CN206044517U - Parallelogram glass cleaning device - Google Patents
Parallelogram glass cleaning device Download PDFInfo
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- CN206044517U CN206044517U CN201620619178.9U CN201620619178U CN206044517U CN 206044517 U CN206044517 U CN 206044517U CN 201620619178 U CN201620619178 U CN 201620619178U CN 206044517 U CN206044517 U CN 206044517U
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- vacuum chuck
- cleaning device
- glass
- driver element
- parallelogram
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Abstract
This utility model belongs to home appliance people's technical field, disclose a kind of parallelogram glass cleaning device, including body, body is provided with control unit, driver element, vacuum chuck turntable 5 and cleaning unit 11, described control unit is connected with four vacuum chuck turntables by driver element, the body is adsorbed in glass surface by rotatable four vacuum chuck turntables 5 in bottom surface, and the vacuum chuck turntable 5 is connected with centrifugal blower by trachea；Wherein, vacuum chuck turntable by being connected the drive mechanism that worm couple is further formed with the motor shaft with worm screw with worm gear.This utility model simple structure, low cost, sensitivity are high, and controllability is strong, and walking is freely and cleaning efficiency is high.
Description
Technical field
This utility model belongs to home appliance people's technical field, more particularly to a kind of parallelogram glass cleaning device.
Background technology
In daily life, for the pieces of glass in the range of human arm, people are typically cleaned wiping with hand-held rag
Wash.And the lateral surface of the structural glass and glass beyond human arm scope, then hand-held Telescopic shaft type window-cleaning device is usually used
Cleaned.However, when cleaning glass with Telescopic shaft type vierics, arm is easily tired.For the problems referred to above, there is a kind of wiping
Glass device, when needing to clean glass, the glass cleaning device powered by external power supply passes through sucker suction on glass, and
The operation part of glass cleaning device is placed on and treats that the surface of cleaning glass window is operated, so as to mitigate the work burden of people.
There is a defect in existing one side window cleaning device on the market, and they are wheeled or caterpillar walking side mostly
Formula, such move mode can not simulate action when human arm cleans the windows, and wheel well
Easily leave a trace where passing by, glass is not easy to wipe clean.
The content of the invention
Technical problem to be solved in the utility model is for the deficiencies in the prior art, there is provided a kind of parallelogram
Glass cleaning device and its traveling method, this utility model simple structure, low cost, sensitivity are high, and controllability is strong, walking freely and
Cleaning efficiency is high.
Technical problem to be solved of the present utility model is achieved by the following technical solution：
A kind of parallelogram glass cleaning device, including body, body are provided with control unit, driver element, absorption turn
Disk 5 and cleaning unit 11, described control unit are connected with four vacuum chuck turntables by driver element, and the body can by bottom surface
Four vacuum chuck turntables 5 of rotation adsorb in glass surface, and the vacuum chuck turntable 5 is connected with centrifugal blower by trachea；Wherein, inhale
Attached rotating disk further forms the drive mechanism of worm couple by being connected with worm gear with the motor shaft with worm screw.
A kind of parallelogram glass cleaning device, described driver element are respectively four drive circuits, and four drive electricity
Road is connected with the motor of four vacuum chuck turntables of control respectively；The driver element includes motor, and its motor output end is and worm screw
The axle of one.
A kind of parallelogram glass cleaning device, described vacuum chuck turntable 5 are connected with centrifugal blower by trachea, refer to from
Heart-wind syndrome machine 10 is connected with vacuum cavity 4 and then is connected with sucker 5 again by exhaust tube 9.
A kind of parallelogram glass cleaning device, is provided with PWM controllers, the PWM controls in described control unit
Utensil has and adjusts its dutycycle and realize button that driver element runs up with low-speed running, makes two in four rotating disks to become
Low speed end, two other becomes speed end, and both form rotating speed difference.
