CN108577655A - A kind of window wiping robot flexibly turned to - Google Patents
A kind of window wiping robot flexibly turned to Download PDFInfo
- Publication number
- CN108577655A CN108577655A CN201810416445.6A CN201810416445A CN108577655A CN 108577655 A CN108577655 A CN 108577655A CN 201810416445 A CN201810416445 A CN 201810416445A CN 108577655 A CN108577655 A CN 108577655A
- Authority
- CN
- China
- Prior art keywords
- shell
- fixed block
- wiping
- robot body
- opening
- 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.)
- Withdrawn
Links
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of window wiping robots flexibly turned to,Including robot body,The robot body includes shell and the handle on the outside of the case top,The bottom inside of the shell it is placed in the middle be equipped with mounting bracket,Cavity is formed on the bottom of the mounting bracket and the shell,The present invention substitutes traditional crawler-type mobile structure using traveling wheel,Reduce production cost,Reduce volume,Reduce its occupied space,And four Wiping mechanisms are set in the bottom of robot,Front and back and left and right wiping can be carried out at the same time to glass,It is wide to wipe range,And wiping is efficient,Angular acceleration transducer is set in Wiping mechanism simultaneously,When Wiping mechanism encounters glass frame,Angular acceleration transducer transmits a signal to controller,Controller control driver makes driving wheel change direction,To change the direction of travel of robot body,Nimbly elude glass frame,It is not in the stuck phenomenon on glass frame.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to a kind of window wiping robot flexibly turned to.
Background technology
With the increasingly concentration of urban population, residential building or office building are all built higher and higher.The number of plies in usual building
All more than tens of layers, periphery is all surrounded with windowpane, so that these buildings is seemed very tall and big and has class, but on the outside of building
The cleaning of windowpane be a problem.The wiping of these high-altitude windowpanes needs that cleaner is allowed to carry out working at height, there is
Prodigious danger, and since anxiety can influence clean efficiency to cleaner at heart.Therefore, occurs window cleaning equipment device on the market
People, can automatically wipe glass, effectively avoid danger existing for cleaner's working at height, improve safety and section
It has saved artificial.But since current window wiping robot is typically all crawler-type traveling, cost is higher, expensive, and volume compared with
Greatly, larger space need to be occupied, therefore robot only has one piece of cleaning wiping cloth, front and back wiping can only be carried out to glass, wipes range ratio
It is more single, under efficiency is relatively low.Detection of the existing window wiping robot for framed Glazed fence simultaneously, is mostly by hitting plate
Differentiate with microswitch, when window wiping robot does not reach glass frame, window wiping robot is normally advanced, and window wiping robot is worked as
It when reaching glass frame, hits plate and is pushed, trigger microswitch, then it is assumed that window wiping robot arrived glass edge, window cleaning equipment
Device people retreats, and the working range of window wiping robot is controlled with this.But hit plate or microswitch be easy it is stuck etc. due to, surely
Qualitative and reliability is poor, it may appear that not the case where no signal or window wiping robot do not receive signal, so as to cause window is wiped
The stuck phenomenon on glass frame of robot.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, it the present invention provides a kind of window wiping robot flexibly turned to, is replaced using traveling wheel
For traditional crawler-type mobile structure, production cost is reduced, volume is reduced, reduces its occupied space, and in robot
Bottom four Wiping mechanisms are set, front and back and left and right wiping can be carried out at the same time to glass, wiping range is wide, and wipes efficiency
Height, while angular acceleration transducer is set in Wiping mechanism, when Wiping mechanism encounters glass frame, angular acceleration transducer
Controller is transmitted a signal to, controller control driver makes driving wheel change direction, to change the walking side of robot body
To nimbly eluding glass frame, be not in the stuck phenomenon on glass frame.
