CN212521625U - Small household window cleaning device - Google Patents
Small household window cleaning device Download PDFInfo
- Publication number
- CN212521625U CN212521625U CN202022197883.3U CN202022197883U CN212521625U CN 212521625 U CN212521625 U CN 212521625U CN 202022197883 U CN202022197883 U CN 202022197883U CN 212521625 U CN212521625 U CN 212521625U
- Authority
- CN
- China
- Prior art keywords
- connecting piece
- machine body
- adjusting mechanism
- cleaning
- glass
- 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.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 86
- 239000011521 glass Substances 0.000 claims abstract description 73
- 230000007246 mechanism Effects 0.000 claims abstract description 61
- 239000004744 fabric Substances 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 10
- 239000003990 capacitor Substances 0.000 claims description 9
- 230000004888 barrier function Effects 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 7
- 238000003825 pressing Methods 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 241000252254 Catostomidae Species 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011229 interlayer Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000010410 layer Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Landscapes
- Electric Vacuum Cleaner (AREA)
Abstract
The utility model discloses a small household window wiping device, which comprises a machine body and mechanical arms, wherein a control unit for driving the mechanical arms to move is arranged in the machine body, the machine body comprises a cleaning surface for cleaning glass, a plurality of mechanical arms are also arranged on the side edge of the machine body, the mechanical arm comprises a first adjusting mechanism, a first connecting piece, a second adjusting mechanism, a second connecting piece, a third adjusting mechanism and a third connecting piece which are connected in sequence, the first adjusting mechanism is also connected with the machine main body and is used for adjusting the vertical rotation angle of the first connecting piece around the output end of the first adjusting mechanism, the second adjusting mechanism is used for adjusting the forward and backward rotation angle of the second connecting piece around the output end of the second adjusting mechanism, the third adjusting mechanism is used for adjusting the vertical rotation angle of the third connecting piece around the output end of the third adjusting mechanism. The device can clean glass in a cross-region mode, the cleaning range is wider, the limitation of a working environment is avoided, and the cleaning efficiency is higher.
Description
Technical Field
The utility model belongs to the technical field of intelligent house service, specifically belong to a small-size domestic window device of wiping.
Background
Along with the development of urbanization in China, high-rise buildings are more and more, and the problem of cleaning of window personnel of family high-rise buildings is urgently needed to be solved. The existing window cleaning robot is firmly adsorbed on glass by virtue of a vacuum pump or a fan device at the bottom of the robot, and then automatically detects the corner distance of a window and plans a window cleaning path by virtue of certain artificial intelligence. The existing window cleaning robot generally utilizes the force of the window cleaning robot itself absorbed on the glass to drive the cleaning cloth at the bottom of the machine body to wipe off the dirt on the glass. However, the existing window cleaning robot cannot clean across areas, a user needs to use the window cleaning robot beside the window cleaning robot for assistance, and the cleaning efficiency is low.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the prior art, the utility model provides a small-size domestic window device of wiping solves and to wipe window robot at present and can only satisfy monolithic glass's cleanness, can not accomplish the clear function of cross regional glass.
In order to achieve the above object, the utility model provides a following technical scheme: a small household window wiping device comprises a machine body and mechanical arms, wherein a control unit used for driving the mechanical arms to move is arranged in the machine body, a plurality of obstacle sensors used for measuring the distance between the machine body and an obstacle and transmitting a measuring signal to the control unit are arranged on the side edge of the machine body, the machine body comprises a cleaning surface for cleaning glass, a plurality of mechanical arms are further arranged on the side edge of the machine body, the mechanical arms comprise a first adjusting mechanism, a first connecting piece, a second adjusting mechanism, a second connecting piece, a third adjusting mechanism and a third connecting piece which are sequentially connected, the first adjusting mechanism is further connected with the machine body and used for adjusting the vertical direction rotating angle of the first connecting piece around the output end of the first adjusting mechanism, the second adjusting mechanism is used for adjusting the horizontal direction rotating angle of the second connecting piece around the output end of the second adjusting mechanism, the third adjusting mechanism is used for adjusting the vertical direction rotation angle of the third connecting piece around the output end of the third adjusting mechanism.
