CN109528066B

CN109528066B - Glass wiping robot

Info

Publication number: CN109528066B
Application number: CN201811475055.2A
Authority: CN
Inventors: 王家峻; 陈国飞; 王曼
Original assignee: Anhui Institute of Information Engineering
Current assignee: Anhui Institute of Information Engineering
Priority date: 2018-12-04
Filing date: 2018-12-04
Publication date: 2021-06-11
Anticipated expiration: 2038-12-04
Also published as: CN109528066A

Abstract

The invention relates to a glass cleaning robot which is characterized by comprising a base, a protection chamber, a transmission mechanism and a propeller, wherein a supporting cylinder with a cylindrical structure is arranged on the base, a supporting column is fixedly arranged in the supporting cylinder, one end of the supporting column extends out of the supporting cylinder and is connected with the protection chamber, and a parachute is arranged in the protection chamber; the propeller is sleeved on the support column, a power motor is arranged in the base, an output shaft driven by the power motor is connected with the propeller through a transmission mechanism, the power motor is used for driving the propeller to rotate relative to the base and the protection chamber, the propeller is used for taking off or landing with the base, and the parachute is used for speed reduction and buffering; the glass cleaning robot provided by the invention has double protection functions, can effectively prevent the robot from falling down, and can ensure that the glass cleaning robot can land safely and stably under emergency conditions, particularly under the conditions of weak adsorption and falling from high altitude.

Description

Glass wiping robot

Technical Field

The invention relates to the technical field of intelligent household appliances, in particular to a glass cleaning robot.

Background

With the development of urban modernization, particularly the rise of high-rise buildings, the glass structure is not only required by buildings, but also gradually deduces the landscape of the city, so that a heavy wall cleaning task is derived, and a plurality of countries make clear regulations on the cleaning requirement of the building wall.

Window (glass) cleaning is one of cleaning projects for every family and every building, but with the multiplication of urban high-rise buildings, the window area of the household is greatly increased, and the difficulty and danger of window cleaning are increased, which also hastens the occurrence of problems. Up to now, 95% of the outer walls of urban high-rise glass are cleaned manually, which is not only high in cost, low in efficiency and slow in speed, but also extremely dangerous, and the accident that a cleaner accidentally falls down from the building during window cleaning operation is continuously caused.

With the progress of science and technology, a glass cleaning robot (or a glass cleaning device) is in due course, the glass cleaning robot generally has the functions of regular paths, detecting a window frame, automatically cleaning a window and the like, and can clean or automatically clean the wall surface of the glass.

Disclosure of Invention

In order to overcome the defects in the prior art, the glass cleaning robot is provided, the rotating protection part and the non-rotating protection part are separated from each other, are independent from each other and do not interfere with each other, and can be protected doubly, so that the glass cleaning robot can be effectively ensured to land safely and stably.

The technical scheme adopted by the invention is as follows:

a glass wiping robot comprises a base, a protection chamber, a transmission mechanism and a propeller, wherein a supporting cylinder with a cylindrical structure is arranged on the base, a supporting column is fixedly arranged in the supporting cylinder, one end of the supporting column extends out of the supporting cylinder and is connected with the protection chamber, and a parachute is arranged in the protection chamber; the screw cover is located the support column, be provided with power motor in the base, power motor power's output shaft passes through drive mechanism with the screw links to each other, and power motor is used for driving the screw for the base reaches the protection room rotates, and the screw is used for carrying the base and takes off or descend, the parachute is used for slowing down and buffering.

In a preferred scheme, the device comprises a first transmission gear, a second transmission gear, a third transmission gear and a rotary drum, wherein an output shaft of the power motor is connected with the first transmission gear, the first transmission gear is meshed with the second transmission gear, the second transmission gear is connected with the third transmission gear through a shaft, the rotary drum is sleeved on the support column and is provided with an external gear, and the third transmission gear is meshed with the external gear; the propeller is fixed to the rotary drum.

Preferably, the drum is connected to the support column by a bearing.

In a preferred embodiment, the propeller includes a hub and a plurality of blades, the blades are respectively connected to the hub, and the hub is disposed between the support cylinder and the protection chamber and fixed to the rotary cylinder.

