CN219042687U

CN219042687U - Glass cleaning robot

Info

Publication number: CN219042687U
Application number: CN202320069511.3U
Authority: CN
Inventors: 李宇坤; 宋庚桓; 吴桐; 申泽铭; 刘天恩
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-05-19
Anticipated expiration: 2033-01-10

Abstract

The present utility model relates to a glass cleaning robot. The glass cleaning robot comprises a frame, a crawler assembly and travelling wheels are respectively rotatably arranged on the front side and the rear side of the frame, a first driving mechanism for driving the crawler assembly to travel is arranged on the frame, a rotating shaft with an axis extending along the front-rear direction is rotatably arranged on the frame, a second driving mechanism for driving the rotating shaft to rotate is arranged on the frame, air claws are respectively arranged at the two ends of the rotating shaft, a sucker is arranged on the lower side of the frame, a vacuum pump is arranged on the frame, an air inlet of the vacuum pump is connected with the sucker through a connecting pipe, a propelling fan for providing oblique lower propelling force for the glass cleaning robot is arranged on the frame, a cleaning roller is arranged on the right side of the frame through a bracket, the axis of the cleaning roller extends along the front-rear direction, and a cleaning ball is arranged at the left end of the lower side of the frame. Compared with the glass cleaning robot in the prior art, the glass cleaning robot provided by the utility model has the advantages of strong practicability and good cleaning effect.

Description

Glass cleaning robot

Technical Field

The utility model belongs to the technical field of glass cleaning devices, and particularly relates to a glass cleaning robot.

Background

The glass curtain wall is one of the most important decorative materials in the world today, has been widely used as an outdoor wall of various buildings, and has the greatest characteristic of organically unifying factors such as building aesthetics, building functions, building energy conservation, building structures and the like, so that the buildings can present different hues from different angles, and dynamic beauty is given to people along with the change of sunlight, moonlight and lamplight. Dust in the air, dust carried in rainwater, excrement of birds and the like can be gradually deposited on the surface of a curtain wall of a building, so that the attractiveness of the curtain wall and the cleanliness of the appearance of the building are affected; accordingly, cleaning of glass curtain walls has received increasing attention and has gradually created a vast curtain wall cleaning market.

At present, although some cleaning robots capable of automatically cleaning glass curtain walls appear on the market, the cleaning robots have the defects of poor practicability, high use cost, poor cleaning effect and the like, and people who do the cleaning work are generally called spider men, so that the cleaning work is extremely dangerous, the cleaning cost of the curtain walls is extremely high because the cleaning work can only be carried out in a periodical centralized manner, and the maintenance time of the cleanliness of the cleaned curtain walls is short. Therefore, it is necessary to develop a glass cleaning robot having high practicability and good cleaning effect.

Disclosure of Invention

In order to solve the technical problems, the utility model provides a glass cleaning robot.

The technical scheme of the glass cleaning robot is as follows:

the utility model provides a glass cleaning robot, includes the frame, both sides rotate respectively and install track subassembly and walking wheel around the frame, be equipped with the drive in the frame track subassembly walking's first actuating mechanism, rotate in the frame and install the pivot that the axis extends along fore-and-aft direction, be equipped with the drive in the frame pivot pivoted second actuating mechanism, the both ends of pivot are equipped with the gas claw respectively, the downside of frame is equipped with the sucking disc, establish the vacuum pump in the frame, the air inlet of vacuum pump with the sucking disc passes through the connecting pipe and connects, be equipped with in the frame for glass cleaning robot provides the propelling fan of oblique below propelling force, the right side of frame is through the support mounting and cleans the roller, the axis that cleans the roller extends along fore-and-aft direction, the downside left end of frame is equipped with cleans the ball.

As a further improvement to the technical scheme, the frame comprises a top plate and a bottom plate which are arranged in an up-down parallel and spaced mode, the right end of the front side of the top plate and the left end of the rear side of the bottom plate are respectively provided with a bending part, the left end of the front side of the top plate and the right end of the front side of the bottom plate are respectively provided with L-shaped connecting plates, the horizontal parts of the connecting plates are fixedly connected to the lower side surface of the top plate, two travelling wheels are respectively rotatably arranged on the outer side surface of the bending part, the track assembly comprises a driving track wheel, a driven track wheel and a track, the driving track wheel and the driven track wheel are rotatably arranged on the outer side surface of the connecting plates, and the track surrounds the driving track wheel and the driven track wheel.

As a further improvement to the technical scheme, the right end of the top plate is provided with a bending plate which vertically extends downwards, the bracket comprises a connecting rod and end rods which are integrally connected with the two ends of the connecting rod, the end rods extend obliquely downwards, the cleaning roller is rotatably arranged between the two end rods through a bearing, and the middle position of the connecting rod is fixedly connected to the right side face of the bending plate through a fixing column.

As a further improvement to the technical scheme, two first steering engines are installed at the upper end of the left side face of the bottom plate, the two steering engines are arranged at intervals front and back, a through hole for the output shaft of the first steering engine to penetrate out is formed in the bottom plate, and the cleaning ball is fixedly connected to the end part of the output shaft of the first steering engine.

As a further improvement to the technical scheme, the rack comprises a housing, the housing is fixedly connected to the top plate, and an observation window is arranged on the housing.

As a further improvement to the technical scheme, the first driving mechanism comprises a second steering engine, the second steering engine is fixedly connected to the inner side of the vertical part of the connecting plate, and the rotating shaft of the second steering engine is fixedly connected with the driving crawler wheel.

As a further improvement to the technical scheme, the central position of the bottom plate is provided with a circular through hole, the sucker is in a horn shape, the sucker is positioned in the through hole, the lower end of the sucker is positioned at the lower side of the bottom plate, the sucker is provided with a mounting sleeve, a spring is sleeved on the sucker, the lower end of the spring is in butt joint with the mounting sleeve, the upper end of the spring is in butt joint with the top plate, the upper end of the sucker is fixedly connected with the top plate through a fixing sleeve, and the vacuum pump is fixedly connected with the top plate.

As a further improvement to the technical scheme, the rotating shaft is rotatably mounted on the top plate through the mounting seat, the second driving mechanism comprises a third steering engine, a driving gear and a driven gear, the third steering engine is fixedly connected on the top plate through a fixing seat, the driving gear is fixedly connected with the end part of an output shaft of the third steering engine, and the driven gear is coaxially and fixedly connected on the rotating shaft.

As a further improvement to the technical scheme, the air claw comprises a fixed cylinder, an air pump and an adsorption cover, wherein the upper end of the fixed cylinder is fixedly connected with the rotating shaft, the adsorption cover is arranged at the lower end of the fixed cylinder, the air pump is positioned in the fixed cylinder, an air inlet hole of the air pump is communicated with the adsorption cover through a connecting pipe, and an air inlet valve is arranged on the connecting pipe.

As a further improvement of the above technical solution, the propulsion fan is fixedly connected to the top plate through a bracket, and an axis of a rotating shaft of the propulsion fan extends toward the upper right.

The utility model provides a glass cleaning robot, which has the beneficial effects that compared with the prior art:

after the glass cleaning robot is started and encounters a wall, the robot can enter a self-adjusting state, the structure of the robot can change to a certain extent in the process, the driving gear rotates with the driven gear under the action of the third steering engine, and in the gear structure, the ratio of the torque of the driving gear to the torque of the driven gear is 3:5. thereby driving the air claw to rotate. The adsorption cover of the silica gel material of the air claw is fully contacted with the wall to form silica gel seal, so that the adsorption is convenient. Then, the air pump starts to work, so that the air claw is firmly adsorbed on the wall surface. Then the driving gear rotates with the driven gear under the action of the third steering engine, and the air claw rotates at the same time, so that the robot is driven to lift, and the crawler belt and the travelling wheel rotate when the driving gear is driven by the second steering engine, so that the robot is close to the wall surface. Repeating the operation until the trolley is attached to the wall surface. At this moment, the air pump starts to work, and the air of the sucker is gradually reduced through the connecting pipe, so that the sucker is similar to a vacuum state. The vacuum negative pressure principle is utilized to improve the adsorption force for the robot. Simultaneously, the air claw and the propelling fan are matched with the robot to work, and the air claw and the propelling fan respectively provide adsorption force and upward thrust to help the robot to smoothly reach a working area and firmly adsorb on the glass surface, so that various cleaning works are smoothly completed. Then, the cleaning roller starts to work to clean the glass area of the robot path; when encountering the spot that is difficult to clear up, first steering wheel drive cleaning ball rotates, alright supplementary completion is clean. The glass cleaning robot can provide downward thrust inclined to the wall surface for the robot by arranging the air claw and the propelling fan. The air claw is matched with the propelling fan, so that the robot can be firmly adsorbed on the glass surface in the cleaning process, and the safety is greatly improved. The cleaning ball and the cleaning roller are matched for cleaning, so that the efficient and rapid completion of the cleaning task is ensured. The robot can complete the forward and backward movement on the wall surface through the crawler belt and the travelling wheels, and the turning and rotation of the robot are realized through the differential steering mode through the different speeds of the crawler belt and the travelling wheels. Compared with the glass cleaning robot in the prior art, the glass cleaning robot provided by the utility model has the advantages of strong practicability and good cleaning effect.

Drawings

FIG. 1 is a schematic view of a glass cleaning robot of the present utility model;

FIG. 2 is a schematic diagram of a second embodiment of the glass cleaning robot of the present utility model;

FIG. 3 is a schematic view of the structure of the glass cleaning robot (without the housing) of the present utility model;

FIG. 4 is a schematic diagram II of the structure of the glass cleaning robot (without the housing) of the present utility model;

FIG. 5 is a schematic view III of the configuration of the glass cleaning robot (without the housing) of the present utility model;

FIG. 6 is a schematic diagram of a glass cleaning robot (without a housing) of the present utility model;

FIG. 7 is a schematic view of the structure of an air jaw in the glass cleaning robot of the present utility model;

in the figure: 1. a top plate; 2. a bottom plate; 3. a bending part; 4. a connecting plate; 5. a housing; 6. the first steering engine; 7. a cleaning ball; 8. a walking wheel; 9. a driving crawler wheel; 10. a driven track wheel; 11. a track; 12. the second steering engine; 13. a connecting rod; 14. an end rod; 15. a cleaning roller; 16. a bracket; 17. propelling the fan; 18. a vacuum pump; 19. a connecting pipe; 20. a suction cup; 21. a through hole; 22. fixing the column; 23. a rotating shaft; 24. a gas claw; 25. the third steering engine; 26. a drive gear; 27. a driven gear; 28. an air extracting pump; 29. an adsorption cover.

Detailed Description

The utility model is described in further detail below with reference to the attached drawings and detailed description:

the specific embodiment of the glass cleaning robot disclosed by the utility model is shown in fig. 1 to 7, and comprises a frame, wherein a crawler assembly and travelling wheels 8 are respectively rotatably arranged on the front side and the rear side of the frame, a first driving mechanism for driving the crawler assembly to travel is arranged on the frame, a rotating shaft 23 with an axis extending along the front-rear direction is rotatably arranged on the frame, a second driving mechanism for driving the rotating shaft 23 to rotate is arranged on the frame, two ends of the rotating shaft 23 are respectively provided with an air claw 24, a sucking disc 20 is arranged on the lower side of the frame, a vacuum pump 18 is arranged on the frame, an air inlet of the vacuum pump 18 is connected with the sucking disc 20 through a connecting pipe 19, a propelling fan 17 for providing oblique downward propelling force for the glass cleaning robot is arranged on the frame, a cleaning roller 15 is arranged on the right side of the frame through a bracket 16, the axis of the cleaning roller 15 extends along the front-rear direction, and a cleaning ball 7 is arranged on the left end of the lower side of the frame.

In this embodiment, the frame includes upper and lower parallel interval arrangement's roof 1 and bottom plate 2, roof 1 front side right-hand member and bottom plate 2 rear side left end are equipped with bending portion 3 respectively, roof 1 front side left end and bottom plate 2 front side right-hand member are equipped with L shape connecting plate 4 respectively, the horizontal part fixed connection of connecting plate 4 is on roof 1 downside, walking wheel 8 has two, two walking wheels 8 rotate respectively and install on bending portion 3's lateral surface, the track subassembly includes driving crawler wheel 9, driven crawler wheel 10 and track 11, driving crawler wheel 9 and driven crawler wheel 10 rotate and install on connecting plate 4's lateral surface, track 11 encircles between driving crawler wheel 9 and driven crawler wheel 10. The right-hand member of roof 1 is equipped with the board of bending of vertical downwardly extending, and support 16 includes connecting rod 13 and the end pole 14 of body coupling at connecting rod 13 both ends, and end pole 14 extends to oblique below, and cleaning roller 15 passes through the bearing rotation and installs between two end poles 14, and the intermediate position of connecting rod 13 passes through fixed column 22 fixed connection on the right flank of board of bending. Two first steering gears 6 are installed to the left surface upper end of bottom plate 2, and interval arrangement around two steering gears is equipped with the perforation that supplies the output shaft of first steering gear 6 to wear out on the bottom plate 2, and cleaning ball 7 fixed connection is at the output shaft tip of first steering gear 6.

