CN111636706A - An automatic cleaning robot cleaning system - Google Patents

Abstract

The invention provides an automatic cleaning robot cleaning system, including a water supply pipe, a base, an ultrasonic atomizer, a driving mechanism, a front wiping component, a sewage scraper, a sewage recycling pipeline, a sewage accommodating tank, a rear wiping component, and an ultrasonic atomizer. Connected with the water supply pipe, the ultrasonic atomizer is installed on the front of the base, the drive mechanism is installed on the base, the front wiper assembly is installed in the middle of the base, the rear wiper assembly is installed at the back of the base, and the sewage scraper is installed on the base. The sewage holding tank is installed on the base and its water inlet is connected with one end of the sewage recovery pipe, and the other end of the sewage recovery pipe is connected with the water outlet of the sewage scraper. Since the present invention is provided with a front wiping component, a rear wiping component and an ultrasonic atomizer, the robot first atomizes and wets the wall surface during the forward process, and then performs two wipes on the wall surface of the curtain wall, which can realize wet wiping and drying. Two processes of wiping can effectively remove dust and stains on the curtain wall.

Description

An automatic cleaning robot cleaning system

technical field

The invention relates to the technical field of curtain wall robots, in particular to an automatic cleaning robot cleaning system.

Background technique

With the acceleration of urbanization in our country and the continuous increase of urban buildings, especially high-rise buildings, affected by the increasingly severe environmental pollution, the exterior walls of buildings, especially the glass curtain walls, are easy to become dirty. In order to provide people with a comfortable working and living environment in the city, it is necessary to regularly clean the exterior walls and glass curtain walls of buildings.

The curtain wall robot is a kind of mobile service robot, which can clean the outer wall of the building and the glass curtain wall. The use of curtain wall robots will greatly reduce the cleaning cost of high-rise buildings, improve the labor environment of workers, and increase labor productivity, which has very important social and economic significance and broad application prospects. However, the existing curtain wall robot can only achieve dry wipe, which is difficult to remove stains with strong adsorption, and the cleaning effect needs to be improved.

SUMMARY OF THE INVENTION

In order to overcome the problem that the existing curtain wall robot can only achieve dry wiping, and it is difficult to remove the stains with strong adsorption force, the present invention provides an automatic cleaning robot cleaning system, and its specific technical scheme is as follows:

An automatic cleaning robot cleaning system includes a water supply pipe and a base, and the automatic cleaning robot cleaning system further includes an ultrasonic atomizer, a driving mechanism, a front wiping assembly, a sewage scraper, a sewage recycling pipe, a sewage holding tank and a rear wiping assembly. , the water inlet of the ultrasonic atomizer is communicated with the water supply pipe, the ultrasonic atomizer is installed on the front of the base, the drive mechanism is installed on the base and used to drive the robot to walk and turn, the front wipe The assembly is installed in the middle of the base, the rear wiper assembly is installed at the rear of the base, the sewage scraper is installed on the base and located between the front wiper assembly and the rear wiper assembly, and the sewage storage tank is installed on the base. The water inlet of the sewage holding tank is connected with one end of the sewage recovery pipe, and the other end of the sewage recovery pipe is connected with the water outlet of the sewage scraper.

The clean water enters the ultrasonic atomizer through the water supply pipe, and then is atomized into water mist through the ultrasonic atomizer and sprayed on the curtain wall. The water mist condenses on the curtain wall, and the condensed water droplets adhere to the curtain wall. At this time, the driving mechanism drives the robot to move forward and turn, so that the front wiper and the rear wiper clean the curtain wall. The front wiping component is located in the middle of the base, and the rear wiping component is located at the rear of the base. When the robot moves forward, the front wiping component will perform the first wipe, which is to wipe with water to wipe off the adhesion on the curtain wall. of dust, dirt and stains. The residual sewage is collected by the sewage scraper, and enters the sewage holding tank through the sewage recycling pipeline. After the residual sewage is recovered, the post-wiping components dry and wipe the curtain wall surface, thereby completing the cleaning of the curtain wall surface. Due to the installation of the front wiping component, the rear wiping component and the ultrasonic atomizer, the robot first atomizes and wets the wall during the forward process, and then wipes the curtain wall twice, which can achieve both wet and dry wiping. This process can effectively remove dust and stains on the curtain wall.

Optionally, a water pump is installed above the sewage recovery pipeline. The water pump is used to transport the residual sewage collected on the sewage scraper to the sewage holding tank.

Optionally, the driving mechanism is a wheel-type driving mechanism, which includes a wheel and a first motor that drives the wheel to rotate. The wheel is installed on the bottom of the base, and the first motor is installed on the base, and its output shaft is connected with the axle center of the wheel through a coupling. The wheel-type driving mechanism can improve the moving speed of the automatic cleaning robot and simplify the walking steering control of the automatic cleaning robot.

Optionally, the drive mechanism is a crawler-type drive mechanism, which includes a crawler belt and a second motor that drives the crawler belt to rotate. The crawler is installed on both sides of the bottom of the base, and the second motor is installed on the base, and its output shaft is connected with a drive gear engaged with the crawler through a coupling. The crawler-type drive mechanism can improve the adaptability of the automatic cleaning robot to the curtain wall surface, increase the contact area between the automatic cleaning robot and the curtain wall surface, and prevent damage to the curtain wall surface.

Optionally, the automatic cleaning robot cleaning system further includes a vacuum adsorption component for adsorbing the robot on the curtain wall surface. The vacuum suction assembly includes a vacuum suction cup and a vacuum generator, the vacuum suction cup is adsorbed on the wall surface of the curtain wall, the vacuum generator is installed on the base, and the vacuum suction cup is communicated with the vacuum generator through a connecting pipe. The vacuum adsorption component is adsorbed on the curtain wall through negative pressure, and its adsorption pressure range is 600Pa-1200Pa.

The beneficial effects obtained by the invention are as follows: due to the arrangement of the front wiping component, the rear wiping component and the ultrasonic atomizer, the robot first atomizes and moistens the wall surface during the forward process, and then performs two wipes on the wall surface of the curtain wall. , can realize two processes of wet wiping and dry wiping, effectively remove the dust and stains on the curtain wall.

Description of drawings

The invention can be further understood from the following description taken in conjunction with the accompanying drawings, emphasising the principles of the illustrated embodiments.

1 is a schematic diagram 1 of the overall structure of an automatic cleaning robot cleaning system according to an embodiment of the present invention;

2 is a schematic diagram of the workflow of an automatic cleaning robot cleaning system according to an embodiment of the present invention;

3 is a schematic diagram 2 of the overall structure of an automatic cleaning robot cleaning system according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a solar power generation assembly in an embodiment of the present invention.

Description of reference numbers:

1. Water supply pipe; 2. Ultrasonic atomizer; 3. Driving mechanism; 4. Front wiping assembly; 5. Sewage scraper; 6. Sewage recovery pipe; 7. Sewage storage tank; 8. Rear wiping assembly; 9. Curtain wall; 10. Third motor; 11. Cylinder; 12. Flexible solar panel; 13. Photosensitive sensor.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to its embodiments.

The present invention is an automatic cleaning robot cleaning system, and the following embodiments are described according to the accompanying drawings:

As shown in FIG. 1, an automatic cleaning robot cleaning system includes a water supply pipe 1 and a base. The automatic cleaning robot cleaning system also includes an ultrasonic atomizer 2, a driving mechanism 3, a front wiping assembly 4, a sewage scraper 5, Sewage recovery pipe 6, sewage holding tank 7 and rear wiper assembly 8, the water inlet of the ultrasonic atomizer 2 is communicated with the water supply pipe 1, and the ultrasonic atomizer 2 is installed on the bottom of the base opposite the curtain wall. The front part, the drive mechanism 3 is installed on the base and used to drive the robot to walk and turn, the front wiper assembly 4 is installed in the middle of the bottom surface opposite the base and the wall surface of the curtain wall, and the rear wiper assembly 8 is installed on the base The rear part of the bottom surface opposite to the wall surface of the curtain wall, the sewage scraper 5 is installed on the base and is located between the front wiping assembly 4 and the rear wiping assembly 8, the sewage holding tank 7 is installed on the base and is The water inlet of the sewage storage tank 7 is connected with one end of the sewage recovery pipe 6 , and the other end of the sewage recovery pipe 6 is connected with the water outlet of the sewage scraper 5 .

