CN112190170B - Cleaning robot - Google Patents
Cleaning robot Download PDFInfo
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- CN112190170B CN112190170B CN202011004041.XA CN202011004041A CN112190170B CN 112190170 B CN112190170 B CN 112190170B CN 202011004041 A CN202011004041 A CN 202011004041A CN 112190170 B CN112190170 B CN 112190170B
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- glass
- protective shell
- cleaning robot
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- 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
Abstract
The invention relates to the technical field of cleaning robots, in particular to a cleaning robot, which aims at solving the problem of inconvenient cleaning of high-rise building glass in the prior art and provides the following scheme, comprising the following steps: the control device is electrically connected with the wiping device; the control device comprises a protective shell, a circuit board arranged in the protective shell, a controller arranged in the protective shell, and electromagnets and a PLC control panel which are arranged on the outer walls of two opposite sides of the protective shell, wherein the electromagnets and the PLC control panel are electrically connected with the circuit board; the wiping device includes a mounting bracket. The glass cleaning device is reasonable in structure and simple to operate, can be used for conveniently cleaning the outer side of the glass of the high-rise building, greatly reduces the difficulty and the danger degree of cleaning the high-rise glass, and is easy to popularize and use.
Description
Technical Field
The invention relates to the field of cleaning robots, in particular to a cleaning robot.
Background
Robots are machine devices that automatically perform work, including all machines that simulate human behavior or thought and other creatures. There are also a number of taxonomies and disputes over the narrow definition of robots, and some computer programs are even referred to as robots.
In the existing life, the development of the robot technology is very rapid, and the robot technology is applied to the daily life of human beings. At present, when outer glass to high-rise building cleans, some cleans through the mode of artifical hanging flower basket, some then with the special glass brush that is used for cleaning glass, utilize the performance of magnet, make two glass brushes can adsorb glass's inside and outside both sides, thereby remove the inboard glass brush and drive the glass brush in the outside and remove, thereby reach the mesh of cleaning the glass outside, these two kinds of modes of cleaning glass, former danger coefficient is big, the latter cleans unclean easily, for this reason, the scheme provides a cleaning robot.
Disclosure of Invention
The cleaning robot provided by the invention solves the problem that the glass of a high-rise building is inconvenient to clean in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a cleaning robot, comprising: the control device is electrically connected with the wiping device;
the control device comprises a protective shell, a circuit board arranged in the protective shell, a controller arranged in the protective shell, and electromagnets and a PLC control panel which are arranged on the outer walls of two opposite sides of the protective shell, wherein the electromagnets and the PLC control panel are electrically connected with the circuit board;
the wiping device comprises a mounting frame, the mounting frame is composed of two fixed plates and two fixed rods fixed between the two fixed plates, an iron block is mounted on the outer wall of one side of one of the fixed plates, the wiping device further comprises a rotating shaft rotatably mounted between the two fixed plates, mounting plates fixed on the outer walls of two sides of the rotating shaft, transmission shafts rotatably mounted on the outer walls of one sides of the two mounting plates and glass brushes mounted at one ends of the two transmission shafts, the two transmission shafts are respectively mounted on the outer walls of one sides, close to the iron block, of the two mounting plates, and motors used for driving the transmission shafts to rotate are mounted on the two mounting plates;
the wiping device further comprises a gear sleeved outside the rotating shaft and an electric telescopic rod fixed on the inner side wall of one of the fixing plates, a rack is fixed at the extending end of the electric telescopic rod, and the rack is meshed with the gear;
and a plurality of trundles are arranged on the outer wall of one side of the protective shell, which is provided with the electromagnet, and the outer wall of one side of the fixed plate, which is provided with the iron block.
Preferably, install the wire holder on the mounting bracket, the equal electric connection of wire holder and two motors and electric telescopic handle, through to wire electric connection between wire holder and the circuit board.
Preferably, the controller is an ATC.
Preferably, the one end that the mounting panel was kept away from to the transmission shaft has seted up the spring hole, be fixed with the spring on the bottom inner wall in spring hole, the other end of spring is fixed with flexible post, the other end of elasticity post extends to the outside in spring hole, the back of glass brush is fixed with the adapter sleeve, and the one end that the elasticity post is located the outside in spring hole extends to the inside of adapter sleeve, the outside threaded connection of adapter sleeve has fixing bolt, and fixing bolt's one end extends to the inside and the elasticity post threaded connection of elasticity post.
Preferably, the inner walls of the two sides of the spring hole are provided with sliding grooves, the outer walls of the two sides of the elastic column are fixed with sliding blocks, and one ends of the two sliding blocks extend to the inner parts of the two sliding grooves and are in sliding connection with the two sliding grooves respectively.
Preferably, a handle is fixed on the outer wall of one side of the protective shell, which is far away from the caster.
Preferably, the outer wall of one side of the protective shell and the outer wall of one of the fixing rods are both fixed with a connecting ring, and a connecting rope is fixedly connected between the two connecting rings.
The invention has the beneficial effects that:
1. can control wiping arrangement through controlling means, through the cooperation between electro-magnet and the iron plate, can adsorb controlling means and wiping arrangement on glass's inside and outside both sides to can be convenient clean the outside of glass.
2. Through the cooperation between PLC control panel, controller, wire, motor, transmission shaft and the glass brush, can automatic control glass brush rotate, and through the cooperation between electric telescopic handle, rack, gear and the pivot, reach and control two automatic pivoted purposes of mounting panel, and then conveniently with the adnexed dust clean up in glass surface.
3. The friction force generated when the control device and the wiping device are in contact with the glass is reduced through the arrangement of the caster wheels, and the control device and the wiping device can move on the surface of the glass conveniently.
4. Through the arrangement of the spring, the spring hole and the elastic column, when the glass is cleaned, the glass brush can be tightly attached to the surface of the glass, and the connecting sleeve and the fixing bolt are arranged to facilitate the disassembly, assembly and replacement of the glass brush.
The glass cleaning device is reasonable in structure and simple to operate, can be used for conveniently cleaning the outer side of the glass of the high-rise building, greatly reduces the difficulty and the danger degree of cleaning the high-rise glass, and is easy to popularize and use.
Drawings
Fig. 1 is a front cross-sectional view of the present invention.
Fig. 2 is an enlarged view of the present invention at a.
Fig. 3 is a schematic structural view of a gear and a rack according to the present invention.
The reference numbers in the figures: the glass brush comprises a protective shell 1, a handle 2, a circuit board 3, a PLC control panel 4, an electromagnet 5, a controller 6, a caster 7, a connecting rope 8, a connecting ring 9, a conducting wire 10, a fixing plate 11, a fixing rod 12, a mounting plate 13, a gear 14, a motor 15, a transmission shaft 16, a rack 17, a rotating shaft 18, an iron block 19, a glass brush 20, a sliding block 21, a spring hole 22, a sliding groove 23, a connecting sleeve 24, a fixing bolt 25 and an electric telescopic rod 26.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1 to 3, a cleaning robot includes: the control device is electrically connected with the wiping device;
the control device comprises a protective shell 1, a circuit board 3 arranged in the protective shell 1, a controller 6 arranged in the protective shell 1, electromagnets 5 and a PLC control panel 4 which are arranged on the outer walls of two opposite sides of the protective shell 1, wherein the electromagnets 5 and the PLC control panel 4 are both electrically connected with the circuit board 3, the controller 6 is AT89C51 in model, a power line with one end extending to the outside of the protective shell 1 is arranged on the circuit board 3, the power line is connected with an external power supply to supply power to the control device, and the electromagnets 5 can generate strong magnetic force under the condition of being electrified;
the wiping device comprises a mounting frame, the mounting frame is composed of two fixing plates 11 and two fixing rods 12 fixed between the two fixing plates 11, the two fixing rods 12 are respectively positioned at two sides of the fixing plates 11, the fixing rods 12 play a role of fixing the two fixing plates 11 together, an iron block 19 is installed on the outer wall of one side of one fixing plate 11, the wiping device further comprises a rotating shaft 18 rotatably installed between the two fixing plates 11, mounting plates 13 fixed on the outer walls of two sides of the rotating shaft 18, a transmission shaft 16 rotatably installed on the outer wall of one side of the two mounting plates 13 and glass brushes 20 installed at one ends of the two transmission shafts 16, the two transmission shafts 16 are respectively installed on the outer walls of one sides, close to the iron block 19, of the two mounting plates 13, and motors 15 for driving the transmission shaft 16 to rotate are respectively installed on the two mounting plates 13, the rotation of the two motors 15 is controlled by a control device, and then the two glass brushes 20 can automatically rotate under a set program, so that glass is wiped;
the wiping device further comprises a gear 14 sleeved outside the rotating shaft 18 and an electric telescopic rod 26 fixed on the inner side wall of one of the fixing plates 11, a rack 17 is fixed at the extending end of the electric telescopic rod 26, the rack 17 is meshed with the gear 14, a wire holder is installed on the installation frame and is electrically connected with the two motors 15 and the electric telescopic rod 26, the wire holder is electrically connected with the circuit board 3 through a wire 10, the electric telescopic rod 26 can be continuously extended and contracted under the control of the controller 6 according to a set program, so that the rotating shaft 18 is driven to continuously rotate in a reciprocating manner, the two glass brushes can rotate around the rotating shaft 18, and different areas of glass can be conveniently cleaned;
a plurality of trundles 7 are arranged on the outer wall of one side of the protective shell 1, which is provided with the electromagnet 5, and the outer wall of one side of the fixed plate 11, which is provided with the iron block 19, so that the friction force generated when the control device and the wiping device are in contact with the glass is reduced through the arrangement of the trundles 7, and the control device and the wiping device can conveniently move along the surface of the glass;
a spring hole 22 is formed in one end, away from the mounting plate 13, of the transmission shaft 16, a spring is fixed on the inner wall of the bottom of the spring hole 22, an elastic column 27 is fixed at the other end of the spring, the other end of the elastic column 27 extends to the outside of the spring hole 22, a connecting sleeve 24 is fixed on the back of the glass brush 20, one end, located outside the spring hole 22, of the elastic column 27 extends to the inside of the connecting sleeve 24, a fixing bolt 25 is connected to the outside of the connecting sleeve 24 through threads, one end of the fixing bolt 25 extends to the inside of the elastic column 27 and is in threaded connection with the elastic column 27, through the arrangement of the spring, the spring hole 22 and the elastic column 27, when the glass is wiped, the glass brush 20 can be tightly attached to the surface of the glass, and the arrangement of the connecting sleeve 24 and the fixing bolt 25 facilitates the disassembly and assembly of the glass brush 20;
the inner walls of the two sides of the spring hole 22 are respectively provided with a sliding chute 23, the outer walls of the two sides of the elastic column 27 are respectively fixed with a sliding block 21, one end of each sliding block 21 respectively extends to the inside of the two sliding chutes 23 to be connected with the two sliding chutes 23 in a sliding manner, and the arrangement of the sliding blocks 21 and the sliding chutes 23 can prevent the elastic column 27 from rotating in the spring hole 22;
a handle 2 is fixed on the outer wall of one side of the protective shell 1 away from the side provided with the trundles 7, and the handle 2 is arranged to facilitate the movement of the control device;
the outer wall of one side of the protective shell 1 and the outer wall of one of the fixing rods 12 are both fixed with a connecting ring 9, a connecting rope 8 is fixedly connected between the two connecting rings 9, and the arrangement of the connecting rope 8 can prevent the wiping device from falling down from glass when the wiping device wipes the glass.
The working principle is as follows: when the device works, a power line is used for intervening an external power supply to supply power to the device, then the control device and the wiping device are respectively placed on the inner side and the outer side of the glass, then the PLC starts the electromagnet 5 through the control panel 4, the electromagnet 5 generates attraction to the iron block 19, so that the control device and the wiping device are adsorbed on the inner side and the outer side of the glass, the two glass brushes 20 of the wiping device are further tightly attached to the outer side of the glass, then the two motors 15 are started through the PLC control panel 4, the two motors 15 rotate to drive the two transmission shafts 16 to rotate, so that the two glass brushes 20 start to rotate, then the handle 2 can be held to move the control device, so that the wiping device is driven to synchronously move, the PLC control panel 4 can be used for starting the electric telescopic rod 26 to work, under the control of a set program, the electric telescopic rod 26 continuously extends and contracts to drive the rack 17 to reciprocate, so that the gear 14 reciprocates, and finally the rotation 18 drives the two mounting plates 13 to reciprocate, so that different areas on the surface of the glass can be wiped cleanly;
before the glass is wiped, the cleaning liquid can be poured on the glass brush 20 according to needs, so that the cleaning effect is enhanced.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. A cleaning robot, comprising: the control device is electrically connected with the wiping device;
the control device comprises a protective shell (1), a circuit board (3) arranged in the protective shell (1), a controller (6) arranged in the protective shell (1), and an electromagnet (5) and a PLC control panel (4) which are arranged on the outer walls of two opposite sides of the protective shell (1), wherein the electromagnet (5) and the PLC control panel (4) are both electrically connected with the circuit board (3);
the wiping device comprises a mounting frame, wherein a wire holder is installed on the mounting frame, the mounting frame is composed of two fixing plates (11) and two fixing rods (12) fixed between the two fixing plates (11), one fixing plate is provided with an iron block (19) on the outer wall of one side of each fixing plate (11), the wiping device further comprises a rotating shaft (18) rotatably installed between the two fixing plates (11), mounting plates (13) fixed on the outer walls of two sides of the rotating shaft (18), a transmission shaft (16) rotatably installed on the outer wall of one side of the two mounting plates (13) and glass brushes (20) installed at one ends of the two transmission shafts (16), the two transmission shafts (16) are respectively installed on the outer wall of one side, close to the iron block (19), of the two mounting plates (13), and a motor (15) for driving the transmission shaft (16) to rotate is installed on the two mounting plates (13);
the wiping device further comprises a gear (14) sleeved outside the rotating shaft (18) and an electric telescopic rod (26) fixed on the inner side wall of one fixing plate (11), a rack (17) is fixed at the extending end of the electric telescopic rod (26), and the rack (17) is meshed with the gear (14);
a plurality of trundles (7) are respectively arranged on the outer wall of one side of the protective shell (1) provided with the electromagnet (5) and the outer wall of one side of the fixed plate (11) provided with the iron block (19);
the wire holder is electrically connected with the two motors (15) and the electric telescopic rod (26), and the wire holder is electrically connected with the circuit board (3) through the conducting wire (10) so that the electric telescopic rod (26) can be continuously extended and contracted under the control of the controller (6) according to a set program, the rotating shaft (18) is driven to continuously rotate in a reciprocating mode, and finally the two glass brushes can rotate around the rotating shaft (18).
2. A cleaning robot as claimed in claim 1, characterized in that the controller (6) is of the type AT89C51.
3. The cleaning robot as claimed in claim 1, wherein a spring hole (22) is formed in one end, away from the mounting plate (13), of the transmission shaft (16), a spring is fixed on the inner wall of the bottom of the spring hole (22), an elastic column (27) is fixed to the other end of the spring, the other end of the elastic column (27) extends to the outside of the spring hole (22), a connecting sleeve (24) is fixed to the back of the glass brush (20), one end, located outside the spring hole (22), of the elastic column (27) extends to the inside of the connecting sleeve (24), a fixing bolt (25) is connected to the outside of the connecting sleeve (24) in a threaded manner, and one end of the fixing bolt (25) extends to the inside of the elastic column (27) and is connected to the elastic column (27) in a threaded manner.
4. The cleaning robot as claimed in claim 3, wherein sliding grooves (23) are formed in inner walls of two sides of the spring hole (22), sliding blocks (21) are fixed on outer walls of two sides of the elastic column (27), and one ends of the two sliding blocks (21) extend into the two sliding grooves (23) respectively and are connected with the two sliding grooves (23) in a sliding manner.
5. The cleaning robot as claimed in claim 1, wherein a handle (2) is fixed on the outer wall of the protective casing (1) at the side far from the caster (7).
6. The cleaning robot as claimed in claim 1, wherein the outer wall of one side of the protective casing (1) and the outer wall of one of the fixing rods (12) are both fixed with a connecting ring (9), and a connecting rope (8) is fixedly connected between the two connecting rings (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011004041.XA CN112190170B (en) | 2020-09-22 | 2020-09-22 | Cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011004041.XA CN112190170B (en) | 2020-09-22 | 2020-09-22 | Cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112190170A CN112190170A (en) | 2021-01-08 |
| CN112190170B true CN112190170B (en) | 2022-11-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011004041.XA Active CN112190170B (en) | 2020-09-22 | 2020-09-22 | Cleaning robot |
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| CN (1) | CN112190170B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113100670B (en) * | 2021-04-16 | 2022-05-24 | 上海亿为科技有限公司 | Chemical explosion-proof inspection robot with gas leakage detection function |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100342029B1 (en) * | 1999-06-07 | 2002-06-27 | 탁승호 | Surface-travelling mobile apparatus and cleaning apparatus using the same |
| CN102475519B (en) * | 2010-11-26 | 2014-10-22 | 好样科技有限公司 | Cleaning machine and path control method thereof |
| CN206200546U (en) * | 2016-11-30 | 2017-05-31 | 济南晨旭机器有限公司 | A kind of panel solar is produced with 90 ° of automatic corner units |
| CN106955082A (en) * | 2017-05-04 | 2017-07-18 | 湖州黛丝娅鞋业有限公司 | A kind of sole Quick cleaning device |
| CN108044430A (en) * | 2017-12-22 | 2018-05-18 | 郑州默尔电子信息技术有限公司 | A kind of rotatable lift metope cleaning trimming device |
| CN108464765B (en) * | 2018-04-24 | 2023-10-24 | 黄河科技学院 | Device for cleaning outer surface of window glass of high-rise building |
| CN108435616A (en) * | 2018-06-01 | 2018-08-24 | 四川益泽丰信息科技有限公司 | A kind of outdoor LED screen auto dust cleaning machine |
| CN208712307U (en) * | 2018-07-25 | 2019-04-09 | 云南索乐环境科技有限公司 | A kind of reflective photovoltaic unit clean system |
| CN109480705A (en) * | 2018-11-11 | 2019-03-19 | 东莞理工学院 | It is a kind of can sorting rubbish the anti-skidding clean robot with balanced capacity |
| CN111297245A (en) * | 2018-12-12 | 2020-06-19 | 江苏锡沂高新区科技发展有限公司 | Building glass wall belt cleaning device |
| CN210931163U (en) * | 2019-07-26 | 2020-07-07 | 苏州市春鑫塑胶有限公司 | Dust collector floor brush device |
| CN211494216U (en) * | 2019-11-21 | 2020-09-15 | 上海禄伯艾特机器人系统有限公司 | AGV laser self-conductance dolly turns to structure |
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2020
- 2020-09-22 CN CN202011004041.XA patent/CN112190170B/en active Active
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| CN112190170A (en) | 2021-01-08 |
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