CN205018962U - Window cleaning robot - Google Patents
Window cleaning robot Download PDFInfo
- Publication number
- CN205018962U CN205018962U CN201520743746.1U CN201520743746U CN205018962U CN 205018962 U CN205018962 U CN 205018962U CN 201520743746 U CN201520743746 U CN 201520743746U CN 205018962 U CN205018962 U CN 205018962U
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- follow
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Abstract
The utility model discloses a window cleaning robot, include: the initiative machine including the initiative organism, is located the wiper element on the initiative organism chassis, sets up initiative magnetism adsorption equipment and drive arrangement in the initiative organism, the motion of drive arrangement drive initiative organism, the follow -up machine including the follow -up organism, is located the wiper element on the follow -up organism chassis to and setting up the follow -up magnetism adsorption equipment in the follow -up organism, the follow -up machine adsorbs along with the motion of initiative machine through follow -up magnetism adsorption equipment and initiative magnetism adsorption equipment each other. The utility model discloses a set up rotary mechanism and sharp running gear, can make the driving machine carry out linear motion, and directly turn to through rotary mechanism when moving the window edge, do not use again and move back one section distance and turn to again, can make the corner partly can fully be cleaned, have good turn performance, through setting up buffering noise eliminator, when making the follow -up machine place on glass, can not produce the noise, also prevented because of strikeing the damage that causes glass.
Description
Technical field
The utility model relates to wipes window apparatus technical field, particularly relates to a kind of window wiping robot being suitable for home window.
Background technology
Along with the development of China's urbanization, having there is increasing high building in city, and cleans towards the high-building glass of family expenses, will become a huge market.Current, existing ripe glass-cleaning robot on market, but this robot cost higher price is expensive, family's use cost is increased, is not promoted on a large scale.
Traditional robot for cleaning wall surfaces, suction type mostly is vacuum suction or magnetic suck, wherein: the wiping window robot adopting vacuum suction mode, it mainly adopts vacuum slip sucker to make robot be adsorbed on glass surface, uses crawler type or in-wheel driving robot motion.Vacuum cup absorption size little Yi realizes lightweight, but has leakage when wall is uneven.As far back as 2006, Japanese Kagawa Univ. just designed the glass-cleaning robot of a vacuum suction, in-wheel driving, but can only realize one side scouring, and efficiency is lower; The patent No. 201220432818.7 discloses a kind of window wiping robot, use vacuum suction, track drive mode, one side scouring is carried out to window, the shortcoming of easily leaking to overcome vacuum suction have employed track drive, although the load capacity of robot can be improved but also make cornering difficulties, and adopting comparatively complicated detecting and controlling system, cost high price is expensive.
Adopt the window wiping robot of magnetic suck mode, it mainly adopts a pair opposite polarity magnet that robot is adsorbed on glass both sides respectively, can realize two sides and clean.The patent No. 201120326187.6 discloses a kind of glass cleaning device, use magnetic suck, track drive mode, its magnetic force size is adjustable, but track drive turn performance is not fine, and due to noise can be produced when magneticaction is adsorbed on glass surface and cause damage to glass surface.
Utility model content
The purpose of this utility model is to provide a kind of window wiping robot, and turn performance is good, and can reduce noise, do not cause damage to glass surface.
For reaching this object, the utility model by the following technical solutions:
A kind of window wiping robot, comprising:
Mover, comprises initiatively body, is positioned at the polishing piece on active body chassis, is arranged at the active magnetic adsorbent equipment in active body and drive unit, and described drive unit drives initiatively body movement;
Follower, comprises servo-actuated body, is positioned at the polishing piece on servo-actuated body chassis, and is arranged at the servo-actuated magnetic adsorption device in servo-actuated body, and described follower is mutually adsorbed by servo-actuated magnetic adsorption device and active magnetic adsorbent equipment and moves with mover.
As preferably, described drive unit comprises rotating mechanism and is fixedly arranged on the straight walking mechanism below rotating mechanism, and described rotating mechanism is used for turning to of straight walking mechanism.
