CN108553039B - Changeable formula wall body cleaning machines people - Google Patents
Changeable formula wall body cleaning machines people Download PDFInfo
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- CN108553039B CN108553039B CN201810454385.7A CN201810454385A CN108553039B CN 108553039 B CN108553039 B CN 108553039B CN 201810454385 A CN201810454385 A CN 201810454385A CN 108553039 B CN108553039 B CN 108553039B
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- robot
- rolling ball
- robot body
- air inlet
- swinging
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Abstract
The invention discloses a changeable wall cleaning robot, comprising: the robot comprises a robot body and four swinging devices, wherein the swinging devices are respectively arranged at four corners of the robot body and are distributed in a quasi-symmetrical manner according to the central line of the robot body, a collision sensing device is arranged on the periphery of each swinging device, a distance measuring sensor is arranged at the outer corner of each swinging device, and each swinging device can move up and down according to the distance between the robot body and a cleaning surface; the robot has high cleaning efficiency, flexible operation and simple and convenient operation, and can continuously clean curved surfaces, included angles and smooth walls with gaps.
Description
Technical Field
The invention relates to a robot, in particular to a changeable wall cleaning robot.
Background
The intelligent auxiliary cleaning robot is an important device for improving the quality of daily living environment of people, and mainly solves the problem of cleaning indoor plane, curved surface or modularized wall bodies (ceramic tiles, glass plates, marble, enameled steel plates and the like) with gaps, especially outdoor high-altitude glass curtain walls. The outer wall or the glass curtain wall in the high-rise building is generally manually cleaned, the manual cleaning effect is poor, the safety is lacked, and the cost is huge. The existing intelligent cleaning robot can only clean a whole plane and a seamless wall body or the ground of a short floor, cannot clean a plane wall body with gaps, curved surfaces or continuous included angles, and particularly cannot clean glass curtain walls of different shapes outside a high-rise building.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention provides a variable wall cleaning robot which is simple in structure and convenient to use and can solve the problems that a common intelligent cleaning robot is narrow in application range, poor in safety performance and incapable of being used continuously.
The technical scheme is as follows: the invention relates to a changeable wall cleaning robot, comprising:
the robot comprises a robot body and four swinging devices, wherein the swinging devices are respectively arranged at four corners of the robot body and are distributed in a quasi-symmetrical manner according to the central line of the robot body, a collision sensing device is arranged on the periphery of each swinging device, a distance measuring sensor is arranged at the outer corner of each swinging device, and each swinging device can move up and down according to the distance between the robot body and a cleaning surface; a detachable cleaning assembly is mounted at the lower part of each swinging device, and a pressure sensor is arranged between each swinging device and the cleaning assembly;
the driving device is arranged at the bottom of the robot body, comprises four parts and is in quasi-symmetrical distribution with the center line of the robot body; each driving device comprises a rolling ball groove arranged at the lower end of the driving device, four driving magnetic coils are uniformly arranged in the rolling ball groove by taking the center line of the lower end of the rolling ball groove as a reference, a suspension magnetic coil is arranged in the upper end of the rolling ball groove, a magnetic suspension rolling ball is placed in the rolling ball groove, the four driving magnetic coils and the suspension magnetic coil have the same polarity, and the driving magnetic coils drive the magnetic suspension rolling ball to move by changing the current;
the adsorption system comprises a motor and four air inlet pipelines, wherein the motor and the four air inlet pipelines are fixed at the center of the robot body, one ends of the four air inlet pipelines are connected with one side of the motor, and the other ends of the four air inlet pipelines are connected to the ball grooves of the corresponding driving devices.
Preferably, an annular air inlet hole is formed between the periphery of the rolling ball groove and the cleaning assembly, and an air inlet hole baffle is arranged on one side, close to the adsorption system, of the upper side of the air inlet hole.
Preferably, the periphery of the air inlet is provided with an anti-falling emergency sucker.
Preferably, the magnetic suspension rolling ball is internally provided with a permanent magnet, and the surface of the magnetic suspension rolling ball is uniformly provided with a plurality of suckers for enhancing wall friction.
Preferably, a microcomputer driving system is installed in the robot body and is connected in parallel with each collision sensing device, the distance measuring sensor, the pressure sensor, each driving magnetic coil and the levitation magnetic coil.
Preferably, the swing device is connected with the robot body through a constrained universal shaft.
Preferably, a panel air outlet is arranged above the central line of the motor of the adsorption system.
Preferably, the surface of the top cover of the robot body is fixedly connected with a safety rope sling.
