WO2020177136A1

WO2020177136A1 - Fully automatic window cleaning robot

Info

Publication number: WO2020177136A1
Application number: PCT/CN2019/077388
Authority: WO
Inventors: 檀俊坤; 包书海
Original assignee: 檀俊坤
Priority date: 2019-03-07
Filing date: 2019-03-07
Publication date: 2020-09-10

Abstract

A fully automatic window cleaning robot, comprising a substrate (11); walking devices (2) are provided at two sides of the substrate (11) in a cleaning direction; and two cleaning modules (3) are symmetrically provided on one side of the substrate (11) facing a working surface; each of the cleaning modules (3) comprises a support plate (31), a back plate (32) being fixedly mounted on a side edge of the support plate (31), and one end of a link net (33) being fixedly connected to an inner side of the back plate (32). The link net (33) comprises a set of cylinders (331), the ends of each two adjacent cylinders (331) are rotatably connected to each other by means of a rotating plate (332), a cleaning cloth (51) is fixedly connected to the side of the link net (33) facing away from the support plate (31), and a pressure sensor (53) embedded and mounted on the cylinder (331) is provided on the side of each cylinder (331) connected to the cleaning cloth (51). The distance between the two cleaning modules (3) is adjusted by means of an adjustment device (6). The link net (33) on which the cleaning cloth (51) is mounted is pressed, by means of a pressing plate (72), to be attached to a right-angle surface formed by a window frame (100) and a glass (200), so that a corner can be cleaned thoroughly. The position of the pressing plate (72) is adjustable, so that cleaning can be performed on windows having different sizes, improving the cleaning efficiency.

Description

A fully automatic window cleaning robot

Technical field

The invention relates to the technical field of window cleaning devices, in particular to a fully automatic window cleaning robot.

Background technique

The scrubbing of building windows and glass has always been a problem that plagues residents of modern buildings. For safety reasons, it is difficult for ordinary people to scrub the outside of the window. At present, the glass curtain walls of office buildings are usually hung out of the windows by workers to operate the window cleaner to scrub, which is not only dangerous but also inefficient.

When designing high-rise buildings, people use different materials, as shown in Figure 1 and Figure 9. The distance D from the outer side of the window frame 100 to the surface of the glass 200 of different buildings is different, and this difference causes the window frame 100 Different construction machines are required to clean the right-angled surface formed with glass 200, which results in a lower adaptability range of a machine. At the same time, the existing window cleaning machinery is often designed for the glass surface, which ignores the window frame and the window frame and the glass surface. The clean-up of the corners in between caused incomplete clean-up.

Summary of the invention

In order to make up for the shortcomings of the prior art, the present invention proposes a fully automatic window cleaning robot to solve the technical problem of the low adaptability of a window cleaning machine in the prior art.

The technical solutions adopted by the present invention to solve its technical problems are:

The automatic window cleaning robot according to the present invention includes a substrate, and a controller is fixedly installed on one side of the substrate; walking devices are provided on both sides of the substrate along the scrubbing direction; the substrate faces the side of the working surface Two cleaning modules arranged symmetrically;

Wherein, each cleaning module includes a support plate, one side edge of the support plate is fixedly installed with a backing plate, the inner side of the backing plate is fixedly connected to one end of the chain net, and the chain net includes a set of cylinders, and every two adjacent cylinders The ends are connected to each other in rotation by a rotating plate, and a scrub cloth is fixedly connected to the side of the chain net away from the support plate. The side of the scrub cloth facing the working surface is covered with elastic bristles, and the side of each column connected with the scrub cloth is embedded Pressure sensor installed on the cylinder; the distance between the two cleaning modules is adjusted by the adjusting device.

Preferably, the adjusting device includes a sliding block. Each support plate is equipped with a sliding block. The sliding block is installed in the sliding groove of the base plate in a sliding fit. The two ends of the sliding groove are respectively fixedly installed with a vertical plate. The screw rod is rotated between the two vertical plates, and the driving motor is fixedly installed on the other side of one of the vertical plates. The output shaft of the driving motor penetrates the vertical plate and is fixedly connected to one end of the screw rod. The outer ring of the screw rod is symmetrically provided with left-handed threads Threaded section and right-handed threaded section, the left-handed threaded section of the screw rod is threadedly connected to a slider, and the right-handed threaded section of the threaded rod is threadedly connected to another slider. The rotation of the threaded rod is used to adjust the distance between the two sliders; A pressing device is also fixedly installed on the side of the support plate facing the scrubbing surface.