As preferably, described rotating mechanism comprises the divert guide track be positioned on active body chassis, at least two that are positioned at divert guide track turn to roller, the vehicle frame turning to roller is connected with by pin, and the rotary components driving described vehicle frame to rotate, described straight walking mechanism is fixedly arranged on the below of vehicle frame.
As preferably, described rotary components comprises the drive motors be arranged on active body, described drive motors is driven by worm-and-wheel gear Timing Belt, described Timing Belt two ends are connected to drive motors and straight walking mechanism by synchronous pulley, and drive straight walking mechanism and vehicle frame to rotate.
As preferably, described straight walking mechanism comprises the vehicle bridge be installed in below vehicle frame, described synchronous pulley is fixedly arranged on the below of vehicle bridge, described vehicle bridge two ends are provided with reducing motor, described reducing motor output is connected with wheel portion described in wheel through the arc groove on active body chassis, rotates in described arc groove.
As preferably, described active magnetic adsorbent equipment comprises elevating mechanism and initiatively magnet, and described elevating mechanism comprises threaded rod and affixed and be positioned at the button of mover external body with threaded rod; Described threaded rod is connected with active body screw top through synchronous pulley, vehicle bridge, vehicle frame successively, and described active magnet is fixed in threaded rod lower end.
As preferably, described servo-actuated magnetic adsorption device comprise be fixedly arranged on servo-actuated body with moving magnet and roller, describedly adsorb mutually with moving magnet and initiatively magnet, make follower and mover be attached on glass, described follower is walked with the walking of mover by roller.
As preferably, also comprise the buffering silencing apparatus being positioned at servo-actuated body, described buffering silencing apparatus comprises the uniform buffer spring of at least one of rounded track, one end is positioned at buffer spring end and passes the buffer board on servo-actuated body chassis, and the other end of buffer board is positioned at the top with moving magnet.
As preferably, be describedly also provided with central spring with between moving magnet and buffer board, the stiffness factor of described central spring be the N of described buffer spring doubly, described N is the number of buffer spring;
Described servo-actuated body top is installed with the support plate be positioned at above buffer board, and during described buffer board one end compression buffer spring, buffer board is that fulcrum makes its other end be compressed by central spring with support plate.
As preferably, described mover and follower are equipped with buffer unit, described buffer unit comprises hollow cylinder and is positioned at the spring of hollow cylinder, and described hollow cylinder and spring are all set on the guide pillar of initiatively body and servo-actuated body corner.
The beneficial effects of the utility model: by arranging rotating mechanism and straight walking mechanism, driving machine can be made to carry out rectilinear motion, and directly turned to by rotating mechanism when moving to window edge, carry out the scouring in other directions, turn to again without rollback one segment distance, corner parts can be made fully to be cleaned, there is good turn performance; By arranging buffering silencing apparatus, when follower is placed on glass, can not noise being produced, also prevent because impacting the damage caused glass.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model mover;
Fig. 2-3 is positional structure schematic diagrames of the utility model mover rotating mechanism and straight walking mechanism;
Fig. 4 is the structural representation of the utility model follower;
Fig. 5 is the structural representation of the utility model buffering silencing apparatus;
In figure:
1, mover; 2, follower; 3, buffer unit; 11, active body; 12, active magnetic adsorbent equipment; 13, rotating mechanism; 14, straight walking mechanism; 21, servo-actuated body; 22, servo-actuated magnetic adsorption device; 23, silencing apparatus is cushioned; 31, hollow cylinder; 32, spring; 111, arc groove; 121, elevating mechanism; 122, active magnet; 131, divert guide track; 132, roller is turned to; 133, pin; 134, vehicle frame; 135, rotary components; 141, vehicle bridge; 142, reducing motor; 143, wheel; 211, support plate; 212, guide pillar; 221, with moving magnet; 222, roller; 223, central guide pillar; 231, buffer spring; 232, buffer board; 233, central spring; 1211, threaded rod; 1351, drive motors; 1352, Timing Belt; 1353, synchronous pulley; 1354, worm-and-wheel gear; 2321, level board; 2322, vertical plate; 2323, hang plate; 2324, connecting plate.