In a preferred scheme, the propeller comprises three blades, and the three blades form an included angle of 120 degrees with each other.

In an optimized scheme, be provided with the recess that is used for holding the parachute in the guard chamber, the parachute set up in the recess, groove department is provided with lid and electromagnetic lock, the electromagnetic lock with power module in the base links to each other, the one end of lid pass through hinged joint articulate in the guard chamber, the electromagnetic lock is used for the suction under the on state the other end of lid to make the lid be in the closed condition, hinged joint department is provided with the spring, and when the lid was in the closed condition, the spring was in compression state.

The controller and the acceleration sensor are respectively arranged in the base, the acceleration sensor, the power motor and the electromagnetic lock are respectively connected with the controller, the acceleration sensor is used for detecting the acceleration value of the base in the vertical direction, and when the acceleration value is larger than a set threshold value, the controller controls the power motor to start and/or cuts off the power supply of the electromagnetic lock.

Further, still include the revolving stage, be provided with driving motor in the base, driving motor's output shaft links to each other with fourth drive gear, the revolving stage passes through the bearing housing and locates a support section of thick bamboo, just the revolving stage is provided with the internal gear, fourth drive gear with the internal gear meshes mutually, the revolving stage is used for connecting the arm to be used for driving the arm and rotate around the base under driving motor's drive.

Compared with the prior art, the glass cleaning robot provided by the invention has the advantages that the propeller and the protection chamber are separated from each other, independent from each other and not interfered with each other, and can be protected doubly, so that the glass cleaning robot can be effectively prevented from falling down, and the glass cleaning robot can be ensured to land safely and stably under emergency conditions, particularly under the conditions of weak adsorption and falling from high altitude.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Drawings

Fig. 1 is a schematic three-dimensional structure diagram of a glass wiping robot provided in embodiment 1 of the present invention.

Fig. 2 is a schematic partial cross-sectional view of a glass wiping robot provided in embodiment 1 of the present invention, the cross-section passing through the central axis of the support cylinder, and the dotted line with an arrow in the drawing shows the opening direction of the lid.

Fig. 3 is a partially enlarged schematic view I of fig. 2.

Description of the drawings

A base 101, a supporting cylinder 102, a supporting column 103, a power motor 104,

a protection room 201, a parachute 202, a groove 203, a cover 204, an electromagnetic lock 205, a hinge joint 206, a spring 207,

a first transmission gear 301, a second transmission gear 302, a third transmission gear 303, a shaft 304, a drum 305, an outer gear 306,

the propeller 401, hub 402, blades 403,

the bearing (501) is provided with a bearing,

a turntable 601, a driving motor 602, a fourth transmission gear 603, an internal gear 604,

a suction cup 701, a robot arm 702, and a wiping unit 703.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1 and fig. 2, the present embodiment provides a glass wiping robot, including a base 101, a protection chamber 201, a transmission mechanism, and a propeller 401, wherein a support cylinder 102 with a cylindrical structure is disposed on the base 101, a support column 103 is fixedly disposed in the support cylinder 102, one end of the support column 103 extends out of the support cylinder 102 and is connected to the protection chamber 201, and a parachute 202 is disposed in the protection chamber 201; the propeller 401 is sleeved on the supporting column 103, a power motor 104 is arranged in the base 101, an output shaft driven by the power motor 104 is connected with the propeller 401 through the transmission mechanism, the power motor 104 is used for driving the propeller 401 to rotate relative to the base 101 and the protection room 201, the propeller 401 is used for taking off or landing with the base 101, and the parachute 202 is used for speed reduction and buffering;

