CN110840320A - Window cleaning robot with right sleeve clamp limiting function - Google Patents
Window cleaning robot with right sleeve clamp limiting function Download PDFInfo
- Publication number
- CN110840320A CN110840320A CN201911191536.5A CN201911191536A CN110840320A CN 110840320 A CN110840320 A CN 110840320A CN 201911191536 A CN201911191536 A CN 201911191536A CN 110840320 A CN110840320 A CN 110840320A
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- CN
- China
- Prior art keywords
- central
- limiting
- lifting
- block
- window
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- 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.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000007790 scraping Methods 0.000 abstract description 9
- 239000005357 flat glass Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 2
- 206010016173 Fall Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
The invention discloses a window wiping robot with a right sleeve clamp for limiting, which comprises a rectangular central supporting seat; the upper side and the lower side of the central supporting seat are respectively provided with an upper limiting block and a lower limiting block which are shaped like a U and have openings facing to the left in a lifting way; a U-shaped central limiting block with an opening facing to the left is arranged on the left end surface of the central supporting seat in a lifting manner; the openings of the central limiting block and the pair of upper and lower limiting blocks are in the same shape, and the openings of the pair of upper and lower limiting blocks are positioned right above and right below the opening of the central limiting block; a wiping window plate is horizontally moved left and right on the left end surface of the transverse part at the rear side of the central limiting block; the front end face of the wiping window plate is positioned on the front side of the front end face of the transverse part on the rear side of the central limiting block; the left part and the right part of the front end surface of the wiping window plate are respectively provided with a row of vertically arranged nozzles; the center of the front end face of the wiping window plate is provided with a vertically arranged scraping plate. The window cleaning device is simple in structure, convenient and safe to connect with a window, and convenient to clean.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a window cleaning robot with a right sleeve clamp for limiting.
Background
In modern high-rise buildings in China, a plurality of large French windows are arranged, manual window wiping can only ensure that a hand can reach a position extending from an opening window, the window sash is limited in opening, most of the window sashes are fixed glass, the manual window wiping can only clean a small area of an outer window, and a window wiping robot is very needed for cleaning.
At present, some window cleaning robots are also just available, and are adsorbed on the surface of an external window or an external wall under the action of vacuum, and the robots are tracked. However, such a window cleaning robot has a risk of falling down and is not highly safe.
Disclosure of Invention
The invention aims to provide a window cleaning robot with a right sleeve clamp for limiting, aiming at the technical problem that the window cleaning robot is low in safety.
The technical scheme for solving the technical problems is as follows: a window cleaning robot with a right sleeve clamp for limiting comprises a rectangular central supporting seat; the upper side and the lower side of the central supporting seat are respectively provided with an upper limiting block and a lower limiting block which are shaped like a U and have openings facing to the left in a lifting way; a U-shaped central limiting block with an opening facing to the left is arranged on the left end surface of the central supporting seat in a lifting manner; the openings of the central limiting block and the pair of upper and lower limiting blocks are in the same shape, and the openings of the pair of upper and lower limiting blocks are positioned right above and right below the opening of the central limiting block; a wiping window plate is horizontally moved left and right on the left end surface of the transverse part at the rear side of the central limiting block; the front end face of the wiping window plate is positioned on the front side of the front end face of the transverse part on the rear side of the central limiting block; the left part and the right part of the front end surface of the wiping window plate are respectively provided with a row of vertically arranged nozzles; the nozzle is connected with an external water supply device; the center of the front end face of the wiping window plate is provided with a vertically arranged scraping plate.
Preferably, a pair of electric lifting cylinders which are arranged up and down symmetrically are respectively formed at the left part of the central supporting seat; the upper and lower limiting blocks are fixed at the end part of the piston rod of the lifting electric cylinder at the corresponding side.