Detailed description of the invention
The technical solution of the utility model is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
In order to better realize the wiping to glass, the present embodiment provides a kind of window wiping robot, specifically comprises:
Mover 1, as shown in Figure 1, for the ease of the elaboration to structure, the top structure of not shown mover 1 in FIG, the present embodiment mover 1 comprises initiatively body 11, and initiatively body 11 chassis is provided with the polishing piece wiping window, and concrete can arrange draw-in groove on the chassis of active body 11, for placing polishing piece, in the present embodiment, polishing piece can be base fabric, sponge or rubber scraping article; In active body 11, be provided with active magnetic adsorbent equipment 12 and drive unit, wherein active magnetic adsorbent equipment 12 is arranged on the middle part of initiatively body 11, and drive unit is then for driving initiatively body 11 to move;
Concrete, drive unit comprises rotating mechanism 13 and is fixedly arranged on the straight walking mechanism 14 below rotating mechanism 13, wherein straight walking mechanism 14 moves for the straight line moving of mover 1, rotating mechanism 13 turns to for mover 1 wiping process cathetus walking mechanism 14, and then realizes the conversion in wiping direction.
With reference to Fig. 1-3, rotating mechanism 13 comprises the divert guide track 131 be positioned on active body 11 chassis, this divert guide track 131 is loop configuration, circular orbit is provided with below it, in the circular orbit of divert guide track 131, be provided with at least two turn to roller 132, this turns to above roller 132 and is installed with pin 133, it is connected with vehicle frame 134 by pin 133, vehicle frame 134 is connected with rotary components 135 by straight walking mechanism 14, and this rotary components 135 is for driving straight walking mechanism 14 to rotate and driving vehicle frame 134 to rotate.
As shown in Figure 3, rotary components 135 comprises the drive motors 1351 be arranged on active body 11, specifically be arranged on the chassis of initiatively body 11, this drive motors 1351 is driven by worm-and-wheel gear 1354 Timing Belt 1352, concrete, be installed with synchronous pulley 1353 on the worm gear of worm-and-wheel gear 1354, be provided with another synchronous pulley 1353 in straight walking mechanism 14 lower end simultaneously, Timing Belt 1352 is set on two synchronous pulleys 1353, and under the driving of drive motors 1351, drive straight walking mechanism 14 to rotate, and then to drive and the vehicle frame 134 that sets firmly of straight walking mechanism 14 rotates.The present embodiment, when needs rectilinear motion, utilizes the self-locking of worm-and-wheel gear 1354 to prevent the chassis of initiatively body 11 from rotating, ensures the accuracy of movement locus.
In the present embodiment, as shown in Figures 2 and 3, straight walking mechanism 14 comprises the vehicle bridge 141 be installed in below vehicle frame 134, concrete vehicle bridge 141 is secured by bolts in the below of vehicle frame 134, one of them synchronous pulley 1353 is fixedly connected on the below of vehicle bridge 141, drives vehicle bridge 141 and vehicle frame 134 to rotate.At vehicle bridge 141 two ends, reducing motor 142 is all housed, reducing motor 142 output is connected with wheel 143, and wheel 143 partially passes through initiatively body 11 chassis, carries out straight line moving to drive whole mover 1 at glass surface.In the present embodiment, in order to realize turning to of mover 1, the chassis of active body 11 offers arc groove 111, the radian of this arc groove 111 is about 90 °, wheel 143 rotates in arc groove 111, and then when mover 1 moves to window edge by rotating mechanism 13 turn to rapidly carry out the next one clean path, turn to again without rollback one segment distance, and corner parts can fully be cleaned.
