CN206261543U - The intelligent double-sided glass-cleaning robot of mixing and absorption - Google Patents

The intelligent double-sided glass-cleaning robot of mixing and absorption Download PDF

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Publication number
CN206261543U
CN206261543U CN201621008951.4U CN201621008951U CN206261543U CN 206261543 U CN206261543 U CN 206261543U CN 201621008951 U CN201621008951 U CN 201621008951U CN 206261543 U CN206261543 U CN 206261543U
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absorption
driving machine
glass
unit
electromagnet
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CN201621008951.4U
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Inventor
张建华
贾计东
孙立新
孙凌宇
董鹏
徐良君
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Luoyang Shengrui Intelligent Robot Co Ltd
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Luoyang Shengrui Intelligent Robot Co Ltd
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Abstract

The utility model is related to a kind of intelligent double-sided glass-cleaning robot of mixing and absorption, and the intelligent double-sided glass-cleaning robot includes driving machine(2)And follower(1).In the driving machine(2)And follower(1)Inside it is provided with opposite polarity permanent magnet(6), can mutually adsorb in the inside and outside both sides of glass surface to be cleaned, by the suction-operated of magnetic force follower is moved according to the track of driving machine to walk;It is additionally provided with electromagnet simultaneously(7), by changing circuit in rheostatic resistance come control electric current size, so as to control electromagnet(7)Magnetic force size, is easy to unload magnetic and the suitable absorption affinity of selection;The utility model has a simple structure, and control is easy, and cost pacifies that loading, unloading magnetic is convenient than relatively low, and the intelligence degree with certain level is effectively reduced labour, improves cleaning efficiency.

