CN106691296A - Automatic window cleaning machine - Google Patents
Automatic window cleaning machine Download PDFInfo
- Publication number
- CN106691296A CN106691296A CN201710085380.7A CN201710085380A CN106691296A CN 106691296 A CN106691296 A CN 106691296A CN 201710085380 A CN201710085380 A CN 201710085380A CN 106691296 A CN106691296 A CN 106691296A
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- China
- Prior art keywords
- machine body
- window
- glass
- cleaning
- automatic window
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Abstract
An embodiment of the invention discloses an automatic window cleaning machine which comprises a machine body and an obstacle crossing mechanism. The obstacle crossing mechanism is arranged on the machine body and comprises a plurality of support leg modules, rotary leg modules, sucker assemblies and a control module, the support leg modules and the rotary leg modules are arranged on the machine body and can be extended and retracted relative to the machine body, the corresponding sucker assembly is arranged at the end, which faces windows, of each of the support leg modules and the rotary leg modules and is used for being sucked on glass surfaces of the windows, the control module is arranged in the machine body, and the support leg modules, the rotary leg modules and the sucker assemblies can be respectively controlled by the control module. The automatic window cleaning machine in the embodiment of the invention has the advantages that the multiple support leg modules and the rotary leg modules which can be extended and retracted relative to the machine body are arranged on the side surface, which faces the windows, of the machine body, the machine body can be supported to be separated from the glass surfaces, and then the support leg modules and the rotary leg modules can jointly work under the control of the control module, so that the machine body can rotate by preset angles and then can cross obstacles; the automatic window cleaning machine can automatically cross the obstacles on the windows, and accordingly the practicality and the work efficiency of the automatic window cleaning machine can be effectively improved.
Description
Technical field
The present embodiments relate to automatic window-cleaning machine technical field, more particularly to a kind of automatic window-cleaning machine.
Background technology
Currently, lighting performance is largely decorated and improved to the building of modernization using the glass curtain wall of large area.
As traditional windows, glass curtain wall can also have the framework for exposing or hiding and the glass plate being fixed on framework, therefore glass
Glass curtain wall also can be considered one kind of window.
During the operational maintenance of building, the glass on the regular External Wall of meeting is cleaned, and traditional cleaning way is to pass through
Spider-man manually carries out glass cleaning, belongs to outdoor work high above the ground, there is potential safety hazard and expends substantial amounts of manpower and materials, cleaning
Inefficiency.Industry also has releases some automatic window-cleaning machines, but, because the framework or fixture of fixed glass are compared to glass
Outer surface relative can be protruded, and during glass of the existing window cleaning equipment on exterior wall is cleaned, because do not possess crossing over adjacent two automatically
The ability of framework or fixture between block glass, and can only it is every cleaned one block of glass after need manually to carry window cleaning equipment
Gone on to another piece of glass surface, it is still necessary to carry out to human attendance and high-frequency carrying operation, difficulty and it is dangerous also very
Greatly, the potential safety hazard of work high above the ground is not avoided that still.
The content of the invention
The embodiment of the present invention technical problem to be solved is to provide a kind of automatic window-cleaning machine, can automatically cross over glass surface
Barrier.
In order to solve the above technical problems, the embodiment of the invention provides following technical scheme：A kind of automatic window-cleaning machine, including
Machine body, the automatic window-cleaning machine also includes the barrier getting over mechanism on the machine body, if the barrier getting over mechanism includes
The dry support feet module and swivel foot module on machine body, the support feet module includes support feet and drives institute
Support feet is stated with respect to the support feet drive component that machine body stretches；The swivel foot module includes can phase on machine body
Machine body is contractd around the rotation of own central axis line rotating shaft, one end is connected to rotating shaft free end and intersects with the axial direction of rotating shaft and be in
The turning arm of predetermined angle, the swivel foot located at the turning arm other end and around the rotation of own central axis line, the driving rotating shaft are relative
Flexible and rotation the rotating shaft drive component of machine body and the driving turning arm drive relative to the turning arm that swivel foot rotates
Moving part；The position of the support feet and swivel foot contact glass surface is equipped with the sucker of the glass surface for being adsorbed in window
Component, the barrier getting over mechanism is also included in machine body to control the support feet drive component, rotating shaft driving group respectively
The control module of part, turning arm actuator and Suction cup assembly.
