CN212661747U - A launch-adsorption intelligent obstacle-crossing window cleaning robot - Google Patents
A launch-adsorption intelligent obstacle-crossing window cleaning robot Download PDFInfo
- Publication number
- CN212661747U CN212661747U CN202020998054.2U CN202020998054U CN212661747U CN 212661747 U CN212661747 U CN 212661747U CN 202020998054 U CN202020998054 U CN 202020998054U CN 212661747 U CN212661747 U CN 212661747U
- Authority
- CN
- China
- Prior art keywords
- cleaning
- launch
- panel
- adsorption
- sleeve rod
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 144
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 67
- 230000003749 cleanliness Effects 0.000 claims abstract description 14
- 239000004744 fabric Substances 0.000 claims description 18
- 238000007790 scraping Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 230000000007 visual effect Effects 0.000 claims description 4
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 3
- 229920002430 Fibre-reinforced plastic Polymers 0.000 claims description 3
- 239000004917 carbon fiber Substances 0.000 claims description 3
- 239000011151 fibre-reinforced plastic Substances 0.000 claims description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 3
- 239000002657 fibrous material Substances 0.000 claims description 2
- 230000017525 heat dissipation Effects 0.000 claims description 2
- 229920001410 Microfiber Polymers 0.000 claims 1
- 239000011521 glass Substances 0.000 abstract description 31
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
本专利提供了一种发射吸附式智能越障擦窗机器人，该机器人包括壳体、吸附行进系统、清洁系统、发射牵引越障系统、旋转伸缩系统和控制系统。有益效果是该机器人可以检测玻璃窗面的洁净度，自主控制或通过遥控器远程控制其在玻璃窗面上的移动清洁工作，并可通过控制发射平台伸缩套杆的升降、圆形旋转底盘的旋转、发射器转轴的转动，最终选择合适的高度、角度和方向向两个相反的方向分别发射带有微型真空泵的真空吸盘，依靠真空吸盘的吸附和发射绳的收放来实现越障功能，使其能够越过窗框或凸出墙体等障碍，完成多扇玻璃窗面的清洁工作。该机器人还配备有太阳能充电系统，可以在工作的同时进行充电，体现了智能、环保、节能的理念。
This patent provides a launch-adsorption-type intelligent obstacle-crossing window-cleaning robot, which includes a casing, an adsorption-travel system, a cleaning system, a launch-and-traction obstacle-crossing system, a rotation telescopic system and a control system. The beneficial effect is that the robot can detect the cleanliness of the glass window surface, control its movement and cleaning work on the glass window surface independently or remotely through a remote control, and can control the lifting and lowering of the telescopic sleeve rod of the launch platform and the rotation of the circular rotating chassis. Rotation, the rotation of the launcher shaft, and finally select the appropriate height, angle and direction to launch the vacuum suction cups with micro vacuum pumps in two opposite directions respectively, relying on the adsorption of the vacuum suction cups and the retraction and release of the launch rope to achieve the obstacle crossing function, It can cross obstacles such as window frames or protruding walls to complete the cleaning of multiple glass windows. The robot is also equipped with a solar charging system, which can be charged while working, reflecting the concept of intelligence, environmental protection and energy saving.
Description
Technical Field
The utility model relates to an artificial intelligence robot field especially relates to a can remove clear transmission absorption formula intelligence and cross barrier window wiping robot between high building glass window face.
Background
With the rapid increase of the economic level and the technological level of the building industry, more and more high buildings are produced, and most of the buildings are provided with a plurality of glass windows, so the regular cleaning work of the glass windows becomes a difficult problem. At present, the traditional method is still generally adopted and depends on a spider man to carry out manual cleaning operation, but low efficiency and high risk exist. In order to meet the social requirements, the window cleaning robot is produced at the same time. The cleaning system is mainly matched with a cleaning system through an adsorption traveling system of the cleaning system to complete the cleaning task of the glass windows, but has great limitation, and certain wall obstacles are sometimes arranged between the glass windows according to the practical situation of building design except for a frame, so that the cleaning system is only limited to the cleaning work of a single glass window, and the cleaning of multiple glass windows can not be carried out by independently crossing the obstacles. Therefore, in order to solve the problem, the development of an intelligent obstacle-crossing window-cleaning robot capable of sequentially completing the cleaning work of multiple windows across obstacles is urgently needed.
