CN107007224A - The swab of slippery walls automatic scrubbing robot - Google Patents

Abstract

The invention discloses a kind of swab of slippery walls automatic scrubbing robot, including substrate, the bottom level of the substrate is rotatably connected to swab, the swab includes cleaning case, portable plate is provided with the scouring case, the side wall that the sidewalls vertical of the portable plate is provided with slide bar B, the scouring case corresponds to slide bar B and is provided with chute B, and the portable plate is cleaning up and down connection in case by slide bar B along chute B.Understand from the above, the swab of slippery walls automatic scrubbing robot of the invention, by the effect of leading screw and pair of nut, can make swab that there are the two kinds of functions of scrubbing and dry, and can automatically switch each other.

Description

The swab of slippery walls automatic scrubbing robot

Technical field

The present invention relates to the technical field of shiny surface scrubbing machine people, and in particular to a kind of slippery walls automatic scrubbing machine The swab of people.

Background technology

Window wiping robot, also known as automatic window-cleaning machine, glass-cleaning robot, intelligent window cleaner, intelligent window cleaner etc., be One kind of controlling intelligent household appliances.It can rely on the vavuum pump or blower fan apparatus of themselves bottom, firmly adsorb on glass, so Afterwards by certain artificial intelligence, window path is wiped in the corner distance of automatic detection window, planning.Window wiping robot can typically be utilized Itself dynamics of the absorption on glass is dirty on glass to drive the rag of fuselage bottom to wipe.The appearance of window wiping robot, Primarily to helping the problem of people solve high-rise wiping window, outdoor wiping window is difficult.Window wiping robot can be applied equally to smooth The metope on surface or other facades.

Window wiping robot maximum technical barrier to be solved seeks to adsorb with window surface.Absorption on the market at present Mode has two kinds.

The first kind, vacuum cup absorption：Double-layer vacuum sucker, bottom air is taken out by internal vavuum pump, forms one Fixed vacuum environment, so that window wiping robot can be adsorbed on glass.Requirement of such a absorption principle to medium is higher, Need glass surface it is smooth, without obvious raised barrier, and be only limited to use in glass surface.

Equations of The Second Kind, blower fan absorption：The window wiping robot of blower fan absorption forms inside and outside draught head by internal blower fan, So as to adsorb on glass.Requirement of such a absorption principle to medium is somewhat wide, just can be with as long as dielectric surface is smooth（Remove Glass surface, image-tape has glass, ground glass, the metope of marble medium, ceramic tile of paster etc. can to adsorb）.

Above two mode is required for extra formation negative pressure device to form negative pressure, so as to realize robot and window table The absorption in face.But such as robot of above two classification is used for the device for producing negative pressure, generally is vavuum pump or negative pressure Blower fan, not only volume, weight are larger, and energy consumption is higher, and noise is also than larger when work.Cause the cost of product and make It is all relatively large with cost.

In addition, the swab of current window wiping robot is typically all dismantled and assembled, Reusability washing rag, due to one As window areas than larger, and extraneous air quality is generally poor, so rag needs frequent clean, otherwise can lead to not Window is scrubbed.And continually cleaning rag can then cause to clean less efficient.

The content of the invention

It is an object of the invention to：Overcoming the deficiencies in the prior art, there is provided a kind of slippery walls automatic scrubbing robot Swab, realizes robot on the premise of it need not be equipped with negative pressure generating device, remains to by negative-pressure adsorption in smooth wall Cleaned in face of metope, and the sucker that script can also be adsorbed into slippery walls automatically is easily disengaged with slippery walls, Reduce the bulking value and manufacturing cost of robot；By the effect of the collar, so as to the situation according to slippery walls, choosing Select the rotating manner of swab；By the effect of leading screw and pair of nut, it can make swab that there are two for scrubbing and drying Function is planted, and can be automatically switched each other；By the lotion pipeline and clear water pipe of setting, scrubbed to slippery walls While, it is also the cleaning to bristle, so being cleaned during metope is cleaned without the swab to robot； The ring that the side for the ring that bristle is surrounded is surrounded by lotion pipeline, the ring that opposite side is surrounded by clear water pipe, so as to either exist Under jet cleaning liquid status or under injection clear water state, bristle is not in dry brush state, while improving washing effect, Bristle is also protected, the service life of bristle is extended；Lotion pipeline, clear water pipe and bristle are distributed in a ring, and adjacent ring Distance it is equal so that distribution it is more uniform, it is ensured that the washing effect of swab；Pass through leading screw and the work of pair of nut With when spongy layer is dried, moreover it is possible to carry out water squeezing to spongy layer；Pass through the effect of wheel hub motor so that each wheel Body can be rotated freely, so that according to different rotating speeds and steering, it is possible to achieve the walking of any direction and the steering in original place, from And be conducive to robot to clean slippery walls position；By being staggered for two neighboring sucker, so that Wheeling thereof has sucker and slippery walls adhesive to any angle, so as to ensure that the adhesive intensity of robot and metope, protects No matter how Zheng Liao robots wheel body, which is rotated, effectively to adsorb, it is ensured that swab can be cleaned normally；By tube chamber, Stomata A, stomata B and nose bar enlarged footing and conical head structure, can realize dishwashing automatic pick slippery walls and Automatically, easily separated with slippery walls；The bottom of the bristle is less than the bottom of running gear, so as to ensure that bristle can have Effect ground is scrubbed in slippery walls；The mouth of pipe at the clear water ttom of pipe end is provided with atomising device, improves the water spray effect of clear water, So that the cleaning fluid of slippery walls and dirty can effectively clean.