in this embodiment, when the glass cleaning robot cleans the glass wall surface of a high-rise building, the wind force is increased as the height is higher, and when the wind force is large or the glass cleaning robot falls off from the glass wall surface due to sudden situations such as gust wind, rain and the like, the propeller 401 can realize the functions of ascending and safely descending (landing) of the glass cleaning robot, and the parachute 202 can realize the functions of decelerating and buffering under the condition that the glass cleaning robot falls off from high altitude, so that the glass cleaning robot can be assisted to slowly fall down, and the effect of safety protection is achieved; in the scheme that this embodiment provided, screw 401 and guard room 201 alternate segregation, mutual independence, and mutual noninterference, can play duplicate protection to the glass cleaning robot, screw 401 can rotate alone, the isolated operation promptly, parachute 202 in guard room 201 and the guard room 201 also can the exclusive use, thereby can effectively prevent at the in-process of clean glass wall, the absorption jail appears or emergency leads to the glass cleaning robot to fall from the high altitude, the problem of breaking the machine, can effectively improve the security of glass cleaning robot, effectively avoid falling the problem of machine (breaking glass cleaning robot), thereby make this glass cleaning robot be particularly useful for the glass wall of clean high building.

Specifically, as shown in fig. 1 and fig. 2, in a preferred embodiment, the transmission mechanism includes a first transmission gear 301, a second transmission gear 302, a third transmission gear 303 and a drum 305, an output shaft of the power motor 104 is connected to the first transmission gear 301, the first transmission gear 301 is engaged with the second transmission gear 302, the second transmission gear 302 is connected to the third transmission gear 303 through a shaft 304, the drum 305 is sleeved on the supporting column 103, the drum 305 is provided with an outer gear 306, and the third transmission gear 303 is engaged with the outer gear 306; the propeller 401 is fixed to the drum 305; as shown in fig. 2, under the driving of the power motor 104, power is transmitted to the propeller 401 through the transmission mechanism, so that the propeller 401 can be driven to rotate independently without affecting the protection room 201.

In a preferred embodiment, the drum 305 is connected to the support column 103 through a bearing 501; as shown in fig. 2, the drum 305 is connected to the support column 103 by two bearings 501 to achieve the separation of the movements.

In a preferred embodiment, the propeller 401 includes a hub 402 and a plurality of blades 403, the blades 403 are respectively connected to the hub 402, the hub 402 is disposed between the supporting cylinder 102 and the protection chamber 201 and is fixed to the rotating cylinder 305, as shown in fig. 2, the hub 402 is a ring structure and can be connected to the rotating cylinder 305 by interference fit.

As shown in fig. 1, in the present embodiment, the propeller 401 in the glass wiping robot includes three blades 403, and the three blades 403 are mutually included at an angle of 120 degrees.

As shown in fig. 2 and fig. 3, in a preferred embodiment provided in this embodiment, a groove 203 for accommodating a parachute 202 is provided in the protection chamber 201, the parachute 202 is provided in the groove 203, a cover 204 and an electromagnetic lock 205 are provided at the groove 203, the electromagnetic lock 205 is connected to a power module in the base 101, one end of the cover 204 is hinged to the protection chamber 201 through a hinge joint 206, the electromagnetic lock 205 is used for sucking the other end of the cover 204 in an energized state (i.e., the electromagnetic lock 205 can firmly suck the cover 204 onto the hub 402 in the energized state), and makes the cover 204 in a closed state, a spring 207 is provided at the hinge joint 206, and when the cover 204 is in the closed state, the spring 207 is in a compressed state; after the electromagnetic lock 205 is powered off, the magnetic force disappears, and the cover 204 can be automatically opened under the action of the elastic force, so that the parachute 202 inside is exposed, the parachute 202 can be smoothly opened, the speed reduction function is realized, the glass cleaning robot is effectively protected, and the glass cleaning robot is prevented from directly falling on the ground.

It is understood that the parachute 202 generally comprises a parachute cord and a canopy, the parachute cord is connected with the canopy, and the canopy is used for increasing air resistance and achieving a deceleration function, and details are not described herein.

In a further scheme, the device further comprises a controller and an acceleration sensor, wherein the controller and the acceleration sensor are respectively arranged in the base 101, the acceleration sensor, the power motor 104 and the electromagnetic lock 205 are respectively connected with the controller, the acceleration sensor is used for detecting an acceleration value of the base 101 in the vertical direction, and when the acceleration value is greater than a set threshold value, the controller controls the power motor 104 to start and/or cuts off a power supply of the electromagnetic lock 205; so as to assist the glass cleaning robot to slowly fall down and play a role of safety protection.

In a more perfect scheme, the glass cleaning device further comprises a rotary table 601, a driving motor 602 is arranged in the base 101, as shown in fig. 1 and fig. 2, an output shaft of the driving motor 602 is connected with a fourth transmission gear 603, the rotary table 601 is sleeved on the support cylinder 102 through a bearing 501, the rotary table 601 is provided with an internal gear 604, the fourth transmission gear 603 is meshed with the internal gear 604, and the rotary table 601 is used for connecting a mechanical arm 702 (the other end of the mechanical arm 702 is usually connected with a wiping part 703 for cleaning glass) and driving the mechanical arm 702 to rotate around the base 101 under the driving of the driving motor 602.

For example, in this embodiment, the power module may be a lithium battery, and details thereof are not described herein.

As shown in fig. 1, in a further embodiment, the glass wiping robot further comprises a suction cup 701, a mechanical arm 702, a wiping part 703 and other structures, wherein the suction cup 701 is used for making the glass wiping robot to be adsorbed on a glass wall surface, one end of the mechanical arm 702 is connected with the turntable 601, and the other end is connected with the wiping part 703, so that the position, the squeezing pressure and the like of the wiping part 703 can be adjusted during use, and a good cleaning effect is achieved; and are not illustrated one by one here.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.

Claims

1. A glass cleaning robot is characterized by comprising a base, a protection chamber, a transmission mechanism and a propeller, wherein a supporting cylinder with a cylindrical structure is arranged on the base, a supporting column is fixedly arranged in the supporting cylinder, one end of the supporting column extends out of the supporting cylinder and is connected with the protection chamber, and a parachute is arranged in the protection chamber; the propeller is sleeved on the supporting column, a power motor is arranged in the base, an output shaft driven by the power motor is connected with the propeller through the transmission mechanism, the power motor is used for driving the propeller to rotate relative to the base and the protection chamber, the propeller is used for taking off or landing with the base, and the parachute is used for decelerating and buffering;

the transmission mechanism comprises a first transmission gear, a second transmission gear, a third transmission gear and a rotary drum, an output shaft of the power motor is connected with the first transmission gear, the first transmission gear is meshed with the second transmission gear, the second transmission gear is connected with the third transmission gear through a shaft, the rotary drum is sleeved on the support column and is provided with an external gear, and the third transmission gear is meshed with the external gear; the propeller is fixed on the rotary drum;

the propeller comprises a propeller hub and a plurality of blades, the blades are respectively connected with the propeller hub, the propeller hub is of an annular structure, and the propeller hub is arranged between the support cylinder and the protection chamber and is connected with the rotary cylinder through interference fit;

the utility model discloses a parachute, including protection room, parachute, hinged joint, cover, electromagnetic lock, spring, power module, protection room, be provided with the recess that is used for holding the parachute in the protection room, the parachute set up in the recess, groove department is provided with lid and electromagnetic lock, the electromagnetic lock with power module in the base links to each other, the one end of lid pass through hinged joint articulate in the protection room, the electromagnetic lock is used for inhaling under the on state and closes the other end of lid to make the lid be in the closed condition, hinged joint department is provided with the spring, and when the lid is in the closed condition, the spring.

2. The glass wiping robot of claim 1, wherein the drum is coupled to the support column by a bearing.

3. The glass wiping robot of claim 1, wherein the propeller comprises three blades, the three blades being at 120 degrees angles to each other.

4. The glass wiping robot according to claim 1, further comprising a controller and an acceleration sensor, wherein the controller and the acceleration sensor are respectively arranged in the base, the acceleration sensor, the power motor and the electromagnetic lock are respectively connected with the controller, the acceleration sensor is used for detecting an acceleration value of the base in a vertical direction, and when the acceleration value is larger than a set threshold value, the controller controls the power motor to start and/or cuts off a power supply of the electromagnetic lock.

5. The glass cleaning robot as claimed in claim 1, further comprising a turntable, wherein a driving motor is disposed in the base, an output shaft of the driving motor is connected to a fourth transmission gear, the turntable is disposed on the support cylinder through a bearing sleeve, the turntable is provided with an internal gear, the fourth transmission gear is engaged with the internal gear, and the turntable is used for connecting the mechanical arm and driving the mechanical arm to rotate around the base under the driving of the driving motor.