CN216147941U

CN216147941U - Magnetic adsorption type glass cleaning robot

Info

Publication number: CN216147941U
Application number: CN202120593413.0U
Authority: CN
Inventors: 吴开霞; 蔡中陶; 唐雅洁; 吴松利
Original assignee: Jincheng College of Sichuan University
Current assignee: Jincheng College of Sichuan University
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2022-04-01
Anticipated expiration: 2031-03-19

Abstract

The utility model discloses a magnetic adsorption type glass cleaning robot, which comprises a first robot main body and a second robot main body, wherein the first robot main body is provided with a first cleaning unit, a first travelling wheel, a travelling wheel driving motor, a controller, a steering mechanism and a power supply device; the second robot main body comprises a shell, and a second cleaning unit, a second traveling wheel, a universal wheel, a second central electromagnet and a second ultrasonic dust collector which are respectively arranged in the shell; a first central electromagnet and a first ultrasonic dust remover are respectively arranged in the first robot main body; the first robot main body and the second robot main body are positioned on the inner surface and the outer surface of the glass to be cleaned in a mode that the first central electromagnet and the second central electromagnet are electrified and mutually adsorbed, and are driven by the first travelling wheel to synchronously move. The utility model can realize the simultaneous cleaning of the inner surface and the outer surface of the glass, and effectively improves the working efficiency and the cleanliness of the glass by combining the design of ultrasonic dust removal.

Description

Magnetic adsorption type glass cleaning robot

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to a magnetic adsorption type glass cleaning robot.

Background

In recent years, high-rise buildings in cities are more and more, floors where people live are higher, and glass cleaning is difficult and dangerous. Previously, the cleaning work of the glass window of the high-rise building is mainly completed by a cleaning worker carrying a hanging basket, and the traditional manual cleaning mode is dangerous, low in efficiency and high in cost, but is dangerous, time-consuming and labor-consuming if the cleaning is carried out by the cleaning worker.

Based on this, glass cleaning robot takes place at the same time, can effectively reduce the potential safety hazard that clean high-rise glass exists to have labour saving and time saving's advantage. At present, glass cleaning machines people on the market mainly comprise cleaning unit (mainly by the water tank, watering brush, rag etc.), walking wheel driving motor, controller, steering mechanism (mainly by the steering wheel, walking wheel constitute) and power supply unit, and when needing clean glass, utilize walking wheel driving motor control walking wheel to rotate to rely on steering mechanism's steering control, make the robot make a round trip to move on glass, thereby utilize cleaning unit to realize the cleanness to glass.

However, most of the existing glass cleaning robots can only clean the surface close to the indoor or outdoor during working, and cannot meet the requirement of cleaning the inner and outer surfaces of glass at the same time, so that the efficiency is not high; and the existing glass cleaning robot also has the problem of insufficient cleaning.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a magnetic adsorption type glass cleaning robot which can clean the inner surface and the outer surface of glass simultaneously, can improve the efficiency and can improve the cleanliness of the glass.

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

a magnetic adsorption type glass cleaning robot comprises a first robot main body and a second robot main body, wherein the first robot main body is provided with a first cleaning unit, a first travelling wheel, a travelling wheel driving motor, a controller, a steering mechanism and a power supply device; the second robot main body comprises a shell, and a second cleaning unit, a second traveling wheel, a universal wheel, a second central electromagnet and a second ultrasonic dust collector which are respectively arranged in the shell; the second ultrasonic dust collector is close to the universal wheel, and the second cleaning unit is positioned between the second traveling wheel and the universal wheel;

a first central electromagnet and a first ultrasonic dust remover are respectively arranged in the first robot main body; the first ultrasonic dust collector is close to the steering mechanism, and the first cleaning unit is positioned between the first travelling wheel and the steering mechanism;

the power supply device is simultaneously connected with the first central electromagnet, the first ultrasonic dust collector, the second central electromagnet and the second ultrasonic dust collector;

the first robot main body and the second robot main body are positioned on the inner surface and the outer surface of the glass to be cleaned in a mode that the first central electromagnet and the second central electromagnet are electrified and mutually adsorbed, and are driven by the first travelling wheel to synchronously move.

Furthermore, a plurality of obstacle avoidance sensing devices are uniformly distributed on the outer edge of the first robot main body, and all the obstacle avoidance sensing devices are connected with the controller.

Preferably, the obstacle avoidance sensing device is any one or more of a laser sensor, an infrared sensor and an ultrasonic sensor.

Still further, the first robot main body is further provided with a Bluetooth module which is connected with the controller and used for connecting the controller with the control terminal so as to realize the planning of the moving path of the first robot main body.