A kind of parallelogram glass cleaning device, described vacuum chuck turntable are, with standoff rotating disk, to cover on the support
There is soft set, the material of soft set is cloth, play a part of to seal and prevent from scratching glass, while can also clean glass.
In sum, this utility model simple structure, low cost, sensitivity are high, and controllability is strong, and walking is freely and cleaning is imitated
Rate is high.
Below in conjunction with the accompanying drawings and specific embodiment, technical scheme is described in detail.
Description of the drawings
Fig. 1 is the configuration schematic diagram of one of four " foot " structures of parallelogram glass cleaning device.
Fig. 2 is the configuration schematic diagram of one of four tie-beams of parallelogram glass cleaning device.
Present invention looks up structural representation of the Fig. 3 for parallelogram glass cleaning device.
Fig. 4（1）For 1 schematic diagram of working condition position of parallelogram glass cleaning device.
Fig. 4（2）For 2 schematic diagram of working condition position of parallelogram glass cleaning device.
Specific embodiment
The present invention is described in detail with reference to embodiment and its accompanying drawing.Embodiment is with technical scheme described in the utility model
Premised on carry out be embodied as, give detailed embodiment and process.But the claim of this utility model application is protected
Shield scope is not limited to the description scope of the embodiment.
Fig. 1, Fig. 2 and Fig. 3 are respectively this parallelogram glass cleaning device " foot " structural blast schematic diagram, tie-beam blast
Structural representation and present invention looks up structural representation.As shown in Figure 1 to Figure 3, the present invention provides a kind of glass-cleaning robot, and this cleans the windows
Robot includes control unit, driver element and cleaning unit 11, also including be rotatably disposed in " foot " structural base A end and
The vacuum chuck turntable 5 that A ' holds.In fact, vacuum chuck turntable 5 should include at least sucker, better simply, vacuum chuck turntable itself can also
Only it is made up of sucker, is connected with body by which.Body is adsorbed in glass surface by vacuum chuck turntable 5, and sucker 5 is by thereon
The pore in face is connected with vacuum cavity 4.As shown in Fig. 2 then centrifugal blower 10 is connected with vacuum cavity 4 again by exhaust tube 9
It is connected with sucker 5, when centrifugal blower 10 is started working, centrifugal blower 10 produces negative pressure in sucker 5, and sucker 5 produces suction,
Glass-cleaning robot is adsorbed on glass.Control unit is connected with driver element, and control instruction is passed to driver element.Control
Unit processed is connected with four vacuum chuck turntables 5 respectively by driver element, and control unit controls power respectively in four vacuum chuck turntables 5
The size and Orientation of upper output, drive four vacuum chuck turntables 5 in turn centered on perpendicular to the vertical axes of glass surface rotation or
It is static, four rotating disks alternating is become speed end and low speed end or is speed end and stationary end, form speed discrepancy, realize wiping
The walking of glass robot.
As described above, high speed and low speed rotation of this parallelogram glass cleaning device by driver element, drive absorption
Rotating disk rotates at a high speed and low speed rotation or static.Realize that control two of which vacuum chuck turntable revolves at a high speed below by various ways
Turn, two other vacuum chuck turntable low speed rotation or static.Such as implementation one：The drive of four vacuum chuck turntables 5 that A ends and A ' hold
Moving cell has four potential circuits, including high-tension circuit and low-voltage circuit respectively, and control unit is by control in two circuits
Between switching realize that control driver element runs up and low-speed running.When two, A ends, driver element connects high-tension circuit
When, the input voltage of driver element is high, and rotating speed is fast, and A ' holds two driver elements to connect low-voltage circuit, driver element input electricity
Force down, rotating speed is slow；Conversely, when A ' ends driver element connection high-tension circuit, the input voltage of driver element is high, and rotating speed is fast, and
A ' ends connection low-voltage circuit, the input voltage of driver element are low, and rotating speed is slow.By high-tension circuit and low-voltage circuit the two circuits it is
The driver element of vacuum chuck turntable 5 is powered, and can timely and effectively carry out changing vacuum chuck turntable 5 with perpendicular to the vertical of glass surface
Rotation or static centered on axle.Such as implementation two：PDM keyer is provided with described control unit（Abbreviation PWM is controlled
Device）, by regulation, its dutycycle realizes running up and low-speed running for driver element to PWM controllers.By increaseing or decreasing
Dutycycle so that the input voltage of driver element or electric current correspondence are increasedd or decreased.Such as PWM controllers increase A ends input voltage
Dutycycle, the input voltage of driver element is high, and rotating speed is fast, and reduces the dutycycle that A ' holds input voltage, driver element input
Voltage is low, and rotating speed is slow；Conversely, when increase A ' holds the dutycycle of input voltage, the input voltage of driver element is high, and rotating speed is fast, and
Reduce the dutycycle of A ends input voltage, the input voltage of driver element is low, and rotating speed is slow.Specific PWM controllers can be by single
Realizing, here of the present invention is no longer described in detail piece machine.