Furthermore, serial port steering engines are adopted in the first adjusting mechanism, the second adjusting mechanism and the third adjusting mechanism, U-shaped connecting pieces are adopted in the first connecting piece, the second connecting piece and the third connecting piece, the U-shaped open end of the current-stage U-shaped connecting piece is connected with the output end of the one-stage serial port steering engine, the non-open end of the current-stage U-shaped connecting piece is connected with the steering engine connecting piece of the next-stage serial port steering engine, and the length of the first connecting piece is smaller than the length of the second connecting piece and the length of the third connecting piece.
Further, the obstacle sensor is an infrared sensor.
Furthermore, a vacuum chuck is connected to the third connecting piece and is connected with a vacuum generator arranged in the machine body through a pipeline.
Furthermore, a glass cleaning cloth is detachably connected to the cleaning surface.
Furthermore, a first opening is formed in the cleaning surface of the machine body, and a humidity sensor for monitoring the humidity of the glass cleaning cloth is embedded in the first opening.
Further, the machine body still includes the operation face with cleaning surface parallel arrangement, be provided with the LED lamp on the operation face, the LED lamp with the control unit electric connection, the control unit still is used for adjusting the colour and the scintillation interval of LED lamp according to the monitoring signal of the humidity transducer who receives.
Furthermore, a second opening is formed in the cleaning surface, and a pressure sensor for monitoring the pressure condition of the machine body on the glass is embedded in the second opening.
Furthermore, a power supply is also arranged on the operation surface, and the power supply adopts a 24V direct current power supply.
Furthermore, a capacitor is further arranged on the operation surface and is connected with the power supply in series through a transformer.
Compared with the prior art, the utility model discloses following beneficial effect has at least:
the utility model provides a small household window cleaning device, which removes a thick and heavy shell, reduces the internal redundant parts and only keeps the main functional parts, a control unit for driving a mechanical arm is arranged in a machine body, simplifies the structure of the window cleaning robot, compresses the space of the window cleaning robot, realizes the reduction of the volume of the window cleaning robot, ensures that the occupied space is smaller, simultaneously reduces the price, has lower cost, directly transmits the obstacle to the control unit after sensing the obstacle, controls the angle of the first connecting piece rotating up and down around the output end of the first adjusting mechanism, controls the angle of the third connecting piece rotating up and down around the output end of the third adjusting mechanism, lifts the machine body away from the glass surface, keeps away from the glass surface, then the control unit adjusts the angle of the second connecting piece rotating back and forth around the output end of the second adjusting mechanism to realize the displacement and the crossing of the obstacle, realize wiping window robot and stride regional clean glass, solve and wipe window robot at present and confine to a glass's cleanness, cleaned a glass and need the manual work to change, the step is loaded down with trivial details, the inconvenient problem of operation, the utility model discloses clean glass's scope is more extensive, does not receive operational environment's limitation, and clean efficiency is higher.
Further, the utility model discloses a length of first connecting piece is less than the length of second connecting piece and the length of third connecting piece, can guarantee the intensity of connecting, and protection serial ports steering wheel safety and stability moves.
Further, the utility model discloses a be connected with vacuum chuck on the third connecting piece, utilize bionics principle to pass through the arm and stride across between the barrier, fix the one end of arm on glass through vacuum chuck, increase overall structure's stability.
Further, the utility model discloses a can dismantle on the cleaning surface and be connected with glass cleaning cloth, when glass cleaning cloth pollutes seriously, with glass cleaning cloth change can, the utility model discloses a cleaning performance can obtain guaranteeing, clean effect can be ensured.
Further, the utility model discloses a have seted up first trompil on the cleaning surface, the gomphosis has humidity transducer on the first trompil, through humidity transducer monitoring glass cleaning cloth's humidity, the user can judge glass cleaning cloth's the humidity condition according to humidity transducer, and the user can be accurate know when to change, ensures glass cleaning cloth's clean effect and clean efficiency.
