CN211324682U - Glass outer wall cleaning robot capable of automatically moving and crossing obstacles - Google Patents
Glass outer wall cleaning robot capable of automatically moving and crossing obstacles Download PDFInfo
- Publication number
- CN211324682U CN211324682U CN201922048693.2U CN201922048693U CN211324682U CN 211324682 U CN211324682 U CN 211324682U CN 201922048693 U CN201922048693 U CN 201922048693U CN 211324682 U CN211324682 U CN 211324682U
- Authority
- CN
- China
- Prior art keywords
- main body
- obstacle
- moving obstacle
- moving
- surmounting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
An autonomous mobile obstacle-surmounting glass outer wall cleaning robot, comprising: the cleaning device comprises a main body part, a main body supporting part, a cleaning part, a moving obstacle crossing part, a vacuum generating part, an adsorption part, an obstacle sensing part, a power supply part and a control part. The utility model provides a pair of glass outer wall cleaning robot that obstacle is crossed in autonomous movement can the auto-induction obstacle to according to the response result, control main part supporting part is crossed obstacle portion with the removal and is done predetermined relative motion in order to cross the obstacle, and automatic and intelligent degree is high, need not artifical supplementary obstacle crossing.
Description
Technical Field
The utility model relates to a glass outer wall cleaning's technical field especially relates to a glass outer wall cleaning robot that obstacle is crossed in autonomous movement.
Background
The existing automatic cleaning device in the market at present has great limitation on the working condition, the completed task and the designated scene are very limited, for example, a glass outer wall cleaning robot can only scrub on a whole piece of glass, if the glass outer wall has a protruded rail vertical bar, the robot can only cross the obstacle manually at present, but cannot cross the obstacle automatically, and the limitation on the working scene is very large.
It can be seen that the prior art has at least the following disadvantages: the existing glass outer wall cleaning robot cannot automatically cross obstacles.
Therefore, it is necessary to provide a technical means to solve the above-mentioned drawbacks.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's defect, provide a glass outer wall cleaning robot that obstacle is crossed in autonomous movement to solve the problem that present glass outer wall cleaning robot can't cross the obstacle automatically among the prior art.
The utility model discloses a realize like this, a glass outer wall cleaning robot that autonomous movement hinders more, include:
a main body part for mounting each component;
a main body support part for supporting the main body part; the main body supporting part is arranged on the main body part and can move in the horizontal direction and the vertical direction relative to the main body part;
a cleaning part for cleaning the glass; the cleaning part is arranged at the bottom of the main body part;
a moving obstacle crossing portion for moving the main body portion to cross an obstacle; the movable obstacle crossing part is connected with the main body part and can move in the horizontal direction and the vertical direction relative to the main body part;
a vacuum generating section for generating a vacuum; the vacuum generating part is arranged on the main body supporting part and the movable obstacle crossing part;
an adsorption part, which is used for mutually matching with the vacuum generation part to adsorb the vacuum generation part on the glass; the adsorption parts are arranged at the bottoms of the main body supporting part and the movable obstacle crossing part and are respectively communicated with the respective vacuum generating parts;
the obstacle sensing part is used for transmitting signals to the periphery and receiving feedback signals to sense obstacles; the obstacle sensing part is arranged on the main body part;
a power supply unit for supplying power to each component; the power supply part is arranged on the main body part and is respectively connected with the main body supporting part, the cleaning part, the moving obstacle crossing part, the vacuum generating part and the obstacle sensing part;
a control unit for controlling operations of the respective components so that the main body portion crosses an obstacle; the control part is arranged on the main body part and is respectively connected with the main body supporting part, the cleaning part, the moving obstacle crossing part, the vacuum generating part, the obstacle sensing part and the power supply part.
Preferably, the robot further comprises a stretching part for stretching the self-moving obstacle-crossing glass outer wall cleaning robot; the stretching portion has a first end connected to the fixed end and a second end connected to the main body portion.
Preferably, the glass cleaning device further comprises a water pipe for supplying liquid to the cleaning part to clean the glass; the first end of the water pipe is communicated with the liquid output port, the second end of the water pipe is communicated with the cleaning part, and the water pipe is respectively connected with the power supply part and the control part.