The technical solution used in the present invention is：

The swab of slippery walls automatic scrubbing robot, including substrate, the bottom level of the substrate are rotatably connected to wiping Cleaning device, the bottom of the substrate, which is located at around swab, is provided with multiple running gears, and the swab passes through transmission Mechanism is connected with motor A, and the running gear is driven by motor B, the motor A and motor B Electrically connected with the control system with battery, the transmission mechanism, motor A and the control system with battery are located at The top of substrate, and motor A with the control system of battery with substrate with fixing.

Further improvement project of the invention is that the swab is provided with multiple, and the top of swab passes through shaft joint It is fixedly connected with the lower end for exporting vertical shaft, the upper end of the output vertical shaft is coaxially fixed with drive D, and the drive D is biography Driving wheel C planetary gear, the drive C and drive D engaged transmissions, the top of the drive C is coaxially fixed with drive B, the drive B and drive A engaged transmissions, the drive A and motor A output shaft A are fixed.

Further improvement project of the invention is that the drive D is distributed in around drive C, described drive A At position between two neighboring drive D.

Further improvement project of the invention is that the liquid reserve tank of washing lotion and clear water, institute are fixed with the top of the drive D State liquid reserve tank drain pipe be located at liquid reserve tank bottom, and be passed down through output vertical shaft after connected with swab.

Further improvement project of the invention is that the drive D, drive C, drive B and drive A are respectively positioned on water In flat turn groove, the horizontal turn trough is located at the upper surface of substrate and horizontal turn trough and the concentric settings of drive C, described defeated Go out vertical shaft separately down through the through hole A set by the bottom land and substrate of horizontal turn trough, the slewing area position of the output vertical shaft In the range of through hole A.

Further improvement project of the invention is, the top surface of the substrate is that have annular protrusion, the horizontal turn trough The internal diameter of external diameter and annular protrusion matches.

Further improvement project of the invention is that the top surface of the substrate is fixed with case A, and the horizontal turn trough is located at cover In shell A, the motor A and the control system with battery are individually fixed on case A, the output of the motor A Axle A is passed down through case A and drive A and coaxially fixed.

Further improvement project of the invention is that case B, the control system with battery are fixed with the case A System is respectively positioned in case B with motor A.

Further improvement project of the invention is that the lateral wall of the horizontal turn trough is equipped with the collar, the horizontal turn trough Lateral wall bottom the slide bar A of a plurality of vertical direction is distributed with, the inner wall lower of the collar is provided with the chute matched with slide bar A Be distributed with multiple projections on A, the lateral wall of the collar, the outboard end of the projection through the through hole B set by the wall of case A sides, Stretch out case A.

Further improvement project of the invention is, the lateral wall of the horizontal turn trough, positioned at slide bar A top provided with least The two horizontal bulge loops of circle, the inwall of the collar, the horizontal annular groove for being correspondingly provided with above chute A identical quantity.

Further improvement project of the invention is, when the horizontal annular groove and the level of horizontal turn trough bottom of collar bottom When bulge loop matching contact, slide bar A is contacted with chute A；When top contact in top and the case A of the collar, set Horizontal annular groove of the ring positioned at horizontal turn trough region is matched with horizontal bulge loop to be contacted, and slide bar A is separated with chute A；Or work as When the horizontal annular groove of collar bottom is contacted with the horizontal bulge loop matching of horizontal turn trough the top, slide bar A divides with chute A From.

Further improvement project of the invention is that vertical rod, the vertical rod are fixed with the bottom surface axle center of the horizontal turn trough Lower rotation be connected with axle sleeve A, the axle sleeve is fixed with being placed on the sleeve pipe on swab surface, the swab with turn It is dynamic to be connected in sleeve pipe.

Further improvement project of the invention is that the axle sleeve is fixed by connecting rod A with sleeve pipe respectively.

Further improvement project of the invention is that the swab includes cleaning in case, the scouring case provided with activity Plate, the side wall that the sidewalls vertical of the portable plate is provided with slide bar B, the scouring case corresponds to slide bar B provided with chute B, described Portable plate is cleaning up and down connection in case by slide bar B along chute B.

Further improvement project of the invention, which is that the bottom of the portable plate is respectively perpendicular, is fixed with lotion pipeline, clear water pipe And bristle, the bottom of the scouring case is fixed with spongy layer, and the bottom of the lotion pipeline, clear water pipe and bristle is passed down through scouring The set pore A of bottom plate correspondence and bristle hole A and stretch into spongy layer it is corresponding set by pore B and bristle hole B, the activity It is rotatably connected on leading screw, the leading screw and is rotatably connected at the axle center that the top of plate is coaxially fixed with standpipe, the standpipe Pair of nut, the side wall of the pair of nut is fixed with connecting rod B, connecting rod B outer end through the vertical bar shaped set by standpipe Through hole is fixed with cleaning the inwall of case, and the top of the leading screw is fixed with motor C output shaft B, and the motor C consolidates Due on level board set in standpipe, the top of the standpipe stretches out scouring case and is fixed with shaft coupling.

Further improvement project of the invention is that lotion pipeline and the clear water pipe is connected with respective liquid reserve tank respectively.

Further improvement project of the invention is that the lotion pipeline, clear water pipe and bristle are distributed in portable plate in a ring Bottom.

Further improvement project of the invention is, the ring that the side of the ring that the bristle is surrounded is surrounded by lotion pipeline, The ring that opposite side is surrounded by clear water pipe.

Further improvement project of the invention is, the ring that the ring that the bristle is surrounded is surrounded with adjacent lotion pipeline with And the spacing between the ring that is surrounded of clear water pipe is equal.

Further improvement project of the invention is that the bottom of the lotion pipeline is flushed with the bottom of clear water pipe, and bristle Bottom of the bottom less than lotion pipeline and clear water pipe.

Further improvement project of the invention is that the bottom of the bristle is less than the bottom of running gear.

Further improvement project of the invention is that the mouth of pipe at the clear water ttom of pipe end is provided with atomising device.

Further improvement project of the invention is that the motor C is electrically connected with the control system with battery.

Further improvement project of the invention is, when pair of nut is located at highest stroke, lotion pipeline, clear water pipe and The bottom of bristle extends downwardly from spongy layer；When pair of nut is located at minimum stroke when, lotion pipeline, clear water pipe and bristle Bottom is above the bottom of spongy layer.

Further improvement project of the invention is that the support that the running gear includes being fixedly connected with base plate bottom is stood Bar, the bottom of the supported rod erecting, which is horizontally rotated with trunnion axis by horizontally rotating device, to be connected, and on the horizontal rotating shaft, is located at The both sides of supported rod erecting are respectively symmetrically provided with motor B, and the motor B is wheel hub motor, and the wheel hub motor passes through Connecting rod C and the concentric fixation of wheel body, the circumferential surface of the wheel body are evenly distributed with multiple suckers, and the sucker is towards wheel body The middle part of one side end face is provided with sebific duct, and the wheel body is connected by sebific duct with sucker.

Further improvement project of the invention is that the end of the horizontal rotating shaft is connected with wheeling thereof.

Further improvement project of the invention is that the wheel hub motor is rotated with horizontal rotating shaft and is connected.

Further improvement project of the invention is that periphery of the sucker along wheel body is distributed in a ring, and wheel body Periphery on be sequentially provided with multiple suckers being distributed in a ring along width.

Further improvement project of the invention is that any one sucker in the sucker of any one annular spread is respectively positioned on Between two adjacent suckers in the sucker of its adjacent side annular spread.

Further improvement project of the invention is that the center of sucker, and the middle part of sucker are passed through in the axle center of the sebific duct Provided with stomata A, the stomata A connects the tube chamber in sucker with sebific duct, and the one end of the sebific duct away from sucker is provided inwardly with turning over Side, the edge of the flange surrounds stomata B, and the surface of the wheel body is radially secure multiple nose bars, the external diameter of the nose bar Coordinate with stomata B internal diameter for gap, the one end of the nose bar away from wheel body is provided with enlarged footing, the external diameter and pipe of the enlarged footing The internal diameter of chamber is that gap coordinates, and one end of the enlarged footing dorsad nose bar is provided with vertebra forming head, and the maximum gauge of the conical head is big In the internal diameter equal to stomata A and less than or equal to the diameter of enlarged footing.

Further improvement project of the invention is, the enlarged footing is towards one end of nose bar and taper rostral wall diameter and gas Distance at the A diameter location of equal of hole is less than the length of tube chamber.

Further improvement project of the invention is, with wheel at the taper rostral wall diameter and stomata A diameter location of equal The minimum range that the distance between body is more than or equal between sucker and wheel body.

Further improvement project of the invention is, with cone at the taper rostral wall diameter and stomata A diameter location of equal The distance between forming head tip is less than or equal to stomata A length.

Further improvement project of the invention is that the running gear is uniformly distributed in the bottom sides edge of substrate.

The beneficial effects of the present invention are：

Firstth, the swab of slippery walls automatic scrubbing robot of the invention, can be with by the effect of leading screw and pair of nut Make swab that there are the two kinds of functions of scrubbing and dry, and can automatically switch each other.

Secondth, the swab of slippery walls automatic scrubbing robot of the invention, passes through the lotion pipeline and clear water of setting Pipe, is also the cleaning to bristle while being scrubbed to slippery walls, so without to machine during metope is cleaned The swab of device people is cleaned.

3rd, the swab of slippery walls automatic scrubbing robot of the invention, the side for the ring that bristle is surrounded is The ring that lotion pipeline is surrounded, the ring that opposite side is surrounded by clear water pipe, so as to either under jet cleaning liquid status or spray Penetrate under clear water state, bristle is not in dry brush state, while improving washing effect, also protect bristle, extend brush The service life of hair.

4th, the swab of slippery walls automatic scrubbing robot of the invention, lotion pipeline, clear water pipe and bristle are in Annular spread, and the distance of adjacent ring is equal, so that distribution is more uniform, it is ensured that the washing effect of swab.

5th, the swab of slippery walls automatic scrubbing robot of the invention, by the effect of leading screw and pair of nut, When spongy layer is dried, moreover it is possible to carry out water squeezing to spongy layer.

6th, the swab of slippery walls automatic scrubbing robot of the invention, the bottom of the bristle is less than walking The bottom of device, so as to ensure that bristle can be scrubbed effectively in slippery walls.

7th, the swab of slippery walls automatic scrubbing robot of the invention, the mouth of pipe at the clear water ttom of pipe end is set There is atomising device, improve the water spray effect of clear water so that the cleaning fluid of slippery walls and dirty can effectively clean.

Brief description of the drawings：

Fig. 1 is the main view schematic cross-sectional view of structure of the present invention.

Fig. 2 shows that amplification is intended to for the main view section view of swab.

Fig. 3 looks up enlarged diagram for swab.

Fig. 4 is the main view section view enlarged diagram of running gear.

Fig. 5 is the main view section view enlarged diagram of sucker structure.

Embodiment：

Understood with reference to Fig. 1 ~ Fig. 5, the present invention includes substrate 1, the bottom level of the substrate 1 is rotatably connected to swab 2, institute State substrate 1 bottom be located at swab 2 around be provided with multiple running gears 3, the swab 2 by transmission mechanism with Motor A4 is connected, and the running gear 3 drives by motor B, the motor A4 and motor B with Control system 10 with battery is electrically connected, and the transmission mechanism, motor A4 and the control system 10 with battery are all provided with In the top of substrate 1, and motor A4 is fixed with the control system 10 with battery with substrate 1.

The swab 2 is provided with multiple, and the top of swab 2 is consolidated by the lower end of shaft joint 30 and output vertical shaft 16 Fixed connection, the upper end of the output vertical shaft 16 is coaxially fixed with drive D15, and the drive D15 is drive C14 planet Wheel, the drive C14 and drive D15 engaged transmissions, the top of the drive C14 is coaxially fixed with drive B13, institute Drive B13 and drive A12 engaged transmissions are stated, the drive A12 and motor A4 output shaft A is fixed.

The drive D15 is distributed in around drive C14, and the drive A12 is located at two neighboring drive D15 Between position at.

The liquid reserve tank 20 of washing lotion and clear water is fixed with the top of the drive D15, the drain pipe of the liquid reserve tank 20 is set In the bottom of liquid reserve tank 20, and be passed down through output vertical shaft 16 after connected with swab 2.

The drive D15, drive C14, drive B13 and drive A12 are respectively positioned in horizontal turn trough 5, the water Flat turn groove 5 is located at the upper surface of substrate 1 and the concentric settings of horizontal turn trough 5 and drive C14,16 points of the vertical shaft of output The through hole A21 set by the bottom land and substrate 1 of horizontal turn trough 5 is not passed down through, and the slewing area of the output vertical shaft 16 is located at In the range of through hole A21.

The top surface of the substrate 1 is that have annular protrusion 22, the external diameter of the horizontal turn trough 5 and the internal diameter of annular protrusion 22 Match.

The top surface of the substrate 1 is fixed with case A11, and the horizontal turn trough 5 is located in case A11, the motor A4 and control system 10 with battery are individually fixed on case A11, and the output shaft A of the motor A4 is passed down through cover Shell A11 is coaxially fixed with drive A12.

Case B6 is fixed with the case A11, the control system 10 with battery is respectively positioned on motor A4 In case B6.

The lateral wall of the horizontal turn trough 5 is equipped with the collar 23, and the lateral wall bottom of the horizontal turn trough 5 is distributed with a plurality of The slide bar A25 of vertical direction, the inner wall lower of the collar 23 is provided with the chute A24 matched with slide bar A25, the collar 23 Be distributed with multiple projections 29 on lateral wall, the outboard end of the projection 29 through the through hole B28 set by the wall of case A11 sides, stretch out Case A11.

The lateral wall of the horizontal turn trough 5, positioned at slide bar A25 top provided with least two horizontal bulge loops 27 of circle, the set The inwall of ring 23, the horizontal annular groove 26 for being correspondingly provided with above chute A24 identical quantity.

When the bottom of the collar 23 horizontal annular groove 26 and the horizontal bottom of turn trough 5 horizontal bulge loop 27 match contact when Wait, slide bar A25 is contacted with chute A24；When top contact in top and the case A11 of the collar 23, the collar 23 is located at The horizontal annular groove 26 in the horizontal region of turn trough 5 is matched with horizontal bulge loop 27 to be contacted, and slide bar A25 is separated with chute A24；Or When the horizontal annular groove 26 of the bottom of the collar 23 is contacted with the matching of horizontal bulge loop 27 of the horizontal the top of turn trough 5, slide bar A25 Separated with chute A24.

Vertical rod 8 is fixed with the bottom surface axle center of the horizontal turn trough 5, the lower rotation of the vertical rod 8 is connected with axle sleeve A7, The axle sleeve 7 is fixed with being placed on the sleeve pipe 9 on the surface of swab 2, and the swab 2 is with being rotationally connected with sleeve pipe 9.

The axle sleeve 7 is fixed by connecting rod A17 with sleeve pipe 9 respectively.

The swab 2, which includes cleaning in case 36, the scouring case 36, is provided with portable plate 33, the side of the portable plate 33 The side wall that wall is provided with slide bar B42, the scouring case 36 vertically corresponds to slide bar B42 and is provided with chute B43, and the portable plate 33 leads to Cross slide bar B42 and clean up and down connection in case 36 along chute B43.

The bottom of the portable plate 33, which is respectively perpendicular, is fixed with lotion pipeline 47, clear water pipe 48 and bristle 49, the scouring case 36 bottom is fixed with spongy layer 44, and the bottom of the lotion pipeline 47, clear water pipe 48 and bristle 49 is passed down through scouring case 36 bottom Plate correspondence set pore A45 and bristle hole A46 simultaneously stretches into the correspondence of spongy layer 44 set pore B45 ' and bristle hole B46 ', Leading screw 39 is rotatably connected at the axle center that the top of the portable plate 33 is coaxially fixed with standpipe 34, the standpipe 34, it is described Pair of nut 40 is rotatably connected on leading screw 39, the side wall of the pair of nut 40 is fixed with connecting rod B41, the connecting rod B41's Outer end is fixed through the vertical strip through-hole set by standpipe 34 with cleaning the inwall of case 36, top and the driving electricity of the leading screw 39 Machine C37 output shaft B38 is fixed, and the motor C37 is fixed on level board 35 set in standpipe 34, the standpipe 34 Top stretch out and clean case 36 and be fixed with shaft coupling 30.

The lotion pipeline 47 and clear water pipe 48 are connected with respective liquid reserve tank 20 respectively.

The lotion pipeline 47, clear water pipe 48 and bristle 49 are distributed in the bottom of portable plate 33 in a ring.

The ring that the side for the ring that the bristle 49 is surrounded is surrounded by lotion pipeline 47, opposite side is surrounded by clear water pipe 48 Ring.

The ring that the ring and clear water pipe 48 that the ring that the bristle 49 is surrounded is surrounded with adjacent lotion pipeline 47 are surrounded Between spacing it is equal.

The bottom of the lotion pipeline 47 is flushed with the bottom of clear water pipe 48, and the bottom of bristle 49 is less than the He of lotion pipeline 47 The bottom of clear water pipe 48.

The bottom of the bristle 49 is less than the bottom of running gear 3.

The mouth of pipe of the bottom of clear water pipe 48 is provided with atomising device.

The motor C37 is electrically connected with the control system 10 with battery.

When pair of nut 40 is located at highest stroke, the bottom of lotion pipeline 47, clear water pipe 48 and bristle 49 is downward Stretch out spongy layer 44；When pair of nut 40 is located at minimum stroke, the bottom of lotion pipeline 47, clear water pipe 48 and bristle 49 is equal Higher than the bottom of spongy layer 44.

The running gear 3 includes the supported rod erecting 18 being fixedly connected with the bottom of substrate 1, the bottom of the supported rod erecting 18 Horizontally rotated with trunnion axis 50 by horizontally rotating device 19 and be connected, on the horizontal rotating shaft 50, positioned at the two of supported rod erecting 18 Side is respectively symmetrically provided with motor B, and the motor B is wheel hub motor 52, and the wheel hub motor 52 passes through connecting rod C53 With the concentric fixation of wheel body 51, the circumferential surface of the wheel body 51 is evenly distributed with multiple suckers 54, and the sucker 54 is towards wheel The middle part of the side end face of body 51 1 is provided with sebific duct 55, and the wheel body 51 is connected by sebific duct 55 with sucker 54.

The end of the horizontal rotating shaft 50 rotates with wheel body 1 and is connected.

The wheel hub motor 52 is rotated with horizontal rotating shaft 50 and is connected.

Periphery of the sucker 54 along wheel body 51 is distributed in a ring, and along width side on the periphery of wheel body 51 To being sequentially provided with multiple suckers 54 being distributed in a ring.

Any one sucker 54 in the sucker 54 of any one annular spread, is respectively positioned on the suction of its adjacent side annular spread Between two adjacent suckers 54 in disk 54.

The center of sucker 54 is passed through in the axle center of the sebific duct 55, and the middle part of sucker 54 is provided with stomata A58, the stomata A58 will be connected in sucker 54 with the tube chamber 56 of sebific duct 55, and the described one end of sebific duct 55 away from sucker 54 is provided inwardly with flange, described The edge of flange surrounds stomata B57, and the surface of the wheel body 51 is radially secure multiple nose bars 59, the external diameter of the nose bar 59 Coordinate with stomata B57 internal diameter for gap, the described one end of nose bar 59 away from wheel body 51 is provided with enlarged footing 60, the enlarged footing 60 The internal diameter of external diameter and tube chamber 56 coordinate for gap, one end of the enlarged footing 60 dorsad nose bar 59 is described provided with vertebra forming head 61 The maximum gauge of conical head 61 is more than or equal to stomata A58 internal diameter and less than or equal to the diameter of enlarged footing 60.

The enlarged footing 60 towards one end of nose bar 59 and the side wall diameter of conical head 61 with stomata A58 diameter location of equal Distance be less than tube chamber 56 length.

The side wall diameter of conical head 61 at stomata A58 diameter location of equal with the distance between wheel body 51 with being more than or equal to Minimum range between sucker 54 and wheel body 51.

The side wall diameter of conical head 61 with it is small with the distance between the tip of conical head 61 at stomata A58 diameter location of equal In the length equal to stomata A58.

The running gear 3 is uniformly distributed in the bottom sides edge of substrate 1.

The example for wipe window below with the present invention is illustrated：

When the present invention is used, the wheel body 51 of robot is first pressed against glass surface, when pressing, connect with glass surface Tactile sucker 54 is extruded to the side of wheel body 51, so that sucker 54 is contacted with enlarged footing 60, and conical head 61 stretches into stomata A58 Interior, so that stomata A58 be blocked, under the active force of pressing, sucker 54 is gradually pressed towards in glass surface, and sucker 54 Air can only be discharged by the edge of sucker 54, so that forming vacuum in sucker 54, make sucker by the active force of atmospheric pressure 54 fix with glass surface, and then robot is fixed with glass surface；Then by system control, the control wheel of wheel hub motor 52 Body 51 is rotated, identical when pressing to the process of sucker 54 of glass surface under wheel body 51 drives with above-mentioned pressing, and in wheel body 51 drive under leave glass surface the process of sucker 54 be：Nose bar 59 is under the drive of wheel body 51 to the sidesway away from glass It is dynamic, so that enlarged footing 60 leaves sucker 54, conical head 61 and separated with stomata A58, so that outside air can be passed sequentially through With being connected in sucker 54 after stomata B57, tube chamber 56 and stomata A58, so that being pulled on originally in the sucker 54 of glass surface Air pressure it is equal with external atmosphere pressure so that sucker 54 is automatically separated with glass surface；Due in same level rotating shaft 50 Two wheel bodys 51 are independently to drive rotation by single wheel hub motor 52, so as to the demand according to cleaning glass, Running gear 3 is set to realize the walking and rotation of all angles.

When robot carries out wiping window, it can be required according to the difference of cleaned window, select scouring mode；Pass through projection 29 are depressed into downwards the horizontal annular groove 26 of the bottom of the collar 23 contacts with the matching of horizontal bulge loop 27 of the horizontal bottom of turn trough 5, now Slide bar A25 is contacted with chute A24, now fixed between horizontal turn trough 5 and substrate 1；Now swab 2 is only capable of real by rotation Now clean, and can not be revolved round the sun around the axle center of vertical vertical rod 8；Lifted upwards to the horizontal loops of the bottom of the collar 23 by projection 29 Groove 26 is contacted with the matching of horizontal bulge loop 27 of the horizontal bottom of turn trough 5, and now slide bar A25 is separated with chute A24, horizontal turn trough 5 It can drive while output 16 autobiography of vertical shaft and be revolved round the sun around the axle center of vertical vertical rod 8 in drive D15, and export the band of vertical shaft 16 Move axis rotation of the horizontal turn trough 5 around vertical vertical rod 8, i.e. swab 2 now can also pass through revolution simultaneously by rotation To realize scouring.

When swab 2 is cleaned, the control system 10 with power supply controls motor C37 to rotate first, drives Leading screw 39 is rotated, and pair of nut 40 is risen to upwards at highest line journey, so that lotion pipeline 47, clear water pipe 48 and bristle 49 are stretched downwards Go out spongy layer 44；Then the control system 10 with power supply controls lotion pipeline 47 to glass surface jet cleaning liquid, and controls Motor A4 driving swabs 2 are rotated, and bristle 49 is effectively scrubbed glass surface；Simultaneous with the control of power supply The control driving wheel body 51 of wheel hub motor 52 of system 10 is rotated, and is that running gear 3 is walked with mobile robot, is made swab 2 Remaining place of glass surface can also be scrubbed；After glass surface is scrubbed, the control system 10 with power supply is controlled Lotion pipeline 47 processed stops to glass surface jet cleaning liquid, while controlling clear water pipe 48 to spray clear water to glass surface, continues logical Bristle 49 is crossed to scrub glass surface, in the presence of running gear 3, allow swab 2 to glass surface its Leeway side is scrubbed；After the dirty and cleaning fluid of glass surface is completely flushed out, the control system with power supply 10 control clear water pipes 48 stop spraying clear water to glass surface, and control motor C37 to rotate, and drive leading screw 39 to rotate, Make pair of nut 40 to decline, so that spongy layer 44 wraps lotion pipeline 47, clear water pipe 48 and bristle 49；Now in walking dress Put in the presence of 3 and swab 2 rotation, glass surface is dried；When the water in spongy layer 44 is more, The control motor of control system 10 C37 with power supply is rotated, and is driven leading screw 39 to rotate, pair of nut 40 is minimized downwards At stroke, so as to extrude spongy layer 44, the water in spongy layer 44 is extruded；After the water in spongy layer 44 is extruded, carry The control of the control system 10 motor C37 of power supply is rotated, and drives leading screw 39 to rotate, make pair of nut 40 rise to upwards before sponge Layer 44 cleans the position of glass surface, and continuation is dried to glass surface.