Disclosure of Invention
To structural not enough among the prior art, the purpose of this patent is to provide an emission adsorption-type intelligence hinders more and wipes window robot to do benefit to and independently stride across the obstacle and carry out the clean problem of many glass windows.
In order to achieve the purpose, the technical scheme adopted by the patent is to provide the emission type intelligent obstacle-crossing window-cleaning robot. Wherein: the robot includes: the device comprises a shell, an adsorption advancing system, a cleaning system, a launching traction obstacle crossing system, a rotary telescopic system, a control system and a charging system.
The adsorption advancing system comprises a vacuum pump, an adsorption disc, a thrust fan, a roller, a universal wheel and an infrared obstacle avoidance sensor; the adsorption disc is connected with a vacuum pump, an air exhaust hole and an air outlet hole are formed in the adsorption disc, and the size of adsorption force can be changed by adjusting the air flow speed of the air exhaust hole and the air outlet hole; the thrust fans are arranged on the solar panel at equal intervals, so that the robot can realize re-adsorption after traction and obstacle crossing are finished, and stable adsorption of the robot is guaranteed; the universal wheels and the rollers are arranged on the cleaning panel in a triangular distribution manner, so that the device can flexibly move on the surface of the glass window; the adsorption disc is made of a material with small transverse friction, and when the vacuum pump works, the negative pressure formed in the adsorption disc can realize flexible movement while adsorption only by providing additional pressure caused by the change of the roller part; the infrared obstacle avoidance sensors are respectively arranged around the cleaning panel, so that the robot can be ensured to effectively avoid obstacles when encountering the obstacles.
The cleaning system comprises cleaning cloth, a stain scraping strip and a cleanliness sensor; the cleaning cloth, the stain scraping strip and the adsorption advancing system are mutually matched to realize multiple cleaning operations; the cleanliness sensor is arranged on the bottom surface of the cleaning panel, realizes real-time detection on the cleanliness of the glass window surface, and controls the cleaning process of the robot according to the acquired cleanliness information.
The transmitting and traction obstacle crossing system comprises a main transmitter, an auxiliary transmitter, a transmitter rotating shaft, a visual sensor, a transmitting bracket, a transmitting platform, a transmitter driving motor, a vacuum chuck, a micro vacuum pump, a transmitting rope, a winch and a winch driving motor; the main emitter and the auxiliary emitter are symmetrically and reversely mounted, vacuum suckers with micro vacuum pumps are respectively emitted in two opposite directions, traction and obstacle crossing are completed by means of adsorption of the vacuum suckers and retraction of the emitting ropes, and cleaning of multiple glass window surfaces is achieved.
The rotary telescopic system structure comprises a launching platform telescopic sleeve rod, a launching platform telescopic sleeve rod driving motor, a circular rotary chassis driving motor, a cleaning panel telescopic sleeve rod and a cleaning panel telescopic sleeve rod driving motor; the telescopic sleeve rod of the launching platform is driven to stretch by a driving motor of the telescopic sleeve rod of the launching platform, so that the launching height is adjusted; the circular rotating chassis is driven to rotate by a circular rotating chassis driving motor, and the transmitting direction is adjusted; the telescopic sleeve rod of the cleaning panel is driven to stretch by the telescopic sleeve rod driving motor of the cleaning panel, so that the cleaning panel can be collected inside the shell when not being cleaned, the traction obstacle crossing is facilitated, and the telescopic sleeve rod of the cleaning panel stretches out and protrudes out of the plane of the bottom shell to clean when being cleaned.
The control system comprises a display screen, a control button, a loudspeaker, a controller and a remote controller; the display screen can display the running state of the robot in real time; the control button can control and set the operation of the robot; the loudspeaker can realize voice broadcasting and alarming functions; the controller is used for controlling and coordinating all actions of the robot; the remote controller can realize remote control of the robot.
The charging system comprises a charging socket, a solar panel and a storage battery; the charging socket can be externally connected with a power supply for charging; solar panel can realize solar charging, store the electric energy that produces in the battery, as work or emergency power source.
