WO2018210003A1 - Robot de lavage automatique de fenêtres - Google Patents

Robot de lavage automatique de fenêtres Download PDF

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Publication number
WO2018210003A1
WO2018210003A1 PCT/CN2018/074529 CN2018074529W WO2018210003A1 WO 2018210003 A1 WO2018210003 A1 WO 2018210003A1 CN 2018074529 W CN2018074529 W CN 2018074529W WO 2018210003 A1 WO2018210003 A1 WO 2018210003A1
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WO
WIPO (PCT)
Prior art keywords
fixed
scrubbing
transmission wheel
window cleaning
horizontal
Prior art date
Application number
PCT/CN2018/074529
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English (en)
Chinese (zh)
Inventor
董育伟
师访
吴晗
王晓辉
张昭
薛文斌
刘哲
黄鑫
Original Assignee
淮阴工学院
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 淮阴工学院 filed Critical 淮阴工学院
Publication of WO2018210003A1 publication Critical patent/WO2018210003A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L1/00—Cleaning windows
    • A47L1/02—Power-driven machines or devices
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning

Definitions

  • the invention relates to the technical field of window cleaning robots, in particular to an automatic window cleaning robot.
  • Window cleaning robots also known as automatic window cleaning machines, glass cleaning robots, smart window cleaners, smart window cleaners, etc., are one type of smart household appliances. With its own vacuum pump or fan unit at the bottom, it can be firmly attached to the glass, and then with a certain artificial intelligence, automatically detect the corner distance of the window and plan the window cleaning path.
  • the window cleaning robot generally uses the force of its own adsorption on the glass to drive the rag on the bottom of the fuselage to wipe off the dirt on the glass.
  • the emergence of window cleaning robots is mainly to help people solve the problem of high-level window cleaning and outdoor window cleaning.
  • the biggest technical problem to be solved by the window cleaning robot is to absorb it from the window surface.
  • the first type, vacuum suction cup adsorption double-layer vacuum suction cup, the bottom air is removed by an internal vacuum pump to form a certain vacuum environment, so that the window cleaning robot can be adsorbed on the glass.
  • This adsorption principle requires a relatively high medium, and requires a smooth surface of the glass, no obvious raised obstacles, and is limited to use on the surface of the glass.
  • the second type, fan adsorption the window-sucking robot sucked by the fan passes through the internal fan to form a difference in air pressure between the inside and the outside, so as to be adsorbed on the glass.
  • This adsorption principle requires a slightly wider medium, as long as the surface of the media is flat (except for glass surfaces, such as glass with stickers, frosted glass, walls of marble media, tiles, etc.).
  • Both of the above methods require additional formation of a vacuum device to create a negative pressure, thereby achieving adsorption of the robot to the window surface.
  • devices such as the above two types of robots for generating negative pressure are generally vacuum pumps or vacuum fans, which are not only bulky and heavy, but also have high energy consumption, and the noise is relatively large when working. The cost of the product and the cost of use are relatively large.
  • the scrubbing devices of the current window cleaning robots are generally detachable and reusable washing rags. Since the general window area is relatively large and the external air quality is generally poor, the rags need to be cleaned frequently, otherwise the windows may not be opened. Scrub clean. Frequent cleaning of the rag will result in lower scrubbing efficiency.
  • the object of the present invention is to overcome the deficiencies of the prior art and provide an automatic window cleaning robot, which realizes that the robot can still scrub the glass by vacuum adsorption on the glass surface without the need of a negative pressure generating device, and It can also automatically separate the suction cup of the original adsorption glass surface from the glass surface, reducing the weight and manufacturing cost of the robot; by the action of the collar, the rotation mode of the scrubbing device can be selected according to the condition of the glass surface;
  • the function of the bar and the nut pair can make the scrubbing device have two functions of brushing and wiping, and can automatically switch between each other; through the set of liquid washing pipe and clear water pipe, while scrubbing the glass surface, it is also The bristles are cleaned, so there is no need to clean the robot's scrubbing device during the process of scrubbing the glass; one side of the ring surrounded by the bristles is a ring surrounded by the washing tube, and the other side is a ring surrounded by the
  • the brushing effect also protects the bristles and prolongs the service life of the bristles; the liquid washing tube, the clean water pipe and the bristles are distributed in a ring shape, and the distances of the adjacent rings are equal, so that the distribution is more uniform, and the scrubbing device is scrubbed.