Description

The intelligent double-sided glass-cleaning robot of mixing and absorption
Technical field
The utility model is related to intelligent robot technology field, more particularly relates to a kind of Intelligent cleaning robot.
Background technology
With the development of urban modernization, increasing local-style dwelling houses skyscraper stands erect in each big city, along with existing rank The section air pollution problems inherent such as haze, allows glass window to be more prone to dirty, and the more difficult cleaning of dirt so that glass window it is clear Clean work is heavier.According to traditional artificial cleaning way not only somewhat expensive, and cleaning efficiency is low, operation is extremely endangered Danger.Secondly, city busy life rhythm, allows cleaning window-glass to turn into life burden, the demand pain spot of glass-cleaning robot It is to liberate busy young city crowd, both hands is liberated with intelligentized mode, pursues the quality of life of higher quality.
Furthermore, for traditional robot absorbing unit, provide suction by the way of negative pressure or malleation absorption mostly Attached power, so as to adsorb realize cleaning in window-glass, but so has a very big potential safety hazard, if in use Suddenly power off, this will not only break robot, and for the especially high-rise residential subscribers of user, machine drops Hit passerby is likely to, the massive losses of personnel or property are caused.In addition, only using permanent magnet adsorbing, of such a size suction Attached power causes that it is very inconvenient that machine is removed from glass, is even more difficult particularly with most of housewife is accounted for.
In addition, the existing a part of intelligent cleaning glass-cleaning robot in market, although with automaticity higher, But still there are problems that in terms of autonomous intelligence a lot, and the existing intelligent cleaning glass-cleaning robot majority in market can only Cleaning single-glass, wipes efficiency and has a greatly reduced quality;And it is relatively costly, it is expensive, it is impossible to carry out promote on a large scale.
The content of the invention
The purpose of this utility model there are provided a kind of intelligent double-sided glass-cleaning robot, can adsorb on glass simultaneously And double-sided glass is wiped simultaneously, and this inventive structure is simple.A kind of intelligent variable magnetic force structure is there are provided, is passed through Hall element detects the magnetic field intensity of different-thickness glass, and then by change in resistance in control unit control circuit, and then change Electromagnet magnetic force, is used to provide suitable absorption affinity, this structure conveniently install and unload robot magnetic is convenient, with it is certain from Main degree of intelligence, it is safe and reliable.
It is that, up to this purpose, the utility model uses following technical scheme:
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption, including servo-actuated 1 machine and driving machine 2, are provided with pole inside both The opposite electromagnet of permanent magnet 6 and 7 of property, allows robot to adsorb safely by the suction-operated of the magnetic force of permanent magnet 6 In the inside and outside both sides of glass to be cleaned, follower 1 is driven to be moved by the suction-operated driving machine 2 of magnetic force;Described drive Motivation 2 is provided with driver element, magnet adsorption unit, cleaning unit, control unit, and variable magnetic force unit;The follower 1 sets There are driver element, magnet adsorption unit, cleaning unit.
Further, the driver element of the driving machine 2 includes two groups of motors 5 and tire 3;The motor 5 is defeated Shaft is connected with tire 3 and drives it to rotate, so as to realize the walking of driving machine;Every group of motor 5 and tire 3 are all It is individually controlled, can rotate and reverse simultaneously, it is also possible to which one rotates forward a reversion, can also revolve at different rates Turn, so as to ensure that motor has and there are various walking postures on glass, smoothly complete scouring task;
Further, be provided with magnetic absorbing unit in the driving machine 2, including permanent magnet 6 and with electromagnet 7.The absorption By four blocks of permanent magnets 6, by left and right, magnetic is arranged unit into N-S-S-N orders from top to bottom, and this will cause that driving machine passes through When magnetic-adsorption drives follower to work, it is possible to achieve straight line, walking stabilization of turning, will not occur caused by the dislocation of magnet Potential safety hazard.The middle device electromagnet 7 of four block permanent magnet 6, electromagnet 7 is by control unit independent control.Four blocks of permanent magnets 6 with Electromagnet 7 is mutually auxiliary to form hybrid absorbing unit.
Further, variable magnetic force unit, including Hall element and slide rheostat 11 are provided with the driving machine 2.The change The magnetic induction intensity that magnetic force unit is reached by Hall element independent detection glass different-thickness;Slide rheostat 11 is single by control First independent control, so as to change size of current in circuit, and then changes the absorption affinity of electromagnet 7, is inhaled with the absorption affinity being best suitable for Glass is attached to, cleaning effect is optimal.
Further, the absorbing unit of the follower 1 includes four permanent magnets 6 and an adsorbability magnetic material, Its arrangement mode is consistent with driving machine, and magnetic is opposite;
Further, the driver element of the follower 1 includes four travel wheels 4, and across shape mean array is on chassis Both sides.
Further, the glass-cleaning robot cleaning unit includes fiber cleaning cloth, on the front and rear chassis on chassis 8 All it is pasted with VELCRO, in that context it may be convenient to mount and dismount cleaning cloth, conveniently change clothes, reuses, it is to avoid wastes.
The beneficial effects of the utility model are:
(1)The utility model proposes a kind of intelligent double-sided glass-cleaning robot, wheel type traveling mechanism, structure letter are employed Single, straight line moving and the flexibility turned are high;
(2)The utility model proposes a kind of mixing and absorption mode, by the way of permanent magnet combination electromagnet, by forever Long magnet arrangement produces the absorption affinity of stabilization, there is provided safety guarantee;Magnetic force conversion is carried out by electromagnet, optimal absorption affinity is chosen, Optimize, and conveniently unload magnetic, convenient disassembly to reach walking, wiping effect.
(3)It is different thick using Hall element independent detection glass the utility model proposes a kind of autonomous variable magnetic force mode The magnetic induction intensity that degree magnet is reached;Slide rheostat is by control unit independent control, so that change size of current in circuit, And then the absorption affinity of change electromagnet, adsorbed in glass with the absorption affinity being best suitable for, it is optimal cleaning effect.
Brief description of the drawings
Fig. 1 is the overall structure diagram of intelligent double-sided glass-cleaning robot;
Fig. 2 is the simple top view of driving machine;
Fig. 3 is the simple front view of driving machine;
Fig. 4 is the principle schematic of variable magnetic force unit;
Fig. 5 is the magnet positions arrangement schematic diagram of driving machine absorbing unit;
In figure:1st, follower;2nd, driving machine;3rd, tire;4th, follower travel wheel;5th, motor;6th, permanent magnet;7、 Electromagnet;8th, base plate;9th, driving machine travel wheel;10th, Hall element;11st, swept resistance.
Specific embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by specific embodiment.
As shown in Fig. 1,2,3,4,5, a kind of intelligent double-sided glass-cleaning robot of mixing and absorption, including follower(1)And drive Motivation(2), follower(1)And driving machine(2)Both are internal to be provided with opposite polarity permanent magnet(6)And electromagnet(7), institute State follower(1)It is provided with driver element, magnet adsorption unit, cleaning unit;Described driving machine(2)It is provided with driver element, magnetic Iron absorbing unit, cleaning unit, control unit, and variable magnetic force unit;The driving machine(2)Driver element include two groups of drives Dynamic motor(5)And tire(3);The motor(5)Output shaft and tire(3)It is connected.
The utility model includes driving machine 2 and follower 1, is equipped with inside driving machine 2 and follower 1 opposite polarity Permanent magnet 6, is allowed to mutually absorption and, in the inside and outside both sides of glass to be cleaned, is driven by the suction-operated driving machine 2 of magnetic force Follower 1 is moved;Described driving machine 2 is provided with driver element, magnet adsorption unit, cleaning unit, control unit, and becomes magnetic Power unit;Follower 1 is provided with driver element, magnet adsorption unit, cleaning unit.
Be as shown in Figure 2 and Figure 3 the present invention provide the simple top view of driving machine and front view, including tire 3, drive electricity Machine 5, permanent magnet 6, electromagnet 7, base plate 8, driving machine travel wheel 9.The output shaft of motor 5 is connected with tire 3, and output turns Square drives walking.Base plate 8 offers sulculus, installs driving machine travel wheel, is used to support driving machine steadily to walk, permanent magnet 6 Primary attachment power of the primary attachment on glass is provided, electromagnet 7 is used as institute under variable magnetic force unit supplement robot working condition Absorption affinity is needed, to reach absorption, walking and wipe perfect adaptation.
It is as shown in Figure 4 the principle schematic of the variable magnetic force unit that the present invention is provided, including Hall element 10, control are singly Unit, slide rheostat 11 and electromagnet 7.Magnetic field intensity under glass different-thickness is detected by Hall element 10, and then is fed back to Control unit, is then individually controlled the resistance of slide rheostat 11 by control unit, so that the electric current in circuit becomes Change, electromagnet 7 is produced different magnetic force so that robot is adapted to the glass of different-thickness, there is provided optimal absorption, produce Optimal cleaning effect.
It is as shown in Figure 5 the magnet positions arrangement schematic diagram of the driving machine absorbing unit that the present invention is provided, including permanent magnetic Iron 6 and electromagnet 7.Magnetic adsorbability is produced by follower 1 and the opposite polarity permanent magnet 6 of driving machine 2, pacifies robot Adsorb in the inside and outside both sides of glass entirely.The middle position of driving machine 2 is electromagnet 7, and electromagnet 7 is by different size of current institutes Produce different absorption affinities, the size of reasonable adjusting absorption affinity.Especially when cleaning finishes excision machine, electromagnet 7 is disconnected Power-on circuit, this will cause that absorption affinity reduces, and conveniently unloads magnetic, be easy to operation;Absorption affinity, machine are produced by permanent magnet 6 simultaneously People will not slide from glass surface, so as to provide safety guarantee.
Specific embodiment is, driving machine 2 and follower 1 are attached into band respectively cleans the windows both sides, is provided by permanent magnet 6 Primary attachment power, make robot will not normal direction drop or laterally rolling slide, it is ensured that its security and stability;And then, when During energization work, motor 5 drives tire 3 to rotate by motor shaft, is powered simultaneously, Hall element detection current glass thickness Under magnetic field intensity, and then by feedback of the information to control unit, by slide rheostat change in resistance in control unit control circuit, So as to change the size of electric current, and then change the magnetic force size of electromagnet, to reach the theoretical absorption affinity under working condition, so that Can realize that robot steadily walks and wipe in glass surface, be not in situations such as skidding or drop.

Claims (6)

1. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption, it is characterised in that:Including follower(1)And driving machine(2), with Motivation(1)And driving machine(2)Both are internal to be provided with opposite polarity permanent magnet(6)And electromagnet(7), the follower (1)It is provided with driver element, magnet adsorption unit, cleaning unit;Described driving machine(2)It is provided with driver element, magnet adsorption list Unit, cleaning unit, control unit, and variable magnetic force unit;The driving machine(2)Driver element include two groups of motors (5)And tire(3);The motor(5)Output shaft and tire(3)It is connected.
2. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption according to claim 1, it is characterised in that:The driving Motor(5)Output shaft and tire(3)It is connected and drive it to rotate, so as to realize driving machine(2)Walking;Every group of driving electricity Machine(5)And tire(3)All it is individually to be controlled, can rotates and reverse simultaneously, it is also possible to which one rotates forward a reversion, can be with Rotate at different rates.
3. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption according to claim 1, it is characterised in that:The driving Machine(2)Inside be provided with magnetic absorbing unit, including permanent magnet and(6)And electromagnet(7);The absorbing unit is by four blocks of permanent magnets (6), by left and right, magnetic is arranged into N-S-S-N orders from top to bottom;Four block permanent magnet middle devices electromagnet (7), electromagnet (7)By control unit independent control.
4. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption according to claim 1, it is characterised in that:The driving Machine(2)Inside it is provided with variable magnetic force unit, including Hall element(10)And slide rheostat(11);Hall element(10)Independent detection glass The magnetic induction intensity that glass different-thickness is reached;Slide rheostat(11)By control unit independent control, so that in changing circuit Size of current, and then change the absorption affinity of electromagnet, adsorbed in glass with the absorption affinity being best suitable for, it is optimal cleaning effect.
5. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption according to claim 1, it is characterised in that:It is described servo-actuated Machine(1)Driver element include four travel wheels(4), both sides of the across shape mean array on chassis.
6. the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption according to claim 1, it is characterised in that:It is described servo-actuated Machine(1)Absorbing unit include four permanent magnets(6)With an adsorbability magnetic material, the same driving machine of its arrangement mode (2)Unanimously, magnetic is opposite.
CN201621008951.4U 2016-08-31 2016-08-31 The intelligent double-sided glass-cleaning robot of mixing and absorption Active CN206261543U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106175574A (en) * 2016-08-31 2016-12-07 洛阳圣瑞智能机器人有限公司 The intelligent double-sided glass-cleaning robot of mixing and absorption
CN108784506A (en) * 2018-04-25 2018-11-13 孝感鑫财智能科技有限公司 A kind of device of automatic erasing glass by sensing chamber's inside and outside temperature difference
WO2021134536A1 (en) * 2019-12-31 2021-07-08 李庆远 Inner and outer magnetic adsorption window cleaning robot
WO2021134535A1 (en) * 2019-12-31 2021-07-08 李庆远 Internal and external magnetic attraction device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106175574A (en) * 2016-08-31 2016-12-07 洛阳圣瑞智能机器人有限公司 The intelligent double-sided glass-cleaning robot of mixing and absorption
CN108784506A (en) * 2018-04-25 2018-11-13 孝感鑫财智能科技有限公司 A kind of device of automatic erasing glass by sensing chamber's inside and outside temperature difference
CN108784506B (en) * 2018-04-25 2020-07-28 汪友仙 Device for automatically wiping glass by detecting indoor and outdoor temperature difference
WO2021134536A1 (en) * 2019-12-31 2021-07-08 李庆远 Inner and outer magnetic adsorption window cleaning robot
WO2021134535A1 (en) * 2019-12-31 2021-07-08 李庆远 Internal and external magnetic attraction device

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