CN106235952A - A kind of novel intelligent glass-cleaning robot and traveling method thereof - Google Patents
A kind of novel intelligent glass-cleaning robot and traveling method thereof Download PDFInfo
- Publication number
- CN106235952A CN106235952A CN201610935969.7A CN201610935969A CN106235952A CN 106235952 A CN106235952 A CN 106235952A CN 201610935969 A CN201610935969 A CN 201610935969A CN 106235952 A CN106235952 A CN 106235952A
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- cleaning head
- glass
- cleaning robot
- cleaning
- novel intelligent
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Classifications
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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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention discloses a kind of novel intelligent glass-cleaning robot and traveling method thereof, belong to glass-cleaning robot technical field.Glass-cleaning robot includes face-piece, drain pan, centrifugal air extractor, centrifugal air extractor is arranged between face-piece and drain pan, also include two set cleaning head devices, often set cleaning head device all includes driving motor, worm and gear driving means, helical gear, cleaning head, worm and gear driving means two ends connect driving motor output end and helical gear respectively, helical gear connects cleaning head, and two helical gears one of two set cleaning head devices are left-handed, and another is dextrorotation.By such improvement, the most directly allow cleaning head time wipe whole glass surface with the dead angle of minimum duplicate paths and minimum, and realize the cleaning function of highly effective.Traveling method includes straight line moving mode and turning mode, is realized by above-mentioned glass-cleaning robot.The glass-cleaning robot of the present invention is suitable for family, unit and public place and uses.
Description
Technical field
Present invention relates particularly to a kind of novel intelligent glass-cleaning robot and traveling method thereof, belong to glass-cleaning robot skill
Art field.
Background technology
Glass-cleaning robot, is a kind of intelligent robot product occurred this year, and it can substitute for people and carries out heavy
The work that cleans the windows dangerous again, is the most increasingly paid close attention to by people, uses family, unit and various public affairs the most widely
Altogether in place.
Traditional glass-cleaning robot, its walking mechanism and cleaning mechanism be provided separately, and walking mechanism is generally carried out
Band or wheel, such setting makes the position on the route of crawler belt or wheel walking be difficult to wiped clean.Chinese invention patent,
Application number: 2016104546752, publication date: 2016.09.07, disclose a kind of parallelogram glass cleaning device and row thereof
Walk method, solve the problems referred to above, but its structure walking manner is the most complicated, during cleaning the windows, the corner of glass
Position can not put in place in wiping, can leave a lot of dead angle, and for traditional glass-cleaning robot, existing can not wiped clean dead
Angle, is also an insoluble problem.
Summary of the invention
Therefore, the purpose of the present invention solve that prior art glass-cleaning robot exists can not the problem at dead angle of wiping.
Concrete, the novel intelligent glass-cleaning robot of the present invention, including face-piece, drain pan, centrifugal air extractor, it is centrifuged and takes out
Device of air is arranged between face-piece and drain pan, and described novel intelligent glass-cleaning robot also includes two set cleaning head devices, often overlaps
Cleaning head device all includes driving motor, worm and gear driving means, helical gear, cleaning head, worm and gear driving means two ends
Connecting respectively and drive motor output end and helical gear, helical gear connects cleaning head, two helical gears one of two set cleaning head devices
Individual for left-handed, another is dextrorotation.
Further, described face-piece is additionally provided with handgrip.
Further, described face-piece being additionally provided with air vent, described air vent is arranged on handgrip.
Further, described centrifugal air extractor includes direct current generator and centrifugal air exhauster.
Further, described novel intelligent glass-cleaning robot also includes charge power supply, display control unit, described display
Control device and include single-chip microcomputer and the circuit for controlling motor being connected with single-chip microcomputer, laser sensor, digital display panel, described digital display face
Plate is arranged on face-piece.
Further, described face-piece is additionally provided with charging inlet.
Further, described novel intelligent glass-cleaning robot also includes insuring cord hole, and insurance cord hole is arranged on face-piece.
The invention also discloses a kind of novel intelligent glass-cleaning robot traveling method, use above-mentioned novel intelligent to wipe glass
Glass robot, described method includes straight manner and turning mode, and straight manner is, centrifugal air extractor evacuation, and intelligence is wiped
Glass robot adsorbs on glass, starts to rotate for the first time, and a set of cleaning head device keeps static, another cleaning head device
Driving electric motor starting, drive cleaning head to rotate by worm and gear driving means and helical gear and produce clear relative to static
The rotation of clean head unit, after rotating 180 degree, starts second time and rotates, and the most static cleaning head device is relative to for the first time
The cleaning head device of motion rotates 180 degree according to the most contrary direction, then repeats for the first time and secondary rotation
Process, novel intelligent glass-cleaning robot is straight ahead or retrogressing in the way of 8-shaped, and turning mode is, a set of cleaning head fills
Put first the most another set of cleaning head device 90-degree rotation, then perform the action of straight line moving.
The beneficial effects of the present invention is: the novel intelligent glass-cleaning robot of the present invention and traveling method thereof, by letter
Single structure design, two set cleaning head devices are equipped with two reverse helical gears, and during walking, a cleaning head is as support, separately
One cleaning head is rotated by and produces rotation at worm and gear, and glass-cleaning robot moves ahead in the way of 8-shaped, is turning
To or when crossing the most curved, relatively rotate realization, by such mode, with minimum repetition road again by two cleaning head devices
The dead angle of footpath and minimum the most directly allows cleaning head time wipe whole glass surface, and realizes the cleaning function of highly effective.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of novel intelligent glass-cleaning robot of the present invention；
Fig. 2 is the internal view of Fig. 1；
Fig. 3 is the top view of Fig. 1；
Fig. 4 is the internal view of Fig. 3；
The glass-cleaning robot traveling method that Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 are in the specific embodiment of the invention
Fundamental diagram.
Reference is as follows: 1, face-piece, 2, drain pan, 3, centrifugal air extractor, 4, drive motor, 5, worm and gear drive dress
Put, 6, helical gear, 7, cleaning head, 8, handgrip, 9, air vent, 10, internal air cavity, 11, digital display panel, 12, charging inlet, 13,
Insurance cord hole.
Detailed description of the invention
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is illustrated:
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of novel intelligent glass-cleaning robot, including face-piece 1, drain pan 2, centrifugal dress of bleeding
Putting 3, centrifugal air extractor 3 is arranged between face-piece 1 and drain pan 2, and novel intelligent glass-cleaning robot also includes two set cleaning heads
Device, often set cleaning head device all includes driving motor 4, worm and gear driving means 5, helical gear 6, cleaning head 7, worm and gear
Driving means 5 two ends connect driving motor 4 outfan and helical gear 6 respectively, and helical gear 6 connects cleaning head 7, two set cleaning head dresses
Two helical gears 7 one put are for left-handed, and another is dextrorotation.
In the present embodiment, glass-cleaning robot profile is Long Circle, and face-piece 1, drain pan 2, two overlap cleaning head device, are centrifuged
Air extractor 3 is main parts.
Two groups of cleaning head devices have been separately designed at two ends, bottom；These two groups of cleaning head devices, respectively with two groups of worm gear snails
Rod driving device 5 connects.It is equipped with helical gear left-handed and dextrorotation by worm screw, keeps two cleaning heads to relatively rotate, control
The balance of machine, two groups of worm and gear driving means 5, respectively by driving motor 4 to drive, when a cleaning head 7 rotates, another
Individual cleaning head 7 directly keeps static, makes robot produce moment of torsion, thus the 8-shaped realizing robot is walked about.
Preferably, face-piece 1 is additionally provided with handgrip 8.
Preferably, face-piece 1 being additionally provided with air vent 9, air vent 9 is arranged on handgrip 8.
Fuselage air vent 9 is connected with the air vent of centrifugal air extractor 3, external form layout aspect, air vent 9 and handgrip 8
Put combination to arrange.
Preferably, centrifugal air extractor 3 includes direct current generator and centrifugal air exhauster.
Robot middle device one group is centrifuged air extractor 3, by DC motor Driver, by internal air cavity 10, with two groups
Cleaning head 7 connects；DC motor Driver is centrifuged air exhauster and persistently discharges the air in air cavity, is discharged by fuselage air vent 9, makes
Internal air cavity 10 forms dynamic negative-pressure, and robot can be directly adsorbed on glass
Preferably, novel intelligent glass-cleaning robot also includes charge power supply, display control unit, and display control unit includes list
Sheet machine and the circuit for controlling motor being connected with single-chip microcomputer, laser sensor, digital display panel 11, digital display panel 11 is arranged on face-piece 1
On.These designs can be realized by the common knowledge of this area.
Preferably, face-piece 1 is additionally provided with charging inlet 12.
Preferably, novel intelligent glass-cleaning robot also includes insuring cord hole 13, and insurance cord hole 13 is arranged on face-piece 1.
Glass-cleaning robot built-in rechargeable battery, realizes domestic by the charging inlet 12 being assemblied on face-piece and charges；Face
Being digital display panel 11 on the right side of shell 1, display internal electron controls；Each side arrangement one insurance cord hole 13, it is simple to install and protect
Danger rope.
The traveling method principle of the glass-cleaning robot of the present invention is as follows:
Describe for simplifying, as it is shown in figure 5, two cleaning heads 7 are reduced to two circles, be the most also so to process.
As shown in Figure 6, the main turning function realized in walking.As it is shown in fig. 7, mainly realize forward/backward craspedodrome merit
Energy.
Straight manner is, centrifugal air extractor 3 evacuation, and intelligence glass-cleaning robot adsorbs on glass, starts first
Secondary rotation, a set of cleaning head device keeps static, and the driving motor 4 of another cleaning head device starts, and is driven by worm and gear
Dynamic device 5 and helical gear 6 drive cleaning head 7 to rotate and produce the rotation relative to static cleaning head device, rotate 180 degree
After, start second time and rotate, the most static cleaning head device relative to the cleaning head device of for the first time motion according to the
The most contrary direction rotates 180 degree, then repeats for the first time and secondary rotation process, novel intelligent glass-cleaning robot
Straight ahead or retrogressing in the way of 8-shaped.
Turning mode is, a set of cleaning head device first the most another set of cleaning head device 90-degree rotation, then performs straight line
The action of walking.Under normal circumstances, it is all to turn over an angle of 90 degrees during turning, on special glass work surface, it is also possible to for other
Rotational angle.
As the technology easily realized by general knowledge known in this field, the anglec of rotation of cleaning head device passes through laser sensing
Device detects, the i.e. Single-chip Controlling of main controller drive start and stop and the rotating of motor 4.
During robot work walking, if running into without frame edge or having frame edge, main controller is taked as shown in Figure 8 at mode
Reason, yielding turns to, and continues to run work normally.
During robot work walking, if running into without frame corner or having frame corner, main controller is taked as shown in Figure 9 at mode
Reason, yielding turns to, and continues to run work normally.
For common glass work surface, as shown in Figure 10, by straight line moving and the combination of turning walking manner, machine
People can correctly tackle the different size of glass work surface, and with the planning form of figure of eight travel path, limit is whole efficiently
Work glass surface, minimizes the purpose that area remnants do not clean.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of without departing from principle of the present invention, it is also possible to make some improvements and modifications, these improvements and modifications are also
Should be regarded as protection scope of the present invention.
Claims (8)
1. a novel intelligent glass-cleaning robot, including face-piece, drain pan, centrifugal air extractor, centrifugal air extractor is arranged at
Between face-piece and drain pan, it is characterised in that described novel intelligent glass-cleaning robot also includes two set cleaning head devices, and often set is clear
Clean head unit all includes driving motor, worm and gear driving means, helical gear, cleaning head, and worm and gear driving means two ends are divided
Lian Jie not drive motor output end and helical gear, helical gear connects cleaning head, two helical gears one of two set cleaning head devices
For left-handed, another is dextrorotation.
2. novel intelligent glass-cleaning robot as claimed in claim 1, it is characterised in that be additionally provided with handgrip on described face-piece.
3. novel intelligent glass-cleaning robot as claimed in claim 2, it is characterised in that be additionally provided with aerofluxus on described face-piece
Mouthful, described air vent is arranged on handgrip.
4. novel intelligent glass-cleaning robot as claimed in claim 3, it is characterised in that described centrifugal air extractor includes directly
Stream motor and centrifugal air exhauster.
5. novel intelligent glass-cleaning robot as claimed in claim 1, it is characterised in that described novel intelligent cleans the windows machine
People also includes that charge power supply, display control unit, described display control unit include single-chip microcomputer and the motor being connected with single-chip microcomputer
Control circuit, laser sensor, digital display panel, described digital display panel is arranged on face-piece.
6. novel intelligent glass-cleaning robot as claimed in claim 5, it is characterised in that be additionally provided with charging on described face-piece
Mouthful.
7. novel intelligent glass-cleaning robot as claimed in claim 1, it is characterised in that described novel intelligent cleans the windows machine
People also includes insuring cord hole, and insurance cord hole is arranged on face-piece.
8. a novel intelligent glass-cleaning robot traveling method, it is characterised in that use described in any one of claim 1 to 7
Novel intelligent glass-cleaning robot, described method includes straight manner and turning mode, and straight manner is, centrifugal air extractor
Evacuation, intelligence glass-cleaning robot adsorbs on glass, starts to rotate for the first time, and a set of cleaning head device keeps static, separately
The driving electric motor starting of one cleaning head device, drives cleaning head rotate and produce by worm and gear driving means and helical gear
Relative to the rotation of static cleaning head device, after rotating 180 degree, start second time and rotate, the most static cleaning head dress
Put and rotate 180 degree relative to the cleaning head device of motion for the first time according to the most contrary direction, then repeat for the first time
With secondary rotation process, novel intelligent glass-cleaning robot is straight ahead or retrogressing in the way of 8-shaped, turning mode
For, a set of cleaning head device first the most another set of cleaning head device 90-degree rotation, then perform the action of straight line moving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935969.7A CN106235952A (en) | 2016-11-01 | 2016-11-01 | A kind of novel intelligent glass-cleaning robot and traveling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610935969.7A CN106235952A (en) | 2016-11-01 | 2016-11-01 | A kind of novel intelligent glass-cleaning robot and traveling method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106235952A true CN106235952A (en) | 2016-12-21 |
Family
ID=57600609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610935969.7A Pending CN106235952A (en) | 2016-11-01 | 2016-11-01 | A kind of novel intelligent glass-cleaning robot and traveling method thereof |
Country Status (1)
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107418601A (en) * | 2017-05-27 | 2017-12-01 | 中国冶集团有限公司 | Wall working face clearing apparatus and method during coke furnace building |
| WO2018157324A1 (en) * | 2017-03-01 | 2018-09-07 | 深圳市前海中康汇融信息技术有限公司 | Window wiper robot having low-power locking and operation method therefor |
| CN108654842A (en) * | 2018-05-18 | 2018-10-16 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people's control method |
| CN109129499A (en) * | 2018-07-18 | 2019-01-04 | 广东宝乐机器人股份有限公司 | Method for controlling window cleaning robot to walk, window cleaning robot and storage medium |
| CN113243811A (en) * | 2021-04-08 | 2021-08-13 | 吴斌 | Full-automatic wireless glass cleaning robot |
| CN114081389A (en) * | 2021-11-26 | 2022-02-25 | 河北科技大学 | Intelligent glass cleaning robot and control method thereof |
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| CN204636198U (en) * | 2015-04-30 | 2015-09-16 | 李春鹏 | Reciprocal telescopic formula glass-cleaning robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018157324A1 (en) * | 2017-03-01 | 2018-09-07 | 深圳市前海中康汇融信息技术有限公司 | Window wiper robot having low-power locking and operation method therefor |
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| CN108654842A (en) * | 2018-05-18 | 2018-10-16 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people's control method |
| CN108654842B (en) * | 2018-05-18 | 2019-08-02 | 安徽商贸职业技术学院 | A kind of mobile rapping machine device people's control method of trackless |
| CN109129499A (en) * | 2018-07-18 | 2019-01-04 | 广东宝乐机器人股份有限公司 | Method for controlling window cleaning robot to walk, window cleaning robot and storage medium |
| CN113243811A (en) * | 2021-04-08 | 2021-08-13 | 吴斌 | Full-automatic wireless glass cleaning robot |
| CN114081389A (en) * | 2021-11-26 | 2022-02-25 | 河北科技大学 | Intelligent glass cleaning robot and control method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161221 |
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