  • each wheel body can be freely rotated, so that according to different rotation speeds And steering, can achieve walking in any direction and in-situ steering, which is beneficial for the robot to scrub at various positions on the glass surface; through the staggered arrangement of two adjacent suction cups, so that the wheel body rotates to any angle, there are suction cups It is combined with the glass surface to ensure the suction strength of the robot and the glass, ensuring that the robot can effectively adsorb regardless of the rotation of the wheel body, ensuring that the scrubbing device can perform normal scrubbing; through the lumen, the air hole A, the air hole B and the protruding rod
  • the enlarged head and the structure of the conical head enable automatic washing of the glass surface of the dish and automatic and easy
  • the surface of the glass is separated; the bottom end of the bristles is lower than the bottom of the traveling device, thereby ensuring that the bristles can
  • the automatic window cleaning robot comprises a substrate, the bottom of the substrate is horizontally rotatably connected with a scrubbing device, and the bottom of the substrate is disposed around the scrubbing device with a plurality of walking devices, and the scrubbing device is connected to the driving motor A through a transmission mechanism.
  • the traveling device is driven by a driving motor B, and both the driving motor A and the driving motor B are electrically connected to a control system with a battery, and the transmission mechanism, the driving motor A and the control system with the battery are all disposed on the substrate. Above, and drive motor A and the control system with battery are fixed to the substrate.
  • the scrubbing device is provided with a plurality of, the top of the scrubbing device is fixedly connected to the lower end of the output vertical shaft through a coupling, and the upper end of the output vertical shaft is coaxially fixed with the transmission wheel D, the transmission wheel D is a planetary gear of the transmission wheel C.
  • the transmission wheel C is meshed with the transmission wheel D.
  • the top of the transmission wheel C is coaxially fixed with a transmission wheel B.
  • the transmission wheel B is meshed with the transmission wheel A.
  • the transmission wheel A is fixed to the output shaft A of the drive motor A.
  • the transmission wheel D is evenly distributed around the transmission wheel C, and the transmission wheel A is located at a position between two adjacent transmission wheels D.
  • the top of the transmission wheel D is fixed with a liquid storage tank for washing liquid and clear water, and the liquid discharge pipe of the liquid storage tank is disposed at the bottom of the liquid storage tank and passes down through the output vertical shaft. Connected to the scrubbing device.
  • the transmission wheel D, the transmission wheel C, the transmission wheel B and the transmission wheel A are all located in a horizontal rotary groove, and the horizontal rotary groove is located on the upper surface of the substrate, and the horizontal rotary groove and the transmission wheel C is disposed coaxially, and the output vertical shaft passes downward through the groove bottom of the horizontal rotary groove and the through hole A provided in the substrate, respectively, and the rotation range of the output vertical shaft is located in the range of the through hole A.
  • the top surface of the substrate is an annular protrusion
  • the outer diameter of the horizontal groove matches the inner diameter of the annular protrusion
  • the top surface of the substrate is fixed with a casing A
  • the horizontal rotating groove is located in the casing A
  • the driving motor A and the control system with the battery are respectively fixed on the casing A.
  • the output shaft A of the drive motor A is fixed coaxially downward through the casing A and the transmission wheel A.
  • the casing A is fixed to the casing A, and the control system with the battery and the driving motor A are both located in the casing B.
  • the outer side wall of the horizontal rotating groove is sleeved with a collar, and a plurality of vertical sliding rods A are disposed at a lower portion of the outer side wall of the horizontal rotating groove, and the lower part of the inner wall of the collar A sliding slot A is formed, which is matched with the sliding rod A.
  • the outer side wall of the collar is distributed with a plurality of protrusions, and the outer end of the protruding block passes through the through hole B of the side wall of the casing A and protrudes. Cover A.
  • the outer side wall of the horizontal rotating groove is provided with at least two horizontal convex rings above the sliding rod A, and the inner wall of the collar is disposed correspondingly above the sliding slot A.
  • Horizontal ring groove is provided.
