CN217013791U - A multi-suction cup window cleaning robot - Google Patents

Abstract

The utility model discloses a multi-suction cup type window cleaning robot, which comprises a water outlet device, a wiping mechanism, a transmission mechanism, an adsorption device and a control device. The control device is installed in a main frame, and the two ends of the main frame are covered with side frames. Fixed connection, the side frame sleeve is connected to the transmission mechanism, the water outlet device and the wiping mechanism are located on both sides of the main frame respectively, which has the advantages of high cost, low safety performance, and large cleaning workload for the curtain wall of high-rise buildings , more suitable for mechanical automatic cleaning.

Description

A multi-suction cup window cleaning robot

technical field

The present application belongs to the field of machinery, in particular to a multi-suction cup type window cleaning robot capable of climbing on the surface of high-altitude glass.

Background technique

At present, large-scale infrastructure construction and renovation are applied in various cities, and some tall buildings with various shapes emerge in an endless stream. How to clean the glass of high-rise buildings has become more and more concerned. At present, the traditional method of cleaning glass is mainly that the cleaning personnel stand beside the doors and windows or on the hanging device, and rely on the combination of cleaning agent and other cleaning equipment to clean the glass. This method takes a lot of time, and the comprehensive use cost is high and safe. The performance is low, and the cleaning work for the curtain wall of high-rise buildings is large.

Utility model content

Based on the above problems, the present application provides a multi-suction cup window cleaning robot capable of climbing on the surface of high-altitude glass, which can meet the requirements of cleaning across different glass surfaces.

The technical scheme adopted by the utility model to solve the above-mentioned technical problems is:

A multi-suction cup type window cleaning robot includes a water outlet device, a wiping mechanism, a transmission mechanism, an adsorption device and a control device, the control device is installed in a main frame, and both ends of the main frame are fixedly connected with side frame sleeves, and the The side frame sleeve is connected with the transmission mechanism, and the water outlet device and the wiping mechanism are respectively located on both sides of the main frame.

Further preferably, the water outlet device includes a water spout, a miniature water pump and a water tank, a miniature water pump and a water pipe are installed on the side of the water tank, the water pipe is provided with a plurality of water outlet nozzles, the water tank is provided with a water inlet, and the water tank is provided with a water inlet. There are cleaners.

Further preferably, the wiping mechanism includes an optical axis, a motor, a lead screw, a lead screw nut seat, a scraper, a cleaning cloth and a deceleration motor, and the two ends of the optical axis are respectively installed on the top plate and the lower bottom plate. On the top, the first motor is installed on the top plate, the first motor is connected with the lead screw, the first lead screw is connected with the lead screw nut seat, the lead screw nut seat is installed on the lower bottom plate, the deceleration motor is installed on the lower bottom plate, and is connected with the rotating The disk is connected, the rotating disk is provided with a cleaning cloth, and one side of the lower bottom plate is provided with a scraper.

Further preferably, the transmission mechanism includes a photoelectric sensor, an inner frame and an outer frame, the inner frame and the outer frame are installed in parallel in the side frame sleeve, the inner frame and the outer frame are provided with racks, and the teeth The bar is connected with the gear, the gear is connected with the second motor, the second motor is fixed on the side frame sleeve, and the photoelectric sensor is installed on the side frame sleeve.

Further preferably, the adsorption device includes a third motor, a second screw rod and a second optical axis, the third motor is connected with the second screw rod, the third motor is installed on the upper support plate, the third motor is fixedly connected with the second screw rod, and the screw is connected to the second screw rod. The second bar is connected with the connecting piece, the connecting piece is located on the base, the base is connected with the inner frame or the outer frame, the connecting piece is connected with the vacuum suction cup, the upper end of the second optical axis is fixed on the upper support plate, and the lower end is sleeved on on the connector.

Further preferably, the control device includes a battery and a single-chip microcomputer, which are electrically connected, and the single-chip microcomputer is connected to the first motor, the second motor, the third motor, the deceleration motor, and the photoelectric sensor.