Further, the rotating shaft drive component is included for driving the rotating shaft with respect to the flexible drive that machine body stretches
Moving part and the rotary drive for driving the rotating shaft rotation, the machine body are provided with for holding towards window one side
Receive the groove of the swivel foot module.
Further, the control module includes the predetermined model in front of the travel path for detecting the automatic window-cleaning machine
Whether the first sensor of barrier, the second sensor of suction force state for detect Suction cup assembly are had in enclosing and according to institute
State the data processing chip of the corresponding control instruction of first sensor generation corresponding with the transducing signal of second sensor.
Further, the Suction cup assembly include sucker and by the control module control for make sucker and glass it
Between produce negative pressure and the vavuum pump that mutually adsorbs.
Further, the machine body includes main adsorbing mechanism, and the main adsorbing mechanism is including main sucker, for making master
Produce negative pressure between sucker and glass and the main vacuum pump that mutually adsorbs and for detecting the suction shape between main sucker and glass
The 3rd sensor of state, the main vacuum pump and 3rd sensor are electrically connected to the data processing chip, at the data
The detection signal that reason chip is provided according to 3rd sensor controls the working condition of main vacuum pump.
Further, the machine body is also included for driving machine body to wipe the vehicle with walking machine that window path is advanced along predetermined
Structure, pressed on the glass of window for elasticity and in machine body walking process the cleaning device of cleaning glass window and for described
Each consuming parts of automatic window-cleaning machine provide the power module of electric power.
Further, the machine body also includes shell, and the walking mechanism, power module and main adsorbing mechanism are all provided with
The enclosure is placed in, and cleaning device is arranged at the side surface towards window of shell.
Further, the walking mechanism includes some side surfaces towards window for being symmetrically mounted on the shell
And the crawler belt that is stretched out from shell and the hoofing part part for driving the crawler belt to advance.
Further, offered on the cleaning device corresponding with Suction cup assembly through to contact for the main sucker, crawler belt
The through hole of the glass and cleaning device fits in outer side face by removable sticking structure.
Further, the machine body is additionally provided with the handle for being easy to fetch.
By using above-mentioned technical proposal, the embodiment of the present invention has the beneficial effect that：The embodiment of the present invention is by machine
Device main body is provided with multiple support feet modules and swivel foot module that can be stretched with respect to machine body towards window direction one side,
Support feet module and swivel foot module are equipped with Suction cup assembly and exist so as to machine body absorption is effectively ensured near window position
On the glass surface of window, the support feet module and swivel foot module is controlled to stretch out machine body to support by control module
Machine body is played, is adsorbed in barrier opposite side after then being rotated to an angle by controlling rotating shaft drive component drive shaft again
On the glass of window, the Suction cup assembly vacuum breaker after-contraction of support feet module ends is returned in machine body and passes through rotating shaft driving group
Part driven machine main body drives turning arm to rotate to an angle by turning arm actuator again after rotating to an angle makes machine master
Body rotation is so as to across the barrier on window, then support feet module and swivel foot module collective effect make machine body
Absorption is on the glass of barrier opposite side window.Make machine body automatic by barrier getting over mechanism to be moved to from one block of glass another
Without manually moving machine body on block glass, the practicality and operating efficiency of window cleaning equipment can be effectively improved.
Brief description of the drawings
Fig. 1 is the structural representation of automatic window-cleaning machine one embodiment of the present invention.
Fig. 2 is the elevational schematic view of automatic window-cleaning machine one embodiment of the present invention.
Fig. 3 is the structural representation before automatic window-cleaning machine one embodiment across obstacle of the present invention.
Structural representation when Fig. 4 is automatic window-cleaning machine one embodiment across obstacle of the present invention.
Fig. 5 is the structural representation after automatic window-cleaning machine one embodiment across obstacle of the present invention.
Specific embodiment
The application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.It should be appreciated that following signal
Property embodiment and explanation only be used for explain the present invention, it is not as a limitation of the invention, and, in the case where not conflicting,
The feature in embodiment and embodiment in the application can be combined with each other.
As shown in Figures 1 to 5, one embodiment of the invention provides a kind of automatic window-cleaning machine, including machine body（Figure is not marked
Number）With the barrier getting over mechanism 1 on the machine body.
