CN108158480A - It is a kind of can obstacle detouring intelligent glass-cleaning robot - Google Patents
It is a kind of can obstacle detouring intelligent glass-cleaning robot Download PDFInfo
- Publication number
- CN108158480A CN108158480A CN201711445607.0A CN201711445607A CN108158480A CN 108158480 A CN108158480 A CN 108158480A CN 201711445607 A CN201711445607 A CN 201711445607A CN 108158480 A CN108158480 A CN 108158480A
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- China
- Prior art keywords
- vacuum
- housing
- cleaning
- module
- sucker
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- 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
-
- 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
The present invention relates to it is a kind of can obstacle detouring intelligent glass-cleaning robot, include crawler module, cleaning module, control module；The crawler module include rack, four be vertically disposed on the angle of rack lower end four and head equipped with vacuum small sucker Multi-section electric telescopic rod, be set in rack and by tooth tape drive mechanism driving can along housing slide annular slider, be movably arranged on annular slider bottom and can drive annular slider rotate housing, be arranged on housing bottom center the big sucker of vacuum, be arranged on the minipump being connect respectively with vacuum small sucker and the big sucker of vacuum in housing；The cleaning module includes two cleaning cloths for being arranged on housing bottom and being placed in the big sucker both sides of vacuum；The control module includes the controller being arranged in housing, is separately positioned on four Multi-section electric telescopic rods and touches sensor；The present invention realizes climbing movement by vacuum small sucker and the big sucker of vacuum, mobile more convenient flexible, and with obstacle crossing function.
Description
Technical field
The present invention relates to cleaning applications, refer in particular to it is a kind of can obstacle detouring intelligent glass-cleaning robot.
Background technology
At present, glass-cleaning robot can only complete the work cleaned on one block of glass, on to large area architectural plane
Multiple pieces of glass when being cleaned, due to there is the isolation of glass frame between different glass, common glass-cleaning robot can not be complete
It goes to clean another block of glass into across glass frame, therefore, it is necessary to artificially move glass-cleaning robot to next block of glass, with complete
Into the work for cleaning whole glass, but during the working at height of part, the work of artificial mobile glass-cleaning robot is more multiple
It is miscellaneous, a degree of danger is also brought along, is spent human and material resources, makes troubles to clean work, slows down to a certain extent
Operating rate reduces working efficiency.
Invention content
There is provided the invention aims to overcome the deficiencies in the prior art it is a kind of can obstacle detouring intelligent glass-cleaning robot,
Traditional glass-cleaning robot is changed to climbing movement by absorption is mobile, movement is more convenient flexibly, during cleaning the windows i.e.
Making to encounter glass frame also can easily cross, and can greatly improve working efficiency, mitigate labor intensity.
In order to achieve the above objectives, the technical solution adopted by the present invention is：It is a kind of can obstacle detouring intelligent glass-cleaning robot, packet
Containing crawler module, cleaning module, control module；The crawler module includes the machine being made of two one slide rails and two connecting rods
Frame, is separately positioned on four Multi-section electrics at four Multi-section electric telescopic rods being vertically disposed on the angle of rack lower end four
The vacuum small sucker of flexible club head, is arranged on two connecting rod upper end drive rings at the annular slider being set on two one slide rails
Tooth tape drive mechanism that shape slide plate is slided along sliding rail, is arranged on housing and can drive the housing for being movably arranged on annular slider bottom
The discoid motor of dynamic annular slider rotation, the big sucker of vacuum for being arranged on housing bottom center, be arranged in housing respectively with very
The minipump that empty small sucker is connected with the big sucker of vacuum；The cleaning module is arranged on housing bottom and is placed in including two
The cleaning cloth of the big sucker both sides of vacuum；The control module includes the controller being arranged in housing, is separately positioned on more than four
Sensor is touched on section electric telescopic rod；It is additionally provided in the housing respectively to crawler module, cleaning module, control module
The accumulator of power supply.
Preferably, remote controler is further included；The control module further includes the camera being arranged in two connecting rods, is used for
Remote command is received to be sent to controller and camera shooting picture is issued to the wireless communication module of remote controler simultaneously.
Preferably, the cleaning module further includes hydrojet mechanism；The hydrojet mechanism is arranged on housing bottom including multi-disc
And even circumferential be placed in micropore atomization piece that the big sucker outer ring of vacuum connect with controller line, be arranged in housing it is clear for storing
The liquid reserve tank of washing lotion；The liquid reserve tank is connected with multiple microporous atomizing piece by capillary catheter respectively.
Preferably, the cleaning module further includes two panels and is arranged on housing bottom and is respectively placed on the outside of two cleaning cloths
Rubber scraping article.