The beneficial effect of this patent is:
(1) this patent has stable absorption removal and keeps away the barrier function through the cooperation of vacuum pump, absorption dish, thrust fan, rotation wheel and universal wheel on the glass window face.
(2) Clean dead angle problem has effectively been solved to this patent to adopted multiple clean working method, cooperate with cleanliness factor inspection function during the cleanness, clean respond well.
(3) The glass window cleaning device can cross obstacles such as glass window frames and walls, and clean multiple glass window surfaces.
(4) The robot can be controlled to finish a series of actions such as moving cleaning, dragging obstacle crossing and the like through remote control of a remote controller or autonomous control of a built-in controller.
(5) This patent has external power supply and the dual power supply mode of solar charging, has effectively solved the problem that the robot can't normally work because of the electric quantity is not enough.
(6) The shell is designed into a bowl shape, the inclination angle of the shell is fully utilized, and the robot can effectively cross an obstacle in the process of traction and obstacle crossing; the shell and the bottom shell of the robot are made of fiber reinforced plastics, and a layer of high-strength wear-resistant rubber layer wraps the outer side of the shell, so that the problem of abrasion of the robot and a glass window surface caused by traction, movement and friction is solved.
Drawings
FIG. 1 is a schematic structural diagram of an emission adsorption type intelligent obstacle-crossing window-cleaning robot;
FIG. 2 is a top view of an emission adsorption type intelligent obstacle-crossing window-cleaning robot;
FIG. 3 is a schematic view of the fully retracted configuration of the telescoping rods;
FIG. 4 is a bottom view of an emission adsorption type intelligent obstacle-crossing window-cleaning robot;
FIG. 5 is a front cross-sectional view of an emission adsorption type intelligent obstacle-crossing window-cleaning robot;
FIG. 6 is a schematic view of the cleaning panel being extended;
FIG. 7 is a schematic view of the cleaning panel being retracted;
FIG. 8 is a partial schematic view of the winch;
FIG. 9 is a schematic view of a remote control;
FIG. 10 is a schematic view of a vacuum chuck suction process
FIG. 11 is a schematic diagram of an emission adsorption type intelligent obstacle-crossing and window-cleaning robot for emission traction obstacle crossing;
FIG. 12 is a flow chart of the start cleaning process of the emission adsorption type intelligent obstacle-crossing window-cleaning robot;
FIG. 13 is a control flow chart of the emission adsorption type intelligent obstacle-crossing window-cleaning robot for cleaning a single glass window;
FIG. 14 is a control flow chart of the emission adsorption type intelligent obstacle-crossing window-cleaning robot for dragging the obstacle-crossing window-cleaning robot to clean multiple glass windows;
fig. 15 is a block diagram of a control system of an emission adsorption type intelligent obstacle-crossing window-cleaning robot.
In the figure:
1. vacuum chuck 2. main emitter
3. Emitter driving motor 4. emitting platform
5. Thrust fan 6. solar panel
7. Case 8, heat radiation hole
9. Cleaning panel 10 infrared obstacle avoidance sensor
11. Charging socket 12, launching platform telescopic loop bar
13. Control button 14, display screen
15. Loudspeaker 16, emission support
17. Auxiliary launcher 18. round hole of launching platform
19. Bottom shell 20. bolt
21. Adsorption disc 22, air outlet
23. Cleaning cloth 24. universal wheel
25. Spot scraping strip 26, air exhaust hole
27. Roller 28. cleanliness sensor
29. Micro vacuum pump 30. launching platform telescopic sleeve rod driving motor
31. Capstan drive motor 32. circular rotating chassis
33. Circular rotary chassis driving motor 34, cleaning panel telescopic loop bar
35. Cleaning panel telescopic sleeve rod driving motor 36, controller
37. Accumulator 38 vacuum pump
39. Transmitting rope 40 visual sensor
41. Circular hole 42 at tail of emitter winch
43. Antenna 44 remote controller
45. Rotating shaft of emitter
Detailed Description
The structure of the emission adsorption type intelligent obstacle-crossing window-cleaning robot is described below with reference to the accompanying drawings.
As shown in fig. 1-13, the emission adsorption type intelligent obstacle-crossing window-cleaning robot comprises a housing 7, an adsorption traveling system, a cleaning system, an emission traction obstacle-crossing system, a rotary telescopic system, a control system and a charging system.
The adsorption advancing system structure comprises a vacuum pump 38, an adsorption disc 21, a thrust fan 5, a roller 27, a universal wheel 24 and an infrared obstacle avoidance sensor 10; vacuum pump 38 installs the central point that goes up the surface at clean panel 9 and puts, adsorption disc 21 installs the corresponding position of surface and vacuum pump 38 under clean panel 9, adsorption disc 21 is inside to be equipped with aspirating hole 26 and venthole 22, three thrust fan 5 is equidistant to be distributed and installs on solar panel 6, two gyro wheel 27 symmetry is installed on clean panel 9, universal wheel 24 is triangular distribution with gyro wheel 27 and installs on clean panel 9, guarantees that it is at same mounting height, infrared obstacle avoidance sensor 10 installs respectively around clean panel 9.
The cleaning system structure comprises a cleaning cloth 23, a stain scraping strip 25 and a cleanliness sensor 28; the cleaning cloth 23 is a square frame, and four top corners of the cleaning cloth are fixed on the cleaning panel 9 through bolts 20 respectively; the stain scraping strips 25 are arranged on the periphery of the inner frame of the cleaning cloth 23; the cleanliness sensor 28 is installed on the bottom surface of the cleaning panel 9.
The transmitting, pulling and obstacle crossing system structure comprises a main transmitter 2, an auxiliary transmitter 17, a transmitter rotating shaft 45, a vision sensor 40, a transmitting bracket 16, a transmitting platform 4, a transmitter driving motor 3, a vacuum chuck 1, a micro vacuum pump 29, a transmitting rope 39, a winch 42 and a winch driving motor 31, wherein the main transmitter 2 and the auxiliary transmitter 17 are symmetrically and reversely installed, the transmitters are connected with the transmitting bracket 16 through the rotating shaft, the vision sensor 40 is closely installed on a pipe body of the main transmitter 2, the transmitting bracket 16 is fixedly installed on the transmitting platform 4, and the transmitter driving motor 3 is fixedly installed on one side of the transmitting bracket 16; the vacuum chuck 1 is connected with a micro vacuum pump 29, the micro vacuum pump 29 is loaded in the launcher as an ejector, one end of a launching rope 39 is connected with the micro vacuum pump 29, the other end of the launching rope sequentially penetrates through a round hole 41 at the tail of the launcher, a round hole 18 of a launching platform, a telescopic loop bar 12 of the launching platform and finally is wound on a winch 42, the winch 42 is installed on a winch driving motor 31, and the winch driving motor 31 is symmetrically installed on two sides of a round rotating chassis 32.
The rotary telescopic system structure comprises a launching platform telescopic loop bar 12, a launching platform telescopic loop bar driving motor 30, a circular rotary chassis 32, a circular rotary chassis driving motor 33, a cleaning panel telescopic loop bar 34 and a cleaning panel telescopic loop bar driving motor 35; the flexible loop bar 12 of transmission platform and 4 fixed connection of transmission platform, the flexible loop bar driving motor 30 of transmission platform installs in the bottom of the flexible loop bar 12 of transmission platform to fixed mounting is in the positive center of circular rotatory chassis 32 upper surface, the positive center at circular rotatory chassis 32 lower surface is installed to circular rotatory chassis driving motor 33, the flexible loop bar 34 of clean panel is installed in the below of circular rotatory chassis driving motor 33, the flexible loop bar driving motor 35 of clean panel is installed in the flexible loop bar 34 bottom of clean panel.
The control system structure comprises a display screen 14, control buttons 13, a loudspeaker 15, a controller 36 and a remote controller 44; display screen 14 installs on solar panel 6, control button 13 designs to be installed under display screen 14, speaker 15 installs on solar panel 6, is located directly over display screen 14, controller 36 fixed mounting is at the upper surface of clean panel 9.