(2) technical solution
A kind of window wiping robot flexibly turned to, including robot body, the robot body include shell and
Handle on the outside of the case top, the bottom inside of the shell it is placed in the middle be equipped with mounting bracket, the mounting bracket and institute
Cavity is formed on the bottom for stating shell, and the top outer of the mounting bracket is equipped with vacuum pump, and the air intake duct of the vacuum pump runs through institute
It states the top of mounting bracket and stretches into the cavity, the inside top of the mounting bracket is equipped with baroceptor, in the mounting bracket
The bottom of the shell of underface is equipped with several suction holes, and the suction hole is connected with the cavity, the bottom of the shell
Portion is equipped with opening, and the quantity of the opening is four, and described to be open positioned at the outside of the suction hole, the opening is symmetrical equal
Even distribution, the opening are circular configuration, and traveling wheel is equipped in the opening, and the wheel shaft of the traveling wheel is of length no more than described
The diameter length of opening, the traveling wheel stretch out in the opening, and the traveling wheel includes a driving wheel and three driven wheels,
The inside top of the shell is equipped with driver, and the driver is connected by drive rod with the driving wheel, the driving
Bar is equipped with shaft coupling, and the end of the shaft coupling is connected with the driven wheel, and the shell is internally provided with fixed block, institute
The quantity for stating fixed block is four, and the fixed block is located at the outside of the opening, and the fixed block is symmetrically and evenly to be distributed, institute
The bottom for stating fixed block stretches out in the bottom of the shell, and the bottom of the shell is connected with the side of the fixed block, institute
It is hollow structure to state fixed block, the inside top of the fixed block it is placed in the middle be equipped with electric rotating machine, the pedestal of the electric rotating machine
It is fixed on the inside top of the fixed block, the revolving spindle of the electric rotating machine is for the bottom of the fixed block, the rotation
Shaft is connected by bearing with the bottom of the fixed block, and the center of a disk is fixed in the end of the rotary shaft, outermost
The side of the disk at end is located on the outside of the side of the shell, is arranged sponge block on the disk, is equipped in the disk
The both sides of angular acceleration transducer, the shell are equipped with several heat emission holes, and the inside top of the shell is equipped with controller, described
Controller is located at the side of the driver, and the top of the shell is equipped with the battery compartment to lower recess, and the battery compartment is located at
The side of the controller, the battery compartment is interior to be equipped with reserve battery, and the top of the battery compartment is equipped with battery cover, the battery
Lid is dial type battery cover, and the top outer of the shell is equipped with control switch and indicator light, and the outside of the shell is equipped with electricity
Source line, the baroceptor, the angular acceleration transducer and the control switch connect the input terminal of the controller, institute
The output end for stating controller is separately connected the driver, the vacuum pump, the electric rotating machine and the indicator light, the machine
Device human body connects external power supply by the power cord, and the external power supply or the reserve battery are the robot body
Operating voltage is provided.
Further, the baroceptor selects digital barometric pressure sensor BMP085.
Further, the sponge block is made of melamine foam material.
Further, the electric rotating machine selects RS-380SH type stepper motors.
Further, the angular acceleration transducer selects MEMS angular accelerometers.
Further, the indicator light selects red and green color indicator light.
Further, the controller selects 16 microcontroller MC95S12DJ128.
Further, the reserve battery selects lithium-ions battery.
(3) advantageous effect
The present invention provides a kind of window wiping robots flexibly turned to, and traditional crawler-type mobile is substituted using traveling wheel
Structure reduces production cost, reduces volume, reduces its occupied space, and vacuum pump generates adsorption capacity, robot body with
Adsorbent chamber is formed between glass, so that robot body is adsorbed on glass and is moved, and baroceptor detects adsorbent chamber
Interior air pressure numerical value avoids the danger for making robot body fall because adsorption capacity is inadequate, improves safety and reliability,
And four Wiping mechanisms are set in the bottom of robot body, before and after capable of being carried out to glass in robot body traveling process
It is wiped with left and right, wiping range is wide, and wiping is efficient, while electric rotating machine drives Wiping mechanism rotation, further improves
Efficiency is wiped, wiping effect is improved, before and after being carried out at the same time to glass and left and right wipes, and wiping range is wide, and wiping is efficient,
Angular acceleration transducer is set in Wiping mechanism, when Wiping mechanism encounters glass frame, angular acceleration transducer transmission letter
Number give controller, controller control driver make driving wheel change direction, to change the direction of travel of robot body, flexibly
Glass frame is avoided on ground, is not in the stuck phenomenon on glass frame, and battery compartment and standby is arranged on robot body surface
Can be that robot body normal work carry out continuous electricity by reserve battery in the case of improper power down with battery, avoid because
Improper power down and the danger for making robot body fall, further improve safety and reliability, simple in structure, volume
Small and exquisite, of low cost, easy to operate, system power dissipation is low, and accuracy of detection is high, fast response time, and stability and good reliability have
Good practicability and scalability.
Description of the drawings
Fig. 1 is a kind of internal structure schematic diagram of the window wiping robot flexibly turned to according to the present invention.
Fig. 2 is a kind of external structure schematic diagram of the window wiping robot flexibly turned to according to the present invention.
Fig. 3 is a kind of bottom substance schematic diagram of the window wiping robot flexibly turned to according to the present invention.
Fig. 4 is a kind of System Working Principle figure of the window wiping robot flexibly turned to according to the present invention.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 4, a kind of window wiping robot flexibly turned to, including robot body, robot body include
Shell 1 and the handle 2 on the outside of case top, the bottom inside of shell 1 it is placed in the middle be equipped with mounting bracket 3, mounting bracket 3 and shell
Cavity 4 is formed on the bottom of body 1, and the top outer of mounting bracket 3 is equipped with vacuum pump 5, and the air intake duct 6 of vacuum pump 5 is through mounting bracket 3
Cavity 4 is simultaneously stretched into top, and the inside top of mounting bracket 3 is equipped with baroceptor 24, the bottom of the shell 1 immediately below mounting bracket 3
Portion is equipped with several suction holes 7, and suction hole 7 is connected with cavity 4, and the bottom of shell 1 is equipped with opening 8, and 8 quantity of being open is four
A, opening 8 is located at the outside of suction hole 7, and for opening 8 to be symmetrically and evenly distributed, opening 8 is circular configuration, and walking is equipped in opening 8
Wheel, the diameter length of the of length no more than opening of the wheel shaft of traveling wheel 8, traveling wheel stretch out in opening 8, and traveling wheel includes a driving
The inside top of wheel 9 and three driven wheels 10, shell 1 is equipped with driver 11, and driver 11 passes through drive rod 12 and 9 phase of driving wheel
Connection, drive rod 12 are equipped with shaft coupling 13, and the end of shaft coupling 13 is connected with driven wheel 10, and being internally provided with for shell 1 is solid
Determine block 14, the quantity of fixed block 14 is four, and fixed block 14 is located at the outside of opening 8, fixed block 14 be symmetrically and evenly be distributed, Gu
The bottom for determining block 14 stretches out in the bottom of shell 1, and the bottom of shell 1 is connected with the side of fixed block 14, during fixed block 14 is
Hollow structure, the inside top of fixed block 14 it is placed in the middle be equipped with electric rotating machine 15, the pedestal of electric rotating machine 15 is fixed on fixed block 14
Inside top, the rotary shaft 16 of electric rotating machine 15 stretches out in the bottom of fixed block 14, rotary shaft 16 pass through bearing 17 with it is fixed
The bottom of block 14 is connected, and the center of a disk 18 is fixed in the end of rotary shaft 16, and the side of the disk 18 of outermost end is located at
On the outside of the side of shell 1, it is arranged sponge block on disk 18, is equipped with angular acceleration transducer 19 in disk 18, the both sides of shell 1 are set
There are several heat emission holes 23, the inside top of shell 1 to be equipped with controller 20, controller 20 is located at the side of driver 11, shell 1
Top is equipped with the battery compartment 21 to lower recess, and battery compartment 21 is located at the side of controller 20, reserve battery is equipped in battery compartment 21,
The top of battery compartment 21 is equipped with battery cover 22, and battery cover 22 is dial type battery cover, and the top outer of shell 1 is equipped with control and switchs
27 and indicator light 28, the outside of shell 1 is equipped with power cord 29, baroceptor 24, angular acceleration transducer 19 and control switch
The input terminal of 27 connection controllers 20, the output end of controller 20 are separately connected driver 11, vacuum pump 5,15 and of electric rotating machine
Indicator light 28, robot body connect external power supply by power cord 29, and external power supply or reserve battery carry for robot body
For operating voltage.
Power cord 29 is accessed into external power supply, control switch 27 is pressed, keeps robot body in running order.Using one
Keyed controls, and simplifies operation, very easy to use.Robot body is pressed on glass 26 to be wiped by handle 2
Face, forms adsorbent chamber 25 between 1 bottom of shell of robot body and glass 26, vacuum pump 5 works, inhaled to adsorbent chamber 25
Gas, baroceptor 24 detect the atmospheric pressure value in adsorbent chamber 25.Baroceptor 24 selects digital barometric pressure sensor
BMP085 is a high-precision, the barometric pressure sensor of super low-power consumption, and performance is remarkable, and the resolution ratio of air pressure can reach
0.03hPa, and power consumption is extremely low, only 3uA, and Ultrathin packaging, Ke Yitong are carried using powerful 8pin ceramic leadless chips
It crosses I2C buses to be directly connected with controller 20, simplifies circuit structure, reduce system power dissipation.The indicator light 28 at 1 top of shell
Indicate that the air pressure of baroceptor 24 detects numerical value, indicator light 28 selects red and green color indicator light, the air pressure in adsorbent chamber 25
28 shiny red of indicator light when value is less than safe adsorptive value, the indicator light 28 when the atmospheric pressure value in adsorbent chamber 25 meets safe adsorptive value
Bright green.When indicator light 28 is green, 5 break-off of vacuum pump, robot body is adsorbable above glass 26 at this time.
Robot body is moved by the traveling wheel of 1 bottom of shell, keeps robot body adsorbable in the enterprising of glass 26
Row movement.Traditional crawler-type mobile structure is substituted using traveling wheel, production cost is reduced, reduces volume, is reduced it and is accounted for
Use space.One of traveling wheel is driving wheel 9, is driven by drive rod 12 by driver 11, is set on drive rod 12
There are shaft coupling 13, drive rod 12 to drive driven wheel 10 to move together by shaft coupling 13.
For robot body while being moved on glass 26, the sponge block on disk 18 wipes glass 26, to
It realizes robot body to wipe glass all around in movement, wiping range is wide, and wipes efficient.Simultaneously
Electric rotating machine 15 drives disk 18 and sponge block rotation, further improves wiping efficiency, improves wiping effect.Electric rotating machine
15 select RS-380SH type stepper motors, the step frequency of motor can be very easily set, to adjust the rotation of rotary shaft
Rate.Sponge block is made of melamine foam material, using the mechanism of physical technology of removing pollution, leans on the capillary pipe opening structure in material,
The spot of automatic absorbing glass surface in wiping process goes to help, the feature of environmental protection completely without any chemical detergent is relied on
Can be good, and material is insoluble in water, puts when squeezing in water, and the spot being adsorbed on material can naturally fall off in water,
Therefore it may be reused.
Sponge block is sheathed on disk 18, and the bottom of fixed block 14 has position-limiting action to sponge block, prevents sponge block de-
It falls.
It is located at due to the side of the disk 18 of outermost end on the outside of the side of shell 1, disk 18 first reaches glass edge frame.
Angle angular speed when 19 test disks of angular acceleration transducer in disk 18 rotate, angular acceleration transducer 19 select the angles MEMS
Accelerometer, with small, light weight and cost is low, low in energy consumption, high sensitivity, high reliability.When disk 18 is encountered
When glass frame, the angular acceleration of rotation reduces, i.e., the detected value of angular acceleration transducer 19 mutates, and angle angular speed passes
Sensor 19 is handled signal transmission is detected to controller 20, and controller 20, which controls driver 11, makes driving wheel 9 change direction,
Driver 11 makes driven wheel 10 change direction together by shaft coupling 13, to realize flexibly turning to for robot body, keeps away
It is not in the stuck phenomenon on glass frame to open glass frame.
In order to ensure negative pressure value enough in adsorbent chamber 25, robot body needs live line work, and work when passes through electricity
Source line 29 connects external power supply.The fortuitous event for making robot body fall in order to avoid improper power down, on the top of shell 1
Battery compartment 21 is arranged in portion, places reserve battery in battery compartment 21, spare electricity is only done under the emergency case of improper power down to be made
With.Reserve battery selects lithium-ions battery, has repeated charge number high, service life is long, and the spy that transformation efficiency is high
Point embodies energy-saving and environment-friendly design concept.The top setting battery cover 22 of battery compartment 21,22 dial type battery cover of battery cover,
It can very easily be unloaded.
Input terminal connection baroceptor 24, angular acceleration transducer 19 and the control switch 27 of controller 20, controller
20 output end output control signal controls driver 11, vacuum pump 5, electric rotating machine 15 and indicator light 28 and works respectively.Control
Device 20 selects the EEPROM of the RAM and 2KB of 16 microcontrollers MC95S12DJ128, Flash, 8KB of built-in 128KB, has
5V is inputted and driving capability, and CPU working frequencies can reach 50MHz, the independent number I/O interfaces in 29 tunnels, and 20 road bands are interrupted and called out
The digital I/O interfaces for function of waking up, 10 A/D converters in 28 channels, input capture/output with 8 channels are compared, are also had
There are 8 programmable channels PWM, there are 2 serial asynchronous communication interface SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses
With CAN function modules etc., meet design requirement.
It will produce heat in the robot body course of work, the heat emission hole 23 of 1 both sides of shell can give out heat in time
It goes, ensure that robot body is in efficient working condition.Heat emission hole 23 discharges the gas of sucking for vacuum pump 5 simultaneously
Body.
The present invention provides a kind of window wiping robots flexibly turned to, and traditional crawler-type mobile is substituted using traveling wheel
Structure reduces production cost, reduces volume, reduces its occupied space, and vacuum pump generates adsorption capacity, robot body with
Adsorbent chamber is formed between glass, so that robot body is adsorbed on glass and is moved, and baroceptor detects adsorbent chamber
Interior air pressure numerical value avoids the danger for making robot body fall because adsorption capacity is inadequate, improves safety and reliability,
And four Wiping mechanisms are set in the bottom of robot body, before and after capable of being carried out to glass in robot body traveling process
It is wiped with left and right, wiping range is wide, and wiping is efficient, while electric rotating machine drives Wiping mechanism rotation, further improves
Efficiency is wiped, wiping effect is improved, before and after being carried out at the same time to glass and left and right wipes, and wiping range is wide, and wiping is efficient,
Angular acceleration transducer is set in Wiping mechanism, when Wiping mechanism encounters glass frame, angular acceleration transducer transmission letter
Number give controller, controller control driver make driving wheel change direction, to change the direction of travel of robot body, flexibly
Glass frame is avoided on ground, is not in the stuck phenomenon on glass frame, and battery compartment and standby is arranged on robot body surface
Can be that robot body normal work carry out continuous electricity by reserve battery in the case of improper power down with battery, avoid because
Improper power down and the danger for making robot body fall, further improve safety and reliability, simple in structure, volume
Small and exquisite, of low cost, easy to operate, system power dissipation is low, and accuracy of detection is high, fast response time, and stability and good reliability have
Good practicability and scalability.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (8)
1. a kind of window wiping robot flexibly turned to, including robot body, the robot body include shell and set
Handle on the outside of the case top, it is characterised in that：The bottom inside of the shell it is placed in the middle be equipped with mounting bracket, the peace
It shelves and forms cavity with the bottom of the shell, the top outer of the mounting bracket is equipped with vacuum pump, the air-breathing of the vacuum pump
Pipe is through the top of the mounting bracket and stretches into the cavity, and the inside top of the mounting bracket is equipped with baroceptor, in institute
The bottom for stating the shell immediately below mounting bracket is equipped with several suction holes, and the suction hole is connected with the cavity, described
The bottom of shell is equipped with opening, and the quantity of the opening is four, and the opening is positioned at the outside of the suction hole, the opening
To be symmetrically and evenly distributed, the opening is circular configuration, is equipped with traveling wheel in the opening, the wheel shaft length of the traveling wheel is not
More than the diameter length of the opening, the traveling wheel stretches out in the opening, and the traveling wheel includes a driving wheel and three
The inside top of a driven wheel, the shell is equipped with driver, and the driver is connected by drive rod with the driving wheel,
The drive rod is equipped with shaft coupling, and the end of the shaft coupling is connected with the driven wheel, and the shell is internally provided with
The quantity of fixed block, the fixed block is four, and the fixed block is located at the outside of the opening, and the fixed block is symmetrical equal
Even distribution, the bottom of the fixed block stretch out in the bottom of the shell, the side of the bottom and the fixed block of the shell
Be connected, the fixed block is hollow structure, the inside top of the fixed block it is placed in the middle be equipped with electric rotating machine, the electric rotating
The pedestal of machine is fixed on the inside top of the fixed block, the bottom of the revolving spindle of the electric rotating machine for the fixed block
Portion, the rotary shaft are connected by bearing with the bottom of the fixed block, and a disk is fixed in the end of the rotary shaft
The side at center, the disk of outermost end is located on the outside of the side of the shell, and sponge block, the circle are arranged on the disk
Angular acceleration transducer is equipped in disk, the both sides of the shell are equipped with several heat emission holes, and the inside top of the shell is equipped with control
Device processed, the controller are located at the side of the driver, and the top of the shell is equipped with the battery compartment to lower recess, the electricity
Pond position in storehouse is in the side of the controller, and the battery compartment is interior to be equipped with reserve battery, and the top of the battery compartment is equipped with battery cover,
The battery cover is dial type battery cover, and the top outer of the shell, which is equipped with, controls switch and indicator light, outside the shell
Side is equipped with power cord, and the baroceptor, the angular acceleration transducer and the control switch connect the controller
The output end of input terminal, the controller is separately connected the driver, the vacuum pump, the electric rotating machine and the instruction
Lamp, the robot body connect external power supply by the power cord, and the external power supply or the reserve battery are described
Robot body provides operating voltage.
2. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The baroceptor
Select digital barometric pressure sensor BMP085.
3. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The sponge block is by close
Amine foam material is made.
4. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The electric rotating machine choosing
With RS-380SH type stepper motors.
5. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The angular acceleration passes
Sensor selects MEMS angular accelerometers.
6. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The indicator light is selected
Red and green color indicator light.
7. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The controller is selected
16 microcontroller MC95S12DJ128.
8. a kind of window wiping robot flexibly turned to according to claim 1, it is characterised in that：The reserve battery choosing
Use lithium-ions battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416445.6A CN108577655A (en) | 2018-05-03 | 2018-05-03 | A kind of window wiping robot flexibly turned to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416445.6A CN108577655A (en) | 2018-05-03 | 2018-05-03 | A kind of window wiping robot flexibly turned to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108577655A true CN108577655A (en) | 2018-09-28 |
Family
ID=63620645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810416445.6A Withdrawn CN108577655A (en) | 2018-05-03 | 2018-05-03 | A kind of window wiping robot flexibly turned to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108577655A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110063683A (en) * | 2019-05-12 | 2019-07-30 | 孟亚星 | A kind of suction type double-sided glass cleaning mechanism |
| WO2020177136A1 (en) * | 2019-03-07 | 2020-09-10 | 檀俊坤 | Fully automatic window cleaning robot |
| CN111665331A (en) * | 2020-06-23 | 2020-09-15 | 无锡工艺职业技术学院 | Teapot bubble is supported device |
| CN111953357A (en) * | 2020-07-03 | 2020-11-17 | 深圳捷豹电波科技有限公司 | Communication transmission device |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN112741529A (en) * | 2020-12-24 | 2021-05-04 | 杭州三个机器人科技有限公司 | Intelligent window cleaning mechanism |
| CN114435502A (en) * | 2022-01-21 | 2022-05-06 | 北京史河科技有限公司 | Reversible derusting robot |
-
2018
- 2018-05-03 CN CN201810416445.6A patent/CN108577655A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020177136A1 (en) * | 2019-03-07 | 2020-09-10 | 檀俊坤 | Fully automatic window cleaning robot |
| CN110063683A (en) * | 2019-05-12 | 2019-07-30 | 孟亚星 | A kind of suction type double-sided glass cleaning mechanism |
| CN112641366A (en) * | 2020-04-15 | 2021-04-13 | 安徽大汉机器人集团有限公司 | Window cleaning machine |
| CN111665331A (en) * | 2020-06-23 | 2020-09-15 | 无锡工艺职业技术学院 | Teapot bubble is supported device |
| CN111953357A (en) * | 2020-07-03 | 2020-11-17 | 深圳捷豹电波科技有限公司 | Communication transmission device |
| CN112741529A (en) * | 2020-12-24 | 2021-05-04 | 杭州三个机器人科技有限公司 | Intelligent window cleaning mechanism |
| CN114435502A (en) * | 2022-01-21 | 2022-05-06 | 北京史河科技有限公司 | Reversible derusting robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108577655A (en) | A kind of window wiping robot flexibly turned to | |
| CN100425191C (en) | Air pressure sensing vacuum cleaner | |
| CN206368837U (en) | A kind of automatic intelligent fan for following and keeping at a distance | |
| CN206289576U (en) | A kind of dust-filtering cleaning device | |
| CN201791632U (en) | Power recovering device of power spraying room | |
| CN208910021U (en) | A kind of window wiping robot flexibly turned to | |
| CN115327047A (en) | Waste gas comprehensive treatment is with diversified collection device of waste gas | |
| CN108371514A (en) | A kind of window wiping robot | |
| CN206261543U (en) | The intelligent double-sided glass-cleaning robot of mixing and absorption | |
| CN111071363A (en) | Adsorption device and toy robot capable of crawling or walking on smooth plane | |
| CN112056982B (en) | Small household window cleaning device and control method thereof | |
| EP4417773A1 (en) | Robot swimming pool cleaner capable of out-of-water detection and out-of-water detection method thereof | |
| CN208910022U (en) | A kind of window wiping robot | |
| CN1112543C (en) | Air purifying machine | |
| CN207096348U (en) | A kind of Conduction Interference test device | |
| CN212521625U (en) | Small household window cleaning device | |
| CN206011099U (en) | A kind of glass-cleaning robot with lift walking mechanism | |
| CN106108768B (en) | Glass-cleaning robot with lift walking mechanism and its method that cleans the windows | |
| CN207734744U (en) | A kind of back-blowing bag-type dust collector with apparatus for monitoring power supply | |
| CN209847057U (en) | Intelligent cleaner for cleaning glass | |
| CN202821182U (en) | Motor-driven electrostatic adherence type screen window dust remover | |
| CN221105688U (en) | Noise-reducing window cleaning robot | |
| CN101897562A (en) | Dust collecting barrel of novel dust collector | |
| CN208887061U (en) | A kind of air cleaning facility easy to remove | |
| CN112284839A (en) | Automobile exhaust monitoring device and method for bidirectional lane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180928 |