CN112842151A - Robot capable of walking on glass - Google Patents
Robot capable of walking on glass Download PDFInfo
- Publication number
- CN112842151A CN112842151A CN202110212338.3A CN202110212338A CN112842151A CN 112842151 A CN112842151 A CN 112842151A CN 202110212338 A CN202110212338 A CN 202110212338A CN 112842151 A CN112842151 A CN 112842151A
- Authority
- CN
- China
- Prior art keywords
- glass
- movable plate
- robot
- base
- shell
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Abstract
The invention provides a robot capable of walking on glass, which comprises a robot body, wherein the robot body comprises a display screen, a shell, a base, a hairbrush, a movable plate, a cylinder and a sucker, a camera and a display screen are installed at the top end of the shell, the surface of the shell is connected with a damping ring through a damper, a damping spring is installed inside the damper, the base is installed at the bottom end of the shell, a pressing plate is arranged inside the base, the hairbrush is bonded at the bottom end of the pressing plate, a pressurizing spring is installed at the top end of the pressing plate, the movable plate is installed at the bottom end of the base, a support column and the cylinder are installed at the top end of the movable plate, the top end of the cylinder is connected with the sucker through an air pipe, and the robot capable of walking on glass can move on any smooth plane, is higher in stability and has a damping protection effect, the base has the clean function of sweeping the floor, and the adsorption affinity is more stable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of walking on glass.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
The robot is various in types, but among the current robot, the mechanism that is responsible for removing adopts the form of similar people's foot of recognising more, and operational environment all needs higher requirement, if move on the higher plane of smoothness, will greatly reduced robot's equilibrium, it is very high to the balanced precision requirement of robot, very easily takes place to empty and lead to the damage, causes property loss.
On the other hand, the existing robot can only move on the horizontal ground, and if the slope of the ground is large, the robot cannot smoothly run and cannot work on the glass vertical to the ground.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot capable of walking on glass so as to solve the problems in the background technology.
In order to achieve the purpose, the invention is realized by the following technical scheme: a robot capable of walking on glass comprises a robot body, wherein the robot body comprises a display screen, a shell, a base, a hairbrush, a movable plate, an air cylinder and a sucker, a camera and a display screen are installed at the top end of the shell, the surface of the shell is connected with a damping ring through a damper, a damping spring is installed inside the damper, the base is installed at the bottom end of the shell, a pressing plate is arranged inside the base, the hairbrush is bonded at the bottom end of the pressing plate, a pressurizing spring is installed at the top end of the pressing plate, the movable plate is installed at the bottom end of the base, a support column and the air cylinder are installed at the top end of the movable plate, the top end of the air cylinder is connected with the sucker through an air pipe, a connecting rod is installed in the middle of the top end of the sucker, a movable plate is arranged at the, the one end of motor links to each other with the axis of rotation, the surface cover of axis of rotation is equipped with the driving gear, the driving gear meshes with driven gear mutually, driven gear overlaps the surface of establishing at the transmission shaft, the both ends of transmission shaft all are provided with the right angle folding rod, the stopper is installed to right angle folding rod one end.
In a preferred embodiment of the present invention, the air tube penetrates through the middle of the suction cup, and an end surface of the air tube is flush with the bottom surface of the suction cup.
As a preferred embodiment of the present invention, one side of the movable plate is attached to one side of the limiting block, and the other side of the movable plate is attached to a side of the movable plate.
In a preferred embodiment of the present invention, the bottom end of the supporting column is fixed on the surface of the movable plate by screws, and the top end of the supporting column is connected and fixed with the outer casing.
In a preferred embodiment of the present invention, the number of the driving gear and the driven gear is 2, and the size of the driving gear and the size of the driven gear are the same.
In a preferred embodiment of the present invention, a bearing is mounted to a rear end of the rotating shaft, and the rotating shaft is fitted into one end of the movable plate through the bearing.
As a preferred embodiment of the present invention, the right-angle folding rod sequentially penetrates through the side of the movable plate and the inside of the movable plate.
As a preferred embodiment of the present invention, there are 2 damping rings, and 8 sets of dampers are provided inside each damping ring.
As a preferred embodiment of the invention, the whole of the pressing plate and the brush is in a ring structure, and the edge of the pressing plate is attached to the inner wall of the base.
As a preferred embodiment of the present invention, the top end of the pressurizing spring is fixedly connected to the inner wall of the base, and the bottom end of the pressurizing spring is connected to the top of the pressure plate.
The invention has the beneficial effects that: the robot capable of walking on glass comprises a robot body, wherein the robot body comprises a camera, a display screen, a damping ring, a shell, a base, a brush, a sucker, an air pipe, a connecting rod, a limiting block, a strut, a moving plate, an air cylinder, a moving plate, a pressing plate, a right-angle folding rod, a transmission shaft, a driving gear, a motor, a driven gear, a rotating shaft, a damper, a damping spring and a pressurizing spring.
1. The robot capable of walking on the glass drives the transmission shaft through the motor at the bottom end to enable the sucker to swing back and forth, and then the robot is matched with the cylinder to perform periodic vacuumizing to finally realize the forward movement of the movable plate, so that the robot can move forward on the smooth plane of the glass.
2. The brush is installed to the bottom that should can walk the robot on glass, and the clamp plate makes the brush contact with ground all the time under the spring action of pressure boost spring to clean the dust particle that exists subaerially on the route that the sucking disc gos forward, guarantee sucking's stability of sucking disc.
3. This intermediate sleeve of robot that can walk on glass is equipped with the shock ring for prevent that the robot from taking place to empty and lead to damaging, improved the security, avoided loss of property's risk.
Drawings
FIG. 1 is a schematic structural diagram of a moving plate part of a robot capable of walking on glass according to the invention;
FIG. 2 is a schematic structural diagram of the appearance of a robot capable of walking on glass according to the present invention;
FIG. 3 is a schematic structural diagram of the inside of a moving plate of a robot capable of walking on glass according to the present invention;
FIG. 4 is a schematic structural diagram of a shock absorbing ring part of a robot capable of walking on glass according to the present invention;
FIG. 5 is a cross-sectional view of a shock absorber portion of a robot that can walk on glass in accordance with the present invention;
FIG. 6 is a partial cross-sectional view of a platen portion of a robot that can walk on glass in accordance with the present invention;
in the figure: 1. a camera; 2. a display screen; 3. a shock-absorbing ring; 4. a housing; 5. a base; 6. a brush; 7. a suction cup; 8. an air tube; 9. a connecting rod; 10. a limiting block; 11. a pillar; 12. moving the plate; 13. a cylinder; 14. a movable plate; 15. pressing a plate; 16. a right-angle folding rod; 17. a drive shaft; 18. a driving gear; 19. a motor; 20. a driven gear; 21. a rotating shaft; 22. a shock absorber; 23. a damping spring; 24. and a pressurizing spring.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1 to 6, the present invention provides a technical solution: a robot capable of walking on glass comprises a robot body, wherein the robot body comprises a display screen 2, a shell 4, a base 5, a brush 6, a movable plate 12, a cylinder 13 and a sucker 7, a camera 1 and the display screen 2 are installed at the top end of the shell 4, the surface of the shell 4 is connected with a damping ring 3 through a damper 22, a damping spring 23 is installed inside the damper 22, the base 5 is installed at the bottom end of the shell 4, a pressing plate 15 is arranged inside the base 5, the brush 6 is bonded at the bottom end of the pressing plate 15, a pressurizing spring 24 is installed at the top end of the pressing plate 15, the movable plate 12 is installed at the bottom end of the base 5, a support column 11 and a cylinder 13 are installed at the top end of the movable plate 12, the top end of the cylinder 13 is connected with the sucker 7 through an air pipe 8, a connecting rod 9 is installed in the middle of the top end of the, the tail end of connecting rod 9 is provided with movable plate 14, motor 19 is installed to the one end of removal plate 12, the one end and the axis of rotation 21 of motor 19 link to each other, the surface cover of axis of rotation 21 is equipped with driving gear 18, driving gear 18 meshes with driven gear 20 mutually, driven gear 20 cover is established on the surface of transmission shaft 17, the both ends of transmission shaft 17 all are provided with right angle folding rod 16, stopper 10 is installed to right angle folding rod 16 one end.
In a preferred embodiment of the present invention, the air tube 8 penetrates through the middle of the suction pad 7, the end surface of the air tube 8 is flush with the bottom surface of the suction pad 7, and the suction of the suction pad 7 is controlled by evacuating with the air cylinder 13.
As a preferred embodiment of the present invention, one side of the movable plate 14 is attached to one side of the stopper 10, and the other side of the movable plate 14 is attached to a side edge of the movable plate 12, so as to prevent the movable plate 14 from falling off and ensure normal swing operation.
In a preferred embodiment of the present invention, the bottom end of the support 11 is fixed on the surface of the movable plate 12 by screws, the top end of the support 11 is fixed to the housing 4, and the movable plate 12 pulls the housing 4 and other components to move by the support 11.
In a preferred embodiment of the present invention, the driving gear 18 and the driven gear 20 are respectively provided with 2 gears, and the two gears have the same size, which is convenient for later maintenance and replacement.
In a preferred embodiment of the present invention, a bearing is installed at the rear end of the rotating shaft 21, and the rotating shaft 21 is embedded in one end of the movable plate 12 through the bearing, so that resistance generated by rotation of the motor 19 is reduced, and power consumption is reduced.
In a preferred embodiment of the present invention, the quarter-turn bar 16 sequentially penetrates through the side of the movable plate 12 and the inside of the movable plate 14, so that the power of the quarter-turn bar 16 is transmitted to the movable plate 14.
As a preferred embodiment of the invention, 2 damping rings 3 are provided, and 8 groups of dampers 22 are arranged in each damping ring 3, so that the damping effect is enhanced, and no dead angle protection is realized.
In a preferred embodiment of the present invention, the pressing plate 15 and the brush 6 are integrally formed in a ring shape, and an edge of the pressing plate 15 is attached to an inner wall of the base 5 so as to be movable in synchronization with the housing 4.
In a preferred embodiment of the present invention, the top end of the pressurizing spring 24 is fixedly connected to the inner wall of the base 5, and the bottom end of the pressurizing spring 24 is connected to the top of the pressing plate 15, so that the brush 6 can be constantly in contact with the ground.
The working principle is as follows: the robot capable of walking on glass mainly comprises a display screen 2, a shell 4, a base 5, a brush 6, a movable plate 12, a cylinder 13 and suckers 7, wherein the movable plate 12 is installed at the bottom end of the base 5, the robot drives a transmission shaft 17 through the running of a motor 19 at the bottom end and the matching of a driving gear 18 and a driven gear 20, the transmission shaft 17 drives a right-angle folding rod 16 to rotate, so that the suckers 7 swing back and forth, the bottom of the suckers 7 is periodically vacuumized through an air pipe 8 by matching with the cylinder 13, two suckers 7 are always kept adsorbed on the ground or the glass, the other two suckers 7 are kept separated and swing forward, the adsorption is carried out after the swinging, then the two suckers 7 at the rear end are synchronously moved forward again, the forward movement of the movable plate 12 is finally realized by analogy, and the four suckers 7 can be matched to move on the smooth plane of the glass, the limiting block 10 can prevent the sucking disc 7 and the connecting rod 9 from falling off in the advancing process, the movable plate 12 is connected with the shell 4 of the robot through the strut 11, so as to realize the integral advancing motion, the brush 6 is installed at the bottom end of the base 5, the brush 6 is always contacted with the ground by the pressure plate 15 under the elastic force of the pressure spring 24, so that dust particles existing on the ground can be cleaned on the advancing route of the sucking disc 7, the stability of the suction force of the sucking disc 7 is ensured, if the sucking disc meets the slope ground, the pressure spring 24 can press the pressure plate 15 together with the brush 6 to keep the contact with the ground, so that the cleaning dead angle can be avoided in any terrain, the sucking disc 7 can still stably run under the slope terrain, the damping ring 3 is sleeved in the middle of the shell 4, the inside of the damping ring 3 is connected with the shell 4 through eight groups of dampers 22, when the robot has accidents or has collision and inclines and topp, two shock rings 3 can be at first with ground collision, cushion the robot body under damping spring 13's effect to prevent that 4 parts of shell from taking place direct contact with ground and colliding, thereby improved the security, avoided loss of property's risk, the display screen 2 on top is used for the transmission of external information, realizes man-machine interaction, and the device's cylinder 13 and motor 19 all insert current control system and control.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a can walk robot on glass, includes the robot body, its characterized in that: the robot comprises a robot body, a camera (1) and a display screen (2) are mounted on the top end of the shell (4), the surface of the shell (4) is connected with a damping ring (3) through a damper (22), a damping spring (23) is mounted inside the damper (22), the base (5) is mounted at the bottom end of the shell (4), a pressing plate (15) is arranged inside the base (5), the brush (6) is bonded at the bottom end of the pressing plate (15), a boosting spring (24) is mounted at the top end of the pressing plate (15), the movable plate (12) is mounted at the bottom end of the base (5), a support column (11) and an air cylinder (13) are mounted at the top end of the movable plate (12), the top of cylinder (13) is passed through trachea (8) and is linked to each other with sucking disc (7), connecting rod (9) are equipped with in the centre on the top of sucking disc (7), the tail end of connecting rod (9) is provided with fly leaf (14), motor (19) are installed to the one end of removing plate (12), the one end and the axis of rotation (21) of motor (19) link to each other, the surperficial cover of axis of rotation (21) is equipped with driving gear (18), driving gear (18) and driven gear (20) mesh mutually, the surface at transmission shaft (17) is established in driven gear (20) cover, the both ends of transmission shaft (17) all are provided with right angle folding rod (16), stopper (10) are installed to right angle folding rod (16) one end.
2. A robot walking on glass as claimed in claim 1, wherein: trachea (8) have run through the intermediate position of sucking disc (7), the terminal surface of trachea (8) flushes mutually with the bottom surface of sucking disc (7).
3. A robot walking on glass as claimed in claim 1, wherein: one side of the movable plate (14) is attached to one side of the limiting block (10), and the other side of the movable plate (14) is attached to the side edge of the movable plate (12).
4. A robot walking on glass as claimed in claim 1, wherein: the bottom end of the strut (11) is fixed on the surface of the movable plate (12) through screws, and the top end of the strut (11) is connected and fixed with the shell (4).
5. A robot walking on glass as claimed in claim 1, wherein: the driving gear (18) and the driven gear (20) are respectively provided with 2 gears, and the sizes of the driving gear and the driven gear are the same.
6. A robot walking on glass as claimed in claim 1, wherein: the tail end of the rotating shaft (21) is provided with a bearing, and the rotating shaft (21) is embedded in one end of the movable plate (12) through the bearing.
7. A robot walking on glass as claimed in claim 1, wherein: the right-angle folding rod (16) penetrates through the side edge of the movable plate (12) and the interior of the movable plate (14) in sequence.
8. A robot walking on glass as claimed in claim 1, wherein: the damping rings (3) are provided with 2, and 8 groups of dampers (22) are arranged in each damping ring (3).
9. A robot walking on glass as claimed in claim 1, wherein: the pressing plate (15) and the hairbrush (6) are integrally of an annular structure, and the edge of the pressing plate (15) is attached to the inner wall of the base (5).
10. A robot walking on glass as claimed in claim 1, wherein: the top end of the pressurizing spring (24) is fixedly connected with the inner wall of the base (5), and the bottom end of the pressurizing spring (24) is connected with the top of the pressing plate (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110212338.3A CN112842151A (en) | 2021-02-25 | 2021-02-25 | Robot capable of walking on glass |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110212338.3A CN112842151A (en) | 2021-02-25 | 2021-02-25 | Robot capable of walking on glass |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112842151A true CN112842151A (en) | 2021-05-28 |
Family
ID=75991386
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110212338.3A Withdrawn CN112842151A (en) | 2021-02-25 | 2021-02-25 | Robot capable of walking on glass |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112842151A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204445673U (en) * | 2015-03-26 | 2015-07-08 | 滨州学院 | One climbs wall cleaning device automatically |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| CN107669218A (en) * | 2017-11-09 | 2018-02-09 | 嘉兴南洋职业技术学院 | Altitude cleaning machine |
| WO2018086090A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Smart floor-sweeping robot for uneven floor |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN108903817A (en) * | 2018-06-28 | 2018-11-30 | 廖志敏 | Floor brush for floor sweeping robot |
| CN208601557U (en) * | 2018-06-26 | 2019-03-15 | 山东湖西王集团铸业有限公司 | A kind of intelligent robot anticollision mechanism |
| CN111493764A (en) * | 2020-04-26 | 2020-08-07 | 郭钊鑫 | Automatic cleaning robot for bathroom wall |
| CN112056982A (en) * | 2020-09-29 | 2020-12-11 | 长安大学 | Small household window cleaning device and control method thereof |
-
2021
- 2021-02-25 CN CN202110212338.3A patent/CN112842151A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204445673U (en) * | 2015-03-26 | 2015-07-08 | 滨州学院 | One climbs wall cleaning device automatically |
| CN105534392A (en) * | 2015-12-16 | 2016-05-04 | 上海大学 | Walking-type glass-curtain-wall cleaning robot |
| WO2018086090A1 (en) * | 2016-11-14 | 2018-05-17 | 钟玲珑 | Smart floor-sweeping robot for uneven floor |
| CN107669218A (en) * | 2017-11-09 | 2018-02-09 | 嘉兴南洋职业技术学院 | Altitude cleaning machine |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN208601557U (en) * | 2018-06-26 | 2019-03-15 | 山东湖西王集团铸业有限公司 | A kind of intelligent robot anticollision mechanism |
| CN108903817A (en) * | 2018-06-28 | 2018-11-30 | 廖志敏 | Floor brush for floor sweeping robot |
| CN111493764A (en) * | 2020-04-26 | 2020-08-07 | 郭钊鑫 | Automatic cleaning robot for bathroom wall |
| CN112056982A (en) * | 2020-09-29 | 2020-12-11 | 长安大学 | Small household window cleaning device and control method thereof |
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| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20210528 |
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| WW01 | Invention patent application withdrawn after publication |