CN109746930B - Multipurpose steam cleaning robot - Google Patents
Multipurpose steam cleaning robot Download PDFInfo
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- CN109746930B CN109746930B CN201910102782.2A CN201910102782A CN109746930B CN 109746930 B CN109746930 B CN 109746930B CN 201910102782 A CN201910102782 A CN 201910102782A CN 109746930 B CN109746930 B CN 109746930B
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- 238000013020 steam cleaning Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 66
- 239000011521 glass Substances 0.000 claims abstract description 19
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims abstract description 4
- 238000002347 injection Methods 0.000 claims description 18
- 239000007924 injection Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000007790 scraping Methods 0.000 claims description 9
- 230000009194 climbing Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract description 5
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
Landscapes
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a multipurpose steam cleaning robot, and relates to the technical field of automation; the middle part of the bottom surface of the plate body is provided with a negative pressure mechanism, and the negative pressure mechanism consists of a rotor motor, a rotor and a negative pressure chassis; the output shaft of the rotor motor is connected with a rotor, the rotor motor and the negative pressure chassis are fixedly connected to the bottom surface of the plate body through bolts, the negative pressure chassis is covered on the periphery of the rotor motor, and the bottom surface of the negative pressure chassis is flush with the lower surface of the lower belt body of the synchronous belt. The flexibility and the variability of the solar energy photovoltaic power generation panel overcome the complexity of the high-altitude glass outer wall and the photovoltaic power generation panel, the compatibility of stains under the high-temperature condition is utilized, and the steam cleaning method is adopted, so that the cleaning efficiency is improved, the water resource is saved, and the practicability is higher.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a multipurpose steam cleaning robot.
Background
The snake-shaped robot belongs to a bionic robot, and has wide application prospect in a plurality of fields due to the flexibility of the snake-shaped robot. The snake-shaped robot completely shows the advantages under the conditions of harmful radiation, toxicity and narrow environment for human bodies. The power driven elements on serpentine robots have limited their use in certain specific applications.
With the continuous development of cities, building groups stand upright. Clean energy is continuously penetrated into the life of people, and particularly photovoltaic power generation is continuously promoted. Therefore, the cleaning industry of the outer wall glass and the solar glass plate of the photovoltaic power station is continuously generated, and the domestic cleaning mode is mainly manual cleaning at present, and the manual cleaning is high in cost, low in efficiency and low in safety. Therefore, different types of cleaning robots are developed in succession by some research institutions and universities at home. However, these robots have not been widely used because their technologies are not fully developed. At present, the domestic robot cleaning mode generally adopts a water mist brush for cleaning, and the cleaning mode is not clean enough for cleaning, and wastes water resources. Therefore, how to clean the glass at high efficiency, saving, safety and simple operation becomes the development direction of the current high-altitude glass and photovoltaic panel cleaning industry.
Disclosure of Invention
Aiming at the defects and shortcomings of the prior art, the invention provides the multipurpose steam cleaning robot which is simple in structure, reasonable in design and convenient to use, the flexibility and the variability of the multipurpose steam cleaning robot overcome the complexity of an outer wall of high-altitude glass and a photovoltaic power generation plate, the compatibility of stains under the high-temperature condition is utilized, and the steam cleaning method is adopted, so that the cleaning efficiency is improved, the water resource is saved, and the practicability is stronger.