  • the slide bar A when the horizontal ring groove at the lowermost portion of the collar is in mating contact with the horizontal convex ring at the bottom of the horizontal rotary groove, the slide bar A is in contact with the chute A; when the top of the collar and the cover A are When the top of the inner contact is in contact, the horizontal ring groove of the collar in the horizontal groove area is in mating contact with the horizontal convex ring, and the slide bar A is separated from the chute A; or the horizontal ring groove and the horizontal groove at the lowermost part of the collar When the upper horizontal convex ring is in contact with the contact, the slider A is separated from the chute A.
  • a vertical pole is fixed at a bottom center of the horizontal rotary groove, and a bottom sleeve A is rotatably connected to the bottom of the vertical pole, and the sleeve and the sleeve sleeved on the surface of the scrubbing device Fixed, the scrubbing device is rotatably coupled to the sleeve.
  • the bushings are respectively fixed to the sleeve by the connecting rod A.
  • the scrubbing device includes a scrubbing box, the movable box is provided with a movable panel, and the side wall of the movable panel is vertically provided with a sliding bar B, and the sidewall of the scrubbing box corresponds to
  • the slide bar B is provided with a chute B, and the movable plate is movably connected up and down in the scrubbing tank along the chute B through the slide bar B.
  • the bottom of the movable panel is vertically fixed with a liquid washing tube, a clean water pipe and a bristles, and a bottom of the scrubbing box is fixed with a sponge layer, the washing liquid pipe, the clean water pipe and the bottom of the bristles
  • the end passes down through the corresponding hole A and the brush hole A of the scrubbing box bottom plate, and extends into the corresponding hole B and the brush hole B of the sponge layer, and a riser is coaxially fixed on the top of the movable plate.
  • a screw is rotatably connected to the shaft center of the riser, a nut pair is rotatably connected to the lead screw, and a connecting rod B is fixed to a side wall of the nut pair, and an outer end of the connecting rod B passes through the riser
  • the vertical strip-shaped through hole is fixed to the inner wall of the scrubbing box, the top end of the lead screw is fixed to the output shaft B of the driving motor C, and the driving motor C is fixed on the horizontal plate provided in the riser, The top of the riser extends out of the scrubbing box and is secured with a coupling.
  • liquid washing tube and the clean water pipe are respectively connected to the respective liquid storage tanks.
  • the liquid washing tube, the clean water pipe and the bristles are distributed in a ring shape at the bottom of the movable plate.
  • one side of the ring surrounded by the bristles is a ring surrounded by the liquid washing tube, and the other side is a ring surrounded by the clean water pipe.
  • the ring surrounded by the bristles and the ring surrounded by the adjacent washing tube and the ring surrounded by the clean water pipe are equally spaced.
  • the bottom end of the liquid washing tube is flush with the bottom end of the clean water pipe, and the bottom end of the bristles is lower than the bottom ends of the liquid washing pipe and the clean water pipe.
  • the bottom end of the bristles is lower than the bottom of the running device.
  • the nozzle at the bottom end of the clean water pipe is provided with an atomizing device.
  • the drive motor C is electrically connected to a control system with a battery.
  • the bottom ends of the liquid washing tube, the clean water pipe and the bristles protrude downward from the sponge layer; when the nut pair is at the lowest stroke, the liquid washing tube The bottom ends of the water pipes and bristles are higher than the bottom of the sponge layer.
  • the traveling device includes a supporting pole fixedly connected to the bottom of the substrate, and the bottom end of the supporting pole is horizontally rotatably connected to the horizontal shaft by a horizontal rotating device, and the horizontal rotating shaft is located on the support
  • a driving motor B is symmetrically disposed on both sides of the pole, and the driving motor B is a hub motor, and the hub motor is fixed coaxially with the wheel body through a connecting rod C, and the circumferential surface of the wheel body is evenly distributed
  • the suction cup is provided with a rubber tube in a middle portion of the end surface of the suction cup facing the wheel body, and the wheel body is connected to the suction cup through the rubber tube.
  • the end of the horizontal shaft is rotatably connected to the wheel body.
  • the hub motor is rotatably coupled to the horizontal shaft.
  • the suction cups are annularly distributed along the circumferential surface of the wheel body, and a plurality of annular suction cups are sequentially disposed along the width direction on the circumferential surface of the wheel body.
  • any one of the suction cups of any one of the annular distributions is located between two adjacent suction cups in the suction cup of the annular side of the adjacent side.
  • the axis of the hose passes through the center of the suction cup, and the middle portion of the suction cup is provided with a vent A, and the vent A communicates with the lumen of the hose in the suction cup, and the end of the rubber tube is away from the suction cup.
  • a flange is disposed therein, and the edge of the flange is surrounded by a hole B.
  • the surface of the wheel body is fixed with a plurality of protrusions in a radial direction, and an outer diameter of the protrusion is matched with an inner diameter of the air hole B.
  • An end of the protruding rod away from the wheel body is provided with an enlarged head, the outer diameter of the enlarged head is in clearance fit with the inner diameter of the lumen, and the end of the enlarged head facing away from the protruding rod is provided with a vertebral head, the tapered head
  • the maximum diameter is greater than or equal to the inner diameter of the air hole A and less than or equal to the diameter of the enlarged head.
  • the distance between the end of the enlarged head facing the protruding rod and the diameter of the side wall of the tapered head and the diameter of the air hole A is smaller than the length of the lumen.
  • the distance between the side wall of the tapered head and the diameter of the air hole A is greater than or equal to the minimum distance between the suction cup and the wheel body.
  • the distance between the side wall diameter of the tapered head and the diameter of the air hole A and the tip end of the tapered head is less than or equal to the length of the air hole A.
  • the walking device is evenly distributed on the bottom edge of the substrate.
  • the automatic window cleaning robot of the invention realizes that the robot can still scrub the glass by vacuum adsorption on the glass surface without the need of a negative pressure generating device, and can also automatically suck the suction cup surface of the glass surface. Easily separated from the glass surface, reducing the weight and manufacturing cost of the robot.
  • the automatic window cleaning robot of the present invention can select the rotation mode of the scrubbing device according to the condition of the glass surface by the action of the collar.
  • the automatic window cleaning robot of the present invention can make the scrubbing device have two functions of brushing and wiping by the action of the screw and the nut pair, and can automatically switch between each other.
  • the automatic window cleaning robot of the present invention cleans the bristles while scrubbing the surface of the glass through the liquid washing tube and the clear water pipe provided, so that the scrubbing device of the robot does not need to be performed during the process of scrubbing the glass. Cleaning.
  • one side of the ring surrounded by the bristles is a ring surrounded by the liquid washing tube, and the other side is a ring surrounded by the clean water pipe, so that the state of the washing liquid is sprayed.
  • the brush will not dry brush, improve the brushing effect, and also protect the bristles and prolong the service life of the bristles.
  • the liquid washing tube, the clean water pipe and the bristles are all distributed in a ring shape, and the distances of the adjacent rings are equal, so that the distribution is more uniform, and the brushing effect of the scrubbing device is ensured.
  • the automatic window cleaning robot of the present invention can squeeze the sponge layer when the sponge layer is dried by the action of the screw and the nut pair.
  • the automatic window cleaning robot of the present invention can make each wheel body freely rotate by the action of the hub motor, so that walking in any direction and turning in place can be realized according to different rotation speeds and steering, thereby facilitating The robot scrubs each location on the glass surface.
  • the automatic window cleaning robot of the present invention is configured such that the wheel body is rotated to any angle by the staggered arrangement of two adjacent suction cups, and the suction cup and the glass surface are sucked together, thereby ensuring the suction strength of the robot and the glass. It ensures that the robot can effectively absorb regardless of the rotation of the wheel body, ensuring that the scrubbing device can perform normal scrubbing.
  • the automatic window cleaning robot of the present invention can realize the automatic suction glass surface of the dishwashing and automatically and easily with the glass surface through the structure of the lumen, the air hole A, the air hole B and the enlarged head and the conical head of the protruding rod. Separation.
  • the bottom end of the bristles is lower than the bottom of the traveling device, thereby ensuring that the bristles can be effectively brushed on the glass surface.
  • the nozzle at the bottom end of the clean water pipe is provided with an atomizing device, which improves the water spray effect of the clean water, so that the cleaning liquid and the dirt on the glass surface can be effectively cleaned.
  • Figure 1 is a front cross-sectional view showing the structure of the present invention.
  • Figure 2 is a front elevational cross-sectional view of the scrubbing device.
  • Figure 3 is a bottom plan enlarged view of the scrubbing device.
  • Figure 4 is an enlarged front elevational cross-sectional view of the traveling device.
