CN209826535U

CN209826535U - Glass cleaning robot

Info

Publication number: CN209826535U
Application number: CN201920170046.6U
Authority: CN
Inventors: 曾君; 潘阳红; 曾祖鑫; 尤晨啸; 胥宏; 邱诚
Original assignee: Chengdu Technological University CDTU
Current assignee: Chengdu Technological University CDTU; Chengdu Univeristy of Technology
Priority date: 2019-01-31
Filing date: 2019-01-31
Publication date: 2019-12-24
Anticipated expiration: 2029-01-31

Abstract

The utility model provides a glass cleaning robot, which relates to the technical field of robots and comprises a box body, wherein two sides of the box body are provided with a walking mechanism and a cleaning mechanical arm, the end part of the cleaning mechanical arm is rotationally connected with a cleaning disc, the bottom of the box body is provided with a floating cleaning rolling brush, and the front end and the rear end of the floating cleaning rolling brush are respectively provided with a scraping strip; the walking mechanism comprises a walking motor, a driving gear and a driven gear, the driving gear and the driven gear are arranged side by side, the walking motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, the driving gear and the driven gear are externally meshed with an annular toothed crawler belt, a plurality of suckers are arranged on the toothed crawler belt at intervals, and each sucker is communicated with a gas distribution disc which synchronously rotates. The problem of glass cleaning robot among the prior art drop and clean the effect not good from the glass wall easily is solved.

Description

Glass cleaning robot

Technical Field

The utility model relates to the technical field of robots, especially, relate to a glass cleaning robot.

Background

The glass is applied to buildings, can isolate the external environment and can transmit light to the indoor, and the smooth characteristic of the glass can increase the ornamental value of the buildings, so that the glass is more and more widely applied to the buildings. The glass needs to be cleaned to ensure good light transmittance and attractiveness, the glass on the high-rise building is cleaned mainly by a lifting platform or a hanging basket bearing cleaner to clean the glass curtain wall, the glass curtain wall cleaning machine is high in labor intensity, low in working efficiency, difficult to balance due to high-altitude strong air flow, severe in working environment, high-altitude limit operation and high in threat to personal safety and safety of glass wall surfaces.

Some robots capable of replacing manual cleaning of glass outer walls appear in the market at present, although the operation risk of workers is reduced, some disadvantages also exist, the robot is easy to fall due to insufficient adsorption force between the cleaning robot and the glass walls, and the cleaning effect is poor.

SUMMERY OF THE UTILITY MODEL

To the above-mentioned problem among the prior art, the utility model provides a glass cleaning robot has solved the glass cleaning robot among the prior art and has dropped and clean the not good problem of effect easily from glass wall.

In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows:

the glass cleaning robot comprises a box body, wherein a travelling mechanism and a cleaning mechanical arm are arranged on two sides of the box body, the end part of the cleaning mechanical arm is rotatably connected with a cleaning disc, a floating cleaning rolling brush is arranged at the bottom of the box body, and scraping strips are respectively arranged at the front end and the rear end of the floating cleaning rolling brush;

the walking mechanism comprises a walking motor, a driving gear and a driven gear, the driving gear and the driven gear are arranged side by side, the walking motor drives the driving gear to rotate, the driving gear drives the driven gear to rotate, the driving gear and the driven gear are externally meshed with an annular toothed crawler belt, a plurality of suckers are arranged on the toothed crawler belt at intervals, and each sucker is communicated with a gas distribution disc which synchronously rotates.

Furthermore, the front end and the rear end of the two sides of the box body are respectively provided with a traveling mechanism. Make all be provided with a running gear on four angles of box, all have the sucking disc to hold glass on making four angles of box, make this robot more balanced, firm, can not fall.

Furthermore, two running gears on the same side of the box share one running motor, and driving gears of the two running gears on the same side are synchronously connected in a rotating mode through an intermediate gear. Two traveling mechanisms on the same side of the box body can run synchronously, and the robot is guaranteed to walk forwards stably and efficiently.

