CN206687660U - A kind of automatic glass clean robot - Google Patents
A kind of automatic glass clean robot Download PDFInfo
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- CN206687660U CN206687660U CN201621180804.5U CN201621180804U CN206687660U CN 206687660 U CN206687660 U CN 206687660U CN 201621180804 U CN201621180804 U CN 201621180804U CN 206687660 U CN206687660 U CN 206687660U
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Abstract
Robot utility model field, more particularly to a kind of automatic glass clean robot, including support, the first translation mechanism, the second translation mechanism, adsorbing mechanism and cleaning mechanism are the utility model is related to, wherein：First translation mechanism, the second translation mechanism are separately mounted on support；Cleaning mechanism is arranged on the second translation mechanism；Adsorbing mechanism is separately mounted on the first translation mechanism and the second translation mechanism；First translation mechanism coordinates with adsorbing mechanism, realizes movement of the robot to first direction；Second translation structure coordinates with adsorbing mechanism, realizes movement of the robot to second direction；Second translation structure coordinates with adsorbing mechanism and cleaning mechanism, realizes the cleaning glass function of automatic glass clean robot；First direction is mutually perpendicular to second direction.The utility model automatic glass clean robot can realize moving freely for two vertical direction of Robot, and simple to operate and time saving and energy saving, cleaning effect is good, simple in construction, and manufacturing cost is low.
Description
Technical field
It the utility model is related to robot field, more particularly to a kind of automatic glass clean robot.
Background technology
With the development of urban modernization, also more and more higher, skyscraper bring people's beauty visual angle to the height of floor
Meanwhile the cleaning of high-altitude glass turns into one of subject matter that building maintenance needs solve.
Traditional manual cleaning method needs to use lifting rope to hang worker to operating position and cleaned, and this operation needs two
More than people coordinate, not only cleaning efficiency is low, somewhat expensive, and high-storey operation has very big potential safety hazard, causes injures and deaths
Accident happen occasionally.Also need to carry with bucket, scraper plate, cleaning agent etc. during artificial cleaning, placement is improper to will result in object
Fall, the pedestrian on ground is damaged or frightened.
Existing double-faced hand-operated window-cleaning device, using magnetic-adsorption principle, though solve the problems, such as to clean outside glass,
When cleaning glass, it is still desirable to which people is in glass inner side cleaning glass window and then drives outside window-cleaning device simultaneously operating, this cleaning
Mode labor intensity is larger；Moreover, there was only cleaning cloth on existing window-cleaning device, once cleaning cloth humidity is excessive, meeting on glass
Spray is remained, causes not washing clean clearly, when dirt etc. is difficult to clean dirt, merely cleaning cloth is difficult to wipe clean when having on glass；
Furthermore this product is only applicable to relatively thin glass, do not applied to for dual-layer vacuum glass or the glass for having coating plated film,
The scope of application is smaller.
At present, in the market has had cleaning glass machine people, it may have higher automaticity, but machinery bore a heavy burden
Greatly, security is difficult to ensure that, cleaning effect is poor, and manufacturing cost is too high, fails to be promoted on a large scale in cleaning glass.
Utility model content
The purpose of this utility model is to provide a kind of automatic glass clean robot, passes through the first translation mechanism and second
The structure design of translation mechanism, while adsorbing mechanism is set, it can realize that automatic glass clean robot is orthogonal along two
Move in direction；The setting of cleaning structure can realize the cleaning of the complete pair glass of automatic glass clean robot；Center control
Device processed realizes the Automated condtrol of automatic glass clean robot, makes its action more quick, and operation is more simple；Certainly simultaneously
Dynamic cleaning glass machine people's general structure design is ingenious, reduces production cost.
In order to solve the above problems, the technical solution adopted in the utility model is：A kind of automatic glass clean robot, bag
Support, the first translation mechanism, the second translation mechanism, adsorbing mechanism and cleaning mechanism are included, wherein：First translation mechanism, second
Translation mechanism is separately mounted on support；Cleaning mechanism is arranged on the second translation mechanism；Adsorbing mechanism is separately mounted to first
On translation mechanism and the second translation mechanism；First translation mechanism and adsorbing mechanism coordinate, realize automatic glass clean robot to
The movement of first direction；Second translation mechanism coordinates with adsorbing mechanism, realizes automatic glass clean robot to second direction
It is mobile；Second translation structure coordinates with adsorbing mechanism and cleaning mechanism, realizes the cleaning glass of automatic glass clean robot
Function；First direction is mutually perpendicular to second direction.