For the ease of connection, the vacuum chuck turntable 5 is connected with worm gear 2 by screw.Driving of the motor 3 in driver element
Under, drive vacuum chuck turntable 5 to rotate relative to body.
In general, driver element is motor 3, but this parallelogram glass cleaning device is not limited thereto.Motor 3 is defeated
Go out end for worm shaft, the power of the output of motor 3 passes to vacuum chuck turntable 5 after worm-and-wheel gear deceleration.Reducing gear
Worm gear 2 is connected with vacuum chuck turntable 5 by screw.Motor 3 can also drive absorption to turn by other drive mechanisms, such as Timing Belt
Disk 5 rotates.
As shown in figure 3, the sucker 5 described in the present embodiment is annular sucker, sucker 5 is arranged on the bottom of body.Sucker 5
Miniature deformation is operationally produced, sucker 5 is adsorbed on glass.There is soft being set on vacuum chuck turntable.Soft set can be cleaning
Rag or scouring pad etc..Fig. 4 is the working state schematic representation of glass-cleaning robot of the present invention.Such as Fig. 4 simultaneously combines Fig. 1 to Fig. 3 institutes
Show, the traveling method of this parallelogram glass cleaning device comprises the steps：
Step 1：Parallelogram glass cleaning device is placed into into glass surface, centrifugal blower 7 is started working, A ends and A '
The absorption simultaneously of four, end sucker 5 is on the glass surface.
Step 2：Control unit controls size and the side that power is exported on four vacuum chuck turntables 5 that A ends and A ' hold respectively
To the rotation or static centered on perpendicular to the vertical axes of glass surface in turn of four vacuum chuck turntables 5 of driving is made in four
Two become speed end, and other two becomes low speed end, make to form speed discrepancy between the two.
Specifically, speed discrepancy is that control unit control driver element exports power respectively to the vacuum chuck turntable 5, wherein
The vacuum chuck turntable 5 of one end two is rotated relative to glass surface, two vacuum chuck turntables 5 of other end shape relative to glass surface is static
Into；Or, speed discrepancy is the wherein vacuum chuck turntable 5 of one end two relative to glass surface high-speed rotation, two absorption of the other end
Rotating disk 5 slowly runs relative to glass surface and is formed.
Step 3：Control unit control makes the rotating speed at A ends less than the rotating speed that A ' holds, and body holds the band of vacuum chuck turntable 5 in A '
Rotate around A ends under dynamic；
Step 4：When body rotates to certain angle around A ends, than such angle can be 10 ° -30 between it is arbitrarily angled,
Rotating speed of the rotating speed that control unit control A ' holds less than A ends, body are rotated around A ' ends under the drive of A ends vacuum chuck turntable 5；
Step 5：As described in step 3 and step 4, the driver element that A ends and A ' hold alternately operates speed difference control, real
Existing glass-cleaning robot straight line moving on the glass surface.