Preferably, a rectangular groove-shaped lifting guide groove is formed on the left end surface of the central supporting seat; a lifting threaded rod is pivoted between the upper side wall and the lower side wall of the lifting guide groove; a lifting driving motor is fixed at the center of the upper side wall of the lifting guide groove; the upper end of the lifting threaded rod is fixedly connected with the lower end of an output shaft of the lifting driving motor; a lifting guide block matched with the lifting guide groove is formed in the center of the right end face of the central limiting block; the lifting guide block is vertically movably arranged in the lifting guide groove and is screwed on the lifting threaded rod.
Preferably, a left end face of the transverse part at the rear side of the central limit block is formed with a left driving groove and a right driving groove in a rectangular groove shape; a left driving threaded rod and a right driving threaded rod are pivoted between the centers of the upper side wall and the lower side wall of the left driving groove and the right driving groove; a left driving motor and a right driving motor are fixed on the upper side wall of the left driving groove and the right driving groove; the upper end of the left and right driving threaded rod is fixedly connected with an output shaft of a left and right driving motor; external threads with opposite rotation directions are formed on the upper part and the lower part of the left and right driving threaded rod; a left driving block and a right driving block are vertically and movably arranged in the left driving groove and the right driving groove; the left and right driving blocks are vertically movably arranged in the left and right driving grooves and are in threaded connection with different external thread parts of the left and right driving threaded rods; the left end of the left and right driving blocks is hinged with a left and right driving rod; the left and right driving rods are arranged in a crossed manner and the centers of the left and right driving rods are hinged into a whole; the left end of the left and right driving rods is hinged with a left and right driven block; vertical guide moving blocks are formed on the front end faces of the left driven block and the right driven block; the pair of vertical guide moving blocks are vertically arranged at the right end of the rear end face of the window wiping plate in a sliding manner; the upper end and the lower end of the left end surface of the transverse part at the rear side of the central limiting block are respectively fixed with a horizontally arranged telescopic rod; a connecting block is fixed at the left end of the telescopic rod; the pair of connecting blocks are fixed at the upper end and the lower end of the right end of the rear end face of the wiping window plate.
As the optimization of the technical scheme, the front part of the opening of the upper and lower limiting blocks moves back and forth and is provided with a limiting and leaning plate.
Preferably, the front end surfaces of the upper and lower limiting blocks are fixedly provided with limiting abutting electric cylinders; the limiting abutting plate is fixed at the rear end of the piston rod of the limiting abutting electric cylinder.
The invention has the beneficial effects that: simple structure, convenient and safe connection with the window and convenient cleaning.
Drawings
FIG. 1 is a schematic structural view of a cross section of the present invention;
FIG. 2 is a schematic structural view of a cross section of the present invention;
FIG. 3 is a schematic structural view of a cross section of the present invention;
fig. 4 is a schematic top view of the upper and lower stoppers 12 of the present invention.
In the figure, 10, a central supporting seat; 100. a lifting guide groove; 11. a lifting electric cylinder; 12. an upper and a lower limiting blocks; 121. the limit is abutted against the electric cylinder; 122. a limiting leaning plate; 13. a lifting drive motor; 131. lifting a threaded rod; 14. a central stop block; 140. a left and right driving groove; 141. a lifting guide block; 15. a telescopic rod; 151. connecting blocks; 16. a left and right driving motor; 161. driving the threaded rod left and right; 17. a left and a right driving rod; 171. a left and right driving block; 172. a left driven block and a right driven block; 1721. a vertical guide moving block; 18. a window wiping plate; 181. a squeegee; 19. and (4) a nozzle.
Detailed Description
As shown in fig. 1 to 4, a window cleaning robot with right-side sleeving and clamping limiting comprises a rectangular central supporting seat 10; the upper side and the lower side of the central supporting seat 10 are respectively provided with an upper limiting block 12 and a lower limiting block 12 which are shaped like a U and have openings facing to the left in a lifting way; a U-shaped central limiting block 14 with an opening facing to the left is arranged on the left end surface of the central supporting seat 10 in a lifting way; the openings of the central stopper 14 and the pair of upper and lower stoppers 12 are the same in shape and the openings of the pair of upper and lower stoppers 12 are located right above and right below the opening of the central stopper 14; a wiping window plate 18 is arranged on the left end face of the transverse part at the rear side of the central limiting block 14 in a left-right translation manner; the front end surface of the wiping window plate 18 is located on the front side of the front end surface of the lateral portion on the rear side of the center stopper 14; the left part and the right part of the front end surface of the wiping window plate 18 are respectively provided with a row of nozzles 19 which are vertically arranged; the nozzle 19 is connected with an external water supply device; a vertically disposed scraper 181 is formed at the center of the front end surface of the window wiping plate 18.