Further, the utility model discloses a be provided with the LED lamp on the operation panel, receive humidity transducer's signal and vacuum generator's operating signal through the control unit, the control unit sends corresponding instruction to the LED lamp, the instruction that the LED lamp execution corresponds, the user can judge whether glass cleaning cloth needs to increase humidity according to the LED lamp, the user observes succinctly more conveniently, promotes the convenience that the user used, the user can instruct according to the LED lamp to make glass cleaning cloth can keep at certain humidity range, makes the utility model discloses a cleaning efficiency is higher, and clean effect can keep the optimum.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a schematic structural view of the robot arm of the present invention;
fig. 4 is a schematic view of the rotation of the robot arm of the present invention;
FIG. 5 is a schematic view of the present invention near an obstacle;
fig. 6 is a sensing flow chart of the infrared sensor of the present invention;
fig. 7 is a flow chart of the operation of the humidity sensor of the present invention;
FIG. 8 is a schematic block diagram of the present invention;
FIG. 9 is a diagram of the working path of the present invention in a glass region;
in the drawings: 1-power supply, 2-single chip microcomputer, 3-mechanical arm, 31-first adjusting mechanism, 32-first connecting piece, 33-second adjusting mechanism, 34-second connecting piece, 35-third adjusting mechanism, 36-third connecting piece, 4-vacuum sucker, 5-humidity sensor, 6-pressure sensor, 7-infrared sensor, 8-capacitor, 9-vacuum generator, 10-switch, 11-LED lamp, 12-cleaning surface, 13-operation surface and 14-obstacle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description.
As shown in fig. 1 and fig. 2, the present invention provides a small household window cleaning device, which comprises a machine body and a mechanical arm 3, wherein the machine body comprises a cleaning surface 12 and an operation surface 13, the cleaning surface 12 is fixedly connected with the operation surface 13, the cleaning surface 12 is detachably connected with a cleaning device, the operation surface 13 is provided with a switch 10, the work of the present invention is started or closed by the switch 10, a control unit, i.e. a single chip microcomputer 2, is installed between the cleaning surface 12 and the operation surface 13, the single chip microcomputer model adopted in this embodiment is STM32F767IGT6, the control unit is used for driving the mechanical arm 3 to move, the mechanical arm 3 is installed between interlayers of the cleaning surface 12 and the operation surface 13, in this embodiment, the mechanical arm 3 comprises a first adjusting mechanism 31, a first connecting member 32, a second adjusting mechanism 33, a second connecting member 34, a third adjusting mechanism 35 and a third connecting member 36, the first adjusting mechanism 31, the first connecting piece 32, the second adjusting mechanism 33, the second connecting piece 34, the third adjusting mechanism 35 and the third connecting piece 36 are connected in sequence, wherein the first adjusting mechanism 31 can adjust the vertical direction rotation angle of the first connecting piece 32 around the output end of the first adjusting mechanism 31, in this embodiment, the vertical direction of the first connecting piece 32 around the output end of the first adjusting mechanism 31 is the vertical rotation angle of the first connecting piece around the output end of the first adjusting mechanism, namely, the first connecting piece moves away from the glass, the second adjusting mechanism 33 can adjust the horizontal direction rotation angle of the second connecting piece 34 around the output end of the second adjusting mechanism 33, in this embodiment, the horizontal direction rotation angle of the second connecting piece 34 around the output end of the second adjusting mechanism 33 is the angle of the second connecting piece rotating around the output end of the second adjusting mechanism back and forth, namely, the second connecting piece drives the machine body to move horizontally on the surface of the glass, the third adjusting mechanism 35 can adjust a vertical rotation angle of the third connecting member 36 around the output end of the third adjusting mechanism 35, and in this embodiment, the vertical rotation angle of the third connecting member 36 around the output end of the third adjusting mechanism 35 is an angle of the third connecting member rotating up and down around the output end of the third adjusting mechanism 35, that is, the third connecting member moves away from the glass.
