CN112493913A

CN112493913A - High-altitude window cleaning robot

Info

Publication number: CN112493913A
Application number: CN202011216467.1A
Authority: CN
Inventors: 傅佳伟; 乔晓利; 郑鹏胜; 卜佳健; 陈庚
Original assignee: Shaoxing University Yuanpei College
Current assignee: Shaoxing University Yuanpei College
Priority date: 2020-11-04
Filing date: 2020-11-04
Publication date: 2021-03-16

Abstract

The invention discloses a high-altitude window cleaning robot, which comprises a hanging mechanism, a cable and a cleaning body, wherein the hanging mechanism comprises a fixed frame, a guide shaft and a telescopic mechanism; the cleaning body comprises a shell, a cleaning disc, a scraping strip, a first fan set and a second fan set, wherein the cleaning disc and the scraping strip are at least one and are connected with the shell and locally and convexly arranged on the bottom surface of the shell for cleaning; the middle part of the cable is wound on the telescopic mechanism, the two ends of the cable are connected with the cleaning body, and the cleaning body is driven by the fan to move along the guide shaft or driven by the telescopic mechanism to move along the direction vertical to the guide shaft. The invention has the advantages of good cleaning effect, strong obstacle crossing capability, high flexibility and safety and wide application range.

Description

High-altitude window cleaning robot

Technical Field

The invention belongs to the technical field of cleaning robots, and particularly relates to a high-altitude window cleaning robot.

Background

Along with the development of cities, the requirements of people on the quality of life and the working environment are higher and higher, so that the modern buildings are erected, and especially the glass is used more and more widely. Glass is very easy to be dirty, lighting, sightseeing and the like are affected, and frequent cleaning is needed, but the glass cleaning is high-risk work, the labor cost is high, and the personal safety is difficult to guarantee, so that the high-altitude window cleaning robot can be used. The high-altitude window wiping robot in the prior art, most of the robots are adsorbed on the surface of glass in a magnetic and vacuum pumping mode, the robot is low in safety and easy to fall off, the robot is connected by a rope, the robot cannot fall off to threaten the safety of personnel downstairs in the falling process, but can collide with a wall body, a window frame or the glass and the like to cause the damage of the robot or the breakage of the glass, the robot is difficult to adapt to the cleaning of the glass of an outer wall with the window frame, the obstacle crossing capability is poor, the flexibility is poor, water stains can be left in the cleaning process, the glass is fuzzy, the cleaning is not thorough, and the use range is limited.

Disclosure of Invention

The invention aims to solve the problems, provides a high-altitude window cleaning robot, utilizes the recoil of a fan to assist and keep the robot close to glass, has good cleaning effect, strong obstacle crossing capability, high flexibility and safety, does not fall or collide and damage at high altitude, is convenient to install and simple to operate, and is suitable for cleaning glass, ceramic tiles, marble, wood surfaces or other surface complex materials.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the invention provides a high-altitude window cleaning robot, which comprises a hanging mechanism, a cable and a cleaning body, wherein:

the hanging mechanism comprises a fixed frame, a guide shaft and a telescopic mechanism, wherein the guide shaft is connected with the fixed frame, and the telescopic mechanism is connected with the guide shaft in a sliding manner;

the cleaning body comprises a shell, a cleaning disc, a scraping strip, a first fan group and a second fan group, wherein the cleaning disc and the scraping strip are at least one and are connected with the shell and locally and convexly arranged on the bottom surface of the shell for cleaning;

the middle part of the mooring rope is wound on the telescopic mechanism, the two ends of the mooring rope are connected with the cleaning body, and the cleaning body is driven by the fan to move along the guide shaft or driven by the telescopic mechanism to move along the direction perpendicular to the guide shaft.

Preferably, telescopic machanism includes support frame, drive wheel, hawser driving motor and two follow driving wheels, and the drive wheel is located the middle part of support frame and is driven by hawser driving motor, and hawser driving motor fixes on the support frame, and two follow driving wheels are located the both ends of support frame respectively, and the middle part of hawser twines on the drive wheel, and the both ends are reverse to extend and are connected with the cleaning body around two follow driving wheels respectively.

Preferably, the rotating shaft is of a fork-shaped structure and comprises a shaft section part and a fork part which are connected with each other, the shaft section part is rotatably connected with the shell, the first motor of the fan is positioned in the middle of the fork part and is rotatably connected with the fork part, and the rotating axis is perpendicular to the axis of the shaft section part.

Preferably, the first fan set comprises two coaxial rotating shafts and two fans, and the second fan set and the first fan set are identical in structure and are symmetrically arranged.

Preferably, the first fan set further comprises a second steering engine, a third connecting rod f and a fourth connecting rod, the second steering engine comprises a second rotary table, at least one second eccentric hole is formed in the second rotary table, the first motor of each fan is connected with the third rotary table, a third eccentric hole is formed in the third rotary table, two ends of the third connecting rod are respectively connected with one second eccentric hole and one third eccentric hole, two ends of the fourth connecting rod are respectively connected with one second eccentric hole and the other third eccentric hole, the third connecting rod is parallel to the fourth connecting rod, and the second steering engine drives the two fans to synchronously rotate.

Preferably, the cleaning body further comprises a first steering engine, a first connecting rod and a second connecting rod, the first steering engine is arranged on the opposite side faces of the bottom face of the shell and comprises a first rotating disc, a first eccentric hole is formed in the first rotating disc, two opposite sides, perpendicular to a rotating shaft and a second rotating disc mounting face, of the second steering engine are respectively provided with a connecting seat, two ends of the first connecting rod are respectively connected with the connecting seats on one side of the first eccentric hole and one second steering engine, two ends of the second connecting rod are respectively connected with the connecting seats on the same side of the two second steering engines, and the first rotating disc drives the first fan set and the second fan set to rotate in the same direction when rotating.

Preferably, the opposite side of casing bottom surface still is equipped with a plurality of clean dish supports and first support, still is equipped with second support and motor mount pad on the clean dish support, and first support and second support quantity are equal and arrange side by side, and two pivots of first fan group or second fan group are equallyd divide and are connected with first support and second support rotation respectively.

Preferably, the cleaning disc is connected with a second motor, the second motor is fixed in the motor mounting seat, and the cleaning disc rotates along an axis perpendicular to the bottom surface of the shell.

Preferably, the casing is square casing, and the scraping strip arranges two side by side, and is on a parallel with one side of casing, and the both ends of hawser are connected with two angles of keeping away from the scraping strip on the casing respectively.

Preferably, two cleaning disks are arranged side by side in a direction parallel to the wiper strip.

Compared with the prior art, the invention has the beneficial effects that:

1) the robot is kept to be close to the glass by utilizing the recoil boosting of the fan, the cleaning effect is good, the flexibility is high, and the robot is suitable for cleaning the glass, ceramic tiles, marble, wood surfaces or other surface-complex materials;

2) the combination of the hanging mechanism and the fan is adopted, so that the obstacle crossing capability is strong, the safety is high, the high-altitude falling or collision damage cannot occur, the installation is convenient, and the operation is simple;

3) the cleaning disc is combined with the scraping strip, so that dirt and water stains are not left, and the cleaning is thorough.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic structural diagram of a hanging mechanism of the present invention;

FIG. 4 is a schematic view of the cleaning body of the present invention;

FIG. 5 is a schematic view of a connection structure of a first fan set and a second fan set according to the present invention;

FIG. 6 is a top view of the cleaning body of the present invention;

FIG. 7 is a left side view of the cleaning body of the present invention;

fig. 8 is a bottom view of the cleaning body of the present invention.

Description of reference numerals: 1. a hanging mechanism; 2. a cable; 3. cleaning the body; 11. a fixed mount; 12. a guide shaft; 13. a telescoping mechanism; 131. a support frame; 132. a drive wheel; 133. a cable drive motor; 134. a driven wheel; 31. a housing; 32. cleaning the disc; 33. scraping the strips; 311. a cleaning tray support; 312. a first support; 313. a second support; 314. a motor mounting seat; 315. a first fan set; 316. a second fan group; 317. a first steering engine; 318. a first link; 319. a second link; 315a, a rotating shaft; 315b and a second steering engine; 315c, a fan; 315d, a second turntable; 315e, a third turntable; 315f, a third connecting rod; 315g, a fourth connecting rod; 315h, a connecting seat; 317a, a first turntable.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

As shown in fig. 1-8, a high altitude window cleaning robot comprises a hanging mechanism 1, a cable 2 and a cleaning body 3, wherein:

the hanging mechanism 1 comprises a fixed frame 11, a guide shaft 12 and a telescopic mechanism 13, wherein the guide shaft 12 is connected with the fixed frame 11, and the telescopic mechanism 13 is connected with the guide shaft 12 in a sliding manner;

the cleaning body 3 comprises a shell 31, a cleaning disc 32, a scraping strip 33, a first fan group 315 and a second fan group 316, wherein at least one of the cleaning disc 32 and the scraping strip 33 is connected with the shell 31 and partially convexly arranged on the bottom surface of the shell 31 for cleaning, the first fan group 315 and the second fan group 316 are arranged on the opposite side surfaces of the bottom surface of the shell 31 side by side and respectively comprise at least one rotating shaft 315a and at least one fan 315c, the fan 315c is connected with a first motor, each rotating shaft 315a is respectively and rotationally connected with the shell 31 and the first motor corresponding to the fan 315c, and all the fans 315c synchronously realize universal motion and keep the same motion direction;

the middle part of the cable 2 is wound on the telescopic mechanism 13, the two ends of the cable are connected with the cleaning body 3, and the cleaning body 3 is driven by the fan 315c to move along the guide shaft 12 or driven by the telescopic mechanism 13 to move along the direction vertical to the guide shaft 12.

Wherein, the device comprises a hanging mechanism 1, a cable 2 and a cleaning body 3. Wherein hanging mechanism 1 includes mount 11, guiding axle 12 and telescopic machanism 13, and mount 11 is flat bottom U-shaped frame in this embodiment, and a recess has been seted up along length direction in the middle part, and guiding axle 12 rotates with the both ends of mount 11 to be connected or fixed connection, and telescopic machanism 13 and guiding axle 12 sliding connection, and by the spacing telescopic machanism 13 that makes of recess only carry out axial displacement along guiding axle 12.

The cleaning body 3 includes a housing 31, a cleaning disk 32, a wiper strip 33, a first fan group 315, and a second fan group 316. In this embodiment, the cleaning plate 32 is a disc sleeved with a cleaning cloth, and can wipe the glass during the reciprocating motion of the cleaning body 3, preferably, the cleaning cloth can be soaked or the cleaning agent can be smeared on the cleaning cloth before wiping, which is helpful for improving the cleaning effect. The scraping strip 33 is a glass cleaning scraping strip commonly used in the prior art, and has universality, which is not described herein again. The cleaning disk 32 and the scraping strip 33 may be one or more, preferably two or four, and are connected to the housing 31 and partially protruded from the bottom surface of the housing 31, which facilitates cleaning and reduces the contact area, further reduces friction, thereby reducing the movement resistance of the fan and reducing energy consumption. The first fan set 315 and the second fan set 316 are disposed side by side on opposite sides of the bottom surface of the housing 31, and both have the same structural composition, and may be distributed in an array or a symmetrical distribution, and both include at least one rotating shaft 315a and at least one fan 315c, the rotating shafts 315a and the fans 315c are in one-to-one correspondence, or a plurality of fans 315c are disposed on one rotating shaft 315a, and the number of the fans 315c may be determined according to actual conditions, for example, according to the weight of the cleaning body 3 or the magnitude of the friction force between the cleaning body and the glass surface. The fans 315c are driven by a motor, in this embodiment, a motor shaft is coaxial with a rotating shaft of the fan 315c, each rotating shaft 315a is respectively connected with the housing 31 and the first motor corresponding to the fan 315c in a rotating manner, each fan 315c synchronously realizes universal movement, the movement directions are kept consistent, and the directions of the fans 315c are kept consistent, so that the movement track of the robot is more accurate.

The middle part of hawser 2 twines on telescopic machanism 13, and both ends are connected with clean body 3, and when clean, clean body 3 is driven by fan 315c and is removed along guiding axle 12, and after this section washs to finish, is removed the adjustment along the direction of perpendicular to guiding axle 12 by telescopic machanism 13 drive and is carried out the scraping of other positions and clean.

The robot is kept to be close to the glass by utilizing the recoil boosting of the fan, the cleaning effect is good, the flexibility is high, and the robot is suitable for cleaning glass, ceramic tiles, marble, wood surfaces or other complicated surface skin materials; the combination of the hanging mechanism and the fan is adopted, so that the obstacle crossing capability is strong, the safety is high, the high-altitude falling or collision damage cannot occur, the installation is convenient, and the operation is simple; the cleaning disc is combined with the scraping strip, so that dirt and water stains are not left, and the cleaning is thorough.

In one embodiment, the telescopic mechanism 13 comprises a support frame 131, a driving wheel 132, a cable driving motor 133 and two driven wheels 134, the driving wheel 132 is located in the middle of the support frame 131 and driven by the cable driving motor 133, the cable driving motor 133 is fixed on the support frame 131, the two driven wheels 134 are respectively located at two ends of the support frame 131, the middle of the cable 2 is wound on the driving wheel 132, and the two ends extend reversely and are respectively connected with the cleaning body 3 around the two driven wheels 134.

Wherein, the telescoping mechanism 13 in this embodiment includes a support frame 131, a driving wheel 132, a cable driving motor 133 and two driven wheels 134, the support frame 131 is a symmetrical structure, and includes two bosses and a connecting plate connected with one side of the bosses far from the guiding axle 12, the connecting plate is provided with a through groove, the bosses are connected with the guiding axle 12 in a sliding manner, the partial part is embedded into the groove of the fixed mount 11 to limit the rotation of the supporting frame 131, the boss can be arranged at one position or any other number, the driving wheel 132 is positioned in the middle of the connecting plate and driven by the cable driving motor 133, the cable driving motor 133 is fixed on the outer side of the connecting plate, the two driven wheels 134 are respectively positioned at the two ends of the connecting plate, the driving wheel 132 and the two driven wheels 134 are both positioned in the through groove of the connecting plate, the rolling shaft of the wheel is supported by two ends, the structure is safer and more stable, and the supporting frame 131 can also be designed into any other structure. The middle part of the cable 2 is wound around the driving wheel 132, and the two ends of the cable extend reversely and are connected with the cleaning body 3 around the two driven wheels 134 respectively. The cable 2 can also be two ropes with equal length, one end of each rope is fixedly wound with the driving wheel 132, the other end of each rope is connected with the cleaning body 3, and the telescopic mechanism 13 realizes telescopic operation.

In one embodiment, the rotating shaft 315a is a fork-shaped structure, and includes a shaft section and a fork connected to each other, the shaft section is rotatably connected to the housing 31, the first motor of the fan 315c is located in the middle of the fork and rotatably connected to the fork, and the rotating axis is perpendicular to the axis of the shaft section.

In this embodiment, the rotating shaft 315a is a fork-shaped structure, and includes a shaft section and a fork-shaped portion that are connected to each other, the shaft section is rotatably connected to the housing 31, the first motor of the fan 315c is located in the middle of the fork-shaped portion and rotatably connected to the fork-shaped portion, and the rotating axis is perpendicular to the axis of the shaft section, so that the two sides of the first motor are supported, and the structure is more stable. It should be noted that the rotating shaft 315a may also be of any structure, for example, the first motor may also be supported by a single-side rotation when the structure is stable.

In one embodiment, the first fan set 315 includes two coaxial shafts 315a and two fans 315c, and the second fan set 316 and the first fan set 315 are identical in structure and are symmetrically arranged.

In the embodiment, according to the weight of the cleaning body 3 and the friction between the cleaning body and the glass surface, it is determined that the first fan set 315 includes two coaxial rotating shafts 315a and two fans 315c, the rotating axis of the rotating shaft 315a and the rotating axis of the first motor of the fan 315c are perpendicular to each other, and the rotation in two directions cooperate to realize the universal motion of the fan 315c, that is, realize any rotation angle of the fan 315c, so that the use requirement is met, the flexibility is high, and the cleaning and obstacle crossing functions are facilitated. The second fan set 316 and the first fan set 315 have the same structure and are symmetrically arranged, so that the balance is facilitated, the movement locus is easy to adjust, the modular design is facilitated, and the cost is reduced. It should be noted that the number of the rotating shafts 315a and the fans 315c can be selected according to actual requirements.

In an embodiment, the first fan set 315 further includes a second steering engine 315b, a third connecting rod 315f and a fourth connecting rod 315g, the second steering engine 315b includes a second rotating disk 315d, the second rotating disk 315d is provided with at least one second eccentric hole, the first motor of each fan 315c is connected to a third rotating disk 315e, the third rotating disk 315e is provided with a third eccentric hole, two ends of the third connecting rod 315f are respectively connected to one second eccentric hole and one third eccentric hole thereof, two ends of the fourth connecting rod 315g are respectively connected to one second eccentric hole thereof and the other third eccentric hole thereof, the third connecting rod 315f and the fourth connecting rod 315g are parallel, and the second steering engine 315b drives the two fans 315c to synchronously rotate.

As shown in fig. 5, in this embodiment, the first fan set 315 further includes a second steering engine 315b, a third connecting rod 315f and a fourth connecting rod 315g, the second steering engine 315b includes a second turntable 315d, the second turntable 315d is provided with two second eccentric holes, a first motor of the fan 315c is connected to the third turntable 315e, the third turntable 315e is provided with a third eccentric hole, two ends of the third connecting rod 315f are respectively connected to one of the second eccentric holes and one of the third eccentric holes, two ends of the fourth connecting rod 315g are respectively connected to the other of the second eccentric holes and the other of the third eccentric holes, the third connecting rod 315f and the fourth connecting rod 315g are parallel, and the two fans 315c are driven by the second steering engine 315b to synchronously rotate by using the combination of the eccentric mechanism and the parallelogram connecting rod mechanism, so as to keep the moving directions consistent all the time, which is favorable for planning the moving track.

It should be noted that the second turntable 315d and the third turntable 315e have the same or similar structure, and the third connecting rod 315f and the fourth connecting rod 315g have the same or similar structure, so that the processing or the replacement is easy, and the cost is saved. And the linkage mechanism of the combination of the eccentric mechanism and the parallelogram linkage mechanism can be replaced by other structures to realize linkage, for example, the third connecting rod 315f and the fourth connecting rod 315g are of an integrated structure or a worm gear mechanism is adopted to replace the combination of the eccentric mechanism and the connecting rod mechanism, so that two ends of a worm are respectively hinged with the first motors of the two fans 315c on the first fan group 315 or the second fan group 316, and the motors drive the worm gear to drive the first motors of the two fans 315c to realize the adjustment of the inclination angle of the fan 315c in a linkage manner. In an embodiment, the cleaning body 3 further includes a first steering gear 317, a first connecting rod 318 and a second connecting rod 319, the first steering gear 317 is disposed on opposite side surfaces of the bottom surface of the housing 31, the first steering gear 317 includes a first rotating disk 317a, a first eccentric hole is disposed on the first rotating disk 317a, connecting seats 315h are respectively disposed on two opposite sides of the second steering gear 315b perpendicular to the mounting surfaces of the rotating shaft 315a and the second rotating disk 315d, two ends of the first connecting rod 318 are respectively connected with the first eccentric hole and the connecting seats 315h on one side of one of the second steering gears 315b, two ends of the second connecting rod 319 are respectively connected with the connecting seats 315h on the same side of the two second steering gears 315b, and the first rotating disk 317a drives the first fan set 315 and the second fan set 316 to rotate in the same direction when rotating.

In this embodiment, the cleaning body 3 further includes a first steering gear 317, a first connecting rod 318 and a second connecting rod 319, which are located between the first fan set 315 and the second fan set 316, and all perpendicular to the axis of rotation of pivot 315a lays, first steering wheel 317 sets up on the opposite side of casing 31 bottom surface, and first steering wheel 317 includes first carousel 317a, is equipped with first eccentric orfice on the first carousel 317a, perpendicular to on the second steering wheel 315b pivot (315a) with the two opposite sides of second carousel (315d) installation face are equipped with connecting seat 315h respectively, and the both ends of first connecting rod 318 are connected with connecting seat 315h that is close to casing 31 on first eccentric orfice and the second steering wheel 315b respectively, and the both ends of second connecting rod 319 are connected with the connecting seat 315h of keeping away from casing 31 on two second steering wheel 315b respectively, drive first fan group 315 and second fan group 316 syntropy rotation when first carousel 317a rotates.

It should be noted that the first turntable 317a, the second turntable 315d and the third turntable 315e have the same or similar structure, which is more convenient for processing, assembling or replacing. The two ends of the first connecting rod 318 can also be connected with the first eccentric hole and the connecting seat 315h on the second steering engine 315b far away from the shell 31, and the two ends of the second connecting rod 319 are connected with the connecting seats 315h on the two second steering engines 315b near the shell 31. And the driving form of the first steering engine 317 and the first connecting rod 318 can be replaced by a gear mechanism, a gear is arranged on the rotating shaft 315a, and the first steering engine 317 drives the gear to be in meshing transmission with the gear on the rotating shaft 315a, so that linkage can be realized.

In an embodiment, a plurality of cleaning disk holders 311 and first holders 312 are further disposed on the opposite side of the bottom surface of the housing 31, a second holder 313 and a motor mounting holder 314 are further disposed on the cleaning disk holder 311, the number of the first holders 312 and the number of the second holders 313 are equal, the first holders 312 and the second holders 313 are arranged side by side, and two rotating shafts 315a of the first fan set 315 or the second fan set 316 are respectively rotatably connected with the first holders 312 and the second holders 313.

In this embodiment, two cleaning disk holders 311 and two first holders 312 are further disposed on opposite sides of the bottom surface of the housing 31, the cleaning disk holders 311 are used as supports, a second holder 313 and a circular housing motor mounting seat 314 are further disposed thereon, the number of the first holders 312 and the number of the second holders 313 are equal, the first holders 312 and the second holders 313 are arranged side by side, two rotating shafts 315a of the first fan set 315 or the second fan set 316 are respectively rotatably connected with the first holders 312 and the second holders 313, and the first holders 312 and the second holders 313 are used for supporting the first fan set 315 and the second fan set 316.

It should be noted that the cleaning tray 32 can be arranged in any number, and the first support 312 and the second support 313 can have the same or similar structures according to the design of the cleaning tray 32 and the utilization of space, or can be designed in any structures, for example, the cleaning tray support 311 and the motor mounting 314 can also be designed in an integrated manner, and are stepped circular housings.

In one embodiment, a second motor is attached to the cleaning plate 32 and is fixed within the motor mount 314, and the cleaning plate 32 rotates along an axis perpendicular to the bottom surface of the housing 31.

Wherein, cleaning disc 32 is connected with the second motor in this embodiment, and the drive cleaning disc 32 rotates cleanly, helps improving clean effect, and simultaneously for the rational utilization space, reduces clean body size and weight, the second motor is fixed in motor mount 314, and cleaning disc 32 rotates along the axis of perpendicular to casing 31 bottom surface. It should be noted that the cleaning tray 32 can also adopt a simple structure design, and does not adopt a motor to drive rotation, which is more energy-saving.

In one embodiment, the housing 31 is a square housing, two of the scraping strips 33 are arranged side by side and parallel to one side of the housing 31, and two ends of the cable 2 are respectively connected with two corners of the housing 31 far away from the scraping strips.

In this embodiment, the casing 31 is a square casing, two scraping strips 33 are arranged side by side and parallel to one side of the casing 31, and two ends of the cable 2 are connected to two corners of the casing 31 far away from the scraping strips 33. It should be noted that the scraping strips 33 can also be distributed in any number, and the distribution positions are changed when the movement path planning is different, for example, when the reciprocating cleaning is required, the scraping strips 33 can be arranged on two opposite sides, so that the cleaning is more convenient, the cleaning effect is better, the efficiency is higher, the shell 31 can also be a circular or triangular shell, and the corresponding scraping strips 33 can also be distributed in a circular or triangular ring shape. The two ends of the cable 2 can be connected with two corners of the side edge of the shell 31 which is perpendicular to the scraping strip 33.

In one embodiment, the cleaning disks 32 are arranged two by two in a direction parallel to the wiper strip 33.

Among them, the cleaning disks 32 are arranged two by two in the present embodiment in parallel with the wiper strip 33. It should be noted that, the arrangement may also be performed according to actual requirements, for example, to improve the cleaning effect, four cleaning discs 32 may also be arranged in two rows and two columns side by side.

In the using process, the fixing frame 11 of the hanging mechanism 1 is fixed on the upper part of a window frame or the top of a building, the cable 2 is adjusted by using the cable driving motor 133 on the telescopic mechanism 13, the cleaning body 3 is put down, and the cleaning body 3 is kept to be capable of cleaning the glass surface within a specified range. The continuous power supply is supplied through a connected cable or a stable power supply, and the power supply is switched on, so that the cleaning disc 32 rotates to be cleaned. The fan 315c is turned after being powered on, the fan 315c is turned at any angle along the direction perpendicular to the rotating shaft 315a by adjusting the second steering engine 315b, the cleaning body 3 is pushed to be attached to the glass surface by the recoil of the fan 315c, and the cleaning body 3 is driven by the fan 315c to move left and right along the guide shaft 12 on the fixed frame 11 for cleaning. When the washing is completed at this stage, the fan 315c stops rotating, and the cleaning body 3 needs to adjust the cable 2 to adjust its up-down position. And repeatedly, the fan 315c is driven to change any angle along the direction vertical to the rotating shaft 315a by adjusting the second steering engine 315b, the cleaning body 3 is pushed to be clung to the glass surface by the recoil of the fan 315c, and the cleaning body 3 is driven by the fan 315c to move left and right along the guide shaft 12 for cleaning. The operation is circulated until the cleaning body 3 finishes the scrubbing work of the glass surface within the specified range, when the window frame is met, the fan 315c of the cleaning body 3 can cross the obstacle by changing the wind power or the rotating direction, or when the fan 315c stops rotating, an operator pulls the cable 2 to enable the cleaning body 3 to move along the guide shaft 12 on the fixed frame 11 to cross the obstacle, and the operation is convenient. Then, wiping is performed, and the bottom of the housing 31 has a wiper strip 33 similar to a wiper blade of an automobile. Make clean body 3 up-and-down motion through the flexible length of adjusting hawser 2, reach upper and lower scraping effect, clean all fans 315c of body 3 this moment rotate, and the swept surface all is on a parallel with the glass face moreover, makes fan 315c have powerful back thrust and will clean body 3 and hug closely the wall, reaches very good scrubbing effect. Demolish mount 11 after the cleanness is accomplished, with safe demolising of robot, adopt 2 both ends of hawser to hang clean body 3, the equilibrium is better, clean body 3 is difficult for bumping, and the security is higher.

It should be noted that, when the two ends of the cable 2 are respectively connected to the two corners of the side perpendicular to the scraping strips 33 on the housing 31, the cleaning body 3 can also perform the wiping and scraping work simultaneously when moving left and right along the guide shaft 12 on the fixing frame 11, which is helpful to improve the cleaning efficiency, and when the scraping strips 33 are disposed on the two sides of the housing 31 moving left and right, the cleaning efficiency can be further improved when planning the track, for example, adopting a "bow" shaped path.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express the more specific and detailed embodiments described in the present application, but not should be interpreted as limiting the scope of the claims of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A high altitude window cleaning robot which characterized in that: high altitude window cleaning robot is including hanging mechanism (1), hawser (2) and clean body (3), wherein:

the hanging mechanism (1) comprises a fixed frame (11), a guide shaft (12) and a telescopic mechanism (13), wherein the guide shaft (12) is connected with the fixed frame (11), and the telescopic mechanism (13) is connected with the guide shaft (12) in a sliding manner;

the cleaning body (3) comprises a shell (31), a cleaning disc (32), a scraping strip (33), a first fan set (315) and a second fan set (316), wherein at least one of the cleaning disc (32) and the scraping strip (33) is arranged, and are connected with the shell (31) and partially arranged on the bottom surface of the shell (31) in a protruding way for cleaning, the first fan set (315) and the second fan set (316) are arranged side by side on opposite sides of the bottom surface of the housing (31), the fan (315c) is connected with a first motor, each rotating shaft (315a) is respectively and rotationally connected with the shell (31) and the first motor corresponding to the fan (315c), and the fans (315c) synchronously realize universal motion and keep the same motion direction;

the middle of the mooring rope (2) is wound on the telescopic mechanism (13), two ends of the mooring rope are connected with the cleaning body (3), and the cleaning body (3) is driven by the fan (315c) to move along the guide shaft (12) or driven by the telescopic mechanism (13) to move along the direction perpendicular to the guide shaft (12).

2. The high altitude window cleaning robot according to claim 1, characterized in that: the telescopic mechanism (13) comprises a support frame (131), a driving wheel (132), a cable driving motor (133) and two driven wheels (134), wherein the driving wheel (132) is located in the middle of the support frame (131) and driven by the cable driving motor (133), the cable driving motor (133) is fixed on the support frame (131), the two driven wheels (134) are respectively located at two ends of the support frame (131), the middle of the cable (2) is wound on the driving wheel (132), and the two ends of the cable (2) oppositely extend to respectively wind the two driven wheels (134) and are connected with the cleaning body (3).

3. The high altitude window cleaning robot according to claim 1, characterized in that: the rotating shaft (315a) is of a fork-shaped structure and comprises a shaft section part and a fork-shaped part which are connected with each other, the shaft section part is rotatably connected with the shell (31), the first motor of the fan (315c) is positioned in the middle of the fork-shaped part and is rotatably connected with the fork-shaped part, and the rotating axis is perpendicular to the axis of the shaft section part.

4. The high altitude window cleaning robot according to claim 3, characterized in that: the first fan set (315) comprises two coaxial rotating shafts (315a) and two fans (315c), and the second fan set (316) and the first fan set (315) are identical in structure and are symmetrically arranged.

5. The high altitude window cleaning robot according to claim 4, characterized in that: the first fan set (315) further comprises a second steering engine (315b), a third connecting rod (315f) and a fourth connecting rod (315g), the second steering engine (315b) comprises a second rotating disk (315d), at least one second eccentric hole is formed in the second rotating disk (315d), a first motor of each fan (315c) is connected with a third rotating disk (315e), a third eccentric hole is formed in the third rotating disk (315e), two ends of the third connecting rod (315f) are respectively connected with one of the second eccentric holes and the third eccentric hole, two ends of the fourth connecting rod (315g) are respectively connected with one of the second eccentric holes and the other of the third eccentric holes, the third connecting rod (315f) is parallel to the fourth connecting rod (315g), and the second steering engine (315b) drives the two fans (315c) to synchronously rotate.

6. The high altitude window cleaning robot according to claim 5, characterized in that: the cleaning body (3) also comprises a first steering engine (317), a first connecting rod (318) and a second connecting rod (319), the first steering gear (317) is arranged on the opposite side of the bottom surface of the shell (31), the first steering gear (317) comprises a first rotating disc (317a), a first eccentric hole is arranged on the first rotating disc (317a), two opposite sides of the second steering engine (315b) which are vertical to the installation surfaces of the rotating shaft (315a) and the second rotating disc (315d) are respectively provided with a connecting seat (315h), two ends of the first connecting rod (318) are respectively connected with the first eccentric hole and the connecting seat (315h) at one side of the second steering engine (315b), two ends of the second connecting rod (319) are respectively connected with the connecting seats (315h) on the same side of the two second steering gears (315b), when the first rotating disc (317a) rotates, the first fan set (315) and the second fan set (316) are driven to rotate in the same direction.

7. The high altitude window cleaning robot according to claim 4, characterized in that: the side face opposite to the bottom face of the shell (31) is further provided with a plurality of cleaning disc supports (311) and first supports (312), the cleaning disc supports (311) are further provided with second supports (313) and motor installation bases (314), the first supports (312) and the second supports (313) are equal in number and are arranged side by side, and two rotating shafts (315a) of the first fan set (315) or the second fan set (316) are respectively in rotating connection with the first supports (312) and the second supports (313).

8. A high altitude window cleaning robot as claimed in any one of claim 7, wherein: the cleaning disc (32) is connected with a second motor, the second motor is fixed in the motor mounting seat (314), and the cleaning disc (32) rotates along an axis perpendicular to the bottom surface of the shell (31).

9. The high altitude window cleaning robot according to claims 1 to 8, characterized in that: casing (31) are square casing, scrape strip (33) and have arranged two side by side, and be on a parallel with one side of casing (31), the both ends of hawser (2) respectively with casing (31) are gone up and are kept away from two angles of scraping strip (33) are connected.

10. The high altitude window cleaning robot according to claim 9, characterized in that: the cleaning discs (32) are arranged in two side-by-side relation in a direction parallel to the wiper strip (33).