WO2019024180A1 - 一种气动式自行走蒸汽循环擦窗机器人 - Google Patents

一种气动式自行走蒸汽循环擦窗机器人 Download PDF

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Publication number
WO2019024180A1
WO2019024180A1 PCT/CN2017/101412 CN2017101412W WO2019024180A1 WO 2019024180 A1 WO2019024180 A1 WO 2019024180A1 CN 2017101412 W CN2017101412 W CN 2017101412W WO 2019024180 A1 WO2019024180 A1 WO 2019024180A1
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Prior art keywords
cleaning robot
window cleaning
disposed
steam cycle
pneumatic self
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PCT/CN2017/101412
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English (en)
French (fr)
Inventor
蓝兆彤
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蓝兆彤
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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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
    • A47L11/4022—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids with means for recycling the dirty liquid
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4047—Wound-up or endless cleaning belts
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/405—Machines using UV-lamps, IR-lamps, ultrasound or plasma cleaning
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • 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
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A47L11/4086—Arrangements for steam generation
    • 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
    • A47L3/00—Safety devices for use in window-cleaning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
    • B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
    • B08B1/143—Wipes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B1/00—Cleaning by methods involving the use of tools
    • B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/0085—Cleaning
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F22—STEAM GENERATION
    • F22B—METHODS OF STEAM GENERATION; STEAM BOILERS
    • F22B1/00—Methods of steam generation characterised by form of heating method
    • F22B1/28—Methods of steam generation characterised by form of heating method in boilers heated electrically
    • F22B1/284—Methods of steam generation characterised by form of heating method in boilers heated electrically with water in reservoirs
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B2230/00—Other cleaning aspects applicable to all B08B range
    • B08B2230/01—Cleaning with steam
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
    • F16B47/00—Suction cups for attaching purposes; Equivalent means using adhesives

Definitions

  • the invention relates to the field of window cleaning robots, in particular to a pneumatic self-propelled steam circulation window cleaning robot.
  • the window cleaning robots all have safety ropes, which are easy to entangle during the process of travel, which not only affects normal work, but also easily causes safety hazards.
  • a pneumatic self-propelled steam circulation window cleaning robot which has a reasonable structure, has a simple structure, is convenient to use, saves water, is safe, reliable, and intelligent.
  • the high degree of advantages can effectively solve the problem that the existing window cleaning robot can not clean the corners of the window.
  • a pneumatic self-propelled steam circulation window cleaning robot comprising an outer casing having an opening at the bottom, a power mechanism, a wiping mechanism, a steam circulation mechanism,
  • the casing is provided with a circular groove, a battery, a microcontroller and an air pump; the power mechanism and the steam circulation mechanism are disposed in the inner cavity of the casing;
  • the power mechanism includes a driving shaft, a follower shaft, a first motor, a traveling wheel, and a suction cup walking device; the two ends of the driving shaft and the follower shaft are respectively rotatably connected with the outer casing, and are fixedly disposed on the outer casing.
  • the motor is electrically connected to the driving shaft, and the traveling wheels are respectively fixedly connected to the two ends of the driving shaft;
  • the suction cup walking device comprises a crankshaft, a support rod, a suction cup and a second motor; the two ends of the crankshaft are respectively rotatably connected to each other through a bearing, and the crankshaft is sleeved with a switch; the support rod passes through the switch and the crankshaft Rotating connection, the support rod is provided with a suction cup; the suction cup is connected with the air pump; the second motor is fixedly disposed on the outer casing and is mutually driven and linked with one end of the crankshaft;
  • the wiping mechanism includes a belt-shaped wipe cloth disposed on the drive shaft and the follower shaft, an ultraviolet sterilization lamp, and a rotating brush disposed at two ends of the follower shaft; the ultraviolet sterilization lamp is disposed on the belt wiper
  • the side bearing shell has a square hollow inner cavity, and a stopper is arranged in the inner cavity of the follower shaft, and a square slider is arranged at both ends of the block, and a connection between the square slider and the block is set. a buffer spring; the square slider is connected to the rotating brush through a spline shaft;
  • the steam circulation mechanism comprises a vacuum suction nozzle, a negative pressure pump, a sewage tank sedimentation tank, a filter tank and a steam generator which are connected in series through a pipeline; the negative pressure suction nozzle is abutted with the belt wipe;
  • the filter box includes a first cavity, a second cavity, and a third cavity;
  • the steam generator includes an electric heater, a gasification tank, and a steam nozzle;
  • the electric heater is provided with a plurality of heat conduction rods Extending into the gasification tank, the bottom of the third cavity is provided with a solenoid valve and a gasification tank communicating with each other.
  • the inside of the circular groove is connected with a safety rope ring through a ball joint.
  • the housing is provided with a switch for controlling the operating state of the present invention.
  • a sheet pressure sensor is disposed between the switch and the crankshaft.
  • the inside of the belt-shaped cloth is provided with a cloth tensioning device, and the cloth tensioning device includes a rotating wheel that abuts the inner side of the belt-shaped cloth and a sliding rod that is connected with the rotating wheel, and the sliding rod passes through
  • the outer casing and the adjusting nut are connected to each other, and the sliding rod is sleeved with a tension spring.
  • the strip wiper is provided with a plurality of triangular bumps.
  • a filter mesh is disposed in the second cavity.
  • microcontroller is electrically connected to the battery, the air pump, the negative pressure pump, the first motor, the second motor, the electric heater, the electromagnetic valve, the switch, and the ultraviolet sterilization lamp.
  • a pneumatic self-propelled steam circulation window cleaning robot comprises an outer casing having an opening at the bottom, a power mechanism, a wiping mechanism, a steam circulation mechanism, a power mechanism and a steam circulation mechanism disposed in the outer casing and on the outer casing.
  • the circular groove is arranged to embed the safety rope therein, preventing the occurrence of entanglement between the safety ropes, and improving the safety of the window cleaning robot;
  • the wiping mechanism comprises a belt-shaped cloth disposed inside the casing and a rotating brush, the belt-shaped cloth Used to wipe the middle position of the window, and the rotating brush is used to wipe the corner position of the window, and the window is cleaned without leaving the dead angle;
  • the power device supports the outer casing through the walking wheel, and the invention is fixed to the window by the suction cup walking device and The safety is improved by walking on the window through the suction cup walking device;
  • the steam circulation mechanism is used to collect and filter the sewage on the belt-shaped wipe cloth and then convert it into steam to supply the belt wiper window, which not only saves water, but also helps the steam. It can also play the role of sterilization in the erasing of stains; its structure is reasonable, it has simple structure, convenient use and economy. Water, safe and reliable, high degree of intelligence advantages, an effective solution to the
  • FIG. 1 is a schematic bottom view of a pneumatic self-propelled steam cycle window cleaning robot according to the present invention
  • FIG. 2 is a side view showing a schematic structure of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention
  • FIG. 3 is a schematic structural view of a suction cup walking device of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention
  • FIG. 4 is a schematic structural view of a vacuum suction nozzle of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention.
  • FIG. 5 is a schematic structural view of a filter box and a steam generator of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention
  • FIG. 6 is a schematic structural view of a follower shaft of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention.
  • FIG. 7 is a schematic structural view of a wiper tensioning device of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention.
  • FIG. 8 is a schematic structural view of a casing of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention.
  • FIG. 9 is a schematic view showing the structure of a circular groove of a pneumatic self-propelled steam circulation window cleaning robot according to the present invention.
  • Negative pressure pump 43, sewage tank sedimentation tank, 44, filter tank, 441, first chamber, 442, second chamber, 443, third chamber, 444, solenoid valve, 45, steam generator, 451, electric heater, 452, heat conduction rod, 453, gasification tank, 454, steam nozzle.
  • a pneumatic self-propelled steam circulation window cleaning robot includes an outer casing 1 having an opening at the bottom, a power mechanism 2, a wiping mechanism 3, and a steam circulation mechanism 4.
  • the casing 1 is provided with a circular groove 11, a battery 13, a microcontroller 14 and an air pump 18; the power mechanism 2, the steam cycle mechanism 4 is disposed in the inner cavity of the outer casing 1;
  • the power mechanism 2 includes a driving shaft 21, a follower shaft 22, a first motor 23, a traveling wheel 24, and a suction cup running device 25. Both ends of the driving shaft 21 and the follower shaft 22 are respectively rotatably connected with the outer casing 1.
  • the first motor 23 fixedly disposed on the outer casing 1 is electrically connected to the driving shaft 21, and the traveling wheels 24 are fixedly connected to the two ends of the driving shaft 21 respectively;
  • the walking wheel 24 is provided with a suction cup 254, and the suction cup 254 is connected to the air pump 18.
  • the suction cup running device 25 includes a crankshaft 251, a support rod 252, a suction cup 254, and a second motor 255. Both ends of the crankshaft 251 are rotatably connected to the outer casing 1 through bearings 256, respectively.
  • the crankshaft 251 is sleeved with a switch 253; the support rod 252 is rotatably connected to the crankshaft 251 via a switch 253, and the support rod 252 is provided with a suction cup 254; the suction cup 254 is connected to the air pump 18;
  • the second motor 255 is fixedly disposed on the outer casing 1 and is interlocked with one end of the crankshaft 251;
  • the wiping mechanism 3 includes a driving shaft 21 and a follower. a belt-shaped wiper 31 on the shaft 22, an ultraviolet sterilization lamp 12, and a rotating brush 32 disposed at both ends of the follower shaft 22; the ultraviolet sterilization lamp 12 is disposed on the outer side of the belt-shaped wiper 31;
  • the follower shaft 22 has a square hollow inner cavity, and the inner cavity of the follower shaft 22 is provided with a stopper 222.
  • the two ends of the stopper 222 are provided with a square slider 221, and the square slider 221 is connected with the stopper 222.
  • a buffer spring 223 is disposed; the square slider 221 is coupled to the rotating brush 32 via a spline shaft; the buffer spring 223 is used to prevent the present invention from colliding with the window corner and falling, thereby enhancing safety.
  • the steam circulation mechanism 4 includes a vacuum suction nozzle 41, a negative pressure pump 42, a sewage tank sedimentation tank 43, a filter tank 44, and a steam generator 45 which are sequentially connected in series through a pipeline;
  • the vacuum suction nozzle 41 is abutted against the belt-shaped wiper 31;
  • the filter box 44 includes a first cavity 441, a second cavity 442, and a third cavity 443;
  • the steam generator 45 includes electricity a heater 451, a gasification tank 453, and a steam nozzle 454;
  • the electric heater 451 is provided with a plurality of heat-conducting rods 452 extending into the gasification tank 453, and the third chamber 443 is provided with a solenoid valve 444 at the bottom thereof.
  • the gasification tanks 453 are in communication with each other.
  • the third cavity 443 is for holding the filtered water, and is slowly released by the electromagnetic valve 444.
  • the clean water is rapidly vaporized when it contacts the heat conducting rod 452, and the steam is sprayed onto the window via the steam nozzle 454 for the wiping mechanism. 3 wipe the use.
  • the second cavity 442 is provided with a filter mesh.
  • the second cavity 442 may also be provided with other solid, liquid or solid-liquid mixed filter media.
  • the inside of the circular groove 11 is slidably connected to the safety loop 17 through the ball head 16.
  • the casing 1 is provided with a switch 15 for controlling the operating state of the present invention.
  • the switch 15 is not provided on the casing 1, and the microcontroller 14 is connected to the external remote control device through the wireless device.
  • a sheet pressure sensor is disposed between the switch 253 and the crankshaft 251.
  • a thin plate is disposed between the crankshaft 251 and the bearing 256. Pressure Sensor.
  • the support rod 252 is interconnected with the suction cup 254 via a pressure sensor. A pressure sensor is used to detect if the suction cup 254 is engaged with the window.
  • the inside of the belt-shaped wiper 31 is provided with a wiper tensioning device 33, and the wiper tensioning device 33 includes a runner 331 that abuts against the inner side of the belt-shaped wiper 31, and rotates.
  • the sliding rods 332 of the wheels 331 are connected to each other, and the sliding rods 332 are connected to the adjusting nut 333 through the outer casing 1 , and the sliding rods 332 are sleeved with a tension spring 334 .
  • the belt wipe 31 is tensioned by the wipe tensioning device 33, and the compression tension spring 334 is contracted inwardly when the belt wipe 31 encounters the projection, thereby avoiding scratching the belt wipe 31.
  • the belt-shaped cloth 31 is provided with a plurality of triangular protrusions 34 for scraping the stain from the window.
  • the protrusions 34 may also be semi-circular, any axial surface. A long strip of straight bumps can be used.
  • the microcontroller 14 is electrically connected to the battery 13, the air pump 18, the negative pressure pump 42, the first motor 23, the second motor 255, the electric heater 451, the electromagnetic valve 444, the switch 15, and the ultraviolet sterilization lamp 12, respectively. connection.
  • the utility model relates to a pneumatic self-propelled steam circulation window cleaning robot, which comprises an outer casing with an opening at the bottom, a power mechanism, a wiping mechanism, a steam circulation mechanism, a power mechanism and a steam circulation mechanism which are arranged in the outer casing and are arranged on the outer casing.
  • the circular groove can embed the safety rope therein to prevent the entanglement between the safety ropes and improve the safety of the window cleaning robot;
  • the wiping mechanism includes a belt-shaped cloth disposed inside the casing and a rotating brush, and the belt-shaped cloth is used for Wiping the middle position of the window, and the rotating brush is used to wipe the corner position of the window, and the window is cleaned without leaving a dead angle;
  • the power unit supports the outer casing through the traveling wheel, and the invention is fixed on the window by the suction cup walking device and can pass the suction cup The walking device walks on the window to improve safety;
  • the steam circulation mechanism is used to collect and filter the sewage on the belt-shaped cloth and then convert it into steam to supply the belt-shaped cloth cleaning window, which not only saves water, but also helps the stain
  • the erasing can also play the role of sterilization; its structure is reasonable, the structure is simple, the use is convenient, water conservation, safety Reliable, Chile The advantages of high degree of energy can effectively solve the problem that the existing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Plasma & Fusion (AREA)
  • Environmental & Geological Engineering (AREA)
  • Sustainable Energy (AREA)
  • Thermal Sciences (AREA)
  • Robotics (AREA)
  • Cleaning In General (AREA)
  • Apparatus For Disinfection Or Sterilisation (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

一种气动式自行走蒸汽循环擦窗机器人，包括底部外壳（1）、动力机构（2）、擦拭机构（3）、蒸汽循环机构（4），动力机构（2）包括主动轴（21）、随动轴（22）、第一电机（23）、行走轮（24）、吸盘行走装置（25）；吸盘行走装置（25）包括曲轴（251）、支撑杆（252）、吸盘（254）以及第二电机（255）；擦拭机构（3）包括带状擦布（31）、紫外线灭菌灯（12）以及旋转刷（32）；随动轴（22）与旋转刷（32）相互传动连接；蒸汽循环机构（4）包括通过管道依次串联的负压吸嘴（41）、负压泵（42）、污水箱沉淀箱（43）、过滤箱（44）以及蒸汽发生器（45）；该气动式自行走蒸汽循环擦窗机器人，其结构合理，具有结构简单、使用方便、节约用水、安全可靠、智能化程度高等优点，有效解决现有擦窗机器人擦不干净窗户边角的问题。

Description

一种气动式自行走蒸汽循环擦窗机器人 技术领域
本发明涉及擦窗机器人领域，尤其是涉及一种气动式自行走蒸汽循环擦窗机器人。
背景技术
在现在的社会中，随着科学技术的进步，人们的生活也变得越来越舒适，为了在工作之余减轻人们的负担，市面上不少用于打扫的机器人营运而生。特别是在擦窗户这种存在一定危险性的劳动，更需要机器人来代替此类工作。运用在窗户这种垂直于水平面的物体上的机器人需要在安全方面特别予以考虑，而且擦拭是否干净全面也是需要考虑的重要因素，但是现有的擦窗机器人存在着一些不足之处，比如说机器人擦窗过程中容易遗漏转角处，擦拭效果不好，还有就是采用的毛刷或者单块擦布进行擦拭，不能够随时清理，长时间使用后，擦拭效果下降，影响工作效率，擦窗用的水不能循环使用，不但浪费水资源，而且脏水低落影响环境整洁，而且擦窗机器人均具有安全绳，容易在行进过程中发生缠绕现象，不仅影响正常工作，还容易造成安全隐患。
发明内容
本发明要解决的技术问题是：为了克服上述中存在的问题，提供了一种气动式自行走蒸汽循环擦窗机器人，其结构合理，具有结构简单、使用方便、节约用水、安全可靠、智能化程度高等优点，有效解决现有擦窗机器人擦不干净窗户边角的问题。
本发明解决其技术问题所采用的技术方案是：一种气动式自行走蒸汽循环擦窗机器人，包括底部具有开口的外壳、动力机构、擦拭机构、蒸汽循环机构， 所述的外壳上设置有圆形凹槽、蓄电池、微控制器以及气泵；所述动力机构、蒸汽循环机构是设置在外壳的内腔；
所述的动力机构包括主动轴、随动轴、第一电机、行走轮、吸盘行走装置；所述主动轴、随动轴的两端分别与外壳相互转动连接，固定设置在外壳上的第一电机是与主动轴相互传动连接，所述的行走轮是分别与主动轴的两端相互固定连接；
所述的吸盘行走装置包括曲轴、支撑杆、吸盘以及第二电机；所述曲轴的两端分别通过轴承与外壳相互转动连接，曲轴上套设有转圜；所述的支撑杆通过转圜与曲轴相互转动连接，支撑杆上设置有吸盘；所述的吸盘是与气泵相互连接；所述的第二电机是固定设置在外壳上并与曲轴的一端相互传动链接；
所述的擦拭机构包括设置在主动轴和随动轴上的带状擦布、紫外线灭菌灯以及设置在随动轴两端的旋转刷；所述的紫外线灭菌灯是设置在带状擦布侧面的外壳上；所述的随动轴是具有方形中空内腔，随动轴的内腔中设置有挡块，挡块两端设置有方形滑块，方形滑块与挡块之间连接设置有缓冲弹簧；所述的方形滑块通过花键轴与旋转刷相互传动连接；
所述的蒸汽循环机构包括通过管道依次串联的负压吸嘴、负压泵、污水箱沉淀箱、过滤箱以及蒸汽发生器；所述的负压吸嘴是与带状擦布抵接；所述的过滤箱包括第一腔体、第二腔体、第三腔体；所述的蒸汽发生器包括电加热器、气化罐以及蒸汽喷嘴；所述的电加热器上设置有若干导热杆伸入气化罐内，所述的第三腔体底部设置有电磁阀与气化罐相互连通。
进一步的，所述的圆形凹槽内部通过球头滑动连接有安全绳环。
进一步的，所述的外壳上设置有用于控制本发明运行状态的开关。
进一步的，所述的转圜与曲轴之间设置有薄片式压力传感器。
进一步的，所述的带状擦布内侧设置有擦布张紧装置，擦布张紧装置包括与带状擦布内侧抵接的转轮以及与转轮相互连接的滑杆，滑杆穿过外壳与调节螺母相互连接，滑杆上套设有张紧弹簧。
进一步的，所述的带状擦布上设置有若干三角形凸块。
进一步的，所述的第二腔体内设置有过滤网。
进一步的，所述的微控制器分别与蓄电池、气泵、负压泵、第一电机、第二电机、电加热器、电磁阀、开关、紫外线灭菌灯相互电性连接。
本发明的有益效果是：一种气动式自行走蒸汽循环擦窗机器人，包括底部具有开口的外壳、动力机构、擦拭机构、蒸汽循环机构，动力机构、蒸汽循环机构是设置在外壳内，外壳上设置的圆形凹槽可将安全绳嵌入其中，防止安全绳之间的发生缠绕，提高擦窗机器人的安全性；擦拭机构包括设置在外壳内的带状擦布以及旋转刷，带状擦布用于擦拭窗户的中间位置，而旋转刷用于擦拭窗户的边角位置，不留死角擦窗更干净；动力装置通过行走轮支撑外壳，并通过吸盘行走装置将本发明固定在窗户上并可通过吸盘行走装置在窗户上行走，提高了安全性；蒸汽循环机构通过将带状擦布上的污水收集过滤后重新转化为蒸汽供给带状擦布擦窗使用，不但节约用水，而且蒸汽有助于污渍的擦除，还能起到杀菌的作用；其结构合理，具有结构简单、使用方便、节约用水、安全可靠、智能化程度高等优点，有效解决现有擦窗机器人擦不干净窗户边角的问题。
附图说明
下面结合附图和实施例对本发明进一步说明。
图1是本发明所述一种气动式自行走蒸汽循环擦窗机器人的仰视结构示意图；
图2是本发明所述一种气动式自行走蒸汽循环擦窗机器人的侧视结构示意图；
图3是本发明所述一种气动式自行走蒸汽循环擦窗机器人的吸盘行走装置结构示意图；
图4是本发明所述一种气动式自行走蒸汽循环擦窗机器人的负压吸嘴结构示意图；
图5是本发明所述一种气动式自行走蒸汽循环擦窗机器人的过滤箱、蒸汽发生器结构示意图；
图6是本发明所述一种气动式自行走蒸汽循环擦窗机器人的随动轴结构示意图；
图7是本发明所述一种气动式自行走蒸汽循环擦窗机器人的擦布张紧装置结构示意图；
图8是本发明所述一种气动式自行走蒸汽循环擦窗机器人的外壳结构示意图；
图9是本发明所述一种气动式自行走蒸汽循环擦窗机器人的圆形凹槽结构示意图。
附图中标记分述如下：1、外壳，11、圆形凹槽，12、紫外线灭菌灯，13、蓄电池，14、微控制器，15、开关，16、球头，17、安全绳环，18、气泵，2、动力机构，21、主动轴，22、随动轴，221、方形滑块，222、挡块，223、缓冲弹簧，23、第一电机，24、行走轮，25、吸盘行走装置，251、曲轴，252、支撑杆，253、转圜，254、吸盘，255、第二电机，256、轴承，3、擦拭机构，31、带状擦布，32、旋转刷，33、擦布张紧装置，331、转轮，332、滑杆，333、调节螺母，334、张紧弹簧，34、三角形凸块，4、蒸汽循环机构，41、负压吸嘴， 42、负压泵，43、污水箱沉淀箱，44、过滤箱，441、第一腔体，442、第二腔体，443、第三腔体，444、电磁阀，45、蒸汽发生器，451、电加热器，452、导热杆，453、气化罐，454、蒸汽喷嘴。
具体实施方式
现在结合附图对本发明作进一步详细的说明。这些附图均为简化的示意图，仅以示意方式说明本发明的基本结构，因此其仅显示与本发明有关的构成。
如图1、图2所示的一种气动式自行走蒸汽循环擦窗机器人，包括底部具有开口的外壳1、动力机构2、擦拭机构3、蒸汽循环机构4，所述的外壳1上设置有圆形凹槽11、蓄电池13、微控制器14以及气泵18；所述动力机构2、蒸汽循环机构4是设置在外壳1的内腔；
所述的动力机构2包括主动轴21、随动轴22、第一电机23、行走轮24、吸盘行走装置25；所述主动轴21、随动轴22的两端分别与外壳1相互转动连接，固定设置在外壳1上的第一电机23是与主动轴21相互传动连接，所述的行走轮24是分别与主动轴21的两端相互固定连接；
