CN202665433U - Glass cleaning robot - Google Patents
Glass cleaning robot Download PDFInfo
- Publication number
- CN202665433U CN202665433U CN 201220307276 CN201220307276U CN202665433U CN 202665433 U CN202665433 U CN 202665433U CN 201220307276 CN201220307276 CN 201220307276 CN 201220307276 U CN201220307276 U CN 201220307276U CN 202665433 U CN202665433 U CN 202665433U
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- Prior art keywords
- glass
- dust removing
- cleaning robot
- removing units
- vacuum chuck
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Abstract
The utility model relates to a glass cleaning robot. The glass cleaning robot comprises a machine body (1) and a pair of adsorption turntables (3) which can be rotatablely arranged at two ends of the bottom of the machine body, wherein a control unit, a driving unit and a first cleaning unit (2) are arranged on the machine body; the driving unit is connected with the adsorption turntables through the control unit; the control unit respectively controls the magnitude and direction of power output on the two adsorption turntables, and drives the two adsorption turntables to rotate or keep still by centering on a vertical shaft which is vertical to a glass surface, so that the two adsorption turntables at the two ends generate rotating speed differences to realize movement of the glass cleaning robot; and corner dust removal units (4) can be rotatablely arranged between the machine body and the adsorption turntables, at least part of the edge of each corner dust removal unit protrudes out of the outer edge of each adsorption turntable to form a dust removal part, and the shape of the outer edge of each dust removal part corresponds to the contour of a corner to be subjected to dust removal. The glass cleaning robot is simple in structure, flexible in movement and strong in controllability, and can effectively finish dust removal and cleaning of each corner.
Description
Technical field
The utility model relates to a kind of glass-cleaning robot, belongs to family expenses small electric apparatus manufacturing technology field.
Background technology
The effect of cleaning glass is played on positive and negative two planes of the rag wiped clean glass that existing glass-cleaning robot normally compresses by the magnet that mutually adsorbed.Glass-cleaning robot all is mutually to adsorb by active machine, driven machine on the market at present, and machine is clamped in the glass both sides, and utilization is clipped in machine and the middle rag cleaning glass surface of glass.Although this design is positive and negative two planes of cleaning glass simultaneously, and is higher to the requirement of magnet, and restricted to the working environment of machine, if on one side glass has barrier, initiatively machine and driven machine just are easy to misplace and cause falling.And this structure also has certain requirement to the thickness of glass, and when the thickness of glass surpassed certain limit, this machine just can't use.Simultaneously, when using machine, need bimanualness, incite somebody to action simultaneously the positive and negative both sides that active machine and driven machine are placed on glass, it is not too convenient to use, particularly operation under high altitude environment, and the people is bimanualness, inconvenience is also more dangerous.In addition, glass-cleaning robot is considered the reason that need return behind the machine welt on the market at present, the end of machine all is designed to circular arc, with the rotation that makes things convenient for body with return, and the result that such design causes be exactly frame glass the corner wiping less than, thereby staying the dead angle, machine can not be brought into play the effect of its cleaning glass fully.
The utility model content
Technical problem to be solved in the utility model is for the deficiencies in the prior art, and a kind of glass-cleaning robot is provided, and is simple in structure, and motion is flexible, and highly sensitive, controllability is strong, effectively finishes dedusting and cleaning to each corner.
Technical problem to be solved of the present utility model is achieved by the following technical solution:
A kind of glass-cleaning robot, comprise body, body is provided with control module, driver element and the first cleaning unit, described glass-cleaning robot also comprises the rotatable a pair of vacuum chuck turntable that is arranged on the organism bottom two ends, driver element links to each other with described vacuum chuck turntable by control module, described control module is controlled respectively the size and Orientation that power is exported at two vacuum chuck turntables, drive the rotation or static centered by perpendicular to the vertical axes of glass surface of described a pair of vacuum chuck turntable, the a pair of vacuum chuck turntable at control two ends alternately forms speed end and low speed end, perhaps speed end and stationary end, by both speed discrepancies, realize the walking of glass-cleaning robot; Wherein, the rotatable corner dust removing units that is provided with between described body and the vacuum chuck turntable, the at least part of outer rim that protrudes from described vacuum chuck turntable in the edge of described corner dust removing units forms dedusting section, the outer rim shape and the corner contour correspondence setting for the treatment of dedusting of described dedusting section.
Also be provided with resetting-mechanism in order to make between described corner dust removing units and the described body, this resetting-mechanism is reset tension spring, is connected to described corner dust removing units near on the medial extremity and body of body.
To the cleaning in the glass right angle frame, described dedusting section forms straight ends on the plane parallel with the direction of motion of glass-cleaning robot for convenient.
As required, offset with described body both sides after described corner dust removing units rotates to an angle, the scope of described certain angle is 0 ° ~ 90 °.
Rotate and saving space, described vacuum chuck turntable and the coaxial setting of described corner dust removing units for convenient.
Specifically, described vacuum chuck turntable connects body by its rotating drive shaft, and described corner dust removing units is sheathed on the described rotating drive shaft.
Also be provided with the fixed mechanism that is sheathed on described rotating drive shaft between described vacuum chuck turntable and the described body, described vacuum chuck turntable links to each other with fixed mechanism by bolt, and described corner dust removing units is sheathed on the described rotating drive shaft by described fixed mechanism.
Described corner dust removing units is located on the described fixed mechanism by bearing holder (housing, cover), and described corner dust removing units connects described bearing by cover plate, and described cover plate and described corner dust removing units are bolted to connection.
For the ease of installing, described vacuum chuck turntable comprises support and sucker, and described sucker is the flexible glue sucker of annular, and described support is provided with groove, and described flexible glue sucker is embedded in groove by elastic washer locates.
For effective dedusting is carried out in the corner, described corner dust removing units comprises corner dust removing units support and the second cleaning unit, described corner dust removing units support is connected in body by rotating drive shaft, and described the second cleaning unit is connected and fixed on the edge that described corner dust removing units support protrudes from described vacuum chuck turntable.
In sum, simple in structure, motion is flexible, and highly sensitive, controllability is strong, effectively finishes dedusting and cleaning to each corner.
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in detail.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present utility model;
Fig. 2 is the upward view of Fig. 1;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the utility model partial structurtes schematic diagrames;
Fig. 5 is the profile of Fig. 4;
Fig. 6, Fig. 7 and Fig. 8 are respectively the structural representation that the utility model glass-cleaning robot is in the different operating state.
The specific embodiment
Fig. 1 is overall structure schematic diagram of the present utility model; Fig. 2 is the upward view of Fig. 1; Fig. 3 is the top view of Fig. 1; Fig. 4 is the utility model partial structurtes schematic diagrames; Fig. 5 is the profile of Fig. 4.Extremely shown in Figure 5 in conjunction with Fig. 1, the utility model provides a kind of glass-cleaning robot, comprise body 1, body 1 is provided with control module, driver element (not shown) and the first cleaning unit 2, described glass-cleaning robot also comprises the rotatable a pair of vacuum chuck turntable 3 that is arranged on two ends, body 1 bottom, driver element links to each other with described vacuum chuck turntable 3 by control module, described control module is controlled respectively power at the size and Orientation of two vacuum chuck turntables, 3 outputs, drive the rotation or static centered by perpendicular to the vertical axes of glass surface of described a pair of vacuum chuck turntable 3, the a pair of vacuum chuck turntable 3 at control two ends alternately forms speed end and low speed end, perhaps speed end and stationary end, by both speed discrepancies, realize the walking of glass-cleaning robot.Wherein, the rotatable corner dust removing units 4 that is provided with between described body 1 and the vacuum chuck turntable 3, the at least part of outer rim that protrudes from described vacuum chuck turntable 3 in the edge of described corner dust removing units 4, form dedusting section 41, in conjunction with Fig. 2 and shown in Figure 3, to the cleaning in the glass right angle frame, described dedusting section 41 forms straight ends on the plane parallel with the direction of motion of glass-cleaning robot for convenient.Certainly, the outer rim shape of dedusting section 41 is not limited to straight ends, its shape should with the corner contour correspondence setting for the treatment of dedusting, can decide according to the shape of actual frame.But no matter be which kind of shape, all need both to be conducive to the walking of glass-cleaning robot, corner location can be cleaned out again.