Preferably, the crawler module further includes the vacuum being connect with controller line for detecting minipump vacuum degree
Spend detection sensor.
Preferably, it is respectively arranged with friction plate between the annular slider and two one slide rails.
Due to the utilization of above-mentioned technical proposal, the present invention has following advantages compared with prior art：
It is of the present invention can the intelligent glass-cleaning robot of obstacle detouring can be realized by vacuum small sucker and the big sucker of vacuum
Climbing movement not only moves and more convenient flexibly and can guarantee glass-cleaning robot safe operation on glass, and wiping glass
It can easily cross even if encounter glass frame during glass, working efficiency can be greatly improved, mitigate labor intensity.
Description of the drawings
Technical solution of the present invention is described further below in conjunction with the accompanying drawings：
Attached drawing 1 for it is of the present invention can obstacle detouring intelligent glass-cleaning robot structure diagram；
Attached drawing 2 for it is of the present invention can obstacle detouring intelligent glass-cleaning robot bottom view；
Attached drawing 3 for it is of the present invention can obstacle detouring intelligent glass-cleaning robot enlarged cross-sectional view；
Attached drawing 4 for it is of the present invention can the intelligent glass-cleaning robot of obstacle detouring normally clean the windows when operating diagram；
Attached drawing 5 for it is of the present invention can the intelligent glass-cleaning robot of obstacle detouring cross glass frame when work signal
Figure.
Wherein：10th, annular slider；11st, sliding rail；12nd, tooth tape drive mechanism；13rd, connecting rod；14th, Multi-section electric telescopic rod；
15th, vacuum small sucker；16th, housing；17th, discoid motor；18th, the big sucker of vacuum；19th, minipump；20th, cleaning cloth；21st, it is micro-
Hole atomizing piece；22nd, rubber scraping article；23rd, capillary catheter；24th, liquid reserve tank；30th, controller；31st, camera；40th, accumulator；
50th, glass frame；51st, glass.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is described in further detail.
Attached drawing 1-5 be it is of the present invention can obstacle detouring intelligent glass-cleaning robot, comprising crawler module, cleaning module,
Control module, remote controler；The crawler module includes the rack, four difference that are made of two one slide rails 11 and two connecting rods 13
The Multi-section electric telescopic rod 14 that is vertically set on the angle of rack lower end four is separately positioned on four Multi-section electric telescopic rods 14
The vacuum small sucker 15 in portion, the annular slider 10 being set on two one slide rails 11 are arranged on two 13 upper end drive rings of connecting rod
Tooth tape drive mechanism 12 that shape slide plate 10 is slided along sliding rail 11, is arranged on the housing 16 for being movably arranged on 10 bottom of annular slider
Can be driven on housing 16 annular slider 10 rotate discoid motor 17, be arranged on 16 bottom centre of housing the big sucker 18 of vacuum,
It is arranged on the minipump 19 being connect respectively with vacuum small sucker 15 and the big sucker 18 of vacuum in housing 16；The cleaning module
16 bottom of housing is arranged on including two and is placed in the cleaning cloth 20 of big 18 both sides of sucker of vacuum；The control module includes setting
Controller 30 in housing 16 is separately positioned on touching sensor, being arranged on two on four Multi-section electric telescopic rods 14
Camera 31 in connecting rod 13 is sent to controller 30 and simultaneously by 31 shooting picture of camera for receiving remote command
Issue the wireless communication module of remote controler；It is additionally provided in the housing 16 respectively to crawler module, cleaning module, control module
The accumulator 40 of power supply；During use：Since what is be respectively arranged on four Multi-section electric telescopic rods 14 touches sensor, by giving
Controller 30, which inputs program, can realize automated cleaning glass 51, due to being provided with camera 31, staff in connecting rod 13
It can be by the way that remote controler be controlled to carry out cleaning glass 51 manually；During work, glass-cleaning robot is vertically placed on glass 51, due to
Initial position housing 16 is to be located at rack lower end, and at this moment four vacuum small suckers 15 are adsorbed on glass 51, the big sucker of vacuum
18 do not work, and cleaning cloth 20 is just attached on glass 51；Under the control of the controller 30,12 drive shell 16 of tooth tape drive mechanism
Along 11 upward sliding of sliding rail, the dust and spot on 51 surface of glass are removed by cleaning cloth 20, due to being provided with two pieces of cleaning cloths
20, primary cleaning, which is equivalent to, has wiped twice, not only increases working effect, and clean cleaner；When housing 16 is moved to machine
