * | 2020-08-18 | 2020-11-13 | 安阳师范学院 | Network teleoperation robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| EP2589326A1 (en) * | 2010-06-30 | 2013-05-08 | Fuchang Liao | Automatic cleaning machine for wall plates |
| CN202967140U (en) * | 2012-12-17 | 2013-06-05 | 东旭集团有限公司 | Locating structure of A type frame on revolving platform |
| CN103462566A (en) * | 2013-08-29 | 2013-12-25 | 西北工业大学 | Surface cleaner for high-rise buildings |
| CN203792340U (en) * | 2014-05-04 | 2014-08-27 | 定兴县长山机械制造有限公司 | Novel robot |
| CN205419077U (en) * | 2016-02-25 | 2016-08-03 | 佛山市南海区广工大数控装备协同创新研究院 | Electricity rice cooker carton transport anchor clamps |
| CN106510540A (en) * | 2016-11-04 | 2017-03-22 | 吴旦英 | Window-wiping robot for civil buildings |
-
2016
- 2016-11-04 CN CN201610962214.6A patent/CN106419723A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2589326A1 (en) * | 2010-06-30 | 2013-05-08 | Fuchang Liao | Automatic cleaning machine for wall plates |
| CN201814216U (en) * | 2010-10-14 | 2011-05-04 | 李永福 | Underpan of baby electric cradle |
| CN102987981A (en) * | 2012-10-31 | 2013-03-27 | 博宇(无锡)科技有限公司 | Hydraulic lifting platform for window cleaning machine |
| CN202967140U (en) * | 2012-12-17 | 2013-06-05 | 东旭集团有限公司 | Locating structure of A type frame on revolving platform |
| CN103462566A (en) * | 2013-08-29 | 2013-12-25 | 西北工业大学 | Surface cleaner for high-rise buildings |
| CN203792340U (en) * | 2014-05-04 | 2014-08-27 | 定兴县长山机械制造有限公司 | Novel robot |
| CN205419077U (en) * | 2016-02-25 | 2016-08-03 | 佛山市南海区广工大数控装备协同创新研究院 | Electricity rice cooker carton transport anchor clamps |
| CN106510540A (en) * | 2016-11-04 | 2017-03-22 | 吴旦英 | Window-wiping robot for civil buildings |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920339A (en) * | 2020-08-18 | 2020-11-13 | 安阳师范学院 | Network teleoperation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170222 |