在一种可能的实施例中，行走轮24上设置有吸盘254，吸盘254与气泵18相互连接。
如图1、图3所示，所述的吸盘行走装置25包括曲轴251、支撑杆252、吸盘254以及第二电机255；所述曲轴251的两端分别通过轴承256与外壳1相互转动连接，曲轴251上套设有转圜253；所述的支撑杆252通过转圜253与曲轴251相互转动连接，支撑杆252上设置有吸盘254；所述的吸盘254是与气泵18相互连接；所述的第二电机255是固定设置在外壳1上并与曲轴251的一端相互传动链接；
如图1、图2、图6所示，所述的擦拭机构3包括设置在主动轴21和随动 轴22上的带状擦布31、紫外线灭菌灯12以及设置在随动轴22两端的旋转刷32；所述的紫外线灭菌灯12是设置在带状擦布31侧面的外壳上；所述的随动轴22是具有方形中空内腔，随动轴22的内腔中设置有挡块222，挡块222两端设置有方形滑块221，方形滑块221与挡块222之间连接设置有缓冲弹簧223；所述的方形滑块221通过花键轴与旋转刷32相互传动连接；所述的缓冲弹簧223用于防止本发明与窗户边角相撞而掉落，增强安全性。
如图2、图5所示，所述的蒸汽循环机构4包括通过管道依次串联的负压吸嘴41、负压泵42、污水箱沉淀箱43、过滤箱44以及蒸汽发生器45；所述的负压吸嘴41是与带状擦布31抵接；所述的过滤箱44包括第一腔体441、第二腔体442、第三腔体443；所述的蒸汽发生器45包括电加热器451、气化罐453以及蒸汽喷嘴454；所述的电加热器451上设置有若干导热杆452伸入气化罐453内，所述的第三腔体443底部设置有电磁阀444与气化罐453相互连通。
所述的第三腔体443用于盛放过滤之后的清水，并通过电磁阀444的缓慢释放，清水在接触到导热杆452时迅速气化，蒸汽经由蒸汽喷嘴454喷到窗户上供擦拭机构3擦拭使用。
在一种实施例中，所述的第二腔体442内设置有过滤网，当然第二腔体442内也可能设置有其他固态、液态或者固液混合的过滤介质。
如图9所示，所述的圆形凹槽11内部通过球头16滑动连接有安全绳环17。
如图8所示，所述的外壳1上设置有用于控制本发明运行状态的开关15。在一种可能的实施例中，外壳1上不设置开关15，微控制器14通过无线统统设备与外界遥控装置相互连接。
在一种可能的实施例中，所述的转圜253与曲轴251之间设置有薄片式压力传感器。在另一种可能的实施例中，曲轴251与轴承256之间设置有薄片式 压力传感器。在另一种可能的实施例中，支撑杆252与通过压力传感器与吸盘254相互连接。压力传感器用于检测吸盘254是否与窗口吸合。
如图2、图9所示，所述的带状擦布31内侧设置有擦布张紧装置33，擦布张紧装置33包括与带状擦布31内侧抵接的转轮331以及与转轮331相互连接的滑杆332，滑杆332穿过外壳1与调节螺母333相互连接，滑杆332上套设有张紧弹簧334。带状擦布31在擦布张紧装置33作用下张紧，且当带状擦布31遇到凸起时压缩张紧弹簧334往内收缩，避免划破带状擦布31。
在一种可能的实施例中，所述的带状擦布31上设置有若干用于从窗户上刮下污渍的三角形凸块34，当然凸块34也可以是半圆形，凡是轴向表面成一条直线的长条状凸块皆可。
所述的微控制器14分别与蓄电池13、气泵18、负压泵42、第一电机23、第二电机255、电加热器451、电磁阀444、开关15、紫外线灭菌灯12相互电性连接。
本发明所述的一种气动式自行走蒸汽循环擦窗机器人，包括底部具有开口的外壳、动力机构、擦拭机构、蒸汽循环机构，动力机构、蒸汽循环机构是设置在外壳内，外壳上设置的圆形凹槽可将安全绳嵌入其中，防止安全绳之间的发生缠绕，提高擦窗机器人的安全性；擦拭机构包括设置在外壳内的带状擦布以及旋转刷，带状擦布用于擦拭窗户的中间位置，而旋转刷用于擦拭窗户的边角位置，不留死角擦窗更干净；动力装置通过行走轮支撑外壳，并通过吸盘行走装置将本发明固定在窗户上并可通过吸盘行走装置在窗户上行走，提高了安全性；蒸汽循环机构通过将带状擦布上的污水收集过滤后重新转化为蒸汽供给带状擦布擦窗使用，不但节约用水，而且蒸汽有助于污渍的擦除，还能起到杀菌的作用；其结构合理，具有结构简单、使用方便、节约用水、安全可靠、智 能化程度高等优点，有效解决现有擦窗机器人擦不干净窗户边角的问题。
以上述依据本发明的理想实施例为启示，通过上述的说明内容，相关工作人员完全可以在不偏离本项发明技术思想的范围内，进行多样的变更以及修改。本项发明的技术性范围并不局限于说明书上的内容，必须要根据权利要求范围来确定其技术性范围。

Claims (8)

  1. 一种气动式自行走蒸汽循环擦窗机器人，其特征在于：包括底部具有开口的外壳(1)、动力机构(2)、擦拭机构(3)、蒸汽循环机构(4)，所述的外壳(1)上设置有圆形凹槽(11)、蓄电池(13)、微控制器(14)以及气泵(18)；所述动力机构(2)、蒸汽循环机构(4)是设置在外壳(1)的内腔；
    所述的动力机构(2)包括主动轴(21)、随动轴(22)、第一电机(23)、行走轮(24)、吸盘行走装置(25)；所述主动轴(21)、随动轴(22)的两端分别与外壳(1)相互转动连接，固定设置在外壳(1)上的第一电机(23)是与主动轴(21)相互传动连接，所述的行走轮(24)是分别与主动轴(21)的两端相互固定连接；
    所述的吸盘行走装置(25)包括曲轴(251)、支撑杆(252)、吸盘(254)以及第二电机(255)；所述曲轴(251)的两端分别通过轴承(256)与外壳(1)相互转动连接，曲轴(251)上套设有转圜(253)；所述的支撑杆(252)通过转圜(253)与曲轴(251)相互转动连接，支撑杆(252)上设置有吸盘(254)；所述的吸盘(254)是与气泵(18)相互连接；所述的第二电机(255)是固定设置在外壳(1)上并与曲轴(251)的一端相互传动链接；
    所述的擦拭机构(3)包括设置在主动轴(21)和随动轴(22)上的带状擦布(31)、紫外线灭菌灯(12)以及设置在随动轴(22)两端的旋转刷(32)；所述的紫外线灭菌灯(12)是设置在带状擦布(31)侧面的外壳上；所述的随动轴(22)是具有方形中空内腔，随动轴(22)的内腔中设置有挡块(222)，挡块(222)两端设置有方形滑块(221)，方形滑块(221)与挡块(222)之间连接设置有缓冲弹簧(223)；所述的方形滑块(221)通过花键轴与旋转刷(32)相互传动连接；
    所述的蒸汽循环机构(4)包括通过管道依次串联的负压吸嘴(41)、负压 泵(42)、污水箱沉淀箱(43)、过滤箱(44)以及蒸汽发生器(45)；所述的负压吸嘴(41)是与带状擦布(31)抵接；所述的过滤箱(44)包括第一腔体(441)、第二腔体(442)、第三腔体(443)；所述的蒸汽发生器(45)包括电加热器(451)、气化罐(453)以及蒸汽喷嘴(454)；所述的电加热器(451)上设置有若干导热杆(452)伸入气化罐(453)内，所述的第三腔体(443)底部设置有电磁阀(444)与气化罐(453)相互连通。
  2. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的圆形凹槽(11)内部通过球头(16)滑动连接有安全绳环(17)。
  3. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的外壳(1)上设置有用于控制本发明运行状态的开关(15)。
  4. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的转圜(253)与曲轴(251)之间设置有薄片式压力传感器。
  5. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的带状擦布(31)内侧设置有擦布张紧装置(33)，擦布张紧装置(33)包括与带状擦布(31)内侧抵接的转轮(331)以及与转轮(331)相互连接的滑杆(332)，滑杆(332)穿过外壳(1)与调节螺母(333)相互连接，滑杆(332)上套设有张紧弹簧(334)。
  6. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的带状擦布(31)上设置有若干三角形凸块(34)。
  7. 根据权利要求1所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的第二腔体(442)内设置有过滤网。
  8. 根据权利要求1或3中任一权利要求所述的一种气动式自行走蒸汽循环擦窗机器人，其特征在于：所述的微控制器(14)分别与蓄电池(13)、气泵(18)、 负压泵(42)、第一电机(23)、第二电机(255)、电加热器(451)、电磁阀(444)、开关(15)、紫外线灭菌灯(12)相互电性连接。
PCT/CN2017/101412 2017-08-01 2017-09-12 一种气动式自行走蒸汽循环擦窗机器人 WO2019024180A1 (zh)

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