As shown in fig. 1, a pair of electric lifting cylinders 11 are formed at the left part of the central support base 10; the upper and lower limiting blocks 12 are fixed to the end of the piston rod of the electric lift cylinder 11 on the corresponding side.
As shown in fig. 1, a lifting guide groove 100 in the shape of a rectangular groove is formed on the left end surface of the central support seat 10; a lifting threaded rod 131 is pivoted between the upper side wall and the lower side wall of the lifting guide groove 100; a lifting driving motor 13 is fixed at the center of the upper side wall of the lifting guide groove 100; the upper end of the lifting threaded rod 131 is fixedly connected with the lower end of the output shaft of the lifting driving motor 13; a lifting guide block 141 matched with the lifting guide groove 100 is formed in the center of the right end face of the central limiting block 14; the elevation guide block 141 is vertically movably disposed in the elevation guide groove 100 and is screw-coupled to the elevation screw rod 131.
As shown in fig. 1 to 3, a left driving groove 140 in a rectangular groove shape is formed on a left end surface of a lateral portion on the rear side of the central stopper 14; a left and right driving threaded rod 161 is pivoted between the centers of the upper and lower side walls of the left and right driving grooves 140; a left driving motor 16 and a right driving motor 16 are fixed on the upper side wall of the left driving groove 140 and the right driving groove 140; the upper end of the left and right driving threaded rod 161 is fixedly connected with the output shaft of the left and right driving motor 16; the upper and lower portions of the left and right driving threaded rod 161 are formed with external threads having opposite rotation directions; a left and right driving block 171 is vertically movably disposed in the left and right driving groove 140; a pair of left and right driving blocks 171 vertically movably disposed in the left and right driving grooves 140 and screwed on different male screw portions of the left and right driving screw rods 161; the left end of the left and right driving block 171 is hinged with a left and right driving rod 17; a pair of left and right driving rods 17 are arranged in a crossed manner and are hinged into a whole at the center; the left end of the left and right driving rods 17 is hinged with a left and right driven block 172; vertical guide shift blocks 1721 are formed on the front end surfaces of the left and right driven blocks 172; a pair of vertical guide shifting blocks 1721 are vertically arranged at the right end of the rear end face of the window wiping plate 18 in a sliding manner; the upper end and the lower end of the left end surface of the transverse part at the rear side of the central limiting block 14 are respectively fixed with a horizontally arranged telescopic rod 15; a connecting block 151 is fixed at the left end of the telescopic rod 15; a pair of connecting blocks 151 are fixed to the upper and lower ends of the right end of the rear end face of the wiping window plate 18.
As shown in FIG. 4, the front part of the opening of the upper and lower stoppers 12 is provided with a stopper abutment plate 122 to move forward and backward.
As shown in fig. 4, the front end surfaces of the upper and lower stoppers 12 are fixed with stopper abutting electric cylinders 121; the limit abutting plate 122 is fixed at the rear end of the piston rod of the limit abutting electric cylinder 121.
The working principle of the window cleaning robot with the right sleeve clamp limiting function is as follows:
initial state: the pair of upper and lower limiting blocks 12 is closest to the central support seat 10, and the window cleaning plate 18 is closest to the central support seat 10;
when the window cleaning device works, firstly, the right end of the window is located in the openings of the upper limiting block 12, the lower limiting block 12 and the central supporting seat 10, then the upper limiting block 12 and the lower limiting block 12 are far away from the upper end and the lower end which are abutted against the window frame, then the upper limiting block 12 and the lower limiting block 12 move forwards to enable the scraping plate to be abutted against the outer surface of the window glass, then the central limiting block 14 moves upwards to enable the scraping plate 18 to be positioned at the uppermost end relative to the window glass, then the scraping plate 18 sprays water leftwards in the process, then the scraping plate 181 scrapes and cleans the outer surface of the window glass, after the scraping plate 18 is positioned at the leftmost end relative to the window glass, the central limiting block 14 moves downwards to enable the scraping plate 18 to be positioned at the lowermost end relative to the window glass, then the scraping plate 18 moves rightwards, in the process the spraying water by the nozzle, the scraper 181 performs complete wiping cleaning of the outer surface of the window glass.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description herein, since various changes and modifications can be made in the details of the embodiment and the application range according to the spirit of the present invention.
Claims (6)
1. The utility model provides a window robot is wiped to spacing cover card in right side which characterized in that: comprises a rectangular central supporting seat (10); the upper side and the lower side of the central supporting seat (10) are respectively provided with an upper limiting block and a lower limiting block (12) which are shaped like a U and have openings facing to the left in a lifting way; a U-shaped central limiting block (14) with an opening facing to the left is arranged on the left end surface of the central supporting seat (10) in a lifting way; the openings of the central stopper (14) and the pair of upper and lower stoppers (12) are the same in shape and the openings of the pair of upper and lower stoppers (12) are positioned right above and right below the opening of the central stopper (14); a wiping window plate (18) is arranged on the left end face of the transverse part at the rear side of the central limiting block (14) in a left-right translation mode; the front end surface of the wiping window plate (18) is positioned on the front side of the front end surface of the transverse part on the rear side of the central limiting block (14); the left part and the right part of the front end surface of the wiping window plate (18) are respectively provided with a row of vertically arranged nozzles (19); the nozzle (19) is connected with an external water supply device; a vertically arranged scraper (181) is formed at the center of the front end surface of the wiping window plate (18).
2. The right-side sleeve clamp limiting window wiping robot as recited in claim 1, characterized in that: a pair of lifting electric cylinders (11) which are symmetrically arranged up and down are respectively formed at the left part of the central supporting seat (10); the upper and lower limiting blocks (12) are fixed at the end part of the piston rod of the lifting electric cylinder (11) at the corresponding side.
3. The right-side sleeve clamp limiting window wiping robot as recited in claim 1, characterized in that: a rectangular groove-shaped lifting guide groove (100) is formed on the left end surface of the central supporting seat (10); a lifting threaded rod (131) is pivoted between the upper side wall and the lower side wall of the lifting guide groove (100); a lifting driving motor (13) is fixed at the center of the upper side wall of the lifting guide groove (100); the upper end of the lifting threaded rod (131) is fixedly connected with the lower end of an output shaft of the lifting driving motor (13); a lifting guide block (141) matched with the lifting guide groove (100) is formed in the center of the right end face of the central limiting block (14); the lifting guide block (141) is vertically movably arranged in the lifting guide groove (100) and is screwed on the lifting threaded rod (131).
4. The right-side sleeve clamp limiting window wiping robot as recited in claim 1, characterized in that: a left driving groove (140) in a rectangular groove shape is formed on the left end surface of the transverse part at the rear side of the central limiting block (14); a left and right driving threaded rod (161) is pivoted between the centers of the upper and lower side walls of the left and right driving grooves (140); a left driving motor (16) and a right driving motor (16) are fixed on the upper side wall of the left driving groove and the right driving groove (140); the upper end of the left and right driving threaded rod (161) is fixedly connected with an output shaft of a left and right driving motor (16); the upper part and the lower part of the left and right driving threaded rod (161) are formed with external threads with opposite rotation directions; a left driving block (171) and a right driving block (171) are vertically arranged in the left driving groove and the right driving groove (140); a pair of left and right driving blocks (171) vertically movably disposed in the left and right driving grooves (140) and screwed on different male screw portions of the left and right driving screw rods (161); the left end of the left and right driving block (171) is hinged with a left and right driving rod (17); a pair of left and right driving rods (17) are arranged in a crossed manner and are hinged into a whole at the center; the left end of the left and right driving rods (17) is hinged with a left and right driven block (172); vertical guide moving blocks (1721) are formed on the front end surfaces of the left driven block and the right driven block (172); a pair of vertical guide moving blocks (1721) are vertically arranged at the right end of the rear end face of the window wiping plate (18) in a sliding manner; the upper end and the lower end of the left end surface of the transverse part at the rear side of the central limiting block (14) are respectively fixed with a horizontally arranged telescopic rod (15); a connecting block (151) is fixed at the left end of the telescopic rod (15); a pair of connecting blocks (151) are fixed at the upper and lower ends of the right end of the rear end face of the wiping window plate (18).
5. The right-side sleeve clamp limiting window wiping robot as recited in claim 1, characterized in that: the front part of the opening of the upper and lower limiting blocks (12) moves back and forth and is provided with a limiting and leaning plate (122).
6. The right-side sleeve clamp limiting window wiping robot as recited in claim 5, characterized in that: the front end surfaces of the upper and lower limiting blocks (12) are fixed with limiting abutting electric cylinders (121); the limiting abutting plate (122) is fixed at the rear end of the piston rod of the limiting abutting electric cylinder (121).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191536.5A CN110840320B (en) | 2019-11-28 | 2019-11-28 | Window cleaning robot with right side sleeved with clamping limiting function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911191536.5A CN110840320B (en) | 2019-11-28 | 2019-11-28 | Window cleaning robot with right side sleeved with clamping limiting function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110840320A true CN110840320A (en) | 2020-02-28 |
| CN110840320B CN110840320B (en) | 2023-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911191536.5A Active CN110840320B (en) | 2019-11-28 | 2019-11-28 | Window cleaning robot with right side sleeved with clamping limiting function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110840320B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05293062A (en) * | 1992-04-20 | 1993-11-09 | Touji Uchiumi | Cleaning appartus for window glass |
| CN106923735A (en) * | 2017-02-28 | 2017-07-07 | 梁波 | A kind of glass window pane outer surface cleaner |
| CN206576817U (en) * | 2016-12-20 | 2017-10-24 | 杭州职业技术学院 | A kind of mechanically aided formula window cleaner |
| CN207023999U (en) * | 2017-03-13 | 2018-02-23 | 安徽师范大学 | Window glass cleaner |
| CN208201740U (en) * | 2018-03-05 | 2018-12-07 | 上海浦东公路养护建设有限公司 | A kind of highway maintenance guard bar washing device |
-
2019
- 2019-11-28 CN CN201911191536.5A patent/CN110840320B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05293062A (en) * | 1992-04-20 | 1993-11-09 | Touji Uchiumi | Cleaning appartus for window glass |
| CN206576817U (en) * | 2016-12-20 | 2017-10-24 | 杭州职业技术学院 | A kind of mechanically aided formula window cleaner |
| CN106923735A (en) * | 2017-02-28 | 2017-07-07 | 梁波 | A kind of glass window pane outer surface cleaner |
| CN207023999U (en) * | 2017-03-13 | 2018-02-23 | 安徽师范大学 | Window glass cleaner |
| CN208201740U (en) * | 2018-03-05 | 2018-12-07 | 上海浦东公路养护建设有限公司 | A kind of highway maintenance guard bar washing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110840320B (en) | 2023-11-17 |
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Effective date of registration: 20231016 Address after: No. 598 Yufu Road, Fengjiang Street, Luqiao District, Taizhou City, Zhejiang Province, 318050 Applicant after: Taizhou fopai Information Technology Co.,Ltd. Address before: 317500 1 happy five road, Ze Guo Town, Wenling City, Taizhou, Zhejiang Applicant before: TAIZHOU FENGDA ROBOT TECHNOLOGY Co.,Ltd. |
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