Specifically, as shown in fig. 3 and 4, the mechanical arms 3 are arranged at four corners of the machine body, the first adjusting mechanism 31, the second adjusting mechanism 33 and the third adjusting mechanism 35 are serial port steering engines, the first connecting piece 32, the second connecting piece 34 and the third connecting piece 36 are U-shaped connecting pieces, preferably, the first connecting piece 32 is a short U-shaped connecting piece, the second connecting piece 34 and the third connecting piece 36 are long U-shaped connecting pieces, the steering engine connecting piece of the first serial port steering engine is fixedly installed in an interlayer between the cleaning surface 12 and the operating surface 13 of the machine body, the output end of the first serial port steering engine is connected with the U-shaped open end of the short U-shaped connecting piece, the U-shaped bottom end face of the U-shaped connecting piece is fixedly installed on the steering engine connecting piece of the second serial port steering engine, the output end of the second serial port steering engine is connected with the U-shaped open end of the first long U-shaped connecting piece, and the U-shaped bottom end face of the first long U-shaped On the part, the U type open end of the long U type connecting piece of second is connected to the output of third serial ports steering wheel, and control unit control first serial ports steering wheel adjusts the upper and lower turned angle of short U type connecting piece and third serial ports steering wheel adjusts the upper and lower turned angle of the long U type connecting piece of second, makes the machine body remove to the direction of keeping away from glass, then control unit is in the front and back turned angle of the first long U type connecting piece of control second serial ports steering wheel regulation, realizes the removal of machine body.
In this embodiment, as shown in fig. 5, a plurality of obstacle sensors are disposed on the interlayer between the cleaning surface 12 and the operation surface 13, specifically, the obstacle sensors are disposed on four sides of the machine body, preferably, the obstacle sensors are infrared sensors 7, the infrared sensors 7 are electrically connected to the control unit, the infrared sensors 7 are used for measuring the distance between the machine body and an obstacle (window frame), specifically, as shown in fig. 6, after the machine is started, the infrared sensors 7 transmit detected signals to the control unit, the control unit sends instructions to the robot arm 3 according to the detected signals of the infrared sensors 7, the robot arm 3 adjusts the position so as to avoid the obstacle 14 or cross the obstacle 14, after the robot arm 3 is adjusted, the infrared sensors 7 continue to detect the distance between the machine body and the obstacle 14 and transmit the detected signals to the control unit, the machine body is moving and the control unit no longer adjusts the robot arm 3.
In the embodiment, the end face of the U-shaped bottom of the second long U-shaped connecting piece is connected with a vacuum sucker 4, the vacuum sucker 4 is connected with a vacuum generator 9 arranged in a sandwich layer between a cleaning surface 12 and an operating surface 13 through a pipeline, after the machine is started, the vacuum generator 9 evacuates air in the vacuum sucker 4, the vacuum sucker 4 is adsorbed on glass, when the machine body needs to move, the vacuum generator 9 inflates two vacuum suckers 4, so that the two vacuum suckers 4 are far away from the surface of the glass, the other two vacuum suckers 4 are still adsorbed on the surface of the glass, the mechanical arm 3 connected with the vacuum suckers adsorbed on the surface of the glass moves, specifically, the two second serial ports adjust the first long U-shaped connecting piece to rotate back and forth to realize the displacement of the machine body, the two vacuum suckers 4 are adsorbed on the surface of the glass after reaching the displacement position, the other two vacuum suckers, and the glass surface is displaced to a displacement point and then adsorbed on the glass surface, so that the machine body finishes the displacement process of the glass surface.
Use the utility model discloses the time:
as shown in fig. 9, firstly, the utility model discloses clean a glass region, set for the walking route of window cleaning robot through the procedure, place window cleaning robot in the X position under the initial condition, infrared sensor 7 of a and B two places triggers perception initial position simultaneously this moment, after starting the machine, the robot moves clean glass on the glass surface according to the zigzag, when moving to the Y position, infrared sensor 7 of B and C two places triggers perception target position simultaneously and responds to barrier 14 on every side, make simultaneously and stride across barrier 14 actions, move next glass; specifically, the specific process of crossing over the obstacle 14 of the present invention is as follows:
(after cleaning one glass area, in the initial state, the four vacuum chucks 4 in this embodiment are all adsorbed on the glass surface)
When an infrared sensor 7 on the machine body detects an obstacle 14, the control unit controls the mechanical arm 3 to move, in the embodiment, two vacuum chucks 4 close to the obstacle 3 are respectively a first vacuum chuck and a second vacuum chuck, two vacuum chucks far away from the obstacle are a third vacuum chuck and a fourth vacuum chuck, the control unit controls a first serial port steering engine and a third serial port steering engine to respectively adjust a short U-shaped connecting piece and a second long U-shaped connecting piece, the machine body moves towards the direction far away from the glass, the machine body stops after exceeding the height of the obstacle 14, the second vacuum chuck, the third vacuum chuck and the fourth vacuum chuck are inflated, the three vacuum chucks 4 leave the surface of the glass, the first mechanical arm connected with the first vacuum chuck starts to move, specifically, the second serial port steering engine of the first mechanical arm adjusts the front and back angles of the first long U-shaped connecting piece, after the machine body strideed across barrier 14, third vacuum chuck or fourth vacuum chuck exhaust again and adsorb with the glass surface, and first vacuum chuck aerifys and leaves the glass surface, and arm 3 through third vacuum chuck or fourth vacuum chuck will the utility model discloses a whole removal is regional to new glass, and then all vacuum chucks adsorb on the glass surface again, and the completion is wiped the barrier of window robot and is strideed across.