With reference to Fig. 2, the active magnetic adsorbent equipment 12 of the present embodiment comprises elevating mechanism 121 and active magnet 122, and the bottom of concrete elevating mechanism 121 is fixed on active magnet 122, elevating mechanism 121 comprises threaded rod 1211 and affixed and be positioned at the button of initiatively body 11 outside with threaded rod 1211, columned contiguous block (not shown) is provided with at the top of active body 11, contiguous block offers screwed hole, threaded rod 1211 is successively through synchronous pulley 1353, vehicle bridge 141, vehicle frame 134 is threaded with the contiguous block at active body 11 top, and then when needing the distance of adjustment active magnet 122, by button rotation threaded rod 1211, because threaded rod 1211 is threaded with contiguous block, threaded rod 1211 can drive initiatively magnet 122 to move up and down, realize the adjustment of initiatively magnet 122 distance, and then according to the absorption affinity of thickness of glass adjustment mover 1 with follower 2.
With reference to Fig. 4, the window wiping robot of the present embodiment also comprises follower 2, concrete, and follower 2 comprises servo-actuated body 21, and be positioned at servo-actuated body 21 chassis and be provided with polishing piece, this polishing piece is consistent with the polishing piece in mover 1, does not repeat them here.In servo-actuated body 21, be provided with servo-actuated magnetic adsorption device 22, servo-actuated magnetic adsorption device 22 corresponds to active magnetic adsorbent equipment 12 position and arranges, and is namely arranged on the middle part of follower 2; Follower 2 is adsorbed with active magnetic adsorbent equipment 12 mutually by servo-actuated magnetic adsorption device 22, can move, and then complete the wiping on glass two sides with mover 1.
Servo-actuated magnetic adsorption device 22 comprise be fixedly arranged on servo-actuated body 21 with moving magnet 221 and roller 222, the middle part of servo-actuated body 21 is wherein fixedly arranged on moving magnet 221, and by holder, position is fixed, the present embodiment is adsorbed mutually by follower magnet 221 and active magnet 122, make follower 2 and mover 1 be attached on glass, follower 2 is walked with the walking of mover 1 by roller 222.
In order to when preventing from placing follower 2 because magnetic-adsorption produces the noise that causes of impulsive force and the impact injury to glass surface, the present embodiment is preferably provided with buffering silencing apparatus 23, and as shown in Figure 5, it is positioned at the inside of servo-actuated body 21.This buffering silencing apparatus 23 comprises the uniform buffer spring 231 of at least one of rounded track, this buffer spring 231 one end is arranged on the guide pillar 212 of window wiping robot servo-actuated body 21 roof, the other end passes the chassis of servo-actuated body 21 and end is provided with buffer board 232, particularly on the chassis of servo-actuated body 21, be provided with the square hole identical with buffer spring 231 number, buffer board 232 can slide along this square hole vertical direction, and is positioned by this square hole; The moment on glass is placed on when follower 2, buffer board 232 and glass contact, and slide in servo-actuated body 21 through above-mentioned square hole under the reaction force of glass, buffer spring 231 compresses by buffer board 232, and then balances out because placing follower the impulsive force that glass causes.The other end of buffer board 232 is positioned at the top with moving magnet 221.More specifically, with moving magnet 221 being provided with central guide pillar 223, buffer board 232 is positioned at the top of central guide pillar 223.
In the present embodiment, buffer board 232 comprises the level board 2321 being positioned at buffer spring 231 one end, this level board 2321 and buffer spring 231 one_to_one corresponding, namely one end of each buffer spring 231 is equipped with level board 2321, this level board 2321 is vertically connected with vertical plate 2322, this vertical plate 2322 is arranged near buffer spring 231, one end of vertical plate 2322 is connected with hang plate 2323, this hang plate 2323 is obliquely installed and one end extends to the centre position of servo-actuated body 21, and one end of multiple hang plate 2323 is collected mutually and is connected with connecting plate 2324, connecting plate 2324 is positioned at the top of above-mentioned central guide pillar 223.
As preferred technical scheme, be also provided with central spring 233 with between moving magnet 221 and buffer board 232, concrete central spring 233 is set on central guide pillar 223, and central guide pillar 223 be shorter in length than central spring 233.
