WO2014000683A1

WO2014000683A1 - Glass rubbing robot

Info

Publication number: WO2014000683A1
Application number: PCT/CN2013/078302
Authority: WO
Inventors: 冯勇兵
Original assignee: 科沃斯机器人科技(苏州)有限公司
Priority date: 2012-06-28
Filing date: 2013-06-28
Publication date: 2014-01-03
Also published as: CN103505142B; CN103505142A

Abstract

Disclosed is a glass rubbing robot, comprising a machine body (1) which is provided with a control unit, a drive unit and a first cleaning unit (2). The glass rubbing robot further comprises a pair of suction turntables (3) rotatably arranged on the two sides of the bottom of the machine body. The drive unit is connected to the suction turntables via the control unit. The control unit controls the amount and direction of motive power output from the two suction turntables respectively, to drive the pair of suction turntables to rotate with a vertical axis perpendicular to the glass surface being the centre or to be stationary, such that a rotational speed difference is formed between the pair of suction turntables on the two sides, thus achieving the travelling of the glass rubbing robot. In the present invention, a corner-dedusting unit (4) is rotatably arranged between the machine body and the suction turntables, an edge of the corner-dedusting unit at least partially protrudes beyond the periphery of the suction turntables to form a dedusting portion, and the periphery of the dedusting portion is shaped corresponding to the contour of a corner to be dedusted. The glass rubbing robot has a simple structure, flexible movements and high controllability, and can effectively complete dedusting and cleaning operations on various corners.

Description

Glass-wiping robot

The invention relates to a glass-cleaning robot, belonging to the technical field of household small electrical appliances manufacturing. Background technique

The existing glass-cleaning robot usually wipes the front and back surfaces of the cleaning glass by a rag pressed by a magnet adsorbed to each other to clean the glass. At present, the glass-cleaning robots on the market are mutually adsorbed by the active machine and the driven machine, so that the machine is clamped on both sides of the glass, and the glass surface is cleaned by a rag sandwiched between the machine and the glass. Although this design can clean both the front and back of the glass at the same time, the requirements for the magnet are relatively high, and the working environment of the machine is limited. If there is an obstacle on one side of the glass, the active machine and the driven machine are easily misplaced and cause the drop. . Moreover, this structure also has certain requirements on the thickness of the glass. When the thickness of the glass exceeds a certain range, the machine cannot be used. At the same time, when using the machine, it requires two-hand operation. At the same time, the active machine and the driven machine are placed on the front and back sides of the glass. It is not convenient to use, especially in the high-altitude environment. It is inconvenient and insecure for human hands to operate. . In addition, the current glass-cleaning robot considers the reason why the machine needs to return after the welt. The end of the machine is designed to be rounded to facilitate the rotation and return of the body. The result of such design is that there is a frame. The corners of the glass are not wiped, leaving a dead space, and the machine does not fully function as a clean glass. Summary of the invention

The technical problem to be solved by the present invention is to provide a glass-cleaning robot with the advantages of simple structure, flexible movement, high sensitivity, strong controllability, and effective dust removal and cleaning work for all corners.

The technical problem to be solved by the present invention is achieved by the following technical solutions:

A glass-cleaning robot includes a body, a control unit, a driving unit and a first cleaning unit, wherein the glass-cleaning robot further comprises a pair of adsorption rotating wheels rotatably disposed at two ends of the bottom of the body, and the driving unit passes through the control unit The adsorption turntable is connected, the control unit respectively controls the size and direction of the output of the power on the two adsorption turntables, and drives the pair of adsorption turntables to rotate or stand at a center perpendicular to the vertical axis of the glass surface, and control both ends of the control A pair of adsorption dials alternately form a high speed end and a low speed end, or a high speed end and a stationary end, and the walking distance of the glass cleaning robot is realized by the difference of the rotation speeds of the two; wherein, the body and the adsorption turntable are rotatably disposed In the corner dust removing unit, an edge of the corner dust removing unit protrudes at least partially from an outer edge of the adsorption turntable to form a dust removing portion, and an outer edge shape of the dust removing portion is disposed corresponding to a corner contour to be dusted.

A reset mechanism is further disposed between the corner dust removing unit and the body, and the reset mechanism is a reset tension spring connected to the inner side end of the corner dust removing unit and the body.

In order to facilitate cleaning in the right angle frame of the glass, the dust removing portion forms a right angle end on a plane parallel to the moving direction of the glass cleaning robot.

