CN206327338U - The Ca Che robots that can be creeped on automobile case - Google Patents

Abstract

A kind of Ca Che robots that can be creeped on automobile case, it is mainly used in car, bus, station wagon, commercial car, it is made up of absorbing unit, unit of creeping, cleaning unit, wiper unit and control unit, it cleverly combines both sweeping robot and glass-cleaning robot feature, the device only uses a small amount of water without rag（About 200 milliliters）, robot carries out cleaning wiping automatically according to the route of setting during cleaning, after having cleaned, and robot automatically returns to original place again, and robot is put back to driver's cabin and charged at cigar lighter by human pilot, at one's leisure only outwells the dust and sewage of cleaning.This device frees human pilot from dust environment, reduce the labor intensity of personnel, small in volume, it is easy to operate, clean the used time few, less than ten minutes, cleaning quality is high, can in case of emergency be wiped when garage enters, the Ca Che robots can also be used as dust catcher, the dust in driver's cabin can be sopped up, vehicle clean hygiene is kept.

Description

The Ca Che robots that can be creeped on automobile case

Technical field

The utility model is related to a kind of Ca Che robots that can be creeped on automobile case, belongs to small household appliances manufacturing technology neck Domain its classification number B08B11/04; B08B3/04;B08B1/04.

Background technology

Existing robot species is various, either in the horizontal plane from the robot of operation of being movably walking, also or The robot of adsorption operation on vertical plane, is all widely used with its compact, flexible movements.Relative in horizontal plane For the upper robot swept the floor of walking, security and stability of the glass-cleaning robot in operation process is just with greater need for being paid attention to. Adsorbent equipment in existing absorption robot is usually sucker, general to set one big sucker, once due to adsorbed surface certainly The problems such as defect, such as crackle, gap, irrigation canals and ditches that body is present, or the dirt remained on adsorbed surface cause sucker a large amount of During generation gas leakage, it is easy to cause absorption robot to lose adsorption capacity and drop.And present glass-cleaning robot Mostly by the way of rag is wiped or water is rinsed, if acted on automobile, the substantial amounts of water of robot band is in vertical creep The danger dropped is added, the labor intensity that people frequently changes clean rag is such as added again with rag.

The content of the invention

Technical problem to be solved in the utility model is in view of the shortcomings of the prior art, in sweeping robot and wiping glass There is provided a kind of Ca Che robots that can be creeped on automobile case on the basis of glass robot, the Ca Che robots are in absorption work( Can on a sucker is changed to four suckers, and big suction mechanical closure mechanism is set on each sucker branch pipe, reduced The risk fallen, because, using magnetic adsorption function is added again, reaching dual suction-operated on automobile case；It is strong reducing work Carried out in terms of degree in cleaning according to cleaning, dust suction, the order for spraying, scraping, absorb water, wiping；In order to adapt to automobile case such as The features such as handle, instrument bezel, Ca Che robots chassis is improved；In driver's cabin using again add dust-absorbing function.

Technical problem to be solved of the present utility model is achieved by the following technical solution：

A kind of Ca Che robots that can be creeped on automobile case, it is characterised in that：It includes the suction for being used to produce suction Coupon member, the unit of creeping for realizing action of creeping, for the cleaning unit of dedusting, the wiping list for realizing wiping action Member, for the control unit that each unit is controlled to more than, is each attached on base plate above.

The absorbing unit includes magnetic-adsorption unit and vacuum suction unit.Described magnetic-adsorption unit includes four Flaky magnet, can produce absorption affinity to the automobile case of irony.The vacuum suction unit include absorption motor, absorption branch pipe, Adsorption tube switching valve, four vaccum-suction attachement pads and vaccum-suction attachement pad skirt section, it is characterised in that：The vaccum-suction attachement pad passes through true Empty branch pipe is connected with gas circuit below absorption motor；The vaccum-suction attachement pad includes one along the radially outwardly extending skirt of vaccum-suction attachement pad Portion, outer end and the adsorbent surface in the skirt section are sealed, and its other end is directly or indirectly flexibly connected with vaccum-suction attachement pad；Institute Adsorption tube switching valve is stated for spring throttle type, when vaccum-suction attachement pad is hanging or during a large amount of air inlets of sucker, effect of the air door in spring It is lower to close.Four vaccum-suction attachement pads of the setting and vaccum-suction attachement pad skirt section, it is other in a suction or closing to prevent Suction-operated can also be played.