Preferably, the walking device includes a fixed box fixedly installed at the four corners of the base plate, and an electric push rod is fixedly installed in each fixed box, and the end of the electric push rod is fixedly installed on one side of the sliding plate, and the sliding plate is further A first telescopic rod is fixedly installed on one side, and a suction cup is fixedly installed at the end of the first telescopic rod.

Preferably, the suction cup includes a rubber cover, the side of the rubber cover facing the adsorption surface is provided with an arc-shaped cavity, and an exhaust valve and an intake valve are fixedly mounted on the outside of the rubber cover, and both the exhaust valve and the intake valve The arc-shaped cavities are respectively connected, the air inlet valve is connected with the air outlet pipe of the air pump, and the air pump is fixedly installed on the other side of the base plate.

Preferably, the pressing device includes a second telescopic rod fixedly installed on the other side edge of the support plate, the end of the second telescopic rod is fixedly installed with a pressure plate, the chain net surrounds the surface of the pressure plate, and the other end of the chain net is fixed Install a movable block, the movable block is slidably installed on the side of the pressure plate facing the support plate, the other side of the movable block is fixedly installed with one end of the spring, and the other end of the spring is fixedly connected to the rod of the second telescopic rod;

Preferably, the surface of the pressure plate contacting the scrubbing cloth is provided with grooves, and a set of roller shafts are rotatably installed in the grooves at intervals, and the roller shafts protrude from the edges of the grooves and contact the chain net.

The beneficial effects of the present invention are as follows:

The present invention squeezes the chain net installed with the scrubbing cloth on the right-angled surface formed by the window frame and the glass through the pressing plate, and can deep clean the corners; the position of the pressing plate is adjustable, so that windows of different specifications can be cleaned ; At the same time, the screw is used to adjust the spacer between the two sliders, so that the two cleaning modules are close to or away from each other, fully wrapping the right-angle surfaces on both sides of the window frame, and improving cleaning efficiency.

Description of the drawings

The present invention will be further described below in conjunction with the drawings.

Figure 1 is a working condition diagram of the present invention applied outside the glass curtain wall;

Figure 2 is a front view of the present invention;

Figure 3 is a sectional view of A-A in Figure 2;

Figure 4 is a schematic structural diagram of the cleaning module in Figure 3;

Figure 5 is a partial enlarged view of E in Figure 4;

Figure 6 is a front view of the chain network;

Figure 7 is a cross-sectional view of C-C in Figure 2;

Figure 8 is a partial enlarged view of F in Figure 7;

Fig. 9 is a cross-sectional view taken along line H-H in Fig. 1.

detailed description

In order to make it easy to understand the technical means, creative features, goals and effects achieved by the present invention, the present invention will be further explained below in conjunction with specific embodiments.

Example 1

As shown in Figures 1 to 8, the fully automatic window cleaning robot of the present invention includes a substrate 11, a controller 12 is fixedly mounted on one side of the substrate 11, and the controller 12 is used to control the automatic operation of the robot; The substrate 11 is provided with walking devices 2 on both sides in the scrubbing direction. The walking device 2 includes fixed boxes 21 fixedly installed at the four corners of the substrate 11, and an electric push rod 22 is fixedly installed in each fixed box 21. The end of the electric push rod 22 is fixedly mounted on one side of the sliding plate 23, and the other side of the sliding plate 23 is fixedly mounted with a first telescopic rod 24. The end of the first telescopic rod 24 is fixedly mounted with a suction cup 4, which is used to adsorb on The surface of the glass 200; the suction cup 4 includes a rubber cover 41, the side of the rubber cover 41 facing the suction surface is provided with an arc-shaped cavity 42, and the outer side of the rubber cover 41 is fixedly installed with an exhaust valve 43 and an intake valve 44, The exhaust valve 43 and the intake valve 44 are respectively connected to the arc-shaped cavity 42. The intake valve 44 is connected to the outlet pipe of the inflatable pump 45, which is fixedly installed on the other side of the base plate 11; Two cleaning modules 3 are arranged symmetrically toward the side of the working surface. Each cleaning module 3 includes a supporting plate 31. One side edge of the supporting plate 31 is fixedly installed with a backing plate 32, and the inner side of the backing plate 32 is fixedly connected to the chain net. At one end of the chain net 33, the chain net 33 includes a set of cylinders 331. The ends of every two adjacent cylinders 331 are rotatably connected to each other by a rotating plate 332. The scrub cloth 51 is fixedly connected to the side of the chain net 33 facing away from the support plate 31. The side of the scrubbing cloth 51 facing the working surface is covered with elastic bristles 52, and the side of each cylinder 331 connected with the scrubbing cloth 51 is provided with a pressure sensor 53 embedded and installed on the cylinder 331; the two cleaning modules 3 are controlled by the adjusting device 6 spacing.

Specifically, the adjusting device 6 includes a slider 61. Each support plate 31 is respectively mounted with a slider 61, and the slider 61 is slidably fitted in the sliding groove 111 of the base plate 11, and both ends of the sliding groove 111 A vertical plate 62 is respectively fixedly installed, a screw rod 63 is rotatably installed between the two vertical plates 62, and a drive motor 64 is fixedly installed on the other side of one of the vertical plates 62. The output shaft of the drive motor 64 penetrates the vertical plate 62 and connects with the wire. One end of the rod 63 is fixedly connected, the outer ring of the screw 63 is symmetrically provided with a left-hand thread section and a right-hand thread section, the left-hand thread section of the screw rod 63 is threadedly connected to a slider 61, and the right-hand thread section of the threaded rod 63 is threadedly connected The other slider 61, the screw rod 63 is rotated to adjust the distance between the two sliders 61, so that the two support plates 31 are close to or away from each other; the support plate 31 is also fixedly installed and compressed on the side facing the scrubbing surface Device 7, the pressing device 7 is used to squeeze the scrubbing cloth 51 onto the right-angled surface formed by the transfer of the window frame 100 and the glass 200.

Specifically, the pressing device 7 includes a second telescopic rod 71 fixedly installed on the other side edge of the support plate 31, the end of the second telescopic rod 71 is fixedly installed with a pressure plate 72, and the chain net 33 surrounds the pressure plate 72. On the surface, the other end of the chain net 33 is fixedly installed with a movable block 73, the movable block 73 is slidably installed on the side of the pressing plate 72 facing the support plate 31, and the other side of the movable block 73 is fixedly installed with one end of the spring 74, the spring 74 The other end is fixedly connected to the rod of the second telescopic rod 71; the surface of the pressing plate 72 contacting the scrubbing cloth 51 is provided with grooves, and a set of roller shafts 75 are rotatably installed in the grooves, and the roller shafts 75 protrude The groove is along the mouth and in contact with the chain net 33.

The working principle of the present invention is as follows:

The operator attaches the device to the window frame so that the suction cup 4 is adsorbed on the glass 200; when walking and wiping, in the walking direction, when the suction cup 4 at the front is inflated and released, the front slide 23 plays the role of the electric push rod 22 After extending, the suction cup 4 at the front end is squeezed and attached to the surface of the glass 200 under the action of the first telescopic rod 24. At this time, the suction cup 4 at the rear end can be released and pass the first telescopic rod. 24 shrinks away from the surface of the glass 200; subsequently, the electric push rod 22 at the front end shrinks to move the entire basic pull forward to realize automatic scrubbing; the realization of various actions in the above-mentioned moving work are all coordinated and distributed on the robot by the controller 12 The position sensor, pressure sensor 53, cooperate with the control system and program to realize automatic operation;

As shown in Figures 1 and 9, the distance D from the outer side of the window frame 100 to the surface of the glass 200 is different in different buildings, and this difference makes it difficult to clean the right-angled surface formed by the window frame 100 and the glass 200. In conjunction with the pressing device 7, the pressing plate 72 of the pressing device 7 squeezes the chain net 33 to the above-mentioned right-angled surface. As the dimension D increases, the second telescopic rod 71 extends, and the sliding block at the other end of the chain net 33 follows As it moves under tension, part of the chain net 33 surrounding the back of the pressing plate 72 moves to the surface of the glass 200 so as to adapt to the increase in the size D.

Furthermore, the width of the window frame 100 is different, which also restricts the adaptability of the robot. The rotation of the screw 63 is used to adjust the distance between the two sliders 61, and the built-in pressure sensor 53 is also matched to make the two cleaning modules 3 Close to or away from each other, fully wrap the right-angled surfaces on both sides of the window frame 100, so that the cleaning of the window frames 100 of different specifications can be solved.

Although the present invention is described through specific embodiments, those skilled in the art should understand that various changes and equivalent substitutions can be made to the present invention without departing from the scope of the present invention. In addition, various modifications can be made to the present invention for specific situations or materials without departing from the scope of the present invention. Therefore, the present invention is not limited to the disclosed specific embodiments, but should include all embodiments falling within the scope of the claims of the present invention.

Claims

A fully automatic window cleaning robot, comprising a substrate (11), a controller (12) is fixedly installed on one side of the substrate (11); walking devices (2) are provided on both sides of the substrate (11) in the scrubbing direction Characterized in that: the two cleaning modules (3) are symmetrically arranged on the side of the substrate (11) facing the working surface;

Wherein, each cleaning module (3) includes a supporting plate (31), one side edge of the supporting plate (31) is fixedly installed with a backing plate (32), and the inner side of the backing plate (32) is fixedly connected to the chain net (33) The chain net (33) includes a set of cylinders (331), and the ends of every two adjacent cylinders (331) are connected to each other by rotating plates (332), and the chain net (33) faces the support plate ( One side of 31) is fixedly connected with a scrubbing cloth (51), the side of the scrubbing cloth (51) facing the working surface is covered with elastic bristles (52), and the side of each column (331) connected with the scrubbing cloth (51) is provided The pressure sensor (53) is embedded and installed on the cylinder (331); the distance between the two cleaning modules (3) is adjusted by the adjusting device (6).
The fully automatic window cleaning robot according to claim 1, characterized in that: the adjusting device (6) comprises a sliding block (61), and a sliding block (61) is installed on each support plate (31), The sliding block (61) is installed in the sliding groove (111) of the base plate (11) in a sliding fit, and the two ends of the sliding groove (111) are respectively fixedly installed with a vertical plate (62), one of the two vertical plates (62) The screw rod (63) is installed by rotating the screw rod (63), and the driving motor (64) is fixedly installed on the other side of one of the vertical plates (62). The output shaft of the driving motor (64) penetrates the vertical plate (62) and is connected with the screw rod (63). One end is fixedly connected, the outer ring of the screw rod (63) is symmetrically provided with a left-hand thread section and a right-hand thread section. The left-hand thread section of the screw rod (63) is threadedly connected to a slider (61), and the screw rod (63) The right-hand threaded section is threadedly connected to another slider (61), the screw (63) is rotated to adjust the distance between the two sliders (61); the support plate (31) is also fixedly installed on the side facing the scrubbing surface Compression device (7).
The fully automatic window cleaning robot according to claim 1, characterized in that: the walking device (2) comprises fixed boxes (21) fixedly installed on the four corners of the base plate (11), and each fixed box (21) An electric push rod (22) is fixedly installed inside the electric push rod (22), one side of the sliding plate (23) is fixedly installed at the end of the electric push rod (22), and the first telescopic rod (24) is fixedly installed on the other side of the sliding plate (23). ), the end of the first telescopic rod (24) is fixedly installed with a suction cup (4).
A fully automatic window cleaning robot according to claim 3, characterized in that: the suction cup (4) comprises a rubber cover (41), and the rubber cover (41) is provided with an arc-shaped recess on the side facing the suction surface. Cavity (42), the outer side of the rubber cover (41) is fixedly installed with an exhaust valve (43) and an intake valve (44), the exhaust valve (43) and the intake valve (44) are respectively connected to the arc-shaped cavity ( 42), the air inlet valve (44) is connected with the air outlet pipe of the air pump (45), and the air pump (45) is fixedly installed on the other side of the base plate (11).
The automatic window cleaning robot according to claim 2, characterized in that: the pressing device (7) comprises a second telescopic rod (71) fixedly installed on the other side edge of the support plate (31), so The end of the second telescopic rod (71) is fixedly installed with a pressure plate (72), the chain net (33) is surrounded on the surface of the pressure plate (72), and the other end of the chain net (33) is fixedly installed with a movable block (73). The block (73) is slidably installed on one side of the pressing plate (72) facing the support plate (31), the other side of the movable block (73) is fixedly installed with one end of the spring (74), and the other end of the spring (74) is connected to the The rod parts of the two telescopic rods (71) are fixedly connected.
The automatic window cleaning robot according to claim 5, characterized in that: the surface of the pressing plate (72) contacting the scrubbing cloth (51) is provided with grooves, and a set of rollers are installed in the grooves to rotate at intervals A shaft (75). The roller shaft (75) protrudes from the edge of the groove and contacts the chain net (33).