CN113647862A - Cleaning robot and cleaning method - Google Patents
Cleaning robot and cleaning method Download PDFInfo
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- CN113647862A CN113647862A CN202110838302.6A CN202110838302A CN113647862A CN 113647862 A CN113647862 A CN 113647862A CN 202110838302 A CN202110838302 A CN 202110838302A CN 113647862 A CN113647862 A CN 113647862A
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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
- A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
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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
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
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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
- A47L11/4002—Installations of electric equipment
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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
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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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
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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
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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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
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
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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
- A47L11/4072—Arrangement of castors or wheels
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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
- A47L11/4094—Accessories to be used in combination with conventional vacuum-cleaning devices
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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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
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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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
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a cleaning robot and a cleaning method, and belongs to the technical field of automation. The device comprises a chassis, an adsorption module, a moving module, a cleaning module and a safety mechanism, wherein the chassis is provided with a control module and a through hole is formed in the middle of the chassis, during work, the two chassis are placed on two surfaces of glass in a mirror image mode, the adsorption module is arranged on the chassis to enable the two groups of chassis to attract each other, synchronous motion is achieved on the two surfaces of the glass, the moving module is arranged on the chassis and controlled by the control module, the moving module controls the chassis to move on the surface of the glass, the cleaning module cleans the surface of the glass and adsorbs dust on the surface of the glass through the through hole in the chassis, and the safety mechanism is connected with the two chassis. The cleaning robot disclosed by the invention synchronously cleans two surfaces of glass in a high-rise office place by utilizing a mirror image structure, and the two mirror image robots are mutually adsorbed on the glass by adopting the characteristic that electromagnet assemblies attract each other, so that a moving module of the cleaning robot is controlled, and the flexible work of the cleaning robot is realized.
Description
Technical Field
The invention belongs to the technical field of automation, and particularly relates to a cleaning robot and a cleaning method.
Background
Along with the progress of society and the development of economy, high buildings in cities are pulled out and show a higher trend. Glass is widely applied to office buildings because of light weight, transparency and beauty, but dust in air, dust carried in rainwater and the like gradually attach to the glass of buildings, so that the beauty of office places of people is affected, at present, the cleaning of curtain walls of the glass is mainly finished in a manual mode, namely, after a cleaner is hung to a building from a roof, the surface of the glass is cleaned manually by the cleaner, the mode has the problems of low cleaning efficiency, large danger coefficient and the like in the whole process, the cleaning cost is high, meanwhile, modern office place properties are not provided with the integral cleaning service, more floors of companies are cleaned by themselves, at present, some glass capable of self-cleaning and robots capable of automatically cleaning glass curtain walls are appeared on the market, and the robots can be adsorbed on the glass to clean the surface of the glass, the air pressure type is adopted to more absorption mode, this accuracy when causing the robot to need higher control system and control, adopt the absorptive mode of vapour-pressure type simultaneously, the mobility of this kind of robot is not high, application scope is limited, modern building is at present in order to completely cut off the noisy sound near the high building simultaneously, most commercial buildings are not adopting the curtain wall formula, more adopt the latticed installation between the floor, firstly, strengthen the convenience of installation and replacement, secondly, in order to open glass at any time, carry out the inside and outside exchange of air, the glass area of this kind of office space is less, and is large in quantity, the surface clearance of this kind of glass is still troublesome.
Disclosure of Invention
The present invention provides a cleaning robot and a cleaning method for solving the technical problems in the background art.
The invention adopts the following technical scheme: a cleaning robot for simultaneously cleaning both surfaces of a glass, comprising:
at least two groups of base plates which are attached to two surfaces of the glass in a mirror image manner; a through hole is formed in the center of the chassis;
the adsorption module is arranged on the adsorption surface of the chassis; the adsorption module is arranged to provide mutually adsorbed acting force for the two groups of chassis;
the moving module is arranged on the adsorption surface of the chassis; the moving module is arranged to drive the chassis to move on the glass surface;
the cleaning module is arranged in the middle of the adsorption surface of the chassis; the cleaning module is configured to clean dust and adsorb the dust from the through hole of the chassis to a dust collecting place of the cleaning module.
