CN110279342A - Robot security's system for cleaning glass window window - Google Patents
Robot security's system for cleaning glass window window Download PDFInfo
- Publication number
- CN110279342A CN110279342A CN201810223375.2A CN201810223375A CN110279342A CN 110279342 A CN110279342 A CN 110279342A CN 201810223375 A CN201810223375 A CN 201810223375A CN 110279342 A CN110279342 A CN 110279342A
- Authority
- CN
- China
- Prior art keywords
- window
- robot
- safety rope
- windowpane
- cleaning glass
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000011521 glass Substances 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 title claims abstract description 24
- 241001074085 Scophthalmus aquosus Species 0.000 claims abstract description 33
- 238000005452 bending Methods 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 claims description 6
- 238000005299 abrasion Methods 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 230000002045 lasting effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000000837 restrainer Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- A47L3/00—Safety devices for use in window-cleaning
-
- 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
- A47L3/00—Safety devices for use in window-cleaning
- A47L3/04—Safety ropes
Landscapes
- Emergency Lowering Means (AREA)
Abstract
A kind of robot security's system for cleaning glass window window, including robot (100), safe sucker (200) and safety rope (300), the both ends of safety rope are connected with robot and safe sucker respectively；Robot and safe sucker are adsorbed on the positive and negative two sides of windowpane respectively, and position-limit mechanism is equipped between the forms and window frame (503) of windowpane.The present invention passes through the position-limit mechanism being arranged between forms and window frame, is not only able to effectively avoid shifting window under the promotion of robot that safety rope is stuck, and also reduce the abrasion between safety rope and window frame and resistance, structure is simple, easy to use.
Description
Technical field
The present invention relates to a kind of robot security's systems for cleaning glass window window, belong to small household appliances manufacturing technology field.
Background technique
The safety rope of existing window wiping robot is usually to be connected to what interior was come from outdoor, in robot operational process,
Safety rope can ceaselessly generate friction between the seamed edge of window frame, cause lasting abrasion, together under the pulling of window wiping robot
When can also generate lasting resistance to the operation of robot.In addition, not stretching safety rope deliberately at the beginning of robot operation
Under the premise of, the maximum length for pulling out length and being substantially equal to human arm of safety rope, if robot is to move the internal layer of window in double track
Window operation will appear internal layer window in the process of running and is extruded into the position closed by robot, and cause what safety rope was stuck to show
As influencing the follow-up operation of robot, or even the situation pulled window wiping robot to dropping can occur.
Summary of the invention
It is a kind of for cleaning glass window window technical problem to be solved by the present invention lies in view of the deficiencies of the prior art, providing
Robot security's system be used for cleaning glass window window robot security's system, pass through the limit being arranged between forms and window frame
Mechanism is not only able to effectively avoid shifting window under the promotion of robot that safety rope is stuck, and also reduces safety rope and window
Abrasion and resistance between frame, structure is simple, easy to use.
The technical problem to be solved by the present invention is to what is be achieved through the following technical solutions:
A kind of robot security's system for cleaning glass window window, including robot, safe sucker and safety rope, safety rope
Both ends be connected respectively with robot and safe sucker；The robot and safe sucker are adsorbed on the positive and negative of windowpane respectively
Two sides are equipped with position-limit mechanism between the forms and window frame of the windowpane.
In order to play guide function to safety rope while limit, the safety rope is threaded through in the position-limit mechanism.
Specifically, in one embodiment of the invention, the position-limit mechanism is along safe sucker edge projection
Sucking disc handle, the end of the sucking disc handle is free end, and the free end is equipped with bending part, and the bending part setting exists
Between the forms of the windowpane and the window frame.
More specifically, the safe sucker includes adsorption section and the safety rope pedestal of mutual connection, the sucking disc handle
It is connected with the safety rope pedestal；The bending part offers the through-hole for accommodating safety rope；The adsorption section is adsorbed on institute
It states on the inside of the window face of windowpane, the bending part is arranged between forms and window frame, and the safety rope is across forms, the machine
People is adsorbed in the outside glass window face of the internal layer window.
For the ease of fixed safety rope, the safety rope pedestal is rigid material.
In another embodiment of the present invention, the position-limit mechanism is limit clamp, including the gripping section that is connected and
Section is limited, the gripping section is used to clamp the edge of windowpane, and the limit section is equipped with the through-hole passed through for the safety rope.
More specifically, the window face of the gripping section and the windowpane is parallel to each other, the limit section is connected with gripping section,
The edge of the windowpane is placed in the gripping section and limit section is enclosed in the frame space set；Spiral shell is offered on the gripping section
Hole, one end screw in from the screw hole with the bolt of regulation handle, manually adjust to screw and support at the edge of the windowpane
Inner surface on；The safety rope passes through the through-hole and both ends are connected with safe sucker and robot respectively.
Limit clamp is installed on the edge of windowpane for convenience, the clamping thickness of the frame space is than the glass
The big 3-5mm of the edge thickness of glass window.
In order to reduce the fretting wear between safety rope and limit clamp, extend the service life of safety rope, the through-hole
Both ends be equipped with rounded structure；Under normal conditions, the radius of corner of the rounded structure is 1-2cm.
In yet another embodiment of the present invention, the position-limit mechanism is limited block.The window frame is arranged in limited block
Base angle position.
Similarly, the limited block can also be set in described on safety rope.
In conclusion the present invention provides a kind of robot security's system for cleaning glass window window for cleaning glass window window
Robot security's system is not only able to effectively avoid moving window in machine by the position-limit mechanism being arranged between forms and window frame
It is under the promotion of people that safety rope is stuck, and the abrasion between safety rope and window frame and resistance are also reduced, structure is simple, uses
It is convenient.
In the following with reference to the drawings and specific embodiments, technical solution of the present invention is described in detail.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one；
Fig. 2 is the limit clamp schematic diagram of the embodiment of the present invention one；
Fig. 3 to Fig. 5 is the action process figure of the embodiment of the present invention one；
Fig. 6 is the structural schematic diagram of the embodiment of the present invention two；
Fig. 7 is two safe sucker structural schematic diagram of the embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the embodiment of the present invention three.
Specific embodiment
Embodiment one
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one.As shown in Figure 1, the present invention provides one kind for cleaning glass window
Robot security's system of window, including robot 100, safe sucker 200 and safety rope 300, wherein the both ends of safety rope 300
It is connected respectively with robot 100 and safe sucker 200.The robot 100 and safe sucker 200 are adsorbed on windowpane respectively
Positive and negative two sides are equipped with position-limit mechanism between the forms and window frame 503 of the windowpane.Specifically, it is used in the present invention
Window wiping robot, the manipulating object being likely encountered is double track Flat sliding window, and this windowpane includes window frame 503 and is arranged in window
Two to be parallel to each other the track (not shown) of 503 bottom of frame, out layer window 501 and internal layer window 502 are respectively in respective track
Middle sliding.Out layer window 501 shown in Fig. 1 is located at the left side of entire windowpane, and internal layer window is then located at right side.Robot 100 needs
Will the outside glass surface to internal layer window 502 clean.Before starting cleaning, need robot 100 being adsorbed on internal layer
On the glass surface in 502 outside of window, safe sucker 200 is then adsorbed on the glass surface of 502 inside of internal layer window, safety rope 300
Then need the side from safe sucker 200, it may be assumed that the inside of internal layer window 502 is across the edge of internal layer window 502, with internal layer window 502
The robot 100 in outside is connected.In order to reduce abrasion and the resistance between safety rope 300 and window frame 503, and avoid internal layer window
Under the promotion of robot 100 that safety rope 300 is stuck in 502 moving process, the present invention is in internal layer window 502 and window frame 503
Between be equipped with position-limit mechanism.
Fig. 2 is the limit clamp schematic diagram of the embodiment of the present invention one.As shown in Fig. 2, the position-limit mechanism uses position limiting clamp
Tool 400, including two gripping sections being parallel to each other with the window face of internal layer window 502 being connected and the limit for connecting two gripping sections
Section, the gripping section are used to clamp the edge of windowpane, and the edge of the windowpane is placed in the gripping section and limit section is enclosed and set
Frame space in.The limit section is equipped with the through-hole passed through for the safety rope 200.The edge of windowpane is set for convenience
Entering clamping position in the frame space, the clamping thickness of frame space is slightly larger than the forms thickness of internal layer window, such as: 3-5mm.For
Convenient for fixed and adjustment, screw hole 404 is offered on the gripping section for being located at 502 inside of internal layer window, one end has regulation handle
Bolt 405 screwed in from screw hole 404, the other end of bolt 405 can be manually adjusted to screw and be supported at the edge of windowpane
On medial surface, to keep limit clamp 400 fixed relative to the edge of windowpane.In the limit Duan Shangkai of fixed frame 401
Equipped with through-hole 402, safety rope 300 passes through through-hole 402 and both ends are connected with safe sucker 200 and robot 100 respectively.In order to anti-
Only safety rope 300 and the friction of 402 port of through-hole damage, and extend the service life of safety rope, and the both ends of through-hole 402 are equipped with
Biggish rounded structure 403, radius of corner is 1-2cm under normal conditions, in favor of reducing safety rope 300 and 402 boundary of through-hole
Friction.
Fig. 3 to Fig. 5 is the action process figure of the embodiment of the present invention one.Such as Fig. 3 to Fig. 5 and as shown in Figure 1, Figure 2, at this
In embodiment, the course of work of the invention is mainly such that
The present invention is to provide a kind of robot security's systems for cleaning glass window window, can move the internal layer in window in double track
It works on the outside of window 502, internal layer window 502 is the Moving Window for being located at right side in Fig. 1.Firstly, first safe sucker 200 is inhaled when use
It is attached on the inside of the window face of internal layer window 502, adjusts the clamping thickness of limit clamp 400 and is clamped in the forms side of internal layer window 502
On edge.It is fixed on window wiping robot 100 after safety rope 300 being passed through the through-hole 402 of limit clamp 400.As shown in figure 3, opening
Mobile robot 100 makes it in the outside glass window general work of internal layer window 502, at this point, both internal layer window 502 and out layer window 501
Overlapping area it is larger, when robot 100 is run to the left from initial position, run to the outer of the window face glass of internal layer window 502
Surface-boundary, and the forms edge of out layer window 501 is touched, if the plate that hits of robot 100 is not triggered, the meeting of robot 100 one
It is straight to push out layer window 501 is past to move left.As shown in figure 4, when out layer window 501 has arrived at extreme position, then 502 meeting of internal layer window
Toward moving right under the frictional force effect of robot 100, up to right limit position, as shown in Figure 5.In above-mentioned motion process
In, if safety rope 300 can be sandwiched in the internal layer window positioned at right side without the limit, guidance and protective effect of limit clamp 400
Between 502 forms and window frame 503, when robot 100 is again toward when the direction operation for stretching safety rope 300, robot 100 can
It can be stuck, influence to use or even the security risk for causing robot 100 to fall.
Embodiment two
Fig. 6 is the structural schematic diagram of the embodiment of the present invention two；Fig. 7 is two safe sucker structural representation of the embodiment of the present invention
Figure.Such as Fig. 6 and as shown in connection with fig. 7, the embodiment of the present invention two and the technical solution of above-described embodiment one are essentially identical, difference
It is in in the present embodiment, not using limit clamp 400 described in embodiment one, the position-limit mechanism is used along institute
The sucking disc handle 203 of 200 edge projection of safe sucker is stated, the end of the sucking disc handle 203 is free end, and on the free end
Equipped with bending part 2031, the bending part 2031 is arranged between the forms of the windowpane and the window frame 503.More specifically
Ground, safe sucker 200 are respectively set to adsorption section 201 and the safety rope pedestal 202 of mutual connection, adsorption section 201 therein
For being adsorbed on window body glass surface, safety rope pedestal 202 uses rigid material, goes out to inhale from the 202 edge projection of safety rope pedestal
Disk handle 203, the end of sucking disc handle 203 is free end, and the free end is equipped with bending part 2031, bending part 2031 and suction
The through-hole for accommodating safety rope 300 is offered on disk handle 203 respectively.Safe sucker 200 is first adsorbed on internal layer when use
On the inside of the window face of window 502, it is located just on bending part 2031 between the forms of internal layer window 502 and window frame 503, safety rope 300
Through-hole on bending part 2031 simultaneously connects robot 100, and robot 100 is adsorbed on the outside of internal layer window 502 by forms again
In glass pane front.In the present embodiment, the motion process of robot 100 and above-described embodiment one are essentially identical, no longer superfluous herein
It states.During the work time, safety rope 300 passes through the positioning and guiding of through-hole, when internal layer window 502 moves to extreme position, by
, will not be stuck by safety rope 300 in the presence of bending part 2031, safety accident occurs.
And in the present embodiment, position-limit mechanism is set up directly on safe sucker, without individual position restrainer is additionally arranged
Structure, and fixed position-limit mechanism is not spent, it is greatly user-friendly, promote the experience of product.
Embodiment three
Fig. 8 is the structural schematic diagram of the embodiment of the present invention three.As shown in figure 8, the embodiment of the present invention three and above-mentioned implementation
The basic principle of example one, two is identical, is all that position-limit mechanism, difference is arranged between the forms and window frame 503 of interior side window 502
It is, the present embodiment can be considered as the simplification structure of above-described embodiment one, two, in the premise for keeping existing apparatus structure constant
Under, limited block 600 is only provided between the forms and window frame 503 of interior side window 502.Specifically, can be by the limited block 600
The base angle position that position is window frame 503 is set.Similarly, in the course of work of robot 100, when internal layer window 502 moves to
When extreme position, due to the presence of limited block 600, make between the forms edge of internal layer window 502 and window frame 503 that there are gaps, no
Can be stuck by safety rope 300, safety accident occurs.
Compared with embodiment one, limited block 600 does not have to the edge fixed to windowpane in the present embodiment, uses very
It is convenient.When needing to clean glass, limited block 600 is placed on to the base angle position of window frame, when robot completes cleaning glass work
After work, limited block is removed.
Example IV
On the basis of above-described embodiment three, further, limited block 600 is set on safety rope 200.But in order to anti-
Only the length of safety rope 200 is too long, and in the present embodiment, the position of limited block 600 obviously can be set in the position for being higher than base angle
It sets, such as: the middle part of window frame 503 position on the lower side.In actual use, fixation position of the limited block on safety rope can change
Become.In the present embodiment, the course of work of the invention is mainly such that
Safe sucker 200 is first adsorbed on the inside of the window face of internal layer window 502 to (safety rope has been connected in advance with robot
Connect), robot 100 is adsorbed in the outside glass window face of internal layer window 502, limited block 600 is then fastened on internal layer window 502
Forms and window frame 503 between.It should be noted that not being attached directly to due to limited block on the edge of windowpane, usually
It needs to push windowpane, so that windowpane and window frame just clamp limited block 600.It is of course also possible to similar embodiment three, directly
Limited block is placed on to the base angle position of window frame 503.Specifically, the motion process of robot 100 and above-described embodiment one are basic
Identical, details are not described herein.I.e. in robot moving process, safety rope 300 is by the positioning of the through-hole on limited block and leads
To, it, will not be stuck by safety rope 300 due to the presence of limited block 600 when internal layer window 502 moves to extreme position, pacify
Full accident.
In conclusion the present invention provides a kind of robot security's system for cleaning glass window window, by being arranged in forms
Position-limit mechanism between window frame is not only able to effectively avoid shifting window under the promotion of robot that safety rope is stuck, but also
Reduce the abrasion between safety rope and window frame and resistance, structure is simple, easy to use.
Claims (10)
1. a kind of robot security's system for cleaning glass window window, including robot (100), safe sucker (200) and safety
It restricts (300), the both ends of safety rope are connected with robot and safe sucker respectively；It is characterized in that, the robot and safety are inhaled
Disk is adsorbed on the positive and negative two sides of windowpane respectively, and position-limit mechanism is equipped between the forms and window frame (503) of the windowpane.
2. being used for robot security's system of cleaning glass window window as described in claim 1, which is characterized in that the safety rope
(300) it is threaded through in the position-limit mechanism.
3. being used for robot security's system of cleaning glass window window as claimed in claim 2, which is characterized in that the position-limit mechanism
To be free end along the end of the sucking disc handle (203) of the safe sucker (200) edge projection, the sucking disc handle, and should
Free end is equipped with bending part (2031), and the bending part is arranged between the forms of the windowpane and the window frame (503).
4. being used for robot security's system of cleaning glass window window as claimed in claim 3, which is characterized in that the safe sucker
(200) include mutual connection adsorption section (201) and safety rope pedestal (202), the sucking disc handle (203) and the safety
Pedestal of restricting is connected；The bending part (2031) offers the through-hole for accommodating safety rope (300)；
The adsorption section is adsorbed on the inside of the window face of the windowpane, and the bending part is arranged between forms and window frame (503),
The safety rope is adsorbed in outside glass window face across forms, the robot (100).
5. being used for robot security's system of cleaning glass window window as claimed in claim 2, which is characterized in that the position-limit mechanism
For limit clamp (400), it is used to clamp the edge of windowpane, institute including the gripping section being connected and limit section, the gripping section
It states limit section and is equipped with the through-hole (402) passed through for the safety rope.
6. as claimed in claim 5 be used for cleaning glass window window robot security's system, which is characterized in that the gripping section with
The window face of the windowpane is parallel to each other, and the limit section is connected with gripping section, and the edge of the windowpane is placed in the clamping
Section and limit section are enclosed in the frame space set；
It being offered on the gripping section screw hole (404), one end is screwed in from the screw hole with the bolt (405) of regulation handle,
It manually adjusts to screw and support on the inner surface at the edge of the windowpane；
The safety rope (300) pass through the through-hole (402) and both ends respectively with safe sucker (200) and robot (100) phase
Even.
7. being used for robot security's system of cleaning glass window window as claimed in claim 5, which is characterized in that the through-hole
(402) both ends are equipped with rounded structure (403)；
The radius of corner of the rounded structure is 1-2cm.
8. being used for robot security's system of cleaning glass window window as described in claim 1, which is characterized in that the position-limit mechanism
For limited block (600).
9. being used for robot security's system of cleaning glass window window as claimed in claim 8, which is characterized in that the limited block
(600) it is arranged in the base angle position of the window frame (503).
10. being used for robot security's system of cleaning glass window window as claimed in claim 8, which is characterized in that the limited block
(600) it is set in described on safety rope (300).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810223375.2A CN110279342A (en) | 2018-03-19 | 2018-03-19 | Robot security's system for cleaning glass window window |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810223375.2A CN110279342A (en) | 2018-03-19 | 2018-03-19 | Robot security's system for cleaning glass window window |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110279342A true CN110279342A (en) | 2019-09-27 |
Family
ID=68000823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810223375.2A Pending CN110279342A (en) | 2018-03-19 | 2018-03-19 | Robot security's system for cleaning glass window window |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110279342A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113475967A (en) * | 2021-07-16 | 2021-10-08 | 安徽大汉机器人集团有限公司 | Window cleaning machine with safety protection structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113475967A (en) * | 2021-07-16 | 2021-10-08 | 安徽大汉机器人集团有限公司 | Window cleaning machine with safety protection structure |
| CN113475967B (en) * | 2021-07-16 | 2022-07-26 | 安徽大汉机器人集团有限公司 | Window cleaning machine with safety protection structure |
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