CN107752897A - A kind of glass cleaning device - Google Patents
A kind of glass cleaning device Download PDFInfo
- Publication number
- CN107752897A CN107752897A CN201710766301.9A CN201710766301A CN107752897A CN 107752897 A CN107752897 A CN 107752897A CN 201710766301 A CN201710766301 A CN 201710766301A CN 107752897 A CN107752897 A CN 107752897A
- Authority
- CN
- China
- Prior art keywords
- suction tray
- traveling crawler
- glass
- cleaning device
- glass cleaning
- 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
Abstract
A kind of glass cleaning device, including support, adsorbent equipment, running gear, cleaning unit, driver element and control unit.Adsorbent equipment includes suction tray and airway tube, there is a control air valve in the junction of suction tray and airway tube, and running gear includes traveling crawler, and suction tray is fixed on traveling crawler.In the presence of control unit, driver element driving traveling crawler rotates, and then rotate the suction tray on traveling crawler, absorption tray bottom has whether a touch sensor detection suction tray contacts with glass surface, when suction tray, which turns to, to be contacted with glass surface, control air valve, which is closed, to be made to produce underbalance effect inside suction tray, remaining suction tray control air valve on same traveling crawler, which is opened, makes suction tray internal negative pressure effect disappear, and then remaining suction tray is rotated away from glass surface with traveling crawler in the case of without absorption affinity.The glass cleaning device safety coefficient is high, it is small that glass is damaged, easy to spread.
Description
Technical field
The invention belongs to small household appliances manufacturing technology field, more particularly relates to a kind of absorption running gear and has the device
Glass cleaning device.
Background technology
Current glass-cleaning robot is broadly divided into two types, and number of patent application 201610935969.7 discloses one kind
Two disks are arranged at type taste bottom, and negative-pressure adsorption is caused on the glass surface by two disk air-breathings, static in a disk
When, another disk rotational cleaning glass window, and locomotive function, the wiping of the type are realized by the static rotation of intersection of two disks
Glass robot has the shortcomings that movement is inefficient, repetition wiped area is more, can not wipe right-angled glass dead angle.
Number of patent application is 201210097694.6 entitled a kind of adsorbent equipment, glass cleaning device and its travelling control side
Method discloses another type of glass-cleaning robot, and two suction trays 11 and the crawler belt on both sides are arranged at such humanoid robot bottom, leads to
Negative pressure caused by crossing suction tray makes robot absorption on the glass surface, is walked by crawler belt on glass.The wiping glass of the type
Frictional force is larger during glass robot ambulation, requires higher to driving, and crawler belt easily causes damage and own loss to glass,
And easily skid.
The content of the invention
It is an object of the present invention to the defects of two class glass-cleaning robots are present for more than, there is provided one kind collection absorption dress
1, running gear 2 is put in integral and the straight line moving on glass absorption running gear 2 and its control method.The device can
Effectively to reduce glass damage, and the same region on glass is avoided the advantage such as to be wiped repeatedly.
What the present invention was realized by following technical scheme：
What the present invention was realized by following technical scheme：
A kind of glass cleaning device, include adsorbent equipment, running gear, cleaning unit, driver element and control unit；
Suction tray in adsorbent equipment is fixed on the traveling crawler in running gear, and in the presence of control unit, driver element drives
Dynamic traveling crawler rotates, suction tray with traveling crawler turn to after contact glass surface adsorb on the glass surface, from
When opening glass surface, being rotated away from traveling crawler after absorption affinity disappears, cleaning unit is right in the bottom of glass cleaning device
Cleaned in the region that glass cleaning device was walked.
Further, the traveling crawler includes the first traveling crawler and the second traveling crawler, and the first traveling crawler is by
One driver element is independently driven, and the second traveling crawler is independently driven by the second driver element.
Further,：Each absorption tray bottom has the detection dress whether a detection suction tray contacts with glass surface
Put.
Further, the distance between two neighboring suction tray is less than two detections on same traveling crawler on every crawler belt
The distance between device.
Further, the adsorbent equipment is also comprising airway tube, control air valve and vavuum pump.
Further, each suction tray connects vavuum pump by an airway tube, and between airway tube and suction tray
There is a control air valve.
Further, the suction tray is internally formed confined space when adsorbing glass surface.
Further, the detection means is touch sensor.
Further, the suction tray mouth in absorption of the suction tray on the traveling crawler protrudes 3-5 millis than cleaning unit
Rice.
Relative to prior art, the present invention has the advantages that：
Glass cleaning device provided by the invention is novel in design, safety coefficient is high, work when glass is damaged it is small, be not easy to beat
It is sliding, suitable for promoting.
Brief description of the drawings：
Fig. 1 is the structural representation of the embodiment of glass cleaning device one of the present invention；
Fig. 2 is the structure composition block diagram of the embodiment of glass cleaning device one of the present invention；
Fig. 3 is the module control logic schematic diagram of the embodiment of glass cleaning device one of the present invention；
Fig. 4 is the composition schematic diagram of the detection module of one embodiment of the invention；
Fig. 5 is the module annexation figure of the embodiment of glass cleaning device one of the present invention；
Fig. 6 is the workflow schematic diagram of one embodiment of the invention glass cleaning device；
Fig. 7 is the workflow schematic diagram of another embodiment of the present invention glass cleaning device.
Specific embodiment
For the objects, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with drawings and Examples, to this
Invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, not
For limiting the present invention.
The invention provides a kind of glass cleaning device, and the present invention is further described below in conjunction with accompanying drawing.
As shown in figure 1, Fig. 1 is the structural representation of the embodiment of invention glass cleaning device one, including：Absorption dress
Put 1, running gear 2, cleaning unit 3, driver element 4, control unit 5.Adsorbent equipment 1, running gear 2, cleaning unit 3 are located at
The bottom of glass cleaning device, control unit 5 electrically connect with adsorbent equipment 1 and driver element 4 respectively.
As shown in Fig. 2 Fig. 2 is the structure composition block diagram of the embodiment of glass cleaning device one of the present invention.Absorption in the present invention
Device 1, including suction tray 11, airway tube 13, vavuum pump 12 and control air valve 14, suction tray 11 is by airway tube 13 and very
Empty pump 12 connects, and in the junction of airway tube 13 and suction tray 11, has a control air valve 14, when control air valve 14 is closed
When, airway tube 13 completely cuts off with the inside of suction tray 11 with extraneous air, and vavuum pump 12 extracts the air inside suction tray 11, and then makes
Adsorbed on the glass surface after producing negative pressure the inside of suction tray 11；When controlling air valve 14 to open, airway tube 13 and suction tray 11
Inner air communicates with outside atmosphere, and the internal negative pressure effect of suction tray 11 disappears.
As shown in figure 5, Fig. 5 is the module annexation figure of the embodiment of glass cleaning device one of the present invention.Running gear 2, bag
Include：First traveling crawler 211, the second traveling crawler 212, the first driver element 41, the second driver element 42, the suction tray 11
The outside of traveling crawler 21 is fixed on, the first traveling crawler 211 is connected by gear with the first driver element 41, and the second walking is carried out
Band 212 is connected by gear with the second driver element 42；First traveling crawler 211 and the second traveling crawler 212 are by a drive
Moving gear drives, and a driven gear, and drive gear and driven gear drive respectively positioned at the both ends of same traveling crawler 21
Moving cell 4 is rotated by drive gear drives traveling crawler 21 to rotate.
A contact detection module, the contact detection module are arranged at the bottom of each suction tray 11 as shown in Figure 1, shown in Figure 5
Including but not limited to touch sensor 111, to detect whether suction tray contacts with glass surface；
As shown in figure 4, Fig. 4 is the composition schematic diagram of the touching detection module of one embodiment of the invention, detection module is touched
For touch sensor 111, when suction tray contacts with glass surface, contact information is sent to control list by touch sensor 111
In member.
Cleaning unit 3, positioned at the bottom of glass cleaning device, the region passed through to glass cleaning device is cleaned.
The glass cleaning device adsorbs walking on the glass surface by adsorbent equipment 1 and running gear 2, single by cleaning
Clean in the region that first 3 pairs of glass cleaning devices are passed through.
As shown in figure 3, Fig. 3 is the module control logic schematic diagram of the embodiment of glass cleaning device one of the present invention.Institute of the present invention
State glass cleaning device, including adsorbent equipment 1, running gear 2, cleaning unit 3, driver element 4 and control unit 5.
