CN206687659U - A kind of glass cleaning machine people - Google Patents
A kind of glass cleaning machine people Download PDFInfo
- Publication number
- CN206687659U CN206687659U CN201620664297.6U CN201620664297U CN206687659U CN 206687659 U CN206687659 U CN 206687659U CN 201620664297 U CN201620664297 U CN 201620664297U CN 206687659 U CN206687659 U CN 206687659U
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- bottom plate
- vehicle bridge
- machine people
- glass
- cleaning machine
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- Expired - Fee Related
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- Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
Abstract
It the utility model is related to civilian robotic technology field, disclose a kind of glass cleaning machine people, including body, adsorbent equipment, drive device, wherein body includes bottom plate, cover, cleaning unit, detection unit, adsorbent equipment is made up of two centrifugal radial fans, and drive device includes powershift system, chassis assembly.The negative pressure of vacuum that described glass cleaning machine people is formed by adsorbent equipment is adsorbed in glass surface, and described drive device chassis assembly is provided with crawler belt, and glass cleaning machine people is moved in a manner of track drive in glass surface.The utility model allows hand over horizontal and vertical power, realizes 90 ° of commutations, makes commutation campaign more flexible；Pinch roller depresses crawler belt during motion, so that the increase of the contact area of crawler belt and glass surface, normal pressure increase, mitigate even to eliminate and skid.
Description
Technical field
The utility model belongs to civilian robotic technology field, and in particular to a kind of glass cleaning machine people.
Background technology
Existing most of glass cleaning machine people, its steering mode are broadly divided into two kinds, by differential turn of two driving wheels
To with mechanism self-locking pivot stud.Driving wheel differential steering mode is more universal, but this mode efficiency it is low, to glass edge
Cleaning performance is poor, and easily glass surface is caused to wear during steering；Mechanism self-locking manner uses self-locking mechanism, when needing to turn to
When self-locking releasing, drive part differential steering again, although cleaning part is not moved in steering procedure, mechanism performs action
Complexity, long-term action mechanism wear aging, reduce the service life of robot；Other existing glass cleaning machine people uses more
Wheeled or common track drive mode, easily there is skidding when wheel or crawler belt chance water.
Therefore need to be improved the motion mode of glass cleaning machine people, to cause stable movement, steering more fast
Speed, robot service life improve.
The content of the invention
Technical problem to be solved in the utility model is, in view of the shortcomings of the prior art, there is provided a kind of glass cleaning
Robot, it can adsorb on window-glass surface and move, can voluntarily switch the switching that power carries out the direction of motion, and can
Effectively mitigate and even eliminate skidding.
Technical problem to be solved in the utility model is achieved through the following technical solutions：
A kind of glass cleaning machine people, including body, adsorbent equipment, drive device, powershift system, chassis assembly,
If the body center position is provided with adsorbent equipment, the surrounding of body is respectively arranged with the symmetrical drive of horizontal and vertical motion
Dynamic device, the symmetrical drive device of the lengthwise movement are connected by horizontal vehicle bridge, and the symmetrical drive device of transverse movement is by longitudinal direction
Vehicle bridge is connected；For horizontal vehicle bridge with longitudinal vehicle bridge to be mutually perpendicular to, the place of being mutually perpendicular to is provided with powershift system, powershift system
System and chassis assembly are arranged on the bottom plate on body, and the bottom plate on body is connected by screw with cover；And chassis assembly
It is provided with crawler belt.
A kind of glass cleaning machine people, the body include bottom plate, cover, cleaning unit, detection unit, and cleaning unit is solid
The bottom surface of bottom plate is scheduled on, detection unit is arranged on four corners of bottom plate.
A kind of glass cleaning machine people, the adsorbent equipment are made up of two centrifugal radial fans and annular seal space, centrifugation
Formula radial fan is fixed on bottom plate by the positioning hole on bottom plate and pressing plate, and the air inlet surrounding of centrifugal radial fan has close
Seal apparatus, sealing device are the cleaning cloth being arranged on the side of bottom plate four；Have vacuum port on bottom plate, on centrifugal radial fan on
Bleeding point alignment vacuum port completes plane positioning, and vertical glass surface direction is then positioned with pressing plate；There is cleaning cloth pressure on bottom plate
The annular seal space formed during contracting.