Preferably, the main body part is provided with a sliding groove and a main body part sliding rod, the main body support part is arranged in the sliding groove and can move in the horizontal direction along the sliding groove, the main body part sliding rod is arranged in parallel with the sliding groove, and the movable obstacle crossing part moves in the horizontal direction relative to the main body part sliding rod.
Preferably, the main body support part comprises a main body support part support piece, a main body support part sliding rod, a main body support part supporting column and a main body support part flange, the main body support part support piece is slidably arranged on the main body sliding rod of the main body, the main body support part sliding rod is vertically arranged on the main body support part support piece, the main body support part supporting column is arranged in the hole on the main body support part support piece and extends out of the bottom of the main body, the vacuum generation part on the main body support part is arranged in the main body support part supporting column, the adsorption part on the main body support part is arranged at the bottom of the main body support part supporting column, the main body support part flange is respectively sleeved on the main body support part sliding rod and the main body, the main body supporting part servo motor is respectively connected with the obstacle sensing part and the control part, and controls the main body supporting part supporting piece to move in the horizontal direction and control the main body supporting part supporting column to move in the vertical direction along the main body sliding rod.
Preferably, the movable obstacle crossing part comprises a movable obstacle crossing part screw rod, a movable obstacle crossing part support member, a movable obstacle crossing part slide rod, a movable obstacle crossing part support post and a movable obstacle crossing part flange, a first end of the movable obstacle crossing part screw rod is slidably arranged on the main body part, a second end of the movable obstacle crossing part screw rod is connected with the movable obstacle crossing part support member, the movable obstacle crossing part slide rod is vertically arranged on the movable obstacle crossing part support member, the movable obstacle crossing part support post is arranged in a hole in the movable obstacle crossing part support member and extends out of the bottom of the main body part, the vacuum generating part on the movable obstacle crossing part is arranged in the movable obstacle crossing part support post, the adsorption part on the movable obstacle crossing part is arranged at the bottom of the movable obstacle crossing part support post, the movable obstacle crossing part flange is respectively sleeved on the movable obstacle crossing part slide rod and the movable obstacle crossing part support post, and a movable obstacle crossing part servo motor is arranged on the movable obstacle crossing part support member, the moving obstacle crossing part servo motor is respectively connected with the obstacle sensing part and the control part, and controls the moving obstacle crossing part sliding rod to do relative motion in the horizontal direction along the main body part and controls the moving obstacle crossing part supporting column to do motion in the vertical direction.
Preferably, the movable obstacle crossing portion further comprises a planetary gear shaft, the planetary gear shaft is arranged on the movable obstacle crossing portion support and connected with the second end of the movable obstacle crossing portion screw rod, the planetary gear shaft is sleeved at the bottom end of the movable obstacle crossing portion sliding rod and connected with the movable obstacle crossing portion servo motor, and the movable obstacle crossing portion servo motor controls the planetary gear shaft to rotate relative to the movable obstacle crossing portion sliding rod so that the movable obstacle crossing portion rotates relative to the main body portion.
Preferably, the number of the movable obstacle crossing parts is 2, and the movable obstacle crossing parts are respectively arranged on two sides of the main body part.
Preferably, the obstacle sensing part includes an ultrasonic sensor and/or an infrared sensor.
Preferably, the obstacle sensing portion is disposed on a side surface of the main body portion facing the moving obstacle crossing portion and close to a bottom surface of the main body portion.
The utility model provides a pair of glass outer wall cleaning robot that obstacle is crossed in autonomous movement can the auto-induction obstacle to according to the response result, control main part supporting part is crossed obstacle portion with the removal and is done predetermined relative motion in order to cross the obstacle, and automatic and intelligent degree is high, need not artifical supplementary obstacle crossing.