Below by way of different embodiments, the walking manner of parallelogram glass cleaning device provided by the present invention is entered
Row is specific to be described：
Embodiment one
First, parallelogram glass cleaning device is placed on glass, presses power knob, centrifugal blower 7 starts work
Make, four suckers 5 held positioned at A ends and A ' respectively are while adsorb on glass, preferably, the sucker that A ends and A ' hold is while connect
A centrifugal blower is connect, the size of both suction and the mode of absorption are identical all the time, in addition, the sucker that A ends and A ' hold can also
Connect centrifugal blower respectively；
Secondly, it is zero that control unit controls to make the rotating speed of A ends vacuum chuck turntable, and A ' ends vacuum chuck turntable still rotates at a high speed,
Now, under the drive that A ' holds vacuum chuck turntable to rotate at a high speed, the ends of the A ' centered on A ends twist forward body；
Again, when body is torqued into certain angle around A ends, such as 10 °, it is zero that control unit controls the rotating speed that A ' holds,
And A ends are changed at a high speed rotation, now, body is then in the case where the high speed of A ends vacuum chuck turntable 5 rotarily drives, A ends centered on A ' ends to
Before twist；
Finally, when body is torqued into certain angle around A ' ends, such as 10 °, when control unit is returned to initial actuating again
State, the vacuum chuck turntable rotating speed for controlling to make A ends is zero, and A ' ends vacuum chuck turntable still rotates at a high speed, and now, body again can be
At a high speed under the drive of rotation, A ' ends are twisted centered on A ends forward at A ' ends.
In sum, the rotating speed that so alternately control A ends and A ' hold, makes both alternating become speed end or low speed end, shape
Into speed discrepancy, so that the high one end of body rotating speed is twisted centered on the low one end of rotating speed, and the row of robot is realized
Walk.
Embodiment two
First, parallelogram glass cleaning device is placed on glass, centrifugal blower 7 starts starts working, respectively position
Four suckers 5 holding in A ends and A ' while absorption is in glass, preferably, the sucker that A ends and A ' hold connects one and is centrifuged simultaneously
Blower fan, the size of both suction are identical all the time with the mode of absorption.
Secondly, control unit control makes the vacuum chuck turntable low-speed running at A ends, and A ' ends vacuum chuck turntable rotates at a high speed, now,
Under the drive that A ' holds vacuum chuck turntable to rotate at a high speed, A ' ends are twisted centered on A ends forward body；
Again, when body is torqued into certain angle around A ends, such as 30 °, control unit control A ' ends vacuum chuck turntable low speed
Operating, and A ends vacuum chuck turntable is changed at a high speed rotation, now, body then in the case where the high speed of A ends vacuum chuck turntable 5 rotarily drives, A ends
Twisted centered on A ' ends forward；
Finally, when body is torqued into certain angle around A ' ends, such as 30 °, when control unit is returned to initial actuating again
State, control makes A ends vacuum chuck turntable low-speed running, and A ' ends vacuum chuck turntable rotates at a high speed, and now, body again can be in A ' ends height
Under the drive of speed rotation, A ' ends are twisted centered on A ends forward.
In sum, so alternately control A ends and A ' hold the rotating speed of vacuum chuck turntable, make both alternating become speed end or low
Fast end, forms speed discrepancy, so that the high one end of body rotating speed is twisted centered on the low one end of rotating speed, and realizes machine
The walking of people.
It should be noted that this parallelogram glass cleaning device being not limited to the actual high speed or low of vacuum chuck turntable
Speed, and rotate or static, and the frictional force between vacuum chuck turntable and glass surface need to be considered.If A ends vacuum chuck turntable is at a high speed
End, the driving force of driver element cause greatly the rotary speed of vacuum chuck turntable larger, can overcome the static friction between sucker and glass
Power so that the force of sliding friction between sucker and glass promotes body to rotate around low speed end, and A ' ends vacuum chuck turntable is low speed end
When, frictional force of the vacuum chuck turntable correspondence between static or low speed rotation, with glass surface is less so as to be just the rotation of body
Center.