In this embodiment, the rack includes a housing 5, the housing 5 is fixedly connected to the top plate 1, and an observation window is covered on the housing 5. The first driving mechanism comprises a second steering engine 12, the second steering engine 12 is fixedly connected to the inner side of the vertical part of the connecting plate 4, and a rotating shaft 23 of the second steering engine 12 is fixedly connected with the driving crawler wheel 9. The central point of bottom plate 2 puts and is equipped with circular shape through-hole 21, and sucking disc 20 is loudspeaker form, and sucking disc 20 is located through-hole 21, and sucking disc 20's lower extreme is located bottom plate 2 downside, is equipped with the installation cover on the sucking disc 20, and the cover is equipped with the spring on the sucking disc 20, the lower extreme and the installation cover butt of spring, the upper end and the roof 1 butt of spring, and sucking disc 20's upper end passes through fixed cover fixed connection on roof 1, and vacuum pump 18 fixed connection is on roof 1. The pivot 23 passes through the mount pad rotation and installs on roof 1, and second actuating mechanism includes third steering wheel 25, driving gear 26 and driven gear 27, and third steering wheel 25 passes through fixing base fixed connection on roof 1, and driving gear 26 fixed connection is in the output shaft tip of third steering wheel 25, and driven gear 27 coaxial fixed connection is in pivot 23. The air claw 24 comprises a fixed cylinder, an air pump 28 and an adsorption cover 29, wherein the upper end of the fixed cylinder is fixedly connected with the rotating shaft 23, the adsorption cover 29 is arranged at the lower end of the fixed cylinder, the air pump 28 is positioned in the fixed cylinder, an air inlet hole of the air pump 28 is communicated with the adsorption cover 29 through a connecting pipe 19, and an air inlet valve is arranged on the connecting pipe 19. The propulsion fan 17 is fixedly connected to the top plate 1 through a bracket 16, and the axis of the rotating shaft 23 of the propulsion fan 17 extends upward and rightward.

After the glass cleaning robot is started and encounters a wall, the robot can enter a self-adjusting state, the structure of the robot can change to a certain extent in the process, the driving gear 26 rotates with the driven gear 27 under the action of the third steering engine 25, and in the gear structure, the torque ratio of the driving gear 26 to the driven gear 27 is 3:5. thereby driving the air jaw 24 to rotate. The adsorption cover 29 of the silica gel material of the air claw 24 is fully contacted with the wall to form silica gel seal, so that the adsorption is convenient. Then, the suction pump 28 is started to firmly adsorb the air claw 24 on the wall surface. Then the driving gear 26 rotates with the driven gear 27 under the action of the third steering engine 25, and the air claw 24 also rotates at the same time, so that the robot is driven to lift, and the crawler belt and the travelling wheel 8 rotate when the driving gear is driven by the second steering engine 12, so that the robot is close to the wall surface. Repeating the operation until the trolley is attached to the wall surface. At this point the suction pump 28 starts to operate, gradually reducing the suction cup 20 air through the connection pipe 19, creating a vacuum-like state. The vacuum negative pressure principle is utilized to improve the adsorption force for the robot. Simultaneously, the air claw 24 and the propelling fan 17 cooperate with the robot to work, respectively provide adsorption force and upward thrust, help the robot to smoothly reach a working area, firmly adsorb on a glass surface and smoothly finish various cleaning works. Then, the cleaning roller 15 starts to work to clean the glass area of the robot path; when encountering dirt which is difficult to clean, the first steering engine 6 drives the cleaning ball 7 to rotate, so that cleaning can be assisted. The glass cleaning robot of the present utility model can provide a downward thrust inclined to the wall surface to the robot by providing the air jaw 24 and the propulsion fan 17. The air claw 24 is matched with the propelling fan 17, so that the robot can be firmly adsorbed on the glass surface in the cleaning process, and the safety is greatly improved. The cleaning ball 7 and the cleaning roller 15 are matched for cleaning, so that the efficient and rapid completion of the cleaning task is ensured. The robot can complete forward and backward movement on the wall surface through the crawler belt and the travelling wheel 8, and turns and rotates the machine through the differential steering mode through different speeds of the crawler belt and the travelling wheel 8. Compared with the glass cleaning robot in the prior art, the glass cleaning robot provided by the utility model has the advantages of strong practicability and good cleaning effect.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims

1. The utility model provides a glass cleaning robot, its characterized in that, includes the frame, both sides rotate respectively and install track subassembly and walking wheel around the frame, be equipped with the drive in the frame track subassembly walking's first actuating mechanism, rotate in the frame and install the pivot that the axis extends along the fore-and-aft direction, be equipped with the drive in the frame pivot pivoted second actuating mechanism, the both ends of pivot are equipped with the gas claw respectively, the downside of frame is equipped with the sucking disc, establish the vacuum pump in the frame, the air inlet of vacuum pump with the sucking disc passes through the connecting pipe and connects, be equipped with in the frame for glass cleaning robot provides the propelling fan of oblique below propelling force, the right side of frame is through the leg-mounting and cleans the roller, the axis that cleans the roller extends along the fore-and-aft direction, the downside left end of frame is equipped with the cleaning ball.

2. The glass cleaning robot of claim 1, wherein the frame comprises a top plate and a bottom plate which are arranged in an up-down parallel and spaced manner, the front right end of the top plate and the rear left end of the bottom plate are respectively provided with a bending part, the front left end of the top plate and the front right end of the bottom plate are respectively provided with an L-shaped connecting plate, the horizontal parts of the connecting plates are fixedly connected to the lower side surface of the top plate, two travelling wheels are respectively rotatably mounted on the outer side surfaces of the bending parts, the track assembly comprises a driving track wheel, a driven track wheel and a track, the driving track wheel and the driven track wheel are rotatably mounted on the outer side surfaces of the connecting plates, and the track surrounds between the driving track wheel and the driven track wheel.

3. The glass cleaning robot according to claim 2, wherein the right end of the top plate is provided with a bending plate extending vertically downwards, the bracket comprises a connecting rod and end rods integrally connected with two ends of the connecting rod, the end rods extend obliquely downwards, the cleaning roller is rotatably installed between the two end rods through a bearing, and the middle position of the connecting rod is fixedly connected to the right side surface of the bending plate through a fixing column.

4. The glass cleaning robot according to claim 3, wherein two first steering gears are installed at the upper end of the left side face of the bottom plate, the two steering gears are arranged at intervals front and back, a through hole for the output shaft of the first steering gear to penetrate out is formed in the bottom plate, and the cleaning ball is fixedly connected to the end part of the output shaft of the first steering gear.

5. The glass cleaning robot of claim 2, wherein the frame includes a housing fixedly attached to the top plate, the housing having a viewing window thereon.

6. The glass cleaning robot of claim 5, wherein the first drive mechanism comprises a second steering engine fixedly connected to the inner side of the vertical portion of the connecting plate, and a rotating shaft of the second steering engine is fixedly connected to the driving crawler wheel.

7. The glass cleaning robot of claim 6, wherein a circular through hole is formed in the center of the bottom plate, the sucker is in a horn shape, the sucker is located in the through hole, the lower end of the sucker is located at the lower side of the bottom plate, a mounting sleeve is arranged on the sucker, a spring is sleeved on the sucker, the lower end of the spring is in butt joint with the mounting sleeve, the upper end of the spring is in butt joint with the top plate, the upper end of the sucker is fixedly connected to the top plate through a fixing sleeve, and the vacuum pump is fixedly connected to the top plate.

8. The glass cleaning robot of claim 2, wherein the rotating shaft is rotatably mounted on the top plate through a mounting seat, the second driving mechanism comprises a third steering engine, a driving gear and a driven gear, the third steering engine is fixedly connected on the top plate through a fixing seat, the driving gear is fixedly connected on the end part of an output shaft of the third steering engine, and the driven gear is coaxially and fixedly connected on the rotating shaft.

9. The glass cleaning robot of claim 8, wherein the air claw comprises a fixed cylinder, an air pump and an adsorption cover, the upper end of the fixed cylinder is fixedly connected with the rotating shaft, the adsorption cover is installed at the lower end of the fixed cylinder, the air pump is located in the fixed cylinder, an air inlet hole of the air pump is communicated with the adsorption cover through a connecting pipe, and an air inlet valve is arranged on the connecting pipe.

10. The glass cleaning robot according to claim 2, wherein the propulsion fan is fixedly connected to the top plate by a bracket, and an axis of a rotating shaft of the propulsion fan extends upward and rightward.