The corner dust removing unit is abutted against both sides of the body body after being rotated by a certain angle, and the range of the certain angle is 0° to 90°.

In order to facilitate rotation and save space, the adsorption turntable and the corner dust removing unit are coaxially disposed.

Specifically, the adsorption turntable is connected to the body through a rotating transmission shaft, and the corner dust removing unit is sleeved on the rotating transmission shaft.

A fixing mechanism sleeved on the rotating transmission shaft is further disposed between the adsorption rotating plate and the body, and the adsorption rotating wheel is connected to the fixing mechanism by a bolt, and the corner dust removing unit is sleeved by the fixing mechanism The rotating drive shaft.

The corner dust removing unit is sleeved on the fixing mechanism by a bearing, and the corner dust removing unit is connected to the bearing through a cover plate, and the cover plate and the corner dust removing unit are fixedly connected by bolts.

In order to facilitate the installation, the adsorption turntable comprises a bracket and a suction cup, the suction cup is an annular soft rubber suction cup, and the bracket is provided with a groove, and the soft plastic suction cup is embedded in the groove by an elastic gasket.

In order to effectively remove dust from the corners, the corner dust removing unit comprises a corner dust removing unit bracket and a second cleaning unit, wherein the corner dust removing unit bracket is connected to the body through a rotating transmission shaft, and the second cleaning unit is connected and fixed to the The corner dust removing unit bracket protrudes from an edge of the adsorption turntable.

In summary, the structure is simple, the movement is flexible, the sensitivity is high, the controllability is strong, and the dust removal and cleaning work for each corner is effectively completed.

The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. DRAWINGS

Figure 1 is a schematic view of the overall structure of the present invention;

Figure 2 is a bottom view of Figure 1;

Figure 3 is a plan view of Figure 1;

Figure 4 is a partial structural view of the present invention; Figure 5 is a cross-sectional view of Figure 4;

Fig. 6, Fig. 7 and Fig. 8 are respectively schematic structural views of the glass-cleaning robot in different working states. detailed description

1 is a top view of FIG. 1; FIG. 3 is a top view of FIG. 1; FIG. 4 is a partial structural view of the present invention; As shown in FIG. 1 to FIG. 5, the present invention provides a glass-wiping robot including a body 1. The body 1 is provided with a control unit, a driving unit (not shown) and a first cleaning unit 2, the glass cleaning device. The robot further includes a pair of adsorption dials 3 rotatably disposed at two ends of the bottom of the body 1. The driving unit is connected to the adsorption dial 3 through a control unit, and the control unit controls the magnitude and direction of the power output on the two adsorption dials 3, respectively. Driving the pair of adsorption dials 3 to rotate or rest centering on a vertical axis perpendicular to the glass surface, and controlling a pair of adsorption dials 3 at both ends to alternately form a high speed end and a low speed end, or a high speed end and a stationary end, The difference in rotational speed enables the walking of the glass-cleaning robot. The edge dust removing unit 4 is rotatably disposed between the body 1 and the adsorption rotating disc 3. The edge of the corner dust removing unit 4 protrudes at least partially from the outer edge of the adsorption rotating disc 3 to form a dust removing portion 41. 2 and 3, in order to facilitate cleaning in the right angle frame of the glass, the dust removing portion 41 forms a right-angle end portion on a plane parallel to the moving direction of the glass-wiping robot. Of course, the outer edge shape of the dust removing portion 41 is not limited to the right-angle end portion, and its shape should be set corresponding to the corner contour to be dusted, and may be determined according to the shape of the actual frame. But no matter what shape, it needs to be beneficial to both the walking of the glass-cleaning robot and the cleaning of the corners. As shown in FIG. 3 , in order to accurately return the corner dust removing unit 4 after being twisted relative to the body 1 , a reset mechanism is further disposed between the corner dust removing unit 4 and the body 1 , and the reset mechanism is The tension spring 42 is reset, and both ends of the return tension spring 42 are respectively connected to the inner side end of the corner dust removing unit 4 and the body 1.