Drawings
Fig. 1 is a schematic structural view of an autonomous mobile obstacle-surmounting glass outer wall cleaning robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an autonomous moving obstacle-surmounting glass outer wall cleaning robot according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an autonomous moving obstacle-surmounting glass outer wall cleaning robot according to an embodiment of the present invention;
fig. 4 is a schematic structural view of an autonomous moving obstacle-surmounting glass outer wall cleaning robot according to an embodiment of the present invention;
fig. 5 is a schematic view of a first state of an autonomous mobile obstacle-surmounting glass outer wall cleaning robot according to an embodiment of the present invention;
fig. 6 is a schematic view of a second state of the autonomous mobile obstacle-surmounting glass outer wall cleaning robot according to the embodiment of the present invention;
fig. 7 is a schematic diagram of a third state of the glass outer wall cleaning robot for autonomous moving obstacle crossing according to the embodiment of the present invention;
fig. 8 is a fourth state diagram of the glass outer wall cleaning robot for autonomous moving obstacle crossing according to the embodiment of the present invention.
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 intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
Referring to fig. 1 to 8, in order to provide a preferred embodiment of the present invention, an autonomous moving obstacle-crossing glass outer wall cleaning robot in the embodiment includes: the main body 10, the main body support part 20, the cleaning part 30, the moving obstacle crossing part 40, the vacuum generating part 50, the suction part 60, the obstacle sensing part 70, the power supply part (not shown), and the control part (not shown) may automatically sense and cross an obstacle, which will be described in detail below.
Referring to fig. 1, in an embodiment of the present application, the present application provides an autonomous moving obstacle-surmounting glass outer wall cleaning robot, including:
a main body 10 for mounting components;
a main body support part 20 for supporting the main body part 10; the main body support part 20 is disposed on the main body part 10 and can move in the horizontal direction and the vertical direction relative to the main body part 10;
a cleaning part 30 for cleaning the glass; the cleaning part 30 is disposed at the bottom of the main body 10;
a moving obstacle crossing part 40 for moving the main body part 10 to cross an obstacle; the movable obstacle crossing part 40 is connected with the main body part 10 and can move in the horizontal direction and the vertical direction relative to the main body part 10;
a vacuum generating section 50 for generating vacuum; the vacuum generating part 50 is provided on the main body support part 20 and the moving obstacle detouring part 40;
an adsorption part 60 for cooperating with the vacuum generation part 50 to adsorb itself on the glass; the suction part 60 is provided at the bottom of the body support part 20 and the moving obstacle detouring part 40, and is communicated with the vacuum generating part 50;
an obstacle sensing part 70 for transmitting signals to the surroundings and receiving a feedback signal to sense an obstacle; the obstacle sensor 70 is provided on the main body 10;
a power supply unit for supplying power to each component; the power supply unit is disposed on the main body 10 and connected to the main body support unit 20, the cleaning unit 30, the moving obstacle crossing unit 40, the vacuum generating unit 50, and the obstacle sensing unit 70, respectively;
a control unit for controlling operations of the respective components so that the main body 10 crosses an obstacle; the control unit is provided on the main body 10 and is connected to the main body support 20, the cleaning unit 30, the moving obstacle crossing unit 40, the vacuum generating unit 50, the obstacle sensing unit 70, and the power supply unit, respectively.
When the glass outer wall cleaning robot capable of autonomously moving and crossing obstacles works, the obstacle sensing part 70 transmits signals to the periphery and receives feedback signals, and when obstacles are sensed, the control part controls the main body supporting part 20 and the moving obstacle crossing part 40 to move in the horizontal direction and the vertical direction, so that the main body part 10 crosses the obstacles, and then the whole glass outer wall cleaning robot capable of autonomously moving and crossing obstacles crosses the obstacles. At the same time, the cleaning unit 30 cleans the glass, and the vacuum generating unit 50 generates vacuum in stages to control the suction unit 60 communicating therewith to suck or remove the glass.
As shown in fig. 1 and 2, in the embodiment of the present application, the autonomous moving obstacle-surmounting glass outer wall cleaning robot provided by the present application further includes a stretching portion 80 for stretching the autonomous moving obstacle-surmounting glass outer wall cleaning robot; the stretching portion 80 has a first end connected to the fixed end and a second end connected to the main body portion 10. By providing the stretching portion 80, on one hand, the suction portion 60 of the robot can be prevented from falling off the glass due to a failure, and on the other hand, the gravity of the robot can be partially offset, so that the robot can move more smoothly.