In order to achieve the above purpose, the invention adopts the following technical scheme: the device comprises a head part, a body part, a tail part, a plate body, a first driving mechanism, a negative pressure mechanism, a second driving mechanism, a water scraping device, a front camera, a rear camera, an electric cabinet, a steering engine, a tensioning mechanism and a steam generator; the head part, the body part and the tail part are all composed of a plate body, a first driving mechanism, a negative pressure mechanism and a second driving mechanism; the tail part of the plate body in the head part and the tail part of the plate body in the body part are respectively provided with a connecting rod, the connecting rods are fixed on the upper surface of the plate body, the tail ends of the connecting rods are fixedly connected with the output shafts of the steering engines, and the two steering engines are respectively embedded and arranged in the plate body in the body part and the plate body in the tail part; the front camera is fixed at the head end of the upper surface of the plate body in the head part, and the rear camera is fixed at the tail end of the upper surface of the plate body in the tail part;
a second driving mechanism and a first driving mechanism are respectively arranged on the front side and the rear side of the plate body; the first driving mechanism and the second driving mechanism are composed of a driving mechanism fixing frame, a driving wheel, a driven wheel, a synchronous belt and a driving motor; two driving mechanism fixing frames are fixed on the front side and the rear side of the plate body, a driving wheel in the first driving mechanism is screwed on the driving mechanism fixing frame positioned at the tail end of the rear side of the plate body, and a driven wheel in the first driving mechanism is screwed on the driving mechanism fixing frame positioned at the head end of the rear side of the plate body; the driving wheel in the second driving mechanism is screwed on the driving mechanism fixing frame positioned at the head end of the front side of the plate body, and the driven wheel in the second driving mechanism is screwed on the driving mechanism fixing frame positioned at the tail end of the front side of the plate body; the driving wheels are connected with the output shaft of a driving motor, and the driving motor is fixed on a driving mechanism fixing frame; the driving wheel and the driven wheel positioned on the same side of the plate body are in transmission connection by using a synchronous belt;
the head end part of the plate body of the head part is connected with a water scraping device through a water scraping device bracket, the outer side of the water scraping device bracket is connected with an air injection pipeline through an air injection pipeline bracket, the air injection pipeline is connected with the air outlet end of the steam generator, the water inlet end of the steam generator is connected with the water outlet end of the water pump, and the water inlet end of the water pump is connected with the water storage tank; the steam generator and the water pump are sequentially fixed on the bottom surface of the plate body in the head part from left to right, and the water storage tank is fixed on the bottom surface of the plate body in the body part;
the middle part of the bottom surface of the plate body is provided with a negative pressure mechanism, and the negative pressure mechanism consists of a rotor motor, a rotor and a negative pressure chassis; the output shaft of the rotor motor is connected with a rotor, the rotor motor and the negative pressure chassis are both fixedly connected on the bottom surface of the plate body through bolts, the negative pressure chassis is covered on the periphery of the rotor motor, the bottom surface of the negative pressure chassis is arranged flush with the lower surface of the lower belt body of the synchronous belt, and the outer edge of the negative pressure chassis is arranged between a first driving mechanism and a second driving mechanism on the same plate body;
the electric cabinet is characterized in that a power supply is connected to a microprocessor in the electric cabinet, a driving motor, a rotor motor, a steering engine, a water pump, a front camera and a rear camera are all electrically connected with the microprocessor, the electric cabinet is fixed on the bottom surface of a plate body in the head, the front camera is connected with a controller in the electric cabinet through the microprocessor, and the controller in the electric cabinet is electrically connected with a plurality of steering engines through the microprocessor.
Further, a tensioning mechanism is abutted between the upper belt surface and the lower belt surface of the synchronous belt, and the tensioning mechanism is fixed on the plate body through a tensioning mechanism fixing frame.
Further, a wireless transmission module is arranged in the electric cabinet, and the microprocessor is in wireless connection with an external control end through the wireless transmission module and is remotely controlled through the external control end.
Further, a display screen is further connected to the microprocessor in the electric cabinet, and the front camera and the rear camera are connected with the display screen through the microprocessor, so that the recorded data of the two cameras are displayed in real time.
The working principle of the invention is as follows: starting a rotor motor to drive a rotor connected to the rotor motor to rotate at a high speed, and absorbing a negative pressure chassis on glass by negative pressure generated by rotation; starting a driving motor, and driving the driving wheel to rotate by the driving motor so as to drive the plate body to advance; the front camera senses an obstacle in front of the head and then transmits the obstacle to a microprocessor in the electric cabinet, a control signal is transmitted to a steering engine through signal processing of the microprocessor, the steering engine is started, and the connecting rod is driven to rotate at an axial position perpendicular to the steering engine so as to control the whole climbing function; after the steam generator and the water pump are started, the water in the water storage tank is pumped into the steam generator by the water pump, steam is generated by the water pump and then is sprayed on glass through the air injection pipeline for cleaning, and on the premise of integrally advancing, the water sprayed on the glass is scraped by the water scraping device positioned behind the air injection pipeline.
After the structure is adopted, the invention has the beneficial effects that: the invention provides a multipurpose steam cleaning robot, the flexibility and the variability of which overcome the complexity of an outer wall of high-altitude glass and a photovoltaic power generation plate, and the steam cleaning method is adopted to improve the cleaning efficiency, save water resources and have stronger practicability by utilizing the compatibility of stains under high temperature conditions.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of the bottom structure of the present invention.
Fig. 2 is a schematic view of the upper surfaces of the head, body and tail of the present invention.
Fig. 3 is a side view of the head, body and tail of the present invention.
Fig. 4 is an electrical block diagram of the present invention.
Reference numerals illustrate:
the device comprises a head part 1, a body part 2, a tail part 3, a plate body 4, a first driving mechanism 5, a driving mechanism fixing frame 5-1, a driving wheel 5-2, a driven wheel 5-3, a synchronous belt 5-4, a driving motor 5-5, a negative pressure mechanism 6, a rotor motor 6-1, a rotor 6-2, a negative pressure chassis 6-3, a second driving mechanism 7, a wiper device 8, a wiper device bracket 8-1, a front camera 9, a rear camera 10, an electric cabinet 11, a wireless transmission module 11-1, a controller 11-2, a power supply 11-3, a display screen 11-4, a microprocessor 11-5, a steering engine 12, a connecting rod 12-1, a tensioning mechanism 13, a tensioning mechanism fixing frame 13-1, a steam generator 14, a jet pipeline bracket 14-1, a jet pipeline 14-2, a water storage tank 14-3 and a water pump 14-4.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 4, the technical scheme adopted in the specific embodiment is as follows: the device comprises a head part 1, a body part 2, a tail part 3, a plate body 4, a first driving mechanism 5, a negative pressure mechanism 6, a second driving mechanism 7, a water scraping device 8, a front camera 9, a rear camera 10, an electric cabinet 11, a steering engine 12, a tensioning mechanism 13 and a steam generator 14; the head part 1, the body part 2 and the tail part 3 are all composed of a plate body 4, a first driving mechanism 5, a negative pressure mechanism 6 and a second driving mechanism 7; the tail part of the plate body 4 in the head part 1 and the tail part of the plate body 4 in the body part 2 are respectively provided with a connecting rod 12-1, the connecting rods 12-1 are fixedly connected to the upper surface of the plate body 4 through bolts, the tail ends of the connecting rods 12-1 are fixedly connected with the output shafts of the steering engines 12 through bolts, and the two steering engines 12 are respectively embedded and fixedly connected in the plate body 4 in the body part 2 and the plate body 4 in the tail part 3 through bolts; the front camera 9 is fixedly connected with the head end of the upper surface of the plate body 4 in the head part 1 through bolts, the front camera 9 senses things in front of the head part 1, the rear camera 10 is fixedly connected with the tail end of the upper surface of the plate body 4 in the tail part 3 through bolts, and the rear camera 10 is used for checking scrubbed glass;
a second driving mechanism 7 and a first driving mechanism 5 are respectively arranged on the front side and the rear side of the plate body 4; the first driving mechanism 5 and the second driving mechanism 7 are respectively composed of a driving mechanism fixing frame 5-1, a driving wheel 5-2, a driven wheel 5-3, a synchronous belt 5-4 and a driving motor 5-5; two driving mechanism fixing frames 5-1 are fixedly connected to the front side and the rear side of the plate body 4 through bolts, a driving wheel 5-2 in the first driving mechanism 5 is screwed on the driving mechanism fixing frame 5-1 positioned at the tail end of the rear side of the plate body 4, and a driven wheel 5-3 in the first driving mechanism 5 is screwed on the driving mechanism fixing frame 5-1 positioned at the head end of the rear side of the plate body 4; the driving wheel 5-2 in the second driving mechanism 7 is screwed on the driving mechanism fixing frame 5-1 positioned at the head end of the front side edge of the plate body 4, and the driven wheel 5-3 in the second driving mechanism 7 is screwed on the driving mechanism fixing frame 5-1 positioned at the tail end of the front side edge of the plate body 4; the driving wheels 5-2 are connected with the output shafts of the driving motors 5-5, and the driving motors 5-5 are fixed on the driving mechanism fixing frame 5-1 through bolts; the driving wheel 5-2 and the driven wheel 5-3 positioned on the same side of the plate body 4 are in transmission link by using a synchronous belt 5-4;
the head end part of the plate body 4 of the head part 1 is connected with a wiper device 8 through a wiper device bracket 8-1 (the upper end of the wiper device bracket 8-1 is fixed on the front end face of the plate body 4 in the head part 1, the lower end of the wiper device bracket 8-1 is connected with the wiper device 8, the wiper device 8 is a water hanging plate and is the same as a glass wiper plate structure in the prior art), the outer side of the wiper device bracket 8-1 is connected with an air injection pipeline 14-2 through an air injection pipeline bracket 14-1 (the upper end of the air injection pipeline bracket 14-1 is welded and fixed on the side wall of the wiper device bracket 8-1, the lower end of the air injection pipeline bracket 14-1 is connected with the air injection pipeline 14-2), the air injection pipeline 14-2 is connected with the air outlet end of the steam generator 14 through a high temperature resistant hose, the water inlet end of the steam generator 14 is connected with the water outlet end of the water pump 14-4 through a pipeline, and the water inlet end of the water pump 14-4 is connected with the water storage tank 14-3 through a pipeline; the steam generator 14 and the water pump 14-4 are sequentially and fixedly connected on the bottom surface of the plate body 4 in the head part 1 from left to right, and the water storage tank 14-3 is fixedly connected on the bottom surface of the plate body 4 in the body part 2 through bolts;
the middle part of the bottom surface of the plate body 4 is provided with a negative pressure mechanism 6, and the negative pressure mechanism 6 consists of a rotor motor 6-1, a rotor 6-2 and a negative pressure chassis 6-3; the output shaft of the rotor motor 6-1 is connected with a rotor 6-2, the rotor motor 6-1 and the negative pressure chassis 6-3 are both fixedly connected on the bottom surface of the plate body 4 through bolts, the negative pressure chassis 6-3 is covered on the periphery of the rotor motor 6-1, the bottom surface of the negative pressure chassis 6-3 is arranged flush with the lower surface of the lower belt body of the synchronous belt 5-4, and the outer edge of the negative pressure chassis 6-3 is arranged between a first driving mechanism 5 and a second driving mechanism 7 on the same plate body 4;
the power supply 11-3 is connected to the microprocessor 11-5 in the electric cabinet 11, the driving motor 5-5, the rotor motor 6-1, the steering engine 12, the water pump 14-4, the front camera 9 and the rear camera 10 are all electrically connected to the microprocessor 11-5, the electric cabinet 11 is fixed on the bottom surface of the plate body 4 in the head 1, the front camera 9 is connected to the controller 11-2 in the electric cabinet 11 through the microprocessor 11-5 (the controller 11-2 is a control integrated board integrating a plurality of controllers of the driving motor 5-5, the rotor motor 6-1, the steering engine 12, the water pump 14-1, the front camera 9 and the rear camera 10), and the controller 11-2 in the electric cabinet 11 is electrically connected to the steering engines 12 through the microprocessor 11-5.
Further, a tensioning mechanism 13 is abutted between the upper and lower belt surfaces of the synchronous belt 5-4 (the tensioning mechanism 13 has the same structure principle as that of a tensioning mechanism on a synchronous belt of mechanical equipment in the prior art, and details are not repeated here), and the tensioning mechanism 13 is fixed on the plate body 4 through a tensioning mechanism fixing frame 13-1 (the upper end of the tensioning mechanism fixing frame 13-1 is fixed on the plate body 4, and the lower end of the tensioning mechanism fixing frame 13-1 is connected and fixed with a tensioning wheel mounting frame in the tensioning mechanism 13).
Further, a wireless transmission module 11-1 is arranged in the electric cabinet 11, and the microprocessor 11-5 is in wireless connection with an external control end through the wireless transmission module 11-1 and is remotely controlled through the external control end.
Further, a display screen 11-4 is further connected to the microprocessor 11-5 in the electric cabinet 11, and the front camera 9 and the rear camera 10 are connected to the display screen 11-4 through the microprocessor 11-5, so that the data recorded by the two cameras can be displayed in real time.
Further, the front camera 9 and the rear camera 10 are both CCD cameras.
The working principle of the invention is as follows: starting a rotor motor 6-1, driving a rotor 6-2 connected to the rotor motor 6-1 to rotate at a high speed, and absorbing a negative pressure chassis 6-3 on glass by negative pressure generated by rotation; starting a driving motor 5-5, and driving the driving wheel 5-2 to rotate by the driving motor 5-5 so as to drive the plate body 4 to advance; the front camera 9 senses an obstacle in front of the head 1 and then transmits the obstacle to the microprocessor 11-5 in the electric cabinet 11, a control signal is transmitted to the steering engine 12 through signal processing of the microprocessor 11-5, and the steering engine 12 is started to drive the connecting rod 12-1 to rotate perpendicular to the axial position of the steering engine 12 so as to control the whole climbing function; after the steam generator 14 and the water pump 14-4 are started, the water pump 14-4 pumps the water in the water storage tank 14-3 into the steam generator 14, steam is generated by the water pump, the water is sprayed on glass through the air injection pipeline 14-2 for cleaning, and on the premise of integral advancing, the water sprayed on the glass is scraped by the water scraping device 8 positioned behind the air injection pipeline 14-2.
After adopting above-mentioned structure, this concrete implementation mode beneficial effect does:
1. real-time scene detection is carried out through the front camera, and climbing of the whole device is completed through the steering engine, so that the application range of the device is greatly improved;
2. the whole device is attached to the glass through a negative pressure mechanism, so that the operation safety of the device is improved;
3. the multi-section structure of the head, the body and the tail is adopted, and the movable connection of the steering engine and the connecting rod is combined, so that the whole equipment has a serpentine characteristic, and the flexibility of the equipment is greatly improved;
4. through the steam cleaning mode, the cleaning quality is improved, and water resources are saved.
The foregoing is merely illustrative of the present invention and not restrictive, and other modifications and equivalents thereof may occur to those skilled in the art without departing from the spirit and scope of the present invention.
Claims (1)
1. A multipurpose steam cleaning robot comprises a head (1), a body (2), a tail (3), a plate body (4), a first driving mechanism (5), a negative pressure mechanism (6), a second driving mechanism (7), a water scraping device (8), a front camera (9), a rear camera (10), an electric cabinet (11), a steering engine (12), a tensioning mechanism (13) and a steam generator (14); the head part (1), the body part (2) and the tail part (3) are all composed of a plate body (4), a first driving mechanism (5), a negative pressure mechanism (6) and a second driving mechanism (7); the tail part of the plate body (4) in the head part (1) and the tail part of the plate body (4) in the body part (2) are respectively provided with a connecting rod (12-1), the connecting rod (12-1) is fixed on the upper surface of the plate body (4), the tail end of the connecting rod (12-1) is fixedly connected with an output shaft of the steering engine (12), and the two steering engines (12) are respectively embedded and fixed in the plate body (4) in the body part (2) and the plate body (4) in the tail part (3); a front camera (9) is fixed at the head end of the upper surface of the plate body (4) in the head part (1), and a rear camera (10) is fixed at the tail end of the upper surface of the plate body (4) in the tail part (3);
a second driving mechanism (7) and a first driving mechanism (5) are respectively arranged on the front side and the rear side of the plate body (4); the first driving mechanism (5) and the second driving mechanism (7) are composed of a driving mechanism fixing frame (5-1), a driving wheel (5-2), a driven wheel (5-3), a synchronous belt (5-4) and a driving motor (5-5); two driving mechanism fixing frames (5-1) are fixed on the front side and the rear side of the plate body (4), a driving wheel (5-2) in the first driving mechanism (5) is screwed on the driving mechanism fixing frame (5-1) positioned at the tail end of the rear side of the plate body (4), and a driven wheel (5-3) in the first driving mechanism (5) is screwed on the driving mechanism fixing frame (5-1) positioned at the head end of the rear side of the plate body (4); the driving wheel (5-2) in the second driving mechanism (7) is screwed on the driving mechanism fixing frame (5-1) positioned at the front side end of the plate body (4), and the driven wheel (5-3) in the second driving mechanism (7) is screwed on the driving mechanism fixing frame (5-1) positioned at the front side tail end of the plate body (4); the driving wheels (5-2) are connected with the output shafts of the driving motors (5-5), and the driving motors (5-5) are fixed on the driving mechanism fixing frame (5-1); the driving wheel (5-2) and the driven wheel (5-3) which are positioned on the same side of the plate body (4) are in transmission connection by using a synchronous belt (5-4);
the head end part of the plate body (4) of the head part (1) is connected with a wiper device (8) through a wiper device bracket (8-1), the outer side of the wiper device bracket (8-1) is connected with an air injection pipeline (14-2) through an air injection pipeline bracket (14-1), the air injection pipeline (14-2) is connected with the air outlet end of a steam generator (14), the water inlet end of the steam generator (14) is connected with the water outlet end of a water pump (14-4), and the water inlet end of the water pump (14-4) is connected with a water storage tank (14-3); the steam generator (14) and the water pump (14-4) are sequentially fixed on the bottom surface of the plate body (4) in the head part (1) from left to right, and the water storage tank (14-3) is fixed on the bottom surface of the plate body (4) in the body part (2); the method is characterized in that:
the middle part of the bottom surface of the plate body (4) is provided with a negative pressure mechanism (6), and the negative pressure mechanism (6) consists of a rotor motor (6-1), a rotor (6-2) and a negative pressure chassis (6-3); the output shaft of the rotor motor (6-1) is connected with a rotor (6-2), the rotor motor (6-1) and the negative pressure chassis (6-3) are both fixedly connected on the bottom surface of the plate body (4) through bolts, the negative pressure chassis (6-3) is covered on the periphery of the rotor motor (6-1), the bottom surface of the negative pressure chassis (6-3) is arranged flush with the lower surface of the lower belt body of the synchronous belt (5-4), and the outer edge of the negative pressure chassis (6-3) is arranged between a first driving mechanism (5) and a second driving mechanism (7) on the same plate body (4);
the electric control device comprises a microprocessor (11-5) in an electric control box (11), a power supply (11-3), a driving motor (5-5), a rotor motor (6-1), a steering engine (12), a water pump (14-4), a front camera (9) and a rear camera (10) which are all electrically connected with the microprocessor (11-5), the electric control box (11) is fixed on the bottom surface of a plate body (4) in the head (1), the front camera (9) is connected with a controller (11-2) in the electric control box (11) through the microprocessor (11-5), and the controller (11-2) in the electric control box (11) is electrically connected with a plurality of steering engines (12); a tensioning mechanism (13) is propped between the upper belt surface and the lower belt surface of the synchronous belt (5-4), and the tensioning mechanism (13) is fixed on the plate body (4) through a tensioning mechanism fixing frame (13-1); the electric cabinet (11) is internally provided with a wireless transmission module (11-1), and the microprocessor (11-5) is in wireless connection with an external control end through the wireless transmission module (11-1); a display screen (11-4) is also connected to the microprocessor (11-5) in the electric cabinet (11), and the front camera (9) and the rear camera (10) are connected with the display screen (11-4) through the microprocessor (11-5);
starting a rotor motor (6-1) to drive a rotor (6-2) connected to the rotor motor (6-1) to rotate at a high speed, and absorbing a negative pressure chassis (6-3) on glass by negative pressure generated by rotation; starting a driving motor (5-5), and driving the driving wheel (5-2) to rotate by the driving motor (5-5) so as to drive the plate body (4) to advance; the front camera (9) senses an obstacle in front of the head (1), transmits the obstacle to a microprocessor (11-5) in the electric cabinet (11), transmits a control signal to a steering engine (12) through signal processing of the microprocessor (11-5), and starts the steering engine (12) to drive a connecting rod (12-1) to rotate towards an axial position perpendicular to the steering engine (12) so as to control the whole climbing function; after the steam generator (14) and the water pump (14-4) are started, the water pump (14-4) pumps water in the water storage tank (14-3) into the steam generator (14), steam is generated through the water pump, the water is sprayed on glass through the air injection pipeline (14-2) for cleaning, and on the premise of integral advancing, the water sprayed on the glass is scraped by the water scraping device (8) positioned behind the air injection pipeline (14-2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910102782.2A CN109746930B (en) | 2019-02-01 | 2019-02-01 | Multipurpose steam cleaning robot |
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| CN201910102782.2A CN109746930B (en) | 2019-02-01 | 2019-02-01 | Multipurpose steam cleaning robot |
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| CN109746930A CN109746930A (en) | 2019-05-14 |
| CN109746930B true CN109746930B (en) | 2023-08-01 |
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| CN110755003B (en) * | 2019-11-01 | 2023-05-30 | 杭州埃欧珞机器人科技有限公司 | High-altitude glass curtain wall cleaning device based on duct fan |
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| US7159275B2 (en) * | 2001-07-13 | 2007-01-09 | Marshall Chang | Glass surface cleaning machine |
| KR100812724B1 (en) * | 2006-09-29 | 2008-03-12 | 삼성중공업 주식회사 | Multi function robot for moving on wall using indoor global positioning system |
| CN205322235U (en) * | 2015-10-08 | 2016-06-22 | 王海 | Steam type window -cleaning robot |
| CN105411468A (en) * | 2015-12-10 | 2016-03-23 | 王宏强 | Intelligent climbing robot cleaner |
| CN105865269B (en) * | 2016-04-19 | 2018-01-30 | 滨州学院 | Attack four-footed wheeled robot |
| CN206333857U (en) * | 2016-08-24 | 2017-07-18 | 洪晨希 | A kind of cleaning device |
| CN210061144U (en) * | 2019-02-01 | 2020-02-14 | 上海逍森自动化科技有限公司 | Multipurpose steam cleaning robot |
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