A kind of glass cleaning machine people, for the drive device by motor, drive shaft, driving wheel, driving wheel passes through top
Silk is fixed in drive shaft, and the motor is arranged on bottom plate, and the drive shaft of motor shaft end passes through bearing, bearing block
It is formed in positioner axially and radially.
A kind of glass cleaning machine people, the powershift system is horizontal and vertical switching device, by powershift
Motor, screw pair composition, powershift motor are fixed on bottom plate by motor mounting plate；Screw pair connects with chassis
Connect, screw pair is connected with nut thread by leading screw and formed, and powershift motor shaft end is synchronous with being provided with lead screw shaft
Belt wheel, the screw thread on leading screw is left and right rotation direction screw thread, and left hand thread differs 11mm with right-handed thread partial distance；Bottom plate and cover
On be provided with bearing block, bearing block is built with bearing, and leading screw both ends pass through bearing and bearing block positions.
A kind of glass cleaning machine people, the cleaning unit include VELCRO, cleaning cloth, and VELCRO is fixed on the bottom of bottom plate
Face, cleaning cloth are bonded at cleaning easy to disassemble on VELCRO；The cleaning unit is cleaning cloth, and cleaning cloth is arranged on bottom plate, clearly
Clean cloth another side contacts with glass surface.
A kind of glass cleaning machine people, the detection unit include window frame detection unit and window side detection unit, window frame inspection
The middle front that unit is arranged on bottom plate is surveyed, window side detection unit is arranged on bottom plate corner.
A kind of glass cleaning machine people, the chassis assembly are liftable structure, and described chassis assembly includes longitudinal car
Bridge, horizontal vehicle bridge, motor, crawler belt, driving wheel, tensioning wheel, pinch roller, nut, nut be respectively fixed to longitudinal vehicle bridge and
In horizontal vehicle bridge；And it is respectively arranged with guider in longitudinal vehicle bridge, horizontal vehicle bridge.
A kind of glass cleaning machine people, the guider, including linear bearing, guide rod, positioning seat, linear bearing are set
Put and be arranged in vehicle bridge both ends, positioning seat on bottom plate.
The beneficial effects of the utility model are：
（1）The direction of motion of robot is parallel or vertical with window jamb all the time, ensure that the uniformity of movement locus；
（2）Switch horizontal and vertical motion using powershift system, motion is more flexible；（3）The chassis knot of pinch roller is installed
Structure causes the contact area of crawler belt and glass surface to increase, and effectively mitigates robot and meets water skidding so that motion is more flat
Steady reliable, to glass surface cleaning performance greatly improves.
Brief description of the drawings
Fig. 1 is glass cleaning machine people's structural representation；
The view of transverse direction vehicle bridge when Fig. 2 is lengthwise movement；
The view of longitudinal direction vehicle bridge when Fig. 3 is lengthwise movement；
The view of transverse direction vehicle bridge when Fig. 4 is transverse movement；
The view of longitudinal direction vehicle bridge when Fig. 5 is transverse movement.
Fig. 6 is glass cleaning machine people's vertical and horizontal walking states schematic diagram.
In figure：1. body；2. adsorbent equipment；3. drive device；11. bottom plate；12. cover；13. cleaning unit；
14. detection unit；21. centrifugal radial fan；31. powershift system；32. chassis assembly.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment, the technical solution of the utility model is described in detail.
As shown in figure 1, a kind of glass cleaning machine people of the present invention, including body 1, adsorbent equipment 2, drive device 3, its
Middle body 1 includes bottom plate 11, cover 12, cleaning unit 13, detection unit 14, and adsorbent equipment 2 is by two centrifugal radial fans
21 and annular seal space 22 form, drive device 3 include powershift system 31, chassis assembly 32.Bottom plate 11 and cover on body 1
12 are connected by screw, and cleaning unit 13 includes VELCRO 131, cleaning cloth 132, and VELCRO 131 is fixed on the bottom surface of bottom plate 11,
Cleaning cloth 132 is bonded at cleaning easy to disassemble on VELCRO；Detection unit 14 is arranged on four corners of bottom plate 11, when robot transports
Detection trigger unit 14 is acted when moving window frame corner, and mechanical action is converted into electric signal control machine people commutation.