Therefore, mutual absorption of this parallelogram glass cleaning device without the need for mover and driven machine, can be only single
It is fixed in the case of machine on glass surface and is operated.Meanwhile, this parallelogram glass cleaning device is wanted to working environment
Ask lower, cleaning operation can be carried out on the glass of any thickness, its simple structure, low cost, sensitivity are high, only by
Alternating control to being arranged on the rotating speed height of the vacuum chuck turntable of organism bottom, is twisted by rotating speed official post body, and then is realized
The walking freely of parallelogram glass cleaning device, the parallelogram glass cleaning device controllability is strong and cleaning efficiency is high.
Claims (5)
1. a kind of parallelogram glass cleaning device, is characterized in that：Including body, body be provided with control unit, driver element,
Vacuum chuck turntable（5）And cleaning unit（11）, described control unit is connected with four vacuum chuck turntables by driver element, the body
By rotatable four vacuum chuck turntables in bottom surface（5）Adsorb in glass surface, the vacuum chuck turntable（5）By trachea and centrifugation wind
Machine is connected；Wherein, vacuum chuck turntable by being connected the transmission that worm couple is further formed with the motor shaft with worm screw with worm gear
Mechanism.
2. a kind of parallelogram glass cleaning device according to claim 1, is characterized in that：Described driver element difference
For four drive circuits, four drive circuits are connected with the motor of four vacuum chuck turntables of control respectively；The driver element includes
Motor, its motor output end are the axle with worm screw one.
3. a kind of parallelogram glass cleaning device according to claim 1, is characterized in that：Described vacuum chuck turntable（5）
It is connected with centrifugal blower by trachea, refers to centrifugal blower（10）By exhaust tube（9）With vacuum cavity（4）Connection then again with
Sucker（5）It is connected.
4. a kind of parallelogram glass cleaning device according to claim 1, is characterized in that：Set in described control unit
Have a PWM controllers, the PWM controllers have adjust its dutycycle realize driver element run up with low-speed running by
Key, makes two in four rotating disks to become low speed end, and two other becomes speed end, and both form rotating speed differences.
5. a kind of parallelogram glass cleaning device according to claim 1, is characterized in that：Described vacuum chuck turntable is band
Standoff rotating disk, is cased with soft set on the support, the material of soft set is cloth, plays sealing and prevents from scratching the work of glass
With while can also clean glass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620619178.9U CN206044517U (en) | 2016-06-22 | 2016-06-22 | Parallelogram glass cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620619178.9U CN206044517U (en) | 2016-06-22 | 2016-06-22 | Parallelogram glass cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206044517U true CN206044517U (en) | 2017-03-29 |
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ID=58373336
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620619178.9U Active CN206044517U (en) | 2016-06-22 | 2016-06-22 | Parallelogram glass cleaning device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919502A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Parallelogram glass wiping device and travel method implemented by same |
| CN109106268A (en) * | 2018-09-05 | 2019-01-01 | 北京赫特智慧科技有限公司 | Window wiping robot |
| CN116195929A (en) * | 2021-11-30 | 2023-06-02 | 追觅创新科技(苏州)有限公司 | Cleaning treatment method and device for cleaning equipment, storage medium and electronic device |
-
2016
- 2016-06-22 CN CN201620619178.9U patent/CN206044517U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919502A (en) * | 2016-06-22 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Parallelogram glass wiping device and travel method implemented by same |
| CN109106268A (en) * | 2018-09-05 | 2019-01-01 | 北京赫特智慧科技有限公司 | Window wiping robot |
| CN116195929A (en) * | 2021-11-30 | 2023-06-02 | 追觅创新科技(苏州)有限公司 | Cleaning treatment method and device for cleaning equipment, storage medium and electronic device |
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