As shown in FIG. 2 , clean water enters into the ultrasonic atomizer 2 through the water supply pipe 1 , and is then atomized into water mist through the ultrasonic atomizer 2 and sprayed onto the wall surface of the curtain wall 9 . The water mist condenses on the wall surface of the curtain wall 9, and the condensed water droplets adhere to the wall surface of the curtain wall 9. At this time, the driving mechanism 3 drives the robot to move forward and turn, so that the front wiper assembly 4 and the rear wiper assembly 8 are opposite to the curtain wall 9 wall. face cleaning. The front wiping component 4 is located in the middle of the base, and the rear wiping component 8 is located at the back of the pedestal. When the robot moves forward, the front wiping component 4 will perform the first wiping, which is to wipe with water to wipe off the adhesion on the curtain wall. 9 Dust, dirt and stains on walls. The residual sewage is collected by the sewage scraper 5 , and enters the sewage storage tank 7 through the sewage recovery pipe 6 . After the residual sewage is recovered, the post-wiping component 8 dryly wipes the wall surface of the curtain wall 9 , thereby completing the cleaning of the wall surface of the curtain wall 9 . Since the front wiping component 4, the rear wiping component 8 and the ultrasonic atomizer 2 are provided, the robot first atomizes and wets the wall surface during the forward process, and then wipes the wall surface of the curtain wall 9 twice, which can realize wet wiping. and dry wiping two processes, effectively remove the dust and stains on the wall surface of the curtain wall 9. The driving mechanism 3 is used to drive the robot to move forward and turn, and its specific structure is a conventional technical means in the field. Those skilled in the art can select a driving mechanism with different structures as required, which will not be repeated here.

In some embodiments, a water pump is installed above the sewage recovery pipe 6 . The water pump is used to transport the residual sewage collected on the sewage scraper 5 into the sewage holding tank 7 .

In some embodiments, the driving mechanism 3 is a wheel-type driving mechanism 3, which includes a wheel and a first motor (not shown in the figure) that drives the wheel to rotate. The wheel is installed on the bottom of the base, and the first motor is installed on the base, and its output shaft is connected with the axle center of the wheel through a coupling. The use of the wheel-type driving mechanism 3 can improve the moving speed of the automatic cleaning robot and simplify the walking and steering control of the automatic cleaning robot.

In some embodiments, the driving mechanism 3 is a crawler-type driving mechanism 3, which includes a crawler belt and a second motor (not shown in the figure) that drives the crawler belt to rotate. The crawler is installed on both sides of the bottom of the base, and the second motor is installed on the base, and its output shaft is connected with a drive gear engaged with the crawler through a coupling. The crawler-type drive mechanism 3 can improve the adaptability of the automatic cleaning robot to the wall surface of the curtain wall 9, increase the contact area between the automatic cleaning robot and the wall surface of the curtain wall 9, and prevent damage to the wall surface of the curtain wall 9.

In some embodiments, the automatic cleaning robot cleaning system further includes a vacuum adsorption component for adsorbing the robot on the surface of the curtain wall 9 . The vacuum suction assembly includes a vacuum suction cup and a vacuum generator, the vacuum suction cup is adsorbed on the wall surface of the curtain wall 9, the vacuum generator is installed on the base, and the vacuum suction cup is communicated with the vacuum generator through a connecting pipe. The vacuum adsorption component is adsorbed on the wall surface of the curtain wall 9 through negative pressure, and its adsorption pressure range is 600Pa-1200Pa.

In some embodiments, the front wiping assembly 4 and the rear wiping assembly 8 are cleaning brushes.

The first motor and the second motor may be servo motors, and the first motor, the second motor, and the vacuum generator are connected to and controlled by the controller.

In some embodiments, as shown in FIG. 3 and FIG. 4 , the automatic cleaning robot cleaning system further includes a solar power generation assembly, the solar power generation assembly includes a cylinder 11 , a third motor 10 , a flexible solar cell panel 12 and a photosensitive sensor 13. The flexible solar cell panel 12 is wrapped on the outer surface of the cylinder 11 and the bending angle is at least 240 degrees. The output shaft of the third motor 10 is fixedly connected to one end of the cylinder 11 . The third motor 10 is installed on the base, and the axis of the cylinder 11 is perpendicular to the outer surface of the base. The photosensitive sensor 13 is installed on the outer surface of the cylinder 11 which is not wrapped by the flexible solar cell panel 12 , the photosensitive sensor 13 is connected with the controller and feeds back the photoelectric signal to the controller.

The external light signal is detected by the photosensitive sensor 13, and the light signal is fed back to the controller. The controller judges the direct angle between the cylinder 11 and the sunlight according to the light signal, and adjusts the angle of the cylinder 11 by controlling the rotation of the third motor 10, so that the photosensitive The light signal fed back by the sensor 13 is minimized. At this time, the flexible solar cell panel 12 wrapped on the column 11 faces the sunlight, which can better receive sunlight in the morning, noon and evening, improve the power generation efficiency of the solar power module, and save energy.

To sum up, an automatic cleaning robot cleaning system disclosed in the present invention has the beneficial technical effects that: due to the arrangement of the front wiping component, the rear wiping component and the ultrasonic atomizer, the robot first cleans the The wall surface is atomized and moistened, and then the curtain wall surface is wiped twice, which can realize the two processes of wet wipe and dry wipe, and effectively remove the dust and stains on the curtain wall surface.

The above embodiments should be understood as only for illustrating the present invention and not for limiting the protection scope of the present invention. After reading the contents of the description of the present invention, the skilled person can make various changes or modifications to the present invention, and these equivalent changes and modifications also fall within the scope defined by the claims of the present invention.

Claims (6)

1. An automatic cleaning robot cleaning system, comprising a water supply pipe and a base, is characterized in that, the automatic cleaning robot cleaning system also includes an ultrasonic atomizer, a drive mechanism, a front wiper assembly, a sewage scraper, a sewage recycling pipe, a sewage The receiving tank and the rear wiping assembly, the water inlet of the ultrasonic atomizer is communicated with the water supply pipe, the ultrasonic atomizer is installed on the front part of the base, and the driving mechanism is installed on the base and used to drive the robot to walk and Turning, the front wiping assembly is installed in the middle of the base, the rear wiping assembly is installed at the rear of the base, the sewage scraper is installed on the base and located between the front wiping assembly and the rear wiping assembly, the sewage The accommodating tank is installed on the base, and the water inlet of the sewage accommodating tank is communicated with one end of the sewage recovery pipe, and the other end of the sewage recovery pipe is communicated with the water outlet of the sewage scraper. 2 . The cleaning system for an automatic cleaning robot according to claim 1 , wherein the driving mechanism comprises a wheel and a first motor for driving the wheel to rotate. 3 . 3 . The cleaning system for an automatic cleaning robot according to claim 1 , wherein the driving mechanism comprises a crawler belt and a second motor for driving the crawler belt to rotate. 4 . 4. An automatic cleaning robot cleaning system according to claim 1 or 2, characterized in that, the automatic cleaning robot cleaning system further comprises a vacuum adsorption component for adsorbing the robot on the surface of the curtain wall. 5. The cleaning system of an automatic cleaning robot according to claim 4, wherein the vacuum adsorption assembly comprises a vacuum suction cup and a vacuum generator, the vacuum suction cup is adsorbed on the surface of the curtain wall, and the vacuum generates The vacuum suction cup is installed on the base, and the vacuum suction cup is communicated with the vacuum generator through a connecting pipe. 6 . The cleaning system of an automatic cleaning robot according to claim 5 , wherein the front wiping assembly and the rear wiping assembly are cleaning brushes. 7 .

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