The present invention is apply equally as well to slippery walls, or the smooth facade in other surfaces.

Claims (10)

1. the swab of slippery walls automatic scrubbing robot, it is characterised in that：Including substrate（1）, the substrate（1）Bottom Portion, which horizontally rotates, is connected with swab（2）, the substrate（1）Bottom be located at swab（2）Around be provided with multiple rows Walking apparatus（3）, the swab（2）Pass through transmission mechanism and motor A（4）Drive connection, the motor A（4） With the control system with battery（10）Electrical connection, the transmission mechanism, motor A（4）With the control system with battery （10）It is located at substrate（1）Top, and motor A（4）With the control system with battery（10）With substrate（1）Gu It is fixed；The swab（2）Including cleaning case（36）, the scouring case（36）It is interior to be provided with portable plate（33）, the portable plate （33）Sidewalls vertical be provided with slide bar B（42）, the scouring case（36）Interior side wall corresponds to slide bar B（42）Provided with chute B （43）, the portable plate（33）Pass through slide bar B（42）Along chute B（43）Cleaning case（36）Interior up and down connection；It is described Portable plate（33）Bottom be respectively perpendicular and be fixed with lotion pipeline（47）, clear water pipe（48）And bristle（49）, the scouring case（36） Bottom be fixed with spongy layer（44）, the lotion pipeline（47）, clear water pipe（48）And bristle（49）Bottom be passed down through scouring Case（36）The set pore A of bottom plate correspondence（45）With bristle hole A（46）And stretch into spongy layer（44）The set pore B of correspondence （45’）With bristle hole B（46’）.

2. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The portable plate （33）Top be coaxially fixed with standpipe（34）, the standpipe（34）Leading screw is rotatably connected at interior axle center（39）, the silk Thick stick（39）On be rotatably connected to pair of nut（40）, the pair of nut（40）Side wall be fixed with connecting rod B（41）, the connecting rod B（41）Outer end pass through standpipe（34）Set vertical strip through-hole is with cleaning case（36）Inwall fix, the leading screw（39） Top and motor C（37）Output shaft B（38）It is fixed, the motor C（37）It is fixed on standpipe（34）It is interior set Level board（35）On, the standpipe（34）Top stretch out clean case（36）And it is fixed with shaft coupling（30）；The driving electricity Machine C（37）With the control system with battery（10）Electrical connection.

3. the swab of slippery walls automatic scrubbing robot as claimed in claim 2, it is characterised in that：Work as pair of nut （40）When at highest stroke, lotion pipeline（47）, clear water pipe（48）And bristle（49）Bottom extend downwardly from sponge Layer（44）；Work as pair of nut（40）When at minimum stroke, lotion pipeline（47）, clear water pipe（48）And bristle（49）Bottom It is above spongy layer（44）Bottom.

4. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The lotion pipeline （47）With clear water pipe（48）Respectively with respective liquid reserve tank（20）Connection.

5. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The lotion pipeline （47）, clear water pipe（48）And bristle（49）Portable plate is distributed in a ring（33）Bottom.

6. the swab of slippery walls automatic scrubbing robot as claimed in claim 5, it is characterised in that：The bristle （49）The side of the ring surrounded is lotion pipeline（47）The ring surrounded, opposite side is clear water pipe（48）The ring surrounded.

7. the swab of slippery walls automatic scrubbing robot as claimed in claim 5, it is characterised in that：The bristle （49）The ring surrounded and adjacent lotion pipeline（47）The ring and clear water pipe surrounded（48）Spacing between the ring surrounded It is equal.

8. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The lotion pipeline （47）Bottom and clear water pipe（48）Bottom flush, and bristle（49）Bottom be less than lotion pipeline（47）With clear water pipe（48） Bottom.

9. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The bristle （49）Bottom be less than running gear（3）Bottom.

10. the swab of slippery walls automatic scrubbing robot as claimed in claim 1, it is characterised in that：The clear water Pipe（48）The mouth of pipe of bottom is provided with atomising device.