CN110507258A - A kind of cleaning robot for the glass wall curtain that may span across and creep - Google Patents
A kind of cleaning robot for the glass wall curtain that may span across and creep Download PDFInfo
- Publication number
- CN110507258A CN110507258A CN201910822292.XA CN201910822292A CN110507258A CN 110507258 A CN110507258 A CN 110507258A CN 201910822292 A CN201910822292 A CN 201910822292A CN 110507258 A CN110507258 A CN 110507258A
- Authority
- CN
- China
- Prior art keywords
- cleaning
- push rod
- telescopic moving
- mounting plate
- main board
- 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.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 64
- 239000011521 glass Substances 0.000 title claims abstract description 11
- 241000237983 Trochidae Species 0.000 claims abstract description 12
- 230000007704 transition Effects 0.000 claims description 13
- 230000001680 brushing effect Effects 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 abstract description 10
- 230000009194 climbing Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 4
- 238000010521 absorption reaction Methods 0.000 abstract description 2
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 9
- 239000002360 explosive Substances 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 208000010877 cognitive disease Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 238000000855 fermentation Methods 0.000 description 1
- 230000004151 fermentation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4005—Arrangements of batteries or cells; Electric power supply arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4077—Skirts or splash guards
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of cleaning robots of glass wall curtain that may span across and creep, including top shell and main board, the inside of the top shell is arranged in the main board, there are two push rod at the top of telescopic moving and a single-chip microcontrollers for setting at the top of the main board, there are four telescopic moving bottom push rods for the main board bottom setting, and the telescopic moving bottom push rod bottom is fixedly installed with cleaning mounting plate.The advantages of the present invention over the prior art are that: it can identify that front complex barrier object makes the movement accordingly hidden or bypassed when encountering barrier, and the climbing mechanism of robot can be strong absorption on the ground, some high-risk movements for climbing wall are easily settled, robot can make respective reaction by internal processes artificial regulatory, our desired effect is completed, across obstacle, stair climbing can be completed, wall is climbed, heavy duty weight is dragged.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of cleaning robots for the glass wall curtain that may span across and creep
People.
Background technique
In recent years, robot development is burning hot, more and more enterprises take up exploitation can replace people do it is some multiple
The robot that general labourer makees, especially this kind of dangerous work of high altitude operation, however high altitude operation considers many fermentation again, such as
The problems such as safety and railing leap etc..
Summary of the invention
Present invention aim to address mentioning in background technique, a kind of glass wall curtain that may span across and creep is provided
Cleaning robot.
In order to solve the above technical problems, technical solution provided by the invention are as follows: a kind of glass wall curtain that may span across and creep
Cleaning robot, it is characterised in that: including top shell and main board, the inside of the top shell is arranged in the main board, described
There are two push rod at the top of telescopic moving and a total single-chip microcontrollers for setting at the top of main board, and there are four the main board bottom settings
Telescopic moving bottom push rod, the telescopic moving bottom push rod bottom are fixedly installed with cleaning mounting plate, the cleaning
Mounting plate bottom top surface center is provided with central gear, is uniformly arranged three transition gears on the outside of the central gear, described
Transition gear is meshed with the central gear, and the cleaning mounting plate bottom surface edge is arranged there are three edge gear,
The edge gear is meshed with three transition gears respectively, one of them in three transition gears is provided with cleaning
The bottom surface center of motor, the cleaning mounting plate is provided with the central brushing tool being fixedly connected with the central gear, the cleaning
The bottom edge of mounting plate is provided with the edge brushing tool being fixedly connected with the edge gear, the cleaning motor, flexible shifting
Dynamic top push rod, telescopic moving bottom push rod are electrically connected with total single-chip microcontroller, are provided with electric power storage in the top shell
Pond, the cleaning motor, at the top of telescopic moving push rod, telescopic moving bottom push rod, total single-chip microcontroller with the battery
Be electrically connected, be provided with cleaning single-chip microcontroller on the cleaning mounting plate, it is described clean motor, cleaning solution bottle with it is described clear
Single-chip microcontroller electric connection is washed, the cleaning single-chip microcontroller is electrically connected with total single-chip microcontroller.
As a preferred embodiment, the central brushing tool center is provided with vacuum chuck.
As a preferred embodiment, cleaning solution bottle, the cleaning mounting plate are provided at the top of the cleaning mounting plate
Side is equipped with protection box.
As a preferred embodiment, total single-chip microcontroller is STM32.
The advantages of the present invention over the prior art are that: it can identify that front complex barrier object is made when encountering barrier
The movement accordingly hidden or bypassed, and the absorption that the climbing mechanism of robot can be strong is on the ground, to some height for climbing wall
Dangerous play is easily settled, and robot can make respective reaction by internal processes artificial regulatory, completes our expected effect
Fruit can complete across obstacle, and stair climbing climbs wall, drag heavy duty weight.
Detailed description of the invention
Fig. 1 is explosive view one of the invention.
Fig. 2 is explosive view two of the invention.
Fig. 3 is explosive view three of the invention.
Fig. 4 is the structural schematic diagram after present invention integration.
Fig. 5 is partial exploded view of the invention.
Fig. 6 is the schematic diagram of step 1.
Fig. 7 is the schematic diagram of step 2.
Fig. 8 is the schematic diagram of step 3.
Fig. 9 is the schematic diagram of step 4.
Figure 10 is the schematic diagram of step 5.
Figure 11 is the schematic diagram of step 6.
Figure 12 is the schematic diagram of step 7.
Figure 13 is the schematic diagram of step 8.
It is as shown in the figure: 1, top shell, 2, main board, 3, telescopic moving top push rod, 4, total single-chip microcontroller, 5, telescopic moving bottom
Push rod, 6, cleaning mounting plate, 7, central gear, 8, transition gear, 9, edge gear, 10, cleaning motor, 11, central brushing tool,
12, edge brushing tool, 13, battery, 14, vacuum chuck, 15, cleaning solution bottle, 16, protection box.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings.
In conjunction with attached drawing 1- Fig. 3, a kind of cleaning robot for the glass wall curtain that may span across and creep, including top shell 1 and main board
2, the inside of the top shell 1 is arranged in the main board 2, and there are two push away at the top of telescopic moving for setting at the top of the main board 2
Bar 3 and a total single-chip microcontroller 4, there are four telescopic moving bottom push rod 5, the flexible shiftings for 2 bottom of the main board setting
Dynamic 5 bottom of bottom push rod is fixedly installed with cleaning mounting plate 6, during the 6 bottom top surface center of cleaning mounting plate is provided with
Entreat gear 7, be uniformly arranged three transition gears 8 on the outside of the central gear 7, the transition gear 8 with the center
Gear 7 is meshed, and there are three edge gear 9, the edge gear 9 is distinguished for 6 bottom edge of the cleaning mounting plate setting
It is meshed with three transition gears 8, one of them in three transition gears 8 is provided with cleaning motor 10, the cleaning
The bottom surface center of mounting plate 6 is provided with the central brushing tool 11 being fixedly connected with the central gear 7, the cleaning mounting plate 6
Bottom edge is provided with the edge brushing tool 12 being fixedly connected with the edge gear 9, the cleaning motor 10, telescopic moving top
Portion's push rod 3, telescopic moving bottom push rod 5 are electrically connected with total single-chip microcontroller 4, are provided with electric power storage in the top shell 1
Pond 13, the cleaning motor 10, at the top of telescopic moving push rod 3, telescopic moving bottom push rod 5, total single-chip microcontroller 4 with it is described
Battery 13 is electrically connected, and 11 center of central brushing tool is provided with vacuum chuck 14, and the top of the cleaning mounting plate 6 is equal
It is provided with cleaning solution bottle 15,6 side of cleaning mounting plate is equipped with protection box 16, and total single-chip microcontroller 4 is STM32, institute
State cleaning mounting plate 6 on be provided with cleaning single-chip microcontroller 17, the cleaning motor 10, cleaning solution bottle 15 with the cleaning list
Piece machine 17 is electrically connected, and the cleaning single-chip microcontroller 17 is electrically connected with total single-chip microcontroller 4.
17 indicate preceding 1 foot in Fig. 4, and 18 indicate preceding 2 foot, 3 feet after 19 expressions, 4 feet after 20 expressions.
The present invention is in the specific implementation:
Step 1: when barrier is encountered by robot, cognitive disorders object rises fuselage；(such as Fig. 6)
Step 2: preceding 1 foot is retracted sucker using lifting electric putter, is extended foot forward using horizontal electric push rod,
It puts down sucker and fixes；(such as Fig. 7)
Step 3: preceding 2 foot is retracted sucker using lifting electric putter, is extended foot forward using horizontal electric push rod,
It puts down sucker and fixes, barrier is located at below fuselage by nearby 1,2 foot at this time；(such as Fig. 8)
Step 4: preceding 1, the horizontal electric pusher retracted original length of 2 feet, while by the horizontal electric push rod of rear 3,4 feet
Elongation pushes main machine body to move forward；(such as Fig. 9)
Step 5: rear 3 foot is retracted sucker using lifting electric putter, is retracted foot using horizontal electric push rod, is put down
Sucker is simultaneously fixed；(such as Figure 10)
Step 6: rear 4 foot is retracted sucker using lifting electric putter, is retracted foot using horizontal electric push rod, is put down
Sucker is simultaneously fixed；(such as Figure 11)
Step 7: repeating two to six step of front, and barrier is located at below fuselage at this time, and preceding 1,2 feet are across barrier；
(such as Figure 12)
Step 8: robot persistently creeps cleaning, until rear 3,4 feet encounter barrier, repeats two to six step of front, across
Cross barrier.(such as Figure 13)
The present invention and its embodiments have been described above, this description is no restricted, shown in the drawings
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (4)
1. a kind of cleaning robot for the glass wall curtain that may span across and creep, it is characterised in that: including top shell and main board, the master
The inside of the top shell is arranged in body plate, and there are two push rod at the top of telescopic moving and one are always single for setting at the top of the main board
Piece machine, there are four telescopic moving bottom push rod, the telescopic moving bottom push rod bottom is equal for the main board bottom setting
It is fixedly installed with cleaning mounting plate, the cleaning mounting plate bottom top surface center is provided with central gear, the central gear
Outside is uniformly arranged three transition gears, and the transition gear is meshed with the central gear, the cleaning peace
There are three edge gears for the setting of loading board bottom edge, and the edge gear is meshed with three transition gears respectively, described
One of them in three transition gears is provided with cleaning motor, and the bottom surface center of the cleaning mounting plate is provided with and the center
The central brushing tool that gear is fixedly connected, the bottom edge of the cleaning mounting plate, which is provided with, to be fixedly connected with the edge gear
Edge brushing tool, the cleaning motor, telescopic moving top push rod, telescopic moving bottom push rod are electromechanical with total monolithic
Property connection, battery, push rod, telescopic moving bottom at the top of the cleaning motor, telescopic moving are provided in the top shell
Push rod, total single-chip microcontroller are electrically connected with the battery, are provided with cleaning single-chip microcontroller on the cleaning mounting plate, described
It cleans motor, cleaning solution bottle to be electrically connected with the cleaning single-chip microcontroller, the cleaning single-chip microcontroller and total monolithic
Machine is electrically connected.
2. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described
Central brushing tool center be provided with vacuum chuck.
3. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described
It is provided with cleaning solution bottle at the top of cleaning mounting plate, the cleaning mounting plate side is equipped with protection box.
4. a kind of cleaning robot of glass wall curtain that may span across and creep according to claim 1, it is characterised in that: described
Total single-chip microcontroller be STM32.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910822292.XA CN110507258A (en) | 2019-09-02 | 2019-09-02 | A kind of cleaning robot for the glass wall curtain that may span across and creep |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910822292.XA CN110507258A (en) | 2019-09-02 | 2019-09-02 | A kind of cleaning robot for the glass wall curtain that may span across and creep |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110507258A true CN110507258A (en) | 2019-11-29 |
Family
ID=68630323
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910822292.XA Pending CN110507258A (en) | 2019-09-02 | 2019-09-02 | A kind of cleaning robot for the glass wall curtain that may span across and creep |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110507258A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012250A (en) * | 2019-12-16 | 2020-04-17 | 西安广源机电技术有限公司 | Intelligent cleaning robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080005898U (en) * | 2007-05-30 | 2008-12-04 | 제이슨얀 | Structures for jumping obstacles of cleaner robot |
| US20090314318A1 (en) * | 2008-06-19 | 2009-12-24 | Wen-Chung Chang | Floor washing robot |
| CN205597854U (en) * | 2016-03-13 | 2016-09-28 | 重庆新安洁景观园林环保股份有限公司 | Hand -held floor cleaning machine |
| CN206026246U (en) * | 2016-05-24 | 2017-03-22 | 巢湖学院 | Wall cleaning device |
| CN108158480A (en) * | 2017-12-27 | 2018-06-15 | 苏州市职业大学 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN109645906A (en) * | 2018-12-26 | 2019-04-19 | 深兰科技（上海）有限公司 | Clean robot |
| CN210871342U (en) * | 2019-09-02 | 2020-06-30 | 徐州安彼得电子科技有限公司 | Cleaning robot capable of crossing and crawling glass wall curtain |
-
2019
- 2019-09-02 CN CN201910822292.XA patent/CN110507258A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080005898U (en) * | 2007-05-30 | 2008-12-04 | 제이슨얀 | Structures for jumping obstacles of cleaner robot |
| US20090314318A1 (en) * | 2008-06-19 | 2009-12-24 | Wen-Chung Chang | Floor washing robot |
| CN205597854U (en) * | 2016-03-13 | 2016-09-28 | 重庆新安洁景观园林环保股份有限公司 | Hand -held floor cleaning machine |
| CN206026246U (en) * | 2016-05-24 | 2017-03-22 | 巢湖学院 | Wall cleaning device |
| CN108158480A (en) * | 2017-12-27 | 2018-06-15 | 苏州市职业大学 | It is a kind of can obstacle detouring intelligent glass-cleaning robot |
| CN108577654A (en) * | 2018-04-13 | 2018-09-28 | 常州工学院 | A kind of wall climbing mechanism and its working method of glass curtain wall cleaning machine device people |
| CN109645906A (en) * | 2018-12-26 | 2019-04-19 | 深兰科技（上海）有限公司 | Clean robot |
| CN210871342U (en) * | 2019-09-02 | 2020-06-30 | 徐州安彼得电子科技有限公司 | Cleaning robot capable of crossing and crawling glass wall curtain |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111012250A (en) * | 2019-12-16 | 2020-04-17 | 西安广源机电技术有限公司 | Intelligent cleaning robot |
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