The top of servo-actuated body 21 is installed with the support plate 211 be positioned at above hang plate 2323, during the compression buffer spring 231 of buffer board 232 one end, the hang plate 2323 of buffer board 232 with support plate 211 for fulcrum makes its other end and connecting plate 2324 be compressed by central spring 233.What make connecting plate 2324 two ends stressedly reaches balanced, does not affect initiatively magnet 122 and with the absorption affinity between moving magnet 221.
In the present embodiment, the stiffness factor of central spring 233 is N times of buffer spring 231, wherein N is the number of buffer spring 231, concrete principle is: when buffer spring 231 compresses, central spring 233 is compressed too, and decrement and each buffer spring 231 is equal, now because the stiffness factor of buffer spring 231 is 1/4th of the stiffness factor of central spring 233, according to F=kx, (wherein F is elastic force, k is the stiffness factor of spring, x is deformation quantity), total elastic force of buffer spring 231 equals the elastic force of central spring 233, thus after action is placed in end, buffer spring 231 and central spring 233 compression direction are contrary and elastic force is identical, the impact on magnetic adsorbability can be eliminated, and also prevent the damage of buffer board 232.
In the present embodiment, as shown in Fig. 1 and Fig. 4, mover 1 and follower 2 are equipped with buffer unit 3, this buffer unit 3 comprises hollow cylinder 31 and is positioned at the spring 32 of hollow cylinder 31, and hollow cylinder 31 and spring 32 are all set on the guide pillar of initiatively body 11 and servo-actuated body 21 4 jiaos.And then when mover 1 and follower 2 move to the frame place of window, can impact be absorbed, prevent mover 1 and follower 2 from damaging because of shock.
Obviously, above-described embodiment of the present utility model is only used to clearly demonstrate the utility model example, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here exhaustive without the need to also giving all embodiments.All do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., within the protection domain that all should be included in the utility model claim.
Claims (10)
1. a window wiping robot, is characterized in that, comprising:
Mover (1), comprise initiatively body (11), be positioned at the polishing piece on active body (11) chassis, be arranged at the active magnetic adsorbent equipment (12) in active body (11) and drive unit, described drive unit drives initiatively body (11) motion;
Follower (2), comprise servo-actuated body (21), be positioned at the polishing piece on servo-actuated body (21) chassis, and the servo-actuated magnetic adsorption device (22) be arranged in servo-actuated body (21), described follower (2) was moved with mover (1) by servo-actuated magnetic adsorption device (22) and active magnetic adsorbent equipment (12) mutual absorption.
2. window wiping robot according to claim 1, it is characterized in that, described drive unit comprises rotating mechanism (13) and is fixedly arranged on the straight walking mechanism (14) of rotating mechanism (13) below, described rotating mechanism (13) turning to for straight walking mechanism (14).
3. window wiping robot according to claim 2, it is characterized in that, described rotating mechanism (13) comprises the divert guide track (131) be positioned on active body (11) chassis, at least two that are positioned at divert guide track (131) turn to roller (132), the vehicle frame (134) turning to roller (132) is connected with by pin (133), and the rotary components (135) driving described vehicle frame (134) to rotate, described straight walking mechanism (14) is fixedly arranged on the below of vehicle frame (134).
4. window wiping robot according to claim 3, it is characterized in that, described rotary components (135) comprises the drive motors (1351) be arranged in active body (11), described drive motors (1351) is driven by worm-and-wheel gear (1354) Timing Belt (1352), described Timing Belt (1352) two ends are connected to drive motors (1351) and straight walking mechanism (14) by synchronous pulley (1353), and drive straight walking mechanism (14) and vehicle frame (134) to rotate.
5. window wiping robot according to claim 4, it is characterized in that, described straight walking mechanism (14) comprises the vehicle bridge (141) being installed in vehicle frame (134) below, described synchronous pulley (1353) is fixedly arranged on the below of vehicle bridge (141), described vehicle bridge (141) two ends are provided with reducing motor (142), described reducing motor (142) output is connected with wheel (143), described wheel (143) partially passes through the arc groove (111) on active body (11) chassis, rotate in described arc groove (111).