Through above-mentioned technical scheme, cleaning machines people during operation, two chassis are placed in two faces of glass, and the adsorption module is adjusted well automatically under electromagnet assembly's correction, and control module synchronous control removes the module and removes on the glass surface, and the cleaning module cleans the glass surface and adsorbs the dust on glass surface through the through-hole on chassis.
In a further embodiment, the sorption module comprises:
the adsorption module includes:
a plurality of first mounting members mounted at an edge groove of the chassis;
the electromagnet assembly is arranged on the adsorption surface of the chassis through the first mounting piece; the electromagnet assemblies attracted to each other on the two groups of chassis are opposite in magnetism.
Through above-mentioned technical scheme, the mutual appeal of two robots is strengthened to multiunit electromagnet assembly, and a plurality of electromagnet assembly components are simultaneously on the chassis, and under the effect of electromagnet assembly magnetic force, the position of two robots is definite relatively, when the motion of mirror image robot, also can correct automatically.
In a further embodiment, the electromagnet assembly is arranged in an annular shape, and an annular insulating sleeve is sleeved outside the electromagnet assembly; the interior of the annular insulating sleeve is of a hollow structure, and a universal wheel is elastically mounted at the hollow structure.
Through above-mentioned technical scheme, will correspond the appeal between the electromagnet assembly and convert the pressure to the universal wheel for electromagnet assembly direct contact glass surface not, converts the universal wheel direct contact glass surface into, and the universal wheel can realize the flexibility that the robot removed simultaneously
In a further embodiment, the device further comprises an arc baffle arranged on the outer ring of the insulation sleeve, and a plurality of guide wheels arranged on the arc baffle.
Through the technical scheme, the metal outer frame for glass installation is controlled to be away from the electromagnet assembly by a preset distance, so that the cleaning robot continues to move forward to perform cleaning work.
In a further embodiment, the moving module comprises:
the first power wheel is arranged on the adsorption surface of the chassis;
the deflection assembly is arranged on the adsorption surface on the base plate; the deflection assembly is used for deflecting the traveling direction of the robot;
the control module is arranged on the chassis; the control module is used for receiving signals to control the deflection assembly.
Through the technical scheme, the cleaning robot is provided with the power assembly and the deflection assembly and is used for advancing and steering of the robot.
In a further embodiment, the deflection assembly comprises:
the mounting plate is arranged on the adsorption surface of the chassis;
a deflection wheel rotatably mounted on the mounting plate;
the rotating gear is arranged at the other end of the deflection wheel, which is provided with the rotating shaft, and drives the deflection wheel to rotate;
the positioning gear is fixedly arranged on the mounting plate and is positioned on the same straight line with the rotating gear;
the rail is arranged on the mounting plate;
a sliding rack disposed between the rail and the rotating gear; the sliding tooth path is respectively meshed with the rotating gear and the positioning gear;
the power gear is arranged in the middle of the mounting plate; the power gear drives the sliding tooth track to do linear motion, so that the rotating gear rotates by a preset angle, and the deflection wheel is driven to deflect.
Through above-mentioned technical scheme, the subassembly that deflects turns to, prevents that the robot card from dying in barrier department.
In a further embodiment, an infrared sensor is further arranged on the mounting plate and used for measuring the distance of the obstacle in the advancing direction of the robot and transmitting data to the control module.
Through above-mentioned technical scheme, control that turns to is carried out the robot before the distance that predetermines apart from the barrier, prevents that the robot can't turn to because of self structure in barrier department.
In a further embodiment, the cleaning module comprises:
the rotating disc is arranged in the middle of the adsorption surface of the base plate and rotates; a through hole is formed in the middle of the rotating disc;
the brush is arranged on the rotating disc;
the dust collection component is arranged on the other surface of the chassis; the dust suction port of the dust suction component is arranged at the through hole of the rotary base plate and is used for sucking dust raised by the brush.
Through above-mentioned technical scheme, rotatory through the rolling disc, the brush is clean glass surface many times, is utilizing dust absorption component to adsorb the dust of raising, only needs the dust absorption component of less size and less power can be in order to realize the clear effect of dust absorption.
In a further embodiment, the safety mechanism comprises:
the rope sleeve is arranged on the chassis;
a cord wound around the cord sleeve; the rope sleeve is used for winding and unwinding the rope.
Through above-mentioned technical scheme, through rope protection robot, prevent that the robot from dropping to ground.
In a further embodiment, the method comprises the following steps:
the method comprises the following steps: the two synchronous cleaning robots are correspondingly placed on two sides of the glass, the moving module is controlled to be static under the mutual attraction of the electromagnet assemblies, the first power wheel is static, and the two synchronous cleaning robots are fixed on the glass;
step two: starting a moving module of the cleaning robot, enabling the two synchronous cleaning robots to synchronously advance, rotating a hairbrush in the cleaning module, brushing the surface of glass, and adsorbing raised dust by an adsorption component;
step three: when meeting the barrier, the infrared sensor measures the distance from the infrared sensor to the barrier, and sends data to the control module to deflect the cleaning direction of the robot in time.
The invention has the beneficial effects that: synchronously cleaning two surfaces of glass in a high-rise office place by using a cleaning robot with a mirror image structure; the cleaning robot has the advantages that the electromagnet assemblies are attracted in opposite polarities, the two mirror image robots are adsorbed on glass, the moving modules of the cleaning robot are controlled, and flexible work of the cleaning robot is achieved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic diagram of the overall mirror structure of the present invention.
Fig. 3 is a partial structural schematic diagram of an electromagnet assembly of the present invention.
Fig. 4 is a schematic view of the structure of the deflecting mechanism of the present invention.
Fig. 5 is a schematic diagram of the movement control principle of the present invention.
Each of fig. 1 to 5 is labeled as: the cleaning device comprises a chassis 1, an adsorption module 2, a first mounting part 21, an electromagnet assembly 23, an insulation sleeve 24, a universal wheel 25, an arc-shaped baffle 26, a guide wheel 27, a moving module 3, a first power wheel 31, a deflection assembly 32, a mounting plate 321, a deflection wheel 322, a rotating gear 323, a positioning gear 324, a track 325, a sliding tooth path 326, a power gear 327, a cleaning module 4, a rotating disc 41, a hairbrush 42, a dust collection assembly 43, a dust collection port 431, a safety mechanism, a rope sleeve 51, a rope 52, a control module 6 and an infrared sensor 7.
Detailed Description
Some glass capable of self-cleaning is available on the market, the glass is troublesome to mount and needs to provide power, the maintenance cost is high, the glass is not suitable for modern commercial buildings, and some robots for cleaning glass are provided, the robots often adopt a mode of adsorbing on glass to clean the surface of glass, the maneuverability is low, the application range is limited, the modern buildings are not in curtain wall type structures at present for isolating noisy sound near high buildings and reducing light pollution, more than most commercial buildings adopt grid type mounting between floors, the convenience of mounting and replacement is enhanced, the glass is opened at any time for exchanging air inside and outside the office, the glass area of the office is small, meanwhile, the mounting frame of the glass limits the moving range of the robot, and the air pressure adsorption type robot on the market cannot span the metal frames, thus, the range of applicability is limited, and most companies need a limited amount of glass to clean in view of their own needs in commercial buildings.
The cleaning robot in the embodiment is composed of two mirror image robots, and is used for synchronously cleaning two surfaces of glass, namely two groups of chassis 1 are arranged, the surface contacting with the glass is an adsorption surface, and the chassis 1 is used as an installation frame for installing other parts of the cleaning robot, the strength of the glass used in office at present is generally higher and is mostly toughened glass, in order to enable the two mirror image robots to be synchronously adsorbed on two sides of the glass, the electromagnet assemblies 23 are adopted for adsorption work, the two corresponding groups of electromagnet assemblies 23 are respectively adjusted to be N, S poles, compared with the conventional control pressure intensity for adsorption, the magnetism of the electromagnet assemblies 23 is easy to control, the adsorption of the cleaning robot is more firm, meanwhile, the attraction of opposite magnetic poles of the electromagnets is easy to align to the initial synchronous position by the two mirror image robots, during work, the two chassis 1 are placed on two surfaces of the glass, adsorption module 2 is under electromagnet assembly 23's correction, carry out automatic adjusting well, two mirror image robots of 6 synchro control on two chassis 1 move and turn to on the glass surface, cleaning module 4 cleans the glass surface and adsorbs the dust on glass surface through the through-hole on chassis 1, consider the trouble or other problem of robot itself, still be equipped with safety mechanism between two mirror image robots, utilize connecting pieces such as rope 52 to connect two mirror image robots, take place to drop when preventing the robot trouble, especially the robot in the glass outside of clean high building office or laboratory.
Based on the structure, in order to enable the two mirror image robots to be adsorbed on the glass, the initial placement positions are determined and corrected, and the positions of the two mirror image robots during movement are corrected, so that large deviation is prevented, in a further embodiment, the first installation part 21 is installed at the edge groove of the chassis 1 and used for installing the electromagnet assemblies 23, the other part adsorption modules 2 are arranged into a plurality of groups of electromagnet assemblies 23, so that the mutual attraction force of the two robots is enhanced, meanwhile, the electromagnet assemblies 23 are distributed on the chassis 1, the positions of the two robots are relatively determined under the action of the magnetic force of the electromagnet assemblies 23, and under the synchronous control of the control module 6, the positions of the two mirror image robots on two sides of the glass during movement are further automatically corrected.
Based on the above structure, the electromagnet assemblies 23 on both sides of the glass are adsorbed on the glass surface under the conventional condition, and once the electromagnet assemblies 23 are adsorbed on the glass surface, the normal running of the cleaning robot can be influenced, a large load is generated on the motor on the moving module 3, and the motor is damaged, in a further embodiment, the electromagnet assemblies 23 are adsorbed in a spaced mode, the electromagnet assemblies 23 are arranged to be annular, the annular insulating sleeve 24 arranged on the outer sides of the electromagnet assemblies 23 corresponding to the shape of the electromagnet is provided, the second mounting plate 321 is arranged in the hollow position in the insulating sleeve 24, the universal wheels 25 are elastically mounted, the attraction force between the corresponding electromagnet assemblies 23 is converted into the pressure on the universal wheels 25, so that the electromagnet assemblies 23 do not directly contact with the glass surface, and meanwhile, the universal wheels 25 can realize the flexibility of the robot moving.
Furthermore, the annular insulating external member 24 shields the interference signal generated by the electromagnet assembly 23, so that the interference on the control system in the cleaning robot is reduced, meanwhile, the universal wheel assemblies elastically arranged in the annular insulating external member 24 are detachable, and after the universal wheel assemblies are detached, the power supply of the electromagnet assembly 23 is turned off, so that the function of the daily floor cleaning robot can be realized, and the dual-purpose function of an office place is realized.
Based on the structure, the existing glass is often installed on a metal frame, when the cleaning robot provided by the invention travels at the edge, the electromagnet assembly 23 is easily attached to the metal frame around the glass, in a further embodiment, an arc-shaped baffle 26 is further arranged on the outer side of the insulation sleeve 24, the arc-shaped baffle 26 is elastically connected to the insulation sleeve 24, a plurality of guide wheels 27 are further arranged on the arc-shaped baffle 26, when the cleaning robot travels close to a metal workpiece of this type, the robot may impact the workpiece, the elastic connection plays a role in buffering, components inside the robot are prevented from falling off, the guide wheels 27 enable the robot to roll along the metal workpiece, the metal workpiece is controlled to be away from the electromagnet assembly 23 by a preset distance, and the cleaning robot continues to advance to perform cleaning work.
Based on the above structure, in order to make the two mirror image robots freely move and stand still on the glass surface, in a further embodiment, a moving module 3 is provided, a first power wheel 31 is provided on the adsorption surface of the chassis 1 and is a moving power wheel of the robot, a material with a large friction coefficient such as rubber is provided outside the first power wheel 31, or the material of the first power wheel 31 is such a material with a large friction coefficient, the control module 6 controls the advancing and retreating or the standing of the first power wheel 31, the first power wheel 31 is preferably made of rubber, and the first power wheel 31 adopts a wide-face wheel face design to increase the contact area with the glass for enhancing the friction force with the glass surface, when the cleaning robot advances, the first power wheel 31 drives the cleaning robot to advance, when the cleaning robot stands still, the cleaning robot is controlled to hover on the glass surface by the static friction force between the first power wheel 31 and the glass, the deflection assembly 32 is arranged on the advancing direction of the chassis 1 and used for deflecting the advancing direction of the robot, a plurality of components are installed through the installation plate 321, when the cleaning robot needs to deflect, the control module 6 controls the power supply motor to enable the power gear 327 to rotate by a preset angle, the power gear 327 drives the sliding tooth track 326 to slide by a preset distance along the track 325, the rotating gear 323 rotates by a preset angle, and accordingly the deflection wheel 322 is driven to deflect, the robot is turned, the positioning gear 324 is fixedly installed on the installation plate 321 and is located on the same straight line with the rotating gear 323 and used for positioning the sliding tooth track 326 and preventing the sliding tooth track 326 from being locally extruded.
