CN106175574A - The intelligent double-sided glass-cleaning robot of mixing and absorption - Google Patents
The intelligent double-sided glass-cleaning robot of mixing and absorption Download PDFInfo
- Publication number
- CN106175574A CN106175574A CN201610779810.0A CN201610779810A CN106175574A CN 106175574 A CN106175574 A CN 106175574A CN 201610779810 A CN201610779810 A CN 201610779810A CN 106175574 A CN106175574 A CN 106175574A
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- absorption
- glass
- unit
- machine
- cleaning robot
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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
- A47L1/03—Power-driven machines or devices cleaning both sides of a window simultaneously
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- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of intelligent double-sided glass-cleaning robot of mixing and absorption, described intelligent double-sided glass-cleaning robot includes driving machine (2) and follower (1).It is provided with opposite polarity permanent magnet (6) in described driving machine (2) and follower (1), can mutually adsorb the inside and outside both sides at glass surface to be cleaned, by the adsorption of magnetic force, follower can be walked according to the orbiting motion of the machine of driving；It is additionally provided with electric magnet (7) simultaneously, controls size of current by changing rheostatic resistance in circuit, thus control electric magnet (7) magnetic force size, it is simple to unload magnetic and select suitable absorption affinity；The present invention has simple in construction, controls simplicity, and cost ratio is relatively low, and pacifies loading, unloading magnetic conveniently, has the intelligence degree of certain level, is effectively reduced labour force, improves cleaning efficiency.
Description
Technical field
The present invention relates to intelligent robot technology field, more particularly relate to a kind of Intelligent cleaning robot.
Background technology
Along with the development of urban modernization, increasing local-style dwelling houses skyscraper stands erect in each big city, adds existing rank
The section air pollution problems inherent such as haze, allows glass window be more prone to dirty, and the more difficult cleaning of dirt so that glass window clear
Clean work is heavier.According to traditional manual cleaning mode not only somewhat expensive, and cleaning efficiency is low, operation is extremely endangered
Danger.Secondly, city busy life rhythm, allow cleaning window-glass become life burden, the demand pain spot of glass-cleaning robot
It is to liberate busy young city crowd, liberates both hands by intelligentized mode, pursue the quality of life of higher quality.
Furthermore, for traditional robot absorbing unit, mostly use the mode of negative pressure or malleation absorption to provide suction
Attached power, thus absorption realizes cleaning at window-glass, but so there is a potential safety hazard the biggest, if in use
Suddenly there is power-off, for this not only will break robot, and residential subscribers especially high-rise for user, dropping of machine
It is likely to hit passerby, causes the massive losses of personnel or property.It addition, only use permanent magnet adsorbing, of such a size suction
It is very inconvenient that attached power makes to take off machine from glass, and particularly with accounting for, most of housewife is the most difficult.
In addition, the existing a part of intelligent cleaning glass-cleaning robot in market, although there is higher automaticity,
But in terms of autonomous intelligence, still there is a lot of problem, and market existing intelligent cleaning glass-cleaning robot majority can only
Cleaning single-glass, wiping efficiency is had a greatly reduced quality；And relatively costly, expensive, it is impossible to carry out popularization on a large scale.
Summary of the invention
The purpose of the present invention one there are provided a kind of intelligent double-sided glass-cleaning robot, it is possible to absorption on glass and
Double-sided glass is carried out wiping simultaneously, and this inventive structure is simple.
The purpose of the present invention two there are provided a kind of intelligence variable magnetic force structure, detects different-thickness glass by Hall element
The magnetic field intensity of glass, so by change in resistance in control unit control circuit, and then change electric magnet magnetic force, suitable in order to provide
Absorption affinity, this structure is conveniently installed and to make robot unload magnetic convenient, has certain autonomous intelligence degree, safe and reliable.
For reaching this purpose, the present invention by the following technical solutions:
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption, including servo-actuated 1 machine and driving machine 2, is provided with polarity phase inside both
Anti-permanent magnet 6 and 7 electric magnet, makes robot to adsorb safely by the adsorption of permanent magnet 6 magnetic force and is treating
The inside and outside both sides of cleaning glass, drive machine 2 to drive follower 1 to move by the adsorption of magnetic force；Described driving machine
2 are provided with driver element, magnet adsorption unit, cleaning unit, control unit, and variable magnetic force unit；Described follower 1 is provided with and drives
Moving cell, magnet adsorption unit, cleaning unit.
Further, the driver element of described driving machine 2 comprises two groups of driving motors 5 and tire 3；Described driving motor 5 is defeated
Shaft is connected with tire 3 and drives it to rotate, thus realizes the walking of driving machine；Described often group driving motor 5 and tire 3 are all
The most controlled, can rotate and reverse, it is also possible to one rotates forward a reversion, it is also possible to revolve at different rates simultaneously
Turn, thus ensure that motor to have on glass and have multiple walking posture, smoothly complete scouring task；
Further, in described driving machine 2, it is provided with magnetic absorbing unit, including permanent magnet 6 and and electric magnet 7.Described absorbing unit
By four blocks of permanent magnets 6, left and right magnetic from top to bottom becoming N-S-S-N order arrangement, this will make driving machine pass through magnetic force
When absorption drives follower work, it is possible to achieve straight line, turning are walked stable, and the safety that the dislocation of Magnet is caused will not occur
Hidden danger.Four block permanent magnet 6 middle device electric magnet 7, electric magnet 7 is independently controlled by control unit.Four blocks of permanent magnets 6 and electromagnetism
The hybrid absorbing unit of the mutually auxiliary formation of ferrum 7.
Further, in described driving machine 2, it is provided with variable magnetic force unit, including Hall element and slide rheostat 11.Described change
The magnetic induction that magnetic force unit is reached by Hall element independent detection glass different-thickness；Slide rheostat 11 is single by controlling
Unit is independent to be controlled, thus changes size of current in circuit, and then changes the absorption affinity of electric magnet 7, inhales with optimal absorption affinity
It is attached to glass, reaches optimum cleaning effect.
Further, the absorbing unit of described follower 1 includes four permanent magnets 6 and an adsorbability magnetic material,
Its arrangement mode is consistent with the machine of driving, and magnetic is contrary；
Further, the driver element of described follower 1 includes four travel wheel 4, and across shape mean array is on the two of chassis
Side.
Further, described glass-cleaning robot cleaning unit includes fiber cleaning cloth, on the front and rear chassis on chassis 8
All it is pasted with VELCRO, in that context it may be convenient to installation and removal cleaning cloth, conveniently changes clothes, recycling, it is to avoid waste.
The invention have the benefit that
(1) present invention proposes a kind of intelligent double-sided glass-cleaning robot, have employed wheel type traveling mechanism, simple in construction, straight line
Walking and the motility turned are high；
(2) present invention proposes a kind of mixing and absorption mode, uses permanent magnet to combine the mode of electric magnet, permanent magnet arranges
Cloth produces stable absorption affinity, it is provided that safety guarantee；Carried out magnetic force conversion by electric magnet, choose optimum absorption affinity, to reach capable
Walk, wiping effect optimization, and conveniently unload magnetic, convenient disassembly.
(3) present invention proposes a kind of autonomous variable magnetic force mode, uses Hall element independent detection glass different-thickness magnetic
The magnetic induction that ferrum is reached；Slide rheostat is independently controlled by control unit, thus changes size of current in circuit, and then
Change the absorption affinity of electric magnet, adsorb at glass with optimal absorption affinity, reach optimum cleaning effect.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the intelligent double-sided glass-cleaning robot that the present invention provides；
Fig. 2 is the simple top view of driving machine that the present invention provides；
Fig. 3 is the simple front view of driving machine that the present invention provides；
Fig. 4 is the principle schematic of the variable magnetic force unit that the present invention provides；
Fig. 5 is the magnet positions arrangement schematic diagram driving machine absorbing unit that the present invention provides；
In figure: 1, follower；2, machine is driven；3, tire；4, follower travel wheel；5, motor is driven；6, permanent magnet；7, electromagnetism
Ferrum；8, base plate；9, machine travel wheel is driven；10, Hall element；11, swept resistance.
Detailed description of the invention
Further illustrate technical scheme below in conjunction with the accompanying drawings and by detailed description of the invention.
As shown in Fig. 1,2,3,4,5, the intelligent double-sided glass-cleaning robot of a kind of mixing and absorption that the present invention provides, its feature
Be: include follower (1) and the machine of driving (2), follower (1) and the machine of driving (2) be provided with inside both opposite polarity forever
Magnet (6) and electric magnet (7), described follower (1) is provided with driver element, magnet adsorption unit, cleaning unit；Described drives
Motivation (2) is provided with driver element, magnet adsorption unit, cleaning unit, control unit, and variable magnetic force unit；Described driving machine
(2) driver element includes that two groups drive motor (5) and tire (3)；Described driving motor (5) output shaft is connected with tire (3).
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption, including driving machine 2 and follower 1, is driving machine 2 and servo-actuated
Machine 1 is internal is equipped with opposite polarity permanent magnet 6, allows to mutually adsorb the inside and outside both sides at glass to be cleaned, passes through magnetic
The adsorption of power drives machine 2 to drive follower 1 to move；Described driving machine 2 is provided with driver element, magnet adsorption unit, clear
Clean unit, control unit, and variable magnetic force unit；Follower 1 is provided with driver element, magnet adsorption unit, cleaning unit.
It is the simple top view of driving machine that provides of the present invention and front view as shown in Figure 2 and Figure 3, including tire 3, drives electricity
Machine 5, permanent magnet 6, electric magnet 7, base plate 8, driving machine travel wheel 9.Driving motor 5 output shaft to be connected with tire 3, output turns
Square drives walking.Base plate 8 offers sulculus, installs driving machine travel wheel, steadily walks in order to support driving machine, permanent magnet 6
Thering is provided primary attachment primary attachment power on glass, electric magnet 7 supplements institute under robot duty as variable magnetic force unit
Need absorption affinity, to reach absorption, walking and wiping perfect adaptation.
It is the principle schematic of the variable magnetic force unit that the present invention provides as shown in Figure 4, including Hall element 10, controls list
Unit, slide rheostat 11 and electric magnet 7.Detected the magnetic field intensity under glass different-thickness by Hall element 10, and then feed back to
Control unit, is then individually controlled the resistance of slide rheostat 11 by control unit, so that the electric current in circuit becomes
Change, make electric magnet 7 produce different magnetic force so that robot is adapted to the glass of different-thickness, it is provided that optimum absorption, produce
Optimum cleaning effect.
It is the magnet positions arrangement schematic diagram of the driving machine absorbing unit that the present invention provides as shown in Figure 5, including permanent magnetic
Ferrum 6 and electric magnet 7.Produced magnetic adsorbability by follower 1 and the opposite polarity permanent magnet of driving machine 26, make robot to pacify
Entirely adsorb in the inside and outside both sides of glass.Driving machine 2 middle position is electric magnet 7, and electric magnet 7 is due to different size of current institutes
Produce different absorption affinities, the size of reasonable adjusting absorption affinity.Especially when cleaning complete excision machine, disconnect electric magnet 7
Power-on circuit, this will make absorption affinity reduce, conveniently unload magnetic, it is simple to operation；Produced absorption affinity, machine by permanent magnet 6 simultaneously
People from glass surface landing, thus will not provide safety guarantee.
Detailed description of the invention is, driving machine 2 and follower 1 is attached to band respectively and cleans the windows both sides, permanent magnet 6 provide
Primary attachment power, makes robot normal direction to drop or laterally rolling landing, it is ensured that its security and stability；And then, when
During energising work, drive motor 5 to drive tire 3 to rotate by motor shaft, be energized simultaneously, Hall element detection current glass thickness
Under magnetic field intensity, and then information is fed back to control unit, by slide rheostat change in resistance in control unit control circuit,
Thus change the size of electric current, and then change the magnetic force size of electric magnet, to reach the theoretical absorption affinity under duty, thus
Robot can be realized steadily walk and wiping at glass surface, not have situations such as skidding or drop.
Claims (7)
1. the intelligent double-sided glass-cleaning robot of mixing and absorption, it is characterised in that: include follower (1) and the machine of driving (2), with
Motivation (1) and both inside of the machine of driving (2) are provided with opposite polarity permanent magnet (6) and electric magnet (7), described follower
(1) driver element, magnet adsorption unit, cleaning unit it are provided with；Described driving machine (2) is provided with driver element, magnet adsorption list
Unit, cleaning unit, control unit, and variable magnetic force unit；The driver element of described driving machine (2) includes that two groups drive motor
And tire (3) (5)；Described driving motor (5) output shaft is connected with tire (3).
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption the most according to claim 1, it is characterised in that: described driving
Motor (5) output shaft is connected with tire (3) and drives it to rotate, thus realizes the walking of driving machine (2)；Described often organize driving
Motor (5) and tire (3) are all individually to be controlled, and can rotate and reverse simultaneously, it is also possible to one rotates forward a reversion, also may be used
To rotate at different rates.
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption the most according to claim 1, it is characterised in that: described driving
Machine is provided with magnetic absorbing unit in (2), including permanent magnet and (6) and electric magnet (7).Described absorbing unit is by four blocks of permanent magnets
(6), left and right magnetic from top to bottom N-S-S-N order arrangement is become；Four block permanent magnets middle device electric magnet (7), electric magnet
(7) independently controlled by control unit.
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption the most according to claim 1, it is characterised in that: described driving
Machine is provided with variable magnetic force unit in (2), including Hall element (10) and slide rheostat (11).
The magnetic induction that Hall element (10) independent detection glass different-thickness is reached；Slide rheostat (11) is single by controlling
Unit is independent to be controlled, thus changes size of current in circuit, and then changes the absorption affinity of electric magnet, adsorbs with optimal absorption affinity
At glass, reach optimum cleaning effect.
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption the most according to claim 1, it is characterised in that: described servo-actuated
The driver element of machine (1) includes four travel wheel (4), and across shape mean array is in the both sides on chassis.
A kind of intelligent double-sided glass-cleaning robot of mixing and absorption the most according to claim 1, it is characterised in that: described servo-actuated
The absorbing unit of machine (1) includes four permanent magnets (6) and an adsorbability magnetic material, and its arrangement mode is with driving machine
(2) consistent, magnetic is contrary.
7. a mixing and absorption intelligent double-sided glass-cleaning robot method of work, it is characterised in that: its step is as follows:
1), by driving machine 2 and follower 1 it is attached to band respectively clean the windows both sides, permanent magnet 6 provides primary attachment power, make machine
Device people will not normal direction drop or landing of laterally rolling；
2), when energising work, motor 5 is driven to drive tire 3 to rotate by motor shaft；
3), it is energized simultaneously, the magnetic field intensity under Hall element detection current glass thickness, and then feed back to information control list
Unit, by slide rheostat change in resistance in control unit control circuit, thus changes the size of electric current, and then changes electric magnet
Magnetic force size, to reach the theoretical absorption affinity under duty, thus realizes robot and steadily walks and wiping at glass surface,
Do not have skidding or the situation that drops occurs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610779810.0A CN106175574A (en) | 2016-08-31 | 2016-08-31 | The intelligent double-sided glass-cleaning robot of mixing and absorption |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610779810.0A CN106175574A (en) | 2016-08-31 | 2016-08-31 | The intelligent double-sided glass-cleaning robot of mixing and absorption |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106175574A true CN106175574A (en) | 2016-12-07 |
Family
ID=58087144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610779810.0A Pending CN106175574A (en) | 2016-08-31 | 2016-08-31 | The intelligent double-sided glass-cleaning robot of mixing and absorption |
Country Status (1)
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107252290A (en) * | 2017-06-07 | 2017-10-17 | 常州菲胜图自动化仪器有限公司 | A kind of household glass cleaning machine people and its application process |
| CN107272688A (en) * | 2017-06-30 | 2017-10-20 | 北京环境特性研究所 | Multifunction remote-controller for operation in vacuum tank and narrow zone |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN108527400A (en) * | 2018-06-14 | 2018-09-14 | 北京勤牛创智科技有限公司 | A kind of intelligent writing robot |
| CN109549553A (en) * | 2019-01-16 | 2019-04-02 | 常州机电职业技术学院 | Intelligent cleaner for cleaning glass |
| WO2019128117A1 (en) * | 2017-12-27 | 2019-07-04 | 佛山市顺德区美的电热电器制造有限公司 | Cooking appliance |
| CN109965666A (en) * | 2017-12-27 | 2019-07-05 | 佛山市顺德区美的电热电器制造有限公司 | Cooking apparatus |
| CN109965665A (en) * | 2017-12-27 | 2019-07-05 | 佛山市顺德区美的电热电器制造有限公司 | Cooking apparatus |
| CN111802954A (en) * | 2020-06-04 | 2020-10-23 | 陈子涵 | Surface cleaning robot |
| CN112548985A (en) * | 2020-12-18 | 2021-03-26 | 北京博清科技有限公司 | Magnetic adsorption robot system and magnetic adsorption robot control method |
| WO2021134535A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Internal and external magnetic attraction device |
| CN117167632A (en) * | 2023-11-02 | 2023-12-05 | 河南大成工程检测有限公司 | Large-scale building curtain physical properties detection device |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107252290A (en) * | 2017-06-07 | 2017-10-17 | 常州菲胜图自动化仪器有限公司 | A kind of household glass cleaning machine people and its application process |
| CN107272688A (en) * | 2017-06-30 | 2017-10-20 | 北京环境特性研究所 | Multifunction remote-controller for operation in vacuum tank and narrow zone |
| CN107487391A (en) * | 2017-08-23 | 2017-12-19 | 河北工业大学 | A kind of adjustable crawler-type wall climbing robot of suction |
| CN107487391B (en) * | 2017-08-23 | 2023-09-15 | 河北工业大学 | Suction-adjustable crawler-type wall climbing robot |
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| WO2019128117A1 (en) * | 2017-12-27 | 2019-07-04 | 佛山市顺德区美的电热电器制造有限公司 | Cooking appliance |
| CN109965666A (en) * | 2017-12-27 | 2019-07-05 | 佛山市顺德区美的电热电器制造有限公司 | Cooking apparatus |
| CN109965665A (en) * | 2017-12-27 | 2019-07-05 | 佛山市顺德区美的电热电器制造有限公司 | Cooking apparatus |
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| US11653788B2 (en) | 2017-12-27 | 2023-05-23 | Foshan Shunde Midea Electrical Heating Appliances Manufacturing Co., Ltd. | Cooking appliance |
| CN108527400A (en) * | 2018-06-14 | 2018-09-14 | 北京勤牛创智科技有限公司 | A kind of intelligent writing robot |
| CN108527400B (en) * | 2018-06-14 | 2023-11-28 | 北京勤牛创智科技有限公司 | Intelligent writing robot |
| CN109549553A (en) * | 2019-01-16 | 2019-04-02 | 常州机电职业技术学院 | Intelligent cleaner for cleaning glass |
| WO2021134535A1 (en) * | 2019-12-31 | 2021-07-08 | 李庆远 | Internal and external magnetic attraction device |
| CN111802954A (en) * | 2020-06-04 | 2020-10-23 | 陈子涵 | Surface cleaning robot |
| CN112548985A (en) * | 2020-12-18 | 2021-03-26 | 北京博清科技有限公司 | Magnetic adsorption robot system and magnetic adsorption robot control method |
| CN112548985B (en) * | 2020-12-18 | 2024-04-23 | 北京博清科技有限公司 | Magnetic attraction robot system and magnetic attraction robot control method |
| CN117167632A (en) * | 2023-11-02 | 2023-12-05 | 河南大成工程检测有限公司 | Large-scale building curtain physical properties detection device |
| CN117167632B (en) * | 2023-11-02 | 2024-01-26 | 河南大成工程检测有限公司 | Large-scale building curtain physical properties detection device |
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Application publication date: 20161207 |