Furthermore, a traction mechanism for controlling the inclination of the travelling mechanism is arranged between each travelling mechanism and the box body. The traction mechanism enables the travelling mechanism to generate a certain inclination angle so as to facilitate the sucking disc on the travelling mechanism to better adsorb the curved glass surface.

Furthermore, the traction mechanism comprises a supporting rod fixed on the box body, the end part of the supporting rod is hinged to one end of the traction cylinder, and the other end of the traction cylinder is fixed on a rotating shaft of the driven gear. The distance between the rotating shaft of the driven gear and the box body is controlled by controlling the extension and retraction of the piston rod of the traction cylinder, so that the purpose of inclining the travelling mechanism is achieved.

Furthermore, the floating cleaning rolling brush comprises a cylindrical sponge, the cylindrical sponge is fixed on a rolling brush rotating shaft, the rolling brush rotating shaft is driven by a rolling brush motor, and two ends of the rolling brush rotating shaft are fixedly connected to a rolling brush cylinder. The cylindrical sponge is used for scrubbing dirt on the surface of the glass, and the extrusion degree between the cylindrical sponge and the glass surface is controlled by controlling the rolling brush cylinders at the two ends, so that the cleaning force is controlled; the cylindrical sponge can clean the curved glass by controlling different expansion amounts generated by the rolling brush cylinders at the two ends of the rolling brush rotating shaft.

Further, the rolling brush cylinder is fixed in the box body. The floating cleaning rolling brush can be collected into the box body through the contraction of the piston rod in the air cylinder, so that the robot can conveniently cross obstacles.

Further, clean arm is including being fixed in the clean arm base on the box to and rotate the support arm of connecting on clean arm base, the support arm includes that at least three section connecting rods articulate in proper order and form, and every connecting rod is through the cylinder drive that corresponds.

Further, the cleaning disc is connected to a cleaning disc motor, and the cleaning disc motor is fixed to the cleaning mechanical arm. The start, the stop and the rotating speed of the cleaning disc are correspondingly controlled by controlling the start, the stop and the rotating speed of the cleaning disc motor.

The utility model has the advantages that: the glass cleaning robot in this scheme structure is compacter, and running gear sets up the both sides at the box to the accessible makes it to form the differential and reaches the purpose that turns to for the different speeds of both sides running gear, and a plurality of sucking discs that the last setting of running gear make through the control of distribution of gases dish adsorb more firm, and the tracheal one end of being connected on the distribution of gases dish rotates with the profile of tooth track synchronization of fixed suction disc, avoids connecting the trachea winding influence normal work of sucking disc and distribution of gases dish.

The cleaning robot is provided with cleaning tools with different cleaning functions, such as a cleaning disc, a floating cleaning rolling brush, a scraping strip and the like, so that the cleaning capability of the robot is stronger, wherein the floating cleaning rolling brush can change the cleaning force according to the condition of a glass surface and can be retracted into a box body when crossing obstacles; the scraping strips arranged at the front end and the rear end of the floating cleaning rolling brush can scrape redundant dirt, so that the cleaning burden of the floating cleaning rolling brush is reduced, and the frequency of replacing the floating cleaning rolling brush is also reduced; the cleaning disc is driven by the cleaning mechanical arm, so that the cleaning disc can clean glass surfaces in all directions, and the cleaning of the existing complex building is met.

Drawings

Fig. 1 is a schematic structural view of a glass cleaning robot.

Fig. 2 is a schematic structural view of the glass cleaning robot with the cover of the box removed.

Fig. 3 is a schematic structural view of the traveling mechanism in fig. 1.

Fig. 4 is a schematic structural view of the floating cleaning roller brush in fig. 1.

Fig. 5 is a schematic structural view of the cleaning robot arm in fig. 1.