Further, adsorbing mechanism includes the first adsorbing mechanism and the second adsorbing mechanism, wherein：First adsorbing mechanism is pacified
On the first translation mechanism, the second adsorbing mechanism is arranged on the second translation mechanism.
Further, support includes upper substrate, infrabasal plate, left guide rod and right guide rod, wherein：Upper substrate and lower base
Plate is linked together by left guide rod and right guide rod.
Further, the first translation mechanism includes upper translation mechanism and lower translation mechanism and cover plate, wherein：Upper translation machine
Structure is driven mobile unit, on upper substrate；Lower translation mechanism is active mobile unit, on infrabasal plate；Cover plate
Entirety is covered in automatic glass clean robot top, and connects upper translation mechanism and lower translation mechanism respectively, is translated in realization
Mechanism and the synchronizing moving of lower translation mechanism.
Further, upper translation mechanism includes the first U-shaped board, feed rod, upper connector, the first slide rail, the first sliding block, its
In：Feed rod is connected between two wing plates of the first U-shaped board；The top of upper connector is provided with unthreaded hole, is set on feed rod, on
The right lower quadrant of connector is fixedly connected with upper substrate；First sliding block is fixedly mounted on the lower left quarter of upper connector, and the first slide rail is consolidated
On the bottom plate of the first U-shaped board, the first sliding block is slidably connected with the first slide rail for Dingan County.Lower travel mechanism include the second U-shaped board,
Leading screw, lower connector, the second slide rail, the second sliding block and the first drive mechanism, wherein：Leading screw is connected to the two of the second U-shaped board
Between individual wing plate, one end of leading screw is connected with the first drive mechanism；The top of lower connector is provided with screwed hole, is set in leading screw
Upper composition lead screw pair, the lower left quarter of lower connector are fixedly connected with infrabasal plate；Second sliding block is fixedly mounted on the right side of lower connector
Bottom, the second slide rail are fixedly mounted on the bottom plate of the second U-shaped board, and the second sliding block is slidably connected with the second slide rail.
Further, the first translation mechanism includes leading screw, connecting plate, upper feed rod, lower feed rod, left plate, right plate, upper branch
Fagging, lower supporting plate and the first drive mechanism, wherein：Leading screw is connected between left plate and right plate, its one end and first
Drive mechanism connects；Upper feed rod leading screw parallel arrangement relative with lower feed rod is connected between left plate and right plate；Connecting plate exists
Correspondence position with respect to leading screw is provided with screwed hole, and the correspondence position of feed rod and lower feed rod is provided with unthreaded hole, connecting plate on relatively
It is set on leading screw, upper feed rod and lower feed rod, connecting plate both ends are fixedly connected with upper backup pad with lower supporting plate respectively；Left side
Plate is fixedly connected with upper substrate and infrabasal plate respectively with the bottom at the both ends of right plate；First drive mechanism is arranged on left plate
Or the outside of right plate.
Further, the second translation mechanism include driving belt pulley shaft, driven belt wheel shaft, Left Drive belt, right driving belt,
Second drive mechanism, left connector and right connector, wherein：Driving belt pulley shaft is arranged on upper substrate, driving belt pulley shaft
One end is connected with the second drive mechanism；Driven belt wheel shaft is arranged on infrabasal plate；Left Drive belt and right driving belt difference
It is arranged on belt wheel of the driving belt pulley shaft with driven belt wheel shaft；Unthreaded hole is offered on left connector, is set in left guide rod
On, one end of left connector is fixedly connected on Left Drive belt；Unthreaded hole is offered on right connector, is set in right guide rod
On, one end of right connector is fixedly connected on right driving belt.
Further, the first adsorbing mechanism includes multiple first suckers, is separately positioned on the first U-shaped board and the second U-shaped board
Lower section；Second adsorbing mechanism includes at least two second suckers, is separately positioned on the lower section of left connector and right connector.
Further, the first sucker and the second sucker also include spring and electromagnet.
Further, cleaning mechanism includes cleaner and scraper plate, is connected to below left connector and right connector, its
In：Cleaner comprises at least sprayer unit, cleaning cloth, the one kind gone in mud plate.
Further, in addition to vacuum extractor, the vacuum extractor connect with the first sucker and the second sucker respectively
Connect.
Further, in addition to central control unit, the drive mechanism of central control unit centralized Control first, second drive
Mechanism, vacuum extractor and cleaning mechanism operation.
A kind of automatic glass clean robot of the present utility model, has the advantages that：
1st, cleaned instead of artificial, safety reduces without hidden danger, cleaning cost.