Specifically, the control terminal is any one of a mobile phone, a tablet and a computer with a bluetooth function.

Still further, still be equipped with solar panel on the second robot main part, this solar panel inserts power supply unit.

Compared with the prior art, the utility model has the following beneficial effects:

(1) the glass cleaning machine adopts the design of double robots, one is used for cleaning the inner surface of glass, the other is used for cleaning the outer surface of the glass, the two robots can synchronously move by arranging the central electromagnet and utilizing the mode that the electromagnets are electrified and mutually adsorbed, so that the inner surface and the outer surface of the glass are cleaned by utilizing respective cleaning units, and the working efficiency is improved. Meanwhile, the utility model also combines the design of the ultrasonic dust remover, the ultrasonic dust remover is positioned at the front part of the cleaning unit, the dust on the inner surface and the outer surface of the glass is removed by ultrasonic waves, and then the dirt on the glass is cleaned in a mechanical force mode, so that the acting force acting on the respective cleaning units of the two robots is larger due to the adoption of electromagnetic adsorption to ensure that the two robots are attached, the glass can be cleaned more cleanly by adopting the ultrasonic dust removal and mechanical force cleaning on the basis, the scratches are not easy to remain, and the attractiveness and the service life of the glass are kept.

(2) The utility model is provided with the obstacle avoidance sensing device, and the obstacle avoidance signal can be fed back to the controller in time by using the detection of the obstacle avoidance sensing device, and then the steering of the robot is controlled by the controller, so that the robot can clean the glass more intelligently and conveniently.

(3) The utility model also provides a Bluetooth module, on the basis, the controller can be connected with a control terminal such as a mobile phone, a tablet, a computer and the like through the Bluetooth module, path planning is carried out through APP or software on the control terminal and is fed back to the controller, and the controller controls the robot to walk according to the path, so that the robot can clean the glass completely and without dead angles, and the cleanness of the glass is further improved.

(4) According to the utility model, the solar panel is arranged on the second robot main body and is connected into the power supply circuit, and the solar energy and the power supply device are used for supplying power together, so that the electric energy can be saved to a certain extent.

(5) The utility model has small volume, convenient carrying and good use effect, and is suitable for being popularized in various families.

Drawings

Fig. 1 is a schematic structural view of an embodiment of the present invention with an upper case removed.

Fig. 2 is a schematic structural diagram of a first robot body according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of the first robot after the main body is turned over according to the embodiment of the present invention.

Wherein, the part names corresponding to the reference numbers are:

1-a first robot main body, 2-a first cleaning unit, 3-a first travelling wheel, 4-a controller, 5-a steering mechanism, 6-a power supply device, 7-a first central electromagnet, 8-a first ultrasonic dust remover, 9-an obstacle avoidance sensing device, 10-a Bluetooth module, 11-a second robot main body, 12-a second cleaning unit, 13-a second travelling wheel, 14-a universal wheel and 15-a second ultrasonic dust remover.

Detailed Description

The utility model is further illustrated by the following description and examples, including but not limited to the following examples, taken in conjunction with the accompanying drawings.

Examples

The embodiment discloses a magnetism adsorbs formula glass cleaning machines people can realize the inside and outside surface of clean glass simultaneously to adopt the mode of removing dust and clean combination fully to improve the cleanliness to glass. The robot comprises a first robot body 1 and a second robot body 2, the two robot bodies are substantially identical in structure and are provided with a shell (the shell is composed of an upper shell and a lower shell), a cleaning unit, traveling wheels and the like, wherein as shown in figures 1-3, the first robot body 1 is provided with a first cleaning unit 2, a first traveling wheel 3, a traveling wheel driving motor, a controller 4, a steering mechanism 5, a power supply device 6, a first central electromagnet 7, a first ultrasonic dust collector 8 and four obstacle avoidance sensing devices 9 (the obstacle avoidance sensing devices 9 can adopt any one or more of a laser sensor, an infrared sensor and an ultrasonic sensor). The second robot main body 11 includes a second cleaning unit 12, a second traveling wheel 13, a universal wheel 14, a second central electromagnet, and a second ultrasonic cleaner 15, which are respectively disposed in the housing.

The glass cleaning robot is small in size and can be held by hands, when the glass cleaning robot works, a power supply is firstly switched on (the glass cleaning robot can realize power supply by adopting a mains supply or storage battery mode), then the first robot main body 1 is manually placed on the inner surface of glass to be cleaned, then the second robot main body 2 is manually placed on the outer surface of the glass to be cleaned, and the relative positions of the first robot main body 1 and the second robot main body 2 are calibrated by means of mutual adsorption of the first central electromagnet 7 and the second central electromagnet.

Then, releasing hands, and starting working switches on the two robots, wherein at the moment, under the control of a travelling wheel driving motor, the first robot main body 1 starts to remove dust and clean the inner surface of the glass through the first cleaning unit 2 and the first ultrasonic dust collector 8 under the driving of the first travelling wheel 3 (firstly, ultrasonic dust removal is carried out, and then, cleaning is carried out); meanwhile, the second robot body 2 is driven by the first robot body 1 to start moving by means of the second traveling wheels 13, and removes dust and cleans (also removes dust first and then cleans) the outer surface of the glass by the second cleaning unit 12 and the second ultrasonic cleaner 15.

In the process of cleaning glass, an obstacle avoidance signal can be fed back to the controller 4 in real time under the action of the obstacle avoidance sensing device, and the controller 4 controls the steering of the first robot main body 1 through the steering mechanism 5. When the first robot main body 1 turns, the second robot main body 2 is driven synchronously to turn under the action of the first central electromagnet 7, the second central electromagnet and the universal wheel 14. Thus, the inner and outer surfaces of the glass can be well cleaned.

In addition, the first robot main body 1 is further provided with a bluetooth module 10 connected with the controller 4, so that the controller 14 can be connected with a control terminal (for example, a mobile phone, a tablet or a computer with a bluetooth function), planning of a moving path of the first robot main body 1 is achieved, for example, after the controller is communicated with the mobile phone, a user presets a clean path by using an APP on the mobile phone according to the structural condition of glass, then path information is sent to the controller through the bluetooth module, and the controller can control the robot to turn according to the planned path information. Therefore, the robot can well clean the glass comprehensively without dead angles, and the cleanliness of the glass is further improved.

In addition, in this embodiment, it is also considered that the solar panel is disposed on the second robot main body 11 and connected to the power supply circuit, and the solar energy and the power supply device are used for supplying power together, so as to save electric energy to a certain extent.

The utility model adopts the existing mature control technology and equipment, well improves the practical performance of the glass cleaning robot, and provides good guarantee for improving the glass cleaning efficiency and the cleaning effect. The utility model has small volume, convenient operation and strong practicability and is suitable for families.

Claims

1. A magnetic adsorption type glass cleaning robot comprises a first robot main body (1) provided with a first cleaning unit (2), a first travelling wheel (3), a travelling wheel driving motor, a controller (4), a steering mechanism (5) and a power supply device (6), and is characterized by further comprising a second robot main body (11); the second robot main body (11) comprises a shell, and a second cleaning unit (12), a second traveling wheel (13), a universal wheel (14), a second central electromagnet and a second ultrasonic dust collector (15) which are respectively arranged in the shell; the second ultrasonic dust collector (15) is positioned in front of the second cleaning unit (12) and close to the universal wheel (14), and the second cleaning unit (12) is positioned between the second travelling wheel (13) and the universal wheel (14);

a first central electromagnet (7) and a first ultrasonic dust collector (8) are respectively arranged in the first robot main body (1); the first ultrasonic dust collector (8) is positioned in front of the first cleaning unit (2) and close to the steering mechanism (5), and the first cleaning unit (2) is positioned between the first travelling wheel (3) and the steering mechanism (5);

the power supply device (6) is simultaneously connected with the first central electromagnet (7), the first ultrasonic dust collector (8), the second central electromagnet and the second ultrasonic dust collector (15);

the first robot main body (1) and the second robot main body (11) are positioned on the inner surface and the outer surface of the glass to be cleaned in a mode that the first central electromagnet and the second central electromagnet are electrified and mutually adsorbed, and are driven by the first travelling wheel to synchronously move.

2. The magnetic adsorption type glass cleaning robot as claimed in claim 1, wherein a plurality of obstacle avoidance sensing devices (9) are uniformly distributed on the outer edge of the first robot main body (1), and all the obstacle avoidance sensing devices are connected with the controller (4).

3. The magnetic adsorption type glass cleaning robot as claimed in claim 2, wherein the obstacle avoidance sensing device (9) is any one or more of a laser sensor, an infrared sensor and an ultrasonic sensor.

4. A magnetic adsorption type glass cleaning robot according to any one of claims 1-3, characterized in that the first robot main body (1) is further provided with a Bluetooth module (10) connected with the controller (4) for connecting the controller with a control terminal so as to realize the movement path planning of the first robot main body.

5. The magnetic adsorption type glass cleaning robot of claim 4, wherein the control terminal is any one of a mobile phone, a tablet and a computer with a Bluetooth function.

6. A magnetic adsorption type glass cleaning robot as claimed in claim 1, 2, 3 or 5, characterized in that the second robot body (11) is further provided with a solar panel, and the solar panel is connected to a power supply device.