The barrier getting over mechanism 1 includes several support feet modules 11 and swivel foot module 12 on machine body, institute
Support feet module 11 is stated including support feet 111 and drives the support feet 111 to be driven with respect to the support feet that machine body stretches
Component 112；The swivel foot module 12 includes to be stretched with respect to machine body on machine body and being revolved around own central axis line
The rotating shaft 121, one end for turning is connected to the free end of rotating shaft 121 and intersects the turning arm in predetermined angle with the axial direction of rotating shaft 121
122nd, located at the other end of turning arm 122 and around the rotation of own central axis line swivel foot 123, the driving rotating shaft 121 is with respect to machine
Flexible and rotation the rotating shaft drive component 124 of main body and the driving turning arm 122 are relative to the rotation that swivel foot 123 rotates
Arm actuator（It is not shown）；The position on the support feet 111 and the contact glass 100 of swivel foot 123 surface is equipped with for inhaling
The Suction cup assembly 13 of the glass surface of window 100 is invested, the barrier getting over mechanism 1 is also included in machine body to control respectively
The control module 14 of the support feet drive component 112, rotating shaft drive component 124, turning arm actuator and Suction cup assembly 13.
In one specific embodiment, it is as a example by 90 ° by the anglec of rotation of rotating shaft 121 and swivel foot 123, the number of the support feet 111
Machine body is measured as 2 and is respectively arranged on towards on two positions at angle of window direction one side, the swivel foot module 12
Quantity for one and located at machine body away from the side of support feet 111, the turning arm 122 is to be vertically arranged with rotating shaft 121,
The barrier 101 typically refers to be located at two pieces of installation frames or opposing recesses of the relative protrusion of the junction of glass 100
Ditch seam, the Suction cup assembly 13 of the end of the swivel foot 123 can use the output of increase power output to improve swivel foot 123 singly
Suction when solely absorption is on glass 100, it is ensured that machine body is firm to be adsorbed on glass 100.
The present embodiment by machine body towards be provided with the one side of window direction multiple can relative machine body stretch
Support feet module 11 and swivel foot module 12, support feet module 11 and swivel foot module 12 are equipped with sucker near window position
Component 13 is controlled described so as to machine body absorption is effectively ensured on the surface of glass 100 of window by control module 14
Support feet module 11 and swivel foot module 12 stretch out machine body to support machine body, are then driven by controlling rotating shaft again
Adsorbed on the glass 100 of the opposite side window of barrier 101 after 90 ° of 124 drive shaft of component, 121 rotate counterclockwise, support feet
The vacuum breaker after-contraction of Suction cup assembly 13 of the end of module 11 is returned in machine body and passes through the driven machine master of rotating shaft drive component 124
90 ° of 122 rotate counterclockwise of turning arm is driven so that machine body is total by turning arm actuator again after 90 ° of body rotate counterclockwise
Altogether across the barrier on window after 180 ° of rotate counterclockwise, then support feet module 11 and swivel foot module 12 are made jointly
Adsorbed on the glass 100 of the opposite side window of barrier 101 with machine body is made.Make machine body automatic by barrier getting over mechanism 1
Moved on another block of glass 100 without manually moving machine body from one block of glass 100, the reality of window cleaning equipment can be effectively improved
With property and operating efficiency.
In one alternate embodiment, the rotating shaft drive component 124 is included for driving the rotating shaft 121 with respect to window
Flexible telescopic drive part 1241 and the rotary drive 1242 for driving the rotating shaft 121 to rotate, the machine body
The groove for accommodating the swivel foot module 12 is provided with towards window one side（The non-label of figure）, in a specific embodiment
In, the telescopic drive part 1241, rotary drive 1242 and turning arm actuator are motors.
The present embodiment is carried out by being provided with telescopic drive part 1241 and rotary drive 1242 with realizing drive shaft respectively
Flexible and rotation function, then by being provided with groove on machine body to accommodate swivel foot module 12, make machine body direction
Window one side contacts glass 100 and then glass 100 is cleaned, and improves the practicality of window cleaning equipment.
In one alternate embodiment, the control module 14 includes the travel path for detecting the automatic window-cleaning machine
Front preset range in whether have the first sensor 141 of barrier 101, suction force state for detecting Suction cup assembly 13
Second sensor 142 and corresponding control is produced according to the first sensor 141 is corresponding with the transducing signal of second sensor 142
Make the data processing chip 143 of instruction；The Suction cup assembly 13 includes sucker 131 and controls to be used for by the control module 14
Make to be produced between sucker 131 and glass 100 negative pressure and the vavuum pump 132 that mutually adsorbs.
The present embodiment is detected by first sensor 141 to glass 100, in window cleaning equipment normal work, support feet
Module 11 and swivel foot module 12 are adsorbed on glass 100 by absorbent module 13, when completion is to one piece of cleaning of glass 100
And first sensor 141 is when detecting barrier 101, data processing chip 143 receives the biography that the transmission of first sensor 141 comes
Sense signal simultaneously exports corresponding control instruction to barrier getting over mechanism 1, support feet drive component 124 and flexible drive in barrier getting over mechanism 1
Moving part 1241 drives support feet 111 and rotating shaft 121 to stretch out machine body respectively makes machine body depart from the surface of glass 100,
During specific implementation, using installation frame as barrier 101 as a example by, the height of machine body lifting is more than installation frame to glass
Height between 100 surfaces, then data processing chip 143 control swivel foot 123 in vavuum pump 132 be stopped and then make
The vacuum breaker of sucker 131 in swivel foot 123, then control the drive shaft 121 of telescopic drive part 1241 to shrink back in machine body to make
The lifting of swivel foot 123 is higher than barrier 101, and now, the control rotary drive 1242 of data processing chip 143 makes rotating shaft counterclockwise
It is rotated by 90 ° and 90 ° of 122 rotate counterclockwise of arm is rotated so that swivel foot 123 falls on the glass of the opposite side of barrier 101
Side, the suction that the drive shaft 121 of the control telescopic drive of data processing chip 143 part 1241 is stretched out during machine body makes swivel foot 123
Disk 131 is connected on glass 100, then is worked so that swivel foot 123 is adsorbed in glass by the vavuum pump 132 on swivel foot 123
On glass 100；Then data processing chip 143 is by controlling the Suction cup assembly 13 in support feet 111 to be stopped and control to support
Pin drive component 112 drives support feet 111 to shrink back in machine body, then controls the task driven rotating shaft of rotary drive 1242 suitable
Hour hands are rotated by 90 °, because swivel foot 123 adsorbs motionless so that turning arm 122 is also motionless so that machine body on glass 100
90 ° of rotate counterclockwise, now, swivel foot module 12 is corresponding with the groove location on machine body, then by controlling turning arm
Actuator work makes turning arm 122 around 90 ° of 121 rotate counterclockwise of swivel foot so that machine body rotate counterclockwise again
90 °, the top of the glass 100 of the opposite side of barrier 101 is integrally located at after front and rear 180 ° of the rotate counterclockwise altogether of machine body；Number
Driving support feet 111 to stretch out machine body according to the control support feet of process chip 143 drive component 112 is adsorbed in support feet 111
To consolidate machine body on glass 100, then driven respectively by controlling support feet drive component 112 and telescopic drive part 1241 again
Dynamic support feet 111 and rotating shaft 121 shrinks back machine body so that machine body is abutted with glass 100, then according to default side
Case is cleaned to glass 100.It is of course also possible to repeatedly drive barrier getting over mechanism 1 so that machine body crosses over larger barrier
101.In across obstacle 101, the suction force state of sucker 131 is detected by second sensor 142, in the suction of sucker 131
When being not enough to maintain window cleaning equipment absorption on the surface of glass 100, the control vavuum pump 132 of data processing chip 143 works to increase
Suction of the strong sucker 131 to glass 100, it is ensured that window cleaning equipment is stably adsorbed on glass 100, that improves window cleaning equipment uses safety
Property.
In one alternate embodiment, the machine body includes main adsorbing mechanism 2, and the main adsorbing mechanism 2 includes master
Sucker 21, for making to be produced between main sucker 21 and glass 100 negative pressure and the main vacuum pump 22 that mutually adsorbs and for detecting master
The 3rd sensor 144 of the suction force state between sucker 21 and glass 100, the main vacuum pump 22 and 3rd sensor 144 are equal
It is electrically connected to the data processing chip 143, the detection letter that the data processing chip 143 is provided according to 3rd sensor 144
Number control main vacuum pump 22 working condition so that main sucker 21 can effectively with glass 100 firmly adsorb, also can be when needed
It is separated with glass 100.
The present embodiment makes to produce negative pressure steady so as to ensure window cleaning equipment between main sucker 21 and glass 100 by main vacuum pump 22
Admittedly adsorb on glass 100, and the suction force state between main sucker 21 and glass 100 is detected by 3rd sensor 144, when
When window cleaning equipment is in the suction deficiency that normal operating conditions and 3rd sensor 144 are detected between main sucker 21 and glass 100,
Data processing chip 143 drives main vacuum pump 22 to work to strengthen the suction between main sucker 21 and glass 100, in specific implementation
When, the main sucker 21 designs circlewise track type, can effectively strengthen absorption affinity of the main sucker 21 to glass 100, improves and wipes window
Using for machine is safe.