As shown in Figure 3, for make corner dust removing units 4 twist with respect to body 1 after accurate return, also be provided with resetting-mechanism between described corner dust removing units 4 and the described body 1, this resetting-mechanism is reset tension spring 42, and the two ends of this reset tension spring 42 are connected to described corner dust removing units 4 near on the medial extremity and body 1 of body 1.
Such as Fig. 2 and in conjunction with shown in Figure 5, rotate and saving space, described vacuum chuck turntable 3 and the 4 coaxial settings of described corner dust removing units for convenient.Specifically, described vacuum chuck turntable 3 connects body 1 by its rotating drive shaft 31, and described corner dust removing units 4 is sheathed on the described rotating drive shaft 31.Also be provided with the fixed mechanism 45 that is sheathed on described rotating drive shaft 31 between described vacuum chuck turntable 3 and the described body 1, described vacuum chuck turntable 3 links to each other with fixed mechanism 45 by bolt, and described corner dust removing units 4 is sheathed on the described rotating drive shaft 31 by described fixed mechanism 45.Described corner dust removing units 4 is set on the described fixed mechanism 45 by bearing 42, and described corner dust removing units 4 connects described bearing by cover plate 43, and described cover plate 43 is bolted to connection with described corner dust removing units 4.As required, the both sides with described body 1 after described corner dust removing units 4 rotates to an angle offset, and the scope of described certain angle is 0 ° ~ 90 °.
Again in conjunction with shown in Figure 5, for the ease of installing, described vacuum chuck turntable 3 comprises support 33 and sucker 34, and described sucker 34 is the flexible glue sucker of annular, described support 33 is provided with the groove (not shown), and described flexible glue sucker is embedded in groove by elastic washer locates.For effective dedusting is carried out in the corner, described corner dust removing units 4 comprises corner dust removing units support 44 and the second cleaning unit 46, described corner dust removing units support 44 is connected in body 1 by its rotating shaft, and described the second cleaning unit 46 is connected and fixed on the edge that described corner dust removing units support 44 protrudes from described vacuum chuck turntable 3.
Below in conjunction with Fig. 1 and Fig. 2, overall structure and the motion mode of glass-cleaning robot provided by the utility model described.Specifically, body 1 both sides at this glass-cleaning robot are respectively equipped with vacuum chuck turntable 3, are provided with corner dust removing units 4 between body 1 and vacuum chuck turntable 3, and this corner dust removing units 4 is by fixed mechanism 45 rotatable being fixed on the rotating drive shaft 31.In the present embodiment, as shown in Figure 1, the body 1 of glass-cleaning robot is the shape of class T font, and along the direction of travel of glass-cleaning robot, the corner dust removing units 4 that is positioned at the below, T font two ends of body 1 is respectively symmetrical bending shape.The horizontal end of bending shape is by bearing 42 rotatable being fixed on the rotating drive shaft 31, the perpendicular end of bending shape then extends to the upper surface of vacuum chuck turntable 3 always from the lower surface at the T font two ends of body 1, be full of the space between body 1 and fixed mechanism 45 and the vacuum chuck turntable 3, and the edge of perpendicular end protrudes from the outer rim of vacuum chuck turntable 3, forms dedusting section 41.As shown in Figure 2, this dedusting section 41 forms straight ends on the plane parallel with the direction of motion of glass-cleaning robot.
Fig. 6 to Fig. 8 is respectively the working state schematic representation of the utility model glass-cleaning robot.Extremely shown in Figure 8 such as Fig. 6, glass-cleaning robot provided by the utility model is to realize like this walking: at first, glass-cleaning robot is placed on the glass surface, the vavuum pump of section of setting within it is started working, the sucker 34 that is arranged on the vacuum chuck turntable 3 that A holds and A ' holds is adsorbed on the glass surface simultaneously, and the absorption affinity of both sides size and suction type are identical.Control module is controlled respectively power at the size and Orientation of a pair of vacuum chuck turntable 3 outputs of A end and A ' end, drive the in turn rotation or static centered by perpendicular to the vertical axes of glass surface of a pair of described vacuum chuck turntable 3, make both alternately form speed end and low speed end or speed end and stationary end, by the alternately control to the rotating speed height of the vacuum chuck turntable 3 that is arranged on body 1 bottom, 1 twisting of rotating speed official post body, and then the freely walking of realization robot.
Such as Fig. 6 and in conjunction with shown in Figure 2, glass-cleaning robot is in the process of work, when its near the corner of frame L the time, because the rotation of body 1 is so that the A of glass-cleaning robot holds and one side of corner is close to, corner dust removing units 4 is centered by rotating drive shaft 31, be torqued into direction shown in Figure 6 from direction shown in Figure 2, making at this moment can be by the traveling priority of corner dust removing units 4 with respect to this frame L, and guarantee the normal rotation of body 1 with respect to the rotation of body 1 and be not subjected to the impact of frame L, so that corner dust removing units 4 can move to this corner, cleaning operation is carried out in the 46 pairs of corners of the second cleaning unit that are arranged on the support 44.
In conjunction with Fig. 7 and shown in Figure 8, when the body 1 of glass-cleaning robot is in lower time of state of welt work, can be by the rotation of corner dust removing units 4, make body 1 go back to from frame L easily, if set body 1 low speed this moment or an actionless end is afterbody, then this corner dust removing units 4 is unlikely to allow the afterbody dieback of body 1 on frame L, causes that glass-cleaning robot is stuck can't to be moved at frame L.In conjunction with shown in Figure 3, after glass-cleaning robot broke away from above-mentioned two kinds of duties, the extension spring 42 that is installed between corner dust removing units 4 and the body 1 can make this mechanism return to reset condition.
In sum, this glass-cleaning robot provided by the utility model need not the initiatively mutual absorption of machine and driven machine, can be fixed on glass surface in the situation of unit and carry out work only having.Simultaneously, this glass-cleaning robot provided by the utility model is lower to the requirement of working environment, can be at the cleaning operation that carries out on glass of any thickness, only by the alternately control to the rotating speed height of the vacuum chuck turntable that is arranged on organism bottom, by the twisting of rotating speed official post body, and then the freely walking of realization robot.Simultaneously, be arranged on the corner dust removing units on the body, so that designing also can turn round easily in the situation of welt in the rectangular situation, the glass-cleaning robot two ends return, and can be easily that the dust cleaning in window corner is clean, it is simple in structure, cost is low, and is highly sensitive, and controllability is strong and cleaning efficiency is high.
Claims (11)
1. glass-cleaning robot, comprise body (1), body is provided with control module, driver element and the first cleaning unit (2), it is characterized in that: described glass-cleaning robot also comprises the rotatable a pair of vacuum chuck turntable (3) that is arranged on the organism bottom two ends, driver element links to each other with described vacuum chuck turntable by control module, described control module is controlled respectively the size and Orientation that power is exported at two vacuum chuck turntables, drive the rotation or static centered by perpendicular to the vertical axes of glass surface of described a pair of vacuum chuck turntable, the a pair of vacuum chuck turntable at control two ends alternately forms speed end and low speed end, perhaps speed end and stationary end, by both speed discrepancies, realize the walking of glass-cleaning robot; Wherein, the rotatable corner dust removing units (4) that is provided with between described body (1) and the vacuum chuck turntable (3), the at least part of outer rim that protrudes from described vacuum chuck turntable in the edge of described corner dust removing units, form dedusting section (41), the outer rim shape and the corner contour correspondence setting for the treatment of dedusting of described dedusting section.
2. glass-cleaning robot as claimed in claim 1, it is characterized in that: also be provided with resetting-mechanism between described corner dust removing units (4) and the described body (1), this resetting-mechanism is reset tension spring (42), is connected to described corner dust removing units near on the medial extremity and body of body.
3. glass-cleaning robot as claimed in claim 1, it is characterized in that: described dedusting section (41) forms straight ends on the plane parallel with the direction of motion of glass-cleaning robot.
4. glass-cleaning robot as claimed in claim 1 is characterized in that: described vacuum chuck turntable (3) and the coaxial setting of described corner dust removing units (4).
5. glass-cleaning robot as claimed in claim 1 is characterized in that: offset with described body (1) both sides after described corner dust removing units (4) rotates to an angle.