Based on the above structure, when the cleaning robot encounters an obstacle in the traveling direction and needs to deflect, data of the obstacle in the distance direction needs to be fed back to the control module 6 before the cleaning robot collides with the obstacle.
Based on above-mentioned structure, when cleaning the glass surface, consider actual conditions, when adopting the chemical reagent cleanness, the cost is higher, simultaneously the load of robot is great, the current high altitude glass cleanness is always the attached to of dust, the place that needs chemical detergent is less, select for this reason the mode of physics for use to clean, in further embodiment, cleaning module 4 sets up to cavity brush 42, it is rotatory through rolling disc 41, brush 42 is clean the glass surface many times, utilize dust absorption subassembly 43 to adsorb the dust of kicking up, dust absorption subassembly 43's dust absorption mouth 431 sets up the through-hole department in rolling disc 1, only need the dust absorption subassembly 43 of less size and less power can realize the effect of dust absorption, reach the cleanness to the inside and outside surface of glass.
Based on the structure, a plurality of cleaning robots need protective measures when cleaning high-altitude objects, the cleaning robots work for a long time, have sudden problem faults and are high in cost, in a further embodiment, two mirror image robots are considered to be adsorbed on two sides of glass, once the two cleaning robots fall down, the two cleaning robots fall down at the same time, therefore, the chassis 1 is provided with the rope sleeve 51, and the rope 52 is connected with the two rope sleeves 51, so that the protective measures for the cleaning robots are achieved.
The working principle is as follows: firstly, two mirror image parts of a cleaning robot are symmetrically placed on glass, under the attraction of opposite magnetic poles of an electromagnet assembly 23 in an adsorption module 2, the two mirror image robots are mutually adsorbed on the surface of the glass, at the moment, the electromagnet assemblies 23 are mutually attracted, an external insulation sleeve 24 enables the attraction between the two electromagnet assemblies 23 to be changed into the pressure on a universal wheel 25, the universal wheel 25 is pressed on the surface of the glass, a cleaning module 4 works, a rotating disc 41 rotates, a brush 42 cleans the surface of the glass for multiple times, a dust suction assembly 43 adsorbs raised dust, a dust suction port 431 of the dust suction assembly 43 is arranged at a through hole of a rotating chassis 1, a control module 6 controls the robot to move, a first power wheel 31 is a power wheel for the robot to move, when the robot needs to deflect when encountering obstacles, an infrared sensor 7 measures the distance of the obstacles in the advancing direction of the robot and transmits data to the control module 6, the robot is steered before a preset distance from an obstacle, the control module 6 controls the power supply motor to enable the power gear 327 to rotate by a preset angle, the power gear 327 drives the sliding toothed track 326 to slide by the preset distance along the track 325, the rotating gear 323 rotates by the preset angle, and therefore the deflection wheel 322 is driven to deflect, and the robot works away from the obstacle.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (10)
1. A cleaning robot for simultaneously cleaning both surfaces of a glass, comprising:
at least two groups of base plates which are attached to two surfaces of the glass in a mirror image manner; a through hole is formed in the center of the chassis;
the adsorption module is arranged on the adsorption surface of the chassis; the adsorption module is arranged to provide mutually adsorbed acting force for the two groups of chassis;
the moving module is arranged on the adsorption surface of the chassis; the moving module is arranged to drive the chassis to move on the glass surface;
the cleaning module is arranged in the middle of the adsorption surface of the chassis; the cleaning module is configured to clean dust and adsorb the dust from the through hole of the chassis to a dust collecting place of the cleaning module.
2. The cleaning robot as claimed in claim 1, wherein the adsorption module comprises:
a plurality of first mounting members mounted at an edge groove of the chassis;
the electromagnet assembly is arranged on the adsorption surface of the chassis through the first mounting piece; the electromagnet assemblies attracted to each other on the two groups of chassis are opposite in magnetism.