In one alternate embodiment, the machine body is also included for driving machine body to wipe window path row along predetermined
The cleaning glass window 100 on the walking mechanism 3 entered, the glass 100 that window is pressed on for elasticity and in machine body walking process
Cleaning device 4 and the power module 5 of electric power is provided for each consuming parts of the automatic window-cleaning machine, the machine body is also wrapped
Shell 6 is included, the walking mechanism 3, power module 5 and main adsorbing mechanism 2 may be contained within inside the shell 6, and cleaning device 4 sets
It is placed in the side surface towards window of shell 6.In a specific embodiment, the cleaning device 4 is cleaning cloth.
The present embodiment drives machine body to walk so that cleaning device 4 is carried out clearly to glass 100 automatically by walking mechanism 3
Wash, high degree of automation is user-friendly to.
In one alternate embodiment, the walking mechanism 3 include it is some be symmetrically mounted on the shell 6 towards window
One side surface at family and the crawler belt 31 that is stretched out from shell 6 and the hoofing part part 32 for driving the crawler belt 31 to advance.
In one specific embodiment, the crawler belt 31 is symmetrically be mounted on the both sides of main sucker 21 two.
The present embodiment is provided with multigroup crawler belt 31 by the both sides of main sucker 21, and the movement of machine body is controlled by crawler belt 31
With steering and then the cleaning of complete pair glass 100, cleaning efficiency is improved.
In one alternate embodiment, offered on the cleaning device 4 for the main sucker 21, crawler belt 31 and Suction cup assembly
12 correspondences are through contacting the through hole of glass 100（The non-label of figure）.In a specific embodiment, the cleaning device 4 is by can
Tear formula sticking structure open（It is not shown）Fit in the lateral surface of shell 6.
The present embodiment is worn by being offered on cleaning device 4 for the main sucker 21, crawler belt 31 and Suction cup assembly 12 correspondence
Cross to contact the through hole of glass 100, facilitate each part to be worked accordingly, and cleaning device 4 is pasted by removable sticking structure
Together in the lateral surface of shell 6, the convenient cleaning device 4 cleaning device 4 removed from shell 6 more to renew can effectively improve cleaning effect
Rate and Consumer's Experience.
In one alternate embodiment, the shell 6 is additionally provided with the handle 61 for being easy to fetch.Facilitate user to carry and wipe window
Machine.
The specifically used and course of work of automatic window-cleaning machine of the present invention is as follows：
Be placed on window cleaning equipment on glass 100, starting switch by user by gripping handle 61（It is not shown）Enter window cleaning equipment
Enter working condition, generally, in window cleaning equipment normal work, main adsorbing mechanism 2 works and barrier getting over mechanism 1 does not work and receives
Contracting is in machine body；Control module 14 control main vacuum pump 22 work make between main sucker 21 and glass 100 produce negative pressure from
And make the absorption of window cleaning equipment whole machine on glass 100, hoofing part part 32 drive crawler belt 31 drive window cleaning equipment according to from top to bottom, from
Cleaning device 4 is cleaned to glass 100 while left-to-right order is moved on glass 100, and during cleaning, the 3rd passes
The suction of 144 pairs of main suckers 21 of sensor detected and fed back to data processing chip 143, the analysis of data processing chip 143 the
The next heat transfer agent of the transmission of three sensor 144 is simultaneously insufficient to allow window cleaning equipment to adsorb in glass in the absorption affinity for detecting main sucker 21
Main vacuum pump 22 is driven to work to improve the suction between main sucker 21 and glass 100 when on 100, it is ensured that window cleaning equipment is firmly inhaled
It is attached on glass 100.
After one piece of glass 100 has been cleaned, first sensor 141 has raised installation between detecting two blocks of glass 100
During the barriers such as framework, i.e., data processing chip 143 can be fed back to, the control hoofing part of data processing chip 143 part 32 stops
Work and control support feet drive component 112 and telescopic drive part 1241 to drive support feet 111 and rotating shaft 121 to stretch out machine respectively
Main body controls the Suction cup assembly 13 in support feet 111 and swivel foot 123 to work so that support feet 111 and swivel foot 123 are inhaled simultaneously
It is attached on glass 100, then the control of data processing chip 143 main vacuum pump 22 is stopped so that the vacuum breaker of main sucker 21, then
Control support feet drive component 112 and telescopic drive part 1241 drive support feet 111 and rotating shaft 121 further to stretch out machine respectively
Main body, makes machine body because the supporting role of support feet module 11 and swivel foot module 12 departs from the surface of glass 100 and then makes
Machine body is more than the height of bulge-structure with the distance of glass 100, and data processing chip 143 controls barrier getting over mechanism 1 according to pre-
If scheme drives machine body to cross over bulge-structure, specifically, data processing chip 143 controls true in swivel foot 123 first
Empty pump 132 is stopped the vacuum breaker of sucker 131 made in swivel foot 123, and 1241 drive shaft of telescopic drive part 121 is shunk makes rotation
Turn pin 123 and depart from the surface of glass 100 and higher than the height of bulge-structure, then by controlling the drive shaft of rotary drive 1242
121 are rotated after 90 ° of 122 rotate counterclockwise of arm and control the drive shaft 121 of telescopic drive part 1241 to be stretched out from machine body
And controlling the vavuum pump 132 on swivel foot 123 to work makes swivel foot 123 adsorb on the glass 100 of bulge-structure opposite side；So
The vavuum pump 132 in the control of data processing chip 143 support feet 111 is stopped afterwards makes the sucker 131 in support feet 111 broken true
Sky simultaneously drives support feet 111 to shrink back in machine body by controlling support feet drive component 112, and data processing chip 143 is controlled
The work of rotary drive processed 1242 controls turning arm actuator to drive turning arm 122 again after making 90 ° of machine body rotate counterclockwise
90 ° of rotate counterclockwise so that machine body integrally crosses bulge-structure after have rotated 180 °, now, swivel foot module 12 and machine
Groove location correspondence in device main body；Then the control support feet of data processing chip 143 drive component 112 drives support feet 111
Stretched out from machine body and adsorbed on the glass 100 of window, then by controlling support feet drive component 112 and telescopic drive
Part 1241 drives support feet 111 and rotating shaft 121 to shrink back in machine body and machine body is abutted with glass 100, at data
The reason control work of main vacuum pump 22 of chip 143 makes main sucker 21 adsorb on glass 100, then by controlling the He of support feet 111
Vavuum pump 132 on swivel foot 123 is stopped makes the vacuum breaker of sucker 131, then controls support feet drive component 112 to drive branch
Spike 111 is further shunk back in machine body, and rotation is made by controlling the drive shaft of telescopic drive part 1241 further to shrink
Turn pin module 12 to shrink back in groove, you can the control driven machine main body movement of walking mechanism 3 is carried out with to next block of glass 100
Cleaning.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail bright, should be understood that and the foregoing is only specific embodiment of the invention, the guarantor being not intended to limit the present invention
Shield scope, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., should be included in this
Within the protection domain of invention.
Claims (10)
1. a kind of automatic window-cleaning machine, including machine body, it is characterised in that：The automatic window-cleaning machine also includes being located at the machine
Barrier getting over mechanism in main body, the barrier getting over mechanism includes several support feet modules and swivel foot mould on machine body
Block, the support feet module includes support feet and drives the support feet with respect to the support feet driving group that machine body stretches
Part；The swivel foot module includes to be stretched relative to machine body on machine body and turning around the rotation of own central axis line
Axle, one end be connected to rotating shaft free end and intersect turning arm in predetermined angle with the axial direction of rotating shaft, located at the turning arm other end
And swivel foot around the rotation of own central axis line, the rotating shaft drive component that drives the rotating shaft flexible with respect to machine body and rotate with
And the turning arm is driven relative to the turning arm actuator that swivel foot rotates；The support feet and swivel foot contact glass surface
Position be equipped with the Suction cup assembly of the glass surface for being adsorbed in window, the barrier getting over mechanism also includes being located at machine body
It is interior controlling the support feet drive component, rotating shaft drive component, turning arm actuator and the control module of Suction cup assembly respectively.
2. automatic window-cleaning machine according to claim 1, it is characterised in that：The rotating shaft drive component is included for driving institute
State rotary drive of the rotating shaft relative to machine body telescopic drive part and for driving the rotating shaft rotation, the machine body
The groove for accommodating the swivel foot module is provided with towards window one side.
