CN110682306A

CN110682306A - Window cleaning robot with good cleaning effect and control system and method thereof

Info

Publication number: CN110682306A
Application number: CN201911000541.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Wenzhou Yinuo Wei Technology Co Ltd
Current assignee: Wenzhou Yinuo Wei Technology Co Ltd
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2020-01-14

Abstract

The invention discloses a window cleaning robot with good cleaning effect and a control system and a method thereof, which are used for improving the efficiency and the cleaning degree of cleaning windows, and the robot comprises: a robot body for carrying each part of the robot; robot body belly is equipped with main cleaning portion, main cleaning portion includes the cleaning frame body and installs two at least conversion bodies on the cleaning frame body, installs the cleaning unit that a plurality of can the rotation on every conversion body, and the position of cleaning unit can be adjusted in the rotation of conversion body.

Description

Window cleaning robot with good cleaning effect and control system and method thereof

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a window cleaning robot with a good cleaning effect and a control system and method thereof.

Background

With the development of technology, intelligent household appliances gradually come into the lives of people. The window cleaning robot solves the problem of high-rise window cleaning and outdoor window cleaning, can reduce the risk of window outside cleaning, and particularly for household users, the cost is high when the household users independently need to clean the window outside by manpower, and the window cleaning robot needs few reasons and wastes time and labor, so the window cleaning robot has extremely large market space and use value.

However, the window cleaning robot in the prior art has a small window cleaning area and dirty cleaning parts, so that the window cleaning efficiency is not high enough, and the window cleaning effect is not good enough, so that a window cleaning robot with a better cleaning effect is needed, and the window cleaning is easier.

Disclosure of Invention

The invention aims to provide a window cleaning robot with a good cleaning effect and a control system and method thereof.

In order to solve the technical problems, the invention adopts the technical scheme that: a robot body for carrying each part of the robot; robot body belly is equipped with main cleaning portion, main cleaning portion includes the cleaning frame body and installs two at least conversion bodies on the cleaning frame body, installs the cleaning unit that a plurality of can the rotation on every conversion body, and the position of cleaning unit can be adjusted in the rotation of conversion body.

Further, at least one side surface of the robot body is provided with side cleaning members, the number of the side cleaning members can be specifically set according to needs, and generally two or more sides can be provided, and the side cleaning members have strip-shaped cleaning bodies with right angles or similar right-angle shapes.

Furthermore, the structure of the conversion body comprises a central shaft and a rotating part arranged on the central shaft, the central shaft and the rotating part can be integrated, and at least two cleaning units are uniformly distributed on the periphery of the rotating part.

Furthermore, the cleaning unit comprises a rotating shaft, a rotating drum arranged on the rotating shaft, bearings arranged on the rotating shaft and positioned on two sides of the rotating drum, and a motor driving the rotating drum to rotate.

Further, every rotating part cooperation is installed and is driven rotating part pivoted drive arrangement, and the outer peripheral face of rotating part is equipped with the cambered surface recess, and the cooperation of clean unit part is installed in the cambered surface recess, and the part is located outside the cambered surface recess, plays the effect of clean glass face.

Furthermore, the rotary drum comprises an inner drum part fixedly arranged on the rotating shaft and an outer drum part sleeved on the periphery of the inner drum part and incapable of rotating relative to the inner drum part, a plurality of partition plates are arranged on the periphery of the outer drum part, cleaning strips which can be bent and have elasticity are arranged between the partition plates, the outer drum part comprises an outer drum body and an inner drum body arranged in the outer drum body, a sliding plate capable of moving axially is sleeved on the periphery of the inner drum body, the head and the tail of each cleaning strip can be respectively fixed on the sliding plate, the cleaning strips are sleeved between every two partition plates of the outer drum part, the cleaning strips are tightly installed on the drum part, and a driving part capable of moving axially along the inner drum;

the cleaning strip comprises a cleaning cloth layer and a flexible bottom layer arranged at the bottom of the cleaning cloth layer, a plurality of expanding strips capable of enabling the cleaning cloth layer to be opened are embedded in the bottom layer, and hook bodies capable of being fixed on the sliding plate are further arranged at two ends of the cleaning strip.

Further, the side cleaning part comprises a first cleaning part and a second cleaning part, the first cleaning part is transversely arranged, the second cleaning part is longitudinally arranged, an included angle between the first cleaning part and the second cleaning part is a right angle or an approximate right angle, the first cleaning part and the second cleaning part are strip-shaped cleaning bodies, the first cleaning part and the second cleaning part are both installed on the supporting rod through elastic telescopic rods, the supporting rod is installed at one end of the electric telescopic rod through a servo motor, and the other end of the electric telescopic rod is installed on the robot body.

Further, the first cleaning part and the second cleaning part have the same structure and respectively comprise a plurality of cleaning rotating cylinders which are sequentially arranged in rows, each cleaning rotating cylinder is provided with a power part for driving the cleaning rotating cylinder to rotate, for example, each cleaning rotating cylinder is respectively provided with a motor for driving the cleaning rotating cylinder to rotate, and the outside of each cleaning rotating cylinder is provided with a cleaning cloth.

Based on the technical scheme, the control system of the window cleaning robot has a good cleaning effect, the number of cleaning units uniformly distributed on the periphery of a rotating part is n, an electric telescopic rod is further installed between each cleaning unit and the rotating part, and a position sensor is further installed on a driving part; the robot cleaning device comprises a position sensor, a motor for driving the rotary drum to rotate, a driving device for driving the rotary part, a driving part, an elastic telescopic rod, a servo motor, an electric telescopic rod, a power part for driving the cleaning rotary drum, and an electric telescopic rod arranged between the cleaning unit and the rotary part, wherein the elastic telescopic rod, the servo motor, the electric telescopic rod, the power part for driving the cleaning rotary drum, and the electric telescopic rod are arranged on the first cleaning part and the second cleaning part and are respectively connected with an MCU (micro controller unit), a storage battery for supplying power to the motor for driving the rotary drum to rotate and a wireless communication device which is connected with the driving.

In order to well achieve the purpose of the invention, the control method of the window cleaning robot comprises the following steps:

a. the MCU controls the rotation angle or angles of at least part of the rotating part and controls the electric telescopic rod to extend to a set length suitable for working, wherein when the rotating part needs to be rotated, the electric telescopic rod is controlled to retract to the shortest length, and the rotating part is controlled to rotate;

b. controlling a motor in the cleaning unit to drive the rotary drum to rotate, and simultaneously controlling the running device and the adsorption device to work;

c. after the cleaning unit works for a set time, controlling the driving part to work to enable the cleaning strips in the outer cylinder body to move for a set distance to work;

d. after the cleaning unit works for a set time, the rotating part is controlled to rotate, and the cleaning unit is replaced;

e. when the edge part needs to be cleaned, the electric telescopic rod is controlled to extend for a set distance, the servo motor is controlled to rotate for a set angle, the side cleaning part can conveniently work, the elastic telescopic rod is controlled to extend for a set distance, and the power part for driving the cleaning rotary drum is controlled to work, so that the first cleaning part and the second cleaning part work;

f. after the side cleaning part is finished, the side cleaning part is controlled to be retracted into the robot body.

The moving distance of the driving part is controlled by a position sensor, and the elastic telescopic rod can be composed of a spring section and an electric telescopic rod section.

After the technical scheme is adopted, the invention at least comprises the following beneficial effects:

1. the cleaning part of the window cleaning robot is made into a single independent cleaning unit capable of rotating, and each cleaning unit is arranged on the main cleaning part capable of rotating, so that the area of the overall cleaning cloth can be increased, the window can be conveniently cleaned, the cleaning efficiency is higher, and the cleaning effect is better;

2. the edge position of the window can be conveniently cleaned through the side cleaning part, and the problem that the edge position of the window is difficult to clean or unclean is solved;

3. the cleaning degree and the cleaning efficiency can be further improved through the control system and the control method of the window cleaning robot.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:

fig. 1 is a general structural schematic diagram of the sweeping robot;

FIG. 2 is a schematic view of a rotary part;

FIG. 3 is a schematic structural view of the first and second cleaning portions;

FIGS. 4 and 6 are schematic structural views of a cleaning unit;

fig. 5 is a view showing a structure for installing the partition.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate it by a person skilled in the art with reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The first embodiment is as follows:

the window-cleaning robot having better cleaning effect as shown in fig. 1 to 6 includes:

a robot body 1 for carrying various components of the robot;

the belly of robot body 1 is equipped with main cleaning portion 2, main cleaning portion 2 is including cleaning frame body 22 and install two at least conversion bodies 23 on cleaning frame body 22, installs the cleaning unit 21 that a plurality of can the rotation on every conversion body 23, and the position of each cleaning unit 21 can be adjusted in the rotation of conversion body 23 to control which cleaning unit 21 go work, cleaning unit 21's rotation can be equipped with driving motor on every cleaning unit.

The robot body 1 is provided with side cleaning members 3 on at least one side surface thereof, and the number of the side cleaning members 3 may be set as required, and usually two or more side cleaning members 3 may be provided, and the side cleaning members 3 have bar-shaped cleaning bodies M having a right angle or a similar right angle shape.

The conversion body 23 includes a central shaft 231 and a rotation portion 232 installed on the central shaft 231, the central shaft 231 and the rotation portion 232 may be integrated, at least two cleaning units 21 are uniformly installed on the periphery of the rotation portion 232, and 4-10 cleaning units 21 may be uniformly installed on the rotation portion 232.

The cleaning unit 21 includes a rotation shaft 211, a drum 213 provided on the rotation shaft, bearings 212 mounted on the rotation shaft and located at both sides of the drum, and a motor 214 driving the drum 213 to rotate, so that each cleaning unit 21 can be driven individually for cleaning.

Every rotating part 232 cooperation is installed and is driven rotating part pivoted drive arrangement 24, drive arrangement can constitute or rotatory private clothes motor including the drive motor, the outer peripheral face of rotating part is equipped with cambered surface recess 2321, the cooperation of cleaning unit 21 part is installed in cambered surface recess 2321, the part is located outside cambered surface recess 2321, play the effect of clean glass face, the part that the part is located in cambered surface recess 2321 simultaneously can reduce holistic volume, the improvement can install cleaning unit 21's quantity.

The rotating drum 213 comprises an inner drum portion 2131 fixedly arranged on the rotating shaft 211 and an outer drum portion 2132 sleeved on the outer periphery of the inner drum portion 2131 and incapable of rotating relative to the inner drum portion 2131, a plurality of partition plates 2133 are arranged on the outer periphery of the outer drum portion 2132, cleaning strips 2134 which can be bent and have elasticity are arranged between the partition plates 2133, the outer drum portion 2132 comprises an outer drum body a and an inner drum body b arranged in the outer drum body a, a sliding plate 2135 capable of moving axially is sleeved on the outer periphery of the inner drum body b, the head and the tail of each cleaning strip 2134 can be respectively fixed on the sliding plate, the cleaning strips are sleeved between every two partition plates of the outer drum portion 2132, the cleaning strips are tightly installed on the drum portion, and the driving component c capable of moving axially along the inner;

the cleaning strips 2134 comprise a cleaning cloth layer 01 and a flexible bottom layer 02 arranged at the bottom of the cleaning cloth layer, a plurality of expansion strips 03 capable of expanding the cleaning cloth layer are embedded in the bottom layer 02, and hook bodies 04 capable of being fixed on the sliding plate are further arranged at two ends of the cleaning strips 2134. The drum 213 having the above-described structure can increase the area of the entire cleaning strip, thereby increasing the degree of cleaning and reducing the cleaning frequency of the cleaning drum 213.

The side cleaning component 3 comprises a first cleaning part 31 and a second cleaning part 32, wherein the first cleaning part 31 and the second cleaning part 32 are transversely arranged, an included angle between the first cleaning part 31 and the second cleaning part 32 is a right angle or an approximate right angle, the first cleaning part 31 and the second cleaning part 32 are strip-shaped cleaning bodies, the first cleaning part 31 and the second cleaning part 32 are both arranged on a supporting rod 34 through an elastic telescopic rod 33, the supporting rod is arranged at one end of an electric telescopic rod 35 through a servo motor 36, and the other end of the electric telescopic rod 35 is arranged on the robot body 1.

The first cleaning part 31 and the second cleaning part 32 are identical in structure and respectively comprise a plurality of cleaning drums 311 which are arranged in rows in sequence, each cleaning drum 311 is provided with a power component for driving the cleaning drum 311 to rotate, if each cleaning drum 311 is provided with a motor for driving the cleaning drum to rotate, not shown, and the outside of each cleaning drum 311 is provided with a cleaning cloth 312. The side cleaning members are provided to effectively clean corners and window edges very easily.

Based on the scheme, the control system of the window cleaning robot has a good cleaning effect, the number of the cleaning units uniformly distributed on the periphery of the rotating part 232 is n, the electric telescopic rods 25 are further arranged between the cleaning units 21 and the rotating part 232, and the driving part c is further provided with the position sensor; the position sensor, the motor 214 for driving the drum 213 to rotate, the driving device 24 for driving the rotating part, the driving part c, the elastic expansion link 33 on the first cleaning part 31 and the second cleaning part 32, the servo motor 36, the electric expansion link 35, the power part for driving the cleaning drum 311, and the electric expansion link 25 installed between the cleaning unit 21 and the rotating part 232 are respectively connected with the MCU, a storage battery not shown for supplying power to the motor 214 for driving the drum 213 to rotate and a wireless communication device not shown connected with the driving motor and the MCU are further provided in the cleaning unit 21, and the MCU is further connected with a traveling device and an adsorption device not shown provided on the robot.

In order to improve the efficiency of the window cleaning robot and the cleaning effect, the control method of the window cleaning robot comprises the following steps:

a. the MCU controls at least part of the rotating part 232 to rotate by 360/n or 180/n, so that the rotating part 232 is controlled to rotate, the cleaning units are arranged at reasonable cleaning positions, one cleaning unit 21 can be arranged at a reasonable position by rotating by 360/n, two cleaning units 21 can be arranged at reasonable cleaning positions simultaneously by rotating by 180/n, and the length suitable for working and set by extending the electric telescopic rod 25 is controlled, wherein the rotating part 232 is controlled to rotate when the electric telescopic rod 25 is controlled to retract to the shortest distance when the rotating part 232 needs to be rotated every time, and the electric telescopic rod 25 can better arrange the cleaning units at reasonable positions;

b. controlling a motor 214 in the cleaning unit 21 to drive the drum 213 to rotate, and controlling the running device and the adsorption device to operate, wherein the cleaning unit 21 can be operated by driving the motor 214;

c. after the cleaning unit works for a set time, the driving part c is controlled to work, so that the cleaning strips 2134 in the outer cylinder a move for a set distance to work;

d. after the cleaning unit works for a set time, the rotating part 232 is controlled to rotate, so that the cleaning unit is replaced, and other cleaner cleaning units 21 work;

e. when the edge part needs to be cleaned, the electric telescopic rod 35 is controlled to extend for a set distance, the servo motor 36 is controlled to rotate for a set angle, so that the side cleaning part 3 can work conveniently, the elastic telescopic rod 33 is controlled to extend for a set distance, and the power part driving the cleaning rotary drum 311 is controlled to work, so that the first cleaning part 31 and the second cleaning part 32 work;

The distance of movement of the driving part c is controlled by a position sensor, and the elastic telescopic rod 33 can be composed of a spring section and an electric telescopic rod section.

Therefore, by the technical scheme, the cleaning cloth layer of the cleaning unit 21 can be moved, so that after a part of the cleaning cloth layer is dirty, a new cleaning cloth is replaced, and the cleaning effect is improved; after some cleaning units are dirty, the cleaning units 21 can be replaced, the cleaning effect and the cleaning efficiency are improved, the cleaning units 21 are installed on the rotating part, the number of the cleaning units is increased, the size is reduced as much as possible, and the cleaning robot can be reasonably controlled, so that the cleaning effect and the cleaning efficiency of the connecting unit can be improved in the whole window cleaning process of the window cleaning robot.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A window-cleaning robot with good cleaning effect, comprising:

a robot body (1) for carrying each component of the robot;

robot body (1) belly is equipped with main cleaning portion (2), main cleaning portion (2) are including cleaning support body (22) and install two at least conversion bodies (23) on cleaning support body (22), install cleaning unit (21) that a plurality of can the rotation on every conversion body (23), and the position of cleaning unit (21) can be adjusted in the rotation of conversion body (23).

2. The window cleaning robot with good cleaning effect according to claim 1, characterized in that at least one side of the robot body (1) is provided with a side cleaning member (3), and the side cleaning member (3) has a bar-shaped cleaning body (M) with a right angle or a similar right angle shape.

3. The window cleaning robot with good cleaning effect according to claim 1, wherein the conversion body (23) comprises a central shaft (231) and a rotating part (232) mounted on the central shaft (231), and at least two cleaning units (21) are uniformly mounted on the outer periphery of the rotating part (232).

4. The window cleaning robot with good cleaning effect according to claim 1, wherein the cleaning unit (21) comprises a rotating shaft (211), a rotating drum (213) arranged on the rotating shaft, bearings (212) arranged on the rotating shaft and located at two sides of the rotating drum, and a motor (214) for driving the rotating drum (213) to rotate.

5. A window cleaning robot with good cleaning effect according to claim 3, wherein each rotating part (232) is fittingly installed with a driving device (24) capable of driving the rotating part to rotate, the outer circumferential surface of the rotating part is provided with a cambered surface groove (2321), and the cleaning unit (21) is partially fittingly installed in the cambered surface groove (2321).