When an infrared sensor 7 on the machine body detects an obstacle 14, the control unit controls the mechanical arm 3 to move, in another embodiment of the embodiment, two vacuum suction cups 4 close to the obstacle 14 are respectively a first vacuum suction cup and a second vacuum suction cup, two vacuum suction cups 4 far away from the obstacle 14 are a third vacuum suction cup and a fourth vacuum suction cup, the control unit controls a first serial port steering engine and a third serial port steering engine to respectively adjust a short U-shaped connecting piece and a second long U-shaped connecting piece, the machine body moves towards the direction far away from the glass, the machine body stops after exceeding the height of the obstacle, the third vacuum suction cup and the fourth vacuum suction cup are inflated to leave the surface of the glass, the first vacuum suction cup and the second vacuum suction cup are still adsorbed on the surface of the glass, a third mechanical arm connected with the third vacuum suction cup and a fourth mechanical arm connected with the fourth vacuum suction cup move, a second serial port of the third mechanical arm adjusts the position of the first long U-shaped connecting, a second serial port steering engine of a fourth mechanical arm adjusts the position of a first long U-shaped connecting piece, a third vacuum sucker and a fourth vacuum sucker move to the positions of the first vacuum sucker and the second vacuum sucker, the third vacuum sucker and the fourth vacuum sucker which finish moving are re-adsorbed on the glass surface, then the first vacuum sucker and the second vacuum sucker are inflated to leave the glass surface, a second serial port steering engine of the third mechanical arm adjusts the position of the first long U-shaped connecting piece, a second serial port steering engine of the fourth mechanical arm adjusts the position of the first long U-shaped connecting piece, the third mechanical arm and the fourth mechanical arm push a machine body to move towards the direction of an obstacle, when the second serial port steering engine of the third mechanical arm, the first long U-shaped connecting piece, the second serial port steering engine of the fourth mechanical arm and the first long U-shaped connecting piece are in a straight line, the first vacuum sucker and the second vacuum sucker are re-adsorbed on the glass surface, the action that third arm and fourth arm repeated removed to first arm and second arm is up to the utility model discloses a wipe window robot and remove another glass region completely and stop.
In the preferred embodiment of this embodiment, the cleaning surface 12 of the machine body is detachably connected with a glass cleaning cloth, preferably, the glass cleaning cloth is connected to the cleaning surface 12 of the machine body by a magic tape; the cleaning surface 12 of the machine body is provided with a first hole, the humidity sensor 5 is embedded in the first hole, the humidity sensor 5 is used for monitoring the humidity of the glass cleaning cloth, preferably, the operating surface of the machine body is provided with the LED lamp 11, the LED lamp 11 is electrically connected with the control unit, and the control unit adjusts the color and the flicker interval of the LED lamp 11 according to the received monitoring signal of the humidity sensor 5.
Specifically, as shown in fig. 7, when starting the utility model discloses the during operation, vacuum generator 9 normally works, 11 green lamps of LED lamp blink slowly, adsorb vacuum chuck 4 in glass surface (when vacuum generator 4 can not normally work, this device can not adsorb in glass surface, overhaul can), the user detects the humidity of glass cleaning cloth to humidity transducer 5 when to the humidification of glass cleaning cloth, humidity transducer 5 will detect signal transmission to the control unit, when humidity is low excessively, control unit control LED lamp 11 is the red light scintillation, continue to give the humidification of glass cleaning cloth, when humidity is normal, LED lamp 11 keeps green lamps to blink slowly unchangeably, this device normally works, this device work is accomplished the back, switch 10 through on machine body operation face 13 closes, the green lamps of LED lamp 11 extinguishes after three seconds that normally light, this device finishes work.