  • Fig. 5 is an enlarged front elevational view showing the structure of the suction cup.
  • the present invention includes a substrate 1 having a scrubbing device 2 horizontally connected to the bottom of the substrate 1.
  • the bottom of the substrate 1 is provided with a plurality of traveling devices 3 around the scrubbing device 2,
  • the scrubbing device 2 is drivingly connected to the driving motor A4 via a transmission mechanism, and the traveling device 3 is driven by a driving motor B, both of which are electrically connected to a control system 10 with a battery, the transmission mechanism,
  • the drive motor A4 and the control system 10 with the battery are both disposed above the substrate 1, and the drive motor A4 and the battery-equipped control system 10 are fixed to the substrate 1.
  • the scrubbing device 2 is provided with a plurality of, the top of the scrubbing device 2 is fixedly connected to the lower end of the output vertical shaft 16 through a coupling 30, and the upper end of the output vertical shaft 16 is coaxially fixed with the transmission wheel D15, and the transmission wheel D15 is
  • the planetary wheel of the transmission wheel C14 is meshed with the transmission wheel D15.
  • the top of the transmission wheel C14 is coaxially fixed with a transmission wheel B13.
  • the transmission wheel B13 is meshed with the transmission wheel A12.
  • the transmission wheel A12 is fixed to the output shaft A of the drive motor A4.
  • the transmission wheel D15 is evenly distributed around the transmission wheel C14, and the transmission wheel A12 is located at a position between the adjacent two transmission wheels D15.
  • the top of the transmission wheel D15 is fixed with a liquid storage tank 20 for washing liquid and clean water.
  • the liquid discharge pipe of the liquid storage tank 20 is disposed at the bottom of the liquid storage tank 20 and passes downward through the output vertical shaft 16 and the scrubbing device 2 Connected.
  • the transmission wheel D15, the transmission wheel C14, the transmission wheel B13 and the transmission wheel A12 are all located in the horizontal rotary groove 5, the horizontal rotary groove 5 is located on the upper surface of the substrate 1, and the horizontal rotary groove 5 is coaxial with the transmission wheel C14. It is provided that the output vertical shaft 16 passes downward through the groove bottom of the horizontal rotary groove 5 and the through hole A21 provided in the substrate 1, respectively, and the rotation range of the output vertical shaft 16 is located in the range of the through hole A21.
  • the top surface of the substrate 1 is an annular projection 22, and the outer diameter of the horizontal rotation groove 5 matches the inner diameter of the annular projection 22.
  • the top surface of the substrate 1 is fixed with a casing A11, the horizontal rotating groove 5 is located in the casing A11, and the driving motor A4 and the battery-equipped control system 10 are respectively fixed on the casing A11, the driving motor
  • the output shaft A of A4 is fixed coaxially downward through the casing A11 and the transmission wheel A12.
  • the casing A11 is fixed with a casing B6, and the battery-equipped control system 10 and the driving motor A4 are both located in the casing B6.
  • the outer side wall of the horizontal rotating groove 5 is sleeved with a collar 23, and a plurality of vertical sliding rods A25 are disposed at a lower portion of the outer side wall of the horizontal rotating groove 5, and the lower part of the inner wall of the collar 23 is provided with a sliding
  • the rod A25 is matched with the sliding groove A24.
  • the outer side wall of the collar 23 is distributed with a plurality of protrusions 29, and the outer end of the protrusion 29 passes through the through hole B28 of the side wall of the casing A11 and protrudes from the cover.
  • Shell A11 is sleeved with a collar 23, and a plurality of vertical sliding rods A25 are disposed at a lower portion of the outer side wall of the horizontal rotating groove 5, and the lower part of the inner wall of the collar 23 is provided with a sliding
  • the rod A25 is matched with the sliding groove A24.
  • the outer side wall of the collar 23 is distributed with a plurality of protrusions 29, and the outer end
  • the outer side wall of the horizontal rotating groove 5 is provided with at least two horizontal convex rings 27 above the sliding rod A25.
  • the inner wall of the collar 23 and the horizontal groove 26 are correspondingly disposed above the sliding groove A24. .
  • a vertical rod 8 is fixed at a bottom center of the horizontal rotating groove 5, and a bottom sleeve A7 is rotatably connected to the bottom of the vertical rod 8.