Centrifugal radial fan 21 in adsorbent equipment 2 is fixed on bottom plate 11, there is vacuum port 111 on bottom plate 11, centrifugation
Bleeding point 211 on 21 on formula radial fan is directed at vacuum port 111 and completes plane positioning, and vertical glass surface direction then uses pressing plate
112 positioning；The annular seal space 22 formed when also having cleaning cloth 132 to compress on bottom plate 11, centrifugal radial fan 21 is in vacuum port 111
During place's pumping, vacuum is formed in annular seal space 22, is adsorbed by annular seal space 22 and atm difference in glass surface.
Powershift system 31 in drive device 3 include powershift motor 311, synchronous pulley 312, timing belt 313,
Leading screw 314 and nut 315, powershift motor 311 are fixed on bottom plate 11 by motor mounting plate；Leading screw 314 divides to be left-handed
It is left-handed to differ 11mm with right-hand portion distance to, dextrorotation to part；Bearing block 113 is installed on bottom plate 11 and cover 12, built with
Bearing, the both ends of leading screw 314 are positioned by bearing and bearing block 113.
Synchronous pulley 312 is installed respectively, powershift motor passes through same on the shaft end of powershift motor 311 and leading screw 314
Step band 313 imparts power to leading screw 314 and drives its rotation, and then the left and right rotation direction thread belt on leading screw 314 moves the He of nut 315
Nut 315 ' moves round about respectively.
Chassis assembly 32 include longitudinal vehicle bridge 321, horizontal vehicle bridge 322, motor 323, crawler belt 324, driving wheel 325,
Tensioning wheel 326, pinch roller 327.Nut 315, nut 315 ' are respectively fixed in longitudinal vehicle bridge 321 and horizontal vehicle bridge 322, work as silk
When the drive nut 315 of thick stick 314 and nut 315 ' move round about, longitudinal vehicle bridge 321 is with horizontal vehicle bridge 322 also to phase negative side
To motion, when must ensure that powershift motor 311 drives the leading screw 314 to rotate, longitudinal vehicle bridge 321 is remote/convergence glass motion, it is horizontal
To vehicle bridge convergence/remote glass motion.Not deflected when ensureing that longitudinal vehicle bridge 321 is moved with horizontal vehicle bridge 322, longitudinal car
Guider, including linear bearing 3211, guide rod 3212, positioning seat 3213 are fitted with bridge 321 and horizontal vehicle bridge 322,
Linear bearing 3211 is arranged on vehicle bridge both ends, and positioning seat 3213 is arranged on bottom plate 11, longitudinal vehicle bridge 321 and horizontal vehicle bridge 322
Can along guide rod about 3212 opposite direction move.
Motor 323 is arranged on bottom plate 11, and the drive shaft 3231 of the shaft end of motor 323 passes through bearing, bearing block
Complete in positioning axially and radially, driving wheel 325 is fixed in drive shaft 3231 by jackscrew, when motor 323 acts
When then drive driving wheel 325 to rotate；Tensioning wheel 326 is installed also by similar mode, and difference is that drive shaft 3231 is not connected to
Motor 323, the bearing block position of the both sides of tensioning wheel 326 is adjustable, is tensioned with this, and crawler belt 324 wraps up driving wheel 325
With tensioning wheel 326.
Longitudinal crawler belt 324 can be depressed/unclamped in robot motion by pinch roller 327, horizontal crawler belt 324 ' release/pressure
Under, the final result of robot powershift is by depressing or unclamping the switching of completion driving force by crawler belt.Pinch roller 327
It is divided into two groups, one group is arranged in longitudinal vehicle bridge 321, and one group is arranged in horizontal vehicle bridge 322, all installed in vehicle bridge both ends；It is vertical
To the pinch roller 327 ' in vehicle bridge 321 1-2mm is differed with the 327 axially mounted position of pinch roller in horizontal vehicle bridge 322（Along vertically
Glass surface direction）, and when mounted, must ensure one of which pinch roller 327 it is tangent just with crawler belt 324, another group then
Crawler belt 324 is depressed, concrete mode is depending on the robot initial direction of motion.The both ends of longitudinal vehicle bridge 321 and horizontal vehicle bridge 322
Wheel pressing shaft 3271 is fixed by installing plate, the inside of pinch roller 327 is equipped with bearing, and empty set is on wheel pressing shaft 3271 and can be around the axle
Rotate.
As shown in Figure 2,3, when needing lengthwise movement, powershift motor 311 drives glass cleaning machine people of the invention
Dynamic leading screw 314 is rotated forward, and longitudinal vehicle bridge 321 is moved along convergence glass direction and depresses pinch roller 327 ', longitudinal crawler belt 324 with
Glass surface fully contacts friction；Because leading screw 314 is left and right rotation direction, therefore horizontal vehicle bridge 322 is transported along away from glass direction simultaneously
Dynamic to lift pinch roller 327, horizontal crawler belt 324 ' unclamps.So driving force is only provided by longitudinal crawler belt 324, Robot
Lengthwise movement.
As shown in Figure 4,5, when needing transverse movement, powershift motor 311 drives glass cleaning machine people of the invention
Dynamic leading screw 314 is rotated backward, and horizontal vehicle bridge 322 is moved along convergence glass direction and depresses pinch roller 327, horizontal crawler belt 324 ' with
Glass surface fully contacts friction；Because leading screw 314 is left and right rotation direction, therefore longitudinal vehicle bridge 321 is transported along away from glass direction simultaneously
Dynamic to lift pinch roller 327 ', longitudinal crawler belt 324 unclamps.So driving force is only provided by horizontal crawler belt 324 ', robot
Transversely move.
Claims (9)
1. a kind of glass cleaning machine people, it is characterized in that：Including body（1）, adsorbent equipment（2）, drive device（3）, power cuts
Change system（31）, chassis assembly（32）, the body（1）If centre is provided with adsorbent equipment（2）, body（1）Four
It is respectively arranged with the symmetrical drive device of horizontal and vertical motion week（3）, the symmetrical drive device of the lengthwise movement（3）By horizontal stroke
To vehicle bridge（322）It is connected, the symmetrical drive device of transverse movement（3）By longitudinal vehicle bridge（321）It is connected；Horizontal vehicle bridge（322）With
Longitudinal vehicle bridge（321）To be mutually perpendicular to, the place of being mutually perpendicular to is provided with powershift system（31）, powershift system（31）And bottom
Disc assembly（32）It is arranged at body（1）On bottom plate（11）On, body（1）On bottom plate（11）With cover（12）Pass through screw
Connection；And chassis assembly（32）It is provided with crawler belt.
2. a kind of glass cleaning machine people according to claim 1, it is characterized in that：The body（1）Including bottom plate（11）、
Cover（12）, cleaning unit（13）, detection unit（14）, cleaning unit（13）It is fixed on bottom plate（11）Bottom surface, detection unit
（14）It is arranged on bottom plate（11）Four corners.
3. a kind of glass cleaning machine people according to claim 1, it is characterized in that：The adsorbent equipment（2）By two from
Core type radial fan（21）And annular seal space（22）Composition, centrifugal radial fan（21）Consolidated by the positioning hole on bottom plate and pressing plate
It is scheduled on bottom plate（11）On, the air inlet surrounding of centrifugal radial fan has sealing device, and sealing device is to be arranged on bottom plate（11）
Cleaning cloth on four sides；Bottom plate（11）On have vacuum port（111）, centrifugal radial fan（21）On bleeding point（211）Alignment
Vacuum port（111）Plane positioning is completed, vertical glass surface direction then uses pressing plate（112）Positioning；Bottom plate（11）It is upper to also have cleaning
Cloth（132）The annular seal space formed during compression（22）.