3. automatic window-cleaning machine according to claim 1, it is characterised in that：The control module include for detect it is described from
Whether have the first sensor of barrier in the front preset range of the travel path of dynamic window cleaning equipment, for detecting Suction cup assembly
The second sensor of suction force state and according to the first sensor it is corresponding with the transducing signal of second sensor produce it is corresponding
The data processing chip of control instruction.
4. the automatic window-cleaning machine according to claim 1 or 3, it is characterised in that：The Suction cup assembly include sucker and by
The control module controls the vavuum pump mutually adsorbed for making generation negative pressure between sucker and glass.
5. automatic window-cleaning machine according to claim 3, it is characterised in that：The machine body includes main adsorbing mechanism, institute
Stating main adsorbing mechanism includes main sucker, the main vacuum pump mutually adsorbed for making generation negative pressure between main sucker and glass and use
In the 3rd sensor for detecting the suction force state between main sucker and glass, the main vacuum pump and 3rd sensor are electrically connected
To the data processing chip, the detection signal control main vacuum pump that the data processing chip is provided according to 3rd sensor
Working condition.
6. automatic window-cleaning machine according to claim 5, it is characterised in that：The machine body is also included for band movement machine
Main body edge makes a reservation for wipe the walking mechanism of window path traveling, is pressed on the glass of window for elasticity and walked in machine body
The cleaning device of cleaning glass window and each consuming parts for the automatic window-cleaning machine provide the power module of electric power in journey.
7. automatic window-cleaning machine according to claim 6, it is characterised in that：The machine body also includes shell, the row
Walk mechanism, power module and main adsorbing mechanism and may be contained within the enclosure, and cleaning device be arranged at shell towards window
A side surface.
8. automatic window-cleaning machine according to claim 7, it is characterised in that：The walking mechanism sets including some symmetrically groups
The crawler belt stretched out towards a side surface of window and from shell in the shell and the row for driving the crawler belt to advance
Walk actuator.
9. automatic window-cleaning machine according to claim 8, it is characterised in that：Offered on the cleaning device for the main suction
Disk, crawler belt are corresponding with Suction cup assembly to be fitted in through to contact the through hole and the cleaning device of glass by removable sticking structure
Outer side face.
10. automatic window-cleaning machine according to claim 1, it is characterised in that：The machine body is additionally provided with is easy to what is fetched
Handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710085380.7A CN106691296B (en) | 2017-02-17 | 2017-02-17 | Automatic window cleaning machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710085380.7A CN106691296B (en) | 2017-02-17 | 2017-02-17 | Automatic window cleaning machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106691296A true CN106691296A (en) | 2017-05-24 |
| CN106691296B CN106691296B (en) | 2021-11-16 |
Family
ID=58911792
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710085380.7A Active CN106691296B (en) | 2017-02-17 | 2017-02-17 | Automatic window cleaning machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106691296B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605726A (en) * | 2019-09-26 | 2019-12-24 | 上海电力大学 | External mechanical arm span-type window cleaning robot |
| CN113475968A (en) * | 2021-07-26 | 2021-10-08 | 安徽大汉机器人集团有限公司 | Window cleaning machine convenient for spanning window frame |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2001276751A (en) * | 2000-03-29 | 2001-10-09 | Nakamura:Kk | Outer wall cleaning device |
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| JP2001276751A (en) * | 2000-03-29 | 2001-10-09 | Nakamura:Kk | Outer wall cleaning device |
| JP2012165856A (en) * | 2011-02-14 | 2012-09-06 | Kazuo Yuda | Window glass cleaner |
| CN104688133A (en) * | 2015-03-19 | 2015-06-10 | 湖南格兰博智能科技有限责任公司 | Device for wiping glass |
| CN106175564A (en) * | 2015-04-30 | 2016-12-07 | 李春鹏 | Reciprocal telescopic formula glass-cleaning robot |
| CN106108763A (en) * | 2016-06-28 | 2016-11-16 | 汪红 | A kind of high-altitude glass full-automatic wiping all-in-one |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110605726A (en) * | 2019-09-26 | 2019-12-24 | 上海电力大学 | External mechanical arm span-type window cleaning robot |
| CN113475968A (en) * | 2021-07-26 | 2021-10-08 | 安徽大汉机器人集团有限公司 | Window cleaning machine convenient for spanning window frame |
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| Publication number | Publication date |
|---|---|
| CN106691296B (en) | 2021-11-16 |
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