Referring to fig. 1 and 2, in the embodiment of the present application, the autonomous moving obstacle-surmounting glass outer wall cleaning robot further includes a water pipe 90 for supplying liquid to the cleaning part 30 to clean glass; the first end of the water pipe 90 is communicated with the liquid outlet port and the second end is communicated with the cleaning part 30, and the water pipe 90 is respectively connected with the power supply part and the control part. By providing water pipe 90, it is possible to continuously supply a liquid such as water or a cleaning liquid to cleaning unit 30 to clean a large area of glass. In some embodiments, the cleaning portion 30 may be a dry cleaning brush or a wet cleaning brush with a certain amount of cleaning liquid.
In the embodiment of the present invention, the power supply unit may be a self-contained power supply provided on the main body 10, or may be provided integrally with the water pipe 90 to continuously supply power to the robot. The control part can be a single chip microcomputer, a PLC (programmable logic controller) or a control chip. The absorption portion 60 may be a suction cup made of silica gel or rubber, and may be tightly and adaptively absorbed on the glass plane.
As shown in fig. 3, in the embodiment of the present application, the main body 10 is provided with a slide groove 11 and a main body sliding rod 12, the main body supporting portion 20 is disposed in the slide groove 11 and can move horizontally along the slide groove 11, the main body sliding rod 12 is disposed parallel to the slide groove 11, and the moving obstacle crossing portion 40 moves horizontally relative to the main body sliding rod 12.
As shown in fig. 3, in the embodiment of the present application, the main body support 20 includes a main body support 21, a main body support slide bar 22, a main body support column 23 and a main body support flange 24, the main body support 21 is slidably disposed on the main body slide bar 12 of the main body 10, the main body support slide bar 22 is vertically disposed on the main body support 21, the main body support column 23 is disposed in the hole of the main body support 21 and extends out of the bottom of the main body 10, the vacuum generating portion 50 on the main body support 20 is disposed in the main body support column 23, the adsorbing portion 60 on the main body support 20 is disposed at the bottom of the main body support column 23, the main body support flange 24 is respectively sleeved on the main body support slide bar 22 and the main body support column 23, a main body support part servo motor (not shown) is arranged on the main body support part supporting piece 21, the main body support part servo motor is respectively connected with the obstacle induction part 70 and the control part, and the main body support part servo motor controls the main body support part supporting piece 21 to do relative movement in the horizontal direction along the main body sliding rod 12 and controls the main body support part supporting column 23 to do movement in the vertical direction.
As shown in fig. 3, in the embodiment of the present application, the movable obstacle detouring portion 40 includes a movable obstacle detouring portion screw 41, a movable obstacle detouring portion support 42, a movable obstacle detouring portion sliding bar 43, a movable obstacle detouring portion support post 44 and a movable obstacle detouring portion flange 45, the movable obstacle detouring portion screw 41 is slidably disposed on the main body 10 at a first end and connected to the movable obstacle detouring portion support 42 at a second end, the movable obstacle detouring portion sliding bar 43 is vertically disposed on the movable obstacle detouring portion support 42, the movable obstacle detouring portion support post 44 is disposed in a hole formed in the movable obstacle detouring portion support 42 and protrudes from the bottom of the main body 10, the vacuum generating portion 50 of the movable obstacle detouring portion 40 is disposed in the movable obstacle detouring portion support post 44, the adsorbing portion 60 of the movable obstacle detouring portion 40 is disposed at the bottom of the movable obstacle detouring portion support post 44, the movable obstacle detouring portion flange 45 is respectively fitted over the movable obstacle detouring portion sliding bar 43 and the movable obstacle, a moving obstacle crossing portion servo motor (not shown) is arranged on the moving obstacle crossing portion support member 42, the moving obstacle crossing portion servo motor is respectively connected with the obstacle sensing portion 70 and the control portion, and the moving obstacle crossing portion servo motor controls the moving obstacle crossing portion slide bar 43 to make relative movement in the horizontal direction along the main body portion 10 and controls the moving obstacle crossing portion support post 44 to make movement in the vertical direction.