The unit of creeping includes two stepper motors, two adhering wheels, a deflecting rollers.The adhering wheel is that fourth is fine Glue, silica gel or rubber type, skid, deflecting roller is universal wheel when preventing wheel from being walked on automobile case or glass.

The cleaning unit includes cleaning rotating disk, cleans motor, gear linkage, suction port and dust-collecting box.The tooth Wheel linkage two driven gears be meshed, driving gear is engaged with one of driven gear, two belts connect respectively from Moving gear is with cleaning rotating disk.Master gear drives driven gear, and two cleaning rotating disks are acted under the drive of belt and driven gear.Institute Suction port is stated with the absorption branch pipe of vacuum suction unit to be connected.The pull of vacuum that vacuum suction motor is produced passes through vacuum branch Pipe, filter screen, dust-collecting box, suction port, dust is sucked in dust-collecting box.The cleaning rotating disk is fitted with banister brush, prevents hard thing Scratch lacquer painting.

Described wiper unit includes wiping blend stop, atomization film trap box, wipes scraping article, sprayer unit and water absorber.Adopt With patent of invention CN205658860U it is a kind of wipe window cleaning assemblies method, on the basis of its patent set sprayer unit by Ultrasonic transducer, water purifying cartridge and wind-pressure tube are constituted, and the wind-pressure tube is connected with ultrasonic transducer.The vacuum that its wind-force comes is inhaled The exhaust branch pipe of attached motor；Water absorber is made up of pulsating pump, suction hose, sewage box and sewage pipe, and the pulsating pump will be wiped Sewage sucks sewage box by water sucking mouth, pipeline on scraping article.

Described control unit is made up of PLC or single-chip microcomputer, sensor, power circuit and control panel, SCM program Described control unit is inputted, realization is controlled to each unit.Sensor is by 1, front crash sensor, 1 acceleration Sensor, 2 vertical calibration equipments and left and right, the photoelectric sensor composition of front lower place 3.Described vertical calibration equipment is by hair The method of bright patent CN203132546U verticals calibration equipment and its glass-cleaning robot with the vertical calibration equipment is set. 2 vertical direction sensor verticals are arranged on controller floor, and 1 acceleration transducer is also disposed at control On device plate, it is connected respectively with controller circuitry.

The control panel is arranged in wiping car robot shells, simultaneously provided with water purifying cartridge, sewage box and dust on shell Lid.The control panel is set by pattern makes PLC or Single-chip Controlling clean motor, absorption motor, pulsating pump, transducer Operating；Under cleaned model, only make absorption motor individual operation, reach that dust suction is acted on.Control unit controls list of creeping simultaneously The process that member is covered by face takes the air line, vertical in the correction lower edge of vertical calibration equipment when Ca Che robots are in vertical operation Advance in direction；After the signal of sensor " empty or barrier " is received, corresponding action is made according to instruction.

In summary, a kind of Ca Che robots that can be creeped on automobile case are by sweeping robot and the machine that cleans the windows Both people feature cleverly combines, there is provided dual adsorption function, according to cleaning, dust suction, sprays, scrapes, absorbs water, wipes Order cleaning.The device only uses a small amount of water without rag（About 200 milliliters）, carried out automatically according to the route of setting during cleaning Clean and wipe, after having cleaned, Ca Che robots automatically return to original place again, and Ca Che robots are put back to driver's cabin in point by human pilot Charged, at one's leisure only outwelled the dust and sewage of cleaning at cigarette device.This device is by human pilot from dust environment Free, reduce the labor intensity of personnel, easy to operate, the cleaning used time is few, and cleaning quality is high.

Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.

Brief description of the drawings

Fig. 1 is the Ca Che robots monnolithic case figure that can be creeped on automobile case；

Fig. 2 is the Ca Che robots base plate sketch that can be creeped on automobile case；

Fig. 3 is the wiping car robot interior sketch that can be creeped on automobile case；

Fig. 4 is the local sketch map of the Ca Che robots wiper unit that can be creeped on automobile case.

Wherein：1. vaccum-suction attachement pad, 3. water sucking mouths, 4. wipe scraper plate, 5. nozzles, 6. wiping blend stops, 7. behind base plate, 2. Adhering wheel, 8. photoelectric sensors, 9. initial vacuum suction trays, 10. magnet, 11. hairbrush, 12. crash sensors, 13. deflecting rollers, 14. suction port, 15. clean rotating disk, 16. vaccum-suction attachement pad skirt sections, the 17. external dust suction mouths of pipe, 18. absorption branch pipes, 19. sewage Box, 20. wind-pressure tubes, 21. controllers, 22. adsorption tube switching valves, 23. dust-collecting boxes, 24. belts, 25. driven gears, 26. are cleaned Motor and driving gear, 27. absorption motors, 28. stepper motors, 29. sprayer units, 30. charging sockets, 31. batteries, 32. are entered Water pipe, 33. water purifying cartridges, 34. pulsating pumps, 35. control panels, 36. handles, 37. shells, 38. fog water content boxes.

Embodiment

A kind of Ca Che robots that can be creeped on automobile case, it is characterised in that：It includes the suction for being used to produce suction Coupon member, the unit of creeping for realizing action of creeping, for the cleaning unit of dedusting, the wiping list for realizing wiping action Member, for the control unit that each unit is controlled to more than, is each attached on base plate 1 above.

As shown in Figure 2 and Figure 3, the absorbing unit includes magnetic-adsorption unit and vacuum suction unit.Described magnetic force is inhaled Coupon member includes four flaky magnets 10, can produce absorption affinity, its residual magnetism when losing suction for one to the automobile case of irony Iron can also play suction-operated.The vacuum suction unit include absorption motor 27, absorption branch pipe 18, adsorption tube switching valve 22, Four vaccum-suction attachement pads 2,9 and vaccum-suction attachement pad skirt section 16, it is characterised in that：The vaccum-suction attachement pad 2,9 is by adsorbing branch Pipe 22 is connected with the absorption lower section gas circuit of motor 27；It is radially outwardly extending along vaccum-suction attachement pad 2,9 that the vaccum-suction attachement pad 2,9 includes one Skirt section, the outer end in the vaccum-suction attachement pad skirt section 16 seals with adsorbent surface, its other end directly or indirectly with vacuum Suction tray 2,9 is flexibly connected.Wherein, pressure suffered by the inwall of vaccum-suction attachement pad skirt section 16 and the absorption negative pressure intraventricular pressure of branch pipe 18 Strong identical, after adsorbing motor 27 and operating, outer wall is acted on by atmospheric pressure, and the draught head that the inside and outside wall in skirt section is present is by the skirt Portion presses to adsorbent surface, so that body is attached to by wiping object.The adsorption tube switching valve 22 is spring throttle type, When vaccum-suction attachement pad 2,9 is hanging or during complete air inlet, air door is closed under the action of the spring.Four vaccum-suction attachement pads of the setting 2nd, 9 and vaccum-suction attachement pad skirt section 16, to prevent in a suction or other when closing can also play suction-operated.

The unit of creeping includes two stepper motors 28, two adhering wheels 7, a deflecting rollers 13.The adhering wheel 7 is Butadiene acrylonitrile rubber, silica gel or rubber type, skid when preventing wheel from being walked on automobile case or glass, and deflecting roller 13 is universal wheel.

The cleaning unit includes cleaning rotating disk 15, cleans motor 26, gear linkage, suction port 14 and dust-collecting box 23。

Two driven gears 25 of the gear linkage are meshed, and driving gear 26 is nibbled with one of driven gear 25 Close, two belts 24 connect driven gear 25 with cleaning rotating disk respectively.Master gear 26 drives driven gear 25, and two cleaning rotating disks 15 exist Belt 24 under the drive of driven gear 25 with acting.The suction port 14 is connected with the absorption branch pipe 18 of vacuum suction unit. Dust is sucked and collected by vacuum manifold 18, filter screen, dust-collecting box 23, suction port 14 by the pull of vacuum that vacuum suction motor is produced 23 in dirt box.The cleaning rotating disk 15 is fitted with banister brush 11, prevents that hard thing from scratching lacquer painting.

Such as Fig. 3, Fig. 4, described wiper unit includes wiping blend stop 6, atomization film trap box 38, wipes scraper plate 4, sprayer unit 29 and water absorber 34.The utility model uses a kind of methods for wiping window cleaning assemblies of patent of invention CN205658860U, Sprayer unit 29 is set to be made up of ultrasonic transducer, water purifying cartridge 33 and wind-pressure tube 20 on the basis of its patent, the wind-pressure tube 20 are connected with ultrasonic transducer, the exhaust branch pipe for the vacuum suction motor 27 that its wind-force comes；Water absorber is by pulsating pump 34, suction The mouth of a river 3, sewage box 19 and sewage pipe are constituted, and the pulsating pump 34 will wipe sewage on scraper plate 4 and be inhaled by water sucking mouth 3, sewage pipe Enter sewage box 19.When performing wiping task, the water atomization of the water purifying cartridge 33 in ultrasonic transducer future, by the row of absorption motor 27 The wind gone out infiltrates by cleaning piece surface, so through the press-in atomization of wind-pressure tube 20 film trap box 38 in the case where wiping blend stop 6, the stop of scraper plate 4 Collect afterwards in the case where wiping scraper plate is scraped, the sewage under collecting enters sewage in the presence of pulsating pump 34 through water sucking mouth 3, sewage pipe Box 19.

Described control unit is made up of PLC or single-chip microcomputer, sensor, power circuit and control panel 35, single-chip microcomputer journey Sequence inputs described control unit, and realization is controlled to each unit.Sensor is added by 1, front crash sensor 12,1 Velocity sensor, 2 vertical calibration equipments and the left and right, photoelectric sensor 8 of front lower place 3 are constituted.Described vertical calibration equipment By the method for patent of invention CN203132546U verticals calibration equipment and its glass-cleaning robot with the vertical calibration equipment Set.2 vertical calibration equipments being arranged on controller floor vertically, 1 acceleration transducer is also disposed at On controller floor, it is connected respectively with the circuit of controller 21.Can be with adding on pilot controller floor by vertical calibration equipment Velocity sensor works, and verifies the accuracy of its testing result so that body all the time can be with less straight line error level Or vertical shift.

The control panel 35 is arranged on 37 in wiping car robot shells, simultaneously provided with water purifying cartridge 33, sewage on shell 37 Box 19, dust-collecting box 23 are covered and charging socket 30 such as Fig. 1.After the completion of the work of Ca Che robots, the electric wire drawn from cigar lighter can Charged by charging socket 30 to the battery 31 on base plate 1.Control panel 35 is set by pattern makes PLC or Single-chip Controlling clear Sweep motor 26, absorption motor 27, pulsating pump 34, the operating of transducer；Under cleaned model, plugged on external sweep-up pipe mouthful 17 Special sweep-up pipe, at this moment adsorbs the individual operation of motor 27, and remaining absorption branch pipe 2,9 is closed due to leaving ground, driver's cabin Rubbish on floor reaches dust-absorbing box 23 by dust absorption nozzle, sweep-up pipe, reaches that dust suction is acted on.

The control unit control process that unit covers by face of creeping takes the air line, when Ca Che robots are in vertical operation, Vertically advanced under the correction of vertical calibration equipment；After the signal of sensor " sky " or " barrier " is received, according to finger Corresponding action is made in order.

It is as follows that controller control wipes its specific method of path：

The control path of controller 21 press face cover process, body takes the air line, equivalent to one " it is roundabout promote " process. Anchor point is as initial point under the wiping left glass for vehicle window of car Robot Selection at first, and coordinate is (0,0), that is, wipes car machine P point coordinates on people is (0,0) (coordinate herein is all referring to p point coordinates), and X-axis is set up in the horizontal direction

Vertical direction is Y-axis

Clean and cleaned downwards along the direction of Y-axis for the first time.Each route segment at intervals of Ca Che robot cleaners mechanism Diameter is cleaned, is encountered after barrier, Ca Che robots turn to 90 ° and sidesway 15cm, turn again to 90 °, this action is by controlling System carries out preservation, directly invokes, and is designated as NO.1.(during advance, when colliding, the steering of Ca Che robots is adopted The direction taken, value can be " right side " or " left side ", be determined by the number of times parity of " collision " or " sky ", suitable according to from the front to the back Sequence is carried out.

Current is exactly to describe the dynamic characteristic of controlled device with the form of " if one by one so ".One " if-that " expression formula is exactly a control rule, therefore control target controls rule to constitute by a plurality of as follows:

Rule 1:If being empty or barrier in front of Ca Che robots（Along negative Y direction traversal）, then it should be from the right side Turn one move ahead turn right again and again；(this type is handled as most lower edge)

Rule 2：If being empty or barrier in front of Ca Che robots（Traveled through along positive Y direction）, then it should be from a left side Turn one to move ahead to turn left again and again；(this type as on most along handling)

Rule 3:If Ca Che robots left is sky（Traveled through along Y direction）, then it should be from right-hand rotation one forward one Turn right again；（It is designated as to be infeasible）

Rule 4:If Ca Che robots right is sky（Traveled through along Y direction）, then it should be from left-hand rotation one forward one Turn left again；（It is designated as turning right to be infeasible）

Rule 5:If being empty or barrier in front of Ca Che robots（Along negative X-direction traversal）, then it should be from the right side Turn one move ahead turn right again and again；(this type is handled as forefront)

Rule 6：If being empty or barrier in front of Ca Che robots（Traveled through along positive X-direction）, then it should be from a left side Turn one to move ahead to turn left again and again；(this type as finally along handling)

Rule 7:If Ca Che robots left is sky（Traveled through along X-direction）, then it should be from right-hand rotation one forward one Turn right again；（It is designated as to be infeasible）

Rule 8:If Ca Che robots right is sky（Traveled through along X-direction）, then it should be from left-hand rotation one forward one Turn left again；（It is designated as turning right to be infeasible）

Rule 9:If Ca Che robots left, front are sky（Along negative Y direction traversal）, then it should retreat 30 lis Rice, turns right；（It is designated as to be infeasible）

Rule 10:If before Ca Che robots, left and right equal sky, then it, which should be performed, retracts 30 centimetres, right-hand rotation.

Rule 11:If Ca Checa cars robot completes the traversal along X-axis and Y direction, then wipe car machine and return Starting point is awaited orders.

Claims (7)

1. a kind of Ca Che robots that can be creeped on automobile case, it is characterised in that：It includes the absorption for being used to produce suction Unit, the unit of creeping for realizing action of creeping, for the cleaning unit of dedusting, the wiping list for realizing wiping action Member, for the control unit that each unit is controlled to more than, is each attached on base plate above.

2. the Ca Che robots according to claim 1 that can be creeped on automobile case, it is characterised in that：The absorption is single Member includes magnetic-adsorption unit and vacuum suction unit, and described magnetic-adsorption unit includes the sheet magnetic for being respectively distributed to corner Iron.

3. the Ca Che robots according to claim 2 that can be creeped on automobile case, the vacuum suction unit includes Adsorb motor, absorption branch pipe, adsorption tube switching valve, four vaccum-suction attachement pads and vaccum-suction attachement pad skirt section, it is characterised in that：Institute State vaccum-suction attachement pad and include one along the radially outwardly extending skirt section of vaccum-suction attachement pad, the outer end in the skirt section and adsorbent surface are close Envelope, its other end is directly or indirectly flexibly connected with vaccum-suction attachement pad；The vaccum-suction attachement pad passes through vacuum manifold and absorption Gas circuit is connected below motor.

4. the Ca Che robots according to claim 1 that can be creeped on automobile case, it is characterised in that described control Unit is made up of PLC or single-chip microcomputer.

5. the Ca Che robots according to claim 3 that can be creeped on automobile case, it is characterised in that the adsorption tube Switching valve is spring throttle type.

6. the Ca Che robots according to claim 1 that can be creeped on automobile case, it is characterised in that described wiping Unit includes wiping blend stop, atomization film trap box, wipes scraping article, sprayer unit and water absorber, and the sprayer unit is by ultrasonic wave Transducer, water purifying cartridge and wind-pressure tube are constituted, and the wind-pressure tube is connected with ultrasonic transducer.

7. the Ca Che robots according to claim 6 that can be creeped on automobile case, it is characterised in that the water suction dress Put and be made up of pulsating pump, suction hose, sewage box and sewage pipe, the pulsating pump will wipe sewage on scraping article and pass through water sucking mouth, pipe Road sucks sewage box.