Further preferably, a protection rope is provided on the main frame, and the protection rope is connected with an external fixing device.

beneficial effect

Compared with the prior art, the advantages of the present utility model are:

1. Robots can replace manual cleaning, ensuring safety and reducing manufacturing costs;

2. The equipment has strong adaptability, can work in leaps and bounds, is portable, and can adapt to multiple work situations;

3. Through the improvement of technology and functions in the later stage, the multi-suction cup glass-cleaning robot will have the function of planning the cleaning path and cleaning automatically, which will make the robot have greater competitiveness and application prospects.

Description of drawings

Fig. 1 is the side view of the utility model;

Fig. 2 is the schematic diagram of the water outlet device of the present invention;

3 is a schematic diagram of the wiping mechanism of the present invention;

Fig. 4 is the transmission mechanism schematic diagram of the utility model;

5 is a schematic diagram of the adsorption device of the present invention;

FIG. 6 is a schematic diagram of the control device of the present invention.

Among them, 1-water outlet device, 2-adsorption device, 201-bolt, 3-control device, 4-wiping device, 5-transmission device, 6-water outlet, 7-miniature water pump, 8-water tank, 9-water pipe, 10 - Optical axis 1, 11- Motor 1, 12- Lead screw 1, 13- Lead screw nut seat, 14- Scraper, 15- Cleaning cloth, 16- Geared motor, 171- Outer frame, 172- Inner frame, 18- Motor two, 19-photoelectric sensor, 20-rack, 21-gear, 22-side frame sleeve, 23-vacuum suction cup, 24-optical shaft two, 25-motor three, 26-lead screw two, 271-upper support plate , 272-base, 273-fixed plate, 28-main frame, 29-battery, 30-MCU.

Detailed ways

The following detailed description is exemplary and intended to provide further explanation of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application.

A multi-suction cup type window cleaning robot includes a water outlet device 1, a wiping mechanism 4, a transmission mechanism 5, an adsorption device 2 and a control device 3. Each device is independent of each other and can be connected to each other, which is convenient for disassembly and maintenance, and can solve the problem of high-altitude glass wall surface. The problem of difficult cleaning improves the efficiency of cleaning high-altitude walls and ensures safety.

The control device 3 is installed in the main frame 28, the two ends of the main frame 28 are fixedly connected with the two side frame sleeves 22, the side frame sleeves 22 are connected with the transmission mechanism 5, and the water outlet device 1 and the wiping mechanism 4 are respectively located in the main frame. 28 on both sides.

The water outlet device 1 is provided at the front of the robot, and includes a water spout 6, a miniature water pump 7 and a water tank 8. The side of the water tank 8 is provided with a miniature water pump 7 and a water pipe 9. The water pipe 9 is provided with a plurality of water outlet spouts 6. 8 is provided with a water inlet, and a cleaning agent is provided in the water tank. The micro water pump 7 transports the cleaning agent in the water tank 8 to the water outlet nozzle 6, and the cleaning agent is evenly sprayed on the glass wall. The water tank 8 is also provided with a water inlet, which can replenish the cleaning agent in time.

The wiping mechanism 4 is located at the rear of the robot, and includes an optical axis 10, a motor 11, a lead screw 12, a lead screw nut seat 13, a scraper 14, a cleaning cloth 15 and a deceleration motor 16. The optical axis 10 has two parts. The ends are respectively installed on the top plate 401 and the lower bottom plate 402, the motor one 11 is installed on the top plate 401, the motor one 11 is connected with the lead screw one 12, the lead screw one 12 is connected with the lead screw nut 13, the lead screw The nut seat 13 is mounted on the lower bottom plate 402, the deceleration motor 16 is mounted on the lower bottom plate 402, and is connected with the rotating disk 403, the rotating disk 403 is provided with a cleaning cloth 15, and one side of the lower bottom plate 402 is provided with a scraper 14 . The motor one 11 drives the lead screw one 12 to rotate, the lead screw nut seat 13 moves in the vertical direction with the lower bottom plate 402 connected to it, the optical axis one 10 plays a guiding role during the vertical operation of the lower bottom plate 402, and the deceleration motor 16 drives the cleaning cloth 15 It rotates to clean the glass wall, and the scraper 14 performs secondary cleaning.

The transmission mechanism 5 is arranged on both sides of the robot, and includes a photoelectric sensor 19, two inner frames 172 and two outer frames 171. Each of the inner frames 172 and the outer frames 171 is installed in the side frame sleeve 22 in parallel. 172 and the outer frame 171 are provided with a rack 20, the rack 20 is connected with the gear 21, the gear 21 is connected with the second motor 18, the second motor 18 is fixed on the side frame sleeve 22, the photoelectric sensor 19 is mounted on the side frame cover 22. The second motor 18 drives the gear 21 to rotate, thereby driving the rack 20 to move horizontally, thereby realizing the movement of the inner frame 172 or the outer frame 171 . When the robot moves forward, when the two inner frames 172 move, the two outer frames 171 are fixed, and conversely, when the two outer frames 171 move, the two inner frames 172 are fixed. The photoelectric sensor 19 is used to detect front and rear obstacles to ensure the safety of the robot when working.

The adsorption device 2 is installed on both ends of the inner frame 172 and the outer frame 171. The adsorption device includes a third motor 25, a second screw rod 26 and a second optical axis 24. The third motor 25 is connected with the second screw rod 26, and the third motor 25 is installed On the upper support plate 271, the third motor 25 is fixedly connected with the second lead screw 26, the second lead screw 26 is connected with the connecting piece 202, the connecting piece 202 is located on the base 272, and the base 272 is connected with the inner frame 172 or the outer frame 171, The connecting piece 202 and the vacuum suction cup 23 are connected by bolts 201 , the upper end of the second optical axis 24 is fixed on the upper support plate 271 , and the lower end is sleeved on the connecting piece 202 . The upper support plate 271 and the base 272 are fixed on the fixing plate 273 , and the fixing plate is fixed on the inner frame 172 and the outer frame 171 . The third motor 25 rotates to drive the second screw 26 to move up and down, and the vacuum suction cup is connected with the air pump to realize the adsorption of the vacuum suction cup 23 .

The control device includes a battery 29 and a single-chip microcomputer 30, which are electrically connected. The single-chip computer 30 is connected to the motor one 11, the motor two 18, the motor three 25, the deceleration motor 16, the photoelectric sensor 19, and the air pump. It is mainly used to control the operation of various parts of the robot and realize the specific functions of each device.

The main frame 28 is provided with a protection rope, and the protection rope is connected with an external fixing device to protect the safety of high-altitude operations.

working principle

As shown in Figure 1, first check the completeness and usage of each part of the robot, install the robot against the glass wall, and attach the adsorption device 2 to the glass surface. Connected to ensure the safety of the robot when working. First, the micro water pump 7 works, and the cleaning agent in the water tank 8 is transported to the water outlet 6, and a certain amount of detergent is sprayed on the glass surface. The wiping device 4 works at the same time, the motor one 11 drives the screw one 12 to rotate, so that the lower bottom plate 402 connected with the screw nut seat 13 moves vertically, so that the rotating cleaning cloth 15 and the scraper 14 clean the wet glass surface .

Each side frame is covered with an inner measuring frame 172 and an outer frame 171 , and each of the inner measuring frame 172 and the outer frame 171 is equipped with a pair of gears 21 and a rack 20 . First, the second stepping motor 18 drives the gear 21 to rotate, so that the outer frame 171 moves horizontally toward the front of the robot. The adsorption device 2 at both ends of the outer frame 171 starts to work, and the motor three 25 drives the second lead screw 26 to rotate, so that the vacuum suction cup 23 moves downward and is close to the glass wall. Because the vacuum suction cup 23 is connected with the vacuum pump, it is in a near-vacuum environment, so that the suction cup 23 is in a near-vacuum environment. The device 2 is adsorbed on the glass wall.

At this time, the adsorption device 2 of the outer frame 171 is already adsorbed on the glass wall surface. The motor two 18 of the outer frame rotates in the opposite direction, so that the whole body of the robot moves forward.

The inner frame where the rack 20 is located also drives the rack 20 to move horizontally to the front of the robot through the gear. The adsorption devices 2 at both ends of the inner frame start to work, and the vacuum suction cups 23 move down to get close to the glass surface.

During each switching and adsorption process of the adsorption devices 2 at both ends of the outer frame and the inner frame, the vacuum suction cups 23 will perform the actions of "lifting" and "lowering". During operation, there are always a pair of inner or outer frames fixed, and four vacuum suction cups are adsorbed on the glass wall to keep the robot balanced.

When the adsorption devices 2 at both ends of the inner frame are adsorbed on the glass wall, the adsorption device 2 of the outer frame "lifts up" and continues to move forward. After reaching the designated position, the adsorption device 2 "falls" and adsorbs on the glass wall. When the adsorption devices 2 at both ends of the outer frame are adsorbed on the glass wall, the adsorption device 2 of the inner frame "lifts" and continues to move forward. After reaching the designated position, the adsorption device 2 "falls" and adsorbs on the glass wall. Do this for the next run.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (7)

1. A multi-sucker window cleaning robot is characterized by comprising a water outlet device, a cleaning mechanism, a transmission mechanism, an adsorption device and a control device, wherein the control device is installed in a main frame, two ends of the main frame are fixedly connected with a side frame sleeve, the side frame sleeve is connected with the transmission mechanism, and the water outlet device and the cleaning mechanism are respectively located on two sides of the main frame.

2. The multi-sucker window-cleaning robot according to claim 1, wherein the water outlet device comprises a water nozzle, a micro water pump and a water tank, the micro water pump and a water pipe are installed on the side surface of the water tank, the water pipe is provided with a plurality of water outlets, the water tank is provided with a water inlet, and a cleaning agent is arranged in the water tank.

3. The multi-sucker window-cleaning robot as claimed in claim 1, wherein the wiping mechanism comprises a first optical axis, a first motor, a first screw nut seat, a scraper, a cleaning cloth and a speed reduction motor, the first optical axis is mounted on the top plate and the bottom plate at two ends, the first motor is mounted on the top plate and connected with the first screw, the first screw is connected with the first screw nut seat, the first screw nut seat is mounted on the bottom plate, the speed reduction motor is mounted on the bottom plate and connected with a rotating disc, the cleaning cloth is arranged on the rotating disc, and the scraper is arranged on one side of the bottom plate.

4. The window cleaning robot with multiple suction cups according to claim 1, wherein the transmission mechanism comprises a photoelectric sensor, an inner side frame and an outer side frame, the inner side frame and the outer side frame are installed in a side frame sleeve in parallel, racks are arranged on the inner side frame and the outer side frame, the racks are connected with a gear, the gear is connected with a second motor, the second motor is fixed on the side frame sleeve, and the photoelectric sensor is installed on the side frame sleeve.

5. The multi-sucker window-cleaning robot according to claim 4, wherein the suction device comprises a third motor, a second screw rod and a second optical shaft, the third motor is connected with the second screw rod, the third motor is mounted on the upper support plate, the third motor is fixedly connected with the second screw rod, the second screw rod is connected with a connecting piece, the connecting piece is positioned on the base, the base is connected with the inner side frame or the outer side frame, the connecting piece is connected with the vacuum sucker, the upper end of the second optical shaft is fixed on the upper support plate, and the lower end of the second optical shaft is sleeved on the connecting piece.

6. The multi-sucker window-cleaning robot according to claim 1, wherein the control device comprises a storage battery and a single chip microcomputer, the storage battery and the single chip microcomputer are electrically connected, and the single chip microcomputer is connected with the first motor, the second motor, the third motor, the speed reduction motor and the photoelectric sensor.

7. The multi-sucker window-cleaning robot of claim 1, wherein a protective rope is provided on the main frame, the protective rope being connected to an external fixture.

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