6. Window cleaning robot with good cleaning effect according to claim 4, the rotating drum (213) comprises an inner drum part (2131) fixedly arranged on the rotating shaft (211) and an outer drum part (2132) sleeved on the outer periphery of the inner drum part (2131) and not rotating relative to the inner drum part (2131), a plurality of partition boards (2133) are arranged on the outer periphery of the outer drum part (2132), cleaning strips (2134) which can be bent and have elasticity are arranged between the partition boards (2133), the outer cylinder part (2132) comprises an outer cylinder body (a) and an inner cylinder body (b) arranged in the outer cylinder body (a), the outer periphery of the inner cylinder body (b) is sleeved with a sliding plate (2135) capable of moving axially, cleaning strips (2134) can be fixed on the sliding plate respectively from head to tail, the cleaning strips are sleeved between every two partition plates of the outer cylinder part (2132), the cleaning strips are mounted on the cylinder part in a tightening manner, the sliding plate (2135) is provided with a driving component (c) which can move along the axial direction of the inner cylinder body (b) in a matching way;

the cleaning strips (2134) comprise a cleaning cloth layer (01) and a flexible bottom layer (02) arranged at the bottom of the cleaning cloth layer, a plurality of expansion strips (03) capable of opening the cleaning cloth layer are embedded in the bottom layer (02), and hook bodies (04) capable of being fixed on the sliding plate are further arranged at two ends of the cleaning strips (2134).

7. The window cleaning robot with good cleaning effect according to claim 2, wherein the side cleaning component (3) comprises a first cleaning part (31) arranged transversely and a second cleaning part (32) arranged longitudinally, an included angle between the first cleaning part (31) and the second cleaning part (32) is a right angle or an approximate right angle, the first cleaning part (31) and the second cleaning part (32) are strip-shaped cleaning bodies, the first cleaning part (31) and the second cleaning part (32) are both mounted on a supporting rod (34) through an elastic telescopic rod (33), the supporting rod is mounted at one end of an electric telescopic rod (35) through a servo motor (36), and the other end of the electric telescopic rod (35) is mounted on the robot body (1).

8. The window cleaning robot with good cleaning effect according to claim 7, wherein the first cleaning part (31) and the second cleaning part (32) are identical in structure and respectively comprise a plurality of cleaning drums (311) which are arranged in rows in sequence, each cleaning drum (311) is provided with a power component for driving the cleaning drum to rotate, and the outside of each cleaning drum (311) is provided with a cleaning cloth (312).

9. The window-cleaning robot control system with good cleaning effect according to one of claims 1-8, wherein the number of cleaning units uniformly distributed on the periphery of the rotating part (232) is n, an electric telescopic rod (25) is further installed between the cleaning unit (21) and the rotating part (232), and the driving part (c) is further provided with a position sensor; the robot cleaning device comprises a position sensor, a motor (214) for driving a rotary drum (213) to rotate, a driving device (24) for driving a rotary part, a driving part (c), an elastic telescopic rod (33) arranged on a first cleaning part (31) and a second cleaning part (32), a servo motor (36), an electric telescopic rod (35), a power part for driving a cleaning rotary drum (311), an electric telescopic rod (25) arranged between a cleaning unit (21) and the rotary part (232) and connected with an MCU (microprogrammed control Unit), a storage battery for supplying power to the motor (214) for driving the rotary drum (213) to rotate and a wireless communication device connected with the driving motor and the MCU are further arranged in the cleaning unit (21), and the MCU is further connected with a walking device and an adsorption device arranged on the robot.

10. The method for controlling a window cleaning robot according to claim 9, wherein the window cleaning robot further comprises a control unit,

the MCU controls at least part of the rotating part (232) to rotate by an angle (360/n) or (180/n), and controls the electric telescopic rod (25) to extend to a set length suitable for working, wherein each time when the rotating part (232) needs to be rotated, the electric telescopic rod (25) is controlled to retract to the shortest length, the rotating part (232) is controlled to rotate;

a motor (214) in the cleaning unit (21) is controlled to drive the rotary drum (213) to rotate, and meanwhile, the running device and the adsorption device are controlled to work;

after the cleaning unit works for a set time, controlling the driving part (c) to work to enable the cleaning strips (2134) in the outer cylinder body (a) to move for a set distance for working;

after the cleaning unit works for a set time, the rotating part (232) is controlled to rotate, and the cleaning unit is replaced;

when the edge part needs to be cleaned, the electric telescopic rod (35) is controlled to extend for a set distance, the servo motor (36) is controlled to rotate for a set angle, the elastic telescopic rod (33) is controlled to extend for a set distance, and a power part for driving the cleaning rotary drum (311) is controlled to work, so that the first cleaning part (31) and the second cleaning part (32) work;

after the side cleaning part is finished, the side cleaning part is controlled to be retracted into the robot body.