As shown in fig. 4, in the embodiment of the present application, the movable obstacle crossing portion 40 further includes a planet gear shaft 46, the planet gear shaft 46 is disposed on the movable obstacle crossing portion support 42 and is engaged with the gear at the second end of the movable obstacle crossing portion screw 41, the planet gear shaft 46 is sleeved on the bottom end of the movable obstacle crossing portion sliding rod 43 and is connected to the movable obstacle crossing portion servo motor, and the movable obstacle crossing portion servo motor controls the planet gear shaft 46 to rotate relative to the movable obstacle crossing portion sliding rod 43 so as to rotate the movable obstacle crossing portion 40 relative to the main body portion 10. By providing the planet gear shaft 46, the movable obstacle crossing portion 40 can be controlled to rotate relative to the main body portion 10, which facilitates obstacle crossing and widens the cleaning direction of the robot.
As shown in fig. 3, in the embodiment of the present application, the obstacle sensing part 70 includes an ultrasonic sensor and/or an infrared sensor.
As shown in fig. 3, in the embodiment of the present application, the obstacle sensor 70 is disposed on a side surface of the main body 10 facing the moving obstacle crossing unit 40 and close to a bottom surface of the main body 10.
As shown in fig. 3 and 4, in the embodiment of the present application, the number of the moving obstacle detouring portions 40 is 2, and the moving obstacle detouring portions are respectively disposed at both sides of the main body portion 10. In some embodiments, the suction force generated by the vacuum generating part 50 is large enough to allow the suction part 60 to be firmly sucked on the glass, or when the weight of the robot itself is small, the number of the moving obstacle crossing parts 40 may be 1. In the present embodiment, however, 2 moving obstacle crossing portions 40 are selected and provided on both sides of the main body portion 10, in consideration of the balance of the robot itself and the faster obstacle crossing. The following describes a process of the robot crossing an obstacle, taking 2 moving obstacle crossing portions 40 as an example.
As shown in fig. 5, the robot cleans the glass normally, and the obstacle sensing part 70 periodically transmits signals to the surrounding and receives a feedback signal to sense an obstacle. At this time, the obstacle sensing part 70 senses that there is an obstacle in front, and the control part receives the signal transmitted by the obstacle sensing part 70, determines that the distance from the obstacle to the robot is within the obstacle crossing working range, and can perform the obstacle crossing action.
At this time, the control section controls the right movement obstacle crossing section 410 to first cross the obstacle.
Specifically, the control section controls the vacuum generating section 50 in the right moving obstacle detouring section 410 to stop working, so that the right moving obstacle detouring section 410 can be separated from the glass without sucking the glass tightly; the control part controls the right moving obstacle crossing part 410 to move upwards relative to the main body part 10, that is, the right moving obstacle crossing part support column 414 is controlled by a right moving obstacle crossing part servo motor in the right moving obstacle crossing part 410 to move upwards until the height of the obstacle is exceeded (the obstacle sensing part 70 can sense the height of the obstacle, and in order to save the working steps, the right moving obstacle crossing part support column 414 can be directly controlled to move to the highest position), and after the right moving obstacle crossing part support column 414 moves upwards to the preset position, the right moving obstacle crossing part servo motor controls the right moving obstacle crossing part screw rod 411 to move towards the obstacle until the obstacle is exceeded (the obstacle sensing part 70 can determine the distance between the obstacle and the main body part 10 so as to determine the movement distance of the right moving obstacle crossing part screw rod 411, and in order to save the working steps, the right moving obstacle crossing part screw rod 411 can be directly controlled to move to the farthest.
As shown in fig. 6, at this time, the entire right obstacle crossing portion 410 has already crossed the obstacle, and the control portion controls the right obstacle crossing portion 410 to return to its original state.
Specifically, the control part controls the right moving obstacle crossing part servo motor to control the right moving obstacle crossing part supporting column 414 to move downwards until contacting with the glass, and the control part controls the vacuum generating part 50 in the right moving obstacle crossing part 410 to start working and to cooperate with the adsorption part 60 on the right moving obstacle crossing part 410 to suck the glass.
As shown in fig. 7, at this time, the control unit controls the entire body 10 to cross the obstacle.
Specifically, the control part controls the vacuum generating part 50 on the main body support part 20 to stop working, and the main body support part 20 can be separated from the glass; at this time, the control part controls the main body support part support post 23 in the main body support part 20 to move upward beyond the obstacle height, and controls the main body 10 to move toward the right obstacle crossing part 410 along the right obstacle crossing part screw 411 until the main body 10 crosses the obstacle.
As shown in fig. 8, at this time, the main body portion 10 has already crossed the obstacle as a whole, the control portion controls the main body portion 10 to return to its original state again, and controls the left movement obstacle crossing portion 420 to cross the obstacle as a whole.
Specifically, the control part controls the main body support part servo motor to control the main body support part support column 23 to move downwards to be in contact with the glass, the control part controls the vacuum generation part 50 on the main body support part 20 to work, and the adsorption part 60 on the main body support part 20 can tightly adsorb the glass; the control part controls the vacuum generating part 50 on the left moving obstacle crossing part 420 to stop working, and the left moving obstacle crossing part 420 can be separated from the glass; the control part controls a left moving obstacle crossing part servo motor on the left moving obstacle crossing part 420 to control the left moving obstacle crossing part support column 424 to move upwards until the height of the obstacle is exceeded, and the control part controls a left moving obstacle crossing part servo motor on the left moving obstacle crossing part 420 to control the left moving obstacle crossing part screw rod 421 to move towards the main body part 10 until the left moving obstacle crossing part 420 integrally crosses the obstacle.
At this time, the entire left movement obstacle detouring portion 420 may cross the obstacle, and the control portion may control the left movement obstacle detouring portion 420 to return to its original state.
Specifically, the control part controls the left moving obstacle detouring part servo motor to control the left moving obstacle detouring part support column 424 to move downwards until contacting with the glass, and the control part controls the vacuum generating part 50 in the left moving obstacle detouring part 420 to start working and cooperate with the adsorption part 60 on the left moving obstacle detouring part 420 to suck the glass.
By this point, the entire robot completely crosses the obstacle and can continue to clean on the glass.
The utility model provides a pair of glass outer wall cleaning robot that obstacle is crossed in autonomous movement can the auto-induction obstacle to according to the response result, control main part supporting part is crossed obstacle portion with the removal and is done predetermined relative motion in order to cross the obstacle, and automatic and intelligent degree is high, need not artifical supplementary obstacle crossing.
The above description is only for the preferred embodiment of the present invention, and the structure is not limited to the above-mentioned shape, and any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a glass outer wall cleaning robot that obstacle is crossed in autonomous movement which characterized in that includes:
a main body part for mounting each component;
a main body support part for supporting the main body part; the main body supporting part is arranged on the main body part and can move in the horizontal direction and the vertical direction relative to the main body part;
a cleaning part for cleaning the glass; the cleaning part is arranged at the bottom of the main body part;
a moving obstacle crossing portion for moving the main body portion to cross an obstacle; the movable obstacle crossing part is connected with the main body part and can move in the horizontal direction and the vertical direction relative to the main body part;
a vacuum generating section for generating a vacuum; the vacuum generating part is arranged on the main body supporting part and the movable obstacle crossing part;
an adsorption part, which is used for mutually matching with the vacuum generation part to adsorb the vacuum generation part on the glass; the adsorption parts are arranged at the bottoms of the main body supporting part and the movable obstacle crossing part and are respectively communicated with the respective vacuum generating parts;
the obstacle sensing part is used for transmitting signals to the periphery and receiving feedback signals to sense obstacles; the obstacle sensing part is arranged on the main body part;
a power supply unit for supplying power to each component; the power supply part is arranged on the main body part and is respectively connected with the main body supporting part, the cleaning part, the moving obstacle crossing part, the vacuum generating part and the obstacle sensing part;
a control unit for controlling operations of the respective components so that the main body portion crosses an obstacle; the control part is arranged on the main body part and is respectively connected with the main body supporting part, the cleaning part, the moving obstacle crossing part, the vacuum generating part, the obstacle sensing part and the power supply part.
2. The self-moving obstacle-crossing glass outer wall cleaning robot according to claim 1, further comprising a stretching part for stretching the self-moving obstacle-crossing glass outer wall cleaning robot; the stretching portion has a first end connected to the fixed end and a second end connected to the main body portion.
3. The robot for cleaning an outer glass wall by autonomous movement according to claim 1, further comprising a water pipe for supplying liquid to the cleaning part to clean the glass; the first end of the water pipe is communicated with the liquid output port, the second end of the water pipe is communicated with the cleaning part, and the water pipe is respectively connected with the power supply part and the control part.
4. The self-moving obstacle-surmounting glass outer wall cleaning robot according to claim 1, wherein a sliding groove and a main body sliding rod are arranged on the main body, the main body supporting part is arranged in the sliding groove and can move horizontally along the sliding groove, the main body sliding rod is arranged in parallel with the sliding groove, and the moving obstacle-surmounting part moves horizontally relative to the main body sliding rod.
5. The self-propelled obstacle-surmounting glass outer wall cleaning robot according to claim 1, wherein the main body support part comprises a main body support part support piece, a main body support part sliding rod, a main body support part supporting column and a main body support part flange, the main body support part support piece is slidably disposed on the main body sliding rod of the main body, the main body support part sliding rod is vertically disposed on the main body support part support piece, the main body support part supporting column is disposed in the hole of the main body support part support piece and extends out of the bottom of the main body part, the vacuum generation part on the main body support part is disposed in the main body support part supporting column, the adsorption part on the main body support part is disposed at the bottom of the main body support part supporting column, and the main body support part flange is respectively sleeved, the main part supporting part is provided with a main part supporting part servo motor, the main part supporting part servo motor respectively with obstacle induction part with the control portion is connected, main part supporting part servo motor control main part supporting part support piece along the main part slide bar is the relative motion and control in the horizontal direction the ascending motion of vertical direction is done to main part supporting column.
6. The robot for cleaning an outer glass wall with an autonomous moving obstacle-surmounting function according to claim 1, wherein the moving obstacle-surmounting part comprises a moving obstacle-surmounting part screw rod, a moving obstacle-surmounting part support, a moving obstacle-surmounting part slide rod, a moving obstacle-surmounting part support post, and a moving obstacle-surmounting part flange, the moving obstacle-surmounting part screw rod is slidably disposed on the main body part at a first end and connected with the moving obstacle-surmounting part support at a second end, the moving obstacle-surmounting part slide rod is vertically disposed on the moving obstacle-surmounting part support, the moving obstacle-surmounting part support post is disposed in a hole formed in the moving obstacle-surmounting part support post and extends out of the bottom of the main body part, the vacuum generating part on the moving obstacle-surmounting part is disposed in the moving obstacle-surmounting part support post, the adsorbing part on the moving obstacle-surmounting part is disposed at the bottom of the moving obstacle-surmounting part support post, and the moving obstacle, the movable obstacle crossing part supporting piece is provided with a movable obstacle crossing part servo motor, the movable obstacle crossing part servo motor is respectively connected with the obstacle sensing part and the control part, and the movable obstacle crossing part servo motor controls the movable obstacle crossing part sliding rod to do relative motion in the horizontal direction along the main body part and controls the movable obstacle crossing part supporting column to do motion in the vertical direction.
7. The robot for cleaning an outer glass wall with an autonomous moving obstacle detouring function according to claim 6, wherein the moving obstacle detouring portion further comprises a planetary gear shaft, the planetary gear shaft is disposed on the support member of the moving obstacle detouring portion and connected to the second end of the screw rod of the moving obstacle detouring portion, the planetary gear shaft is sleeved on the bottom end of the sliding rod of the moving obstacle detouring portion and connected to the servo motor of the moving obstacle detouring portion, and the servo motor of the moving obstacle detouring portion controls the planetary gear shaft to rotate relative to the sliding rod of the moving obstacle detouring portion so that the moving obstacle detouring portion rotates relative to the main body portion.
8. The robot for cleaning the glass outer wall capable of automatically moving and crossing the obstacle as claimed in claim 1, wherein the number of the moving obstacle crossing parts is 2, and the moving obstacle crossing parts are respectively arranged at two sides of the main body part.
9. The robot for cleaning an outer glass wall capable of automatically moving and crossing obstacles according to claim 1, wherein the obstacle sensing part comprises an ultrasonic sensor and/or an infrared sensor.
10. The robot for cleaning an outer glass wall with an autonomous moving obstacle detouring function as claimed in claim 1, wherein the obstacle sensor is disposed on a side surface of the main body facing the obstacle detouring portion and close to a bottom surface of the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922048693.2U CN211324682U (en) | 2019-11-22 | 2019-11-22 | Glass outer wall cleaning robot capable of automatically moving and crossing obstacles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922048693.2U CN211324682U (en) | 2019-11-22 | 2019-11-22 | Glass outer wall cleaning robot capable of automatically moving and crossing obstacles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211324682U true CN211324682U (en) | 2020-08-25 |
Family
ID=72089338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922048693.2U Active CN211324682U (en) | 2019-11-22 | 2019-11-22 | Glass outer wall cleaning robot capable of automatically moving and crossing obstacles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211324682U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974081A (en) * | 2019-11-22 | 2020-04-10 | 深圳市波心幻海科技有限公司 | Intelligent glass cleaning robot and autonomous moving method |
-
2019
- 2019-11-22 CN CN201922048693.2U patent/CN211324682U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974081A (en) * | 2019-11-22 | 2020-04-10 | 深圳市波心幻海科技有限公司 | Intelligent glass cleaning robot and autonomous moving method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110974081A (en) | Intelligent glass cleaning robot and autonomous moving method | |
| KR102428783B1 (en) | Robot cleaner | |
| CN214104326U (en) | Driving wheel module and self-moving robot | |
| KR100922506B1 (en) | Autonomous canister vacuum cleaner, system thereof and method of vacuum cleaning using the same | |
| RU2423905C2 (en) | Robot vacuum cleaner | |
| EP4111927B1 (en) | Autonomous floor cleaner with a moisture sensor | |
| ITFI20010021A1 (en) | AUTOMATIC VACUUM CLEANING APPARATUS FOR FLOORS | |
| KR20050014520A (en) | Control system for robot type cleaner | |
| US11464374B2 (en) | Robot cleaner | |
| EP2352408B1 (en) | A robotic vacuum cleaner comprising a sensing handle | |
| JP2020116380A (en) | System composed of floor processor to be guided only manually and floor processor that travels only automatically and operation method for the system | |
| CN211324682U (en) | Glass outer wall cleaning robot capable of automatically moving and crossing obstacles | |
| CN112587685A (en) | Intelligent ultraviolet disinfection robot | |
| US20240000283A1 (en) | Docking station for an autonomous floor cleaner | |
| JP2009095361A (en) | Self-propelled type vacuum cleaner and its controlling method | |
| CN110051262B (en) | Obstacle crossing system of autonomous obstacle crossing type glass cleaning robot and robot thereof | |
| CN110604516A (en) | Mopping and dust collection integrated robot | |
| CN109512314A (en) | A kind of high altitude operation special type service robot | |
| CN112596527A (en) | Robot jamming detection method based on slope structure, chip and cleaning robot | |
| KR20200058614A (en) | Detachable wireless robot cleaner | |
| CN220147132U (en) | Modularized universal mobile robot chassis | |
| KR101800274B1 (en) | Floor polishing robot | |
| CN215348696U (en) | Indoor intelligent disinfection robot | |
| WO2019220467A1 (en) | Self-propelled apparatus for suction cleaning | |
| KR200386218Y1 (en) | Cleaning Robot Using Vacuum Suction from the Another Vacuum Cleaner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |