CN106419722A - Automatic glass cleaning robot - Google Patents
Automatic glass cleaning robot Download PDFInfo
- Publication number
- CN106419722A CN106419722A CN201610960295.6A CN201610960295A CN106419722A CN 106419722 A CN106419722 A CN 106419722A CN 201610960295 A CN201610960295 A CN 201610960295A CN 106419722 A CN106419722 A CN 106419722A
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- Prior art keywords
- plate
- translation mechanism
- connector
- automatic glass
- cleaning
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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
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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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
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4066—Propulsion of the whole machine
Landscapes
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to the field of robot invention, and particularly to an automatic glass cleaning robot which comprises an engine base, a first translation mechanism, a second translation mechanism, an adsorption mechanism and a cleaning mechanism, wherein the first translation mechanism and the second translation mechanism are respectively installed on the engine base; the cleaning mechanism is installed on the second translation mechanism; the adsorption mechanism is installed on the first translation mechanism and the second translation mechanism respectively; the first translation mechanism matches the adsorption mechanism to realize the movement of the robot towards a first direction; the second translation mechanism matches the adsorption mechanism to realize the movement of the robot towards a second direction; the second translation mechanism matches the adsorption mechanism and the cleaning mechanism to realize the glass cleaning function of the automatic glass cleaning robot; and the first direction and the second direction are vertical to each other. The automatic glass cleaning robot provided by the invention can realize the free movement of the robot along two vertical directions, the operation is easy and saves both time and labor, the cleaning effect is good, the structure is simple, and the manufacturing cost is low.
Description
Technical field
The present invention relates to robot field, more particularly, to a kind of automatic glass clean robot.
Background technology
With the development of urban modernization, the height also more and more higher of floor, skyscraper band gives people beautiful visual angle
Meanwhile, the cleaning of high-altitude glass becomes building maintenance needs one of subject matter of solution.
Traditional manual cleaning mode needs, using lifting rope, workman is hung to operating position and is carried out, and this operation needs two
More than people coordinate, not only cleaning efficiency is low, somewhat expensive, and high-storey operation has very big potential safety hazard, causes injures and deaths
Accident happen occasionally.Also need to carry with bucket, scraper plate, cleaning agent etc. during manual cleaning, placement is improper to will result in object
Fall, the pedestrian on ground is damaged or frightens.
Existing double-faced hand-operated window-cleaning device, using magnetic-adsorption principle, though solving the problems, such as to clean outside glass,
It is still desirable to people in glass inner side cleaning glass window and then drives outside window-cleaning device simultaneously operating, this cleaning during cleaning glass
Mode labor intensity is larger；And, existing window-cleaning device only has cleaning cloth, once cleaning cloth humidity is excessive, meeting on glass
Residual spray, leads to not wash clean clearly, and when there being the difficult scouring dirt such as dirt on glass, merely cleaning cloth is difficult to wipe clean；
Furthermore, this product is only applicable to relatively thin glass, for dual-layer vacuum glass or have coating plated film glass all inapplicable,
The scope of application is less.
At present, market there has is cleaning glass machine people, it may have higher automaticity, but machinery had born a heavy burden
Greatly, safety is difficult to ensure that, cleaning effect is poor, and manufacturing cost is too high, fails to be promoted on a large scale in cleaning glass.
Content of the invention
It is an object of the invention to provide a kind of automatic glass clean robot, by the first translation mechanism and the second translation
The structure design of mechanism, arranges adsorbing mechanism simultaneously, enables automatic glass clean robot along two mutually orthogonal directions
Mobile；The setting of cleaning structure is capable of the cleaning of the complete pair glass of automatic glass clean robot；Central authorities control dress
Put the Automated condtrol realizing automatic glass clean robot so as to action is more quick, operation is more simple；Automatic glass simultaneously
Glass clean robot general structure design is ingenious, reduces production cost.
In order to solve the above problems, the technical solution used in the present invention is：A kind of automatic glass clean robot, including machine
Seat, the first translation mechanism, the second translation mechanism, adsorbing mechanism and cleaning mechanism, wherein：First translation mechanism, the second translation
Mechanism is separately mounted on support；Cleaning mechanism is arranged on the second translation mechanism；Adsorbing mechanism is separately mounted to the first translation
In mechanism and the second translation mechanism；First translation mechanism and adsorbing mechanism coordinate, and realize automatic glass clean robot to first
The movement in direction；Second translation mechanism is coordinated with adsorbing mechanism, realizes the movement to second direction for the automatic glass clean robot；
Second translation structure and adsorbing mechanism and cleaning mechanism cooperation, realize the cleaning glass function of automatic glass clean robot；
First direction is mutually perpendicular to second direction.
Further, adsorbing mechanism includes the first adsorbing mechanism and the second adsorbing mechanism, wherein：First adsorbing mechanism peace
It is contained on the first translation mechanism, the second adsorbing mechanism is arranged on the second translation mechanism.
Further, support includes upper substrate, infrabasal plate, left guide post and right guide post, wherein：Upper substrate and lower base
Plate is linked together by left guide post and right guide post.
Further, the first translation mechanism includes translation mechanism and lower translation mechanism and cover plate, wherein：Upper translation machine
Structure is driven mobile unit, is arranged on upper substrate；Lower translation mechanism is active mobile unit, is arranged on infrabasal plate；Cover plate
Overall covering is on automatic glass clean robot top, and connects upper translation mechanism and lower translation mechanism respectively, and realization translates
Mechanism and the synchronizing moving of lower translation mechanism.
Further, upper translation mechanism includes the first U-shaped plate, feed rod, upper connector, the first slide rail, the first slide block, its
In：Feed rod is connected between two wing plates of the first U-shaped plate；The top of upper connector is provided with unthreaded hole, is set on feed rod, on
The right lower quadrant of connector is fixedly connected with upper substrate；First slide block is fixedly mounted on the lower left quarter of upper connector, and the first slide rail is solid
Dingan County is contained on the base plate of the first U-shaped plate, and the first slide block is slidably connected with the first slide rail.Lower travel mechanism include the second U-shaped plate,
Leading screw, lower connector, the second slide rail, the second slide block and the first drive mechanism, wherein：Leading screw is connected to the two of the second U-shaped plate
Between individual wing plate, one end of leading screw is connected with the first drive mechanism；The top of lower connector is provided with screwed hole, is set in leading screw
Upper composition lead screw pair, the lower left quarter of lower connector is fixedly connected with infrabasal plate；Second slide block is fixedly mounted on the right side of lower connector
Bottom, the second slide rail is fixedly mounted on the base plate of the second U-shaped plate, and the second slide block is slidably connected with the second slide rail.
Further, the first translation mechanism includes leading screw, connecting plate, upper feed rod, lower feed rod, left plate, right plate, above props up
Fagging, lower supporting plate and the first drive mechanism, wherein：Screw mandrel is connected between left plate and right plate, its one end and first
Drive mechanism connects；Upper feed rod is arranged in parallel relative to leading screw with lower feed rod and is connected between left plate and right plate；Connecting plate exists
The correspondence position of leading screw relatively has screwed hole, has unthreaded hole, connecting plate in the correspondence position relatively going up feed rod and lower feed rod
It is set on leading screw, upper feed rod and lower feed rod, connecting plate two ends are fixedly connected with lower supporting plate with upper backup pad respectively；Left side
Plate is fixedly connected with upper substrate and infrabasal plate respectively with the bottom at the two ends of right plate；First drive mechanism is arranged on left plate
Or the outside of right plate.
Further, the second translation mechanism include driving belt pulley shaft, driven belt wheel shaft, Left Drive belt, right driving belt,
Second drive mechanism, left connector and right connector, wherein：Driving belt pulley shaft is arranged on upper substrate, driving belt pulley shaft
One end is connected with the second drive mechanism；Driven belt wheel shaft is arranged on infrabasal plate；Left Drive belt and right driving belt are respectively
On the sheathed belt wheel being arranged on driving belt pulley shaft and driven belt wheel shaft；Offer unthreaded hole on left connector, be set in left guide post
On, one end of left connector is fixedly connected on Left Drive belt；Offer unthreaded hole on right connector, be set in right guide post
On, one end of right connector is fixedly connected on right driving belt.
Further, the first adsorbing mechanism includes multiple first suckers, is separately positioned on the first U-shaped plate and the second U-shaped plate
Lower section；Second adsorbing mechanism includes at least two second suckers, is separately positioned on left connector and the lower section of right connector.
Further, the first sucker and the second sucker also include spring and electric magnet.
Further, cleaning mechanism includes cleaner and scraper plate, is connected to below left connector and right connector, its
In：Cleaner at least includes sprayer unit, cleaning cloth, goes one of mud plate.
Further, also include vacuum extractor, described vacuum extractor is connected with the first sucker and the second sucker respectively
Connect.
Further, central control unit, central control unit centralized Control first drive mechanism, the second driving are also included
Mechanism, vacuum extractor and cleaning mechanism run.
A kind of automatic glass clean robot of the present invention, has the advantages that：
1st, artificial scouring, safety no hidden danger are replaced, cleaning cost reduces.
2nd, pass through the split-type structural design of the first translation mechanism and the second translation mechanism, cooperation adsorbing mechanism achieves
Automatic glass clean robot moves freely along two mutually perpendicular directions, and each position of glass can be carried out.
3rd, central control unit achieves the Automated condtrol of automatic glass clean robot, easy to operate.
4th, vacuum extractor and sucker structure cooperation, prevent device and drop problem.
5th, by the cleaning device that cleaner and scraper plate form efficiently solve on glass during cleaning residual spray with
And the dirt such as dirt is difficult to the problem cleaned, cleaning effect is good.
6th, automatic glass clean robot general structure design is ingenious simple, small volume, lightweight, security performance height.
Brief description
For the clearer explanation embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Have technology description in required use accompanying drawing be briefly described it is clear that, drawings in the following description be only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, acceptable
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of automatic glass clean robot apparatus structure schematic diagram () of the present invention；
Fig. 2 is a kind of automatic glass clean robot device top view of the present invention；
Fig. 3 is a kind of automatic glass clean robot apparatus structure schematic diagram (two) of the present invention；
Fig. 4 is a kind of automatic glass clean robot apparatus structure schematic diagram (three) of the present invention；
Fig. 5 is a kind of automatic glass clean robot apparatus structure schematic diagram (four) of the present invention；
In figure：The U-shaped plate of 111- first, 112- feed rod, 113- upper connector, 114- first slide rail, 115- first slide block,
Connector, 124- second slide rail, 125- second slide block, 126 first driving machines under the U-shaped plate of 121- second, 122- leading screw, 123-
Support on feed rod under structure, 13- cover plate, 141- connecting plate, the upper feed rod of 142-, 143-, 144- left plate, 145- right plate, 146-
Plate, 147- lower supporting plate, 21- driving belt pulley shaft, 22- driven belt wheel shaft, 23- Left Drive belt, the right driving belt of 24-, 25-
The left connector of two drive mechanisms, 26-, the right connector of 27-, 31- upper substrate, 32- infrabasal plate, the left guide post of 33-, the right guiding of 34-
Bar, 411- first sucker, 421- second sucker, 431- electric magnet, 441- spring, 51- cleaner, 52- scraper plate.
Specific embodiment
Below in conjunction with the accompanying drawing in the present invention, clear, complete retouching is carried out to the technical scheme in the embodiment of the present invention
State it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.Based on the present invention
In embodiment, all other reality that those skilled in the art is obtained on the premise of not making creative work
Apply example, broadly fall into protection scope of the present invention.
As shown in Figure 1 and Figure 2, a kind of automatic glass clean robot of the embodiment of the present invention, including the first translation mechanism,
Second translation mechanism, support, adsorbing mechanism and cleaning mechanism, the wherein first translation mechanism and the second translation mechanism are respectively mounted
On support, cleaning mechanism is arranged on the second translation mechanism, and adsorbing mechanism is separately mounted to the first translation mechanism and second flat
On telephone-moving structure；First translation mechanism is coordinated with adsorbing mechanism, realizes the movement to first direction for the automatic glass clean robot；The
Two translation structures are coordinated with adsorbing mechanism, realize the movement to second direction for the automatic glass clean robot；Second translation structure
With adsorbing mechanism and cleaning mechanism cooperation, realize the cleaning glass function of automatic glass clean robot；First direction and
Two directions are mutually perpendicular to.
Specifically, the first translation mechanism and support are to be dynamically connected, and can be slidably connected by sliding pair, realize first flat
Telephone-moving structure can support relatively move along the first direction；Second translation mechanism is fixedly connected with support, and cleaning mechanism and second translates
Mechanism can be dynamically connected so that cleaning mechanism can be moved with the second translation mechanism in a second direction relative to support；Adsorbing mechanism and
One translation mechanism and the second translation mechanism are fixedly connected, for intersecting fixing or fixing the first translation mechanism and second simultaneously
Translation mechanism it is ensured that in automatic glass clean robot motor process the moment be attached on glass, more have between each mechanism
The connected mode present invention of body does not do specific restriction, belongs to protection scope of the present invention.
Specifically as shown in figure 3, adsorbing mechanism includes the first adsorbing mechanism and the second adsorbing mechanism.First adsorbing mechanism peace
It is contained on the first translation mechanism, the second adsorbing mechanism is arranged on described second translation mechanism, by the first adsorbing mechanism and
The setting of two adsorbing mechanisms is thus realize the control respectively to the first translation mechanism and the second translation mechanism for the adsorbing mechanism.
Specifically, support includes upper substrate 31, infrabasal plate 32, left guide post 33 and right guide post 34.Wherein upper substrate
31 and infrabasal plate 32 pass through left guide post 33 and right guide post 34 and link together, connected mode typically selects screw affixed, this
Invention is not specifically limited.
Specifically, the first translation mechanism includes translation mechanism and lower translation mechanism and cover plate 13, wherein：Upper translation machine
Structure is driven mobile unit, is arranged on upper substrate 31；Lower translation mechanism is active mobile unit, is arranged on infrabasal plate 32；
Cover plate 13 is overall to be covered on automatic glass clean robot top, and connects upper translation mechanism and lower translation mechanism respectively, realizes
Upper translation mechanism and the synchronizing moving of lower translation mechanism.
In an embodiment of the present invention, further structure design has been done to above-mentioned upper translation mechanism and lower translation mechanism.
Specifically, upper translation mechanism includes the first U-shaped plate 111, feed rod 112, upper connector 113, the first slide rail 114, the first slide block
115.Feed rod 112 is connected between two wing plates of the first U-shaped plate 111；Feed rod 112 cross section can be circular, square, polygon
Shape, circular section, the first U-shaped plate 111 plays the effect of fixing support at this, and the first U-shaped plate 111 can also be by other knots
Structure is replaced, and such as adopts frame structure etc., the present invention is not specifically limited.The top of upper connector 113 is provided with light
Hole, the shape of unthreaded hole is corresponding with feed rod 112 cross sectional shape, and upper connector 113 is set on feed rod 112 by unthreaded hole, can edge
Feed rod 112 slides；The right lower quadrant of upper connector 113 is bolted to connection with upper substrate 31；First slide block 115 fixedly mounts
In the lower left quarter of upper connector 113, the first slide rail 114 is fixedly mounted on the base plate of the first U-shaped plate 111, the first slide block 115 with
First slide rail 114 is slidably connected.The concrete structure present invention of the first slide block 115 and the first slide rail 114 does not specifically limit,
Identical function and similar structures are all within the scope of the present invention.
Lower travel mechanism includes the second U-shaped plate 121, leading screw 122, lower connector 123, the second slide rail 124, the second slide block
125 and first drive mechanism 126.Leading screw 122 is connected between two wing plates of the second U-shaped plate 121, one end of leading screw 122
It is connected with the first drive mechanism 126；The top of lower connector 123 is provided with screwed hole, is set in composition leading screw on leading screw 122
Secondary；The lower left quarter of lower connector 123 is fixedly connected with infrabasal plate 32；Second slide block 125 is fixedly mounted on the right side of lower connector 123
Bottom, the second slide rail 124 is fixedly mounted on the base plate of the second U-shaped plate 121, and the second slide block 125 and the second slide rail 124 slide even
Connect.Wherein second U-shaped plate 121, lower connector 123, the second slide rail 124 and the second slide block 125 structure U-shaped with first respectively
Plate 111, upper connector 113, the first slide rail 114 and the first slide block 115 structure identical, will not be described here.Screwed hole
Selection those skilled in the art of size and leading screw 122 can be designed according to specific running parameter, and the present invention does not make
Concrete restriction.
Specifically, the cooperation of cooperation, unthreaded hole and feed rod 112 of the first slide block 115 and the first slide rail 114 and upper connector
113 achieve upper translation mechanism relative motion relative to support in the first direction jointly with the bolt connection of upper substrate 31；Equally
The cooperation of the cooperation of the second slide block 125 and the second slide rail 124, leading screw 122 and screwed hole and lower connector 123 and infrabasal plate 32
Bolt connection jointly achieve lower translation mechanism relative motion relative to support in the first direction, it is achieved thereby that first translation
Mechanism's relative motion in the first direction relative to support.
In an embodiment of the present invention, the first translation mechanism can also be structure as shown in Figure 5, including leading screw 122, connect
Plate 141, upper feed rod 142, lower feed rod 143, left plate 144, right plate 145, upper backup pad 146, lower supporting plate 147 and first
Drive mechanism 126, wherein：Screw mandrel 122 is connected between left plate 144 and right plate 145, its one end and the first drive mechanism
126 connections；Upper feed rod 142 leading screw 122 relative with lower feed rod 143 be arranged in parallel be connected to left plate 144 and right plate 145 it
Between, upper feed rod 142 is not specifically limited with the concrete structure of lower feed rod 143 and the size present invention；Connecting plate 141 is in silk relatively
The correspondence position of thick stick 122 has screwed hole, has unthreaded hole in the correspondence position relatively going up feed rod 142 and lower feed rod 143, connects
Plate 141 is set on leading screw 122, upper feed rod 142 and lower feed rod 143, is connected with leading screw 122 spiral, and connecting plate 141 two ends are divided
It is not fixedly connected with lower supporting plate 147 with upper backup pad 146, can be specifically bolt connection or welding, the present invention does not do
Concrete restriction；Left plate 144 is fixedly connected with upper substrate 31 and infrabasal plate 32 respectively with the bottom at the two ends of right plate 145；
First drive mechanism 126 is arranged on left plate 144 or the outside of right plate 145, drives leading screw 122 to rotate, specific first drive
Motivation structure 126 can combining for motor and shaft coupling.
Specifically, as shown in figure 5, now the first adsorbing mechanism be arranged under upper backup pad 146 and lower supporting plate 147
Side, left plate 144 and right plate 145 and upper basic 31 and being fixedly connected of infrabasal plate 32, achieve the first translation jointly
Mechanism is relative to the geo-stationary of support and cleaning mechanism；The unthreaded hole of connecting plate 141 and upper feed rod 142 and lower feed rod 143
The cooperation of cooperation, the screwed hole of connecting plate 141 and leading screw 122, connecting plate 141 two ends and upper backup pad 146 and lower supporting plate
147 be fixedly connected, achieves the first translation mechanism relative to upper backup pad 146 and lower supporting plate 147 in the first direction jointly
Relative motion, it is achieved thereby that cleaning glass machine people moving freely in the first direction.
In an embodiment of the present invention, the second translation mechanism includes driving belt pulley shaft 21, driven belt wheel shaft 22, Left Drive skin
Band 23, right driving belt 24, the second drive mechanism 25, left connector 26 and right connector 27.Driving belt pulley shaft 21 is arranged on
On upper substrate 31, one end of driving belt pulley shaft 21 is connected with the second drive mechanism 25；Driven belt wheel shaft 22 is arranged on infrabasal plate 32
On；Left Drive belt 23 and the right driving belt 24 sheathed belt wheel being arranged on driving belt pulley shaft 21 and driven belt wheel shaft 22 respectively
On；Offer unthreaded hole on left connector 26, be set on left guide post 33, one end of left connector 26 is fixedly connected on Left Drive
On belt 23；Offer unthreaded hole on right connector 27, be set on right guide post 34, one end of right connector 27 is fixedly connected on
On right driving belt 24.The concrete structure of left guide post 33, right guide post 34 and unthreaded hole with matching and size this
Bright it is not specifically limited.
Specifically, driving belt pulley shaft 21 is arranged on upper substrate 31, driven belt wheel shaft 22 is arranged on infrabasal plate 32, realizes
Second translation mechanism is all the time relative to the stationary motion of support；The cooperation of left guide post 33 and right guide post 34 and unthreaded hole, right company
The fixation of the fixation of fitting 27 and right driving belt 24, left connector 26 and Left Drive belt 23 and right connector 27 and left company
Fitting 26 achieves cleaning mechanism phase relative to the second translation mechanism or pedestal in a second direction jointly with the fixation of cleaning mechanism
To motion.
In actual applications, the synchronizing moving of upper translation mechanism and lower translation mechanism and Left Drive belt 23 and right transmission
So that the motion of automatic glass clean robot is more steady, security performance is obviously improved belt 24 synchronous axial system.
Specifically, the first adsorbing mechanism includes multiple first suckers 411, is separately positioned on the first U-shaped plate 111 and the 2nd U
The lower section of template 121；First adsorbing mechanism, at least provided with two the first suckers 411, is preferable to provide four the first suckers 411,
It is respectively symmetrically the end positioned at the first U-shaped plate 111 and the second U-shaped plate 121 lower section；Second adsorbing mechanism includes at least two second
Sucker 421, is separately positioned on the lower section of left connector 26 and right connector 27.
Further, also include vacuum extractor, the absorption realizing sucker adopts multichannel with cancelling absorption, vacuum extractor
Control mode.Specifically, the gas between sucker and glass extracted out by vacuum extractor, forms pressure reduction, this pressure reduction and air between
Combined formation stiction with confficient of static friction, so that sucker is firmly adsorbed on glass it is sufficient to support automatic glass
Robot load-carrying；When sucker eliminates adsorption, vacuum extractor to blasting gas between sucker and glass, when with atmospheric pressure
During strong balance, sucker Automatic-falling from glass.Used cooperatively with sucker using vacuum extractor, absorbability is stronger, sucker
The material present invention do not do and clearly limit.
Specifically, vacuum extractor is connected with the first sucker 411 and the second sucker 421 respectively, to the first sucker 411 with
And second sucker 421 controlled respectively, when first adsorbing mechanism absorption when, vacuum extractor control the first sucker 411 carry out
Absorption, when the second adsorbing mechanism absorption, vacuum extractor controls the second sucker 421 to be adsorbed；For the first adsorbing mechanism
And during the second adsorbing mechanism cancellation absorption, vacuum extractor is carried out to the first sucker 411 and the second sucker 421 respectively in the same manner
Control and cancel absorption.
Further, the first sucker and the second sucker also include spring 441 and electric magnet 431.Specific electric magnet 431
It is arranged on the top of sucker, spring 441 is arranged between sucker and electric magnet, still connect with glass after absorption cancelled by sucker
Touch, now electric magnet 431 is energized, and sucker departs from glass under electric magnet 431 suction, and spring 441 is compressed simultaneously；Work as suction
Disk need recover absorption when, electric magnet 431 dead electricity, sucker in the presence of spring 441 again with glass contact, vacuum extractor
Extract the gas between sucker and glass out, realize the firm absorption between sucker and glass, electric magnet 431 and spring 441
Depart from glass, effectively reduce after cancelling absorption in robot moving process with the use of ensure that sucker to cancel after absorption
Sucker and glass between frictional force.
On the basis of above-mentioned all embodiments, cleaning mechanism includes cleaner 51 and scraper plate 52, and cleaning mechanism is connected to
Below left connector 26 and right connector 27.Cleaner 51 at least includes sprayer unit, cleaning cloth, goes one of mud plate.
Sprayer unit can be sprayed to the cleaning position of glass at any time, keeps the moistening of cleaning position so that cleaning cloth cleaning is more fast
Speed, thoroughly, and can effective heat absorbing glass surface moisture, it is to avoid residual spray on glass；Mud plate is gone to be mainly used in dirty to difficult scouring
Dirt is processed.
Specifically, central control unit, central control unit centralized Control first drive mechanism, the second driving machine are also included
Structure, vacuum extractor and cleaning mechanism run.
Central control unit centralized Control automatic glass clean robot works, and reaches the purpose of cleaning glass, it is concrete
Structure is the present invention be not limited, and only requires and can reach control action.Central control unit can adopt manually handle, also can adopt
With the PLC circuit plate of specific function, multiple-working mode is limited by programming, operational order passes through button or remote-control lever operates in fact
Existing, also operation can be realized by touch screen, the concrete form present invention of central control unit is not specifically limited.
A kind of above-mentioned automatic glass clean robot, its size can be formulated according to use environment, if the present invention uses
In the cleaning of whole building glass outer wall, then large-size may be selected, the motor of wherein adapted selects relatively high power accordingly, can
Significantly improve cleaning efficiency, time-consuming；If for the cleaning of family's window-glass, cleaning area is less, then may be selected less
Size, power of motor also reduces so that robot manipulation is more flexible accordingly.
With reference to above-described embodiment and accompanying drawing 1 to 4, a kind of automatic glass clean robot of above-described embodiment is made
Do following explanation with method：
Before a kind of automatic glass clean robot work, the first adsorbing mechanism and the second adsorbing mechanism are flat by first respectively
Telephone-moving structure and the second translation mechanism are absorbed and fixed on glass simultaneously.After work starts, the second adsorbing mechanism eliminates flat to second
The absorption of telephone-moving structure, the second translation mechanism action, cleaning structure relative to support in a second direction forward or rearward movement, to glass
Glass is carried out；After the cleaning of this position terminates, after the second translation mechanism moves into place, the second adsorbing mechanism recovers to glass
Absorption, the first adsorbing mechanism eliminates the absorption to glass, the second translation mechanism action, and support relative clean mechanism is in a second direction
Forward or rearward movement, it is achieved thereby that automatic glass clean robot moving freely in a second direction.Second translation machine
Structure move into place after stopping action, the second adsorbing mechanism keeps absorption to glass, and the first adsorbing mechanism keeps eliminating to glass
Absorption, the first translation mechanism action, the first translation mechanism is relative to support in the first direction to the left or move right；Work as movement
After putting in place, the first adsorbing mechanism recovers the absorption to glass, and the second adsorbing mechanism cancels the absorption to glass, the first translation mechanism
Action, support relative to the first translation mechanism in the first direction to the left or move right, it is achieved thereby that automatic glass cleaner
Device people moving freely in the first direction；Repeat above step again thus completing automatic glass clean robot to monolithic glass
Cleaning.
By specific embodiment, the present invention has been done above further describe it should be understood that, here specifically
Description, should not be construed as the restriction to the spirit and scope of the invention, and one of ordinary skilled in the art is reading this explanation
The various modifications after book, above-described embodiment made, broadly fall into the scope that the present invention is protected.
Claims (12)
1. a kind of automatic glass clean robot is it is characterised in that include：Support, the first translation mechanism, the second translation mechanism,
Adsorbing mechanism and cleaning mechanism, wherein：
Described first translation mechanism, the second translation mechanism are separately mounted on described support；
Described cleaning mechanism is arranged on described second translation mechanism；
Described adsorbing mechanism is separately mounted on described first translation mechanism and described second translation mechanism；
Described first translation mechanism and described adsorbing mechanism cooperation, realize described automatic glass clean robot to first direction
Mobile；
Described second translation mechanism and described adsorbing mechanism cooperation, realize described automatic glass clean robot to second direction
Mobile；
Described second translation mechanism and described adsorbing mechanism and the cooperation of described cleaning mechanism, realize described automatic glass cleaner
The cleaning glass function of device people；
Described first direction is mutually perpendicular to described second direction.
2. automatic glass clean robot according to claim 1 is it is characterised in that described adsorbing mechanism includes the first suction
Random structure and the second adsorbing mechanism, wherein：
Described first adsorbing mechanism is arranged on described first translation mechanism, and it is flat that described second adsorbing mechanism is arranged on described second
On telephone-moving structure.
3. automatic glass clean robot according to claim 2 it is characterised in that described support include upper substrate, under
Substrate, left guide post and right guide post, wherein：
Described upper substrate and described infrabasal plate are linked together by described left guide post and described right guide post.
4. automatic glass clean robot according to claim 3 is it is characterised in that described first translation mechanism includes
Translation mechanism and lower translation mechanism and cover plate, wherein：
Described upper translation mechanism is driven mobile unit, is arranged on described upper substrate；
Described lower translation mechanism is active mobile unit, is arranged on described infrabasal plate；
Described cover plate integrally covers on described automatic glass clean robot top, and connects described upper translation mechanism and institute respectively
State lower translation mechanism, realize the synchronizing moving of described upper translation mechanism and described lower translation mechanism.
5. automatic glass clean robot according to claim 4 is it is characterised in that described upper translation mechanism includes first
U-shaped plate, feed rod, upper connector, the first slide rail, the first slide block, wherein：
Described feed rod is connected between two wing plates of the described first U-shaped plate；
The top of described upper connector is provided with unthreaded hole, is set on described feed rod, the right lower quadrant of described upper connector with described
Upper substrate is fixedly connected；
Described first slide block is fixedly mounted on the lower left quarter of described upper connector, and described first slide rail is fixedly mounted on described first
On the base plate of U-shaped plate, described first slide block is slidably connected with described first slide rail；
Described lower travel mechanism includes the second U-shaped plate, leading screw, lower connector, the second slide rail, the second slide block and the first driving machine
Structure, wherein：
Described leading screw is connected between two wing plates of the described second U-shaped plate, one end of described leading screw and described first driving machine
Structure connects；
The top of described lower connector is provided with screwed hole, is set in composition lead screw pair on described leading screw, described lower connector
Lower left quarter is fixedly connected with described infrabasal plate；
Described second slide block is fixedly mounted on the right lower quadrant of described lower connector, and described second slide rail is fixedly mounted on described second
On the base plate of U-shaped plate, described second slide block is slidably connected with described second slide rail.
6. automatic glass clean robot according to claim 3 is it is characterised in that described first translation mechanism includes silk
Thick stick, connecting plate, upper feed rod, lower feed rod, left plate, right plate, upper backup pad, lower supporting plate and the first drive mechanism, wherein：
Described screw mandrel is connected between described left plate and described right plate, and its one end is connected with described first drive mechanism；
Described upper feed rod described leading screw relative with lower feed rod is arranged in parallel and is connected between described left plate and described right plate；
Described connecting plate has screwed hole in the correspondence position of relatively described leading screw, feed rod and lower feed rod on relatively described
Correspondence position has unthreaded hole, and described connecting plate is set on described leading screw, upper feed rod and lower feed rod, and described connecting plate two ends are divided
It is not fixedly connected with lower supporting plate with described upper backup pad；
Described left plate is fixedly connected with described upper substrate and infrabasal plate respectively with the bottom at the two ends of right plate；
Described first drive mechanism is arranged on described left plate or the outside of described right plate.
7. the automatic glass clean robot according to any one of claim 3-6 is it is characterised in that described second translates machine
Structure includes driving belt pulley shaft, driven belt wheel shaft, Left Drive belt, right driving belt, the second drive mechanism, left connector and the right side
Connector, wherein：
Described driving belt pulley shaft is arranged on described upper substrate, and one end of described driving belt pulley shaft is with described second drive mechanism even
Connect；
Described driven belt wheel shaft is arranged on described infrabasal plate；
Described Left Drive belt and described right driving belt are sheathed respectively to be arranged on described driving belt pulley shaft and described driven belt
On the belt wheel of wheel shaft；
Offer unthreaded hole on described left connector, be set on described left guide post, one end of described left connector is fixedly connected
On described Left Drive belt；
Offer unthreaded hole on described right connector, be set on described right guide post, one end of described right connector is fixedly connected
On described right driving belt.
8. automatic glass clean robot according to claim 7 it is characterised in that described first adsorbing mechanism include many
Individual first sucker, is separately positioned on the described first U-shaped plate and the lower section of described second U-shaped plate；
Described second adsorbing mechanism includes at least two second suckers, is separately positioned on described left connector and described right connector
Lower section.
9. automatic glass clean robot according to claim 8 is it is characterised in that described first sucker and described second
Sucker also includes spring and electric magnet.
10. automatic glass clean robot according to claim 9 is it is characterised in that described cleaning mechanism includes cleaning
Device and scraper plate, are connected to below described left connector and described right connector, wherein：
Described cleaner at least includes sprayer unit, cleaning cloth, goes one of mud plate.
11. automatic glass clean robots according to claim 8 are it is characterised in that also including vacuum extractor, described
Vacuum extractor is connected with described first sucker and described second sucker respectively.
12. automatic glass clean robots according to claim 11 it is characterised in that also including central control unit,
First drive mechanism, the second drive mechanism, vacuum extractor and cleaning mechanism described in described central control unit centralized Control
Run.
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|---|---|---|---|
| CN201610960295.6A CN106419722B (en) | 2016-10-28 | 2016-10-28 | Automatic glass cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610960295.6A CN106419722B (en) | 2016-10-28 | 2016-10-28 | Automatic glass cleaning robot |
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| CN106419722A true CN106419722A (en) | 2017-02-22 |
| CN106419722B CN106419722B (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610960295.6A Active CN106419722B (en) | 2016-10-28 | 2016-10-28 | Automatic glass cleaning robot |
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| CN111374586B (en) * | 2020-04-13 | 2021-06-18 | 义乌市航英科技有限公司 | Movable device for cleaning glass on outer side of high building |
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| CN111870172A (en) * | 2020-08-10 | 2020-11-03 | 江苏食品药品职业技术学院 | Glass cleaning equipment and method for hotel |
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| CN112790688A (en) * | 2021-02-06 | 2021-05-14 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
| CN112790688B (en) * | 2021-02-06 | 2021-11-23 | 河海大学 | High-altitude glass cleaning six-foot wall-climbing robot |
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