The charging system structure comprises a charging socket 11, a solar panel 6 and a storage battery 37; charging socket 11 installs the surface at robot housing 7, solar panel 6 and housing 7 lock installation, battery 37 fixed mounting is at the upper surface of clean panel 9.
The robot shell 7 is bowl-shaped, the bottom surface of the robot shell is hollowed and made of fiber reinforced plastics, a high-strength wear-resistant rubber layer wraps the outside of the robot shell, and heat dissipation holes 8 are reserved in the side surfaces of the robot shell; the bottom shell 19 is made of the same material as the shell 7, and a high-strength wear-resistant rubber layer is arranged outside the bottom shell and is buckled at the bottom of the robot shell 7.
The roller 27 can only rotate forwards and backwards, and the universal wheel 24 can rotate forwards and backwards and also can perform steering; the suction plate 21 is installed at the center of the cleaning panel 9, and the installation height of the suction plate is consistent with that of the roller 27 and the universal wheel 24.
The cleaning cloth 23 is made of superfine fiber materials, can be replaced, disassembled and washed regularly by disassembling the bolts 20, and has the installation height consistent with that of the adsorption disc 21; the stain scraping strip 25 has the same length as the inner frame of the cleaning cloth 23 and can be detachably mounted on the cleaning panel 9.
The vacuum chuck 1 has a certain inclination angle; the micro vacuum pump 29 is round, and a storage battery is arranged in the micro vacuum pump and does not need to be electrically connected; the launching rope 39 is made of high-strength carbon fiber ropes, and is wound on the corresponding winches 42 through the two reserved circular holes 18 of the launching platform, and the winches 42 are driven by the winch driving motor 31 to rotate to retract and release the launching rope 39; the winch driving motor 31 is arranged on the circular rotating chassis 32 and can rotate along with the circular rotating chassis 32; the emitter is arranged between the emission brackets 16 through an emitter rotating shaft 45, and the emitter driving motor 3 arranged on the emission brackets 16 can drive the emitter rotating shaft to rotate so as to drive the emitter to rotate within a certain angle range; the launching platform 4 is fixedly arranged at the top of the launching platform telescopic sleeve rod 12, and the launching platform telescopic sleeve rod 12 is driven to lift upwards by the launching platform telescopic sleeve rod driving motor 30 so as to control the launching platform 4 to lift and descend; the circular rotating chassis driving motor 33 can drive the circular rotating chassis 32 to freely rotate for 360 degrees, and the circular rotating chassis driving motor is relatively fixedly connected with the launching platform telescopic sleeve rod 12, so that the launching platform 4 is driven to rotate for 360 degrees; the cleaning panel telescopic loop bar driving motor 35 can drive the cleaning panel telescopic loop bar 34 to stretch downwards.
This patent transmission adsorbs formula intelligence and hinders more wiping window robot function is so realized:
as shown in fig. 1, fig. 2 and fig. 3, the structure schematic diagram, the top view and the structure schematic diagram of the telescopic rod which is fully retracted are shown in the patent. The emitter is mainly composed of a main emitter 2 and an auxiliary emitter 17 which are symmetrically and reversely mounted, so that the robot is dragged to move across obstacles; the vision sensor 40 is closely arranged on the pipe body of the main emitter 2, and can obtain the position information between the robot and the next glass window surface to be measured; the emitter driving motor 3 is fixedly arranged on one side of the emitting bracket 16, so that the emitter can be lifted up or down within a certain angle range to determine a proper emitting angle; the vacuum chuck 1 has a certain inclination angle, so that the emitted vacuum chuck 1 can be effectively attached when contacting with the glass window surface; the three thrust fans 5 are arranged on the solar panel 6 at equal intervals, so that the robot can be ensured to be re-adsorbed after traction and obstacle crossing are completed, and guarantee can be provided for stable adsorption of the robot; the display screen 14 is arranged on the solar panel 6 and can display the running state of the robot in real time; the control button 13 is designed and arranged right below the display screen 14, and the robot can be controlled and adjusted through the control button 13; the loudspeaker 15 is arranged on the solar panel 6 and is positioned right above the display screen 14, so that the voice broadcasting and alarming functions can be realized; the charging socket 11 is arranged on the outer surface of the robot shell 7 and can be charged; solar panel 6 and 7 lock installations of casing still can realize solar charging, as emergency power source, have solved the problem that the robot can't normally work in the course of the work because of the electric quantity is not enough. The two circular holes 18 of the launching platform are designed, so that the problem that the launching ropes 39 are mutually wound is effectively solved; the infrared obstacle avoidance sensors 10 are respectively arranged around the cleaning panel 9, so that the robot can be ensured to effectively avoid obstacles when encountering the obstacles.
Fig. 4 is a bottom view of the present patent. The suction holes 26 and the air outlet holes 22 are arranged in the adsorption disc 21, and the size of the adsorption force can be changed by adjusting the air flow speed of the suction holes 26 and the air outlet holes 22; the two rollers 27 are symmetrically arranged on the cleaning panel 9, the universal wheels 24 and the rollers 27 are arranged on the cleaning panel 9 in a triangular distribution manner, so that the same mounting height is ensured, and the robot can flexibly move on the surface of the glass window; the adsorption disc 21 is made of a material with small transverse friction force, and when the vacuum pump 38 works, the negative pressure formed in the adsorption disc can realize flexible movement while adsorption only by providing additional pressure caused by partial change of the roller 27; the cleaning cloth 23 is a square frame, so that the cleaning dead angle is effectively reduced to a certain extent; the four top corners are respectively fixed on the cleaning panel 9 through bolts 20 and can be detached and replaced at any time according to the use condition; the stain scraping strips 25 are arranged on the periphery of the inner frame of the cleaning cloth 23, so that stubborn stain spots can be scraped away by the device in linear and turning movement, and the stain scraping strips are matched with the cleaning cloth 23 under the action of adsorption force generated by the adsorption device, and a good cleaning effect is ensured; the cleanliness sensor 28 is arranged on the bottom surface of the cleaning panel 9, and can detect the cleanliness of the glass window surface to ensure the cleaning effect.
As shown in fig. 5, which is a front cross-sectional view of the present patent. The micro vacuum pump 29 is designed to be round in shape, so that the micro vacuum pump can be automatically retracted into the emitter; and the micro vacuum pump 29 is internally provided with a storage battery to solve the problem of electric connection; the launching rope 39 is made of high-strength carbon fiber ropes, so that the problem of friction damage is solved; one end of the launching rope 39 is connected with the micro vacuum pump 29, the other end of the launching rope sequentially passes through the circular hole 41 at the tail part of the launcher, the circular hole 18 of the launching platform and the telescopic sleeve rod 12 of the launching platform and is finally wound on the winch 42, so that the launching rope 39 can be freely wound and unwound; the launching platform telescopic loop bar driving motor 30 drives the launching platform telescopic loop bar 12 to lift upwards so as to control the launching platform 4 to lift and descend, and a proper launching height is determined; the circular rotating chassis driving motor 33 can drive the circular rotating chassis 32 to freely rotate for 360 degrees, and the circular rotating chassis driving motor is relatively fixedly connected with the launching platform telescopic sleeve rod 12, so that the launching platform 4 is driven to rotate for 360 degrees, and a proper launching direction is determined; the controller 36 is fixedly arranged on the upper surface of the cleaning panel 9 and is used for controlling and coordinating all actions of the robot; the cleaning panel telescopic sleeve rod driving motor 35 can drive the cleaning panel telescopic sleeve rod 34 to stretch downwards.
As shown in fig. 6 and 7, the cleaning panel of the present patent is shown in an extended schematic view and a retracted schematic view. When the robot performs cleaning work, the cleaning panel 9 extends out and protrudes out of the plane of the bottom shell 19 to perform cleaning work, and the extending length of the telescopic loop bar 34 of the cleaning panel can be controlled according to the actual condition of the cleaning environment, so that the problem of cleaning dead angles is solved. When the robot does not perform cleaning work, the cleaning panel 9 is retracted and hidden in the shell 7, so that the friction damage to the cleaning cloth 23 in the obstacle crossing process is avoided, and the robot traction obstacle crossing is facilitated.
Fig. 8 is a partial schematic view of the winch of the present patent. The launching rope 39 is wound on the capstan 42, and the capstan drive motor 31 drives the capstan 42 to rotate, so that the launching rope 39 is deployed and retracted.
As shown in fig. 9, a remote controller 44 of the present patent. Can be used for remotely controlling the starting and stopping of the robot, moving the cleaning track and crossing the obstacle to the designated window surface for cleaning.
Fig. 10 is a schematic view of the vacuum chuck suction process according to the present invention. The micro vacuum pump 29 is round, one end of the micro vacuum pump is connected with the launching rope 39, the other end of the micro vacuum pump is connected with the vacuum sucker 1 with a certain inclination, and the stable adsorption of the glass window surface is realized by launching the vacuum sucker 1 with the micro vacuum pump 29.
Fig. 12 shows a flow chart of the cleaning start-up process of the present patent. The robot can be started by means of the remote controller 44 or the control button 13, then the cleaning panel 9 automatically extends out, the owner aligns and places the cleaning panel on the glass window surface to be cleaned, and then the vacuum pump 38 starts to work, the air flow speed is automatically adjusted, and negative pressure is formed in the adsorption disc 21 for adsorption. If the suction is successful, the speaker 15 will perform voice packet to success information, the owner can release the voice packet to start the robot to clean, and if the suction is unsuccessful, the air flow rate will be readjusted to increase the suction force of the suction disc 21 until the suction is successful.
Fig. 13 is a control flow chart of the present invention for cleaning a single window. The robot can control the roller 27 to move forwards and backwards and the universal wheel 24 to turn for moving in two modes of real-time moving cleaning control and autonomous moving cleaning control through the remote controller 44, and if an obstacle is encountered in the moving cleaning process, the roller 27 and the universal wheel 24 can be controlled again to avoid the obstacle under the action of the infrared obstacle avoidance sensor 10.
As shown in fig. 11 and 14, the schematic diagram of launching, pulling and crossing obstacles and the control flow chart of pulling and crossing obstacles for cleaning multiple glass windows are shown. After the robot finishes the cleaning work of a glass window surface, the next cleaning surface can be selected through two modes of manual control by the remote controller 44 and intelligent control by the robot, then the coordinate position information of the next cleaning surface is obtained by the vision sensor 40, the telescopic loop bar 12 of the launching platform is controlled to lift by the controller 36, the launching height is adjusted, the circular rotating chassis 32 is controlled to rotate, the launching direction is adjusted, the rotating shaft 45 of the launcher is controlled to rotate, the launching angle of the main launcher 2 is adjusted, and then the main launcher 2 launches the vacuum chuck 1 with the micro vacuum pump 29 to the next cleaning surface. If the adsorption is unsuccessful, the main launching rope is retracted, and the launching is adjusted again. If adsorption is successful, the emission angle of the auxiliary emitter is adjusted to emit and adsorb on the glass window surface where the auxiliary emitter is located at present, if adsorption is unsuccessful, the auxiliary emission rope is retracted, and emission is adjusted again until the two emitted vacuum chucks 1 are completely adsorbed successfully. Then the cleaning panel telescopic loop bar 34 is contracted and collected in the shell 7, then the main launching rope is collected, meanwhile, the auxiliary launching rope is released, and the robot is dragged along the launching rope 39 to get across the obstacle to the designated surface. Then, the thrust fan 5 operates to make the adsorption disc 21 adhere to the window surface, the vacuum pump 38 operates to automatically adjust the air flow rate, and negative pressure is formed in the adsorption disc 21 for adsorption. If the adsorption fails, the air flow speed is adjusted again to adsorb until the adsorption is successful, if the adsorption is successful, the auxiliary launching rope contracts, then the main launching rope contracts, the traction is finished, the obstacle is crossed to the next cleaning surface, and the cleaning is started.
Fig. 15 is a block diagram of the control system of this patent. The infrared obstacle avoidance sensor 10, the cleanliness sensor 28 and the vision sensor 40 are connected with the controller 36 through sensor interfaces, and are used for respectively sensing and obtaining obstacle information, stain information and position information of a glass window surface, transmitting the obstacle information, the stain information and the position information to the controller 36, and controlling the motor to run through the controller 36 so as to control a series of actions of the robot. In addition, remote control can also be performed by the remote controller 44.
Examples
1. The number of the emitters can be increased appropriately according to actual needs.
2. The vacuum adsorption can be changed into fan adsorption to realize the adsorption of the robot.
3. The rollers 27 and the universal wheels 24 can also be changed into a crawler belt to realize the movement of the robot.
4. The emitted vacuum chuck 1 can be changed into an electromagnetic chuck to realize climbing on a vertical iron plane.
5. This patent can carry on other instruments as required, accomplishes work such as industrial field detection, life field wall fitment.
The above description is only a preferred embodiment of the present patent, and is not intended to limit the present patent, and all simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical spirit of the present patent still fall within the protection scope of the technical solution of the present patent.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020998054.2U CN212661747U (en) | 2020-06-04 | 2020-06-04 | A launch-adsorption intelligent obstacle-crossing window cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020998054.2U CN212661747U (en) | 2020-06-04 | 2020-06-04 | A launch-adsorption intelligent obstacle-crossing window cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212661747U true CN212661747U (en) | 2021-03-09 |
Family
ID=74812664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020998054.2U Expired - Fee Related CN212661747U (en) | 2020-06-04 | 2020-06-04 | A launch-adsorption intelligent obstacle-crossing window cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212661747U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749546A (en) * | 2020-06-04 | 2021-12-07 | 天津城建大学 | A launch-adsorption intelligent obstacle-crossing window cleaning robot |
| CN114983267A (en) * | 2022-05-10 | 2022-09-02 | 安克创新科技股份有限公司 | Cleaning robot control method, device and system and cleaning robot |
-
2020
- 2020-06-04 CN CN202020998054.2U patent/CN212661747U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749546A (en) * | 2020-06-04 | 2021-12-07 | 天津城建大学 | A launch-adsorption intelligent obstacle-crossing window cleaning robot |
| CN114983267A (en) * | 2022-05-10 | 2022-09-02 | 安克创新科技股份有限公司 | Cleaning robot control method, device and system and cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110261849B (en) | Tunnel lining structure detection device | |
| CN105962858B (en) | A kind of obstacle crossing type robot for cleaning external wall | |
| CN101293541B (en) | Remote control wall climbing cleaning robot | |
| CN212661747U (en) | A launch-adsorption intelligent obstacle-crossing window cleaning robot | |
| CN107440626B (en) | A kind of high-rise glass clean robot | |
| JP6564903B2 (en) | Working robot system | |
| CN205994461U (en) | A kind of clean robot based on bernoulli principle | |
| CN108643599B (en) | Topological three-dimensional suspension structure curtain wall cleaning robot system and motion control method | |
| CN203244346U (en) | High-rise glass cleaning device | |
| CN103110396A (en) | Automatic cleaning machine for high-rise buildings | |
| CN105476560B (en) | A kind of robot for cleaning wall surface and its control method | |
| WO2021135754A1 (en) | Polishing robot | |
| CN111345726B (en) | A glass curtain wall cleaning robot capable of automatically crossing obstacles and using method thereof | |
| WO2020134875A1 (en) | Intelligent flat surface cleaning apparatus | |
| KR101243599B1 (en) | Wall panel attachment type work robot | |
| CN114766957B (en) | A fully autonomous glass curtain wall cleaning robot | |
| CN110946526B (en) | Remote control type high-altitude curtain wall outer window cleaning equipment | |
| CN201185910Y (en) | Distance type wall-climbing cleaning robot | |
| CN107717977B (en) | Mobile architecture system of aerial working robot | |
| CN113749546A (en) | A launch-adsorption intelligent obstacle-crossing window cleaning robot | |
| CN221997760U (en) | Cleaning modules and cleaning equipment | |
| CN117414071A (en) | Negative pressure adsorption-based integrated wall climbing intelligent disinfection device and control method | |
| CN207532357U (en) | A suspension traction type wall cleaning vehicle | |
| CN207532358U (en) | A kind of novel glass metope cleaning device | |
| CN111317394A (en) | Curtain wall glass cleaning method without hoisting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210309 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |