CN203676982U - Automatic glass cleaning device - Google Patents
Automatic glass cleaning device Download PDFInfo
- Publication number
- CN203676982U CN203676982U CN201320819732.4U CN201320819732U CN203676982U CN 203676982 U CN203676982 U CN 203676982U CN 201320819732 U CN201320819732 U CN 201320819732U CN 203676982 U CN203676982 U CN 203676982U
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- China
- Prior art keywords
- slave
- main frame
- glass
- permanent magnet
- cleaning
- 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.)
- Expired - Fee Related
Links
- 239000011521 glass Substances 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 title claims abstract description 23
- 238000009991 scouring Methods 0.000 claims abstract description 27
- 238000007790 scraping Methods 0.000 claims description 20
- 230000007774 longterm Effects 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
The utility model discloses an automatic glass cleaning device. The automatic glass cleaning device is characterized in that a PID algorithm is used to realize double-wheel differential motion; a master unit and a slave unit are attached on two sides of a piece of glass in a mutual attraction manner through a magnet; the device can sense the border of the piece of glass through a sensor, a cleaning path can be automatically designed, and the magnitude of attraction force according to different glass thicknesses can be automatically adjusted; a crash sensor is used to detect the glass edge and transmit information; the double-wheel differential PID algorithm is adopted, so that the rotation speed of a left wheel and a right wheel can be adjusted to control the movement curve and direction and further complete the cleaning task. A magnet and a distance sensor are respectively arranged at two ends of the slave unit, and are electrically connected with each other through a PCB; and the magnitude of the attraction force of the magnet can be changed according to the glass thickness data obtained by the distance sensor. Different materials of scouring pads or rubber scrapes can be selected to meet the requirement for cleaning two sides of the glass. The automatic glass cleaning device provided by the utility model can improve efficiency while ensuring safe and reliable wiping, and has the advantages of simple structure, standard cleaning mechanism and convenience for maintenance and long-term use.
Description
Technical field
The utility model relates to a kind of double-wheel differential type mobile robot based on pid algorithm, especially can carry out the practical small-size glass cleaning device of TRAJECTORY CONTROL and rim detection.
Background technology
At present, have a lot of the utility models about window wiping systems, wherein, the now sucked type robots that adopt, by the interaction absorption glass of sucker and vacuum generator, replace people to carry out open air and clean more, reduce unsafe factor.But the robot safety of this principle is not high, be very easily subject to the impact of surface roughness and come off and cost higher, be unfavorable for as family product large-scale popularization.
Utility model content
In order to overcome existing dangerous caducous deficiency, the utility model provides a kind of automatic glass cleaning device, and it is unstable that this window wiping systems not only overcomes adsorptivity, the problem that cost is high, and can carry out two-sided wiping.
The utility model solves the technical scheme that its technical problem adopts:
Automatic glass cleaning device, comprises main frame, slave; Described main frame comprises governor circuit, motor, crash sensor, non-skid tyre, battery, main frame scouring pad, main frame permanent magnet, main frame rubber scraping article, main frame range sensor; Described slave comprises slave scouring pad, slave permanent magnet, slave rubber scraping article, chassis, slave range sensor; Governor circuit is connected with motor, crash sensor, range sensor, battery respectively, described motor comprises motor driving wheel, motor main body, motor driving wheel is connected with non-skid tyre, main frame scouring pad, slave scouring pad, main frame rubber scraping article, slave rubber scraping article are positioned at the outside of described device, for cleaning glass; Main frame permanent magnet, slave permanent magnet are positioned at the middle part of described device, with the power of attracting each other, cleaning device are adsorbed on glass.
Described main frame, slave adopts leg-of-mutton shell design on the whole, is convenient to dead angle, cleaning glass window edge.
Described main frame scouring pad, main frame permanent magnet, main frame rubber scraping article, slave scouring pad, slave permanent magnet, slave rubber scraping article are detachably changed, and conveniently reuse.
The beneficial effects of the utility model are, can, under the condition of safe and reliable wiping, raise the efficiency, and simple in structure, cleaning mechanism standardization, convenient for maintaining uses with long-term.
Accompanying drawing explanation
Fig. 1 is main machine structure schematic diagram of the present utility model;
Fig. 2 is slave structural representation of the present utility model;
Fig. 3 is core circuit connection layout of the present utility model;
In figure, governor circuit 1, motor driving wheel 2, motor main body 3, crash sensor 4, non-skid tyre 5, battery 6, main frame scouring pad 7-1, slave scouring pad 7-2, main frame permanent magnet 8-1, slave permanent magnet 8-2, main frame rubber scraping article 9-1, slave rubber scraping article 9-2, chassis 10, main frame range sensor 11-1, slave range sensor 11-2.
The specific embodiment
The utility model is separating domestic window wiping systems.The differential PID control of two-wheel, movement locus control, glass edge detection, security alarm scheduling algorithm and the scheme of primary study window wiping systems.Window wiping systems main frame uses rechargeable battery as its main energy sources, slave coordinates and clamps glass surface with main frame by strong magnetic attraction, by being fixed on glass with the static friction of glass surface, movement by the two-wheel differential attachment control window wiping systems installed on main frame at glass surface, relies on the attraction traction slave of main frame permanent magnet 8-1, slave permanent magnet 8-2 to complete together movement.Window wiping systems host and slave processors part is installed main frame scouring pad 7-1, main frame permanent magnet 8-1, main frame rubber scraping article 9-1, the main devices such as slave scouring pad 7-2, slave permanent magnet 8-2, slave rubber scraping article 9-2 successively along the direction of motion.Before window wiping systems work, main frame scouring pad 7-1, slave scouring pad 7-2 need to be soaked with glass washing agent, window wiping systems can automatically detect the frame of glass in the time of work, completes the cleaning of daylighting glass according to certain track.In addition, can utilize main frame range sensor 11-1, slave range sensor 11-2 to adjust the distance between main frame permanent magnet 8-1, slave permanent magnet 8-2 in window wiping systems according to the thin degree of glass and adjust absorption affinity, guarantee the smooth and easy safe operation of window wiping systems.
Below in conjunction with drawings and Examples, the utility model is further illustrated.
In Fig. 1, the main outside of showing window wiping systems circuit connects: motor 3, crash sensor 4 is all connected with governor circuit 1, by the induction effect by crash sensor 4, automatically detect glass frame, determine traffic direction track thereby import information into governor circuit 1, information is passed to motor 3 and control motor driving wheel 2 wiping action that turned round.Meanwhile, battery 6 provides 12V voltage for governor circuit 1.Non-skid tyre 5 provides frictional force to guarantee that device for cleaning glass advances in running on glass.
In Fig. 2, show the design philosophy of mechanical part: to adhere to what mainly lean on be the attraction of main frame permanent magnet 8-1, slave permanent magnet 8-2 to window wiping systems on glass; Main frame scouring pad 7-1, slave scouring pad 7-2 have completed effective wiping operation in mode the most easily, and main frame scouring pad 7-1, slave scouring pad 7-2 disassembling cleaning change; The effect of main frame rubber scraping article 9-1, slave rubber scraping article 9-2 be scrape off main frame scouring pad 7-1, slave scouring pad 7-2 is remaining water stain; And main frame scouring pad 7-1, the slave scouring pad 7-2 on slave and main frame rubber scraping article 9-1, slave rubber scraping article 9-2 can adopt unlike material, realize the wiping requirement in various degree of glass two sides; Main frame range sensor 11-1, slave range sensor 11-2 regulate the attraction between main frame permanent magnet 8-1, slave permanent magnet 8-2 by induction principal and subordinate spacing, can use the wiping to multiple window, and what play on chassis 10 is a bearer connection effect.
The circuit diagram of Fig. 3 is thought and the core of showing circuit design: single-chip microcomputer U3 selects ATmega16-16PI, connect button inputting circuits part by PA mouth, connect Electric Machine Control driving circuit section by PB mouth, connect online debug circuit part by PC mouth, connect collision detection circuit part by PD mouth, RESET, XTAL connect crystal oscillator part, also have in addition part voltage conversion circuit to provide VCC for single-chip microcomputer and other circuit parts by 12V voltage transitions for 5V.
Claims (3)
1. an automatic glass cleaning device, is characterized in that, it comprises main frame, slave; Described main frame comprises governor circuit (1), motor, crash sensor (4), non-skid tyre (5), battery (6), main frame scouring pad (7-1), main frame permanent magnet (8-1), main frame rubber scraping article (9-1), main frame range sensor (11-1); Described slave comprises slave scouring pad (7-2), slave permanent magnet (8-2), slave rubber scraping article (9-2), chassis (10), slave range sensor (11-2); Governor circuit (1) is connected with motor, crash sensor (4), range sensor (11), battery (6) respectively, described motor comprises motor driving wheel (2), motor main body (3), motor driving wheel (2) is connected with non-skid tyre (5), main frame scouring pad (7-1), slave scouring pad (7-2), main frame rubber scraping article (9-1), slave rubber scraping article (9-2) are positioned at the outside of described device, for cleaning glass; Main frame permanent magnet (8-1), slave permanent magnet (8-2) are positioned at the middle part of described device, with the power of attracting each other, cleaning device are adsorbed on glass.
2. device according to claim 1, is characterized in that, described main frame, slave adopts leg-of-mutton shell design on the whole, is convenient to dead angle, cleaning glass window edge.
3. device according to claim 1, it is characterized in that, described main frame scouring pad (7-1), main frame permanent magnet (8-1), main frame rubber scraping article (9-1), slave scouring pad (7-2), slave permanent magnet (8-2), slave rubber scraping article (9-2) are detachably changed, and conveniently reuse.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320819732.4U CN203676982U (en) | 2013-12-14 | 2013-12-14 | Automatic glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320819732.4U CN203676982U (en) | 2013-12-14 | 2013-12-14 | Automatic glass cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203676982U true CN203676982U (en) | 2014-07-02 |
Family
ID=50998962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320819732.4U Expired - Fee Related CN203676982U (en) | 2013-12-14 | 2013-12-14 | Automatic glass cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203676982U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735220A (en) * | 2013-12-14 | 2014-04-23 | 浙江大学 | Automatic glass cleaning method and device |
| CN107205594A (en) * | 2015-11-10 | 2017-09-26 | 深圳市赛亿科技开发有限公司 | A kind of absorption affinity dynamic adjusting method of glass-cleaning robot |
| US10383492B2 (en) | 2015-12-09 | 2019-08-20 | Alfred Kärcher SE & Co. KG | Window cleaning robot |
-
2013
- 2013-12-14 CN CN201320819732.4U patent/CN203676982U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103735220A (en) * | 2013-12-14 | 2014-04-23 | 浙江大学 | Automatic glass cleaning method and device |
| CN107205594A (en) * | 2015-11-10 | 2017-09-26 | 深圳市赛亿科技开发有限公司 | A kind of absorption affinity dynamic adjusting method of glass-cleaning robot |
| US10383492B2 (en) | 2015-12-09 | 2019-08-20 | Alfred Kärcher SE & Co. KG | Window cleaning robot |
| US11284756B2 (en) | 2015-12-09 | 2022-03-29 | Alfred Kärcher SE & Co. KG | Window cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140702 |