3. The cleaning robot as claimed in claim 2, wherein the electromagnet assembly is ring-shaped, and a ring-shaped insulating sleeve is sleeved outside the electromagnet assembly; the interior of the annular insulating sleeve is of a hollow structure, and a universal wheel is elastically mounted at the hollow structure.
4. The cleaning robot as claimed in claim 3, further comprising a curved baffle disposed at an outer periphery of the insulation sleeve, and a plurality of guide wheels disposed on the curved baffle.
5. The cleaning robot of claim 1, wherein the movement module comprises:
the first power wheel is arranged on the adsorption surface of the chassis;
the deflection assembly is arranged on the adsorption surface on the base plate; the deflection assembly is used for deflecting the traveling direction of the robot;
the control module is arranged on the chassis; the control module is used for receiving signals to control the deflection assembly.
6. The cleaning robot of claim 5, wherein the deflection assembly comprises:
the mounting plate is arranged on the adsorption surface of the chassis;
a deflection wheel rotatably mounted on the mounting plate;
the rotating gear is arranged at the other end of the deflection wheel, which is provided with the rotating shaft, and drives the deflection wheel to rotate;
the positioning gear is fixedly arranged on the mounting plate and is positioned on the same straight line with the rotating gear;
the rail is arranged on the mounting plate;
a sliding rack disposed between the rail and the rotating gear; the sliding tooth path is respectively meshed with the rotating gear and the positioning gear;
the power gear is arranged in the middle of the mounting plate; the power gear drives the sliding tooth track to do linear motion, so that the rotating gear rotates by a preset angle, and the deflection wheel is driven to deflect.
7. A cleaning robot as claimed in claim 6, wherein the mounting plate is further provided with an infrared sensor for measuring the distance to obstacles in the direction of travel of the robot and transmitting data to the control module.
8. The cleaning robot of claim 1, wherein the cleaning module comprises:
the rotating disc is arranged in the middle of the adsorption surface of the base plate and rotates; a through hole is formed in the middle of the rotating disc;
the brush is arranged on the rotating disc;
the dust collection component is arranged on the other surface of the chassis; the dust suction port of the dust suction component is arranged at the through hole of the rotary base plate and is used for sucking dust raised by the brush.
9. The cleaning robot as claimed in claim 1, further comprising a rope cover provided on the chassis, and a rope wound around the rope cover.
10. A cleaning method based on the cleaning robot of any one of claims 1 to 8, characterized by comprising the steps of:
the method comprises the following steps: the two synchronous cleaning robots are correspondingly placed on two sides of the glass, the moving module is controlled to be static under the mutual attraction of the electromagnet assemblies, the first power wheel is static, and the two synchronous cleaning robots are fixed on the glass;
step two: starting a moving module of the cleaning robot, enabling the two synchronous cleaning robots to synchronously advance, rotating a hairbrush in the cleaning module, brushing the surface of glass, and adsorbing raised dust by an adsorption component;
step three: when meeting the barrier, the infrared sensor measures the distance from the infrared sensor to the barrier, and sends data to the control module to deflect the cleaning direction of the robot in time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110838302.6A CN113647862A (en) | 2021-07-23 | 2021-07-23 | Cleaning robot and cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110838302.6A CN113647862A (en) | 2021-07-23 | 2021-07-23 | Cleaning robot and cleaning method |
Publications (1)
| Publication Number | Publication Date |
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| CN113647862A true CN113647862A (en) | 2021-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110838302.6A Withdrawn CN113647862A (en) | 2021-07-23 | 2021-07-23 | Cleaning robot and cleaning method |
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| Country | Link |
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| CN (1) | CN113647862A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114576220A (en) * | 2022-03-07 | 2022-06-03 | 中国长江三峡集团有限公司 | Hydraulic oil tank |
-
2021
- 2021-07-23 CN CN202110838302.6A patent/CN113647862A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114576220A (en) * | 2022-03-07 | 2022-06-03 | 中国长江三峡集团有限公司 | Hydraulic oil tank |
| CN114576220B (en) * | 2022-03-07 | 2023-06-09 | 中国长江三峡集团有限公司 | Hydraulic oil tank |
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Application publication date: 20211116 |