  • the sleeve 7 is fixed to a sleeve 9 disposed on the surface of the scrubbing device 2,
  • the scrubbing device 2 is rotatably coupled to the sleeve 9.
  • the sleeve 7 is fixed to the sleeve 9 by a connecting rod A17, respectively.
  • the scrubbing device 2 includes a scrubbing box 36.
  • the scrubbing box 36 is provided with a movable panel 33.
  • the side wall of the movable panel 33 is vertically provided with a sliding bar B42, and the sidewall of the scrubbing box 36 corresponds to the sliding.
  • the rod B42 is provided with a chute B43, and the movable plate 33 is movably connected up and down in the scrubbing tank 36 along the chute B43 via the sliding rod B42.
  • the bottom of the movable plate 33 is vertically fixed with a liquid washing pipe 47, a clean water pipe 48 and bristles 49, and a sponge layer 44 is fixed to the bottom of the scrubbing box 36, and the washing liquid pipe 47, the clean water pipe 48 and the bristles 49 are
  • the bottom end passes down through the bottom plate corresponding to the provided hole A45 and the brush hole A46 of the scrubbing box 36, and extends into the corresponding hole B45' and the brush hole B46' of the sponge layer 44, and the top of the movable plate 33 is the same
  • a shaft 34 is fixed to the shaft, and a screw shaft 39 is rotatably connected to the shaft center of the vertical tube 34.
  • the screw shaft 39 is rotatably connected with a nut pair 40.
  • the side wall of the nut pair 40 is fixed with a connecting rod B41.
  • the outer end of the connecting rod B41 is fixed to the inner wall of the scrubbing box 36 through a vertical strip-shaped through hole provided in the riser 34, and the top end of the lead screw 39 is fixed to the output shaft B38 of the driving motor C37.
  • the drive motor C37 is fixed to a horizontal plate 35 provided in the riser 34, and the top of the riser 34 extends beyond the scrubbing box 36 and is fixed with a coupling 30.
  • the liquid washing tube 47 and the clean water pipe 48 are in communication with the respective liquid storage tanks 20, respectively.
  • the liquid washing tube 47, the clean water pipe 48, and the bristles 49 are all distributed in a ring shape at the bottom of the movable plate 33.
  • One side of the ring surrounded by the bristles 49 is a ring surrounded by the washing liquid pipe 47, and the other side is a ring surrounded by the clean water pipe 48.
  • the ring surrounded by the bristles 49 is equally spaced from the ring surrounded by the adjacent washing tube 47 and the ring surrounded by the clean water pipe 48.
  • the bottom end of the washing liquid pipe 47 is flush with the bottom end of the clean water pipe 48, and the bottom end of the bristles 49 is lower than the bottom ends of the liquid washing pipe 47 and the clean water pipe 48.
  • the bottom end of the bristles 49 is lower than the bottom of the traveling device 3.
  • the nozzle at the bottom end of the clean water pipe 48 is provided with an atomizing device.
  • the drive motor C37 is electrically coupled to a control system 10 with a battery.
  • the traveling device 3 includes a supporting pole 18 fixedly connected to the bottom of the substrate 1.
  • the bottom end of the supporting pole 18 is horizontally rotatably connected to the horizontal shaft 50 by a horizontal rotating device 19, and the horizontal rotating shaft 50 is located on the supporting shaft.
  • a driving motor B is symmetrically disposed on both sides of the rod 18, and the driving motor B is an in-wheel motor 52.
  • the hub motor 52 is coaxially fixed to the wheel body 51 via a connecting rod C53, and the circumferential surface of the wheel body 51 is uniform.
  • a plurality of suction cups 54 are disposed, and a suction pipe 55 is disposed in a middle portion of the end surface of the suction cup 54 facing the wheel body 51.
  • the wheel body 51 is connected to the suction cup 54 through a hose 55.
  • the end of the horizontal shaft 50 is rotatably coupled to the wheel body 1.
  • the hub motor 52 is rotatably coupled to the horizontal shaft 50.
  • the suction cups 54 are annularly distributed along the circumferential surface of the wheel body 51, and a plurality of suction cups 54 are disposed in a ring shape on the circumferential surface of the wheel body 51 in the width direction.
  • Any one of the suction cups 54 of any of the annular distributions is located between two adjacent suction cups 54 in the suction cup 54 of the annular distribution on the adjacent side.