Wherein, 1, a box body; 2. a traveling mechanism; 21. a traveling motor; 22. a driving gear; 23. a driven gear; 24. a toothed crawler; 25. a suction cup; 26. a gas distribution plate; 27. an intermediate gear; 3. cleaning the mechanical arm; 31. cleaning the disc; 311. cleaning the disc motor; 32. a cleaning arm base; 33. a support arm; 4. floating cleaning of the roller brush; 41. a tubular sponge; 42. a rolling brush rotating shaft; 43. a roller brush motor; 44. a rolling brush cylinder; 5. scraping the strips; 6. a traction mechanism; 61. a strut; 62. and a traction cylinder.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes will be apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all inventions contemplated by the present invention are protected.

As shown in fig. 1 and 2, the glass cleaning robot comprises a box body 1, wherein a traveling mechanism 2 and a cleaning mechanical arm 3 are arranged on two sides of the box body 1, a cleaning disc 31 is rotatably connected to the end of the cleaning mechanical arm 3, a floating cleaning rolling brush 4 is arranged at the bottom of the box body 1, and a scraping strip 5 is respectively arranged at the front end and the rear end of the floating cleaning rolling brush 4.

The front end and the rear end of the same side of the box body 1 are provided with a traveling mechanism 2, namely four corners of the box body 1 are provided with a traveling mechanism 2, so that the balance of the robot walking on the glass surface is kept. As shown in fig. 1 to 3, the traveling mechanism 2 includes a traveling motor 21, and a driving gear 22 and a driven gear 23 which are arranged side by side, the driving gear 22 and the driven gear 23 are externally engaged with an annular toothed crawler 24, and six suckers 25 are uniformly arranged on a non-engagement surface of the toothed crawler 24 at intervals.

The two traveling mechanisms 2 on the same side are driven by the same traveling motor 21, the traveling motors 21 of the two traveling mechanisms 2 on the left side in the advancing direction drive the driving gear 22 on the front end to rotate, the driving gear 22 drives the driven gear 23 and the intermediate gear 27 on the left side which are located in the same traveling mechanism to synchronously rotate, and the intermediate gear 27 on the left side drives the driving gear 22 on the rear end on the left side to rotate, so that the traveling mechanism on the rear end on the left side and the traveling mechanism on the front end on the left side are driven to synchronously rotate. The traveling motors 21 of the two traveling mechanisms 2 on the right side in the forward direction drive the driving gear 22 on the rear end to rotate, and the traveling mechanism 2 on the rear end drives the traveling mechanism 2 on the front end on the right side to move forward through the intermediate gear 27 on the right side.

The rotating speeds of the walking motors 21 on the left side and the right side are controlled to be the same, so that the robot can move forwards stably, and if the robot needs to turn and move forwards, the rotating speeds of the two walking motors 21 are changed, and the robot can turn and move forwards by having a speed difference. Every running gear 2 on four angles of box 1 all has two sucking discs 25 and glass face to adsorb at the walking in-process, and this robot has 8 sucking discs and glass face to adsorb altogether promptly for this robot adsorbs firmly, is difficult for dropping.

The traveling motors 21 are all installed on the box body 1. One end of the traveling motor 21 is coaxially connected with the driving gear 22 driven by the traveling motor through a coupler, the other end of the traveling motor is fixed on the sleeve, the sleeve is fixed on the box body 1, a bearing is installed in the other end of the sleeve and is sleeved on a rotating shaft of the driving gear 22 on the other side, and the sleeve is used for ensuring the coaxiality of the traveling mechanisms 2 on the two sides of the front end or the rear end.

A traction mechanism 6 for controlling the inclination of the running mechanism 2 is arranged between each running mechanism 2 and the box body 1. The traction mechanism 6 comprises a supporting rod 61 fixed on the box body 1, the end part of the supporting rod 61 is hinged to one end of a traction cylinder 62, the other end of the traction cylinder 62 is fixed on a rotating shaft of the driven gear 23, the driven gear 23 is inclined by controlling the extension and retraction of a piston rod in the traction cylinder 62, and then the suction disc 25 is inclined, so that the suction disc 25 and the curved glass surface can be adsorbed.

The gas distribution plate 26 is arranged between the driving gear 22 and the driven gear 23, the gas distribution plate 26 comprises a fixed end and a rotating end, the fixed end is fixed on the box body 1, and the interior of the fixed end is communicated with a vacuum pump with the model of FAC 8505. The rotating end is engaged with a gear fixed to the rotating shaft of the driving gear 22 through a toothed belt, so that the rotating end of the gas distribution plate 26 rotates in synchronization with the suction plate 25. Rotate and serve and be provided with six air flues, every air flue passes through the trachea and corresponds a sucking disc 25 of connection, the lower extreme of stiff end is provided with the arc opening, at the rotatory in-process of air flue, rotate and serve always have two air flues with the arc opening intercommunication on the stiff end, suction effect through the vacuum pump makes and produces the vacuum in two sucking discs 25 that two air flues that communicate this moment correspond, these two sucking discs 25 just are two sucking discs with glass face contact, make sucking disc 25 adsorb on the glass face because of the pressure difference. Along with the rotation of rotation end, two air flues that lie in arc open position on the fixed end before rotate from arc open position and with the fixed end on the through-hole intercommunication of processing, this through-hole and outside air intercommunication, the air enters into sucking disc 25 through the air flue in, make sucking disc 25 in, the external pressure equals, sucking disc 25 no longer adsorbs on the glass face. Therefore, as the toothed crawler 24 rotates, the six suction cups 25 on the toothed crawler 24 are vacuumized and adsorbed on the glass surface repeatedly according to the above process, and are separated from the glass surface as the toothed crawler rotates continuously, so that the robot can be fixed on the glass surface and can move forward.

As shown in fig. 4, the floating cleaning roller brush 4 includes a cylindrical sponge 41, the cylindrical sponge 41 is fixed on a roller brush rotating shaft 42, the roller brush rotating shaft 42 is driven by a roller brush motor 43, and both ends of the roller brush rotating shaft 42 are fixedly connected to a roller brush cylinder 44. The rolling brush cylinder 44 is fixed in the box body 1, and at least when a piston rod of the rolling brush cylinder 44 is contracted to the limit, the floating cleaning rolling brush 4 is positioned in the box body 1, so that the robot can conveniently cross obstacles. The cross section of the scraping strip 5 is in an inverted V shape, and the thickness of the scraping strip is gradually reduced from the fixed end to the end adjacent to the glass.

As shown in fig. 5, the cleaning robot arm 3 includes a cleaning arm base 32 fixed to the housing 1, and an arm 33 rotatably connected to the cleaning arm base 32. A reduction motor is mounted inside the cleaning arm base 32. The arm 33 comprises a plurality of links hinged in sequence, each link being driven by a corresponding cylinder. The cleaning robot 3 is a conventional and compact robot, which is a prior art and the detailed structure thereof is not described herein. The cleaning tray 31 is connected to a cleaning tray motor 311, and the cleaning tray motor 311 is fixed to the cleaning robot arm 3.

A control box is arranged in the box body 1, and a box cover is covered at the top of the box body 1. The control box is internally provided with a power supply, a controller, a Bluetooth communication module and the like. The controller adopts the singlechip that the model is STM32F103C8T6, the break-make of its inside gas circuit is all controlled through the solenoid valve to each cylinder that above-mentioned relates to, and the solenoid valve passes through the opening and shutting of this solenoid valve of corresponding relay control, and the vacuum pump that connects on the gas distribution plate 26 is likewise through relay control, and the preferred model of the relay that relates to is JY12H-K, and every motor all is through the control of corresponding motor driver chip, and the preferred L9110S of motor driver chip. The power supply is used for supplying power to all electrical components. The controller controls the actions of all the relays and the motor driving chip through signals received by the Bluetooth communication module.

The Bluetooth communication module is a device based on Bluetooth communication 4.0, and adopts a chip with the model number of CC2450F128 as a Bluetooth communication chip. The chip can run an application program and a BLE protocol stack, an 8051 microprocessor core with high performance and low power consumption is integrated inside the chip, a 128KB Flash storage space is provided inside the chip, and a UART and USB communication interface is supported to the outside. The Bluetooth communication module is connected with a handheld device supporting Bluetooth 4.0 in a Bluetooth mode, and an operator controls the robot to act by operating the handheld device.

Bluetooth uses the 2.4G frequency band, adopts fast frequency hopping technique to communicate, therefore has higher interference killing feature and security performance. The bluetooth technology can support data and voice transmission, the highest rate is 1Mbps, and the action range depends on the microwave transmitting power: the power of 0dbm has a working distance of 10 meters, and the power of 20dbm has a working distance of 100 meters. Bluetooth technology supports a flexible networking approach, in which several bluetooth devices are wirelessly organized into piconets (pico-nets), and multiple piconets may be interconnected to form a scatternet (Scatter-net). In addition, Bluetooth is the only short-distance omnidirectional radio frequency communication technology which can be embedded into a mobile phone, the action of the robot can be controlled through the mobile phone, and the robot is more favorable for popularization in household appliance application.

Claims

1. The glass cleaning robot is characterized by comprising a box body (1), wherein a travelling mechanism (2) and a cleaning mechanical arm (3) are arranged on two sides of the box body (1), the end part of the cleaning mechanical arm (3) is rotatably connected with a cleaning disc (31), a floating cleaning rolling brush (4) is arranged at the bottom of the box body (1), and scraping strips (5) are respectively arranged at the front end and the rear end of the floating cleaning rolling brush (4);

running gear (2) are including walking motor (21) and driving gear (22) and driven gear (23) that set up side by side, walking motor (21) drive driving gear (22) rotate, driving gear (22) drive driven gear (23) rotate, driving gear (22) with driven gear (23) external toothing has annular profile of tooth track (24), the interval is provided with a plurality of sucking discs (25) on profile of tooth track (24), every sucking disc (25) all communicate with synchronous pivoted distribution of gas dish (26).

2. The glass cleaning robot according to claim 1, wherein a traveling mechanism (2) is provided at each of the front and rear ends of both sides of the case (1).

3. The glass cleaning robot according to claim 2, wherein the two traveling mechanisms (2) located at the same side of the box body (1) share one traveling motor (21), and the driving gears (22) of the two traveling mechanisms (2) at the same side are synchronously and rotationally connected through an intermediate gear (27).

4. Glass cleaning robot according to claim 2, characterized in that between each running gear (2) and the box (1) there is a traction mechanism (6) controlling the inclination of the running gear (2).

5. The glass cleaning robot according to claim 4, characterized in that the traction mechanism (6) comprises a support rod (61) fixed on the box body (1), the end of the support rod (61) is hinged to one end of a traction cylinder (62), and the other end of the traction cylinder (62) is fixed on the rotating shaft of the driven gear (23).

6. The glass cleaning robot according to claim 1, wherein the floating cleaning roller brush (4) comprises a cylindrical sponge (41), the cylindrical sponge (41) is fixed on a roller brush rotating shaft (42), the roller brush rotating shaft (42) is driven by a roller brush motor (43), and two ends of the roller brush rotating shaft (42) are fixedly connected to a roller brush cylinder (44).

7. A glass cleaning robot according to claim 6, characterized in that the roller brush cylinder (44) is fixed inside the tank (1).

8. The glass cleaning robot according to claim 1, wherein the cleaning mechanical arm (3) comprises a cleaning arm base (32) fixed on the box body (1) and a support arm (33) rotatably connected to the cleaning arm base (32), the support arm (33) comprises a plurality of links hinged in sequence, and each link is driven by a corresponding cylinder.

9. The glass cleaning robot according to claim 1, characterized in that the cleaning plate (31) is connected to a cleaning plate motor (311), the cleaning plate motor (311) being fixed to the cleaning robot arm (3).