Control unit 5, electrically connected with driver element 4, control air valve 14, vavuum pump 12, infrared detection module, fingerprint identification module 221.Pass through
Control driver element 4 drives traveling crawler 21 to rotate, and the control program of infrared identification suction tray 11 is possessed inside control unit 5,
And sequence number sequence, in the presence of control unit 5, the continuous firing of vavuum pump 12 are carried out to the suction tray 11 on traveling crawler 21
Air inside suction tray 11 and airway tube 13 is extracted by airway tube 13, when needing underbalance effect inside suction tray 11, control
Unit 5 processed controls the control air valve 14 being connected with absorbing unit to close the air and external atmosphere made inside suction tray 11,
And then vavuum pump 12 is set to form negative pressure after extracting the air inside suction tray 11；Underbalance effect is needed inside suction tray 11
When, control unit 5 controls the control air valve 14 being connected with absorbing unit to open the air and outside atmosphere made inside suction tray 11
Communicate, and then the underbalance effect inside suction tray 11 is disappeared, when suction tray 11 contacts with glass surface, touch sensor
111 activation signals are sent in control unit 5.In moving process, cleaning unit 3 cleans to glass.
Present invention also offers a kind of suction for the glass cleaning device and glass cleaning device for adsorbing walking on the glass surface
Attached traveling method.
As shown in fig. 6, Fig. 6 is the workflow schematic diagram of one embodiment of the invention glass cleaning device.Comprise the following steps：
Step S11：Vacuum pump work, driver element 5 drive traveling crawler 21 to rotate, and drive the absorption on traveling crawler 21
Disk 11 moves.
Step S12：Touch sensor 111 detects whether suction tray 11 contacts with glass surface.
Step S13：Touch sensor 111 detects suction tray 11 by contact condition is not converted to and glass contact with glass
State.
Step S14：Control air valve 14 is closed, and the inside of suction tray 11 produces negative pressure.
Step S15：Suction tray 11 fixes absorption in glass surface.
Glass cleaning device drives the rotation of suction tray 11 by the rotation of traveling crawler 21, when suction tray 11 touches glass
Behind surface, suction tray 11 fixes absorption on the glass surface, and being carried out when same walking on 21 bands 21 has a suction tray 11 to adsorb surely
After on the glass surface, the absorption affinity of the suction tray 11 of absorption on the glass surface on remaining traveling crawler 21 disappears, and
And be rotated away from glass surface with traveling crawler 21, by suction tray 11 on the glass surface different position absorption with
Leave and ceaselessly switch between glass surface two states, the surface that allows to clean the windows is adsorbed moves on the glass surface.
That is, when glass cleaning device is in normal operating conditions, in the presence of control unit 5, the first driving
Unit 41 drives the first traveling crawler 211 to rotate, and the second driver element 42 drives the second traveling crawler 212 to rotate, traveling crawler
21 rotation drives the movement for being fixed on suction tray 11 on traveling crawler 21, vavuum pump 12 under the control of control unit 5 always
It is in running order, there is the position on traveling crawler 21 of each suction tray 11 on same crawler belt 21 inside control unit 5
Information, when the suction tray 11 on traveling crawler 21 by with glass surface contact condition does not become contact condition after, touch sensor
111 contact information are sent in control unit 5, and control unit 5 is according to the position of remaining suction tray 11 on the traveling crawler 21
Put and the touch sensor of remaining suction tray 11 111 detects whether there is remaining suction tray 11 on the traveling crawler 21 still
Absorption is on the glass surface.
As shown in fig. 7, Fig. 7 is the workflow schematic diagram of another embodiment of the present invention glass cleaning device.Including following step
Suddenly：
Step S11：Vacuum pump work, driver element 5 drive traveling crawler 21 to rotate, and drive the absorption on traveling crawler 21
Disk 11 moves.
Step S12：Touch sensor 111 detects whether suction tray 11 contacts with glass surface.
Step S13：Touch sensor 111 detects suction tray 11 by contact condition is not converted to and glass contact with glass
State.
Step S14：Control air valve 14 is closed, and negative pressure is produced inside suction tray.
Step S15：Suction tray 11 fixes absorption in glass surface.
Step S26：Detecting has remaining suction tray 11 to adsorb in glass surface on the traveling crawler 21.
Step S24：Control air valve 14 is opened, and remaining internal negative pressure of suction tray 11 disappears.
Step S25：Remaining suction tray 11 is rotated away from glass surface with traveling crawler.
When suction tray 11 by with glass surface not contact condition connect change to contact condition after, control unit 5 close with the suction
The control air valve 14 that attached disk 11 connects, the inside of suction tray 11 is produced underbalance effect, and then suction tray 11 is adsorbed in glass
On surface；
When have on same traveling crawler 21 suction tray 11 by with glass surface not contact condition connect change to contact condition after, should
The position of process infrared detection module, fingerprint identification module 221 on traveling crawler 21 and when will leave glass surface, control unit 5 opens same shoe
Air valve 14 is controlled with remaining suction tray 11 contacted with glass surface on 21, makes the air and extraneous air inside the suction tray 11
UNICOM and the internal negative pressure effect of suction tray 11 is disappeared, and then make suction tray 11 in the state of without absorption affinity as crawler belt rotates
Leave glass surface；
Wherein, the distance of two neighboring suction tray 11 is less than sliding tooth on same traveling crawler 21 on same traveling crawler 21
The distance between wheel and driven gear, to ensure that at least one is adsorbed glass cleaning device on a traveling crawler 21 at work
Disk 11 adsorbs on the glass surface；
Present invention also offers a kind of traveling control mode of glass cleaning device, in the case of without turning, two rows
It is identical to walk the rotating speed that the drive gear 212 on crawler belt 21 exports, makes glass cleaning device linear uniform motion；When glass cleaning device needs
When turning to, a traveling crawler 21 therein is stopped operating, and an other traveling crawler 21 is rotated, glass cleaning device
Suction tray 11 on the glass surface is adsorbed using on static traveling crawler 21 as fixed pivot, a traveling crawler 21 is made in addition
Circular arc type rotation is carried out for rotating unit, after glass cleaning device turns to predetermined direction position, originally static walking is carried out
Band 21 starts to rotate, and exports same velocity of rotation with an other traveling crawler 21, glass cleaning device is moved along a straight line.
Wherein, even if the suction tray 11 on traveling crawler 21 is adsorbed on the glass surface, in the traveling crawler that it is depended on
21 it is static do not rotate in the case of, when another traveling crawler 21 is rotated with adjustment direction, the suction on static traveling crawler 21
Attached disk 11 is slided by a small margin；
Wherein, suction tray 11 protrudes 3-5mm, to ensure that suction tray 11 can fill when with glass contact than cleaning unit 3
Tap contacts glass surface.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require and either imply between these entities or operation
Any this actual relation or order be present.Moreover, term "comprising", " comprising " or its any other variant are intended to contain
Lid nonexcludability includes, so that process, method, article or equipment including a factor of system not only will including those
Element, but also the other element including being not expressly set out, or it is this process, method, article or equipment also to include
Intrinsic key element.In the absence of more restrictions, by sentence " including one,,, " key element that limits, it is not excluded that
Other identical element in the process including the key element, method, article, equipment or device also be present.
For a kind of glass cleaning device of the present invention, the form of realization is diversified.It is all the present invention it is spiritual and former
Within then, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of glass cleaning device, include adsorbent equipment, running gear, cleaning unit, driver element, control unit, absorption dress
Put, running gear, cleaning unit are located at the bottom of glass cleaning device, control unit is electrically connected with adsorbent equipment and driver element respectively
Connect, it is characterised in that：Adsorbent equipment includes suction tray, and by producing negative-pressure adsorption inside suction tray, running gear includes walking
Crawler belt, traveling crawler is driven to walk by driver element；Suction tray is fixed on traveling crawler and follows the rotation of traveling crawler
And move, negative pressure is produced after suction tray is moved to glass surface, inside suction tray makes suction tray absorption on the glass surface；When
Suction tray on same traveling crawler have one contact glass surface after and adsorb in glass surface, remaining absorption in glass table
Suction tray underbalance effect disappearance on face has no negative pressure resistance and moves away glass surface with traveling crawler, and glass cleaning device passes through
The rotation of traveling crawler simultaneously makes at least one suction tray absorption on same traveling crawler carry out absorption walking on the glass surface.
2. glass cleaning device as claimed in claim 1, it is characterised in that：The traveling crawler has two.
3. glass cleaning device as claimed in claim 2, it is characterised in that：The bottom of each suction tray on every traveling crawler
There is a touch sensor at edge.
4. the glass cleaning device as described in claim 1 and claim 2, it is characterised in that：The traveling crawler is by traveling crawler
One driving gear at both ends and a driven gear drive.
5. glass cleaning device as claimed in claim 4, it is characterised in that：The distance between two neighboring suction tray on every crawler belt
Less than the distance between driving gear and driven gear on same traveling crawler.
6. glass cleaning device as claimed in claim 1, it is characterised in that：The adsorbent equipment also comprising airway tube, control air valve,
And vavuum pump.
7. glass cleaning device as claimed in claim 5, it is characterised in that：Each suction tray connects vacuum by an airway tube
Pump, and have a control air valve between airway tube and suction tray.
8. glass cleaning device as claimed in claim 1, it is characterised in that：The suction tray is internally formed when adsorbing glass surface
Confined space.
9. glass cleaning device as claimed in claim 2, it is characterised in that：The traveling crawler includes the first traveling crawler and second
Traveling crawler, the first traveling crawler are independently driven by the first driver element, and the second traveling crawler is independently driven by the second driver element
It is dynamic.
10. row glass cleaning device as claimed in claim 1, it is characterised in that：Suction tray on the traveling crawler is in absorption
Suction tray mouth protrudes 3-5 millimeters than cleaning unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710766301.9A CN107752897A (en) | 2017-08-30 | 2017-08-30 | A kind of glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710766301.9A CN107752897A (en) | 2017-08-30 | 2017-08-30 | A kind of glass cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107752897A true CN107752897A (en) | 2018-03-06 |
Family
ID=61265292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710766301.9A Pending CN107752897A (en) | 2017-08-30 | 2017-08-30 | A kind of glass cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107752897A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550385A (en) * | 2017-08-30 | 2018-01-09 | 深圳市赛亿科技开发有限公司 | A kind of glass cleaning device |
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| JP2001276751A (en) * | 2000-03-29 | 2001-10-09 | Nakamura:Kk | Outer wall cleaning device |
| CN202669947U (en) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Adsorption device and glass wiping device comprising the same |
| CN203802383U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Window-wiping robot with closed scraping strip |
| CN105942918A (en) * | 2016-04-29 | 2016-09-21 | 武汉职业技术学院 | Adsorption-type crawler wall-climbing robot cleaner |
| CN107007195A (en) * | 2017-06-15 | 2017-08-04 | 吴为生 | Glass wall cleaning driving car |
| CN107550385A (en) * | 2017-08-30 | 2018-01-09 | 深圳市赛亿科技开发有限公司 | A kind of glass cleaning device |
-
2017
- 2017-08-30 CN CN201710766301.9A patent/CN107752897A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001276751A (en) * | 2000-03-29 | 2001-10-09 | Nakamura:Kk | Outer wall cleaning device |
| CN202669947U (en) * | 2012-04-05 | 2013-01-16 | 科沃斯机器人科技(苏州)有限公司 | Adsorption device and glass wiping device comprising the same |
| CN203802383U (en) * | 2014-03-17 | 2014-09-03 | 科沃斯机器人科技(苏州)有限公司 | Window-wiping robot with closed scraping strip |
| CN105942918A (en) * | 2016-04-29 | 2016-09-21 | 武汉职业技术学院 | Adsorption-type crawler wall-climbing robot cleaner |
| CN107007195A (en) * | 2017-06-15 | 2017-08-04 | 吴为生 | Glass wall cleaning driving car |
| CN107550385A (en) * | 2017-08-30 | 2018-01-09 | 深圳市赛亿科技开发有限公司 | A kind of glass cleaning device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107550385A (en) * | 2017-08-30 | 2018-01-09 | 深圳市赛亿科技开发有限公司 | A kind of glass cleaning device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180306 |
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| WD01 | Invention patent application deemed withdrawn after publication |