  • the axis of the hose 55 passes through the center of the suction cup 54, and the middle of the suction cup 54 is provided with a hole A58 which communicates the inside of the suction cup 54 with the cavity 56 of the hose 55, and the end of the rubber tube 55 away from the suction cup 54 A flange is disposed therein, and the edge of the flange is surrounded by a hole B57.
  • the surface of the wheel body 51 is fixed with a plurality of protrusions 59 in the radial direction.
  • the outer diameter of the protrusion 59 is spaced from the inner diameter of the air hole B57.
  • the end of the protruding rod 59 away from the wheel body 51 is provided with an enlarged head 60.
  • the outer diameter of the enlarged head 60 is in clearance with the inner diameter of the lumen 56.
  • the enlarged head 60 is disposed at one end of the protruding rod 59.
  • the distance from the end of the enlarged head 60 facing the male rod 59 to the diameter of the side wall of the tapered head 61 equal to the diameter of the air hole A58 is smaller than the length of the lumen 56.
  • the distance between the side wall diameter of the tapered head 61 and the diameter of the air hole A58 and the wheel body 51 is greater than or equal to the minimum distance between the suction cup 54 and the wheel body 51.
  • the distance between the side wall diameter of the tapered head 61 and the diameter of the air hole A58 and the tip end of the tapered head 61 is less than or equal to the length of the air hole A58.
  • the traveling device 3 is evenly distributed on the bottom edge of the substrate 1.
  • the wheel body 51 of the robot is first pressed against the surface of the glass.
  • the suction cup 54 that is in contact with the glass surface is pressed toward the wheel body 51, so that the suction cup 54 is in contact with the enlarged head 60, and the cone is pressed.
  • the head 61 extends into the air hole A58 to block the air hole A58.
  • the suction cup 54 Under the pressing force, the suction cup 54 is gradually pressed toward the glass surface, and the air in the suction cup 54 can only be discharged through the edge of the suction cup 54, thereby making the suction cup A vacuum is formed in the 54, and the suction cup 54 is fixed to the glass surface by the force of the atmospheric pressure, thereby fixing the robot to the surface of the glass; then, by the system control, the hub motor 52 controls the rotation of the wheel body 51, and is pressed against the glass surface by the wheel body 51.
  • the process of the suction cup 54 is the same as that of the above-mentioned pressing, and the process of moving the suction cup 54 away from the glass surface by the wheel body 51 is such that the protruding rod 59 is moved toward the side away from the glass by the wheel body 51, thereby making the expansion head 60 leaves the suction cup 54, the conical head 61 is separated from the air hole A58, so that the outside air can pass through the air hole B57, the lumen 56 and the air hole A58 in sequence, and then communicate with the inside of the suction cup 54, thereby making the original suction
  • the air pressure in the suction cup 54 on the glass surface is equal to the external atmospheric pressure, so that the suction cup 54 is automatically separated from the glass surface; since the two wheel bodies 51 on the same horizontal rotating shaft 50 are independently driven and rotated by the individual hub motors 52, The walking device 3 can be driven and rotated at various angles according to the needs of the glass scrubbing.
  • the scrubbing mode can be selected according to different requirements of the scrubbing window; the horizontal ring groove 26 pressed down to the bottom of the collar 23 by the protrusion 29 matches the horizontal convex ring 27 at the bottom of the horizontal rotating groove 5.
  • the slider A25 When the contact is made, the slider A25 is in contact with the sliding slot A24, and the horizontal rotating groove 5 is fixed between the horizontal groove 5 and the substrate 1 at this time; at this time, the scrubbing device 2 can only be scrubbed by the rotation, and cannot be wound around the axis of the vertical upright 8
  • the horizontal ring groove 26 which is lifted up to the bottom of the collar 23 by the protrusion 29 is matched with the horizontal convex ring 27 at the bottom of the horizontal rotation groove 5, and the slide bar A25 is separated from the chute A24, and the horizontal groove 5 can be
  • the transmission wheel D15 drives the output vertical shaft 16 to self-transmit, it revolves around the axis of the vertical vertical rod 8, and the output vertical shaft 16 drives the horizontal rotary groove 5 to rotate about the axis of the vertical vertical rod 8, that is, the scrubbing device 2 can pass at this time. At the same time, it can be scrubbed by revolving.
  • the control system 10 with the power supply first controls the rotation of the driving motor C37 to drive the screw 39 to rotate, so that the nut pair 40 is raised to the highest stroke, thereby making the washing tube 47, the clean water pipe 48 and the bristles 49, the sponge layer 44 is extended downward; then the control system 10 with the power supply controls the washing liquid pipe 47 to spray the cleaning liquid to the glass surface, and controls the driving motor A4 to drive the scrubbing device 2 to rotate, so that the bristles 49 effectively brush the glass surface; At the same time, the control system 10 with the power supply controls the hub motor 52 to drive the wheel body 51 to rotate, and the walking device 3 drives the robot to walk, so that the scrubbing device 2 can also scrub the rest of the glass surface; when the glass surface is brushed, The control system 10 of the power supply controls the washing liquid pipe 47 to stop spraying the cleaning liquid to the glass surface, and simultaneously controls the clean water pipe 48 to spray clean water onto the glass surface, and continues to brush the glass surface through the brist
  • the control system 10 of the power supply controls the clean water pipe 48 to stop spraying clean water to the glass surface, and controls the driving motor C37 to rotate, and drives the screw 39 to rotate, so that the nut pair 40 is lowered, so that the sponge layer 44 will wash the liquid pipe 47 and the clean water pipe 48. Wrapped with the bristles 49; at this time, under the action of the traveling device 3 and the rotation of the scrubbing device 2, the glass surface is wiped dry; when the water in the sponge layer 44 is large, the control system 10 with the power supply controls the driving.
  • the motor C37 rotates to drive the screw 39 to rotate, so that the nut pair 40 is lowered downward to the lowest stroke, thereby pressing the sponge layer 44 to extrude the water in the sponge layer 44; when the water in the sponge layer 44 is squeezed out,
  • the control system 10 with the power supply controls the rotation of the drive motor C37 to drive the screw 39 to rotate, so that the nut pair 40 is raised to the position where the sponge layer 44 scrubs the surface of the glass, and the glass surface is continuously dried.

Landscapes

  • Toys (AREA)
  • Cleaning In General (AREA)

Abstract

L'invention concerne un robot de nettoyage automatique pour surfaces à paroi lisse, comprenant une plaque de base (1). Un dispositif de nettoyage (2) est relié horizontalement et de manière rotative au fond de la plaque de base (1). Le fond de la plaque de base (1) est pourvu de multiples dispositifs de déplacement (3) situés autour du dispositif de nettoyage (2). Le dispositif de nettoyage (2) est relié en transmission à un moteur d'entraînement A (4) au moyen d'un mécanisme de transmission. Les dispositifs de déplacement (3) sont entraînés par un moteur d'entraînement B. Le moteur d'entraînement A (4) et le moteur d'entraînement B sont tous deux connectés électriquement à un système de commande (10) doté d'une batterie. Le mécanisme de transmission, le moteur d'entraînement A (4) et le système de commande (10) doté de la batterie sont tous disposés au-dessus de la plaque de base (1), le moteur d'entraînement A (4) et le système de commande (10) doté de la batterie étant fixés à la plaque de base (1). Le robot de nettoyage automatique pour surfaces à paroi lisse peut encore être aspiré contre une surface à paroi lisse pour nettoyer du verre au moyen d'une pression négative sans qu'il soit nécessaire d'utiliser un dispositif de génération de pression négative, et peut également séparer automatiquement et facilement de la surface à paroi lisse une ventouse initialement aspirée contre la surface à paroi lisse, ce qui permet de réduire le poids, le volume et les coûts de fabrication du robot.
PCT/CN2018/074529 2017-05-16 2018-01-30 Robot de lavage automatique de fenêtres WO2018210003A1 (fr)

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CN201710343647.8A CN107007193B (zh) 2017-05-16 2017-05-16 光滑墙面自动擦洗机器人

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CN107007193B (zh) * 2017-05-16 2019-05-24 淮阴工学院 光滑墙面自动擦洗机器人
CN110448237B (zh) * 2019-07-26 2021-06-18 深圳中物智建科技有限公司 一种建筑外墙清洁机器人
CN112120615B (zh) * 2020-08-11 2022-02-22 烟台泰特尔机械有限公司 玻璃幕墙清洁设备

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