2nd, designed by the split-type structural of the first translation mechanism and the second translation mechanism, coordinate adsorbing mechanism to realize
Automatic glass clean robot is moved freely along two mutually perpendicular directions, and each position of glass can be cleaned.
3rd, central control unit realizes the Automated condtrol of automatic glass clean robot, easy to operate.
4th, vacuum extractor and sucker structure coordinate, and prevent device and drop problem.
5th, the cleaning device being made up of cleaner and scraper plate efficiently solve remain on glass during cleaning spray with
And the dirt such as dirt is difficult to the problem of scouring, cleaning effect is good.
6th, automatic glass clean robot general structure design is ingenious simple, small volume, in light weight, security performance height.
Brief description of the drawings
, below will be to embodiment for clearer explanation the utility model embodiment or technical scheme of the prior art
Or the required accompanying drawing used is briefly described in description of the prior art, it is clear that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of automatic glass clean robot apparatus structure schematic diagram (one) of the present utility model；
Fig. 2 is a kind of automatic glass clean robot device top view of the present utility model；
Fig. 3 is a kind of automatic glass clean robot apparatus structure schematic diagram (two) of the present utility model；
Fig. 4 is a kind of automatic glass clean robot apparatus structure schematic diagram (three) of the present utility model；
Fig. 5 is a kind of automatic glass clean robot apparatus structure schematic diagram (four) of the present utility model；
In figure：The U-shaped boards of 111- first, 112- feed rods, 113- upper connectors, the slide rails of 114- first, the sliding blocks of 115- first,
Connector, the slide rails of 124- second, the sliding blocks of 125- second, 126 first driving machines under the U-shaped boards of 121- second, 122- leading screws, 123-
Feed rod under structure, 13- cover plates, 141- connecting plates, the upper feed rods of 142-, 143-, 144- left plates, 145- right plates, support on 146-
Plate, 147- lower supporting plates, 21- driving belt pulley shafts, 22- driven belts wheel shaft, 23- Left Drives belt, the right driving belts of 24-, 25-
The left connector of second drive mechanism, 26-, the right connectors of 27-, 31- upper substrates, 32- infrabasal plates, the left guide rods of 33-, the 34- right sides are led
To bar, the suckers of 411- first, the suckers of 421- second, 431- electromagnet, 441- springs, 51- cleaners, 52- scraper plates.
Embodiment
Below in conjunction with the accompanying drawing in the utility model, the technical scheme in the embodiment of the utility model is carried out it is clear,
Complete description, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole implementation
Example.Based on the embodiment in the utility model, those skilled in the art is not on the premise of creative work is made
The all other embodiment obtained, belongs to the scope of protection of the utility model.
As shown in Figure 1 and Figure 2, a kind of automatic glass clean robot of the utility model embodiment, including the first translation machine
Structure, the second translation mechanism, support, adsorbing mechanism and cleaning mechanism, wherein the first translation mechanism and the second translation mechanism are distinguished
On support, cleaning mechanism is arranged on the second translation mechanism, and adsorbing mechanism is separately mounted to the first translation mechanism and the
On two translation mechanisms；First translation mechanism coordinates with adsorbing mechanism, realizes shifting of the automatic glass clean robot to first direction
It is dynamic；Second translation structure coordinates with adsorbing mechanism, realizes movement of the automatic glass clean robot to second direction；Second translation
Structure coordinates with adsorbing mechanism and cleaning mechanism, realizes the cleaning glass function of automatic glass clean robot；First direction
It is mutually perpendicular to second direction.
Specifically, the first translation mechanism is movably to be connected with support, it can be slidably connected by sliding pair, realize that first is flat
Telephone-moving structure can move along the first direction with respect to support；Second translation mechanism is fixedly connected with support, cleaning mechanism and the second translation
Mechanism movably connects so that cleaning mechanism can move in a second direction relative to support and the second translation mechanism；Adsorbing mechanism and
One translation mechanism and the second translation mechanism are fixedly connected, and fix the first translation mechanism and second for cross-fixing or simultaneously
Translation mechanism, ensure that the moment is attached on glass in automatic glass clean robot motion process, more have between each mechanism
Connected mode the utility model of body does not do specific restriction, belongs to the scope of protection of the utility model.
Specifically as shown in figure 3, adsorbing mechanism includes the first adsorbing mechanism and the second adsorbing mechanism.First adsorbing mechanism is pacified
On the first translation mechanism, the second adsorbing mechanism is arranged on second translation mechanism, passes through the first adsorbing mechanism and the
The setting of two adsorbing mechanisms is so as to realizing respectively control of the adsorbing mechanism to the first translation mechanism and the second translation mechanism.