6. glass-cleaning robot as claimed in claim 5, it is characterized in that: the scope of described certain angle is 0 ° ~ 90 °.
7. glass-cleaning robot as claimed in claim 4 is characterized in that: described vacuum chuck turntable (3) connects body (1) by its rotating drive shaft (31), and described corner dust removing units (4) is sheathed on the described rotating drive shaft (31).
8. glass-cleaning robot as claimed in claim 7, it is characterized in that: also be provided with the fixed mechanism (45) that is sheathed on described rotating drive shaft (31) between described vacuum chuck turntable (3) and the described body (1), described vacuum chuck turntable (3) links to each other with fixed mechanism (45) by bolt, and described corner dust removing units (4) is sheathed on the described rotating drive shaft (31) by described fixed mechanism (45).
9. glass-cleaning robot as claimed in claim 8, it is characterized in that: described corner dust removing units (4) is set on the described fixed mechanism (45) by bearing (42), described corner dust removing units (4) connects described bearing (42) by cover plate (43), and described cover plate (43) is bolted to connection with described corner dust removing units (4).
10. such as claim 1 or 9 described glass-cleaning robots, it is characterized in that: described vacuum chuck turntable (3) comprises support (33) and sucker (34), described sucker is the flexible glue sucker of annular, described support is provided with groove, and described flexible glue sucker is embedded in groove by elastic washer locates.
11. glass-cleaning robot as claimed in claim 1, it is characterized in that: described corner dust removing units (4) comprises corner dust removing units support (44) and the second cleaning unit (45), described corner dust removing units support (44) is connected in body (1) by rotating drive shaft (31), and described the second cleaning unit (45) is connected and fixed on the edge that described corner dust removing units support (44) protrudes from described vacuum chuck turntable (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220307276 CN202665433U (en) | 2012-06-28 | 2012-06-28 | Glass cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220307276 CN202665433U (en) | 2012-06-28 | 2012-06-28 | Glass cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202665433U true CN202665433U (en) | 2013-01-16 |
Family
ID=47486377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220307276 Withdrawn - After Issue CN202665433U (en) | 2012-06-28 | 2012-06-28 | Glass cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202665433U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014000683A1 (en) * | 2012-06-28 | 2014-01-03 | 科沃斯机器人科技(苏州)有限公司 | Glass rubbing robot |
| WO2015074557A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Method for controlling split sucker-type robot to avoid defect on walking surface |
| CN105286715A (en) * | 2015-11-18 | 2016-02-03 | 杭州柯元电器科技有限公司 | Window cleaning machine |
| CN106691295A (en) * | 2017-01-20 | 2017-05-24 | 程龙 | Window cleaning equipment |
| CN108145727A (en) * | 2018-03-27 | 2018-06-12 | 枣庄学院 | A kind of glass outer wall clean robot |
| WO2023193581A1 (en) * | 2022-04-08 | 2023-10-12 | 北京石头世纪科技股份有限公司 | Cleaning robot |
-
2012
- 2012-06-28 CN CN 201220307276 patent/CN202665433U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014000683A1 (en) * | 2012-06-28 | 2014-01-03 | 科沃斯机器人科技(苏州)有限公司 | Glass rubbing robot |
| CN103505142A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass-cleaning robot |
| CN103505142B (en) * | 2012-06-28 | 2016-06-08 | 科沃斯机器人有限公司 | Glass-cleaning robot |
| WO2015074557A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Method for controlling split sucker-type robot to avoid defect on walking surface |
| CN105286715A (en) * | 2015-11-18 | 2016-02-03 | 杭州柯元电器科技有限公司 | Window cleaning machine |
| CN106691295A (en) * | 2017-01-20 | 2017-05-24 | 程龙 | Window cleaning equipment |
| CN106691295B (en) * | 2017-01-20 | 2019-01-22 | 程龙 | A kind of window cleaning equipment |
| CN108145727A (en) * | 2018-03-27 | 2018-06-12 | 枣庄学院 | A kind of glass outer wall clean robot |
| WO2023193581A1 (en) * | 2022-04-08 | 2023-10-12 | 北京石头世纪科技股份有限公司 | Cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130116 Effective date of abandoning: 20160608 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |