CN209808189U

CN209808189U - Window cleaning robot

Info

Publication number: CN209808189U
Application number: CN201822027216.3U
Authority: CN
Inventors: 徐颖; 黄铭杰; 郑锦鹏; 蔡大森; 储浩; 郑润晓
Original assignee: Shenzhen University
Current assignee: Shenzhen University
Priority date: 2018-12-03
Filing date: 2018-12-03
Publication date: 2019-12-20
Anticipated expiration: 2028-12-03

Abstract

The utility model provides a window-cleaning robot, include: the controller, first chassis, the second chassis, the guide rail, the slider, first actuating mechanism, the subassembly of managing to find time, clean the portion, first sucking disc group and second sucking disc group, the first end fixed connection of guide rail is on first chassis, the second end of guide rail is the free end, be equipped with sharp guide way on the guide rail, the slider is installed in sharp guide way, first actuating mechanism sets up on first chassis, first actuating mechanism's drive end and slider are connected, first actuating mechanism can drive the slider and slide along sharp guide way, the slider is connected with the second chassis, first sucking disc group is linked together with the subassembly of managing to find time, second sucking disc group is linked together with the subassembly of managing to find time, all install on first chassis and the second chassis and clean the portion. By applying the technical scheme, the problems that the manual cleaning risk coefficient is high, the cleaning efficiency is low, the customized special window-climbing robot is expensive in cost, low in cleaning efficiency and poor in cleaning pertinence application range in the prior art can be solved.

Description

Window cleaning robot

Technical Field

The utility model belongs to the technical field of intelligent household equipment, especially, relate to a window cleaning robot.

Background

At present, a plurality of high-rise buildings in cities adopt a glass curtain wall building mode, more and more families decorate the outer wall of the residence through the glass curtain wall, dust can adhere to the surface of the glass curtain wall after the years, and the surface of the glass curtain wall is full of dirt through the mixing of rain and dew. However, the cleaning methods for the dirt on the surface of the glass curtain wall are mainly divided into manual cleaning and customized robot cleaning. The manual cleaning mode has the defects of high danger coefficient, low efficiency and the like, and can not meet the cleaning requirements of partial buildings; the existing customized special window-climbing robot reduces the cleaning difficulty and danger coefficient of the surface of the glass curtain wall of a building, but generally has the defects of high cost, low cleaning speed, poor pertinence of cleaning the glass curtain wall with gaps and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a window cleaning robot is provided aims at solving the clean danger coefficient height of manual work that exists among the prior art, clean inefficiency to and the special type of customization climbs window robot and consumes expensive, clean inefficiency, the poor problem of clean pertinence application scope.

In order to solve the above technical problem, the utility model relates to a realize like this, a window cleaning robot, include: the controller, the first chassis, the second chassis, the guide rail, the slide block, the first driving mechanism, the evacuation component, the wiping part, the first suction disc group and the second suction disc group, the controller is installed on the first chassis or the second chassis, the first end of the guide rail is fixedly connected to the first chassis, the second end of the guide rail is a free end, the guide rail is provided with a linear guide groove, the slide block is installed in the linear guide groove, the first driving mechanism is arranged on the first chassis and electrically connected with the controller, the driving end of the first driving mechanism is connected with the slide block, the first driving mechanism can drive the slide block to slide along the linear guide groove, the slide block is connected with the second chassis, the evacuation component is electrically connected with the controller, the first suction disc group is installed on the first chassis, the second suction disc group is installed on the second chassis, the first suction disc group is communicated with the evacuation component, the second suction disc group is communicated with the, the first chassis and the second chassis are respectively provided with a wiping part.

Furthermore, the first driving mechanism comprises a first steering engine, a first crank and a connecting rod, the first steering engine is fixedly installed on the first chassis, the first end of the first crank is connected to a rotating shaft of the first steering engine, the second end of the first crank is rotatably connected with the first end of the connecting rod, and the second end of the connecting rod is rotatably connected with the sliding block.

Further, first actuating mechanism drives actuating cylinder including flexible, and flexible drive actuating cylinder fixed mounting is on first chassis, and flexible drive actuating cylinder is connected with the controller electricity, and the tip and the slider fixed connection of the telescopic link of flexible drive actuating cylinder.

Furthermore, the window cleaning robot further comprises a second driving mechanism, the second driving mechanism is installed on a second chassis and electrically connected with the controller, the driving end of the second driving mechanism is fixedly connected with the sliding block, an annular guide groove is formed in the second chassis, the sliding block is provided with a matching protrusion, the matching protrusion extends into the annular guide groove, and the second driving mechanism can drive the sliding block to rotate along the annular guide groove.

Furthermore, a limit groove is arranged on the matching protrusion, and a limit flange matched with the limit groove is arranged on the groove wall of the annular guide groove.

Furthermore, the second driving mechanism comprises a second steering engine and a second crank, the second steering engine is fixedly installed on the second chassis, the first end of the second crank is connected to the rotating shaft of the second steering engine, and the second end of the second crank is fixedly connected with the sliding block.

Further, the evacuation assembly comprises a first evacuation pump, a second evacuation pump, a first electromagnetic valve and a second electromagnetic valve, the first evacuation pump is mounted on the first chassis, the second evacuation pump is mounted on the second chassis, the first electromagnetic valve is mounted on the first chassis, the second electromagnetic valve is mounted on the second chassis, the first evacuation pump and the second evacuation pump are respectively electrically connected with the controller, the first electromagnetic valve and the second electromagnetic valve are respectively electrically connected with the controller, a pump air port of the first evacuation pump is communicated with a first valve port of the first electromagnetic valve through a connecting pipeline, a second valve port of the first electromagnetic valve is communicated with a first suction disc group through a connecting pipeline, a third valve port of the first electromagnetic valve is an open port, the controller controls the switch switching working position of the first electromagnetic valve to control the communication between the first valve port and the second valve port or control the communication between the second valve port and the third valve port, the pump air port of the second evacuation pump is communicated with the first valve port of the second electromagnetic valve through a connecting pipeline, the second valve port of the second electromagnetic valve is communicated with the second sucker group through a connecting pipeline, the third valve port of the second electromagnetic valve is an open port, and the controller controls the switch switching working position of the second electromagnetic valve to control the first valve port to be communicated with the second valve port or the second valve port to be communicated with the third valve port.

Furthermore, the guide rail is provided with a power supply mounting seat for mounting an electric storage power supply.

Compared with the prior art, the utility model, beneficial effect lies in: the window cleaning robot is used for replacing manual work to clean the surface of the glass curtain wall, the climbing action of workers is replaced through the robot, the workers only need to input instructions to the controller of the window cleaning robot through the remote controller on the ground to complete the cleaning work, and the safety threat of the workers is eliminated. In addition, this window cleaning robot carries out the mode of adsorbing in turn and marching in turn through first chassis cooperation first sucking disc group, second chassis cooperation second sucking disc group, and structural design constitutes simply, low in cost, stronger adsorption stability has guaranteed that cleaning work goes on in a orderly manner, and cleaning efficiency promotes greatly, and the process of sliding in turn that first chassis and second chassis adopted can stride across two glass that the interval set up and continue to realize cleaning work in addition, has promoted window cleaning robot's pertinence application scope.

Drawings

Fig. 1 is an assembly structure diagram of a window cleaning robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of the window cleaning robot according to the embodiment of the present invention;

FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;

FIG. 4 is an enlarged schematic view of the structure at B in FIG. 2;

FIG. 5 is a block diagram of the window-cleaning robot;

FIG. 6 is a circuit diagram of a solenoid valve control circuit in the window cleaning robot;

FIG. 7 is a circuit diagram of the DC12V to DC5V of the controller of the window wiper robot;

FIG. 8 is a circuit diagram of the DC5V to DC3.3V of the controller of the window wiper robot;

FIG. 9 is a circuit diagram of an infrared receiver receiving circuit of the controller of the window wiping robot;

FIG. 10 is a first portion of a pin diagram of the stm32 chip of the controller of the window wiper robot;

FIG. 11 is a second portion of the stm32 chip pin diagram of the controller of the window wiper robot;

fig. 12 is a third portion of the stm32 chip pin diagram of the controller in the window wiping robot.

In the drawings, each reference numeral denotes:

10. a first chassis; 11. a first steering engine mounting seat; 12. a first valve body mount; 20. a second chassis; 21. an annular guide groove; 210. a limiting flange; 22. a second steering engine mounting seat; 23. a second valve body mount; 30. a guide rail; 31. a linear guide groove; 32. a power supply mounting base; 40. a slider; 41. a mating protrusion; 410. a limiting groove; 50. a first drive mechanism; 51. a first steering engine; 52. a first crank; 53. a connecting rod; 60. an evacuation assembly; 61. a first evacuation pump; 62. a first solenoid valve; 63. a second solenoid valve; 70. a second drive mechanism; 71. a second steering engine; 72. a second crank.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

As shown in fig. 1 and 2, the window cleaning robot according to an embodiment of the present invention includes a controller, a first chassis 10, a second chassis 20, a guide rail 30, a slider 40, a first driving mechanism 50, an evacuation assembly 60, a cleaning part, a first suction cup group, and a second suction cup group. In this embodiment, the controller is installed on the first chassis 10 or the second chassis 20, the first end of the guide rail 30 is fixedly connected to the first chassis 10, the second end of the guide rail 30 is a free end, the guide rail 30 is provided with the linear guide groove 31, the slider 40 is installed in the linear guide groove 31, the first driving mechanism 50 is installed on the first chassis 10, the first driving mechanism 50 is electrically connected to the controller, the driving end of the first driving mechanism 50 is connected to the slider 40, the first driving mechanism 50 can drive the slider 40 to slide along the linear guide groove 31, the slider 40 is connected to the second chassis 20, the evacuation assembly 60 is electrically connected to the controller, the first suction disc group is installed on the first chassis 10, the second suction disc group is installed on the second chassis 20, the first suction disc group is communicated with the evacuation assembly 60, the second suction disc group is communicated with the evacuation assembly 60, and the first chassis 10 and the second chassis 20 are both installed with the wiping portions.

In the process of using the window cleaning robot to perform window cleaning work, a work instruction is input to the controller through the remote controller, and then the controller sequentially controls the window cleaning work according to the received work instruction. During the window cleaning operation, after the window cleaning robot is placed on the surface of the glass curtain wall, the controller transmits a command to control the evacuation assembly 60 to evacuate the first suction cup group or the second suction cup group, so that the first suction cup group or the second suction cup group is adsorbed and stabilized on the surface of the glass curtain wall (for example, the first suction cup group is first evacuated), then the controller transmits a command to control the first driving mechanism 50 to act, so as to drive the sliding block 40 to slide on the linear guide groove 31 in the direction away from the first chassis 10, that is, the second chassis 20 moves on the surface of the glass curtain wall, at this time, the second chassis 20 carries the wiping part to perform the wiping action on the surface of the glass curtain wall during the moving process, when the far stroke of the sliding block 40 on the guide rail 30 relative to the first chassis 10 is finished, the controller transmits a command to control the evacuation assembly 60 to evacuate the second suction cup group so that the second suction cup group is adsorbed and stabilized on the surface of the glass curtain wall, then the first suction disc group is released, and then the controller transmits a command to control the first driving mechanism 50 to drive the sliding block 40 to slide along the linear guide groove 31 in the direction close to the first chassis 10 (in this case, the guide rail 30 is actually moved), so that the first chassis 10 slides on the surface of the glass curtain wall with the wiping part to wipe the surface of the glass. The first chassis 10 and the second chassis 20 are circularly slipped through the command transmitted by the controller, so as to wipe the surface of the glass curtain wall, and for the window wiping robot, even between two spaced glasses, the first chassis 10 and the second chassis 20 complete the crossing of the gap to finish the work of wiping the surface of the glass when slipping.

The window cleaning robot is used for replacing manual work to clean the surface of the glass curtain wall, the climbing action of workers is replaced through the robot, the workers only need to input instructions to the controller of the window cleaning robot through the remote controller on the ground to complete the cleaning work, and the safety threat of the workers is eliminated. In addition, this window cleaning robot carries out the mode of adsorbing in turn and marching in turn through first chassis 10 cooperation first sucking disc group, second chassis 20 cooperation second sucking disc group, and structural design constitutes simply, low in cost, stronger adsorption stability has guaranteed to clean the work and has gone on in a orderly way, and cleaning efficiency promotes greatly, and the process of sliding in turn that first chassis 10 and second chassis 20 adopted can stride across two glass that the interval set up and continue to realize cleaning work, has promoted window cleaning robot's pertinence application scope.

As shown in fig. 1 and fig. 2, the window-wiping robot further includes a second driving mechanism 70, the second driving mechanism 70 is mounted on the second chassis 20, the second driving mechanism 70 is electrically connected to the controller, a driving end of the second driving mechanism 70 is fixedly connected to the slider 40 (it is known that "the slider 40 is connected to the second chassis 20" as an indirect connection between the slider 40 and the second chassis 20 "), the second chassis 20 is provided with an annular guide groove 21, the slider 40 is provided with a matching protrusion 41, the matching protrusion 41 extends into the annular guide groove 21, and the second driving mechanism 70 can drive the slider 40 to rotate along the annular guide groove 21, that is, the second driving mechanism 70 drives the slider 40 to rotate 90 ° clockwise or 90 ° counterclockwise along the annular guide groove 21. Under the driving action of the first driving mechanism 50, the sliding block 40 can slide along the linear guide groove 31, so that the first chassis 10 and the second chassis 20 can alternately move on the surface of the glass curtain wall to wipe the surface of the glass curtain wall, under the driving action of the first driving mechanism 50, the first chassis 10 and the second chassis 20 can move along a predetermined linear direction, for example, after the glass curtain wall at the bottom is wiped to the highest glass curtain wall, at this time, the controller transmits a command to control the evacuating assembly 60 to evacuate the second suction cup group to adsorb and stabilize the second chassis 20 on the surface of the glass curtain wall, and then the second driving mechanism 70 is controlled to start to drive the sliding block 40 to rotate along the annular guide groove 21, for example, clockwise 90 degrees, at this time, the first chassis 10, the guide rail 30, the sliding block 40 and the like rotate clockwise 90 degrees relative to the second chassis 20, thereby changing the moving direction of the first chassis 10 and the second chassis 20 which are alternately moved, namely, changing the wiping direction of the glass curtain wall to replace the target area of the glass curtain wall. Then, the controller transmits an instruction to control the first chassis 10 and the second chassis 20 to alternately adsorb and alternately slide so as to realize the wiping work of the surface of the glass curtain wall.

Specifically, first actuating mechanism 50 includes first steering wheel 51, first crank 52 and connecting rod 53, first steering wheel 51 fixed mounting is on first chassis 10, specifically, has set up first steering wheel mount pad 11 on first chassis 10, on the first steering wheel mount pad 11 with first steering wheel 51 fixed mounting, first steering wheel 51 is connected with the controller electricity, the first end of first crank 52 is connected in the axis of rotation of first steering wheel 51, the second end of first crank 52 is rotationally connected with the first end of connecting rod 53, the second end of connecting rod 53 is rotationally connected with slider 40. The second driving mechanism 70 comprises a second steering engine 71 and a second crank 72, the second steering engine 71 is fixedly mounted on the second chassis 20, specifically, a second steering engine mounting seat 22 is arranged on the second chassis 20, the second steering engine 71 is fixedly mounted on the second steering engine mounting seat 22, the second steering engine 71 is electrically connected with the controller, a first end of the second crank 72 is connected to a rotating shaft of the second steering engine 71, and a second end of the second crank 72 is fixedly connected with the sliding block 40. As shown in fig. 1 to 4, between the second chassis 20 and the sliding block 40, the engaging protrusion 41 is provided with a limiting groove 410, and the wall of the annular guide groove 21 is provided with a limiting flange 210 engaged with the limiting groove 410.

As shown in fig. 2, the evacuation assembly 60 includes a first evacuation pump 61, a second evacuation pump, a first electromagnetic valve 62 and a second electromagnetic valve 63, the first evacuation pump 61 is installed on the first chassis 10, the second evacuation pump is installed on the second chassis 20, the first electromagnetic valve 62 is installed on the first chassis 10, the first chassis 10 is provided with a first valve body installation seat 12, the first valve body installation seat 12 is located beside the first steering engine installation seat 11, the first electromagnetic valve 62 is fixedly installed on the first valve body installation seat 12, the second electromagnetic valve 63 is installed on the second chassis 20, the second chassis 20 is provided with a second valve body installation seat 23, the second valve body installation seat 23 is located beside the second steering engine installation seat 22, the second electromagnetic valve 63 is fixedly installed on the second valve body installation seat 23, the first evacuation pump 61 and the second evacuation pump are respectively electrically connected with a controller, the first electromagnetic valve 62, the second evacuation pump 62 are electrically connected with the controller, The second electromagnetic valves are respectively electrically connected with the controller, the pump air port of the first evacuation pump 61 is communicated with the first valve port of the first electromagnetic valve 62 through a connecting pipeline, the second valve port of the first electromagnetic valve 62 is communicated with the first suction disc group through a connecting pipeline, the third valve port of the first electromagnetic valve 62 is an open port, the controller controls the switch conversion working position of the first electromagnetic valve 62 to control the first valve port and the second valve port to be communicated or the second valve port and the third valve port to be communicated, the pump air port of the second evacuation pump is communicated with the first valve port of the second electromagnetic valve 63 through a connecting pipeline, the second valve port of the second electromagnetic valve 63 is communicated with the second suction disc group through a connecting pipeline, the third valve port of the second electromagnetic valve 63 is an open port, and the controller controls the switch conversion working position of the second electromagnetic valve 63 to control the first valve port and the second valve port to be communicated or the second valve port and the third valve port to be communicated.

During the process of alternately controlling the first chassis 10 and the second chassis 20 to realize the alternate sliding, for example, when starting, the first suction cup group is firstly made to adsorb and stabilize the surface of the glass curtain wall, that is, the controller transmits a command to control the first evacuation pump 61 to start, and the controller transmits a command to control the first electromagnetic valve 62 to communicate the first valve port with the second valve port, so that the first evacuation pump 61 evacuates the air between the first suction cup group and the surface of the glass curtain wall to realize the adsorption and stabilization, and then the controller transmits a command to control the second electromagnetic valve 63 to communicate the second valve port with the third valve port, at this time, the second suction cup group and the surface of the glass curtain wall are in a release state, so that the second chassis 20 can move on the surface of the glass curtain wall. After the second chassis 20 is driven by the slider 40 to move to complete the movement stroke away from the first chassis 10, the controller transmits a command to control the second evacuation pump to start up, and controls the second electromagnetic valve 63 to communicate the first valve port with the second valve port, at this time, air between the second suction cup group and the surface of the glass curtain wall is evacuated to achieve stable adsorption, and then the controller transmits a command to control the first electromagnetic valve 62 to communicate the second valve port with the third valve port, at this time, the first suction cup group and the surface of the glass curtain wall are in a release state, so that the first chassis 10 can move on the surface of the glass curtain wall under the drive of the slider 40. The controller alternately controls the first evacuation pump 61 to work in a cycle of cooperating with the first solenoid valve 62 and the second evacuation pump to work in a cycle of cooperating with the second solenoid valve 63, so that the first chassis 10 and the second chassis 20 can alternately slide on the surface of the glass curtain wall and wipe the surface of the glass curtain wall.

As shown in fig. 1 and 2, the window cleaning robot of the present embodiment is powered by a storage battery, a power supply mounting seat 32 is provided on a guide rail 30 of the window cleaning robot, and the storage battery is fixedly mounted in the power supply mounting seat 32.

In the window cleaning robot, except that the first driving mechanism 50 is formed by assembling a first steering engine 51, a first crank 52 and a connecting rod 53, the first driving mechanism 50 can also directly adopt a telescopic driving cylinder which is fixedly arranged on the first chassis 10 and electrically connected with a controller, and the end part of a telescopic rod of the telescopic driving cylinder is fixedly connected with the sliding block 40. The controller transmits an instruction to control the telescopic rod of the telescopic driving cylinder to realize telescopic motion, and the telescopic rod can drive the sliding block 40 to slide in the linear guide groove 31.

The controller of the window-cleaning robot is a control system designed based on STM32 chip, the STM32 chip control system is composed of a PCB board which is designed autonomously, and circuits on the PCB board comprise a minimum system of STM32F103 chip, an electromagnetic valve control circuit (shown in figure 6), a direct current 12V to 5V circuit (shown in figure 7), a direct current 5V to 3.3V circuit (shown in figure 8) and an infrared receiving circuit (shown in figure 9).

Referring to fig. 5 in combination, after the window wiping robot is used to wipe the surface of the glass curtain wall, a worker inputs and transmits length and width data to be wiped on the surface of the glass curtain wall to the controller through the remote controller, after the controller receives the length and width data, the controller immediately calculates the length and width data so as to perform targeted path planning, and then the controller walks according to the planned wiping path, so that the wiping work on the surface of the targeted glass curtain wall can be completed.

