CN109171545A - A kind of clean robot - Google Patents
A kind of clean robot Download PDFInfo
- Publication number
- CN109171545A CN109171545A CN201811123600.1A CN201811123600A CN109171545A CN 109171545 A CN109171545 A CN 109171545A CN 201811123600 A CN201811123600 A CN 201811123600A CN 109171545 A CN109171545 A CN 109171545A
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- China
- Prior art keywords
- mobile module
- absorption mobile
- cleaned
- absorption
- clean robot
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- 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.)
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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
-
- 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
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The present invention relates to a kind of clean robots, comprising: main body, including at least two absorption mobile modules, absorption mobile module move over a surface to be cleaned and on the surface to be cleaned for adsorbing；Connector is connected between each absorption mobile module, so that each absorption mobile module relative positioning；Cleaning module is arranged on the absorption mobile module, for cleaning the surface to be cleaned in moving process.The present invention is due to using multiple absorption mobile modules, when robot encounters groove, each absorption mobile module, which can cooperate, to be allowed the robot to easily cross over groove, it is more comprehensively cleaned conducive to making clean robot treat clean surface, and in clean robot moving process, the multiple cleaning modules being arranged on multiple absorption mobile modules can jointly clean clean surface, expand cleaning area, improve cleaning effect.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of clean robots.
Background technique
With modern society and science and technology high speed development, window wiping robot using more and more common, window cleaning equipment device
People can not only wipe glass, and be avoided that cleaner in high-altitude dangerous operation, saves manpower and improves peace
Quan Xing.
Existing window wiping robot generally includes adsorbent equipment, running gear and cleaning device, and window wiping robot passes through suction
Adsorption device is adsorbed on glass pane, and drives window wiping robot to move on glass pane by running gear, so that cleaning device
Glass pane can be cleared up.
However, existing window wiping robot when encountering groove, can only turn to bypass, cleaning is thereby resulted in not comprehensively, clearly
Clean ineffective problem.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of clean robot, to improve cleaning effect.
A kind of clean robot provided by the invention, comprising: main body, including at least two absorption mobile modules, absorption move
Dynamic model block moves over a surface to be cleaned and over a surface to be cleaned for adsorbing；Connector is connected to each absorption mobile module
Between, so that respectively absorption mobile module relative positioning；Cleaning module, setting is on absorption mobile module, in moving process
Middle cleaning surface to be cleaned.
Clean robot in the present embodiment can be adsorbed on table to be cleaned by adsorbing mobile module in use
Move on face and over a surface to be cleaned, in absorption mobile module moving process, cleaning module can treat clean surface into
Row cleaning.When by groove, the absorption mobile module positioned at front can first leave clean surface, and the absorption being located behind moves
Dynamic model block will continue to absorption over a surface to be cleaned, due to each absorption mobile module relative positioning, the absorption being located behind
Mobile module can provide support force for the absorption mobile module positioned at front, and the absorption mobile module for being located at front is driven to get over
Cross groove.It can be adsorbed over a surface to be cleaned after the absorption mobile module for being located at front crosses groove, thus for after
The absorption mobile module of side provides support force, and the absorption mobile module being located behind is driven to cross groove, to make cleaner
Device people can cross over groove.Being conducive to as a result, which makes clean robot treat clean surface, is more comprehensively cleaned, and is being cleaned
In robot moving process, the multiple cleaning modules being arranged on multiple absorption mobile modules can jointly be carried out clean surface
Cleaning, expands cleaning area, improves cleaning effect.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the structural schematic diagram of present invention absorption mobile module；
Fig. 3 is the structural schematic diagram of track driving mechanism of the present invention；
Fig. 4 is the control block diagram of Anti-fall sensor-controller-absorption mobile module of the present invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated, however, that the offer of attached drawing is only
For a better understanding of the present invention, they should not be interpreted as limitation of the present invention.
As shown in Figure 1, clean robot provided in an embodiment of the present invention includes: main body 1, including at least two absorption movements
Module 2, absorption mobile module 2 move over a surface to be cleaned and over a surface to be cleaned for adsorbing；Connector 3, is connected to
Between each absorption mobile module 2, so that respectively absorption 2 relative positioning of mobile module；Cleaning module 4, setting is in absorption mobile module 2
On, for cleaning surface to be cleaned in moving process.
Clean robot in the present embodiment can be adsorbed on table to be cleaned by adsorbing mobile module 2 in use
It moves on face and over a surface to be cleaned, in absorption 2 moving process of mobile module, cleaning module 4 can treat clean surface
It is cleaned.When by groove, the absorption mobile module 2 positioned at front can first leave clean surface, and the suction being located behind
Attached mobile module 2 will continue to absorption over a surface to be cleaned, due to each 2 relative positioning of absorption mobile module, be located behind
Absorption mobile module 2 support force can be provided for absorption mobile module 2 positioned at front, and the absorption for being located at front is driven to move
Dynamic model block 2 crosses groove.When the absorption mobile module 2 for being located at front cross can adsorb after groove over a surface to be cleaned, from
And the absorption mobile module to be located behind provides support force, and the absorption mobile module being located behind is driven to cross groove, from
And enable clean robot across groove.It is more comprehensively clear conducive to making clean robot treat clean surface progress as a result,
It is clean, and in clean robot moving process, the multiple cleaning modules 4 being arranged on multiple absorption mobile modules 2 can be common
Clean surface is cleaned, cleaning area is expanded, improves cleaning effect.
As shown in Fig. 2, in the present embodiment, it is preferred that absorption mobile module 2 includes: drive installation plate 21, drive installation plate
Fluted 24 are formed on 21；Vacuum adsorption mechanism 22 is mounted in groove 24, vacuum adsorption mechanism 22 be used for by groove 24 and to
Space defined by clean surface vacuumizes, to make to adsorb the absorption of mobile module 2 over a surface to be cleaned；Track driving mechanism
23, it is mounted in drive installation plate 21, for being in contact with surface to be cleaned, to drive absorption mobile module 2 in table to be cleaned
It moves and turns on face.Since vacuum adsorption mechanism 22 can vacuumize space defined by groove 24 and surface to be cleaned,
Therefore vacuum can be formed in entire groove 24, improve the area of absorption, thus improve absorption mobile module 2 with to clear
Adsorption strength between clean surface.
In the present embodiment, it is preferred that track driving mechanism 23 is located in groove 24, track driving mechanism 23 be two, two
A track driving mechanism 23 is vertically arranged or is arranged in parallel (as shown in Figure 3).As a result, when two track driving mechanisms 23 are vertically set
Absorption mobile module 2 can be driven to walk when setting on two perpendicular directions, improve the flexibility of clean robot.When
When two track driving mechanisms 23 are arranged in parallel, the stability that absorption mobile module 2 is walked, two track drive machines can be increased
Structure 23 reversely rotates or when with friction speed rotating Vortex, can be realized the rotation of clean robot, improves clean robot
Flexibility.
In the present embodiment, it is preferred that track driving mechanism 23 is located in groove 24, track driving mechanism 23 be four, four
A track driving mechanism 23 is arranged in a ring, and two neighboring track driving mechanism 23 is vertically arranged each other, opposite two shoes
(as shown in Figure 2) is arranged in parallel in tape drive mechanism 23 each other.The stability that absorption mobile module 2 is walked, and energy are improved as a result,
Driving absorption mobile module 2 is turned to and is walked on two perpendicular directions, improves the flexibility of clean robot.
As shown in Figure 2 and Figure 3, in the present embodiment, it is preferred that vacuum adsorption mechanism 22 includes air entry 201 and vacuum pump
202, between each track driving mechanism 23, vacuum pump 202 is connected air entry 201 with air entry 201.When vacuum pump 202
When work, air entry 201 can air-breathing so that space defined by groove 24 and clean surface be vacuumized, due to air entry
201 between each track driving mechanism 23, therefore, conducive to improve absorption mobile module 2 in absorption and movement stress it is steady
It is qualitative.
In the present embodiment, it is preferred that cleaning module 4 is cleaning cloth, and the surrounding of drive installation plate 23 is arranged in cleaning cloth, with
It is arranged around vacuum adsorption mechanism 22 and track driving mechanism 23.It is conducive to improve the cleaning area of cleaning module 4 as a result, and clear
Clean module 4, vacuum adsorption mechanism 22 and track driving mechanism 23 will not influence each other.
In the present embodiment, it is preferred that track driving mechanism 23 includes driving motor 203, worm screw 204, worm gear 205, planet
Speed reducer 206, synchronous driving wheel 207, synchronous driven wheel 208, synchronous crawler belt 209 and motor driver 210；Driving motor 203
It is mounted in drive installation plate 21, the output shaft of driving motor 203 connects worm gear 205 by worm screw 204, and worm gear 205 passes through row
Star speed reducer 206 connects synchronous driving wheel 207, and synchronous driving wheel 207 is rotatably supported in driving installation with synchronous driven wheel 208
On plate 21, synchronous driving wheel 207 passes through synchronous crawler belt 209 and connects with synchronous driven wheel 208；Motor driver 210 and driving electricity
Machine 203 is electrically connected, for controlling the start and stop and positive and negative rotation of driving motor 203.Driving motor 203 drives 204 turns of worm screw as a result,
Dynamic, worm screw 204 rotates with worm gear 205, and worm gear 205 is rotated with planetary reducer 206, and planetary reducer 206 is with synchronization
Driving wheel 207 rotates, and synchronous driving wheel 207 passes through synchronous crawler belt 209 and rotates with synchronous driven wheel 208, to realize entire
Clean robot moving process.Device 210 is driven by motor to control, when entire clean robot will realize rotation in entire moving process
When turning, the motor driver 210 of two or 4 track driving mechanisms 23 is used to control the driving motor of track driving mechanism 23
203 reversely rotate or with friction speed rotating Vortex, so as to realize any rotation of entire clean robot 360 ° omni-directional
Turn.
As shown in figure 4, in the present embodiment, it is preferred that further include Anti-fall sensor 5 and controller 6, Anti-fall sensor
5 are arranged in the surrounding of absorption mobile module 2 and connect with controller 6, and Anti-fall sensor 5 is used to sense the side on surface to be cleaned
Boundary's parameter is simultaneously supplied to controller 6, and controller 6, which is used to control absorption mobile module 2 according to boundary parameter, to be stopped or turn to.By
This, is when Anti-fall sensor 5, which senses clean robot, is in the boundary position on surface to be cleaned, the control absorption of controller 6
Mobile module 2 stops or turns to, thus prevent clean robot occur in moving process entire body remove clean surface and
The danger fallen.
In the present embodiment, it is preferred that controller 6 can be specially above-mentioned motor driver 210, wherein Anti-fall sensor 5
For sensing the boundary parameter on surface to be cleaned and being supplied to motor driver 210, motor driver 210 according to boundary for joining
The start and stop and positive and negative rotation of number control driving motor 203 stop or turn to control absorption mobile module 2.
As shown in Figure 1, Figure 3, in the present embodiment, it is preferred that the bottom surface of absorption mobile module 2 is rectangle, and at least two inhale
Attached mobile module 2 constitutes the main body 1 that bottom surface is rectangle.It is conducive to reduce or eliminate the sky between each absorption mobile module 2 as a result,
Gap improves cleaning effect.
In the present embodiment, it is preferred that absorption mobile module 2 is four, circumferential direction of four absorption mobile modules 2 along main body 1
It is uniformly distributed.The stability of clean robot walking is improved as a result, and is conducive to increase the cleaning area of clean robot.
In the present embodiment, it is preferred that four Anti-fall sensors 5 are separately positioned on four of absorption 2 bottom surface of mobile module
Edge.Enable the sensing boundary parameter that Anti-fall sensor 5 is more accurate as a result,.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (10)
1. a kind of clean robot characterized by comprising
Main body (1), including at least two absorption mobile module (2), absorption mobile module (2) is for adsorbing over a surface to be cleaned
And it is moved on the surface to be cleaned；
Connector (3) is connected between each absorption mobile module (2), so that each absorption mobile module (2) is relatively fixed
Position；
Cleaning module (4) is arranged on the absorption mobile module (2), for cleaning the table to be cleaned in moving process
Face.
2. clean robot according to claim 1, which is characterized in that the absorption mobile module (2) includes:
Drive installation plate (21) forms fluted (24) on the drive installation plate (21)；
Vacuum adsorption mechanism (22) is mounted in the groove (24), and the vacuum adsorption mechanism (22) is used for the groove
(24) it is vacuumized with space defined by surface to be cleaned, so that it is described to be cleaned to be adsorbed on the absorption mobile module (2)
On surface；
Track driving mechanism (23) is mounted on the drive installation plate (21), for being in contact with the surface to be cleaned, with
The absorption mobile module (2) is driven to move and turn on the surface to be cleaned.
3. clean robot according to claim 2, which is characterized in that the track driving mechanism (23) is located at described recessed
In slot (24), the track driving mechanism (23) is two, and two track driving mechanisms (23) are vertically arranged or set in parallel
It sets.
4. clean robot according to claim 2, which is characterized in that the track driving mechanism (23) is located at described recessed
In slot (24), the track driving mechanism (23) is four, and four track driving mechanisms (23) are arranged in a ring, adjacent two
A track driving mechanism (23) is vertically arranged each other, and opposite two track driving mechanisms (23) are arranged in parallel each other.
5. clean robot according to claim 3 or 4, which is characterized in that the vacuum adsorption mechanism (22) includes inhaling
Port (201) and vacuum pump (202), the air entry (201) is between each track driving mechanism (23), the vacuum
Pump (202) is connected with the air entry (201).
6. clean robot according to claim 3 or 4, which is characterized in that the cleaning module (4) is cleaning cloth, institute
Cleaning cloth setting is stated in the surrounding of the drive installation plate (23), to surround the vacuum adsorption mechanism (22) and track drive machine
Structure (23) setting.
7. clean robot according to claim 2, which is characterized in that the track driving mechanism (23) includes driving electricity
Machine (203), worm screw (204), worm gear (205), planetary reducer (206), synchronous driving wheel (207), synchronous driven wheel (208),
Synchronous crawler belt (209) and motor driver (210)；The driving motor (203) is mounted on the drive installation plate (21), institute
The output shaft for stating driving motor (203) connects the worm gear (205) by the worm screw (204), and the worm gear (205) passes through institute
It states planetary reducer (206) and connects the synchronous driving wheel (207), the synchronous driving wheel (207) and the synchronous driven wheel
(208) it is rotatably supported on the drive installation plate (21), the synchronous driving wheel (207) passes through the synchronous crawler belt
(209) it is connected with the synchronous driven wheel (208)；The motor driver (210) is electrically connected with the driving motor (203),
For controlling the start and stop and positive and negative rotation of the driving motor (203).
8. according to claim 1 to any clean robot in 4, which is characterized in that further include Anti-fall sensor (5)
With controller (6), the Anti-fall sensor (5) setting absorption mobile module (2) surrounding and with the controller
(6) it connects, the Anti-fall sensor (5) is used to sense the boundary parameter on the surface to be cleaned and is supplied to the controller
(6), the controller (6) is used to control the absorption mobile module (2) according to the boundary parameter and stops or turn to.
9. clean robot according to any one of claims 1-4, which is characterized in that absorption mobile module (2)
Bottom surface is rectangle, and at least two absorption mobile module (2) constitute the main body (1) that bottom surface is rectangle.
10. clean robot according to claim 9, which is characterized in that the absorption mobile module (2) be four, four
A absorption mobile module (2) is uniformly distributed along the circumferential direction of the main body (1).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821271811 | 2018-08-08 | ||
| CN2018212718115 | 2018-08-08 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109171545A true CN109171545A (en) | 2019-01-11 |
Family
ID=64906544
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821570436.4U Active CN209285343U (en) | 2018-08-08 | 2018-09-26 | Clean robot |
| CN201811123600.1A Pending CN109171545A (en) | 2018-08-08 | 2018-09-26 | A kind of clean robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821570436.4U Active CN209285343U (en) | 2018-08-08 | 2018-09-26 | Clean robot |
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| Country | Link |
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| CN (2) | CN209285343U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631634A (en) * | 2020-04-30 | 2020-09-08 | 珠海市一微半导体有限公司 | Intelligent window cleaning robot |
| CN113084823A (en) * | 2021-03-05 | 2021-07-09 | 国家能源集团国源电力有限公司 | Obstacle clearing device and obstacle clearing robot |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN209285343U (en) * | 2018-08-08 | 2019-08-23 | 宁波史河机器人科技有限公司 | Clean robot |
| CN113235519A (en) * | 2021-06-07 | 2021-08-10 | 中印恒盛(北京)贸易有限公司 | Method for rapidly coping through type breach of dam |
| CN113403998A (en) * | 2021-06-29 | 2021-09-17 | 中印恒盛(北京)贸易有限公司 | Method for quickly repairing flood control dam |
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| CN209285343U (en) * | 2018-08-08 | 2019-08-23 | 宁波史河机器人科技有限公司 | Clean robot |
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- 2018-09-26 CN CN201821570436.4U patent/CN209285343U/en active Active
- 2018-09-26 CN CN201811123600.1A patent/CN109171545A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111631634A (en) * | 2020-04-30 | 2020-09-08 | 珠海市一微半导体有限公司 | Intelligent window cleaning robot |
| CN113084823A (en) * | 2021-03-05 | 2021-07-09 | 国家能源集团国源电力有限公司 | Obstacle clearing device and obstacle clearing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN209285343U (en) | 2019-08-23 |
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