4. a kind of glass cleaning machine people according to claim 1, it is characterized in that：The drive device（3）By driving electricity
Machine（323）, drive shaft（3231）, driving wheel（325）, driving wheel（325）Drive shaft is fixed to by jackscrew（3231）On, it is described
Motor（323）Installed in bottom plate（11）On, motor（323）The drive shaft of shaft end（3231）Pass through bearing, bearing block
It is formed in positioner axially and radially.
5. a kind of glass cleaning machine people according to claim 1, it is characterized in that：The powershift system（31）For horizontal stroke
To the switching device with longitudinal direction, by powershift motor（311）, screw pair composition, powershift motor（311）Pass through electricity
Machine installing plate is fixed on bottom plate（11）On；Screw pair is connected with chassis, and screw pair is by leading screw（314）And nut
（315）Threaded connection composition, powershift motor（311）Shaft end and leading screw（314）Synchronous pulley is provided with axle（312）,
Leading screw（314）On screw thread be left and right rotation direction screw thread, left hand thread differs 11mm with right-handed thread partial distance；Bottom plate（11）With
Cover（12）On be provided with bearing block（113）, bearing block（113）Built with bearing, leading screw（314）Both ends pass through bearing and bearing
Seat（113）Positioning.
6. a kind of glass cleaning machine people according to claim 2, it is characterized in that：The cleaning unit（13）Including magic
Patch（131）, cleaning cloth（132）, VELCRO（131）It is fixed on bottom plate（11）Bottom surface, cleaning cloth（132）It is bonded at VELCRO
（131）Upper cleaning easy to disassemble；The cleaning unit is cleaning cloth, and cleaning cloth is arranged on bottom plate, cleaning cloth another side and glass
Glass surface contacts.
7. a kind of glass cleaning machine people according to claim 2, it is characterized in that：The detection unit（14）Including window frame
Detection unit and window side detection unit, window frame detection unit are arranged on the middle front of bottom plate, and window side detection unit is arranged on bottom plate
Corner.
8. a kind of glass cleaning machine people according to claim 1, it is characterized in that：The chassis assembly（32）For liftable
Structure, described chassis assembly（32）Including longitudinal vehicle bridge（321）, horizontal vehicle bridge（322）, motor（323）, crawler belt
（324）, driving wheel（325）, tensioning wheel（326）, pinch roller（327）, nut（315）, nut（315’）It is respectively fixed to longitudinal direction
Vehicle bridge（321）With horizontal vehicle bridge（322）On；And longitudinal vehicle bridge（321）, horizontal vehicle bridge（322）On be respectively arranged with guider.
9. a kind of glass cleaning machine people according to claim 8, it is characterized in that：The guider, including linear axis
Hold（3211）, guide rod（3212）, positioning seat（3213）, linear bearing（3211）It is arranged on vehicle bridge both ends, positioning seat（3213）
It is arranged on bottom plate（11）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620664297.6U CN206687659U (en) | 2016-06-29 | 2016-06-29 | A kind of glass cleaning machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620664297.6U CN206687659U (en) | 2016-06-29 | 2016-06-29 | A kind of glass cleaning machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206687659U true CN206687659U (en) | 2017-12-01 |
Family
ID=60438492
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620664297.6U Expired - Fee Related CN206687659U (en) | 2016-06-29 | 2016-06-29 | A kind of glass cleaning machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206687659U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919505A (en) * | 2016-06-29 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Glass cleaning robot and glass cleaning method |
| CN112656325A (en) * | 2021-01-19 | 2021-04-16 | 北京优丽鑫商贸有限公司 | Building curtain wall outer wall cleaning's equipment is exclusively used in |
-
2016
- 2016-06-29 CN CN201620664297.6U patent/CN206687659U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919505A (en) * | 2016-06-29 | 2016-09-07 | 洛阳圣瑞智能机器人有限公司 | Glass cleaning robot and glass cleaning method |
| CN112656325A (en) * | 2021-01-19 | 2021-04-16 | 北京优丽鑫商贸有限公司 | Building curtain wall outer wall cleaning's equipment is exclusively used in |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20180629 |