Specifically, support includes upper substrate 31, infrabasal plate 32, left guide rod 33 and right guide rod 34.Wherein upper substrate
31 and infrabasal plate 32 linked together by left guide rod 33 and right guide rod 34, connected mode typically from screw it is affixed, this
Utility model is not specifically limited.
Specifically, the first translation mechanism includes upper translation mechanism and lower translation mechanism and cover plate 13, wherein：Upper translation machine
Structure is driven mobile unit, on upper substrate 31；Lower translation mechanism is active mobile unit, on infrabasal plate 32；
Cover plate 13 is overall to be covered in automatic glass clean robot top, and connects upper translation mechanism and lower translation mechanism respectively, realizes
The synchronizing moving of upper translation mechanism and lower translation mechanism.
In embodiment of the present utility model, further structure is done with lower translation mechanism to above-mentioned upper translation mechanism and set
Meter.Specifically, upper translation mechanism includes the first U-shaped board 111, feed rod 112, upper connector 113, the first slide rail 114, the first sliding block
115.Feed rod 112 is connected between two wing plates of the first U-shaped board 111；The cross section of feed rod 112 can be circular, square, polygon
Shape, circular section, the first U-shaped board 111 play fixed support at this, and the first U-shaped board 111 can also pass through other
Structure is replaced, for example using frame structure etc., the utility model is not specifically limited.The top of upper connector 113 is set
There is unthreaded hole, the shape of unthreaded hole is corresponding with the cross sectional shape of feed rod 112, and upper connector 113 is set on feed rod 112 by unthreaded hole,
It can be slided along feed rod 112；The right lower quadrant of upper connector 113 is bolted to connection with upper substrate 31；First sliding block 115 is fixed
Installed in the lower left quarter of upper connector 113, the first slide rail 114 is fixedly mounted on the bottom plate of the first U-shaped board 111, the first sliding block
115 are slidably connected with the first slide rail 114.Concrete structure the utility model of first sliding block 115 and the first slide rail 114 is not made
Specific to limit, identical function and similar structures are within scope of protection of the utility model.
Lower travel mechanism includes the second U-shaped board 121, leading screw 122, lower connector 123, the second slide rail 124, the second sliding block
125 and first drive mechanism 126.Leading screw 122 is connected between two wing plates of the second U-shaped board 121, one end of leading screw 122
It is connected with the first drive mechanism 126；The top of lower connector 123 is provided with screwed hole, is set on leading screw 122 and forms leading screw
It is secondary；The lower left quarter of lower connector 123 is fixedly connected with infrabasal plate 32；Second sliding block 125 is fixedly mounted on lower connector 123
Right lower quadrant, the second slide rail 124 are fixedly mounted on the bottom plate of the second U-shaped board 121, and the second sliding block 125 slides with the second slide rail 124
Connection.Wherein the second U-shaped board 121, lower connector 123, the second slide rail 124 and the second sliding block 125 structure respectively with the first U
Template 111, upper connector 113, the structure of the first slide rail 114 and the first sliding block 115 are identical, will not be repeated here.Screwed hole
Size and selection those skilled in the art of leading screw 122 can be designed according to specific running parameter, this practicality is new
Type is not especially limited.
Specifically, the cooperation of the first sliding block 115 and the first slide rail 114, the cooperation of unthreaded hole and feed rod 112 and upper connector
113 realize the relative motion of the relative support of upper translation mechanism in the first direction jointly with the bolt connection of upper substrate 31；Equally
Cooperation and lower connector 123 and infrabasal plate 32 of the cooperation, leading screw 122 of second sliding block 125 and the second slide rail 124 with screwed hole
Bolt connection realize the relative motion of lower translation mechanism with respect to support in the first direction jointly, it is achieved thereby that first translation
Relative motion of the mechanism with respect to support in the first direction.
In embodiment of the present utility model, the first translation mechanism can also be structure as shown in Figure 5, including leading screw 122,
Connecting plate 141, upper feed rod 142, lower feed rod 143, left plate 144, right plate 145, upper backup pad 146, lower supporting plate 147 and
First drive mechanism 126, wherein：Leading screw 122 is connected between left plate 144 and right plate 145, its one end and the first driving machine
Structure 126 connects；Upper feed rod 142 and lower feed rod 143 with respect to the parallel arrangement of leading screw 122 be connected to left plate 144 and right plate 145 it
Between, the concrete structure and size the utility model of upper feed rod 142 and lower feed rod 143 are not specifically limited；Connecting plate 141 is in phase
Screwed hole is provided with to the correspondence position of leading screw 122, the correspondence position of feed rod 142 and lower feed rod 143 is provided with unthreaded hole on relatively,
Connecting plate 141 is set on leading screw 122, upper feed rod 142 and lower feed rod 143, is connected with the spiral of leading screw 122,141 liang of connecting plate
End is fixedly connected with upper backup pad 146 with lower supporting plate 147 respectively, can be specifically bolt connection or welding, this practicality
It is new to be not specifically limited；The bottom at the both ends of left plate 144 and right plate 145 respectively with upper substrate 31 and infrabasal plate 32
It is fixedly connected；First drive mechanism 126 is arranged on the outside of left plate 144 or right plate 145, and driving leading screw 122 rotates, specifically
The first drive mechanism 126 can be motor and shaft coupling combination.
Specifically, as shown in figure 5, now the first adsorbing mechanism is arranged under upper backup pad 146 and lower supporting plate 147
Side, left plate 144 and right plate 145 are fixedly connected with upper basic 31 and infrabasal plate 32, realize the first translation jointly
Mechanism is with respect to support and the geo-stationary of cleaning mechanism；The unthreaded hole of connecting plate 141 and upper feed rod 142 and lower feed rod 143
Cooperation, the cooperation of the screwed hole of connecting plate 141 and leading screw 122, the both ends of connecting plate 141 and upper backup pad 146 and lower supporting plate
147 are fixedly connected, and realize the first translation mechanism jointly with respect to upper backup pad 146 and lower supporting plate 147 in the first direction
Relative motion, it is achieved thereby that cleaning glass machine people moving freely in the first direction.
In embodiment of the present utility model, the second translation mechanism includes driving belt pulley shaft 21, driven belt wheel shaft 22, a left side
Driving belt 23, right driving belt 24, the second drive mechanism 25, left connector 26 and right connector 27.Driving belt pulley shaft 21
On upper substrate 31, one end of driving belt pulley shaft 21 is connected with the second drive mechanism 25；Driven belt wheel shaft 22 is arranged on down
On substrate 32；Left Drive belt 23 and right driving belt 24 are arranged installed in driving belt pulley shaft 21 and driven belt wheel shaft 22 respectively
Belt wheel on；Unthreaded hole is offered on left connector 26, is set on left guide rod 33, one end of left connector 26 is fixedly connected
On Left Drive belt 23；Unthreaded hole is offered on right connector 27, is set on right guide rod 34, one end of right connector 27
It is fixedly connected on right driving belt 24.The concrete structure of left guide rod 33, right guide rod 34 and unthreaded hole with matching
And size the utility model is not specifically limited.
Specifically, driving belt pulley shaft 21 is arranged on upper substrate 31, driven belt wheel shaft 22 is arranged on infrabasal plate 32, it is real
The second translation mechanism is showed all the time with respect to the stationary motion of support；The cooperation of left guide rod 33 and right guide rod 34 and unthreaded hole, the right side
Connector 27 and the fixation of right driving belt 24, the fixation of left connector 26 and Left Drive belt 23 and right connector 27 and a left side
Connector 26 and the fixation of cleaning mechanism realize relative second translation mechanism of cleaning mechanism or pedestal in a second direction jointly
Relative motion.
In actual applications, upper translation mechanism and the synchronizing moving and Left Drive belt 23 of lower translation mechanism and right transmission
The synchronous axial system of belt 24 so that the motion of automatic glass clean robot is more steady, and security performance is obviously improved.
Specifically, the first adsorbing mechanism includes multiple first suckers 411, the first U-shaped board 111 and the 2nd U are separately positioned on
The lower section of template 121；First adsorbing mechanism is preferable to provide four the first suckers 411 at least provided with two the first suckers 411,
Respectively symmetrically positioned at the end of the first U-shaped board 111 and the lower section of the second U-shaped board 121；Second adsorbing mechanism includes at least two second
Sucker 421, it is separately positioned on the lower section of left connector 26 and right connector 27.
Further, in addition to vacuum extractor, the absorption and cancellation for realizing sucker are adsorbed, and vacuum extractor uses multichannel
Control mode.Specifically, vacuum extractor extracts the gas between sucker and glass out, pressure difference is formed between air, the pressure difference
It is combined to form stiction with confficient of static friction, so that sucker is firmly adsorbed on glass, it is sufficient to support automatic glass
Robot load-carrying；When sucker eliminates suction-operated, vacuum extractor to blasting gas between sucker and glass, when with atmospheric pressure
During strong balance, sucker Automatic-falling from glass.It is used cooperatively using vacuum extractor and sucker, adsorption capacity is stronger, sucker
Material the utility model do not do and clearly limit.
Specifically, vacuum extractor is connected with the first sucker 411 and the second sucker 421 respectively, to the first sucker 411 with
And second sucker 421 controlled respectively, when the first adsorbing mechanism adsorbs, vacuum extractor control the first sucker 411 carry out
Absorption, when the second adsorbing mechanism adsorbs, vacuum extractor controls the second sucker 421 to be adsorbed；For the first adsorbing mechanism
And during the second adsorbing mechanism cancellation absorption, similarly vacuum extractor is distinguished the first sucker 411 and the second sucker 421
Absorption is cancelled in control.
Further, the first sucker and the second sucker also include spring 441 and electromagnet 431.Specific electromagnet 431
The top of sucker is arranged on, spring 441 is arranged between sucker and electromagnet, is still connect after sucker, which is cancelled, to be adsorbed with glass
Touch, now electromagnet 431 is powered, and sucker departs from glass under the suction of electromagnet 431, while spring 441 is compressed；Work as suction
Disk need recover absorption when, the dead electricity of electromagnet 431, sucker in the presence of spring 441 again with glass contact, vacuum extractor
Extract the gas between sucker and glass out, realize the firm absorption between sucker and glass, electromagnet 431 and spring 441
With the use of ensure that sucker cancel absorption after with glass depart from, effectively reduce in robot moving process cancel absorption after
Frictional force between sucker and glass.
On the basis of above-mentioned all embodiments, cleaning mechanism includes cleaner 51 and scraper plate 52, and cleaning mechanism is connected to
Left connector 26 and the lower section of right connector 27.Cleaner 51 comprises at least sprayer unit, cleaning cloth, the one kind gone in mud plate.
Sprayer unit can spray at the cleaning position to glass at any time, keep the moistening at cleaning position so that cleaning cloth cleaning is more fast
Speed, thoroughly, and can effective heat absorbing glass surface moisture, avoid remaining spray on glass；Mud plate is gone to be mainly used in dirty to hardly possible scouring
Dirt is handled.
Specifically, also include central control unit, the drive mechanism of central control unit centralized Control first, the second driving machine
Structure, vacuum extractor and cleaning mechanism operation.
Central control unit centralized Control automatic glass clean robot works, and reaches the purpose of cleaning glass, its is specific
Structure the utility model is not limited, and control action can be reached by only requiring.Central control unit can use manually handle,
The PLC circuit plate of specific function can be used, limits multiple-working mode by programming, operational order is grasped by button or remote-control lever
Realize, can also be realized and operated by touch-screen, concrete form the utility model of central control unit is not specifically limited.
A kind of above-mentioned automatic glass clean robot, its size can be formulated according to use environment, if this practicality is new
Type is used for the cleaning of whole building glass outer wall, then large-size may be selected, and the wherein motor of adapted selects larger work(accordingly
Rate, cleaning efficiency is remarkably improved, saves the time；If for the cleaning of family's window-glass, cleaning area is smaller, then may be selected
Reduced size, power of motor also reduce accordingly, so that robot manipulation is more flexible.
With reference to above-described embodiment and accompanying drawing 1 to 4, a kind of automatic glass clean robot of above-described embodiment is made
Following explanation is done with method：
Before a kind of automatic glass clean robot work, the first adsorbing mechanism and the second adsorbing mechanism are flat by first respectively
Telephone-moving structure and the second translation mechanism are absorbed and fixed on glass simultaneously.After work starts, the second adsorbing mechanism eliminates flat to second
The absorption of telephone-moving structure, the action of the second translation mechanism, cleaning structure moves forward or backward in a second direction with respect to support, to glass
Glass is cleaned；After position cleaning terminates, after the second translation mechanism moves into place, the second adsorbing mechanism recovers to glass
Absorption, the first adsorbing mechanism eliminate the absorption to glass, and the action of the second translation mechanism, support relative clean mechanism is in a second direction
Move forward or backward, it is achieved thereby that automatic glass clean robot moving freely in a second direction.Second translation machine
Stopping acts after structure moves into place, and the second adsorbing mechanism keeps the absorption to glass, and the first adsorbing mechanism keeps eliminating to glass
Absorption, the action of the first translation mechanism, the first translation mechanism to the left or moves right in the first direction with respect to support；Work as movement
After in place, the first adsorbing mechanism recovers the absorption to glass, and the second adsorbing mechanism cancels the absorption to glass, the first translation mechanism
Action, support to the left or moves right in the first direction with respect to the first translation mechanism, it is achieved thereby that automatic glass cleaner
Device people moving freely in the first direction；Above step is repeated again so as to complete automatic glass clean robot to monolithic glass
Cleaning.
The utility model is further described by specific embodiment above, it should be understood that, have here
The description of body, should not be construed as the restriction to spirit and scope of the present utility model, and one of ordinary skilled in the art is readding
The various modifications made after reader specification to above-described embodiment, belong to the scope that the utility model is protected.
Claims (12)
- A kind of 1. automatic glass clean robot, it is characterised in that including：Support, the first translation mechanism, the second translation mechanism, Adsorbing mechanism and cleaning mechanism, wherein：First translation mechanism, the second translation mechanism are separately mounted on the support；The cleaning mechanism is arranged on second translation mechanism；The adsorbing mechanism is separately mounted on first translation mechanism and second translation mechanism；First translation mechanism coordinates with the adsorbing mechanism, realizes the automatic glass clean robot to first direction It is mobile；Second translation mechanism coordinates with the adsorbing mechanism, realizes the automatic glass clean robot to second direction It is mobile；Second translation mechanism coordinates with the adsorbing mechanism and the cleaning mechanism, realizes the automatic glass cleaner The cleaning glass function of device people；The first direction is mutually perpendicular to the second direction.
- 2. automatic glass clean robot according to claim 1, it is characterised in that the adsorbing mechanism includes first and inhaled Random structure and the second adsorbing mechanism, wherein：First adsorbing mechanism is arranged on first translation mechanism, and it is flat that second adsorbing mechanism is arranged on described second On telephone-moving structure.
- 3. automatic glass clean robot according to claim 2, it is characterised in that the support include upper substrate, under Substrate, left guide rod and right guide rod, wherein：The upper substrate and the infrabasal plate are linked together by the left guide rod and the right guide rod.
- 4. automatic glass clean robot according to claim 3, it is characterised in that first translation mechanism includes upper Translation mechanism and lower translation mechanism and cover plate, wherein：The upper translation mechanism is driven mobile unit, on the upper substrate；The lower translation mechanism is active mobile unit, on the infrabasal plate；The cover plate is integrally covered in the automatic glass clean robot top, and connects the upper translation mechanism and institute respectively Lower translation mechanism is stated, realizes the synchronizing moving of the upper translation mechanism and the lower translation mechanism.
- 5. automatic glass clean robot according to claim 4, it is characterised in that the upper translation mechanism includes first U-shaped board, feed rod, upper connector, the first slide rail, the first sliding block, wherein：The feed rod is connected between two wing plates of first U-shaped board；The top of the upper connector is provided with unthreaded hole, is set on the feed rod, the right lower quadrant of the upper connector with it is described Upper substrate is fixedly connected；First sliding block is fixedly mounted on the lower left quarter of the upper connector, and first slide rail is fixedly mounted on described first On the bottom plate of U-shaped board, first sliding block is slidably connected with first slide rail；The lower translation mechanism includes the second U-shaped board, leading screw, lower connector, the second slide rail, the second sliding block and the first driving machine Structure, wherein：The leading screw is connected between two wing plates of second U-shaped board, one end of the leading screw and first driving machine Structure connects；The top of the lower connector is provided with screwed hole, is set on the leading screw and forms lead screw pair, the lower connector Lower left quarter is fixedly connected with the infrabasal plate；Second sliding block is fixedly mounted on the right lower quadrant of the lower connector, and second slide rail is fixedly mounted on described second On the bottom plate of U-shaped board, second sliding block is slidably connected with second slide rail.
- 6. automatic glass clean robot according to claim 3, it is characterised in that first translation mechanism includes silk Thick stick, connecting plate, upper feed rod, lower feed rod, left plate, right plate, upper backup pad, lower supporting plate and the first drive mechanism, wherein：The leading screw is connected between the left plate and the right plate, and its one end is connected with first drive mechanism；The upper feed rod leading screw parallel arrangement relative with lower feed rod is connected between the left plate and the right plate；The connecting plate is provided with screwed hole in the correspondence position of relatively described leading screw, feed rod and lower feed rod on relatively described Correspondence position is provided with unthreaded hole, and the connecting plate is set on the leading screw, upper feed rod and lower feed rod, the connecting plate both ends point It is not fixedly connected with the upper backup pad with lower supporting plate；The left plate is fixedly connected with the upper substrate and infrabasal plate respectively with the bottom at the both ends of right plate；First drive mechanism is arranged on the outside of the left plate or the right plate.
- 7. automatic glass clean robot according to claim 5, it is characterised in that second translation mechanism includes master Movable belt pulley axle, driven belt wheel shaft, Left Drive belt, right driving belt, the second drive mechanism, left connector and right connector, Wherein：The driving belt pulley shaft is arranged on the upper substrate, and one end of the driving belt pulley shaft connects with second drive mechanism Connect；The driven belt wheel shaft is arranged on the infrabasal plate；The Left Drive belt and the right driving belt are arranged installed in the driving belt pulley shaft and the driven belt respectively On the belt wheel of wheel shaft；Unthreaded hole is offered on the left connector, is set on the left guide rod, one end of the left connector is fixedly connected On the Left Drive belt；Unthreaded hole is offered on the right connector, is set on the right guide rod, one end of the right connector is fixedly connected On the right driving belt.
- 8. automatic glass clean robot according to claim 7, it is characterised in that first adsorbing mechanism includes more Individual first sucker, it is separately positioned on the lower section of first U-shaped board and second U-shaped board；Second adsorbing mechanism includes at least two second suckers, is separately positioned on the left connector and the right connector Lower section.
- 9. automatic glass clean robot according to claim 8, it is characterised in that first sucker and described second Sucker also includes spring and electromagnet.
- 10. automatic glass clean robot according to claim 9, it is characterised in that the cleaning mechanism includes cleaning Device and scraper plate, it is connected to below the left connector and the right connector, wherein：The cleaner comprises at least sprayer unit, cleaning cloth, the one kind gone in mud plate.
- 11. automatic glass clean robot according to claim 8, it is characterised in that described also including vacuum extractor Vacuum extractor is connected with first sucker and second sucker respectively.
- 12. automatic glass clean robot according to claim 11, it is characterised in that also including central control unit, First drive mechanism, the second drive mechanism, vacuum extractor and cleaning mechanism described in the central control unit centralized Control Operation.
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| CN201621180804.5U CN206687660U (en) | 2016-10-28 | 2016-10-28 | A kind of automatic glass clean robot |
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| CN201621180804.5U CN206687660U (en) | 2016-10-28 | 2016-10-28 | A kind of automatic glass clean robot |
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| CN206687660U true CN206687660U (en) | 2017-12-01 |
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| CN106419722A (en) * | 2016-10-28 | 2017-02-22 | 唐山新禾智能科技有限公司 | Automatic glass cleaning robot |
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| CN106419722A (en) * | 2016-10-28 | 2017-02-22 | 唐山新禾智能科技有限公司 | Automatic glass cleaning robot |
| CN106419722B (en) * | 2016-10-28 | 2021-12-28 | 唐山新禾智能科技有限公司 | Automatic glass cleaning robot |
| CN108042054B (en) * | 2017-12-11 | 2020-06-05 | 宿州市徽腾知识产权咨询有限公司宿马园区分公司 | Automatic robot that cleans of step for corridor |
| CN108042054A (en) * | 2017-12-11 | 2018-05-18 | 李霞林 | A kind of corridor is with step automatic cleaning machine people |
| CN109142911A (en) * | 2018-07-12 | 2019-01-04 | 深圳市晓控通信科技有限公司 | A kind of observation convenient for handling clearly electric instrument |
| CN109131625A (en) * | 2018-10-20 | 2019-01-04 | 西南石油大学 | A kind of headframe climbing device |
| CN109124455A (en) * | 2018-10-30 | 2019-01-04 | 吉林大学 | Glass-cleaning robot and its control method outside building with self-identifying and obstacle avoidance ability |
| CN109124455B (en) * | 2018-10-30 | 2023-04-18 | 吉林大学 | Building external glass wiping robot with self-recognition and obstacle avoidance capabilities and control method thereof |
| CN110266260A (en) * | 2019-06-20 | 2019-09-20 | 深圳市瀚枫科技有限公司 | A kind of energy-saving lamp solar power supply apparatus |
| CN112369978A (en) * | 2020-10-21 | 2021-02-19 | 山东华宇工学院 | Glass curtain wall belt cleaning device |
| WO2022111189A1 (en) * | 2020-11-25 | 2022-06-02 | 科沃斯机器人股份有限公司 | Method, device and control terminal for controlling cleaning robot, and cleaning robot |
| CN113125653A (en) * | 2021-04-21 | 2021-07-16 | 林国伟 | Indoor air detection device |
| CN113125653B (en) * | 2021-04-21 | 2023-08-15 | 林国伟 | Indoor air detection device |
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