6. window wiping robot according to claim 5, it is characterized in that, described active magnetic adsorbent equipment (12) comprises elevating mechanism (121) and initiatively magnet (122), and described elevating mechanism (121) comprises threaded rod (1211) and affixed and be positioned at the button that initiatively body (11) is outside with threaded rod (1211); Described threaded rod (1211) is connected with active body (11) screw top through synchronous pulley (1353), vehicle bridge (141), vehicle frame (134) successively, and described active magnet (122) is fixed in threaded rod (1211) lower end.
7. window wiping robot according to claim 6, it is characterized in that, described servo-actuated magnetic adsorption device (22) comprise be fixedly arranged on servo-actuated body (21) with moving magnet (221) and roller (222), describedly to adsorb mutually with moving magnet (221) and initiatively magnet (122), make follower (2) and mover (1) be attached on glass, described follower (2) is walked with the walking of mover (1) by roller (222).
8. window wiping robot according to claim 7, it is characterized in that, also comprise the buffering silencing apparatus (23) being positioned at servo-actuated body (21), described buffering silencing apparatus (23) comprises the uniform buffer spring of at least one (231) of rounded track, one end is positioned at buffer spring (231) end and passes the buffer board (232) on servo-actuated body (21) chassis, and the other end of buffer board (232) is positioned at the top with moving magnet (221).
9. window wiping robot according to claim 8, it is characterized in that, describedly also be provided with central spring (233) with between moving magnet (221) and buffer board (232), the stiffness factor of described central spring (233) is N times of described buffer spring (231), and described N is the number of buffer spring (231);
Described servo-actuated body (21) top is installed with the support plate (211) being positioned at buffer board (232) top, described buffer board (232) one end compression buffer spring (231) time, buffer board (232) with support plate (211) for fulcrum makes its other end be compressed by central spring (233).
10. according to the arbitrary described window wiping robot of claim 1-9, it is characterized in that, described mover (1) and follower (2) are equipped with buffer unit (3), described buffer unit (3) comprises hollow cylinder (31) and is positioned at the spring (32) of hollow cylinder (31), and described hollow cylinder (31) and spring (32) are all set on the guide pillar of initiatively body (11) and servo-actuated body (21) corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520743746.1U CN205018962U (en) | 2015-09-22 | 2015-09-22 | Window cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520743746.1U CN205018962U (en) | 2015-09-22 | 2015-09-22 | Window cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205018962U true CN205018962U (en) | 2016-02-10 |
Family
ID=55251538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520743746.1U Withdrawn - After Issue CN205018962U (en) | 2015-09-22 | 2015-09-22 | Window cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205018962U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167703A (en) * | 2015-09-22 | 2015-12-23 | 河北工业大学 | Window wiping robot |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN109008775A (en) * | 2018-09-05 | 2018-12-18 | 东阳市天杨建筑工程设计有限公司 | Skyscraper device for cleaning glass |
| CN110897544A (en) * | 2019-12-13 | 2020-03-24 | 叶先祥 | Window cleaning robot |
| CN112998571A (en) * | 2021-02-26 | 2021-06-22 | 淮南师范学院 | Intelligent glass wiping robot |
-
2015
- 2015-09-22 CN CN201520743746.1U patent/CN205018962U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105167703A (en) * | 2015-09-22 | 2015-12-23 | 河北工业大学 | Window wiping robot |
| CN107719500A (en) * | 2017-11-23 | 2018-02-23 | 滨州学院 | A kind of spherical rescue facility |
| CN109008775A (en) * | 2018-09-05 | 2018-12-18 | 东阳市天杨建筑工程设计有限公司 | Skyscraper device for cleaning glass |
| CN110897544A (en) * | 2019-12-13 | 2020-03-24 | 叶先祥 | Window cleaning robot |
| CN112998571A (en) * | 2021-02-26 | 2021-06-22 | 淮南师范学院 | Intelligent glass wiping 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: 20160210 Effective date of abandoning: 20190419 |
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| AV01 | Patent right actively abandoned |