When the window cleaning robot walks upwards to clean the glass, the driving mechanisms (the first driving mechanism 50 and the second driving mechanism 70) of the window cleaning robot and the evacuation assembly 60 are matched to complete the operation, taking the example that the first chassis 10 faces downwards and the second chassis 20 faces upwards and is placed on the glass, and taking the example that the first driving mechanism 50 consists of the first steering engine 51, the first crank 52 and the connecting rod 53. When the vehicle runs upwards, the first suction disc group at the bottom of the first chassis 10 is fixed on glass in an absorbing manner under the action of the evacuation assembly 60, meanwhile, the suction disc at the bottom of the second chassis 20 is released, the first crank 52 rotates to a 180-degree state from a 0-degree state under the action of the first steering engine 51, and in the process, the first crank 52 pushes the connecting rod 53 to enable the sliding block 40 to move linearly upwards on the guide rail 30, so that the second chassis 20 is pushed to move linearly upwards. After the process is finished, the second sucker group at the bottom of the second chassis 20 is fixed on the glass in an adsorption mode under the action of the evacuation assembly 60, meanwhile, the first sucker group at the bottom of the first chassis 10 is released under the action of the second electromagnetic valve 63, then the first crank 52 rotates to a 0-degree state from a 180-degree state under the action of the first steering engine 51, in the process, the sliding block 40 is in a fixed state under the action of the second chassis 20, and the first crank 52 pulls the connecting rod 53 to pull the first chassis 10 to move linearly upwards. The window cleaning robot can walk on the glass in a straight line upwards by repeating the two processes, and meanwhile, the wiping parts are arranged at the bottoms of the first chassis 10 and the second chassis 20 to wipe in the walking process.

When the window cleaning robot wipes glass in a downward walking mode, the driving mechanisms (the first driving mechanism 50 and the second driving mechanism 70) of the window cleaning robot are matched with the evacuation assembly 60 to complete operation, taking the first chassis 10 facing downward and the second chassis 20 facing upward to be placed on the glass as an example, when the window cleaning robot walks downward, the second sucker group at the bottom of the second chassis 20 is fixedly adsorbed to the glass under the action of the evacuation assembly, meanwhile, the second sucker group at the bottom of the first chassis 10 is released, and the first crank 52 rotates to a state of 180 degrees from a state of 0 degrees under the action of the first steering engine 51, in the process, as the slide block 40 is in a fixed state under the action of the second chassis 20, the first crank 52 pushes the connecting rod 53 to push the first chassis 10 to move downward under the reaction force of the slide block 40. After the process is finished, the first suction disc group at the bottom of the first chassis 10 is fixed on the glass in an adsorption manner under the action of the evacuation assembly, meanwhile, the second suction disc group at the bottom of the second chassis 20 is released under the action of the second electromagnetic valve 63, then the first crank 52 rotates to a 0-degree state from a 180-degree state under the action of the first steering engine 51, and in the process, the first crank 52 pulls the connecting rod 53 to enable the sliding block 40 to move linearly downwards on the guide rail 30, so that the second chassis 20 is pulled to move linearly downwards. The two processes are repeated, so that the window cleaning robot can walk on the glass in a downward straight line, and meanwhile, the cleaning parts are arranged at the bottoms of the first chassis 10 and the second chassis 20, so that the cleaning is realized in the walking process.

When the window cleaning robot walks left and right on the glass for cleaning, the second crank 72 rotates left or right for 90 degrees under the action of the second steering engine 71, and the operation is completed under the coordination of the second driving mechanism 70 and the evacuation component 60, taking the case that the first chassis 10 faces downwards, the second chassis 20 faces upwards and is placed on the glass as an example, and taking the case that the first driving mechanism 50 consists of the first steering engine 51, the first crank 52 and the connecting rod 53 as an example. When walking rightwards, the second sucker group at the bottom of the second chassis 20 is fixed on glass in an adsorption manner under the action of the evacuation component 60, meanwhile, the first sucker group at the bottom of the first chassis 10 is released, the second crank 72 rotates rightwards for 90 degrees under the action of the second steering engine 71, so that the first chassis 10 is driven to rotate rightwards for 90 degrees, and then the first crank 52 rotates to a 180-degree state from a 0-degree state under the action of the first steering engine 51, in the process, the first crank 52 pushes the connecting rod 53 to enable the first chassis 10 to walk rightwards in a straight line manner, then the first sucker group at the bottom of the first chassis 10 is fixed on glass in an adsorption manner under the action of the first evacuation pump 61, and meanwhile, the second sucker group at the bottom of the second chassis 20 is released under the action of. After the operation, first crank 52 is under the effect of first steering wheel 51, by 180 gyration to 0 to the pulling second chassis 20 straight line walking right, accomplish this operation back, the second sucking disc group of second chassis 20 bottom adsorbs under the second evacuation pump effect and is fixed in glass, the first sucking disc group of first chassis 10 bottom releases under the effect of first solenoid valve 62 simultaneously, later second crank 72 is under the effect of second steering wheel 71, gyration 90 left, thereby drive first chassis 10 gyration 90 left, thereby realize the operation of walking right of window-cleaning robot. The process of walking left is the same as the above operation to the right.

The connection and cooperative function between the functional parts in the controller will be described with reference to the schematic diagrams of fig. 6 to 12.

The window cleaning robot has the working process that: with reference to fig. 9, firstly, the remote controller (the infrared remote controller is adopted in the window cleaning robot) sends the length and width data of the glass curtain wall to the HS0038B infrared receiver in the controller, the infrared signal is transmitted to the STM32 chip through the PE5 pin via the infrared receiving circuit to be decoded, the preset program performs the operation of the path planning algorithm according to the input length and width data, and further controls the high level duration output by the PC6 and PA8 pins and the high and low levels of the PE14 and PE15 to respectively control the rotation angles of the first steering engine 51 and the second steering engine 71 and the turn-off of the first electromagnetic valve 62 and the second electromagnetic valve 63 to realize the walking control of the window cleaning robot.