The working principle of the robot is as follows:
s1, starting a circuit, and starting a microcomputer driving system;
s2, mode selection, indoor mode execution S3, and outdoor mode execution S4;
s3, indoor mode control selection, plane execution S5 and curved surface execution S6;
s4, outdoor mode control selection, wherein the plane executes S7, and the curved surface executes S8;
s5, indoor plane control
The microcomputer driving system plans an optimal path, and the initial direction and the magnitude of the current of the driving magnetic coil are kept unchanged; if an obstacle or a right-angle wall edge is encountered, executing S9;
s6, indoor curved surface control
The microcomputer driving system plans an optimal path, starts four distance measuring sensors to capture the distance between the four distance measuring sensors and the curved surface, and adjusts the corresponding angles of the four swinging devices to ensure that the four swinging devices always keep the same distance with the curved surface and completely fit the radian of the curved surface for cleaning; if an obstacle or a right-angle wall edge is encountered, executing S9;
s7, outdoor plane control
The microcomputer driving system plans an optimal path, simultaneously feeds back the synchronous matching of the top safety lifting rope system, and drives the magnetic coil to keep the current in the initial direction and the current in the initial size unchanged; if an obstacle or a right-angle wall edge is encountered, executing S9;
s8, outdoor curved surface control
The microcomputer driving system plans an optimal path, simultaneously feeds back the synchronous cooperation of the top safety lifting rope system, starts the four distance measuring sensors to capture the distance between the four distance measuring sensors and the curved surface, and correspondingly adjusts the angles of the four swinging devices to ensure that the four swinging devices always keep the same distance with the curved surface and completely fit the radian of the curved surface for cleaning; if an obstacle or a right-angle wall edge is encountered, executing S9;
s9, after receiving feedback of a collision sensing device or a pressure sensor, driving a magnetic coil to change the current direction in a reverse direction, keeping the current direction and the current magnitude unchanged, returning the original path, and re-planning an optimal uncleaned path by a microcomputer driving system, wherein the change period is in a reciprocating cycle;
s10, if the circuit has faults or the power supply is insufficient, the alarm sounds. Performing S11 in the indoor mode; and performs S12 in the outdoor mode.
S11, finishing work, sealing the air inlet hole by the air inlet hole baffle to form a sealed space, and starting the anti-falling emergency sucker to be adsorbed on the wall surface by utilizing air pressure difference. Subsequently retrieving the cleaning robot for maintenance or charging;
and S12, finishing the work, executing recovery operation by the top safety lifting rope system, and subsequently taking back the cleaning robot for maintenance or charging.
Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: 1. a cleaning route is planned by using a microcomputer driving system, the cleaning robot has a magnetic suspension rolling ball, no dead angle is generated during operation, the whole cleaning surface can be covered, and the cleaning efficiency is high; 2. The cleaning robot system has an indoor mode and an outdoor mode, and is flexible to operate; the anti-falling emergency sucker is arranged indoors, the top lifting rope system is arranged outdoors, and the safety performance is high; 3. can continuously clean curved surfaces, included angles and smooth wall bodies with gaps, and has wide application range.
Drawings
Fig. 1 is a front view of a cleaning robot according to an embodiment of the present invention;
FIG. 2 is a bottom view of a cleaning robot according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an adsorption system according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a magnetic suspension rolling ball according to an embodiment of the invention;
fig. 5 is a front view of the cleaning robot working outdoors according to the embodiment of the present invention.
The figure includes: the robot comprises a robot body (1), a swinging device (2), a driving device (3), a rolling ball groove (31), a driving magnetic coil (32), a suspension magnetic coil (33), a magnetic suspension rolling ball (34), an adsorption system (4), a motor (41), an air inlet pipeline (42), an air inlet hole (5), an air inlet hole baffle (6), an anti-falling emergency sucker (7), a panel air outlet hole (8), a safety lifting rope buckle (9), a collision sensing device (10), a distance measuring sensor (11), a cleaning assembly (12), a pressure sensor (13) and a sucker (341).