As shown in FIG. 2 and in conjunction with FIG. 5, in order to facilitate rotation and save space, the adsorption turntable 3 and the corner dust removing unit 4 are coaxially disposed. Specifically, the adsorption rotating disc 3 is connected to the body 1 through a rotating transmission shaft 31 thereof, and the corner dust removing unit 4 is sleeved on the rotating transmission shaft 31. A fixing mechanism 45 sleeved on the rotating transmission shaft 31 is further disposed between the adsorption rotating disc 3 and the body 1. The adsorption rotating disc 3 is connected to the fixing mechanism 45 by a bolt, and the corner dust removing unit 4 passes The fixing mechanism 45 is sleeved on the rotating transmission shaft 31. The corner dust removing unit 4 is sleeved on the fixing mechanism 45 via a bearing 42. The corner dust removing unit 4 is connected to the bearing through a cover plate 43. The cover plate 43 and the corner dust removing unit 4 pass Bolted to the connection. The corner dust removing unit 4 is abutted against both sides of the body 1 after being rotated by a certain angle, and the range of the certain angle is 0° to 90°. As shown in FIG. 5, in order to facilitate the installation, the adsorption dial 3 includes a bracket 33 and a suction cup 34. The suction cup 34 is an annular soft suction cup, and the bracket 33 is provided with a groove (not shown in the drawing). The soft suction cup is positioned in the groove by a resilient gasket. In order to effectively remove dust from the corners, the corner dust removing unit 4 includes a corner dust removing unit bracket 44 and a second cleaning unit 46. The corner dust removing unit bracket 44 is coupled to the body 1 through its rotating shaft, the second The cleaning unit 46 is attached and fixed to the corner dust removing unit bracket 44 to protrude from the edge of the adsorption turntable 3.

The overall structure and movement mode of the glass-wiping robot provided by the present invention will be described below with reference to Figs. 1 and 2. Specifically, on both sides of the body 1 of the glass-wiping robot, an adsorption turntable 3 is respectively disposed, and a corner dust removing unit 4 is disposed between the body 1 and the adsorption turntable 3, and the corner dust removing unit 4 can be passed through the fixing mechanism 45. The rotation is fixed to the rotation transmission shaft 31. In the present embodiment, as shown in FIG. 1, the body 1 of the glass-wiping robot has a T-shaped shape, and the corner dust removing units 4 located below the τ-shaped ends of the body 1 are respectively along the walking direction of the glass-wiping robot. Symmetrical curved shape. The transverse end of the bent shape is rotatably fixed to the rotation transmission shaft 31 through the bearing 42, and the vertical end of the bent shape extends from the lower surface of the T-shaped ends of the body 1 to the upper surface of the adsorption turntable 3, filling the body 1 and The fixing mechanism 45 and the space between the adsorption turntables 3, and the edges of the vertical ends protrude from the outer edge of the adsorption turntable 3, and the dust removing portion 41 is formed. As shown in Fig. 2, the dust removing portion 41 forms a right-angled end portion on a plane parallel to the moving direction of the glass-wiping robot.

6 to 8 are respectively schematic views showing the working state of the glass-wiping robot of the present invention. As shown in FIG. 6 to FIG. 8 , the glass-cleaning robot provided by the present invention realizes walking in this way: First, the glass-cleaning robot is placed on the surface of the glass, and the vacuum pump disposed inside thereof starts to work, and is disposed at the A end and the A. The suction cup 34 on the adsorption dial 3 of the end is simultaneously adsorbed on the surface of the glass, and the adsorption force on both sides is exactly the same. The control unit respectively controls the magnitude and direction of the output of the power on the pair of adsorption dials 3 at the A end and the A' end, and drives a pair of the adsorption turntables 3 to rotate or stand still centering on the vertical axis perpendicular to the glass surface, so that The high-speed end and the low-speed end, or the high-speed end and the stationary end are alternately formed. By alternately controlling the rotational speed of the adsorption dial 3 disposed at the bottom of the body 1, the rotational speed difference causes the body 1 to twist, thereby enabling the robot to walk freely.

As shown in FIG. 6 and in conjunction with FIG. 2, during the working process, when the glass-wiping robot is close to the corner of the frame L, the A end of the glass-wiping robot is closely attached to one side of the corner due to the rotation of the body 1. The corner dust removing unit 4 is rotated from the direction shown in FIG. 2 to the direction shown in FIG. 6 centering on the rotary drive shaft 31, so that the linear movement of the corner dust removing unit 4 relative to the frame L can be made at this time. The rotation of the body 1 ensures the normal rotation of the body 1 without being affected by the frame L, so that the corner dust removing unit 4 can be moved to the corner, and the second cleaning unit 46 provided on the bracket 44 cleans the corners. As shown in FIG. 7 and FIG. 8, when the body 1 of the glass-wiping robot is in the state of the welt operation, the body 1 can be easily rotated back from the frame L by the rotation of the corner dust removing unit 4, and if it is set, When the low speed or stationary end of the body 1 is a tail, the corner dust removing unit 4 does not cause the tail of the body 1 to die on the frame L, and the glass-cleaning robot is stuck at the frame L and cannot move. As shown in FIG. 3, after the glass-wiping robot is separated from the above two working states, the tension spring 42 installed between the corner dust removing unit 4 and the body 1 can restore the mechanism to the original state.

In summary, the glass-cleaning robot provided by the present invention can be fixed to the glass surface to work in a single machine without the mutual attraction of the active machine and the driven machine. At the same time, the glass-cleaning robot provided by the invention has lower requirements on the working environment, and can perform cleaning operations on the glass of any thickness, only by alternately controlling the rotation speed of the adsorption turntable disposed at the bottom of the body, and the rotation speed. The difference causes the body to twist, which in turn enables the robot to walk freely. At the same time, the dust-removing unit provided on the body makes the two ends of the glass-wiping robot can be easily turned back and returned in the case of being affixed at the right angle, and the dust in the corner of the window can be easily cleaned. The structure is simple, the cost is low, the sensitivity is high, the controllability is strong, and the cleaning efficiency is high.

Claims

claims

1. A glass-cleaning robot, including a body (1). The body is provided with a control unit, a driving unit and a first cleaning unit (2). It is characterized in that: the glass-cleaning robot also includes two rotatable cleaning units at the bottom of the body. A pair of adsorption turntables (3) at the end of The vertical axis on the glass surface is the center of rotation or stationary, and a pair of adsorption turntables at both ends are controlled to alternately form a high-speed end and a low-speed end, or a high-speed end and a stationary end. Through the difference in rotation speed between the two, the glass cleaning robot can walk; among them, A corner dust removal unit (4) is rotatably provided between the body (1) and the adsorption turntable (3). The edge of the corner dust removal unit at least partially protrudes from the outer edge of the adsorption turntable, forming a dust removal portion ( 41), the outer edge shape of the dust removal part is set correspondingly to the corner contour to be dusted.

2. The glass cleaning robot according to claim 1, characterized in that: a reset mechanism is provided between the corner dust removal unit (4) and the body (1), and the reset mechanism is a reset tension spring ( 42), connected to the inner end of the corner dust removal unit close to the body and the body.

3. The glass cleaning robot according to claim 1, characterized in that: the dust removal part (41) forms a right-angled end on a plane parallel to the movement direction of the glass cleaning robot.

4. The glass cleaning robot according to claim 1, characterized in that: the adsorption turntable (3) and the corner dust removal unit (4) are coaxially arranged.

5. The glass cleaning robot as claimed in claim 1, characterized in that: the corner dust removal unit (4) is rotated at a certain angle and tightly abuts against both sides of the body (1).

6. The glass cleaning robot according to claim 5, characterized in that: the range of the certain angle is 0°

-90°

7. The glass cleaning robot according to claim 4, characterized in that: the adsorption turntable (3) is connected to the body (1) through its rotation transmission shaft (31), and the corner dust removal unit (4) is sleeved on on the rotating transmission shaft (31).

8. The glass cleaning robot according to claim 7, characterized in that: a fixing mechanism sleeved on the rotating transmission shaft (31) is provided between the adsorption turntable (3) and the body (1). (45), the adsorption turntable

(3) Connected to the fixing mechanism (45) through bolts, the corner dust removal unit (4) is sleeved on the rotating transmission shaft (31) through the fixing mechanism (45).

9. The glass cleaning robot according to claim 8, characterized in that: the corner dust removal unit (4) is sleeved on the fixing mechanism (45) through a bearing (42), and the corner dust removal unit (4) is sleeved on the fixing mechanism (45) through a bearing (42). 4) Connect the bearing (42) through the cover plate (43), and the cover plate (43) and the corner dust removal unit (4) are fixedly connected through bolts.

10. The glass cleaning robot according to claim 1 or 9, characterized in that: the adsorption turntable (3) includes a bracket (33) and a suction cup (34), and the suction cup is an annular soft rubber suction cup. The bracket is provided with a groove, and the soft rubber suction cup is embedded and positioned in the groove through an elastic washer.

11. The glass cleaning robot according to claim 1, characterized in that: the corner dust removal unit (4) includes a corner dust removal unit bracket (44) and a second cleaning unit (45), and the corner dust removal unit The bracket (44) is connected to the body (1) through the rotating transmission shaft (31), and the second cleaning unit (45) is connected and fixed to the corner dust removal unit bracket (44) protruding from the adsorption turntable (3). at the edge.