The walking control of the window cleaning robot is explained as follows:

when the air conditioner is started, the first steering engine 51 is in a 0-degree angle state, the second steering engine 71 is in a 90-degree angle state, the first electromagnetic valve 62 and the second electromagnetic valve 63 are in an off state (namely, a pump air port of the first evacuation pump 61 is communicated with a second valve port of the first electromagnetic valve 62, a pump air port of the second evacuation pump is communicated with a second valve port of the second electromagnetic valve 63), and the first evacuation pump 61 and the second evacuation pump are always in a working state. Therefore, the two suckers are in the adsorption state when the window cleaning robot is started, so that the window cleaning robot is tightly adsorbed on the glass and is in the contraction state.

Go up (take first chassis 10 down, second chassis 20 up on glass as an example, and take first drive mechanism 50 to be made up of first steering engine 51, first crank 52, connecting rod 53 as an example): the STM32 chip controls the I/O port PE15 to be in a high level state, the base voltage of the S8050 triode is high and is larger than the cut-off voltage, the base voltage is conducted, the voltage at the two ends of the second electromagnetic valve 63 is about 12V, the second valve port of the second electromagnetic valve 63 is communicated with the third valve port, the suction disc of the second suction disc group is communicated with air, the vacuum environment in the second suction disc group disappears, and the suction disc is released; then, the STM32 chip controls the I/O port PC6 to output an electric modulation square wave with the period of 2000us and the high level duration of 250us, so that the first steering engine 51 is in a 180-degree angle state, and the sliding block 40 is pushed to move. After the movement is finished, the STM32 chip controls the I/O port PE15 to be in a low level state, the second electromagnetic valve 63 is turned off to enable the first valve port and the second valve port of the second electromagnetic valve to be communicated, the pump gas port end of the second evacuation pump is communicated with the suction disc of the second suction disc group, and air in the suction disc is evacuated to enable the suction disc to be in a vacuum environment and adsorbed on glass. Then, the STM32 chip controls the I/O port PE14 to be in a high level state, so that the first electromagnetic valve 62 is conducted to release the suction cup of the first suction cup group (namely, the second valve port of the first electromagnetic valve 62 is communicated with the third valve port); and then the STM32 chip controls the I/O port PC6 to output an electric modulation square wave with the period of 20ms and the high level duration of 0.5ms, so that the first steering engine 51 is in a 0-degree angle state, and the sliding block 40 is pushed to move. After the movement is finished, the STM32 chip controls the I/O port PE14 to be in a low level state, and the first electromagnetic valve 62 is switched off to enable the suction disc of the first suction disc group to be adsorbed on the glass.

The STM32 chip control steps are summarized as follows: the suction cup of the second suction cup group is released → the first steering gear 51 is in the 180 ° angle state → the suction cup of the first suction cup group is adsorbed → the suction cup of the first suction cup group is released → the first steering gear 51 is in the 0 ° angle state → the suction cup of the first suction cup group is adsorbed.

Downward walking (taking the first chassis 10 facing downward, the second chassis 20 facing upward and placed on the glass as an example, and taking the first driving mechanism 50 composed of the first steering engine 51, the first crank 52 and the connecting rod 53 as an example): the STM32 chip controls the I/O port PE14 to be in a high level state, the base voltage of the S8050 triode is high and is larger than the cut-off voltage, the base voltage is conducted, the voltage at two ends of the first electromagnetic valve 62 is about 12V, the two ends of the first electromagnetic valve 62 normally work, the second valve port and the third valve port of the first electromagnetic valve 62 are communicated, the sucker of the first sucker group is communicated with air, the vacuum environment in the first sucker group disappears, and the sucker is released; then, an STM32 chip controls an I/O port PC6 to output an electric modulation square wave with the period of 20ms and the high level duration of 2.5ms, so that the first steering engine 51 is in a 180-degree angle state, and the sliding block 40 is pushed to move. After the movement is finished, the STM32 chip controls the I/O port PE14 to be in a low level state, the first electromagnetic valve 62 is turned off to enable a first valve port of the first electromagnetic valve to be communicated with a second valve port of the first electromagnetic valve, a pump gas port end of the first evacuation pump is communicated with a suction cup of the first suction cup group, and air in the middle of the suction cup is pumped away to enable the suction cup to be in a vacuum environment to adsorb on glass. Then, the STM32 chip controls the I/O port PE15 to be in a high level state, and the second electromagnetic valve 63 is conducted to release the suckers of the second sucker group; and then the STM32 chip controls the I/O port PC6 to output an electric modulation square wave with the period of 20ms and the high level duration of 0.5ms, so that the first steering engine 51 is in a 0-degree angle state, and the sliding block 40 is pushed to move. After the movement is finished, the STM32 chip controls the I/O port PE15 to be in a low level state, and the second electromagnetic valve 63 is switched off to enable the suction disc of the first suction disc group to be adsorbed on the glass.

The STM32 chip control steps are summarized as follows: the suction cup of the first suction cup group is released → the first steering gear 51 is in an angle state of 180 degrees → the suction cup of the first suction cup group is adsorbed → the suction cup of the second suction cup group is released → the first steering gear 51 is in an angle state of 0 degrees → the suction cup of the second suction cup group is adsorbed.

Turning to the right (taking the first chassis 10 facing downwards, the second chassis 20 facing upwards and placed on the glass as an example, and taking the first driving mechanism 50 consisting of the first steering engine 51, the first crank 52 and the connecting rod 53 as an example): an STM32 chip controls an I/O port PE14 to be in a high level state, and the first electromagnetic valve 51 is conducted to release the suckers of the first sucker group; then an STM32 chip controls an I/O port PA8 to output an electric modulation square wave with the period of 20ms and the high level duration of 0.5ms, so that a second steering engine 71 is in a 0-degree angle state, and the bottom and the top of a rightward rotating guide rail 30 are at the same horizontal height; the chip controls the I/O port PC6 to output an electrically-adjusted square wave with the period of 20ms and the high-level duration of microseconds, so that the first steering engine 51 is in a certain angle state, and the sliding block 40 is pushed to move rightwards by the width distance of one machine body; then, the STM32 chip controls the I/O port PE14 to be in a low level state, and the first electromagnetic valve 62 is switched off to enable the suction disc of the first suction disc group to absorb; controlling the I/O port PE15 to be in a high level state, and enabling the second electromagnetic valve 63 to be conducted to release the suckers of the second sucker group; then, an STM32 chip controls an I/O port PC6 to output an electric modulation square wave with the period of 20ms and the high level duration of 0.5ms, so that the first steering engine 51 is in a 0-degree angle state, and the sliding block 40 is pushed to move rightwards; then the I/O port PE15 is controlled to be in a low level state, and the second electromagnetic valve 63 is turned off to enable the suction cups of the second suction cup group to absorb; then, the STM32 chip controls the I/O port PE14 to be in a high level state, and the first electromagnetic valve 62 is conducted to enable the suction cups of the first suction cup group to be released; then an STM32 chip controls an I/O port PA8 to output an electric modulation square wave with the period of 20ms and the high level duration of 1.5ms, so that a second steering engine 71 is in a 90-degree angle state, and the bottom and the top of a guide rail 30 are rotated leftwards and moved to be at the same vertical height; and finally, the STM32 chip controls the I/O port PE14 to be in a low level state, and the first electromagnetic valve 62 is switched off to enable the suction cups of the first suction cup group to suck.

The STM32 chip control steps are summarized as follows: the suction cup release of the first suction cup group → the second steering gear 71 is in the 0 degree angle state → the first steering gear 51 is in the fixed angle state → the suction cup adsorption of the first suction cup group → the suction cup release of the second suction cup group → the first steering gear 51 is in the 0 degree angle state → the suction cup adsorption of the second suction cup group → the suction cup release of the first suction cup group → the second steering gear 71 is in the 90 degree angle state.

Turning to the left: the STM32 chip controls the I/O port PE14 to be in a high level state, and the first electromagnetic valve 62 is conducted to release the suckers of the first sucker group; then an STM32 chip controls an I/O port PA8 to output an electric modulation square wave with the period of 20ms and the high level duration of 2.5ms, so that a second steering engine 71 is in a 180-degree angle state, and the guide rail 30 is rotated leftwards to enable the bottom and the top to be at the same horizontal height; the STM32 chip controls the I/O port PC6 to output an electric modulation square wave with the cycle of 20ms and the high level duration of microseconds, so that the first steering engine 51 is in a certain angle state, and the sliding block 40 is pushed to move leftwards by the width distance of one machine body; then, the STM32 chip controls the I/O port PE14 to be in a low level state, and the first electromagnetic valve 62 is switched off to enable the suction disc of the first suction disc group to absorb; controlling the I/O port PE15 to be in a high level state, and enabling the second electromagnetic valve 63 to be conducted to release the suckers of the second sucker group; then, an STM32 chip controls an I/O port PC6 to output an electric modulation square wave with the period of 20m and the high level duration of 0.5ms, so that the first steering engine 51 is in a 0-degree angle state, and the sliding block 40 is pushed to move leftwards; then the I/O port PE15 is controlled to be in a low level state, and the second electromagnetic valve 63 is turned off to enable the suction cups of the second suction cup group to absorb; then, the STM32 chip controls the I/O port PE14 to be in a high level state, and the first electromagnetic valve 62 is conducted to enable the suction cups of the first suction cup group to be released; then an STM32 chip controls an I/O port PA8 to output an electric modulation square wave with the period of 20ms and the high level duration of 1.5ms, so that a second steering engine 71 is in a 90-degree angle state, and the guide rail 30 is rotated rightwards to enable the bottom and the top to be at the same vertical height; and finally, the STM32 chip controls the I/O port PE14 to be in a low level state, and the first electromagnetic valve 62 is switched off to enable the suction cups of the first suction cup group to suck.

The STM32 chip control steps are summarized as follows: the suction cup release of the first suction cup group → the second steering gear 71 is in the 180-degree angle state → the first steering gear 51 is in the fixed angle state → the suction cup adsorption of the first suction cup group → the suction cup release of the second suction cup group → the first steering gear 51 is in the 0-degree angle state → the suction cup adsorption of the second suction cup group → the suction cup release of the first suction cup group → the second steering gear 71 is in the 90-degree angle state.

The utility model provides a window cleaning robot, there is more firm adsorption structure, and the transmission structure of crank connecting rod formula utilizes here window cleaning robot's transmission structure more nimble, the practicality, adsorb and release through the sucking disc on articulate corotation and reversal cooperation both sides chassis (first chassis 10 and second chassis 20), realize that the robot walks about the straight line on glass, and it is more firm in addition in absorption, factor of safety is high, even also can stride across this gap distance and continue to realize cleaning work between two glass curtain walls of big spacing distance.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A window wiping robot, comprising: the vacuum cleaner comprises a controller, a first chassis (10), a second chassis (20), a guide rail (30), a sliding block (40), a first driving mechanism (50), an evacuation component (60), a wiping part, a first suction disc group and a second suction disc group, wherein the controller is installed on the first chassis (10) or the second chassis (20), the first end of the guide rail (30) is fixedly connected to the first chassis (10), the second end of the guide rail (30) is a free end, a linear guide groove (31) is formed in the guide rail (30), the sliding block (40) is installed in the linear guide groove (31), the first driving mechanism (50) is arranged on the first chassis (10), the first driving mechanism (50) is electrically connected with the controller, the driving end of the first driving mechanism (50) is connected with the sliding block (40), and the first driving mechanism (50) can drive the sliding block (40) to slide along the linear guide groove (31), the slider (40) is connected with the second chassis (20), the evacuation component (60) is electrically connected with the controller, the first suction disc group is installed on the first chassis (10), the second suction disc group is installed on the second chassis (20), the first suction disc group is communicated with the evacuation component (60), the second suction disc group is communicated with the evacuation component (60), and wiping parts are installed on the first chassis (10) and the second chassis (20).

2. The window-cleaning robot as claimed in claim 1, wherein the first driving mechanism (50) comprises a first steering engine (51), a first crank (52) and a connecting rod (53), the first steering engine (51) is fixedly mounted on the first chassis (10), a first end of the first crank (52) is connected to a rotating shaft of the first steering engine (51), a second end of the first crank (52) is rotatably connected with a first end of the connecting rod (53), and a second end of the connecting rod (53) is rotatably connected with the sliding block (40).

3. The window-cleaning robot as claimed in claim 1, wherein the first driving mechanism (50) comprises a telescopic driving cylinder, the telescopic driving cylinder is fixedly mounted on the first chassis (10), the telescopic driving cylinder is electrically connected with the controller, and the end of a telescopic rod of the telescopic driving cylinder is fixedly connected with the sliding block (40).

4. The window-cleaning robot according to claim 1, further comprising a second driving mechanism (70), wherein the second driving mechanism (70) is mounted on the second chassis (20), the second driving mechanism (70) is electrically connected to the controller, the driving end of the second driving mechanism (70) is fixedly connected to the sliding block (40), an annular guide groove (21) is formed in the second chassis (20), the sliding block (40) is provided with a matching protrusion (41), the matching protrusion (41) extends into the annular guide groove (21), and the second driving mechanism (70) can drive the sliding block (40) to rotate along the annular guide groove (21).

5. The window-cleaning robot as claimed in claim 4, wherein the fitting protrusion (41) is provided with a stopper groove (410), and a wall of the annular guide groove (21) is provided with a stopper flange (210) fitted into the stopper groove (410).

6. The window-cleaning robot as claimed in claim 4, wherein the first driving mechanism (50) comprises a first steering engine (51), a first crank (52) and a connecting rod (53), the first steering engine (51) is fixedly mounted on the first chassis (10), a first end of the first crank (52) is connected to a rotating shaft of the first steering engine (51), a second end of the first crank (52) is rotatably connected with a first end of the connecting rod (53), and a second end of the connecting rod (53) is rotatably connected with the sliding block (40).

7. The window-cleaning robot as claimed in claim 6, wherein the second driving mechanism (70) comprises a second steering engine (71) and a second crank (72), the second steering engine (71) is fixedly mounted on the second chassis (20), a first end of the second crank (72) is connected to a rotating shaft of the second steering engine (71), and a second end of the second crank (72) is fixedly connected with the sliding block (40).

8. The window wiping robot according to any one of claims 1 to 7, wherein the evacuation assembly (60) comprises a first evacuation pump (61), a second evacuation pump, a first solenoid valve (62), and a second solenoid valve (63), the first evacuation pump (61) is mounted on the first chassis (10), the second evacuation pump is mounted on the second chassis (20), the first solenoid valve (62) is mounted on the first chassis (10), the second solenoid valve (63) is mounted on the second chassis (20), the first evacuation pump (61) and the second evacuation pump are respectively electrically connected with the controller, the first solenoid valve (62) and the second solenoid valve are respectively electrically connected with the controller, and a pump air port of the first evacuation pump (61) is communicated with a first valve port of the first solenoid valve (62) through a connection pipeline, the second valve port of the first electromagnetic valve (62) is communicated with the first sucking disc group through a connecting pipeline, the third valve port of the first electromagnetic valve (62) is an open port, the controller controls the switch of the first electromagnetic valve (62) to switch the working position so as to control the communication between the first valve port and the second valve port or control the communication between the second valve port and the third valve port, the pump air port of the second evacuation pump is communicated with the first valve port of the second electromagnetic valve (63) through a connecting pipeline, the second valve port of the second electromagnetic valve (63) is communicated with the second sucker group through a connecting pipeline, the third valve port of the second electromagnetic valve (63) is an open port, and the controller controls the switch of the second electromagnetic valve (63) to switch the working position so as to control the communication between the first valve port and the second valve port or control the communication between the second valve port and the third valve port.

9. The window-cleaning robot as claimed in claim 8, wherein the guide rail (30) is provided with a power supply mounting seat (32) for mounting a storage power supply.