Detailed Description
As shown in fig. 1, four swinging devices 2 are symmetrically distributed around the cleaning robot about the center line of the robot, when the robot is placed on the ground, each swinging device 2 occupies one corner of the robot as seen from a top view, is in a right-angle circular arc shape, and has the same length, the swinging devices 2 are connected with the robot body 1 through a constrained universal shaft, collision sensing devices 10 are arranged on the periphery of each swinging device 2, and when the robot collides with an obstacle, signals can be collected and fed back to a microcomputer driving system, so that the robot can move correspondingly. The outer corner part of the lower part of each swinging device 2 is provided with a ranging sensor 11, when a robot cleans a curved surface, the ranging sensor 11 can capture the distance between the robot and the curved surface, if the distance acquired by one ranging sensor 11 is more than 1cm, the ranging sensor 11 feeds the acquired data back to a microcomputer driving system, and the microcomputer driving system adjusts an instruction to enable the corresponding swinging device 2 to adjust the corresponding vertical distance so as to enable the swinging device to keep the same distance with the curved surface all the time, thereby being capable of completely fitting the radian of the curved surface to clean and preventing the condition that the curved surface or the slit of the wall or the glass cannot be cleaned.
The lower end of the swinging device 2 is provided with a detachable cleaning component 12, the cleaning component 12 is preferably provided with cleaning cloth made of superfine fibers, a pressure sensor 13 is arranged between the swinging device 2 and the cleaning component 12, when the robot cleans the wall edge or the glass edge and other environments, when the half body of the robot is exposed, the pressure sensor 13 between the swinging device 2 and the cleaning component 12 collects that the corresponding pressure is zero or very small, the current direction in the driving guide device 3 is reversely changed, then the current direction and the current magnitude are kept unchanged, the original path is returned, and the microcomputer driving system replans the optimal uncleaned path.
The microcomputer driving system is arranged in the robot body 1 and is provided with a current control program, the microcomputer driving system realizes the planning of an optimal path, is connected with the collision sensing device 10, the pressure sensor 13, the distance measuring sensor 11, the driving magnetic coil 32 and the suspension magnetic coil 33 in parallel, receives collected signals, changes the corresponding path according to the abnormity of the signals, and ensures the normal operation and the safety of the robot.
A motor 41 is fixed at the center inside the robot, the motor 41 is preferably a brushless motor, and can realize automatic control operation, a top cover of the robot is arranged above the brushless motor, a panel air outlet hole 8 is arranged on the top cover, the bottom of the robot and the lower end of the brushless motor are provided with four ball rolling grooves 31, as shown in figure 2, the rolling ball grooves 31 are symmetrically distributed by taking the center line of the robot as the standard, four driving magnetic coils 32 are uniformly arranged in the rolling ball grooves 31 by taking the center line of the lower end of each rolling ball groove 31 as the standard, a suspension magnetic coil 33 is arranged at the upper end of each rolling ball groove 31 and close to the end of the brushless motor, magnetic suspension rolling balls 34 are arranged in the rolling ball grooves, permanent magnets are arranged in the magnetic suspension rolling balls 34, and the driving magnetic coil 32 and the suspension magnetic coil 33 in each ball rolling groove 31 have the same polarity, so as to create an environment which is always repellent, thereby ensuring that the magnetic suspension rolling ball 34 can not be pushed into the machine and can not fall down all the time. An air inlet hole 5 is annularly distributed between the periphery of a certain radius range outside the ball rolling groove 31 and the cleaning component 12, an air inlet hole baffle 6 is arranged at the upper end of the air inlet hole 5 close to the brushless motor, and an annular anti-falling emergency sucker 7 is arranged in the periphery outside the annularly arranged air inlet holes 5, as shown in figure 3, the brushless motor is sealed at the periphery of one outer side in the robot body, but the upper side and the lower side of the motor rotate in an unsealed independent space, one end of four air inlet pipelines 42 is connected to the sealed space, and the other end is connected to the respective annular air inlet holes 5, so that four adsorption spaces are formed, air enters the air inlet hole 5 from the ring along with the continuous operation of the motor, and is exhausted from an air outlet above the top cover of the robot, namely the central line of the motor, so that the adsorption space which can be firmly adsorbed on a wall or glass is formed, and the robot can, the four air inlet ducts 42 are preferably made of high temperature resistant materials such as rubber or silica gel.
When the robot works indoors, if a circuit has faults or power supply electricity is insufficient, an alarm sounds, the robot finishes working, the air hole baffle 6 seals the air inlet hole 5 to form a sealed space, and meanwhile, the anti-falling emergency sucker 7 is started and is adsorbed on the wall surface by utilizing air pressure difference. The cleaning robot is subsequently retrieved for maintenance or charging.
As shown in FIG. 4, a plurality of micro suction cups 341, preferably plastic micro suction cups, are uniformly distributed on the outer surface of the magnetic suspension rolling ball, the suction cups 341 increase the friction force with a smooth wall body, the wall body can be prevented from slipping when the rolling ball moves, and the four driving magnetic coils 32 and the suspension magnetic coil 33 drive the magnetic suspension rolling ball 34 to move by changing the current.
Two safe lifting rope buckles 9 of top cap fixed surface connection of robot, this safe lifting rope buckle is fixed at a robot top cap's a side edge, when cleaning outdoor high-rise wall or outdoor glass, safe lifting rope system can fix at roof or certain floor, according to the robot orbit, synchronous adjustment lifting rope moving direction and length, thereby operation that can be safer, drop for preventing because external factors, or when the circuit breaks down or power electric power is not enough, the lifting rope system retrieves the robot according to the feedback, carry out follow-up maintenance or charge to cleaning machines people.
When the robot works, firstly:
s1, starting a circuit, and preparing a microcomputer driving system;
s2, mode selection, indoor mode execution S3, and outdoor mode execution S4;
s3, indoor mode control selection, plane execution S5 and curved surface execution S6;
s4, outdoor mode control selection, wherein the plane executes S7, and the curved surface executes S8;
s5, indoor plane control
The microcomputer driving system plans an optimal path, and the initial direction and the size of the current of the driving magnetic coil 32 are kept unchanged; if an obstacle or a right-angled wall edge is encountered, S9 is performed.
S6, indoor curved surface control
The microcomputer driving system plans an optimal path, starts the four distance measuring sensors 11 to capture the distance between the four distance measuring sensors and the curved surface, and adjusts the corresponding angles of the four swinging devices 2 to ensure that the four swinging devices always keep the same distance with the curved surface and completely fit the radian of the curved surface for cleaning; if an obstacle or a right-angled wall edge is encountered, S9 is performed.
S7, outdoor plane control
The microcomputer driving system plans an optimal path, simultaneously feeds back the synchronous matching of the top safety lifting rope system, and drives the magnetic coil 32 to keep the current in the initial direction and the current in the initial size unchanged; if an obstacle or a right-angled wall edge is encountered, S9 is performed.
S8, outdoor curved surface control
The microcomputer driving system plans an optimal path, simultaneously feeds back the synchronous matching of the top safety lifting rope system, as shown in fig. 5, starts four distance measuring sensors 11 to capture the distance between the four distance measuring sensors and the curved surface, and correspondingly adjusts the angle of the four swinging devices 2 to ensure that the four swinging devices always keep the same distance with the curved surface and completely fit the radian of the curved surface for cleaning; if an obstacle or a right-angled wall edge is encountered, S9 is performed.
And S9, after receiving feedback of the collision sensing device or the pressure sensor, driving the magnetic coil 32 to reversely change the current direction, keeping the current direction and the current magnitude unchanged, returning the original path, and re-planning the optimal uncleaned path by the microcomputer driving system, wherein the change period is in a reciprocating cycle.
S10, if the circuit has faults or the power supply is insufficient, the alarm sounds. Performing S11 in the indoor mode; and performs S12 in the outdoor mode.
S11, finishing the work, sealing the air inlet 5 by the air inlet baffle 6 to form a sealed space, and simultaneously starting the anti-falling emergency sucker 7 to be adsorbed on the wall surface by utilizing the air pressure difference. The cleaning robot is subsequently retrieved for maintenance or charging.
And S12, finishing the work, executing recovery operation by the top safety lifting rope system, and subsequently taking back the cleaning robot for maintenance or charging.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (8)
1. A changeable wall cleaning robot, comprising:
the robot comprises a robot body (1) and four swinging devices (2), wherein the swinging devices (2) are respectively arranged at four corners of the robot body (1) and are distributed in a quasi-symmetrical manner according to the central line of the robot body (1), a collision sensing device (10) is arranged on the periphery of each swinging device (2), a distance measuring sensor (11) is arranged at the outer corner of each swinging device, and each swinging device (2) can move up and down according to the distance between the robot body (1) and a cleaning surface; a detachable cleaning component (12) is mounted at the lower part of each swinging device (2), and a pressure sensor (13) is arranged between each swinging device (2) and the cleaning component (12);
the driving device (3) is arranged at the bottom of the robot body (1) and comprises four parts which are in quasi-symmetrical distribution with the central line of the robot body (1); each driving device (3) comprises a rolling ball groove (31) arranged at the lower end of the driving device (3), four driving magnetic coils (32) are uniformly arranged in the rolling ball groove (31) by taking the center line of the lower end of the rolling ball groove as a reference, a suspension magnetic coil (33) is arranged in the upper end of the rolling ball groove, a magnetic suspension rolling ball (34) is arranged in the rolling ball groove (31), the four driving magnetic coils (32) and the suspension magnetic coil (33) have the same polarity, and the driving magnetic coil (32) drives the magnetic suspension rolling ball (34) to move by changing the current;
the adsorption system (4) comprises a motor (41) fixed at the center of the robot body (1) and four air inlet pipelines (42), one ends of the four air inlet pipelines are connected with one side of the motor (41), and the other ends of the four air inlet pipelines are connected to the rolling ball grooves (31) of the corresponding driving devices (3).
2. The changeable wall cleaning robot of claim 1, wherein an annular air inlet (5) is provided between the periphery of the rolling ball groove (31) and the cleaning component (12), and an air inlet baffle (6) is provided on the upper side of the air inlet (5) near the adsorption system (4).
3. The changeable wall cleaning robot of claim 2, wherein the periphery of the air inlet hole (5) is provided with an anti-falling emergency suction cup (7).
4. The changeable wall cleaning robot of claim 1, wherein a microcomputer driving system is installed in the robot body (1), and is connected in parallel with each of the collision sensing device (10), the distance measuring sensor (11), the pressure sensor (13), each of the driving magnetic coils (32), and the levitation magnetic coil (33).
5. The changeable wall cleaning robot of claim 1, wherein the magnetic suspension rolling ball (34) is internally provided with a permanent magnet, and a plurality of suckers (341) for enhancing wall friction are uniformly arranged on the surface of the magnetic suspension rolling ball (34).
6. A variable wall cleaning robot according to claim 1, characterized in that the oscillating device (2) is connected to the robot body (1) by a constrained cardan shaft.
7. The changeable wall cleaning robot of claim 1, wherein a panel air outlet (8) is provided above a center line of a motor (41) of the adsorption system (4).
8. The changeable wall cleaning robot of any one of claims 1-7, wherein a safety sling button (9) is fixedly connected to the top cover surface of the robot body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454385.7A CN108553039B (en) | 2018-05-14 | 2018-05-14 | Changeable formula wall body cleaning machines people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810454385.7A CN108553039B (en) | 2018-05-14 | 2018-05-14 | Changeable formula wall body cleaning machines people |
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| CN108553039A CN108553039A (en) | 2018-09-21 |
| CN108553039B true CN108553039B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810454385.7A Active CN108553039B (en) | 2018-05-14 | 2018-05-14 | Changeable formula wall body cleaning machines people |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110507259B (en) * | 2019-09-04 | 2021-08-17 | 湖南蛛蛛机器人科技有限公司 | Glass curtain wall cleaning robot |
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| WO2001000077A1 (en) * | 1999-06-24 | 2001-01-04 | Frank Schlosser | Autonomous cleaning device that can be movably disposed on a wall of an object to be cleaned |
| JP2001346723A (en) * | 2000-06-07 | 2001-12-18 | Matsushita Electric Works Ltd | Glass cleaning device |
| CN2773996Y (en) * | 2005-02-06 | 2006-04-19 | 宁波天明电子股份有限公司 | Movable magnetic-suspension device |
| CN102736625A (en) * | 2011-04-15 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Glass-cleaning robot |
| CN106473660A (en) * | 2016-12-07 | 2017-03-08 | 深圳市广田方特幕墙科技有限公司 | Intelligence glass curtain wall cleaning robot system |
| CN107963178A (en) * | 2017-12-08 | 2018-04-27 | 成都问达茂源科技有限公司 | A kind of wheel hub magnetic suspension bicycles electromagnetic gear drive system |
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2018
- 2018-05-14 CN CN201810454385.7A patent/CN108553039B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001000077A1 (en) * | 1999-06-24 | 2001-01-04 | Frank Schlosser | Autonomous cleaning device that can be movably disposed on a wall of an object to be cleaned |
| JP2001346723A (en) * | 2000-06-07 | 2001-12-18 | Matsushita Electric Works Ltd | Glass cleaning device |
| CN2773996Y (en) * | 2005-02-06 | 2006-04-19 | 宁波天明电子股份有限公司 | Movable magnetic-suspension device |
| CN102736625A (en) * | 2011-04-15 | 2012-10-17 | 泰怡凯电器(苏州)有限公司 | Glass-cleaning robot |
| CN106473660A (en) * | 2016-12-07 | 2017-03-08 | 深圳市广田方特幕墙科技有限公司 | Intelligence glass curtain wall cleaning robot system |
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