During frame upper end, the big sucker 18 of vacuum is adsorbed on glass 51, and four vacuum small suckers 15 do not work, at this point, tooth tape drive mechanism
12 driving racks integrally move upwards, and until housing 16 is located at rack lower end, recycle successively, cleaning glass 51；When being moved to glass
When 51 edge of glass needs commutation, the big sucker 18 of vacuum is adsorbed on glass 51, and four vacuum small suckers 15 do not work, at this point, disk
Shape motor 17 drives annular slider 10 to drive 90 degree of rack unitary rotation, completes commutation；When glass-cleaning robot cleans whole blocks
Glass 51 needs to cross when glass frame 50 reaches another block of glass 51 or the big sucker 18 of vacuum is adsorbed on glass 51, and four
A vacuum small sucker 15 does not work, at this point, highly automated retraction of four Multi-section electric telescopic rods 14 according to glass frame 50, tooth
Tape drive mechanism 12 drives rack integrally to move upwards, and two Multi-section electric telescopic rods 14 of frame upper end is made first to cross glass edge
Frame 50 (in order to which housing 16 is made once to cross glass frame 50, add by be at least 16 length of housing twice of the length of sliding rail 11
The sum of diameter of two Multi-section electric telescopic rods 14, what is chosen in the present embodiment is that the length of sliding rail 11 is 16 length of housing
Three times), then four vacuum small suckers 15 are adsorbed on glass 51, and the big sucker 18 of vacuum does not work, while four Multi-section electrics
Telescopic rod 14 makes housing 16 far from glass 51, at this point, tooth tape drive mechanism 12 drives according to the highly automated elongation of glass frame 50
Dynamic housing 16 crosses glass frame 50 along 11 upward sliding of sliding rail, and the last big sucker 18 of vacuum is adsorbed on glass 51, and four true
Empty small sucker 15 does not work, and tooth tape drive mechanism 12 drives rack integrally to move upwards, and makes two Multi-section electrics of rack lower end
Telescopic rod 14 recrosses glass frame 50, completes obstacle detouring, reaches next block of glass 51.
Further, the cleaning module further includes hydrojet mechanism；The hydrojet mechanism is arranged on 16 bottom of housing including multi-disc
Portion and even circumferential are placed in the micropore atomization piece 21 that big 18 outer ring of sucker of vacuum connect with 30 line of controller, are arranged in housing 16
For storing the liquid reserve tank 24 of cleaning solution；The liquid reserve tank 24 and multiple microporous atomizing piece 21 are connected respectively by capillary catheter 23
Logical, in use, cleaning solution is sent on micropore atomization piece 21 by capillary catheter 23, controller 30 works logical to micropore atomization piece 21
Cleaning liquid is mist sprayed out by electricity, and due to being misty, cleaning solution will not be dripped or be slid downwards along glass 51, and
Misty projected area is wider, and spot is removed convenient for cleaning cloth 20.
Further, the cleaning module further includes two panels and is arranged on 16 bottom of housing and is respectively placed in outside two cleaning cloths 20
The rubber scraping article 22 of side, it is water stain for striking off, glass 51 is made to clean light.
Further, the crawler module, which is further included, connect to detect 19 vacuum degree of minipump with 30 line of controller
Vacuum degree measurement sensor causes 19 vacuum of minipump when there is sundries to enter in vacuum small sucker 15 or the big sucker 18 of vacuum
When the vacuum degree of degree is abnormal, glass-cleaning robot can be stopped, to prevent more sundries from entering back into vacuum small sucker
15 or the big sucker 18 of vacuum in, so as to avoid the occurrence of the phenomenon that glass-cleaning robot falls from glass 51.
Further, friction plate is respectively arranged between the annular slider and two one slide rails 11, prevents long-term work annular
Slide plate is worn with sliding rail 11, is reduced the service life.
Due to the utilization of above-mentioned technical proposal, the present invention has following advantages compared with prior art：
It is of the present invention can the intelligent glass-cleaning robot of obstacle detouring can be realized by vacuum small sucker and the big sucker of vacuum
Climbing movement not only moves and more convenient flexibly and can guarantee glass-cleaning robot safe operation on glass, and wiping glass
It can easily cross even if encounter glass frame during glass, working efficiency can be greatly improved, mitigate labor intensity.
It the above is only the concrete application example of the present invention, protection scope of the present invention be not limited in any way.All uses
Equivalent transformation or equivalent replacement and the technical solution formed, all fall within rights protection scope of the present invention.
Claims (6)
1. it is a kind of can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：Include crawler module, cleaning module, control module；
The crawler module include be made of two one slide rails and two connecting rods rack, four be vertically disposed on rack lower end four
Multi-section electric telescopic rod on a angle, be separately positioned on four Multi-section electrics stretch club head vacuum small sucker, be set in two
Annular slider on one slide rail, be arranged on tooth tape drive mechanism that two connecting rod upper ends driving annular sliders slide along sliding rail,
The housing of annular slider bottom is movably arranged on, the discoid motor that annular slider can be driven to rotate on housing is arranged on, is arranged on
The big sucker of vacuum at housing bottom center, be arranged on connect respectively with vacuum small sucker and the big sucker of vacuum in housing it is miniature true
Sky pump；The cleaning module includes two cleaning cloths for being arranged on housing bottom and being placed in the big sucker both sides of vacuum；The control
Module includes the controller being arranged in housing, is separately positioned on four Multi-section electric telescopic rods and touches sensor；It is described
The accumulator powered respectively to crawler module, cleaning module, control module is additionally provided in housing.
2. it is according to claim 1 can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：Further include remote controler；Institute
Control module is stated to further include the camera being arranged in two connecting rods, be sent to controller and same for receiving remote command
When camera shooting picture is issued to the wireless communication module of remote controler.
3. it is according to claim 1 or 2 can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：The cleaning module
Further include hydrojet mechanism；The hydrojet mechanism is arranged on housing bottom including multi-disc and even circumferential is placed in the big sucker outer ring of vacuum
The micropore atomization piece that is connect with controller line is arranged in housing to store the liquid reserve tank of cleaning solution；The liquid reserve tank and more
Piece micropore atomization piece is connected respectively by capillary catheter.
4. it is according to claim 3 can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：The cleaning module also wraps
Include the rubber scraping article that two panels is arranged on housing bottom and is respectively placed on the outside of two cleaning cloths.
5. it is according to claim 4 can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：The crawler module also wraps
Include the vacuum degree measurement sensor being connect with controller line for detecting minipump vacuum degree.
6. it is according to claim 5 can obstacle detouring intelligent glass-cleaning robot, it is characterised in that：The annular slider and two
Friction plate is respectively arranged between one slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445607.0A CN108158480A (en) | 2017-12-27 | 2017-12-27 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711445607.0A CN108158480A (en) | 2017-12-27 | 2017-12-27 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108158480A true CN108158480A (en) | 2018-06-15 |
Family
ID=62518601
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711445607.0A Pending CN108158480A (en) | 2017-12-27 | 2017-12-27 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108158480A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820448A (en) * | 2019-03-25 | 2019-05-31 | 哈尔滨工程大学 | A kind of novel glass cleaning machine people |
| CN113455952A (en) * | 2021-07-19 | 2021-10-01 | 西京学院 | Obstacle-crossing movable adsorption device applied to vertical plane |
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| CN101367413A (en) * | 2007-08-17 | 2009-02-18 | 高汉光 | Multifunctional robot for climbing wall |
| CN105520682A (en) * | 2016-01-18 | 2016-04-27 | 郑子繁 | Cleaning device of automatic cleaning machinery |
| CN205697517U (en) * | 2016-05-12 | 2016-11-23 | 四川建筑职业技术学院 | A kind of window wiping systems |
| WO2017079888A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Window cleaning robot |
| CN106983435A (en) * | 2017-03-14 | 2017-07-28 | 深圳利尔阳光科技有限公司 | Intelligent multi-function glass curtain wall high-altitude cleaning equipment |
| CN208065117U (en) * | 2017-12-27 | 2018-11-09 | 苏州市职业大学 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
-
2017
- 2017-12-27 CN CN201711445607.0A patent/CN108158480A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367413A (en) * | 2007-08-17 | 2009-02-18 | 高汉光 | Multifunctional robot for climbing wall |
| WO2017079888A1 (en) * | 2015-11-10 | 2017-05-18 | 深圳市赛亿科技开发有限公司 | Window cleaning robot |
| CN105520682A (en) * | 2016-01-18 | 2016-04-27 | 郑子繁 | Cleaning device of automatic cleaning machinery |
| CN205697517U (en) * | 2016-05-12 | 2016-11-23 | 四川建筑职业技术学院 | A kind of window wiping systems |
| CN106983435A (en) * | 2017-03-14 | 2017-07-28 | 深圳利尔阳光科技有限公司 | Intelligent multi-function glass curtain wall high-altitude cleaning equipment |
| CN208065117U (en) * | 2017-12-27 | 2018-11-09 | 苏州市职业大学 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820448A (en) * | 2019-03-25 | 2019-05-31 | 哈尔滨工程大学 | A kind of novel glass cleaning machine people |
| CN113455952A (en) * | 2021-07-19 | 2021-10-01 | 西京学院 | Obstacle-crossing movable adsorption device applied to vertical plane |
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