Preferably, the cleaning surface 12 of the machine body is further provided with a second opening, and a pressure sensor 6 for monitoring the pressing condition of the machine body on the glass is embedded in the second opening.
Preferably, the operation surface of the device is also provided with a power supply 1, preferably a 24V direct current power supply, the operation surface 13 of the device is also provided with a capacitor 8, and the capacitor 8 is connected with the power supply 1 in series through a transformer.
Specifically, as shown in fig. 8, a 24V dc power supply provides power for the robot arm 3, the control unit, and the LED lamp 11, wherein the capacitor 8 is connected in series to the power supply 11, and after the capacitor 8 is turned on, the output power is jointly borne by the battery and the capacitor 8, thereby improving the cruising ability of the device; the control unit is connected with a JATG download interface, receives a mechanical arm movement program or other programs written by other software, sends a corresponding movement instruction to the mechanical arm 3 by receiving signals of the pressure sensor 6 and the infrared sensor 7, and simultaneously receives a signal of the humidity sensor 5 so as to adjust the color and the flicker interval of the LED lamp 11.
In one embodiment of the present invention, the bionic motion mode is changed into a wheel type motion mode in order to better serve the production and life of people. Compared with the bionic window wiping robot, the device can not cross between the glass after being changed into wheel-type motion, but can also keep the functions of humidity sensing and pressure sensing, and the wheel-type window wiping robot is more favorable for the use habits of most users.
The window cleaning robot is characterized in that four corners of a machine body of the window cleaning robot are not provided with mechanical arms, in addition, because the problem that the window cleaning robot needs to turn and is easy to fall off is considered, a rotating wheel is arranged at each corner of the designed window cleaning robot, a control panel is arranged, then corresponding software is utilized to compile straight-walking, left-turning and right-turning action groups for the window cleaning robot, and the action groups are downloaded to the control panel of the rotating wheel, people can control the motion of the window cleaning robot through a remote controller, so that the smooth turning action can be ensured, the problem that the window cleaning robot falls off during operation due to the vibration of the window cleaning robot is solved, and the wheel type window cleaning robot only needs to adopt a mature fan in the prior art to adsorb glass.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a small-size domestic window device of wiping, its characterized in that, includes machine body and arm (3), this internal control unit that is used for driving arm (3) motion that is provided with of machine, the side of machine body is provided with a plurality of and is used for measuring the distance of machine body and barrier (14) and with measuring signal transmission to control unit's barrier inductor, the machine body is including cleaning surface (12) that is used for contacting glass, a plurality of arm (3) are still installed to the side of machine body, arm (3) are including first adjustment mechanism (31), first connecting piece (32), second adjustment mechanism (33), second connecting piece (34), third adjustment mechanism (35) and third connecting piece (36) that connect gradually, first adjustment mechanism (31) still are connected with the machine main part, first adjustment mechanism (31) are used for adjusting first connecting piece (32) around the output of first adjustment mechanism (31) The second adjusting mechanism (33) is used for adjusting the horizontal direction rotating angle of the second connecting piece (34) around the output end of the second adjusting mechanism (33), and the third adjusting mechanism (35) is used for adjusting the vertical direction rotating angle of the third connecting piece (36) around the output end of the third adjusting mechanism (35).
2. A small-sized domestic window wiping device according to claim 1, wherein the first adjusting mechanism (31), the second adjusting mechanism (33) and the third adjusting mechanism (35) are all serial port steering engines, the first connecting piece (32), the second connecting piece (34) and the third connecting piece (36) are all U-shaped connecting pieces, the U-shaped open end of the current-stage U-shaped connecting piece is connected with the output end of one-stage serial port steering engine, the unopened end of the current-stage U-shaped connecting piece is connected with the steering engine connecting piece of the next-stage serial port steering engine, and the length of the first connecting piece (32) is smaller than the length of the second connecting piece (34) and the length of the third connecting piece (36).
3. A small household window wiping device as defined in claim 1, wherein said obstacle sensor is an infrared sensor.
4. A small household window-cleaning device as claimed in claim 1, characterized in that a vacuum cup (4) is connected to the third connecting member, said vacuum cup (4) being connected to a vacuum generator (9) arranged in the machine body through a pipe.
5. A small household window cleaning device according to claim 1, wherein a glass cleaning cloth is detachably attached to the cleaning surface (12).
6. A small household window-cleaning device according to claim 5, characterized in that the cleaning surface (12) of the machine body is further provided with a first opening, and a humidity sensor (5) for monitoring the humidity of the glass cleaning cloth is embedded in the first opening.
7. A small household window-cleaning device according to claim 6, characterized in that the machine body further comprises an operation surface (13) arranged in parallel with the cleaning surface (12), the operation surface (13) is provided with an LED lamp (11), the LED lamp (11) is electrically connected with the control unit, and the control unit is further used for adjusting the color and the flashing interval of the LED lamp (11) according to the received monitoring signal of the humidity sensor (5).
8. A small household window-cleaning device as defined in claim 1, wherein said cleaning surface (12) is further provided with a second opening, and a pressure sensor (6) for monitoring the pressing condition of the machine body on the glass is embedded in said second opening.
9. A small household window-cleaning device according to claim 7, characterized in that the operation surface (13) is further provided with a power supply (1), and the power supply (1) adopts a 24V direct current power supply.
10. A small household window wiping device according to claim 9, characterized in that a capacitor (8) is further arranged on the operating surface (13), and the capacitor (8) is connected in series with the power supply (1) through a transformer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022197883.3U CN212521625U (en) | 2020-09-29 | 2020-09-29 | Small household window cleaning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022197883.3U CN212521625U (en) | 2020-09-29 | 2020-09-29 | Small household window cleaning device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212521625U true CN212521625U (en) | 2021-02-12 |
Family
ID=74527296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022197883.3U Expired - Fee Related CN212521625U (en) | 2020-09-29 | 2020-09-29 | Small household window cleaning device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212521625U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112056982A (en) * | 2020-09-29 | 2020-12-11 | 长安大学 | Small household window cleaning device and control method thereof |
-
2020
- 2020-09-29 CN CN202022197883.3U patent/CN212521625U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112056982A (en) * | 2020-09-29 | 2020-12-11 | 长安大学 | Small household window cleaning device and control method thereof |
| CN112056982B (en) * | 2020-09-29 | 2024-02-06 | 长安大学 | Small household window cleaning device and control method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112056982A (en) | Small household window cleaning device and control method thereof | |
| WO2021027446A1 (en) | Fluid application method for cleaning robot and cleaning robot | |
| CN104605784B (en) | Obstacle surmountable safety intelligent glass cleaner | |
| CN204995360U (en) | Clean service robot of intelligence | |
| CN212521625U (en) | Small household window cleaning device | |
| CN108577655A (en) | A kind of window wiping robot flexibly turned to | |
| CN105728358A (en) | Upper air washing robot | |
| CN106672488A (en) | Control device for garbage cans automatically conducting packaging and bag changing | |
| CN106073618A (en) | Intelligence climbing automated cleaning machine people | |
| CN203379066U (en) | Automatic window-cleaning robot | |
| CN204520510U (en) | Can the safe and intelligent device for cleaning glass of crossing over blockage | |
| CN107630649A (en) | A kind of Intelligent balcony system | |
| CN204654801U (en) | Intelligence window cleaning equipment | |
| CN110326995A (en) | A kind of crawler belt sucker type glass cleaning robot | |
| CN205673228U (en) | A kind of high-altitude cleaning machine people | |
| CN108514371A (en) | A kind of glass-cleaning robot | |
| CN206777282U (en) | A kind of multifunctional household service robot | |
| CN207370674U (en) | Intelligent sweeping machine device people | |
| CN111071363A (en) | Adsorption device and toy robot capable of crawling or walking on smooth plane | |
| CN109717786A (en) | A kind of glass curtain wall cleaning machine device people's system | |
| CN106514663B (en) | Multilayer distributed building outer surface cleaning robot | |
| CN209360538U (en) | A kind of glass washing device | |
| CN204394410U (en) | New type auto window wiping robot | |
| CN209966265U (en) | Bionic window cleaning robot | |
| CN109464060B (en) | Novel high-rise glass window cleaning robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210212 |