CN211722965U - Automatic turn-over and glass cleaning robot who stridees across obstacle - Google Patents

Abstract

The utility model discloses a glass cleaning robot capable of automatically turning over and crossing obstacles, which comprises a cleaning mechanism, a bracket mechanism, a moving mechanism, a sucker mechanism and a control system; the support mechanism comprises a guide rail, a moving mechanism is connected to the guide rail, the moving mechanism comprises a clamping groove, a sucker mechanism is installed in the moving mechanism, the sucker mechanism comprises a lifting mechanism and a sucker, the sucker is connected to the bottom of the lifting mechanism, the clamping groove is connected with the guide rail, and the moving mechanism is further provided with a driving device connected with the guide rail; the middle part of the guide rail is provided with a turnover device; the cleaning mechanisms are arranged at two ends of the guide rail; the guide rail is provided with a rack, the driving device of the sliding block is a gear and a gear motor, and the gear is meshed with the rack of the guide rail; the guide rail is provided with a plurality of limiting parts which are respectively arranged at two ends of the moving mechanism. The utility model discloses can realize normal walking, stride across the obstacle, multiple functions such as turn-over between a plurality of glass faces, and can be through the different forms of clean mechanism, high-efficient clean glass face.

Description

Automatic turn-over and glass cleaning robot who stridees across obstacle

Technical Field

The utility model relates to an automatic window cleaning robot technical field, concretely relates to automatic turn-over and glass cleaning machines people who stridees across obstacle.

Background

With the increasing development of modern building industry, high-rise buildings are more and more, and due to the considerations of daylighting and weight reduction, glass walls are often adopted as outer wall surfaces of the high-rise buildings, but the glass walls need to be maintained and cleaned frequently to maintain the optimal light transmittance. At present, two modes of manual cleaning and mechanical cleaning are mainly adopted in the market, the manual cleaning cost is relatively low, the cleaning is cleaner, potential safety hazards exist, and the privacy of owners can be possibly invaded. However, the automatic window cleaning machine on the market at present generally operates on a single side, and the movement is realized by a sucker or a guide rail, so that the operation range is narrow, the operation surface of the automatic window cleaning machine needs to be continuously replaced manually, the large-range cleaning can be realized, and particularly, the automatic window cleaning machine has no method in the prior art for treating glass with a steel structure between glass walls and building corners. For these problems, chinese patent application nos. 201810764483.0 and 201811330277.5 propose some solutions for crossing obstacles, but the crossing manner is not stable, and the problem of corner is not solved, the application range is limited, and manual operation still cannot be left. The prior art has not had any better solution to the aforementioned problems.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model aims to provide an automatic turn-over and glass cleaning machines people who stridees across the obstacle to satisfy the comprehensive cleaning work of high-rise building glass outer wall, not only can reach the cleaning performance of traditional glass wall cleaning machine, can also realize the function of automatic turn-over and strideing across the obstacle between the outer wall, reduce in-process down time and manual operation, accomplish cleaning work high-efficiently reliably.

The technical scheme of the utility model is that:

a glass cleaning robot capable of automatically turning over and crossing obstacles comprises a cleaning mechanism, a bracket mechanism, a moving mechanism, a sucker mechanism and a control system;

the rack mechanism comprises a rack, a bracket mechanism, a sucker mechanism, a driving device and a driving device, wherein the rack mechanism comprises at least one guide rail, at least 2 (preferably 3) moving mechanisms are connected to the guide rail, the moving mechanisms comprise clamping grooves, and sucker mechanisms are installed in the moving mechanisms; the middle part of the guide rail is provided with a turnover device;

the cleaning mechanisms are arranged at two ends of the guide rail.

Furthermore, a rack is arranged on the guide rail, a driving device of the sliding block is a gear and a gear motor, and the gear is meshed with the rack of the guide rail.

Furthermore, a plurality of limiting parts are arranged on the guide rail, and the limiting parts are respectively arranged at two ends of the moving mechanism.

Further, the number of the turnover devices is at least 1.

Further, install drive gear on the turn-over device left side guide rail, set up the internal gear in the right side guide rail, guide rail lateral surface installation steering wheel, it is rotatory to drive gear through the steering wheel, the rotation of angle is realized with the drive gear meshing to the guide rail internal gear, until with new wall contact back, the sucking disc is inhaled tight wall and gear engagement is straight with remaining guide rail perk simultaneously, then the rotation of horizontal pivot on the sucking disc, use a sucking disc to rotate whole mechanism as the initial point promptly, with whole mechanism rotatory to new wall in, the sucking disc is inhaled firmly and is started the cleaning work of a new round.

Furthermore, the number of the moving mechanisms is at least 2, and the number of the moving mechanisms is always 1 more than that of the turnover device.

Furthermore, the sucking disc mechanism is perpendicular to the guide rail, a contact sensor and a negative pressure generator are arranged in the sucking disc mechanism, the contact sensor is used for sensing surface contact of the sucking disc mechanism and other objects, the negative pressure generator is used for testing suction in the sucking disc mechanism, the maximum suction of a single negative pressure generator is larger than the weight of the whole set of glass cleaning robot with automatic turnover and obstacle crossing, and the negative pressure sensor is further arranged on the sucking disc.

Further, the sucking disc mechanism main part is the sucking disc of metal horn mouth structure, and the sucking disc top is equipped with the sucking disc supporting leg to be connected with elevating system, be equipped with the round sealing washer at the sucking disc edge, the sucking disc sealing washer is soft sealing washer, and its angle of inclination that brings is no longer than 5, guarantees that sucking disc axis and adsorption plane also can keep adsorbing under the incomplete vertical state.

Further, be provided with horizontal rotating shaft and horizontal rotating shaft motor on the sucking disc supporting leg, horizontal rotating shaft is at the during operation, and horizontal rotating shaft motor is including rotating the circle, the pinion, gear wheel and internal gear, transmits the moment of torsion for the pinion, and the pinion drives the gear wheel rotation of meshing, and the gear wheel drives the internal gear rotation of meshing to make the rotation circle rotate the regulation that realizes working angle, use a sucking disc to rotate certain angle as the initial point when cleaning robot wipes to the glass edge, continue to accomplish cleaning work.

Furthermore, the cleaning mechanism is at least one, the cleaning mechanism comprises a shell, a liquid spraying part, a scrubbing part and a pollutant detection device, the shell is connected with the guide rail, and the liquid spraying part and the scrubbing part are arranged on the shell and have the same direction as the sucking disc; the number of the liquid ejecting parts is at least 1, and each liquid ejecting part is provided with an ejector.

Further, a liquid storage device is arranged on the liquid spraying part.

Further, the liquid ejection part is provided with a line connected to an external liquid tank.

Furthermore, the scrubbing component comprises a plurality of shafts parallel to the bottom surface of the shell, a scrubbing motor is arranged at the shaft end, and cylindrical erasing objects are arranged on the shafts.

Furthermore, the cylindrical erasing objects are multiple in number, the cylindrical erasing objects are arranged at intervals, and the cylindrical erasing objects on two adjacent shafts are arranged in a side-by-side structure, so that the cleaning efficiency is improved.

Further, pollutant detection device is the camera, and the camera is rotatable camera, and the camera is connected to control system.

Further, the erasing objects are one or more of sponge, cotton cloth and a steel wire brush.

Furthermore, hanging ropes are arranged at two ends of the guide rail and connected to external fixed positions.

Furthermore, the fixed position is provided with a rotating arm with a roller, the rotating arm with the roller can freely move on a roof and realize horizontal rotation and up-and-down rotation, and the front end of the rotating arm can adjust the telescopic length so as to ensure that the robot is suspended at a proper position.

Further, the control system comprises a processor, a wireless transmission device, a battery and a wire; the processor is internally stored with a preset program, and the wireless transmission device can receive and transmit signals with the outside, receive working instructions and feed back detection pictures.

A cleaning method of a glass cleaning robot capable of automatically turning over and crossing obstacles comprises the following steps:

1) installing the glass cleaning robot capable of automatically turning over and crossing obstacles at an initial position, arranging a hanging rope, connecting an external liquid tank if the external liquid tank exists, ensuring that the guide rail faces to the working direction by rotating a horizontal rotating shaft motor on a sucking disc, and fixing the glass cleaning robot on the glass surface by controlling 1 sucking disc mechanism to generate suction;

2) the moving mechanism where the sucker sucking the glass surface starts to move, the gear is driven by the gear motor to apply force on the rack of the guide rail to drive the guide rail to move towards the direction to be cleaned, the gear stops rotating after the guide rail moves to the extreme position which is not more than the movement of the guide rail, the lifting mechanism is placed below the unadsorbed moving mechanism and then is adsorbed and fixed by the sucker, and in the process, the cleaning mechanism can clean the glass surface in a moving state or in a fixed state;

3) and (5) repeating the step (2), and cleaning according to a preset program stored in the processor or a route of the work instruction received by the infinite transmission device to finish the cleaning of the glass surface of the whole building.

Further, in the steps 2 and 3, whether dirt exists on the glass surface is judged through the camera before cleaning, whether the glass surface is clear or not is judged through the camera after cleaning, if the judgment result is negative, the cleaning is repeated until the cleaning reaches the standard, and then the next step is carried out.

An automatic turn-over method of a glass cleaning robot for automatic turn-over and obstacle crossing, comprising the steps of:

1) when the glass cleaning robot which automatically turns over and spans the obstacle moves to a corner of the glass surface, all the lifting mechanisms are lifted to a certain height, the sucker at one end of the lifting mechanism is moved to be close to the corner of the glass surface and is tightly sucked with the glass surface through the sucker, and the suckers of other moving mechanisms still keep the height;

2) moving the guide rail to the tail end of the guide rail at the section towards the outer side direction of the corner through the fixed moving mechanism where the sucker is located, then lowering the sucker in the moving mechanism at the other end, adsorbing the glass surface through the sucker, contacting the sucker adsorbing the glass surface and lifting, and then starting a gear motor of the moving mechanism where the sucker adsorbing the glass surface is located to drive the guide rail to further move forwards to the limit of the guide rail at the section; then, overturning is realized through an overturning device;

3) the remaining steps of the turn-over process are completed.

An obstacle crossing method of a glass cleaning robot capable of automatically turning over and crossing obstacles comprises the following steps:

1) when the device meets an obstacle arranged between glass surfaces, all the lifting mechanisms are lifted to a height exceeding the obstacle, the suction cup at one end is moved to a position close to the obstacle of the glass surface and tightly sucked with the glass surface through the suction cup, and the suction cups of other moving mechanisms still keep the height exceeding the obstacle;

2) moving the guide rail to the tail end of the guide rail at the section towards the outer side direction of the corner through the fixed moving mechanism where the sucker is located, then lowering the sucker in the moving mechanism at the other end, adsorbing the glass surface through the sucker, contacting the sucker adsorbing the glass surface and lifting, and then starting a gear motor of the moving mechanism where the sucker adsorbing the glass surface is located to drive the guide rail to further move forwards to the limit of the guide rail at the section; then a sucker mechanism of a moving mechanism on a guide rail crossing the obstacle is put down, a contact sensor on the sucker mechanism senses that the sucker mechanism contacts the glass surface after the corner, a negative pressure generator is started to adsorb the glass surface, the negative pressure sensor monitors that the negative pressure of the sucker can bear the weight of the whole device, the sucker adsorbed on the previous glass surface is decompressed and moves upwards, then a gear motor of the moving mechanism adsorbed on the glass surface behind the obstacle is started to drive the guide rail to move, and the whole automatic turn-over and obstacle-crossing glass cleaning robot enters a new glass surface.

The utility model has the advantages that:

1. compared with the prior art, the automatic turn-over and obstacle crossing glass cleaning robot can judge dirt in an area to be cleaned through the camera, feed back a generated instruction and enable the cleaning mechanism to clean, and can ensure effective cleaning of stubborn dirt until the dirt is removed through the combined action of the spray head and the scrubbing part in the process;

2. on the basis of meeting the cleaning requirement, the problems that a window cleaning robot on the market cannot climb over a window frame and the like and cannot turn over to clean glass are solved, the window cleaning robot can work uninterruptedly in the whole process, the cleaning of the whole glass surface is completed, a new working position is not required to be installed in the process through other modes, the time is saved, the efficiency is improved, meanwhile, the manual operation is reduced, the safety risk is reduced, the adopted turn-over mechanism is arranged on a guide rail, and the moving mechanism on the guide rail moves in a segmented mode, the installation space is saved, the weight of the robot is reduced, and a single sucker can more easily fix the whole set of robot;

3. by arranging at least 1 turnover mechanism, the wide-range angle rotation can be realized, and the turnover mechanism is suitable for different glass surfaces;

4. the horizontal rotating shaft is arranged on the sucker, so that the position and the angle can be conveniently adjusted, and even the obstacle can be crossed through the horizontal rotating shaft under certain conditions;

5. the arrangement of the falling-preventing hanging rope and the matched rotating arm with the roller can adapt to the movement of the robot and ensure the operation safety of the robot in the process.

Drawings

FIG. 1 is a three-dimensional view of the glass cleaning robot of the present invention capable of automatic turning over and obstacle surmounting;

FIG. 2 is a schematic structural view of several embodiments of a wiper plate of the glass cleaning robot of FIG. 1;

FIG. 3 is a schematic view showing the steps of turning the three-dimensional view of the glass cleaning robot for automatic turning over and obstacle crossing with different rotation axes, wherein a and b are schematic views showing the rotation of the moving mechanism at the middle and end parts, respectively;

FIG. 4 is a schematic view of the construction of the swivel device of FIG. 3;

FIG. 5 is a schematic view of the steps of a normal movement of an automatically reversible and obstacle-surmounting glass cleaning robot;

FIG. 6 is a schematic obstacle crossing view of a glass cleaning robot capable of automatically turning over and crossing obstacles;

FIG. 7 is a schematic view of the turn-over mechanism;

FIG. 8 is a schematic view of the turning of the glass cleaning robot capable of automatic turning and obstacle crossing, wherein a is a step diagram of turning by 30 degrees, b is a step diagram of turning by 90 degrees, and c is a step diagram of turning by-30 degrees.

Reference numerals:

1 is a cleaning mechanism, 2 is a moving mechanism, 3 is a gear motor, 4 is a limiting piece, 5 is a guide rail, 6 is a sucker, 7 is a turnover mechanism,

A large gear 61, a small gear 62, an internal gear 63, a rotating ring 64,

71 is a steering engine,

11 is a camera, 12 is a liquid storage device; 13 is an ejector; 14 is a clear water nozzle; 15 is a cylindrical eraser; 16 is a cylindrical motor.

Detailed Description

The present invention will be further explained with reference to the drawings and examples.

As shown in fig. 1, a glass cleaning robot capable of automatically turning over and crossing obstacles comprises a cleaning mechanism 1, a bracket mechanism, a moving mechanism 2, a sucker mechanism and a control system;

the support mechanism comprises 2 guide rails 5, the guide rails 5 are connected with 3 moving mechanisms 2, each moving mechanism 2 comprises a clamping groove, a sucker mechanism is arranged in each moving mechanism 2, each sucker mechanism comprises a lifting mechanism and a sucker 6, each sucker 6 is connected to the bottom of each lifting mechanism, each clamping groove is connected with the corresponding guide rail 5, a rack is arranged on each guide rail 5, a driving device of each slider is a gear and a gear motor 3, each gear is meshed with the corresponding rack of the corresponding guide rail 5, each gear motor 3 drives the corresponding gear to move along the corresponding rack, so that the corresponding moving mechanisms 2 and the corresponding guide rails 5 move relatively through the corresponding clamping grooves, a plurality of limiting parts 4 are arranged on the corresponding guide rails 5, and the limiting parts 4 are respectively arranged at two ends of each moving mechanism; the guide rail 5 is provided with 1 turnover device which is arranged between any 2 moving mechanisms 2; according to the configuration, the total weight of the whole device is 15 kg.

Install drive gear on the turn-over device left side guide rail 5, set up internal gear 63 in the right side guide rail 5, 5 lateral surface installation steering wheel 71 of guide rail, it is rotatory to drive gear through steering wheel 71, 5 internal gear 63 of guide rail realize the rotation of angle with the drive gear meshing, until with new wall contact back, the sucking disc 6 is inhaled tight wall and gear engagement is straight with remaining 5 perk of guide rail simultaneously, then the rotation of horizontal pivot on the sucking disc 6, use sucking disc 6 to rotate whole mechanism as the initial point promptly, with whole mechanism rotatory to in the new wall, sucking disc 6 inhales the clean operation of beginning new round after firmly. The type of the steering engine 71 is SM100, the rated torque is 40Kg, the position servo control can rotate by any angle of 0-360 degrees, and the PWM control mode can control the forward and reverse directions to continuously rotate at a constant speed.

The sucking disc mechanism is perpendicular to the guide rail 5, a contact sensor and a negative pressure generator are arranged in the sucking disc mechanism, the contact sensor is used for sensing that the sucking disc mechanism is in surface contact with other objects, the negative pressure generator is used for testing suction in the sucking disc mechanism, the maximum suction of a single negative pressure generator is larger than the weight of the whole set of glass cleaning robot with automatic turnover and obstacle crossing, and the negative pressure sensor is further arranged on the sucking disc 6. The sucking disc mechanism main part is sucking disc 6 of metal horn mouth structure, and 6 tops of sucking disc are equipped with 6 supporting legs of sucking disc to be connected with elevating system, be equipped with the round sealing washer at 6 edges of sucking disc, 6 sealing washers of sucking disc are soft sealing washer, and its angle of inclination that brings is no longer than 5, guarantees that 6 axes of sucking disc and adsorption plane are under the incomplete vertical state, also can keep adsorbing. Be provided with horizontal rotating shaft and horizontal rotating shaft motor on sucking disc 6 supporting leg, horizontal rotating shaft is at the during operation, horizontal rotating shaft motor is including rotating circle 64, pinion 62, gear wheel 61 and internal gear 63, transmit the moment of torsion for pinion 62, pinion 62 drives the rotation of meshed gear wheel 61, gear wheel 61 drives meshed internal gear 63 and rotates, thereby make the rotation circle 64 of connecting in the internal gear 63 outside rotate, realize the regulation of working angle, use a sucking disc 6 to rotate certain angle as the original point when cleaning robot wipes to the glass edge, continue to accomplish cleaning.

The adopted sucker 6 is SAB-100NBR-3/8-IG type, can bear the maximum adsorption force of 25kg, and can be stably adsorbed on the glass surface. The inside of the lifting mechanism can adopt a CM303 type micro hydraulic ejector rod to realize lifting.

As shown in fig. 1 and 2, the cleaning mechanism 1 is disposed at both ends of the guide rail 5 (or may be disposed at the side in some embodiments). The cleaning mechanism 1 includes a housing, a liquid ejecting section, a scrubbing section, and a contaminant detection device. The erasing objects are one or more of sponge, cotton cloth and steel wire brushes. Pollutant detection device is camera 11, and camera 11 is rotatable camera 11, and camera 11 is connected to control system. The shell is connected with the guide rail 5, and the liquid spraying part and the scrubbing part are arranged on the shell and have the same direction as the sucking disc 6; the liquid spraying parts are 2 and are divided into a detergent nozzle 13 and a clear water nozzle 14, and the liquid spraying parts are fixed nozzles and do not need to be turned to adjust angles.

In some embodiments, the liquid spraying part is provided with a liquid reservoir 12, and the liquid reservoir 12 can be arranged at the rear side of the sprayer, and the flushing is realized by a miniature hydraulic pump, which is generally used for cleaning glass surfaces with less surfaces.

In other embodiments, the liquid spraying part is provided with a pipeline connected to an external liquid tank, the pipeline is a telescopic corrugated hose, the connection position of the pipeline is connected by a quick-release connector, the external liquid tank can be arranged on the top or the ground of a building or any wall surface of the building and is connected to the spraying head part through the hose, and meanwhile, a corresponding water pump is arranged on the external liquid tank to provide spraying power for the liquid spraying part and is generally used for cleaning large glass surfaces.

In other embodiments, to reduce the weight, the spraying part can be eliminated, and the external spraying mode can be directly adopted to spray the glass surface, and the cleaning mechanism 1 of the present invention only performs physical cleaning.

In some embodiments, as shown in fig. 2, the scrubbing elements include a plurality of shafts parallel to the bottom surface of the housing, oriented perpendicular to the guide 5, having a scrubbing motor at the end of the shaft, and a cylindrical wipe 15 on the shaft. The cylindrical erasing objects 15 are multiple in number, for example, 4 in a row, an interval is set between every two cylindrical erasing objects 15, the interval distance between every two cylindrical erasing objects is slightly smaller than the length of the cylindrical erasing objects 15, the cylindrical erasing objects 15 on two adjacent shafts are set to be in a staggered structure, so that the cylindrical erasing objects can be uniformly cleared without dead angles when being cleared, the cylindrical motors 16 (only 1 cylindrical motor 16 is shown in the figure) are arranged on the outer sides of the cylindrical erasing objects 15, and the model of each cylindrical motor is 370 SH.

The hanging ropes are arranged at two ends of the guide rail 5 and connected to an external fixing device, the fixing device is provided with a rotating arm with a roller, the rotating arm with the roller can freely move on a roof and can rotate horizontally and vertically, and the front end of the rotating arm can adjust the telescopic length so as to ensure that the robot is suspended at a proper position.

In some embodiments, an external liquid tank may be provided with a fixture to improve the degree of integration.

The control system comprises a processor, a wireless transmission device, a battery and an electric wire; the processor is internally stored with a preset program, and the wireless transmission device can receive and transmit signals with the outside, receive working instructions and feed back detection pictures. The processor can be any cleaning robot chip in the market, such as an ARM7 microprocessor, the infinite transmission device can be any device with an obstacle-free transmission distance of not less than 200M, such as an HS-PRO-100M wifi transceiver, and the battery is a rechargeable lithium battery.

As shown in fig. 5, the cleaning method using the automatic turn-over and obstacle-crossing glass cleaning robot provided by the above includes the following steps:

1) before cleaning, according to the dirt condition of the wall surface, judging which structure of scrubbing part and erasing object is best, and installing the scrubbing part and the erasing object on a cleaning mechanism (for example, aiming at easy cleaning substances such as dust, the cylindrical erasing object 15 and the block erasing object can be used, for water stain and the like, the effect of using a disc-shaped erasing object is better, for bird dung and the like, the erasing object needs to be replaced by a steel wire brush), if an external liquid tank exists, the external liquid tank is connected, after adjustment is completed, the glass cleaning robot with automatic turn-over and obstacle crossing is installed at an initial position, the glass cleaning robot is fixed through a sucking disc 6, a hanging rope is arranged, at the moment, a horizontal rotating shaft motor on the sucking disc 6 is rotated, the guide rail 5 is ensured to face to the working direction, and the glass cleaning robot is fixed on the glass surface by controlling 1 sucking disc mechanism to generate;

2) the moving mechanism 2 where the sucker 6 sucking the glass surface starts to move, the gear is driven by the gear motor 3, force is applied to the rack of the guide rail 5, the guide rail 5 is driven to move towards the direction to be cleaned, and after the guide rail 5 moves to the position which is not more than the movement limit of the guide rail 5 at the longest time (if the position is at the edge of the glass surface, the guide rail does not need to move to the limit of the guide rail 5 and moves to the required distance, a detection device on a cleaning device is also used as a measurement device to detect the distance of the edge or an obstacle), the gear stops rotating, the lifting mechanism lowers the unadsorbed moving mechanism 2, and then the sucker 6 adsorbs and fixes the unadsorbed moving mechanism 2, and in the process, the cleaning mechanism 1 can clean the;

3) and (5) repeating the step (2), and cleaning according to a preset program stored in the processor or a route of the work instruction received by the infinite transmission device to finish the cleaning of the glass surface of the whole building.

In the steps 2 and 3, whether dirt exists on the glass surface is judged through the camera 11 before cleaning, whether the glass surface is clear and clean (no obvious visible foreign matter can be seen on the surface) is judged through the camera 11 after cleaning, if the judgment result is no, the cleaning is repeated until the cleaning reaches the standard, and then the next step is carried out.

As shown in fig. 8, an automatic turn-over method of a glass cleaning robot for automatic turn-over and crossing of obstacles, comprises the steps of:

1) when the glass cleaning robot which automatically turns over and spans obstacles moves to a corner of the glass surface, all the lifting mechanisms are lifted to a certain height, at the moment, the sucker 6 at one end is moved to a position close to the corner of the glass surface and is tightly sucked with the glass surface through the sucker 6, and the suckers 6 of other moving mechanisms 2 still keep the highest position;

2) moving the guide rail 5 to the tail end of the guide rail 5 in the outer side direction of the corner through the moving mechanism 2 where the fixed sucker 6 is located, then lowering the sucker 6 in the moving mechanism 2 at the other end, sucking the glass surface through the sucker 6, contacting the sucker 6 sucking the glass surface before, lifting, and then starting the gear motor 3 of the moving mechanism 2 where the sucker 6 sucking the glass surface is located, so that the guide rail 5 is driven to further move forwards to the limit of the guide rail 5; then, overturning is realized through an overturning device;

3) the turn-over process has two modes:

3.1) when the contact sensor on the sucker mechanism on the guide rail 5 which moves in the turn-over process senses that the contact sensor contacts the glass surface after the corner, starting the negative pressure generator to adsorb the glass surface, after the negative pressure sensor monitors that the negative pressure of the sucker 6 can bear the weight of the whole device, releasing the pressure of the sucker 6 adsorbed on the previous glass surface, rotating the guide rail 5 of the moving mechanism 2 adsorbed on the previous glass surface to be parallel to the next glass surface through the turn-over device, and then starting the gear motor 3 of the moving mechanism 2 adsorbed on the next glass surface to drive the guide rail 5 to move, so that the whole automatic turn-over and obstacle-crossing glass cleaning robot enters a new glass surface.

3.2) when the contact sensor on the sucker mechanism on the guide rail 5 which moves in the turn-over process senses that the contact sensor contacts the glass surface after the corner, starting the negative pressure generator to adsorb the glass surface, after monitoring that the negative pressure of the sucker 6 can bear the weight of the whole device, releasing the pressure of the sucker 6 adsorbed on the previous glass surface, rotating the guide rail 5 of the moving mechanism 2 adsorbed on the previous glass surface to a position parallel to the next glass surface through the turn-over device, and then starting the horizontal rotating shaft motor on the supporting leg of the sucker 6 of the sucker mechanism to drive the horizontal rotating shaft to rotate until the whole mechanism moves to a new working surface.

Turning is realized by adopting the mode 3.2 as shown in the modes a, b and c of fig. 8, wherein a is 30-degree turning, the turning process is realized by downwards rotating the turning mechanism 7 by 30 degrees, b is 90-degree turning, the turning process is realized by downwards rotating the turning mechanism 7 by 90 degrees (if a larger angle exists, turning can still be realized by two glass surfaces with an acute angle of 150 degrees), and c is-30-degree turning, and the turning process is realized by upwards rotating the turning mechanism 7 by 30 degrees (if a larger negative angle exists, turning can still be realized by two glass surfaces with an included angle of-90 degrees).

An obstacle crossing method of a glass cleaning robot capable of automatically turning over and crossing obstacles comprises the following steps:

1) when the device meets an obstacle arranged between glass surfaces (such as a fence connected between the glass surfaces), all the lifting mechanisms are lifted to be higher than the height of the obstacle (considering the possible deflection of a track, the height of the rail is preferably at least 2cm higher than the height of the obstacle), at the moment, the suction cup 6 at one end is moved to be close to the obstacle of the glass surface and is tightly sucked with the glass surface through the suction cup 6, and the suction cups 6 of other moving mechanisms 2 are still kept to be higher than the height of the obstacle;

2) moving the guide rail 5 to the tail end of the guide rail 5 in the outer side direction of the corner through the moving mechanism 2 where the fixed sucker 6 is located, then lowering the sucker 6 in the moving mechanism 2 at the other end, sucking the glass surface through the sucker 6, contacting the sucker 6 sucking the glass surface before, lifting, and then starting the gear motor 3 of the moving mechanism 2 where the sucker 6 sucking the glass surface is located, so that the guide rail 5 is driven to further move forwards to the limit of the guide rail 5; then a sucker mechanism of the moving mechanism 2 on the guide rail 5 crossing the obstacle is put down, when a contact sensor on the sucker mechanism senses that the sucker mechanism contacts the glass surface after the corner, a negative pressure generator is started to adsorb the glass surface, after the negative pressure sensor monitors that the negative pressure of the sucker 6 can bear the weight of the whole device, the sucker 6 adsorbed on the previous glass surface is decompressed and moved up, then the gear motor 3 of the moving mechanism 2 adsorbed on the glass surface behind the obstacle is started to drive the guide rail 5 to move, and the whole automatic turn-over and obstacle-crossing glass cleaning robot enters a new glass surface.

According to the above description, the utility model discloses each spare part quantity that adopts, can adjust according to actual need, like moving mechanism 2, guide rail 5, the quantity of turn-over mechanism 7 etc. when quantity adjustment back, its quality also corresponding change, the weight that selected various motors and sucking disc 6 born also corresponds the change.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent embodiments without departing from the scope of the present invention, but all the technical matters of the present invention are within the scope of the present invention.

Claims (4)

1. A glass cleaning robot capable of automatically turning over and crossing obstacles comprises a cleaning mechanism, a bracket mechanism, a moving mechanism, a sucker mechanism and a control system;

the automatic lifting device is characterized in that the support mechanism comprises at least one guide rail, at least 2 moving mechanisms are connected to the guide rail, each moving mechanism comprises a clamping groove, a sucker mechanism is installed in each moving mechanism, each sucker mechanism comprises a lifting mechanism and a sucker, each sucker is connected to the bottom of the lifting mechanism, the clamping grooves are connected with the guide rail, and each moving mechanism is further provided with a driving device which is connected with the guide rail, so that the moving mechanisms can move relative to the guide rail through the driving devices and the clamping grooves; the middle part of the guide rail is provided with at least one turnover device, the number of the moving mechanisms is at least 2, and the number of the moving mechanisms is always 1 more than that of the turnover devices;

the cleaning mechanisms are arranged at two ends of the guide rail; the number of the cleaning mechanisms is at least 1, each cleaning mechanism comprises a shell, a liquid spraying part, a scrubbing part and a pollutant detection device, the shell is connected with the guide rail, and the liquid spraying parts and the scrubbing parts are arranged on the shell and are in the same direction as the suckers; the number of the liquid spraying parts is at least 1, and each liquid spraying part is provided with an ejector; the liquid spraying part is provided with a liquid storage device and/or a pipeline connected to an external liquid tank; the pollutant detection device is a camera, the camera is a rotatable camera, and the camera is connected to the control system;

the scrubbing component comprises a plurality of shafts parallel to the bottom surface of the shell, a scrubbing motor is arranged at the shaft end, and cylindrical erasing objects are arranged on the shafts; the cylindrical erasing objects are arranged at intervals, and the cylindrical erasing objects on two adjacent shafts are arranged in a side-by-side structure;

the guide rail is provided with a rack, the driving device of the sliding block is a gear and a gear motor, and the gear is meshed with the rack of the guide rail; the guide rail is provided with a plurality of limiting parts which are respectively arranged at two ends of the moving mechanism.

2. The automatic turn-over and obstacle crossing glass cleaning robot as claimed in claim 1, wherein the turn-over device is a gear meshing mechanism, a transmission gear is mounted on a left guide rail, an inner gear is arranged in a right guide rail, a steering engine is arranged on the outer side surface of the guide rail, the transmission gear is driven to rotate through the steering engine, the inner gear of the guide rail is meshed with the transmission gear to realize angular rotation, until the guide rail is in contact with a new wall surface, a sucker tightly sucks the wall surface, the gear is meshed to straighten the rest guide rail, then a horizontal rotating shaft on the sucker rotates the whole mechanism by taking the sucker as an original point, the whole mechanism rotates into the new wall surface, and the sucker firmly sucks to start a new round of cleaning operation.

3. The automatic turn-over and obstacle-crossing glass cleaning robot according to claim 2, wherein the sucker mechanism is perpendicular to the guide rail, a contact sensor and a negative pressure generator are arranged in the sucker mechanism, the contact sensor is used for sensing the contact of the sucker mechanism and the surface of other objects, the negative pressure generator is used for testing the suction force in the sucker mechanism, the maximum suction force of a single negative pressure generator is larger than the weight of the whole set of automatic turn-over and obstacle-crossing glass cleaning robot, and the negative pressure sensor is arranged on the sucker; the main body of the sucker mechanism is a sucker with a metal bell mouth structure, a sucker supporting leg is arranged at the top of the sucker and is connected with the lifting mechanism, a circle of sealing ring is arranged at the edge of the sucker, the sucker sealing ring is a soft sealing ring, the inclination angle caused by the soft sealing ring is not more than 5 degrees, and the sucker mechanism can be ensured to be adsorbed even if the axis of the sucker and an adsorption surface are not completely vertical; be provided with horizontal rotating shaft and horizontal rotating shaft motor on the sucking disc supporting leg, horizontal rotating shaft is at the during operation, horizontal rotating shaft motor is including rotating the circle, the pinion, gear wheel and internal gear, give the pinion with the moment of torsion transmission, the pinion drives the gear wheel rotation of meshing, the gear wheel drives the internal gear rotation of meshing, thereby make to rotate the circle and rotate the regulation that realizes working angle, use a sucking disc to rotate certain angle as the initial point when cleaning robot wipes to the glass edge, continue to accomplish cleaning work.

4. The robot for cleaning glass capable of automatically turning over and crossing over an obstacle according to claim 1, wherein hanging ropes are provided at both ends of the guide rail, and the hanging ropes are connected to an external fixing position; the fixed position is provided with a rotating arm with a roller, the rotating arm with the roller can freely move on a roof and realize horizontal rotation and up-and-down rotation, and the front end of the rotating arm can adjust the telescopic length.

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